CN109826917B - A Dual-Axis Helical Synchronous Feed Mechanism Based on Differential Principle - Google Patents

Abstract

A double-shaft screw synchronous feeding mechanism based on a differential principle comprises a synchronous feeding set and two driving sets connected with the synchronous feeding set, wherein the two driving sets respectively drive a screw rod through a motor, the screw rod and a main shaft form a ball screw pair, the main shaft is arranged in a groove formed by enclosing of an upper half connecting rod and a lower half connecting rod through a bearing set, a belt wheel is arranged on the main shaft, the two belt wheels are connected through a synchronous belt, the upper half connecting rod and the lower half connecting rod form a synchronous driving connecting rod, and the two main shafts are jointly driven to simultaneously move in the same direction and at the same speed along the axial direction of the corresponding screw rod.

Description

A Dual-axis Helical Synchronous Feed Mechanism Based on Differential Principle

technical field

The invention relates to the technical field of helical feeding, in particular to a dual-axis helical synchronous feeding mechanism based on the differential principle.

Background technique

In engineering applications, the simplest solution is often required to realize complex compound motion, among which the helical feed motion, that is, simultaneous rotation and axial feed, is one of them. In the existing method, the spindle rotation and the linear module are connected in series, and the spindle motion motor and the linear module motion motor are controlled by means of electronic gears to realize the helical feed motion, but the radial size is too large. In order to realize the synchronous helical feed motion of the two spindles, it is often only a mechanical series connection, which wastes resources on the one hand, and also causes great inconvenience to the control algorithm.

SUMMARY OF THE INVENTION

In order to overcome the above-mentioned shortcomings of the prior art, the purpose of the present invention is to provide a dual-axis helical synchronous feeding mechanism based on the differential principle, which can realize the synchronous rotation and axial feeding of the dual-spindle by changing the rotational speed of the dual-motor, and can The adjustment of the synchronous rotation speed and the axial feed speed of the dual spindles is realized through the speed distribution of the dual motors, and the scheme is simple and effective.

In order to achieve the above object, the technical scheme adopted in the present invention is:

A dual-axis helical synchronous feeding mechanism based on the differential principle, comprising a synchronous feeding group, a first driving group and a second driving group connected to it, and the first driving group and the second driving group have the same structural forms;

The first drive group includes a first motor 1, the extension shaft of the first motor 1 is fixedly connected to one end of the first coupling 3, and the other end of the first coupling 3 is fixedly connected to the left end of the first lead screw 9; The lead screw 9 is installed on the first bearing seat 5 through the first bearing group 23, and is pressed by the first bearing seat pressing block 4;

The second drive group includes a second motor 11, the extension shaft of the second motor 11 is fixedly connected to one end of the second coupling 13, and the other end of the second coupling 13 is fixedly connected to the left end of the second lead screw 19; the second lead screw 19 is fixedly installed on the second bearing seat 15 through the third bearing group 28, and is pressed by the second bearing seat pressing block 14;

The synchronous feed group includes a first main shaft 8 and a second main shaft 18. The first main shaft 8 and the first lead screw 9 form a ball screw pair, and the left end of the first main shaft 8 is installed on the upper half connecting rod 20 and In the groove enclosed by the lower half link 21; the first pulley 6 is installed on the right end of the first main shaft 8;

The second main shaft 18 and the second lead screw 19 form a ball screw pair, and the left end of the second main shaft 18 is installed in the groove enclosed by another set of upper half connecting rods 20 and lower half connecting rods 21 through the fourth bearing group 31 , A second pulley 16 is installed on the right end of the second main shaft 18;

The first pulley 6 and the second pulley 16 are connected by a synchronous belt 22, and the upper half link 20 and the lower half link 21 form a synchronous drive link, which together drive the first main shaft 8 and the second main shaft 18 along the first The lead screw 9 and the second lead screw 19 move in the same direction and at the same speed in the axial direction at the same time.

The first motor 1 is fixedly installed on the first motor base 2, the first motor base 2 is fixedly installed on the base 10; the second motor 11 is fixedly installed on the second motor base 12, and the second motor base 12 is fixed Installed on the base 10 .

The axial distance between the two bearings of the first bearing group 23 is adjusted by the first spacer sleeve 24, the axial distance between the two bearings of the third bearing group 28 is adjusted by the third spacer sleeve 29; the second bearing group 26 is adjusted by the third spacer sleeve 29. The two spacer sleeves 27 adjust the axial distance, and the first round nut 25 is used for axial positioning and locking; Position lock.

The first pulley 6 is axially positioned and locked by the first locking nut 7 , and the second pulley 16 is axially positioned and locked by the second locking nut 17 .

The first lead screw 9 and the second lead screw 19 are ball screws, sliding screws, or other mechanisms that convert rotational motion into linear motion.

