A simplified double-gear backlash elimination auxiliary circuit and electronic device

Abstract

This invention relates to the field of gear transmission control circuit technology, and particularly to a simplified dual-gear backlash elimination auxiliary circuit, comprising a voltage regulator module, a voltage follower, and a voltage difference module connected in series. The voltage regulator module is connected to an external power supply. The voltage difference module is provided with a signal input terminal and a signal output terminal. The signal input terminal is connected to the torque analog output terminal of a first driver, and the signal output terminal is connected to the torque analog input terminal of a second driver. The voltage difference module is used to subtract the voltage at the signal input terminal from the output voltage of the voltage regulator module and output the result from the signal output terminal. This allows for dual-gear backlash elimination without the need for expensive high-end CNC systems or controllers, significantly reducing costs.

Description

Technical Field

[0001] This invention relates to the field of gear transmission control circuit technology, and in particular to a simplified double-gear backlash elimination auxiliary circuit and electronic device. Background Technology

[0002] Gear transmission is the most common type of mechanical transmission in machine tool transmission systems. It is a primary form of power and motion transmission and a crucial component of machine tool transmission systems. However, gear transmission generates heat during meshing. To prevent gears from seizing due to thermal expansion, a certain backlash is maintained between the gear teeth, while also allowing space for lubrication. This backlash is very small and is sufficient for general machine tool feed systems due to their low positioning accuracy. However, CNC machine tools, with their high positioning accuracy and repeatability, experience backlash in their transmission systems. This backlash can cause a certain amount of clearance during reverse movement, affecting the overall positioning accuracy of the CNC machine tool. Therefore, this backlash must be eliminated in CNC machine tool transmission systems; this process is called backlash elimination.

[0003] Existing backlash elimination methods generally employ double-gear meshing, specifically divided into mechanical and electrical backlash elimination. Mechanical backlash elimination requires the fabrication of a series of complex transmission mechanisms, and adjusting the backlash elimination tension is inconvenient; furthermore, its overall transmission efficiency is lower than that of electrical backlash elimination. Therefore, electrical backlash elimination is often used in applications requiring high precision or transmission efficiency. For example, Chinese utility model patent CN201953972U discloses a dual-motor electrical backlash elimination mechanism, including a drive motor connected to a reducer, a reducer connected to a gear, a mechanical device connecting rod on the left side of the reducer, a second reducer on the left side of the mechanical device connecting rod, a driven motor above the second reducer, a gear below the second reducer, and a rack below both gears. It uses two servo motors and two reducers to directly drive two output gears, and controls the preload tension through a CNC system, causing the two output gears to mesh with the rack on opposite sides, achieving backlash-free movement that can be permanently maintained and will not affect the machine tool's positioning accuracy due to wear of mechanical components.

[0004] While electrical backlash elimination methods offer simple mechanical structures, light weight, and easy adjustment of backlash tension, they are often only available in higher-end CNC systems or controllers, resulting in high costs for the electrical components. This limits the application of electrical backlash elimination in low-cost applications requiring dual-gear meshing.

[0005] Therefore, it is necessary to reduce the electrical cost of electrical backlash elimination methods so that electrical dual-gear backlash elimination can be applied to more occasions that require dual-gear backlash elimination but are more sensitive to cost. Summary of the Invention

[0006] The purpose of this invention is to overcome the defects and deficiencies in the existing technology. To this end, this invention provides a simple double gear backlash elimination auxiliary circuit, which can realize double gear meshing backlash elimination without the need for a CNC system.

[0007] To achieve the above objectives, the present invention provides a simplified dual-gear backlash elimination auxiliary circuit, comprising a voltage regulator module, a voltage follower, and a voltage difference module connected in series. The voltage regulator module is connected to an external power supply and is capable of outputting a constant voltage. The voltage difference module is provided with a signal input terminal and a signal output terminal. The signal input terminal is connected to the torque analog output terminal of a first driver, and the signal output terminal is connected to the torque analog input terminal of a second driver. The voltage difference module is used to subtract the voltage at the signal input terminal from the output voltage of the voltage regulator module and output the result from the signal output terminal.

