CN110667823B - Two-way automatic folding device - Google Patents

Abstract

A bidirectional automatic folding device, the device comprises a mounting plate (1), a first deceleration motor (2), a first deceleration motor seat (3), a coupling (4), a linear guide rail (5), a sliding table ( 6), the second reduction motor (7), the second reduction motor seat (8), the first bevel gear (9), the second bevel gear (10), the driving shaft (11), the left bearing seat (12), the right Bearing seat (13), center wheel (14), planet carrier (15), driven shaft (16), planetary gear (17), third bevel gear (18), fourth bevel gear (19) and pin shaft ( 20). The present invention utilizes three power sources to realize the automatic folding and unfolding of the device, and the device uses a special structure of a gear motor with left and right bidirectional output and linear guide rails with opposite rotation directions on both sides to ensure the folded objects on the left and right sides. Synchronization and symmetry of movement.

Description

A two-way automatic folding device

technical field

The invention relates to a folding device, in particular to a bidirectional automatic folding device, belonging to the technical field of mechanical engineering.

Background technique

With the development of science and technology, the application of automatic folding devices in daily production and life is gradually increasing, which brings a lot of convenience to people's work and life to a certain extent. Most of the folding devices on the market are one-way automatic folding, and there are relatively few two-way automatic folding devices, and in some occasions, the application will be more complicated, not convenient and fast, and greatly reduce the working efficiency of the process. For example, in the application of automatic folding wings of drones, the ailerons need to be folded to the side of the fuselage; some devices on both sides need to be rotated and folded synchronously. Therefore, it is necessary to design a bidirectional automatic folding device to solve the above problems.

SUMMARY OF THE INVENTION

In order to achieve the above object, the present invention provides a bidirectional automatic folding device, which can realize the bidirectional automatic folding of the folded object.

A bidirectional automatic folding device of the present invention includes a mounting plate 1, a first deceleration motor 2, a first deceleration motor seat 3, a coupling 4, a linear guide 5, a sliding table 6, a second deceleration motor 7, and a second deceleration motor Seat 8, first bevel gear 9, second bevel gear 10, driving shaft 11, left bearing seat 12, right bearing seat 13, center wheel 14, planet carrier 15, driven shaft 16, planet wheel 17, third bevel gear 18. Fourth bevel gear 19 and pin 20.

The whole device is generally symmetrical along the axis of the first reduction motor 2 . Here, the automatic folding device for the right folding object 21 is taken as an example to describe the bidirectional automatic folding device.

The mounting plate 1 , the first deceleration motor 2 , the first deceleration motor base 3 , the coupling 4 and the linear guide 5 form a separation mechanism. Slide table 6 , second reduction motor 7 , second reduction motor seat 8 , first bevel gear 9 , second bevel gear 10 , driving shaft 11 , left bearing seat 12 , right bearing seat 13 , center wheel 14 , planet carrier 15 , the driven shaft 16, the planetary gear 17, the third bevel gear 18, the fourth bevel gear 19 and the pin shaft 20 constitute a folding mechanism.

The mounting plate 1 is the base of the entire two-way automatic folding device. The first deceleration motor 2 and the mounting plate 1 are fixedly mounted on the middle position of the mounting plate 1 through the first deceleration motor base 3 by screw connection. The shaft is connected to the automatic folding device part of the right folding object 21 , and the left output shaft of the reducer is connected to the automatic folding device part of the left folding object 22 . The output shaft of the first deceleration motor 2 is connected with the lead screw of the linear guide 5 through the coupling 4 to ensure synchronous rotation. on the block. The automatic folding device of the right folding object 21 and the automatic folding device of the left folding object 22 are left-right symmetrical, but the screw nut pair of the linear guide 5 has opposite directions of rotation. The left and right output shafts of the reducer of the first reduction motor 2 rotate synchronously. Since the screw and nut pairs of the linear guide rails 5 on the left and right sides rotate in opposite directions, the slide tables 6 on the left and right sides produce relative or opposite linear motions to realize the folding object. separate or combined.

