CN112610672A - Design method of crank and rocker mechanism of rotation and reciprocating swing conversion device - Google Patents

Design method of crank and rocker mechanism of rotation and reciprocating swing conversion device Download PDF

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Publication number
CN112610672A
CN112610672A CN202011441039.9A CN202011441039A CN112610672A CN 112610672 A CN112610672 A CN 112610672A CN 202011441039 A CN202011441039 A CN 202011441039A CN 112610672 A CN112610672 A CN 112610672A
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rocker
crank
rod
connecting rod
motion
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CN112610672B (en
Inventor
高吟
叶凯强
高洪
孟令启
贡军
周玄
姚垚
张菲菲
李静
张宇华
齐国良
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Anhui Polytechnic University
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Anhui Polytechnic University
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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
    • F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
    • F16H37/12—Gearings comprising primarily toothed or friction gearing, links or levers, and cams, or members of at least two of these types
    • F16H37/122—Gearings comprising primarily toothed or friction gearing, links or levers, and cams, or members of at least two of these types for interconverting rotary motion and oscillating motion
    • 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
    • F16H21/10—Gearings comprising primarily only links or levers, with or without slides all movement being in, or parallel to, a single plane
    • F16H21/16—Gearings comprising primarily only links or levers, with or without slides all movement being in, or parallel to, a single plane for interconverting rotary motion and reciprocating motion
    • F16H21/18—Crank gearings; Eccentric gearings
    • 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
    • F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
    • F16H37/12—Gearings comprising primarily toothed or friction gearing, links or levers, and cams, or members of at least two of these types
    • F16H37/124—Gearings comprising primarily toothed or friction gearing, links or levers, and cams, or members of at least two of these types for interconverting rotary motion and reciprocating motion
    • 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
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
    • 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
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
    • 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
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/038—Gearboxes for accommodating bevel gears

Abstract

The invention discloses a design method of a crank rocker mechanism of a rotation and reciprocating swing conversion device, which comprises the following steps: s1, respectively recording the lengths of the crank, the rack rod, the connecting rod and the rocker as L1、L4、L2、L3(ii) a S2, recording the rod lengths of the four-bar mechanism ABCD as follows: crank AB ═ L1Connecting rod BC ═ L2Rocker arm CD ═ L3Rack bar AD ═ L4(ii) a S3, taking the crank AB as the shortest rod, and recording the average speed ratio of the working stroke and the return stroke of the rocker CD as K; s4, connecting line AB2C2And straightLine B1AC1The included angle between the rocking bars is marked as theta, and the reciprocating swing angle of the rocking bar is marked as psi; s4, acquiring a relational expression of theta and psi; and S5, calculating the swing angle of the rocker. The design method of the invention provides a classification calculation formula of the swing angle of the rocker aiming at the configuration relations of different lengths of the crank, the connecting rod, the rocker and the frame rod, and solves the defects that the configuration relation of the swing angle output by swing motion and the length of the crank-rocker mechanism rod is determined by experience for a long time and lacks of quantitative design basis.

Description

Design method of crank and rocker mechanism of rotation and reciprocating swing conversion device
Technical Field
The invention belongs to the technical field of mechanical engineering, and particularly relates to a design method of a crank rocker mechanism of a rotation and reciprocating swing conversion device.
Background
In the practice of mechanical engineering, continuous rotation needs to be converted into reciprocating swing in many occasions, for example, a gearbox of a tractor can output continuous rotation, and if the gearbox is used as power to drive a swing cutting knife of a header of a harvester, a rotation and reciprocating swing conversion device is needed; if the crushing executing head of the crusher swings back and forth and the power source motor rotates continuously, a rotation and back-and-forth swing conversion device can be also arranged.
The existing rotating and reciprocating swing conversion device has the following defects:
(1) during assembly, the correct meshing position of the bevel gear is difficult to ensure through debugging;
(2) for the problem of interference of moving components between a connecting rod and a crank of the crank rocker mechanism, the crank is usually designed into a crankshaft, so that the complexity of manufacturing, assembling and maintaining is increased;
(3) the relationship between the swing angle of the swing motion output and the arrangement of the length of the crank rocker mechanism rod is determined empirically for a long time, and a quantitative design basis is lacked.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a design method of a crank rocker mechanism of a rotation and reciprocating swing conversion device, and aims to provide a quantitative design method for the configuration of a swing angle of a continuous rotation conversion device into a reciprocating swing device.
