CN103388652A - Dual-motor drive backlash-free and non-linear friction gear reducer - Google Patents
Dual-motor drive backlash-free and non-linear friction gear reducer Download PDFInfo
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- CN103388652A CN103388652A CN201310313711XA CN201310313711A CN103388652A CN 103388652 A CN103388652 A CN 103388652A CN 201310313711X A CN201310313711X A CN 201310313711XA CN 201310313711 A CN201310313711 A CN 201310313711A CN 103388652 A CN103388652 A CN 103388652A
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Abstract
The invention discloses a dual-motor drive backlash-free and non-linear friction gear reducer and relates to the technical field of precision machines and electromechanics. The invention aims to solve the problem that the servo accuracy is caused to be low by the fact that motors require to stall and the disturbance of non-linear friction exists due to the fact that the existing motors are in a reverse state by adopting a traditional dual-motor anti-backlash method. The dual-motor drive backlash-free and non-linear friction gear reducer comprises two motors, two sets of cylindrical gear reducing assemblies and a set of bevel gear planetary gear trains. The output torque of each motor is amplified, the output rotating speed of each motor is reduced and is transmitted onto the planetary gear trains by the cylindrical gear reducing assemblies; two central gears in the planetary gear trains rotate in opposite directions, and are used for jointly driving planetary gears to rotate. When the two central gears are equal in rotating speed, the rotating speed of an output shaft fixedly connected with a planetary carrier is zero, and when the two central gears are unequal in rotating speed, the rotating speed of the output shaft is 1/2 of the rotating speed difference of the two central gears, and the direction of the output shaft is the same as that of the central gear with the higher rotating speed. According to the dual-motor drive backlash-free and non-linear friction gear reducer disclosed by the invention, the linearity of a drive train is improved, and therefore, the accuracy of servo systems of the motors is improved.
Description
Technical field
The present invention relates to precision optical machinery and dynamo-electric field, be specifically related to a kind of under Dual-motors Driving the gear reducer without backlash and non-linear friction.
Background technique
In the high precision electro machine servo system, the backlash that is used for the gear reducer of transmission can cause backlash occurs when commutation, thereby produce impact, fluctuation etc., affects the series of problems of servo accuracy.Traditional method is to adopt the methods such as clearance elimination gear, pre-tightening mechanism to eliminate gear clearance, but anti-backlash mechanism, pre-tightening mechanism are easily loosening when motor frequently commutates, thereby is difficult to guarantee the dynamic servo precision.Existing patent name is " a kind of dual motor driven backlash eliminating device and the gap method that disappears ", and application number is 201010185282.9 patent, adopts the form of Dual-motors Driving, the gear backlash that has occurred while having realized dynamic elimination commutation.But, still there is the deficiency of following two aspects in the gear transmission scheme of this class Dual-motors Driving: first, there is a motor to be in stall (counter-rotating) state in two motors, namely be applied to moment direction and this motor actual rotation opposite direction that the voltage on motor produces, and common actuating motor can't meet the stall requirement, must select torque motor as power source; The second, servo-system can be subject to the disturbance of non-linear friction when commutation, causes servo accuracy to be difficult to further raising.
Summary of the invention
The present invention is for solving existing double-motor anti-backlash method owing to existing wherein a motor to be in inverted status, motor is had the requirement of stall and has the disturbance of non-linear friction, and then cause the low problem of servo accuracy, the gear reducer of a kind of Dual-motors Driving without backlash and non-linear friction is provided.
