CN1049722C - Double acting dynamic backlash elimination drive system - Google Patents

Abstract

The invention relates to a double-acting dynamic back clearance elimination driving system, which mainly comprises two worm sets which are used as a driving worm and an operation worm and are coupled with a worm wheel, wherein when the system is driven, one worm set is applied with rotary driving at a higher speed to apply force to the worm set constantly, the other worm set is a displacement operation worm and is also coupled with the worm wheel set, the displacement operation worm is reversely forced to the worm wheel because the force application worm is applied to the worm wheel constantly, and the worm set is in irreversible transmission, so that a gapless state is formed between the worm wheel and the two worms. The driving system also comprises a retarding device and a static braking auxiliary device which are arranged between one end of the driving element and the static machine shell.

Description

Double acting dynamic backlash elimination drive system

The invention relates to a double-action dynamic backlash elimination drive system, which mainly includes a force-applying prime mover, a displacement-controlled prime mover and a passive body.

The applicant's prior application CN92102601.3 discloses a double-acting dynamic backlash elimination drive system, which is composed of a worm gear set with irreversible transmission, including two groups and For the worm gear coupled worm set, when the system is driven, one set of driving worms is continuously applied with rotational driving force, and the other set of worms controls the worm for displacement. Since the worm set is an irreversible transmission, there is a relationship between the worm gear and the two worms. In the state of no gap, it constitutes a dynamic backlash elimination drive system that automatically adjusts the speed difference from the load backlash state. According to this principle, if the control speed of the displacement control worm is lower than that of the force-applied driving worm, dynamic dynamics in motion can be achieved. Purpose of backlash elimination. However, when the speed is fast or slow or in high-frequency forward and reverse rotation, the worm is likely to cause mechanical impact on the worm wheel. Affect the operation of the entire system and damage the worm and worm gear.

The object of the present invention is to provide a double-action dynamic backlash elimination drive system, which can not only eliminate the backlash between the prime mover and the passive body, but also make the double-action drive system operate smoothly.

The above object is realized by the double-acting dynamic backlash elimination driving system of the present invention. Its main components include: a passive body A with irreversible transmission, and two sets of prime movers coupled with the passive body as a source of power, one of which is the force exerting prime mover B, and the other is the displacement manipulation prime mover C , the two groups can be interchanged, the force-applying prime mover B or the displacement amount manipulates the prime mover C to apply force to the passive body A of the irreversible transmission to form a two-way transmission, wherein at rest, the force-applying prime mover B and the displacement amount Manipulate the prime mover C to be static, but the force-applying prime mover B and the passive body A are in a coupled state of pushing and pressing, and the displacement amount manipulates the prime mover C and the passive body A to be in a coupled state of blocking and close, so that the passive body A, the force-applying prime mover B and the displacement control prime mover C are in a state of no backlash; when driving the displacement, the force-apply prime mover B exerts a pushing pressure on the pushing and sealing surface of the passive body, and the displacement controls the prime mover C It is in the block close position to the passive body A, and the passive body A controls the displacement of the prime mover C and cannot reverse the transmission, so a static pressure is generated between the passive body and the displacement control prime mover C, when the displacement is controlled When the amount control device loosens in the opposite direction according to the direction of the pressure, the passive body A controls the loosening drive amount of the prime mover C according to the displacement to perform chasing drive. When the displacement controls the prime mover C to stop, the system is still in the original position In the static state without backlash, when driving in reverse, the function of the prime mover B and the control prime mover is exchanged instantaneously, and no backlash is generated at the moment of exchange; the power source of the force-applying prime mover B and the displacement of the control prime mover C Including a single power source combined drive system, or an independent power source separated drive system, in which the driving speed of the power source of the force-applying prime mover is greater than the drive speed of the displacement control prime mover, and the speed difference is adjusted by itself according to the backlash load state. The speed relationship is reversed when reversing; the double-acting dynamic backlash elimination drive system also includes:

