CN1107213A - Double acting dynamic backlash elimination drive system - Google Patents
Double acting dynamic backlash elimination drive system Download PDFInfo
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- CN1107213A CN1107213A CN 94101718 CN94101718A CN1107213A CN 1107213 A CN1107213 A CN 1107213A CN 94101718 CN94101718 CN 94101718 CN 94101718 A CN94101718 A CN 94101718A CN 1107213 A CN1107213 A CN 1107213A
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- 230000008030 elimination Effects 0.000 title claims 2
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- 238000006073 displacement reaction Methods 0.000 claims abstract description 111
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- 230000002427 irreversible effect Effects 0.000 claims abstract description 11
- 210000002415 kinetochore Anatomy 0.000 claims description 86
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- 238000010168 coupling process Methods 0.000 claims description 38
- 238000005859 coupling reaction Methods 0.000 claims description 38
- 241000222712 Kinetoplastida Species 0.000 claims description 36
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Abstract
The invention relates to a double-acting dynamic backlash eliminating drive system, which mainly comprises two worm sets coupled with a worm wheel, wherein the two worm sets are used as a driving worm and a displacement control worm, when the system is driven, one worm set is applied with rotary drive at a higher speed to constantly apply force to the worm wheel set, the other worm set is a displacement control worm, and is also coupled with the worm wheel set (or a coaxially locked individual worm wheel set with the same pitch or different pitches), the displacement control worm is constantly and reversely forced to the worm wheel due to the force applied by the force applying worm constantly applied to the worm wheel, and the worm wheel and the two worms are in a gapless state due to the irreversible transmission of the worm sets.
Description
The present invention relates to a kind of double-acting dynamic back clearance-eliminating driving system, mainly have as former moving worm screw and displacement amount and control two groups of the worm screw worm screws groups with the worm gear coupling, when system is driven, wherein one group of former moving worm screw is applied faster that revolution drives and perseverance forces in worm gear, other one group of worm screw is that displacement amount is controlled worm screw, also be coupled in this worm gear (or indivedual worm gear of the same pitch of coaxial locking or different pitches), because application of force worm screw perseverance imposes on the active force of worm gear, make this displacement amount control the worm screw perseverance by the reverse worm gear that is packed in, because the worm screw group is irreversible transmission, therefore be gapless state between worm gear and two worm screws, this moment is when our drive displacement amount is controlled the past pressurized direction of worm screw and retreated, worm gear because of the driving that is subjected to the former moving worm screw of the application of force do to chase be moved to once again the packing displacement amount and control worm screw till, and form according to the load back clearance state poor dynamic back clearance-eliminating driving system of regulating the speed voluntarily, relative, also can change into the driving that makes above-mentioned former moving worm screw on arranging to the application of force drive mechanism of two worm screws group is rigidity, slidably coupled drive and displacement amount are controlled worm screw and jointly the load worm gear are done the zero-clearance clockwise and anticlockwise and drive and the driving that displacement amount is controlled worm screw is for the limit torsion of very fast rotating speed, still by means of above-mentioned principle, can reach dynamic back clearance eliminator in the motion; Above-mentioned irreversible transmission component also can be made of the screw rod nut block, to drive worktable or mechanical structure.
Promptly the system according to above-mentioned announcement 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 is controlled kinetochore C to done irreversible application of force transmission by kinetoplast A; Aforementionedly be can be worm gear by kinetoplast A, force application driving body B and displacement amount are controlled kinetochore C and be can be the worm screw group; Or by kinetoplast A can be the tool drive nut by kinetoplast, force application driving body B and displacement amount are controlled kinetochore C and be can be screw rod group (kinetochore is with also same by the screw rod of kinetoplast and nut exchange setting), to constitute two-way transmission, according to 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 to being comprised by the relation of kinetoplast A: 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 to being the pushing closed state by kinetoplast A coupling place; Displacement amount is controlled kinetochore C to being the retardance closed state by kinetoplast A coupling place, by kinetoplast A force application driving body B and displacement amount is controlled kinetochore C and is no back clearance state and make; When drive displacement, can be kinetochore by wherein one group of worm screw (or screw rod nut block) according to institute's driving direction, impose promotion pressure as the pushing closed surface of controlling kinetochore C with displacement amount by force application driving body B pair, this moment is because displacement amount is controlled kinetochore C is in by the retardance driving fit position of kinetoplast A, and by kinetoplast A displacement amount is controlled kinetochore C is irreversible transmission, therefore, this state forms a static pressure in the driving fit position of being controlled kinetochore C by kinetoplast A and displacement amount, when controlling displacement amount and control kinetochore C and do according to the pressurized direction that pine moves back in the other direction, the pine of being controlled kinetochore C according to displacement amount by kinetoplast A moves back driven quantity and chases driving, and form according to the load back clearance state poor double-acting dynamic back clearance-eliminating driving system of regulating the speed voluntarily, when displacement amount was controlled kinetochore C and stopped, this system still was in original no back clearance state of rest; During reverse direction actuation then kinetochore B do the function exchange with controlling kinetochore C moment, promptly with B for controlling kinetochore, C is a kinetochore, change of direction moment does not have the back clearance generation;
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 regulate the speed voluntarily according to load back clearance state, and wherein BS comprises the state that is static and has the driving static pressure, same, then closing during counter-rotating is CS 〉=BS.
