CN110630709A - speed balance device - Google Patents

Abstract

The invention discloses a rotating speed balance device, which comprises an input shaft and a balance shaft, a transmission device is arranged between the input shaft and the balance shaft, a balance torque device is arranged on the balance shaft, and the balance torque applied by the balance torque device to the balance shaft is equal to the The rotational angular velocity of the shaft satisfies: Wherein, M ₂ is the balance torque; ω ₂ is the angular velocity of the balance shaft; p is the balance moment coefficient; the speed change device controls the transmission ratio between the balance shaft and the input shaft and the input torque received by the input shaft to satisfy: Wherein, M ₁ is the input torque of the input shaft; C ₁ is a constant; a is the transmission ratio of the speed changer, and aω ₁ =ω ₂ ; ω ₁ is the angular velocity of the input shaft; or, it also includes the power connected to the input shaft device; the speed change device controls the transmission ratio between the balance shaft and the input shaft and the output power output from the power device to the input shaft satisfies: Among them, P is the output power output from the power plant to the input shaft; _C2 is a constant; a is the transmission ratio of the speed change device.

Description

speed balance device

technical field

The invention relates to a rotational speed balance device.

Background technique

Today, with the rapid economic development, there are more and more high-rise buildings in the city, and the floors are also higher and higher, so the possibility of accidents and dangerous situations in high-rise buildings also increases. Once a dangerous situation occurs, such as a fire, it becomes very important for people living in high-rise buildings to escape quickly. When a fire or other dangerous situation occurs, people in distress are often trapped in the house and cannot escape through facilities such as fire stairs in the corridor, and because the floors are too high, equipment such as fire ladders cannot reach the designated height, and they cannot be rescued. Even if a fire-fighting air cushion is laid at the rescue site, people in distress who jump from a high place will often cause casualties due to various reasons such as the limitation of the fire-fighting air cushion. In addition, with the development of society, outdoor sports are becoming more and more popular. In outdoor activities, sports such as rock climbing and rock descent have greater risks, and a little carelessness can lead to casualties.

High-rise fires often lead to damage to the floor power supply system. Due to limited conditions, outdoor sports often do not have power supply facilities and equipment. Therefore, in such an environment, there is an urgent need for a slow-down device that can realize slow-down without using external power equipment. .

The Chinese patent with the publication number CN201643453U discloses a high-altitude slow-descent device. The high-altitude slow-descent device is composed of a casing, a rope wheel, a gear transmission mechanism, a centrifugal friction deceleration mechanism, a main shaft and a rope. The casing is a cylindrical structure. A friction layer is provided along the left side of the circumference, and the inner side of the shell is an internal ring gear structure along the right side of the circumferential surface. The rope wheel is installed in the center of the main shaft, and the rope wheel can rotate freely relative to the main shaft. The shaft hole can rotate freely. The gear transmission mechanism adopts NGW planetary gear system, which is installed and fixed on the main shaft on the right side of the rope wheel. The gear transmission mechanism includes a sun gear, an inner ring gear, and a planetary gear. The sun gear is on the right side of the rope wheel. Fixed on the main shaft, the planetary gear is installed on the right side of the rope wheel, the planetary gear meshes with the sun gear and the inner ring gear of the casing at the same time, the centrifugal deceleration mechanism is installed and fixed on the main shaft on the left side of the sheave, and the centrifugal deceleration mechanism consists of The centrifugal wheel and the centrifugal friction block are composed of a groove on the peripheral surface of the centrifugal wheel, the centrifugal friction block is placed in the groove, and the rope is wound on the sheave and protrudes from the lower part of the shell.

The high-altitude slow-descent device uses the rotational movement of the centrifugal friction block to generate centrifugal force, and generates friction between the centrifugal friction block and the friction layer, and uses the balance torque generated by the friction force on the main shaft to balance the input torque applied by the sheave to the main shaft. However, the rotation speed of the main shaft increases with the increase of the input torque and decreases with the decrease of the input torque, that is, the falling speed is unstable. In particular, if the weight of the person in distress is too small, the input torque applied to the main shaft by gravity is relatively small. At this time, there may be a problem that the descending speed is too low, and the purpose of escape cannot be achieved; The input torque to the main shaft is relatively large, which may cause the problem of excessive descending speed. Excessive descending speed threatens the personal safety of the user and fails to achieve the purpose of escape.

The Chinese patent with the publication number CN203154630U discloses an adaptive continuous slow-down fire escape device, which includes a housing in which a winding shaft and a speed regulating shaft are arranged; the speed regulating shaft is provided with a rotational speed self-adaptive adjustment mechanism , the rotational speed self-adaptive adjustment mechanism includes a Puli bead plate fixedly installed on the speed regulating shaft, a friction disk I which is fitted on the speed regulating shaft and slides with the speed regulating shaft in a single degree of freedom, and corresponds to the friction disk I. Friction disc II is set, the friction disc I is located between the Puli bead disc and the friction disc II, and the side of the Puli bead disc facing the friction disc I is provided with a device for driving the friction disc I to the The pulley arm assembly in which the friction disc II slides, the friction disc II is fixedly arranged on the housing, and there are friction surfaces that closely fit each other between the friction disc I and the friction disc II; A transmission mechanism is provided between the spool and the speed regulating shaft, and the spool is provided with a winding reel for coiling the escape rope and a handle mechanism for driving the spool to rotate and rewind the escape rope, and the spool A one-way clutch is provided between the winding reel and the transmission mechanism.

The self-adaptive continuous slow-down fire escape device essentially utilizes the centrifugal force of the pulley arm assembly to generate friction torque between the friction disc Ⅰ and the friction disc Ⅱ to balance the torque input by the winding shaft. Failure to achieve the purpose of escape.

Contents of the invention

In view of this, the object of the present invention is to provide a rotational speed balancing device, which can keep the rotational speed of the input shaft within a set range under different input torques or input powers.

To achieve the above object, the present invention provides the following technical solutions:

A speed balancing device, comprising an input shaft and a balance shaft, a speed change device is provided between the input shaft and the balance shaft, and a balance torque device is provided on the balance shaft, and it is characterized in that:

Between the balance torque applied by the balance torque device to the balance shaft and the rotational angular velocity of the balance shaft:

Among them, M ₂ is the balance torque; ω ₂ is the angular velocity of the balance shaft; k is the balance moment coefficient;

The speed change device controls the transmission ratio between the balance shaft and the input shaft and the input torque received by the input shaft to satisfy:

Wherein, M ₁ is the input torque of the input shaft; C ₁ is a constant; a is the gear ratio of the transmission, and aω ₁ =ω ₂ ; ω ₁ is the angular velocity of the input shaft;

Or, it also includes a power device connected to the input shaft;

The speed change device controls the transmission ratio between the balance shaft and the input shaft and the output power of the power device to the input shaft to satisfy:

Among them, P is the output power output from the power plant to the input shaft; C ₂ is a constant; a is the transmission ratio of the transmission, and aω ₁ =ω ₂ ; ω ₁ is the angular velocity of the input shaft.

Further, the balance torque device adopts a centrifugal friction device or an air resistance device.

Further, the speed change device includes a drive wheel connected to the input shaft and a driven wheel connected to the balance shaft, a transmission belt is provided between the drive wheel and the driven wheel; the drive wheel and/or the driven wheel The transmission radius between the driving wheel and the transmission belt is adjustable; and: when the transmission radius between the driving wheel and the transmission belt is adjustable,

The driving wheel includes a first driving wheel and a second driving wheel arranged coaxially, and the first driving wheel and/or the second driving wheel are driving wheels that can move along the axial direction;

When the transmission radius between the driven wheel and the transmission belt is adjustable,

The driven wheel includes a first driven wheel and a second driven wheel arranged coaxially, and the first driven wheel and/or the second driven wheel are driven wheels that can move along the axial direction.

Further, when the transmission radius between the driving wheel and the transmission belt is adjustable,

幂次方之间成正比；或，The distance that the driving wheel moves along its axial direction is proportional to the input torque or input power received by the input shaft; the distance moved in the direction of

are proportional to the powers of each other; or,

幂次方之间成正比；且所述主动动轮与所述传动带之间的传动半径与该主动动轮沿其轴向方向移动的距离之间成正比；The distance that the main drive wheel moves along its axial direction is related to the input torque or input power received by the input shaft

The power is proportional to each other; and the transmission radius between the driving wheel and the transmission belt is proportional to the distance that the driving wheel moves along its axial direction;

When the transmission radius between the driven wheel and the transmission belt is adjustable,

幂次方之间成反比；或，The distance that the driven wheel moves along its axial direction is proportional to the input torque or input power received by the input shaft; and the transmission radius between the driven wheel and the transmission belt is proportional to the driven wheel The distance moved along its axial direction

Powers are inversely proportional to each other; or,

幂次方之间成反比；且所述从动动轮与所述传动带之间的传动半径与该从动动轮沿其轴向方向移动的距离之间成正比。The distance that the driven wheel moves along its axial direction is related to the input torque or input power received by the input shaft

The powers are inversely proportional to each other; and the transmission radius between the driven wheel and the transmission belt is directly proportional to the moving distance of the driven wheel along its axial direction.

Further, the transmission device further includes a tension pulley for keeping the drive belt in a tensioned state all the time, and a tension force mechanism for providing a tension pretension is provided on the rotation shaft of the tension pulley.

Further, it also includes a torque input device for applying the input torque to the input shaft;

The torque input device includes a pulley for winding the rope and rotating under the tension of the rope or rolling with the external rope, the pulley is sleeved on the input shaft and connected to the input shaft synchronous rotation; or a transmission connection between the rotating shaft of the pulley and the input shaft.

