CN111828557A - Anti-backlash planetary gear reducer - Google Patents
Anti-backlash planetary gear reducer Download PDFInfo
- Publication number
- CN111828557A CN111828557A CN202010755483.1A CN202010755483A CN111828557A CN 111828557 A CN111828557 A CN 111828557A CN 202010755483 A CN202010755483 A CN 202010755483A CN 111828557 A CN111828557 A CN 111828557A
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- China
- Prior art keywords
- planet carrier
- planet
- gear
- ring
- planetary gear
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/2863—Arrangements for adjusting or for taking-up backlash
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/103—Gears specially adapted therefor, e.g. reduction gears with backlash-preventing means
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/2809—Toothed gearings for conveying rotary motion with gears having orbital motion with means for equalising the distribution of load on the planet-wheels
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
- F16H2001/327—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear with orbital gear sets comprising an internally toothed ring gear
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/12—Arrangements for adjusting or for taking-up backlash not provided for elsewhere
- F16H2057/126—Self-adjusting during operation, e.g. by a spring
- F16H2057/127—Self-adjusting during operation, e.g. by a spring using springs
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Retarders (AREA)
Abstract
The invention discloses an anti-backlash planetary gear reducer which comprises a sun gear, a first planet carrier, a second planet carrier, a plurality of first planet gears, a plurality of second planet gears, a first inner gear ring and a second inner gear ring, wherein the first planet carrier and the second planet carrier are both arranged on a central shaft of the sun gear and can rotate relatively on the central shaft; the second planet wheel is arranged on the first planet carrier and the second planet carrier and is internally meshed with the second inner gear ring, the first planet carrier and the second planet carrier are connected through an elastic element, and the first planet wheel and the second planet wheel are respectively tightly attached to the tooth surface of the inner gear ring under the action of the elastic element. The invention solves the problems of low transmission precision, impact during reversing and the like caused by the tooth side clearance of the existing planetary gear reducer, and has wide market application value.
Description
Technical Field
The invention belongs to the technical field of speed reducers, and particularly relates to an anti-backlash planetary gear speed reducer.
Background
The speed reducer is the core transmission component of the robot driving joint, and compared with a harmonic speed reducer, the planetary gear speed reducer has the advantages of high rigidity, high efficiency, reverse transmission support and the like, and compared with an RV speed reducer, the planetary gear speed reducer has the advantages of small volume, light weight and the like. The gears in the planetary gear reducer are designed according to a certain tooth number ratio, so that large transmission ratio and high transmission efficiency can be realized.
However, the conventional planetary gear reducer has a gap between the flanks of a pair of meshing gear teeth due to the inherent characteristics of the gears used therein, and this gap affects the precision and dynamic response of the planetary gear transmission and causes impact when the direction of motion of the transmission mechanism is switched, so that it cannot be applied to high precision transmissions (e.g., robot drive joints).
How to provide an anti-backlash mechanism capable of eliminating the backlash of a planetary gear reducer is a problem which needs to be solved urgently.
Disclosure of Invention
The invention mainly aims to provide an anti-backlash planetary gear reducer, so that the defects of the prior art are overcome.
In order to achieve the purpose, the technical scheme adopted by the invention comprises the following steps: an anti-backlash planetary gear reducer, the reducer comprising: the sun wheel, the first planet carrier, the second planet carrier, the first planet wheels, the second planet wheels, the first inner gear ring and the second inner gear ring are arranged on a central shaft of the sun wheel, the first planet carrier and the second planet carrier can rotate relatively on the central shaft, and the first planet wheels are arranged on the first planet carrier and the second planet carrier, are externally engaged with the sun wheel and are internally engaged with the first inner gear ring; the second planet gears are arranged on the first planet carrier and the second planet carrier and are internally meshed with the second inner gear ring, the first planet carrier is connected with the second planet carrier through an elastic element, the first planet gears on the first planet carrier and the second planet carrier are tightly attached to the tooth surfaces of the sun gear and the first inner gear ring under the action of the elastic element, and the second planet gears on the first planet carrier and the second planet carrier are tightly attached to the tooth surfaces of the second inner gear ring under the action of the elastic element.
