CN113790253A

CN113790253A - Guide rod column wheel transmission device

Info

Publication number: CN113790253A
Application number: CN202111168039.0A
Authority: CN
Inventors: 孔向东; 董平
Original assignee: Taizhou University
Current assignee: Taizhou University
Priority date: 2021-09-30
Filing date: 2021-09-30
Publication date: 2021-12-14
Anticipated expiration: 2041-09-30
Also published as: CN113790253B

Abstract

The invention relates to a guide rod column wheel transmission device, which comprises a first disc and a second disc with different structural sizes, wherein the guide rod column wheel transmission device is provided with at least one first disc, each first disc and each second disc are eccentrically arranged, a guide rod which is not fixed on the first disc and not fixed on the second disc can rotate around a guide rod rotating center which is eccentrically arranged relative to the rotating center of the first disc, and when the guide rod drives the first disc or the second disc to rotate, the linear velocity of the forward stroke of the guide rod is slower than the linear velocity of the return stroke of the guide rod.

Description

Guide rod column wheel transmission device

Technical Field

The invention relates to the technical field of mechanical industry, in particular to a guide rod column wheel transmission device.

Background

The industrial robot mainly comprises a precision speed reducer, a motor, a controller and a body. The precision speed reducer is a core part of the robot, and the manufacturing cost of the precision speed reducer accounts for about 35 percent of the total cost of the robot. The transmission forms of the existing industrial robot precision speed reducer mainly comprise three forms of harmonic gear transmission, cycloid planetary gear transmission and involute planetary gear transmission, and the harmonic speed reducer and the RV speed reducer are the most typical applications. The harmonic gear transmission principle of the harmonic reducer is that mechanical waves generated by a wave generator are used for controlling elastic deformation of a flexible gear, and staggered tooth movement generated by difference of numbers of teeth of a rigid gear and a flexible gear is used for outputting the rotating speed and power of the flexible gear. The transmission of RV reducer is formed by combining one-stage planetary involute gear transmission and one-stage cycloid transmission, and is characterized by that after the power is inputted by driving pinion, three planetary gears uniformly distributed circumferentially can be used for driving three rotating arms to synchronously drive two cycloid gears which are eccentrically arranged and staggered by 180 deg. and the output torque produced by meshing the cycloid gears and needle teeth can be outputted by means of rotating speed output mechanism.

CN 209925523U discloses a planetary cycloid type speed reducer for a light robot, which comprises two involute planetary gears, an involute sun gear shaft, an involute input gear shaft, two eccentric shafts, two cycloid gears, a front planet carrier, a rear planet carrier, rolling needles, needle shells and column type taper pins, wherein the rolling needles are uniformly arranged along the circumferential direction of the inner cavity wall of the needle shell; the front planet carrier and the rear planet carrier are respectively sleeved in two ends of the inner cavity of the needle shell, are respectively connected with the wall surface of the inner cavity of the needle shell in a rotating mode through angular contact ball bearings, and are fixedly connected with each other through column type taper pins and inner hexagon bolts. A light-duty robot with planet cycloid formula speed reducer, its is rational in infrastructure, have simple structure, convenient to use, small, precision height, with low costs, bear advantages such as big, effectively solve the problem that lacks light-duty robot with RV speed reducer.

CN 107448553A discloses a light robot joint reducer, which comprises a driving wheel and an input wheel which are engaged with each other, wherein the input wheel is connected with an output frame through a planetary gear train, and the driving wheel is fixed on an output shaft of a motor; the planetary gear train comprises a central gear, three planetary gears, a fixed gear and an output gear, wherein the central gear and a rotating shaft of the input gear are designed integrally, two outer gear rings are respectively the fixed gear and the output gear, and the output gear is connected with an output frame; the second planet wheel and the third planet wheel are the same in length and are half of the first planet wheel in length; the first planet wheel is meshed with the two outer gear rings, and the second planet wheel and the third planet wheel are respectively meshed with the fixed wheel and the output wheel. The structure is compact, light and small, and the robot can be widely applied to the fields of service robots, home robots and the like.

However, in both the RV reducer and the harmonic reducer, the processing of parts such as the RV cycloid wheel, the eccentric shaft, the pin gear housing and/or the harmonic gear inside the reducer needs to be performed by advanced technicians using various special high-precision grinding machines and numerical control machines to achieve the high-precision muir level, and meanwhile, for the consistency of product stability, a large amount of manpower, material resources and financial resources need to be invested in the aspects of material and heat treatment, precision assembly, precision detection and the like, so that the processing difficulty is high, and the manufacturing cost is high.

Furthermore, on the one hand, due to the differences in understanding to the person skilled in the art; on the other hand, since the applicant has studied a great deal of literature and patents when making the present invention, but the disclosure is not limited thereto and the details and contents thereof are not listed in detail, it is by no means the present invention has these prior art features, but the present invention has all the features of the prior art, and the applicant reserves the right to increase the related prior art in the background.

Disclosure of Invention

Aiming at the defects of the prior art, the invention aims to provide a guide rod column wheel transmission device by innovating a transmission structure, aiming at solving the problems that the core components of a precision speed reducer of an industrial robot, especially a light robot, need to be processed and assembled by high-end mechanical equipment, the cost is high, the manufacturing is difficult, and the like. In addition, the rotation center of the first disc and the rotation center of the guide rod are offset, so that the transmission mechanism has unique quick return characteristic, the second disc is ensured to move stably, the transmission force and the torque are large, and the transmission efficiency is high. The device can realize intermittent motion or continuous cross motion.

The invention discloses a guide rod column wheel transmission device which comprises a first disc and a second disc which are different in structural size, wherein the guide rod column wheel transmission device is provided with at least one first disc, each first disc and each second disc are eccentrically arranged, a guide rod which is not fixed on the first disc and not fixed on the second disc can rotate around a guide rod rotating center which is eccentrically arranged relative to the rotating center of the first disc, and when the guide rod drives the first disc or the second disc to rotate, the linear velocity of the forward stroke of the guide rod is slower than the linear velocity of the return stroke of the guide rod.

Preferably, the guide bar is capable of rotating about the guide bar rotation center based on the rotation of the first disk or the second disk, relatively driving the second disk or the first disk to rotate in an indirect manner.

Preferably, the first or second disc is adapted to be rotated upon connection with the drive torque generating means to receive power generated by the drive torque generating means, wherein the power generated by the drive torque generating means can be transmitted to the leader wheel assembly directly or indirectly through a gear assembly.