Further, it also includes a transmission adjustment mechanism for adjusting the transmission ratio of the transmission device;

The speed change adjustment mechanism includes a driving rod for driving the corresponding driving wheel or driven wheel to move along its axial direction, and the driving rod is in rotation cooperation with the corresponding driving wheel or driven wheel and The corresponding driving wheel or driven wheel moves axially synchronously;

The speed change adjustment mechanism further includes a speed change drive mechanism for driving the lever to move along the axial direction of the corresponding driving wheel or driven wheel.

Further, the variable speed drive mechanism includes a pulley set for guiding the rope, the pulley set includes a movable pulley, and the movable pulley can move in a direction perpendicular to its axis under the tension of the rope, and the movable pulley The distance moved in the direction perpendicular to its axis is proportional to the tension of the rope; between the movable pulley and the driving lever, there is a driving pulley or a driven pulley for driving the driving lever along the corresponding an adjustment drive mechanism for movement in the axial direction of the runner; and:

When the transmission radius between the driving wheel and the transmission belt is equal to the distance that the driving wheel moves along its axial direction When the power is proportional to each other, the moving distance of the corresponding driving pulley driven by the driving lever in the axial direction is proportional to the moving distance of the moving pulley in the direction perpendicular to its axis;

幂次方之间成正比；When the transmission radius between the driving wheel and the transmission belt is proportional to the distance that the driving wheel moves along its axial direction, the driving rod drives the corresponding driving wheel to move along its axial direction. The distance between the moving pulley and the moving distance in the direction perpendicular to its axis

The powers are proportional to each other;

幂次方之间成反比时，所述拨杆驱动对应的所述从动动轮沿其轴向方向移动的距离与所述动滑轮沿垂直于其轴线方向移动的距离之间成正比；When the transmission radius between the driven wheel and the transmission belt is equal to the distance that the driven wheel moves along its axial direction

When the powers are inversely proportional to each other, the moving distance of the driven pulley corresponding to the driving lever in its axial direction is directly proportional to the moving distance of the movable pulley in a direction perpendicular to its axis;

幂次方之间成反比。When the transmission radius between the driven wheel and the transmission belt is proportional to the distance that the driven wheel moves along its axial direction, the driving lever drives the corresponding driven wheel along its axial direction. The distance moved in the direction and the distance moved by the movable pulley in the direction perpendicular to its axis

Powers are inversely proportional to each other.

Further, the adjustment driving mechanism includes a force applying mechanism for applying an axial force parallel to the corresponding driving wheel or driven wheel in the axial direction to the driving lever and a force applying mechanism for balancing the axial force. An elastic balance mechanism, the elastic balance mechanism is used to apply an elastic force opposite to the direction of the axial force.

Further, when the moving distance of the corresponding driving pulley or driven pulley in the axial direction driven by the driving rod is proportional to the moving distance of the moving pulley in a direction perpendicular to its axis; the force applying mechanism includes a tension belt and a guide wheel for guiding the tension belt, the first end of the tension belt is parallel to the moving direction of the movable pulley, and the second end is parallel to the moving direction of the driving rod; or, the applying force The mechanism includes a third force applying rod perpendicular to the axis of the corresponding driving wheel or driven wheel, and a third force applying surface is provided at one end of the third force applying rod close to the corresponding driving wheel or driven wheel , the third force application surface is in contact with the corresponding shift lever, and at the same time, the plane passing through the axis of the third force application rod and the axis of the corresponding driving wheel or driven wheel is on the third force application surface. The analytical geometric equation of the straight line intercepted on the surface can be expressed as: y=a ₁ x+b ₁ , where a ₁ and b ₁ are equation coefficients, and a ₁ ≠0; the first applying rod and the The movable pulley moves synchronously, or the moving distance of the first force applying rod along its axial direction is proportional to the moving distance of the movable pulley along the direction perpendicular to its axial direction;

幂次方之间成正比时，所述施力机构包括与对应的所述主动动轮的轴线垂直的第一施力杆，所述第一施力杆靠近对应的所述主动动轮的一端设有第一施力面，所述第一施力面与对应的所述拨杆接触配合，且同时过所述第一施力杆轴线以及对应的所述主动动轮的轴线的平面在所述第一施力面上截得的曲线的解析几何方程可表示为：y＝a₂x²+b₂，其中，a₂、b₂均为方程系数，a₂≠0；所述第一施力杆与所述动滑轮同步移动，或所述第一施力杆沿其轴线方向上的移动距离与所述动滑轮沿垂直于其轴向方向移动的距离之间成正比；When the driving lever drives the corresponding moving distance of the main driving wheel in the axial direction and the moving distance of the moving pulley in a direction perpendicular to its axis

When the powers are proportional to each other, the force applying mechanism includes a first force applying rod perpendicular to the axis of the corresponding driving wheel, and an end of the first force applying rod close to the corresponding driving wheel is provided with The first force application surface, the first force application surface is in contact with the corresponding driving lever, and the plane passing through the axis of the first force application rod and the axis of the corresponding main driving wheel at the same time is on the first force application surface. The analytical geometric equation of the curve cut off on the force application surface can be expressed as: y=a ₂ x ² +b ₂ , where a ₂ and b ₂ are equation coefficients, and a ₂ ≠0; the first force application rod move synchronously with the movable pulley, or the moving distance of the first force applying rod along its axis direction is proportional to the moving distance of the movable pulley along the direction perpendicular to its axial direction;

When the driving lever is driven, the distance that the corresponding driven wheel moves in the axial direction is equal to the distance that the moving pulley moves in the direction perpendicular to its axis. When the powers are inversely proportional, the force applying mechanism includes a second force applying rod perpendicular to the axis of the corresponding driven wheel, and the second force applying rod is close to one end of the corresponding driven wheel A second force application surface is provided, and the second force application surface is in contact with the corresponding driving lever, and the plane passing through the axis of the second force application lever and the axis of the corresponding driven wheel is at the same time. The analytical geometry equation of the curve intercepted on the second force application surface can be expressed as:

Among them, a ₃ and b ₃ are equation coefficients, a ₃ ≠0;

The second force applying rod moves synchronously with the movable pulley, or the moving distance of the second force applying rod along its axial direction is proportional to the moving distance of the movable pulley along a direction perpendicular to its axial direction.

The principle of the balancing device of the present invention is as follows:

The balance condition of the balance device is: the input torque M ₁ is equal to the balance torque M ₂ ;

When the speed change device controls the transmission ratio between the balance shaft and the input shaft and the input torque received by the input shaft satisfies:

Then the angular velocity of the input shaft can be obtained as:

That is, the angular velocity of the input shaft has nothing to do with the input torque of the input shaft, and the balance torque coefficient is calculated according to the structural parameters of the balance torque device, which is generally a fixed value. Therefore, the balance device of the present invention can realize the speed of the input shaft under different input torques. Both can keep changing within a small range or even keep a constant technical purpose;

When the speed change device controls the transmission ratio between the balance shaft and the input shaft and the output power output from the power unit to the input shaft satisfies:

And for the input shaft, the output power of the power plant to the input shaft is related to the input torque received by the input shaft and the speed of the input shaft, and can be expressed as:

P＝M ₁ ω ₁

Among them, M ₁ is the input torque of the input shaft; then:

In the same way, the angular velocity of the input shaft has nothing to do with the output power output from the power plant to the input shaft, and the balance torque coefficient is calculated according to the structural parameters of the balance torque device, which is generally a fixed value. Therefore, the balance device of the present invention can be realized at different input powers. Under the action, the rotational speed of the input shaft can be kept within a small range or even kept constant for the technical purpose.

The beneficial effects of the present invention are:

幂次方成正比，如此即可使输入轴在不同的输入扭矩或输入功率作用下，均保持在设定范围内的角速度范围内旋转，甚至保持在恒定的角速度旋转，达到速度平衡的技术目的。In the balancing device of the present invention, by setting the balancing torque applied by the balancing torque device to the balancing shaft to be proportional to the square of its angular velocity, the transmission ratio of the speed change device is set to be proportional to the input torque.

The power is proportional, so that the input shaft can keep rotating within the range of angular velocity within the set range under different input torque or input power, and even keep rotating at a constant angular velocity to achieve the technical purpose of speed balance .

Description of drawings

In order to make the purpose, technical scheme and beneficial effect of the present invention clearer, the present invention provides the following drawings for illustration:

Fig. 1 is a schematic structural diagram of a balancing device embodiment 1 of the present invention;

Fig. 2 is the principle structural diagram of the balance torque device adopting Pulizhu arm;

Fig. 3 is a structural schematic diagram of the first structure of the balancing device of the present embodiment;

Fig. 4 is A-A sectional view of Fig. 3;

Fig. 5 is a detailed diagram of B of Fig. 3;

Fig. 6 is the structural schematic diagram of the second structure of the balancing device of the present embodiment;

Figure 7 is a detailed view of C in Figure 6;

Fig. 8 is a structural schematic diagram of the third structure of the balancing device of the present embodiment;

Fig. 9 is a detailed diagram of D of Fig. 8;

Fig. 10 is a schematic structural view of the fourth structure of the balancing device of the present embodiment;

Fig. 11 is the detailed diagram of E of Fig. 10;

Fig. 12 is a schematic structural view of the fifth structure of the balancing device in this embodiment;

Figure 13 is a detailed view of F in Figure 12;

Fig. 14 is a schematic structural view of the sixth structure of the balancing device in this embodiment;

Fig. 15 is a detailed diagram of G in Fig. 14;

Fig. 16 is a schematic diagram of the relationship between the theoretical position and the actual position when the axial component force exerted by the compensation transmission belt on the first driving wheel and the second driving wheel acts;

Fig. 17 is a schematic structural view of Embodiment 2 of the balancing device of the present invention;

Fig. 18 is a schematic structural view of Embodiment 3 of the balancing device of the present invention.

