CN118408024A - Gap error eliminating structure of double motors - Google Patents
Gap error eliminating structure of double motors Download PDFInfo
- Publication number
- CN118408024A CN118408024A CN202410685708.9A CN202410685708A CN118408024A CN 118408024 A CN118408024 A CN 118408024A CN 202410685708 A CN202410685708 A CN 202410685708A CN 118408024 A CN118408024 A CN 118408024A
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- Prior art keywords
- motor
- main
- auxiliary
- speed reducer
- shaft sleeve
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/12—Arrangements for adjusting or for taking-up backlash not provided for elsewhere
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
- H02K7/1163—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears where at least two gears have non-parallel axes without having orbital motion
- H02K7/1166—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears where at least two gears have non-parallel axes without having orbital motion comprising worm and worm-wheel
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/12—Arrangements for adjusting or for taking-up backlash not provided for elsewhere
- F16H2057/121—Arrangements for adjusting or for taking-up backlash not provided for elsewhere using parallel torque paths and means to twist the two path against each other
- F16H2057/122—Arrangements for adjusting or for taking-up backlash not provided for elsewhere using parallel torque paths and means to twist the two path against each other by using two independent drive sources, e.g. electric motors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/12—Arrangements for adjusting or for taking-up backlash not provided for elsewhere
- F16H2057/126—Self-adjusting during operation, e.g. by a spring
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Mechanical Engineering (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The invention discloses a double-motor clearance error eliminating structure, which relates to the technical field of mechanical transmission equipment and comprises a main motor, an auxiliary motor, a main speed reducer arranged on an output shaft of the main motor, a shaft sleeve arranged on an output shaft of the main speed reducer, an auxiliary speed reducer arranged on an output shaft of the auxiliary motor and a transmission assembly connected with the output shaft of the auxiliary speed reducer and the shaft sleeve in a transmission way, wherein the transmission assembly reduces the clearance error of the main speed reducer through the shaft sleeve, and the free end of the shaft sleeve protrudes out of the transmission assembly and is used for being connected with an external structure. The invention has reasonable structural design, low cost and stable work, is favorable for popularization and application of the manipulator, and applies torque to the shaft sleeve through the auxiliary motor via the auxiliary speed reducer and the transmission assembly, thereby reducing the clearance error of the main speed reducer.
Description
Technical Field
The invention relates to the technical field of mechanical transmission equipment, in particular to a double-motor gap error eliminating structure.
Background
With the development of society and the progress of science and technology, robot replacement has become a trend of social development in order to improve the efficiency of product processing and production, wherein the manipulator is popular with manufacturers due to high working efficiency and high precision. When the transmission of the manipulator adopts the harmonic speed reducer, the cycloidal pin gear speed reducer, the planetary speed reducer and the worm gear speed reducer, the positioning and transmission precision of the manipulator is high although the transmission clearance error is small, the harmonic speed reducer and the cycloidal pin gear speed reducer are high in price, so that the production cost and the maintenance cost of the manipulator are high, and a common manufacturer cannot bear the expensive price, so that the manipulator cannot be popularized and applied; when the transmission of the manipulator adopts a planetary reducer and a worm gear reducer, the cost of the manipulator is low, the output torque is large, but the transmission clearance between the planetary reducer and the worm gear reducer is large in error, larger error is easy to generate, the positioning and transmission precision of the manipulator are low, and the requirement of industrial production cannot be met.
Disclosure of Invention
The invention aims to provide a double-motor clearance error elimination structure which is reasonable in structural design, low in cost and stable in work and is beneficial to popularization and application of a manipulator.
