CN107152522B - A kind of slack adjuster of electric steering engine servo-system - Google Patents
A kind of slack adjuster of electric steering engine servo-system Download PDFInfo
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- CN107152522B CN107152522B CN201710273639.0A CN201710273639A CN107152522B CN 107152522 B CN107152522 B CN 107152522B CN 201710273639 A CN201710273639 A CN 201710273639A CN 107152522 B CN107152522 B CN 107152522B
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- slide block
- block assembly
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- rotary screw
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/12—Arrangements for adjusting or for taking-up backlash not provided for elsewhere
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Abstract
The present invention provides a kind of slack adjusters of electric steering engine servo-system.Specifically include that rotary screw, input slide block assembly and output slide block assembly.Rotary screw is connected with input slide block assembly, and input slide block assembly is connected with output slide block assembly.Adjustment process includes: turn rotary screw, and input slide block assembly is driven to be subjected to displacement, and then output slide block assembly is driven to generate corresponding displacement, adjusts the gap between load rack gear and output gear of speed reducer.Gap in the adjustable electric steering engine servo-system of the device of the invention between output gear and load rack gear, the gap interference of consecutive variations, different characteristics is provided for electric steering engine servo-system, the backlash characteristics analysis and Compensation Control research for electric steering engine servo-system.
Description
Technical field
The present invention relates to servo-control system technical field more particularly to a kind of gap adjustments of electric steering engine servo-system
Device.
Background technique
Gap link results from the gap between gear drive, is nonlinear characteristic common in control system.?
In high precision mechanical servo system, gap is an important non-linear factor for influencing servo-system performance.
In high-precision electric Rudder Servo System, influence of the backlash nonlinearity interference to system performance is specifically included that
(1) gap interference reduces the stability of Rudder Servo System；
(2) gap interference makes Rudder Servo System generate delayed phase, to influence the rapidity of system；
(3) gap interference reduces the tracking accuracy of Rudder Servo System, increases the steady-state error and overshoot of system；
(4) gap interference may make system bear excessive impact, reduce the reliability of Rudder Servo System transmission mechanism
And the service life.
Error caused by gap is interfered specifically includes that in the sinusoidal sound signal of tracking flat-top phenomenon, system tracking will occur
Precision reduces.Especially during input signal turns to, since gap forms idle running, biggish tracking error can be generated.
Therefore, the gap interference of consecutive variations is provided for electric steering engine servo-system, analytical gap is interfered to servo
The influence of system performance studies backlash compensation control algolithm, improves the dynamic property of servo-system, have great importance.
Summary of the invention
The embodiment provides a kind of slack adjusters of electric steering engine servo-system, give gap adjustment
Method provides the gap interference of consecutive variations for electric steering engine servo-system.
To achieve the goals above, this invention takes following technical solutions:
A kind of slack adjuster of electric steering engine servo-system, comprising: rotary screw, input slide block assembly, output are slided
Block assembly, the rotary screw are connected with the input slide block assembly, the input slide block assembly and the output slide block assembly
It is connected.
Further, the input slide block assembly is made of input sliding block and horizontal concrete chute, and the horizontal concrete chute is fixed on
On the input sliding block；The output slide block assembly is made of output sliding block and load rack gear, and the load rack gear is fixed on institute
It states on output sliding block, the coad connector of the load rack gear end is fixed and drags linear motion load.
Further, horizontal concrete chute is equipped in the input slide block assembly, the output slide block assembly is placed on described defeated
Enter in the horizontal concrete chute of slide block assembly and can slide along the chute.
Further, when the rotary screw described in the turn, the input slide block assembly is driven to slide and generate displacement, so that
The output slide block assembly generates corresponding displacement, between changing between the load rack gear and the output gear of speed reducer
Gap.
Further, rotary screw described in turn, between load rack gear and motor output gear described in dynamic regulation
Gap size, to provide characteristic different gap interference for electric steering engine servo-system.
Further, when motor rotates, output gear of speed reducer passes through load rack drives high voltage breaker, load
Linear motion do not influence the output gear of speed reducer and it is described load rack gear between gap size, thus formed it is stable between
Gap interference.
Further, when turn rotary screw, when keeping rotary screw mobile to output gear of speed reducer direction, rotary screw
Input slide block assembly is driven to be subjected to displacement, input slide block assembly drives output slide block assembly to close to electricity along device pedestal sliding slot
Motivation axis direction is mobile, reduces the gap between load rack gear and output gear of speed reducer.
Further, when turn rotary screw, when making rotary screw to far from the movement of output gear of speed reducer direction, rotation
Screw rod drives input slide block assembly to be subjected to displacement, and input slide block assembly drives output slide block assembly to remote along device pedestal sliding slot
It is mobile from motor reel direction, increase the gap between load rack gear and output gear of speed reducer.