Preferably, at least a part of the area on the first disk can be movably connected with a rotating disk provided with a sliding groove in a mode of opening the rotating groove, wherein the rotating disk can rotate based on an axis where the center of the rotating disk is located and can rotate around the rotating center of the first disk.

Preferably, the sliding groove can be movably connected with the guide rod in a mode of arranging a plurality of balls, so that the guide rod can move relative to the sliding groove in a mode that at least partial areas of the guide rod are limited in the sliding groove, and the partial areas of the guide rod limited in the sliding groove change in a reciprocating mode along with the relative movement.

Preferably, the guide rod can perform a transmission process in a contact manner with a plurality of pins circumferentially arranged on the second disc at intervals so as to realize indirect momentum transfer between the first disc and the second disc.

Preferably, the guide rod performs the transfer of momentum from contact to separation with the pin, and the node point of contact and separation of the guide rod with the pin and the momentum transferred during contact are different according to the length of the guide rod.

Preferably, a guide rod head can be provided at a side of the guide rod contacting the pin to constitute a guide rod assembly, such that the guide rod assembly and the pin are coupled by adjusting a coupling relationship between the guide rod head and the guide rod to change an overall length of the guide rod assembly.

Preferably, the number of the pins arranged on the second disc and the number of the guide rods movably connected with different guide rods arranged on the first disc can determine the speed ratio of the guide rod column wheel transmission device.

Preferably, the guide rod column wheel transmission device can be provided with transmission discs coaxial with the second discs, the transmission discs are provided with a plurality of pins with the number not equal to that of the second discs, momentum transfer can be carried out between the second discs and the transmission discs through the plurality of first discs connected with the guide rods, and the acceleration or deceleration function of the guide rod column wheel transmission device is realized based on the transfer direction of the momentum. Further, the coaxial line of the second disk and the transmission disk only means that the rotation shafts of the two are located on the same straight line, but does not mean that the two share the same rotation shaft, that is, the two can have independent rotation shafts.

According to a preferred embodiment, the turn disc is rotatable with the first disc such that the guide rods movably connected to the turn disc can be pushed by the turn disc to rotate in the same rotational direction as the turn disc, with one end being detachably fixed. The guide rod can contact with the pin in the rotating process so as to drive the second disc to rotate by pushing the pin, wherein the guide rod can contact with the pin at least for a first time period in one period during rotation to realize transmission. Meanwhile, the external equipment can be provided with different power in different transmission efficiencies in first time periods of different lengths by adjusting the rotation center of the first disc, the rotation center of the guide rod and the rotation center of the second disc, and one or more of the radii of the first disc, the rotation disc, the guide rod and the pin, the number of the rotation disc, the guide rod and the pin, and the like, so as to ensure that the external equipment can perform preset movement, wherein intermittent movement, continuous cross movement and the like can be performed. Because the guide rod rotation axis and the first disk rotation axis respectively pass through the guide rod rotation center and the first disk rotation center, when the guide rod rotation axis and the first disk rotation axis are parallel and not collinear, the guide rod rotation center and the first disk rotation center are offset, so that the relative positions of the guide rod and the rotation disk in the periodic rotation process are all relatively moved, the motion process of the guide rod relative to the input disk in one period can be divided into a forward stroke and a return stroke according to the relative position between the guide rod rotation center and the first disk rotation center, wherein the return stroke speed is higher than the forward stroke, so that the guide rod can perform more transmission during the forward stroke with smaller average speed and larger average torque, so that the work process can be performed smoothly, and perform a non-work process during the return stroke with larger average speed and smaller average torque, so as to accelerate the non-work process and shorten the non-work time, therefore, the guide rod can ensure that the second disc moves more stably, the transmission force and the torque are larger, the transmission efficiency is higher in the working process, and meanwhile, the working efficiency is improved in a mode of accelerating the process and shortening the time in the non-working process.

According to a preferred embodiment, the guide bar is divided into an active bar and a passive bar, wherein the passive bar is the part located in the area of the first disk, i.e. between the centre of rotation of the guide bar and the outside of the rotating disk, and the active bar is the part not located in the area of the first disk. As the motor drives the first disc to rotate, so that the rotating disc capable of rotating in the rotating groove can push the guide rod to rotate, the guide rod can move relatively between the sliding groove of the rotating disc, so that the length of the working rod and the length of the non-working rod change periodically at any time and have opposite change trends, and therefore the working rod has a length large enough to contact the pin at some time.

According to a preferred embodiment, the spacing distance between each stud and the outer side of the rotary disk varies periodically as the rotary disk rotates, wherein the spacing distance varies between a maximum spacing distance value and a minimum spacing distance value. The corresponding moments when the length of the working rod is the same as the spacing distance at least comprise a first moment and a second moment, so that the length of the working rod is larger than the minimum value of the spacing distance in a first time period between the first moment and the second moment, and the guide rod is contacted with the pin and pushes the pin to rotate. The pins can be disposed on the second plate in a plurality of spaced-apart arrangements. Preferably, the distance between the cancellation circle centers of all the pins and the rotation center of the second disc is equal, so that the contact mode and the contact process of the guide rod when the guide rod is in contact with different pins are the same, and the transmission process of the guide rod column wheel transmission device is ensured to be stably carried out.

According to a preferred embodiment, since the rotation center of the guide rod is offset from the rotation center of the first disk and one end of the guide rod made of rigid material is fixedly connected, when the rotating disk pushes the guide rod to rotate, the rotating disk can rotate in the rotating groove of the first disk to adapt to different connection angles of the guide rod, so that the guide rod can move in the sliding groove of the rotating disk. The rotating groove of the cylindrical structure is internally tangent to the first disc, so that the rotating disc is arranged at the edge area of the first disc and can mark a ring concentric with the first disc when rotating around the rotating center of the first disc. Simultaneously, can set up a plurality of balls in the rolling disc to make the lateral wall of spout become rotatable cambered surface structure by fixed straight face structure, thereby reduce friction loss and improve transmission efficiency through the mode of changing sliding friction into rolling friction.

According to a preferred embodiment, a guide rod head is movably connected to one end of the guide rod, which is used for contacting the pin, and the guide rod head can be connected with the guide rod in a threaded fit mode or a fixing hole is matched with a fixing screw, so that the total length of the first component can be adjusted by changing the screwing degree of threads or adjusting the fixing position of the fixing screw, and the output speed of the guide rod column wheel transmission device can be changed under the condition that other conditions are not changed by adjusting the total length of the first component and/or the rotation center of the guide rod.