The prime mover and the inertial restraint auxiliary retarding device that controls the displacement of the prime mover. The retarding device is a retarding device that relies on mechanical sliding friction, fluid retardation or electromagnetic eddy current retardation. When the moving part is driven, it can ensure that its retardation is greater than the inertia of the original moving part, so that when the power source from the drive system is interrupted or when a specific speed changes, the inertia of the worm can be suppressed; Between one end of the moving part and the stationary casing;

Stationary braking auxiliary device, which uses mechanical control, fluid force or electromagnetic control auxiliary braking to produce braking effect when the system stays in a static state for a long time, to ensure the gap between the driving part and the passive part. The tight fit is not loosened by external force, and the static braking auxiliary device is arranged between one end of the driving element and the stationary casing.

The above-mentioned drive system can be a worm gear structure, or a screw and sleeve structure to drive the workbench or the mechanical structure. For example for drive systems on mechanical indexing tables.

The following describes in detail the preferred embodiment of the present invention in conjunction with the accompanying drawings, i.e. the characteristics and advantages of the worm gear double-acting dynamic backlash elimination drive system:

Figure 1 is a schematic diagram of an embodiment of a single power source and double drive shaft joint drive of this double-acting dynamic backlash elimination drive system;

Figure 2 is a schematic diagram of an embodiment of the double-acting dynamic backlash elimination driving system, which uses the rigid drive displacement of the prime mover worm to control the worm to achieve a higher speed limit torque and slidable coupling drive;

Fig. 3 is the schematic diagram of this single power source combined drive application embodiment;

Fig. 4 is a schematic diagram of forward drive power distribution in Fig. 3;

Fig. 5 is a schematic diagram of distribution of reverse drive power in Fig. 3;

FIG. 6 is a schematic diagram of an embodiment of the independent power source separation drive of the double-acting dynamic backlash elimination drive system.

Figure 1 is an example of joint drive of single power source and double drive shafts. The structure shown in Figure 1 mainly includes:

——The pinion gear 101, which is used as a prime mover input and is attached with a handle (or receives power drive), rotates in the same direction as the prime mover worm 102, and is coupled and driven by a torque-limiting slidable coupling device 103 to drive the prime mover worm 102, small The reverse reduction gear 104 coupled to the gear 101 is used to generate deceleration and reverse rotation power. The coupling transmission of a unidirectional transmission device 107 drives the displacement control worm 105 when the reduction gear 104 is reverse driven, and then cooperates with the driving worm. The driving worm gear set 106 produces a double-acting dynamic backlash elimination drive system that automatically adjusts the speed difference according to the load backlash state; the displacement control worm 105 is pierced with a second prime mover middle gear 111', which can be slidably coupled through a limited torque The device 113 is coupled to the displacement control worm 105, the middle gear 111' is not only coupled with the middle gear 101' on another set of worms, but also the pinion gear 111 linked with it and the reverse reduction gear 114 coupled with it on another set of worms For generating deceleration and reverse rotation power, through the coupling transmission of a unidirectional transmission device 117 to drive the worm 102 when the reduction gear 114 is driven in the opposite direction, and then drive the worm 105 with the displacement to reverse the wheel set 106, so that the two Worm exchange function, the thrust surface and retarding surface of the worm gear are also exchanged at the same time without reversing backlash, and the double-acting dynamic backlash elimination drive that automatically adjusts the speed difference according to the load backlash state, the aforementioned first driving pinion 101 Between the second prime mover pinion 111, there are transmission gears 101' and 111' coupled with each other (or with intermediate gears or other transmission elements), and the transmission relationship between the two is in the opposite direction, so that the handle 100 is positive The worm gears are driven separately in the reverse drive; the above-mentioned torque-limiting slidable coupling devices include electromagnetic and mechanical types, and the required mutual transmission elements such as bevel gears or spur gears or other transmission elements are selected depending on the structure space type, and can be If necessary, add an intermediate wheel set. Correspondingly, the force transmission structure of the two worm sets can also be changed so that the drive of the above-mentioned prime mover worm is rigid, and the drive of the displacement control worm is limited by a faster speed. The torque can be slidably coupled and driven together with the displacement control worm to drive the load worm gear in reverse rotation without gap;