Beneficial effects of the present invention:

The invention is based on the screw pair, the two motors are respectively driven to rotate the two screws, the connecting rod is connected with the two screw nuts to move synchronously in the axial direction, and the synchronous rotation and Axial feed, that is, the compound motion of double-axis helical synchronous feed, and the adjustment of the rotation speed of the two spindles and the axial feed speed can be realized through the speed distribution of the two motors. The scheme is simple and effective.

Description of drawings

FIG. 1 is a schematic diagram of the overall structure of the present invention.

Fig. 2 is a half-section view of the dual-axis helical synchronous feeding mechanism of the present invention.

Detailed ways

The present invention will be further described below with reference to the accompanying drawings.

1 and 2, a dual-axis helical synchronous feeding mechanism based on the differential principle includes a synchronous feeding group and a first driving group, a second driving group, and a first driving group and a second driving group connected to it. are identical in structure;

The first drive group includes a first motor 1, the first motor 1 is fixedly installed on the first motor base 2, and the first motor base 2 is fixedly installed on the base 10; One end of the coupling 3 is fixedly connected, and the other end of the first coupling 3 is fixedly connected to the left end of the first lead screw 9; the first lead screw 9 is mounted on the first bearing seat 5 through the first bearing group 23, and passes through the first The bearing seat pressing block 4 is pressed tightly, the axial distance between the two bearings of the first bearing group 23 is adjusted by the first spacing sleeve 24, and the first motor 1 drives the first lead screw 9 to rotate;

The second drive group includes a second motor 11, the second motor 11 is fixedly installed on the second motor base 12, and the second motor base 12 is fixedly installed on the base 10; the second motor 11 extends out of the shaft and the second coupling One end of 13 is fixedly connected, and the other end of the second coupling 13 is fixedly connected with the left end of the second lead screw 19; The pressing block 14 is pressed tightly, the axial distance between the two bearings of the third bearing group 28 is adjusted by the third spacer sleeve 29, and the second motor 11 drives the second lead screw 19 to rotate;

The synchronous feed group includes a first main shaft 8 and a second main shaft 18. The first main shaft 8 and the first lead screw 9 form a ball screw pair, and the first main shaft 8 can rotate around the axis of the first lead screw 9. The left end of the first main shaft 8 is installed in the groove enclosed by the upper half connecting rod 20 and the lower half connecting rod 21 through the second bearing group 26 , and the second bearing group 26 adjusts the axial distance through the second spacer sleeve 27 , the first round nut 25 is used for axial positioning and locking; the right end of the first main shaft 8 is installed with a first pulley 6, and the first pulley 6 is axially positioned and locked by the first locking nut 7;

The second main shaft 18 and the second lead screw 19 form a ball screw pair, the second main shaft 18 can rotate and move axially around the axis of the second lead screw 19 ; the left end of the second main shaft 18 is installed through the fourth bearing group 31 In the groove enclosed by another set of upper half connecting rod 20 and lower half connecting rod 21, the fourth bearing group 31 adjusts the axial distance through the fourth spacer sleeve 32, and is axially positioned through the second round nut 30 Locking; the right end of the second main shaft 18 is installed with a second pulley 16, which is axially positioned and locked by the second locking nut 17;

The first pulley 6 and the second pulley 16 are connected by a synchronous belt 22, so that the first main shaft 8 and the second main shaft 18 rotate in the same direction at the same time; the upper half link 20 and the lower half link 21 form a synchronous drive connection. The rods together drive the first main shaft 8 and the second main shaft 18 to move in the same direction and at the same speed along the axial direction of the first lead screw 9 and the second lead screw 19 at the same time.

The first lead screw 9 and the second lead screw 19 are ball screws, sliding screws, or other mechanisms that convert rotational motion into linear motion.

The working principle of the present invention is:

Assuming that the rotation speed of the first motor 1 is N ₁ , the direction is counterclockwise, the rotation speed of the second motor 11 is N ₂ , the direction is counterclockwise, the lead of the first screw 9 is P ₁ , the direction is clockwise, and the second screw The lead of 19 is P ₂ , right-handed; at the same time, it is assumed that the rotational speed of the first main shaft 8 is W ₁ , the rotational speed of the second main shaft 18 is W ₂ , the pitch circle diameter of the first pulley 6 is D ₁ , and the second belt The diameter of the pitch circle of the wheel 16 is D ₂ , the common axial displacement of the first main shaft 8 and the second main shaft 18 is L, and the above parameters are all in international standard units.