According to a preferred embodiment, the power generated by the drive torque generating means can be transmitted to the external device by means of a guide bar-and-pulley transmission. The first disc can drive the rotating disc to rotate around the rotating axis of the first disc, the rotating disc drives the guide rod to rotate around the guide rod rotating center, the guide rod rotating center and the first disc rotating center are respectively crossed by the guide rod rotating axis and the first disc rotating axis, and when the guide rod rotating axis and the first disc rotating axis are parallel and not collinear, the guide rod rotating center and the first disc rotating center are offset, so that relative sliding occurs constantly at the relative position of the guide rod and the rotating disc in the periodic rotating process, and the rotation of synchronous different axes of the guide rod and the rotating disc can be ensured. Meanwhile, one second disc can run together with the plurality of first discs, so that the transmission of different pins can be realized through the plurality of guide rods in the transmission process, and the guide rods and the pins can have more contact times and contact time to improve the transmission stability. In addition, when the first discs are installed in a specific installation mode, for example, an evenly distributed or symmetrical mode, the stress of the whole guide rod column wheel transmission device in the transmission process can be more uniform, and therefore the motion stability of the guide rod column wheel transmission device is greatly improved.

According to a preferred embodiment, the second disc, when used in cooperation with the first discs, may be connected to the drive torque generating means in a direct or indirect manner via the first disc drive shaft. When the first disc driving shafts of the respective first discs are directly connected to the driving torque generating devices, the number of the driving torque generating devices may be determined according to the number of the first discs; when a plurality of first disks are indirectly connected to the driving torque generating means through the same gear assembly, only one driving torque generating means may be provided to reduce installation and maintenance costs, and at the same time, the number of transmission gears may be determined according to the number of first disks. The gear assembly is arranged in a one-stage involute gear transmission mode, motion and power can be input by one motor, a plurality of synchronous transmission gears are driven to move through one input gear, and then a plurality of first discs are driven to move synchronously, so that the contact time and contact times of guide rods and pins arranged on the second discs at intervals are increased in multiples, the stress of the transmission device is uniform, partial resultant force can be offset, and the motion stability of the whole guide rod and pin wheel transmission device is greatly improved. In addition, the added primary involute gear transmission is beneficial to regulating and controlling the speed ratio of the whole guide rod column wheel transmission device, and the speed ratio range of the guide rod column wheel transmission device is greatly improved.

According to a preferred embodiment, during the rotation, due to the fact that the relative position between the guide rod and each pin is in a constantly changing process, there is a first time period during one cycle for the guide rod to be in contact with the pin, and there is a second time period other than the first time period for the guide rod to be out of contact with the pin, so that the guide rod and the pin can be alternately in a contact state and a non-contact state. When the guide rod is contacted with the pin, the guide rod is driven to the second disc through the pin; when the guide rod is not in contact with the pin, the guide rod is in an idle state, and the pin can drive the second disc to continue rotating under the action of inertia, so that the guide rod does not need to be continuously in contact with the pin, and the rotation of the second disc can be ensured. Meanwhile, the speed of the guide rod is higher due to the structural characteristics in an idle state, so that the time consumed in a non-working state can be saved, and the working transmission efficiency is improved.

According to a preferred embodiment, the guide rod column wheel transmission device can be adjusted through influencing factors such as installation positions, structural sizes, quantity relations and the like of different components, so that a user can control the guide rod column wheel transmission device, the guide rod column wheel transmission device can output motion modes required by the user, and the guide rod column wheel transmission device has multiple modes which can be selected by the user. In addition, in various modes of the guide rod-column wheel transmission, parameters such as output speed can be adjusted by fine adjustment of the above influencing factors, so that the transmitted parameters can be adjusted in the same movement mode.

Drawings

FIG. 1 is a schematic diagram of the transmission of a guide bar column wheel transmission;

FIG. 2 is a schematic diagram of the transmission between the first plate and the guide rod of the guide rod column wheel transmission device;

FIG. 3 is a schematic view of a partial structure of the guide bar column wheel transmission;

FIG. 4 is a schematic view of a rotating disk of the guide bar column wheel transmission in a different embodiment;

FIG. 5 is an exploded view of the guide bar column wheel transmission;

FIG. 6 is a schematic structural view of a guide bar column wheel transmission in embodiment 1;

FIG. 7 is a schematic structural view of a guide bar column wheel transmission in embodiment 2;

FIG. 8 is a structural comparison view of the guide bar column wheel actuator before and after changing the center of rotation of the guide bar in embodiment 2;

FIG. 9 is a schematic structural view of a guide bar column wheel transmission in embodiment 3;

FIG. 10 is a schematic structural view of a guide bar column wheel transmission in embodiment 4;

fig. 11 is a schematic structural view of the guide rod column wheel transmission device in embodiment 5.

List of reference numerals

1: a first disk; 10: a casing push rod shaft; 11: the shell is fixedly connected with the connecting hole; 12: a ball bearing; 13: a guide rod head; 14: a rotating groove; 15: a chute; 16: a first disc drive shaft; 17: a base; 18: a limiting ring; 19: a second pan bottom surface; 2: rotating the disc; 20: an output ring; 21: a power gear; 22: a transmission gear; 23: a gear assembly; 3: a guide bar; 30: a drive plate; 4: a second disc; 5: a pin; 6: a first bearing; 7: a second bearing; 8: a housing; 9: a first disk connection hole; o1: a second disc rotation center; o2: a guide bar rotation center; o21: adjusting the rotation center of the guide rod; o3: the center of the pin; o4: a first disk center of rotation.

Detailed Description

The following detailed description is made with reference to the accompanying drawings.

The invention discloses a guide rod column wheel transmission device which at least comprises a first disc 1 and a second disc 4 which are different in size, wherein the guide rod column wheel transmission device is provided with at least one first disc 1, and each first disc 1 and each second disc 4 are eccentrically arranged. The first disk 1 and the second disk 4 are capable of momentum transfer by means of a guide rod 3 arranged in such a way that it is fixed neither to the first disk 1 nor to the second disk 4.

Fig. 1 shows a transmission schematic diagram of a guide rod column wheel transmission device, fig. 2 shows a transmission schematic diagram of a partial structure of the guide rod column wheel transmission device, and fig. 3 shows a partial structure schematic diagram of the guide rod column wheel transmission device, wherein the partial structure of the guide rod column wheel transmission device in fig. 2 and 3 comprises a first disc 1, a rotating disc 2 and a guide rod 3.

