CN103809615B - Precise output positioning speed reducer and precise output positioning method thereof - Google Patents
Precise output positioning speed reducer and precise output positioning method thereof Download PDFInfo
- Publication number
- CN103809615B CN103809615B CN201410065275.3A CN201410065275A CN103809615B CN 103809615 B CN103809615 B CN 103809615B CN 201410065275 A CN201410065275 A CN 201410065275A CN 103809615 B CN103809615 B CN 103809615B
- Authority
- CN
- China
- Prior art keywords
- deceleration device
- servomotor
- gear
- worm screw
- load
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Control Of Position Or Direction (AREA)
- Gear Transmission (AREA)
Abstract
The invention discloses a precise output positioning speed reducer and a precise output positioning method thereof. The precise output positioning speed reducer comprises a base, a load, speed reducing devices and a controlling device, wherein the load is installed on the base; the speed reducing devices comprise a first speed reducing device and a second speed reducing device, an output end of the first speed reducing device is connected with an input end of the load, and an input end of the second speed reducing device is connected with an output end of the load; an input shaft of the first speed reducing device is connected with an output shaft of a first servo motor, an input shaft of the second speed reducing device is connected with an output shaft of a second servo motor, and the first servo motor and the second servo motor are connected with the controlling device; the controlling device comprises a computer controlling device based on a database, and the computer controlling device based on the database controls the first speed reducing device and the second speed reducing device to operate so as to achieve load operation. By means of the precise output positioning speed reducer and the precise output positioning method thereof, the problem of positioning errors caused by own precision of the speed reducer is effectively solved.
Description
Technical field
The invention belongs to machine driving and control technology, and in particular to a kind of accurate output positioning deceleration device and its accurate output localization method.
Technical background
At present, deceleration device industry is very specialized, and for different field, different applications, deceleration device have formed scale, standardization, are that production application brings great convenience.But in the industry that precision machine tool, Medical Equipment, robot etc. require accurate control, common deceleration device cannot meet application requirement, and the deceleration device form that can now adopt is few, choice very little.Make a general survey of in industry, it is now to adopt harmonic speed changer or RV type deceleration devices more.But in existing market, the minimum deceleration ratio of harmonic speed changer is also greater than 40, and which allows the power of input less than normal；RV type deceleration devices, as requirement to processing and manufacturing itself is very high, cause processing and manufacturing difficult, cause market limited in half monopolization state, selectable brand, version etc., cause market price too expensive.
In recent years, due to the extensive application of computer technology, also in the output accuracy for improving deceleration device using computer in industry, but the improvement done on leading zero's mostly is more, and the error caused to eliminating deceleration device itself precision does not have too big improvement and method.
The content of the invention
For the deficiencies in the prior art, it is an object of the invention to, a kind of accurate output positioning deceleration device and its accurate output localization method are provided, to solve existing deceleration device, common form deceleration device precision is inadequate, harmonic speed changer speed reducing ratio, power selection are limited, and RV deceleration device processing and manufacturings are difficult, expensive problem.
The technical scheme that accurate output positioning deceleration device of the invention is adopted is as follows.
A kind of accurate output positioning deceleration device, the accurate output positioning deceleration device include base, load, deceleration device, control device；The load is assemblied on base.
The deceleration device includes the first deceleration device, the second deceleration device, and the outfan of first deceleration device is connected with the input of load, and the input of second deceleration device is connected with the outfan of load.
The input shaft of first deceleration device is connected with the output shaft of the first servomotor, and the input shaft of the second deceleration device is connected with the output shaft of the second servomotor, and the first servomotor, the second servomotor are connected with control device；The control device includes the Computer Control Unit based on data base, controls the operating of the first deceleration device, the second deceleration device by the Computer Control Unit based on data base, realizes load operation.
