本發明(ming)涉(she)及機械傳動設(she)備(bei)，尤其(qi)涉(she)及一種雙電(dian)機消間隙誤差(cha)結構。

背景技術：

1、隨著社會(hui)的(de)發展、科技的(de)進步，為了提(ti)高(gao)產(chan)(chan)品加工(gong)生(sheng)(sheng)(sheng)產(chan)(chan)的(de)效(xiao)(xiao)率，機(ji)(ji)(ji)器(qi)(qi)換(huan)人已經成(cheng)為社會(hui)發展的(de)趨(qu)勢，其中，由于機(ji)(ji)(ji)械(xie)(xie)手(shou)的(de)工(gong)作效(xiao)(xiao)率高(gao)、精度高(gao)，所以(yi)機(ji)(ji)(ji)械(xie)(xie)手(shou)廣受廠(chang)家(jia)喜愛。現有的(de)機(ji)(ji)(ji)械(xie)(xie)手(shou)的(de)傳(chuan)(chuan)(chuan)(chuan)動一般采用(yong)諧波(bo)減(jian)(jian)(jian)(jian)速(su)(su)(su)器(qi)(qi)、擺線針輪減(jian)(jian)(jian)(jian)速(su)(su)(su)器(qi)(qi)、行(xing)星減(jian)(jian)(jian)(jian)速(su)(su)(su)器(qi)(qi)和蝸(gua)輪蝸(gua)桿減(jian)(jian)(jian)(jian)速(su)(su)(su)器(qi)(qi)，當機(ji)(ji)(ji)械(xie)(xie)手(shou)的(de)傳(chuan)(chuan)(chuan)(chuan)動采用(yong)諧波(bo)減(jian)(jian)(jian)(jian)速(su)(su)(su)器(qi)(qi)和擺線針輪減(jian)(jian)(jian)(jian)速(su)(su)(su)器(qi)(qi)時，雖然傳(chuan)(chuan)(chuan)(chuan)動間隙(xi)誤差小，機(ji)(ji)(ji)械(xie)(xie)手(shou)的(de)定(ding)(ding)位和傳(chuan)(chuan)(chuan)(chuan)動精度高(gao)，但(dan)諧波(bo)減(jian)(jian)(jian)(jian)速(su)(su)(su)器(qi)(qi)和擺線針輪減(jian)(jian)(jian)(jian)速(su)(su)(su)器(qi)(qi)的(de)價(jia)(jia)格(ge)高(gao)，導致機(ji)(ji)(ji)械(xie)(xie)手(shou)的(de)生(sheng)(sheng)(sheng)產(chan)(chan)成(cheng)本(ben)和維(wei)護成(cheng)本(ben)較(jiao)高(gao)，一般的(de)廠(chang)家(jia)無法承受昂貴的(de)價(jia)(jia)格(ge)，使得(de)機(ji)(ji)(ji)械(xie)(xie)手(shou)不能普及應(ying)用(yong)；當機(ji)(ji)(ji)械(xie)(xie)手(shou)的(de)傳(chuan)(chuan)(chuan)(chuan)動采用(yong)行(xing)星減(jian)(jian)(jian)(jian)速(su)(su)(su)器(qi)(qi)和蝸(gua)輪蝸(gua)桿減(jian)(jian)(jian)(jian)速(su)(su)(su)器(qi)(qi)時，雖然機(ji)(ji)(ji)械(xie)(xie)手(shou)的(de)成(cheng)本(ben)低(di)，輸出扭矩(ju)大，但(dan)行(xing)星減(jian)(jian)(jian)(jian)速(su)(su)(su)器(qi)(qi)和蝸(gua)輪蝸(gua)桿減(jian)(jian)(jian)(jian)速(su)(su)(su)器(qi)(qi)的(de)傳(chuan)(chuan)(chuan)(chuan)動間隙(xi)誤差大，容易產(chan)(chan)生(sheng)(sheng)(sheng)較(jiao)大的(de)誤差，導致機(ji)(ji)(ji)械(xie)(xie)手(shou)的(de)定(ding)(ding)位和傳(chuan)(chuan)(chuan)(chuan)動精度低(di)，達不到工(gong)業生(sheng)(sheng)(sheng)產(chan)(chan)的(de)要求。

技術實現思路

1、本(ben)發明的(de)目的(de)是提供一種結(jie)構設計合(he)理，成本(ben)低，工作穩定，有(you)(you)利于機(ji)械手的(de)普及應用的(de)雙電機(ji)消(xiao)間隙(xi)誤差結(jie)構，其(qi)通過(guo)輔電機(ji)經由輔減(jian)速器和傳動組件向軸套施加扭矩，進而降低主減(jian)速器自身的(de)間隙(xi)誤差，解決現有(you)(you)技術中存在(zai)的(de)上述問(wen)題。

