CN212616127U - Double-shaft output anti-backlash speed reducer - Google Patents
Double-shaft output anti-backlash speed reducer Download PDFInfo
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- CN212616127U CN212616127U CN202021168412.3U CN202021168412U CN212616127U CN 212616127 U CN212616127 U CN 212616127U CN 202021168412 U CN202021168412 U CN 202021168412U CN 212616127 U CN212616127 U CN 212616127U
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Abstract
The utility model discloses a biax output crack speed reducer that disappears adopts two way independent driving chains, installs in same box, has saved the exterior space. The two independent transmission chains are only provided with torsion springs at the input stage, the torsion springs with preset smaller torque are amplified to the first output shaft output gear and the second output shaft output gear step by step through the two independent transmission chains and are respectively meshed with the left side and the right side of the load gear, so that the purpose of eliminating backlash is achieved, and the load can be driven to work. The gears are cylindrical gears, a tangential direct clearance elimination mode is adopted, each transmission shaft has no additional axial load, the axial resistance of the bearing is small, the gear does not slide axially due to the fluctuation of the tooth clearance in the clearance elimination process, the tooth surface does not generate extra friction resistance, and the transmission efficiency is high.
Description
Technical Field
The utility model belongs to the technical field of the speed reducer, concretely relates to biax output crack speed reducer that disappears.
Background
A reduction gear is an important component of a transmission chain as a power transmission device, and a gear reduction gear is favored because of high transmission efficiency and high power, and is the mainstream in the market. Due to the existence of manufacturing errors, gear backlash exists all the time, and the repeated positioning precision of the transmission chain is influenced. Therefore, in the field with high control precision requirement, the influence of gear backlash needs to be eliminated. The existing gear backlash eliminating scheme has 3 types: (1) the double motors and the double speed reducers are used for eliminating gaps, the speed reducers are common speed reducers, and the purpose of eliminating gaps is achieved by applying bias torque to the motors. The scheme has large volume, heavy weight and complex control algorithm. (2) Each transmission shaft gear adopts a helical gear, and is independently transmitted in two paths, and the helical gear generates a certain axial displacement to achieve the purpose of eliminating backlash by adding an elastic element at the end part of the helical gear. According to the scheme, due to the helical angle of the bevel gear and the preset load of the spring at the end part of the bevel gear, a larger additional axial load is easy to generate, and the axial resistance of the bearing is increased; in the gap eliminating process, in order to compensate the influence of the backlash fluctuation, the helical gear needs to slide back and forth along the axial direction continuously in a micro-scale manner, sliding friction exists, the tooth surface is easy to ablate, the transmission friction resistance of the gear is increased, and the transmission efficiency is reduced; it is locked when the gear helix angle is less than the friction angle. (3) Each transmission shaft gear adopts a straight gear, is conical and is independently transmitted in two paths, and an elastic element is additionally arranged at the end part of the helical gear, so that the conical gear generates a certain axial displacement to achieve the purpose of eliminating backlash. The scheme has the characteristics as in (2).
Disclosure of Invention
The utility model discloses a biax output crack speed reducer that disappears adopts two way independent driving chains to reach and disappears the crack.
The utility model discloses a double-shaft output anti-backlash speed reducer, which comprises,
the input shaft, the first pinion of the input shaft fixed on the input shaft and the second pinion of the input shaft sleeved on the output shaft in an empty way; the input shaft is used for being fixedly connected with a motor;
the torsion spring is fixedly connected with the upper torsion arm and the input shaft first pinion after the torsion spring presets the torque, and the lower torsion arm is fixedly connected with the input shaft second pinion;
the gear train comprises an intermediate shaft, a first intermediate shaft gear set fixed on the intermediate shaft and a second intermediate shaft gear set sleeved on the intermediate shaft in an empty mode;
a first output shaft and a first output shaft gear set fixed on the first output shaft;
the second output shaft and a second output shaft gear set which is sleeved on the second output shaft in an empty way; the second output shaft and the first output shaft are arranged side by side;
the input shaft first pinion gear is meshed with a first intermediate shaft gear set input gear, the first intermediate shaft gear set output gear is meshed with a first output shaft gear set input gear, and the first output shaft gear set output gear is used for being meshed with a load gear;
the input shaft second pinion gear meshes with a second countershaft gearset input gear, the second countershaft gearset output gear meshes with a second output shaft gearset input gear, the second output shaft gearset output gear being for meshing with a load gear.