Between first servomotor input, the second servomotor input and deceleration device input, load is coupled with the outfan of deceleration device, can adopt connecting mode of any form without relative movement.Data transfer between first servomotor, the second servomotor and control device, can adopt wired transmission, wireless transmission mode may also be employed.Based on the Computer Control Unit of data base, can individually control deceleration device, it is also possible to control other related systems, the i.e. computer system based on data base can be shared.The deceleration device can have the transferring structure of variable nature for any one.
Further, the load includes column spinner, and the top surface of column spinner is provided with the platform of assembly manipulator, and column spinner can be along its axis rotation；The deceleration device also includes turbine；First deceleration device includes the first worm screw, and the second deceleration device includes the second worm screw；The medial surface of turbine is fixed on the lateral surface of column spinner.
Further, the gear of the first worm screw is engaged with the gear of turbine lateral surface；The gear of the second worm screw is engaged with the gear of turbine lateral surface.
Further, the gear of the first worm screw is engaged with the gear of turbine lateral surface by gear train；The gear of the second worm screw is engaged with the gear of turbine lateral surface by gear train.
Further, first deceleration device, the lateral surface of the second deceleration device are provided with fixed cover, and first servomotor, the second servomotor are fixed on fixed cover by flange respectively；The output shaft of the first servomotor is connected by flat key with the first worm screw；The output shaft of the second servomotor is connected by flat key with the second worm screw.
Further, the load includes swingle, and one end and the base of the swingle are hinged by jointed shaft, and the other end is provided with the platform of assembly manipulator；First deceleration device includes the first worm screw, and the second deceleration device includes the second worm screw, and the first worm screw is meshed with the gear being fixedly connected on swingle；Second worm screw is meshed with the gear being fixedly connected on swingle；The operating of the first deceleration device, the second deceleration device is controlled by the Computer Control Unit based on data base, realizes that swingle is rotated along jointed shaft.
Further, including moving horizontally bar, the bar that moves horizontally is movably connected with the base and can be provided with tooth bar along base horizontal movement, the side for moving horizontally bar for the load, and the one end for moving horizontally bar away from base is provided with the platform of assembly manipulator；The outfan of first deceleration device is engaged with the tooth bar of the side for moving horizontally bar by gear, and the outfan of second deceleration device is engaged with the tooth bar of the side for moving horizontally bar by gear；The operating of the first deceleration device, the second deceleration device is controlled by the Computer Control Unit based on data base, realization moves horizontally bar horizontal movement.
A kind of accurate output localization method, the accurate output localization method realize that using above-mentioned accurate output positioning deceleration device its concrete steps includes：
Step 1：The operating condition data such as the power of the first servomotor, rotating speed, moment of torsion are gathered, the Computer Control Unit based on data base is fed back to, analysis produces the data source of the second servomotor of control；
Step 2：The data source that Computer Control Unit analysis based on data base is obtained, the operating of second servomotor is controlled according to analysis result, by controlling the operating of the second servomotor, the load of the deceleration device outfan that control is connected with the second servomotor, realize that load works without gyration aperture, realize the precision positioning for exporting.Now, the supplemental characteristic of the first servomotor is only gathered, the second servomotor is only controlled by computer control system, i.e., using opened loop control.
Further, while gathering the supplemental characteristics such as the power of the second servomotor, rotating speed, moment of torsion in being additionally included in control process in step 2, feed back to the Computer Control Unit based on data base, adjust the operating state of the first servomotor, closed loop control is formed, the step of the first servomotor and the second servomotor is made into mutual feedback controlled state.Now, on the basis of above-mentioned opened loop control, while the supplemental characteristic of the second servomotor is gathered, by computer control system, while control the first servomotor, i.e., using closed loop control.By the computer control system based on data base, formed closed loop control mode, control the first servomotor and the second servomotor, make it is in running order in deceleration device all the time gapless operating, so as to eliminate itself gyration aperture of deceleration device, the precision positioning of outlet terminal is realized.
