CN209038420U - Stepping type feeding device and system - Google Patents

Abstract

The present application provides a step-by-step feeding device and system. The step-by-step feeding device includes a trajectory generating mechanism and a discharging mechanism. The trajectory generating mechanism includes an outer ring gear, a first planetary gear and a sun gear; the sun gear and the outer ring gear are coaxially arranged, the sun gear and the first planetary gear are engaged, and the sun gear can be driving rotation; the first planetary gear is arranged in the outer ring gear to mesh with the outer ring gear; the first planetary gear is fixedly provided with an eccentric shaft. The feeding mechanism can place materials; the feeding mechanism is rotatably connected with the eccentric shaft; the first planetary gear can drive the feeding mechanism to move along a predetermined trajectory through the eccentric shaft; the predetermined trajectory is at least Including vertical motion trajectories. A step-by-step feeding system includes the step-by-step feeding device. The device and system can take material or discharge material during the vertical movement track, which can make the transported material move stably and the surface is not scratched.

Description

Step-by-step feeding device and system

technical field

The present application relates to the technical field of material transportation, and in particular, to a step-by-step feeding device and system.

Background technique

A stepper feeder is a conveying machine that can intermittently convey materials and keep the distance at a constant step length. In the production workshop, a stepper feeder is often required to transport materials horizontally.

Taking the steel pipe production workshop as an example, the diameter of the steel pipe is generally 60 mm to 500 mm, the length of the steel pipe is usually 5 meters to 30 meters, or even more than 30 meters, and the weight of the steel pipe is generally several tons. Due to the above characteristics of the steel pipe, when the steel pipe needs to be transported horizontally, multiple existing stepping feeders need to be arranged in a row. The steel pipes are placed in the V-shaped slots on multiple walking beams at the same time. The walking beams are the storage part of the walking feeder, and the walking beams are provided with V-shaped slots. Multiple stepping feeders run synchronously to complete the horizontal conveying of steel pipes. A discharge beam corresponding to the walking beam is fixed on the ground, and a V-shaped slot is also set on the discharge beam. The walking beam can take out the steel pipe from the discharge beam, or put the steel pipe on the discharge beam.

In the existing stepping feeder, the motion trajectory is usually a circular trajectory or an elliptical trajectory. Therefore, when the stepping feeder reclaims or discharges the material, the V-shaped groove on the walking beam has both vertical movement and horizontal movement, which will generate a horizontal component force on the contacting steel pipe.

When the steel pipe is lifted, the horizontal decomposition motion will “squeeze” the steel pipe to the side wall of the V-shaped groove of the discharge beam. One side of the steel pipe contacts the side wall of the V-shaped groove of the discharge beam, and the other side contacts the The side walls of the V-groove on the walking beam. At this time, the steel pipe contacts the two side walls of the V-shaped groove with relative movement at the same time, which causes the surface of the steel pipe to be scratched and affects the surface quality of the steel pipe product. When the steel pipe is completely separated from the V-shaped groove of the discharging beam, the steel pipe falls into the V-shaped groove of the walking beam and contacts both sides of the V-shaped groove of the walking beam. into the V-shaped groove on the beam to stabilize.

When the steel pipe is put down, similarly, one side of the steel pipe is in contact with the side wall of the V-shaped groove of the discharge beam, and the other side is in contact with the side wall of the V-shaped groove on the walking beam. At this time, the steel pipe cannot adapt to the two V-shaped grooves with relative motion through its own rolling, resulting in scratches on the surface of the steel pipe, which affects the surface quality of the steel pipe product. When the steel pipe is completely separated from the V-shaped groove of the walking beam, the steel pipe falls into the V-shaped groove of the discharging beam and contacts both sides of the V-shaped groove of the discharging beam. stabilized in the V-shaped groove on the material beam.

To sum up, due to the existence of the horizontal component force, the movement of the steel pipe is unstable when it is taken out or put down, and the surface of the steel pipe is easily scratched.