Preferably, the first disc 1 is connected to an electric motor so that the electric motor can transmit power to the first disc 1 when operating. A plurality of rotary grooves 14 for arranging the rotary disks 2 may be reserved at the circumferential edge of the first disk 1, so that the first disk 1 and at least one rotary disk 2 can form a rotary pair, and the first disk 1 and the rotary disk 2 forming the rotary pair can rotate together around the axis of the first disk 1, wherein the first disk rotation axis passes through the first disk rotation center O4. Preferably, the rotary disk 2 can be movably connected with the rotary slot 14 in a manner matched with the structural size of the rotary slot 14, so that the rotary disk 2 can rotate in the limited space of the rotary slot 14. Further, the rotary groove 14 and the rotary disk 2 adopt a cylindrical structure so that the rotary disk 2 rotates in the rotary groove 14, wherein the axes of the rotary groove 14 and the rotary disk 2 are not collinear with the axis of the first disk 1, and the radial length of the rotary groove 14 and the rotary disk 2 is smaller than the radial length of the first disk 1. Alternatively, the first disc 1 may alternatively be a disc-like structure for rotation about a first disc rotation axis passing through the centre of the disc. Further, first dish 1 also can be the structure that central pivot and a plurality of flabellum are connected, wherein, each flabellum all has one end to be connected with central pivot in the first dish 1 of this structure, and the other end is connected with the rolling disc, compares in 1 occupation space of discoid first dish littleer, and the consumptive material still less, weight is lighter, more is favorable to being applied to in the light robot with structure light and handy more. The rotating disc 2 is provided with a sliding chute 15, the opening direction of the sliding chute 15 is perpendicular to the axial direction of the rotating disc 2 with a cylindrical structure, and preferably, the central line of the sliding chute 15 intersects with the rotating axial line of the rotating disc 2. Guide rods 3 are arranged in the sliding grooves 15 of the rotating disc 2 along the opening direction of the sliding grooves 15, the guide rods 3 can rotate around the guide rod rotating axis where the guide rod rotating center O2 is located, so that when the first disc 1 is driven by the motor to drive the rotating disc 2 to rotate along the first disc rotating axis, the rotating disc 2 pushes the guide rods 3 to rotate along the guide rod rotating axis in a mode of being adaptive to the setting direction of the guide rods 3 through the rotation of the rotating disc 2 in the rotating groove 14 based on a clamping structure of the guide rods 3. The length of the guide rod 3 is greater than the radius of the first disc so that the circular area spanned by the guide rod 3 about the guide rod axis of rotation is greater than the area spanned by the first disc. Preferably, the guide bar rotation center O2 and the first disk rotation center O4 are disposed in an offset manner, that is, the guide bar rotation center O2 and the first disk rotation center O4 are not in the same point, so that there is a relative movement between the rotary disk 2 and the guide bar 3, wherein the relative rotation of the rotary disk 2 and the guide bar 3 means that the guide bar 3 is divided into several regions, a region where there is a partial connection at a certain time is located in a limited space of the slide slot 15 of the rotary disk 2, and a partial region located in the limited space of the slide slot 15 of the rotary disk 2 as the rotation proceeds will be continuously replaced by another region where the guide bar 3 is located outside the limited space of the slide slot 15, intuitively, the guide bar 3 makes a reciprocating movement on the rotary disk 2 in the direction of the slot of the slide slot 15 or the opposite direction thereof. During the transmission, the number of the movable rods is 4, the number of the low pairs is 5, and the number of the high pairs is 1, so that the following formula is obtained:

F＝3n-2Pl-Ph＝3x4-2x5-1＝1，

since the number of prime movers (i.e. the first disc 1) is also 1, the number of prime movers equals the number of degrees of freedom, and the mechanism has a defined relative movement. Meanwhile, the local structure has unique quick-return characteristics, namely the region of the guide rod 3 extending out of the first disc 1 is set as a working rod, and the working rod is in a forward stroke stage when being contacted with other components for transmission; when the working rod can not contact with other components and is in the return stage when not transmitting, wherein, because the quick return characteristic makes the guide rod 3 different at the round trip speed of during operation, the return stage is faster than the return stage to make the working stroke average speed little, therefore the working stroke is steady, and the non-working stroke speed is accelerated, in order to shorten non-operating time, reaches the purpose that improves work efficiency. The local structure with the quick return characteristic can ensure that the motion is more stable when the second disc 4 is driven in work, the transmission force and the torque are larger, and the transmission efficiency is higher. Fig. 4 shows a schematic structural view of a rotary disk 2 of a guide bar column wheel transmission in various embodiments. The sliding grooves 15 on the rotary disc 2 and the guide rods 3 can be in sliding connection, so that the guide rods 3 can slide in the sliding grooves 15 more smoothly when moving relative to the rotary disc 2. Preferably, the rotatable balls 12 are embedded in the rotating disc 2 to change the surface of the sliding slot 15 from a fixed straight structure to a rotatable arc structure, so that the guide rod 3 changes the sliding friction into the rolling friction when moving relative to the rotating disc 2, thereby reducing the friction loss and improving the transmission efficiency.

The guide rod and column wheel transmission device can also comprise a second disk 4 and column pins 5, wherein a plurality of column pins 5 are arranged on the disk surface of the second disk 4 at intervals along the circumferential direction. Alternatively, the pin 5 may have a cylindrical structure or a needle-like structure and one end thereof is fixed to the second plate 4. Preferably, the distances between the pin centers O3 of all the pins 5 of the cylindrical structure and the second disc rotation center O1 are equal, and the pin radii of all the pins 5 are also equal.

The guide bar-and-column wheel transmission constitutes a basic transmission mechanism by the contact of the guide bar 3 with the pin 5, so that the power of the first disc 1 can be transmitted to the second disc 4 and/or the power of the second disc 4 can be transmitted to the first disc 1. Preferably, the first disk 1 drives the rotating disk 2 to rotate around the first disk rotating axis under the driving of the motor, so as to drive the guide rod 3 to rotate around the guide rod rotating axis, in the rotating process of the guide rod 3, at least a partial region of the working rod of the guide rod 3 can contact with the pin 5 arranged on the second disk 4 and push the pin 5, the pin 5 can drive the second disk 4 to rotate along the second disk rotating axis when receiving the power transmitted by the guide rod 3, the second disk 4 can transmit the power to the external device and drive the external device to move, wherein the rotating direction of the second disk 4 is the same as the rotating direction of the first disk 1. Preferably, the guide bar 3 is able to come into contact with the same or different pins 5 at different times during the rotation about the guide bar rotation axis, thereby continuously completing the transmission.

Fig. 5 shows an exploded view of the guide bar-wheel drive.