——Worm inertia suppression auxiliary blocking device D1000: It is composed of mechanical sliding friction type, flow force blocking type or electromagnetic eddy current blocking type and other blocking devices. This device can be installed according to the needs of the system It is designed to ensure that the retardation is greater than the inertia of the worm when the worm is driven, so that the inertia of the worm can be indeed suppressed when the power source from the drive system is interrupted or during a specific slow down (Slow Down) process; this worm inertia suppression auxiliary hysteresis device D1000 is set between one end of the two worms and the stationary casing;

——Stationary Braking Auxiliary Device B1000: It is an auxiliary braking device with mechanical control, fluid force or electromagnetic control. It can be installed according to the needs to produce the braking effect when the system stays in a static state for a long time , to ensure that the closeness between the worm and the worm wheel will not be loosened by external force; this static braking auxiliary device B1000 is installed between one end of the two worms and the stationary casing.

Figure 2 shows an embodiment of a double-acting dynamic backlash elimination drive system that is driven by a slidable coupling drive to form a double-acting dynamic backlash elimination drive system by controlling the displacement of the prime mover worm at a relatively high speed limit torque; the system shown in Figure 2 is the pair described in Figure 1 The distribution gear train between the operation input side and the two groups of worms is adjusted so that the relationship between the driving speed BS of the power source of the force-applying prime mover B and the driving displacement speed CS of the displacement control prime mover C is BS≤CS, and Adjust the speed difference according to the state of load backlash, and BS includes the state of static and driving static pressure. Similarly, the relationship is CS≤BS when reversed.

The composition of the aforementioned drive power is explained as follows:

——Separate drive system with independent power source: Its composition features are (1) the driving motors as two prime movers are driven by controllable torque; (2) the driving speed of the prime mover and the control prime mover are different, The latter rotates faster;

——Single power source combined drive system: It is characterized by the distribution of the rotary power source through the wheel train so that the rotational speed transmitted to the prime mover to actuate the passive body is lower than the rotational speed transmitted to the displacement to control the prime mover to actuate the passive body The rotary power system transmitted to the displacement control prime mover is coupled through a mechanical or electromagnetic radial or axial structure that can selectively couple the slidable rotary coupling device to couple the torque, and automatically distribute the prime mover in the system The velocity difference of the original moving body is controlled by the body and the displacement.

The main components of the structure shown in Figure 2 include:

——The prime mover input and the large gear 201 with a handle (or receiving mechanical drive) rotates in the same direction as the prime mover worm 210, and the prime mover worm 210 is coupled and driven by means of a unidirectional transmission device 205, and the large gear 201 The coupling reverse acceleration gear 202 is used to generate acceleration and reverse rotation power, and the coupling transmission of a torque-limited slidable coupling device 207 drives the displacement control worm 209 when the acceleration gear 202 is reverse driven, and then drives the worm gear together with the driving worm The group 211 produces a double-acting dynamic backlash elimination drive that automatically adjusts the speed difference according to the load backlash state; the displacement control worm 209 is pierced with a second prime mover middle gear 202' that is connected with the acceleration gear 202, and together with a The torque limiting slidable coupling device 207 is coupled to the displacement control worm 209, the middle gear 202' is used for coupling with the middle gear 203' penetrating through the driving worm, and the middle gear 203' is connected with the pinion 203 and can be controlled by means of the torque limiting force. The sliding device 208 is coupled to the driving worm 210, and the pinion 203 connected thereto is used to apply deceleration and reverse rotation power to the reverse reduction gear 204 coupled with another group of worms 209. The coupling transmission of the direction transmission device 206 drives the worm 209 when the reduction gear 204 is driven in the reverse direction, and then uses the worm to reversely drive the worm gear set 211, so that the functions of the two worms are exchanged, and the thrust surface and the retarding surface of the worm gear are also exchanged at the same time. There is no reversing backlash, and the dual-action dynamic backlash elimination drive can automatically adjust the speed difference according to the load backlash state;