Explanation of reference signs:

10-input shaft; 20-balance shaft; 21-driven gear;

30-speed change device; 31-driving wheel; 311-first driving wheel; 312-second driving wheel; 32-driven wheel; 321-first driven wheel; 322-second driven wheel; 33-transmission belt; 34-pull Tightening wheel; 35-tension force mechanism; 36-driving gear;

40-balance torque device; 41-circular friction inner wall; 42-centrifugal wheel; 421-centrifugal friction block; 422-guide track; Pulley arm assembly; 47-pulley; 471-pulley shaft; 472-belt transmission mechanism; 48-rope belt;

51-moving pulley; 52-adjusting slide rail; 53-driving lever; 54-tension belt; 55-steering wheel; 56-spring; 57-first guide rod; 58-second guide rod; 61-first force application surface; 62-second force application rod; 63-second force application surface; 64-spring; 65-spring; 66-roller; 67-roller; 68-third Force application rod; 69-the third force application surface;

70 - Power unit.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, so that those skilled in the art can better understand the present invention and implement it, but the examples given are not intended to limit the present invention.

Example 1

As shown in FIG. 1 , it is a schematic structural diagram of Embodiment 1 of the balancing device of the present invention. The balance device of this embodiment includes an input shaft 10 and a balance shaft 20 , and a transmission device 30 is provided between the input shaft 10 and the balance shaft 20 . The balance shaft 20 is provided with a balance torque device 40,

The balance torque applied by the balance torque device 40 to the balance shaft 20 and the rotational angular velocity of the balance shaft 20 satisfy:

Among them, M ₂ is the balance torque; ω ₂ is the angular velocity of the balance shaft; k is the balance moment coefficient;

The transmission device 30 controls the transmission ratio between the balance shaft 20 and the input shaft 10 and the input torque received by the input shaft 10 to satisfy:

Wherein, M ₁ is the input torque of the input shaft; C ₁ is a constant; a is the gear ratio of the transmission, and aω ₁ =ω ₂ ; ω ₁ is the angular velocity of the input shaft;

Then the angular velocity of the input shaft can be obtained as:

That is, the angular velocity of the input shaft 10 has nothing to do with the input torque of the input shaft 10, and the balance torque coefficient is calculated according to the structural parameters of the balance torque device 40, and is generally a fixed value. Therefore, under theoretical conditions, regardless of the magnitude of the input torque of the input shaft 10, the rotational angular velocity of the input shaft 10 remains constant, that is, the input shaft 10 can keep rotating at a constant speed; considering the resistance that exists between the internal structures of the balance device, The balance device of this embodiment can realize that under the action of different input torques, the rotational speed of the input shaft 10 can be kept within a small range, and at the same time, if the internal resistance of the balance device is compensated, the input shaft 10 can also be kept rotating at a constant speed. .

Further, the balance torque device 40 can be implemented with various structures, specifically, the balance torque device 40 can adopt a centrifugal friction device or an air resistance device. The balance torque device 40 of this embodiment adopts a centrifugal friction device. Specifically, the centrifugal friction device of this embodiment includes a circular friction inner wall 41. The circular friction inner wall 41 is provided with a transmission connection with the balance shaft 20 and can be relatively circular. The friction inner wall 41 rotates the centrifugal wheel 42. The centrifugal wheel 42 is provided with a centrifugal friction block 421 that moves radially outward under the action of centrifugal force and frictionally fits with the circular friction inner wall 41. The centrifugal wheel 42 is provided with a guide for guiding The guide track 422 of the centrifugal friction block 421 .

When using the balanced torque device 40 with this structure, the friction force between the centrifugal friction block 421 and the circular friction inner wall 41 is:

Wherein, f is the friction force between all the centrifugal friction blocks 421 and the circular friction inner wall 41;

s is a positive integer greater than or equal to 1, and s is equal to the number of centrifugal friction blocks 421;

μ _i is the coefficient of friction between the i-th centrifugal friction block 421 and the circular friction inner wall 41;

m _i is the mass of the i-th centrifugal friction block 421;

r _2i is the rotation radius of the center of gravity of the i-th centrifugal friction block ( 421 ) relative to the axis of the centrifugal wheel 42 when the i-th centrifugal friction block 421 is frictionally engaged with the circular friction inner wall 41 .

Then, the balance torque received by the balance shaft 20 is:

Wherein, R ₂ is the radius of the friction surface between the centrifugal friction block 421 and the circular friction inner wall 41;

It can be seen that when the balance torque device 40 adopts the centrifugal friction device of this embodiment, the balance torque coefficient:

In a preferred solution, at least two centrifugal friction blocks 421 are evenly distributed in a ring, and the guide rails 422 are arranged in one-to-one correspondence with the centrifugal friction blocks 421. The guide rails 422 are located in the radial direction of the centrifugal wheel 42, which can reduce the centrifugal friction blocks. 421 and the resistance between the centrifugal wheel 42. That is, in the preferred solution, all the centrifugal friction blocks 421 have the same mass, the friction coefficients between all the centrifugal friction blocks 421 and the circular friction inner wall 41 are equal, and the distances between the centers of all the centrifugal friction blocks 421 and the axis of the centrifugal wheel 42 are equal, then k=μm _total r ₂ R ₂ , where m _total is the sum of the masses of all centrifugal friction blocks 421 . That is, in the balance torque device 40, after the structural parameters of the balance torque device 40 are set, the balance torque coefficient is a constant value.

In some embodiments, the angle between the tangent line of the radially outward end of the guide track 422 and the tangential velocity direction of the centrifugal friction block 421 is less than 90°, which can improve the tangential stress of the centrifugal friction block 421. Since the angle is a constant value, the equilibrium moment coefficient is also a constant value related to the sine of the angle, so it will not be repeated here.

The centrifugal friction device can also adopt other various structural forms. For example, the centrifugal friction device includes a Puli bead disc 43 fixedly installed on the balance shaft 20, a friction disc sleeved on the balance shaft 20 and slidingly matched with the balance shaft 20 in a single degree of freedom. I44 and the friction disk II45 corresponding to the friction disk I44 and rotatable relative to the friction disk I44, the friction disk I44 is located between the pulley bead disk 43 and the friction disk II45, and the pulley bead disk 43 is provided on the side facing the friction disk I44 There is a pulley arm assembly 46 for driving the friction disc I 44 to slide towards the friction disc II 45 , and friction surfaces are respectively provided on the opposite sides of the friction disc I 44 and the friction disc II 45 . The centrifugal friction device of this structure can refer to the Chinese patent whose publication number is CN203154630U, which discloses an adaptive continuous slow-down fire-fighting and escape device, which will not be repeated here.

The schematic diagram of the centrifugal friction device of this structure is shown in Fig. 2 . Assuming that the friction force is evenly distributed in the radial direction on the friction surface between the friction disc I44 and the friction disc II45, the balance torque of the centrifugal friction device with this structure is:

It can be seen that when the balance torque device 40 adopts the centrifugal friction device of this structure, n=2, the balance moment coefficient: k=μ'm' _total (R' ₂ -L'cosα)(R'-r') sinαcosα .

Among them, μ' is the friction coefficient between the friction disc I44 and the friction disc II45;

m' is _always the sum of the masses of all Pulitzer arm assemblies 46;

_R'2 is the distance between the hinge connection point between the Puli bead arm assembly 46 and the Puli bead disc 43 and the axis of the balance shaft 20;

L' is the distance between the center of gravity of the Puli bead arm assembly 46 and the hinge connection point between the Puli bead arm assembly and the Puli bead disc 43;

α is the angle between the pulley arm assembly 46 and the friction disc I44;

R' is the maximum radius of the friction surface;

r' is the minimum radius of the friction surface;

Since the pulley arm assembly 46 cannot continue to rotate outward under the action of centrifugal force after the friction disc I44 and friction disc II45 are in contact with each other, it can be considered that α remains unchanged, that is, the balance torque of the balance torque device 40 of this structure Coefficients are also constant.

It can be seen that, when the balance torque device 40 adopts a centrifugal friction device, the balance torque is proportional to the square of the angular velocity _ω2 of the balance shaft 20.

In addition, in some embodiments, due to size limitations, a plurality of balance torque devices 40 can be arranged at intervals on the balance shaft 20 to achieve the technical purpose of applying a larger balance torque to the balance shaft 20 at a lower rotational angular velocity. , so that the rotational angular velocity of the input shaft 10 is finally reduced, as shown in FIG. 12 .

Further, the speed change device 30 of this embodiment includes a driving wheel 31 connected to the input shaft 10 and a driven wheel 32 connected to the balance shaft 20 , and a transmission belt 33 is provided between the driving wheel 31 and the driven wheel 32 . The transmission radius between the driving wheel 31 and/or the driven wheel 32 and the transmission belt 33 can be adjusted. That is, the transmission device 30 of this embodiment is a continuously variable transmission device. Specifically, the speed change device 30 can be implemented with various structures.

1) When the driving radius between the driving wheel 31 and the transmission belt 33 is adjustable, the driving wheel 31 includes a first driving wheel 311 and a second driving wheel 312 coaxially arranged, and the first driving wheel 311 and/or the second driving wheel 312 is the main driving wheel movable in the axial direction. Both the first driving wheel 311 and the second driving wheel 312 in this embodiment are driving wheels that can move along the axial direction, as shown in FIGS. 3-9 . Of course, in some embodiments, the first driving wheel 311 can be axially fixed, and the second driving wheel 312 can be set as a driving wheel that can move in the axial direction, or the second driving wheel 312 can be axially fixed, and the The first driving wheel 311 is configured as a driving wheel that can move in the axial direction, that is, only one driving wheel is provided, and the principles thereof are equivalent and will not be repeated here.

幂次方成正比的技术目的，也可以采用多种方案：At this time, the speed change device 30 should control the transmission ratio a between the balance shaft 20 and the input shaft 10 and the input torque M1 received by the input shaft ₁₀ .