The guide rod column wheel transmission device can also comprise a mechanical unit and a connecting unit, wherein the mechanical unit comprises a machine shell 8 and a bearing mechanism, and the connecting unit comprises a connecting hole mechanism and a connecting shaft mechanism. The casing 8 comprises a base 17 and a stop collar 18, the dimensions of the base 17 and the stop collar 18 being determined according to the dimensions of the second disk 4, preferably the base 17 is a disk structure and is coaxial with the stop collar 18, and the casing 8 is mounted in such a way that the axis of the base 17 is collinear with the axis of rotation of the second disk. Further, the radial length of the base 17 is greater than the radial length of the limit ring 18, so that one side of the limit ring 18 can form a casing groove with at least part of the area of the base 17 when being fixedly connected to the base 17, and meanwhile, the part of the area of the base 17 outside the casing groove is provided with a casing fixing connecting hole 11 to be connected with a fixing device with a corresponding fixing part through fixing parts such as bolts, wherein the casing fixing connecting hole 11 is arranged around the base 17 at intervals. The second plate 4 with the pins 5 can be arranged in the casing groove, preferably, an output groove is arranged on one side of the second plate 4, so that the output ring 20 comprises a second plate bottom surface 19 as the bottom of the output groove and an output ring 20 as the wall surface of the output groove, and the pins 5 are arranged on the second plate bottom surface 19 in the output groove at intervals, so that the second plate 4 and the casing 8 are connected in a way that the casing groove and the output groove are oppositely arranged, and a casing accommodating space is formed. Further, since the second disc 4 is in a movable state and the housing 8 is in a fixed state, a first annular gap is reserved between the output ring 20 and the limit ring 18 to provide the first bearing 6, and the first bearing 6 is used to reduce the friction coefficient between the second disc 4 and the housing 8 during rotation, thereby ensuring the rotation precision. The first disk 1 can be disposed in the cabinet accommodating space such that the guide bar 3 is connected to a cabinet guide bar shaft 10 disposed on the base 17, wherein the direction in which the cabinet guide bar shaft 10 is disposed is parallel to and does not coincide with the axial direction of the base 17. The first disk 1 is connected to the motor by a first disk driving shaft 16 to receive power transmitted from the motor, wherein the first disk driving shaft 16 can be connected to the first disk 1 and the motor through a first disk connecting hole 9 opened on a second disk bottom surface 19 of the second disk 4, respectively. Preferably, the second plate bottom surface 19 is provided with a plurality of first plate attachment holes 9 to facilitate selection of a suitable mounting position for the first plate 1 in accordance with different transmission requirements and/or different operating conditions. Further, because the rotating speeds of the first disk 1 and the second disk 4 are different, a second annular gap is reserved between the first disk driving shaft 16 and the first disk connecting hole 9 to provide a second bearing 7, and the friction coefficient between the first disk 1 and the second disk 4 during transmission is reduced through the second bearing 7, so that the rotation precision of the first disk 1 and the second disk 4 is ensured.

According to a preferred embodiment, the guide rod-and-column wheel transmission can control the output motion of the guide rod-and-column wheel transmission by adjusting one or more of the positions of the first disk rotation center O4, the guide rod rotation center O2, and the second disk rotation center O1, the structural dimensions (e.g., radius) of the first disk 1, the rotating disk 2, the guide rod 3, and the column pins 5, and the number of the rotating disk 2, the guide rod 3, and the column pins 5, so that the external device can achieve precise motion when the guide rod-and-column wheel transmission is in a given output motion. Furthermore, the guide rod column wheel transmission device can realize intermittent motion or continuous cross motion through the adjustment and matching among a plurality of parameters.

Further, when the guide rod 3 contacts the pin 5 at a contact point, the pin 5 can move along with the movement of the first disk 1, so as to drive the second disk 4 to rotate; when the guide bar 3 is not in contact with the pin 5, the pin 5 does not move with the movement of the first disk 1, so that the second disk 4 comes to rest. Therefore, in the process of uniform motion of the first disc 1, when the first disc 1 moves to drive the rotating disc 2 and the guide rod 3 to move, and the guide rod 3 is in contact with the pin 5 at a contact point and is about to be separated, the subsequent pin 5 adjacent to the current pin 5 is about to be contacted with the subsequent guide rod 3 adjacent to the current pin 3 when viewed in the rotating direction, the subsequent pin 5 is pushed by the subsequent guide rod 3 to drive the second disc 4 to continue to move, and at the moment, the guide rod pin wheel transmission device continuously moves; in the process of uniform motion of the first disc 1, when the first disc 1 moves to drive the rotating disc 2 and the guide rod 3 to move, and the guide rod 3 is in contact with the pin 5 at a contact point and is about to be separated, the subsequent pin 5 which is close to the current pin 5 and is adjacent to the subsequent guide rod 3 at present is observed not to be in contact with the subsequent pin 3 adjacent to the current pin 5 along the rotating direction, the subsequent pin 5 cannot receive power so that the second disc 4 is interrupted in motion, and at the moment, the guide rod and pin wheel transmission device intermittently moves; in the process of uniform motion of the first disc 1, when the first disc 1 moves to drive the rotating disc 2 and the guide rod 3 to move, and the guide rod 3 is in contact with the pin 5 at a contact point and is not separated, the subsequent pin 5 close to the current pin 5 is in contact with the subsequent guide rod 3 adjacent to the current guide rod 3 when viewed in the rotating direction, so that the second disc 4 moves in a superposition mode, and the guide rod and pin wheel transmission device moves in a continuous cross mode.

Taking the guide rod column wheel transmission device shown in fig. 1 as an example, twelve pins 5 are arranged on a second disk 4 of the guide rod column wheel transmission device, which is equivalent to twelve teeth, four rotating disks 2 are arranged on a first disk 1 and are respectively connected with four guide rods 3, a plurality of guide rods 3 and a plurality of pins 5 are mutually associated to realize continuous motion of the transmission device, and the speed ratio of the guide rod column wheel transmission device is that the ratio of the number of teeth on the second disk 4 to the number of the guide rods 3 is equal to 3. After the number of teeth on the second disc 4 on the guide rod column wheel transmission device is determined with the number of the guide rods 3, even if the center distance changes, if the requirement that the first disc 1 moves at a constant speed is met, the first disc 1 moves to drive the rotating disc 2 and the guide rods 3 to move, when the guide rods 3 are in contact with the pins 5 at contact points and are about to be separated, the subsequent guide rods 3 adjacent to the current guide rods 3 are about to be in contact with the subsequent pins 5 close to the current pins 5 when being observed along the rotating direction, the subsequent guide rods 3 push the subsequent pins 5 to drive the second disc 4 to continue to move, and the guide rod column wheel transmission device continuously moves at the moment, so that the guide rod column wheel transmission device has the separability of the center distance, and is convenient to install and debug.

