A synchronous, asynchronous, differential drive device

Abstract

The present invention belongs to the field of mechanical control, and provides a synchronous, asynchronous, and differential drive device, including a long straight main drive shaft, two speed adjustment mechanisms are connected to the two ends of the main drive shaft, one end of which is a speed adjustment mechanism A, and the speed adjustment mechanism A is installed with a planetary reducer A with a cylindrical shell on one side of the end surface of the main drive shaft, and the input end of the planetary reducer A is connected to the main drive shaft through a coupling A, and the other end of the main drive shaft is a speed adjustment mechanism B, which is exactly symmetrically opposite to the speed adjustment mechanism A, and the speed adjustment mechanism B is installed with a planetary reducer B with a cylindrical shell on one side of the end surface of the main drive shaft, and the input end of the planetary reducer B is connected to the main drive shaft through a coupling B. The present invention has a clever structure, is easy to implement, is convenient to control, and can accurately realize synchronous, asynchronous, and differential drive.

Description

Technical Field

[0001] The invention belongs to the field of mechanical control, and in particular relates to a synchronous, asynchronous, and differential drive device. Background Art

[0002] Due to the production process requirements, a mechanism that can achieve the following actions is now required, such as Figure 1 As shown in the figure: two tracks are installed horizontally on the ground at the same height. Each track has a platform that can move along the track, which is pulled by an external synchronous belt (chain). The synchronous belt (chain) is driven by a motor and can move along the track. A long strip product is horizontally mounted on the track, and both ends are mounted on the moving platform of the track. Due to the particularity of the product, the mass (m) of the two ends of the long strip product is very different.

[0003] The mechanism needs to complete the following actions: the two mobile platforms need to be completely synchronized, driving the product to move from position I to position II, where the displacement (s) and speed (v) must be consistent at the same time. After reaching position II, the two platforms will separate synchronously and move to their respective positions III (III').

[0004] Since the loads of the two platforms are very different, and from s=vt (displacement, speed, time), v=at (speed, acceleration, time), F=ma (driving force, mass, acceleration), f=μmg (friction, friction coefficient, gravity), if dual motors are used to drive the two mobile platforms separately, it is very difficult to control them to ensure both the displacement and speed consistency. If a single motor is used, the movement from position II to position III cannot be achieved. Summary of the invention

[0005] The purpose of the present invention is to overcome the deficiencies in the above-mentioned prior art and to provide a synchronous, asynchronous and differential drive device which has an ingenious structure, is easy to implement and convenient to control, and can accurately realize synchronous, asynchronous and differential drive.

[0006] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a synchronous, asynchronous, differential drive device, including a long straight main drive shaft, two speed adjustment mechanisms are connected to both ends of the main drive shaft, one end of which is a speed adjustment mechanism A, and the speed adjustment mechanism A is installed with a planetary reducer A with a cylindrical shell on one side of the end surface of the main drive shaft, the axial direction of the planetary reducer A is in the same straight line with the axial direction of the main drive shaft, the input end of the planetary reducer A is connected to the main drive shaft through a coupling A, and can transmit power, and the other end of the main drive shaft is a speed adjustment mechanism B, which is exactly symmetrically opposite to the speed adjustment mechanism A, and the speed adjustment mechanism B is installed with a planetary reducer B with a cylindrical shell on one side of the end surface of the main drive shaft, the axial direction of the planetary reducer B is in the same straight line with the axial direction of the main drive shaft, the input end of the planetary reducer B is connected to the main drive shaft through a coupling B, and can transmit power.

[0007] In the above technical solution, the main drive shaft is installed horizontally, and its axial position determines the central axis position of the entire drive device. There are two bearings C on the shoulders on both sides of the main drive shaft, and each bearing C is installed on the machine body through a bearing seat C; a synchronous wheel C is installed in the middle position of the main drive shaft, and the synchronous wheel C is fixedly connected to the main drive shaft and can transmit power. A main motor is installed on the side parallel to the main drive shaft, and a main drive synchronous wheel is installed on the main shaft of the main motor. The main drive synchronous wheel and the synchronous wheel C are in the same plane and are connected through a main synchronous belt. A main brake is installed on the shaft of the main motor.