——Auxiliary blocking device for worm inertia suppression D1000: It is composed of known blocking devices such as mechanical sliding friction type, flow force blocking type or electromagnetic eddy current blocking type, so as to ensure its blocking when the worm is driven The inertia of the worm is greater than the inertia of the worm, so that when the power source from the drive system is interrupted or during a specific slow down (Slow Down) process, it can indeed restrain the inertia of the worm; Between the chassis;

——Stationary Braking Auxiliary Device B1000: It is an auxiliary braking device controlled by mechanical control, fluid force or electromagnetic control. It can be installed according to needs to produce the function of braking when the system stays in a static state for a long time , to ensure that the closeness between the worm and the worm wheel will not be loosened by external force; this static braking auxiliary device B1000 is installed between one end of the two worms and the stationary casing.

Figure 3 shows an example of the application of the separated gear train of the single power source combined drive system. The main purpose is to divide the gear train input into two sets of worms into three groups and pair them as follows:

——The prime mover worm 301 and the displacement control worm 302 are respectively coupled to the transmission wheels 305, 306 of the one-way transmission devices 303, 304 and the transmission wheels 309, 310 of the torque-limiting slidable devices 307, 308, and the transmission A one-way transmission device 317 is provided between the wheel 309 and the torque-limiting slidable device 307, and a one-way transmission device 318 is simultaneously provided between the transmission wheel 310 and the torque-limiting slidable device 308; the driving worm 301 and the displacement control worm 302 and lock transmission wheels 311, 312 with keys or other methods respectively, and transmission wheels 311 and 310 are coupled for transmission, and its coupling relationship is that transmission wheel 311 has a larger diameter and transmission wheel 310 has a smaller diameter; transmission wheels 309 and 312 are coupled for transmission , the coupling relationship is that the transmission wheel 312 has a larger diameter and the transmission wheel 309 has a smaller diameter; in addition, the transmission wheels 305 and 306 are coupled for transmission, and the coupling relationship is a constant velocity relationship;

——The driving worm 301 and the displacement-controlling worm 302 are coupled with each other by the transmission wheel sets 305, 306 coupled by the one-way transmission device 303, 304, and in the forward and reverse driving, the wheel set is used as the input pair The worm is power transmission, while the other wheel set is idling, and its effect is opposite in forward rotation and reverse rotation;

——The driving wheel set 309 on the driving worm 301 is coupled with the driving worm 301 by means of the torque-limiting slidable device 307 and the one-way transmission device 317 with the 307 ring sleeve, and the wheel set 309 is locked with the driven worm 302 The wheel sets 312 are coupled to each other;

——The transmission wheel set 310 on the driven worm 302 is coupled with the driven worm 302 by means of the torque limiting slidable device 308 and the one-way transmission device 318 with the 308 ring sleeve, and the wheel set 310 is fixed with the driving worm 301 The sets of wheels 311 of the lock are coupled to each other;

——Worm inertia suppression auxiliary blocking device D1000: It is composed of known blocking devices such as sliding friction type, flow force blocking type or electromagnetic eddy current blocking type. This device can be installed according to the needs of the system , to ensure that the retardation is greater than the inertia of the worm when the worm is driven, so that the inertia of the worm can be effectively suppressed when the power source from the drive system is interrupted or during a specific slow down (Slow Down) process; this worm inertia suppression auxiliary retarding device D1000 is set between one end of the two worms and the stationary casing;

——Stationary Braking Auxiliary Device B1000: It is an auxiliary braking device with mechanical control, fluid force or electromagnetic control. It can be installed according to the needs to produce the braking effect when the system stays in a static state for a long time , to ensure that the closeness between the worm and the worm wheel will not be loosened by external force; this static braking auxiliary device B1000 is installed between one end of the two worms and the stationary casing.