According to a preferred embodiment, the guide bar-and-column wheel transmission can achieve different transmission efficiencies and output speeds by means of a second disc 4 cooperating with at least one first disc 1. Preferably, each first disk rotation center 04 of the plurality of first disks 1 is symmetrically arranged relative to the second disk rotation center O1 of the second disk 4, so that the guide rod column wheel transmission device is uniformly stressed when the first disks 1 transmit to the second disk 4 with the pin 5 through the guide rod 3, and partial component vectors of acting forces applied from different input units in the resultant force applied to the guide rod column wheel transmission device can greatly improve the motion stability of the whole guide rod column wheel transmission device in a mutual offset manner.

Example 1

As shown in fig. 6, a schematic structural view of the guide rod column wheel transmission in embodiment 1 is shown, in embodiment 1, a first disk 1 and a second disk 4 are installed in a manner that a first disk rotation axis and a second disk rotation axis are collinear, wherein the guide rod rotation axis is not collinear with both the first disk rotation axis and the second disk rotation axis. Due to the offset between the guide rod rotation center O2 and the first disk rotation center O4, when the first disk 1 drives the rotating disk 2 to rotate around the first disk rotation axis, the length of the non-working rod between the guide rod rotation center O2 and the outer end of the sliding slot 15 of the rotating disk 2 changes constantly, wherein the length of the non-working rod has a maximum value of the length of the non-working rod and a minimum value of the length of the non-working rod, and the length of the non-working rod is within a range between the maximum value of the length of the non-working rod and the minimum value of the length of the non-working rod (including the maximum value of the length of the non-working rod and the minimum value of the length of the non-working rod) at any time in the transmission process and fluctuates periodically. Further, the centers of the positions of the rotating disks 2 corresponding to the maximum non-operating lever length and the minimum non-operating lever length are collinear with the first disk rotation center O4 and the guide lever rotation center O2. The length of the working rods of the guide rod 3 in the area outside the first disk 1 is periodically changed in an undulating manner as a function of the length of the non-working rods, so that a maximum working rod length and a minimum working rod length are also present during the change of the working rod length. With the rotation of the rotating disc 2 around the rotation axis of the first disc, the shortest distance between the surface of each pin 5 arranged on the second disc 4 and the surface of the rotating disc 2 without considering the shifting of the guide rod 3 also forms a periodically fluctuating interval length, wherein, as the second disc 4 and the first disc 1 are coaxially installed, the variation ranges of the interval lengths corresponding to all the pins 5 are the same, namely, the interval lengths are periodically fluctuating (including the interval length maximum value and the interval length minimum value) between the interval length maximum value and the interval length minimum value, and the circle centers of the positions of the rotating disc 2 corresponding to the interval length maximum value and the interval length minimum value are respectively collinear with the rotation center O4 of the first disc and/or the circle center O3 of the pin. Therefore, the length of the non-working rod, the length of the working rod and the interval length can be periodically fluctuated along with the rotation of the first disc 1 driving the rotating disc 2, and the variation range and the variation trend of the non-working rod, the working rod and the interval length are related to the structural size and the installation position of the first disc 1, the rotating disc 2, the second disc 4 and the pin 5.

When the guide rod column wheel transmission device is in a non-working state, the guide rod 3 does not perform power transmission with any column pin 5, and when the first disc 1 drives the rotating disc 2 to rotate periodically, the interval length between the rotating disc 2 and the corresponding column pin 5 at a certain moment in a period is equal to the length of a working rod at the moment, wherein the moment at least comprises a first moment and a second moment, and the first moment is earlier than the second moment in a period collection as seen along the time course of the period. One cycle can be divided by a first time and a second time into at least a first time period defined between the first time and the second time and a second time period outside the first time and the second time, wherein the guide rod 3 can contact and transmit power to one of the pins 5 during the first time period, and the guide rod 3 cannot contact any one of the pins 5 during the second time period, so that the first disk 1 drives the second disk 4 to move. Preferably, the ratio of the first time period to the second time period and the driving force of the motor can affect the moving mode of the second disc 4, which includes intermittent movement, continuous movement and continuous cross movement. Particularly, when the length of the working rod at any time in one period is greater than the interval length, a first time and a second time do not exist, namely, one period is a first time period, and the first disc 1 can drive the second disc 4 to move completely and continuously through the guide rod 3; when the length of the working rod at any time in one cycle is smaller than the interval length, the first time and the second time do not exist, namely, the period is the second time period, the guide rod 3 cannot contact any pin 5, so that the first disk 1 cannot transmit to the second disk 4 through the guide rod 3, and the guide rod column wheel transmission device fails.

Example 2

Fig. 7 is a schematic structural view of the guide bar column wheel transmission in embodiment 2, and fig. 8 is a structural comparison view of the guide bar column wheel transmission before and after changing the rotation center of the guide bar in embodiment 2. Under the condition of no conflict/contradiction, part or all of other embodiments may be supplemented by this embodiment, and repeated contents are not described again.

In embodiment 2, the first disk rotation axis corresponding to the first disk rotation center O4 and the second disk rotation axis corresponding to the second disk rotation center O1 are not collinear, so that the maximum value and the minimum value of the interval length corresponding to each of the interval lengths between the plurality of pins 5 provided on the second disk 4 and the rotary disk 2 on the first disk 1 are substantially different from each other, and the time point of the first time and/or the second time in one cycle and the ratio of each of the first time period and the second time period can be changed by adjusting the length of the operating lever of the guide lever 3 and/or the position of the guide lever rotation center O2 of the guide lever 3, thereby changing the output speed of the second disk 4.

According to a preferred embodiment, a guide rod head 13 is movably connected to one end of the guide rod 3 to form a first component. Preferably, the guide rod head 13 is disposed at one end of the guide rod 3 contacting the pin 5, and the guide rod head 13 and the guide rod 3 may be connected by means of screw-fitting or fixing hole-fixing screw-fitting, etc. to adjust the total length of the first member by adjusting the connection relationship, etc., wherein the total length of the first member is composed of the effective length of the guide rod head 13, the length of the working rod, and the length of the non-working rod. Preferably, the overall length of the first component is determined based on the location of the guide bar pivot center O2 such that the circular arc expected to be traced by the tip of the first component about the guide bar pivot center O2 passes through either pin center O3. Further, the first assembly may also change the position of the guide bar rotation center O2 by moving the position of the cabinet guide bar shaft 10, so that the total length of the first assembly and the position of the guide bar rotation center O2 need to be adjusted in synchronization to adjust the output speed of the second disk 4. Preferably, the first assembly in the first state adjusts the total length and the position of the guide rod rotation center O2 to obtain the first assembly in the second state, and the circular arc expected to be drawn by the end of the first assembly in the second state around the adjustment guide rod rotation center can be tangent to the circular arc expected to be drawn by the end of the first assembly in the first state around the guide rod rotation center O2 at the same pin center O3, wherein the guide rod rotation center O2, the adjustment guide rod rotation center, the second disc rotation center O1 and the corresponding pin center O3 are collinear.