Dual-motors Driving is without the gear reducer of backlash and non-linear friction, comprise the first drive motor, the second drive motor, cylindrical gears deceleration assembly and planetary gear train, described cylindrical gears deceleration assembly comprises the first gear assembly, the second gear assembly, the first cylindrical gears and the second cylindrical gears; Planetary gear train comprises the first center wheel assembly, the second center wheel assembly, planet wheel, planet carrier and output shaft, the output shaft of described the first drive motor be connected drive motor output shaft respectively with the first cylindrical gears be connected cylindrical gears and be connected, the first cylindrical gears and the second cylindrical gears mesh with the gearwheel of the first gear assembly gearwheel and the second gear assembly respectively, realize deceleration and amplification to two motor output torques; Described the first center wheel assembly and the second center wheel assembly are comprised of cylindrical gears and bevel gear respectively, and the cylindrical gears of the cylindrical gears of the first center wheel assembly and the second center wheel assembly meshes with the small gear of the second gear assembly and the small gear of the first gear assembly respectively; The bevel gear of the bevel gear of the first center wheel assembly and the second center wheel assembly and the engagement of a plurality of planet wheel; The quill shaft inside of described the first center wheel assembly and the second center wheel assembly is equipped with inner bearing, and described output shaft passes inner bearing and is fixedly connected with planet carrier, a plurality of planet wheels of symmetrical installation on described planet carrier.
Working principle of the present invention: Dual-motors Driving of the present invention, without the gear reducer of backlash and non-linear friction, comprises two cover cylindrical gear reducer structures and a cover bevel gear planetary gear train.Two motors drive respectively cylindrical gear reducer structure separately, reduce rotating speed, increase driving moment.Two cover cylindrical gear reducer structures mesh by two central gears of a pair of cylindrical gears and planetary gear train respectively.The output shaft of retarder and the planet carrier of planetary gear train are connected.On planet carrier, symmetric distributed has been installed several planet wheels that consist of bevel gear, and each planet wheel all meshes with two central gears simultaneously.During operation, two motors are in rotary state, direction of rotation all the time.The power of motor rotates round about through two central gears that the cylindrical gear reducer structure drives planetary gear train, and when two central gear rotating speed equal and opposite in directions, opposite direction, the output shaft rotating speed is zero; When two central gear rotating speeds size was unequal, the fast side of output shaft rotation direction and central gear rotating speed was identical.In running, the sense of rotation of the first drive motor and the second drive motor remains unchanged, an adjusting rotary speed size, and therefore no matter whether the output shaft rotation direction changes, and the Surface of action in speed reducer between all gears is constant, thereby has avoided the generation of backlash; In running, on the axle of interior all the installation gears of retarder, the rubbing contact position all is in the relative movement state, thereby has avoided the generation of non-linear friction.
Beneficial effect of the present invention:
One, the present invention need not to use special clearance elimination gear, pre-tightening mechanism etc., and volume is little and be easy to safeguard.
Two, the present invention compares existing double-motor anti-backlash method and has avoided motor that stall occurs in running, can use the higher driven by servomotor of rated speed, has greatly expanded Applicable scope.
Three, the present invention can also eliminate the non-linear friction in retarder inner shaft system when avoiding the gear backlash, thereby greatly improves the low-speed motion precision of servo-system.
Description of drawings
Fig. 1 is the schematic diagram of Dual-motors Driving of the present invention without the gear reducer of backlash and non-linear friction;
Fig. 2 is the structural representation of Dual-motors Driving of the present invention without the gear reducer of backlash and non-linear friction;
Fig. 3 is that Dual-motors Driving of the present invention is without two center wheel assembly explosive views in the gear reducer of backlash and non-linear friction;
Fig. 4 is the output shaft assembly explosive view of Dual-motors Driving of the present invention without the gear reducer of backlash and non-linear friction.
Embodiment
Embodiment one, in conjunction with Fig. 1 to Fig. 4, present embodiment is described, Dual-motors Driving is without the gear reducer of backlash and non-linear friction, comprise two drive motor: angular position encoder or inductosyn are installed on motor shaft, export respectively the angle position of two motors, be used for the servo-control system feedback.Cylindrical gears deceleration assembly: comprise the first cylindrical gears 6 and the second cylindrical gears 9 on the output shaft that is installed on respectively the first drive motor 7 and the second drive motor 8; And by the engagement of the gearwheel with the first gear assembly 5 and the second gear assembly 10, realize deceleration and moment amplification that motor is exported.Planetary gear train, comprise the first center wheel assembly 1 be connected center wheel assembly 3 all for by a bevel gear with is connected the assembly that the cylindrical gears that connects through a quill shaft forms; Cylindrical gears part on the first center wheel assembly 1 and the second center wheel assembly 3 and the small gear engagement of the second gear assembly 10 and the first gear assembly 5, realize further slowing down and moment amplification; Bevel gear part on the first center wheel assembly 1 and the second center wheel assembly 3 and planet wheel 2 engagements; Planet wheel 2 is a plurality of symmetric distributed and installs on planet carrier; Planet carrier 11 both was connected with output shaft 4, and its output shaft part is passed the quill shaft of the first center wheel assembly 1 and the second center wheel assembly 3 by bearing, realized external power output.