In order to solve the technical problems, the invention adopts the following technical scheme:
The invention relates to a double-motor clearance error eliminating structure, which comprises a main motor, an auxiliary motor, a main speed reducer arranged on an output shaft of the main motor, a shaft sleeve arranged on the output shaft of the main speed reducer, an auxiliary speed reducer arranged on the output shaft of the auxiliary motor, and a transmission assembly connected with the output shaft of the auxiliary speed reducer and the shaft sleeve in a transmission way, wherein the main motor drives a swing arm to rotate through the main speed reducer and the shaft sleeve, the auxiliary motor provides torque for the shaft sleeve through the auxiliary speed reducer and the transmission assembly, and the torque acts on the output shaft of the main speed reducer through the shaft sleeve, so that tooth surfaces of gears in the main speed reducer are mutually abutted together under the action of certain pre-stress, the clearance error of the main speed reducer is further reduced, and the torque also assists the main motor to drive the swing arm to perform acceleration and deceleration rotation and positioning; the positive torque is assumed to be the torque direction provided by the auxiliary motor is the same as the torque direction of the main motor, and the reverse torque is assumed to be the reverse torque; in the acceleration stage of the main motor, when the rotation speed or the rotation acceleration of the main motor is smaller than a certain set value or smaller than a certain set value, the auxiliary motor applies forward torque to the shaft sleeve through the auxiliary speed reducer and the transmission assembly, and when the rotation speed or the rotation acceleration of the main motor is larger than a certain set value or larger than a certain set value, the auxiliary motor applies constant forward torque to the shaft sleeve through the auxiliary speed reducer and the transmission assembly to help the main motor accelerate or maintain high speed; in the main motor deceleration stage, when the main motor is decelerated and the rotation speed of the main motor is smaller than a certain set value, the auxiliary motor applies reverse torque to the shaft sleeve through the auxiliary decelerator and the transmission assembly to help the main motor decelerate, so that the main motor overcomes the inertia of a load; when the main motor stops working, the auxiliary motor applies constant reverse torque to the shaft sleeve through the auxiliary speed reducer and the transmission assembly, the reverse torque acts on the main speed reducer through the shaft sleeve, the transmission assembly reduces the clearance error of the main speed reducer through the shaft sleeve, and the free end of the shaft sleeve protrudes out of the transmission assembly and is used for being connected with the swing arm.
Further, the main speed reducer and the auxiliary speed reducer adopt a planetary speed reducer or a worm gear speed reducer.
Further, the transmission assembly comprises a main transmission wheel arranged on the shaft sleeve, an auxiliary transmission wheel arranged on the output shaft of the auxiliary speed reducer and a transmission belt wound on the main transmission wheel and the auxiliary transmission wheel, the main motor and the auxiliary motor are arranged in parallel, and the free end of the shaft sleeve protrudes out of the main transmission wheel.
Further, the transmission assembly comprises a main gear arranged on the shaft sleeve and an auxiliary gear arranged on an output shaft of the auxiliary speed reducer, the main gear is meshed with the auxiliary gear, and the free end of the shaft sleeve protrudes out of the main gear.
Further, the main speed reducer is provided with a mounting part, the mounting part is rectangular and is provided with a plurality of mounting holes, and the mounting holes are convenient for fixedly mounting the main speed reducer; the auxiliary speed reducer is provided with a fixing seat, the fixing seat is provided with a plurality of fixing holes, and the fixing holes are convenient for installing the fixing seat on an external structure.
Further, the device further comprises a first half axle-holding ring used for locking an output shaft of the main speed reducer on the axle sleeve, the axle sleeve is provided with a second half axle-holding ring matched with the first half axle-holding ring, the first half axle-holding ring is provided with a first threaded hole, the second half axle-holding ring is provided with a second threaded hole corresponding to the first threaded hole, the first half axle-holding ring and the second half axle-holding ring are fixedly connected through screws, the output shaft of the main speed reducer is locked on the second half axle-holding ring of the axle sleeve through the first half axle-holding ring, so that the axle sleeve is connected with the output shaft of the main speed reducer together, a gap between the axle sleeve and the output shaft of the main speed reducer is reduced, and therefore the rotation precision of the swing arm is improved.
Further, a third threaded hole for connection with an external structure is provided in the axial direction of the sleeve, and the third threaded hole facilitates detachable connection of the sleeve with the external structure.
Further, the main motor is a stepping motor or an alternating current servo motor so as to control the rotation position of the swing arm; the auxiliary motor is a DC brushless motor to provide torque to the shaft sleeve.