In a preferred embodiment, a pretightening force adjusting structure is respectively arranged on the first planet carrier and the second planet carrier, and the pretightening force of the elastic element is adjusted through the pretightening force adjusting structure.
In a preferred embodiment, the pretightening force adjusting structure includes connecting seats disposed on the first planet carrier and the second planet carrier, and the connecting seats are respectively in threaded connection with the first planet carrier and the second planet carrier.
In a preferred embodiment, the connecting seat is in threaded connection with the first planet carrier and the second planet carrier, and the depth of the connecting seat is adjustable.
In a preferred embodiment, the depth of the threaded connection of the connecting seat with the first planet carrier and the second planet carrier is adjusted by nuts.
In a preferred embodiment, the first planet wheel is in rotational connection with the first planet carrier via a first bearing, and the second planet wheel is in rotational connection with the second planet carrier via a second bearing.
In a preferred embodiment, the first planet carrier is mounted to the central shaft of the sun gear by a third bearing, and the second planet carrier is mounted to the central shaft of the sun gear by a fourth bearing.
In a preferred embodiment, the first planet wheel and the corresponding second planet wheel are fixedly connected through a flat key.
In a preferred embodiment, the sun gear is connected with a motor, the first inner gear ring is fixed, when the first inner gear ring rotates in a forward direction, motion is input from the sun gear, the second inner gear ring outputs, and when the first inner gear ring rotates in a reverse direction, motion is input from the second inner gear ring and output from the sun gear.
In a preferred embodiment, the gear ratio of the reducer is:
wherein R isaeIs the transmission ratio of the entire reducer, RapIs the transmission ratio between the sun gear and the first planet carrier, RpeIs the transmission ratio between the second planet carrier and the second ring gear, Zr1Is the number of teeth of the first ring gear, Zr2Is the number of teeth of the second ring gear, ZpIs the number of teeth of the sun gear, Zp1Number of teeth of first planet gear, Zp2Is the number of teeth of the second planet gear.
Compared with the prior art, the invention has the beneficial effects that:
1. the elastic element is added between the two planet carriers to connect, so that the planet gears on the two planet carriers are respectively tightly attached to the tooth surfaces on two sides of the sun gear and the inner gear ring, and the tooth side gap during forward and reverse transmission is eliminated.
2. The pretightening force adjusting mechanism is arranged on the planet carrier, so that the rigidity of the anti-backlash spring can be adjusted to adapt to different load working conditions, the anti-backlash mechanism can be guaranteed to operate reliably, the equal load performance of each gear can be guaranteed through the planetary gear transmission without backlash, the whole planetary gear transmission is high in efficiency, stable and reliable, and the anti-backlash mechanism can be applied to robot driving joints or other occasions needing precise transmission.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic side view of a retarder according to the present invention;
FIG. 2 is a cross-sectional view taken along line A-A of FIG. 1;
FIG. 3 is a schematic side view of another embodiment of the present invention;
FIG. 4 is a schematic top view of the reducer of the present invention;
fig. 5 is a schematic diagram of the transmission principle of the present invention.
Reference numerals:
10. the planetary gear transmission device comprises a sun gear 20, a first planet carrier 21, a third bearing 22, a first connecting seat 30, a second planet carrier 31, a fourth bearing 40, a first planet gear 50, a second planet gear 60, a first inner gear ring 70, a second inner gear ring 80, a flat key 90, an elastic element 91, a nut 92, a shaft sleeve 93 and a bearing gland.
Detailed Description
The present invention will be more fully understood from the following detailed description, which should be read in conjunction with the accompanying drawings. Detailed embodiments of the present invention are disclosed herein; however, it is to be understood that the disclosed embodiments are merely exemplary of the invention, which can be embodied in various forms. Therefore, specific functional details disclosed herein are not to be interpreted as limiting, but merely as a basis for the claims and as a representative basis for teaching one skilled in the art to variously employ the present invention in virtually any appropriately detailed embodiment.