Described the first drive motor 7 of present embodiment and the second drive motor 8 can be selected torque motor or actuating motor.The first gear assembly 5 be connected gear assembly 10 and be small one and large one two cylindrical gearss that modulus is identical, the number of teeth is different of the coaxial connection in two ends of an axle.The cylindrical gears of described the second center wheel assembly 3, the first gear assembly 5 and the first cylindrical gears 6 have formed the elementary reducing gear of the first drive motor 7, and the cylindrical gears of the first center wheel assembly 1, the second gear assembly 10 and the second cylindrical gears 9 have formed the elementary reducing gear of the second drive motor 8.Through this two-part transmission, the output torque of the first drive motor 7 and the second drive motor 8 has obtained amplification, and acts on two center wheel assemblies of planetary gear train.When the first center wheel assembly 1 and the second center wheel assembly 3 rotational velocity equal and opposite in directions, opposite direction, the rotating speed of output shaft 4 is zero.Certain motor speed in the first drive motor 7, the second drive motor 8 changes, make the rotational velocity size of the first center wheel assembly 1 and the second center wheel assembly 3 unequal, output shaft 4 rotates, and its direction is identical with two high persons of center wheel assembly medium speed.
The described Dual-motors Driving of present embodiment is without the gear reducer of backlash and non-linear friction, the quill shaft outside of described the first center wheel assembly 1 and the second center wheel assembly 3 is equipped with outer bearing 12, be used for the first center wheel assembly 1 and the second center wheel assembly 3 with and carry and be arranged on housing 14 by output shaft 4, planet carrier 11, planet wheel 2 that inner bearing carry.Between described the first center wheel assembly 1 and the second center wheel assembly 3 and housing 14, between the first center wheel assembly 1 and the second center wheel assembly 3 and output shaft 4, between planet wheel 2 and planet carrier 11, be in all the time relative movement between the first gear assembly 5 and the second gear assembly 10 and housing 14 and between the output shaft of the first drive motor 7 and the second drive motor 8 and housing 14.
The described retarder of present embodiment is when output shaft 4 speed governing and commutation, and in planetary gear train, all gear sense of rotation are constant, and backlash does not occur at gear engagement position.Output shaft 4 to be to slowly run or when static, and in retarder, all shaft componentses that friction occurs all can keep certain relative rotation speed, do not produce the non-linear friction under static friction and low speed.
Described the first center wheel assembly 1 of present embodiment and the first center wheel assembly 3 is identical and symmetrical installation.Inner bearing all is installed inside and outside the axle of two center wheel assemblies; Inner bearing is used for installing output shaft 4; The outer bearing of axle is used for planetary gear train is installed on the housing 14 of retarder.
The structure of the second gear assembly 10 and the first gear assembly 5 is identical.The structure of the second cylindrical gears 9 and the first cylindrical gears 6 is identical, and establishing the cylindrical gears 1-1, the second gear assembly 10 of the first center wheel assembly 1 and the reduction speed ratio of the Transmitted chains that the second gear 9 forms is i
19=ω
1/ ω
9The velocity ratio of the Transmitted chains that the cylindrical gears 3-1 of the second center wheel assembly 3, the first gear assembly 5 and the first cylindrical gears 6 form is i
36=ω
3/ ω
6Because the gear in two Transmitted chainss is identical, i
19=i
36=i(i＜1).If ω
7And ω
8Be respectively the rotating speed vector of the first drive motor 7 and the second drive motor 8, the rotational speed omega of output shaft 4
4Meet
When output shaft 4 needs commutation occurs, only need to make two motor speed sizes to change, in motor and power train, the sense of rotation of all parts is constant, and just the rotational velocity size changes, and has avoided the generation of backlash.Because each axle system when working all is in rotary state, has certain speed that relatively rotates between each shaft components, and the kinetic friction of non-linear friction while being static friction and low speed, so the present invention can avoid the impact of non-linear friction when work, improve servo accuracy.
