CN109915546A - A kind of method and system improving micro- Gear Planet Transmission closed loop system precision - Google Patents
A kind of method and system improving micro- Gear Planet Transmission closed loop system precision Download PDFInfo
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- CN109915546A CN109915546A CN201910274976.0A CN201910274976A CN109915546A CN 109915546 A CN109915546 A CN 109915546A CN 201910274976 A CN201910274976 A CN 201910274976A CN 109915546 A CN109915546 A CN 109915546A
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 32
- 238000000034 method Methods 0.000 title claims abstract description 17
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- 238000005516 engineering process Methods 0.000 description 4
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Abstract
The invention discloses a kind of method and system for improving micro- Gear Planet Transmission closed loop system precision, including motor, the output end of the motor is connected with epicyclic gearbox, and the first encoder is provided on the motor, is provided with second encoder on the epicyclic gearbox.The present invention reads the rotational angle X of motor by the first encoder, the rotational angle Y of second encoder reading epicyclic gearbox, calculate the speed ratio I of epicyclic gearbox, and then the backlash values for obtaining epicyclic gearbox are X/I-Y, when motor switches rotation direction, more rotation X/I-Y, to guarantee the precision of micro- Gear Planet Transmission closed loop system.The device of the invention structure is simple, and the method for the backlash values of measurement is simple and accurate, and the rotating accuracy of micro- planet gear transmission system can be made to meet the requirements.
Description
Technical field
The present invention relates to reducer technology field, micro- Gear Planet Transmission closed loop system precision is improved more particularly to a kind of
Method and system.
Background technique
With the development of manual intelligent, requirement of the people to miniature high-accuracy planet gear transmission system is higher and higher, existing
Some products have more been out of step with the times the paces of development.Due to production technology, in travel incognito star field, (diameter is less than
45mm), harmonic speed reducer, RV retarder etc. are difficult to realize；And this kind of institution requests input speed cannot be excessively high, but micro machine
Revolving speed is generally higher, and significant discomfort is answered when matching.Micro- planet gear transmission system (diameter is less than 45mm) rotating accuracy in the market is less than
0.5 degree seldom, it is even more fewer and fewer less than 0.1 degree, even if it in this field is also such that American-European Japan is equal.The prior art is all
It is the control of precision to be realized by reducing gear backlash, but transmission system will lead to using this technological means and have already appeared
Clamping stagnation and rotating accuracy is also greater than 0.5 degree.
Summary of the invention
The object of the present invention is to provide a kind of method and system for improving micro- Gear Planet Transmission closed loop system precision, to solve
The above-mentioned problems of the prior art meets the requirements the rotating accuracy of micro- planet gear transmission system.
To achieve the above object, the present invention provides following schemes:
The present invention provides a kind of methods for improving micro- Gear Planet Transmission closed loop system precision, measure the rotation angle of motor
X measures the rotation angle Y of epicyclic gearbox ring gear, it is assumed that the speed ratio of epicyclic gearbox is I, then the sideshake of epicyclic gearbox
Value is X/I-Y, when motor switches rotation direction, mostly rotation X/I-Y, to guarantee the precision of micro- Gear Planet Transmission closed loop system.
The present invention also provides a kind of for implementing the method for the micro- Gear Planet Transmission closed loop system precision of raising
Micro- Gear Planet Transmission closed loop system, including motor, the output end of the motor are connected with epicyclic gearbox, are arranged on the motor
There is the first encoder, first encoder is used to measure the rotation angle of the motor, the ring gear of the epicyclic gearbox
On be provided with second encoder, the second encoder is used to measure the rotation angle of the ring gear.
Preferably, motor support frame, the motor support frame and the fixed company of the motor are provided on the outside of the motor
It connects, the motor support frame is connect with the ring gear by bearing.
Preferably, the bearing is double-row bearing.
Preferably, the second encoder includes grating disc and reading head, and the grating disc is arranged on the ring gear,
The reading head is arranged on the motor support frame, and the grating disc and the reading head are oppositely arranged.
Preferably, the epicyclic gearbox is primary planet reduction gearbox, and the primary planet pinion case includes first sun
Wheel and the first planetary gear, first sun gear are connect with the motor output shaft, and the first planet carrier and the motor are solid
Fixed connection, first planetary gear are engaged with first sun gear, the ring gear.
