阅读说明：本技术 一种搅拌桨可规划路径的变角度行星倾斜搅拌装置 (Variable-angle planetary inclined stirring device with stirring paddle capable of planning path ) 是由 杨锋苓 房科峰 张翠勋 于 2020-06-29 设计创作，主要内容包括：本发明公开了一种搅拌桨可规划路径的变角度行星倾斜搅拌装置,包括搅拌轴、传动主轴、传动机构、支撑架、搅拌接头和搅拌轴；在所述支撑架上固定有半球壳形的凸轮,凸轮上设置有按照设定轨迹设置的凹槽；传动主轴的下部穿过支撑架和凸轮与搅拌轴接头配合,配合面为圆弧面；在传动主轴下部水平穿过一个销杆,所述销杆的两端通过连杆与搅拌轴接头侧部滑动连接,销杆的中心连接一个从动件,所述的从动件穿过传动主轴与凸轮上的凹槽配合,所述的传动主轴通过传动机构驱动搅拌轴旋转。(The invention discloses a variable-angle planetary inclined stirring device with a stirring paddle capable of planning a path, which comprises a stirring shaft, a transmission main shaft, a transmission mechanism, a support frame, a stirring joint and a stirring shaft, wherein the stirring shaft is arranged on the support frame; a semi-spherical shell-shaped cam is fixed on the support frame, and a groove arranged according to a set track is arranged on the cam; the lower part of the transmission main shaft penetrates through the support frame and the cam to be matched with the stirring shaft connector, and the matching surface is an arc surface; a pin rod horizontally penetrates through the lower portion of the transmission main shaft, two ends of the pin rod are connected with the side portion of the stirring shaft joint in a sliding mode through connecting rods, a driven piece is connected to the center of the pin rod, the driven piece penetrates through the transmission main shaft to be matched with a groove in the cam, and the transmission main shaft drives the stirring shaft to rotate through the transmission mechanism.)

1. A variable-angle planetary inclined stirring device with a stirring paddle capable of planning a path is characterized by comprising a stirring shaft, a transmission main shaft, a transmission mechanism, a support frame, a stirring joint and a stirring shaft; a semi-spherical shell-shaped cam is fixed on the support frame, and a groove arranged according to a set track is arranged on the cam; the lower part of the transmission main shaft penetrates through the support frame and the cam to be matched with the stirring shaft connector, and the matching surface is an arc surface; a pin rod horizontally penetrates through the lower part of the transmission main shaft, two ends of the pin rod are connected with the side part of the stirring shaft joint in a sliding manner through a connecting rod, the center of the pin rod is connected with a driven piece, the driven piece penetrates through the transmission main shaft to be matched with a groove on the cam, and the transmission main shaft drives the stirring shaft to rotate through a transmission mechanism; the stirring shaft is connected with the stirring shaft connector, penetrates through the support frame and is matched with the support frame through an angular contact device.

2. The variable-angle planetary tilting stirring device with the programmable path of the stirring paddle as claimed in claim 1, wherein the transmission mechanism comprises two transmission shafts parallel to a transmission main shaft; the transmission main shaft is provided with a first large gear which is respectively meshed with first small gears arranged on the two transmission shafts; the lower part of the transmission shaft is provided with a second gearwheel which is engaged with a second pinion arranged on the stirring shaft.

3. The variable-angle planetary inclined stirring device with the programmable path of the stirring paddle as claimed in claim 2, wherein the angular contact device comprises two angular contact balls which are arranged up and down symmetrically, the two angular contact balls are partial spherical bodies, the spherical centers of the two angular contact balls are overlapped, and the second pinion is arranged at the position of the spherical center.

4. The variable-angle planetary tilting stirring device with the programmable path of the stirring paddle as claimed in claim 3, wherein two hemispherical groove holes are formed on the supporting member, and the two hemispherical groove holes are respectively used for fixing two angular contact balls.

5. The variable-angle planetary tilting stirring device with the stirring paddle capable of planning a path as claimed in claim 3, wherein an arc-shaped chute is formed at the lowest end of the transmission main shaft, an arc-shaped sliding block is arranged at the upper end of the stirring shaft joint, the arc-shaped sliding block is consistent with the arc shape of the arc-shaped chute, and the circle centers of the arc-shaped sliding block and the arc-shaped chute are coincident with the sphere center of the angular contact ball.