2、為了解決上述技術(shu)問題，本發明采用如(ru)下技術(shu)方案(an)：

3、本發明(ming)的(de)(de)(de)(de)一種雙電(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)消間隙誤差結構，包(bao)括(kuo)主(zhu)(zhu)電(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)、輔電(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)、裝(zhuang)(zhuang)設(she)(she)于(yu)(yu)主(zhu)(zhu)電(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)的(de)(de)(de)(de)輸(shu)出(chu)(chu)(chu)軸(zhou)(zhou)(zhou)(zhou)的(de)(de)(de)(de)主(zhu)(zhu)減(jian)(jian)(jian)(jian)(jian)速(su)(su)(su)(su)(su)器(qi)(qi)(qi)、裝(zhuang)(zhuang)設(she)(she)于(yu)(yu)主(zhu)(zhu)減(jian)(jian)(jian)(jian)(jian)速(su)(su)(su)(su)(su)器(qi)(qi)(qi)的(de)(de)(de)(de)輸(shu)出(chu)(chu)(chu)軸(zhou)(zhou)(zhou)(zhou)的(de)(de)(de)(de)軸(zhou)(zhou)(zhou)(zhou)套(tao)(tao)(tao)(tao)、裝(zhuang)(zhuang)設(she)(she)于(yu)(yu)輔電(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)的(de)(de)(de)(de)輸(shu)出(chu)(chu)(chu)軸(zhou)(zhou)(zhou)(zhou)的(de)(de)(de)(de)輔減(jian)(jian)(jian)(jian)(jian)速(su)(su)(su)(su)(su)器(qi)(qi)(qi)以及(ji)傳(chuan)(chuan)動(dong)(dong)(dong)(dong)連接于(yu)(yu)輔減(jian)(jian)(jian)(jian)(jian)速(su)(su)(su)(su)(su)器(qi)(qi)(qi)的(de)(de)(de)(de)輸(shu)出(chu)(chu)(chu)軸(zhou)(zhou)(zhou)(zhou)與(yu)軸(zhou)(zhou)(zhou)(zhou)套(tao)(tao)(tao)(tao)的(de)(de)(de)(de)傳(chuan)(chuan)動(dong)(dong)(dong)(dong)組(zu)件(jian)(jian)(jian)(jian)，主(zhu)(zhu)電(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)經(jing)(jing)(jing)由(you)(you)(you)(you)主(zhu)(zhu)減(jian)(jian)(jian)(jian)(jian)速(su)(su)(su)(su)(su)器(qi)(qi)(qi)和(he)(he)軸(zhou)(zhou)(zhou)(zhou)套(tao)(tao)(tao)(tao)驅(qu)動(dong)(dong)(dong)(dong)擺臂轉動(dong)(dong)(dong)(dong)，輔電(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)經(jing)(jing)(jing)由(you)(you)(you)(you)輔減(jian)(jian)(jian)(jian)(jian)速(su)(su)(su)(su)(su)器(qi)(qi)(qi)和(he)(he)傳(chuan)(chuan)動(dong)(dong)(dong)(dong)組(zu)件(jian)(jian)(jian)(jian)向(xiang)(xiang)(xiang)(xiang)軸(zhou)(zhou)(zhou)(zhou)套(tao)(tao)(tao)(tao)提供扭(niu)(niu)(niu)(niu)(niu)(niu)(niu)矩(ju)(ju)(ju)(ju)，扭(niu)(niu)(niu)(niu)(niu)(niu)(niu)矩(ju)(ju)(ju)(ju)經(jing)(jing)(jing)由(you)(you)(you)(you)軸(zhou)(zhou)(zhou)(zhou)套(tao)(tao)(tao)(tao)作(zuo)(zuo)用于(yu)(yu)主(zhu)(zhu)減(jian)(jian)(jian)(jian)(jian)速(su)(su)(su)(su)(su)器(qi)(qi)(qi)的(de)(de)(de)(de)輸(shu)出(chu)(chu)(chu)軸(zhou)(zhou)(zhou)(zhou)，使得主(zhu)(zhu)減(jian)(jian)(jian)(jian)(jian)速(su)(su)(su)(su)(su)器(qi)(qi)(qi)內的(de)(de)(de)(de)各(ge)個(ge)(ge)齒(chi)輪的(de)(de)(de)(de)齒(chi)面在(zai)(zai)一定(ding)預壓力的(de)(de)(de)(de)作(zuo)(zuo)用下彼此(ci)抵觸在(zai)(zai)一起，進而(er)降低主(zhu)(zhu)減(jian)(jian)(jian)(jian)(jian)速(su)(su)(su)(su)(su)器(qi)(qi)(qi)自(zi)身的(de)(de)(de)(de)間隙誤差，扭(niu)(niu)(niu)(niu)(niu)(niu)(niu)矩(ju)(ju)(ju)(ju)還輔助(zhu)主(zhu)(zhu)電(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)驅(qu)動(dong)(dong)(dong)(dong)擺臂進行加(jia)減(jian)(jian)(jian)(jian)(jian)速(su)(su)(su)(su)(su)轉動(dong)(dong)(dong)(dong)和(he)(he)定(ding)位(wei)；假設(she)(she)，正(zheng)向(xiang)(xiang)(xiang)(xiang)扭(niu)(niu)(niu)(niu)(niu)(niu)(niu)矩(ju)(ju)(ju)(ju)為(wei)輔電(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)提供的(de)(de)(de)(de)扭(niu)(niu)(niu)(niu)(niu)(niu)(niu)矩(ju)(ju)(ju)(ju)方向(xiang)(xiang)(xiang)(xiang)與(yu)主(zhu)(zhu)電(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)的(de)(de)(de)(de)扭(niu)(niu)(niu)(niu)(niu)(niu)(niu)矩(ju)(ju)(ju)(ju)方向(xiang)(xiang)(xiang)(xiang)相同，反(fan)之則(ze)為(wei)反(fan)向(xiang)(xiang)(xiang)(xiang)扭(niu)(niu)(niu)(niu)(niu)(niu)(niu)矩(ju)(ju)(ju)(ju)；主(zhu)(zhu)電(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)加(jia)速(su)(su)(su)(su)(su)階段，當主(zhu)(zhu)電(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)的(de)(de)(de)(de)轉動(dong)(dong)(dong)(dong)速(su)(su)(su)(su)(su)度小于(yu)(yu)某(mou)個(ge)(ge)設(she)(she)定(ding)值(zhi)或轉動(dong)(dong)(dong)(dong)加(jia)速(su)(su)(su)(su)(su)度小于(yu)(yu)某(mou)個(ge)(ge)設(she)(she)定(ding)值(zhi)時，輔電(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)經(jing)(jing)(jing)由(you)(you)(you)(you)輔減(jian)(jian)(jian)(jian)(jian)速(su)(su)(su)(su)(su)器(qi)(qi)(qi)和(he)(he)傳(chuan)(chuan)動(dong)(dong)(dong)(dong)組(zu)件(jian)(jian)(jian)(jian)向(xiang)(xiang)(xiang)(xiang)軸(zhou)(zhou)(zhou)(zhou)套(tao)(tao)(tao)(tao)施(shi)加(jia)正(zheng)向(xiang)(xiang)(xiang)(xiang)扭(niu)(niu)(niu)(niu)(niu)(niu)(niu)矩(ju)(ju)(ju)(ju)，當主(zhu)(zhu)電(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)的(de)(de)(de)(de)轉動(dong)(dong)(dong)(dong)速(su)(su)(su)(su)(su)度大于(yu)(yu)某(mou)一個(ge)(ge)設(she)(she)定(ding)值(zhi)或轉動(dong)(dong)(dong)(dong)加(jia)速(su)(su)(su)(su)(su)度大于(yu)(yu)某(mou)一個(ge)(ge)設(she)(she)定(ding)值(zhi)時，輔電(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)經(jing)(jing)(jing)由(you)(you)(you)(you)輔減(jian)(jian)(jian)(jian)(jian)速(su)(su)(su)(su)(su)器(qi)(qi)(qi)和(he)(he)傳(chuan)(chuan)動(dong)(dong)(dong)(dong)組(zu)件(jian)(jian)(jian)(jian)向(xiang)(xiang)(xiang)(xiang)軸(zhou)(zhou)(zhou)(zhou)套(tao)(tao)(tao)(tao)施(shi)加(jia)恒定(ding)的(de)(de)(de)(de)正(zheng)向(xiang)(xiang)(xiang)(xiang)扭(niu)(niu)(niu)(niu)(niu)(niu)(niu)矩(ju)(ju)(ju)(ju)，幫(bang)助(zhu)主(zhu)(zhu)電(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)加(jia)速(su)(su)(su)(su)(su)或維持高速(su)(su)(su)(su)(su)；主(zhu)(zhu)電(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)減(jian)(jian)(jian)(jian)(jian)速(su)(su)(su)(su)(su)階段，當主(zhu)(zhu)電(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)減(jian)(jian)(jian)(jian)(jian)速(su)(su)(su)(su)(su)且主(zhu)(zhu)電(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)的(de)(de)(de)(de)轉動(dong)(dong)(dong)(dong)速(su)(su)(su)(su)(su)度小于(yu)(yu)某(mou)個(ge)(ge)設(she)(she)定(ding)值(zhi)時，輔電(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)經(jing)(jing)(jing)由(you)(you)(you)(you)輔減(jian)(jian)(jian)(jian)(jian)速(su)(su)(su)(su)(su)器(qi)(qi)(qi)和(he)(he)傳(chuan)(chuan)動(dong)(dong)(dong)(dong)組(zu)件(jian)(jian)(jian)(jian)向(xiang)(xiang)(xiang)(xiang)軸(zhou)(zhou)(zhou)(zhou)套(tao)(tao)(tao)(tao)施(shi)加(jia)反(fan)向(xiang)(xiang)(xiang)(xiang)扭(niu)(niu)(niu)(niu)(niu)(niu)(niu)矩(ju)(ju)(ju)(ju)，幫(bang)助(zhu)主(zhu)(zhu)電(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)減(jian)(jian)(jian)(jian)(jian)速(su)(su)(su)(su)(su)，使得主(zhu)(zhu)電(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)克(ke)服負載的(de)(de)(de)(de)慣量(liang)；當主(zhu)(zhu)電(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)停止工作(zuo)(zuo)時，輔電(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)經(jing)(jing)(jing)由(you)(you)(you)(you)輔減(jian)(jian)(jian)(jian)(jian)速(su)(su)(su)(su)(su)器(qi)(qi)(qi)和(he)(he)傳(chuan)(chuan)動(dong)(dong)(dong)(dong)組(zu)件(jian)(jian)(jian)(jian)向(xiang)(xiang)(xiang)(xiang)軸(zhou)(zhou)(zhou)(zhou)套(tao)(tao)(tao)(tao)施(shi)加(jia)恒定(ding)的(de)(de)(de)(de)反(fan)向(xiang)(xiang)(xiang)(xiang)扭(niu)(niu)(niu)(niu)(niu)(niu)(niu)矩(ju)(ju)(ju)(ju)，反(fan)向(xiang)(xiang)(xiang)(xiang)扭(niu)(niu)(niu)(niu)(niu)(niu)(niu)矩(ju)(ju)(ju)(ju)經(jing)(jing)(jing)由(you)(you)(you)(you)軸(zhou)(zhou)(zhou)(zhou)套(tao)(tao)(tao)(tao)作(zuo)(zuo)用在(zai)(zai)主(zhu)(zhu)減(jian)(jian)(jian)(jian)(jian)速(su)(su)(su)(su)(su)器(qi)(qi)(qi)上，傳(chuan)(chuan)動(dong)(dong)(dong)(dong)組(zu)件(jian)(jian)(jian)(jian)經(jing)(jing)(jing)由(you)(you)(you)(you)軸(zhou)(zhou)(zhou)(zhou)套(tao)(tao)(tao)(tao)降低主(zhu)(zhu)減(jian)(jian)(jian)(jian)(jian)速(su)(su)(su)(su)(su)器(qi)(qi)(qi)自(zi)身的(de)(de)(de)(de)間隙誤差，軸(zhou)(zhou)(zhou)(zhou)套(tao)(tao)(tao)(tao)的(de)(de)(de)(de)自(zi)由(you)(you)(you)(you)端突伸至傳(chuan)(chuan)動(dong)(dong)(dong)(dong)組(zu)件(jian)(jian)(jian)(jian)外并用于(yu)(yu)與(yu)擺臂連接。