Preferably, the epicyclic gearbox is two-stage planetary reduction case, and the secondary planetary gear case includes first sun
Wheel, the first planetary gear, first planet carrier, the second sun gear, the second planetary gear and the second planet carrier, first sun gear and institute
Motor output shaft connection is stated, the motor output shaft passes through second sun gear；The first planet carrier and described second is too
Sun wheel is fixedly connected, and second planet carrier is fixedly connected with the motor；First planetary gear and first sun gear,
The ring gear engagement, second planetary gear are engaged with second sun gear, the ring gear.
Preferably, the epicyclic gearbox is three stage planetary reduction case, and the three-stage planetary gear case includes first sun
Wheel, the first planetary gear, first planet carrier, the second sun gear, the second planetary gear, the second planet carrier, third sun gear, third planet
Wheel and third planet carrier, first sun gear are connect with the motor output shaft, and the motor output shaft passes through described second
Sun gear and third sun gear；The first planet carrier is fixedly connected with second sun gear, second planet carrier and institute
It states third sun gear to be fixedly connected, the third planet carrier is fixedly connected with the motor；First planetary gear and described the
One sun gear, ring gear engagement, second planetary gear engages with second sun gear, the ring gear, and described the
Three planetary gears are engaged with the third sun gear, the ring gear.
The present invention achieves following technical effect compared with the existing technology:
The present invention reads the rotational angle X of motor by the first encoder, and second encoder reads turning for epicyclic gearbox
Dynamic angle Y, calculates the speed ratio I of epicyclic gearbox, and then the backlash values for obtaining epicyclic gearbox are X/I-Y.The device of the invention
Structure is simple, and the method for the backlash values of measurement is simple and accurate, and the rotating accuracy of micro- planet gear transmission system can be made to meet the requirements.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the schematic diagram of micro- Gear Planet Transmission closed loop system of the invention；
Wherein: 1- motor, the first encoder of 2-, 3- third planet carrier, 4- the third line star-wheel, 5- third sun gear, 6-
Two planet carriers, the second planetary gear of 7-, the second sun gear of 8-, the first sun gear of 9-, 10- first planet carrier, the first planetary gear of 11-,
12- ring gear, 13- motor support frame, 14- bearing, 15- grating disc, 16- reading head.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art under the premise of not making the creative labor it is obtained it is all its
His embodiment, shall fall within the protection scope of the present invention.
The object of the present invention is to provide a kind of method and system for improving micro- Gear Planet Transmission closed loop system precision, to solve
The above-mentioned problems of the prior art meets the requirements the rotating accuracy of micro- planet gear transmission system.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.
Embodiment one
A kind of method for improving micro- Gear Planet Transmission closed loop system precision, measurement electricity are present embodiments provided as shown in Figure 1:
The rotation angle X of machine measures the rotation angle Y of epicyclic gearbox ring gear, it is assumed that the speed ratio of epicyclic gearbox is I, then planet
The backlash values of gear-box are X/I-Y, when motor switches rotation direction, mostly rotation X/I-Y, to guarantee micro- Gear Planet Transmission closed-loop
The precision of system.
The present embodiment additionally provides a kind of for implementing to improve the travel incognito of the method for micro- Gear Planet Transmission closed loop system precision
Star is driven closed loop system, including motor 1, and the output end of motor 1 is connected with epicyclic gearbox, and epicyclic gearbox can be multistage
Epicyclic gearbox is provided with the first encoder 2 on motor 1, is provided with second encoder on epicyclic gearbox.The outside of motor 1
It is provided with motor support frame 13, motor support frame 13 is fixedly connected with motor 1, and motor support frame 13 and ring gear 12 pass through bearing
14 connections, bearing 14 are preferably double-row bearing.Second encoder includes grating disc 15 and reading head 16, including grating disc 15 is arranged
On gear ring 12, reading head 16 is arranged on motor support frame 13, and grating disc 15 and reading head 16 are oppositely arranged.
In the present embodiment, epicyclic gearbox be three stage planetary reduction case, three-stage planetary gear case include the first sun gear 9,
First planetary gear 11, first planet carrier 10, the second sun gear 8, the second planetary gear 7, the second planet carrier 6, third sun gear 5,
Three planetary gears 4, third planet carrier 3 and ring gear 12, the first sun gear 9 export axis connection with motor 1, and 1 output shaft of motor passes through
Second sun gear 8 and third sun gear 5；First planet carrier 10 is fixedly connected with the second sun gear 8, the second planet carrier 6 and third
Sun gear 5 is fixedly connected, and third planet carrier 3 is fixedly connected with motor 1；First planetary gear 11 and the first sun gear 9, ring gear 12
Engagement, the second planetary gear 7 are engaged with the second sun gear 8, ring gear 12, the third line star-wheel 4 and third sun gear 5, ring gear 12
Engagement.