6. The variable-angle planetary tilting stirring device with the programmable path of the stirring paddle as claimed in claim 1, wherein the lower end of the stirring shaft joint is provided with a circular groove and is connected with the stirring shaft through a bearing.

7. The variable-angle planetary tilting stirring device with the programmable path of the stirring paddle as claimed in claim 1, wherein the side surface of the stirring shaft joint is provided with a connecting joint, the lower part of the connecting rod is provided with a sliding groove, and the connecting joint is inserted into the sliding groove.

8. The variable angle planetary tilting mixing apparatus according to claim 1, wherein the center of free rotation of the follower coincides with the center of the cam sphere, and the upper end cylinder of the cam follower is matched with the size of the cam groove.

9. The variable-angle planetary tilting stirring device with the programmable path of the stirring paddle as claimed in claim 1, further comprising a cylinder, wherein a driving mechanism is arranged above the cylinder, and the driving mechanism is connected with the transmission main shaft.

10. The method for using the variable-angle planetary tilting stirring device with the programmable path of the stirring paddle as claimed in claim 9, wherein a jacket is further arranged outside the cylinder, end sockets are fixedly welded at the bottom end and the top end of the cylinder, the upper end socket is provided with the feeding pipe and the air inlet pipe, and the lower end socket is provided with the discharging pipe.

Technical Field

The invention relates to the technical field of stirring devices, in particular to a stirring device with a stirring paddle capable of changing angle and planet tilting motion and planning a path.

Background

The stirring device is one of the most common mixing devices in the industry, the traditional stirring device and the technology are more and more difficult to meet the process requirements of industrial production along with the development of industrial technology, the chaos mixing theory is provided, strong convection can be caused between fluids with complex flow paths, and the mixing effect can be enhanced without a mechanical device by inducing chaos. The inventor finds that the mixing efficiency is improved by the modes of eccentric stirring, variable-speed stirring, reciprocating stirring and the like through the modes of space mixing and time mixing, and the three stirring and mixing modes can enable the flowing mode of materials during mixing to present a complex path, further enhance chaos and improve the mixing efficiency, and are widely applied in the industry.

The inventor also finds that in the current stirring device, whether the stirring device is a traditional stirring device or a novel stirring device, the running path of the stirring paddle is fixed and has limited complexity, the moving path of the stirring paddle cannot be planned, the complexity of the path is controllable, and all working conditions are difficult to apply.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provide a stirring device with a stirring paddle capable of changing the angle and planetary tilting motion and planning the motion path of the stirring paddle.

In order to achieve the purpose, the invention adopts the following technical scheme:

in a first aspect, the invention provides a variable-angle planetary inclined stirring device with a stirring paddle capable of planning a path, which comprises a stirring shaft, a transmission main shaft, a transmission mechanism, a support frame, a stirring joint and a stirring shaft; a semi-spherical shell-shaped cam is fixed on the support frame, and a groove arranged according to a set track is arranged on the cam; the lower part of the transmission main shaft penetrates through the support frame and the cam to be matched with the stirring shaft connector, and the matching surface is an arc surface; a pin rod horizontally penetrates through the lower portion of the transmission main shaft, two ends of the pin rod are connected with the side portion of the stirring shaft joint in a sliding mode through connecting rods, a driven piece is connected to the center of the pin rod, the driven piece penetrates through the transmission main shaft to be matched with a groove in the cam, and the transmission main shaft drives the stirring shaft to rotate through the transmission mechanism.

As a further technical scheme, the transmission mechanism comprises two transmission shafts parallel to a transmission main shaft; the transmission main shaft is provided with a first large gear which is respectively meshed with first small gears arranged on the two transmission shafts; the lower part of the transmission shaft is provided with a second gearwheel which is engaged with a second pinion arranged on the stirring shaft.

As a further technical scheme, two angular contact balls are arranged on the stirring shaft, the two angular contact balls are spaced at a certain distance, the second pinion is placed at the spaced center, and the centers of the two angular contact balls coincide with the spaced center.

As a further technical scheme, two hemispherical groove holes are formed in the supporting piece, and the hemispherical groove holes are used for fixing two angular contact balls respectively.

