CN103388652B - Dual-motors Driving is without the gear reducer of backlash and non-linear friction - Google Patents
Dual-motors Driving is without the gear reducer of backlash and non-linear friction Download PDFInfo
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- CN103388652B CN103388652B CN201310313711.XA CN201310313711A CN103388652B CN 103388652 B CN103388652 B CN 103388652B CN 201310313711 A CN201310313711 A CN 201310313711A CN 103388652 B CN103388652 B CN 103388652B
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- gear
- drive motor
- center wheel
- wheel assembly
- cylindrical gears
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Abstract
Dual-motors Driving, without the gear reducer of backlash and non-linear friction, relates to precision optical machinery and field of electromechanical technology.Solve existing double-motor anti-backlash method due to exist motor be in inverted status, there is stall requirement to motor and there is the disturbance of non-linear friction, and then the problem causing servo accuracy low, comprise two motors, two cover cylindrical gears reduction assemblies and a set of cone gear planetary wheel systems; The output torque of motor is amplified by described cylindrical gears reduction assemblies, reduced by the output speed of motor and be delivered on planetary gear train; Two central gear direction of rotation in described planetary gear train, the common planet wheel that drives rotates.When two central gear rotating speed equal and opposite in directions, the output shaft rotating speed be connected with planet carrier is zero; When two central gear rotating speeds are unequal, output shaft rotating speed size is 1/2nd of two central gear speed discrepancies, and the direction central gear high with rotating speed is identical.Invention increases the linearity of power train, thus improve the precision of motor servo system.
Description
Technical field
The present invention relates to precision optical machinery and electro-mechanical arts, be specifically related to a kind of under Dual-motors Driving the gear reducer without backlash and non-linear friction.
Background technique
In high precision electro machine servo system, the backlash for the gear reducer of transmission can cause, when commutating, backlash occurs, thus produces the series of problems that impact, fluctuation etc. affect servo accuracy.Traditional method adopts the method such as clearance elimination gear, pre-tightening mechanism to eliminate gear clearance, but anti-backlash mechanism, pre-tightening mechanism easily loosen when motor frequently commutates, thus be difficult to ensure 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 the patent of 201010185282.9, adopts the form of Dual-motors Driving, achieves the gear backlash occurred when dynamically eliminating commutation.But, still there is the deficiency of following two aspects in the gear transmission scheme of this kind of Dual-motors Driving: first, a motor is had to be in stall (reversion) state in two motors, namely the moment direction that the voltage on motor produces is applied to contrary with this motor actual rotation direction, and generic servo motor cannot meet stall requirement, torque motor must be selected as power source; The second, when commutating, servo-system can be subject to the disturbance of non-linear friction, causes servo accuracy to be difficult to further raising.
Summary of the invention
The present invention solves existing double-motor anti-backlash method to be in inverted status owing to there is wherein motor, to have the requirement of stall to motor and to there is the disturbance of non-linear friction, and then the problem causing servo accuracy low, provide a kind of Dual-motors Driving without the gear reducer of backlash and non-linear friction.
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 reduction assemblies and planetary gear train, described cylindrical gears reduction assemblies 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 first drive motor is connected with the first cylindrical gears and the second cylindrical gears respectively with the output shaft of the second drive motor, first cylindrical gears and the second cylindrical gears engage with the gearwheel of the first gear assembly gearwheel and the second gear assembly respectively, realize the deceleration to two motor output torques and amplification; Described first center wheel assembly and the second center wheel assembly are made up of cylindrical gears and bevel gear respectively, and the cylindrical gears of the first center wheel assembly and the cylindrical gears of the second center wheel assembly engage with the small gear of the second gear assembly and the small gear of the first gear assembly respectively; The bevel gear of the first center wheel assembly and the bevel gear of the second center wheel assembly engage with multiple planet wheel; The hollow mandrel interior of described first center wheel assembly and the second center wheel assembly is provided with inner bearing, and described output shaft is fixedly connected with planet carrier through inner bearing, the multiple planet wheel 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 set of bevel gear planetary gear train.Two motors drive respective cylindrical gear reducer structure respectively, reduce rotating speed, increase driving moment.Two cover cylindrical gear reducer structures engage with two central gears of planetary gear train respectively by a pair cylindrical gears.The output shaft of retarder and the planet carrier of planetary gear train are connected.On planet carrier, symmetric distributed has installed several planet wheels be made up of bevel gear, and each planet wheel engages with two central gears all simultaneously.During operation, two motors are in rotary state, direction of rotation all the time.The power of motor drives two central gears of planetary gear train to rotate round about through cylindrical gear reducer structure, and when two central gear rotating speed equal and opposite in directions, direction are contrary, output shaft rotating speed is zero; When two central gear rotating speed sizes are unequal, an output shaft rotation direction side fast with central gear rotating speed is 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 output shaft rotation direction changes, and the Surface of action in speed reducer between all gears is constant, thus avoids the generation of backlash; In running, in retarder all installation gears axle on rubbing contact position be all in relative movement state, thus avoid the generation of non-linear friction.