Accurate output positioning deceleration device provided by the present invention and its accurate output localization method, want to have the effect that for prior art：
1）To be combined based on data base computer control system, servomotor and deceleration device, effectively eliminate the position error problem of deceleration device itself precision reason generation.Can thoroughly eliminate the gap in gyration, when meeting obstructions in solving such as rotary motion when creeping, turn round cutting the problems such as the shake of discontinuity generation, realize that gapless is continuously driven.In addition, for deceleration device actuating device, due to permanent using the abrasion for producing, being compensated by controlling automatically, extend the service life of equipment.
2）As the system can be applied in any deceleration device system, it is widely used, speed reducing ratio wide ranges, power input output area are big.
The present invention is capable of achieving hi-Fix with common reductor, is suitable for being widely popularized to the less demanding of machining, and cost is greatly lowered relative to harmonic speed changer and RV type deceleration devices.
Description of the drawings
Fig. 1 is the structural representation of precision positioning deceleration device embodiment of the present invention 1.
Fig. 2 is the top view of Fig. 1.
Fig. 3 is the schematic diagram that the first worm screw in precision positioning deceleration device embodiment 2 of the present invention, the second worm screw are connected with turbine.
Fig. 4 is the structural representation of precision positioning deceleration device embodiment of the present invention 3.
Fig. 5 is the structural representation of precision positioning deceleration device embodiment of the present invention 4.
Wherein：1- column spinners；2- fixed covers；3- bases；4- flanges；The second servomotors of 5-；The first servomotors of 6-；7- servomotor data wires；8- control devices；9- flat keys；10- gear trains；11- gear trains；12- turbines；The first worm screws of 13-；The second worm screws of 14-；
The second worm screws of 210-；The second servomotors of 211-；The first servomotors of 212-；213- swingles；214- bases；215- jointed shafts；216- platforms；217- gears；218- gears；The first worm screws of 219-；
311- gears；312- gears；313- bases；314- moves horizontally bar.
Specific embodiment
Below, the present invention will be further described in conjunction with the accompanying drawings and embodiments.
Embodiment 1.As shown in Fig. 1 to Fig. 2, a kind of accurate output positioning deceleration device, the accurate output positioning deceleration device include base 3, load, deceleration device, control device；The load assembling is on the base 3.The load includes column spinner 1, and the top surface of column spinner 1 is provided with the platform of assembly manipulator, and column spinner 1 can be along its axis rotation；The deceleration device also includes turbine 12, and the medial surface of turbine 12 is fixed on the lateral surface of column spinner 1.
The deceleration device includes the first deceleration device, the second deceleration device, and first deceleration device is the first worm screw 13, and the second deceleration device is the second worm screw 14；The gear of the first worm screw 13 is engaged with the gear of 12 right flank of turbine；The gear of the second worm screw 14 is engaged with the gear of 12 left surface of turbine.The input shaft of first deceleration device is connected with the output shaft of the first servomotor 6, the input shaft of the second deceleration device is connected with the output shaft of the second servomotor 5, and the first servomotor 6, the second servomotor 5 are connected by servomotor data wire 7 with control device 8 and are connected；The control device is the Computer Control Unit based on data base, controls the operating of the first deceleration device, the second deceleration device by the Computer Control Unit based on data base, realizes load operation.
First deceleration device, the lateral surface of the second deceleration device are provided with fixed cover 2, and first servomotor 6, the second servomotor 5 are fixed on fixed cover by flange 4 respectively；The output shaft of the first servomotor 6 is connected by flat key 9 with the first worm screw 13；The output shaft of the second servomotor 5 is connected by flat key 9 with the second worm screw 14.
