CN1077259A - Double acting dynamic backlash elimination drive system - Google Patents

Abstract

A double-acting dynamic back clearance eliminating drive system is composed of two sets of worm rods coupled with worm wheel, and features that when the system is driven, one set of driving worm rods is continuously driven by a rotary drive force, the other set of worm rods is a displacement-controlled worm rod, and because the worm rod set is driven irreversibly, the worm wheel and two worm rods are in no gap state to form a dynamic back clearance eliminating drive system with self-regulated speed difference in load back clearance state.

Description

The invention relates to a double-acting dynamic backlash elimination driving system, which is composed of a turbine and worm group with irreversible transmission.

The object of the present invention is to provide a double-acting dynamic backlash elimination drive system, which mainly provides a dual-action dynamic backlash elimination drive system that can automatically adjust its speed difference depending on the load backlash state. It can eliminate the backlash and provide an unprecedented principle and structural application for improving the dynamic precision of the mechanism.

Embodiments of the present invention will be described in detail below as shown in the accompanying drawings.

Figure 1 is a schematic diagram of the basic working principle of the double-acting dynamic backlash elimination drive system.

Fig. 2 is an embodiment in which the aforementioned turbine group is replaced by the linear load of the driving element composed of a screw and a nut group.

Figure 3 is an example of single drive shaft combined drive.

Figure 4 is an example of joint drive of dual drive shafts.

The present invention relates to a double-acting dynamic backlash elimination drive system composed of irreversible transmission turbine and worm group. Figure 1 shows a schematic diagram of the basic working principle of the double-action dynamic backlash elimination drive system, which mainly includes two A set of scroll bars 101, 102 coupled with the turbine 103, when the system is driven, one of the prime mover scrolls 101 is continuously applied with a rotational driving force, this force is always applied to the prime mover scroll regardless of whether the turbine is driven Rod 101, another group of worm rods is the displacement control worm rod 102, and is also coupled to this turbine group 103 (or coaxially locked individual turbine groups with the same pitch or different pitches), because the force worm rod 101 The constant force applied to the turbine 103 makes the displacement control worm 102 constantly tightened. Since the worm group is an irreversible transmission, there is no gap between the turbine and the two worms. At this time, when we drive the displacement control When the worm 102 retreats in the direction of pressure, the turbine group 103 is driven by the force-applying prime mover 101 to make a chasing displacement until the worm 102 is tightened again to control the displacement, thus forming a self-adjusting speed difference depending on the load backlash state With the help of this principle, if the control speed of the displacement control worm 102 is lower than that of the driving force worm 101, then the double-action speed can be adjusted by the load backlash state during motion. Type dynamic backlash elimination purpose.

Figure 2 shows an embodiment in which the aforementioned turbine group is replaced by the linear load of the driving element composed of a screw and a nut group, and its applied force driving screw 201 imposes a linear load 203 with a nut group 202 within a limited range. Push force or pull force, the other set of displacement control screw 204 and nut group 205 are tightened immediately, when the displacement control screw 204 is loosened in the direction of compression, the power screw 201 is driven by urgency, forming a load-dependent backlash The dynamic and backlash-free control function of self-adjusting speed difference.

The above-mentioned power-applying prime mover mechanism also can be made of reversible transmission element, for example also can change to the drive of worm gear by a reversible rotating force such as gear set or belt pulley friction wheel set to worm gear to apply the torsional force within a passive limit range, to cooperate with the irreversible drive. The displacement controls the worm rod, and the matching of the force-applying prime mover to the linear load can also be changed to a linear fluid power cylinder or a linear gear row driven by the gear driving force within a certain directional limit range. The aforementioned turbine-type linear load is called passive. The body, the mechanism such as the driving force screw or the power cylinder or the gear row is called the driving force body, and the displacement control worm is called the displacement control body.