[0008] In the above technical solution, a synchronous wheel A is sleeved in the middle of the shell of the planetary reducer A, and the synchronous wheel A is fixedly connected to the shell of the planetary reducer A and can transmit power. Two bearings A are installed at both ends of the shell of the planetary reducer A, and each bearing A is installed on the body through a bearing seat A; a motor A is installed on the side parallel to the axial direction of the planetary reducer A, and a driving synchronous wheel A is installed on the main shaft of the motor A. The driving synchronous wheel A and the synchronous wheel A are in the same plane and are connected by a synchronous belt A, and a brake A is installed on the shaft of the motor A.

[0009] In the above technical solution, a synchronous wheel B is sleeved in the middle of the shell of the planetary reducer B, the synchronous wheel B is connected and fixed to the shell of the planetary reducer B, and can transmit power. Two bearings B are installed at both ends of the shell of the planetary reducer B, and each bearing B is installed on the body through a bearing seat B; a motor B is installed on the side parallel to the axial direction of the planetary reducer B, and a driving synchronous wheel B is installed on the main shaft of the motor B. The driving synchronous wheel B and the synchronous wheel B are in the same plane and are connected by a synchronous belt B. A brake B is installed on the shaft of the motor B.

[0010] The synchronous, asynchronous and differential driving device of the present invention has an ingenious structure, is easy to implement and convenient to control, and can accurately realize synchronous, asynchronous and differential driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 Schematic diagram of the mechanisms and equipment required for the production process.

[0012] Among them: 1. Mobile platform, 2. Product, 3. Track.

[0013] Figure 2 This is a schematic diagram of a planetary reducer.

[0014] Among them: 1. Housing, 2. Internal gear, 3. Input end, 4. Output end.

[0015] Figure 3 This is a schematic diagram of the structure of the planetary reducer used in the present invention.

[0016] Figure 4 It is a schematic diagram of the synchronous, asynchronous and differential drive device of the present invention.

[0017] Among them: 1. Bearing seat A, 2. Planetary reducer A, 3. Synchronous wheel A, 4. Bearing A, 5. Coupling A, 6. Main drive shaft, 7. Bearing seat C, 8. Bearing C, 9. Synchronous wheel C, 10. Coupling B, 11. Bearing B, 12. Synchronous wheel B, 13 Planetary reducer B, 14. Bearing seat B, 15. Synchronous belt A, 16. Drive synchronous wheel A, 17. Motor A, 18. Brake A, 19. Main synchronous belt, 20. Main drive synchronous wheel, 21. Main motor, 22. Main brake, 23. Synchronous belt B, 24. Drive synchronous wheel B, 25. Motor B, 26. Brake B. DETAILED DESCRIPTION

[0018] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific implementation disclosed below.

[0019] It should be noted that when an element is referred to as being "fixed" to another element, it may be directly on the other element or there may be an intermediate element. When an element is considered to be "connected" to another element, it may be directly connected to the other element or there may be an intermediate element at the same time.

[0020] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0021] like Figure 2 As shown, the schematic diagram of the planetary reducer: Usually, the planetary reducer housing is fixed to the machine body. When the motor drives the input end to rotate, the output end will also rotate, and its internal gear structure is not considered for the time being.

[0022] Due to the particularity of the planetary reducer, one of the input end, output end, and housing can be fixed, and the other two can be used as input and output.

[0023] Assume: Under normal circumstances, the planetary reducer housing is fixed to the machine body. When the motor drives the input end to rotate, the output end will also rotate. Its reduction ratio is i, and there is the following rule:

[0024] Serial number Installation and Fixing Power input Power Output Reduction ratio Direction of rotation Case 1 shell Input Output i Same direction Case 2 Input shell Output i / (i-1) Same direction Case 3 Output Input shell i-1 Reverse

[0025] Among them, there is a planetary reducer, such as Figure 3 As shown, its input end and output end are both shafts, and its shell is a cylinder. These characteristics are used in the present invention to achieve some functions: both synchronous driving and separate driving.

[0026] like Figure 4 As shown, an embodiment of the present invention provides a synchronous, asynchronous, and differential drive device, comprising the following parts:

[0027] Main drive part: There is a long straight main drive shaft 6, which is installed horizontally with the equipment. Its axial position determines the central axis position of the entire drive device. There are two bearings C8 on the shoulders on both sides of the main drive shaft 6 to ensure the positioning and rotation of the main drive shaft 6. Each bearing C8 is installed on the machine body through the bearing seat C7.

[0028] A synchronous wheel C9 is installed in the middle of the main drive shaft 6, which is connected and fixed to the main drive shaft and can transmit power. A main motor 21 is installed on the side parallel to the main drive shaft, and a main drive synchronous wheel 20 is installed on the main shaft of the main motor 21. The main drive synchronous wheel 20 and the synchronous wheel C9 are in the same plane and are connected through the main synchronous belt 19. A main brake 22 is installed on the shaft of the main motor 21.