In order to achieve the purpose, the invention adopts the technical scheme that: the design method of the crank rocker mechanism of the rotation and reciprocating swing conversion device comprises the following steps:
s1, marking the length of the crank as L1The length of the rack bar is marked as L4The length of the connecting rod is marked as L2The length of the rocker is recorded as L3；
S2, recording the intersection points of the axes of the through holes at the two ends of the crank and the motion plane of the crank rocker mechanism as A and B respectively; the intersection points of the axes of the intermediate shaft and the output shaft and the motion plane of the crank rocker mechanism are A and D respectively; the intersection points of the axes of the through holes at the two ends of the connecting rod and the motion plane of the crank rocker mechanism are B and C respectively; the intersection points of the axes of the through holes at the two ends of the rocker and the motion plane of the crank rocker mechanism are D and C respectively; the rod lengths of the four-bar mechanism ABCD are respectively: crank AB ═ L1Connecting rod BC ═ L2Rocker arm CD ═ L3Rack bar AD ═ L4；
S3, a crank AB is the shortest rod, the crank AB drives a rocker CD to do reciprocating swing motion through a connecting rod BC when doing full-circle rotation motion, and the average speed ratio of the working stroke and the return stroke of the rocker CD is recorded as K;
s4, when the crank AB and the connecting rod BC are straightened and collinear, a straight line AB is formed2C2(ii) a When the crank AB and the connecting rod BC are overlapped and collinear, a straight line B is formed1AC1(ii) a Straight line AB2C2And a straight line B1AC1The included angle between the two is marked as theta, the reciprocating swing angle of the rocker is marked as psi, and the theta is 180 DEG- (K-1)/(K + 1);
s4 at Δ C1C2D and Δ C1C2In A, C is calculated by the cosine theorem1C2 2Obtaining:
Figure BDA0002822191530000021
by working up the formula, we can obtain:
Figure BDA0002822191530000022
s5, calculating the swing angle of the rocker,
Figure BDA0002822191530000023
in step S2, if the rack bar AD is the longest bar: l is1+L4≤L2+L3。
In step S2, if the link BC is the longest link: l is1+L2≤L4+L3。
In step S2, if the joystick CD is the longest joystick: l is1+L3≤L2+L4。
When K is equal to 1, if the rack bar AD is the longest bar, the bar length must satisfy the condition L1+L4≤L2+L3(ii) a By increasing L2Decrease L3Let L be1＝L3，L2＝L4The maximum pivot angle psi of the rocker can be obtained as 180 deg.
By increasing L3Let L be1＜L3＜L4The swing angle psi of the rocker arm in the range of more than 0 DEG and less than 180 DEG can be obtained as 2arcsin (L)1/L3)。
When K is 1In the meantime, if the connecting rod BC is the longest rod, the rod length should satisfy the condition L1+L2≤L4+L3(ii) a By increasing L4Decrease L3Let L be1＝L3，L2＝L4The maximum pivot angle psi of the rocker can be obtained as 180 deg.
By increasing L3Let L be1＜L3＜L4The swing angle psi of the rocker arm in the range of more than 0 DEG and less than 180 DEG can be obtained as 2arcsin (L)1/L3)。
When K is 1, if the joystick CD is the longest joystick, the joystick length should satisfy the condition L1+L3≤L2+L4(ii) a When ABCD is diamond shaped, i.e. L1＝L2＝L3＝L4Then, the maximum swing angle psi of the rocker can be 180 deg.
When K is 1, if the joystick CD is the longest joystick, the joystick length should satisfy the condition L1+L3≤L2+L4(ii) a When the ABCD is not a diamond, a rocker swing angle ψ of 2arcsin (L) in a range of more than 0 ° and less than 180 ° can be obtained1/L3)。
The design method of the crank-rocker mechanism of the rotation and reciprocating swing conversion device provides a classification calculation formula of the rocker swing angle aiming at different length configuration relations of a crank, a connecting rod, a rocker and a frame rod, and solves the problem that the configuration relation of the swing angle output by swing motion and the length of the crank-rocker mechanism rod depends on experience determination for a long time and lacks quantitative design basis.
