CN118328046A - Self-adaptive limiting multi-shaft cooperative three-dimensional wobble plate piston driving device - Google Patents

Abstract

The present invention discloses an adaptive position-limiting multi-axis coordinated three-dimensional wobble plate piston driving device, comprising a cylinder body, a transmission assembly and an adaptive position-limiting coordinated shaft assembly; the adaptive position-limiting coordinated shaft assembly comprises at least two coordinated shafts arranged around the central axis, the coordinated shaft comprises a first coordinated shaft segment and a second coordinated shaft segment, the first coordinated shaft segment and the second coordinated shaft segment are hinged via a collaborative joint, which can not only coordinate the synchronization relationship between the cylinder body and the wobble plate, but also constrain the relative position between the cylinder body and the wobble plate, so that the connecting rod only transmits reciprocating driving force and does not participate in transmitting the load for maintaining the synchronization between the wobble plate and the cylinder body, thereby simplifying the connection relationship between the connecting rod and the piston, and between the connecting rod and the wobble plate; the hinged structure also enables the coordinated shaft to have the ability of adaptive deformation, coordinates the orientation relationship between the coordinated shaft and the wobble plate or the cylinder body, reduces the eccentric wear problem caused by the deflection torque, thereby enhancing the smoothness of the system, improving the transmission efficiency of the system, and especially preventing the system from having asymmetric eccentric wear, misalignment and locking problems under low-speed and heavy-load conditions.

Description

Self-adaptive limit multi-axis coordinated three-dimensional swing plate piston drive device

Technical Field

The present invention relates to the field of transmission driving, and in particular to an adaptive limiting multi-axis coordinated three-dimensional swing plate piston driving device.

Background technique

The axial piston device utilizes a cylinder arranged around a central axis, a piston cooperating with the cylinder, and a rotating wobble plate to form a drive or be driven; the basic structure is that the piston is connected to the wobble plate through a connecting rod, and the reciprocating motion of the piston is transmitted to the wobble plate through the connecting rod, and the wobble plate converts it into a rotational output by utilizing the cam transmission principle; or, the wobble plate is driven by periodic axial swinging, thereby periodically changing the axial position and driving the piston through the connecting rod to form reciprocating motion and perform work.

It can be seen from the above structure that, relative to the cylinder body, it is expected that there is no relative rotation in the circumferential direction between the wobble plate and the cylinder body. At this time, the connecting rod plays a vital role. No matter whether the driving force of the swash plate is transmitted to the piston or the piston power is transmitted to the wobble plate, the wobble plate is subjected to the component force in the circumferential direction. Therefore, the connecting rod also has to constrain the coordinated action between the wobble plate and the cylinder body (piston), so the load-bearing is more complicated and has deflection moments in various directions; therefore, a slipper structure is usually used in the structure to adapt to the changes in orientation in various directions and bear more complex deflection moments, and the structure is more complicated; the slipper structure needs to have sufficient lubrication, which not only makes the structure extremely complicated, but also is prone to wear and tear, resulting in machine failure. At the same time, it is also difficult to apply to air medium machinery such as engines and compressors.

To solve the above problems, a series of swing plate piston drive devices with shaft cooperative structures have emerged. For example, the Chinese patent (name: Shaft cooperative swing plate axial piston drive device, patent number: ZL 202010600068.9) discloses a shaft cooperative structure to solve the above problems; however, in this structure, since the two shaft sections of the cooperative shaft are integrally formed and inserted into the cylinder body and the swing plate respectively, the cooperative mechanism (cooperative shaft) has very high requirements on manufacturing precision, which increases the manufacturing cost; and, under heavy load and high-speed conditions, it lacks adaptive cooperative deformation capability. During operation, the cooperative shaft and the swing plate or cylinder body may be locked due to eccentric wear, thereby causing operation accidents.

Therefore, it is necessary to improve the cooperative structure, which should not only be able to change the stress state of the connecting rod and have all the advantages of the cooperative shaft, but also have the ability of adaptive deformation, coordinate the orientation relationship between the cooperative shaft and the swing plate or cylinder body, reduce eccentric wear, thereby enhancing the smoothness of the system, improving the transmission efficiency of the system, and especially preventing the locking problem caused by deformation of the system under low speed and heavy load conditions.