Driven by the timing belt 22, the rotational speeds of the first main shaft 8 and the second main shaft 18 have the following relationship:

W ₁ /W ₂ =D ₂ /D ₁ , then W ₁ =D ₂ /D ₁ ×W ₂ ,

Under the action of the synchronous drive link, the axial movement speed v of the first main shaft 8 and the second main shaft 18 is:

v=(N ₁ -W ₁ )×P ₁ =(N ₂ -W ₂ )×P ₂

Put W ₁ into the above formula, we can get

N ₁ -N ₂ ×P ₂ /P ₁ =(D ₂ /D ₁ -P ₂ /P ₁ )×W ₂

Then, W ₂ =(N ₁ -N ₂ ×P ₂ /P ₁ )/(D ₂ /D ₁ -P ₂ /P ₁ )

From the above formula, it can be seen that

When D ₂ /D ₁ ≠P ₂ /P ₁ , and N ₁ /N ₂ ≠P ₂ /P ₁ , the double-axis helical synchronous feed can be realized, and the rotational speeds of the first and second spindles 8 and 18 and the axis The feed rate can be uniquely determined;

When D ₂ /D ₁ ≠P ₂ /P ₁ , and N ₁ /N ₂ =P ₂ /P ₁ , neither the first spindle 8 nor the second spindle 18 will rotate, but only perform axial feed;

When D ₂ /D ₁ =P ₂ /P ₁ , and N ₁ /N ₂ =P ₂ /P ₁ , even without the restrictions of the upper half link 20 and the lower half link 21 , the first main shaft 8 and the second The axial feed speed of the main shaft 18 is always consistent, and the rotational speed always follows the following rules: W ₁ /W ₂ =N ₁ /N ₂ ;

When the rotation direction of the lead screw is left-handed, or the rotation speed of the motor is clockwise, it is only necessary to change the sign of the corresponding parameter without affecting the final conclusion.

Claims (5)

1. A dual-axis helical synchronous feeding mechanism based on the differential principle is characterized in that: comprising a synchronous feeding group and the first driving group and the second driving group connected with it, the first driving group and the second driving group are identical in structure; The first drive group includes a first motor (1), the extension shaft of the first motor (1) is fixedly connected with one end of the first coupling (3), and the other end of the first coupling (3) is connected with the first coupling (3). The left end of the lead screw (9) is fixedly connected; the first lead screw (9) is mounted on the first bearing seat (5) through the first bearing group (23), and is pressed by the first bearing seat pressing block (4); The second drive group includes a second motor (11), the extension shaft of the second motor (11) is fixedly connected with one end of the second coupling (13), and the other end of the second coupling (13) is connected with the second lead screw ( 19) The left end is fixedly connected; the second lead screw (19) is fixedly mounted on the second bearing seat (15) through the third bearing group (28), and is pressed by the second bearing seat pressing block (14); The synchronous feed group includes a first main shaft (8) and a second main shaft (18), the first main shaft (8) and the first lead screw (9) form a ball screw pair, and the left end of the first main shaft (8) passes through the second bearing The group (26) is installed in the groove enclosed by the upper half connecting rod (20) and the lower half connecting rod (21); a first pulley (6) is installed on the right end of the first main shaft (8); The second main shaft (18) and the second lead screw (19) form a ball screw pair, and the left end of the second main shaft (18) is mounted on the other set of the upper half connecting rod (20) and the lower half through the fourth bearing group (31). In the groove enclosed by the connecting rod (21), a second pulley (16) is installed at the right end of the second main shaft (18); The first pulley (6) and the second pulley (16) are connected by a timing belt (22), and the upper half link (20) and the lower half link (21) form a synchronous drive link, which together drive the first pulley (22). The main shaft (8) and the second main shaft (18) move in the same direction and at the same speed along the axial direction of the first lead screw (9) and the second lead screw (19). 2. A dual-axis helical synchronous feeding mechanism based on the differential principle according to claim 1, characterized in that: the first motor (1) is fixedly installed on the first motor base (2), and the first motor (1) is fixedly mounted on the first motor seat (2). A motor base (2) is fixedly installed on the base (10); the second motor (11) is fixedly installed on the second motor base (12), and the second motor base (12) is fixedly installed on the base (10) . 3. A dual-axis helical synchronous feeding mechanism based on the differential principle according to claim 1, characterized in that: the axial distance between the two bearings of the first bearing group (23) passes through the first spacing sleeve ( 24) to adjust, the axial distance between the two bearings of the third bearing group (28) is adjusted through the third spacer sleeve (29); the second bearing group (26) is adjusted through the second spacer sleeve (27) to adjust the axial distance, The first round nut (25) is used for axial positioning and locking; the fourth bearing group (31) is used to adjust the axial distance through the fourth spacer sleeve (32), and the second round nut (30) is used for axial positioning and locking tight. 4. A dual-axis helical synchronous feeding mechanism based on the differential principle according to claim 1, characterized in that: the first pulley (6) is axially driven by the first locking nut (7). For positioning and locking, the second pulley (16) is axially positioned and locked through the second locking nut (17). 5. A dual-axis helical synchronous feeding mechanism based on the differential principle according to claim 1, characterized in that: the first lead screw (9) and the second lead screw (19) are ball screws , sliding screw, or other mechanisms that convert rotary motion into linear motion.

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