That is, the system disclosed by the present invention with the above examples includes:

A passive body A with irreversible transmission, and two groups of prime movers coupled with it as a source of power, one of which is a force-applying prime mover B, and the other is a displacement-controlled prime mover C; the characteristic is that the force-applying prime mover B or The displacement control prime mover C can apply force to the passive body A of irreversible transmission, and the passive body A with irreversible transmission is irreversible transmission to the force application prime mover B and displacement control prime mover C; the above irreversible transmission The passive body A can be a turbine, the force-applying prime mover B and the displacement control prime mover C can be a worm group; or the passive body A with irreversible transmission can be a passive body with a drive nut, the force-applying prime mover B and the displacement The driving body C is controlled as a screw group to form a two-way transmission, and a dynamic backlash elimination drive system that automatically adjusts the speed difference based on the load backlash state. Its working principle is as follows:

The relationship between the force-applied prime mover B and the displacement control prime mover C to the passive body A of irreversible transmission includes: at rest, the force-apply prime mover B and the displacement control control the prime mover C to be stationary, but the force-apply prime mover B is irreversible to the passive body A The coupling of the passive body A to the transmission is in the tight position of pushing; the displacement controls the coupling position of the prime mover C to the passive body A of the irreversible transmission in a blocked tight position, so that the passive body of the irreversible transmission The body A has no backlash to the driving body B and the displacement control driving body C; when driving the displacement, one of the worm (or screw and nut groups) can be selected as the driving body according to the driving direction. For example, a controllable push pressure is applied to the pushing contact surface of the driving body C with the displacement control by the force-applying prime mover B. Blocking the close position, but the passive body A with irreversible transmission controls the displacement of the prime mover C is an irreversible transmission. Therefore, this state is in the close position where the passive body A with irreversible transmission and the displacement control prime mover C A static pressure is formed. When we manipulate the displacement to control the prime mover C to loosen and retreat in the opposite direction of the pressure, the passive body A will use the displacement to control the loose and retreat drive of the prime mover C to perform chasing drive, thus forming a The double-acting dynamic backlash elimination drive system can automatically adjust the speed difference in the load backlash state. When the displacement controls the original moving body C to stop, the system is still in the original static state without backlash;

The above-mentioned prime mover B and the displacement control prime mover C and the passive body A constitute the double-action dynamic backlash elimination driving system, which can also reverse drive the prime mover B and the displacement control prime mover C;

The power source of the above-mentioned force-applying prime mover B and the displacement of the prime mover C includes a common power source or separate independent power sources; wherein the driving speed BS of the power source of the force-applying prime mover B and the displacement of the prime mover C are controlled The relationship between the driving displacement speed CS is BS≥CS, and the speed difference is adjusted by the load backlash state, and BS includes the state of being static and having driving static pressure.

The composition of the above-mentioned driving force is explained as follows:

Separate drive system: the drive motor used as the prime mover can be used as a constant torque driving device. The constant torque mode includes the electric control mode from the current control and the mechanical constant torque mode device, which is used as the displacement to control the prime mover. The driving methods include human power, stepping motors, servo motors, ordinary AC and DC motors and general mechanical control drives, and rotary drive kinetic energy devices such as fluid motors;

Combined drive system: It consists of a single rotary power source, including rotary drive kinetic energy devices from human power, stepping motors, servo motors, ordinary AC and DC motors, general mechanical control drives, and fluid motors, which are characterized by rotary power The distribution of the source through the gear train makes the rotational speed transmitted to the prime mover to actuate the passive body higher than the rotational speed transmitted to the displacement to control the prime mover to actuate the passive body, and the rotating power system transmitted to the prime mover passes through a mechanical Type or electromagnetic type can select the slidable rotary coupling device with the required torque as required to couple it, and balance the speed difference of the prime mover in the system and the displacement to control the prime mover.

Figure 3 is an example of combined driving of a single drive shaft. In the figure, the pinion gear 301, which is used as the prime mover input and attached with a handle (or driven by mechanical force), rotates in the same direction as the prime mover screw 302 and is interposed by a slidable torque limiting device 303. Coupling, the reverse reduction gear 304 coupled with the pinion 301 is used to generate deceleration, but it is the reverse rotational power to control the screw 305 with the driving displacement, and then drive the turbine group 306 together with the driving screw to adjust the speed difference automatically under the load backlash state The double-acting dynamic backlash elimination drive can also be used as reverse drive; the above-mentioned slidable torque limiting device includes electromagnetic and mechanical devices.