As a further technical scheme, the lowest end of the transmission main shaft is provided with an arc-shaped sliding groove, the upper end of the stirring shaft joint is provided with an arc-shaped sliding block, and the arc-shaped sliding block is consistent with the arc of the arc-shaped sliding groove.

As a further technical scheme, the lower end of the stirring shaft joint is provided with a circular groove and is connected with the stirring shaft through a bearing.

As a further technical scheme, a connecting joint is arranged on the side surface of the stirring shaft joint, a sliding groove is formed in the lower portion of the connecting rod, and the connecting joint is inserted into the sliding groove.

As a further technical scheme, the center of free rotation of the driven piece is overlapped with the spherical center of the cam spherical shell, and the cylinder at the upper end of the cam driven piece is matched with the size of the cam groove.

As a further technical scheme, the device also comprises a cylinder, wherein a driving mechanism is arranged above the cylinder and is connected with the transmission main shaft. The driving mechanism drives the transmission main shaft to rotate, and the connecting rod and cam follower integrated mechanism is connected with the transmission main shaft through a pin and rotates together with the transmission main shaft.

As a further technical scheme, the barrel body is externally provided with a jacket, the bottom end and the top end of the barrel body are fixedly welded with end sockets, the upper end socket is provided with a feeding pipe and an air inlet pipe, and the lower end socket is provided with a discharging pipe.

The invention discloses a stirring device with a stirring paddle capable of changing angle and planet tilting motion and planning a path, which comprises the following working methods:

the driving mechanism drives the transmission main shaft, the transmission main shaft drives the cam follower, the connecting rod and the pin integrated mechanism which are arranged in the transmission main shaft to rotate, the cam follower slides in the circumferential direction in the groove of the hemispherical shell groove type cam, simultaneously, under the action of the groove wall, the cam follower rotates in the radial direction and transmits torque to the integrated connecting rod, the transmission main shaft and the stirring shaft joint form a connecting rod slider mechanism, the connecting rod and the stirring shaft joint are connected with the connecting joint through a chute, the stirring shaft joint and the transmission main shaft are connected with the slider through an arc chute, the torque of the connecting rod is transmitted to the stirring shaft joint, the stirring shaft joint generates an inclination trend, the stirring shaft joint inclines by taking the center of the angular contact device as the circle center with the help of the angular contact device, a pinion at the center of the angular contact device generates autorotation through gear transmission, the stirring purpose of the variable-angle planet inclination is achieved, and the inclination angle is changed regularly and is inseparable from the groove track of the cam, so that the running track of the stirrer can be further controlled by controlling the groove track.

The invention has the beneficial effects that:

1. according to the stirring device disclosed by the invention, under the action of the cam connecting rod mechanism, the angular contact device and the gear transmission mechanism, the motion trail of the stirring paddle is formed by the superposition of three motion equations: the stirring paddle rotates in an inclined mode, the stirring paddle rotates in an autorotation mode, and the inclination angle of the stirring shaft is changed regularly, so that the stirring of the variable-angle planet inclined mode is formed, the chaos of the complicated motion path of the stirring paddle can be effectively enhanced, and the stirring effect is improved.

2. According to the stirring device, the function that the cam mechanism can plan and control the motion track is effectively utilized, the motion track of the stirring paddle can be effectively controlled by changing the groove track of the hemispherical shell groove type cam, and the most suitable stirring path can be obtained by planning the track of the cam groove according to different stirring and mixing process types, so that the stirring and mixing effects are further improved.

3. The stirring shaft joint is placed in an arc-shaped sliding groove at the lowest end of the transmission main shaft through an arc-shaped sliding block, the circle centers of the two arcs coincide with the sphere center of the angular contact ball, namely the stirring shaft joint slides in the transmission main shaft by taking the sphere center of the angular contact ball as the circle center, and meanwhile, the stirring shaft which is vertically placed is driven to deflect at an angle. The stirring shaft joint drives the stirring shaft to incline by taking the center of the angular contact device as a circle center, and the two hemispheroids of the angular contact device on the stirring shaft rotate in the hemispheroid groove of the support piece, so that the inclination constraint of the stirring shaft is ensured.

4. The big gear of the transmission main shaft is meshed with the small gear at the upper end of the transmission shaft to transmit the torque to the transmission shaft, the rotating speed of the transmission shaft is increased, the big gear at the lower end is meshed with the small gear at the center of the stirring shaft angular contact device to transmit the torque to the stirring shaft, and the rotating speed of the stirring shaft is further increased compared with that of the transmission shaft.

