CN106246841A - A kind of high intensity high efficiency spheric motion auxiliary lever drive mechanism - Google Patents
A kind of high intensity high efficiency spheric motion auxiliary lever drive mechanism Download PDFInfo
- Publication number
- CN106246841A CN106246841A CN201610600550.6A CN201610600550A CN106246841A CN 106246841 A CN106246841 A CN 106246841A CN 201610600550 A CN201610600550 A CN 201610600550A CN 106246841 A CN106246841 A CN 106246841A
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- CN
- China
- Prior art keywords
- lever
- support bar
- ball
- drive mechanism
- spherical pair
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H21/00—Gearings comprising primarily only links or levers, with or without slides
- F16H21/46—Gearings comprising primarily only links or levers, with or without slides with movements in three dimensions
Abstract
The present invention entitled spheric motion auxiliary lever drive mechanism.This mechanism is a kind of high intensity high efficiency spheric motion auxiliary lever drive mechanism of a kind of ingenious utilization lever principle.Solve existing drive mechanism driving force not enough, inefficient shortcoming.It is characterized in that this mechanism is made up of lever, spherical pair, support bar three part, described lever can be made up of 3 lobes or 4 lobes, can also be made up of an entirety, 34 spherical pairs it are provided with at its center axis, each spherical pair center is provided with a ball, is provided with support bar between two adjacent lobes, support bar point to ball and and sphere-contact, the support bar of same ball connects together in outside, forms a support bar component.Three components can have 3 kinds of connected modes.Lever actuated is applicable to the situation that spherical pair pivot angle is little, and owing to the revolution motion radius of few teeth difference transmission is the least, pivot angle is little, so plan is initially applied to gear with small teeth difference gearing speed-reducer lever actuated.
Description
Technical field
The present invention relates to a kind of drive mechanism transmitting power.More specifically, the present invention is to be applied to few teeth difference slow down
A kind of in device, with lever as driving principle, has high intensity, high efficiency, long-life spheric motion auxiliary lever drive machine
Structure.
Background technology
In planetary reducer, planetary gear to participate in two motions, and one is autobiography, and another one is revolution.Few
The planetary gear number of teeth of differential teeth planetary gear reduction unit differs less with centre wheel, and therefore its revolution-radius is less, revolution and autobiography
Center is close.It is highly difficult for arranging two revolute pairs in the nearest distance, typically can only complete with bent axle or title crank.
I.e. two revolute pairs being arranged on a different plane, two centers of rotation are staggered a segment distance mutually, form one bent axle, song
Upper bearing (metal) is overlapped outside axle.The power-driven mechanism being currently used for planet gear speed reducer with small tooth difference is exactly this structure shape used
Formula.Owing in planet gear speed reducer with small tooth difference, the work characteristics of driver is that rotating speed is high, load is big, thus the axle outside bent axle
Holding and be easy to damage, this problem is to improve decelerator bearing capacity and prolong long-life bottleneck.Simultaneously because be operated at a high speed and
Under conditions of heavy duty, its energy loss is the biggest, and this energy loss also reduces the work efficiency of decelerator.In order to overcome this
A little problems, it is proposed that use lever actuated, replace bent axle, replace the bearing above bent axle by spherical pair, in order to avoid axle
Hold problems such as being easily damaged.Simultaneously it is proposed that the structure of spherical pair and lever is carried out special design, i.e. lever is arranged
Outside spherical pair, spherical pair is arranged on inside lever.This structure can make the bearing capacity of lever be greatly improved,
In order to replace the combination of now widely used bent axle and bearing, reach bearing capacity big, transmission efficiency is high, service life length
Purpose.
Summary of the invention
In order to overcome the drive scheme of existing bent axle and bearing, the present invention provides a kind of new spherical kinematic pair lever to drive
Motivation structure, this drive mechanism uses lever principle, can drive a load the heaviest by a power the least, solve driving force
Not enough shortcoming；Proposing the lever within spherical pair and the spherical pair outside lever, two parts reverse, solve simultaneously
The problem that lever bending resistance is not enough, improves driveability, has the highest transmission efficiency and longer service life simultaneously.
The technical solution adopted in the present invention is: can obtain the biggest mechanical advantage in view of leverage, in other words,
Load the heaviest just can be driven by a power the least.Therefore, bent axle is replaced with lever.It addition, driving load
During, need between lever and frame to rotate, also can relatively rotate between lever and load objects simultaneously.Therefore in relative rotation
Position, it should be provided with kinematic pair.It is single-degree-of-freedom or double freedom even 3DOF according to rotation, could be arranged to
Revolute pair or spherical pair.We pay close attention to the latter, i.e. combine by lever and spherical pair, become a lever actuated system.
We use 3 or 4 spherical pairs and a rod member combination.Spherical pair belongs to face contact, has that contact stress is low, bearing capacity
High advantage.But spherical pair belongs to sliding friction, frictional dissipation is bigger.In order to reduce frictional dissipation, it is possible to use radius
Less ball, so in the case of coefficient of friction is constant, friction circle radius is less, and frictional dissipation is the least.But, along with ball
The reduction of radius surface, the stress that sphere bears can increase, and under conditions of a fixed load, spherical radius reduction can reach a certain pole
Limit value.