The constituted mode of aforementioned driving power is described as follows:
-single power source combined type drive system: it constitutes by single rotary motive power source and comprises from manpower, stepper motor, servomotor, plain edition alternating direct-current motor and general machine power are controlled driving, reach the moving able one of revolution driving 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 the rotary motive power source, and the rotary motive power system that transfers to kinetochore through a mechanical type or electromagnetic type radially or in-line configuration can select to be coupled the slidably revolution coupling device of torsion being coupled it, and kinetochore and displacement amount are controlled the speed difference of kinetochore in the automatic distribution system;
-indivedual power source separated type drive systems: its constitutive characteristic is that (1) is as driving running for controlled torsion between the drive motor of two kinetochores; (2) kinetochore is different with the driving rotating speed of controlling kinetochore, latter's rotating speed is slower, the mode of its control torsion and control speed difference comprises from the automatically controlled mode of Current Control and from mechanical type control torsion mode person, the driving mode of controlling kinetochore as displacement amount comprises from stepper motor, servomotor, plain edition alternating direct-current motor and general machine power controls driving, and revolution such as fluid motor drives moving able one.
Following conjunction with figs. describes feature of the present invention and advantage in detail:
Fig. 1 unites driving embodiment schematic representation for the single power source double driving shafts of this double-acting dynamic back clearance-eliminating driving system.
Fig. 2 controls worm screw for this double-acting dynamic back clearance-eliminating driving system by means of former moving worm screw rigidity drive displacement amount and is slidably couple drive embodiment schematic representation of higher speed limit torsion.
Fig. 3 unites driving Application Example schematic representation for this single power source.
Fig. 4 distributes schematic representation for Fig. 3 is just changeing driving power.
Fig. 5 distributes schematic representation for Fig. 3 driving power that reverses.
Fig. 6 is that indivedual power source separated types of this double-acting dynamic back clearance-eliminating driving system drive embodiment's schematic representation.
Fig. 1 unites the driving example for the single power source double driving shafts, mainly comprises in the structure shown in Figure 1:
-as former moving input and with the small gear 101 and former moving worm screw 102 equidirectional revolutions of handgrip (or accepting motivational drive), and by means of the limit torsion coupling device 103 former moving worm screw 102 of coupled drive between two parties slidably, the reverse reduction gear 104 that small gear 101 is coupled is slowed down and reversed turning power for producing, when reduction gear 104 is made reverse direction actuation, drive displacement amount through a folk prescription to the coupled drive of transmission device 107 and control worm screw 105, and then drive worm gear 106 jointly with former moving worm screw and produce according to the load back clearance state poor double-acting dynamic back clearance-eliminating driving system of regulating the speed voluntarily; Displacement amount control worm screw 105 be equipped with the second former moving middle gear 111 ', and by a limit torsion slidably coupling device 113 be coupled in displacement amount and control worm screw 105, middle gear 111 ' except that with another group middle gear 101 ' coupling on worm screw, with the small gear 111 of its interlock and with another group worm screw on slow down and the reversed turning power for producing with the reverse reduction gear 114 of its coupling, through folk prescription drive worm screw 105 when the coupled drive of transmission device 117 drives to make opposite direction in reduction gear 114, and then drive 105 pairs of worm gear 106 of worm screw with displacement amount and do reverse driving, make two worm screws exchange function, the thrust face of worm gear and retardance face are also exchanged simultaneously and do not have the commutation back clearance, and regulate the speed double-acting dynamic back clearance voluntarily poor and eliminate according to load back clearance state and drive, has transmission middle gear 101 ' with 111 ' intercouple (or have intermediate gear or other transmission components constitute) between the aforementioned first former moving small gear 101 and the second former moving small gear 111 in addition, be rightabout drive connection between the two, in handgrip 100 clockwise and anticlockwise drive, to drive worm gear respectively; Above-mentioned limit torsion slidably coupling device comprises that electromagnetic type and mechanical type constitute, and TV structure space kenel is selected required mutual transmission component such as bevel gear or straight-tooth or other transmission components, and wheels in the middle of can optionally adding, relative, also can change into the driving that makes above-mentioned former moving worm screw on arranging to the application of force drive mechanism of two worm screws groups is rigidity, and slidably coupled drive and displacement amount are controlled worm screw and jointly the load worm gear made zero-clearance and change anyway and turn and the driving that displacement amount is controlled worm screw is for the limit torsion of very fast rotating speed;
-worm screw inertia suppresses auxiliary means of retardation D1000: constituted by means of known means of retardations such as mechanical sliding friction formula or stagnant formula of stream mechanical resistance or electromagnetic eddy retardance formulas by a kind of, this device can need and be installed according to system, to guarantee its retardancy greater than worm screw inertia when the worm drive, when power source from drive system is interrupted or specific mitigation slow down and can suppress worm screw inertia really in (Slow Down) process; This worm screw inertia suppresses the auxiliary device D1000 of stagnating and is arranged between the end and static casing of two worm screws;
-static brake auxiliary device B1000: be the complementary braking brake of controlling by means of machinery or stream power or electromagnetism are controlled, property installing according to need, produce the effect of braking brake when staying in state of rest for a long time, do not become flexible by external force to guarantee the closely connected property between worm and wheel in system; This static brake auxiliary device B1000 is for being installed between one of two worm screws end and static casing.
Figure 2 shows that former moving worm screw rigidity drive displacement amount control worm screw be higher speed limit torsion slidably couple drive form the embodiment of double-acting dynamic back clearance-eliminating driving system; System shown in Figure 2 is for making adjustment to the distribution train between operation input side to two group worm screw described in Fig. 1, making wherein, the actuating speed BS of the power source of force application driving body B and the pass of the drive displacement speed CS that displacement amount is controlled kinetochore C are BS≤CS, and it is poor to regulate the speed voluntarily according to load back clearance state, and wherein BS comprises the state that is static and has the driving static pressure, same, then closing during counter-rotating is CS≤BS.