[0029] Two speed regulating mechanisms are connected to both ends of the main drive shaft 6, and the structures thereof are symmetrical, and they are the main mechanisms for realizing synchronous and differential motion.

[0030] Speed ​​regulating mechanism A end: A planetary reducer A2 with a cylindrical housing is installed on one side of the end surface of the main drive shaft 6. The axial direction of the planetary reducer A2 and the axial direction of the main drive shaft are in the same straight line. The input end of the planetary reducer A2 is connected to the main drive shaft 6 through a coupling A5 and can transmit power.

[0031] A synchronous wheel A3 is mounted in the middle of the shell of the planetary reducer A. The synchronous wheel A3 is connected and fixed to the shell of the planetary reducer A and can transmit power. Two bearings A4 are installed at both ends of the shell of the planetary reducer A to ensure the positioning and rotation of the shell of the planetary reducer A. Each bearing A4 is installed on the body through the bearing seat A1.

[0032] A motor A17 is installed on the side parallel to the axis of the planetary reducer A. A driving synchronous wheel A16 is installed on the main shaft of the motor A17. The driving synchronous wheel A16 is in the same plane as the synchronous wheel A3 and is connected by a synchronous belt A15. A brake A18 is installed on the shaft of the motor A17.

[0033] End B of the speed regulating mechanism: It is symmetrical and opposite to the speed regulating mechanism A: a planetary reducer B13 with a cylindrical shell is installed on one side of the end surface of the main drive shaft 6. The axial direction of the planetary reducer B and the axial direction of the main drive shaft are on the same straight line. The input end of the planetary reducer B is connected to the main drive shaft through a coupling B10 and can transmit power.

[0034] A synchronous wheel B12 is sleeved in the middle of the shell of the planetary reducer B. The synchronous wheel B12 is connected and fixed to the shell of the planetary reducer B and can transmit power. Two bearings B11 are installed at both ends of the shell of the planetary reducer B to ensure the positioning and rotation of the shell of the planetary reducer B. Each bearing B11 is installed on the body through a bearing seat B14.

[0035] A motor B25 is installed on the side parallel to the axis of the planetary reducer B. A driving synchronous wheel B24 is installed on the main shaft of the motor B25. The driving synchronous wheel B24 is in the same plane as the synchronous wheel B12 and is connected by a synchronous belt B23. A brake B26 is installed on the shaft of the motor B25.

[0036] The models, parameters, specifications, transmission ratios, precision, etc. of planetary reducers A and B are exactly the same. The input ends of planetary reducers A and B are connected to the main drive shaft, and the three rotate synchronously. The output ends of planetary reducers A and B are both facing the outside of the mechanism. The output ends can be installed with synchronous wheels, sprockets, gears, etc. according to actual conditions. The output drive forms are various, which are not included in this patent and will not be described.

[0037] Description of exercise method

[0038] According to the transmission characteristics of the planetary reducer mentioned above, the rotation mode of the output end can be determined by controlling the input end and the stop and rotation of the shell of the planetary reducer.

[0039] 1 Synchronous drive:

[0040] This method requires that the output ends of planetary reducer A and planetary reducer B rotate in the same direction at the same angular velocity.

[0041] Speed ​​adjustment mechanism A: Brake A is engaged, which makes motor A unable to rotate, and thus makes the driving synchronous wheel A, synchronous belt A, synchronous wheel A, and the housing of planetary reducer A on the same transmission chain unable to rotate or transmit. At this time, bearing A and bearing seat A only play a supporting role for planetary reducer A.

[0042] The situation of speed adjustment mechanism B is the same as that of speed adjustment mechanism A: brake B is engaged, which causes motor B to be unable to rotate, so that driving synchronous wheel B, synchronous belt B, synchronous wheel B, and housing of planetary reducer B on the same transmission chain cannot rotate or transmit. At this time, bearing B and bearing seat B only play a supporting role for planetary reducer B.

[0043] At this time, the housings of planetary reducers A and B are fixed.

[0044] Main drive part: The main brake is released, and the main motor rotates. Its rotation speed and direction are determined by the control system, thereby driving the main drive synchronous wheel, main synchronous belt, synchronous wheel C, and main drive shaft on the same transmission chain to move or rotate. At this time, bearing C and bearing seat C support and assist the rotation of the main drive shaft. The rotating main drive shaft drives the input end of planetary reducer A and planetary reducer B to rotate through coupling A and coupling B.