Further, the torque output by the main motor is different from the torque output by the auxiliary motor, and the torque output by the auxiliary motor is 10% -60% of the torque output by the main motor.
Further, the main motor and the auxiliary motor are electrically connected with a motor control system.
Compared with the prior art, the invention has the beneficial technical effects that:
When the double-motor clearance error eliminating structure is in actual use, the main motor drives the swing arm to rotate through the main speed reducer and the shaft sleeve, the auxiliary motor provides torque for the shaft sleeve through the auxiliary speed reducer and the transmission assembly, the torque acts on the output shaft of the main speed reducer through the shaft sleeve, tooth surfaces of gears in the main speed reducer are mutually abutted together under the action of certain pre-pressing force, so that the clearance error of the main speed reducer is reduced, the rotation precision of the main speed reducer is improved, the rotation and positioning precision of the swing arm are improved, and the torque also assists the main motor to drive the swing arm to accelerate and decelerate to rotate and position; the positive torque is assumed to be the torque direction provided by the auxiliary motor is the same as the torque direction of the main motor, and the reverse torque is assumed to be the reverse torque; in the acceleration stage of the main motor, when the rotation speed or the rotation acceleration of the main motor is smaller than a certain set value or smaller than a certain set value, the auxiliary motor applies forward torque to the shaft sleeve through the auxiliary speed reducer and the transmission assembly, and when the rotation speed or the rotation acceleration of the main motor is larger than a certain set value or larger than a certain set value, the auxiliary motor applies constant forward torque to the shaft sleeve through the auxiliary speed reducer and the transmission assembly to help the main motor accelerate or maintain high speed; in the main motor deceleration stage, when the main motor is decelerated and the rotation speed of the main motor is smaller than a certain set value, the auxiliary motor applies reverse torque to the shaft sleeve through the auxiliary decelerator and the transmission assembly to help the main motor decelerate, so that the main motor overcomes the inertia of a load; when the main motor stops working, the auxiliary motor applies constant reverse torque to the shaft sleeve through the auxiliary speed reducer and the transmission assembly, the reverse torque acts on the main speed reducer through the shaft sleeve, so that the clearance error of the main speed reducer is reduced, the rotation precision of the main speed reducer is improved, the auxiliary main motor drives the swing arm to accelerate and decelerate to rotate and position, the precision of the swing arm to rotate and position is further improved, the main speed reducer and the auxiliary speed reducer can both adopt a planetary speed reducer or a worm gear speed reducer, the cost of the planetary speed reducer or the worm gear speed reducer is low, and the use and manufacturing cost is greatly reduced.
The double-motor gap error eliminating structure has reasonable structural design, low cost, stable work and high precision, and is favorable for popularization and application of the manipulator.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic perspective view of a dual motor gap error elimination structure according to embodiment 1 of the present invention;
fig. 2 is an exploded view of the dual motor gap error elimination structure according to embodiment 1 of the present invention;
fig. 3 is a schematic perspective view of a dual motor gap error elimination structure according to embodiment 2 of the present invention.
Reference numerals illustrate: 1. a main motor; 2. an auxiliary motor; 3. a main speed reducer; 31. a mounting part; 311. a mounting hole; 4. a shaft sleeve; 41. a second semi-embracing collar; 411. a second threaded hole; 42. a third threaded hole; 5. an auxiliary speed reducer; 51. a fixing seat; 511. a fixing hole; 6. a transmission assembly; 61. a main driving wheel; 62. an auxiliary driving wheel; 63. a transmission belt; 64. a main gear; 65. an auxiliary gear; 7. a first semi-embracing collar; 71. a first threaded bore.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
In the description of the present invention, it should be understood that the terms "length," "width," "inner," "outer," and the like indicate an orientation or a positional relationship based on that shown in the drawings, and are merely for convenience of description and simplification of the description, and do not indicate or imply that the apparatus or element in question must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
The following describes in detail the technical solutions provided by the embodiments of the present invention with reference to the accompanying drawings.
Example 1
As shown in fig. 1 and 2, the dual-motor gap error elimination structure of the embodiment 1 of the present invention includes a main motor 1, an auxiliary motor 2, a main speed reducer 3 mounted on an output shaft of the main motor 1, a shaft sleeve 4 mounted on an output shaft of the main speed reducer 3, an auxiliary speed reducer 5 mounted on an output shaft of the auxiliary motor 2, and a transmission assembly 6 drivingly connected to the output shaft of the auxiliary speed reducer 5 and the shaft sleeve 4, wherein the transmission assembly 6 reduces gap errors of the main speed reducer 3 via the shaft sleeve 4, and a free end of the shaft sleeve 4 protrudes out of the transmission assembly 6 and is used for external structural connection; preferably, the free end of the shaft sleeve 4 is connected with the swing arm, and the main motor 1 and the auxiliary motor 2 are electrically connected with a motor control system.
In actual use, the double-motor clearance error eliminating structure of the embodiment 1 drives the swing arm to rotate through the main speed reducer 3 and the shaft sleeve 4, the auxiliary motor 2 provides torque for the shaft sleeve 4 through the auxiliary speed reducer 5 and the transmission assembly 6, the torque acts on the output shaft of the main speed reducer 3 through the shaft sleeve 4, tooth surfaces of all gears in the main speed reducer 3 are mutually abutted together under the action of certain pre-pressing force, the clearance error of the main speed reducer 3 is further reduced, the rotation precision of the main speed reducer 3 is improved, the rotation and positioning precision of the swing arm is further improved, and the torque also assists the main motor 1 to drive the swing arm to accelerate and decelerate; assuming that the forward torque is the torque provided by the auxiliary motor 2 in the same direction as the torque provided by the main motor 1, and vice versa; in the acceleration stage of the main motor 1, when the rotation speed of the main motor 1 is smaller than a certain set value or the rotation acceleration is smaller than a certain set value, the auxiliary motor 2 applies forward torque to the shaft sleeve 4 through the auxiliary speed reducer 5 and the transmission assembly 6, and when the rotation speed of the main motor 1 is larger than a certain set value or the rotation acceleration is larger than a certain set value, the auxiliary motor 2 applies constant forward torque to the shaft sleeve 4 through the auxiliary speed reducer 5 and the transmission assembly 6 to help the main motor 1 accelerate or maintain high speed; in the deceleration stage of the main motor 1, when the main motor 1 is decelerated and the rotation speed of the main motor 1 is smaller than a certain set value, the auxiliary motor 2 applies reverse torque to the shaft sleeve 4 through the auxiliary decelerator 5 and the transmission assembly 6 to help the main motor 1 decelerate, so that the main motor 1 overcomes the inertia of a load; when the main motor 1 stops working, the auxiliary motor 2 applies constant reverse torque to the shaft sleeve 4 through the auxiliary speed reducer 5 and the transmission assembly 6, the reverse torque acts on the main speed reducer 3 through the shaft sleeve 4, so that the clearance error of the main speed reducer 3 is reduced, the rotation precision of the main speed reducer 3 is improved, the auxiliary main motor 1 drives the swing arm to accelerate and decelerate to rotate and position, the precision of swing arm rotation and positioning is further improved, the main speed reducer 3 and the auxiliary speed reducer 5 can both adopt a planetary speed reducer or a worm gear speed reducer, the cost of the planetary speed reducer or the worm gear speed reducer is low, and the use and manufacturing cost of the invention are greatly reduced. The double-motor gap error eliminating structure has reasonable structural design, low cost, stable work and high precision, and is favorable for popularization and application of the manipulator.
In this embodiment 1, the transmission assembly 6 includes a main transmission wheel 61 mounted on the shaft sleeve 4, an auxiliary transmission wheel 62 mounted on the output shaft of the auxiliary speed reducer 5, and a transmission belt 63 wound around the main transmission wheel 61 and the auxiliary transmission wheel 62, the main motor 1 and the auxiliary motor 2 are arranged in parallel, and the free end of the shaft sleeve 4 protrudes outside the main transmission wheel 61; the main driving wheel 61, the auxiliary driving wheel 62 and the driving belt 63 are used for driving, so that the driving stability of the driving assembly 6 is ensured, the driving precision of the driving assembly 6 is improved, and the clearance error of the main reducer 3 is reduced.
In this embodiment 1, the main reducer 3 is provided with the installation department 31, and the installation department 31 is the rectangle, and installation department 31 is provided with a plurality of mounting holes 311, and as the preferred quantity of mounting hole 311 is four, and four mounting holes 311 set up respectively in four corners departments of installation department 31, and the mounting hole 311 is convenient for carry out fixed mounting to the main reducer 3, guarantees the stability of main reducer 3 work.
In this embodiment 1, the auxiliary speed reducer 5 is provided with a fixing base 51, the fixing base 51 is convenient for fixedly mounting the auxiliary speed reducer 5, the fixing base 51 is provided with a plurality of fixing holes 511, and the plurality of fixing holes 511 are convenient for the fixing base 51 to be mounted on an external structure.
In this embodiment 1, the dual-motor backlash error elimination structure further includes a first half-clasping collar 7 for locking the output shaft of the final drive 3 to the shaft sleeve 4, the shaft sleeve 4 is provided with a second half-clasping collar 41 that is matched with the first half-clasping collar 7, the first half-clasping collar 7 is provided with a first threaded hole 71, the second half-clasping collar 41 is provided with a second threaded hole 411 that is arranged corresponding to the first threaded hole 71, and the first half-clasping collar 7 and the second half-clasping collar 41 are fixedly connected via screws. The output shaft of the main speed reducer 3 is locked to the second half-holding shaft collar 41 of the shaft sleeve 4 through the first half-holding shaft collar 7, so that the shaft sleeve 4 and the output shaft of the main speed reducer 3 are stably connected together, a gap between the shaft sleeve 4 and the output shaft of the main speed reducer 3 can be reduced, and further the rotation precision of the swing arm is improved.
In this embodiment 1, the axial direction of the boss 4 is provided with a third screw hole 42 for connection with an external structure, and the third screw hole 42 facilitates the detachable connection of the boss 4 with the external structure.
In this embodiment 1, the main motor 1 is preferably a stepper motor or an ac servo motor, mainly controlling the rotation position of the swing arm, the auxiliary motor 2 is preferably a dc motor, and the auxiliary motor 2 is preferably a dc brushless motor, mainly providing torque to the shaft sleeve 4, and reducing gap errors when providing auxiliary force and positioning for the main motor 1; when in use, the torque output by the main motor 1 is different from the torque output by the auxiliary motor 2, and the torque output by the auxiliary motor 2 is approximately 10% -60% of that of the main motor 1.
Example 2
As shown in fig. 3, this embodiment 2 differs from embodiment 1 in that: the transmission assembly 6 comprises a main gear 64 arranged on the shaft sleeve 4 and an auxiliary gear 65 arranged on the output shaft of the auxiliary speed reducer 5, the main gear 64 is meshed with the auxiliary gear 65, and the free end of the shaft sleeve 4 protrudes out of the main gear 64; the main gear 64 and the auxiliary gear 65 are meshed for transmission, so that the transmission assembly 6 is compact in structure and high in transmission precision, and the clearance error of the main speed reducer 3 is reduced.
All technical features in the embodiment can be freely combined according to actual needs.
The above embodiments are only illustrative of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention, and various modifications and improvements made by those skilled in the art to the technical solutions of the present invention should fall within the protection scope defined by the claims of the present invention without departing from the design spirit of the present invention.
