CN1395050A - 'Menneimasi swing link' and accurate linear drive device and cardang clutch - Google Patents

Abstract

The present invention relates to a multifunctional drive bar made up by synthesizing two-point movement of "Meneimas swing link" bred in the ellipse for thousand eyars under the restriction of circular tracing point and straight-line tracing point. It possesses "Cardang clutch" and can produce the functions of locking, regulating stroke and clutch, and is specially applicable to walking machine leg device, flapping flkight device, fish-tail propeller device, accurate linear driven device and double-rotor device. Said link can be used in various machines, equipments and devices to implement reciprocating linear movement, and can be used in mechatronics as "linear driver".

Description

" Maas fork in the door " and accurate linear drive and Ka Dang clutch

The present invention relates to " Maas fork in the door " and accurate linear drive and Ka Dang clutch, Maas fork in the door of the present invention, carry special card and work as clutch, be specially adapted to walking machine leg device, flapping flight device, fishtail type advancing means etc. and be used for the linear drives use that various machines, equipment and device are made the reciprocally swinging and the range-adjustable of angle adjustable; Make linear drives and angle in " driver " unit in the electromechanical integration and drive use.

From the interior Maas (Menaechmus of the door of ancient Greek, ellipse and elliptic curve have been found when B.C. 375-325) going to cut the acute angle circular cone with the plane, accomplished Lie Aonaduo Leonardo da Vinci (1452-1519) once designed oval lathe for machining according to cross recess double-slider ellipsograph mechanism principle, mathematician's card is when (1501-1576) the planetary pinion transmission with specific proportions, form another kind of ellipsograph mechanism, be used widely on the quick print machine, astronomer Kepler (1571-1630) discloses celestial bodies such as planet and all moves around the sun by the elliptic curve track.

Cross recess double-slider ellipsograph [1], card all has the moving lever of same explanation in the schematic diagram of circular planetary gear ellipsograph [2], all there is identical particular point can walk out accurate straight line on the bar, domestic a lot of famous scholar thinks this and develops the accurate straight-line guidance mechanism [3] of coming by ellipsograph, imitate, design, make, use all very difficult, so have only with the near linear guide mechanism and satisfy people's application demand widely, the accurate straight-line guidance mechanism that quilt is treated coldly academia abroad also is a undisputable fact for many years.

Since in the interplanetary space of the length and breadth of land, all following the general characteristics of motion of elliptic curve, and occurring in nature is on earth living numerously can " walk ", the various different classes of animal of " flying ", " trip ", all has the swing of work walking jointly, the general character of circling in the air and moving about, moving lever in the elliptic curve can be controlled it artificially and make rotary oscillation in ellipse so.If God-" God " is making among world's all things on earth, particularly making " flying ", " walking ", " trip " various animals, also once used for reference the swing characteristic of the moving lever among the ellipse during animal such as insect and fish, that and the present invention are a coincidce.

The objective of the invention is the moving lever in cross recess double-slider ellipsograph and the two schematic diagram of Ka Dang circular planetary gear ellipsograph retrained artificially and control it among ellipse, to rotate, force operating mechanism and the characteristic motion of moving lever by ellipse.Specifically be that the round tracing point of making circular movement on the straight moving tracing point of the moving linearly on the moving lever and the moving lever is retrained by various members, force moving lever to move, form " driveshaft " of making rotational oscillating motion among the present invention by the synthetic of these two kinds of motions.In order to commemorate that Maas is found ellipse in the great geometry door, be called " Maas fork in the door ".The Maas fork is from function with use and be divided into driveshaft, swing arm and drive link in the door; Be divided into straight-bar from structure, knee and compound rod; Be divided into Men Shi A bar (MA bar) from type, Men Shi B bar (MB bar) and Men Shi upper boom, general name " Maas fork in the door " is called for short by " Men Shi fork " or " Men Shi bar " (M bar).

2300 for many years, countless experts, and the scholar did some improvement and creation to ellipsograph mechanism, had also formed some relevant device and mechanisms and had played a role in every field.The objective of the invention is will be comprehensively comprehensive and the principle of combination ellipsograph mechanism aspect, various self-contained units and technology, create a kind of new-type, the linear drive of the wobble drive linkage of no fixed support and special use.The former mainly imitates or replaces the swing effect of animal thigh by the wobble drive bar, flying bird maybe can fly the effect of fluttering of insect wing, effect and the two oars of manpower that imitation water fish class is wagged the tail and advanced.The latter mainly is the series apparatus product (it is equally not difficult to drive enforcement at 1000mm with the adjustable accurate linear reciprocation of up stroke) that creates a kind of accurate linear reciprocation driving of the range-adjustable about 0-1000mm in mechanical transmission fields.In the ordinary course of things, the effect of guide rail be can substitute, accurate straight reciprocating motion or driving realized.

