CN209354624U - A kind of Dual-motors Driving without back clearance power unit - Google Patents
A kind of Dual-motors Driving without back clearance power unit Download PDFInfo
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- CN209354624U CN209354624U CN201821739229.7U CN201821739229U CN209354624U CN 209354624 U CN209354624 U CN 209354624U CN 201821739229 U CN201821739229 U CN 201821739229U CN 209354624 U CN209354624 U CN 209354624U
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- pinion gear
- gear
- motor
- power unit
- output shaft
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Abstract
The utility model relates to a kind of Dual-motors Drivings without back clearance power unit, including first motor, the second motor and output shaft, output shaft is equipped with gear wheel, first motor connects the first pinion gear by the first retarder, second motor connects the second pinion gear by the second retarder, first pinion gear and the second pinion gear are symmetrically arranged at the two sides of gear wheel, and a lateral tooth flanks different from gear teeth of bull gear or so respectively remains engagement；When one of pinion gear makees driving wheel, another pinion gear makees driven wheel, does the direction rotation where the pinion gear toward the flank of tooth for the gear wheel being meshed of driving wheel.Compared with prior art, the utility model is by differing in size, contrary disappearing gap torque to achieve the purpose that eliminate backlash to driving two groups of driving motors of same driven shaft to apply, improve transmission accuracy, have many advantages, such as that small in size, light-weight, torque is big, strong antijamming capability, is particularly suitable for miniaturization, lightweight and bidirectional-movement demand under space environment.
Description
Technical field
The utility model relates to a kind of power units, more particularly, to a kind of Dual-motors Driving without back clearance power unit.
Background technique
As one kind of mechanical drive mode, gear engaged transmission is with high-efficient, compact-sized, transmission ratio is stable, work
Many advantages, such as making stabilization and long service life, nevertheless, gear drive still has many deficiencies, makes as precision instrument
The kind of drive can have principal and subordinate wheel according to the Gear Transmission Design and most easy Gear Processing production method of standard
Between back lash, keep transmission accuracy not high.It is for precise flange, such as numerical controlled carving, cutting etc. and accurately fixed
Position, drive gap will affect precision, such as aliasing, control accuracy difference etc. in the moment of positive and negative rotation.
Currently, the method that tradition eliminates gear backlash mainly has eccentric bushing adjusting method, gasket adjusting method and biplate thin
All there is disadvantage in gear side set adjusting method, these methods.Using eccentric bushing adjusting method and gasket adjusting method, gear works long hours
After abrasion, backlash can not be compensated, and more demanding to the accuracy tolerance of transverse tooth thickness and tooth pitch, gear-driven flexibility by
Limit.Using biplate thickness engaging side set adjusting method, the adjustment assembly mode that thin slice is bonded gear is complex, and gear drive rigidity
It is low, be not suitable for transmission large torque.
Utility model content
The purpose of this utility model is exactly to provide a kind of bi-motor drive to overcome the problems of the above-mentioned prior art
It is dynamic without back clearance power unit.
The purpose of this utility model can be achieved through the following technical solutions:
A kind of Dual-motors Driving without back clearance power unit, including first motor, the second motor and output shaft, the output
Axis is equipped with gear wheel, and the first motor connects the first pinion gear by the first retarder, and second motor passes through second
Retarder connects the second pinion gear, and first pinion gear and the second pinion gear are symmetrically arranged at the two sides of the gear wheel, and divide
A lateral tooth flanks not different from gear teeth of bull gear or so remain engagement；When one of pinion gear makees driving wheel, another
Pinion gear makees driven wheel.
Preferably, the first motor, the first retarder and the first pinion gear respectively with the second motor, the second retarder and
Second pinion gear is identical.
It preferably, further include single pair pole magnet ring, the first multipair pole magnet ring and the second multipair pole magnet ring, single pair pole magnet ring
It covers on the output shaft, the first multipair pole magnet ring is covered in the outside of single pair pole magnet ring, the second multipair pole magnetic
Ring set is in the outside of the described first multipair pole magnet ring.
It preferably, further include first end encoder and second end encoder, the first end encoder is covered in institute
It states on output shaft, the second end encoder includes two be respectively provided at first motor and the second motor.
Preferably, the first motor and the second motor are all servo motor.
Preferably, the output shaft is hollow shaft.
Preferably, the front end of the output shaft is equipped with first bearing and drive end bearing bracket, and the rear end of the output shaft is equipped with second
The outside of bearing and rear end cap, the rear end cap is equipped with pedestal.
It preferably, further include being located at the outermost sleeve of power unit.