[0008] Further, the voltage regulator module includes a current-limiting resistor R0, a TL431 voltage regulator, a load resistor, and a capacitor C; the K terminal of the TL431 voltage regulator is connected to the current-limiting resistor R0, and the A terminal of the TL431 voltage regulator is grounded; the two ends of the load resistor are connected to the capacitor C; the load resistor includes an adjustable resistor R1 and a fixed resistor R2 connected in series, the adjustable resistor R1 is connected to the K terminal of the TL431 voltage regulator; the fixed resistor R2 is connected to the A terminal of the TL431 voltage regulator; the R terminal of the TL431 voltage regulator is connected between the adjustable resistor R1 and the fixed resistor R2.

[0009] Furthermore, the voltage difference module is an inverting proportional operation circuit, and the signal input terminal is connected to the non-inverting input terminal of the inverting proportional operation circuit.

[0010] The present invention also provides an electronic device comprising the simplified double-gear backlash elimination auxiliary circuit described in any one of the preceding claims.

[0011] Compared with the prior art, the beneficial effects of the present invention are: by combining a voltage follower, an inverting proportional operation circuit and an adjustable reference voltage source circuit composed of a TL431 voltage regulator, dual-gear backlash elimination can be achieved without the need for expensive high-end CNC systems or controllers, which greatly reduces costs. At the same time, dual-gear backlash elimination can reduce the size of electrical components in application scenarios. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the modules of the present invention.

[0013] Figure 2 This is a circuit diagram of the present invention.

[0014] Figure 3 This is a diagram showing the usage state of the present invention.

[0015] The components are: 1. Second driver; 2. Servo motor B; 3. Gear B; 4. First driver; 5. Servo motor A; 6. Gear A; 7. Rack; 8. Connecting plate; 9. Electronic equipment; 91. Signal input terminal; 92. Voltage difference module; 93. Signal output terminal; 94. Voltage follower; 95. Voltage regulator module. Detailed Implementation

[0016] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0017] In the description of this invention, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0018] Example

[0019] Please see Figures 1 to 3 This invention provides a simplified dual-gear backlash elimination auxiliary circuit and electronic device, including a voltage regulator module 95, a voltage follower 94, and a voltage difference module 92 connected in series. The voltage regulator module 95 is connected to an external power supply Vin and can output a constant voltage. The voltage difference module 92 is provided with a signal input terminal 91 and a signal output terminal 93. The signal input terminal 91 is connected to the torque analog output terminal of the first driver 4, and the signal output terminal 93 is connected to the torque analog input terminal of the second driver 1. The voltage difference module 92 is used to reduce the voltage of the signal input terminal 91 and output it from the signal output terminal 93.

[0020] The voltage follower 94 here is existing technology. The voltage follower 94 is formed by connecting the inverting terminal and the output terminal of the operational amplifier, which enables the output voltage of the voltage follower 94 to be the same as the output voltage of the voltage regulator module 95.

[0021] In one embodiment of the present invention, the voltage regulator module 95 includes a current-limiting resistor R0, a TL431 voltage regulator, a load resistor, and a capacitor C. The K terminal of the TL431 voltage regulator is connected to the current-limiting resistor R0, and the A terminal of the TL431 voltage regulator is grounded. The load resistor is connected to the capacitor C. The load resistor includes an adjustable resistor R1 and a fixed resistor R2 connected in series. The adjustable resistor R1 is connected to the K terminal of the TL431 voltage regulator; the fixed resistor R2 is connected to the A terminal of the TL431 voltage regulator; the R terminal of the TL431 voltage regulator is connected between the adjustable resistor R1 and the fixed resistor R2, thereby forming an adjustable reference voltage source circuit. Accordingly, a reference source voltage Vref is set across the fixed resistor R2, which is ideally a constant value.

[0022] The TL431 voltage regulator here is a parallel voltage regulator integrated circuit, also known as a three-terminal voltage regulator. The three terminals are K, R and A, respectively. K is the cathode, R is the reference terminal, and A is the anode. The details will not be elaborated further.