Beneficial effect of the present invention:
One, the present invention is without the need to using special clearance elimination gear, pre-tightening mechanism etc., volume little and be easy to safeguard.
Two, the present invention compares existing double-motor anti-backlash method and avoids motor, in running, stall occurs, and can use the driven by servomotor that rated speed is higher, greatly extend Applicable scope.
Three, the present invention can also eliminate the non-linear friction in the inner axle system of retarder while avoiding gear backlash, thus greatly improves the low-speed motion precision of servo-system.
Accompanying drawing explanation
Fig. 1 is Dual-motors Driving of the present invention without the schematic diagram of the gear reducer of backlash and non-linear friction;
Fig. 2 is Dual-motors Driving of the present invention without the structural representation of the gear reducer of backlash and non-linear friction;
Fig. 3 is Dual-motors Driving of the present invention without two center wheel assembly explosive views in the gear reducer of backlash and non-linear friction;
Fig. 4 is Dual-motors Driving of the present invention without the output shaft assembly explosive view of the gear reducer of backlash and non-linear friction.
Embodiment
Embodiment one, composition graphs 1 to Fig. 4 illustrate present embodiment, Dual-motors Driving is without the gear reducer of backlash and non-linear friction, comprise Dual Drive motor: motor shaft is provided with angular position encoder or inductosyn, export the angle position of two motors respectively, feed back for servo-control system.Cylindrical gears reduction assemblies: comprise be installed on the first drive motor 7 and the second drive motor 8 respectively output shaft on the first cylindrical gears 6 and the second cylindrical gears 9; And by engaging the deceleration and moment amplification that realize exporting motor with the gearwheel of the first gear assembly 5 and the second gear assembly 10.Planetary gear train, comprises the first center wheel assembly 1 and the assembly of the second center wheel assembly 3 all for being made up of with a cylindrical gears be connected through a quill shaft a bevel gear; Cylindrical gears part on first center wheel assembly 1 and the second center wheel assembly 3 engages with the small gear of the second gear assembly 10 and the first gear assembly 5, realizes slowing down further and moment amplification; Bevel gear part on first center wheel assembly 1 and the second center wheel assembly 3 engages with planet wheel 2; Planet wheel 2 is installed in multiple symmetric distributed on planet carrier; Planet carrier 11 was both connected with output shaft 4, and its output shaft part passes the quill shaft of the first center wheel assembly 1 and the second center wheel assembly 3 by bearing, realizes external Power output.
The first drive motor 7 described in present embodiment and the second drive motor 8 can select torque motor or actuating motor.The two ends that first gear assembly 5 and the second gear assembly 10 are an axle are coaxially connected small one and large one cylindrical gears that two moduluses are identical, the number of teeth is different.The cylindrical gears of the second described center wheel assembly 3, the first gear assembly 5 and the first cylindrical gears 6 constitute 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 constitute 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 obtains 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 direction, direction are contrary, the rotating speed of output shaft 4 is zero.When certain motor speed in the first drive motor 7, 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, then output shaft 4 rotates, and its direction is identical with two center wheel assembly medium speed height persons.
Dual-motors Driving described in present embodiment is without the gear reducer of backlash and non-linear friction, the quill shaft outside of described first center wheel assembly 1 and the second center wheel assembly 3 is provided with outer bearing 12, for the first center wheel assembly 1 and the second center wheel assembly 3 and its output shaft 4 carried by inner bearing, planet carrier 11, planet wheel 2 carrying are arranged on housing 14.Described first center wheel assembly 1 and between the second center wheel assembly 3 and housing 14, the first center wheel assembly 1 and between the second center wheel assembly 3 and output shaft 4, between planet wheel 2 and planet carrier 11, the first gear assembly 5 and be in relative movement all the time between 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.
Retarder described in present embodiment is when output shaft 4 speed governing and commutation, and in planetary gear train, all pinion rotation directions are constant, and gears meshing position backlash does not occur.Output shaft 4 with slowly run or static time, in retarder all occur friction shaft components all can keep certain relative rotation speed, do not produce the non-linear friction under static friction and low speed.