Summary of the invention

In view of this, the purpose of the present invention is to provide an adaptive limiting multi-axis coordinated three-dimensional swing plate piston drive device, which can not only change the stress state of the connecting rod and has all the advantages of the coordinated axis, but also has the ability of adaptive deformation and coordinates the orientation relationship between the coordinated axis and the swing plate or cylinder body, thereby enhancing the smoothness of the system and improving the transmission efficiency of the system, especially preventing the locking problem caused by deformation of the system under low speed and heavy load conditions.

The adaptive position-limiting multi-axis coordinated three-dimensional wobble plate piston driving device of the present invention comprises a cylinder body, a transmission assembly and an adaptive position-limiting coordinated axis assembly;

The cylinder body has a central axis, and the cylinder body includes a plurality of cylinders arranged in a circumferential array around the central axis, a piston is provided in cooperation with the cylinder, and a connecting rod is provided in cooperation with the piston;

The transmission assembly includes a wobble plate installed in an inclined manner relative to the central axis, one end of the connecting rod is connected to the piston, and the other end is connected to the wobble plate; the pistons of the plurality of cylinders drive the connecting rods to reciprocate in sequence to drive the wobble plate to form a periodic swing in the circumferential direction, or the wobble plate is driven by external input power to periodically swing in the circumferential direction, thereby driving the connecting rods and pistons of the plurality of cylinders to reciprocate in sequence;

The adaptive limit cooperative shaft assembly includes at least two cooperative shafts arranged around the central axis, the cooperative shaft includes a first cooperative shaft segment and a second cooperative shaft segment, the first cooperative shaft segment and the second cooperative shaft segment are hinged by a cooperative joint, the first cooperative shaft segment is parallel to the axis of the wobble plate and is slidably inserted into the wobble plate cooperative shaft hole provided on the wobble plate, the second cooperative shaft segment is parallel to the axis of the cylinder body and is slidably inserted into the cylinder body cooperative shaft hole provided on the cylinder body, when the wobble plate periodically swings in the circumferential direction or the wobble plate is driven by external input power to periodically swing in the circumferential direction to form a reaction force or driving force in the circumferential direction, the articulated joint can overcome the reaction force or driving force to form circumferential synchronization between the wobble plate and the cylinder body.

Furthermore, it also includes a central axis, which includes a first central axis section and a second central axis section. The first central axis section is coaxial with the axis of the wobble plate and can be rotatably inserted into the central axis hole of the wobble plate, and the second central axis section is coaxial with the cylinder body and can be rotatably inserted into the central axis hole of the cylinder body.

Furthermore, the articulated joint enables the first cooperating shaft segment and the second cooperating shaft segment to have a relative swinging freedom in the radial direction of the cylinder body.

Furthermore, the articulated joint of the first cooperative shaft segment and the second cooperative shaft segment includes a cooperative shaft articulation head and a cooperative shaft articulation groove, the cooperative shaft articulation head is a pin-shaped articulation head, and the cooperative shaft articulation groove and the pin-shaped articulation head are adapted to form an articulation.

Furthermore, the cooperative axis hinge groove has a side opening, and the pin-shaped hinge head is inserted into the cooperative axis hinge groove from the side opening to form a hinge, and the end opposite to the side opening limits the pin-shaped hinge head to overcome the reaction force or driving force.

Further, the outer wall of the cooperative shaft hinge groove is a spherical surface;

The first center shaft segment and the second center shaft segment form the center shaft through a joint, and the outer circle of the joint is provided with an elliptical slide groove; the outer wall of the cooperative shaft hinge groove is at least partially contained in the elliptical slide groove in the up and down directions.

Furthermore, the elliptical slide groove is an annular elliptical slide groove provided on the outer circumference of the joint portion, and a sweep line of the annular elliptical slide groove is located within an angular bisector of the first central axis segment and the second central axis segment.

Furthermore, the cooperative shaft hinge groove is closed at one end opposite to its side opening, which is used to limit the pin-shaped hinge head and overcome the reaction force or driving force.

Furthermore, it also includes a main shaft and a driving inclined plane that cooperates with the main shaft in transmission;

The driving inclined surface and the wobble plate are positioned in the radial direction thereof and can rotate relative to each other in the circumferential direction. The first central shaft section is rotationally matched with the wobble plate; and the second central shaft section is rotationally matched with the cylinder body.