What need to do reciprocating linear motion in various machines, device, equipment or valve body is local a lot, hydraulic jack, pneumatic cylinder, leading screw, even the electromagnet etc. of making the short distance linear drives all can do reciprocal straight line transmission, each is characteristic.Accurately straight line series drive unit is more having superiority than oil cylinder and cylinder aspect the adjustable reciprocal straight line transmission of short stroke or the driving.

Modern age is in electromechanical integration, in many electronic product fields, in the particularly small-sized or miniature product, the accurate linear actuator series product of machinery can combine together with motor, deceleration, control, sensing etc., make independent linear drives unit and use, very wide application prospect is more arranged.

All be that card is worked as the driving mechanism of circular planetary gear mechanism as input in the present invention, the mechanism of this classics itself has the regulating mechanism of range and minimum stroke.The present invention finds the zero-bit place in minimum stroke, when to be the planet gear with the engagement locating point that is fixed on the ring gear in the internal tooth snare be in longitudinal axis, card is worked as drive pin can only make straight line motion up and down on the longitudinal axis of crossing geometrical center, can not produce driving force to the pod wall at the driveshaft back side, power is cut off like this, has become clutch worthy of the name.This clutch has special effect in devices such as walking machine leg device and flight flapping wing device and fishtail type propulsion device, in order to commemorate that great mathematician's card as (Kardano), ought to be called card and work as clutch:

The objective of the invention is to reach by following approach.The most important characteristics of Men Shi wobble drive bar is, the round tracing point of making circular movement on the straight moving tracing point of moving linearly on the Men Shi bar and bar is by dividing other confining part or common confining part, constraint or be locked in the member of regulation orbiting motion in accordance with regulations, like this, this 2 straight line and circular movement is synthetic on the Men Shi bar, just can force moving lever to make orderly rotation reciprocally swinging by the characteristics of motion of ellipsograph principle.The Men Shi wobble drive linkage device that is accurately comprising core of the present invention in the linear drive.

In order to realize purpose of the present invention, reach by the following technical programs.Specifically be to have the counterweight on whole crankshaft, crank pin or the crank pin that is pressed into and crank disc and the dish to adjust piece on the crank.Planetary pinion be with three rollers on the stage end face fastening, keep being rotatably assorted by the endoporus on three rollers and crank pin, and together be pressed together on the ring gear engagement in the internal tooth snare and make planet and rotate.The Pitch radius of ring gear is 2: 1 with the ratio of planetary Pitch radius.On three rollers, there is whole card to work as drive pin when drive pin or the card that is pressed into, its central axis has a mind to be selected in planetary pinion pitch circle point place, card is equipped with scroll wheel or slide block on drive pin, insert together in the Men Shi driveshaft cannelure behind, and the Qu Dongmenshi bar is made the rotation reciprocally swinging.The place is provided with band platform pivot pin and roller at the circle tracing point, putting into the housing geometrical center is to retrain among the housing annular groove in the center of circle, or projection pivot pin in anchor formula swing connecting bar lower end put into the oscillation center that aperture in the middle of the header board that overlaps with the housing geometrical center is made anchor formula swing connecting bar, then with anchor formula swing connecting bar upper end hole directly and the round tracing point place pivot pin rotation of Men Shi fork hinged; Pivot pin and roller that straight moving tracing point place on the Men Shi fork is provided with are presented in the header board that is connected with housing together, are symmetrical among the elongated slot of transversal line, retrain roller and can only do the linear reciprocation rolling along transversal line.Or on anchor formula swing connecting bar, be shaped on the stage cylndrical surface of arcuation, keep accurate pure rolling with the roller on the band platform pivot pin in the hole, straight moving tracing point place on the Men Shi fork, be arcuation stage cylndrical surface radius and roller radius sum, want strict guarantee to equal to justify the distance of tracing point on the Men Shi fork, thereby force driveshaft on the housing transversal line, to do the straight path motion to straight moving tracing point.These two special round tracing points and straight-line trajectory point are under the constraint of dividing member constraint and common component, the Men Shi bar can only be symmetrical in longitudinal axis, with the full swing angle of 2 α, in ellipse, make reciprocally swinging positive and negative rotation, orderly according to the characteristics of motion of ellipse.

If on the Men Shi fork on the straight moving tracing point of moving linearly or the Men Shi bar particularly the arbitrfary point, lower end of bar be to turn back when swinging to the right with swing half-angle α swing of left end from transversal line of maximum, the Men Shi fork is to draw close to longitudinal axis with acceleration gradually, leaves from longitudinal axis with speed decrescence again then and is flapped toward turning back a little of keeping right.This just illustrates the Men Shi fork near longitudinal axis, and promptly the intermediate speed of angle of oscillation is the fastest, about a place's speed of turning back the slowest.