The apparatus structure of the present embodiment is simple, and the method for the backlash values of measurement is easy and accurate, every time when motor switching turn
When dynamic direction, mostly rotation X/I-Y can be such that the rotating accuracy of micro- planet gear transmission system meets the requirements.
Embodiment two
The difference of the present embodiment and embodiment one are as follows: in the present embodiment, epicyclic gearbox is two-stage planetary reduction case, second level
Epicyclic gearbox include the first sun gear 9, the first planetary gear 11, first planet carrier 10, the second sun gear 8, the second planetary gear 7,
Second planet carrier 6 and ring gear 12, the first sun gear 9 export axis connection with motor 1, and 1 output shaft of motor passes through the second sun gear
8；First planet carrier 10 is fixedly connected with the second sun gear 8, and the second planet carrier 6 is fixedly connected with motor 1；First planetary gear 11 with
First sun gear 9, ring gear 12 engage, and the second planetary gear 7 is engaged with the second sun gear 8, ring gear 12.
Embodiment three
The difference of the present embodiment and embodiment one and embodiment two are as follows: in the present embodiment, epicyclic gearbox is primary planet
Reduction gearbox, primary planet pinion case include the first sun gear 9, the first planetary gear 11 and ring gear 12, the first sun gear 9 and motor
1 output axis connection, first planet carrier 10 are fixedly connected with motor 1, and the first planetary gear 11 is nibbled with the first sun gear 9, ring gear 12
It closes.
Apply that a specific example illustrates the principle and implementation of the invention in this specification, above embodiments
Explanation be merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art,
According to the thought of the present invention, there will be changes in the specific implementation manner and application range.In conclusion in this specification
Appearance should not be construed as limiting the invention.
Claims (8)
1. a kind of method for improving micro- Gear Planet Transmission closed loop system precision, it is characterised in that: the rotation angle X of motor is measured,
Measure the rotation angle Y of epicyclic gearbox ring gear, it is assumed that the speed ratio of epicyclic gearbox is I, then the backlash values of epicyclic gearbox
For X/I-Y, when motor switches rotation direction, mostly rotation X/I-Y, to guarantee the precision of micro- Gear Planet Transmission closed loop system.
2. a kind of for implementing to improve the travel incognito star of the method for micro- Gear Planet Transmission closed loop system precision as described in claim 1
It is driven closed loop system, it is characterised in that: including motor, the output end of the motor is connected with epicyclic gearbox, the motor
On be provided with the first encoder, first encoder is used to measure the rotation angle of the motor, the epicyclic gearbox
Second encoder is provided on ring gear, the second encoder is used to measure the rotation angle of the ring gear.
3. micro- Gear Planet Transmission closed loop system according to claim 2, it is characterised in that: be provided on the outside of the motor
Motor support frame, the motor support frame are fixedly connected with the motor, and the motor support frame and the ring gear pass through axis
Hold connection.
4. micro- Gear Planet Transmission closed loop system according to claim 3, it is characterised in that: the bearing is double-row bearing.
5. micro- Gear Planet Transmission closed loop system according to claim 3, it is characterised in that: the second encoder includes light
Grid disk and reading head, the grating disc are arranged on the ring gear, and the reading head is arranged on the motor support frame, institute
It states grating disc and the reading head is oppositely arranged.
6. micro- Gear Planet Transmission closed loop system according to claim 2, it is characterised in that: the epicyclic gearbox is level-one
Planetary reduction box, the primary planet pinion case include the first sun gear and the first planetary gear, first sun gear with it is described
Motor output shaft connection, the first planet carrier are fixedly connected with the motor, first planetary gear and first sun
Wheel, ring gear engagement.
7. micro- Gear Planet Transmission closed loop system according to claim 2, it is characterised in that: the epicyclic gearbox is second level
Planetary reduction box, the secondary planetary gear case include the first sun gear, the first planetary gear, first planet carrier, the second sun gear,
Second planetary gear and the second planet carrier, first sun gear are connect with the motor output shaft, and the motor output shaft passes through
Second sun gear；The first planet carrier is fixedly connected with second sun gear, second planet carrier and the electricity
Machine is fixedly connected；First planetary gear is engaged with first sun gear, the ring gear, second planetary gear with it is described
Second sun gear, ring gear engagement.