Referring to fig. 1 to 4, the anti-backlash planetary gear reducer disclosed by the present invention includes a sun gear 10, a first planet carrier 20, a second planet carrier 30, a plurality of first planet gears 40, a plurality of second planet gears 50, a first ring gear 60, and a second ring gear 70, wherein the sun gear 10 is fixed on a central shaft (not shown) thereof, and the central shaft is connected to a motor (not shown), the first planet carrier 20 is rotatably connected to the central shaft of the sun gear 10 through a third bearing 21 for mounting the first planet gears 40 and the second planet gears 50, in this embodiment, four first planet gears 40 are disposed on the first planet carrier 20, and each first planet gear 40 is rotatably connected to the first planet carrier 20 through a first bearing (not shown). The second planet carrier 30 is rotatably connected to the central shaft of the sun gear 10 through a fourth bearing 31 for mounting the second planet gears 50, and the first planet carrier 20 and the second planet carrier 30 can rotate relatively after being mounted on the central shaft of the sun gear 10.
Preferably, a shaft sleeve 92 is arranged on the central shaft of all the bearings, and a bearing gland 93 is arranged on each bearing.
In this embodiment, four second planet gears 50 are also disposed on the second planet carrier 30, and each second planet gear 50 is rotatably connected to the second planet carrier 30 through a second bearing (not shown). After the first planet wheel 40 and the second planet wheel 50 are mounted on the respective planet carriers, the first planet wheel 40 and the second planet wheel 50 are both meshed with the central sun wheel 10, and the first planet wheel 40 on the first planet carrier 20 corresponds to one second planet wheel 50 on the second planet carrier 30, i.e. four first planet wheels 40 and four second planet wheels 50 are in one-to-one correspondence, and each first planet wheel 40 and the corresponding second planet wheel 50 are fixedly connected through a flat key 80.
All the first planetary gears 40 are engaged with the first ring gear 60, and the first ring gear 60 is fixed. All the second planet gears 50 are in internal engagement with the second annulus gear 70. When the speed reducer rotates in the forward direction, motion is input from the sun gear 10 and output from the second ring gear 70, and when the speed reducer rotates in the reverse direction, the second ring gear 70 serves as motion input and the sun gear 10 serves as motion output.
The invention is based on the 3K planetary gear transmission structure, the planetary gear of the structure can float between the sun gear 10 and the inner gear ring, and the planet carrier is not stressed during transmission and only plays a role of auxiliary support. Therefore, the present invention designs the first carrier 20 and the second carrier 30 as two parts that can rotate relative to each other.
Preferably, the first planet carrier 20 and the second planet carrier 30 are connected by at least one elastic element 90, and in this embodiment, the elastic element 90 is a spring. Specifically, pretightening force adjusting structures are respectively disposed on the first planet carrier 20 and the second planet carrier 30, one end of the elastic element 90 is connected to the first planet carrier 20 through the pretightening force adjusting structure on the first planet carrier 20, and the other end of the elastic element 90 is connected to the second planet carrier 30 through the pretightening force adjusting structure on the second planet carrier 30, in this embodiment, the pretightening force adjusting structures include connecting seats, the first connecting seat 22 on the first planet carrier 20 is in threaded connection with the second connecting seat (not shown) on the second planet carrier 30 and the respective planet carriers, and the pretightening force of the elastic element 90 between the first connecting seat 22 and the second connecting seat can be adjusted by adjusting the depth of the first connecting seat 22 screwed into the first planet carrier 20 and/or the depth of the first connecting seat 22 screwed into the first planet carrier 20. The screwing depth of the first and second coupling seats 22 and 91 can be adjusted by the nut 91. The displacement of the elastic element 90 can be adjusted through the connecting seats on the first planet carrier 20 and the second planet carrier 30 and the nut 91, so that the pretightening force and the meshing rigidity between the meshing gears can be adjusted, and the planetary gear set can adapt to various load working conditions.