Beneficial effects of the present invention: The adaptive limited multi-axis collaborative three-dimensional wobble plate piston drive device of the present invention adopts a hinged structure with a certain degree of swinging freedom formed by mutually hinged two axis sections of the collaborative axis, which can not only coordinate the synchronization relationship between the cylinder body and the wobble plate, but also constrain the relative position between the cylinder body and the wobble plate, so that the connecting rod only transmits reciprocating driving force and does not participate in transmitting the load for maintaining the synchronization between the wobble plate and the cylinder body, thereby simplifying the connection relationship between the connecting rod and the piston, and the connecting rod and the wobble plate. The hinged structure also enables the collaborative axis to have the ability of adaptive deformation, coordinate the orientation relationship between the collaborative axis and the wobble plate or the cylinder body, and reduce the eccentric wear problem caused by the deflection torque, thereby enhancing the smoothness of the system and improving the transmission efficiency of the system, especially preventing the system from asymmetric deformation, eccentric wear, misalignment and locking under low-speed and heavy-load conditions.

BRIEF DESCRIPTION OF THE DRAWINGS

The present invention will be further described below in conjunction with the accompanying drawings and embodiments:

Fig. 1 is a structural diagram of the present invention;

Fig. 2 is a schematic diagram of the structure of the present invention;

Fig. 3 is a cylinder structure diagram;

Fig. 4 is a structural diagram of a wobble plate;

Figure 5 is a structural diagram of the swash plate (with main shaft);

Figure 6 is a diagram of the structure of the coordinated axis;

Figure 7 is an exploded view of the cooperative shaft;

Figure 8 is a structural diagram of the central axis.

Detailed ways

As shown in the figure, the adaptive position-limiting multi-axis coordinated three-dimensional wobble plate piston driving device of the present invention comprises a cylinder body 6, a transmission assembly and an adaptive position-limiting coordinated axis assembly;

The cylinder body 6 has a central axis, and the cylinder body 6 includes a plurality of cylinders 9 arranged in a circular array around the central axis, a piston 5 is provided in cooperation with the cylinder 9, and a connecting rod 4 is provided in cooperation with the piston 5; as shown in the figure, when in use, the cylinder 9 can be installed on the cylinder body 6, or it can be formed as one piece and provided with a cylinder sleeve. As shown in the figure, a portion 61 for installing the cylinder is provided on the cylinder body, which belongs to the structure of the prior art and will not be repeated here; around the central axis means that the axis of the cylinder is parallel to the central axis and is evenly distributed around the central axis, which will not be repeated here; the cylinder body 2 can be fixedly set or have a set degree of freedom of rotation. The fixed setting and the set degree of freedom of rotation here mean that when in use, the cylinder body as a whole can be fixed to a set basis or have a set degree of freedom of rotation relative to the basis. The set degree of freedom of rotation refers to a relative rotation with a set ratio formed between the input or output component, which will not be repeated here;

The transmission assembly includes a wobble plate 1 installed in a manner inclined relative to the central axis, one end of the connecting rod 4 is connected to the piston 5, and the other end is connected to the wobble plate 1; the connection between the connecting rod 4 and the piston 5 and the connection between the connecting rod 4 and the wobble plate 1 (as shown in the figure, the wobble plate 1 is provided with a connection point 11 connected to the connecting rod 4) are both existing technologies of the wobble plate piston drive structure, which will not be repeated here; according to different power transmission directions, the pistons 5 of several cylinders 9 can drive the connecting rods 4 to reciprocate in turn to drive the wobble plate 1 to form a periodic swing in the circumferential direction, which is used to drive the components of the driving inclined plane to rotate; of course, it can also be that the external input power drives the wobble plate to swing periodically in the circumferential direction, thereby driving the connecting rods and pistons of several cylinders to reciprocate in turn, generally by driving the inclined plane to rotate to drive the wobble plate to swing, which will not be repeated here;