For the technical purpose that the power is proportional, various solutions can also be adopted:

幂次方之间成正比，此时过主动动轮的轴线的截面在主动动轮与传动带33配合的配合面上截得的曲线的解析几何方程式可表示为：y＝a₄x²+b₄，其中，a₄、b₄均为方程系数，a₄≠0，该解析几何方程式的y轴与主动动轮的轴线共线。即本实施例的第一主动轮311和/或第二主动轮312与传动带33之间配合的配合面31a为抛物面，也即过主动动轮轴线的任意平面在该配合面上截得的曲线为抛物线，本实施例的第一主动轮311和第二主动轮312与传动带33之间配合的配合面31a均为抛物面，如图3-7所示。当然，也可以仅将第一主动轮311与传动带33之间配合的配合面设为抛物面，将第二主动轮312与传动带33之间配合的配合面设为圆锥面甚至是垂直于主动轮31轴线的平面；或也可以仅将第二主动轮312与传动带33之间配合的配合面设为抛物面，将第一主动轮311与传动带33之间配合的配合面设为圆锥面甚至是垂直于主动轮31轴线的平面，均可满足要求。如此，即可使主动轮31与传动带33之间的传动半径与输入轴10受到的输入扭矩的

幂次方之间成正比，从而使主动轮31与从动轮32之间的传动比与输入轴10受到的输入扭矩的

幂次方之间成正比。The first scheme: the distance that the driving wheel moves along its axial direction is proportional to the input torque received by the input shaft 10; distance

The powers are proportional to each other, and the analytic geometrical equation of the curve intercepted by the cross-section of the axis of the driving wheel on the mating surface of the driving wheel and the driving belt 33 can be expressed as: y=a ₄ x ² +b ₄ , Wherein, a ₄ and b ₄ are equation coefficients, a ₄ ≠0, and the y-axis of the analytic geometric equation is collinear with the axis of the driving wheel. That is to say, the matching surface 31a between the first driving wheel 311 and/or the second driving wheel 312 and the driving belt 33 in this embodiment is a parabolic surface, that is, the curve cut on the matching surface by any plane passing through the axis of the driving wheel is Parabola, the matching surfaces 31a between the first driving wheel 311 and the second driving wheel 312 and the driving belt 33 in this embodiment are all paraboloids, as shown in Fig. 3-7. Of course, it is also possible to only set the matching surface between the first driving wheel 311 and the transmission belt 33 as a paraboloid, and set the matching surface between the second driving wheel 312 and the transmission belt 33 as a conical surface or even be perpendicular to the driving wheel 31 The plane of the axis; or only the mating surface that cooperates between the second driving wheel 312 and the transmission belt 33 can be set as a paraboloid, and the mating surface that cooperates between the first driving wheel 311 and the transmission belt 33 is set as a conical surface or even perpendicular to The plane of the axis of the driving wheel 31 can meet the requirements. In this way, the transmission radius between the driving wheel 31 and the transmission belt 33 and the input torque received by the input shaft 10 can be made equal.

The powers are proportional to each other, so that the transmission ratio between the driving wheel 31 and the driven wheel 32 is proportional to the input torque received by the input shaft 10

The powers are proportional to each other.

幂次方之间成正比；且主动动轮与传动带33之间的传动半径与该主动动轮沿其轴向方向移动的距离之间成正比。即此时的主动动轮与传动带33配合的配合面31b为传统无级变速器采用的圆锥面。此时，过主动动轮的轴线的截面在驱动主动动轮沿其轴向方向移动的驱动面上截得的曲线的解析几何方程式可表示为：y＝a₂x²+b₂，其中，a₂、b₂均为方程系数，a₂≠0，该解析几何方程式的y轴与主动动轮的轴线垂直。即本实施例驱动主动动轮沿其轴向方向移动的驱动面为沿与主动动轮的轴线垂直的方向移动的抛物面，如图8-9所示。如此，也可使主动轮31与传动带33之间的传动半径与输入轴10受到的输入扭矩的幂次方之间成正比，从而使主动轮31与从动轮32之间的传动比与输入轴10受到的输入扭矩的

幂次方之间成正比。The second scheme: the distance that the driving wheel moves along its axial direction is equal to the input torque received by the input shaft 10

The powers are proportional to each other; and the transmission radius between the driving wheel and the transmission belt 33 is proportional to the moving distance of the driving wheel along its axial direction. That is, at this time, the mating surface 31b of the driving wheel and the transmission belt 33 is a conical surface used in a traditional continuously variable transmission. At this time, the analytic geometric equation of the curve cut by the section of the axis of the overdrive driving wheel on the driving surface that drives the driving wheel to move along its axial direction can be expressed as: y=a ₂ x ² +b ₂ , where a ₂ , b ₂ are equation coefficients, a ₂ ≠0, the y-axis of the analytical geometric equation is perpendicular to the axis of the driving wheel. That is to say, in this embodiment, the driving surface for driving the driving wheel to move along its axial direction is a paraboloid moving along the direction perpendicular to the axis of the driving wheel, as shown in Fig. 8-9. In this way, the transmission radius between the driving wheel 31 and the transmission belt 33 and the input torque received by the input shaft 10 can also be made The powers are proportional to each other, so that the transmission ratio between the driving wheel 31 and the driven wheel 32 is proportional to the input torque received by the input shaft 10

The powers are proportional to each other.

2) When the transmission radius between the driven wheel 32 and the transmission belt 33 is adjustable, the driven wheel 32 includes a first driven wheel 321 and a second driven wheel 322 coaxially arranged, and the first driven wheel 321 and/or the second driven wheel 322 is a driven wheel that can move along the axial direction, as shown in FIGS. 10-15 . Specifically, the first driven wheel 321 and the second driven wheel 322 can be set as driven wheels that can move along the axial direction; the first driven wheel 321 can also be axially fixed, and the second driven wheel 322 Set as a driven wheel that can move in the axial direction; the second driven wheel 322 can also be fixed in the axial direction, and the first driven wheel 321 can be set as a driven wheel that can move in the axial direction. Tired. Both the first driven wheel 321 and the second driven wheel 322 in this embodiment are set as driven wheels that can move along the axial direction.

幂次方成正比的技术目的，也可以采用多种方案：At this time, the speed change device 30 should control the transmission ratio a between the balance shaft 20 and the input shaft 10 and the input torque M1 received by the input shaft ₁₀ .

For the technical purpose that the power is proportional, various solutions can also be adopted:

幂次方之间成反比。此时过从动动轮轴线的截面在从动动轮与传动带33配合的配合面上截得的曲线的解析几何方程式可表示为：The first scheme: the distance that the driven wheel moves along its axial direction is proportional to the input torque received by the input shaft 10; direction of moving distance

Powers are inversely proportional to each other. The analytic geometrical equation of the curve that crosses the cross section of the driven wheel axis at the mating surface that the driven wheel cooperates with the drive belt 33 can be expressed as:

Among them, a ₅ and b ₅ are equation coefficients, a ₅ ≠0;

The y-axis of this analytical geometric equation is coaxial with the axis of the driven wheel, as shown in Figure 10-13.

幂次方之间成反比，进而可使主动轮31与从动轮32之间的传动比与输入轴10受到的输入扭矩的

幂次方之间成正比。In this way, the transmission radius between the driven wheel 32 and the transmission belt 33 and the input torque received by the input shaft 10 can be made equal.

The power is inversely proportional to each other, and then the transmission ratio between the driving wheel 31 and the driven wheel 32 can be compared with the input torque received by the input shaft 10.

The powers are proportional to each other.

The second scheme: the distance that the driven wheel moves along its axial direction is equal to the input torque received by the input shaft 10 The power is inversely proportional to each other; and the transmission radius between the driven wheel and the transmission belt 33 is directly proportional to the distance that the driven wheel moves along its axial direction. At this time, the cross section of the axis of the driven wheel is at The analytic geometric equation of the curve cut on the drive surface that drives the driven wheel to move along its axial direction can be expressed as:

Among them, a ₃ and b ₃ are equation coefficients, a ₃ ≠0;

The y-axis of this analytical geometry equation is perpendicular to the axis of the driven wheel, as shown in Figure 14-15.

幂次方之间成反比，进而可使主动轮31与从动轮32之间的传动比与输入轴10受到的输入扭矩的幂次方之间成正比。That is to say, the mating surface 32b where the driven wheel and the transmission belt 33 cooperate is the conical surface adopted by the traditional continuously variable transmission. In this way, the transmission radius between the driven wheel 32 and the transmission belt 33 is equal to the input torque received by the input shaft 10.

The power is inversely proportional to each other, and then the transmission ratio between the driving wheel 31 and the driven wheel 32 can be compared with the input torque received by the input shaft 10. The powers are proportional to each other.

In practical applications, the driving wheel 31 can be set to be adjustable with the transmission radius between the transmission belt 33, and the transmission radius between the driven wheel 32 and the transmission belt 33 can be set to a fixed value; The transmission radius between the transmission belt 33 is adjustable, and the transmission radius between the driving wheel 31 and the transmission belt 33 is a fixed value; the transmission radius between the driving wheel 31 and the driven wheel 32 and the transmission belt 33 can also be adjusted at the same time , no longer repeat.

幂次方成正比。Certainly, in some embodiments, a transmission mechanism with a fixed transmission ratio or a transmission ratio that can be switched between a limited number of values can also be arranged in series on the continuously variable transmission of this embodiment, and these transmission mechanisms include but are not limited to gear transmissions. mechanism, belt transmission mechanism and chain transmission mechanism, etc., these transmission mechanisms together with the continuously variable transmission of this embodiment constitute the speed change device 30, and the transmission ratio of the speed change device 30 and the input torque received by the input shaft 10 can also be adjusted.

proportional to the power.