The constituted mode of aforementioned driving power is described as follows:
-indivedual power source separated type drive systems: its constitutive characteristic is that (1) is as driving running for controlled torsion between the drive motor of two kinetochores; (2) kinetochore is different with the driving rotating speed of controlling kinetochore, latter's rotating speed is very fast, the mode of its control torsion and control speed difference comprises from the automatically controlled mode of Current Control and from mechanical type control torsion mode, the driving mode of controlling kinetochore as displacement amount comprises from stepper motor, servomotor, plain edition alternating direct-current motor and general machine power controls driving, and revolution such as fluid motor drives moving able one;
-single power source combined type drive system: it constitutes by single rotary motive power source and comprises from manpower, stepper motor, servomotor, plain edition alternating direct-current motor and general machine power are controlled driving, reach the moving able one of revolution driving 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 lower than transport to displacement amount to control kinetochore to make the rotating speed that is activated by kinetoplast from the rotary motive power source, and transfer to rotary motive power system that displacement amount controls kinetochore through a mechanical type or electromagnetic type radially or in-line configuration can select to be coupled the slidably revolution coupling device of torsion being coupled it, and kinetochore and displacement amount are controlled the speed difference of kinetochore in the automatic distribution system.
Main composition contains in the structure shown in Figure 2:
-former moving input and with the gearwheel 201 and former moving worm screw 210 equidirectional revolutions of handgrip (or Receiver power drive), and by means of folk prescription to the transmission device 205 former moving worm screw 210 of coupled drive between two parties, gearwheel 201 is coupled reverse accelerating gear 202 for producing acceleration and reversed turning power, through a limit torsion slidably the coupled drive of coupling device 207 when accelerating gear 202 is made reverse direction actuation, drives displacement amount and controls worm screw 209, and then drive worm gear 211 jointly with former moving worm screw and produce the double-acting dynamic back clearance of regulating the speed poor voluntarily and eliminate driving according to load back clearance state; Displacement amount control worm screw 209 be equipped with the second former moving middle gear 202 that connects with accelerating gear 202 ', and jointly by means of a limit torsion slidably coupling device 207 be coupled in displacement amount and control worm screw 209, middle gear 203 ' the coupling that is run through on middle gear 202 ' confession and the former moving worm screw, middle gear 203 ' and connect and slidably install 208 by means of limit torsion jointly with small gear 203 and be coupled in former moving worm screw 210, the small gear 203 of its connection slows down and backward rotation power for the reverse reduction gear 204 with another group worm screw 209 couplings is imposed, be provided with folk prescription drive worm screw 209 when the coupled drive of transmission device 206 drives to make opposite direction in reduction gear 204 between reduction gear 204 and the worm screw 209, and then worm gear 211 is done reverse driving with worm screw, make two worm screws exchange function, the thrust face of worm gear and retardance face are also exchanged simultaneously and do not have the commutation back clearance, and eliminate according to the double-acting dynamic back clearance that load back clearance state is regulated the speed poor voluntarily and to drive;
-worm screw inertia suppresses auxiliary means of retardation D1000: constituted by means of known means of retardations such as mechanical sliding friction formula or stagnant formula of stream mechanical resistance or electromagnetic eddy retardance formulas by a kind of, this device can need and be installed according to system, to guarantee its retardancy greater than worm screw inertia when the worm drive, when power source from drive system is interrupted or specific mitigation slow down and can suppress worm screw inertia really in (Slow Down) process; This worm screw inertia suppresses auxiliary means of retardation D1000 for being arranged between one of two worm screws end and static casing;
-static brake auxiliary device B1000: be the complementary braking brake of controlling by means of machinery or stream power or electromagnetism are controlled, property installing according to need, produce the effect of braking brake when staying in state of rest for a long time, do not become flexible by external force to guarantee the closely connected property between worm and wheel in system; This static brake auxiliary device B1000 is for being installed between one of two worm screws end and static casing.
Figure 3 shows that the separated type train application examples of the former combined type drive system of single action power, be mainly will two groups of worm screws of input train be divided into three groups and be paired into:
-former moving worm screw 301 and displacement amount are controlled worm screw 302 and are coupled in the drive wheel 305,306 and the tool limit torsion that are provided with tool unidirectional transmission 303,304 respectively and slidably install 307,308 drive wheel 309,310, and drive wheel 309 and limit torsion are provided with unidirectional transmission 317 between slidably installing 307 simultaneously, and drive wheel 310 and limit torsion are provided with unidirectional transmission 318 between slidably installing 308 simultaneously; Former moving worm screw 301 and displacement amount are controlled worm screw 302 and are locked drive wheel 311,312 admittedly with key or other modes respectively, and drive wheel 311 and 310 coupled drive, its coupled relation be drive wheel 311 diameters greatly and drive wheel 310 diameters are less; Drive wheel 309 and 312 coupled drive, its coupled relation are that drive wheel 312 diameters are big and drive wheel 309 diameters are less; In addition, drive wheel 305 and 306 coupled drive, its coupled relation is the constant speed relation;
-former moving worm screw 301 and displacement one are controlled 302 footpaths of worm screw and are intercoupled by unidirectional transmission 303,304 driving wheel group that are coupled 305,306, and in clockwise and anticlockwise drives, as input worm screw is power transmission by wheels wherein, and another wheels are idle running, and are just changeing and reversing its effect on the contrary;
-worm screw inertia suppresses auxiliary means of retardation D1000: constituted by means of known means of retardations such as sliding friction formula or stagnant formula of stream mechanical resistance or electromagnetic eddy retardance formulas by a kind of, this device can need and be installed according to system, to guarantee its retardancy greater than worm screw inertia when the worm drive, can suppress worm screw inertia really when power source from drive system is interrupted or in specific mitigations deceleration (Slow Down) process; This worm screw inertia suppresses auxiliary means of retardation D1000 and is arranged between the end and static casing of two worm screws;
-static brake auxiliary device B1000: for by means of the complementary braking brake of controlling by machinery or stream power or electromagnetism are controlled, property installing according to need, produce the effect of braking brake when staying in state of rest for a long time, do not become flexible by external force to guarantee the closely connected property between worm and wheel in system; This static brake auxiliary device B1000 is installed between the end and static casing of two worm screws.
