CN-122014821-A - Face gear transmission-based double-drive linear system and synchronous control method

Abstract

The invention relates to the technical field of mechanical transmission, in particular to a face gear transmission-based double-drive linear system and a synchronous control method. The system comprises a driving piece, a moving platform, a power transmission unit and a power distribution unit, wherein the power transmission unit is symmetrically distributed on two sides of the moving platform and comprises a primary transmission shaft perpendicular to the axis of the driving piece and a secondary transmission shaft parallel to the axis, the secondary transmission shaft is connected with the moving platform, the power distribution unit comprises a primary gear pair and a secondary gear pair which are symmetrically distributed, the driving piece is connected with the primary transmission shaft on two sides through the primary gear pair, the primary transmission shaft is connected with the secondary transmission shaft on the corresponding side through the secondary gear pair, and the primary gear pair and the secondary gear pair are formed by meshing a face gear and a cylindrical gear. The driving piece synchronously distributes power to the power transmission units at two sides through the power distribution unit to drive the movable platform to move linearly. According to the invention, double-drive mechanical synchronization is realized through a single driving piece, the cost and the control complexity are reduced, and the anti-interference capability is strong.

Inventors

• ZHAO NING
• Du Minbo
• Shao dengjun

Assignees

• 西安镭射传动科技有限公司

Dates

Publication Date

20260512

Application Date

20260403

Claims (10)

1. 1. The double-drive linear system based on face gear transmission is characterized by comprising a driving piece, a moving platform, a power transmission unit and a power distribution unit, wherein the moving platform is positioned on the power output side of the driving piece; The power transmission units are symmetrically distributed on two sides of the mobile platform along the axis of the driving piece and comprise primary transmission shafts perpendicular to the axis of the driving piece and secondary transmission shafts parallel to the axis of the driving piece, and the secondary transmission shafts are connected with the mobile platform; The power distribution unit comprises a primary gear pair and secondary gear pairs symmetrically distributed on two sides of the primary gear pair along the axis of the driving piece, the output end of the driving piece is connected with the primary transmission shafts on two sides through the primary gear pair, the primary transmission shafts are connected with the secondary transmission shafts on the corresponding sides through the secondary gear pair, and the primary gear pair and the secondary gear pair comprise face gears and cylindrical gears which are in meshed connection; The driving piece distributes output power to the power transmission units on two sides through the power distribution unit and then synchronously drives the movable platform to perform linear motion along the axis of the driving piece.
2. 2. The face gear transmission-based double-drive linear system as set forth in claim 1, wherein the primary gear pair comprises a first face gear and first cylindrical gears symmetrically distributed on two sides of the first face gear along an axis of the driving member, the first face gear is fixedly arranged at an output end of the driving member, the two first cylindrical gears are engaged with the first face gear in a direction perpendicular to the axis, and the first cylindrical gears are fixedly arranged at ends adjacent to the primary transmission shaft on corresponding sides.
3. 3. The face gear transmission-based double-drive linear system according to claim 1, wherein the secondary gear pair comprises a second face gear and a second cylindrical gear, the second cylindrical gear is meshed with the second face gear in the direction perpendicular to the axis, the second cylindrical gear is fixedly arranged at the end, far away from the first cylindrical gear, of the primary transmission shaft on the corresponding side, and the second face gear is fixedly arranged at the end, close to the secondary transmission shaft.
4. 4. A face gear transmission-based dual-drive linear system according to any one of claims 1 to 3, wherein the number of face gears in the primary gear pair and the secondary gear pair is equal or set in an integer ratio, and the number of cylindrical gears in the primary gear pair and the secondary gear pair is equal.
5. 5. The face gear transmission-based double-drive linear system according to claim 1, wherein the secondary transmission shaft is a screw rod, a guide sliding block is fixedly arranged on the moving platform, and the guide sliding block is in one-to-one corresponding threaded connection with the secondary transmission shafts on two sides of the moving platform.
6. 6. The face gear transmission-based double-drive linear system according to claim 1, wherein the double-drive linear system further comprises a working base, and the primary transmission shaft, the secondary transmission shaft, the primary gear pair and the secondary gear pair are arranged on a top table surface of the working base along preset fixed positions; The top table surface of the working base table is fixedly provided with a linear guide rail parallel to the axis of the driving piece, and the bottom of the moving platform is connected to the linear guide rail in a sliding manner.
7. 7. The face gear transmission-based double-drive linear system according to claim 6, wherein the linear guide rails are distributed on two sides of the moving platform in a one-to-one correspondence manner, a top table surface of the working base is positioned between the two linear guide rails, and a positioning chute is formed along the axis direction of the driving piece; The width of the movable platform is larger than the groove width of the positioning sliding groove, and the bottom of the movable platform is integrally provided with a positioning sliding block embedded into the positioning sliding groove.
8. 8. The face gear transmission-based double-drive linear system according to claim 6, wherein a primary gear box and a secondary gear box are respectively and fixedly arranged on the top surface of the working base table along a preset fixed position, the primary gear pair is integrally arranged in the primary gear box, and the secondary gear pairs are integrally arranged in the secondary gear box in a one-to-one correspondence manner; The first-stage gear box is provided with first shaft holes corresponding to the output ends of the driving pieces and the first-stage transmission shafts one by one, and the output ends of the driving pieces and the first-stage transmission shafts are respectively provided with first bearings in rotary connection with the corresponding first shaft holes; The secondary gear pair is provided with second shaft holes corresponding to the primary transmission shafts and the secondary transmission shafts one by one, and the primary transmission shafts and the secondary transmission shafts are respectively provided with second bearings which are in rotary connection with the corresponding second shaft holes.
9. 9. The face gear transmission-based double-drive linear system according to claim 6, wherein bearing seats corresponding to the two secondary transmission shafts one by one are fixedly arranged on the top table surface of the working base along a preset fixed position, and a third shaft hole matched with the corresponding secondary transmission shaft is formed in the bearing seats; the end part of the secondary transmission shaft, which is far away from the secondary gear pair, is fixedly provided with a third bearing which is rotationally connected with the third shaft hole, and the bearing seat is fixedly provided with a gland which is used for plugging the third shaft hole.
10. 10. A synchronous control method applied to the face gear transmission-based double-drive linear system as claimed in any one of claims 1 to 9, characterized in that the synchronous control method comprises: Presetting a target rotating speed of the driving piece, and respectively obtaining the gear ratio of the middle face gear of the primary gear pair and the cylindrical gear and the gear ratio of the middle face gear of the secondary gear pair and the cylindrical gear; according to the obtained target rotating speed and the gear ratio, calculating and obtaining the theoretical linear speed and the theoretical linear displacement of the mobile platform; Acquiring the actual rotation speeds of the two secondary transmission shafts at the two sides of the mobile platform in real time, and calculating and acquiring the actual linear speed corresponding to the secondary transmission shafts according to the actual rotation speeds of the two secondary transmission shafts; according to the actual linear speeds of the two secondary transmission shafts at the two sides of the mobile platform, calculating and obtaining speed synchronous deviation between the two secondary transmission shafts at the two sides of the mobile platform and speed tracking deviation between the mobile platform and the theoretical linear speed; Generating a rotation speed compensation value when the speed synchronization deviation exceeds a preset synchronization threshold value, and adjusting the target rotation speed of the driving piece according to the rotation speed compensation value until the speed synchronization deviation is converged within the preset synchronization threshold value; and when the speed synchronization deviation is converged within a preset synchronization threshold, correcting the current actual output rotating speed of the driving piece in real time according to the speed tracking deviation and the theoretical linear displacement.