Along with the reduction of spherical radius, the lever through spherical pair can attenuate, and another even more serious problem goes out immediately
Existing, here it is the lever stress caused by moment of flexure quickly increases, once arrive allowable value, then load capacity can not be further added by.
Actually while spherical radius reduces, moment of flexure first the stress caused will reach capacity, and bear followed by sphere
Stress reaches capacity, so the ability that raising lever bears moment of flexure is only the bottleneck improving lever system bearing capacity.
General spherical pair is as it is shown in figure 1, be connected with a sphere between two components, if one of them component is fixed,
The component of another activity can have certain freedom of motion, and we can use it as lever.If will be
Lever is arranged above with 3 or 4 spherical pairs, then this lever must at least penetrate a spherical pair as shown in Figure 2.Permissible from this figure
Finding out, the diameter of lever must be less than the diameter of spherical pair.
It addition, rod member is through sphere, occupying certain area of spherical surface, remaining area of spherical surface can be left spherical pair for and make
With, if spherical radius is little, then the radius of rod member then can be less, and the bending strength of rod member then can be very restricted.In order to
Reaching certain bearing capacity, the diameter of rod member can not be the least.
If analyzed from degree of freedom angle, no matter for which spherical pair from the point of view of, all have 3 rotate degree of freedom,
As shown in Figure 3.For middle spherical pair, lever can be respectively around X, Y, and Z axis rotates, (can also be combinations thereof).
But it can be seen that around X, the rotational angle of Y-axis is subject to certain restrictions from figure, if the area of spherical pair contact increases,
The most rotatable angle diminishes, and when contact surface is close to 0, rotary angle is close to 180 degree, and the most positive and negative 90 degree, this is just
It it is the ultimate value of corner.Actually the sphere owing to contacting with each other can not be the least, and its rotational angle allowed to be far smaller than 180
Degree.Rotation about the z axis is the most unrestricted, that is, this moving bar piece can be around the axis of self, and unlimited turns continuously
Dynamic.
For the lever of an actual application, not necessarily, the most unconfined rotation is or not its rotation about the z axis
It is necessary, and around X, the rotational angle of Y-axis also need not be large, and therefore, as long as doing suitable variation, sacrifices some unnecessary
Degree of freedom, lever and spherical pair combination actual application make it possible to achieve.
The present invention proposes: inside and outside two components are reversed, i.e. lever is arranged on beyond spherical pair, frame is led to
Cross different supports through lever, be connected on ball or the sphere of centre.So, the size and dimension of lever is no longer big by sphere
Little restriction, and frame remains able to be connected with sphere.Thus solve bending resistance this bottleneck problem not of rod member.By
Will be by supporting in frame, through lever, so original lever unrestrictedly rotating and will not exist around Z axis.The present invention fits
For requiring that spherical pair pivot angle is not the biggest situation, owing to the revolution motion radius of gear with small teeth difference transmission is less, use lever
It is not very big, so it is one that lever actuated is initially applied to planet-gear transmission decelerator for driving the pivot angle required
Up-and-coming selection.
The invention has the beneficial effects as follows, use lever principle to solve driving force not enough；Spherical pair diameter can be according to holding
The pressure being subject to designs, and the cross section of lever can be designed according to the stress that deflection of beam causes, and the two does not affects.Greatly
Improve greatly the driving force of lever, and reduce frictional dissipation to greatest extent, improve efficiency.Meanwhile, due to
Frictional dissipation reduces, and is also expected to its service life improve.
Accompanying drawing explanation
The general spherical pair of Fig. 1
The leverage that the spherical pair of the drive mechanism that Fig. 2 present invention provides is formed
The connection side of the spherical pair of the drive mechanism that Fig. 3 present invention provides
Fig. 4 is one of drive mechanism connected mode of providing of the present invention
Fig. 5 is one of drive mechanism connected mode of providing of the present invention
Detailed description of the invention
As shown in Figure 4, the lever forming this mechanism extends to beyond spherical pair, frame example of the present invention
By different supports through lever, it is connected on ball or the sphere of centre.The lever of this mechanism is made up of 3 lobes, lever central
Being provided with 3 spherical pairs at axis, each spherical pair center is provided with a ball, is provided with support bar between two adjacent lobes,
Support bar point to ball and and sphere-contact, the support bar of same ball connects together in outside, forms a support bar component.
The connected mode that the composition component lever of this example, ball, support bar are used is 3 disconnected from each other, becomes 3 components, this
Time component ball can be freely rotatable, belong to redundant degree of freedom, the motion on whole mechanism does not affect.