Fig. 4 is the just commentaries on classics of the described single power source of Fig. 3 associating drive train power division schematic representation when driving; Fig. 5 is the counter-rotating of the described single power source of Fig. 3 associating drive train power division schematic representation when driving; Its power flow direction is shown in arrow among the figure, and wherein P100 is for driving input power, the P101 power loss that torsion slidably installs of exceeding, and P102 is a worm and worm gear group power loss, P103 is an output power.
This design also can be the indivedual power source separated type drive system embodiments that turn round the ocean as Fig. 6, for controlling two groups of the worm screw worm screws groups with the worm gear coupling through having as former moving worm screw and displacement amount, directly driven individually or driven through the gear transmission by two groups of rotary motive power unit institutes that can control torsion and rotating speed respectively, turn to relation and torsion relation that two rotary motive power unit and worm screw are organized and control have following feature respectively:
-rotary motive power unit 601 and 602: for for directly or through indivedual speed change gears 603 and 604 being coupled in indivedual worm screws groups 605 and 606, by the power unit that is made of the hydraulically actuated or power-actuated interchange of air pressure or DC brush or brushless type motor is constituted:
-control unit CCU607: for supplying to control this two groups of power units, following properties is arranged:
(1) controlled output speed has between its rotating speed and outputting torsion with what outputting torsion increasing rotating speed reduced and adjusts a characteristic with the speed of carrying;
(2) in controlled outputting torsion size and overburden or when retardance, still keep torsion to load;
(3) two groups of rotary motive power unit are accepted to control controlling of unit and are done other gyratory directions and torsion control, particularly control two groups of rotary motive power unit according to this function of double-acting dynamic back clearance-eliminating driving system do relative gyratory directions output and export as constant speed ratio rotating speed, than low-rotate speed to serve as the absolute actuating speed of decision worm and worm gear group, and turn to and proportionate relationship by means of exchanging two groups of rotary motive power unit simultaneously, with all gapless characteristic in the forward and reverse change of direction that forms this double-acting dynamic back clearance-eliminating driving system and the motion or when static;
Further can add following auxiliary device in the aforementioned structure to promote its stability when the various drive condition:
-worm screw inertia suppresses auxiliary means of retardation D1000: constituted by means of known means of retardations such as mechanical sliding friction formula or stagnant formula of stream mechanical resistance or electromagnetic eddy retardance formulas by a kind of, this device can need and be installed according to system, to guarantee its retardancy greater than worm screw inertia when the worm drive, when power source from drive system is interrupted or specific mitigation slow down and can suppress worm screw inertia really in (Slow Down) process; This worm screw inertia suppresses auxiliary means of retardation D1000 for being arranged between one of two worm screws end and static casing;
-static brake auxiliary device B1000: be the complementary braking brake of controlling by means of machinery or stream power or electromagnetism are controlled, property installing according to need, produce the effect of braking brake when staying in state of rest for a long time, do not become flexible by external force to guarantee the closely connected property between worm and wheel in system; This static brake auxiliary device B1000 is for being installed between one of two worm screws end and static casing.
In addition, be to be example in the described structure of Fig. 1-Fig. 6 with the single worm gear two groups of worm screws that are coupled, its actual enforcement also can be by two groups of independent worm screws groups of wheel coupling out of the ordinary up and down, and two worm gear are incorporated into same axle jointly up and down, above-mentioned two worm screws group is the same with two worm screws group among each embodiment of Fig. 1-Fig. 6 respectively constitute former moving worm screw and displacement amount control worm screw and do clockwise and anticlockwise and static with move in all gapless driving, and worm screw can need make both be parallel or other angles according to structure.
This double-acting dynamic back clearance-eliminating driving system can further install the angular displacement detection device additional at the associated drives displacement structure, to increase the convenience person of its operation.
This double-acting dynamic back clearance-eliminating driving system is applied to the angular displacement of rotary table mechanism and adjusts outside the driving of structure, should comprise the no back clearance bi-directional drive person of the angular displacement that is applied to other mechanisms or mechanical device.
Claims (8)
1, a kind of double-acting dynamic back clearance-eliminating driving system mainly has as former moving worm screw and displacement amount is controlled two groups of worm screw and the worm screws of worm gear coupling are organized, when system is driven, wherein one group of former moving worm screw is applied faster that revolution drives and perseverance forces in former moving worm gear, other one group of worm screw is that displacement amount is controlled worm screw, also be coupled in this worm gear (or indivedual worm gear of coaxial locking) with pitch or different pitch, because application of force worm screw perseverance imposes on the active force of worm gear, make this displacement amount control the worm screw perseverance by the reverse worm gear that is packed in, because the worm screw group is irreversible transmission, therefore the state that is no gap between worm gear and two worm screws, this moment is when the drive displacement amount is controlled the past pressurized direction of worm screw and retreated, worm gear because of the driving that is subjected to the former moving worm screw of the application of force do to chase be moved to once again the packing displacement amount and control worm screw till, and form according to regulate the speed the voluntarily dynamic back clearance-eliminating driving system of difference of load back clearance state, relative, also can change into the driving that makes above-mentioned former moving worm screw on arranging to the application of force drive mechanism of two worm screw groups is rigidity, and the driving that displacement amount is controlled worm screw for the limit torsion of very fast rotating speed slidably coupled drive and displacement amount control worm screw and jointly the load worm gear done the zero-clearance clockwise and anticlockwise and drive, so can reach the purpose of dynamic back clearance elimination in the motion by means of above-mentioned principle; Above-mentioned irreversible transmission component also can be made of the screw rod nut block, to drive worktable or mechanical structure;
