CN201708749U - Dual motor driven backlash eliminating device - Google Patents
Dual motor driven backlash eliminating device Download PDFInfo
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- CN201708749U CN201708749U CN2010202063873U CN201020206387U CN201708749U CN 201708749 U CN201708749 U CN 201708749U CN 2010202063873 U CN2010202063873 U CN 2010202063873U CN 201020206387 U CN201020206387 U CN 201020206387U CN 201708749 U CN201708749 U CN 201708749U
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Abstract
The utility model provides a dual motor driven backlash eliminating device, which is driven by two motors. The dual motor driven anti-backlash device comprises a rack fixed on a guide table, a drive motor fixed on a working table and a motor control system used for controlling the drive motor, and is characterized in that the drive motor comprises a first motor and a second motor, a first motor control system and a second motor control system both comprise a position measurement module used for measuring the position of the corresponding motor, a position controller connected with the output end of the position measurement module, a speed controller connected with the output end of the position controller and a current controller, and the input end of the position controller is connected with an interpolation signal. With the two motors for backlash elimination, the utility model can not only eliminate the backlash shock, but also can lower the rated power of the motors and reduce the modulus of the gear and the rack, so that the transmission is more accurate and more stable.
Description
Technical field
The utility model relates to a kind of Dual-motors Driving backlash eliminating equipment, in particular, relates in particular to and a kind ofly adopts two motors to drive and the Dual-motors Driving backlash eliminating equipment in the crack that disappears.
Background technology
In high-precision positional servosystem, because the machining error of transmission mechanism and the existence of mechanical wear make motor to there being bigger drive gap between the controlled object.For this reason, people adopt ways such as clearance elimination gear, automatic pre-tightening mechanism to eliminate this gap, the method can effectively be eliminated the static receiver error of drive gap, but in high-precision position servo, frequent commutation is carried out in the motor-driven load, even adopt the crack measure that disappears of above-mentioned machinery,, make control precision not reach required control requirement because the transient error that cause in the gap still is difficult to overcome.
Summary of the invention
The utility model provides a kind of employing two Dual-motors Driving backlash eliminating equipments that motor drives in order to overcome the shortcoming of above-mentioned technical problem.
Dual-motors Driving backlash eliminating equipment of the present utility model, drive motors that comprises the tooth bar that is fixed on the guide table, fixes with workbench and the electric machine control system that drive motors is controlled, its special feature is: described drive motors comprises first motor and second motor, and described electric machine control system comprises first electric machine control system and second electric machine control system; Speed control, current controller that described first electric machine control system and second electric machine control system include the position measuring module that the position of corresponding motor is detected, the positioner that links to each other with the position measuring module output, link to each other with the output of positioner, the input of described positioner also is connected with interpolation signal; The input of described current controller is connected with the output of speed control and the input of corresponding motor respectively with output; Described electric machine control system also comprises PI controller and filter module, the input of described PI controller is connected with input with the output of two speed controls respectively with output, and the input of described filter is connected with the input of moment difference signal with the PI controller respectively with output.If adopt single motor to carry out in the process of transmission, in the process of the annular of motor,, cause transmission accuracy not high because there are the gap in gear and tooth bar when matching.Therefore, drive motors of the present utility model is provided with first motor and second motor, so that realize the crack that disappears in the transmittance process, first motor and second motor are fixed on the workbench; Position measuring module is used for the input that also detected result's feedback is input to positioner is detected in the motor shift position, and the input of positioner also is connected with interpolation signal, so that the running precision of control motor.The extent of the moment values of the moment values of first motor output and the output of second motor can be realized by changing the moment difference signal.The moment difference signal is via the input of receiving the PI controller after the filter process, the input of PI controller also is connected with the output of two speed controls, the PI controller can be realized feeding back to the input of speed control to the computing of moment difference signal and two speed control output end signals and the result of computing, realizes the accurate control to motor.Current controller is used to realize the direct control to motor.
Dual-motors Driving backlash eliminating equipment of the present utility model, described first electric machine control system and second electric machine control system include the tachometric survey module that is used to detect the current detection module of current of electric and is used to measure motor speed; The input of described current measurement module and current controller is electrically connected, and the input of described tachometric survey module and speed control is electrically connected.Current detection module is realized the measurement of current of electric, and detected current value is fed back to the input of current controller, makes the control of current controller form a close loop control circuit, makes control more accurately and stablize; The tachometric survey module can realize the measurement of motor speed, and the amount of recording is received the input of speed control, makes speed control also form a closed loop, makes control loop more stable and accurately.
Dual-motors Driving backlash eliminating equipment of the present utility model, described position measuring module are motor encoder or grating chi.Motor encoder is different with the accuracy class that the grating chi is realized, can select motor encoder or grating chi according to the requirement of control precision.
Dual-motors Driving backlash eliminating equipment of the present utility model, described first motor and second motor are servomotor.Servomotor has the better of control precision, can satisfy the control requirement.