5. The cam follower and the two connecting rods are integrally designed, the cam follower is located at a certain position of the cam groove, the connecting rods are vertically placed, the follower and the connecting rods are fixed and radially and freely rotate, the connecting rods circumferentially rotate along with the transmission main shaft and the follower, the radial change of the follower is transmitted to the connecting rods, the vertically placed connecting rods swing, and the swing angle law is consistent with the cam follower and the track of the cam groove.

6. The stirring shaft joint drives the stirring shaft to incline by taking the center of the angular contact device as a circle center, and the angular contact device on the stirring shaft rotates in the hemispherical groove of the support piece, so that the inclination constraint of the stirring shaft is ensured.

7. The lower ends of the two connecting rods are connected with the connecting joint on the stirring shaft joint in a sliding mode, the connecting rods swing regularly in the vertical direction, the torque can be transmitted to the stirring shaft joint through the connecting joint, the stirring shaft joint is connected with the transmission main shaft through the sliding chute and the sliding block, the stirring shaft joint rotates along with the transmission main shaft, and the stirring shaft joint slides in the sliding block direction due to the torque of the connecting rods.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.

FIG. 1 is an assembly view of the overall structure of embodiment 1 of the present invention;

FIG. 2 is a schematic structural view of a transmission part of embodiment 1 of the present invention after removing a half of the cylinder and the internal pipe;

FIG. 3 is a schematic view of the transmission device of embodiment 1 of the present invention with the internal support members removed;

FIGS. 4(a) and 4(b) are schematic diagrams illustrating the motion analysis of the transmission device according to embodiment 1 of the present invention;

FIG. 5 is a schematic view of the structure of the internal support member according to embodiment 1 of the present invention;

fig. 6(a) and 6(b) are schematic views of an integrated structure of a connecting rod and a cam follower according to embodiment 1 of the present invention;

FIGS. 7(a) and 7(b) are schematic views of the structure of the stirring shaft joint in example 1 of the present invention;

fig. 8(a) and 8(b) are schematic structural views of a transmission main shaft according to embodiment 1 of the present invention;

FIG. 9 is a schematic structural view of a stirring blade in example 1 of the present invention;

fig. 10 is an enlarged view of the connection of the stirring shaft joint, the transmission shaft, the connecting rod and the cam follower in the embodiment 1 of the present invention.

FIG. 11(a) and FIG. 11(b) are schematic diagrams of the movement locus of the bottom layer stirring paddle center in embodiment 1 of the present invention;

in the figure: 1, cooling water outlet pipe, 2 jacket cylinders, 3 baffles, 4 reaction kettle cylinders, 5 supports, 6 container flanges, 7 air inlet pipes, 8 racks, 9 speed reducers, 10 motors, 11 couplers, 12 mounting bases, 13 flange flanges, 14 feed pipes, 15 cooling water inlet pipes, 16 annular gas distributors, 17 discharge pipes, 18 transmission main shafts, 19 transmission main shaft large gears, 20 connecting rods, 21 stirring shaft joints, 22 stirring shafts, 23 stirring shaft gears, 24 angular contact balls, 25 reaction kettle lower end enclosures, 26 stirring paddles, 27 stirring paddles, 28 transmission shaft large gears, 29 jacket end enclosures, 30 transmission shafts, 31 internal supporting pieces, 32 cams, 33 transmission shaft pinions, 34 reaction kettle upper end enclosures, 35 connecting rods, 36 cylindrical pins, 37 cam followers and 38 connecting rods; 18-1 rectangular hole, 18-2 circular hole and 18-3 arc chute; 21-1 arc-shaped sliding block, 21-2 connecting groove and 21-3 connecting joint.

Detailed Description

It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an", and/or "the" are intended to include the plural forms as well, unless the invention expressly state otherwise, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof;

for convenience of description, the words "up", "down", "left" and "right" in the present invention, if any, merely indicate correspondence with up, down, left and right directions of the drawings themselves, and do not limit the structure, but merely facilitate the description of the invention and simplify the description, rather than indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention.