Its formation mainly comprises; Irreversible to transmission by kinetoplast A, and two groups with its coupling as the kinetochore of power resources, wherein one group is force application driving body B, another group is controlled kinetochore C for displacement amount; It is characterized by force application driving body B, or displacement amount is controlled kinetochore C to done irreversible application of force transmission by kinetoplast A; Aforementionedly be can be worm gear by kinetoplast A, force application driving body B and displacement amount are controlled kinetochore C and be can be the worm screw group; Or by kinetoplast A can be the tool drive nut by kinetoplast, force application driving body B and displacement amount are controlled kinetochore C and be can be screw rod group (kinetochore is with also same by the screw rod of kinetoplast and nut exchange setting), to constitute two-way transmission, according to regulate the speed the voluntarily dynamic back clearance-eliminating driving system of difference of load back clearance state, its action principle is as follows:
-force application driving body B and displacement amount are controlled kinetochore C to being comprised by the relation of kinetoplast A: 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 to being the pushing closed state by kinetoplast A coupling place; Displacement amount is controlled kinetochore C to being the retardance closed state by kinetoplast A coupling place, by kinetoplast A force application driving body B and displacement amount is controlled kinetochore C and is no back clearance state and make; When drive displacement, can organize worm screw (or screw rod nut block) by one of them according to institute's driving direction and be kinetochore, impose promotion pressure as the pushing closed surface of controlling kinetochore C with displacement amount by force application driving body B pair, this moment is because displacement amount is controlled kinetochore C is in by the retardance driving fit position of kinetoplast A, and by kinetoplast A displacement amount is controlled kinetochore C is irreversible transmission, therefore, this state forms a static pressure in the driving fit position of being controlled kinetochore C by kinetoplast A and displacement amount, when controlling displacement amount and control kinetochore C and do according to the pressurized direction that pine moves back in the other direction, the pine of being controlled kinetochore C according to displacement amount by kinetoplast A moves back driven quantity and chases driving, and form according to regulate the speed the voluntarily double-acting dynamic back clearance-eliminating driving system of difference of 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; During reverse direction actuation then kinetochore B do the function exchange with controlling kinetochore C moment, promptly with B for controlling kinetochore, C is a kinetochore, change of direction moment does not have the back clearance generation;
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 regulate the speed voluntarily according to load back clearance state, and wherein BS comprises the state that is static and has the driving static pressure, same, then closing during counter-rotating is CS 〉=BS;
This constituted mode that drives power is as follows:
-single power source combined type drive system: it constitutes by single rotary motive power source and comprises from manpower, stepper motor, servomotor, plain edition alternating direct-current motor and general machine power are controlled driving, reach the moving able one of revolution driving such as fluid motor, it is characterized by to make through the distribution of train and transport to kinetochore and make to be higher than and transport to displacement amount and control kinetochore and make by the rotating speed of kinetoplast actuating by the rotating speed of kinetoplast actuating from the rotary motive power source, and the rotary motive power system that transfers to kinetochore through a mechanical type or electromagnetic type radially or in-line configuration can select to be coupled torsion slidably turn round coupling device being coupled it, and kinetochore and displacement amount are controlled the speed difference of kinetochore in the automatic distribution system;
-indivedual power source separated type drive systems; Its constitutive characteristic is that (1) is as driving running for controlled torsion between the drive motor of two kinetochores; (2) kinetochore is different with the driving rotating speed of controlling kinetochore, it is slower that the latter changes speed, the mode of its control torsion and control speed difference comprises from the automatically controlled mode of Current Control and from mechanical type control torsion mode person, the driving mode of controlling kinetochore as displacement amount comprises from stepper motor, servomotor, plain edition alternating direct-current motor and general machine power controls driving, and revolution such as fluid motor drives moving able one;
Further can add following auxiliary device in the aforementioned structure to promote its stability when the various drive condition:
-worm screw inertia suppresses auxiliary means of retardation D1000: constituted by means of known means of retardations such as mechanical sliding friction formula or stagnant formula of stream mechanical resistance or electromagnetic eddy retardance formulas by a kind of, this device can need and be installed according to system, to guarantee its retardancy greater than worm screw inertia when the worm drive, can suppress worm screw inertia really when power source from drive system is interrupted or in specific mitigations deceleration (Slow Down) process; This worm screw inertia suppresses auxiliary means of retardation D1000 for being arranged between one of two worm screws end and static casing;
-static brake auxiliary device B1000: be the complementary braking brake of controlling by means of machinery or stream power or electromagnetism are controlled, property installing according to need, produce the effect of braking brake when staying in state of rest for a long time, do not become flexible by external force to guarantee the closely connected property between worm and wheel in system; This static brake auxiliary device B1000 is for being installed between one of two worm screws end and static casing.