Preferably, the speed change device 30 also includes a tension pulley 34 for keeping the transmission belt 33 in a tensioned state all the time, and a tension force mechanism 35 for providing a tension pretension is provided on the rotating shaft of the tension pulley 34, the tension pretension The tightening force can make the transmission belt 33 have sufficient frictional force between the driving pulley 31 and the driven pulley 32 respectively, so as to prevent slipping. Of course, anti-slip structures and the like may also be provided between the transmission belt 33 and the driving wheel 31 and between the transmission belt 33 and the driven wheel 32 , which will not be repeated here.

In this embodiment, the rotating shaft of the driven wheel 32 is in transmission connection with the balance shaft 20 . Specifically, the driven gear 32 of this embodiment is provided with a driving gear 36, and the balance shaft 20 is provided with a driven gear 21, and the driving gear 36 and the driven gear 21 mesh, that is, the present embodiment is equipped with gears in series on the continuously variable transmission. transmission mechanism.

幂次方成正比的技术目的，不再累述。Certainly, in addition to the continuously variable transmission with the above-mentioned structure, the transmission device 30 can also adopt a continuously variable transmission with various other structures to realize the balance between the transmission ratio and the input torque received by the input shaft 10.

The technical purpose that the power is directly proportional will not be repeated.

Further, the balancing device of this embodiment also includes a torque input device for applying input torque to the input shaft 10 . The torque input device includes a pulley 47 for winding the rope 48 and rotating under the tension of the rope 48 or rolling with the external rope 48 . The torque input device of this embodiment includes a pulley 47 for winding the rope 48 and rotating under the tension of the rope 48, the pulley 47 rotates under the tension of the rope 48, and then applies an input torque to the input shaft 10 . Certainly, the torque input device can also be a pulley 47 that includes a rolling fit with the external rope 48, that is, the rope 48 is arranged earlier so that the balance device moves along the rope 48, and the belt pulley 47 and the rope 48 are used to With the rolling fit between them, the drive pulley 47 rotates, thereby applying an input torque to the input shaft 10 .

Note: the rope 48 of this embodiment can include various forms, either a rope that can be wound in the traditional sense, or a structural form such as a rack that can engage with the pulley 47, or even a rope 48 is understood as a track, which drives the pulley 47 to rotate by utilizing the engagement or friction relationship between the track and the pulley 47 .

Specifically, the pulley 47 can be directly sleeved on the input shaft 10 and rotate synchronously with the input shaft 10, or the pulley 47 can be set as a transmission connection between the rotating shaft 42 and the input shaft 10, and the use of the pulley 47 can be realized. The input shaft 10 exerts torque. The pulley 47 of this embodiment is installed on the pulley shaft 471 , and a belt transmission mechanism 472 is provided between the pulley shaft 471 and the input shaft 10 . Specifically, a gear transmission mechanism or a chain transmission mechanism can also be provided between the pulley shaft 471 and the input shaft 10, both of which can achieve the technical purpose of applying input torque to the input shaft 10. The principles are similar and will not be repeated here.

Concrete, the torque effect that pulley 47 is subjected to is:

M _pull = F _pull R _belt

Wherein, F _pull is the pulling force of the rope belt 47; R _belt is the radius of the pulley 47; M _pull is the torque effect of the pulley 47. Specifically, the input torque of the input shaft 10 is equal to or proportional to the torque received by the pulley 47 , that is, the input torque of the input shaft 10 in this embodiment is proportional to the pulling force F _pulled by the rope 47 . When the balance device of this embodiment is used as a slow descender, no matter how much the tension F _pulled on the rope belt 47 is, the rotational speed of the input shaft 10 can remain relatively stable or even constant.

Further, the balance device of this embodiment also includes a speed change adjustment mechanism for adjusting the transmission ratio of the speed change device 30 . The speed change adjustment mechanism of the present embodiment includes a driving lever 53 for driving the corresponding driving wheel or driven wheel to move along its axial direction and a driving lever 53 for driving the corresponding driving wheel or driven wheel in the axial direction. Mobile variable speed drive mechanism. The driving rod 53 is in rotational cooperation with the corresponding driving wheel or the driven wheel and moves axially synchronously with the corresponding driving wheel or the driven wheel. The variable speed drive mechanism of the present embodiment includes a pulley block for guiding the rope 48, the pulley block includes a movable pulley 51, and the movable pulley 51 can move in a direction perpendicular to its axis under the effect of the tension of the rope 48; An adjustment drive mechanism for driving the shift lever 53 to move along the axial direction of the corresponding driving wheel or driven wheel is arranged between them.

Specifically, the adjustment drive mechanism of this embodiment includes a force application mechanism for applying an axial force parallel to the corresponding driving wheel or driven wheel in the axial direction to the shift rod 53 and an elastic force balance for balancing the axial force. mechanism, the elastic force balance mechanism is used to apply the elastic force opposite to the direction of the axial force; The transmission radius between increases; if the driving lever moves along the direction of elastic force, the transmission radius between the driving wheel 31 and the transmission belt 33 decreases; If the force direction moves, the transmission radius between the driving wheel 31 and the transmission belt 33 decreases; if the driving lever moves along the elastic force direction, the transmission radius between the driving wheel 31 and the transmission belt 33 increases.

There are four ways in which the lever 53 drives the corresponding driving wheel or the driven wheel to move along its axial direction:

幂次方之间成正比时，拨杆53驱动对应的主动动轮沿其轴向方向移动的距离与动滑轮51沿垂直于其轴线方向移动的距离之间成正比，如图3-7所示；The first way: when the driving radius between the driving wheel and the transmission belt 33 is equal to the distance that the driving wheel moves along its axial direction

When the powers are proportional to each other, the distance that the driving lever 53 drives the corresponding driving wheel to move along its axial direction is proportional to the distance that the moving pulley 51 moves along the direction perpendicular to its axis, as shown in Figure 3-7;

幂次方之间成正比，如图8-9所示；The second way: when the transmission radius between the driving wheel and the transmission belt 33 is proportional to the distance that the driving wheel moves along its axial direction, the driving rod 53 drives the distance that the corresponding driving wheel moves along its axial direction and the distance that the movable pulley 51 moves in a direction perpendicular to its axis

The powers are proportional to each other, as shown in Figure 8-9;

幂次方之间成反比时，拨杆53驱动对应的从动动轮沿其轴向方向移动的距离与动滑轮51沿垂直于其轴线方向移动的距离之间成正比，如图10-13所示；The third way: when the transmission radius between the driven wheel and the transmission belt 33 is equal to the distance that the driven wheel moves along its axial direction

When the powers are inversely proportional to each other, the distance that the driving lever 53 drives the corresponding driven wheel to move along its axial direction is directly proportional to the distance that the movable pulley 51 moves along the direction perpendicular to its axis, as shown in Figure 10-13 ;

The fourth way: when the transmission radius between the driven wheel and the transmission belt 33 is proportional to the distance that the driven wheel moves along its axial direction, the driving rod 53 drives the corresponding driven wheel along its axial direction The difference between the distance moved and the distance that the movable pulley 51 moves along the direction perpendicular to its axis The powers are inversely proportional to each other, as shown in Figure 14-15.

Specifically, when the driving lever 53 drives the corresponding driving wheel or driven wheel to move in the axial direction, the distance is proportional to the moving distance of the moving pulley 51 in the direction perpendicular to its axis, that is, the above-mentioned first method and the first method During three kinds of modes; The force applying mechanism at this moment comprises tension band 54 and is used for guiding the guide wheel 55 of tension band 54, and the first end of tension band 54 is parallel to the moving direction of movable pulley 51, and the second end is parallel to the direction of movement of driving lever 53. The moving direction is parallel, and the corresponding driving pulley or driven pulley can be driven to move synchronously with the movable pulley 51 through the tension band 54, and the distance that the corresponding driving pulley or driven pulley moves along its axial direction is the same as that of the movable pulley 51 perpendicular to its axis. The distance moved in both directions is equal. At this time, the elastic balance mechanism includes a spring 56 for applying elastic force to the driving lever 53 and the corresponding driving wheel or driven wheel.

Specifically, when the spring 56 is set correspondingly to the driving wheel 31, the spring 56 is sleeved on the rotating shaft of the driving wheel 31 and is located between the first driving wheel 311 and the second driving wheel 312, that is, the spring 56 is positioned between the driving wheel and the axial force. On the side where the axial movement direction is located under the action, the spring 56 exerts an elastic force in the direction opposite to the axial force on the first driving wheel 311 and the second driving wheel 312 . Or the spring 56 is set on the first guide rod 57 parallel to the rotating shaft of the driving wheel 31, and the driving rod 53 is slidably fitted on the first guide rod 57 and located outside the spring 56, as shown in Fig. 3-5. The "outside" mentioned here specifically refers to the side where the first driving wheel 311 and the second driving wheel 312 are in opposite directions, and the side where the first driving wheel 311 and the second driving wheel 312 are facing each other is " inside".

Specifically, when the spring 56 is arranged correspondingly to the driven wheel 32, the spring 56 is sleeved on the rotating shaft of the driven wheel 32 and is located outside the corresponding driven wheel, that is, the spring 56 is located on the driven wheel under the action of axial force along the axial direction. The side of the moving direction is used to apply elastic force to the driven wheel to balance the axial force. Similarly, the spring 56 can also be set on the second guide rod 58 parallel to the rotating shaft of the driven wheel 32, and the driving rod 53 is slidably fitted on the second guide rod 58 and positioned on the inner side of the corresponding spring 56, as shown in the figure 10-11 shown. The "outside" mentioned here specifically refers to the side where the first driven wheel 321 and the second driven wheel 322 are in opposite directions, and the side where the first driven wheel 321 and the second driven wheel 322 are opposite to each other is " inside".