8. micro- Gear Planet Transmission closed loop system according to claim 2, it is characterised in that: the epicyclic gearbox is three-level
Planetary reduction box, the three-stage planetary gear case include the first sun gear, the first planetary gear, first planet carrier, the second sun gear,
Second planetary gear, the second planet carrier, third sun gear, the third line star-wheel and third planet carrier, first sun gear with it is described
Motor output shaft connection, the motor output shaft pass through second sun gear and third sun gear；The first planet carrier with
Second sun gear is fixedly connected, and second planet carrier is fixedly connected with the third sun gear, the third planet carrier
It is fixedly connected with the motor；First planetary gear is engaged with first sun gear, the ring gear, second planet
Wheel is engaged with second sun gear, the ring gear, and the third line star-wheel is nibbled with the third sun gear, the ring gear
It closes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910274976.0A CN109915546A (en) | 2019-04-08 | 2019-04-08 | A kind of method and system improving micro- Gear Planet Transmission closed loop system precision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910274976.0A CN109915546A (en) | 2019-04-08 | 2019-04-08 | A kind of method and system improving micro- Gear Planet Transmission closed loop system precision |
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| CN109915546A true CN109915546A (en) | 2019-06-21 |
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| CN201910274976.0A Pending CN109915546A (en) | 2019-04-08 | 2019-04-08 | A kind of method and system improving micro- Gear Planet Transmission closed loop system precision |
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Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003206997A (en) * | 2002-01-16 | 2003-07-25 | Seiko Epson Corp | Small-sized reduction gear and geared motor provided with it |
| JP2006200600A (en) * | 2005-01-19 | 2006-08-03 | Muscle Corp | Transmission device |
| EP2479458A1 (en) * | 2011-01-20 | 2012-07-25 | Maxon Motor AG | Modular planetary gear |
| CN104595475A (en) * | 2015-01-19 | 2015-05-06 | 中冶赛迪工程技术股份有限公司 | Electromechanical hybrid type precise transmission system and control method thereof |
| CN108811529B (en) * | 2013-08-27 | 2016-03-16 | 上海宇航系统工程研究所 | A kind of torque loading device for real-time closed-loop feedback system |
| CN108046147A (en) * | 2017-12-28 | 2018-05-18 | 南京高速齿轮制造有限公司 | With the integrated crane reduction box of reel |
| CN108679203A (en) * | 2018-07-03 | 2018-10-19 | 曹林 | A kind of miniature steering engine transmission mechanism |
| CN208669516U (en) * | 2018-08-29 | 2019-03-29 | 黑龙江省华富电力投资有限公司 | Wind turbines electric pitch-changing system motor executing agency |
| CN210164855U (en) * | 2019-04-08 | 2020-03-20 | 曹林 | Full closed-loop system for micro-planetary transmission |
-
2019
- 2019-04-08 CN CN201910274976.0A patent/CN109915546A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003206997A (en) * | 2002-01-16 | 2003-07-25 | Seiko Epson Corp | Small-sized reduction gear and geared motor provided with it |
| JP2006200600A (en) * | 2005-01-19 | 2006-08-03 | Muscle Corp | Transmission device |
| EP2479458A1 (en) * | 2011-01-20 | 2012-07-25 | Maxon Motor AG | Modular planetary gear |
| CN108811529B (en) * | 2013-08-27 | 2016-03-16 | 上海宇航系统工程研究所 | A kind of torque loading device for real-time closed-loop feedback system |
| CN104595475A (en) * | 2015-01-19 | 2015-05-06 | 中冶赛迪工程技术股份有限公司 | Electromechanical hybrid type precise transmission system and control method thereof |
| CN108046147A (en) * | 2017-12-28 | 2018-05-18 | 南京高速齿轮制造有限公司 | With the integrated crane reduction box of reel |
| CN108679203A (en) * | 2018-07-03 | 2018-10-19 | 曹林 | A kind of miniature steering engine transmission mechanism |
| CN208669516U (en) * | 2018-08-29 | 2019-03-29 | 黑龙江省华富电力投资有限公司 | Wind turbines electric pitch-changing system motor executing agency |
| CN210164855U (en) * | 2019-04-08 | 2020-03-20 | 曹林 | Full closed-loop system for micro-planetary transmission |
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