2, double-acting dynamic back clearance-eliminating driving system according to claim 1 comprises the application of uniting driving by means of the single power source double driving shafts, and its main composition contains:
-as former moving input and with the small gear 101 and former moving worm screw 102 equidirectional revolutions of handgrip (or Receiver power drive), and by means of the limit torsion coupling device 103 former moving worm screw 102 of coupled drive between two parties slidably, small gear 101 is coupled reverse reduction gear 104 for producing deceleration and reversed turning power, when reduction gear 104 is made reverse direction actuation, drive displacement amount through a folk prescription to the coupled drive of transmission device 107 and control worm screw 105, and then drive worm gear 106 jointly with former moving worm screw and produce according to regulate the speed the voluntarily double-acting dynamic back clearance of difference of load back clearance state and eliminate driving; Displacement amount control worm screw 105 be equipped with the second former moving middle gear 111 ', and by means of a limit torsion slidably coupling device 113 be coupled in displacement amount and control worm screw 105, middle gear 111 ' except that with another group worm screw on middle gear 101 ' coupling, with the small gear 111 of its interlock and with another group worm screw on slow down and the reversed turning power for producing with the reverse reduction gear 114 of its coupling, through folk prescription drive worm screw 105 when the coupled drive of transmission device 117 drives to make opposite direction in reduction gear 114, and then drive 105 pairs of worm gear 106 of worm screw with displacement amount and do reverse driving, make two worm screws exchange function, the thrust face of worm gear and retardance face are also exchanged simultaneously and do not have the commutation back clearance, and regulate the speed double-acting dynamic back clearance voluntarily poor and eliminate according to load back clearance state and drive, in addition tool transmission middle gear 101 ' with 111 ' (or tool intermediate gear or other transmission components formation) intercouples between the aforementioned first former moving small gear 101 and the second former moving small gear 111, be rightabout drive connection between the two, in handgrip 100 clockwise and anticlockwise drive, to drive worm gear respectively; Above-mentioned limit torsion slidably coupling device comprises that electromagnetic type and mechanical type constitute, and TV structure space kenel is selected required mutual transmission component such as bevel gear or straight-tooth or other transmission components, and wheels in the middle of can optionally adding, relative, also can change into the rigidity that makes the driving of stating former moving worm screw in the arrangement to the application of force drive mechanism of two worm screws groups, and the driving that displacement amount is controlled worm screw for the limit torsion of very fast rotating speed slidably coupled drive and displacement amount control worm screw its with the load worm gear is made zero-clearance clockwise and anticlockwise driver;
-worm gear inertia suppresses auxiliary means of retardation D1000: constituted by means of known means of retardations such as mechanical sliding friction formula or stagnant formula of stream mechanical resistance or electromagnetic eddy retardance formulas by a kind of, this device can need and be installed according to system, to guarantee its retardancy greater than worm screw inertia when the worm drive, can guarantee to suppress worm screw inertia when power source from drive system is interrupted or in specific mitigations deceleration (Slow Down) process; This worm screw inertia suppresses auxiliary means of retardation D1000 for being arranged between one of two worm screws end and static casing;
-static brake auxiliary device B1000: be the complementary braking brake of controlling by means of machinery or stream power or electromagnetism are controlled, property installing according to need, produce the effect of braking brake when stopping state of rest for a long time, do not become flexible by external force to guarantee the closely connected property between worm and wheel in system; This static brake auxiliary device B1000 is for being installed between one of two worm screws end and static casing.
3, double-acting dynamic back clearance-eliminating driving system according to claim 1, comprise that controlling worm screw by means of former moving worm screw rigidity drive displacement amount is the slidably application of couple drive of higher speed limit torsion, for the distribution train between operation input side to two group worm screw is made adjustment, making wherein, the actuating speed BS of the power source of force application driving body B and the pass of the drive displacement speed CS that displacement amount is controlled kinetochore C are BS≤CS, and it is poor to regulate the speed voluntarily according to load back clearance state, and wherein BS comprises the state that is static and has the driving static pressure, same, then closing during counter-rotating is CS≤BS;
This constituted mode that drives power is as follows:
-indivedual power source separated type drive systems: its constitutive characteristic is that (1) is as driving running for controlled torsion between the drive motor of two kinetochores; (2) kinetochore is different with the driving rotating speed of controlling kinetochore, latter's rotating speed is very fast, the mode of its control torsion and control speed difference comprises from the automatically controlled mode of Current Control and from mechanical type control torsion mode, the driving mode of controlling kinetochore as displacement amount comprises from stepper motor, servomotor, plain edition alternating direct-current motor and general machine power controls driving, and revolution such as fluid motor drives moving able one;
-single power source combined type drive system: it constitutes by single rotary motive power source and comprises from manpower, stepper motor, servomotor, plain edition alternating direct-current motor and general machine power are controlled driving, reach the moving able one of revolution driving 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 lower than transport to displacement amount to control kinetochore to make the rotating speed that is activated by kinetoplast from the rotary motive power source, and drive to rotary motive power system that displacement amount controls kinetochore through a mechanical type or electromagnetic type radially or in-line configuration can select to be coupled torsion slidably turn round coupling device being coupled it, and kinetochore and displacement amount are controlled the speed difference of kinetochore in the automatic distribution system:
Its main composition contains:
-as former moving input and with the gearwheel 201 and former moving worm screw 210 equidirectional revolutions of handgrip (or Receiver power drive), and by means of folk prescription to the transmission device 205 former moving worm screw 210 of coupled drive between two parties, gearwheel 201 is coupled reverse accelerating gear 202 for producing acceleration and reversed turning power, through a limit torsion slidably the coupled drive of coupling device 207 when accelerating gear 202 is made reverse direction actuation, drives displacement amount and controls worm screw 209, and then drive worm gear 211 jointly with former moving worm screw and produce the double-acting dynamic back clearance of regulating the speed poor voluntarily and eliminate driving according to load back clearance state; Displacement amount control worm screw 209 be equipped with the second former moving middle gear 202 of accelerating gear 202 connections ', and jointly by means of a limit torsion slidably coupling device 207 be coupled in displacement amount and control worm screw 209, middle gear 203 ' coupling that middle gear 202 ' confession and former moving worm screw are run through, middle gear 203 ' and connect and slidably install 208 by means of limit torsion jointly with small gear 203 and be coupled in former moving worm screw 210, the small gear 203 of its connection slows down and reversed turning power for the reverse reduction gear 204 with another group worm screw 209 couplings is imposed, be provided with folk prescription drive worm screw 209 when the coupled drive of transmission device 206 drives to make opposite direction in reduction gear 204 between reduction gear 204 and the worm screw 209, and then worm gear 211 is done reverse driving with worm screw, make two worm screws exchange function, the thrust face of worm gear and retardance face are also exchanged simultaneously and are not had a commutation back clearance, and eliminate driver according to regulate the speed the voluntarily double-acting dynamic back clearance of difference of load back clearance state:
-worm screw inertia suppresses auxiliary means of retardation D1000: constituted by means of known means of retardations such as mechanical sliding friction formula or stagnant formula of stream mechanical resistance or electromagnetic eddy retardance formulas by a kind of, this device can need and be installed according to system, to guarantee its retardancy greater than worm screw inertia when the worm drive, can suppress worm screw inertia person really when power source from drive system is interrupted or in specific mitigations deceleration (Slow Down) process; This worm screw inertia suppresses auxiliary means of retardation D1000 for being arranged between one of two worm screws end and static casing;
-static brake auxiliary device B1000: be the complementary braking brake of controlling by machinery or stream power or electromagnetism are controlled, property installing according to need, produce the effect of braking brake when staying in state of rest for a long time, do not become flexible by external force to guarantee the closely connected property between worm and wheel in system; This static brake auxiliary device B1000 is for being installed between one of two worm screws end and static casing.