Furthermore, the gear at the input end of the first intermediate shaft gear set is a first large gear of the intermediate shaft, and the gear at the output end of the first intermediate shaft gear set is a first small gear of the intermediate shaft; the first large gear of the intermediate shaft and the first small gear of the intermediate shaft are fixedly arranged on the intermediate shaft side by side;
the gear at the input end of the second intermediate shaft gear set is a second large gear of the intermediate shaft, and the gear at the output end of the second intermediate shaft gear set is a second small gear of the intermediate shaft; the second large gear of the intermediate shaft is connected with the second small gear of the intermediate shaft in parallel and is sleeved on the intermediate shaft in an empty way;
the input end gear of the first output shaft gear set is a first output shaft gearwheel, and the output end gear of the first output shaft gear set is a first output shaft gear; the first output shaft gearwheel and the first output shaft output gear are fixedly arranged on the first output shaft side by side;
the gear at the input end of the second output shaft gear set is a second output shaft gearwheel, and the gear at the output end of the second output shaft gear set is a second output shaft gear; the second output shaft gearwheel and the second output shaft output gear are fixedly connected to the second output shaft side by side.
Further, the input shaft first pinion is equal in diameter to the input shaft second pinion; the diameters of the first large gear of the intermediate shaft and the second large gear of the intermediate shaft are equal; the diameter of the first pinion of the intermediate shaft is equal to that of the second pinion of the intermediate shaft; the diameters of the first output shaft gearwheel and the second output shaft gearwheel are equal; the first output shaft output gear and the second output shaft output gear are equal in diameter.
Furthermore, the first input shaft pinion, the second input shaft pinion, the first intermediate shaft gearwheel, the first intermediate shaft pinion, the second intermediate shaft gearwheel, the second intermediate shaft pinion, the first output shaft gearwheel, the first output shaft output gear, the second output shaft gearwheel and the second output shaft output gear are all cylindrical gears.
Furthermore, the gearbox also comprises a box body, and the input shaft, the intermediate shaft, the first output shaft and the second output shaft are respectively in rotating connection with the box body.
The utility model discloses beneficial technological effect does:
1) two independent transmission chains are arranged in the same box body, so that the external space is saved.
2) The two independent transmission chains are only provided with torsion springs at the input stage, the torsion springs with preset smaller torque are amplified to the first output shaft output gear and the second output shaft output gear step by step through the two independent transmission chains and are respectively meshed with the left side and the right side of the load gear, so that the purpose of eliminating backlash is achieved, and the load can be driven to work.
3) In order to increase the drive stiffness of the drive chain, the pre-set torque of the torsion spring can be increased appropriately.
4) The gears are cylindrical gears, a tangential direct clearance elimination mode is adopted, the torque transmission mode is the same as that of the gears, and clearance elimination is not realized in an axial displacement mode, so that additional axial load is not generated on each transmission shaft, the axial resistance of a bearing is small, the gears cannot axially slide due to the fluctuation of the tooth clearance in the clearance elimination process, extra friction resistance cannot be generated on the tooth surfaces, and the transmission efficiency is high.
5) And a single-motor input mechanical backlash eliminating mode is adopted, and a complex backlash eliminating control algorithm is not needed.
Drawings
FIG. 1 is a schematic diagram of a dual-axis output anti-backlash reducer;
wherein: 1-box body, 2-input shaft, 3-intermediate shaft, 4-first output shaft, 5-second output shaft, 6-input shaft first pinion, 7-intermediate shaft first gearwheel, 8-intermediate shaft first pinion, 9-first output shaft gearwheel, 10-first output shaft output gear, 11-input shaft second pinion, 12-intermediate shaft second gearwheel, 13-intermediate shaft second pinion, 14-second output shaft gearwheel, 15-second output shaft output gear, 16-torsion spring and 17-load gear.
Detailed Description
The present invention will be further explained with reference to the drawings and the embodiments.