In addition, when the driving lever 53 drives the corresponding driving pulley or driven pulley to move in the axial direction, it is proportional to the moving distance of the moving pulley 51 in the direction perpendicular to its axis, that is, the above-mentioned first method and the third method way. The force application mechanism can also be: the force application mechanism includes a third force application rod 68 perpendicular to the axis of the corresponding driving wheel or driven wheel, and an end of the third force application rod 68 is provided near the corresponding driving wheel or driven wheel. The third force application surface 69, the third force application surface is in contact with the corresponding driving lever 53, and the plane passing through the axis of the third force application rod 68 and the axis of the corresponding driving wheel or driven wheel is on the third force application surface 69. The analytical geometric equation of the straight line intercepted above can be expressed as: y=a ₁ x+b ₁ , wherein, a ₁ and b ₁ are equation coefficients, and a ₁ ≠0; that is, the third force application surface 69 at this time is A ramp that is inclined with respect to the axis of the corresponding drive or driven wheel. The third applying rod 68 moves synchronously with the movable pulley 51, or the moving distance of the third applying rod 68 along its axial direction is proportional to the moving distance of the movable pulley 51 perpendicular to its axial direction, as shown in Figure 6-7 And as shown in Figure 12-13.

幂次方之间成正比时，也即第二种方式时：此时的施力机构包括与对应的主动动轮的轴线垂直的第一施力杆60，第一施力杆60靠近对应的主动动轮的一端设有第一施力面61，此时，过主动动轮的轴线的截面在驱动主动动轮沿其轴向方向移动的第一施力面61上截得的曲线的解析几何方程式可表示为：y＝a₂x²+b₂，其中，a₂、b₂均为方程系数，a₂≠0，x≥0或x≤0；该解析几何方程式的y轴与主动动轮的轴线垂直。即本实施例驱动主动动轮沿其轴向方向移动的第一施力面61为沿与主动动轮的轴线垂直的方向移动的抛物面，如图8-9所示。本实施例的拨杆53上设有与第一施力面61配合的滚轮66。动滑轮51的轴线与主动轮31的轴线平行，第一施力杆60与动滑轮51同步移动，或第一施力杆60沿其轴线方向上的移动距离与动滑轮51沿垂直于其轴向方向移动的距离之间成正比。本实施例第一施力杆60与动滑轮51同步移动，第一施力杆60受到动滑轮51施加的第一推力作用，该第一推力通过第一施力面61与拨杆53之间的接触配合，施加给拨杆53的力具有沿对应的主动动轮轴向的轴向分力(也即上述的轴向力)。此时的弹力平衡机构包括套装在第一施力杆60上的弹簧64，弹簧64用于平衡第一施力杆60受到的第一推力，可间接平衡拨杆53受到的轴向分力作用，弹簧也可以设置在主动动轮的内侧，起到平衡轴向力的作用，不再累述。When the driving lever 53 drives the distance that the corresponding main driving wheel moves in the axial direction and the distance that the moving pulley 51 moves in a direction perpendicular to its axis

When the powers are proportional, that is, in the second mode: the force applying mechanism at this time includes a first force applying rod 60 perpendicular to the axis of the corresponding driving wheel, and the first force applying rod 60 is close to the corresponding driving wheel. One end of the driving wheel is provided with a first force-applying surface 61. At this time, the analytic geometric equation of the curve cut on the first force-applying surface 61 that passes through the axis of the driving wheel on the first force-applying surface 61 that drives the driving wheel to move along its axial direction can be expressed It is: y=a ₂ x ² +b ₂ , where a ₂ and b ₂ are equation coefficients, a ₂ ≠0, x≥0 or x≤0; the y-axis of the analytical geometric equation is perpendicular to the axis of the driving wheel . That is to say, in this embodiment, the first force-applying surface 61 that drives the main driving wheel to move along its axial direction is a paraboloid that moves along a direction perpendicular to the axis of the main driving wheel, as shown in FIGS. 8-9 . In this embodiment, the driving lever 53 is provided with a roller 66 that cooperates with the first force application surface 61 . The axis of the movable pulley 51 is parallel to the axis of the driving pulley 31, and the first force applying rod 60 moves synchronously with the movable pulley 51, or the moving distance of the first force applying rod 60 along its axis direction is the same as that of the movable pulley 51 moving in a direction perpendicular to its axial direction. The distances are proportional to each other. In this embodiment, the first force application rod 60 moves synchronously with the movable pulley 51, and the first force application rod 60 is acted by the first thrust force exerted by the movable pulley 51. Cooperating, the force applied to the driving rod 53 has an axial component force (that is, the above-mentioned axial force) along the corresponding axis of the driving wheel. At this time, the elastic force balance mechanism includes a spring 64 sleeved on the first force application rod 60. The spring 64 is used to balance the first thrust force received by the first force application rod 60, and can indirectly balance the axial force component effect received by the driving rod 53. , The spring can also be arranged on the inner side of the driving wheel to play the role of balancing the axial force, which will not be repeated here.

幂次方之间成反比时，也即第四种方式时，此时的施力机构包括与对应的从动动轮的轴线垂直的第二施力杆62，第二施力杆62靠近对应的从动动轮的一端设有第二施力面63，第二施力面63与对应的拨杆53接触配合，同时过第二施力杆62轴线以及对应的从动动轮的轴线的平面在第二施力面63上截得的曲线的解析几何方程可表示为：

其中，a₃、b₃均为方程系数，a₃≠0，x≥0或x≤0，如图14-15所示。本实施例的拨杆53上设有与第二施力面63配合的滚轮66。动滑轮51的轴线与从动轮31的轴线平行，第二施力杆62与动滑轮51同步移动，或第二施力杆62沿其轴线方向上的移动距离与动滑轮51沿垂直于其轴向方向移动的距离之间成正比。本实施例第二施力杆62与动滑轮51同步移动，第二施力杆62受到动滑轮51施加的第二推力作用，该第二推力通过第二施力面63与拨杆53之间的接触配合，施加给拨杆53的力具有沿对应的从动动轮的轴向的轴向分力(也即上述的轴向力)。此时的弹力平衡机构包括套装在从动轮32转轴上的弹簧65，弹簧65施加的弹力可直接平衡拨杆53受到的轴向分力作用。When the driving lever 53 drives the distance that the corresponding driven wheel moves in the axial direction and the distance that the moving pulley 51 moves in a direction perpendicular to its axis

When the powers are inversely proportional to each other, that is, in the fourth mode, the force application mechanism at this time includes a second force application rod 62 perpendicular to the axis of the corresponding driven wheel, and the second force application rod 62 is close to the corresponding One end of the driven wheel is provided with a second force application surface 63, the second force application surface 63 is in contact with the corresponding driving lever 53, and the plane passing through the axis of the second force application rod 62 and the axis of the corresponding driven wheel is at the second position. The analytic geometric equation of the curve cut on the two force application surfaces 63 can be expressed as:

Among them, a ₃ and b ₃ are equation coefficients, a ₃ ≠0, x≥0 or x≤0, as shown in Figure 14-15. In this embodiment, the driving rod 53 is provided with a roller 66 that cooperates with the second force application surface 63 . The axis of the movable pulley 51 is parallel to the axis of the driven pulley 31, and the second force applying rod 62 moves synchronously with the movable pulley 51, or the moving distance of the second force applying rod 62 along its axial direction is the same as that of the movable pulley 51 moving in a direction perpendicular to its axial direction. The distances are proportional to each other. In this embodiment, the second force application rod 62 moves synchronously with the movable pulley 51, and the second force application rod 62 is acted by the second thrust exerted by the movable pulley 51. In cooperation, the force applied to the driving lever 53 has an axial component along the axial direction of the corresponding driven wheel (that is, the above-mentioned axial force). At this time, the elastic balance mechanism includes a spring 65 sleeved on the rotating shaft of the driven wheel 32 , and the elastic force exerted by the spring 65 can directly balance the axial component force on the driving rod 53 .

Specifically, in the balancing device of this embodiment, the internal resistance that has the largest disturbance to the rotational speed of the input shaft 10 is the axial force exerted by the drive belt 33 on the corresponding driving wheel or driven wheel. In this embodiment, the structure in which the driven wheel 32 is a transmission wheel with a fixed diameter, and the first driving wheel 311 and the second driving wheel 312 in the driving wheel 31 are both movable along the axial direction is an example. The resistance compensation method is described.

幂次方成正比。Ideally, if there is no resistance inside the balancing device that disturbs the transmission ratio of the speed change device 30, then when the input torque of the input shaft 10 is zero, the first drive pulley 311 and the second drive pulley 312 cooperate with the drive belt 33 respectively The distance between the vertices of the mating surface is equal to the width of the transmission belt 33, and the transmission radius between the driving wheel 31 and the transmission belt 33 is equal to zero. The theoretical position where the transmission radius between the driving wheel 31 and the transmission belt 33 is equal to 0 is the initial position for calculating the axial displacement of the driving wheel. When the input torque of the input shaft 10 is greater than zero, the first driving wheel 311 and the second driving wheel 312 move toward each other, the transmission radius between the transmission belt 33 and the driving wheel 31 is greater than zero, and the distance between the transmission belt 33 and the driving wheel 31 is satisfied. Transmission radius vs. input torque of input shaft 10

proportional to the power.