If the output torque vector of the first drive motor 7 and the second drive motor 8 is respectively τ
7And τ
8, output shaft 4 torques are
The output torque of two motors is exaggerated after elementary reducing gear 1/i doubly after, act on output shaft with the form of vector.Therefore due to two moment opposite directions, two moment sums show as the poor of scalars both.
In present embodiment, system needs to overcome viscous friction in rotation process, and the real system output torque is to deduct the moment loss that overcomes viscous friction on the basis of above-mentioned situation again.But viscous friction is the linear friction moment relevant to rotating speed, is easy to the Negotiation speed feedback and realizes its compensation.If in the Transmitted chains of output shaft 4, viscous friction moment vector summation is τ from the first drive motor 7
v1=μ
1ω
7In the Transmitted chains of output shaft 4, viscous friction moment vector summation is τ from the second drive motor 8
v2=μ
2ω
8Wherein, μ
1And μ
2Be respectively equivalent viscous friction coefficient, be easy to according to the rotating speed measured value of the first drive motor 7 and the second drive motor 8, viscous friction be compensated, improve the moment output accuracy.Compare the Nonlinear friction torques such as coulomb friction, low speed Stribeck friction, viscous friction does not impact the system linearity degree, and is easy to compensate.
Claims (4)
1. Dual-motors Driving is without the gear reducer of backlash and non-linear friction, comprise the first drive motor (7), the second drive motor (8), cylindrical gears deceleration assembly and planetary gear train, described cylindrical gears deceleration assembly comprises the first gear assembly (5), the second gear assembly (10), the first cylindrical gears (6) and the second cylindrical gears (9); Planetary gear train comprises the first center wheel assembly (1), the second center wheel assembly (3), planet wheel (2), planet carrier (11) and output shaft (4); It is characterized in that, the output shaft of described the first drive motor (7) be connected drive motor (8) output shaft respectively with the first cylindrical gears (6) be connected cylindrical gears (9) and be connected, the first cylindrical gears (6) and the second cylindrical gears (9) mesh with the gearwheel of the first gear assembly (5) gearwheel and the second gear assembly (10) respectively, realize deceleration and amplification to two motor output torques; Described the first center wheel assembly (1) and the second center wheel assembly (3) are comprised of cylindrical gears and bevel gear respectively, and the cylindrical gears (1-1) of the first center wheel assembly (1) and the cylindrical gears (3-1) of the second center wheel assembly (3) mesh with the small gear of the second gear assembly (10) and the small gear of the first gear assembly (5) respectively; The bevel gear (1-2) of the first center wheel assembly (1) and the bevel gear (3-2) of the second center wheel assembly (3) and a plurality of planet wheels (2) engagement; The quill shaft inside of described the first center wheel assembly (1) and the second center wheel assembly (3) is equipped with inner bearing (13), output shaft (4) passes inner bearing (13) and is fixedly connected with planet carrier (11), the upper symmetrical a plurality of planet wheels (2) of installing of described planet carrier (11).
2. Dual-motors Driving according to claim 1, without the gear reducer of backlash and non-linear friction, is characterized in that, described the first drive motor (7) and the second drive motor are torque motor or actuating motor.
3. Dual-motors Driving according to claim 1 is without the gear reducer of backlash and non-linear friction, it is characterized in that, the direction of rotation of drive motor (8) in described the first drive motor (7) and second, the rotating speed size of the first drive motor (7) and the second drive motor (8) can independent regulation; The rotating speed of output shaft (4) is zero when the rotating speed equal and opposite in direction of the first drive motor (7) and the second drive motor (8), opposite direction; When the rotating speed of the first drive motor (7) and the second drive motor (8) differed in size, the direction that output shaft (4) sense of rotation and the first drive motor (7) and the second drive motor (8) medium speed are high was identical.
