Dual-axis output anti-backlash reducer

Abstract

The dual-axis output backlash-eliminating reducer disclosed in the present invention adopts two independent transmission chains and is installed in the same housing, thus saving external space. The two independent transmission chains only install torsion springs at the input stage, and the torsion springs with preset smaller torque are amplified step by step to the first output shaft output gear and the second output shaft output gear through the two independent transmission chains, and mesh with the left and right sides of the load gear respectively, so as to achieve the purpose of backlash elimination and be sufficient to drive the load to work. All gears are cylindrical gears, and a tangential direct backlash elimination method is adopted. Each transmission shaft has no additional axial load, and the axial resistance of the bearing is small. During the backlash elimination process, the tooth clearance fluctuation will not cause the gear to produce axial slippage, and the tooth surface will not produce additional friction resistance, so the transmission efficiency is high.

Description

Technical Field

[0001] The invention belongs to the technical field of reducers, and in particular relates to a double-shaft output backlash-eliminating reducer. Background Art

[0002] As a power transmission device, the reducer is an important part of the transmission chain. Gear reducers are popular due to their high transmission efficiency and high power, and have become the mainstream in the market. Due to the existence of manufacturing errors, gear backlash has always existed, affecting the repeatability of the transmission chain. Therefore, in fields with high control accuracy requirements, it is necessary to eliminate the influence of gear backlash. There are three existing gear backlash elimination schemes: (1) Dual motor and dual reducer backlash elimination, where the reducers are ordinary reducers, and the motor applies a bias torque to achieve the purpose of backlash elimination. This scheme is large in size, heavy in weight, and the control algorithm is complex. (2) Each transmission shaft gear uses a helical gear, which is independently transmitted in two ways. By installing an elastic element at the end of the helical gear, the helical gear produces a certain axial displacement to achieve the purpose of backlash elimination. Due to the existence of the helical angle of the helical gear and the preload of the spring at the end of the helical gear, this scheme is prone to generate a large additional axial load, which increases the axial resistance of the bearing; and in the process of eliminating the backlash, in order to compensate for the influence of the tooth backlash fluctuation, the helical gear needs to continuously slide back and forth along the axial direction, resulting in sliding friction, which is easy to burn the tooth surface, increase the friction resistance of the gear transmission, and reduce the transmission efficiency; when the helical angle of the gear is smaller than the friction angle, it will be locked. (3) Each transmission shaft gear adopts a spur gear, which is conical and has two independent transmissions. By adding an elastic element to the end of the helical gear, the conical gear can produce a certain axial displacement to achieve the purpose of eliminating the backlash. The characteristics of this scheme are the same as (2). Summary of the invention

[0003] The double-shaft output backlash-eliminating reducer disclosed in the present invention adopts two independent transmission chains to achieve backlash elimination.

[0004] The dual-axis output backlash-eliminating reducer disclosed in the present invention comprises:

[0005] An input shaft, a first input shaft pinion fixed on the input shaft, and a second input shaft pinion loosely sleeved on the output shaft; the input shaft is used to be fixedly connected to the motor;

[0006] A torsion spring, wherein after the torsion spring presets the torque, the upper torsion arm is fixedly connected to the first pinion of the input shaft, and the lower torsion arm is fixedly connected to the second pinion of the input shaft;

[0007] An intermediate shaft, a first intermediate shaft gear set fixed on the intermediate shaft, and a second intermediate shaft gear set loosely sleeved on the intermediate shaft;

[0008] a first output shaft and a first output shaft gear set fixed to the first output shaft;

[0009] A second output shaft and an idler gear set on the second output shaft; the second output shaft is arranged side by side with the first output shaft;

[0010] The first pinion gear of the input shaft is meshed with the input end gear of the first intermediate shaft gear set, the output end gear of the first intermediate shaft gear set is meshed with the input end gear of the first output shaft gear set, and the output end gear of the first output shaft gear set is used to mesh with the load gear;

[0011] The second pinion of the input shaft is meshed with the input end gear of the second intermediate shaft gear set, the output end gear of the second intermediate shaft gear set is meshed with the input end gear of the second output shaft gear set, and the output end gear of the second output shaft gear set is used to mesh with the load gear.

[0012] Further, the input end gear of the first intermediate shaft gear set is the first large gear of the intermediate shaft, and the output end gear of the first intermediate shaft gear set is the 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 side by side on the intermediate shaft;

[0013] The input end gear of the second intermediate shaft gear set is the second large gear of the intermediate shaft, and the output end gear of the second intermediate shaft gear set is the second small gear of the intermediate shaft; the second large gear of the intermediate shaft and the second small gear of the intermediate shaft are connected side by side and are loosely sleeved on the intermediate shaft;

[0014] The input end gear of the first output shaft gear set is the first output shaft large gear, and the output end gear of the first output shaft gear set is the first output shaft output gear; the first output shaft large gear and the first output shaft output gear are fixedly arranged side by side on the first output shaft;

[0015] The input end gear of the second output shaft gear set is the second output shaft large gear, and the output end gear of the second output shaft gear set is the second output shaft output gear; the second output shaft large gear and the second output shaft output gear are fixedly connected to the second output shaft side by side.