Figure 4 is an example of joint drive of double drive shafts. In the figure, the pinion gear 401, which is used as the input of the prime mover and attached with a handle (or driven by the mechanical force), rotates in the same direction as the prime mover screw 402 and is coupled with a slidable torque limiting device 403. , the reverse reduction gear 404 coupled by the pinion 401 is used to produce deceleration, but it is a reverse rotational power, through a unidirectional transmission device 407 to drive the displacement control screw 405 when the reduction gear 404 is reverse driven, and then with the original The moving screws jointly drive the turbine group 406 as a double-acting dynamic backlash elimination drive that can automatically adjust the speed difference based on the load backlash state; the displacement control screw 405 is also equipped with a second prime mover pinion 411, and uses a slidable torque limiting device 413 is coupled to the displacement control screw 405, and the reverse reduction gear 414 coupled to the pinion 411 is used to generate deceleration, but it is a reverse rotational power, and a unidirectional transmission device 417 is used to drive the screw when the reduction gear 414 is driven in the reverse direction. 402, and then with the displacement driving screw 405, the turbine group 406 is reversely driven, and the double-acting dynamic backlash elimination drive that adjusts the speed difference automatically by the load backlash state, the aforementioned first driving pinion 401 and the second driving pinion Between the moving pinion 411 there is another transmission gear 401' and 411 coupled with each other (or composed of an intermediate gear or other transmission elements), and the transmission relationship between the two is in the opposite direction, so as to drive the handle 400 in the forward and reverse drive. Turbine; the above-mentioned slidable torque limiting device is composed of electromagnetic type and mechanical type, 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 an intermediate wheel set can be added as required.

A displacement detection device and a position detection device can be added to the above-mentioned relevant driving displacement structure device to increase its convenience.

Claims (8)

1, a kind of double-acting dynamic back clearance-eliminating driving system, its main composition comprises: irreversible to transmission by kinetoplast A, and two groups with the kinetochore of its coupling as power resources, wherein one group is force application driving body B, another is organized to displacement amount and controls kinetochore C; It is characterized by force application driving body B or displacement amount control kinetochore C can to irreversible to transmission by the transmission of the kinetoplast A application of force, and irreversible to transmission by kinetoplast A force application driving body B and displacement amount to be controlled kinetochore C be irreversible transmission; Aforementioned irreversible to transmission be can be turbine by kinetoplast A, force application driving body B and displacement amount are controlled kinetochore C and be can be the scroll bar group; Or irreversible to transmission be can be by kinetoplast A drive nut by kinetoplast, force application driving body B and displacement amount are controlled kinetochore C and be can be screw rod group, with constitute two-way transmission, with the load back clearance state poor dynamic back clearance-eliminating driving system of regulating the speed voluntarily, its action principle is as follows:

Force application driving body B and displacement amount are controlled kinetochore C the irreversible relation by kinetoplast A to transmission are comprised: when static, it is static that force application driving body B and displacement amount are controlled kinetochore C, but force application driving body B is the driving fit position of pushing to irreversible coupling place by kinetoplast A to transmission; Displacement amount is controlled kinetochore C irreversible coupling place by kinetoplast A to transmission is the driving fit position of retardance, and makes irreversible by kinetoplast A force application driving body B and displacement amount are controlled kinetochore C and be no back clearance state to transmission; When drive displacement, can select one of them group scroll bar (or screw rod nut block) to be kinetochore by institute's driving direction, for example the pushing closed surface of itself and displacement amount being controlled kinetochore C by force application driving body B imposes controllable promotion pressure, but since displacement amount control kinetochore C be in to irreversible to transmission by the retardance driving fit position of kinetoplast A, and irreversible to transmission by kinetoplast A displacement amount to be controlled kinetochore C be irreversible transmission, therefore, this state forms a static pressure in the irreversible driving fit position of being controlled kinetochore C by kinetoplast A and displacement amount to transmission, when we control displacement amount and control kinetochore C and do by the pressurized direction that pine moves back in the other direction, to be moved back driven quantity by the pine that displacement amount is controlled kinetochore C by kinetoplast A and chase driving, and the double-acting dynamic back clearance-eliminating driving system of its speed difference is adjusted in formation voluntarily by load back clearance state, when displacement amount was controlled kinetochore C and stopped, this system still was in original no back clearance state of rest;