Drawings
The description includes the following figures, the contents shown are respectively:
FIG. 1 is a schematic diagram of configuring the rocker swing angle by different rod lengths;
FIG. 2 is a schematic structural view of a crank and rocker mechanism of the motion conversion apparatus;
FIG. 3 is a schematic structural view of a lower case;
FIG. 4 is a schematic structural view of the first housing half;
FIG. 5 is a schematic view of the input shaft and the drive bevel gear;
FIG. 6 is a schematic structural view of the intermediate shaft;
FIG. 7 is a schematic view of the construction of the driven bevel gear;
FIG. 8 is a schematic structural view of the crank;
FIG. 9 is a schematic structural view of a swing shaft;
FIG. 10 is a schematic structural view of the rocker;
FIG. 11 is a schematic view of a connecting rod configuration;
labeled as: 1. a lower box body; 101. mounting holes; 102. an internally threaded bore; 103. a bearing housing bore; 104. a bearing seat; 105. a bearing housing bore; 106. a bearing housing bore; 107. a bearing housing bore; 2. a first housing half; 201. an end face; 202. a through hole; 203. a counter bore; 204. a counter bore; 205. a counter bore; 3. an input shaft; 301. a drive bevel gear; 302. a journal; 303. a journal; 304. an external thread; 4. an intermediate shaft; 401. a middle shaft section; 402. a journal; 403. a keyway; 404. a journal; 405. a journal; 406. a journal; 407. a keyway; 408. a journal; 5. an output shaft; 501. a middle shaft section; 502. a journal; 503. a journal; 504. a keyway; 505. a journal; 6. a driven bevel gear; 601. gear teeth; 602. a through hole; 603. a keyway; 701. a first bearing; 801. a second bearing; 802. a third bearing; 9. a crank; 901. a through hole; 902. a through hole; 903. a keyway; 10. a connecting rod; 1001. a through hole; 1002. a through hole; 11. a rocker; 1101. a through hole; 1102. a through hole; 1103. a keyway.
Detailed Description
The following detailed description of the embodiments of the present invention will be given with reference to the accompanying drawings for a purpose of helping those skilled in the art to more fully, accurately and deeply understand the concept and technical solution of the present invention and to facilitate its implementation.
As shown in fig. 1, the present invention provides a design method of a crank and rocker mechanism of a rotation and reciprocating swing conversion device, comprising the following steps:
s1, marking the length of the crank as L1The length of the rack bar is marked as L4The length of the connecting rod is marked as L2The length of the rocker is recorded as L3；
S2, recording the intersection points of the axes of the through holes at the two ends of the crank and the motion plane of the crank rocker mechanism as A and B respectively; the intersection points of the axes of the intermediate shaft 4 and the output shaft 5 and the motion plane of the crank rocker mechanism are A and D respectively; the intersection points of the axes of the through holes at the two ends of the connecting rod and the motion plane of the crank rocker mechanism are B and C respectively; the intersection points of the axes of the through holes at the two ends of the rocker and the motion plane of the crank rocker mechanism are D and C respectively; the rod lengths of the four-bar mechanism ABCD are respectively: crank AB ═ L1Connecting rod BC ═ L2Rocker arm CD ═ L3Rack bar AD ═ L4；
S3, a crank AB is the shortest rod, the crank AB drives a rocker CD to do reciprocating swing motion through a connecting rod BC when doing full-circle rotation motion, and the average speed ratio of the working stroke and the return stroke of the rocker CD is recorded as K;
s4, when the crank AB and the connecting rod BC are straightened and collinear, a straight line AB is formed2C2(ii) a When the crank AB and the connecting rod BC are overlapped and collinear, a straight line B is formed1AC1(ii) a Straight line AB2C2And a straight line B1AC1The included angle between the two is marked as theta, the reciprocating swing angle of the rocker is marked as psi, and the theta is 180 DEG- (K-1)/(K + 1);
s4 at Δ C1C2D and Δ C1C2In A, C is calculated by the cosine theorem1C2 2Obtaining:
Figure BDA0002822191530000051
by working up the formula, we can obtain:
Figure BDA0002822191530000052
s5, calculating the swing angle of the rocker,
Figure BDA0002822191530000053
as shown in fig. 2 to 11, the rotation and reciprocating swing converting device includes an upper case, a lower case 1, an input shaft 3, an intermediate shaft 4 and an output shaft 5 rotatably disposed on the lower case 1, a supporting mechanism disposed on the lower case 1 and supporting the input shaft 3, a crank and rocker mechanism disposed in an inner cavity of the lower case 1, and a bevel gear transmission mechanism connected to the input shaft 3 and the intermediate shaft 4, wherein the crank and rocker mechanism includes a crank 9, a connecting rod 10 rotatably connected to the crank 9, and a rocker 11 rotatably connected to the connecting rod 10 and connected to the output shaft 5, the crank 9 is fixedly connected to an end of the intermediate shaft 4, and the connecting rod 10 and the intermediate shaft 4 are disposed on opposite sides of the crank 9, respectively.