Utility model content

In view of the deficiencies of the prior art, the present application provides a step-by-step feeding device, which can generate a vertical motion trajectory, so that the feeding mechanism can take or discharge material during the vertical motion trajectory.

The technical solution of this application is as follows:

A step-by-step feeding device, comprising:

a trajectory generating mechanism; the trajectory generating mechanism includes an outer ring gear, a first planetary gear and a sun gear; the sun gear and the outer ring gear are coaxially arranged, and the sun gear and the first planetary gear are engaged, the sun gear can be driven to rotate; the first planetary gear is arranged in the outer ring gear to mesh with the outer ring gear; the first planetary gear is fixedly provided with an eccentric shaft;

A feeding mechanism capable of placing materials; the feeding mechanism is rotatably connected with the eccentric shaft; the first planetary gear can drive the feeding mechanism to move along a predetermined trajectory through the eccentric shaft; the predetermined trajectory At least the vertical motion trajectory is included.

As a preferred embodiment, the radius of the outer ring gear is 2N times the radius of the first planetary gear, and N is a positive integer greater than or equal to 2.

As a preferred embodiment, the radius of the outer ring gear is 4 times the radius of the first planetary gear.

As a preferred embodiment, when the line connecting the center of the first planetary gear and the center of the sun gear is parallel to the horizontal direction, the eccentric shaft is on the connecting line and on the first planet between the center of the gear and the center of the sun gear.

As a preferred embodiment, a Cartesian coordinate system is formulated with the center of the sun gear as the coordinate origin, and the direction with an included angle of 45° with the horizontal direction as the positive direction of the X-axis; the position points on the predetermined trajectory satisfy the following Relationship:

Wherein, (x, y) is the position point on the predetermined track, and the units of x and y are millimeters;

d is the eccentric distance of the eccentric shaft, in millimeters;

R is the radius of the outer ring gear, in millimeters;

r is the radius of the first planetary gear, in millimeters;

θ is the included angle between the line formed by the position point (x, y) and the origin and the X axis, and the unit is degree.

As a preferred embodiment, the first planetary gear is fixed with a concentric shaft, and the eccentric shaft and the concentric shaft are fixedly connected by a fixing plate; the sun gear has opposite first sides and On the second side, the fixed plate is on the first side in the axial direction of the sun gear.

As a preferred embodiment, the discharging mechanism and the eccentric shaft are rotatably connected through a bearing.

As a preferred embodiment, the discharging mechanism includes a support plate extending in a horizontal direction, and a material receiving portion disposed on the support plate; the support plate and the eccentric shaft are rotatably connected; The discharging mechanism is located on the first axial side of the sun gear.

As a preferred embodiment, the trajectory generating mechanism further includes a second planetary gear, a third planetary gear and a planet carrier; the first planetary gear, the second planetary gear and the third planetary gear are evenly distributed Around the sun gear, the first planetary gear, the second planetary gear and the third planetary gear are meshed between the sun gear and the outer ring gear, and are connected by a planet carrier to Synchronized movement.

As a preferred embodiment, it also includes a driving gear; there are two trajectory generating mechanisms; the eccentric shafts of the two trajectory generating mechanisms are located on the same horizontal plane; the two trajectory generating mechanisms are driven by the driving gear .

As a preferred embodiment, each of the trajectory generating mechanisms is further provided with a driven gear coaxial with the sun gear; the drive gear drives the sun gear through the driven gear; the drive gear The gear and the driven gear are located on the second axial side of the sun gear.

As a preferred embodiment, it also includes a drive motor for driving the drive gear; the drive motor is a deceleration motor or a hydraulic motor.

As a preferred embodiment, the predetermined trajectory includes a horizontal motion trajectory.

As a preferred embodiment, the predetermined trajectory includes an ascending motion trajectory, a descending motion trajectory, a forward motion trajectory, and a backward motion trajectory, which are formed as a whole in a quadrilateral motion trajectory.

A step-by-step feeding system, comprising: the step-by-step feeding device according to any one of the above embodiments.