Compared with prior art, the utility model has the advantage that
1, by drive two groups of driving motors of same driven shaft apply differ in size, it is contrary disappear gap torque with
Achieve the purpose that eliminate backlash, improve transmission accuracy, reduces the design difficulty of motor and the processing of each part, assembly hardly possible
Degree, has many advantages, such as that zero back clearance, small in size, light-weight, torque is big, precision is high, energy consumption is small, strong antijamming capability, is particularly suitable for
Miniaturization, lightweight and bidirectional-movement demand under space environment.
2, using the servo motor containing encoder, servo-drive is provided without back clearance power unit for Dual-motors Driving, is mentioned
High transmission precision and stability.
3, add a set of end encoder directly to detect the angle position of rotating shaft in the output end of output shaft, in addition servo
The encoder of motor itself constitutes the full closed loop control of system, improves the positioning accuracy of output shaft.
4, output shaft uses hollow shaft, has the advantages that light-weight.
5, using two multipair grade magnet rings, a multipair grade magnetic field signal source is increased, and is realized by it and complete cycle is believed
Number coding subdivision, to improve the resolution ratio of encoder.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is the utility model Belt Driven by Double Motor chain schematic diagram；
Fig. 3 is the position view of end encoder in the utility model；
Fig. 4 is the structure principle chart that the utility model eliminates gear backlash.
It is marked in figure: 1, output shaft, 2, pedestal, 3, rear end cap, 4, first bearing, 5, first motor, the 6, second motor, 7,
First retarder, the 8, second retarder, the 9, first pinion gear, the 10, second pinion gear, 11, gear wheel, 12, second bearing, 13,
Drive end bearing bracket, 14, single pair pole magnet ring, the 15, first multipair pole magnet ring, the 16, second multipair pole magnet ring, 17, first end encoder,
18, second end encoder, 19, sleeve.
Specific embodiment
The utility model is described in detail in the following with reference to the drawings and specific embodiments.The present embodiment is with the utility model
Implemented premised on technical solution, the detailed implementation method and specific operation process are given, but the guarantor of the utility model
Shield range is not limited to the following embodiments.
Embodiment
As shown in Figure 1, the application propose a kind of Dual-motors Driving without back clearance power unit, using identical two sets
Motor and retarder drive two identical pinion gears respectively, and final to drive gear wheel 11, i.e. output shaft 1 rotates, such as Fig. 2 institute
Show, is substantially to realize the purpose for eliminating gear backlash using the servo control technique of motor.The power unit includes the
The front end of one motor 5, the second motor 6, output shaft 1 and outermost sleeve 19, output shaft 1 is equipped with first bearing 4 and front end
Lid 13, the rear end of output shaft 1 are equipped with second bearing 12 and rear end cap 3, and the outside of rear end cap 3 is equipped with pedestal 2.
Output shaft 1 is equipped with gear wheel 11, and first motor 5 connects the first pinion gear 9, the second electricity by the first retarder 7
Machine 6 connects the second pinion gear 10 by the second retarder 8, and the first pinion gear 9 and the second pinion gear 10 are symmetrically arranged at gear wheel 11
Two sides, and a lateral tooth flanks different from 11 gear teeth of gear wheel or so respectively remains engagement.Gear pair mentions for power unit
For double reduction, retarder provides primary speed-down for power unit.When one of pinion gear makees driving wheel, another pinion gear
Make driven wheel, does the direction rotation where the pinion gear toward the flank of tooth for the gear wheel 11 being meshed of driving wheel.
Power unit further includes single pair pole magnet ring 14, the first multipair pole magnet ring 15 and the second multipair pole magnet ring 16, passes through magnetic
Ring rack covers on output shaft 1.14 sets of single pair pole magnet ring is on output shaft 1, and the first 15 sets of multipair pole magnet ring is in single pair pole magnetic
The outside of ring 14, the second 16 sets of multipair pole magnet ring is in the outside of the first multipair pole magnet ring 15.
Power unit is equipped with first end encoder 17 and second end encoder 18, provides position, speed for power unit
Degree, angle information.As shown in figure 3,17 sets of first end encoder on output shaft 1, for directly detecting the angle of output shaft 1
Position.Second end encoder 18 includes two be respectively provided at first motor 5 and the second motor 6, due to 5 He of first motor
Second motor 6 all uses servo motor, so per se with encoder.Encoder constitutes the full closed loop control of system, improves defeated
The positioning accuracy of shaft.
Output shaft 1 is specially hollow shaft, alleviates the weight of whole device.
