CN105299167A - A secondary rotary mechanism - Google Patents

Abstract

A secondary rotation mechanism comprises a seat body, a first rotation body, a first driving mechanism, a second rotation body, a second driving mechanism and an execution component arranged on the second rotation body, wherein the distance from the central line of a shaft body of the first rotation body to the central line of a shaft hole on the first rotation body and the distance from the central line of the shaft body on the second rotation body to the central line of the execution component can be made to be equal or unequal. The shaft body and the shaft hole of the first rotating body are positioned at two ends of the first rotating body; the shaft body of the second rotator and the installation position of the execution component are respectively positioned at two ends of the second rotator. When the mechanism works, under the control of the numerical control servo system, the mechanism can enable the first rotating body to rotate independently, also enable the second rotating body to rotate independently, or enable the first rotating body and the second rotating body to rotate simultaneously. This enables the actuator to move according to a predetermined trajectory. The components of the structure are pure rolling friction, have no wearing parts, have long service life and can keep high-precision work for a long time.

Description

A secondary rotary mechanism

technical field

The invention relates to a secondary rotary mechanism of mechanical transmission.

Background technique

At present, in the existing technology, in order to realize the accurate positioning of the execution part of the mechanical equipment in the working plane so that the execution part can move according to the required trajectory under the control of the CNC servo system, people use a screw guide rail device or a linear motor + guide rail. The cross carriage mechanism composed of linear components such as devices. The problem is that the structure is complicated and difficult to manufacture and install, which leads to high manufacturing cost and maintenance cost of the equipment.

Contents of the invention

The purpose of the present invention is to provide a secondary rotary mechanism that can move the actuator along a straight line, a circle or other arbitrary curves. Its manufacturing cost and maintenance cost are low, its service life is long, and its precision is higher than that of the cross slide mechanism.

The present invention is achieved in the following way: a secondary rotary mechanism, which includes a seat body, a first rotary body, a first drive mechanism, a second rotary body, a second drive mechanism and an execution component arranged on the second rotary body,

The shaft body of the first rotating body is pivotally connected with the shaft hole of the base body, and the first driving mechanism drives the first rotating body to rotate;

The shaft body of the second rotating body is pivotally connected with the shaft hole on the first rotating body, and the second driving mechanism drives the shaft body of the second rotating body;

The distance from the center line of the shaft body of the first rotating body to the center line of the shaft hole on the first rotating body and the distance from the center line of the shaft body on the second rotating body to the center line of the execution part can be made equal or different.

The shaft body and the shaft hole of the first rotating body are located at both ends of the first rotating body;

The shaft body of the second rotating body and the installation place of the execution part are respectively located at two ends of the second rotating body.

The above-mentioned secondary rotary mechanism is special in that: the first rotary body and the second rotary body are respectively circular or bar-shaped;

The shaft body of the first rotating body is arranged on the center of the first rotating body, and the shaft hole on the first rotating body is located on the circumference of the first rotating body;

The shaft body of the second rotating body is arranged on the center of the second rotating body, and the installation position of the actuator is located on the circumference of the second rotating body.

The invention is a secondary rotary mechanism. When it works, under the control of the numerical control servo system, the mechanism can rotate the first rotating body alone, the second rotating body can rotate independently, or the first rotating body and the second rotating body can rotate simultaneously. This enables the actuator to move according to the established track. The components of this structure are pure rolling friction, no wearing parts, long service life, and can maintain high-precision work for a long time.

Description of drawings

Fig. 1 is a partial sectional view of the present invention.

Fig. 2 is a schematic diagram of the running track of the present invention.

Fig. 3 is a secondary polar coordinate analysis diagram of the present invention.

detailed description

The present invention will be further described below in conjunction with the accompanying drawings.

As shown in Figure 1, a secondary rotary mechanism, which includes a base 1, a first rotary body 2, a first drive mechanism 3, a second rotary body 4, a second drive mechanism 5 and a Executor 6 on

The shaft body 21 of the first rotating body 2 is pivotally connected with the shaft hole of the base body 1, and the first driving mechanism 3 drives the shaft body 21 of the first rotating body 2;

The shaft body 41 of the second rotating body 4 is pivotally connected with the shaft hole on the first rotating body 2, and the second driving mechanism 5 drives the shaft body 41 of the second rotating body 4;

The distance from the centerline of the shaft 21 of the first swivel 2 to the centerline of the shaft hole on the first swivel 2 is equal to the distance from the centerline of the shaft 41 on the second swivel 4 to the centerline of the actuator 6, It can also be unequal.

The first and second swivels 2, 4 are circular or strip-shaped;

The shaft body 21 and the shaft hole of the first rotating body 2 are respectively located at both ends of the first rotating body;

The shaft body 41 of the second rotating body 4 and the installation part of the actuator are respectively located at two ends of the second rotating body 4 .