幂次方之间不再是严格的正比关系。本实施采用拉紧力机构35对传动带33施加张力作用，要实现传动带33张力稳定，则要求拉紧力机构35输出的张力恒定，即拉紧力机构35可采用恒力弹簧等方式实现。具体的，恒力弹簧可采用《恒力弹簧支吊架的形式及其受力分析》(仝国岭，张传鑫，魏培，北京石油化工工程有限公司，化工设备与管道，第53卷第3期，P76-80)中记载的恒力弹簧，也可以采用《主辅式恒力弹簧支吊架凸轮曲线的设计与优化》(刘卡壬，何孟夫，韩浪，汤凤，严亮，中广核工程设计有限公司，核动力工程，第38卷第6期，P87-91)中记载的恒力弹簧。In the actual situation, since there are forces such as friction between the drive belt 33 and the driving pulley 31 and the driven pulley 32, it is necessary to ensure that the drive belt 33 has a certain tension, which is applied to the first drive pulley 311 and the second drive pulley 312. There is an axial component of the force, and the axial component will drive the first driving wheel 311 and the second driving wheel 312 to move in opposite directions, and finally cause the first driving wheel 311 and the second driving wheel 312 to move in the axial direction The displacement of the input shaft with the input torque of 10

There is no strict proportional relationship between the powers. In this implementation, tension force mechanism 35 is used to apply tension to transmission belt 33. To realize stable tension of transmission belt 33, the output tension of tension force mechanism 35 is required to be constant. Concretely, the constant force spring can adopt "Form of Constant Force Spring Support and Hanger and Its Force Analysis" (Tong Guoling, Zhang Chuanxin, Wei Pei, Beijing Petrochemical Engineering Co., Ltd., Chemical Equipment and Pipeline, Volume 53, Issue 3, The constant force springs recorded in P76-80) can also be used in "Design and Optimization of the Cam Curve of Main and Auxiliary Constant Force Spring Supports and Hangers" (Liu Karen, He Mengfu, Han Lang, Tang Feng, Yan Liang, China General Nuclear Power Engineering Co., Ltd. Design Co., Ltd., Nuclear Power Engineering, Volume 38, No. 6, P87-91) records the constant force spring.

As shown in FIG. 16 , in order to compensate the axial component force exerted by the transmission belt 33 on the first driving pulley 311 and the second driving pulley 312 , when the input torque of the input shaft 10 is zero, the first driving pulley 311 and the second driving pulley 312 are The spacing l between the vertices of the _parabola of the second driving wheel 312 is less than the width of the transmission belt 33, and makes:

k ₀ x ₀ = F _axis

l ₀ +2x ₀ = l _belt

Wherein, l _belt is the width of the transmission belt; the F _axis is the axial component force exerted by the transmission belt 33 on the first driving pulley 311 and the second driving pulley 312 respectively, and _k0 is the elastic coefficient.

幂次方之间成正比。In this way, under the initial conditions, the axial component force exerted by the transmission belt 33 on the first driving wheel 311 and the second driving wheel 312 can be compensated, so that the transmission ratio of the speed change device 30 and the input torque of the input shaft 10

The powers are proportional to each other.

Of course, when the transmission radius between the driven wheel and the transmission belt 33 can be adjusted, the above method can also be used for compensation, which will not be repeated here. Similarly, the theoretical position where the transmission radius between the driven wheel 32 and the transmission belt 33 is equal to 0 is the initial position for calculating the axial displacement of the driven wheel.

幂次方之间成正比。In addition, in actual application, the minimum transmission radius of the driving wheel 31 cannot be equal to zero, so in a specific application, the minimum transmission radius of the driving wheel 31 is set to r ₀ , and the analytical geometric equation of the mating surface of the driving wheel and the transmission belt 33 is used Calculate the corresponding moving distances of the first driving wheel 311 and the second driving wheel 312 in the axial direction when the driving wheel 31 is in the state of the minimum transmission radius r ₀ , so that the corresponding input torque of the input shaft 10 at this time can be obtained size M ₁₀ , when the input torque M ₁ of the input shaft 10 is less than or equal to M ₁₀ , the transmission ratio of the transmission device 30 is actually a constant value, when the input torque M ₁ of the input shaft 10 is greater than M ₁₀ , the transmission ratio of the transmission device 30 ratio of the gear ratio to the input torque of the input shaft 10

The powers are proportional to each other.

In the balance device of this embodiment, the balance torque applied by the balance torque device to the balance shaft is set to be proportional to the square of its angular velocity, and the transmission ratio of the speed change device is set to be proportional to the power of one-half of the input torque Proportional, so that the input shaft can keep rotating within the range of angular velocity within the set range under different input torques, or even keep rotating at a constant angular velocity, so as to achieve the technical purpose of speed balance.

Example 2

As shown in FIG. 17 , it is a schematic structural diagram of Embodiment 2 of the balancing device of the present invention.

The balance device of this embodiment includes an input shaft 10 and a balance shaft 20 , and a transmission device 30 is provided between the input shaft 10 and the balance shaft 20 . The balance shaft 20 is provided with a balance torque device 40,

其中，C为空气阻力系数；ρ为空气密度；S为物体迎风面积；V为物体与空气的相对运动速度。在空气阻力器中，平衡轴20的角速度与V成正比，也即空气阻力器对平衡轴20施加的平衡扭矩与平衡轴20的旋转角速度的平方成正比。即：The balance torque device 40 can be realized with various structures, specifically, the balance torque device 40 can adopt a centrifugal friction device, an eddy current braking device or an air resistance device. The balance torque device 40 of this embodiment employs an air resistor. The air damper is prior art, such as the air damper adopted in a kind of life-saving slow-descent device disclosed by the Chinese patent whose publication number is CN101176811B. According to the air resistance formula:

Among them, C is the air resistance coefficient; ρ is the air density; S is the windward area of the object; V is the relative velocity of the object and the air. In the air resistance device, the angular velocity of the balance shaft 20 is proportional to V, that is, the balance torque exerted by the air resistance device on the balance shaft 20 is proportional to the square of the rotational angular velocity of the balance shaft 20 . which is:

The balance torque applied by the balance torque device 40 to the balance shaft 20 and the rotational angular velocity of the balance shaft 20 satisfy:

Among them, M ₂ is the balance torque; ω ₂ is the angular velocity of the balance shaft; k is the balance moment coefficient;

The transmission device 30 controls the transmission ratio between the balance shaft 20 and the input shaft 10 and the input torque received by the input shaft 10 to satisfy:

Wherein, M ₁ is the input torque of the input shaft; C ₁ is a constant; a is the gear ratio of the transmission, and aω ₁ =ω ₂ ; ω ₁ is the angular velocity of the input shaft;

Then the angular velocity of the input shaft can be obtained as:

That is, the angular velocity of the input shaft 10 has nothing to do with the input torque of the input shaft 10, and the balance torque coefficient is calculated according to the structural parameters of the balance torque device 40, and is generally a fixed value. Therefore, under theoretical conditions, regardless of the magnitude of the input torque of the input shaft 10, the rotational angular velocity of the input shaft 10 remains constant, that is, the input shaft 10 can keep rotating at a constant speed; considering the resistance that exists between the internal structures of the balance device, The balance device of this embodiment can realize that under the action of different input torques, the rotational speed of the input shaft 10 can be kept within a small range, and at the same time, if the internal resistance of the balance device is compensated, the input shaft 10 can also be kept rotating at a constant speed. .

Other specific implementations of this embodiment are the same as those of Embodiment 1, and will not be repeated one by one.

Example 3

As shown in FIG. 18 , it is a schematic structural diagram of Embodiment 3 of the balancing device of the present invention. The balance device of this embodiment includes an input shaft 10 and a balance shaft 20 , and a transmission device 30 is provided between the input shaft 10 and the balance shaft 20 . A balance torque device 40 is provided on the balance shaft 20 .

The balance torque applied by the balance torque device 40 to the balance shaft 20 and the rotational angular velocity of the balance shaft 20 satisfy:

Among them, M ₂ is the balance torque; ω ₂ is the angular velocity of the balance shaft; k is the balance moment coefficient;

It also includes a power unit connected to the input shaft 10; the speed change device 30 controls the transmission ratio between the balance shaft 20 and the input shaft 10 and the output power output from the power unit to the input shaft 10 to satisfy:

Among them, P is the output power output from the power plant to the input shaft; C ₂ is a constant; a is the transmission ratio of the transmission, and aω ₁ =ω ₂ ; ω ₁ is the angular velocity of the input shaft.

And for the input shaft, the output power of the power plant to the input shaft is related to the input torque received by the input shaft and the speed of the input shaft, and can be expressed as:

P＝M ₁ ω ₁

Among them, M ₁ is the input torque of the input shaft; then:

In the same way, the angular velocity of the input shaft has nothing to do with the output power output from the power plant to the input shaft, and the balance torque coefficient is calculated according to the structural parameters of the balance torque device, which is generally a fixed value. Therefore, the balance device of the present invention can be realized at different input powers. Under the action, the rotational speed of the input shaft can be kept within a small range or even kept constant for the technical purpose.

Further, the balance torque device 40 can be realized with various structures. Specifically, the balance torque device 40 can adopt a centrifugal friction device, an eddy current braking device or an air resistance device, as described in the above-mentioned embodiment 1, embodiment 2 and embodiment 3 respectively. Describe, no longer repeat.

The above-mentioned embodiments are only preferred embodiments for fully illustrating the present invention, and the protection scope of the present invention is not limited thereto. Equivalent substitutions or transformations made by those skilled in the art on the basis of the present invention are all within the protection scope of the present invention. The protection scope of the present invention shall be determined by the claims.

Claims (10)

1. A rotational speed balancing device comprises an input shaft (10) and a balance shaft (20), a speed changing device (30) is arranged between the input shaft (10) and the balance shaft (20), a balance torque device (40) is arranged on the balance shaft (20), and the rotational speed balancing device is characterized in that:

the balance torque device (40) applies balance torque to the balance shaft (20) and the rotation angular velocity of the balance shaft (20) satisfy the following condition:

wherein M is₂To balance the torque; omega₂Is the angular velocity of the balance shaft; k is a balance moment coefficient;

the speed change device (30) controls the transmission ratio between the balance shaft (20) and the input shaft (10) and the input torque received by the input shaft (10) to meet the following conditions:

wherein M is₁Is the input torque of the input shaft; c₁Is a constant; a is the transmission ratio of the transmission, and a ω₁＝ω₂；ω₁Is the angular velocity of the input shaft;

or, the power device is in transmission connection with the input shaft (10);

the speed changing device (30) controls the transmission ratio between the balance shaft (20) and the input shaft (10) and the output power of the power device output to the input shaft (10) to meet the following conditions:

wherein, P is the output power output by the power device to the input shaft; c₂Is a constant; a is the transmission ratio of the transmission, and a ω₁＝ω₂；ω₁Is the angular velocity of the input shaft.