In actual use, the wobble plate 1 periodically swings around the central axis and the position of the intersection of the wobble plate axis and the central axis remains unchanged during the swinging. The swinging trajectory of the wobble plate axis is conical, and the axis of the cone coincides with the central axis. The periodic swinging of the wobble plate refers to the fact that the position of the intersection of the wobble plate axis and the central axis remains unchanged (at the same time, the intersection is also the center point of the central plane of the wobble plate). The radial edge periodically changes from high to low and then from low to high along the circumferential direction and in the direction of the central axis, so that the swinging trajectory of the wobble plate axis is conical, that is, periodic three-dimensional swinging. The specific structure of the wobble plate is prior art and will not be repeated here. The hinge centers of all the connecting rods 4 and the wobble plate 1 are in the same plane (it is expected that this plane coincides with the central plane of the wobble plate), and the center point of the plane coincides with the intersection of the wobble plate axis and the central axis. This structure ensures the symmetry of the entire structure and makes the overall operation of the mechanism smooth. The connection method between the connecting rod 4 and the piston 5 and the wobble plate 1 generally adopts a hinge structure, including a ball joint or a universal joint connection, which will not be repeated here.

The adaptive limit cooperative shaft assembly includes at least two cooperative shafts 2 arranged around the central axis, the cooperative shaft 2 includes a first cooperative shaft section 21 and a second cooperative shaft section 22, the first cooperative shaft section 21 and the second cooperative shaft section 22 are hinged by a cooperative joint, the first shaft cooperative section is parallel to the axis of the wobble plate and is inserted into the wobble plate cooperative shaft hole 12 provided on the wobble plate by sliding fit, the second cooperative shaft section 21 is parallel to the axis of the cylinder body 6 and is inserted into the cylinder body cooperative shaft hole 62 provided on the wobble plate 1 by sliding fit, when the wobble plate periodically swings in the circumferential direction or the wobble plate is driven by external input power to form a reaction force or driving force in the circumferential direction (depending on whether the wobble plate is actively or passively driven). The driving force or driving force generated by the driving mode formed by the movement, which will not be repeated here), the articulated joint can overcome the reaction force or driving force to form synchronization between the wobble plate and the cylinder body in the circumferential direction; that is, the articulated structure of the articulated joint allows a certain degree of freedom between the first cooperative shaft segment 21 and the second cooperative shaft segment 22, but has a swing limit in the load-bearing direction, thereby achieving the load-bearing capacity; the articulated mode between the first cooperative shaft segment 21 and the second cooperative shaft segment 22 can adopt a structure with one swing freedom, such as an axial hinge; it can also adopt a structure with multiple swing freedoms, such as a ball joint; it can also be a structure with one swing freedom combined with other installation freedoms, which will not be repeated here;

As shown in the figure, the cooperative shaft assembly includes a plurality of cooperative shafts 6 arranged in parallel. Due to the use of the cooperative shafts 6, when the wobble plate 1 rotates, the cylinder body 6 is driven to rotate, or both are synchronized in the circumferential direction;

As shown in the figure, the first cooperative shaft section 21 and the second cooperative shaft section 22 of the cooperative shaft 2 are respectively inserted into the swing plate cooperative shaft hole 12 and the cylinder body cooperative shaft hole 62. In practice, the swing plate cooperative shaft hole 12 and the cylinder body cooperative shaft hole 62 are respectively provided with sliding bearings or coatings with lubricating properties to reduce friction and extend service life. As shown in the figure, the first cooperative shaft section 21 and the second cooperative shaft section 22 of the cooperative shaft are hinged to form cooperation, which has good adaptability, thereby further reducing the deflection torque and solving the problems of eccentric wear and misalignment locking caused by asymmetric deformation;