If the Men Shi fork is upwards prolonged one section from force arm moving point, still the Dui Menshi fork under circle tracing point and 2 constraints of straight moving tracing point and card when the input driving that still in the cannelure at the Men Shi fork back side, is used as power of drive pin and roller, arbitrfary point on the prolonged section of Men Shi fork so, all be to draw close to longitudinal axis with speed decrescence, leave from longitudinal axis with acceleration gradually again then, the kinetic characteristic of this explanation " Men Shi upper boom " is that near the speed longitudinal axis is the slowest, and near two fastest turning back a little.

The external cylindrical surface of three rollers is made pure rolling in the endoporus of internal tooth snare, this to be in cantilever crank pin and the effect of sharing that plays rolling bearing of Ka Dang drive pin, can improve their stressing conditions, improving bearing capacity and life-span aspect has very big benefit.

Form dual crank rotating machinery between crankshaft, crank pin and the Ka Dang drive pin, this structure characteristic is when Men Shi fork rotary oscillation to two is turned back, the inertial impact force of the component quality on the Men Shi fork, the dual crank absorption that can be rotated.

The ellipsograph mechanism of two kinds of classics, its schematic diagram nearly all is machine-madely to indiscriminately imitate or quote from a large amount of relevant works of background paper and other, is hardheaded schematic diagram certainly.The present invention develops and comes according to the moving lever in these two schematic diagrams, though common feature is that the straight moving tracing point of the moving linearly on the constraining rod and the round tracing point motion of making circular movement are synthetic, be a pair of twin Men Shi swing arm, but the concrete member of constraint is discrepant.

The straight-line straight moving tracing point of concrete " Men Shi A bar " and the round tracing point of circular movement retrain respectively, be to pass the housing end face diameter that the rectangular hole on the bar is installed on the housing transversal line by header board to tighten with the belt length groove, on bar in the translation point circular hole, be pressed into pivot pin with the level and place among the elongated slot of crossbeam with roller that pivot pin is rotatably assorted, because the width of elongated slot is consistent with roller diameter, and the symmetrical center line of groove width transversal line lucky and the housing geometrical center is consistent, so the translation locus of point line of Men Shi bar strictly is limited among the elongated slot of header board, i.e. the enterprising row constraint of the transversal line of housing geometrical center.Elongated slot length must be a bit larger tham ring gear pitch diameter and roller diameter sum.

Be pressed into band platform pivot pin in the circular hole at the round tracing point place on Men Shi A bar, and insert on housing after putting the roller that is rotatably assorted, with the housing geometrical center is the center of circle, and the distance between the tracing point is to justify the tracing point constraint among the circular arc annular groove of radius with translation point on the bar and circle.Can be the straight connecting rod of radius to the distance between the translation locus of point also with circle tracing point on the bar, one end fixed block and pivot pin direct and housing geometrical center place rotate hinged, the other end can be directly and circle track place circular hole is hinged on the Men Shi A bar retrains round tracing point, but the constraint crossbeam of translation locus of point is still located former invariant position, this on structure space is arranged slightly difficulty a bit, the moving lever that Here it is from cross recess double-slider ellipsograph schematic diagram changes and " the Men Shi swing A bar " structure of coming.

Concrete " Men Shi swing B bar " is to develop according to the moving lever of card in the schematic diagram of planetary pinion ellipsograph, 2 on the bar is that a common component retrains, a kind of shape is similar to the swing connecting bar of anchor formula, rotate hinged with band platform pivot pin in the circular hole at the round tracing point place on its upper end and the Men Shi B bar, anchor formula swing connecting bar lower end pivot pin and to be fixedly arranged in the center that rotates among the circular hole of the header board of being installed on the housing geometrical center transversal line and swing be exactly the housing geometrical center, round tracing point radius from geometrical center to anchor formula swing connecting bar equal translation point on the Men Shi bar to the circle tracing point apart from length, being shaped on the Mao Shi swing connecting bar with Men Shi B bar circle tracing point is the contact relation that kink on the pivot pin of arcuation stage cylndrical surface and the setting of the straight path point place on the Men Shi B bar at center roller keeps accurate pure rolling, and promptly arcuation stage cylinder radius on the Mao Shi connecting rod and the roller radius sum of making pure rolling equal to justify on the Men Shi bar length unanimity that keeps between tracing point and the straight line.