Fig. 4 is a schematic diagram of power distribution during forward rotation driving of the single power source combined driving wheel train described in Fig. 3; Fig. 5 is a schematic diagram of power distribution during reverse driving of the single power source combined driving wheel train described in Fig. 3; its power flow direction is as follows As shown by the arrows in the figure, P100 is the driving input power, P101 is the power loss of the torque-limiting slidable device, P102 is the power loss of the worm gear set, and P103 is the output power.

This design can also be an embodiment of an independent power source separation type drive system as shown in Figure 6. By having two sets of worm sets coupled with the worm gear set as the driving worm and the displacement control worm, the two sets of The rotary power units that can control the torque and speed are directly driven or driven by transmission through the transmission mechanism. The steering relationship and torque relationship between the two rotary power units and the worm group and their control have the following characteristics:

——Rotary power units 601 and 602: for coupling to individual worm sets 605 and 606 directly or through individual transmission devices 603 and 604, AC or DC brushed or brushless driven by pneumatic or hydraulic actuation or electric power The power unit formed by the motor is composed of:

——Control unit CCU607: In order to control these two groups of power units, it has the following characteristics:

(1) Controllable output speed, between the speed and output torque has the characteristics of speed adjustment with load, which increases with the increase of output torque and the speed decreases;

(2) Controllable output torque and maintain torque to load when overloaded or blocked;

(3) The two groups of rotary power units accept the control of the control unit for individual rotation direction and torque control, especially to control the two groups of rotary power units to output the relative rotation direction according to the function of this double-action dynamic backlash elimination drive system and For non-uniform speed proportional speed output, the absolute driving speed of the worm and worm gear set is determined by the slower speed, and by means of the simultaneous exchange of the steering and proportional relationship of the two sets of rotary power units, this double-acting dynamic backlash elimination drive system is formed There is no gap in the direction of forward rotation and reverse rotation, and there is no gap when it is in motion or at rest;

In the aforementioned structure, the following auxiliary devices can be further added to improve its stability in various driving states:

——Worm inertia suppression auxiliary retarding device D1000: It is composed of known retarding devices such as mechanical sliding friction type, flow force retarding type or electromagnetic eddy current retarding type. This device can be installed according to the needs of the system It is designed to ensure that the retardation is greater than the inertia of the worm when the worm is driven, so that the inertia of the worm can be indeed suppressed when the power source from the drive system is interrupted or during a specific slow down (Slow Down) process; this worm inertia suppresses auxiliary retardation The device D1000 is set between one end of the two worms and the stationary casing;

——Stationary Braking Auxiliary Device B1000: It is an auxiliary braking device controlled by mechanical control, fluid force or electromagnetic control. It can be installed according to needs to produce the function of braking when the system stays in a static state for a long time , to ensure that the closeness between the worm and the worm wheel will not be loosened by external force; this static braking auxiliary device B1000 is installed between one end of the two worms and the stationary casing.

This dual-action dynamic backlash elimination drive system can be further equipped with an angular displacement detection device in the relevant drive displacement structure to increase the convenience of its operation.

This double-action dynamic backlash elimination drive system should include a backlash-free two-way drive for angular displacement of other mechanisms or mechanical devices, in addition to the drive of the angular displacement adjustment structure of the rotary table mechanism.

Claims (7)