The basic thought of the present embodiment is that computer control system of the fusion based on data base is organically combined with servomotor, deceleration device, realizes deceleration device outfan precision positioning.In the present embodiment, used as power primary input, the second servomotor is used as auxiliary input for the first servomotor.According to Serve Motor Control principle, speed control mode is adopted to the first servomotor, torque control mode is adopted to the second servomotor.When the first servomotor operates, reductor operating, reductor is driven to drive the operating of the second servomotor, now the second servomotor can detect that reductor exports the torque condition of turbine.When the first servomotor state changes, the state of reductor is also changed therewith, second servomotor just can be according to the change of reductor torque condition, by computer control system, control the second servomotor input offset, the operating of first servomotor can be adjusted according to the state of the second servomotor input offset simultaneously, realize that input change is steady to occur, make between worm screw and turbine, not turning round generation, so as to the output position error for avoiding reductor gyration aperture from bringing, the purpose of accurate output positioning is reached.Make load meet the needs of application in 360 degree of interior optional position precision positionings.
In the present embodiment, as the deceleration device for adopting is for single-stage speed reducing, therefore the position of the first servomotor and the second servomotor does not have significant difference.By servomotor, deceleration device and computer system are organically combined, it is low to overcome general deceleration device output positioning precision, be it is a kind of it is new can wide variety of accurate deceleration device and method.
Embodiment 2.As shown in figure 3, the present embodiment is only difference is that with embodiment, the gear of the first worm screw 13 is engaged with the gear of 12 lateral surface of turbine by gear train 11；The gear of the second worm screw is engaged with the gear of 12 lateral surface of turbine by gear train 10.Gear train is provided with, the scope of speed change is larger.
Embodiment 3.As shown in figure 4, the present embodiment is only difference is that with embodiment, the load includes swingle 213, and one end and the base 214 of the swingle 213 are hinged by jointed shaft 215, and the other end is provided with the platform 216 of assembly manipulator；First deceleration device includes the first worm screw 219, and the second deceleration device includes the secondth worm screw 210, and the first worm screw 219 is meshed with the gear 218 being fixedly connected on swingle 216；Second worm screw 210 is meshed with the gear 217 being fixedly connected on swingle 216.The input shaft of the first deceleration device is connected with the output shaft of the first servomotor 212, and the input shaft of the second deceleration device is connected with the output shaft of the second servomotor 211.The operating of the first deceleration device, the second deceleration device is controlled by the Computer Control Unit based on data base, realizes that swingle is rotated along jointed shaft.
Embodiment 4.As shown in Figure 5, the present embodiment is only difference is that with embodiment, the load includes moving horizontally bar 314, the bar 314 that moves horizontally is flexibly connected with base 313 and can be along 313 horizontal movement of base, the side for moving horizontally bar 314 is provided with tooth bar, and the one end for moving horizontally bar 314 away from base 313 is provided with the platform of assembly manipulator；The outfan of first deceleration device is engaged with the tooth bar of the side for moving horizontally bar 314 by gear 311, and the outfan of second deceleration device is engaged with the tooth bar of the side for moving horizontally bar 314 by gear 312.The input shaft of the first deceleration device is connected with the output shaft of the first servomotor, and the input shaft of the second deceleration device is connected with the output shaft of the second servomotor.The operating of the first deceleration device, the second deceleration device is controlled by the Computer Control Unit based on data base, realization moves horizontally bar horizontal movement.
Above example only to illustrate technical scheme, rather than a limitation.Although being described in detail to the present invention with reference to the foregoing embodiments, those skilled in the art should be understood, which still can be modified to the technical scheme described in previous embodiment, or equivalent is carried out to which part or whole technologies, and these modifications or replacement, do not make the essence of corresponding technical scheme depart from the technical scope of the embodiment of the present invention.
Claims (8)
1. a kind of precision exports localization method, it is characterised in that：The accurate output positioning deceleration device that the accurate output localization method is adopted includes base, load, deceleration device, control device；The load is assemblied on base；
The deceleration device includes the first deceleration device, the second deceleration device, and the outfan of first deceleration device is connected with the input of load, and the input of second deceleration device is connected with the outfan of load；
The input shaft of first deceleration device is connected with the output shaft of the first servomotor, and the input shaft of the second deceleration device is connected with the output shaft of the second servomotor, and the first servomotor, the second servomotor are connected with control device；The control device includes the Computer Control Unit based on data base, controls the operating of the first deceleration device, the second deceleration device by the Computer Control Unit based on data base, realizes load operation；
The concrete steps of the accurate output localization method include：
Step 1：The power of the first servomotor, rotating speed, torque data is gathered, the Computer Control Unit based on data base is fed back to, analysis produces the data source of the second servomotor of control；
Step 2：The data source that Computer Control Unit analysis based on data base is obtained, the operating of second servomotor is controlled according to analysis result, by controlling the operating of the second servomotor, the load of the deceleration device outfan that control is connected with the second servomotor, realize that load works without gyration aperture, realize the precision positioning for exporting.