As shown in fig. 8, after the first assembly is adjusted from the first state to the second state, the proportion of the first time period in one cycle is increased, so that the guide rod 3 can have a longer time to contact and transmit with the pin 5 in one cycle, so that the second disk 4 can receive more power, thereby changing the output speed of the guide rod-column wheel transmission under the condition that other conditions are not changed.

Example 3

Fig. 9 shows a schematic structural view of the guide rod-column wheel transmission in embodiment 3. Under the condition of no conflict/contradiction, part or all of other embodiments may be supplemented by this embodiment, and repeated contents are not described again.

In embodiment 3, the guide bar column wheel transmission is provided with three first disks 1 and one second disk 4, wherein the first disk rotation centers O4 of the three first disks 1 are evenly distributed around the second disk rotation center O1, that is, the connecting lines of the first disk rotation centers O4 of the three first disks 1 can form a regular triangle, and the center of the regular triangle falls on the second disk rotation center O1, so that the distances from the second disk rotation center O1 to the three first disk rotation centers O4 are all equal. Because the guide rod rotation center O2 is offset from the first disk rotation center O4, in order to ensure that the guide rod column wheel transmission is uniformly stressed during transmission, when different guide rod rotation centers O2 are arranged, the guide rod rotation centers O2 are uniformly distributed around the second disk rotation center O1, i.e., the distances from the three guide rod rotation centers O2 to the second disk rotation center O1 are also equal. The three first disks 1 rotate in the same direction under the driving of the respective first disk driving shafts 16, so that the rotating disks 2 on the respective first disks 1 drive the guide rods 3 to rotate synchronously, and different guide rods 3 contact with different pins 5 arranged at intervals on the first disks 1 to drive the second disks 4 to rotate through the pins 5. Since the three guide bar rotation centers O2 and the first disk rotation center O4 are offset, the respective partial structures have a snap-back characteristic in which the speed of the guide bar 3 when rotating around the guide bar rotation center O2 is variable. Preferably, when the guide rod 3 is in the backward stroke with a slower speed, the guide rod 3 can contact with the pin 5 for smooth transmission; when the leader 3 is in the return stroke of the speed is fast, the leader 3 is not in contact with the pin 5 to improve the working efficiency by fast idling that shortens the non-working time. Further, the three guide rods 3 can be in the same state at the same time, so that the three guide rods 3 can simultaneously transmit to the corresponding pins 5 and simultaneously withdraw, and the motion stability of the whole guide rod column wheel transmission device is ensured by the component quantity cancellation of the three acting forces in partial directions.

According to a preferred embodiment, the guide rod 3 may be composed of a non-working rod area located inside the first disk 1 and a working rod area located outside the first disk 1, and the guide rod 3 and the sliding slot 15 on the rotating disk 2 can slide relatively when the rotating disk 2 drives the guide rod 3 to rotate, so that the length of the working rod and the length of the non-working rod are changed all the time, but the total length of the working rod and the non-working rod is the length of the guide rod 3, so that the length of the working rod and the length of the non-working rod are in an opposite change trend when the guide rod 3 rotates along with the rotating disk 2. When the length of the working rod at a certain moment is equal to the distance between the rotating disk 2 and the corresponding nearest pin 5 at that moment, the guide rod 3 can just contact the pin 5, wherein the moment at least comprises a first moment and a second moment, namely, at least two moments exist, so that the guide rod 3 can just contact the pin 5. Preferably, the first time is earlier than the second time in one cycle. In a first time period which is used for one cycle between the first time and the second time, the lengths of the working rods are all larger than the interval length, so that the working rods can be in a working state in the first time period and transmit to the pin 5; in a second time period of one cycle except the first time period, the length of the working rod is smaller than the interval length, so that the working rod can be in a non-working state in the second time period and can perform quick idling.

Example 4

Fig. 10 shows a schematic structural view of the guide rod-column wheel transmission in embodiment 4. Under the condition of no conflict/contradiction, part or all of other embodiments may be supplemented by this embodiment, and repeated contents are not described again.

The guide bar column wheel transmission device of the embodiment 4 can be improved and optimized to the guide bar column wheel transmission device of the embodiment 3. In embodiment 3, three first disks 1 are arranged to receive power to rotate the rotating disks 2 and the guide rods 3 through respective first disk drive shafts 16, wherein the first disk drive shafts 16 are respectively connected to the three first disks 1 to be received by respective drive torque generating devices, such as a first motor, a second motor and a third motor, through the respective first disk drive shafts 16. In embodiment 4, three first discs 1 can be connected to the same drive torque generating device by means of a gear assembly 23 to save costs. Preferably, the gear assembly 23 may be a one-stage involute gear drive. The motor is connected with the input gear 21 through keys, and the input gear 21 is meshed with one or more transmission gears 22, so that the motor can drive the transmission gears 22 to rotate at the same rotating speed at the same time by driving the input gear 21 to rotate. Each transmission gear 22 is coaxially connected with the corresponding first disk 1 through the first disk driving shaft 16, so that the transmission gears 22 rotating at the same rotating speed can drive each first disk 1 to rotate at the same rotating speed, wherein the plane of the meshing area of the input gear 21 and the transmission gear 22 of the gear assembly 23 is parallel to and does not intersect with the plane of each first disk 1, so as to avoid collision between the gear assembly 23 and the first disk 1 in the transmission process. Through setting up gear assembly 23, can utilize a motor to input motion and power, drive the motion of a plurality of synchronous drive gear 22 through an input gear 21, and then drive the motion of a plurality of first dishes 1 of equipartition and to second dish 2 transmission, contact time or the number of times of contact of the pin 5 that sets up at interval on this time guide arm 3 and the second dish 4 in a cycle has been increased manyfold, not only make guide arm column wheel transmission stress even and improved guide arm column wheel transmission's motion stability greatly, adopt one-level involute gear driven gear assembly 23 can be favorable to regulating and control whole guide arm column wheel transmission's velocity ratio simultaneously, improved guide arm column wheel transmission's velocity ratio range greatly.