1. A dual-action type dynamic backlash elimination drive system, its main components include: a passive body A of irreversible transmission, and two groups of prime movers coupled with the passive body as a source of power, wherein one group is a force-applying prime mover body B, and the other group is the displacement control prime mover C, the two groups can be interchanged, the force-applied prime mover B or the displacement control prime mover C exerts a force transmission to the passive body A of the irreversible transmission to form a two-way Transmission, wherein at rest, the force-applying prime mover B and the displacement control prime mover C are stationary, but the force-apply prime mover B and the passive body A are in a coupled state of pushing and pressing, and the displacement controls the prime mover C and the passive body A is in the coupled state of blockage and tightness, so that the passive body A, the force-applying prime mover B and the displacement control prime mover C are in a state of no backlash; when driving the displacement, the force-applying prime mover B is tightly pressed against the passive body Pushing pressure is exerted on the joint surface. Since the displacement control prime mover C is in the blocking position of the passive body A, and the passive body A is the displacement control prime mover C irreversible transmission, so the passive body and the displacement control A static pressure is generated between the prime mover C. When the control displacement control device is loosened in the opposite direction according to the pressure direction, the passive body A controls the loose and retreat drive of the prime mover C according to the displacement to perform chasing drive. When the displacement When the manipulating prime mover C is stopped, the system is still in the original static state without backlash. When the reverse drive is performed, the prime mover B and the manipulating prime mover exchange functions instantaneously, and no backlash is generated at the moment of exchange; The power source of the moving body B and the displacement control prime mover C includes a single power source combined drive system, or an independent power source separated drive system, wherein the driving speed of the power source of the force-applying prime mover is greater than that of the displacement control prime mover. Drive speed, and adjust the speed difference according to the backlash load state, and the speed relationship is reversed during reverse; it is characterized in that the double-acting dynamic backlash elimination drive system also includes: With the help of mechanical sliding friction type or fluid blocking type or electromagnetic eddy current blocking type blocking device, when the moving part is driven, its blocking property can be ensured to be greater than the inertia of the moving part, so that when the power source from the driving system is interrupted or a specific When the speed changes, the prime mover that can suppress the inertia of the worm and the inertia suppression auxiliary retarding device that controls the displacement of the prime mover are arranged between one end of the prime mover and the stationary casing; With the aid of mechanical control, flow force or electromagnetic control, the braking effect will be generated when the system stays in a static state for a long time, so as to ensure that the tightness between the driving part and the passive part will not be loosened by external force The static braking auxiliary device is arranged between one end of the driving element and the stationary casing. 2. The dual-action type dynamic backlash elimination drive system as claimed in claim 1, wherein the driving part is a worm, and the driven part is a worm wheel, and a pinion (101) as a driving force input is by means of a The intermediate torque-limiting slidable coupling device couples and drives the driving worm (102), and rotates in the same direction as the driving worm (102), and the reverse reduction gear (104) coupled with the pinion generates deceleration and reverse rotation power, The reduction gear (104) drives the displacement to control the worm through the coupling transmission of a unidirectional transmission device when the reduction gear (104) is reversely driven, and then drives the worm gear set (106) together with the driving worm (102) to generate a load Double-acting dynamic backlash-eliminating drive that automatically adjusts the speed difference in the backlash state; the displacement control worm (105) is pierced with a second prime mover middle gear (111'), which can slide with the help of a torque-limiting coupling device (113 ) is coupled to the displacement control worm (105), and the middle gear (111') is coupled with the middle gear (101') on the driving worm (102), and the pinion gear (111) linked with it is connected to the driving worm ( Reverse reduction gear (114) on 102) produces deceleration and reverse rotation force, drives worm screw (102) when reduction gear (114) is done reverse transmission through the coupling transmission of a unidirectional transmission device (117). 3. The dual-action type dynamic backlash elimination drive system as claimed in claim 1, wherein the driving part is a worm, and the driven part is a worm wheel, and a bull gear (201) input as the driving force is by means of a The intermediate unidirectional transmission device (205) is coupled to drive the driving worm (210), and rotates in the same direction as the driving worm (210), and the reverse acceleration gear (202) coupled with the large gear generates acceleration and reverse rotation power , the reverse acceleration gear (202) drives the worm (209) with displacement when the acceleration gear (202) is reversely driven through the coupling transmission of a torque-limiting slidable coupling device, and then drives the worm gear together with the prime mover worm (210) Group (211) generates a double-acting dynamic backlash elimination drive that automatically adjusts the speed difference according to the load backlash state; in order to make the two worms exchange functions, the thrust surface and the blocking surface of the worm wheel are exchanged simultaneously without reversing backlash, and Double-acting dynamic backlash elimination drive that adjusts the speed difference automatically according to the load backlash state, and has transmission gears (202') and (203') mutual coupling between the acceleration gear (202) and the driving pinion gear (203) . 