The transmission principle of the present invention is as follows: external force is input into the wobble plate 3, causing the wobble plate to perform periodic reciprocating swinging motion along the central axis. As shown in the figure, a driving inclined plate (or other components with driving inclined surfaces) is provided in cooperation with the wobble plate. When the wobble plate swings, the driving inclined surface is driven to rotate around the central axis to output power, or the driving inclined surface rotates to drive the wobble plate to perform periodic three-dimensional swinging, thereby achieving different functions. Due to the action of the cooperative shaft 6, the cylinder body and the wobble plate are synchronized in the circumferential direction. Since the wobble plate 3 periodically changes in height relative to the cylinder body 2 in the axial direction, the connecting rod drives the piston to reciprocate to complete work. Alternatively, the above process can be performed reversibly, that is, the piston actively reciprocates to perform work, driving the wobble plate to perform periodic height movements. Since the wobble plate 3 is fixed in the circumferential direction, it will drive the inclined plane matched with it to rotate (cam effect), and at the same time, power output; it can be seen that no matter what the direction of work is, the synchronization between the wobble plate and the cylinder body does not need to be maintained by the connecting rod, but the synchronization between the cylinder body and the wobble plate is maintained by the cooperative shaft, thereby reducing the moving friction pair, simplifying the overall structure and extending the service life of the connecting rod connection. Compared with the traditional crankshaft connecting rod piston drive structure, the connecting rod swing angle is greatly reduced, the radial load of the piston is reduced, the mechanical efficiency is improved, and the adverse load between the piston and the cylinder sleeve is reduced; mainly, since there is a certain degree of swing freedom between the first cooperative shaft section and the second cooperative shaft section, this degree of freedom does not need to have a large amplitude, so that the cooperative shaft has the ability of adaptive deformation, coordinates the orientation relationship between the cooperative shaft and the wobble plate or the cylinder body, thereby enhancing the smoothness of the system, improving the transmission efficiency of the system, especially preventing the locking problem caused by deformation of the system under low speed and heavy load conditions.

In this embodiment, the central shaft 3 is also included, and the central shaft 3 includes a first central shaft section 31 and a second central shaft section 32. The first central shaft section 31 is coaxial with the axis of the wobble plate 1 and is rotatably inserted into the wobble plate central shaft hole 13 provided on the wobble plate 1, and the second central shaft section 32 is coaxial with the cylinder body 6 and is rotatably inserted into the cylinder body central shaft hole 63 provided on the cylinder body 6.

The connection relationship between the first center shaft segment 31 and the second center shaft segment 32 can be various, and various structures can be realized, specifically: fixed connection structure, ball joint structure, shaft joint structure, etc. For the convenience of manufacturing and installation, the present embodiment adopts a fixed connection (generally integrally formed) method. In terms of performance, the shaft joint should have better adaptability to avoid the occurrence of deflection torque and prevent the occurrence of locking during use.

In this embodiment, the articulated joint allows the first cooperative shaft segment 21 and the second cooperative shaft segment 22 to have the freedom of relative swinging in the radial direction of the cylinder body, that is, the articulation between the first cooperative shaft segment 21 and the second cooperative shaft segment 22 allows the first cooperative shaft segment 21 and the second cooperative shaft segment 22 to have the freedom of relative swinging in the radial direction of the cylinder body. Of course, it is expected that there is no freedom in the circumferential force direction to ensure high-precision transmission and avoid force transmission at the connection between the connecting rod and the wobble plate; the radial swing freedom refers to the appropriate swing freedom in the radial direction of the cylinder body, which can generally be achieved by an axial hinge. Of course, there should be a limit in the circumferential direction of the cylinder body (which can be understood as the tangential direction), especially in the force-bearing direction, which will not be elaborated here.

In this embodiment, the articulation joint of the first cooperative shaft segment 21 and the second cooperative shaft segment 22 includes a cooperative shaft articulation joint 211 and a cooperative shaft articulation groove 221, the cooperative shaft articulation joint is a pin-shaped articulation joint, and the cooperative shaft articulation groove and the pin-shaped articulation joint are adapted to form an articulation. As shown in the figure, the articulation of the first cooperative shaft segment 21 and the second cooperative shaft segment 22 is formed by a cooperative shaft articulation joint 211 and a cooperative shaft articulation groove 221, the cooperative shaft articulation joint 211 is a pin-shaped articulation joint, and the cooperative shaft articulation groove 221 and the pin-shaped articulation joint 211 are adapted to form an articulation. The articulation makes the first cooperative shaft segment 21 and the second cooperative shaft segment 22 only have There is a relative swinging freedom in the radial direction of the cylinder body 6; this freedom makes the cooperative shaft have adaptive ability in the radial direction; as shown in the figure, the upper end of the second cooperative shaft segment forms a spherical expansion portion, and the spherical expansion portion is provided with the cooperative shaft hinge groove, and the width direction of the hinge groove corresponds to the radial direction of the cylinder body, so that it has the swinging freedom in the radial direction after hinged, and the groove forms a closing mouth to prevent the hinge structure from falling out; the lower end of the first cooperative shaft segment 21 is integrally formed to form a cooperative shaft hinge joint 211, which is pin-shaped as a whole. The hinge joint is embedded in the cooperative shaft hinge groove and because the groove of the hinge groove is closed and smaller than the diameter of the pin-shaped hinge joint, a hinge structure with a certain swinging range is formed.