As can be seen from the technical scheme provided by the above-mentioned embodiment of the present invention, the device of the embodiment of the present invention can be continuous
The gap size in electric steering engine servo-system between output gear and load rack gear is adjusted, provides different size and not for system
With the gap of characteristic.
The additional aspect of the present invention and advantage will be set forth in part in the description, these will become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, required use in being described below to embodiment
Attached drawing be briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for this
For the those of ordinary skill of field, without any creative labor, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is slack adjuster rotary screw provided in an embodiment of the present invention and its fixed support schematic diagram；
Fig. 2 is that slack adjuster provided in an embodiment of the present invention inputs slide block assembly schematic diagram；
Fig. 3 is that slack adjuster provided in an embodiment of the present invention exports slide block assembly schematic diagram；
Fig. 4 and Fig. 5 is between a kind of adjusting provided in an embodiment of the present invention loads between rack gear and output gear of speed reducer
Gap size schematic illustration.
Specific embodiment
Embodiments of the present invention are described below in detail, the example of the embodiment is shown in the accompanying drawings, wherein from beginning
Same or similar element or element with the same or similar functions are indicated to same or similar label eventually.Below by ginseng
The embodiment for examining attached drawing description is exemplary, and for explaining only the invention, and is not construed as limiting the claims.
Those skilled in the art of the present technique are appreciated that unless expressly stated, singular " one " used herein, " one
It is a ", " described " and "the" may also comprise plural form.It is to be further understood that being arranged used in specification of the invention
Diction " comprising " refer to that there are the feature, integer, step, operation, element and/or component, but it is not excluded that in the presence of or addition
Other one or more features, integer, step, operation, element, component and/or their group.It should be understood that when we claim member
Part is " connected " or when " coupled " to another element, it can be directly connected or coupled to other elements, or there may also be
Intermediary element.In addition, " connection " used herein or " coupling " may include being wirelessly connected or coupling.Wording used herein
"and/or" includes one or more associated any cells for listing item and all combinations.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein (including technology art
Language and scientific term) there is meaning identical with the general understanding of those of ordinary skill in fields of the present invention.Should also
Understand, those terms such as defined in the general dictionary, which should be understood that, to be had and the meaning in the context of the prior art
The consistent meaning of justice, and unless defined as here, it will not be explained in an idealized or overly formal meaning.
In order to facilitate understanding of embodiments of the present invention, it is done by taking several specific embodiments as an example below in conjunction with attached drawing further
Explanation, and each embodiment does not constitute the restriction to the embodiment of the present invention.
The slack adjuster of the electric steering engine servo-system of the embodiment of the present invention can be watched with flexible modulation dc motor
Gap size between the output gear and load rack gear of dress system, thus more easily shadow of the research gap for servo-system
Ring and carry out follow-up study work.
A kind of slack adjuster structure such as Fig. 1,2 and 3 institute of electric steering engine servo-system provided in an embodiment of the present invention
Show, comprising: rotary screw (100), rotary screw fixed bracket (101), input sliding block (200), device pedestal sliding slot (201),
Horizontal concrete chute (202), load rack gear (300), output sliding block (301), coad connector (302), motor (400) and retarder
Output gear (401).
Fig. 4 and Fig. 5 is that a kind of adjusting provided in an embodiment of the present invention loads rack gear (300) and output gear of speed reducer
(401) the gap size schematic illustration between.
The device of the embodiment of the present invention is mounted on to the outside of output gear of speed reducer (401), output gear of speed reducer
(401) transmission device is constituted with load rack gear (300).When motor (400) rotates, output gear of speed reducer (401) is connect
Touching load rack gear (300), it is for linear motion by the dynamic load of coad connector (302) band.Gap be load rack gear (300) with
Gap d size between output gear (401).By adjusting between output gear of speed reducer (401) and load rack gear (300)
Distance L and loads the gap d between rack gear (300) at that is, adjustable output gear of speed reducer (401).
The rotary screw (100) is fixed by rotary screw fixed bracket (101), end and the input sliding block (200)
It is connected, input sliding block (200) is connected by horizontal concrete chute (202) with output sliding block (301) and load rack gear (300), the water
The direction of smooth slot (202) is vertical with the direction of rotary screw (100).
If the direction of line is x-axis direction between rotary screw (100) and load rack gear (300), with x-axis Vertical Square
To for the direction y.
In slack adjuster, rotary screw (100) plays the role of external adjusting, is controlled using rotary screw (100)
Gap size between system load rack gear (300) and output gear of speed reducer (401).Made by turn rotary screw (100)
Screw rod (100) generates the displacement to load rack gear (300) direction, and screw rod (100) drives input sliding block (200) sliding along device pedestal
Slot (201) generates corresponding displacement.The displacement of sliding block (200) is inputted so that loading rack gear (300) to output gear of speed reducer
(401) direction generates identical displacement, changes output gear of speed reducer (401) and load rack gear (300) distance L, that is, adjusts
Its gap d.