The terms "mounted", "connected", "fixed", and the like in the present invention are to be understood in a broad sense, and may be, for example, fixedly connected, detachably connected, or integrated; the two components can be connected directly or indirectly through an intermediate medium, or the two components can be connected internally or in an interaction relationship, and the terms can be understood by those skilled in the art according to specific situations.

Just as the introduction of background art, current agitating unit stirring effect is poor, has the unstable condition of (mixing) shaft device, and to the above-mentioned problem, this application has proposed a stirring apparatus that stirring rake variable angle planet inclined and steerable planning route. The invention provides a variable-angle planetary inclined stirring device with a stirring paddle capable of planning a path, which comprises a driving mechanism positioned above a cylinder body, wherein the driving mechanism is connected with a transmission main shaft, a large gear is arranged at the upper end of the transmission main shaft, the lower end of the transmission main shaft is fixed in a supporting piece in the cylinder body through a bearing, a hemispherical shell type inner groove type cam is fixed on the supporting piece in the cylinder body, namely, a groove is formed in the hemispherical shell according to a certain track, a cam driven piece, a connecting rod and a pin are integrally designed and fixed in a hollow groove at the lower end of the transmission main shaft, the cam driven piece and the connecting rod can freely rotate through the pin, the center of the free rotation of the cam driven piece is superposed with the spherical center of a cam spherical shell, a cylinder at the upper end of the cam driven piece is matched with the size of the cam groove, an arc, the stirring shaft is provided with a stirring paddle, two connecting joints are fixed on two sides of the stirring shaft joint, the lower ends of connecting rods at two ends are provided with chutes which are connected with the stirring shaft joint through the two connecting joints, two angular contact devices are designed on the stirring shaft and are part of two hemispheroids, the two hemispheroids are spaced at a certain distance, a pinion is arranged at the center of the spacing, the sphere centers of the two hemispheroids are superposed with the center of the spacing, a support piece inside the barrel is also provided with two hemispherical groove holes which are respectively fixed with the two hemispheroids, a gear transmission shaft is respectively arranged at the left end and the right end of the support piece through bearings, the pinion is respectively arranged at the upper end of the shaft and is meshed with a gear wheel of the transmission main shaft, the transmission ratio is selected for improving the rotating speed of the transmission shaft, and a gear wheel is respectively arranged at the lower end of the, and the inner supporting piece is fixed inside the barrel, and the two stirring paddles are respectively fixed at the bottom and the middle part of the stirring shaft. The driving mechanism drives the transmission main shaft to rotate, and the connecting rod and cam follower integrated mechanism is connected with the transmission main shaft through a pin and rotates together with the transmission main shaft.

In an exemplary embodiment of the present application, as shown in fig. 1-10, a stirring apparatus with a stirring paddle capable of changing an angle and planet inclination and planning a control path includes a jacket 2, the jacket 2 is welded to a reaction kettle barrel 4, a reaction kettle upper head 34 is connected to the top end of the barrel through a detachable container flange 6, a reaction kettle lower head 25 is welded to the bottom end of the barrel, the reaction kettle upper head 34 is provided with an inlet pipe 14 and an inlet pipe 7, the reaction kettle lower head 25 is provided with a discharge pipe 17, a worker can inject a material to be stirred into the barrel through the inlet pipe 14, the stirred material can be discharged through the discharge pipe 17, and the upper part and the bottom of the jacket are respectively provided with a cooling water inlet pipe 15 and a cooling water outlet pipe 1.

Further, the upper end enclosure 34 of the reaction kettle adopts a standard elliptical end enclosure, a flange is arranged at the upper end of the center position of the end enclosure, and a feeding pipe and an air inlet pipe are arranged around the flange. The lower seal head 25 of the reaction kettle adopts a standard elliptical seal head, and the upper end of the center of the seal head is provided with a discharge pipe.

In this embodiment, all install the valve on inlet pipe, discharging pipe and intake pipe and the cooling water advances pipe, the cooling water exit tube for the switch on and the closure of corresponding pipeline of control.

In this embodiment, a frame and a driving mechanism are fixed at the center of the cylinder cover through a flange 13 and a mounting bottom cover 12, the driving mechanism adopts a speed reducer 9 and a motor 10, an output shaft of the speed reducer motor extends into the frame 8, and is fixedly connected with one end of a transmission main shaft 18 through an elastic coupling 11. Specifically, a Y-shaped asynchronous motor and a secondary cycloid pinwheel speed reducer are adopted, the Y-shaped asynchronous motor and the secondary cycloid pinwheel speed reducer are fixed on a rack above the cylinder, and the rack is installed on a cylinder top cover through a flange and an installation base.