As shown in fig. 2, the lower casing 1 is a hollow casing structure, an upper casing (not shown) is used for closing the top opening of the lower casing 1, the upper casing is mounted on the lower casing 1, the axes of the intermediate shaft 4 and the output shaft 5 are parallel, the axis of the input shaft 3 is perpendicular to the axes of the intermediate shaft 4 and the output shaft 5, and the intermediate shaft 4 is located between the input shaft 3 and the output shaft 5. The length of jackshaft 4 is less than the length of output shaft 5, and the one end on the length direction of crank 9 and the one end fixed connection on the length direction of jackshaft 4, the other end on the length direction of crank 9 and the one end on the length direction of connecting rod 10 rotate to be connected, and the other end on the length direction of connecting rod 10 rotates with the one end of rocker 11 to be connected, the other end and the output shaft 5 fixed connection of rocker 11. The crank 9 and the rocker 11 are in the same plane of movement and the length of the connecting rod 10 is parallel to this plane of movement. Bevel gear drive mechanism includes engaged with initiative bevel gear and driven bevel gear 6, initiative bevel gear and the one end fixed connection of input shaft 3, the other end and the power supply of input shaft 3 are connected, driven bevel gear 6 and jackshaft 4 fixed connection and driven bevel gear 6 are located the position department between the length direction of jackshaft 4's the ascending both ends, set up bearing frame 104 in the interior cavity of lower box 1, jackshaft 4 is installed on bearing frame 104 and lower box 1 through two first bearings 701, crank 9 and driven bevel gear 6 are located the relative both sides of bearing frame 104 respectively. Set up the bearing housing hole 103 that lets one of them first bearing 701 embedding on the top surface of lower box 1, set up the bearing housing hole 105 that lets another first bearing 701 embedding on the top surface of bearing housing, bearing housing hole 103 and bearing housing hole 105 are the semicircular hole, set up the upper cover on the top surface of bearing housing, the upper cover has the bearing housing hole that lets a first bearing 701 embedding, the bearing housing hole and the bearing housing hole 105 of upper cover are coaxial hole, also set up the bearing housing hole that lets first bearing 701 embedding on the upper box, the bearing housing hole and the bearing housing hole 103 on the upper box are coaxial hole. The bearing seat 104 is arranged in the inner cavity of the lower box body 1, meanwhile, the bearing seat hole 105 is arranged to be of a split structure, so that the length of the intermediate shaft 4 is shortened, the intermediate shaft 4 is arranged between the bearing seat hole 103 and the bearing seat hole 105, the crank 9 is arranged at the tail end of the intermediate shaft 4, the motion plane of the crank rocker mechanism is located in the cavity of the lower box body 1 and on one side of the extension line of the intermediate shaft 4, and motion interference between the connecting rod 10 and the intermediate shaft 4 is effectively avoided.
As shown in fig. 2 to 5, the support mechanism includes a first half housing 2, a second half housing (not shown) connected to the first half housing 2, and a second bearing 801 and a third bearing 802 provided between the first half housing 2 and the second half housing and providing support to the input shaft 3, the input shaft 3 passing through between the first half housing 2 and the second half housing. The first half case 2 is mounted on the lower case 1 by screws, the lower case 1 has a mounting hole 101 into which the first half case 2 is fitted and an internally threaded hole into which the screws are inserted, and the first half case 2 has a counter bore 205 through which the screws pass. The mounting hole 101 is a semicircular hole provided on the top surface of the lower case 1, the axis of the mounting hole 101 is parallel to the axis of the input shaft 3, and the internal thread hole extends toward the inside of the lower case 1 in the radial direction of the mounting hole 101. First half casing 2 and second half casing are half-circular arc structure, and the external diameter of first half casing 2 is the same with the diameter size of mounting hole 101, and first half casing 2 and second half casing pass through bolt fixed connection for coaxial setting and first half casing 2 and second half casing, and the casing of formation is the subdivision formula structure. The first half shell 2 and the second half shell have the same length, the center of the first half shell 2 is a through hole 202 for the input shaft 3 to pass through, the center of the second half shell is also a through hole for the input shaft 3 to pass through, and the through holes at the centers of the first half shell 2 and the second half shell are coaxial holes. A counterbore 203 for embedding the second bearing 801 is arranged at one end of the first half housing 2 in the length direction, a counterbore 204 for embedding the third bearing 802 is arranged at the other end of the first half housing 2 in the length direction, the through hole 202 is positioned between the counterbore 203 and the counterbore 204, and the diameters of the counterbore 203 and the counterbore 204 are larger than that of the through hole 202. The two ends of the second half shell in the length direction are respectively provided with a counter bore for embedding the second bearing 801 and the third bearing 802, and the counter bores arranged at the two ends of the second half shell in the length direction are respectively aligned and coaxial with the counter bore 203 and the counter bore 204 on the first half shell 2.