Beneficial effects:

In the step-by-step feeding device in this embodiment, the first planetary gear can drive the feeding mechanism to move along a predetermined trajectory through the eccentric shaft, and the predetermined trajectory includes at least a vertical movement trajectory. When the feeding mechanism is in the vertical motion track, it reclaims or discharges the material, and there is no horizontal component movement, which can make the transported material move stably and the surface is not scratched.

With reference to the following description and drawings, specific embodiments of the invention are disclosed in detail, indicating the manner in which the principles of the invention may be employed. It should be understood that embodiments of the present invention are not thereby limited in scope. Embodiments of the invention include many changes, modifications and equivalents within the spirit and scope of the appended claims.

Features described and/or illustrated for one embodiment may be used in the same or similar manner in one or more other embodiments, in combination with, or instead of features in other embodiments .

It should be emphasized that the term "comprising/comprising" when used herein refers to the presence of a feature, integer, step or component, but does not exclude the presence or addition of one or more other features, integers, steps or components.

Description of drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are just some embodiments of the present invention, and for those skilled in the art, other drawings can also be obtained from these drawings without any creative effort.

1 is a schematic structural diagram of a trajectory generating mechanism according to an embodiment of the present application;

2 is a schematic diagram of the mechanism of FIG. 1 generating a predetermined trajectory;

3 is a front view of a step-by-step feeding device according to an embodiment of the present application;

Fig. 4 is the rear view of Fig. 3;

FIG. 5 is a schematic diagram of a step-by-step feeding system according to an embodiment of the present application.

Description of reference numbers:

1. Trajectory generating mechanism; 11. External ring gear; 12. First planetary gear; 13. Eccentric shaft; 14. Sun gear; 15. Planet carrier; 16. Fixed plate; 17. Second planetary gear; 18. Third Planetary gear; 101, ascending motion track; 102, descending motion track; 103, forward motion track; 104, backward motion track; 105, fillet; 21, support plate; 22, material receiving part; 3, driving gear; 4, Driven gear; 5. Power input shaft; 6. Steel pipe; 100. Step-by-step feeding device.

Detailed ways

In order to make those skilled in the art better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described The embodiments are only a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

It should be noted that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for the purpose of illustration only and do not represent the only embodiment.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which the present invention belongs. The terms used in the description of the present invention herein are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

An embodiment of the present application provides a step-by-step feeding device 100 , including: a trajectory generating mechanism 1 and a feeding mechanism.

See Figures 1-4 in conjunction. The trajectory generating mechanism 1 includes an outer ring gear 11, a first planetary gear 12 and a sun gear 14; the sun gear 14 and the outer ring gear 11 are coaxially arranged, and the sun gear 14 and the first planetary gear 12 meshing, the sun gear 14 can be driven to rotate; the first planetary gear 12 is arranged in the outer ring gear 11 and meshes with the outer ring gear 11; the first planetary gear 12 is fixedly provided with a Eccentric shaft 13.

The feeding mechanism is rotatably connected with the eccentric shaft 13; the first planetary gear 12 can drive the feeding mechanism to move along a predetermined trajectory through the eccentric shaft 13; the predetermined trajectory includes at least vertical movement trajectory.

When the stepping feeding device 100 is used for normal operation, the outer ring gear 11 is supported by a base and is fixed, the inner wall of the outer ring gear 11 is provided with a plurality of meshing teeth, and the first planetary gear 12 is meshed with the outer ring gear 11 and the between the sun gear 14. The first planetary gear 12 driven by the sun gear 14 moves in the outer ring gear 11, and the first planetary gear 12 drives the discharging mechanism to move along a predetermined trajectory through the eccentric shaft 13; the predetermined trajectory includes at least a vertical movement trajectory . When the feeding mechanism is in the vertical motion track, it reclaims or discharges the material, and there is no horizontal component movement, which can make the transported material move stably and the surface is not scratched.