When the first planet gears 40, the second planet gears 50, the sun gear 10, the first ring gear 60 and the second ring gear 70 are assembled in place, gaps exist between the meshing gear pairs (including between the first planet gears 40 and the sun gear 10, between the second planet gears 50 and the sun gear 10, between the first planet gears 40 and the first ring gear 60, and between the second planet gears 50 and the second ring gear 70), and at this time, the positioning pins between the first planet carrier 20 and the second planet carrier 30 are removed, the first planet carrier 20 and the second planet carrier 30 rotate relatively under the action of the elastic element 90, the respective planet wheels on the first planet carrier 20 and the second planet carrier 30 abut against the corresponding tooth surfaces of the sun wheel 10 and the first inner gear ring 60 and the second inner gear ring 70 under the action of the elastic element 90, so as to eliminate the gaps existing between their flanks, and the planet wheels on both sides of the elastic element 90 eliminate the gaps on their respective corresponding sides, respectively. Therefore, when the planetary speed reducer is in forward transmission, the second planet wheels 50 on the second planet carrier 20 and the corresponding sun wheel 10 and the second ring gear 70, or the first planet wheels 40 on the first planet carrier 20 and the corresponding sun wheel 10 and the corresponding first ring gear 60 are in backlash-free transmission; during reverse transmission, the first planet gear 40 on the first planet carrier 20 and the corresponding sun gear 10 and the first inner gear ring 60, or the second planet gear 50 on the second planet carrier 30 and the corresponding sun gear 10 and the second inner gear ring 70 are in backlash-free transmission, so that the load uniformity (uniform stress) of each transmission gear is ensured, and the whole planetary reducer has high-efficiency bidirectional backlash-free transmission capacity and stable and reliable transmission. The planetary reducer can be used in a robot driving joint and can also be applied to other occasions requiring precise transmission.
The transmission principle of the present invention is shown in fig. 5, wherein the motion is input from the motor end through the sun gear 10, and output from the second ring gear 70, wherein the first ring gear 60 is fixed, and the numbers of teeth of the first ring gear 60 and the second ring gear 70, and the first planet gear 40 and the second planet gear 50 are respectively configured to be proper values. The planetary gear transmission system can realize a large transmission ratio through corresponding structural parameter matching design so as to meet the requirement of a driving joint unit or other units on high transmission ratio of the speed reducer. Therefore, by performing a motion analysis of the transmission system, a transmission ratio between the input sun gear 10 and the output second ring gear 70 can be obtained. The transmission ratio of the whole transmission system is as follows:
wherein R isaeIs the transmission ratio of the entire reducer, RapIs the transmission ratio, R, between the input sun gear 10 and the first carrier 20peIs the transmission ratio between the second planet carrier 30 and the second ring gear 70, Zr1Is the number of teeth of the first ring gear 60, Zr2Is the number of teeth of the second ring gear 70, ZpIs the number of teeth of sun gear 10, Zp1Is the number of teeth of the first planet gear 40, Zp2Is the number of teeth of the second planetary gear 50.
According to the invention, through the design of matching the tooth numbers of the sun gear 10, the first planet gear 40, the first inner gear ring 60, the second planet gear 50 and the second inner gear ring 70 in the planetary gear reducer, the planetary gear reducer can realize a large transmission ratio and high transmission efficiency, and supports bidirectional transmission.
In addition, the planetary gear reducer has the advantages of simple and compact structure, low manufacturing and assembling cost, convenience in later maintenance and the like.
The aspects, embodiments, features and examples of the present invention should be considered as illustrative in all respects and not intended to be limiting of the invention, the scope of which is defined only by the claims. Other embodiments, modifications, and uses will be apparent to those skilled in the art without departing from the spirit and scope of the claimed invention.
The use of headings and chapters in this disclosure is not meant to limit the disclosure; each section may apply to any aspect, embodiment, or feature of the disclosure.
Unless specifically stated otherwise, use of the terms "comprising", "including", "having" or "having" is generally to be understood as open-ended and not limiting.
While the invention has been described with reference to illustrative embodiments, it will be understood by those skilled in the art that various other changes, omissions and/or additions may be made and substantial equivalents may be substituted for elements thereof without departing from the spirit and scope of the invention. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the invention without departing from its scope. Therefore, it is intended that the invention not be limited to the particular embodiment disclosed for carrying out this invention, but that the invention will include all embodiments falling within the scope of the appended claims.