Above-mentioned kinetochore B and displacement amount are controlled kinetochore C and the double-acting dynamic back clearance-eliminating driving system that is constituted by kinetoplast A and also kinetochore B and displacement amount can be controlled kinetochore C and make reverse direction actuation;

The power resources that above-mentioned force application driving body B and displacement amount are controlled kinetochore C comprise from a common power source or independent power source out of the ordinary; Wherein to control the pass of the drive displacement speed CS of kinetochore C be BS 〉=CS for the actuating speed BS of the power source of force application driving body B and displacement amount, and it is poor to be regulated the speed voluntarily by load back clearance state, and wherein BS comprises the state that is static and has the driving static pressure.

2, drive system is eliminated in the dynamic crack of two according to claim 1 ejector half, it is characterized in that, it is made of the turbine worm group of irreversible transmission, mainly comprise and have two groups of scroll bar groups that are coupled with turbine, when system is driven, wherein one group of former moving scroll bar is applied rotary driving force continuously, no matter whether this power turbine is driven, perseverance is imposed on former moving scroll bar, other one group of scroll bar is that displacement amount is controlled scroll bar, also be coupled in this turbine group (or indivedual turbine groups of the same pitch of coaxial locking or different pitches), because application of force scroll bar perseverance imposes on the active force of turbine, make this displacement amount control the scroll bar perseverance by packing, because the scroll bar group is irreversible transmission, therefore be gapless state between turbine and two scroll bars, this moment is when our drive displacement amount is controlled the past pressurized direction of scroll bar and retreated, the turbine group because of the driving that is subjected to the former moving scroll bar of the application of force do to chase be moved to once again the packing displacement amount and control scroll bar till, and form by the load back clearance state poor dynamic back clearance-eliminating driving system of regulating the speed voluntarily, when we by this principle, if when the speed of controlling that makes displacement amount control scroll bar is lower than the former moving scroll bar of the application of force, then can reaches the double-acting dynamic back clearance of regulating the speed voluntarily by load back clearance state in the motion and eliminate.

3, double-acting dynamic back clearance-eliminating driving system according to claim 1, it is characterized in that, wherein the turbine group can be replaced by the linarity load of screw rod and driving element that nut block constitutes, the former moving screw rod of its application of force is for imposing thrust or the pulling force in the scope of being limited to the straight line load with nut block, another group displacement amount is controlled the screw rod nut promptly by packing, controlling screw rod when displacement amount moves back toward pressurized direction pine, then power screw is done the packing driving, and constitutes the device by the dynamic no back clearance manipulation function that it is poor that load back clearance state is regulated the speed voluntarily.

4, double-acting dynamic back clearance-eliminating driving system according to claim 1, it is characterized in that, wherein application of force driving mechanism also can be made of reversible transmission component, for example also can change by a reversible rotating force such as gear train or belt pulley friction wheels turbine is imposed torsion in the passive limited field the driving of turbine, control scroll bar with the displacement amount that cooperates irreversible transmission, application of force driving mechanism also can change by a linear fluid ram or straight line tooth row the coupling of linarity load and affected by the gear drive power in the directed limited field, the load of above-mentioned turbo type straight line is called by kinetoplast, former moving screw rod of the application of force or mechanisms such as ram or tooth row are called force application driving body, and displacement amount is controlled scroll bar and is called displacement amount and controls body.