As shown in fig. 2 and 5, a locking nut is arranged on the input shaft 3, the locking nut is in threaded connection with the input shaft 3, the locking nut is used for limiting the third bearing 802, the locking nut is in threaded connection with the input shaft 3, and the second bearing 801 is located between a drive bevel gear of a bevel gear transmission mechanism and the third bearing 802. The second bearing 801 is installed on a shaft journal 302 of the input shaft 3, the third bearing 802 is installed on a shaft journal 303 of the input shaft 3, an external thread 304 for connecting the locking nut in a threaded manner is arranged on the outer circumferential surface of the input shaft 3, the shaft journal 303 is positioned between the shaft journal 302 and the external thread 304, the diameter of the shaft journal 302 is larger than that of the shaft journal 303, and the drive bevel gear is fixedly connected with the shaft journal 302. Because the input shaft 3 is a high-speed shaft and simultaneously bears radial force and axial force, the second bearing 801 and the third bearing 802 are angular contact ball bearings; and a lock nut is mounted on the input shaft 3, the lock nut is a round nut, and the lock nut can be used for limiting the inner ring of the third bearing 802 in the axial direction of the input shaft 3. The box and the casing adopt a split structure, a first gasket is arranged between the locking nut and the inner ring of the third bearing 802, the first gasket is clamped between the locking nut and the inner ring of the third bearing 802, an end cover for axially limiting the intermediate shaft 4 is arranged on the lower box 1, a second gasket is arranged between the end cover and the outer ring of the first bearing 701 positioned in the bearing seat hole 103, and the first gasket and the second gasket have various models with different thicknesses. Therefore, the gaskets are arranged between the locking nut and the third bearing 802 and between the outer ring of the first bearing 701 and the end cover for adjustment, so that the correct meshing position of the driving bevel gear and the driven bevel gear 6 can be conveniently debugged, and the technical problem that the correct meshing position of the space gear is difficult to guarantee through debugging is solved.
As shown in fig. 2 and 6, the intermediate shaft section 401 of the intermediate shaft 4 has a maximum diameter and tapers to a smaller diameter at both ends. A key groove 403 is formed in the shaft diameter 402 of the intermediate shaft 4 and used for realizing circumferential fixing of the driven bevel gear 6 relative to the intermediate shaft 4 so as to transmit torque; the shaft diameter 404 of the intermediate shaft 4 is used for installing the inner ring of the first bearing 701, and when the intermediate shaft is installed, the outer ring of the first bearing 701 falls in the bearing seat hole 103; the shaft diameter 405 of the intermediate shaft 4 is used to mount the inner race of the other first bearing 701, and when mounted, the outer race of the first bearing 701 is seated in the bearing seat bore 105. Because the intermediate shaft 4 is a low-speed shaft and simultaneously bears radial force and axial force, the first bearing 701 is a tapered roller bearing; a key groove 407 is formed on the shaft diameter 406 and used for realizing circumferential fixation of the crank 9 relative to the intermediate shaft 4 so as to transmit torque; the shaft diameter 408 of the intermediate shaft 4 is provided with external threads for mounting a round nut to axially fix the outer end face of the crank 9.
As shown in fig. 2 and 7, the driven bevel gear 6 is provided with gear teeth 601, a through hole 602 along the center line, and a key groove 603 at one end. When the driven bevel gear 6 is mounted on the intermediate shaft 4, the through hole 602 is in interference fit with the shaft diameter 402 and is circumferentially fixed by the key, the key groove 603 and the key groove 403.
As shown in fig. 2, during assembly, the input shaft 3 is mounted on the first half-shell 2 through the second bearing 801 and the third bearing 802, the intermediate shaft 4 is mounted on the lower box 1 and the bearing seat through the two first bearings 701, the upper cover is covered on the bearing seat, the first gasket is mounted on the input shaft 3, the second gasket is mounted on the intermediate shaft 4, the meshing position between the driving bevel gear and the driven bevel gear 6 is adjusted, and after the adjustment is completed, the second half-shell is covered on the first half-shell 2.
As shown in fig. 2 and 8, the crank 9 is a rod-shaped structure with a rectangular cross section, two ends of the crank 9 are semi-circular structures, and cylindrical through holes 901 and 902 are arranged at two ends of the crank 9; a key groove 903 is formed at the outer end of the through hole 901; when the crank 9 is mounted on the intermediate shaft 4, the through hole 901 and the shaft diameter 406 are in interference fit, and the crank 9 is circumferentially fixed relative to the intermediate shaft 4 through the key, the key groove 903 and the key groove 407.