2. a kind of precision as claimed in claim 1 exports localization method, it is characterised in that：While gathering the power of the second servomotor, rotating speed, torque data in being additionally included in control process in step 2, feed back to the Computer Control Unit based on data base, adjust the operating state of the first servomotor, closed loop control is formed, the step of the first servomotor and the second servomotor is made into mutual feedback controlled state.
3. a kind of precision as claimed in claim 1 exports localization method, it is characterised in that：The load includes column spinner, and the top surface of column spinner is provided with the platform of assembly manipulator, and column spinner can be along its axis rotation；The deceleration device also includes turbine；First deceleration device includes the first worm screw, and the second deceleration device includes the second worm screw；The medial surface of turbine is fixed on the lateral surface of column spinner.
4. a kind of precision as claimed in claim 2 exports localization method, it is characterised in that：The gear of the first worm screw is engaged with the gear of turbine lateral surface；The gear of the second worm screw is engaged with the gear of turbine lateral surface.
5. a kind of precision as claimed in claim 2 exports localization method, it is characterised in that：The gear of the first worm screw is engaged with the gear of turbine lateral surface by gear train；The gear of the second worm screw is engaged with the gear of turbine lateral surface by gear train.
6. the accurate output localization method of one kind as described in 4 or 5 any one claim of claim, it is characterised in that：First deceleration device, the lateral surface of the second deceleration device are provided with fixed cover, and first servomotor, the second servomotor are fixed on fixed cover by flange respectively；The output shaft of the first servomotor is connected by flat key with the first worm screw；The output shaft of the second servomotor is connected by flat key with the second worm screw.
7. a kind of precision as claimed in claim 1 exports localization method, it is characterised in that：The load includes swingle, and one end and the base of the swingle are hinged by jointed shaft, and the other end is provided with the platform of assembly manipulator；First deceleration device includes the first worm screw, and the second deceleration device includes the second worm screw, and the first worm screw is meshed with the gear being fixedly connected on swingle；Second worm screw is meshed with the gear being fixedly connected on swingle；The operating of the first deceleration device, the second deceleration device is controlled by the Computer Control Unit based on data base, realizes that swingle is rotated along jointed shaft.