Specifically, the radius of the outer ring gear 11 is 2N times the radius of the first planetary gear 12 , and N is a positive integer greater than or equal to 2.

In this embodiment, N=2, that is, the radius of the outer ring gear 11 is 4 times the radius of the first planetary gear 12 . Correspondingly, the predetermined trajectory is an overall quadrilateral motion trajectory, which may include an ascending motion trajectory, a descending motion trajectory, a forward motion trajectory, and a backward motion trajectory, wherein the ascending motion trajectory and the descending motion trajectory have no horizontal component motion. When N is another value, correspondingly, the predetermined trajectory may be a regular 2N polygon, and two sides without horizontal component motion can be found in the positive 2N polygon, which are an ascending motion trajectory and a descending motion trajectory respectively.

In this embodiment, when the connecting line between the center of the first planetary gear 12 and the center of the sun gear 14 is parallel to the horizontal direction, the eccentric shaft 13 is on the connecting line and on the first Between the center of the planetary gear 12 and the center of the sun gear 14, please refer to FIG. 2 . At this time, the position of the eccentric shaft 13 is a point on the vertical motion track, so that the unloading mechanism can take or unload the material here, and there is no horizontal component movement, so that the transported material moves stably and the surface is not scratched. hurt.

In this embodiment, the center of the sun gear 14 is used as the coordinate origin, and the direction with an included angle of 45° with the horizontal direction is the positive direction of the X-axis to formulate a Cartesian coordinate system; the position points on the predetermined trajectory satisfy the following relationship Mode:

Wherein, (x, y) is the position point on the predetermined track, the unit of x and y is millimeter; d is the eccentric distance of the eccentric shaft 13, the unit is millimeter; R is the radius of the outer ring gear 11 , the unit is millimeter; r is the radius of the first planetary gear 12, the unit is millimeter;

Since the relationship between R and r is known, and then according to the functional relationship at the special position of the predetermined trajectory, substituting into equation (1) can deduce the relationship that r and d need to satisfy. When the values of R and/or r are determined, the value of d can also be determined. By adjusting the position of the eccentric shaft 13 relative to the center of the first planetary gear 12, the device can generate a vertical motion trajectory. Similarly, equation (1) can also be used to verify whether a set of R, r, and d data given during design is reasonable.

A procedure for deriving the relationship between r and d is given below:

To formulate the rectangular coordinate system as described above, R can be 2N times of r, and N is a positive integer greater than or equal to 2. Only the case of R=4r is considered here. The predetermined trajectory generated at this time is a regular quadrilateral, and the sides of the regular quadrilateral are connected by rounded corners 105 . Bringing R=4r into equation (1), the equation to obtain the predetermined trajectory is as follows:

Put θ1=45° into equation (2), we get

Since the generated predetermined trajectory including at least the vertical motion trajectory is a regular quadrilateral, and the angle between the positive X-axis and the horizontal direction of the Cartesian coordinate system is 45°, the point (x1, y1) passes through a straight line, and the slope is -1 , the equation of the straight line passing through the point (x1, y1) can be obtained as

straight line A point on a line segment on , both on the straight line (3) and on the predetermined trajectory (2). Assuming that θ2=30°, the corresponding point (x2, y2) is both on the straight line (3) and on the predetermined trajectory (2). First put θ2=30° into equation (2), we get Bringing it into equation (3), we get That is, d≈0.349r.

It should be noted that when θ2 takes different values, the obtained relationship between r and d is also different. This is because we do not specify how much θ is taken, and the corresponding point must be on a straight line. Only the case of R=4r is considered here, but the actual R can be 2N times r, and N is a positive integer greater than or equal to 2.

After the relationship between d and r is obtained in the above manner, the values of R, r, and d can be set. By adjusting the position of the eccentric shaft 13 relative to the center of the first planetary gear 12, the device can generate a vertical motion trajectory and put When the material mechanism is in the vertical motion track, it reclaims or discharges the material, and there is no horizontal component movement, which can make the transported material move stably and the surface is not scratched.