The sliding table 6 is the frame part of the folding mechanism, the second reduction motor 7 is perpendicular to the axis direction of the first reduction motor 2 and is fixedly installed on the sliding table 6 through the second reduction motor base 8, and the first bevel gear 9 is fixedly installed on the sliding table 6. On the output shaft of the second reduction motor 7 , the second bevel gear 10 is fixedly mounted on the driving shaft 11 , and the driving shaft 11 is in the same direction as the output shaft of the first reduction motor 2 . Both sides of the driving shaft 11 are fixedly mounted on the sliding table 6 through the left bearing seat 12 and the right bearing seat 13 . The planet carrier 15 is fixedly mounted on the driving shaft 11 . The center wheel 14 is an incomplete gear, and the lower part of the center wheel 14 is a mounting seat, which is fixedly installed on the sliding table 6 through the mounting seat, and the driving shaft 11 passes through the inner hole of the center wheel 14 . The left end of the driven shaft 16 is fixedly installed with the planetary gear 17 , and the right end of the driven shaft 16 is fixedly installed with the third bevel gear 18 . The driven shaft 16 is arranged at the end of the planet carrier 15 and is parallel to the driving shaft 11 . The center wheel 14, the planet carrier 15 and the planet wheel 17 form an epicyclic gear train. The fourth bevel gear 19 is fixedly mounted on the pin shaft 20, and the axes of the pin shaft 20 and the driving shaft 11 are perpendicular to each other. The connection block on the right folding object 21 is fixedly connected with the pin shaft 20 to ensure synchronous rotation. The planet carrier 15 is connected with the pin shaft 20 in a clearance fit. The rotational speed of the driving shaft 11 and the pin shaft 20 is the same.

The folding motion of the folding object of the two-way automatic folding device requires strict transmission ratio calculation, so that the right folding object 21 and the left folding object 22 move synchronously, completely folded, and realize the conversion between the working state and the folding state.

为中心轮14和行星轮17相对于行星架15的传动比，i₅₆为第三锥齿轮18和第四锥齿轮19的传动比。n ₂ is the rotational speed of the driving shaft 11, n ₃ is the rotational speed of the central wheel 14, n ₄ is the rotational speed of the planetary gear 17, n ₅ is the rotational speed of the third bevel gear 18, n ₆ is the rotational speed of the fourth bevel gear 19, n _H is the rotational speed of the planet carrier 15 . z ₁ is the number of teeth of the first bevel gear 9, z ₂ is the number of teeth of the second bevel gear 10, z ₃ is the number of teeth of the center wheel 14, z ₄ is the number of teeth of the planetary gear 17, and z ₅ is the number of teeth of the third bevel gear 18 , z ₆ is the number of teeth of the fourth bevel gear 19 .

is the transmission ratio of the sun wheel 14 and the planetary gear 17 relative to the planet carrier 15 , i ₅₆ is the transmission ratio of the third bevel gear 18 and the fourth bevel gear 19 .

The operation of the bidirectional automatic folding device of the present invention requires the rotation speed of the driving shaft 11 and the pin shaft 20 to be the same. That is, n ₂ =n ₆ . The epicyclic gear train is composed of the central wheel 14, the planet carrier 15 and the planetary gear 17. The calculation formula of the epicyclic gear train is:

in the formula

The rotational speeds of the driving shaft 11 and the planet carrier 15 are the same, that is, n ₂ =n _H ;

The center wheel 14 is fixed, ie n ₃ =0.

Calculate formula (1) to get:

The third bevel gear 18 and the fourth bevel gear 19 constitute a fixed-axis gear train, and the calculation formula of the fixed-axis gear train is:

in the formula

Since the rotational speeds of the planetary gear 17 and the third bevel gear 18 are the same, that is, n ₄ =n ₅ .

Calculate formula (2) to get:

According to formula (1) and formula (2), the relationship between the number of teeth between the gears is:

z ₆ ×z ₄ -z ₅ ×(z ₃ +z ₄ )=0 (3)

The number of teeth z ₃ of the center wheel 14 , the number of teeth z 4 of the planetary gear 17 , the number of teeth z ₅ of the third bevel gear 18 and the number of teeth z ₆ of the fourth bevel gear ₁₉ must satisfy the formula (3), in order to ensure the drive shaft 11 and the pin shaft 20 revs the same.

The beneficial technical effect of the present invention is that the automatic folding and unfolding of the two-way automatic folding device is realized by using three power sources, and the two-way automatic folding device uses a left and right two-way output gear motor and a special structure of linear guide rails with opposite rotation directions on both sides to ensure the left and right sides of the automatic folding device. Synchronization and symmetry of the folded object movement on the side and right.