As shown in fig. 2 and 9, the output shaft 5 is mounted on the lower case 1 through two fourth bearings, the length of the output shaft 5 is greater than that of the intermediate shaft 4, and the fourth bearings are cylindrical roller bearings or deep groove ball bearings. The diameter of the middle shaft section 501 of the output shaft 5 is the largest, and the diameters decrease toward both ends. The shaft diameter 502 of the output shaft 5 is used for mounting one fourth bearing, and the shaft diameter 505 of the output shaft 5 is used for mounting the other fourth bearing; the outer end of the shaft diameter 503 of the output shaft 5 is provided with a key groove 504 for realizing circumferential fixing of the rocker 11 and the output shaft 5 so as to transmit torque.
As shown in fig. 2 and 10, the rocker 11 is a rod-shaped structure with a rectangular cross section, two ends of the rocker 11 are semi-circular structures, and two ends of the rocker 11 are respectively provided with cylindrical through holes 1101 and 1102; a key groove 1103 is arranged at the outer end of the through hole 1101; when the rocker 11 is mounted on the output shaft 5, the through hole 1101 and the shaft diameter 503 are in interference fit, and the rocker 11 is circumferentially fixed relative to the output shaft 5 through the key, the key groove 504 and the key groove 1103.
When the bearing is installed, the inner ring of the fourth bearing is in interference fit with the shaft diameter 502, and the outer ring of the fourth bearing falls into the bearing seat hole 106 formed in the top surface of the upper box body; the inner ring of another fourth bearing is in interference fit with the shaft diameter 505, and the outer ring of the fourth bearing falls into the bearing seat hole 107 arranged on the top surface of the upper box body. The output shaft 5 is a low-speed swing shaft and only bears radial force, and the fourth bearing is a cylindrical roller bearing or a deep groove ball bearing.
As shown in fig. 2 and 11, the connecting rod 10 has a rod-shaped structure with a rectangular cross section, and has semicircular structures at both ends, and the connecting rod 10 has cylindrical through holes 1001 and 1002 at both ends.
As shown in FIG. 2, when the crank rocker mechanism is installed, it is necessary to ensure that the crank 9 and the rocker 11 are in the same motion plane, and the motion plane of the connecting rod 10 is parallel to the same, and the connecting rod 10 is hinged with the crank 9 at the through hole 1001 and the through hole 902; the link 10 is hinge-connected to the rocker 11 at the through hole 1002 and the through hole 1102.
As shown in fig. 2, the input shaft 3 and its parts on the shaft are assembled, the intermediate shaft 4 and its parts on the shaft are assembled, the output shaft 5 and its parts on the shaft are assembled, and the upper cover is covered on the lower case 1.
As shown in fig. 2, the input shaft 3 can be directly connected to a power source through a coupling, or the power can be connected after a pulley is assembled at the shaft end. The whole-circle rotation of the input shaft 3 is converted into the whole-circle rotation of the crank 9 through the meshing of the driving bevel gear and the driven bevel gear 6, the whole-circle rotation of the crank 9 is further converted into the reciprocating rotation of the output shaft 5 through the connecting rod 10 and the rocker 11, and the output end of the output shaft 5 can be used for being connected with a swing execution system.
As shown in fig. 1, 2, 8, 10 and 11, the distance between the center of the through hole 901 and the center of the through hole 902 at both ends of the crank is the length of the crank, and the length of the crank is denoted as L1；
The distance between the two axes of the intermediate shaft 4 and the output shaft 5 is the rod length of the frame, and the rod length of the frame is marked as L4；
The distance between the centers of the through holes 1001 and 1002 at the two ends of the connecting rod is the length of the connecting rod, and the length of the connecting rod is marked as L2；
The distance between the centers of the through holes 1101 and 1102 at the two ends of the rocker is the length of the rocker, and the length of the rocker is recorded as L3。
The intersection points of the axes of the through holes 901 and 902 at the two ends of the crank and the motion plane of the crank rocker mechanism are respectively A and B; the intersection points of the axes of the intermediate shaft 4 and the output shaft 5 and the motion plane of the crank rocker mechanism are A and D respectively; the intersection points of the axes of the through holes 1001 and 1002 at the two ends of the connecting rod and the motion plane of the crank rocker mechanism are B and C respectively; the intersection points of the axes of the through holes 1101 and 1102 at the two ends of the rocker and the motion plane of the crank-rocker mechanism are D and C respectively. Then: the rod lengths of the four-rod mechanism ABCD are respectively as follows: AB ═ L1；BC＝L2；CD＝L3；AD＝L4。
In the design method of the present invention, the core design technology is that different swing rocker swings (swing angles) can be obtained by the bar length configuration of the four-bar linkage ABCD, and the method of obtaining different swing rocker swing angles by the bar length configuration is briefly described below.