4、進一步地(di)，所(suo)述(shu)主減速器(qi)和所(suo)述(shu)輔(fu)減速器(qi)采用(yong)行星減速器(qi)或蝸(gua)(gua)輪蝸(gua)(gua)桿減速器(qi)。

5、進(jin)一步地，所(suo)(suo)述(shu)傳(chuan)動(dong)組件(jian)包括(kuo)裝設(she)(she)于軸套(tao)的主(zhu)傳(chuan)動(dong)輪(lun)(lun)、裝設(she)(she)于輔(fu)減速(su)器的輸出軸的輔(fu)傳(chuan)動(dong)輪(lun)(lun)以及纏繞(rao)于主(zhu)傳(chuan)動(dong)輪(lun)(lun)與(yu)輔(fu)傳(chuan)動(dong)輪(lun)(lun)的傳(chuan)動(dong)帶，所(suo)(suo)述(shu)主(zhu)電機(ji)和(he)所(suo)(suo)述(shu)輔(fu)電機(ji)平行設(she)(she)置(zhi)，所(suo)(suo)述(shu)軸套(tao)的自由端突伸至所(suo)(suo)述(shu)主(zhu)傳(chuan)動(dong)輪(lun)(lun)外(wai)。

6、進一步地，所(suo)述傳動組件包括裝設(she)于(yu)軸(zhou)套的(de)(de)主(zhu)齒(chi)(chi)輪(lun)(lun)以及(ji)裝設(she)于(yu)輔(fu)(fu)減(jian)速器的(de)(de)輸出軸(zhou)的(de)(de)輔(fu)(fu)齒(chi)(chi)輪(lun)(lun)，所(suo)述主(zhu)齒(chi)(chi)輪(lun)(lun)與所(suo)述輔(fu)(fu)齒(chi)(chi)輪(lun)(lun)嚙合，所(suo)述軸(zhou)套的(de)(de)自由端突(tu)伸至所(suo)述主(zhu)齒(chi)(chi)輪(lun)(lun)外(wai)。

7、進(jin)一步(bu)地，所(suo)述(shu)主減(jian)速器設(she)置有(you)安(an)(an)裝部(bu)，所(suo)述(shu)安(an)(an)裝部(bu)呈矩形且設(she)置有(you)多(duo)(duo)個安(an)(an)裝孔(kong)，所(suo)述(shu)安(an)(an)裝孔(kong)便(bian)于對所(suo)述(shu)主減(jian)速器進(jin)行固定(ding)(ding)安(an)(an)裝；所(suo)述(shu)輔減(jian)速器裝設(she)有(you)固定(ding)(ding)座(zuo)，所(suo)述(shu)固定(ding)(ding)座(zuo)設(she)置有(you)多(duo)(duo)個固定(ding)(ding)孔(kong)，所(suo)述(shu)固定(ding)(ding)孔(kong)便(bian)于將(jiang)所(suo)述(shu)固定(ding)(ding)座(zuo)安(an)(an)裝在外(wai)部(bu)的(de)結構上。

8、進一(yi)步地，還(huan)包括用于(yu)將主(zhu)(zhu)減(jian)(jian)速器的(de)輸(shu)出(chu)(chu)軸(zhou)(zhou)(zhou)(zhou)(zhou)鎖(suo)緊(jin)于(yu)軸(zhou)(zhou)(zhou)(zhou)(zhou)套的(de)第(di)(di)一(yi)半(ban)(ban)抱(bao)軸(zhou)(zhou)(zhou)(zhou)(zhou)環(huan)(huan)(huan)(huan)(huan)(huan)，所(suo)(suo)(suo)述(shu)(shu)(shu)軸(zhou)(zhou)(zhou)(zhou)(zhou)套設(she)置(zhi)(zhi)有(you)與(yu)所(suo)(suo)(suo)述(shu)(shu)(shu)第(di)(di)一(yi)半(ban)(ban)抱(bao)軸(zhou)(zhou)(zhou)(zhou)(zhou)環(huan)(huan)(huan)(huan)(huan)(huan)配合的(de)第(di)(di)二(er)(er)半(ban)(ban)抱(bao)軸(zhou)(zhou)(zhou)(zhou)(zhou)環(huan)(huan)(huan)(huan)(huan)(huan)，所(suo)(suo)(suo)述(shu)(shu)(shu)第(di)(di)一(yi)半(ban)(ban)抱(bao)軸(zhou)(zhou)(zhou)(zhou)(zhou)環(huan)(huan)(huan)(huan)(huan)(huan)設(she)置(zhi)(zhi)有(you)第(di)(di)一(yi)螺(luo)(luo)紋(wen)孔(kong)(kong)，所(suo)(suo)(suo)述(shu)(shu)(shu)第(di)(di)二(er)(er)半(ban)(ban)抱(bao)軸(zhou)(zhou)(zhou)(zhou)(zhou)環(huan)(huan)(huan)(huan)(huan)(huan)設(she)置(zhi)(zhi)有(you)與(yu)第(di)(di)一(yi)螺(luo)(luo)紋(wen)孔(kong)(kong)對應設(she)置(zhi)(zhi)的(de)第(di)(di)二(er)(er)螺(luo)(luo)紋(wen)孔(kong)(kong)，所(suo)(suo)(suo)述(shu)(shu)(shu)第(di)(di)一(yi)半(ban)(ban)抱(bao)軸(zhou)(zhou)(zhou)(zhou)(zhou)環(huan)(huan)(huan)(huan)(huan)(huan)與(yu)所(suo)(suo)(suo)述(shu)(shu)(shu)第(di)(di)二(er)(er)半(ban)(ban)抱(bao)軸(zhou)(zhou)(zhou)(zhou)(zhou)環(huan)(huan)(huan)(huan)(huan)(huan)經由螺(luo)(luo)釘固定(ding)連接(jie)，通過所(suo)(suo)(suo)述(shu)(shu)(shu)第(di)(di)一(yi)半(ban)(ban)抱(bao)軸(zhou)(zhou)(zhou)(zhou)(zhou)環(huan)(huan)(huan)(huan)(huan)(huan)將所(suo)(suo)(suo)述(shu)(shu)(shu)主(zhu)(zhu)減(jian)(jian)速器的(de)輸(shu)出(chu)(chu)軸(zhou)(zhou)(zhou)(zhou)(zhou)鎖(suo)緊(jin)于(yu)所(suo)(suo)(suo)述(shu)(shu)(shu)軸(zhou)(zhou)(zhou)(zhou)(zhou)套的(de)第(di)(di)二(er)(er)半(ban)(ban)抱(bao)軸(zhou)(zhou)(zhou)(zhou)(zhou)環(huan)(huan)(huan)(huan)(huan)(huan)，使得所(suo)(suo)(suo)述(shu)(shu)(shu)軸(zhou)(zhou)(zhou)(zhou)(zhou)套與(yu)所(suo)(suo)(suo)述(shu)(shu)(shu)主(zhu)(zhu)減(jian)(jian)速器的(de)輸(shu)出(chu)(chu)軸(zhou)(zhou)(zhou)(zhou)(zhou)連接(jie)在一(yi)起，以降低所(suo)(suo)(suo)述(shu)(shu)(shu)軸(zhou)(zhou)(zhou)(zhou)(zhou)套與(yu)所(suo)(suo)(suo)述(shu)(shu)(shu)主(zhu)(zhu)減(jian)(jian)速器的(de)輸(shu)出(chu)(chu)軸(zhou)(zhou)(zhou)(zhou)(zhou)之間(jian)的(de)間(jian)隙(xi)，從而提高擺臂轉動的(de)精度。

