Method for improving transmission precision of differential planetary roller screw actuator and synchronizing device

A planetary roller and synchronous device technology, which is applied in the field of precision transmission, can solve the problems of control system oscillation and lack of real-time performance, and achieve the effects of preventing grease leakage, simplifying the difficulty of displacement control, and improving transmission accuracy

Active Publication Date: 2020-10-16
BEIJING RES INST OF PRECISE MECHATRONICS CONTROLS
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Relying on sensor displacement feedback to compensate its displacement error

Method used

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  • Method for improving transmission precision of differential planetary roller screw actuator and synchronizing device
  • Method for improving transmission precision of differential planetary roller screw actuator and synchronizing device
  • Method for improving transmission precision of differential planetary roller screw actuator and synchronizing device

Examples

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Example Embodiment

[0031] The following examples and attachments are combined Figure 1-4 The present invention is further explained.

[0032] P=P s (1-ω c / ω s ) Is the differential planetary roller screw transmission formula, where P is the lead of the screw pair, Ps is the lead of the screw 20, ω s Is the screw speed, ω c For the cage speed, it can be seen from the formula that ω c s ,(1-ω c / ω s ) c Closer to ω s , The smaller the lead of the screw pair, that is, the differential planetary roller screw can break away from the constraint of the screw pitch and realize the ultra-small lead. But when ω c When changing, the lead of the screw pair also changes, which increases the difficulty of controlling the actuator. The above formula may also be effective as P=P s (1-θ c / θ s ), θ c / θ s It is the ratio of the angle of the cage to the angle of the screw. This application establishes the lead P and θ c To ensure that the P value is constant during operation, thereby improving the transmission ac...

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Abstract

The invention relates to a method for improving the transmission precision of a differential planetary roller screw actuator and a synchronizing device. The method is characterized in that the constant lead of a lead screw in operation is ensured by establishing a fixed transmission ratio value of the lead of the lead screw and the rotation angle of a holder, so that the transmission precision ofthe actuator is improved; a set of ordinary gear train is additionally arranged between an actuator guide block and the lead screw holder, the gear train is fixed to the end face of a nut, the lower end face of a guide block is machined to be in a rack form and matched with the gear train, linear motion of the nut is converted into rotary motion of the lead screw holder, and therefore the rotationangle of the holder and linear displacement of the nut have the only determined relation.

Description

Technical field [0001] The invention belongs to the field of precision transmission, and designs a method and a synchronization device for improving the transmission accuracy of a differential planetary roller screw actuator. Background technique [0002] The lead of the differential planetary roller screw pair is determined by the lead of the screw and the ratio of the speed of the planet carrier to the speed of the screw. Since there is no strong constraint between the rotation of the screw and the rotation of the roller, the speed of the planet carrier is The speed ratio is not a constant value, and will change with the change of operating conditions, resulting in a change in the lead of the lead screw. [0003] During the operation of the screw pair, the total transmission error is the product of the lead error and the number of rotations of the screw. The cumulative error within a period of time can reach several millimeters. Therefore, the actuators using differential screw ...

Claims

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Application Information

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IPC IPC(8): F16H37/12F16H25/22
CPCF16H37/124F16H25/2252
Inventor 徐强黄玉平郑继贵侍威张兆晶王水铭
Owner BEIJING RES INST OF PRECISE MECHATRONICS CONTROLS
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