Description of drawings

Fig. 1 is a top view of the working state of a bidirectional automatic folding device of the present invention;

Fig. 2 is the top view of the separation state of a bidirectional automatic folding device of the present invention;

Fig. 3 is a top view of the folded state of a bidirectional automatic folding device of the present invention;

Fig. 4 is a left side view of the folded state of a bidirectional automatic folding device of the present invention;

5 is a partial view of the front view of a bidirectional automatic folding device of the present invention;

Figure 6 is an A-A view of a bidirectional automatic folding device of the present invention.

Detailed ways

The content and operation of the present invention will be described with reference to the accompanying drawings 1-6.

A bidirectional automatic folding device of the present invention includes a mounting plate 1, a first deceleration motor 2, a first deceleration motor seat 3, a coupling 4, a linear guide 5, a sliding table 6, a second deceleration motor 7, and a second deceleration motor Seat 8, first bevel gear 9, second bevel gear 10, driving shaft 11, left bearing seat 12, right bearing seat 13, center wheel 14, planet carrier 15, driven shaft 16, planet wheel 17, third bevel gear 18. Fourth bevel gear 19 and pin 20.

The whole device is generally symmetrical along the axis of the first reduction motor 2 . Here, the automatic folding device for the right folding object 21 is taken as an example to describe the bidirectional automatic folding device.

The mounting plate 1 , the first deceleration motor 2 , the first deceleration motor base 3 , the coupling 4 and the linear guide 5 form a separation mechanism. Slide table 6 , second reduction motor 7 , second reduction motor seat 8 , first bevel gear 9 , second bevel gear 10 , driving shaft 11 , left bearing seat 12 , right bearing seat 13 , center wheel 14 , planet carrier 15 , the driven shaft 16, the planetary gear 17, the third bevel gear 18, the fourth bevel gear 19 and the pin shaft 20 constitute a folding mechanism.

The mounting plate 1 is the base of the entire two-way automatic folding device. The first deceleration motor 2 and the mounting plate 1 are fixedly mounted on the middle position of the mounting plate 1 through the first deceleration motor base 3 by screw connection. The shaft is connected to the automatic folding device part of the right folding object 21 , and the left output shaft of the reducer is connected to the automatic folding device part of the left folding object 22 . The output shaft of the first deceleration motor 2 is connected with the lead screw of the linear guide 5 through the coupling 4 to ensure synchronous rotation. on the block. The automatic folding device of the right folding object 21 and the automatic folding device of the left folding object 22 are left-right symmetrical, but the screw nut pair of the linear guide 5 has opposite directions of rotation. The left and right output shafts of the reducer of the first reduction motor 2 rotate synchronously. Since the screw and nut pairs of the linear guide rails 5 on the left and right sides rotate in opposite directions, the slide tables 6 on the left and right sides produce relative or opposite linear motions to realize the folding object. separate or combined.

The sliding table 6 is the frame part of the folding mechanism, the second reduction motor 7 is perpendicular to the axis direction of the first reduction motor 2 and is fixedly installed on the sliding table 6 through the second reduction motor base 8, and the first bevel gear 9 is fixedly installed on the sliding table 6. On the output shaft of the second reduction motor 7 , the second bevel gear 10 is fixedly mounted on the driving shaft 11 , and the driving shaft 11 is in the same direction as the output shaft of the first reduction motor 2 . Both sides of the driving shaft 11 are fixedly mounted on the sliding table 6 through the left bearing seat 12 and the right bearing seat 13 . The planet carrier 15 is fixedly mounted on the driving shaft 11 . The center wheel 14 is an incomplete gear, and the lower part of the center wheel 14 is a mounting seat, which is fixedly installed on the sliding table 6 through the mounting seat, and the driving shaft 11 passes through the inner hole of the center wheel 14 . The left end of the driven shaft 16 is fixedly installed with the planetary gear 17 , and the right end of the driven shaft 16 is fixedly installed with the third bevel gear 18 . The driven shaft 16 is arranged at the end of the planet carrier 15 and is parallel to the driving shaft 11 . The center wheel 14, the planet carrier 15 and the planet wheel 17 form an epicyclic gear train. The fourth bevel gear 19 is fixedly mounted on the pin shaft 20, and the axes of the pin shaft 20 and the driving shaft 11 are perpendicular to each other. The connection block on the right folding object 21 is fixedly connected with the pin shaft 20 to ensure synchronous rotation. The planet carrier 15 is connected with the pin shaft 20 in a clearance fit. The rotational speed of the driving shaft 11 and the pin shaft 20 is the same.