4. The double-acting dynamic backlash elimination drive system as claimed in claim 1, wherein the driving element is a worm, and the driven element is a worm gear, and the gear trains that input two sets of worms are divided into three pairs To form a separate wheel train of a single power source combined drive system, wherein, ——The driving worm (301) and the displacement control worm (302) are respectively coupled to the transmission wheels (305), (306) with one-way transmission devices (303), (304) and the slidable device with limited torque (307), the driving wheel (309), (310) of (308), and between the driving wheel (309) and the torsion-limiting slidable device (307), a one-way driving device (317) is provided simultaneously, and the driving wheel (310 ) and the torsion-limiting slidable device (308) are simultaneously provided with a one-way transmission (318); the driving worm (301 and the displacement control worm (302) are respectively locked with keys or other ways to drive the wheel (311), (312), and transmission wheel (311) and (310) coupling transmission, its coupling relationship is transmission wheel (311) diameter is bigger and transmission wheel (310) diameter is less; Transmission wheel (309) and (312) coupling transmission , the coupling relationship is that the transmission wheel (312) has a larger diameter and the transmission wheel (309) has a smaller diameter; in addition, the transmission wheel (305) and (306) are coupled to drive, and the coupling relationship is a constant velocity relationship; ——The driving worm (301) and the displacement control worm (302) are coupled with each other through the transmission wheels (305) and (306) coupled by the one-way transmission device (303), (304), and in the forward and reverse During the drive, one of the wheel sets is used as an input to transmit power to the worm, while the other wheel set is idling, and its function is opposite in forward rotation and reverse rotation; ——The transmission wheel set (309) on the prime mover worm (301) is coupled with the prime mover worm (301) by means of the limited torque slidable device (307) and the one-way drive (317) with the (307) ring sleeve, The wheel set (309) is also coupled with the wheel set (312) fixedly locked by the driven worm (302); - the transmission wheel set (310) on the driven worm (302) is coupled with the driven worm (302) by means of the limited torque slidable device (308) and the one-way transmission (318) with the (308) ring sleeve, The wheel set (310) is coupled with the wheel set (311) fixedly locked by the driving worm (301). 5. The double-acting dynamic backlash elimination drive system as claimed in claim 1, which can be an independent power source separation drive system, which is controlled by two groups of worms and worm gears as the prime mover worm and displacement control The coupled worm sets are respectively directly driven by two sets of rotary power units that can control the torque and speed or transmitted through the transmission drive. The steering relationship and torque relationship between the two rotary power units and the worm sets and their control have the following characteristics: ——Rotary power units 601 and 602: for coupling to individual worm sets 605 and 606 directly or through individual transmission devices 603 and 604, and are composed of power units driven by pneumatic or hydraulic actuation or electric drive; ——Control unit CCU607: In order to control these two groups of power units, it has the following characteristics: (1) The output speed can be controlled, and the speed and output torque have the characteristic of adjusting the speed with the load as the output torque increases and the speed decreases; (2) Controllable output torque and maintain torque to load when overloaded or blocked; (3) The two groups of rotary power units are controlled by the control unit for individual rotation direction and torque control, especially the two groups of rotary power units are controlled to output the relative rotation direction according to the function of this double-action dynamic backlash elimination drive system and For non-uniform speed proportional speed output, the absolute driving speed of the worm and worm gear set is determined by the slower speed, and the steering and proportional relationship of the two sets of rotary power units are exchanged at the same time to form the dual-action dynamic backlash elimination drive system. The characteristics of turning and reversing the direction of exchange and no gap during motion or at rest; 6. The double-acting dynamic backlash elimination driving system as claimed in claim 1, which can be further equipped with an angular displacement detection device in the relevant driving displacement structure. 7. The double-acting dynamic backlash elimination driving system as claimed in claim 1, in addition to being applied to the angular displacement adjustment drive of the rotary table mechanism, it should include a backlash-free bidirectional drive applied to the angular displacement of other mechanisms or mechanical devices .

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