4, the train that is characterized as two groups of worm screws of input that double-acting dynamic back clearance-eliminating driving system according to claim 1 is further is divided into three assembly to the separated type train with formation single power source combined type drive system, and its main composition comprises:
-former moving worm screw 301 and displacement amount are controlled worm screw 302 and are coupled in the drive wheel 305,306 and the tool limit torsion that are provided with tool unidirectional transmission 303,304 respectively and slidably install 307,308 drive wheel 309,310, and drive wheel 309 and limit torsion are provided with unidirectional transmission 317 between slidably installing 307 simultaneously, and drive wheel 310 and limit torsion are provided with unidirectional transmission 318 between slidably adorning 308 simultaneously; Former moving worm screw 301 and displacement amount are controlled worm screw 302 and are locked drive wheel 311,312 admittedly with key or alternate manner respectively, and drive wheel 311 and 310 coupled drive, its coupled relation be drive wheel 311 diameters greatly and drive wheel 310 diameters are less; Drive wheel 309 and 312 coupled drive, its coupled relation are the big and drive wheel 309 diameter smallers of drive wheel 312 diameters; In addition, drive wheel 305 and 306 coupled drive, its coupled relation is the constant speed partaker;
-former moving worm screw 301 and displacement amount are controlled 302 of worm screws via unidirectional transmission 303,304 driving wheel group that are coupled 305,306 intercouple, and in clockwise and anticlockwise drives, as input worm screw is power transmission by wheels wherein, and another wheels are idle running, and its effect is the opposite when forward and reverse;
Driving wheel group 309 mats on the-former moving worm screw 301 limit torsion slidably installs 307 and the unidirectional transmission 317 and former moving worm screw 301 couplings of mat and 307 ring sets, and wheels 309 also intercouple with wheels 312 that driven worm screw 302 is consolidated locks;
Driving wheel group 310 mats on the-driven worm screw 302 limit torsion slidably installs 308 and the unidirectional transmission 318 and driven worm screw 302 couplings of mat and 308 ring sets, and wheels 310 also intercouple with wheels 311 that former moving worm screw 301 is consolidated locks;
-worm screw inertia suppresses auxiliary means of retardation D1000: commonly use means of retardation and constituted by stagnate formula or electromagnetic eddy retardance formula etc. of mechanical sliding friction formula or stream mechanical resistance by a kind of, this device can need and be installed according to system, to guarantee its retardancy greater than worm screw inertia when the worm drive, can suppress worm screw inertia person really when power source from drive system is interrupted or in specific mitigations deceleration (Slow Down) process; This worm screw inertia suppresses auxiliary means of retardation D1000 for being arranged between one of two worm screws end and static casing;
-static brake auxiliary device B1000: be the complementary braking brake of controlling by machinery or stream power or electromagnetism are controlled, property installing according to need, produce the effect of braking brake when staying in state of rest for a long time, to guarantee that closely connected property between worm and wheel is by the loosening person of external force in system; This static brake auxiliary device B1000 is for being installed between one of two worm screws end and static casing.
5, double-acting dynamic back clearance-eliminating driving system according to claim 1 further can be indivedual power source separated type drive systems, for having two groups of worm screws with worm gear coupling controlling worm screw as former moving worm screw and displacement amount, the mat work organizes, directly driven individually or driven through the gear transmission by two groups of rotary motive power unit institutes that can control torsion and rotating speed respectively, turn to relation and torsion relation that two rotary motive power unit and worm screw are organized and control have following feature respectively:
-rotary motive power unit 601 and 602: for being coupled in indivedual worm screws groups 605 and 606, by the power unit by air pressure or hydraulically actuated or electric drive is constituted for direct or the indivedual speed change gears 603 and 604 of warp;
-control unit CCU607: for supplying to control this two groups of power units, following properties is arranged:
(1) controlled output speed, between its rotating speed and outputting torsion tool with outputting torsion strengthen rotating speed minimizings with the speed of carrying an adjustment characteristic;
(2) in controlled outputting torsion size and overburden or when retardance, still keep torsion to load;
(3) two groups of rotary motive power unit are accepted to control controlling of unit and are done indivedual gyratory directions and torsion control, particularly control two groups of rotary motive power unit according to this function of double-acting dynamic back clearance-eliminating driving system do relative gyratory directions output and do the output of variable speed ratio rotating speed, serving as that the absolute actuating speed of decision worm and worm gear group and mat exchange two groups of rotary motive power unit simultaneously and turn to and proportionate relationship than low-rotate speed, all there is not the characteristic person of the gap with the forward and reverse change of direction that forms this double-acting dynamic back clearance-eliminating driving system and in moving or when static;
Further can add following auxiliary device in the aforementioned structure to promote its stability when the various drive condition:
-worm screw inertia suppresses auxiliary means of retardation D1000: commonly use means of retardation and constituted by stagnate formula or electromagnetic eddy retardance formula etc. of mechanical sliding friction formula or stream mechanical resistance by a kind of, this device can need and be installed according to system, to guarantee its retardancy greater than worm screw inertia when the worm drive, can suppress worm screw inertia person really when power source from drive system is interrupted or in specific mitigations deceleration (Slow Down) process; This worm screw inertia suppresses auxiliary means of retardation D1000 for being provided with between one of two worm screws end and static casing;
-static brake auxiliary device B1000: be the complementary braking brake of controlling by mechanism or stream power or electromagnetism are controlled, property installing according to need, produce the effect of braking brake when staying in state of rest for a long time, to guarantee that closely connected property between worm and wheel is by the loosening person of external force in system; This static brake auxiliary device B1000 is for being installed between one of two worm screws end and static casing.