And the symmetrical installation identical with the first center wheel assembly 3 of the first center wheel assembly 1 described in present embodiment.All inner bearing is installed inside and outside the axle of two center wheel assemblies; Inner bearing is for installing output shaft 4; Bearing outside axle is used for the housing 14 planetary gear train being installed on retarder.
Second gear assembly 10 is identical with the structure of the first gear assembly 5.Second cylindrical gears 9 is identical with the structure of the first cylindrical gears 6, if the reduction speed ratio of Transmitted chains that the cylindrical gears 1-1 of the first center wheel assembly 1, the second gear assembly 10 and the second gear 9 are formed is i
19=ω
1/ ω
9; The 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 are formed is i
36=ω
3/ ω
6.Then because 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, then the rotational speed omega of output shaft 4
4meet
When output shaft 4 needs commutation occurs, only need two motor speed sizes are changed, in motor and power train, the sense of rotation of all parts is constant, and just rotational velocity size changes, and avoids the generation of backlash.Because operationally each axle system is all in rotary state, have between each shaft components and certain relatively rotate speed, and non-linear friction be static friction and low speed time kinetic friction, therefore the present invention operationally can avoid the impact of non-linear friction, 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, then output shaft 4 torque is
The 1/i that the output torque of two motors is exaggerated after elementary reducing gear doubly after, act on output shaft with the form of vector.Because two moment directions are contrary, therefore two moment sums show as the difference of the two scalar.
In present embodiment, system needs to overcome viscous friction in rotation process, real system output torque be above-mentioned situation basis on deduct again overcome viscous friction moment loss.But viscous friction is the linear friction moment relevant to rotating speed, realizes it easily via velocity feedback and compensate.If from the first drive motor 7 in the Transmitted chains of output shaft 4, viscous friction moment vector summation is τ
v1=μ
1ω
7; From the second drive motor 8 in the Transmitted chains of output shaft 4, viscous friction moment vector summation is τ
v2=μ
2ω
8; Wherein, μ
1and μ
2be respectively equivalent viscous friction factor, be then easy to compensate viscous friction according to the rotating speed measured value of the first drive motor 7 and the second drive motor 8, improve moment output accuracy.Compare the Nonlinear friction torque such as coulomb friction, low speed Stribeck friction, viscous friction does not impact system linearity degree, and is easy to compensate.
Claims (3)
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 reduction assemblies and planetary gear train, described cylindrical gears reduction assemblies 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 first drive motor (7) is connected with the first cylindrical gears (6) and the second cylindrical gears (9) respectively with the output shaft of the second drive motor (8), first cylindrical gears (6) and the second cylindrical gears (9) engage with the gearwheel of the first gear assembly (5) gearwheel and the second gear assembly (10) respectively, realize the deceleration to two motors outputs and moment amplification; Described first center wheel assembly (1) and the second center wheel assembly (3) are by cylindrical gears and bevel gear composition, 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) engage 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) engage with multiple planet wheel (2); The hollow mandrel interior of described first center wheel assembly (1) and the second center wheel assembly (3) is provided with inner bearing (13), output shaft (4) is fixedly connected with planet carrier (11) through inner bearing (13), described planet carrier (11) the multiple planet wheel of upper symmetrical installation (2);
The direction of rotation of described first drive motor (7) and the second drive motor (8), the rotating speed size of the first drive motor (7) and the second drive motor (8) can independent regulation; When the rotating speed equal and opposite in direction of the first drive motor (7) and the second drive motor (8), direction are contrary, the rotating speed of output shaft (4) is zero; When the rotating speed of the first drive motor (7) and the second drive motor (8) differs in size, the sense of rotation that output shaft (4) sense of rotation is high with the second drive motor (8) medium speed with the first drive motor (7) is identical.
2. Dual-motors Driving according to claim 1 is without the gear reducer of backlash and non-linear friction, and it is characterized in that, described 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, described first center wheel assembly (1) and between the second center wheel assembly (3) and housing (14), first center wheel assembly (1) and between the second center wheel assembly (3) and output shaft (4), between planet wheel (2) and planet carrier (11), first gear assembly (5) and be in relative movement all the time between 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 CN103388652A (en) | 2013-11-13 |
| CN103388652B true 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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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105757182B (en) * | 2014-12-16 | 2018-04-27 | 财团法人精密机械研究发展中心 | Hollow type planetary reducer |
| WO2019183822A1 (en) * | 2018-03-28 | 2019-10-03 | 深圳市大疆创新科技有限公司 | Differential gear drive apparatus, stabilizing mechanism, pan-tilt apparatus, and photography device |
| 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 |
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 |
-
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 |
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| Publication number | Publication date |
|---|---|
| CN103388652A (en) | 2013-11-13 |
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