9、進一(yi)步地(di)，所述(shu)軸(zhou)套的(de)軸(zhou)向(xiang)設置有用(yong)于與外部(bu)的(de)結構連(lian)接的(de)第三螺紋孔(kong)，所述(shu)第三螺紋孔(kong)便(bian)于所述(shu)軸(zhou)套與外部(bu)的(de)結構可拆卸地(di)連(lian)接。

10、進一(yi)步(bu)地(di)，所(suo)(suo)述主電(dian)(dian)(dian)機(ji)(ji)為步(bu)進電(dian)(dian)(dian)機(ji)(ji)或(huo)交流伺(si)服電(dian)(dian)(dian)機(ji)(ji)，以控制(zhi)擺臂的轉動位(wei)置(zhi)；所(suo)(suo)述輔電(dian)(dian)(dian)機(ji)(ji)為直流無刷電(dian)(dian)(dian)機(ji)(ji)，以向所(suo)(suo)述軸套(tao)提供(gong)扭矩。

11、進一步(bu)地(di)，所(suo)(suo)述(shu)主(zhu)電(dian)(dian)機(ji)與所(suo)(suo)述(shu)輔電(dian)(dian)機(ji)輸(shu)出的(de)扭矩不同，所(suo)(suo)述(shu)輔電(dian)(dian)機(ji)輸(shu)出的(de)扭矩為所(suo)(suo)述(shu)主(zhu)電(dian)(dian)機(ji)輸(shu)出的(de)扭矩的(de)10％-60％。

12、進一(yi)步(bu)地(di)，所述(shu)主電(dian)機(ji)(ji)和所述(shu)輔電(dian)機(ji)(ji)均(jun)與(yu)電(dian)機(ji)(ji)控制系統電(dian)連接。

