CN204437249U - Electro-mechanical mixed precision transmission system - Google Patents
Electro-mechanical mixed precision transmission system Download PDFInfo
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- CN204437249U CN204437249U CN201520034885.7U CN201520034885U CN204437249U CN 204437249 U CN204437249 U CN 204437249U CN 201520034885 U CN201520034885 U CN 201520034885U CN 204437249 U CN204437249 U CN 204437249U
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Abstract
The utility model provides a kind of electro-mechanical mixed precision transmission system, comprise drive motor, compensatory control motor, transmission device, Detecting element and controller, transmission device comprises two power input transmission paries, drive motor and compensatory control motor input transmission part with two power respectively and are connected, Detecting element is arranged on transmission output, and Detecting element and compensatory control motor are connected with controller is defeated; Drive motor provides original power, and Detecting element detects the actual output speed of transmission output; Actual output speed and theoretical output speed compare by controller, calculate the rotating speed of driving error and the compensatory control motor of compensation needed for driving error, and control and compensation control motor carries out error compensation.The utility model structure is simple, low to the requirement of parts machining assembly precision, transmission accuracy easily controls and cost is low, and closed loop control, response rapidly, is specially adapted to precision drive field.
Description
Technical field
The utility model relates to precision drive technical field, particularly a kind of electro-mechanical mixed precision transmission system.
Background technique
The class type of belt drive that precision drive is is main purpose with highi degree of accuracy transmission campaign, very extensive in field application such as robot, Aero-Space, weaponry, numerical control machine tool and Ferrous Metallurgys.Precision drive of the prior art is many to be realized by the planet-gear transmission device in mechanical transmission, as harmonic driving, Japanese RV transmission, the Twispin transmission of Czech and the Dojen transmission etc. of the U.S..Above-mentioned accurate transmission mechanism is pure mechanical transmission form, there is following deficiency: in transmission device, the inertial load etc. of the machining error of component, assembly error, resiliently deformable and rotating part all has a great impact the transmission accuracy of whole transmission device, reach high transmission accuracy, strictly must control the machining error of each component and assembly error and adopt complicated structure to ensure high rigidity simultaneously, thus make accurate transmission mechanism complex structure, higher to the requirement of processing and assembling, precision is wayward and cost is higher.
Model utility content
The utility model, for above-mentioned the deficiencies in the prior art, provides a kind of electro-mechanical mixed precision transmission system, can while realizing precision drive, require lower, transmission accuracy easily to control to parts machining error and assembly error and cost lower.
For achieving the above object and other relevant objects, the utility model provides a kind of electro-mechanical mixed precision transmission system, comprise drive motor, compensatory control motor, transmission device, Detecting element and controller, described transmission device comprises two power input transmission paries, described drive motor and compensatory control motor input transmission part with two power respectively and are connected, described Detecting element is arranged on transmission output, described Detecting element is connected with controller input end, and described controller output end is connected with compensatory control motor.
Structure in employing, transmission device has two degrees of freedom, and two input motions realize the output movement determined, input motion is provided by drive motor and compensatory control motor; Drive motor provides initial motion input; At the output terminal installation and measuring element of transmission device, in order to measure its output quantity, and by measured value input control device; The measured value of output quantity and theoretical value are compared calculating driving error by controller, and determine to compensate the motor speed needed for driving error according to the feature of transmission device; Compensatory control motor receives the motor speed instruction that self-controller sends, and with this rotating speed drive transmission power input transmission part, reaches the object that driving error compensates; Transmission device is driven by drive motor and compensatory control motor simultaneously, and wherein drive motor provides original motion input, and compensatory control motor provides driving error to compensate, and makes transmission system can keep high-precision movement output.The transmission accuracy of this transmission system does not rely on machining accuracy and the assembly precision of component, do not rely on complicated structure and realize high rigidity, more traditional mode manufactures that easy, the structure of assembling is simple and cost is lower, pass through closed loop control, fast response time, directly feeds back to controller from testing result, thus controls the rotating speed of motor by controller control and compensation, coordinate with drive motor and realize highi degree of accuracy transmission, be not subject to the impact of transmission device processing and assembly precision.