Vertical force arm moving point (also claiming guiding translation point) of Men Shi fork is arranged on Men Shi bar circle tracing point, and it also equals the circle tracing point to the length between the straight path point apart from length.It is the place of so-called in the prior art " guiding ".There is the limitation and restriction of 2 resultant motions can make the rotation reciprocally swinging by the transfer regularity of ellipse fully on the Men Shi bar of the present invention, so its leading role seems very unimportant in the present invention, but the present invention is a driveshaft of doing motion output, keeping targeting part is in order to work to increase driveshaft arm of force length, because vertical translation distance of Men Shi bar upper end is micro-, from a deflection period of Men Shi bar, the spitting image of the swing fulcrum that is the Men Shi bar, vertical force arm moving point on the bar is also done once very a spot of translational movement up and down on longitudinal axis in fact, it is one of Men Shi bar feature, when swing, not having fixed support on the bar, is the wobble drive bar of " work ".With the swing arm of other classification tangible difference is arranged.

Ring gear is to be pressed together on the internal tooth snare to be built among the housing and to keep being rotatably assorted with housing.Worm screw on the excircle part of the internal tooth snare system of milling the worm gear gear teeth and housing is formed worm couple, also can with the internal tooth snare be enclosed within that the center portion handle is connected with the internal tooth snare in the housing, and draw the outer direct rotation internal tooth snare of housing by the groove on the housing.

With card on three rollers when the center of drive pin have a mind to be chosen on the transversal line with the ring gear pitch diameter on recessed teeth groove mid point on overlap.Promptly be that the engagement locating point of planetary pinion and ring gear is chosen on the transversal line as location starting point or initial point, so the pitch diameter of ring gear is exactly Men Shi fork full swing angle stroke and the longest accurate straight line delivery stroke.If handwheel on the worm screw or handle are clockwise rotated, the internal tooth snare was rotated for 1/4 week, in the time of will mesh locating point and overlap with longitudinal axis, then the angle of oscillation of Men Shi bar is zero, the straight line shift motion is zero.

Maximum angle of oscillation and minimum zero angle of oscillation and the longest rectilinear path and the shortest zero rectilinear path promptly can be realized reciprocally swinging travel limits stepless or that have grade between zero-bit and the dominant bit.The engagement locating point can only rotate in 1/4 week of transversal line and longitudinal axis just can realize that the stroke adjustment changes.

When the engagement locating point is in zero-bit, when promptly overlapping with longitudinal axis, it is to cross geometrical center from the top down to make linear drives up and down on longitudinal axis that card is worked as drive pin, because the symmetrical center line of vertical straight trough at the Men Shi fork back side is in the position that overlaps with longitudinal axis, so card is worked as not Dui Menshi bar generation driving force of drive pin, at this moment in fact importing power is cut off, become " card is worked as clutch " worthy of the name, and valuable feature more arranged is that the Men Shi fork is thoroughly locked on the position of longitudinal axis.

Be at last with on the Men Shi driveshaft on the translation point place of moving linearly on the transversal line band platform pivot pin kink an output stock, and stretch out in the hole of the crect ear on header board, its maximum adjustable rectilinear path output length equals ring gear pitch diameter length.

Maas is found behind the ellipse so far in door, countless scholars, the expert uses the intelligence and wisdom of oneself that ellipse is studied, and wherein the most successful person is the Kepler of Germany on using, and has supported the heliocentric theory that Copernius proposed with the characteristics of motion of elliptic curve.Elliptic curve is oval boundary line, so outside the border, on the border and border is with interior research, except that the method for mathematics, method physics or machinery is analyzed and understanding and playback ellipse, classics in this respect are cross recess double-slider ellipsograph mechanism and Ka Dang circular planetary gear ellipsograph mechanism, ellipse can both playback comes out, should be that Italian mathematician's card is as (Kardano) among the two, the method that he determines with the planetary pinion transmission, on the planetary pinion plane of rotation, be finally inversed by ellipse, and mechanically be applied at printing press etc.The greatest with the contribution that Kepler uses ellipse.

Technological scheme of the present invention is initiative, and is Promethean.Found in ellipse, to exist one " Maas fork in the door "! To break through and be deep into a lot of new applied technical fields and solve a lot of mechanically long-term insurmountable great technical barriers on using, its effect will be very obvious.

1. on the band platform pivot pin of in door, being installed in the circular hole on the straight moving tracing point of moving linearly on the Maas fork, limiting an input bar that does reciprocating linear motion with double nut, it is exactly the adjustable accurate linear drive of a kind of stroke, this kind device is had many uses, many variety series can be done, new industry can be formed.Domestic scholars are thought the technical barrier [3] that can't realize.On the reciprocating linear of short stroke is moving, have more clear superiority.

2. the combination of Maas fork and convergent-divergent control mechanism in the door is exactly an attitude grace, is easy to control, and is with low cost, " stalking mechanical leg " of reliable performance.Be a kind of original creation, technical important breakthrough and start the core technology of new industry.To in follow-up patent, describe in detail.