By turn rotary screw (100), so that rotary screw (100) is subjected to displacement.Input sliding block (200) can use
Device pedestal sliding slot (201) drives input sliding block (200) to move in the x direction.When rotating rotary screw (100), screw rod
(100) input sliding block (200) is driven to move in the x direction and generate displacement.
Input sliding block (200) is connected by horizontal concrete chute (202) with output sliding block (301), when input sliding block (200) is in x
When generating displacement X on axis, load rack gear (300) generates corresponding displacement X in x-axis.Position occurs in load rack gear (300)
When shifting, motor (400) is fixed on device pedestal, i.e. the position of output gear of speed reducer (401) remains unchanged.Load rack gear
(300) displacement occurred has adjusted the relative position of itself and output gear of speed reducer (401), that is, has adjusted output gear of speed reducer
(401) the size d in the gap between load rack gear (300).
When turn rotary screw (100), make rotary screw (100) to output gear of speed reducer (401) direction (x-axis losing side
To) it is mobile when, rotary screw (100) drives input slide block assembly (input sliding block (200), horizontal concrete chute (202)) to be subjected to displacement,
It inputs slide block assembly (input sliding block (200), horizontal concrete chute (202)) and drives output sliding block group along device pedestal sliding slot (201)
Part (output sliding block (301) loads rack gear (300)) reduces load tooth to close to motor reel direction (negative direction of the x-axis) movement
Gap between item (300) and output gear of speed reducer (401).
When turn rotary screw (100), make rotary screw (100) to far from output gear of speed reducer (401) direction (x-axis
Positive direction) it is mobile when, rotary screw (100) drives input slide block assembly (input sliding block (200), horizontal concrete chute (202)) to occur
Displacement, input slide block assembly (input sliding block (200), horizontal concrete chute (202)) drive output to slide along device pedestal sliding slot (201)
Block assembly (output sliding block (301) loads rack gear (300)) increases negative to far from motor reel direction (positive direction of the x-axis) movement
Carry the gap between rack gear (300) and output gear of speed reducer (401).
When output gear of speed reducer (401) rotation, band dynamic load rack gear (300) moves (y-axis along horizontal concrete chute (202)
Direction), dragging load is for linear motion.In rotary screw (100) and motor output gear (401) line direction (x-axis side
To), output gear (401) and the relative position of load rack gear (300) do not change, i.e., the linear motion loaded on y-axis direction
Movement will not influence the size in gap in x-axis direction.
Gap between the adjustable output gear of the device of the embodiment of the present invention (401) and load rack gear (300), can
Meet different size of spacing requirements.
In conclusion the device of the embodiment of the present invention adjusts servomotor system output gear by turn rotary screw
With the gap size between load rack gear, the gap interference of different characteristics is provided for system.
The present invention can simulate the interference of the gap in electric steering engine servo-control system, be conducive to user and analyze electronic rudder
Influence of the gap to system performance in machine servo system.Based on heretofore described method, user can be carried out between correlation
The design and platform experimental verification of gap Compensation Control, by application of result in engineering practice.
Those of ordinary skill in the art will appreciate that: attached drawing is the schematic diagram of one embodiment, module in attached drawing or
Process is not necessarily implemented necessary to the present invention.
Those of ordinary skill in the art will appreciate that: the component in device in embodiment can describe to divide according to embodiment
It is distributed in the device of embodiment, corresponding change can also be carried out and be located in one or more devices different from the present embodiment.On
The component for stating embodiment can be merged into a component, can also be further split into multiple subassemblies.
All the embodiments in this specification are described in a progressive manner, same and similar portion between each embodiment
Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.Especially for device or
For system embodiment, since it is substantially similar to the method embodiment, so describing fairly simple, related place is referring to method
The part of embodiment illustrates.Apparatus and system embodiment described above is only schematical, wherein the conduct
The unit of separate part description may or may not be physically separated, component shown as a unit can be or
Person may not be physical unit, it can and it is in one place, or may be distributed over multiple network units.It can root
According to actual need that some or all of the modules therein is selected to achieve the purpose of the solution of this embodiment.Ordinary skill
Personnel can understand and implement without creative efforts.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with scope of protection of the claims
Subject to.