[0045] Since the shells of planetary reducers A and B are fixed and the input shaft rotates, they rotate according to Case 1 in Table 1. And the parameter models of planetary reducers A and B are the same, then: the output ends of planetary reducers A and B will rotate at the same time, and the angular velocity is the same, thereby realizing synchronous drive.

[0046] 2Asynchronous drive:

[0047] This method requires the output ends of planetary reducer A and planetary reducer B to rotate at their own angular velocities, and the directions are not necessarily the same.

[0048] Main drive part: The main brake is engaged, which causes the main motor to be unable to rotate, so that the main drive synchronous wheel, main synchronous belt, synchronous wheel C, and main drive shaft on the same transmission chain cannot rotate or transmit. At this time, bearing C and bearing seat C only play a supporting role for the main drive shaft. The stationary main drive shaft is connected to the input end of planetary reducer A and planetary reducer B through coupling A and coupling B, so that its input end is stationary.

[0049] At this time, the input ends of planetary reducer A and planetary reducer B are fixed.

[0050] Speed ​​adjustment mechanism A: Brake A is released, and motor A rotates. Its rotation speed and direction are determined by the control system, thereby driving the driving synchronous wheel A, synchronous belt A, synchronous wheel A, and the housing of planetary reducer A on the same transmission chain to move or rotate. At this time, bearing A and bearing seat A support and assist the rotation of planetary reducer A.

[0051] The speed adjustment mechanism B is similar to the speed adjustment mechanism A: the brake B is released, and the motor B rotates. Its rotation speed and direction are determined by the control system, thereby driving the driving synchronous wheel B, synchronous belt B, synchronous wheel B, and the shell of the planetary reducer B on the same transmission chain to move or rotate. At this time, the bearing B and the bearing seat B support and assist the rotation of the planetary reducer B.

[0052] Since the input ends of planetary reducer A and planetary reducer B are fixed and the shell rotates, they rotate according to the situation 2 in Table 1. Although the parameter models of planetary reducer A and planetary reducer B are the same, motor A and motor B are controlled by the system separately according to the needs, and their speeds and angles are not necessarily the same. Therefore: the output ends of planetary reducer A and planetary reducer B will move separately according to the final position of the system until the requirements are met.

[0053] 3 Differential drive, and an overview of other combinations:

[0054] Due to the structural characteristics of the planetary reducer, if the input shaft and the housing are driven at the same time, different speed change effects will be produced. The same direction drive can superimpose the speed, and the reverse direction drive can reduce speed, or improve the motor accuracy and response speed. In addition, the device of the present invention is driven by three motors, and the different speeds of the three motors can achieve differential speeds, thereby achieving different speed changes, dynamic response, speed regulation and other purposes.

[0055] The contents not described in detail in this specification belong to the prior art known to those skilled in the art.

[0056] The above embodiments are only for the purpose of explaining the present invention in detail and are not limited to examples. As long as they are within the scope required by this patent, or various modifications and changes made by technicians in this field without departing from the scope and spirit of the present invention, they all fall within the scope of protection of this patent.