2. A rotation speed balancing device according to claim 1, wherein: the balancing torque device (40) adopts a centrifugal friction device or an air resistor.

3. A rotation speed balancing device according to claim 1, wherein:

the speed changing device (30) comprises a driving wheel (31) in transmission connection with the input shaft (10) and a driven wheel (32) in transmission connection with the balance shaft (20), and a transmission belt (33) is arranged between the driving wheel (31) and the driven wheel (32); the transmission radius between the driving wheel (31) and/or the driven wheel (32) and the transmission belt (33) is adjustable; and: when the transmission radius between the driving wheel (31) and the transmission belt (33) is adjustable,

the driving wheel (31) comprises a first driving wheel (311) and a second driving wheel (312) which are coaxially arranged, and the first driving wheel (311) and/or the second driving wheel (312) are driving wheels capable of moving along the axial direction;

when the transmission radius between the driven wheel (32) and the transmission belt (33) is adjustable,

the driven wheel (32) comprises a first driven wheel (321) and a second driven wheel (322) which are coaxially arranged, and the first driven wheel (321) and/or the second driven wheel (322) are driven driving wheels which can move along the axial direction.

4. A speed balancing device according to claim 3, wherein:

when the transmission radius between the driving wheel (31) and the transmission belt (33) is adjustable,

the distance of the driving wheel moving along the axial direction of the driving wheel is in direct proportion to the input torque or the input power received by the input shaft (10); and the transmission radius between the driving pulley and the transmission belt (33) and the distance of the driving pulley moving along the axial direction thereof

The powers are in direct proportion; or the like, or, alternatively,

the distance of the driving traction wheel moving along the axial direction is equal to the input torque or input power received by the input shaft (10)

The powers are in direct proportion; the transmission radius between the driving wheel and the transmission belt (33) is in direct proportion to the moving distance of the driving wheel along the axial direction of the driving wheel;

when the transmission radius between the driven wheel (32) and the transmission belt (33) is adjustable,

the distance of the driven wheel moving along the axial direction thereof is in direct proportion to the input torque or the input power received by the input shaft (10); and the transmission radius between the driven wheel and the transmission belt (33) and the distance of the driven wheel moving along the axial direction thereof

The powers are in inverse proportion; or the like, or, alternatively,

the slaveThe distance of the movable sheave moving in the axial direction thereof being equal to the input torque or power received by the input shaft (10)

The powers are in inverse proportion; and the transmission radius between the driven wheel and the transmission belt (33) is in direct proportion to the distance of the driven wheel moving along the axial direction of the driven wheel.

5. A speed balancing device according to claim 3, wherein: the speed changing device (30) further comprises a tension wheel (34) used for enabling the transmission belt (33) to be always in a tensioned state, and a tension force mechanism (35) used for providing tensioning pre-tightening force is arranged on a rotating shaft of the tension wheel (34).

6. A speed balancing device according to claim 4, characterized in that:

further comprising a torque input device for applying said input torque to said input shaft (10);

the torque input device comprises a belt wheel (47) which is used for winding a rope belt (48) and rotates under the tension action of the rope belt (48) or is in rolling fit with an external rope belt (48), and the belt wheel (47) is sleeved on the input shaft (10) and rotates synchronously with the input shaft (10); or the rotating shaft (42) of the belt wheel (47) is in transmission connection with the input shaft (10).

7. A speed balancing device according to claim 6, wherein:

further comprising a gear ratio adjustment mechanism for adjusting the gear ratio of the gear ratio change device (30);

the speed change adjusting mechanism comprises a shifting lever (53) for driving the corresponding driving wheel or driven wheel to move along the axial direction of the driving wheel or driven wheel, and the shifting lever (53) is rotationally matched with the corresponding driving wheel or driven wheel and synchronously and axially moves with the corresponding driving wheel or driven wheel;

the speed change adjusting mechanism further comprises a speed change driving mechanism for driving the shifting rod (53) to move along the axial direction of the corresponding driving wheel or driven driving wheel.

8. A speed balancing device according to claim 7, wherein:

the variable speed drive mechanism comprises a pulley block for guiding the rope belt (48), the pulley block comprises a movable pulley (51), the movable pulley (51) can move along the direction vertical to the axis of the rope belt (48) under the action of the tension of the rope belt, and the distance of the movement of the movable pulley (51) along the direction vertical to the axis of the movable pulley is proportional to the tension of the rope belt (48); an adjusting driving mechanism for driving the shifting rod (53) to move along the axial direction of the corresponding driving wheel or driven wheel is arranged between the movable pulley (51) and the shifting rod (53); and:

when the transmission radius between the driving wheel and the transmission belt (33) is equal to the distance of the driving wheel moving along the axial directionWhen the powers are in direct proportion, the distance for the driving wheel driven by the shifting lever (53) to move along the axial direction of the driving wheel is in direct proportion to the distance for the movable pulley (51) to move along the direction vertical to the axial direction of the driving wheel;

when the transmission radius between the driving wheel and the transmission belt (33) is in direct proportion to the moving distance of the driving wheel along the axial direction, the poking rod (53) drives the corresponding driving wheel to move along the axial direction and the moving distance of the movable pulley (51) along the direction vertical to the axial direction

The powers are in direct proportion;

when the transmission radius between the driven sheave and the transmission belt (33) is equal to the distance the driven sheave moves in its axial direction

Of power of a powerWhen the driving distance of the driving wheel is in inverse proportion to the axial direction of the driven wheel, the driving lever (53) drives the driven wheel to move along the axial direction of the driven wheel, and the driving lever drives the movable pulley (51) to move along the direction vertical to the axial direction of the driven wheel;

when the transmission radius between the driven driving wheel and the transmission belt (33) is in direct proportion to the moving distance of the driven driving wheel along the axial direction, the poking rod (53) drives the corresponding driven driving wheel to move along the axial direction by the distance and the moving distance of the movable pulley (51) along the direction vertical to the axial direction

The powers of the powers are inversely proportional to each other.

9. A speed balancing device according to claim 8, wherein:

the adjusting driving mechanism comprises a force application mechanism and an elastic force balance mechanism, the force application mechanism is used for applying axial force parallel to the corresponding driving wheel or driven driving wheel along the axial direction to the shifting rod (53), the elastic force balance mechanism is used for balancing the axial force, and the elastic force balance mechanism is used for applying elastic force opposite to the axial force direction.

10. A speed balancing device according to claim 9, wherein:

when the distance of the driving wheel or the driven driving wheel driven by the deflector rod (53) to move along the axial direction is in direct proportion to the distance of the movable pulley (51) to move along the direction vertical to the axial line of the movable pulley; the force application mechanism comprises a tension belt (54) and a guide wheel (55) for guiding the tension belt (54), wherein the first end of the tension belt (54) is parallel to the moving direction of the movable pulley (51), and the second end of the tension belt is parallel to the moving direction of the shifting lever (53); or the force application mechanism comprises a third force application rod perpendicular to the axis of the corresponding driving wheel or driven wheel, a third force application surface is arranged at one end, close to the corresponding driving wheel or driven wheel, of the third force application rod, the third force application surface is in contact fit with the corresponding shifting rod, and meanwhile the axis of the third force application rod passes through the axis of the third force application rod so as to enable the third force application surface to be matched with the shifting rod in a contacting modeAnd the analytical geometric equation of a straight line obtained by cutting the plane of the axis of the corresponding driving wheel or driven wheel on the third force application surface can be expressed as follows: a is₁x+b₁Wherein a is₁、b₁Are all equation coefficients, a₁Not equal to 0; the first force application rod (60) moves synchronously with the movable pulley (51), or the moving distance of the first force application rod (60) along the axial direction thereof is in proportion to the moving distance of the movable pulley (51) along the direction perpendicular to the axial direction thereof;

when the shifting lever (53) drives the corresponding driving wheel to move along the axial direction by the distance and the movable pulley (51) moves along the direction vertical to the axial directionWhen the powers are in direct proportion, the force application mechanism comprises a first force application rod (60) perpendicular to the axis of the corresponding driving wheel, one end, close to the corresponding driving wheel, of the first force application rod (60) is provided with a first force application surface (61), the first force application surface (61) is in contact fit with the corresponding shifting lever (53), and an analytic geometric equation of a curve obtained by cutting a plane passing through the axis of the first force application rod (60) and a plane passing through the axis of the corresponding driving wheel on the first force application surface (61) can be expressed as follows: a is₂x²+b₂Wherein a is₂、b₂Are all equation coefficients, a₂Not equal to 0; the first force application rod (60) moves synchronously with the movable pulley (51), or the moving distance of the first force application rod (60) along the axial direction thereof is in proportion to the moving distance of the movable pulley (51) along the direction perpendicular to the axial direction thereof;

when the shifting lever (53) drives the corresponding driven wheel to move along the axial direction by the distance and the movable pulley (51) moves along the direction vertical to the axial direction of the driven wheel

When the powers are inversely proportional, the force application mechanism comprises a second force application rod (62) which is perpendicular to the axis of the corresponding driven wheelOne end of the force application rod (62) close to the corresponding driven wheel is provided with a second force application surface (63), the second force application surface (63) is in contact fit with the corresponding shifting lever (53), and an analytic geometric equation of a curve obtained by cutting a plane passing through the axis of the second force application rod (62) and the axis of the corresponding driven wheel on the second force application surface (63) can be expressed as follows:

wherein, a₃、b₃Are all equation coefficients, a₃≠0；

The second force application rod (62) moves synchronously with the movable pulley (51), or the moving distance of the second force application rod (62) along the axial direction is in proportion to the moving distance of the movable pulley (51) along the direction perpendicular to the axial direction.

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