The optimal transmission scheme of this embodiment is: the central wheel 14 and the planetary gear 17 both select a spur gear with a modulus of 0.5 mm and a number of teeth of 24 teeth, the third bevel gear 18 selects a bevel gear with a modulus of 0.5 mm and a number of teeth of 20 teeth, and the third bevel gear 18 selects a bevel gear with a modulus of 0.5 mm and a number of teeth of 20 teeth. The four-bevel gear 19 is a bevel gear with a module of 0.5 mm and 40 teeth. The first deceleration motor 2 and the second deceleration motor 7 are servo motors.

The working mode of the bidirectional automatic folding device of the present invention is divided into two types: folding operation and unfolding operation, which will be described separately below.

The specific working process of the folding operation of a bidirectional automatic folding device of the present invention is as follows:

(1) The folded object is separated and the first deceleration double output shaft motor 2 starts to start, and drives the lead screw on the linear guide 5 to rotate through the coupling connection, and the linear guide 5 drives the sliding table 6 to move. At this time, the left folded object 22 and the right The folding object 21 moves in a direction away from the first reduction motor 2 , and the first reduction motor 2 stops working after the sliding table 6 moves to a designated position.

(2) The folding object is folded. At this time, the second reduction motor 7 starts to rotate and drives the first bevel gear 9 to rotate. The first bevel gear 9 drives the second bevel gear 10 to rotate through meshing transmission, thereby driving the driving shaft 11 and the planet carrier 15 to rotate. , Since the planet carrier 15, the driving shaft 11, the planetary gear 17 and the central wheel 14 constitute an epicyclic gear train, the driving shaft 11 rotates while the planetary wheel 17 revolves around the central wheel 14, thereby driving the third bevel gear 18 to rotate, and the third bevel gear 18 rotates. The gear 18 drives the fourth bevel gear 19 to rotate through meshing transmission, and the fourth bevel gear 19 rotates synchronously with the pin shaft 20. Since the pin shaft 20 and the right folding object 21 are connected by a flat key, the right folding object 21 is synchronized with the pin shaft 20. Rotation, the second deceleration motor 7 rotates by a specified angle and then stops working. At this time, the folding object is in a folded state, and the left folding object 22 and the right folding object 21 are parallel to the side of the mounting plate 1 .

The specific working process of the unfolding operation of a bidirectional automatic folding device of the present invention is as follows:

(1) The second reduction motor 7 starts to rotate in the reverse direction and drives the first bevel gear 9 to rotate. The first bevel gear 9 drives the second bevel gear 10 to rotate through meshing transmission, thereby driving the driving shaft 11 and the planet carrier 15 to rotate. , Since the planet carrier 15, the driving shaft 11, the planetary gear 17 and the central wheel 14 constitute an epicyclic gear train, the driving shaft 11 rotates while the planetary gear 17 revolves around the central wheel 14, and the third bevel gear 18 rotates synchronously with the driving shaft 11, The third bevel gear 18 drives the fourth bevel gear 19 to rotate through meshing transmission, the right folding object 21 rotates synchronously with the pin shaft 20, and the second reduction motor 7 stops working after rotating by a specified angle.

(2) The folding object starts to rotate in reverse in combination with the first reduction motor 2, and drives the lead screw on the linear guide 5 to rotate through the coupling connection, and the nut and lead screw pair on the linear guide 5 drives the slide table 6 to move. The object 22 and the right foldable object 21 move towards the direction close to the first reduction motor 2, and the first reduction motor 2 stops working after rotating for a specified time. At this time, the bidirectional automatic folding device is in a fully unfolded state.