Claims

1. A synchronous, asynchronous, differential drive device, characterized in that: The invention comprises a long straight main drive shaft, two speed adjustment mechanisms are connected to the two ends of the main drive shaft, one end of which is a speed adjustment mechanism A, and a planetary reducer A with a cylindrical shell is installed on one side of the end face of the main drive shaft, and the axial direction of the planetary reducer A is in the same straight line with the axial direction of the main drive shaft, and the input end of the planetary reducer A is connected to the main drive shaft through a coupling A and can transmit power, and the other end of the main drive shaft is a speed adjustment mechanism B, which is symmetrically opposite to the speed adjustment mechanism A, and the speed adjustment mechanism B is installed on one side of the end face of the main drive shaft. The planetary reducer B has a cylindrical housing, and the axial direction of the planetary reducer B is in the same straight line with the axial direction of the main drive shaft. The input end of the planetary reducer B is connected to the main drive shaft through a coupling B and can transmit power. The main drive shaft is installed horizontally, and its axial position determines the central axis position of the entire drive device. There are two bearings C on the shoulders on both sides of the main drive shaft, and each bearing C is installed on the body through a bearing seat C. A synchronous wheel C is installed in the middle of the main drive shaft, and the synchronous wheel C is connected and fixed to the main drive shaft and can transmit power. The main motor is installed on the side parallel to the main drive shaft. A main drive synchronous wheel is installed on the main shaft of the machine, and the main drive synchronous wheel is in the same plane as the synchronous wheel C, and is connected through the main synchronous belt. A main brake is installed on the shaft of the main motor; a synchronous wheel A is sleeved in the middle of the shell of the planetary reducer A, and the synchronous wheel A is fixedly connected to the shell of the planetary reducer A and can transmit power. Two bearings A are installed at both ends of the shell of the planetary reducer A, and each bearing A is installed on the machine body through a bearing seat A; a motor A is installed on one side parallel to the axial direction of the planetary reducer A, and a drive synchronous wheel A is installed on the main shaft of the motor A, and the drive synchronous wheel A and the synchronous wheel A are in the same plane. A plane is formed, connected by a synchronous belt A, and a brake A is installed on the shaft of the motor A; a synchronous wheel B is sleeved on the middle part of the shell of the planetary reducer B, and the synchronous wheel B is fixedly connected to the shell of the planetary reducer B and can transmit power. Two bearings B are installed at both ends of the shell of the planetary reducer B, and each bearing B is installed on the body through a bearing seat B; a motor B is installed on the side parallel to the axial direction of the planetary reducer B, and a driving synchronous wheel B is installed on the main shaft of the motor B. The driving synchronous wheel B and the synchronous wheel B are in the same plane, connected by a synchronous belt B, and a brake B is installed on the shaft of the motor B.

2. The synchronous, asynchronous, differential drive device according to claim 1, characterized in that: By controlling the input end, stop and rotation of the shell of the planetary reducer, the rotation mode of the output end is determined, including the following three driving modes: (1) Synchronous drive This method requires the output ends of planetary reducer A and planetary reducer B to rotate in the same direction at the same angular velocity; Brake A is engaged, which causes motor A to be unable to rotate, so that the driving synchronous wheel A, synchronous belt A, synchronous wheel A, and the shell of planetary reducer A on the same transmission chain cannot rotate or transmit; brake B is engaged, which causes motor B to be unable to rotate, so that the driving synchronous wheel B, synchronous belt B, synchronous wheel B, and the shell of planetary reducer B on the same transmission chain cannot rotate or transmit; at this time, it is equivalent to the shell of planetary reducer A and planetary reducer B being fixed; the main brake is released, and the main motor rotates, and its rotation speed and direction are determined by the control system, thereby driving the main driving synchronous wheel, main synchronous belt, synchronous wheel C, and main drive shaft on the same transmission chain to move or rotate, and the rotating main drive shaft drives the input end of planetary reducer A and planetary reducer B to rotate through coupling A and coupling B; and the parameter models of planetary reducer A and planetary reducer B are the same, then: the output ends of planetary reducer A and planetary reducer B will rotate at the same time, and the angular velocity is the same, thereby realizing synchronous drive; (2) Asynchronous drive This method requires the output ends of planetary reducer A and planetary reducer B to rotate at their own angular velocities, and the directions are not necessarily the same; The main brake is engaged, which causes the main motor to be unable to rotate, so that the main drive synchronous wheel, main synchronous belt, synchronous wheel C, and main drive shaft on the same transmission chain cannot rotate or transmit. The stationary main drive shaft is connected to the input ends of planetary reducer A and planetary reducer B through coupling A and coupling B, so that its input end is stationary; at this time, it is equivalent to the input ends of planetary reducer A and planetary reducer B being fixed; When brake A is released, motor A rotates, and its rotation speed and direction are determined by the control system, thereby driving the driving synchronous wheel A, synchronous belt A, synchronous wheel A, and the shell of planetary reducer A on the same transmission chain to move or rotate; when brake B is released, motor B rotates, and its rotation speed and direction are determined by the control system, thereby driving the driving synchronous wheel B, synchronous belt B, synchronous wheel B, and the shell of planetary reducer B on the same transmission chain to move or rotate; the output ends of planetary reducer A and planetary reducer B will move according to the final position number of the system until the requirements are met; (3) Differential drive and other combinations Due to the structural characteristics of the planetary reducer, if its input shaft and housing are driven at the same time, different speed change effects will be produced. The driving speed in the same direction will be superimposed, and the driving speed in the opposite direction will be reduced, or the motor accuracy and response speed can be improved. In addition, this device is driven by three motors, and the different speeds of the three motors realize differential speed.

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