In this embodiment, the synergistic shaft hinge groove 221 is open on the side, and the pin-shaped hinge head 211 is inserted into the synergistic shaft hinge groove from the side opening to form a hinge, and the end opposite to the side opening limits the pin-shaped hinge head to overcome the reaction force or driving force;

As shown in the figure, the cooperative shaft hinge groove 221 is closed at one end in the length direction (axial direction of the hinge) to form a limit or is limited by other mechanical structures (such as a limit pin or a non-fully closed limit protrusion, etc.) to ensure that the hinge structure has load-bearing capacity when in use, and the other end is open. During assembly, the pin-shaped hinge head 211 can be inserted to form a hinge structure. In addition, the structure also reserves the freedom to slide out on one side in the circumferential direction. The side that is not loaded during operation also has adaptability, which, combined with the radial swing freedom, further ensures the adaptability of the cooperative shaft.

In this embodiment, the outer wall of the cooperative shaft hinge groove 221 is a spherical surface 222; as shown in the figure, the spherical surface 222 is formed on the outer surface of the spherical expansion portion formed at the upper end of the second cooperative shaft segment 22;

The first central shaft segment 31 and the second central shaft segment 32 form the central shaft 3 through a joint 33, and an elliptical slide groove 331 is provided on the outer circle of the joint 33; as shown in the figure, the joint of the first central shaft segment 31 and the second central shaft segment 32 is an expansion structure. Of course, when the first central shaft segment 31 and the second central shaft segment 32 are fixedly connected, they can be integrally formed as a whole, or the expansion portion can be used as an intermediate component connecting the two, or it can be integrally formed with one of the shaft segments and fixedly connected with the other shaft segment, both of which can provide a structural basis for the setting of the elliptical slide groove and ultimately achieve the purpose of the invention;

The outer wall of the cooperative shaft hinge groove 221 is at least partially contained in the elliptical groove 331 in the up and down direction. The structure of the elliptical groove 331 can be a spherical elliptical groove or an annular groove with an arc-shaped cross-section. The purpose is to contain the spherical surface of the outer wall of the cooperative shaft hinge groove in the up and down direction, so that the phase of the up and down movement of the cooperative shaft and the central axis is consistent, and it is limited and can basically move synchronously with the swing of the swing plate, and the limitation is also used to increase the degree of participation of the cooperative shaft in the load-bearing.

In this embodiment, the elliptical groove 331 is an annular elliptical groove opened on the outer circumference of the joint, and the sweep line of the annular elliptical groove 331 is located in the angular bisector of the first center axis segment and the second center axis segment; the structure of the annular elliptical groove 331 is more convenient for the installation of the cooperative shaft and the center axis, has better installation adaptability in the circumferential direction, and can adapt to slight deformation of the cooperative shaft during use, which will not be repeated here.

In this embodiment, the end of the cooperative shaft hinge groove opposite to its side opening is closed, forming a better limiting effect, which is used to limit the pin-shaped hinge joint and overcome the reaction force or driving force;

The circumferential direction of the present invention refers to the circumference of the circle formed when the cylinders 9 are arranged around the central axis of the cylinder body 6. Unless otherwise specified, the circumferential direction of the present invention is the same as this;

In the present invention, when the pistons 5 of the plurality of cylinders 9 drive the connecting rods 4 to reciprocate and drive the wobble plate 1 in sequence so that the wobble plate 1 forms a periodic swing in the circumferential direction, the general structure is to drive a component with a driven inclined surface to rotate. At this time, the component force in the circumferential direction is the reaction force in the circumferential direction generated by the driven inclined surface on the wobble plate. In order to ensure the bearing capacity of the cooperative shaft, the direction of the side opening of the cooperative shaft articulation groove should be opposite to the reaction force, and the bearing capacity of the entire cooperative shaft is ensured by the limit on the other side; the cooperative shaft in the return process does not bear any load. At this time, the side opening of the cooperative shaft articulation groove also ensures that there is a sliding freedom between the first cooperative shaft section and the second cooperative shaft section. Combined with the radial swinging freedom, the cooperative shaft as a whole has better self-adaptability;