3. with two Gen Mennei Maas forks, with card when drive pin is the level of state on the straight-line trajectory point of bar driving in parallel the is exactly typical case flutters wing aviation mechanism device.Face of land 500m is with the interior flying area that should belong to human flapping-wing aircraft from now on, and other aircraft should be observed this rule.

This is that the mankind go back unrealized dream all the time, will turn one's dream into reality very soon.To in follow-up patent, describe in detail.

4. " Men Shi upper boom " in the Maas swing arm in the door reached in the elliptic curve border outside the so-called border of elliptic curve, form the fishtail type underwater scooter of Maas swing link type in the door, the diving machine fish that can produce a kind of very unique cheapness.To in follow-up patent, describe in detail.

5. the input of cancellation card Maas fork in the circular planetary gear opposite house drives, can be at the position that the good straight line of parallel connection moves, directly drive with manpower, after mixing scaling device, can design and produce most characteristic two oar devices, it is firmly similar with two oars that the paddle mode and the formula manpower of falling back paddle, but the direct of travel of ship is forward, available one hand, both hands are not even with also can the paddling two oars of hand with turn to.To in follow-up patent, describe in detail.

6. in the interior Maas fork of door, carry special " card is worked as clutch ", be specially adapted to walking machine leg device, flapping flight device, fishtail type advancing means and accurately play locking, stroke adjustment and clutch in the linear drive.

Fig. 1 is the accurate linear drive master of a Men Shi A bar type TV structure schematic representation.

Fig. 2 is adjustable range of take-off lever and minimum stroke schematic representation.

Fig. 3 is the whole-cutaway view of Men Shi driving pendulum rod when putting the longitudinal axis position.

Fig. 4 is the accurate linear drive master of a Men Shi B bar type TV structure schematic representation.

Fig. 5 is adjustable range of take-off lever and minimum stroke schematic representation.

Fig. 6 is the whole-cutaway view of Men Shi driving pendulum rod when putting the longitudinal axis position.

Fig. 7 is that the A of Fig. 6 adjusts the handle arrangement schematic representation to local stroke.

Fig. 8 is input crank disc profile and a counterweight adjustment piece schematic representation in Fig. 3 or 6.

Fig. 9 is the schematic representation that the worm and gear stroke of A-A broken section among Fig. 3 is adjusted.

Below with reference to embodiment 1 accompanying drawing 1,2,3,8,9 couples of the present invention are described further.Power is connected with crankshaft (2) by the input gear (1) of motor through arriving behind the multi-stage speed-reducing on the geometric centre axes, drives three rollers (3) of planetary pinion (4) and pressing and be encased in the upward common rotation of crank pin (5) together to do the planet running around ring gear (6).The pitch diameter of planetary pinion (4) and the pitch diameter of ring gear are 1: 2 relations.Card when drive pin (7) is arranged in the aperture pressing of three rollers (3) that planetary pinion (4) pitch circle place aligns can not axial motion, card is when being equipped with on the drive pin (7) among the pod a-a that rotation roller (8) is presented to driveshaft (9) back side together.Driving driveshaft (9) is symmetrical in longitudinal axis and makes reciprocal rotary oscillation.The profile of crank balancing disk (10) is shown in Figure 8, there is counterweigh to adjust piece (11) above, be used for and be assemblied in three rollers (3) on the crank pin (5), planetary pinion (4) and card adjust when the dynamic unbalance that drive pin (7) and roller (8) are produced in to the input rotation.

Input crankshaft (2), crank pin (5) and card are when forming dual crank mechanism between the drive pin (7), when driveshaft (9) swings to two when turning back, the inertial impact force of the component quality on the driveshaft (9), can be absorbed by this dual crank, so say that interior Maas fork vibration when swing is very slight.

The external cylindrical surface of three rollers (3) is also done the planet rotation and is rolled in internal tooth snare (22) endoporus, to input crank (2), crank pin (5) and card especially have good especially effect to crank pin (5) and card when the carrying and the life-span of this cantilevered axle of drive pin (7) when this dual crank of drive pin (7) plays a kind of effect of sharing to stressed supporting on each bearing.