As preferably: described transmission device is planetary gear train, and this planetary gear train comprises gear ring, sun gear, planet carrier and planet wheel, in described gear ring, sun gear, planet carrier wherein two be power input transmission part, another is the output block of transmission device.
As preferably: described transmission device is the differential planet transmission mechanism with two degrees of freedom.
As preferably: described transmission device is planet-gear transmission mechanism, comprise ring gear, planetary pinion and eccentric shaft, described planetary pinion is arranged on eccentric shaft, this planetary pinion engages with ring gear, described drive motor output terminal is connected with eccentric shaft, the output terminal of compensatory control motor is connected with gear ring, and described planetary pinion is provided with eccentric output mechanism, and this eccentric output mechanism is connected with output shaft.
As preferably: described Detecting element is speed probe, and this Detecting element is arranged on output shaft.
As mentioned above, the utility model compared with prior art, has following beneficial effect:
1, the transmission accuracy of this transmission system is realized by the error compensation of compensatory control motor, has the advantages that response is fast, control accuracy is high.
2, the error compensation measure of this transmission system is based on differential error compensation principle, realize " closed loop " to control, as long as export and have error, controller will send instruction to compensatory control motor and carry out compensating error until error concealment, and therefore this type of belt drive can realize Movement transmit accurately.
3, the transmission accuracy of this transmission system does not rely on machining accuracy and the assembly precision of component, do not rely on complicated structure and realize high rigidity, be not subject to the impact of transmission device machining accuracy and assembly precision, more traditional mode manufactures that easy, the structure of assembling is simple and cost is lower, is particularly suitable for precision drive field.
Accompanying drawing explanation
Fig. 1 is the system construction drawing of the utility model embodiment;
Fig. 2 is the structural representation of the utility model embodiment.
Piece mark explanation
1 drive motor
2 compensatory control motors
3 planet-gear transmission mechanisms
31 eccentric shafts
32 ring gears
33 planetary pinions
34 eccentric output mechanisms
4 Detecting elements
5 controllers
6 output shafts
Embodiment
Below by way of specific instantiation, mode of execution of the present utility model is described, those skilled in the art the content disclosed by this specification can understand other advantages of the present utility model and effect easily.
As depicted in figs. 1 and 2, the utility model provides a kind of electro-mechanical mixed precision transmission system, comprise drive motor 1, compensatory control motor 2, transmission device, Detecting element 4 and controller 5, transmission device comprises two power input transmission paries, drive motor 1 and compensatory control motor 2 input transmission part with two power respectively and are connected, Detecting element 4 is arranged on transmission output, and Detecting element 4 is connected with controller 5 input end, and controller 5 output terminal is connected with compensatory control motor 2.
Preferably, transmission device is the differential planet transmission mechanism with two degrees of freedom, in this example, transmission device is planet-gear transmission mechanism 3, comprise ring gear 32, planetary pinion 33 and eccentric shaft 31, planetary pinion 33 is arranged on eccentric shaft 31, this planetary pinion 33 engages with ring gear 32, drive motor 1 output terminal is connected with eccentric shaft 31, the output terminal of compensatory control motor 2 is connected with gear ring, planetary pinion 33 is provided with eccentric output mechanism 34, this eccentric output mechanism 34 is connected with output shaft 6, in this example, Detecting element 4 is speed probe, this Detecting element 4 is arranged on output shaft 6, the driving mechanism of eccentric output mechanism 34 wherein for making output shaft 6 coaxial with drive motor 1, can be by output reel, the pin-hole type out-put mechanism that straight pin and pin cover are formed, also can be floating disc type output mechanism, crosshead shoe output mechanism etc.Its middle controller 5 can be the control unit be made up of controllor for step-by-step motor able to programme and stepper motor driver.
In other embodiments, transmission device can be planetary gear train, this planetary gear train comprises gear ring, sun gear, planet carrier and planet wheel, in gear ring, sun gear, planet carrier wherein two be power input transmission part, be connected with drive motor 1 and compensatory control motor 2 respectively, another is the output block of transmission device.