As shown in FIG. 1, let us take the crank AB (the rod length is L)1) Is the shortest rod, and has a straight line AD (the rod length is L)4) A rack rod, a crank AB rotates for the whole circle to make a rocker CD, reciprocating swing motion is carried out, and the average speed ratio of the working stroke of the rocker CD to the return stroke is set to be K; as shown in FIG. 11, when the crank AB and the connecting rod BC are straightened and collinear, a straight line AB is formed2C2At this time, the intersection points of the axes of the through holes 901 and 902 at the two ends of the crank and the motion plane of the crank rocker mechanism are A and B respectively2The intersection points of the axes of the through holes 1001 and 1002 at the two ends of the connecting rod and the motion plane of the crank rocker mechanism are B2，C2(ii) a When the crank AB and the connecting rod BC are overlapped and collinear, a straight line B is formed1AC1At this time, the intersection points of the axes of the through holes 901 and 902 at the two ends of the crank and the motion plane of the crank rocker mechanism are A and B respectively1The intersection points of the axes of the through holes 1001 and 1002 at the two ends of the connecting rod and the motion plane of the crank rocker mechanism are B1，C1(ii) a Straight line AB2C2And a straight line B1AC1The included angle between the two is marked as theta, the reciprocating swing angle of the rocker is marked as psi, and then:
θ＝180°·(K-1)/(K+1) (1)
under different conditions, the rod lengths should satisfy the following conditions:
(1) if rack rod AD (rod length is marked as L)4) The longest rod, then:
L1+L4≤L2+L3 (2)
(2) if connecting rod BC (the length of the rod is marked as L2) The longest rod, then:
L1+L2≤L4+L3 (3)
(3) if rocker CD (the length of the rocker is marked as L)3) The longest rod, then:
L1+L3≤L2+L4 (4)
as shown in FIG. 1, at Δ C1C2D and Δ C1C2In A, C is calculated by the cosine theorem1C2 2Obtaining:
Figure BDA0002822191530000121
by working up formula (5), the following can be obtained:
Figure BDA0002822191530000122
in the formula (1), on the premise that the average speed ratio K of the working stroke and the return stroke of the rocker CD is selected, the relationship between the swing angle of the rocker and the length of each rod satisfies the formula (7):
Figure BDA0002822191530000123
embodiment when the average speed ratio K of the working stroke to the return stroke of the rocker CD is 1:
(1) AD (Pole length L)4) For the longest rod, the rod length must satisfy the following conditions:
L1+L4≤L2+L3 (8)
the maximum value of the swing angle of the rocker and the adjustment range of the swing angle are shown as follows by the formula (7):
(a) increase L2Decrease L3. Let L1＝L3，L2＝L4The maximum pivot angle psi of the rocker can be obtained as 180 deg.
(b) To increase L3Let L be1＜L3＜L4The rocker swing angle ψ of 2arcsin (L1/L3) in the range of more than 0 ° and less than 180 ° can be obtained.
(2) BC (length of rod is marked as L2) For the longest rod, the rod length must satisfy the following conditions:
L1+L2≤L4+L3 (9)
the maximum value of the swing angle of the rocker and the adjustment range of the swing angle are shown as follows by the formula (7):
(a) increase L4Decrease L3. Let L1＝L3，L2＝L4The maximum pivot angle psi of the rocker can be obtained as 180 deg.
(b) Increase L3Let L be1＜L3＜L4The swing angle psi of the rocker arm in the range of more than 0 DEG and less than 180 DEG can be obtained as 2arcsin (L)1/L3)。
(3) CD (Pole length L)3) For the longest rod, the rod length must satisfy the following conditions:
L1+L3≤L2+L4 (10)
the maximum value of the swing angle of the rocker and the adjustment range of the swing angle are shown as follows by the formula (7):
(a) only when ABCD is diamond-shaped, i.e. L1＝L2＝L3＝L4Then, the maximum swing angle psi of the rocker can be 180 deg.
(b) When the ABCD is not a diamond, a rocker swing angle ψ of 2arcsin (L) in a range of more than 0 ° and less than 180 ° can be obtained1/L3)。
The invention is described above with reference to the accompanying drawings. It is to be understood that the specific implementations of the invention are not limited in this respect. Various insubstantial improvements are made by adopting the method conception and the technical scheme of the invention; the present invention is not limited to the above embodiments, and can be modified in various ways.