Description

Face gear transmission-based double-drive linear system and synchronous control method Technical Field The invention relates to the technical field of mechanical transmission, in particular to a face gear transmission-based double-drive linear system and a synchronous control method. Hydraulic adjusting method for line focusing heat collection loop based on opening control of adjusting valve Background In the fields of modern manufacturing and high-end equipment such as laser processing, precision machine tools, automatic production lines, medical instruments and the like, the linear motion mechanism is used as a core functional component for realizing precision positioning and high-speed reciprocating motion, and the performance of the linear motion mechanism directly determines the processing precision, the production efficiency and the operation stability of the whole machine. Along with the continuous improvement of the requirements of the industry on the machining precision, dynamic response and reliability of equipment, the requirements of higher load capacity, stronger rigidity, better motion precision and stability under long-term operation are also provided for the linear motion mechanism. In early linear motion mechanism designs, single drive systems were widely used, i.e., a motor driven ball screw or linear motor driven a load platform to move linearly along a rail. The structure has the advantages of simple control and lower cost, but has congenital defects in load distribution, rigidity symmetry and anti-interference capability. Particularly, under the conditions of large span, heavy load or high speed and high precision, single-side driving easily causes deflection, distortion or vibration of the mobile platform, the gesture stability and track precision of the platform in the motion process are difficult to ensure, and the further improvement of the equipment performance is severely restricted. In order to overcome the limitation of the single-drive structure, a double-drive linear mechanism appears in the prior art. One of the main current double-drive schemes is to drive two parallel ball screws by two servo motors respectively, and realize synchronous motion of two shafts through a control system. The scheme can provide symmetrical driving force structurally, can effectively improve the stress state of the platform theoretically, and can improve rigidity and inhibit deflection. However, the dual-motor dual-drive system still has a plurality of problems which are difficult to avoid in practical application. Firstly, in hardware configuration, the scheme needs to be provided with two motors, two servo drivers, two mechanical transmission assemblies and corresponding feedback and protection devices, the overall material cost and the assembly cost are obviously increased, and secondly, in a control layer, in order to realize accurate synchronization of the two shafts in position, speed and moment, complex synchronous control algorithms such as electronic gears, cross coupling control or master-slave following control are required, and the requirements on the calculation force of a control system and the experience of debugging personnel are extremely high. More importantly, as the two motors are difficult to be completely consistent in the aspects of electrical parameters, mechanical response characteristics, load disturbance, temperature change and the like, the phenomena of 'pulling' or 'torsional vibration' are very easy to occur in actual operation, so that the motion error is amplified, the system stability is reduced, and even alarm shutdown is possibly triggered in severe cases. In addition, when external interference acts on different positions of the equipment, the influence degrees of the two sets of driving systems are different, so that the difficulty of synchronous control is further increased, and the adaptability of the equipment under complex working conditions is limited. In summary, the existing dual-drive linear mechanism has obvious defects in terms of cost, control complexity and anti-interference capability, and a linear driving scheme with simpler structure, simpler and more convenient control, high synchronization precision and strong anti-interference capability is needed. Disclosure of Invention The invention aims to provide a double-drive linear system based on face gear transmission and a synchronous control method, which are used for solving the problems of high cost, complex synchronous control and poor anti-interference capability of a double-drive linear mechanism in the prior art. In order to achieve the above purpose, the present invention adopts the following technical scheme: The invention discloses a double-drive linear system based on face gear transmission, which comprises a driving piece, a moving platform, a power transmission unit and a power distribution unit, wherein the moving platform is positioned on the power output side of the driving piece; Th