In this embodiment, the module of the outer ring gear 11 is 4, the number of teeth is 80, and the radius is 160 mm. The module of the first planetary gear 12 is 4, the number of teeth is 20, and the radius is 40mm. The eccentric distance of the eccentric shaft 13 is 14 mm. According to the above set of data, the trajectory generation mechanism 1 can be designed to generate a regular quadrilateral trajectory with a length and width of 212 mm, and the sides of the regular quadrilateral trajectory are connected by rounded corners 105, that is to say, the step of the step-by-step feeding device 100 The advance is 212 mm. At this time, the step-by-step feeding device 100 can generate a vertical motion trajectory. When the feeding mechanism is in the vertical motion trajectory, the material is taken or discharged, and there is no horizontal component movement, which can make the transported material move stably and the surface is smooth. got scratched. Specifically, it is found that the closer to the middle of the side length of the regular quadrilateral trajectory, the faster the running speed of the trajectory generating mechanism 1; the closer to the rounded corner 105, the slower the running speed of the trajectory generating mechanism 1. According to this rule, the reclaiming and discharging positions can be designed close to the rounded corners 105 of the regular quadrilateral trajectory, so as to obtain the effect of "lifting lightly" and avoid the impact damage to the outer surface of the product by the device.

Please continue to refer to Figures 3-5. In this embodiment, the first planetary gear 12 is fixed with a concentric shaft, and the eccentric shaft 13 and the concentric shaft are fixedly connected by a fixing plate 16 ; the sun gear 14 has opposite first planetary gears in the axial direction. side and second side, the fixed plate 16 is on the first side of the sun gear 14 in the axial direction. Adding a fixing plate 16 between the eccentric shaft 13 and the first planetary gear 12 can make the structure more stable and reliable, and make the device space utilization more reasonable. The application does not limit the shape of the fixing plate 16, which can be a rounded rectangle. , oval, etc.

In this embodiment, the discharging mechanism and the eccentric shaft 13 are rotatably connected through a bearing, which plays a supporting role, and can reduce the friction coefficient between the discharging mechanism and the eccentric shaft 13 when the device is running, so as to make the operation more stable. Smooth and stable.

Specifically, the discharging mechanism includes a support plate 21 extending in the horizontal direction, and a material receiving portion 22 disposed on the support plate 21; the support plate 21 and the eccentric shaft 13 are rotatably connected; The discharging mechanism is located on the first axial side of the sun gear 14 . The material receiving portion 22 is used for placing materials. Specifically, it may be a plurality of V-shaped grooves distributed at intervals, or a plurality of flat-bottomed material trays distributed at intervals. The shape of the material receiving portion 22 is not limited in the present application. The eccentric shaft 13 and the support plate 21 are rotatably connected through a bearing, so that the discharging mechanism can follow the eccentric shaft 13 to move along a predetermined trajectory including a vertical movement trajectory.

In this embodiment, the trajectory generating mechanism 1 further includes a second planetary gear 17 , a third planetary gear 18 and a planetary carrier 15 ; the first planetary gear 12 , the second planetary gear 17 and the third planetary gear 17 The planetary gears 18 are evenly distributed around the sun gear 14, meshed between the sun gear 14 and the outer ring gear 11, and are connected by the planet carrier 15 to move synchronously. The second planetary gear 17 , the third planetary gear 18 and the first planetary gear 12 have the same specifications and are evenly distributed in the outer ring gear 11 , and the planet carrier 15 connects the first planetary gear 12 , the second planetary gear 17 , and the third planetary gear 18 In this way, the trajectory generating mechanism 1 is more stable and reliable.

In this embodiment, a drive gear 3 is also included; there are two trajectory generating mechanisms 1 ; the eccentric shafts 13 of the two trajectory generating mechanisms 1 are located on the same horizontal plane; the two trajectory generating mechanisms 1 are described Drive gear 3 drives. The two eccentric shafts 13 located on the same horizontal plane can provide support for the support plate 21 to keep the support plate 21 horizontal. The common drive gear 3 can simplify the device while realizing power input, and the two trajectory generating mechanisms 1 can be driven only by the same power input shaft 5 .

