Technical method for eliminating transmission clearance of double-reduction gear of manipulator

Abstract

The invention discloses a technical method for two-stage deceleration of a manipulator to eliminate gear transmission gaps. gap, or to prevent the gear gap from increasing due to long-term high-speed operation, a set of two reverse helical gears is added between the two as a secondary reduction gear, and the two reverse helical gears are at the same time Shaft one goes up and down, and the tooth direction of the helical teeth is opposite. The helical gear at the lower end of the two-stage reduction gear is engaged with the reverse helical teeth of the first-stage reduction gear. The upper end of the two-stage reduction gear The helical gear is meshed with the manipulator shaft gear in the same direction. During operation, due to the interaction torque of the gears, the meshing between the first-stage reduction gear, the second-stage reduction gear and the manipulator shaft gear is more efficient. Tight, thereby eliminating the gear backlash method.

Description

technical field [0001] The invention relates to the technical field of gears, in particular to a technical method for eliminating the transmission gap of a two-stage reduction gear of a manipulator. Background technique [0002] For the gear rotation of the three-axis CNC loading and unloading manipulator, in addition to requiring its own high motion accuracy and working stability, it is also necessary to eliminate the transmission gap between the paired gears as much as possible; otherwise, it will be lost after each reverse It will make the motion lag behind the command signal, which will have a great impact on the positioning accuracy and repeat positioning accuracy of the equipment. The manipulator reduction box in the prior art mainly adopts a first-stage reduction gear structure, or adopts a gear as a second-stage reduction gear structure, and the gear rotation clearance of these two reduction gear structures is relatively large. [0003] In the present invention, whi...

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Problems solved by technology

[0004] The purpose of the present invention is to provide a technical method for eliminating the transmission gap of the two-stage reduction gear of the manipulator, which reasonably and effectively solves the problem that the manipulator reduction box in the prior art mainly adopts the structure of the first-stage reduction gear, or uses a single gear as the second-stage reduction gear. The structure of the gears causes the problem that the gears have a large backlash

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