Constraint is carried out respectively to driveshaft (9) " 2 points ".Header board (12) passes on the diameter end face that square hole in the driveshaft (9) is installed in housing (13) and links (not shown on the figure) with two screw and housings (13) with accurate pin, header board has symmetrical elongated slot on (12), the transversal line of the axis of symmetry of its groove and housing (13) overlaps, and the pitch diameter that the effective length of the last elongated slot of header board (12) is larger than ring gear (6) adds roller (14) diameter sum.Retrain driveshaft (9) among roller (14) being encased in the elongated slot of the header board (12) on the band platform pivot pin (15) that is pressed in the hole, straight moving tracing point place of driveshaft (9), the straight moving tracing point of moving linearly can only be along making reciprocal constrained straight line motion on the transversal line.Inserting with the housing geometrical center together after being pressed into band platform pivot pin (16) and loading onto roller (17) in the hole at the on the other hand round tracing point place by making circular movement on the driveshaft (9) on the driveshaft (9) is the center of circle, with round tracing point on the driveshaft (9) and the distance between the straight moving tracing point is radius, carries out the constraint to the circle tracing point among the circular groove of being made on the housing (13) (18).Like this, driveshaft (9) is gone up band platform pivot pin (15) and is with two central points of platform pivot pin (16), retrain respectively and be limited in and the horizontal elongated slot and the circular groove on the housing (13) of the header board (12) that housing (13) is linked in.

" force arm moving point " on the driveshaft (9), also can be called " guiding translation point ", be in the translation point hole that after band platform pivot pin (19) is gone up cover upper roller (20), is pressed on the driveshaft (9), be encased in the middle translational movement up and down of making trace of groove (21) of housing (13) upper end and longitudinal axis symmetry.Force arm moving point wants strict guarantee to equate to distance between the straight path point with the circle tracing point to the distance of circle tracing point.

Ring gear (6) is pressed in the internal tooth snare (22) fixing, the cylindrical of internal tooth snare (22) and end face can rotate in the hole of housing (13), are milled with the worm gear gear teeth (24) and the drive connection that is assemblied in worm screw (23) composition worm couple in the housing (13) around the cylindrical of internal tooth snare (22).Fig. 9 is the cross-sectional schematic of the worm and gear transmission of A-A part among Fig. 3.The outer handwheel (25) of rotary worm just can be adjusted the oscillating stroke of the rotary oscillation angle size of driveshaft (9).If the engagement locating point of ring gear (6) and planetary pinion (4) is selected on the pitch diameter point of ring gear (6) left end on the transversal line, then card produces maximum angle of oscillation to the driving of driveshaft (9) when drive pin (7) and roller (8), and is symmetrical in the reciprocal rotary oscillation that longitudinal axis is made maximum.If rotate handwheel (25), when the engagement locating point that makes ring gear (6) and planetary pinion (4) is forwarded on the longitudinal axis of top clockwise by transversal line, then card does not produce driving action to driveshaft (9) when drive pin (7) and roller (8), the angle of oscillation of driveshaft (9) is zero, driveshaft (9) is locked in the vertical line position of longitudinal axis, input power is cut off, and forms the leave state of a kind of card when clutch.The symmetry center point O point place of maximum adjustable stroke L among Fig. 2 is exactly the position view that concerns of the locked and clutch state of driveshaft (9).

Like this, the output length that the angle of oscillation of driveshaft (9) and straight line move can be between the zero-sum maximum be selected arbitrarily, can be stepless or the size variation of level ground control stroke arranged.

Being shaped on crect ear (26) and crossbeam (12) at crossbeam (12) right-hand member makes one overall, and be pressed into lining (27), the left end hole of take-off lever (28) is encased on the right-hand member of driveshaft (9) last band platform pivot pin (15), locked the gap with double nut, take-off lever (28) stretches out from the lining (27) of crect ear (26), and L is exactly the past complex line movable length of maximum of take-off lever among Fig. 2.The moving lever that Here it is from cross recess double-slider ellipsograph schematic diagram develops next " Maas fork in the A type door " and " the accurate straight line driving device of A type "

Below in conjunction with accompanying drawing 4,5,6,7 couples of embodiments 2 do the emphasis narration.This is when the differentiation of the moving lever in the circular planetary gear ellipsograph schematic diagram next " Maas fork in the Type B door " and " the accurate linear drive of Type B " according to card.Driveshaft (9) becomes total combination driveshaft (9) with annex members such as (9a).Header board (12) passes on the diameter end face of square breach on the driveshaft (9) and housing (13) and links (not shown figure on) with two accurate cylinder screws, the geometrical center of the aperture on the header board (12) must and housing on geometrical center assurance coincidence.