Claims (10)

1. The design method of the crank rocker mechanism of the rotation and reciprocating swing conversion device is characterized by comprising the following steps:
s1, marking the length of the crank as L1The length of the rack bar is marked as L4The length of the connecting rod is marked as L2The length of the rocker is recorded as L3；
S2, recording the intersection points of the axes of the through holes at the two ends of the crank and the motion plane of the crank rocker mechanism as A and B respectively; the intersection points of the axes of the intermediate shaft and the output shaft and the motion plane of the crank rocker mechanism are A and D respectively; the intersection points of the axes of the through holes at the two ends of the connecting rod and the motion plane of the crank rocker mechanism are B and C respectively; the intersection points of the axes of the through holes at the two ends of the rocker and the motion plane of the crank rocker mechanism are D and C respectively; the rod lengths of the four-bar mechanism ABCD are respectively: crank AB ═ L1Connecting rod BC ═ L2Rocker arm CD ═ L3Rack bar AD ═ L4；
S3, a crank AB is the shortest rod, the crank AB drives a rocker CD to do reciprocating swing motion through a connecting rod BC when doing full-circle rotation motion, and the average speed ratio of the working stroke and the return stroke of the rocker CD is recorded as K;
s4, when the crank AB and the connecting rod BC are straightened and collinear, a straight line AB is formed2C2(ii) a When the crank AB and the connecting rod BC are overlapped and collinear, a straight line B is formed1AC1(ii) a Straight line AB2C2And a straight line B1AC1The included angle between the two is marked as theta, the reciprocating swing angle of the rocker is marked as psi, and the theta is 180 DEG- (K-1)/(K + 1);
s4 at Δ C1C2D and Δ C1C2In A, C is calculated by the cosine theorem1C2 2Obtaining:
Figure FDA0002822191520000011
by working up the formula, we can obtain:
Figure FDA0002822191520000012
s5, calculating the swing angle of the rocker,
Figure FDA0002822191520000013
2. the method as claimed in claim 1, wherein in step S2, if the rack bar AD is the longest bar: l is1+L4≤L2+L3。
3. The method of designing a crank and rocker mechanism of a device for converting rotational motion and reciprocal swing according to claim 1, wherein in step S2, if the connecting rod BC is the longest rod, then: l is1+L2≤L4+L3。
4. The method for designing a crank and rocker mechanism of a device for converting rotational motion and reciprocal swing as claimed in claim 1, wherein in step S2, if rocker CD is the longest rod, then: l is1+L3≤L2+L4。
5. The method as claimed in claim 1, wherein when K is 1, if the rack bar AD is the longest bar, the bar length satisfies the condition L1+L4≤L2+L3(ii) a By increasing L2Decrease L3Let L be1＝L3，L2＝L4The maximum pivot angle psi of the rocker can be obtained as 180 deg.
6. Method for designing a crank and rocker mechanism for a device for converting rotary motion to reciprocating motion according to claim 5, characterized in that the L is increased3Let L be1＜L3＜L4The swing angle psi of the rocker arm in the range of more than 0 DEG and less than 180 DEG can be obtained as 2arcsin (L)1/L3)。
7. The method for designing a crank and rocker mechanism of a device for converting rotational motion and reciprocal movement of claim 1, wherein when K is 1, if the connecting rod BC is the longest rod, the rod length should satisfy the condition L1+L2≤L4+L3(ii) a By increasing L4Decrease L3Let L be1＝L3，L2＝L4The maximum pivot angle psi of the rocker can be obtained as 180 deg.
8. Method for designing a crank and rocker mechanism for a device for converting rotary motion to reciprocating motion according to claim 7, characterized in that the L is increased3Let L be1＜L3＜L4The swing angle psi of the rocker can be within the range of more than 0 DEG and less than 180 DEG＝2arcsin(L1/L3)。
9. The method for designing a crank and rocker mechanism of a device for converting rotational motion and reciprocal motion as claimed in claim 1, wherein when K is 1, if the rocker CD is the longest one, the length of the rocker must satisfy the condition L1+L3≤L2+L4(ii) a When ABCD is diamond shaped, i.e. L1＝L2＝L3＝L4Then, the maximum swing angle psi of the rocker can be 180 deg.
10. The method for designing a crank and rocker mechanism of a device for converting rotational motion and reciprocal motion as claimed in claim 1, wherein when K is 1, if the rocker CD is the longest one, the length of the rocker must satisfy the condition L1+L3≤L2+L4(ii) a When the ABCD is not a diamond, a rocker swing angle ψ of 2arcsin (L) in a range of more than 0 ° and less than 180 ° can be obtained1/L3)。
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