Another embodiment of the present invention: the first rotating body 2 and the second rotating body 4 are respectively circular;

The shaft body 21 of the first rotating body 2 is arranged on the center of the first rotating body 2, and the shaft hole on the first rotating body 2 is located on the circumference of the first rotating body 2;

The shaft body 41 of the second rotating body 4 is arranged on the center of the second rotating body 4 , and the installation position of the actuator is located on the circumference of the second rotating body 4 .

Described first driving mechanism 3 comprises the first servo motor 31, the first driving bevel gear 32 and the first driven bevel gear 33, the first servo motor 31 is fixed on the base 1, the first driving bevel gear 32 and the first servo motor The shaft of 31 is fixedly connected; the first driven bevel gear 33 is fixedly connected with the shaft body 21 of the first rotating body 2 .

The second driving mechanism 5 includes a second servo motor 51, a second driving bevel gear 52 and a second driven bevel gear 53, the second servo motor 51 is fixed on the first rotating body 2, the second driving bevel gear 52 and The shaft of the fifth servo motor 51 is fixedly connected; the second driven bevel gear 53 is fixedly connected with the shaft body 41 of the second rotating body 4 .

As shown in Figure 3:

The distance from the centerline of the shaft body 21 of the first rotating body 2 to the centerline of the shaft hole on the first rotating body 2 is R1;

The distance from the centerline of the shaft body 41 on the second rotating body 4 to the centerline of the actuator 6 is R2;

The rotation angle of the first rotation body 2 is A;

The rotation angle of the second rotating body 4 is B;

The Cartesian coordinates of the execution unit 6 at a certain point n in space are (X, Y);

Then when R1≠R2, that is, the distance from the centerline of the shaft 21 of the first swivel 2 to the centerline of the shaft hole on the first swivel 2 and the centerline of the shaft 41 on the second swivel 4 to the actuator When the distances of the centerlines of 6 are made unequal, then the execution part moves according to the trajectory determined by the following parameter equation:

$\left\{\begin{array}{c}\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}\mathrm{<span\; class="notranslate">\; cos</span>}\mathrm{<span\; class="notranslate">\; A</span>}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}\mathrm{<span\; class="notranslate">\; cos</span>}\mathrm{<span\; class="notranslate">\; B</span>}\\ \mathrm{<span\; class="notranslate">\; the\; y</span>}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}\mathrm{<span\; class="notranslate">\; sin</span>}\mathrm{<span\; class="notranslate">\; A</span>}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}\mathrm{<span\; class="notranslate">\; sin</span>}\mathrm{<span\; class="notranslate">\; B</span>}\end{array}\right.$

When R1=R2=R, that is, the distance from the centerline of the shaft 21 of the first swivel 2 to the centerline of the shaft hole on the first swivel 2 and the centerline of the shaft 41 on the second swivel 4 to the execution When the distances of the centerlines of parts 6 are made equal, then the parts are executed according to the track movement determined by the following parameter equation:

$\left\{\begin{array}{c}\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; R</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; cos</span>}\mathrm{<span\; class="notranslate">\; A</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; cos</span>}\mathrm{<span\; class="notranslate">\; B</span>}<span\; class="notranslate">\; )</span>\\ \mathrm{<span\; class="notranslate">\; Y</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; R</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; sin</span>}\mathrm{<span\; class="notranslate">\; A</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; sin</span>}\mathrm{<span\; class="notranslate">\; B</span>}<span\; class="notranslate">\; )</span>\end{array}\right.$

What has been described above is only one embodiment of the present invention. It should be noted that, for those skilled in the art, without departing from the principles disclosed by the above parametric equations of the present invention, some improvements and modifications can be made, which are also regarded as the protection scope of the present invention.

Claims (3)

1. a secondary returning rotation mechanism, is characterized in that: it comprises, and pedestal, first is turned, the first driving mechanism, second is turned, the second driving mechanism and be arranged on second turn on power unit,

The axis hole pivot joint of the first axis body of turning and pedestal, the first driving mechanism drives first to turn rotation;

Second axis body of turning and first turn on axis hole pivot joint, the second driving mechanism drives second axis body of turning;

The center line of the first axis body of turning turn to first on the distance between center line (R1) and second of axis hole turn on axis body center line equal or unequal to the distance (R2) of the center line of power unit.

2. a kind of secondary returning rotation mechanism according to claim 1, is characterized in that: described first, second is turned in bar shaped;

First axis body of turning and axis hole are positioned at the first two ends of turning;

Second axis body of turning and power unit installation place lay respectively at the second two ends of turning.

3. a kind of secondary returning rotation mechanism according to claim 1, is characterized in that: described first to turn, second turn rounded respectively;

Described first axis body of turning is arranged on first center of circle of turning, first turn on axis hole be positioned at first and turn circumferentially;

Described second axis body of turning is arranged on second center of circle of turning, and power unit installation position is positioned at second and turns circumferentially.