As shown in fig. 8(a) and 8(b), the lower end of the transmission main shaft 18 comprises an upper part and a lower part, a rectangular hole 18-1 is formed in a cuboid of the upper part, two opposite surfaces of the cuboid are respectively provided with a round hole 18-2, the two round holes are communicated, a cylindrical pin 36 of the cam follower and built-in connecting rod integrated mechanism penetrates through the two round holes, and the rectangular hole 18-1 is used for the cam follower 34 to penetrate out of the hole; an arc chute 18-3 is formed in the lower cuboid part, the arc center of the arc chute 18-3 is positioned at the center of the angular contact device, namely the inclined center of the stirring shaft, and is matched with an arc slide block of a stirring shaft joint, and the inclination of the stirring shaft is ensured at the shaft head end.

As shown in fig. 6(a) and 6(b), the integrated design of the connecting rod and the cam follower comprises three parts, namely a cylindrical pin 36, wherein an inclined threaded hole is formed in the center of the cylindrical pin 36 and used for installing the cam follower 34, one end of the cylindrical pin 36 is integrally welded with the connecting rod 35 on the left side, and the other end of the cylindrical pin is provided with a threaded hole used for installing the other connecting rod. The cam follower 34 is a cylindrical rod, and the other end of the cylindrical rod is matched with the groove in the cam and slides along the groove in the cam under the driving of external force.

The cylinder at the upper end of the cam follower is placed in the groove of the hemispherical shell groove type cam, the cam is fixed on the supporting piece in the cylinder body, the cam follower rotates along the circumferential direction of the transmission main shaft, the cylinder at the upper end of the follower slides along the track in the cam groove, and therefore the change of the cam follower in the radial direction is consistent with the radial change of the groove track, and therefore the cam follower can rotate in the radial direction. The cam follower and the connecting rod are integrally designed, the cam follower is located at a certain position of the cam groove, the connecting rod is vertically placed, the follower and the connecting rod are fixed and radially and freely rotate, the connecting rod circumferentially rotates along with the transmission main shaft and the follower, the radial change of the follower is transmitted to the connecting rod, the vertically placed connecting rod swings, and the swing angle rule is consistent with the cam follower and the track of the cam groove.

As shown in fig. 5, the structure of the internal supporting member is schematically illustrated, all the parts of the internal supporting member, which are engaged with the transmission shaft and the transmission main shaft, are provided with bearings, the internal supporting member and the hemispherical shell type grooved cam 32 are integrally designed, an arc-shaped circular hole is formed in the part of the cross beam at the lower end of the internal supporting member, which is engaged with the angular contact device, and the track of the circular hole is a part of a circle, and the center of the circular hole coincides with the center of the angular contact ball 24 and the center.

The angular contact device comprises two angular contact balls 24, the angular contact balls 24 are part of a sphere, the two angular contact balls 24 are symmetrically arranged, the centers of the two angular contact balls 24 are the same point, the point is the center of the angular contact device and is superposed with the circle center of an arc-shaped round hole at the matching position of the internal supporting piece, and the chord of the arc-shaped round hole is smaller than the maximum diameter of the angular contact balls, so that the angular contact balls can be obliquely rotated in the arc-shaped round hole groove.

The hemispherical shell groove type cam is internally provided with a groove which is matched with the cam follower 34, the track of the groove can be set by self, in the design, the radial angle change range of the groove is 20 degrees, the change rule is a sine function, and according to the motion analysis diagrams of the transmission device shown in the figures 4(a) and 4(b), the motion and position relations among all mechanisms can be obtained, such as the motion tracks of the bottom layer stirring paddle in two-dimensional and three-dimensional spaces shown in the figures 11(a) and 11 (b).