Example 5

Fig. 11 shows a schematic structural view of the guide rod-column wheel transmission in embodiment 5. Under the condition of no conflict/contradiction, part or all of other embodiments may be supplemented by this embodiment, and repeated contents are not described again.

In embodiment 5, a plurality of pins 5 are arranged on the transmission disc 30 which is coaxially arranged with the second disc 4, wherein the radial dimension of the transmission disc 30 is smaller than that of the second disc 4 so that the transmission disc 30 can be placed in the limited space formed by the second disc 4 and the base 17. When the leader 3 is rotated about the leader rotation axis, it can contact either the pins 5 on the second disc 4 or the pins 5 on the transmission disc 30. The motor is not connected to any of the first disks 1, but is connected to the second disk 4 or the driving disk 30, so that the power of the motor is directly transmitted to the second disk 4 or the driving disk 30 and is transmitted to the first disk 1 by the guide bar 3 and finally drives the driving disk 30 or the second disk 4 to rotate, wherein, when one of the second disk 4 and the driving disk 30 is connected to the motor, the other can be connected to the moving device to complete the input and output of the power, and the first disk 1 with the guide bar 3 is used only for the intermediate transmission of the power. Further, when the second disc 4 is connected with the motor, the second disc 4 rotates to drive the first disc 1 to rotate through the guide rod 3, and when the guide rod 3 contacts the pin 5 on the transmission disc 30 in the rotating process, the transmission disc 30 can be driven to rotate along the opposite direction of the rotation of the second disc 4, and meanwhile, due to the difference of the radial sizes of the second disc 4 and the transmission disc 30, the transmission mode can complete accelerated motion; when the transmission disc 30 is connected with the motor, the transmission disc 30 rotates to drive the first disc 1 to rotate through the guide rod 3, when the guide rod 3 contacts the pin 5 on the second disc 4 in the rotating process, the second disc 4 can be driven to rotate along the opposite direction of the rotation of the transmission disc 30, and meanwhile, due to the difference of the radial sizes of the second disc 4 and the transmission disc 30, the transmission mode can complete deceleration movement. Preferably, because the radial dimension of the transmission disc 30 is small, so that the pin 5 on the transmission disc 30 may not contact with any guide rod 3 during the starting process when the transmission disc 30 is connected with the motor for transmission, and the transmission disc 30 may idle and cannot complete the transmission, parameters such as the number of the rotation discs 2 and the guide rods 3 on the first disc 1 can be further adjusted to ensure the smooth transmission.

It should be noted that the above-mentioned embodiments are exemplary, and that those skilled in the art, having benefit of the present disclosure, may devise various arrangements that are within the scope of the present disclosure and that fall within the scope of the invention. It should be understood by those skilled in the art that the present specification and figures are illustrative only and are not limiting upon the claims. The scope of the invention is defined by the claims and their equivalents.

Claims

1. A guide bar column wheel transmission device comprises a first disc (1) and a second disc (4) which are different in structural size, wherein the guide bar column wheel transmission device is provided with at least one first disc (1), each first disc (1) and each second disc (4) are eccentrically arranged,

it is characterized in that the preparation method is characterized in that,

the guide rod (3) which is not fixed to the first disk (1) or the second disk (4) can rotate around a guide rod rotation center (O2) which is eccentrically arranged relative to the first disk rotation center (O1), wherein when the guide rod (3) drives the first disk (1) or the second disk (4) to rotate, the linear speed of the forward stroke of the guide rod (3) is slower than the linear speed of the return stroke of the guide rod.

2. The guide bar column wheel transmission according to claim 1, characterized in that the guide bar (3) is rotatable about the guide bar center of rotation (O2) upon rotation of the first disc (1) or the second disc (4), driving the second disc (4) or the first disc (1) relatively in an indirect manner.

3. The leader column wheel transmission according to claim 1 or 2, characterized in that the first disc (1) or the second disc (4) is based on a connection with a drive torque generating device to receive power generated by the drive torque generating device for rotation, wherein the power generated by the drive torque generating device can be transmitted to the leader column wheel transmission directly or indirectly through a gear assembly (23).

4. The guide bar and column wheel transmission device according to any one of claims 1 to 3, characterized in that at least a partial area of the first disc (1) can be movably connected with a rotating disc (2) provided with a sliding groove (15) in a mode of opening a rotating groove (14), wherein the rotating disc (2) can rotate on an axis of a circle center of the rotating disc and can rotate around a first disc rotating center (O1).

5. The guide bar and column wheel transmission device according to any one of claims 1 to 4, characterized in that the slide groove (15) can be movably connected with the guide bar (3) in a manner of arranging a plurality of balls (12), so that the guide bar (3) can move relative to the slide groove (15) in a manner that at least part of the area of the guide bar is limited in the slide groove (15), and the part of the area of the guide bar (3) limited in the slide groove (15) is changed back and forth along with the relative movement.

6. The guide bar and column wheel transmission device according to any one of claims 1 to 5, wherein the guide bar (3) can perform a transmission process in a contact manner with a plurality of pins (5) circumferentially arranged on the second disc (4) at intervals so as to realize indirect momentum transfer between the first disc (1) and the second disc (4).

7. The guide bar and cylinder transmission device according to any of claims 1 to 6, characterized in that the guide bar (3) performs momentum transfer from contact to separation with the cylinder (5), and the node point where the guide bar (3) contacts and separates from the cylinder (5) and the momentum transferred during contact are different according to the length of the guide bar (3).

8. The guide bar and column wheel transmission device according to any one of claims 1 to 7, wherein a guide bar head (13) can be provided on a side of the guide bar (3) contacting the column pin (5) to constitute a guide bar assembly, such that the total length of the guide bar assembly is changed by adjusting a connection relationship between the guide bar head (13) and the guide bar (3) to connect the guide bar assembly with the column pin (5).

9. The guide bar column wheel transmission according to any one of claims 1 to 8, characterized in that the speed ratio of the guide bar column wheel transmission can be determined based on the number of pins (5) arranged on the second disc (4) and the number of guide bars (3) movably connected to different guide bars (3) arranged on the first disc (1).

10. The guide bar column wheel transmission device according to any one of claims 1 to 9, characterized in that the guide bar column wheel transmission device can be provided with a transmission disc (30) coaxially with the second disc (4), the transmission disc (30) is provided with a number of pins (5) which is not equal to the number of the second disc (4), so that momentum transmission can be performed between the second disc (4) and the transmission disc (30) through the first discs (1) connected with the guide bars (3), and the acceleration or deceleration function of the guide bar column wheel transmission device is realized based on the momentum transmission direction.