The utility model discloses a biax output anti-backlash speed reducer is direction speed reducer of high accuracy revolving stage system, adopts the two-stage transmission, including box 1, input shaft 2, jackshaft 3, first output shaft 4, second output shaft 5, the first pinion of input shaft 6, the first gear wheel of jackshaft 7, the first pinion of jackshaft 8, first output shaft gear wheel 9, first output shaft output gear 10, input shaft second pinion 11, jackshaft second gear wheel 12, jackshaft second pinion 13, second output shaft gear wheel 14, second output shaft output gear 15, torsional spring 16 is constituteed. The second output shaft 5 is arranged side by side with the first output shaft 4. The input shaft 2, the intermediate shaft 3, the first output shaft 4 and the second output shaft 5 are rotationally connected with the box body 1; the upper end of the input shaft 2 is connected with a motor, and the middle part of the input shaft is sequentially provided with a first input shaft pinion 6, a torsion spring 16 and a second input shaft pinion 11 from top to bottom; the input shaft 2 is fixedly connected with the first pinion 6, the input shaft 2 is rotatably connected with the second pinion 11, the torsion spring 16 is arranged on the input shaft 2 between the input shaft first pinion 6 and the input shaft second pinion 11, the torsion spring 16 is preset with required torque, and then the upper torsion arm is fixedly connected with the input shaft first pinion 6, and the lower torsion arm is fixedly connected with the input shaft second pinion 11; the intermediate shaft 3 is sequentially provided with an intermediate shaft first gearwheel 7, an intermediate shaft first pinion 8, an intermediate shaft second pinion 13 and an intermediate shaft second gearwheel 12 from top to bottom, the intermediate shaft first gearwheel 7 is fixedly connected with the intermediate shaft first pinion 8, the intermediate shaft second gearwheel 12 is fixedly connected with the intermediate shaft second pinion 13, the intermediate shaft second gearwheel 12, the intermediate shaft second pinion 13 and the intermediate shaft 3 are rotationally connected, the intermediate shaft first gearwheel 7 is meshed with the input shaft first pinion 6, and the intermediate shaft second gearwheel 12 is meshed with the input shaft second pinion 11; the first output shaft 4 is fixedly provided with a first output shaft gearwheel 9 and a first output shaft output gear 10, the first output shaft gearwheel 9 is meshed with the intermediate shaft first pinion 8, and the first output shaft output gear 10 is meshed with a load gear 17; the second output shaft 5 is fixedly provided with a second output shaft gearwheel 14 and a second output shaft gear 15, the second output shaft gearwheel 14 is meshed with the intermediate shaft second pinion 13, and the second output shaft gear 15 is meshed with a load gear 17.
The input shaft first pinion 6 is equal in diameter to the input shaft second pinion 11; the diameter of the first gearwheel 7 of the intermediate shaft is equal to that of the second gearwheel 12 of the intermediate shaft; the intermediate shaft first pinion 8 and the intermediate shaft second pinion 13 are equal in diameter; the first output shaft gearwheel 9 and the second output shaft gearwheel 14 have the same diameter; the first output shaft output gear 10 and the second output shaft output gear 15 are equal in diameter.
The box body, the shafts, the gears and the torsion springs are designed according to the prior art. According to the calculation of the prior art, the maximum input torque for driving the load is 4.5N · m, and the preset torque of the torsion spring 16 is set to 4.5N · m or more in order not to sacrifice the transmission rigidity.
The intermediate stage transmission can be increased or decreased as required. The input shaft first pinion 6, the input shaft second pinion 11, the intermediate shaft first gearwheel 7, the intermediate shaft first pinion 8, the intermediate shaft second gearwheel 12, the intermediate shaft second pinion 13, the first output shaft gearwheel 9, the first output shaft output gear 10, the second output shaft gearwheel 14 and the second output shaft output gear 15 are all cylindrical gears.