The power that in this example, drive motor 1 provides inputs through eccentric shaft 31, drives planetary pinion 33 to rotate; Detecting element 4 detects the actual output speed of output shaft 6, and is sent to controller 5; Actual output speed and theoretical output speed compare by controller 5, calculate the rotating speed of driving error and the compensatory control motor 2 of compensation needed for driving error, and control and compensation control motor 2 drives ring gear 32 to carry out error compensation.
This type of belt drive drives eccentric shaft 31 to input as original motion by drive motor 1, slow down through less-tooth-difference planetary transmission, actual output speed is tested at output terminal installation and measuring element 4, controller 5 calculates theoretical output speed according to formula (2) and actual output speed and theoretical output speed is compared, driving error is calculated according to formula (3), by the control motor speed that formula (4) calculation compensation driving error needs, and drive compensatory control motor 2 to carry out error compensation, to reach the object of highi degree of accuracy drive motion.
The computational methods compensating the rotating speed of driving error and compensatory control motor 2 are as follows:
According to kinematic principle:
Theoretical output speed is:
Then compensating driving error is:
The rotating speed of compensatory control motor 2 is:
Wherein z
bfor the number of teeth of ring gear 32, z
gfor the number of teeth of planetary pinion 33, n
1for the rotating speed of drive motor 1, n
2for the rotating speed of compensatory control motor 2, n
tfor theoretical output speed, n
rfor actual measurement output speed, e is for compensating driving error.
The transmission accuracy of the utility model transmission system does not rely on machining accuracy and the assembly precision of component, do not rely on complicated structure and realize high rigidity, by transmission device processing and the impact of assembly precision, more traditional mode manufactures that easy, the structure of assembling is simple and cost is lower, pass through closed loop control, fast response time, directly feed back to controller 5 from testing result, thus calculated by controller 5 and export control signal, the rotating speed of control and compensation control motor 2 reaches the object of driving error compensation, realizes highi degree of accuracy transmission.
Above-described embodiment is illustrative principle of the present utility model and effect thereof only, but not for limiting the utility model.Any person skilled in the art scholar all without prejudice under spirit of the present utility model and category, can modify above-described embodiment or changes.Therefore, such as have in art and usually know that the knowledgeable modifies or changes not departing from all equivalences completed under the spirit and technological thought that the utility model discloses, must be contained by claim of the present utility model.
Claims (5)
1. an electro-mechanical mixed precision transmission system, it is characterized in that: comprise drive motor, compensatory control motor, transmission device, Detecting element and controller, described transmission device comprises two power input transmission paries, described drive motor and compensatory control motor input transmission part with two power respectively and are connected, described Detecting element is arranged on transmission output, described Detecting element is connected with controller input end, and described controller output end is connected with compensatory control motor.
2. electro-mechanical mixed precision transmission system according to claim 1, it is characterized in that: described transmission device is planetary gear train, this planetary gear train comprises gear ring, sun gear, planet carrier and planet wheel, in described gear ring, sun gear, planet carrier wherein two be power input transmission part, another is the output block of transmission device.
3. electro-mechanical mixed precision transmission system according to claim 1, is characterized in that: described transmission device is the differential planet transmission mechanism with two degrees of freedom.
4. electro-mechanical mixed precision transmission system according to claim 3, it is characterized in that: described transmission device is planet-gear transmission mechanism, comprise ring gear, planetary pinion and eccentric shaft, described planetary pinion is arranged on eccentric shaft, this planetary pinion engages with ring gear, and described drive motor output terminal is connected with eccentric shaft, and the output terminal of compensatory control motor is connected with gear ring, described planetary pinion is provided with eccentric output mechanism, and this eccentric output mechanism is connected with output shaft.
5. electro-mechanical mixed precision transmission system according to claim 4, is characterized in that: described Detecting element is speed probe, and this Detecting element is arranged on output shaft.
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| CN201520034885.7U CN204437249U (en) | 2015-01-19 | 2015-01-19 | Electro-mechanical mixed precision transmission system |
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| CN201520034885.7U CN204437249U (en) | 2015-01-19 | 2015-01-19 | Electro-mechanical mixed precision transmission system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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