Claims (4)

1. A two-way automatic folding device, the device comprises a mounting plate (1), a first reduction motor (2), a first reduction motor seat (3), a coupling (4), a linear guide (5), a sliding Stage (6), second reduction motor (7), second reduction motor seat (8), first bevel gear (9), second bevel gear (10), driving shaft (11), left bearing seat (12) , right bearing seat (13), center wheel (14), planet carrier (15), driven shaft (16), planet wheel (17), third bevel gear (18), fourth bevel gear (19) and pins A shaft (20), characterized in that the device is generally symmetrical along the axis of the first reduction motor (2), the mounting plate (1), the first reduction motor (2), and the first reduction motor seat (3) , the coupling (4) and the linear guide (5) form a separation mechanism, the sliding table (6), the second reduction motor (7), the second reduction motor seat (8), the first bevel gear (9), the second Bevel gear (10), driving shaft (11), left bearing seat (12), right bearing seat (13), center wheel (14), planet carrier (15), driven shaft (16), planetary gear (17) , the third bevel gear (18), the fourth bevel gear (19) and the pin (20) form a folding mechanism, the mounting plate (1) is the base of the entire device, the first reduction motor (2) and the mounting plate (1) The first geared motor base (3) is fixedly installed in the middle position of the mounting plate (1). The reducer of the first geared motor (2) is a left and right dual-axis synchronous rotation output, and the right output shaft of the reducer is connected to the right folding object ( 21) the automatic folding device part, the left output shaft of the reducer is connected to the automatic folding device part of the left folding object (22), the output shaft of the first reduction motor (2) and the lead screw of the linear guide (5) pass through the coupling (4) Connect and ensure synchronous rotation, the linear guide (5) is fixedly installed on the mounting plate (1), the sliding table (6) is fixedly installed on the slider of the linear guide (5), the right folding object (21) is automatically The folding device and the automatic folding device of the left folding object (22) are symmetrical on the left and right, but the screw and nut pairs of the linear guides (5) on the left and right sides rotate in opposite directions, and the left and right output shafts of the first gear motor (2) reducer rotate synchronously , Since the screw nut pairs of the linear guide rails (5) on the left and right sides rotate in opposite directions, the slide tables (6) on the left and right sides produce relative or opposite linear motions, so as to realize the separation or combination of the folded objects, and the slide tables (6) It is the frame part of the folding mechanism. The second reduction motor (7) is perpendicular to the axis direction of the first reduction motor (2) and is fixedly installed on the sliding table (6) through the second reduction motor seat (8). The gear (9) is fixedly installed on the output shaft of the second reduction motor (7), the second bevel gear (10) is fixedly installed on the driving shaft (11), and the driving shaft (11) is connected to the first reduction motor (2). The output shafts are in the same direction, the two sides of the driving shaft (11) are fixedly installed on the sliding table (6) through the left bearing seat (12) and the right bearing seat (13), and the planet carrier (15) is fixedly installed on the driving shaft (11) , the center wheel (14) is an incomplete gear , the lower part of the center wheel (14) is a mounting seat, which is fixedly installed on the sliding table (6) through the mounting seat, the driving shaft (11) passes through the inner hole of the center wheel (14), and the left end of the driven shaft (16) is connected to the The planetary gear (17) is fixedly installed, the right end of the driven shaft (16) is fixedly installed with the third bevel gear (18), the driven shaft (16) is arranged at the end of the planet carrier (15), and is parallel to the driving shaft (11) , the central wheel (14), the planet carrier (15) and the planetary gear (17) form an epicyclic gear train, the fourth bevel gear (19) is fixedly installed on the pin (20), the pin (20) and the driving shaft (11) ) axes are perpendicular to each other, the connecting block on the right folding object (21) is fixedly connected with the pin shaft (20) to ensure synchronous rotation, and the planet carrier (15) is connected with the pin shaft (20) by clearance fit. 2 . The bidirectional automatic folding device according to claim 1 , wherein the number of teeth z ₃ of the center wheel (14), the number of teeth z ₄ of the planetary gear (17), the number of teeth z of the third bevel gear (18) ₅ and the number of teeth z ₆ of the fourth bevel gear (19) must satisfy the relation z ₆ ×z ₄ -z ₅ ×(z ₃ +z ₄ )=0. 3. A kind of two-way automatic folding device according to claim 1 is characterized in that, the central wheel (14) and the planetary wheel (17) both select the spur gear with the modulus of 0.5mm and the number of teeth of 24 teeth, and the third bevel gear ( 18) Select a bevel gear with a modulus of 0.5mm and a number of teeth of 20 teeth, and the fourth bevel gear (19) select a bevel gear with a modulus of 0.5mm and a number of teeth of 40 teeth. 4 . The bidirectional automatic folding device according to claim 1 , wherein the first deceleration motor ( 2 ) and the second deceleration motor ( 7 ) are servo motors. 5 .

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