The beneficial effects of the utility model are: realize the crack that disappears by two motors are set, the gap concussion that has easily produced when promptly having eliminated the lathe location, the rated power of single motor and the modulus of wheel and rack have also been reduced, make transmitting accuracy higher more stable, reduced the volume of reduction box, gear and tooth bar; Compare with the machinery of the preload gap that can only eliminate afterbody gear-tooth bar in the method for crack that disappears, the Dual-motors Driving of the present utility model crack that disappears can be eliminated meshing backlasses all in the driving-chain fully.
Description of drawings
Fig. 1 is the principle schematic of mechanical structure part of the present utility model;
Fig. 2 is the schematic diagram of circuit control system of the present utility model;
Fig. 3 is the crack principle schematic that disappears of the Dual-motors Driving backlash eliminating equipment of the present utility model and the crack method that disappears.
Among the figure: 1 first motor, 2 second motors, 3 tooth bars.
Embodiment
The utility model is described in further detail below in conjunction with accompanying drawing and embodiment.
Fig. 1 has provided structural representation of the present utility model, Dual-motors Driving backlash eliminating equipment of the present utility model comprises first motor 1, second motor 2 and tooth bar 3, shown tooth bar 3 is fixed on the guide table, this guide table can be that the guide rail platform of level also can be the platform of other directions, all remain static in movable workbench or static process middle rack 3, first motor 1 and second motor 2 all are fixed on the workbench, and two gears that match with tooth bar 3 are connected by transmission mechanism with second motor 2 with first motor 1 respectively.
Fig. 2 is the schematic diagram of this circuit control system, the control system of first motor 1 and second motor 2 includes motor encoder, positioner, speed control, current controller, current detection module, tachometric survey module, motor encoder is used to realize the measurement of motor position and the data that record is fed back to positioner, current detection module is used to detect the size of motor coil electric current and the numerical value that records fed back to current controller of flowing through, and the tachometric survey module is used to detect rotating speed of motor and the numerical value of measuring is fed back to speed control.Circuit control system shown in Figure 2 also comprises PI controller and filter, the input signal of filter input end is the moment difference signal, the moment difference signal i.e. moment deviation signal shown in the figure, just can change the size of difference between the first motor output torque and the second motor output torque by the size that changes the moment difference signal, the moment difference signal is received the input of PI controller behind filter filtering, the output signal of moment difference signal and two speed control outputs is the input signal of PI controller input, and the output signal of PI controller is received the input of two speed controls.The signal of positioner input is the feedback signal of given interpolation signal of system and motor encoder, and output is connected with the input of speed control; Motor encoder makes the input of the signal feedback that records to the position controller control system formation closed-loop control system to make control more stable and accurate.The signal of speed control input is the output signal of positioner, the output signal of PI controller and the feedback signal of tachometric survey module, the tachometric survey module feeds back to the rate signal of measuring the input of speed control, make the control of rate signal also be closed-loop control, make control system more stable.The signal of current controller input is the output signal of speed control, the feedback signal of current detection module, and the control mode of current controller also is closed loop control.Mechanical connection shown in Fig. 2 represents that first motor and second motor are in relative static conditions in the process of work.
Fig. 3 has provided the crack principle schematic that disappears of the Dual-motors Driving backlash eliminating equipment of the present utility model and the crack method that disappears, it comprises figure (1) to (8) eight view of figure, and shown master or slave gear are in transmission connection with the output shaft of first motor or second motor respectively.Might as well establish the master gear is connected with the output shaft of first motor, the slaver gear is connected with the output shaft of second motor, figure (1) is the structural representation under the inactive state, in this state, the output torque opposite sign but equal magnitude of first motor and second motor, and the output torque size of first motor and second motor is 1/2nd of steady state value Δ size, the left flank of tooth of the respective teeth on the master wheel and rack in left side closely contacts, and the right flank of tooth of the respective teeth on the slaver wheel and rack on right side closely contacts; Figure (2) is workbench acceleration mode schematic diagram down left to figure (5), the output torque increasing of first motor shown in the figure (2), and the speed of second motor goes out moment and reduces; The output torque of first motor equals the steady state value Δ shown in the figure (3), the big or small vanishing of the second motor output torque, and before the moment shown in the figure (3), the rotation direction of the second motor output torque is a clockwise direction; The moment values direction of first motor of figure shown in (4) and second motor is identical and all reached maximum, at this moment, not only workbench overcomes maximum static friction force, setting in motion, and the left flank of tooth of the respective teeth on the slaver wheel and rack closely contacts, so that setting in motion under the acting in conjunction of first motor and second motor, help reducing single motor and decide power; Figure (5) and figure (6) are that first motor and second motor overcome maximum static friction force afterwards by the process that accelerates at the uniform velocity, the steady state value Δ of the difference of two motor torques of required frictional force size that overcomes and setting varies in size during according to movable workbench, and the moment of first motor shown in figure (5) and the figure (6) and second motor can be different; Figure (7) and figure (8) are schematic diagram under the deceleration regime, and under the common effect of first motor and second motor, workbench carries out the retarded motion to left movement, and last state can be got back to as scheming the inactive state shown in (1).