13、與現有技(ji)術(shu)相比(bi)，本發明的有益技(ji)術(shu)效果：

14、本(ben)發(fa)明的(de)(de)雙電(dian)(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)消間隙誤(wu)差結(jie)構在(zai)(zai)實際使(shi)用時，主(zhu)(zhu)(zhu)(zhu)(zhu)(zhu)電(dian)(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)經(jing)(jing)(jing)(jing)(jing)由(you)主(zhu)(zhu)(zhu)(zhu)(zhu)(zhu)減(jian)(jian)(jian)(jian)(jian)(jian)速(su)(su)(su)(su)(su)(su)(su)(su)(su)(su)器(qi)(qi)(qi)和(he)軸(zhou)套驅(qu)動(dong)(dong)(dong)(dong)擺(bai)臂(bei)轉(zhuan)動(dong)(dong)(dong)(dong)，輔(fu)(fu)(fu)(fu)(fu)電(dian)(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)經(jing)(jing)(jing)(jing)(jing)由(you)輔(fu)(fu)(fu)(fu)(fu)減(jian)(jian)(jian)(jian)(jian)(jian)速(su)(su)(su)(su)(su)(su)(su)(su)(su)(su)器(qi)(qi)(qi)和(he)傳(chuan)動(dong)(dong)(dong)(dong)組件(jian)(jian)向(xiang)(xiang)(xiang)(xiang)軸(zhou)套提(ti)(ti)供扭矩(ju)(ju)(ju)，扭矩(ju)(ju)(ju)經(jing)(jing)(jing)(jing)(jing)由(you)軸(zhou)套作(zuo)用于主(zhu)(zhu)(zhu)(zhu)(zhu)(zhu)減(jian)(jian)(jian)(jian)(jian)(jian)速(su)(su)(su)(su)(su)(su)(su)(su)(su)(su)器(qi)(qi)(qi)的(de)(de)輸出(chu)軸(zhou)，使(shi)得(de)(de)主(zhu)(zhu)(zhu)(zhu)(zhu)(zhu)減(jian)(jian)(jian)(jian)(jian)(jian)速(su)(su)(su)(su)(su)(su)(su)(su)(su)(su)器(qi)(qi)(qi)內的(de)(de)各個(ge)齒(chi)輪的(de)(de)齒(chi)面(mian)在(zai)(zai)一定(ding)(ding)預壓力的(de)(de)作(zuo)用下彼(bi)此抵觸在(zai)(zai)一起，進而(er)降(jiang)低主(zhu)(zhu)(zhu)(zhu)(zhu)(zhu)減(jian)(jian)(jian)(jian)(jian)(jian)速(su)(su)(su)(su)(su)(su)(su)(su)(su)(su)器(qi)(qi)(qi)自(zi)身(shen)的(de)(de)間隙誤(wu)差，提(ti)(ti)高了(le)(le)主(zhu)(zhu)(zhu)(zhu)(zhu)(zhu)減(jian)(jian)(jian)(jian)(jian)(jian)速(su)(su)(su)(su)(su)(su)(su)(su)(su)(su)器(qi)(qi)(qi)的(de)(de)回轉(zhuan)精度(du)(du)，進而(er)提(ti)(ti)高了(le)(le)擺(bai)臂(bei)轉(zhuan)動(dong)(dong)(dong)(dong)和(he)定(ding)(ding)位的(de)(de)精度(du)(du)，扭矩(ju)(ju)(ju)還輔(fu)(fu)(fu)(fu)(fu)助主(zhu)(zhu)(zhu)(zhu)(zhu)(zhu)電(dian)(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)驅(qu)動(dong)(dong)(dong)(dong)擺(bai)臂(bei)進行(xing)(xing)加(jia)減(jian)(jian)(jian)(jian)(jian)(jian)速(su)(su)(su)(su)(su)(su)(su)(su)(su)(su)轉(zhuan)動(dong)(dong)(dong)(dong)和(he)定(ding)(ding)位；假(jia)設(she)，正向(xiang)(xiang)(xiang)(xiang)扭矩(ju)(ju)(ju)為(wei)輔(fu)(fu)(fu)(fu)(fu)電(dian)(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)提(ti)(ti)供的(de)(de)扭矩(ju)(ju)(ju)方向(xiang)(xiang)(xiang)(xiang)與主(zhu)(zhu)(zhu)(zhu)(zhu)(zhu)電(dian)(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)的(de)(de)扭矩(ju)(ju)(ju)方向(xiang)(xiang)(xiang)(xiang)相同，反(fan)(fan)(fan)之則為(wei)反(fan)(fan)(fan)向(xiang)(xiang)(xiang)(xiang)扭矩(ju)(ju)(ju)；主(zhu)(zhu)(zhu)(zhu)(zhu)(zhu)電(dian)(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)加(jia)速(su)(su)(su)(su)(su)(su)(su)(su)(su)(su)階段，當主(zhu)(zhu)(zhu)(zhu)(zhu)(zhu)電(dian)(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)的(de)(de)轉(zhuan)動(dong)(dong)(dong)(dong)速(su)(su)(su)(su)(su)(su)(su)(su)(su)(su)度(du)(du)小(xiao)(xiao)于某個(ge)設(she)定(ding)(ding)值(zhi)(zhi)或轉(zhuan)動(dong)(dong)(dong)(dong)加(jia)速(su)(su)(su)(su)(su)(su)(su)(su)(su)(su)度(du)(du)小(xiao)(xiao)于某個(ge)設(she)定(ding)(ding)值(zhi)(zhi)時，輔(fu)(fu)(fu)(fu)(fu)電(dian)(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)經(jing)(jing)(jing)(jing)(jing)由(you)輔(fu)(fu)(fu)(fu)(fu)減(jian)(jian)(jian)(jian)(jian)(jian)速(su)(su)(su)(su)(su)(su)(su)(su)(su)(su)器(qi)(qi)(qi)和(he)傳(chuan)動(dong)(dong)(dong)(dong)組件(jian)(jian)向(xiang)(xiang)(xiang)(xiang)軸(zhou)套施加(jia)正向(xiang)(xiang)(xiang)(xiang)扭矩(ju)(ju)(ju)，當主(zhu)(zhu)(zhu)(zhu)(zhu)(zhu)電(dian)(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)的(de)(de)轉(zhuan)動(dong)(dong)(dong)(dong)速(su)(su)(su)(su)(su)(su)(su)(su)(su)(su)度(du)(du)大(da)(da)(da)于某一個(ge)設(she)定(ding)(ding)值(zhi)(zhi)或轉(zhuan)動(dong)(dong)(dong)(dong)加(jia)速(su)(su)(su)(su)(su)(su)(su)(su)(su)(su)度(du)(du)大(da)(da)(da)于某一個(ge)設(she)定(ding)(ding)值(zhi)(zhi)時，輔(fu)(fu)(fu)(fu)(fu)電(dian)(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)經(jing)(jing)(jing)(jing)(jing)由(you)輔(fu)(fu)(fu)(fu)(fu)減(jian)(jian)(jian)(jian)(jian)(jian)速(su)(su)(su)(su)(su)(su)(su)(su)(su)(su)器(qi)(qi)(qi)和(he)傳(chuan)動(dong)(dong)(dong)(dong)組件(jian)(jian)向(xiang)(xiang)(xiang)(xiang)軸(zhou)套施加(jia)恒(heng)定(ding)(ding)的(de)(de)正向(xiang)(xiang)(xiang)(xiang)扭矩(ju)(ju)(ju)，幫助主(zhu)(zhu)(zhu)(zhu)(zhu)(zhu)電(dian)(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)加(jia)速(su)(su)(su)(su)(su)(su)(su)(su)(su)(su)或維持高速(su)(su)(su)(su)(su)(su)(su)(su)(su)(su)；主(zhu)(zhu)(zhu)(zhu)(zhu)(zhu)電(dian)(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)減(jian)(jian)(jian)(jian)(jian)(jian)速(su)(su)(su)(su)(su)(su)(su)(su)(su)(su)階段，當主(zhu)(zhu)(zhu)(zhu)(zhu)(zhu)電(dian)(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)減(jian)(jian)(jian)(jian)(jian)(jian)速(su)(su)(su)(su)(su)(su)(su)(su)(su)(su)且主(zhu)(zhu)(zhu)(zhu)(zhu)(zhu)電(dian)(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)的(de)(de)轉(zhuan)動(dong)(dong)(dong)(dong)速(su)(su)(su)(su)(su)(su)(su)(su)(su)(su)度(du)(du)小(xiao)(xiao)于某個(ge)設(she)定(ding)(ding)值(zhi)(zhi)時，輔(fu)(fu)(fu)(fu)(fu)電(dian)(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)經(jing)(jing)(jing)(jing)(jing)由(you)輔(fu)(fu)(fu)(fu)(fu)減(jian)(jian)(jian)(jian)(jian)(jian)速(su)(su)(su)(su)(su)(su)(su)(su)(su)(su)器(qi)(qi)(qi)和(he)傳(chuan)動(dong)(dong)(dong)(dong)組件(jian)(jian)向(xiang)(xiang)(xiang)(xiang)軸(zhou)套施加(jia)反(fan)(fan)(fan)向(xiang)(xiang)(xiang)(xiang)扭矩(ju)(ju)(ju)，幫助主(zhu)(zhu)(zhu)(zhu)(zhu)(zhu)電(dian)(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)減(jian)(jian)(jian)(jian)(jian)(jian)速(su)(su)(su)(su)(su)(su)(su)(su)(su)(su)，使(shi)得(de)(de)主(zhu)(zhu)(zhu)(zhu)(zhu)(zhu)電(dian)(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)克服(fu)負載的(de)(de)慣量；當主(zhu)(zhu)(zhu)(zhu)(zhu)(zhu)電(dian)(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)停止(zhi)工作(zuo)時，輔(fu)(fu)(fu)(fu)(fu)電(dian)(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)經(jing)(jing)(jing)(jing)(jing)由(you)輔(fu)(fu)(fu)(fu)(fu)減(jian)(jian)(jian)(jian)(jian)(jian)速(su)(su)(su)(su)(su)(su)(su)(su)(su)(su)器(qi)(qi)(qi)和(he)傳(chuan)動(dong)(dong)(dong)(dong)組件(jian)(jian)向(xiang)(xiang)(xiang)(xiang)軸(zhou)套施加(jia)恒(heng)定(ding)(ding)的(de)(de)反(fan)(fan)(fan)向(xiang)(xiang)(xiang)(xiang)扭矩(ju)(ju)(ju)，反(fan)(fan)(fan)向(xiang)(xiang)(xiang)(xiang)扭矩(ju)(ju)(ju)經(jing)(jing)(jing)(jing)(jing)由(you)軸(zhou)套作(zuo)用在(zai)(zai)主(zhu)(zhu)(zhu)(zhu)(zhu)(zhu)減(jian)(jian)(jian)(jian)(jian)(jian)速(su)(su)(su)(su)(su)(su)(su)(su)(su)(su)器(qi)(qi)(qi)上，降(jiang)低主(zhu)(zhu)(zhu)(zhu)(zhu)(zhu)減(jian)(jian)(jian)(jian)(jian)(jian)速(su)(su)(su)(su)(su)(su)(su)(su)(su)(su)器(qi)(qi)(qi)自(zi)身(shen)的(de)(de)間隙誤(wu)差，不但提(ti)(ti)高了(le)(le)主(zhu)(zhu)(zhu)(zhu)(zhu)(zhu)減(jian)(jian)(jian)(jian)(jian)(jian)速(su)(su)(su)(su)(su)(su)(su)(su)(su)(su)器(qi)(qi)(qi)的(de)(de)回轉(zhuan)精度(du)(du)，輔(fu)(fu)(fu)(fu)(fu)助主(zhu)(zhu)(zhu)(zhu)(zhu)(zhu)電(dian)(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)驅(qu)動(dong)(dong)(dong)(dong)擺(bai)臂(bei)加(jia)減(jian)(jian)(jian)(jian)(jian)(jian)速(su)(su)(su)(su)(su)(su)(su)(su)(su)(su)轉(zhuan)動(dong)(dong)(dong)(dong)和(he)定(ding)(ding)位，進而(er)提(ti)(ti)高了(le)(le)擺(bai)臂(bei)轉(zhuan)動(dong)(dong)(dong)(dong)和(he)定(ding)(ding)位的(de)(de)精度(du)(du)，還使(shi)得(de)(de)本(ben)發(fa)明的(de)(de)主(zhu)(zhu)(zhu)(zhu)(zhu)(zhu)減(jian)(jian)(jian)(jian)(jian)(jian)速(su)(su)(su)(su)(su)(su)(su)(su)(su)(su)器(qi)(qi)(qi)和(he)輔(fu)(fu)(fu)(fu)(fu)減(jian)(jian)(jian)(jian)(jian)(jian)速(su)(su)(su)(su)(su)(su)(su)(su)(su)(su)器(qi)(qi)(qi)均可(ke)以(yi)采用行(xing)(xing)星減(jian)(jian)(jian)(jian)(jian)(jian)速(su)(su)(su)(su)(su)(su)(su)(su)(su)(su)器(qi)(qi)(qi)或蝸(gua)(gua)輪蝸(gua)(gua)桿(gan)減(jian)(jian)(jian)(jian)(jian)(jian)速(su)(su)(su)(su)(su)(su)(su)(su)(su)(su)器(qi)(qi)(qi)，行(xing)(xing)星減(jian)(jian)(jian)(jian)(jian)(jian)速(su)(su)(su)(su)(su)(su)(su)(su)(su)(su)器(qi)(qi)(qi)或蝸(gua)(gua)輪蝸(gua)(gua)桿(gan)減(jian)(jian)(jian)(jian)(jian)(jian)速(su)(su)(su)(su)(su)(su)(su)(su)(su)(su)器(qi)(qi)(qi)的(de)(de)成(cheng)本(ben)低，大(da)(da)(da)大(da)(da)(da)降(jiang)低了(le)(le)使(shi)用和(he)制(zhi)造(zao)成(cheng)本(ben)。