8. a kind of precision as claimed in claim 1 exports localization method, it is characterised in that：Including moving horizontally bar, the bar that moves horizontally is movably connected with the base and can be provided with tooth bar along base horizontal movement, the side for moving horizontally bar for the load, and the one end for moving horizontally bar away from base is provided with the platform of assembly manipulator；The outfan of first deceleration device is engaged with the tooth bar of the side for moving horizontally bar by gear, and the outfan of second deceleration device is engaged with the tooth bar of the side for moving horizontally bar by gear；The operating of the first deceleration device, the second deceleration device is controlled by the Computer Control Unit based on data base, realization moves horizontally bar horizontal movement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410065275.3A CN103809615B (en) | 2014-02-26 | 2014-02-26 | Precise output positioning speed reducer and precise output positioning method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410065275.3A CN103809615B (en) | 2014-02-26 | 2014-02-26 | Precise output positioning speed reducer and precise output positioning method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103809615A CN103809615A (en) | 2014-05-21 |
| CN103809615B true CN103809615B (en) | 2017-03-22 |
Family
ID=50706547
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410065275.3A Expired - Fee Related CN103809615B (en) | 2014-02-26 | 2014-02-26 | Precise output positioning speed reducer and precise output positioning method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103809615B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737642A (en) * | 2017-01-10 | 2017-05-31 | 江门市蚂蚁机器人有限公司 | Speed reducing driving device, drive system and control method based on Dual-Servo Motor |
| CN107012483A (en) * | 2017-05-12 | 2017-08-04 | 珠海盛田实业有限公司 | The take-up of anode fixture |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201096174Y (en) * | 2007-09-26 | 2008-08-06 | 刘晓宇 | Electronic numerical control stepless transmission arrangement |
| CN101391377A (en) * | 2008-10-30 | 2009-03-25 | 上海大学 | Dual drive numerical control rotary table transmission mechanism |
| CN101733458A (en) * | 2008-11-13 | 2010-06-16 | 闫娟 | Novel numerical control turbine worm milling machine |
| CN202167939U (en) * | 2011-07-29 | 2012-03-14 | 上海先德机械工程有限公司 | Precision servo power transmission device |
| CN203720664U (en) * | 2014-02-26 | 2014-07-16 | 山东景昂机电有限公司 | Precision output positioning decelerator |
-
2014
- 2014-02-26 CN CN201410065275.3A patent/CN103809615B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201096174Y (en) * | 2007-09-26 | 2008-08-06 | 刘晓宇 | Electronic numerical control stepless transmission arrangement |
| CN101391377A (en) * | 2008-10-30 | 2009-03-25 | 上海大学 | Dual drive numerical control rotary table transmission mechanism |
| CN101733458A (en) * | 2008-11-13 | 2010-06-16 | 闫娟 | Novel numerical control turbine worm milling machine |
| CN202167939U (en) * | 2011-07-29 | 2012-03-14 | 上海先德机械工程有限公司 | Precision servo power transmission device |
| CN203720664U (en) * | 2014-02-26 | 2014-07-16 | 山东景昂机电有限公司 | Precision output positioning decelerator |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103809615A (en) | 2014-05-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN202029133U (en) | Pivoted arm structure of robot | |
| CN104742152A (en) | Tandem type multi-joint mechanical arm | |
| CN103121168A (en) | Numerical-control large-scale precise dual-drive gap removing rotating working table | |
| CN202634339U (en) | Dual-motor parallel drive device | |
| CN103809615B (en) | Precise output positioning speed reducer and precise output positioning method thereof | |
| CN216505130U (en) | Novel be suitable for multiaxis servo manipulator | |
| CN109676594A (en) | A kind of four axis robot of high-precision | |
| CN203665186U (en) | Double-lead-screw moment synchronous driving structure | |
| CN203003600U (en) | Slotting machine automatic control system | |
| CN204235546U (en) | Manipulator control device | |
| CN206263486U (en) | A kind of triple axle servo positioner | |
| CN103157851A (en) | Flying shear control system and flying shear control method | |
| CN102350541B (en) | Three-shaft following online cutting numerical control milling machine and three-shaft following control method thereof | |
| CN2784672Y (en) | Double synchronous rotating worm and worm wheel pair mechanism | |
| CN108750653B (en) | Control method of multi-track electronic cam picking and placing manipulator | |
| CN203720664U (en) | Precision output positioning decelerator | |
| CN102588649B (en) | Servo valve and zero compensation method for same | |
| CN102172789B (en) | Machine tool for processing screw of compressor and star wheel | |
| CN205325690U (en) | Many joints transmission structure of robot without speed reducer | |
| CN204843676U (en) | Two servo digit control machine tools | |
| CN206465078U (en) | curve track robot device and automatic processing system | |
| CN104801974B (en) | Multi-station synchronous process equipment | |
| CN209682189U (en) | A kind of four axis robot of high-precision | |
| CN102874307A (en) | Motor vehicle steering control device and motor vehicle steering control method | |
| CN103158024B (en) | Mechanism capable of adjusting transmission gap of gear rack |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170322 Termination date: 20180226 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |