Dual-motor drive gear reducer without backlash and non-linear friction

Abstract

The invention discloses a dual-motor drive backlash-free and non-linear friction gear reducer and relates to the technical field of precision machines and electromechanics. The invention aims to solve the problem that the servo accuracy is caused to be low by the fact that motors require to stall and the disturbance of non-linear friction exists due to the fact that the existing motors are in a reverse state by adopting a traditional dual-motor anti-backlash method. The dual-motor drive backlash-free and non-linear friction gear reducer comprises two motors, two sets of cylindrical gear reducing assemblies and a set of bevel gear planetary gear trains. The output torque of each motor is amplified, the output rotating speed of each motor is reduced and is transmitted onto the planetary gear trains by the cylindrical gear reducing assemblies; two central gears in the planetary gear trains rotate in opposite directions, and are used for jointly driving planetary gears to rotate. When the two central gears are equal in rotating speed, the rotating speed of an output shaft fixedly connected with a planetary carrier is zero, and when the two central gears are unequal in rotating speed, the rotating speed of the output shaft is 1 / 2 of the rotating speed difference of the two central gears, and the direction of the output shaft is the same as that of the central gear with the higher rotating speed. According to the dual-motor drive backlash-free and non-linear friction gear reducer disclosed by the invention, the linearity of a drive train is improved, and therefore, the accuracy of servo systems of the motors is improved.

Description

technical field [0001] The invention relates to the fields of precision machinery and electromechanics, in particular to a gear reducer driven by double motors without backlash and non-linear friction. Background technique [0002] In the high-precision motor servo system, the backlash of the gear reducer used for transmission will cause backlash during the commutation, resulting in a series of problems such as impact and fluctuation that affect the servo accuracy. The traditional method is to eliminate the gear backlash by using anti-backlash gears and pre-tightening mechanisms, but the anti-backlash and pre-tightening mechanisms tend to loosen when the motor frequently changes direction, making it difficult to ensure dynamic servo accuracy. The existing patent name is "a dual-motor drive anti-backlash device and anti-backlash method", and the patent application number is 201010185282.9, which adopts the form of dual-motor drive to realize the dynamic elimination of gear ba...

AI Technical Summary

Problems solved by technology

[0003] In order to solve the problem of low servo accuracy due to the fact that one of the motors is in a reverse state, the motor is blocked, and there is nonlinear friction disturbance in the existing dual-motor backlash elimination method, the present invention provides a dual-motor Drives gear reducers without backlash and non-linear friction

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