15、本發(fa)明的(de)雙電機(ji)消間隙誤差結(jie)構(gou)結(jie)構(gou)設計合(he)理，成(cheng)本低，工(gong)作穩定，精度(du)高，有(you)利于機(ji)械手的(de)普(pu)及應用。

技術特征：

1.一(yi)種雙電(dian)(dian)(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)消間(jian)隙誤(wu)(wu)差結構(gou)，其特征在(zai)于(yu)(yu)：包括(kuo)主(zhu)(zhu)(zhu)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)、輔(fu)(fu)(fu)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)、裝(zhuang)設(she)(she)(she)于(yu)(yu)主(zhu)(zhu)(zhu)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)的(de)(de)(de)(de)輸出(chu)(chu)軸(zhou)(zhou)的(de)(de)(de)(de)主(zhu)(zhu)(zhu)減(jian)(jian)速(su)器(qi)(qi)(qi)(qi)、裝(zhuang)設(she)(she)(she)于(yu)(yu)主(zhu)(zhu)(zhu)減(jian)(jian)速(su)器(qi)(qi)(qi)(qi)的(de)(de)(de)(de)輸出(chu)(chu)軸(zhou)(zhou)的(de)(de)(de)(de)軸(zhou)(zhou)套(tao)(tao)(tao)(tao)、裝(zhuang)設(she)(she)(she)于(yu)(yu)輔(fu)(fu)(fu)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)的(de)(de)(de)(de)輸出(chu)(chu)軸(zhou)(zhou)的(de)(de)(de)(de)輔(fu)(fu)(fu)減(jian)(jian)速(su)器(qi)(qi)(qi)(qi)以及(ji)傳(chuan)(chuan)動(dong)(dong)(dong)連接(jie)于(yu)(yu)輔(fu)(fu)(fu)減(jian)(jian)速(su)器(qi)(qi)(qi)(qi)的(de)(de)(de)(de)輸出(chu)(chu)軸(zhou)(zhou)與軸(zhou)(zhou)套(tao)(tao)(tao)(tao)的(de)(de)(de)(de)傳(chuan)(chuan)動(dong)(dong)(dong)組(zu)件(jian)(jian)(jian)，主(zhu)(zhu)(zhu)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)經(jing)由(you)(you)主(zhu)(zhu)(zhu)減(jian)(jian)速(su)器(qi)(qi)(qi)(qi)和(he)軸(zhou)(zhou)套(tao)(tao)(tao)(tao)驅動(dong)(dong)(dong)擺臂(bei)轉(zhuan)動(dong)(dong)(dong)，輔(fu)(fu)(fu)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)經(jing)由(you)(you)輔(fu)(fu)(fu)減(jian)(jian)速(su)器(qi)(qi)(qi)(qi)和(he)傳(chuan)(chuan)動(dong)(dong)(dong)組(zu)件(jian)(jian)(jian)向(xiang)(xiang)軸(zhou)(zhou)套(tao)(tao)(tao)(tao)提供扭(niu)(niu)(niu)(niu)矩(ju)(ju)(ju)，扭(niu)(niu)(niu)(niu)矩(ju)(ju)(ju)經(jing)由(you)(you)軸(zhou)(zhou)套(tao)(tao)(tao)(tao)作(zuo)用(yong)于(yu)(yu)主(zhu)(zhu)(zhu)減(jian)(jian)速(su)器(qi)(qi)(qi)(qi)的(de)(de)(de)(de)輸出(chu)(chu)軸(zhou)(zhou)，使得主(zhu)(zhu)(zhu)減(jian)(jian)速(su)器(qi)(qi)(qi)(qi)內的(de)(de)(de)(de)各個齒(chi)輪的(de)(de)(de)(de)齒(chi)面在(zai)一(yi)定(ding)預壓力的(de)(de)(de)(de)作(zuo)用(yong)下彼(bi)此抵觸(chu)在(zai)一(yi)起，進(jin)而降(jiang)低主(zhu)(zhu)(zhu)減(jian)(jian)速(su)器(qi)(qi)(qi)(qi)自身的(de)(de)(de)(de)間(jian)隙誤(wu)(wu)差，扭(niu)(niu)(niu)(niu)矩(ju)(ju)(ju)還(huan)輔(fu)(fu)(fu)助主(zhu)(zhu)(zhu)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)驅動(dong)(dong)(dong)擺臂(bei)進(jin)行(xing)加(jia)減(jian)(jian)速(su)轉(zhuan)動(dong)(dong)(dong)和(he)定(ding)位；假設(she)(she)(she)，正向(xiang)(xiang)扭(niu)(niu)(niu)(niu)矩(ju)(ju)(ju)為(wei)輔(fu)(fu)(fu)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)提供的(de)(de)(de)(de)扭(niu)(niu)(niu)(niu)矩(ju)(ju)(ju)方(fang)向(xiang)(xiang)與主(zhu)(zhu)(zhu)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)的(de)(de)(de)(de)扭(niu)(niu)(niu)(niu)矩(ju)(ju)(ju)方(fang)向(xiang)(xiang)相同，反之則為(wei)反向(xiang)(xiang)扭(niu)(niu)(niu)(niu)矩(ju)(ju)(ju)；主(zhu)(zhu)(zhu)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)加(jia)速(su)階段，當主(zhu)(zhu)(zhu)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)的(de)(de)(de)(de)轉(zhuan)動(dong)(dong)(dong)速(su)度小(xiao)于(yu)(yu)某(mou)(mou)個設(she)(she)(she)定(ding)值(zhi)或轉(zhuan)動(dong)(dong)(dong)加(jia)速(su)度小(xiao)于(yu)(yu)某(mou)(mou)個設(she)(she)(she)定(ding)值(zhi)時，輔(fu)(fu)(fu)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)經(jing)由(you)(you)輔(fu)(fu)(fu)減(jian)(jian)速(su)器(qi)(qi)(qi)(qi)和(he)傳(chuan)(chuan)動(dong)(dong)(dong)組(zu)件(jian)(jian)(jian)向(xiang)(xiang)軸(zhou)(zhou)套(tao)(tao)(tao)(tao)施加(jia)正向(xiang)(xiang)扭(niu)(niu)(niu)(niu)矩(ju)(ju)(ju)，當主(zhu)(zhu)(zhu)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)的(de)(de)(de)(de)轉(zhuan)動(dong)(dong)(dong)速(su)度大(da)(da)于(yu)(yu)某(mou)(mou)一(yi)個設(she)(she)(she)定(ding)值(zhi)或轉(zhuan)動(dong)(dong)(dong)加(jia)速(su)度大(da)(da)于(yu)(yu)某(mou)(mou)一(yi)個設(she)(she)(she)定(ding)值(zhi)時，輔(fu)(fu)(fu)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)經(jing)由(you)(you)輔(fu)(fu)(fu)減(jian)(jian)速(su)器(qi)(qi)(qi)(qi)和(he)傳(chuan)(chuan)動(dong)(dong)(dong)組(zu)件(jian)(jian)(jian)向(xiang)(xiang)軸(zhou)(zhou)套(tao)(tao)(tao)(tao)施加(jia)恒定(ding)的(de)(de)(de)(de)正向(xiang)(xiang)扭(niu)(niu)(niu)(niu)矩(ju)(ju)(ju)，幫(bang)助主(zhu)(zhu)(zhu)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)加(jia)速(su)或維持高速(su)；主(zhu)(zhu)(zhu)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)減(jian)(jian)速(su)階段，當主(zhu)(zhu)(zhu)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)減(jian)(jian)速(su)且主(zhu)(zhu)(zhu)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)的(de)(de)(de)(de)轉(zhuan)動(dong)(dong)(dong)速(su)度小(xiao)于(yu)(yu)某(mou)(mou)個設(she)(she)(she)定(ding)值(zhi)時，輔(fu)(fu)(fu)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)經(jing)由(you)(you)輔(fu)(fu)(fu)減(jian)(jian)速(su)器(qi)(qi)(qi)(qi)和(he)傳(chuan)(chuan)動(dong)(dong)(dong)組(zu)件(jian)(jian)(jian)向(xiang)(xiang)軸(zhou)(zhou)套(tao)(tao)(tao)(tao)施加(jia)反向(xiang)(xiang)扭(niu)(niu)(niu)(niu)矩(ju)(ju)(ju)，幫(bang)助主(zhu)(zhu)(zhu)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)減(jian)(jian)速(su)，使得主(zhu)(zhu)(zhu)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)克服負載的(de)(de)(de)(de)慣量；當主(zhu)(zhu)(zhu)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)停(ting)止工作(zuo)時，輔(fu)(fu)(fu)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)經(jing)由(you)(you)輔(fu)(fu)(fu)減(jian)(jian)速(su)器(qi)(qi)(qi)(qi)和(he)傳(chuan)(chuan)動(dong)(dong)(dong)組(zu)件(jian)(jian)(jian)向(xiang)(xiang)軸(zhou)(zhou)套(tao)(tao)(tao)(tao)施加(jia)恒定(ding)的(de)(de)(de)(de)反向(xiang)(xiang)扭(niu)(niu)(niu)(niu)矩(ju)(ju)(ju)，反向(xiang)(xiang)扭(niu)(niu)(niu)(niu)矩(ju)(ju)(ju)經(jing)由(you)(you)軸(zhou)(zhou)套(tao)(tao)(tao)(tao)作(zuo)用(yong)在(zai)主(zhu)(zhu)(zhu)減(jian)(jian)速(su)器(qi)(qi)(qi)(qi)上，傳(chuan)(chuan)動(dong)(dong)(dong)組(zu)件(jian)(jian)(jian)經(jing)由(you)(you)軸(zhou)(zhou)套(tao)(tao)(tao)(tao)降(jiang)低主(zhu)(zhu)(zhu)減(jian)(jian)速(su)器(qi)(qi)(qi)(qi)自身的(de)(de)(de)(de)間(jian)隙誤(wu)(wu)差，軸(zhou)(zhou)套(tao)(tao)(tao)(tao)的(de)(de)(de)(de)自由(you)(you)端突伸至(zhi)傳(chuan)(chuan)動(dong)(dong)(dong)組(zu)件(jian)(jian)(jian)外并用(yong)于(yu)(yu)與擺臂(bei)連接(jie)。