Claims (10)
1. The utility model provides a two motor clearance error structures that disappears which characterized in that: the main motor drives the swing arm to rotate through the main reducer and the shaft sleeve, the auxiliary motor provides torque to the shaft sleeve through the auxiliary reducer and the transmission assembly, the torque acts on the output shaft of the main reducer through the shaft sleeve, tooth surfaces of all gears in the main reducer are mutually abutted together under the action of certain pre-compression force, so that gap errors of the main reducer are reduced, and the torque also assists the main motor to drive the swing arm to perform acceleration and deceleration rotation and positioning; the positive torque is assumed to be the torque direction provided by the auxiliary motor is the same as the torque direction of the main motor, and the reverse torque is assumed to be the reverse torque; in the acceleration stage of the main motor, when the rotation speed or the rotation acceleration of the main motor is smaller than a certain set value or smaller than a certain set value, the auxiliary motor applies forward torque to the shaft sleeve through the auxiliary speed reducer and the transmission assembly, and when the rotation speed or the rotation acceleration of the main motor is larger than a certain set value or larger than a certain set value, the auxiliary motor applies constant forward torque to the shaft sleeve through the auxiliary speed reducer and the transmission assembly to help the main motor accelerate or maintain high speed; in the main motor deceleration stage, when the main motor is decelerated and the rotation speed of the main motor is smaller than a certain set value, the auxiliary motor applies reverse torque to the shaft sleeve through the auxiliary decelerator and the transmission assembly to help the main motor decelerate, so that the main motor overcomes the inertia of a load; when the main motor stops working, the auxiliary motor applies constant reverse torque to the shaft sleeve through the auxiliary speed reducer and the transmission assembly, the reverse torque acts on the main speed reducer through the shaft sleeve, the transmission assembly reduces the clearance error of the main speed reducer through the shaft sleeve, and the free end of the shaft sleeve protrudes out of the transmission assembly and is used for being connected with the swing arm.
2. The dual motor backlash error structure of claim 1, wherein: the main speed reducer and the auxiliary speed reducer adopt a planetary speed reducer or a worm gear speed reducer.
3. The dual motor backlash error structure of claim 1, wherein: the transmission assembly comprises a main transmission wheel arranged on the shaft sleeve, an auxiliary transmission wheel arranged on the output shaft of the auxiliary speed reducer and a transmission belt wound on the main transmission wheel and the auxiliary transmission wheel, wherein the main motor and the auxiliary motor are arranged in parallel, and the free end of the shaft sleeve protrudes out of the main transmission wheel.
4. The dual motor backlash error structure of claim 1, wherein: the transmission assembly comprises a main gear arranged on the shaft sleeve and an auxiliary gear arranged on an output shaft of the auxiliary speed reducer, the main gear is meshed with the auxiliary gear, and the free end of the shaft sleeve protrudes out of the main gear.
5. The dual motor backlash error structure of claim 1, wherein: the main speed reducer is provided with a mounting part which is rectangular and provided with a plurality of mounting holes, and the mounting holes are convenient for fixedly mounting the main speed reducer; the auxiliary speed reducer is provided with a fixing seat, the fixing seat is provided with a plurality of fixing holes, and the fixing holes are convenient for installing the fixing seat on an external structure.
6. The dual motor backlash error structure of claim 1, wherein: the novel swing arm type main speed reducer is characterized by further comprising a first half axle-holding ring used for locking an output shaft of the main speed reducer to a shaft sleeve, the shaft sleeve is provided with a second half axle-holding ring matched with the first half axle-holding ring, the first half axle-holding ring is provided with a first threaded hole, the second half axle-holding ring is provided with a second threaded hole corresponding to the first threaded hole, the first half axle-holding ring and the second half axle-holding ring are fixedly connected through screws, the output shaft of the main speed reducer is locked to the second half axle-holding ring of the shaft sleeve through the first half axle-holding ring, so that the shaft sleeve is connected with the output shaft of the main speed reducer, the shaft sleeve is reduced with a gap between the output shaft of the main speed reducer, and therefore swing arm rotating precision is improved.
7. The dual motor backlash error structure of claim 1, wherein: the axial of axle sleeve is provided with the third screw hole that is used for being connected with outside structure, the third screw hole is convenient for the axle sleeve is connected with outside structure detachably.
8. The dual motor backlash error structure of claim 1, wherein: the main motor is a stepping motor or an alternating current servo motor so as to control the rotation position of the swing arm; the auxiliary motor is a DC brushless motor to provide torque to the shaft sleeve.