5, double-acting dynamic back clearance-eliminating driving system according to claim 1 is characterized in that its driving mode comprises:

The separated type drive system: its drive motor that constitutes as kinetochore drives rotating device for making to decide torsion, it is decided the torsion mode and comprises from the automatically controlled mode of Current Control and decide torsion mode device from mechanical type, the driving mode of controlling kinetochore as displacement amount comprises from manpower, stepper motor, servomotor, plain edition alternating direct-current motor and general machine power controls driving, and rotation such as fluid motor drives kinetic energy apparatus;

The combined type drive system: its formation is comprised from manpower by single rotating power source, stepper motor, servomotor, plain edition alternating direct-current motor and general machine power are controlled driving, reach rotation driving kinetic energy apparatus such as fluid motor, it is characterized by to make through the distribution of train and transport to kinetochore and the rotating speed that is activated by kinetoplast is higher than transport to displacement amount to control kinetochore to make the rotating speed that is activated by kinetoplast from rotating power source, and the slidably rotation coupling device that required torsion can be selected by needs through a mechanical type or electromagnetic type by the rotating power system that transports to kinetochore is with coupling, and kinetochore and displacement amount are controlled the speed difference of kinetochore in the balance sysmte.

6, as double-acting dynamic back clearance-eliminating driving system as described in claim 1 or 5, it is characterized in that, its application structure comprises with single drive shaft unites driving, it is constructed as follows: slidably are coupled in the middle of the torque limit device 303 with former moving screw rod 302 equidirectional rotations and with one as former moving input and with the small gear 301 of handgrip (or Receiver power drive), the reverse reduction gear 304 that small gear 301 is coupled is slowed down for producing, but control screw rod 305 with the drive displacement amount for reverse rotating power, and then drive turbine group 306 double-acting dynamic back clearance of doing to regulate the speed poor voluntarily by load back clearance state jointly with former moving screw rod and eliminate and drive, also can if make reverse direction actuation; Above-mentioned slidably torque limit device comprises electromagnetic type and the device that mechanical type constituted.

7, as double-acting dynamic back clearance-eliminating driving system as described in claim 1 or 5, it is characterized in that its application structure comprises with double driving shafts unites driving, it is constructed as follows:

As former moving input and with the small gear 401 of handgrip (or Receiver power drive) and former moving screw rod 402 equidirectional rotations and by a slidably coupling in the middle of the torque limit device 403, the reverse reduction gear 404 that small gear 401 is coupled is slowed down for producing, be reverse rotating power, control screw rod 405 to transmission device 407 when reduction gear 404 is made reverse direction actuation, to drive displacement amount through a folk prescription, and then drive the double-acting dynamic back clearance elimination driving that turbine group 406 works are regulated the speed poor by load back clearance state voluntarily jointly with former moving screw rod; Displacement amount is controlled screw rod 405 and is provided with the second former moving small gear 411 simultaneously, and with one slidably torque limit device 413 be coupled in displacement amount and control screw rod 405, the reverse reduction gear 414 that small gear 411 is coupled is slowed down for producing, be reverse rotating power, through folk prescription drive screw rod 405 when transmission device 417 drives to make opposite direction in reduction gear 414, and then do reverse driving with 405 pairs of turbine groups 406 of displacement amount drive screw, and make double-acting dynamic back clearance that load back clearance state regulates the speed poor voluntarily and eliminate and drive, tool driving gear 401 between the aforementioned first former moving small gear 401 and the second former moving small gear 411 ' with 411 ' (or having intermediate gear or other transmission components to constitute) intercouples, be rightabout drive connection between the two, in handgrip 400 clockwise and anticlockwise drive, to drive turbine device respectively; Above-mentioned slidably torque limit device comprises electromagnetic type and the device that mechanical type constituted, and TV structure space kenel is selected required mutual transmission component such as bevel gear or straight-tooth or other transmission components and can optionally be added middle Wheels group arrangement.

8, double-acting dynamic back clearance-eliminating driving system according to claim 1 is characterized in that, can install displacement amount detection device and position detecting device additional in its associated drives displacement structure device.

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