The present apparatus eliminates the principle of gear backlass as shown in figure 4, gear wheel 11 is fixed on output shaft 1 using bi-motor
On, two pinion gears are connected firmly respectively on two reducer output shafts 1, and symmetrical.In the present embodiment, the first pinion gear 9
It is meshed respectively with A lateral tooth flank in Fig. 4 and B lateral tooth flank with the second pinion gear 10.It is the inverse time when output shaft 1 is the output of gear wheel 11
When needle rotates, first motor 5 drives the first pinion gear 9 to rotate clockwise as driving wheel, so that gear wheel 11 be driven to turn counterclockwise
It is dynamic, while the rotation of the second pinion gear 10 is driven, in entire engagement process, the second pinion gear 10 plays resistance to output shaft 1 and makees
With, but the moment of resistance is far smaller than driving moment, and the first pinion gear 9 and the second pinion gear 10 are kept and gear wheel 11 respectively always
The side A and B lateral tooth flank are meshed；When 1 direction of motion of output shaft changes, i.e., when gear wheel 11 rotates clockwise, the second motor 6 is made
For active motor, the second pinion gear 10 is driven to rotate counterclockwise, the first pinion gear 9 becomes driven wheel, whole work process at this time
In the first pinion gear 9 and the second pinion gear 10 be still meshed respectively with the side gear wheel 11A and B lateral tooth flank always.From the foregoing, it will be observed that
When gear wheel 11 commutates suddenly during the work time, backlash is not present between two pinion gears, to improve the precision of transmission
And robust motion.
In the present embodiment, power unit output torque is 4Nm, output speed 6r/min, is turned round according to the output of motor
The reduction ratio of square and retarder sets the gear ratio of gear wheel 11 and pinion gear as 13:3.
Claims (8)
1. a kind of Dual-motors Driving exists without back clearance power unit, including first motor, the second motor and output shaft, feature
In the output shaft is equipped with gear wheel, and the first motor connects the first pinion gear, second electricity by the first retarder
Machine connects the second pinion gear by the second retarder, and first pinion gear and the second pinion gear are symmetrically arranged at the gear wheel
Two sides, and a lateral tooth flanks different from gear teeth of bull gear or so respectively remains engagement；One of pinion gear makees driving wheel
When, another pinion gear makees driven wheel.
2. a kind of Dual-motors Driving according to claim 1 without back clearance power unit, which is characterized in that it is described first electricity
Machine, the first retarder and the first pinion gear are identical as the second motor, the second retarder and the second pinion gear respectively.
3. a kind of Dual-motors Driving according to claim 1 without back clearance power unit, which is characterized in that further include single pair
Pole magnet ring, the first multipair pole magnet ring and the second multipair pole magnet ring, single pair pole magnet ring cover on the output shaft, and described first
Multipair pole magnet ring covers in the outside of single pair pole magnet ring, and the second multipair pole magnet ring is covered in the described first multipair pole magnet ring
Outside.
4. a kind of Dual-motors Driving according to claim 1 without back clearance power unit, which is characterized in that further include first
End encoder and second end encoder, the first end encoder cover on the output shaft, and the second end is compiled
Code device includes two be respectively provided at first motor and the second motor.
5. a kind of Dual-motors Driving according to claim 1 without back clearance power unit, which is characterized in that it is described first electricity
Machine and the second motor are all servo motor.
6. a kind of Dual-motors Driving according to claim 1 without back clearance power unit, which is characterized in that the output shaft
For hollow shaft.
7. a kind of Dual-motors Driving according to claim 1 without back clearance power unit, which is characterized in that the output shaft
Front end be equipped with first bearing and drive end bearing bracket, the rear end of the output shaft is equipped with second bearing and rear end cap, the rear end cap
Outside is equipped with pedestal.
8. a kind of Dual-motors Driving according to claim 1 without back clearance power unit, which is characterized in that further include being located at
The outermost sleeve of power unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821739229.7U CN209354624U (en) | 2018-10-25 | 2018-10-25 | A kind of Dual-motors Driving without back clearance power unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821739229.7U CN209354624U (en) | 2018-10-25 | 2018-10-25 | A kind of Dual-motors Driving without back clearance power unit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209354624U true CN209354624U (en) | 2019-09-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821739229.7U Active CN209354624U (en) | 2018-10-25 | 2018-10-25 | A kind of Dual-motors Driving without back clearance power unit |
Country Status (1)
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| CN (1) | CN209354624U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112079035A (en) * | 2020-09-11 | 2020-12-15 | 三峡大学 | Movable translation conveyor |
-
2018
- 2018-10-25 CN CN201821739229.7U patent/CN209354624U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112079035A (en) * | 2020-09-11 | 2020-12-15 | 三峡大学 | Movable translation conveyor |
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