6, double-acting dynamic back clearance-eliminating driving system according to claim 1 is coupled outside two groups of worm screws divided by single worm gear in its structure, also can be by two groups of independent worm screws groups of worm gears coupling out of the ordinary up and down, and two worm gear are incorporated into same axle person jointly up and down.
7, double-acting dynamic back clearance-eliminating driving system according to claim 1 can further install angular displacement detection device person additional at the associated drives displacement structure.
8, double-acting dynamic back clearance-eliminating driving system according to claim 1 except that being applied to rotary table mechanical angle displacement adjustment driving, should comprise the no back clearance bi-directional drive person of the angular displacement that is applied to other mechanisms or mechanical device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN94101718A CN1049722C (en) | 1994-02-21 | 1994-02-21 | Double acting dynamic backlash elimination drive system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN94101718A CN1049722C (en) | 1994-02-21 | 1994-02-21 | Double acting dynamic backlash elimination drive system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1107213A true CN1107213A (en) | 1995-08-23 |
| CN1049722C CN1049722C (en) | 2000-02-23 |
Family
ID=5030323
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN94101718A Expired - Fee Related CN1049722C (en) | 1994-02-21 | 1994-02-21 | Double acting dynamic backlash elimination drive system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1049722C (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2012152143A1 (en) * | 2011-05-06 | 2012-11-15 | 成都钟顺科技发展有限公司 | Adaptive rotary device for solar tracking and working method thereof |
| CN103068520A (en) * | 2010-08-13 | 2013-04-24 | 斗山英维高株式会社 | Apparatus for rotating a table of a machining tool |
| CN103662764A (en) * | 2013-11-27 | 2014-03-26 | 浙江大丰实业股份有限公司 | Reversing device |
| CN103878600A (en) * | 2014-03-26 | 2014-06-25 | 宜昌市致远新技术有限公司 | Double-worm anti-backlash static pressure full-closed-loop working table |
| CN104948672A (en) * | 2015-07-01 | 2015-09-30 | 王烽 | Gapless worm gear worm rod speed reducer |
| CN107005140A (en) * | 2014-12-04 | 2017-08-01 | 涡流有限合伙公司 | Transmission including eddy-current brake |
| CN108306450A (en) * | 2018-01-19 | 2018-07-20 | 源秩科技（上海）有限公司 | Line angle coupling driving mechanism |
| CN108945090A (en) * | 2018-07-17 | 2018-12-07 | 北京汽车股份有限公司 | Ameliorative way, device and the automobile of electric boosting steering system abnormal sound |
| CN109804179A (en) * | 2016-08-16 | 2019-05-24 | 路易斯·马里亚·安东内洛 | Backlash-controlled or zero-backlash gear reducers |
| CN117189838A (en) * | 2023-10-25 | 2023-12-08 | 欧拉姆阀门科技有限公司 | Intelligent multistage gear speed change execution device |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4685346A (en) * | 1984-03-13 | 1987-08-11 | Maxaxam Corporation | Power transmission system |
| US5090267A (en) * | 1990-11-21 | 1992-02-25 | Gramling James T | Indexing apparatus |
-
1994
- 1994-02-21 CN CN94101718A patent/CN1049722C/en not_active Expired - Fee Related
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| CN103068520A (en) * | 2010-08-13 | 2013-04-24 | 斗山英维高株式会社 | Apparatus for rotating a table of a machining tool |
| WO2012152143A1 (en) * | 2011-05-06 | 2012-11-15 | 成都钟顺科技发展有限公司 | Adaptive rotary device for solar tracking and working method thereof |
| CN103662764A (en) * | 2013-11-27 | 2014-03-26 | 浙江大丰实业股份有限公司 | Reversing device |
| CN103878600B (en) * | 2014-03-26 | 2016-08-24 | 宜昌市致远新技术有限公司 | Twin worm disappears gap static pressure closed-loop workbench |
| CN103878600A (en) * | 2014-03-26 | 2014-06-25 | 宜昌市致远新技术有限公司 | Double-worm anti-backlash static pressure full-closed-loop working table |
| CN107005140A (en) * | 2014-12-04 | 2017-08-01 | 涡流有限合伙公司 | Transmission including eddy-current brake |
| CN107005140B (en) * | 2014-12-04 | 2020-03-27 | 涡流有限合伙公司 | Transmission including eddy current braking |
| CN104948672A (en) * | 2015-07-01 | 2015-09-30 | 王烽 | Gapless worm gear worm rod speed reducer |
| CN109804179A (en) * | 2016-08-16 | 2019-05-24 | 路易斯·马里亚·安东内洛 | Backlash-controlled or zero-backlash gear reducers |
| CN108306450A (en) * | 2018-01-19 | 2018-07-20 | 源秩科技（上海）有限公司 | Line angle coupling driving mechanism |
| CN108306450B (en) * | 2018-01-19 | 2019-11-22 | 源秩科技（上海）有限公司 | Line angle coupling driving mechanism |
| CN108945090A (en) * | 2018-07-17 | 2018-12-07 | 北京汽车股份有限公司 | Ameliorative way, device and the automobile of electric boosting steering system abnormal sound |
| CN117189838A (en) * | 2023-10-25 | 2023-12-08 | 欧拉姆阀门科技有限公司 | Intelligent multistage gear speed change execution device |
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| Publication number | Publication date |
|---|---|
| CN1049722C (en) | 2000-02-23 |
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