In the process that detects with Control work platform shift position, if to left movement, then the motor on the left side (i.e. first motor) is as the main motion motor, the Stroke Control of workbench and measure and all realize by first motor; If move right, then the motor on the right side (i.e. second motor) is as the main motion motor, and the Stroke Control of workbench and measurement all realize by second motor.
Claims (4)
1. Dual-motors Driving backlash eliminating equipment, drive motors that comprises the tooth bar (3) that is fixed on the guide table, fixes with workbench and the electric machine control system that drive motors is controlled, it is characterized in that: described drive motors comprises first motor (1) and second motor (2), and described electric machine control system comprises first electric machine control system and second electric machine control system; Speed control, current controller that described first electric machine control system and second electric machine control system include the position measuring module that the position of corresponding motor is detected, the positioner that links to each other with the position measuring module output, link to each other with the output of positioner, the input of described positioner also is connected with interpolation signal; The input of described current controller is connected with the output of speed control and the input of corresponding motor respectively with output; Described electric machine control system also comprises PI controller and filter module, the input of described PI controller is connected with input with the output of two speed controls respectively with output, and the input of described filter is connected with the input of moment difference signal with the PI controller respectively with output.
2. Dual-motors Driving backlash eliminating equipment according to claim 1 is characterized in that: described first electric machine control system and second electric machine control system include the tachometric survey module that is used to detect the current detection module of current of electric and is used to measure motor speed; The input of described current measurement module and current controller is electrically connected, and the input of described tachometric survey module and speed control is electrically connected.
3. Dual-motors Driving backlash eliminating equipment according to claim 1 and 2 is characterized in that: described position measuring module is motor encoder or grating chi.
4. Dual-motors Driving backlash eliminating equipment according to claim 1 and 2 is characterized in that: described first motor and second motor are servomotor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010202063873U CN201708749U (en) | 2010-05-28 | 2010-05-28 | Dual motor driven backlash eliminating device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010202063873U CN201708749U (en) | 2010-05-28 | 2010-05-28 | Dual motor driven backlash eliminating device |
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| CN201708749U true CN201708749U (en) | 2011-01-12 |
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| CN2010202063873U Expired - Lifetime CN201708749U (en) | 2010-05-28 | 2010-05-28 | Dual motor driven backlash eliminating device |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101841286A (en) * | 2010-05-28 | 2010-09-22 | 济南二机床集团有限公司 | Double motor driven backlash eliminating device and backlash eliminating method |
| CN103490678A (en) * | 2013-10-17 | 2014-01-01 | 双峰格雷斯海姆医药玻璃（丹阳）有限公司 | Synchronous control method and system of host and slave computers |
| CN107202693A (en) * | 2017-06-08 | 2017-09-26 | 中国科学院国家天文台南京天文光学技术研究所 | Detection South Pole large aperture telescope machinery disappears the device and method thereof of gap failure of removal |
| CN108092561A (en) * | 2016-11-23 | 2018-05-29 | 中国工程物理研究院电子工程研究所 | A kind of Dual-Servo Motor of full digital disappears slot sytem and its control method |
| CN113976957A (en) * | 2021-11-19 | 2022-01-28 | 中国科学院合肥物质科学研究院 | Milling device for assembling fusion reactor vacuum chamber |
-
2010
- 2010-05-28 CN CN2010202063873U patent/CN201708749U/en not_active Expired - Lifetime
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101841286A (en) * | 2010-05-28 | 2010-09-22 | 济南二机床集团有限公司 | Double motor driven backlash eliminating device and backlash eliminating method |
| CN103490678A (en) * | 2013-10-17 | 2014-01-01 | 双峰格雷斯海姆医药玻璃（丹阳）有限公司 | Synchronous control method and system of host and slave computers |
| CN103490678B (en) * | 2013-10-17 | 2016-06-22 | 双峰格雷斯海姆医药玻璃（丹阳）有限公司 | Slave synchronisation control means and system |
| CN108092561A (en) * | 2016-11-23 | 2018-05-29 | 中国工程物理研究院电子工程研究所 | A kind of Dual-Servo Motor of full digital disappears slot sytem and its control method |
| CN107202693A (en) * | 2017-06-08 | 2017-09-26 | 中国科学院国家天文台南京天文光学技术研究所 | Detection South Pole large aperture telescope machinery disappears the device and method thereof of gap failure of removal |
| CN107202693B (en) * | 2017-06-08 | 2019-11-26 | 中国科学院国家天文台南京天文光学技术研究所 | Detection South Pole large aperture telescope machinery disappears the device and method thereof of gap failure of removal |
| CN113976957A (en) * | 2021-11-19 | 2022-01-28 | 中国科学院合肥物质科学研究院 | Milling device for assembling fusion reactor vacuum chamber |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term |
Granted publication date: 20110112 |
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| CX01 | Expiry of patent term |