4. Dual-motors Driving according to claim 1 is without the gear reducer of backlash and non-linear friction, it is characterized in that, between described the first center wheel assembly (1) and the second center wheel assembly (3) and housing (14), between the first center wheel assembly (1) and the second center wheel assembly (3) and output shaft (4), between planet wheel (2) and planet carrier (11), all the time be in relative movement between the first gear assembly (5) and the second gear assembly (10) and housing (14) and between the output shaft of the first drive motor (7) and the second drive motor (8) and housing (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310313711.XA CN103388652B (en) | 2013-07-24 | 2013-07-24 | Dual-motors Driving is without the gear reducer of backlash and non-linear friction |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310313711.XA CN103388652B (en) | 2013-07-24 | 2013-07-24 | Dual-motors Driving is without the gear reducer of backlash and non-linear friction |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103388652A true CN103388652A (en) | 2013-11-13 |
| CN103388652B CN103388652B (en) | 2016-04-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310313711.XA Active CN103388652B (en) | 2013-07-24 | 2013-07-24 | Dual-motors Driving is without the gear reducer of backlash and non-linear friction |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105757182A (en) * | 2014-12-16 | 2016-07-13 | 财团法人精密机械研究发展中心 | Hollow planetary reducer |
| CN111137437A (en) * | 2019-12-27 | 2020-05-12 | 航天时代飞鸿技术有限公司 | Dual-redundancy electric steering engine |
| CN111279114A (en) * | 2018-03-28 | 2020-06-12 | 深圳市大疆创新科技有限公司 | Differential gear drive device, stability augmentation mechanism, holder device and shooting equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN86201760U (en) * | 1986-03-26 | 1988-11-09 | 金汉城 | Slip type speed reducer |
| US5330394A (en) * | 1991-07-09 | 1994-07-19 | Hydro-Gear Limited Partnership | Rider transaxle having improved hydrostatic transmission |
| EP0731291A2 (en) * | 1995-03-06 | 1996-09-11 | Toyota Jidosha Kabushiki Kaisha | Vehicle power transmission having fluid-tight enclosure accomodating lubricating points and storing lubricating oil delivered from mechanical oil pump |
| CN101804717A (en) * | 2009-02-13 | 2010-08-18 | 致伸科技股份有限公司 | Stepless speed changing mechanism applying to sheet thermal polymerization device |
| CN202719078U (en) * | 2012-06-08 | 2013-02-06 | 联合汽车电子有限公司 | Mechanical torque converter |
-
2013
- 2013-07-24 CN CN201310313711.XA patent/CN103388652B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN86201760U (en) * | 1986-03-26 | 1988-11-09 | 金汉城 | Slip type speed reducer |
| US5330394A (en) * | 1991-07-09 | 1994-07-19 | Hydro-Gear Limited Partnership | Rider transaxle having improved hydrostatic transmission |
| EP0731291A2 (en) * | 1995-03-06 | 1996-09-11 | Toyota Jidosha Kabushiki Kaisha | Vehicle power transmission having fluid-tight enclosure accomodating lubricating points and storing lubricating oil delivered from mechanical oil pump |
| CN101804717A (en) * | 2009-02-13 | 2010-08-18 | 致伸科技股份有限公司 | Stepless speed changing mechanism applying to sheet thermal polymerization device |
| CN202719078U (en) * | 2012-06-08 | 2013-02-06 | 联合汽车电子有限公司 | Mechanical torque converter |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105757182A (en) * | 2014-12-16 | 2016-07-13 | 财团法人精密机械研究发展中心 | Hollow planetary reducer |
| CN111279114A (en) * | 2018-03-28 | 2020-06-12 | 深圳市大疆创新科技有限公司 | Differential gear drive device, stability augmentation mechanism, holder device and shooting equipment |
| CN111279114B (en) * | 2018-03-28 | 2021-08-31 | 深圳市大疆创新科技有限公司 | Differential gear drive device, stability augmentation mechanism, holder device and shooting equipment |
| CN111137437A (en) * | 2019-12-27 | 2020-05-12 | 航天时代飞鸿技术有限公司 | Dual-redundancy electric steering engine |
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| Publication number | Publication date |
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| CN103388652B (en) | 2016-04-27 |
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