Specifically, each trajectory generating mechanism 1 is further provided with a driven gear 4 coaxially arranged with the sun gear 14; the drive gear 3 drives the sun gear 14 through the driven gear 4; the drive gear 3 and The driven gear 4 is located on the second axial side of the sun gear 14 . The driven gear 4 and the feeding mechanism are placed on different sides of the sun gear 14, and the space can be used rationally, which can separate the transmission and the conveying, and avoid interference. Of course, without causing interference, the driven gear 4 and the discharging mechanism can also be placed on the same side of the sun gear 14 to save space. The driven gear 4 and the sun gear 14 may be coaxially and fixedly connected, and the specification of the driven gear 4 is not limited in this application.

Specifically, the device further includes a drive motor that drives the drive gear 3; the drive motor is a deceleration motor or a hydraulic motor, and the power is input to the axis of the drive gear 3 through the power input shaft 5 to drive the drive gear 3 to rotate, Thus, the driven gear 4 is driven to rotate, the driven gear 4 drives the sun gear 14 to rotate, the sun gear 14 drives the first planetary gear 12 to rotate, and the eccentric shaft 13 on the first planetary gear 12 drives the support plate 21 rotatably connected to it. moving, so that the material receiving part 22 fixedly connected with the support plate 21 realizes the conveying of materials.

In this embodiment, the predetermined trajectory includes a horizontal motion trajectory. Specifically, the predetermined trajectory includes an ascending motion trajectory 101 (corresponding to the reclaiming process), a descending motion trajectory 102 (corresponding to the discharging process), a forward motion trajectory 103 (corresponding to the feeding process), and a backward motion trajectory 104 (corresponding to the reset process), And the transition between the trajectories is through rounded corners 105 , as shown in FIG. 2 . In the embodiment of the present application, the predetermined trajectory is a regular quadrilateral trajectory, and the sides of the regular quadrilateral are connected by rounded corners 105 . When the feeding mechanism runs close to the transition fillet 105, the step-by-step feeding device 100 takes or discharges the material, so as to obtain the effect of "lifting and laying lightly" to avoid the formation of the device on the outer surface of the product. Impact damage.

For example, the material is taken at the position above the midpoint of the vertical side of the ascending motion trajectory 101 and below the rounded corner 105, at this time, the support plate 21 keeps moving vertically upward, so that the material can be accurately aligned and the material can be taken out smoothly; The material arrives on the support plate 21 of the step-by-step feeding device 100 from its original position. Since the device automatically decelerates when it runs to the track fillet 105, the material can quickly stabilize on the support plate 21 without being scratched; The device runs on the forward motion track 103, and automatically decelerates when it reaches another rounded corner 105; the material is discharged at the position above the midpoint of the vertical side of the descending motion track 102 and below the rounded corner 105, and the support plate 21 remains vertical at this time. It moves straight down, so that it can accurately align the position of the material, put down the material smoothly, and due to the deceleration at the rounded corner 105 of the track, the speed of the material when it reaches the target position from the support plate 21 of the stepping feeding device 100 Not very fast, settles down quickly and doesn't get scratched. Finally, the device returns to the starting position through the backward motion track 104, and starts the next operation. Of course, in order to better stabilize the conveying effect, the drive motor can be set as a reducer, and the reducer decelerates when the device is reclaiming and discharging.

To sum up, in the step-by-step feeding device 100 in this embodiment, the first planetary gear 12 can drive the feeding mechanism to move along a predetermined trajectory through the eccentric shaft 13, and the predetermined trajectory includes at least vertical movement trajectory. When the feeding mechanism is in the vertical motion track, it reclaims or discharges the material, and there is no horizontal component movement, which can make the transported material move stably and the surface is not scratched. More specifically, the device is capable of generating an overall quadrangular trajectory with transition fillets 105 . When running to the vertical direction, reclaim or discharge. When running to the transition fillet 105, the device will slow down to prevent the transported material from shaking in the tray or V-shaped groove due to inertia.