Claims (10)
1. An anti-backlash planetary gear reducer, characterized in that the reducer comprises: the sun wheel, the first planet carrier, the second planet carrier, the first planet wheels, the second planet wheels, the first inner gear ring and the second inner gear ring are arranged on a central shaft of the sun wheel, the first planet carrier and the second planet carrier can rotate relatively on the central shaft, and the first planet wheels are arranged on the first planet carrier and the second planet carrier, are externally engaged with the sun wheel and are internally engaged with the first inner gear ring; the second planet gears are arranged on the first planet carrier and the second planet carrier and are internally meshed with the second inner gear ring, the first planet carrier is connected with the second planet carrier through an elastic element, the first planet gears on the first planet carrier and the second planet carrier are tightly attached to the tooth surfaces of the sun gear and the first inner gear ring under the action of the elastic element, and the second planet gears on the first planet carrier and the second planet carrier are tightly attached to the tooth surfaces of the second inner gear ring under the action of the elastic element.
2. The anti-backlash planetary gear reducer according to claim 1, wherein: the first planet carrier and the second planet carrier are respectively provided with a pretightening force adjusting structure, and the elastic element adjusts the pretightening force of the elastic element through the pretightening force adjusting structure.
3. The anti-backlash planetary gear reducer according to claim 2, wherein: the pretightening force adjusting structure comprises connecting seats arranged on the first planet carrier and the second planet carrier, and the connecting seats are in threaded connection with the first planet carrier and the second planet carrier respectively.
4. The anti-backlash planetary gear reducer according to claim 3, wherein: the depth of the connecting seat in threaded connection with the first planet carrier and the second planet carrier is adjustable.
5. The anti-backlash planetary gear reducer according to claim 4, wherein: the depth of the connecting seat in threaded connection with the first planet carrier and the second planet carrier is adjusted through nuts.
6. The anti-backlash planetary gear reducer according to claim 1, wherein: the first planet wheel is rotationally connected with the first planet carrier through a first bearing, and the second planet wheel is rotationally connected with the second planet carrier through a second bearing.
7. The anti-backlash planetary gear reducer according to claim 1, wherein: the first planet carrier is mounted to the central shaft of the sun gear by a third bearing, and the second planet carrier is mounted to the central shaft of the sun gear by a fourth bearing.
8. The anti-backlash planetary gear reducer according to claim 1, wherein: and the first planet wheel and the corresponding second planet wheel are fixedly connected through a flat key.
9. The anti-backlash planetary gear reducer according to claim 1, wherein: the sun gear is connected with the motor, the first inner gear ring is fixed, the motion is input from the sun gear and output from the second inner gear ring during forward rotation, and the motion is input from the second inner gear ring and output from the sun gear during reverse rotation.
10. The anti-backlash planetary gear reducer according to claim 1, wherein the gear ratio of said reducer is:
wherein R isaeIs the transmission ratio of the entire reducer, RapIs the transmission ratio between the sun gear and the first planet carrier, RpeIs the transmission ratio between the second planet carrier and the second ring gear, Zr1Is the number of teeth of the first ring gear, Zr2Is the number of teeth of the second ring gear, ZpIs the number of teeth of the sun gear, Zp1Number of teeth of first planet gear, Zp2Is the number of teeth of the second planet gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010755483.1A CN111828557B (en) | 2020-07-31 | 2020-07-31 | Anti-backlash planetary gear reducer |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010755483.1A CN111828557B (en) | 2020-07-31 | 2020-07-31 | Anti-backlash planetary gear reducer |
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| CN111828557A true CN111828557A (en) | 2020-10-27 |
| CN111828557B CN111828557B (en) | 2022-08-26 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113682987A (en) * | 2021-09-09 | 2021-11-23 | 河南省建筑科学研究院有限公司 | Crane operation safety monitoring device |
| WO2023169854A1 (en) * | 2022-03-10 | 2023-09-14 | Aktiebolaget Skf | Planetary gear mechanism |
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| US20100240490A1 (en) * | 2008-02-26 | 2010-09-23 | Maxon Motor Ag | Backlash-free planetary gear unit with split planet gears, which are preloaded by spring bars arranged parallel to the planetary axis of rotation |
| JP2010216535A (en) * | 2009-03-16 | 2010-09-30 | Ricoh Co Ltd | Planetary gear type reduction gear and image forming device |
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| WO2023169854A1 (en) * | 2022-03-10 | 2023-09-14 | Aktiebolaget Skf | Planetary gear mechanism |
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| Publication number | Publication date |
|---|---|
| CN111828557B (en) | 2022-08-26 |
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