Claims (5)
1. Biax output anti-backlash speed reducer, its characterized in that: comprises the steps of (a) preparing a mixture of a plurality of raw materials,
the input shaft (2), an input shaft first pinion (6) fixed on the input shaft and an input shaft second pinion (11) sleeved on the output shaft in an empty way; the input shaft is used for being fixedly connected with a motor;
the torsion spring (16) is fixedly connected with the upper torsion arm and the input shaft first pinion (6) after the torsion spring presets torque, and is fixedly connected with the lower torsion arm and the input shaft second pinion (11);
the gear train comprises an intermediate shaft (3), a first intermediate shaft gear set fixed on the intermediate shaft and a second intermediate shaft gear set sleeved on the intermediate shaft in an empty mode;
a first output shaft (4) and a first output shaft gear set fixed on the first output shaft (4);
a second output shaft (5) and a second output shaft gear set which is sleeved on the second output shaft (5) in an empty way; the second output shaft (5) is arranged side by side with the first output shaft (4);
the input shaft first pinion (6) is in gear engagement with a first intermediate shaft gear set input, the first intermediate shaft gear set output is in gear engagement with a first output shaft gear set input, the first output shaft gear set output is for engagement with a load gear (17);
the input shaft second pinion (11) is in gear engagement with a second intermediate shaft gear set input, the second intermediate shaft gear set output is in gear engagement with a second output shaft gear set input, the second output shaft gear set output is adapted to be in gear engagement with a load gear (17).
2. The dual-axis output anti-backlash reducer as claimed in claim 1, wherein: the input end gear of the first intermediate shaft gear set is an intermediate shaft first large gear (7), and the output end gear of the first intermediate shaft gear set is an intermediate shaft first small gear (8); the first large gear of the intermediate shaft and the first small gear of the intermediate shaft are fixedly arranged on the intermediate shaft (3) side by side;
the gear at the input end of the second intermediate shaft gear set is an intermediate shaft second large gear (12), and the gear at the output end of the second intermediate shaft gear set is an intermediate shaft second small gear (13); the second large gear of the intermediate shaft is connected with the second small gear of the intermediate shaft in parallel and is sleeved on the intermediate shaft (3) in an empty way;
the input end gear of the first output shaft gear set is a first output shaft gearwheel (9), and the output end gear of the first output shaft gear set is a first output shaft output gear (10); the first output shaft gearwheel and the first output shaft output gear are fixedly arranged on the first output shaft (4) side by side;
the input end gear of the second output shaft gear set is a second output shaft gearwheel (14), and the output end gear of the second output shaft gear set is a second output shaft gear (15); the second output shaft gearwheel and the second output shaft output gear are fixedly connected to a second output shaft (5) in parallel.
3. The dual-axis output anti-backlash reducer as claimed in claim 2, wherein: the diameter of the input shaft first pinion (6) is equal to that of the input shaft second pinion (11); the diameter of the first gearwheel (7) of the intermediate shaft is equal to that of the second gearwheel (12) of the intermediate shaft; the diameter of the first intermediate shaft pinion (8) is equal to that of the second intermediate shaft pinion (13); the diameters of the first output shaft gearwheel (9) and the second output shaft gearwheel (14) are equal; the first output shaft output gear (10) and the second output shaft output gear (15) are equal in diameter.
4. The dual-axis output anti-backlash reducer as claimed in claim 3, wherein: the gear transmission mechanism is characterized in that the input shaft first pinion (6), the input shaft second pinion (11), the intermediate shaft first gearwheel (7), the intermediate shaft first pinion (8), the intermediate shaft second gearwheel (12), the intermediate shaft second pinion (13), the first output shaft gearwheel (9), the first output shaft output gear (10), the second output shaft gearwheel (14) and the second output shaft output gear (15) are cylindrical gears.
5. The dual-axis output anti-backlash reducer as claimed in claim 4, wherein: the gearbox is characterized by further comprising a box body (1), wherein the input shaft (2), the intermediate shaft (3), the first output shaft (4) and the second output shaft (5) are respectively in rotating connection with the box body (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021168412.3U CN212616127U (en) | 2020-06-22 | 2020-06-22 | Double-shaft output anti-backlash speed reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021168412.3U CN212616127U (en) | 2020-06-22 | 2020-06-22 | Double-shaft output anti-backlash speed reducer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212616127U true CN212616127U (en) | 2021-02-26 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021168412.3U Active CN212616127U (en) | 2020-06-22 | 2020-06-22 | Double-shaft output anti-backlash speed reducer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212616127U (en) |
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2020
- 2020-06-22 CN CN202021168412.3U patent/CN212616127U/en active Active
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