Two constraint points on the driveshaft (9) retrain jointly.Specifically retrain jointly by an anchor formula swing connecting bar (50), anchor formula swing connecting bar (50) lower end is shaped on protruding pivot pin and is inserted in the aperture of header board (12) geometrical center and is rotatably assorted, the upper end is pressed in driveshaft (9) the circle tracing point in the aperture by band platform pivot pin (16), and circle tracing point hole, anchor formula swing connecting bar (50) upper end will keep being rotatably assorted with being with platform pivot pin (16).The distance at upper end hole center and pivot pin center, lower end equals round tracing point on the driveshaft (9) to the distance between the moving linearly tracing point.Being shaped on anchor formula swing connecting bar (50) and going up arc track point with driveshaft (9) be the arcuation stage cylndrical surface (50a) in the center of circle, and the radius sum of the roller (14) of rotation equals the distance of anchor formula swing arm (50) upper end hole center to pivot pin center, lower end on the band platform pivot pin (15) in the corresponding aperture on its radius and straight path point place (9a) annex that is pressed on the driveshaft (9).The vertical straight trough a-a in driveshaft (9) back side is symmetrical in longitudinal axis at card under the effect of drive pin and makes reciprocal rotary oscillation, and at this moment to force the upper end hole center of anchor formula swing connecting bar (50) be that reciprocally swinging is made in the center of circle along the circle track with the housing geometrical center to driveshaft (9) the band platform pivot pin (16) of going up circle tracing point place.The roller (14) that drive pin (9) is gone up on (9a) annex translation point place's band platform pivot pin (15) is made pure rolling on arc stage cylndrical surface (50a).Thereby retrain and force driveshaft (9) to go up the translation point and do straight reciprocating motion.

The angle of oscillation of driveshaft (9) size is adjusted and take-off lever (28) running length to adjust handle (51) be by the interior cylinder pillow block (52) of its handle, at its lower end and housing (13) axle that rotates, the adjustment handle of from housing (13) breach, stretching (51), can rotate around housing (13) and 1/4 week carry out the stroke adjustment, adjust on the handle (51) spring sheet (53) is arranged, claw sheet (54), at the A of accompanying drawing 6 in the schematic representation that is illustrated in accompanying drawing 8.Mill the teeth groove (55) that is shaped on some equalizations on housing (13) back housing, if unclamp the claw sheet of adjusting on the handle (51) (54) after the stroke adjustment, at this moment the most advanced and sophisticated claw (56) the claw sheet under is positioned under spring sheet (53) acts on housing (13) back side in some teeth groove (55).

Background paper

1. the principle of common mechanism and application, book, China Machine Press, in October, 1978 front page, " ellipsograph mechanism ", p363-365.

2. the comprehensive outline of quadratic crank mechanism, second, book, Li Xuerong, China Machine Press, in November, 1984 second edition, " doing the mechanism of card ", p123-136 when motion.

3. the design of four bar straight-line guidance mechanisms and track collection of illustrative plates, Liu Baoqi, Huang Rong, publishing house of Beijing Institute of Technology, in June, 1992 front page, " preface ", p1-2.

Claims (11)

1. " Maas fork in the door " is with accurately linear drive and Ka Dang clutch combine cross recess double-slider ellipsograph mechanism and Ka Dang circular planetary gear ellipsograph mechanism, it is characterized in that driveshaft (9) comprises " Men Shi A bar ", " Men Shi B bar " and " Men Shi upper boom ", the member of constraint moving linearly and the member that circular movement is made in constraint are all arranged on it, after two motions are synthetic, just force driveshaft (9) to make orderly rotation reciprocally swinging by the elliptic motion rule.

2. " Maas fork in the door " as claimed in claim 1 and accurate linear drive and Ka Dang clutch, it is characterized in that the straight line of " Men Shi A bar " and the constraint of 2 of circle tracks separate, straight path point place on driveshaft (9) has pivot pin (15) and roller (14) to insert together in the elongated slot of the header board (12) that is connected with housing (13), and constraint roller (14) can only be along doing straight reciprocating motion on the transversal line of housing (13); Driveshaft (9) is gone up and to be pressed into that pivot pin (16) and roller (17) place together with the geometrical center of housing (13) be the annular groove (18) in the center of circle at circle tracing point place, forces the round tracing point that drives on the bar (9) can only make circular movement.

3. " Maas fork in the door " as claimed in claim 1 and accurate linear drive and Ka Dang clutch, it is characterized in that the constraint of the straight line of " Men Shi B bar " and 2 of tracks of circle puts into the hole of header board (12) by the protruding pivot pin in anchor formula swing connecting bar (50) lower end, and guarantee on housing (13) geometrical center position oscillation center as anchor formula swing connecting bar (50), be pressed in the hole, driveshaft (9) circle tracing point place with band platform pivot pin (16) in the upper end hole and be rotatably assorted, the distance at upper end hole and projection pivot pin center, lower end and driveshaft (9) is gone up round tracing point and 2 distances of straight path point equate; Go up on the anchor formula swing connecting bar (50) that the circle tracing point is the center with driveshaft (9) and to be shaped on arcuation stage cylndrical surface (50a), the radius sum that the straight path point place's pivot pin (15) on its radius of gyration and the driveshaft (9) is gone up the roller (14) of rotation also will equal round tracing point on the driveshaft (9) and the distance between the straight path point retrains 2 motion jointly.