When the external input power drives the wobble plate to swing periodically in the circumferential direction, thereby driving the connecting rods and pistons of several cylinders to reciprocate in sequence, the general structure is that a component with a driving inclined surface rotates, drives the wobble plate to swing and drives the connecting rod piston to reciprocate. At this time, the component force in the circumferential direction is the friction force in the circumferential direction generated by the driving inclined surface on the wobble plate. The action mechanism is the same as the aforementioned process and will not be repeated here.

In this embodiment, it also includes a main shaft 8 and a driving inclined plane that cooperates with the main shaft 8. As shown in the figure, the driving inclined plane is arranged on a protrusion 7 that cooperates with the main shaft; the protrusion 7 allows the driving inclined plane and the wobble plate to be positioned in the radial direction thereof and to rotate relative to each other in the circumferential direction. The first central shaft section cooperates with the wobble plate in rotation; the second central shaft section cooperates with the cylinder body in rotation. The protrusion 7 and the main shaft 8 can adopt an integrally formed structure, and the transmission cooperation relationship between the main shaft 8 and the swash plate 7 is a structure well known to those skilled in the art. The axis of the main shaft 8 coincides with the axis of the cylinder body 6, and also coincides with the axis of the first central shaft section, which will not be described in detail here. The driving inclined plane is coaxial with the wobble plate and the inclined plane cooperates, and the inclination angle of the inclined plane relative to the main shaft is θ; the swash plate has an inclined plane that cooperates with the wobble plate, and the structure and cooperation relationship between the two are well known in the art, which will not be described in detail here.

Positioning refers to forming a limit in the radial direction, which can be an annular edge formed on the wobble plate or/and the raised portion 8, so that the two form a mutually nested structure in the axial direction, thereby forming a limit in the radial direction, which belongs to the mechanical matching structure of the prior art and is not described in detail here; the first central shaft section 31 is rotatably matched with the wobble plate 1, and of course, it can be rotatably matched to penetrate the raised portion 7 (with a driving inclined surface). That is to say, the first central shaft section 31 can be rotatably matched with the wobble plate, and can also be rotatably matched with the raised portion 7, and can also be rotatably matched with both the wobble plate 1 and the raised portion 7. Of course, the first central shaft section 31 should have a sufficient length. The degree of rotational cooperation is generally achieved by installing bearings to ensure stable cooperation; in this embodiment, Figure 1 expresses the rotational cooperation between the first central shaft section and the wobble plate, and the wobble plate 1 forms an inclined plane cooperation with the driving inclined plane, and also rotates in the circumferential direction and is radially limited; and there are many ways of cooperation, and Figure 2 shows another schematic diagram of the cooperation relationship, that is, the swash plate forms a limit shaft that penetrates into the interior of the wobble plate and rotates to form a rotational cooperation and limit structure, and the first central shaft section penetrates into the limit shaft to form a structure in which both the wobble plate and the swash plate rotate. It will not be repeated here.

In this embodiment, the main shaft 8 is coaxial with the cylinder body 6 and is provided with a flywheel 81. Coaxiality means that the axes coincide with each other, which is conducive to maintaining the stability and continuity of rotation.

The present invention adopts an adaptive cooperative shaft structure to eliminate the situation in the prior art where the cooperative shaft is locked due to the deflection torque, and is suitable for swing plate engines, motors, pumps and compressors; of course, the main shaft must have support to output or input power. In actual application, the main shaft can be supported on a shaft seat or installed on the same foundation as the cylinder body, but it requires rotational coordination, which will not be repeated here.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution of the present invention, which should be included in the scope of the claims of the present invention.