See Figure 5. Embodiments of the present application also provide a step-by-step feeding system, including: the step-by-step feeding device 100 described in any of the above embodiments. In this system, the step-by-step feeding device 100 can be used in series through the same power input shaft 5 to convey long-length and heavy-weight materials (for example, the steel pipe 6 in FIG. 5 ). The power input shaft 5 and the drive gear 3 are coaxially arranged. When multiple stepping feeding devices 100 need to be used in an array, it is very convenient to use a power input shaft 5 to drive the stepping machines in series, which not only saves the number of prime movers, but also reduces the workload of equipment maintenance. It also ensures good synchronization among the step-by-step feeding devices 100 .

It should be added that when the step-by-step feeding device 100 is used in series, it can be changed to a chain drive form, and the power input shaft 5 of the drive gear 3 is designed to sink to prevent the support plate 21 from running to the bottom. Interferes with the power input shaft 5 of the drive gear 3 at the same time.

It should be noted that the terms "first", "second" and the like are only used for description purposes and to distinguish similar objects, and there is no sequence between the two, nor can they be construed as indicating or implying relative importance. Also, in the description of this application, unless otherwise specified, "plurality" means two or more.

Any numerical value recited herein includes all values of the lower value and the upper value in one unit increments from the lower value to the upper value, there being a separation of at least two units between any lower value and any higher value That's it. For example, if the number of components or process variables (eg, temperature, pressure, time, etc.) are stated to have values from 1 to 90, preferably from 20 to 80, more preferably from 30 to 70, the intent is to illustrate that the The specification also explicitly lists values such as 15 to 85, 22 to 68, 43 to 51, 30 to 32, and the like. For values less than 1, one unit is appropriately considered to be 0.0001, 0.001, 0.01, 0.1. These are merely examples of what is intended to be express, and all possible combinations of numerical values recited between the lowest value and the highest value are considered to be expressly set forth in this specification in a similar fashion.

Unless otherwise stated, all ranges include the endpoints and all numbers between the endpoints. "About" or "approximately" used with a range applies to both endpoints of the range. Thus, "about 20 to 30" is intended to cover "about 20 to about 30," including at least the indicated endpoints.

All articles and references disclosed, including patent applications and publications, are hereby incorporated by reference for all purposes. The term "consisting essentially of" describing a combination shall include the identified element, ingredient, component or step as well as other elements, components, components or steps that do not materially affect the essential novel characteristics of the combination. Use of the terms "comprising" or "comprising" to describe combinations of elements, ingredients, components or steps herein also contemplates embodiments consisting essentially of those elements, ingredients, components or steps. By use of the term "may" herein, it is intended to indicate that "may" include any described attributes that are optional.

A plurality of elements, components, components or steps can be provided by a single integrated element, component, component or step. Alternatively, a single integrated element, component, component or step may be divided into separate multiple elements, components, components or steps. The disclosure of "a" or "an" to describe an element, ingredient, component or step is not intended to exclude other elements, ingredients, components or steps.

It should be understood that the above description is for purposes of illustration and not limitation. From reading the above description, many embodiments and many applications beyond the examples provided will be apparent to those skilled in the art. The scope of the present teachings should, therefore, be determined not with reference to the above description, but should instead be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled. The disclosures of all articles and references, including patent applications and publications, are incorporated herein by reference for the purpose of being comprehensive. The omission of any aspect of the subject matter disclosed herein in the preceding claims is not intended to disclaim such subject matter, nor should it be construed that the inventor did not consider such subject matter to be part of the disclosed utility subject matter.