2.根據(ju)權(quan)利(li)要(yao)求(qiu)1所述(shu)的一種雙電機消間隙誤差結構，其特征在于：所述(shu)主減(jian)速器(qi)和所述(shu)輔(fu)減(jian)速器(qi)采用行星減(jian)速器(qi)或蝸輪蝸桿減(jian)速器(qi)。

3.根據權利要求1所(suo)述(shu)(shu)的一種雙電機消間隙誤差結(jie)構，其(qi)特征在于：所(suo)述(shu)(shu)傳(chuan)動(dong)組件包括裝設(she)于軸(zhou)(zhou)套的主傳(chuan)動(dong)輪(lun)、裝設(she)于輔(fu)減速器(qi)的輸出軸(zhou)(zhou)的輔(fu)傳(chuan)動(dong)輪(lun)以(yi)及纏繞于主傳(chuan)動(dong)輪(lun)與輔(fu)傳(chuan)動(dong)輪(lun)的傳(chuan)動(dong)帶，所(suo)述(shu)(shu)主電機和所(suo)述(shu)(shu)輔(fu)電機平行設(she)置，所(suo)述(shu)(shu)軸(zhou)(zhou)套的自由端(duan)突伸至所(suo)述(shu)(shu)主傳(chuan)動(dong)輪(lun)外。

4.根據權利要求1所述的一種雙電機消間(jian)隙誤差結(jie)構(gou)，其特征在于(yu)：所述傳動組(zu)件包括裝(zhuang)設于(yu)軸套(tao)的主(zhu)齒(chi)輪(lun)以(yi)及裝(zhuang)設于(yu)輔減(jian)速器的輸出軸的輔齒(chi)輪(lun)，所述主(zhu)齒(chi)輪(lun)與所述輔齒(chi)輪(lun)嚙合，所述軸套(tao)的自由(you)端突伸至(zhi)所述主(zhu)齒(chi)輪(lun)外。

5.根據權利要求(qiu)1所(suo)(suo)(suo)述(shu)(shu)(shu)的(de)一種雙電機消間隙誤(wu)差結構，其特征在于：所(suo)(suo)(suo)述(shu)(shu)(shu)主減速(su)器(qi)設置(zhi)有安(an)(an)(an)裝(zhuang)(zhuang)部(bu)，所(suo)(suo)(suo)述(shu)(shu)(shu)安(an)(an)(an)裝(zhuang)(zhuang)部(bu)呈矩形(xing)且設置(zhi)有多個安(an)(an)(an)裝(zhuang)(zhuang)孔，所(suo)(suo)(suo)述(shu)(shu)(shu)安(an)(an)(an)裝(zhuang)(zhuang)孔便于對(dui)所(suo)(suo)(suo)述(shu)(shu)(shu)主減速(su)器(qi)進行固(gu)(gu)定(ding)安(an)(an)(an)裝(zhuang)(zhuang)；所(suo)(suo)(suo)述(shu)(shu)(shu)輔減速(su)器(qi)裝(zhuang)(zhuang)設有固(gu)(gu)定(ding)座(zuo)(zuo)，所(suo)(suo)(suo)述(shu)(shu)(shu)固(gu)(gu)定(ding)座(zuo)(zuo)設置(zhi)有多個固(gu)(gu)定(ding)孔，所(suo)(suo)(suo)述(shu)(shu)(shu)固(gu)(gu)定(ding)孔便于將所(suo)(suo)(suo)述(shu)(shu)(shu)固(gu)(gu)定(ding)座(zuo)(zuo)安(an)(an)(an)裝(zhuang)(zhuang)在外部(bu)的(de)結構上。