Claims (9)

1. An adaptive position-limiting multi-axis coordinated three-dimensional wobble plate piston driving device, characterized in that it comprises a cylinder body, a transmission assembly and an adaptive position-limiting coordinated axis assembly; The cylinder body has a central axis, and the cylinder body includes a plurality of cylinders arranged in a circumferential array around the central axis, a piston is provided in cooperation with the cylinder, and a connecting rod is provided in cooperation with the piston; The transmission assembly includes a wobble plate installed in an inclined manner relative to the central axis, one end of the connecting rod is connected to the piston, and the other end is connected to the wobble plate; the pistons of the plurality of cylinders drive the connecting rods to reciprocate in sequence to drive the wobble plate to form a periodic swing in the circumferential direction, or the wobble plate is driven by external input power to periodically swing in the circumferential direction, thereby driving the connecting rods and pistons of the plurality of cylinders to reciprocate in sequence; The adaptive limit cooperative shaft assembly includes at least two cooperative shafts arranged around the central axis, the cooperative shaft includes a first cooperative shaft segment and a second cooperative shaft segment, the first cooperative shaft segment and the second cooperative shaft segment are hinged by a cooperative joint, the first cooperative shaft segment is parallel to the axis of the wobble plate and is slidably inserted into the wobble plate cooperative shaft hole provided on the wobble plate, the second cooperative shaft segment is parallel to the axis of the cylinder body and is slidably inserted into the cylinder body cooperative shaft hole provided on the cylinder body, when the wobble plate periodically swings in the circumferential direction or the wobble plate is driven by external input power to periodically swing in the circumferential direction to form a reaction force or driving force in the circumferential direction, the articulated joint can overcome the reaction force or driving force to form circumferential synchronization between the wobble plate and the cylinder body. 2. The adaptive limited multi-axis coordinated three-dimensional wobble plate piston drive device according to claim 1 is characterized in that it also includes a center axis, the center axis includes a first center axis segment and a second center axis segment, the first center axis segment is coaxial with the wobble plate axis and rotatably fits into the wobble plate center axis hole provided on the wobble plate, and the second center axis segment is coaxial with the cylinder body and rotatably fits into the cylinder body center axis hole provided on the cylinder body. 3. The adaptive limited multi-axis coordinated three-dimensional swing plate piston drive device according to claim 2 is characterized in that the articulated joint allows the first coordinated shaft segment and the second coordinated shaft segment to have relative swing freedom in the radial direction of the cylinder body. 4. The adaptive limited multi-axis collaborative three-dimensional swing plate piston drive device according to claim 3 is characterized in that: the articulated joint of the first collaborative shaft segment and the second collaborative shaft segment includes a collaborative shaft hinge joint and a collaborative shaft hinge groove, the collaborative shaft hinge joint is a pin-shaped hinge joint, and the collaborative shaft hinge groove and the pin-shaped hinge joint are adapted to form a hinge. 5. The adaptive limited multi-axis collaborative three-dimensional swing plate piston drive device according to claim 4 is characterized in that: the collaborative axis hinge groove has a side opening, the pin-shaped hinge head is inserted into the collaborative axis hinge groove from the side opening to form a hinge, and the end opposite to the side opening limits the pin-shaped hinge head to overcome the reaction force or driving force. 6. The adaptive position-limiting multi-axis coordinated three-dimensional wobble plate piston driving device according to claim 4, characterized in that: the outer wall of the coordinated axis hinge groove is a spherical surface; The first center shaft segment and the second center shaft segment form the center shaft through a joint, and the outer circle of the joint is provided with an elliptical slide groove; the outer wall of the cooperative shaft hinge groove is at least partially contained in the elliptical slide groove in the up and down directions. 7. The adaptive limited multi-axis collaborative three-dimensional swing plate piston drive device according to claim 6 is characterized in that the elliptical groove is an annular elliptical groove opened on the outer circumference of the joint, and the sweep line of the annular elliptical groove is located in the angular bisector of the first center axis segment and the second center axis segment. 8. The adaptive limiting multi-axis coordinated three-dimensional swing plate piston drive device according to claim 5 is characterized in that: the coordinated axis hinge groove is closed at one end opposite to its side opening, which is used to limit the pin-shaped hinge head to overcome the reaction force or driving force. 9. The self-adaptive position-limiting multi-axis coordinated three-dimensional wobble plate piston driving device according to claim 2, characterized in that it also includes a main shaft and a driving inclined plane that cooperates with the main shaft transmission; The driving inclined surface and the wobble plate are positioned in the radial direction thereof and can rotate relative to each other in the circumferential direction. The first central shaft section is rotationally matched with the wobble plate; and the second central shaft section is rotationally matched with the cylinder body.