Claims (3)
1. a kind of slack adjuster of electric steering engine servo-system characterized by comprising rotary screw, input sliding block group
Part, output slide block assembly, the rotary screw are connected with the input slide block assembly, the input slide block assembly and the output
Slide block assembly is connected；
The input slide block assembly is made of input sliding block and horizontal concrete chute, and the horizontal concrete chute is fixed on the input sliding block
On；The output slide block assembly is made of output sliding block and load rack gear, and the load rack gear is fixed on the output sliding block,
The coad connector of the load rack gear end is fixed and drags linear motion load；
Horizontal concrete chute is equipped in the input slide block assembly, the output slide block assembly is placed on the water of the input slide block assembly
It can slide in smooth slot and along the chute；
When the rotary screw described in the turn, the input slide block assembly is driven to slide and generate displacement, so that the output sliding block
Component generates corresponding displacement, changes the gap between the load rack gear and output gear of speed reducer；
When turn rotary screw, when making rotary screw to far from the movement of output gear of speed reducer direction, rotary screw drives input
Slide block assembly is subjected to displacement, and input slide block assembly drives output slide block assembly to far from motor reel side along device pedestal sliding slot
To movement, the gap between load rack gear and output gear of speed reducer is increased；
When turn rotary screw, when keeping rotary screw mobile to output gear of speed reducer direction, rotary screw drives input sliding block
Component is subjected to displacement, and input slide block assembly drives output slide block assembly to move to close to motor reel direction along device pedestal sliding slot
It is dynamic, reduce the gap between load rack gear and output gear of speed reducer.
2. the apparatus according to claim 1, which is characterized in that rotary screw described in turn loads tooth described in dynamic regulation
Gap size between item and motor output gear, so that it is dry to provide the different gap of characteristic for electric steering engine servo-system
It disturbs.
3. the apparatus according to claim 1, which is characterized in that when motor rotates, output gear of speed reducer passes through load
Rack drives high voltage breaker, the linear motion of load do not influence between the output gear of speed reducer and the load rack gear
Gap size, to form stable gap interference.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710273639.0A CN107152522B (en) | 2017-04-24 | 2017-04-24 | A kind of slack adjuster of electric steering engine servo-system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710273639.0A CN107152522B (en) | 2017-04-24 | 2017-04-24 | A kind of slack adjuster of electric steering engine servo-system |
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| Publication Number | Publication Date |
|---|---|
| CN107152522A CN107152522A (en) | 2017-09-12 |
| CN107152522B true CN107152522B (en) | 2019-08-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710273639.0A Active CN107152522B (en) | 2017-04-24 | 2017-04-24 | A kind of slack adjuster of electric steering engine servo-system |
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| CN113734967A (en) * | 2021-09-14 | 2021-12-03 | 安徽金兰机电装备有限公司 | Monorail crane locomotive transportation track and auxiliary transportation device |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1714054A1 (en) * | 2004-02-13 | 2006-10-25 | Wittenstein AG | Linear drive, in particular a rack and pinion drive |
| CN203319475U (en) * | 2013-07-10 | 2013-12-04 | 嘉兴市华东建设机械有限公司 | Gear and rack lift meshing transmission mechanism |
| CN203686091U (en) * | 2013-12-26 | 2014-07-02 | 无锡贝斯特精机股份有限公司 | Gap adjustment and fixing mechanism of gear and rack |
| CN204666044U (en) * | 2015-05-12 | 2015-09-23 | 宁波海伯精工机械制造有限公司 | Be convenient to the sight of adjusting position |
-
2017
- 2017-04-24 CN CN201710273639.0A patent/CN107152522B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1714054A1 (en) * | 2004-02-13 | 2006-10-25 | Wittenstein AG | Linear drive, in particular a rack and pinion drive |
| CN203319475U (en) * | 2013-07-10 | 2013-12-04 | 嘉兴市华东建设机械有限公司 | Gear and rack lift meshing transmission mechanism |
| CN203686091U (en) * | 2013-12-26 | 2014-07-02 | 无锡贝斯特精机股份有限公司 | Gap adjustment and fixing mechanism of gear and rack |
| CN204666044U (en) * | 2015-05-12 | 2015-09-23 | 宁波海伯精工机械制造有限公司 | Be convenient to the sight of adjusting position |
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| Publication number | Publication date |
|---|---|
| CN107152522A (en) | 2017-09-12 |
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Effective date of registration: 20210120 Address after: 310053 23-25, 2 building, 352 BINKANG Road, Binjiang District, Hangzhou, Zhejiang. Patentee after: ZHEJIANG SUPCON INFORMATION TECHNOLOGY Co.,Ltd. Address before: 100044 Beijing city Haidian District Xizhimen Shangyuan Village No. 3 Patentee before: Beijing Jiaotong University |
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Address after: 310053 23-25, 2 building, 352 BINKANG Road, Binjiang District, Hangzhou, Zhejiang. Patentee after: Zhejiang zhongkong Information Industry Co.,Ltd. Address before: 310053 23-25, 2 building, 352 BINKANG Road, Binjiang District, Hangzhou, Zhejiang. Patentee before: ZHEJIANG SUPCON INFORMATION TECHNOLOGY Co.,Ltd. |
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