9. The dual motor backlash error structure of claim 1, wherein: the torque output by the auxiliary motor is 10% -60% of the torque output by the main motor.
10. A dual motor backlash error structure as claimed in any one of claims 1 to 9, characterized in that: the main motor and the auxiliary motor are electrically connected with a motor control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410685708.9A CN118408024A (en) | 2018-06-19 | 2018-06-19 | Gap error eliminating structure of double motors |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810630342.XA CN108757911A (en) | 2018-06-19 | 2018-06-19 | A kind of bi-motor disappears gap error structure |
| CN202410685708.9A CN118408024A (en) | 2018-06-19 | 2018-06-19 | Gap error eliminating structure of double motors |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810630342.XA Division CN108757911A (en) | 2018-06-19 | 2018-06-19 | A kind of bi-motor disappears gap error structure |
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| CN118408024A true CN118408024A (en) | 2024-07-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202410685708.9A Pending CN118408024A (en) | 2018-06-19 | 2018-06-19 | Gap error eliminating structure of double motors |
| CN201810630342.XA Pending CN108757911A (en) | 2018-06-19 | 2018-06-19 | A kind of bi-motor disappears gap error structure |
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| CN201810630342.XA Pending CN108757911A (en) | 2018-06-19 | 2018-06-19 | A kind of bi-motor disappears gap error structure |
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| CN109839268B (en) * | 2019-02-20 | 2021-01-12 | 河北工业大学 | A test platform for multi-gap gear rotor system |
| CN114824802A (en) * | 2022-03-31 | 2022-07-29 | 京信通信技术(广州)有限公司 | Driving mechanism and frequency-selecting phase-shifting device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08308284A (en) * | 1995-04-28 | 1996-11-22 | Nakamichi Corp | Driving circuit for composite motor |
| JP4871644B2 (en) * | 2006-05-23 | 2012-02-08 | 株式会社Ｔａｉｙｏ | Backlash removing method and apparatus |
| CN201185401Y (en) * | 2008-03-19 | 2009-01-21 | 齐齐哈尔二机床(集团)有限责任公司 | Gap-removing apparatus with double electric machines |
| CN201953972U (en) * | 2010-12-23 | 2011-08-31 | 江苏新瑞重工科技有限公司 | Dual-motor electrical anti-backlash mechanism |
| CN202165468U (en) * | 2011-06-20 | 2012-03-14 | 浙江晶星齿轮电机有限公司 | Motor shaft with mandrel gear |
| US8683891B2 (en) * | 2012-05-22 | 2014-04-01 | Johnson JAN | Method for controlling back clearance of a motion transmission apparatus |
| CN103424219B (en) * | 2013-08-20 | 2015-08-19 | 中国南方航空工业(集团)有限公司 | Dynamometer system |
| CN204784249U (en) * | 2015-06-04 | 2015-11-18 | 米亚斯物流设备（昆山）有限公司 | Novel seize transmission structure |
| CN105626842B (en) * | 2016-03-18 | 2018-05-29 | 广州阳普医疗科技股份有限公司 | Eliminate backlash subassembly |
| CN205817848U (en) * | 2016-06-07 | 2016-12-21 | 昆明理工大学 | A kind of four-degree-of-freedom SCARA robot |
| CN205811746U (en) * | 2016-07-19 | 2016-12-14 | 东阳市东政电机有限公司 | A kind of cleaning machine reducing motor |
| CN206406056U (en) * | 2017-01-10 | 2017-08-15 | 江门市蚂蚁机器人有限公司 | Speed reducing driving device and drive system based on Dual-Servo Motor |
| CN208311433U (en) * | 2018-06-19 | 2019-01-01 | 东莞市东启智能设备有限公司 | A double-motor structure for eliminating backlash error |
-
2018
- 2018-06-19 CN CN202410685708.9A patent/CN118408024A/en active Pending
- 2018-06-19 CN CN201810630342.XA patent/CN108757911A/en active Pending
Also Published As
| Publication number | Publication date |
|---|---|
| CN108757911A (en) | 2018-11-06 |
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