Claims (15)

1. a kind of step-by-step movement feed device characterized by comprising

Track generating mechanism；The track generating mechanism includes outer gear ring, first planetary gear and sun gear；The sun tooth Wheel and outer gear ring coaxial arrangement, the sun gear and the first planetary gear are meshed, the sun gear energy quilt Driving rotation；The first planetary gear is set in the outer gear ring and is meshed with the outer gear ring；The first planetary gear It is fixed with an eccentric shaft；

The discharge mechanism of material can be placed；The discharge mechanism is rotatably coupled with the eccentric shaft；The first planet tooth Wheel can drive the discharge mechanism to move along desired trajectory by the eccentric shaft；The desired trajectory includes at least vertical motion Track.

2. step-by-step movement feed device according to claim 1, it is characterised in that: the radius of the outer gear ring is described first 2N times of planetary gear radius, N are the positive integer more than or equal to 2.

3. step-by-step movement feed device according to claim 2, it is characterised in that: the radius of the outer gear ring is described first 4 times of planetary gear radius.

4. step-by-step movement feed device according to claim 1, it is characterised in that: when the first planetary gear center and When the line at the center of the sun gear is parallel to horizontal direction, the eccentric shaft is on the line and in the first row Between the center of star gear and the center of the sun gear.

5. step-by-step movement feed device according to claim 1, it is characterised in that: using the center of circle of the sun gear as coordinate Origin formulates rectangular coordinate system as X-axis positive direction using the direction for being 45 ° with horizontal direction angle；Position on the desired trajectory It sets and a little meets following relationship:

Wherein, (x, y) is the location point on the desired trajectory, and the unit of x and y are millimeter；

D is the eccentric distance of the eccentric shaft, and unit is millimeter；

R is the radius of the outer gear ring, and unit is millimeter；

R is the radius of the first planetary gear, and unit is millimeter；

θ is the angle of the location point (x, y) and the origin straight line being linked to be and X-axis, and unit is degree.

6. step-by-step movement feed device according to claim 1, it is characterised in that: the first planetary gear is fixed with together Mandrel, the eccentric shaft are fixedly connected with the concentric shafts by fixed plate；The sun gear is along axial with opposite facing First side and second side, the fixed plate is in the first side of the sun gear axial direction.

7. step-by-step movement feed device according to claim 1, it is characterised in that: the discharge mechanism and the eccentric shaft are logical Cross bearing rotation connection.

8. step-by-step movement feed device according to claim 1, it is characterised in that: the discharge mechanism includes in the horizontal direction The support plate of extension, and the splicing portion being set in the support plate；The support plate and the eccentric shaft rotationally connect It connects；The discharge mechanism is located at the first side of the sun gear axial direction.

9. step-by-step movement feed device according to claim 1, it is characterised in that: the track generating mechanism further includes second Planetary gear, third planet gear and planet carrier；The first planetary gear, second planetary gear and the third planet Gear is evenly distributed on around the sun gear, the first planetary gear, second planetary gear and the third Planetary gear is engaged between the sun gear, the outer gear ring, is connected by planet carrier, to move synchronously.

10. step-by-step movement feed device according to claim 1, it is characterised in that: further include a driving gear；The track There are two generating mechanism；The eccentric shaft of two track generating mechanism is located at same level；Two tracks generate machine Structure is by the sliding tooth wheel drive.

11. step-by-step movement feed device according to claim 10, it is characterised in that: each track generating mechanism is also set There is the driven gear with sun gear coaxial arrangement；The driving gear drives the sun tooth by the driven gear Wheel；The driving gear and the driven gear are located at second side of the sun gear axial direction.

12. step-by-step movement feed device according to claim 10, it is characterised in that: further include driving the driving gear Driving motor；The driving motor is decelerating motor or hydraulic motor.

13. step-by-step movement feed device according to claim 1, it is characterised in that: the desired trajectory includes horizontal movement Track.

14. step-by-step movement feed device according to claim 1, it is characterised in that: the desired trajectory includes ascending motion The entirety that track, descending motion track, forward travel track, setback track are formed is in the motion profile of quadrangle.

15. a kind of step-by-step movement feed system characterized by comprising the step-by-step movement feeding as described in claim 1-14 is any Device.