[0023] In one embodiment of the present invention, the voltage difference module 92 is an inverting proportional operational circuit, and the signal input terminal 91 is connected to the non-inverting input terminal of the inverting proportional operational circuit. This inverting proportional operational circuit is also called an inverting input proportional unit or an inverting proportional operational amplifier circuit, and is existing technology, so it will not be described in detail here.

[0024] Based on the above, the output voltage of the voltage regulator module 95 is Vout. The voltage at signal input terminal 91 is V2, the voltage at signal output terminal 93 is V3, the output voltage of the inverting proportional operational circuit is Va, and the output voltage of the voltage follower 94 is V1. For example... Figure 1 and Figure 2 As shown, the relationship is as follows:

[0025] Vout = (1 + R1 / R2) × Vref;

[0026] V1 = Vout;

[0027] Va = -(R4 / R3) × V1;

[0028] V3=V2+Va=V2-(R4 / R3)×Vout.

[0029] The present invention also provides an electronic device that uses the circuit provided by the present invention.

[0030] The present invention also provides a double gear backlash elimination mechanism, such as Figure 3As shown, the first driver 4 controls servo motor A5, and servo motor A5 controls gear A6; the second driver 1 controls servo motor B2, and servo motor B2 controls gear B3. Gears A6 and B3 mesh on rack 7. The first driver 4 and the second driver 1 are connected as one unit via a connecting rod 8. Electronic device 9 is mounted on the connecting rod 8 and connected to the first driver 4 and the second driver 1 via signal lines.

[0031] When using this invention, the external controller starts the first driver 4, the servo motor A5 generates a certain torque and drives the gear A6 to rotate, thereby driving the rack 7. Simultaneously, the torque analog output terminal of the first driver 4 outputs an analog voltage corresponding to the torque output of the servo motor A5, and inputs it to the signal input terminal 91. The voltage regulator module 95 generates a stable output voltage Vout, with capacitor C acting as a filter (which can be ignored in some cases); this voltage is input to the voltage follower 94, which in turn inputs to the voltage difference module 92. The voltage difference module 92 is configured as a difference circuit that performs a difference operation between the voltage received at the signal input terminal 91 and the output voltage Vout, and outputs the difference through the signal output terminal 93. The signal output terminal 93 is connected to the torque analog input terminal of the second driver 1. The second driver 1 drives the servo motor B2 and generates a corresponding torque, which drives the gear B3 and drives the rack 7. A torque difference is generated between gear B3 and gear A6, thereby achieving rack backlash elimination or tension control. The tension for gap elimination is controlled by the adjustable resistor R1. That is, during use, the output voltage of the voltage regulator module 95 is adjusted by adjusting the size of the adjustable resistor R1.

[0032] Specifically, assuming the analog output of 10 volts for both drivers corresponds to a torque of 10 N·m, and the output voltage Vout is adjusted to 1 volt, then when the first driver 4 controls the output torque of the servo motor A5 to be 5 N·m, the analog torque output of the first driver 4 is 5 volts, i.e., V2 is 5 volts. After the subtraction operation of the voltage difference module 92 in this invention, V3 = 5 volts - 1 volt = 4 volts. Therefore, the second driver 1 will control the output torque of the servo motor B2 to be 4 N·m, thus creating a torque difference of 1 N·m between gear A and gear B.

[0033] This invention can be summarized in other specific forms that do not depart from the spirit or essential features of the invention. Therefore, in all respects, the above embodiments of the invention should be considered illustrative only and not limiting, while the claims define the scope of the invention. The foregoing description does not define the scope of the invention; therefore, any changes within the meaning and scope equivalent to the claims should be considered to be included within the scope of the claims.

Claims

1. A simple type double gear gapless additional circuit characterized by, The voltage difference module (92) is a non-inverting proportional operation circuit, and the signal input end (91) is connected with a non-inverting input end of the non-inverting proportional operation circuit.

2. The simple double gear gap elimination additional circuit according to claim 1, characterized by, The electronic device comprises the simple double-gear anti-backlash additional circuit as claimed in any one of claims 1 to 2.

3. An electronic device, comprising: ​

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