As shown in fig. 7(a) and 7(b), the stirring shaft joint 21 comprises a body, the upper part of the body is an arc-shaped sliding block 21-1, the bottom of the body is a connecting groove 21-2, and two sides of the body are provided with connecting joints 21-3; the arc-shaped sliding block 21-1 is matched with an arc-shaped sliding groove 18-3 at the lower end of the transmission main shaft 18, the connecting groove 21-2 is connected with the stirring shaft 22, the connecting joints 21-3 at the two sides are respectively matched with sliding grooves at the bottoms of the connecting rod 35 and the connecting rod 38, the transmission main shaft and the stirring shaft form a double-rocker mechanism, the connecting rod 35 and the connecting rod 38 rotate to drive the stirring shaft 22 to rotate obliquely, then the connecting joint 21-3 of the stirring shaft joint is matched with the sliding groove on the connecting rod, and the connecting joint 21-3 can slide in the sliding groove.

The stirring shaft joint is placed in an arc-shaped sliding groove at the lowest end of the transmission main shaft through an arc-shaped sliding block, the circle centers of the two arcs coincide with the sphere center of the hemispherical body part of the angular contact device, namely the stirring shaft joint slides in the transmission main shaft by taking the sphere center of the angular contact ball as the circle center, and meanwhile, the stirring shaft which is vertically placed is driven to deflect at an angle.

The gear transmission mechanism is used for ensuring the stability of the inclination angle change of the stirring shaft, the rotating speed of the transmission main shaft 18 is low, the gear 19 of the transmission main shaft 18 is in meshing transmission with the pinions 33 on the upper parts of the two transmission shafts 30, the rotating speed of the transmission shafts 30 is increased, and the rotating speed of the stirring shaft 22 is increased through the meshing transmission of the gear 28 at the bottom of the transmission shafts 30 and the pinions 23 of the stirring shaft 22. Aiming at the inclination of the stirring shaft 22 and the poor meshing condition of the small gear 23 of the stirring shaft 22, the two transmission shafts 30 are adopted to increase the stability, the small gear 23 of the stirring shaft is placed at the inclined center of the stirring shaft, the displacement of the small gear 23 is reduced, and meanwhile, the tooth heights of the small gear 23 and the large gear of the stirring shaft are increased, so that the effective meshing can still be ensured under the inclined condition.

In this embodiment, under the action of the cam link mechanism, the angular contact device, and the gear transmission mechanism, the motion trajectory of the stirring paddle is obtained by superimposing three motion equations: the stirring paddle rotates in an inclined mode, the stirring paddle rotates in an autorotation mode, and the inclination angle of the stirring shaft is changed regularly, so that the stirring of the variable-angle planet inclined mode is formed, the chaos of the complicated motion path of the stirring paddle can be effectively enhanced, and the stirring effect is improved.

The stirring paddles 26 and 27 are in inclined planetary stirring movement with variable angles under the action of three motion equations, so that the motion track of the stirring paddles in a three-dimensional space is realized, the problem that the stirring effects of materials are different in different layers is solved, and the dead angle of the stirring range of the materials in the axis direction of the cylinder is avoided.

Stirring rake 26 and stirring rake 27 are including fixing the carousel at inboard stirring shaft tip, the carousel is fixed with the connecting plate, the connecting plate is connected with a plurality of stirring vane along circumference evenly distributed.

The working method of the stirring device with the stirring paddles capable of realizing variable-angle planetary tilting motion and planning paths comprises the following steps:

the driving mechanism drives the transmission main shaft, the transmission main shaft drives the cam follower, the connecting rod and the pin integrated mechanism which are arranged in the transmission main shaft to rotate, the cam follower slides in the circumferential direction in the groove of the hemispherical shell groove type cam, simultaneously, under the action of the groove wall, the cam follower rotates in the radial direction and transmits torque to the integrated connecting rod, the transmission main shaft and the stirring shaft joint form a connecting rod slider mechanism, the connecting rod and the stirring shaft joint are connected with the connecting joint through a chute, the stirring shaft joint and the transmission main shaft are connected with the slider through an arc chute, the torque of the connecting rod is transmitted to the stirring shaft joint, the stirring shaft joint generates an inclination trend, the stirring shaft joint inclines by taking the center of the angular contact device as the circle center with the help of the angular contact device, a pinion at the center of the angular contact device generates autorotation through gear transmission, the stirring purpose of the variable-angle planet inclination is achieved, and the inclination angle is changed regularly and is inseparable from the groove track of the cam, so that the running track of the stirrer can be further controlled by controlling the groove track.

Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.