4. " Maas fork in the door " as claimed in claim 1 and accurate linear drive and Ka Dang clutch, it is characterized in that " Men Shi A bar " and " Men Shi B bar " is being symmetrical in longitudinal axis, when making reciprocal rotary oscillation with the full swing angle of 2 α, arbitrfary point on the bar is all a little sentenced gradually acceleration successively and is drawn close to longitudinal axis from turning back, leave from longitudinal axis with speed decrescence again then and be flapped toward another and turn back a little, be that the angle of oscillation bisector is fastest, two place's speed of turning back are the slowest, so very helpful to the inertial impact force of driveshaft (9).

5. " Maas fork in the door " as claimed in claim 1 and accurate linear drive and Ka Dang clutch, it is characterized in that " Men Shi upper boom " bar upper arm translation point place, it is the driveshaft (9) that pivot pin (19) central point upwards prolongs, under the constraint respectively of straight line and 2 of tracks of circle and card when drive pin (7) is still done the input driving with roller (8) in the a-a pod at driveshaft (9) back side, the arbitrfary point on the driveshaft of Yan Changing (9) " Men Shi upper boom " then, turning back from one a little all is to draw close to longitudinal axis with speed decrescence successively, leave from longitudinal axis with acceleration gradually again then and be flapped toward another and turn back a little, promptly speed is the slowest near the angle of oscillation bisector, and two places of turning back are then very fast.

6. " Maas fork in the door " as claimed in claim 1 and accurate linear drive and Ka Dang clutch, it is characterized in that when planetary pinion (4) and the engagement locating point that is pressed into the ring gear (6) in the internal tooth snare (22) are transferred on the longitudinal axis, drive pin (7) worked as by card and roller (8) does not produce driving force to driveshaft (9), input power is cut off, and Here it is, and card is worked as clutch.

7. " Maas fork in the door " as claimed in claim 1 and accurate linear drive and Ka Dang clutch, it is characterized in that three rollers (3) will be connected with planetary pinion (4), to rotate connection with crank pin (5), totally be associated in or be used as the card that is pressed into when drive pin (7) parent when drive pin (7) makes one with card; The external cylindrical surface of three rollers (3) is also done planet rotation rolling again in the endoporus of internal tooth snare (22) simultaneously, and to input crankshaft (2), the dual crank that crank pin (5) and card are formed when drive pin (7) plays load and shares effect.

8. " Maas fork in the door " as claimed in claim 1 and accurate linear drive and Ka Dang clutch, it is characterized in that importing crankshaft (2), crank pin (5) and card are when forming dual crank mechanism between the drive pin (7), when driveshaft (9) swings to two when turning back, bar upper member mass inertia impact force can be absorbed by dual crank.

9. " Maas fork in the door " as claimed in claim 1 and accurate linear drive and Ka Dang clutch, it is characterized in that when planetary pinion (4) and the engagement locating point of ring gear (6) that is pressed into internal tooth snare (22) are on transversal line, the reciprocally swinging angle maximum of driveshaft (9), the straight line delivery stroke on the take-off lever (28) is the longest; Transfer to when overlapping with longitudinal axis when contact points, then the reciprocally swinging angle of driveshaft (9) is zero, and the rectilinear path of output shaft (28) is zero, between the stroke of zero-bit and dominant bit, can realize stepless and any adjustment of grade stroke is arranged.

10. " Maas fork in the door " as claimed in claim 1 and accurate linear drive and Ka Dang clutch, it is characterized in that driveshaft (9) is symmetrical in longitudinal axis, when making reciprocally swinging with the angle of oscillation of 2 α, driveshaft has round tracing point on (9), is to do motion on the circumference around the geometrical center of housing (13); There is the straight-line trajectory point on transversal line, to do reciprocating linear motion; (being guiding point) on the force arm moving point is the translational movement up and down of making trace on longitudinal axis, except that these three particular points, all points on driveshaft (9) bar are all done corresponding elliptic motion, because driveshaft (9) is a swing arm, all moving on total bar bar, without any fixed support, so be called " bar of living " of interior Maas swing.

" Maas fork in the door " 11. as claimed in claim 1 and accurate linear drive and Ka Dang clutch, it is characterized in that going up the straight path point from driveshaft (9) is equipped with band platform pivot pin (15), put take-off lever (28), and stretch out in the lining (27) from the last crect ear (26) of header board (12), the range of take-off lever (28) equals the pitch diameter of ring gear (6), take-off lever (28) can be zero to adjusting arbitrarily between the maximum reciprocating stroke, alternative guide rail is done the output of accurate straight line, Here it is accurate linear drive.

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