6.根據權利要求1所(suo)(suo)(suo)述(shu)(shu)(shu)的一(yi)種雙電機消間(jian)隙(xi)誤差(cha)結構，其特征在(zai)于(yu)：還包括用于(yu)將(jiang)主(zhu)(zhu)減速器的輸(shu)出(chu)(chu)軸(zhou)(zhou)(zhou)(zhou)鎖(suo)緊(jin)于(yu)軸(zhou)(zhou)(zhou)(zhou)套(tao)的第(di)(di)(di)(di)(di)一(yi)半(ban)(ban)抱(bao)(bao)(bao)軸(zhou)(zhou)(zhou)(zhou)環(huan)，所(suo)(suo)(suo)述(shu)(shu)(shu)軸(zhou)(zhou)(zhou)(zhou)套(tao)設(she)置(zhi)有(you)(you)與(yu)(yu)所(suo)(suo)(suo)述(shu)(shu)(shu)第(di)(di)(di)(di)(di)一(yi)半(ban)(ban)抱(bao)(bao)(bao)軸(zhou)(zhou)(zhou)(zhou)環(huan)配(pei)合的第(di)(di)(di)(di)(di)二半(ban)(ban)抱(bao)(bao)(bao)軸(zhou)(zhou)(zhou)(zhou)環(huan)，所(suo)(suo)(suo)述(shu)(shu)(shu)第(di)(di)(di)(di)(di)一(yi)半(ban)(ban)抱(bao)(bao)(bao)軸(zhou)(zhou)(zhou)(zhou)環(huan)設(she)置(zhi)有(you)(you)第(di)(di)(di)(di)(di)一(yi)螺(luo)紋(wen)(wen)孔，所(suo)(suo)(suo)述(shu)(shu)(shu)第(di)(di)(di)(di)(di)二半(ban)(ban)抱(bao)(bao)(bao)軸(zhou)(zhou)(zhou)(zhou)環(huan)設(she)置(zhi)有(you)(you)與(yu)(yu)第(di)(di)(di)(di)(di)一(yi)螺(luo)紋(wen)(wen)孔對應設(she)置(zhi)的第(di)(di)(di)(di)(di)二螺(luo)紋(wen)(wen)孔，所(suo)(suo)(suo)述(shu)(shu)(shu)第(di)(di)(di)(di)(di)一(yi)半(ban)(ban)抱(bao)(bao)(bao)軸(zhou)(zhou)(zhou)(zhou)環(huan)與(yu)(yu)所(suo)(suo)(suo)述(shu)(shu)(shu)第(di)(di)(di)(di)(di)二半(ban)(ban)抱(bao)(bao)(bao)軸(zhou)(zhou)(zhou)(zhou)環(huan)經由螺(luo)釘固定連接(jie)，通過所(suo)(suo)(suo)述(shu)(shu)(shu)第(di)(di)(di)(di)(di)一(yi)半(ban)(ban)抱(bao)(bao)(bao)軸(zhou)(zhou)(zhou)(zhou)環(huan)將(jiang)所(suo)(suo)(suo)述(shu)(shu)(shu)主(zhu)(zhu)減速器的輸(shu)出(chu)(chu)軸(zhou)(zhou)(zhou)(zhou)鎖(suo)緊(jin)于(yu)所(suo)(suo)(suo)述(shu)(shu)(shu)軸(zhou)(zhou)(zhou)(zhou)套(tao)的第(di)(di)(di)(di)(di)二半(ban)(ban)抱(bao)(bao)(bao)軸(zhou)(zhou)(zhou)(zhou)環(huan)，使得所(suo)(suo)(suo)述(shu)(shu)(shu)軸(zhou)(zhou)(zhou)(zhou)套(tao)與(yu)(yu)所(suo)(suo)(suo)述(shu)(shu)(shu)主(zhu)(zhu)減速器的輸(shu)出(chu)(chu)軸(zhou)(zhou)(zhou)(zhou)連接(jie)在(zai)一(yi)起，以降(jiang)低所(suo)(suo)(suo)述(shu)(shu)(shu)軸(zhou)(zhou)(zhou)(zhou)套(tao)與(yu)(yu)所(suo)(suo)(suo)述(shu)(shu)(shu)主(zhu)(zhu)減速器的輸(shu)出(chu)(chu)軸(zhou)(zhou)(zhou)(zhou)之間(jian)的間(jian)隙(xi)，從而(er)提高擺臂轉動的精度。

7.根(gen)據權利要求1所述的一種雙電機消間隙誤差結構(gou)，其特征在于(yu)：所述軸(zhou)套的軸(zhou)向設(she)置(zhi)有用(yong)于(yu)與(yu)外部的結構(gou)連(lian)接的第三螺(luo)紋孔，所述第三螺(luo)紋孔便于(yu)所述軸(zhou)套與(yu)外部的結構(gou)可拆卸地(di)連(lian)接。

8.根(gen)據(ju)權利要求1所(suo)述(shu)(shu)(shu)的(de)一(yi)種(zhong)雙(shuang)電(dian)機(ji)(ji)消間隙誤差結構，其特征在于：所(suo)述(shu)(shu)(shu)主(zhu)電(dian)機(ji)(ji)為步進電(dian)機(ji)(ji)或交流(liu)伺服(fu)電(dian)機(ji)(ji)，以控制擺臂(bei)的(de)轉動位置；所(suo)述(shu)(shu)(shu)輔電(dian)機(ji)(ji)為直(zhi)流(liu)無刷電(dian)機(ji)(ji)，以向所(suo)述(shu)(shu)(shu)軸套提供(gong)扭矩。

9.根據權(quan)利要求1所(suo)述(shu)(shu)的(de)(de)(de)一種(zhong)雙電機(ji)(ji)(ji)消間隙誤差結構(gou)，其(qi)特(te)征在(zai)于：所(suo)述(shu)(shu)主電機(ji)(ji)(ji)與(yu)所(suo)述(shu)(shu)輔電機(ji)(ji)(ji)輸出的(de)(de)(de)扭(niu)矩(ju)不同(tong)，所(suo)述(shu)(shu)輔電機(ji)(ji)(ji)輸出的(de)(de)(de)扭(niu)矩(ju)為所(suo)述(shu)(shu)主電機(ji)(ji)(ji)輸出的(de)(de)(de)扭(niu)矩(ju)的(de)(de)(de)10％-60％。

10.根(gen)據權利(li)要求1-9中任一項(xiang)所(suo)述(shu)的(de)一種雙電(dian)(dian)機(ji)(ji)消間隙(xi)誤差結構(gou)，其特征在(zai)于：所(suo)述(shu)主電(dian)(dian)機(ji)(ji)和所(suo)述(shu)輔電(dian)(dian)機(ji)(ji)均與電(dian)(dian)機(ji)(ji)控制系統電(dian)(dian)連接。

技術總結
本發明公開了一種雙電機消間隙誤差結構，涉及機械傳動設備技術領域，其包括主電機、輔電機、裝設于主電機的輸出軸的主減速器、裝設于主減速器的輸出軸的軸套、裝設于輔電機的輸出軸的輔減速器及傳動連接于輔減速器的輸出軸與軸套的傳動組件，所述傳動組件經由軸套降低主減速器的間隙誤差，所述軸套的自由端突伸至傳動組件外并用于與外部的結構連接。本發明結構設計合理，成本低，工作穩定，有利于機械手的普及應用，其通過輔電機經由輔減速器和傳動組件向軸套施加扭矩，進而降低主減速器自身的間隙誤差。

技術研發人員：歐陽曉東
受保護的技術使用者：東莞市東啟智能設備有限公司
技術研發日：
技術公布日：2024/8/1