A method and synchronization device for improving the transmission accuracy of a differential planetary roller screw actuator

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 expanding the scope of use

CN111779811BActive Publication Date: 2022-05-24BEIJING RES INST OF PRECISE MECHATRONICS CONTROLS
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Publication Date
2022-05-24

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Abstract

The invention relates to a method and a synchronizing device for improving the transmission accuracy of a differential planetary roller screw actuator. By establishing a fixed transmission ratio between the lead of the screw and the rotation angle of the cage, the lead of the screw is kept constant during operation. To further improve the transmission accuracy of the actuator, a set of fixed-axis gear train is added between the guide block of the actuator and the screw cage. With the above-mentioned gear train, the linear motion of the nut is converted into the rotational motion of the screw cage, so that there is a unique relationship between the rotation angle of the cage and the linear displacement of the nut.
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Description

technical field

[0001] The invention belongs to the field of precision transmission, and designs a method and a synchronizing device for improving the transmission precision 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 rotational speed of the planetary carrier to the rotational speed of the screw. Since there is no strong constraint between the rotational motion of the screw and the rotational motion of the roller, the rotational speed of the planetary carrier is proportional to the rotational speed of the screw. The speed ratio is not a constant value, and will change with the change of operating conditions, resulting in changes in the lead of the screw pair.

[0003] During the operation of the lead screw pair, the total transmission error is the product of the lead error and the number of revolutions of the lead screw, an...

Examples

Embodiment Construction

[0031] Below in conjunction with embodiment and appendix Figure 1-4 The present invention is further elaborated.

[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 is the cage speed, it can be seen from the formula, 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 be freed from the constraint of the screw pitch and achieve ultra-small lead. But when ω c When changing, the lead of the screw pair also changes, which increases the control difficulty of the actuator. The above formula may also be valid as P=P s (1-θ c / θ s ), θ c / θ s It is the ratio of the cage rotation angle to the screw rotation angle. This application establishes the lead P and θ by establishing c The fixed transmission ratio value to ensure that the P value is constant du...