Another instantiation of the present invention as it is shown in figure 5, the lever forming this mechanism also extends into beyond spherical pair,
Frame by different supports through lever, it is connected on ball or the sphere of centre.The lever of this mechanism and astrosphere are by one
The rod member composition of individual entirety, specifically by a cylinder, and can dig up portion of material in fact arranging the position supporting rod member
Existing, then lever connects together with the ball at center, becomes a component.3 spherical pairs, spherical pair it is provided with at lever central axis
On be provided with support bar, support bar point to the sphere centre of sphere and and sphere-contact, the spherical pair support bar of same position connects in outside
Together, one support bar component of composition.The connected mode that the composition component lever of this example, ball, support bar are used is
Lever is fixed with ball, becomes a component, and now ball occurs not as a single component, removes redundant degree of freedom,
Motion on whole mechanism does not affect.
The present invention is not limited to above-mentioned two example embodiments, uses or the structure of approximation identical with examples detailed above of the present invention,
And other structures design obtained, the most within the scope of the present invention.
Claims (4)
1. a spheric motion auxiliary lever drive mechanism based on lever principle, it is characterised in that include a lever, and be located at
3-4 spheric motion of lever central is secondary.
2. lever drive mechanism as claimed in claim 1, is characterized in that described lever can be made up of 3 lobes or 4 lobes, its
Being provided with 3-4 spherical pair at central axis, each spherical pair center is provided with a ball, is provided with and props up between two adjacent lobes
Strut, support bar point to ball and and sphere-contact, the support bar of same ball connects together in outside, forms a support bar
Component.
3. as claimed in claim 2, it is characterized in that the composition lever of drive mechanism, ball, three components of support bar can have 3
Kind of connected mode: A, three are disconnected from each other, become three components, and now ball can be freely rotatable, belongs to redundant degree of freedom, right
The motion of whole mechanism does not affect；B, lever are fixed with ball, become a component, support bar component and sphere contacts, shape
Become sphere kinematic pair；C, support bar are fixed with ball, become a component, lever and sphere-contact, form spheric motion secondary.
4. as claimed in claim 1, the lever of this drive mechanism can also be made up of an overall rod member, such as one circle
Cylinder, it is only necessary to the corresponding site supporting rod member is being set, is diging up a part of material to realize the spherical pair of lever central.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610600550.6A CN106246841A (en) | 2016-07-28 | 2016-07-28 | A kind of high intensity high efficiency spheric motion auxiliary lever drive mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610600550.6A CN106246841A (en) | 2016-07-28 | 2016-07-28 | A kind of high intensity high efficiency spheric motion auxiliary lever drive mechanism |
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| Publication Number | Publication Date |
|---|---|
| CN106246841A true CN106246841A (en) | 2016-12-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610600550.6A Pending CN106246841A (en) | 2016-07-28 | 2016-07-28 | A kind of high intensity high efficiency spheric motion auxiliary lever drive mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108443447A (en) * | 2018-01-23 | 2018-08-24 | 北京邮电大学 | A kind of high intensity high efficiency spheric motion auxiliary lever driving retarder |
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| US3243239A (en) * | 1962-08-24 | 1966-03-29 | Southwest Products Co | Rubber-supported engine mount bearing |
| JPH0152622B2 (en) * | 1984-06-08 | 1989-11-09 | Nippon Electric Co | |
| CN2474417Y (en) * | 2001-03-26 | 2002-01-30 | 长春良雨汽车件制造有限公司 | Double sedan reverse acting rod spherical shaped universal joint assembly |
| CN1761820A (en) * | 2003-03-31 | 2006-04-19 | 美蓓亚株式会社 | A spherical bearing arrangement |
| CN2876420Y (en) * | 2005-07-08 | 2007-03-07 | 王加宏 | Automobile back action rod joint unit assemblage |
| CN105570282A (en) * | 2015-12-11 | 2016-05-11 | 佛山市南海区广工大数控装备协同创新研究院 | Multi-degree-of-freedom load-bearing self-locking artificial joint |
-
2016
- 2016-07-28 CN CN201610600550.6A patent/CN106246841A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3243239A (en) * | 1962-08-24 | 1966-03-29 | Southwest Products Co | Rubber-supported engine mount bearing |
| JPH0152622B2 (en) * | 1984-06-08 | 1989-11-09 | Nippon Electric Co | |
| CN2474417Y (en) * | 2001-03-26 | 2002-01-30 | 长春良雨汽车件制造有限公司 | Double sedan reverse acting rod spherical shaped universal joint assembly |
| CN1761820A (en) * | 2003-03-31 | 2006-04-19 | 美蓓亚株式会社 | A spherical bearing arrangement |
| CN2876420Y (en) * | 2005-07-08 | 2007-03-07 | 王加宏 | Automobile back action rod joint unit assemblage |
| CN105570282A (en) * | 2015-12-11 | 2016-05-11 | 佛山市南海区广工大数控装备协同创新研究院 | Multi-degree-of-freedom load-bearing self-locking artificial joint |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108443447A (en) * | 2018-01-23 | 2018-08-24 | 北京邮电大学 | A kind of high intensity high efficiency spheric motion auxiliary lever driving retarder |
| CN108443447B (en) * | 2018-01-23 | 2021-05-04 | 北京邮电大学 | High-strength high-efficiency spherical kinematic pair lever-driven reducer |
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Application publication date: 20161221 |
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