[0016] Furthermore, the diameters of the first pinion of the input shaft and the second pinion of the input shaft are equal; the diameters of the first large gear of the intermediate shaft and the second large gear of the intermediate shaft are equal; the diameters of the first pinion of the intermediate shaft and the second pinion of the intermediate shaft are equal; the diameters of the first output shaft large gear and the second output shaft large gear are equal; the diameters of the first output shaft output gear and the second output shaft output gear are equal.

[0017] Furthermore, the first pinion of the input shaft, the second pinion of the input shaft, the first large gear of the intermediate shaft, the first pinion of the intermediate shaft, the second large gear of the intermediate shaft, the second pinion of the intermediate shaft, the first output shaft large gear, the first output shaft output gear, the second output shaft large gear and the second output shaft output gear are all cylindrical gears.

[0018] Furthermore, it also includes a box body, and the input shaft, the intermediate shaft, the first output shaft, and the second output shaft are rotatably connected to the box body respectively.

[0019] The beneficial technical effects of the present invention are:

[0020] 1) Two independent transmission chains are used and installed in the same box, saving external space.

[0021] 2) The two independent transmission chains only install torsion springs at the input stage. The torsion springs with preset smaller torque are gradually amplified to the output gear of the first output shaft and the output gear of the second output shaft through the two independent transmission chains, and mesh with the left and right sides of the load gear respectively, so as to achieve the purpose of eliminating backlash and be sufficient to drive the load to work.

[0022] 3) In order to increase the transmission stiffness of the transmission chain, the preset torque of the torsion spring can be appropriately increased.

[0023] 4) All gears used are cylindrical gears, which adopt tangential direct clearance elimination method, which is the same as the gear torque transmission method. The axial displacement method is not used to eliminate the clearance. Therefore, there is no additional axial load on each transmission shaft, and the axial resistance of the bearing is small. During the clearance elimination process, the fluctuation of the tooth clearance will not cause the gear to slip axially, and the tooth surface will not produce additional friction resistance, and the transmission efficiency is high.

[0024] 5) Single motor input mechanical backlash elimination method is adopted, and no complicated backlash elimination control algorithm is required. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 Schematic diagram of dual-axis output anti-backlash reducer;

[0026] Among them: 1-box, 2-input shaft, 3-intermediate shaft, 4-first output shaft, 5-second output shaft, 6-first pinion of input shaft, 7-first large gear of intermediate shaft, 8-first pinion of intermediate shaft, 9-large gear of first output shaft, 10-output gear of first output shaft, 11-second pinion of input shaft, 12-second large gear of intermediate shaft, 13-second pinion of intermediate shaft, 14-large gear of second output shaft, 15-output gear of second output shaft, 16-torsion spring, 17-load gear. DETAILED DESCRIPTION

[0027] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0028] The dual-axis output backlash-eliminating reducer disclosed in the present invention is a directional reducer for a high-precision turntable system, adopts a two-stage transmission, and includes a housing 1, an input shaft 2, an intermediate shaft 3, a first output shaft 4, a second output shaft 5, a first pinion 6 of the input shaft, a first large gear 7 of the intermediate shaft, a first pinion 8 of the intermediate shaft, a large gear 9 of the first output shaft, an output gear 10 of the first output shaft, a second pinion 11 of the input shaft, a second large gear 12 of the intermediate shaft, a second pinion 13 of the intermediate shaft, a large gear 14 of the second output shaft, an output gear 15 of the second output shaft, and a torsion spring 16. 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 rotatably connected with the housing 1; the input shaft 2 is connected to the motor at the upper end, and the first pinion 6 of the input shaft, the torsion spring 16, and the second pinion 11 of the input shaft are installed in sequence from top to bottom; the input shaft 2 is fixedly connected with the first pinion 6, and the input shaft 2 is rotatably connected with the second pinion 11. The torsion spring 16 is installed on the input shaft 2 between the first pinion 6 of the input shaft and the second pinion 11 of the input shaft. After the torsion spring 16 presets the required torque, the upper torsion arm is fixedly connected with the first pinion 6 of the input shaft, and the lower torsion arm is fixedly connected with the second pinion 11 of the input shaft; the intermediate shaft 3 is installed with the first large gear 7 of the intermediate shaft, the first pinion 8 of the intermediate shaft, the second pinion 13 of the intermediate shaft, and the second large gear 12 of the intermediate shaft from top to bottom. The pinion 8 is fixedly connected, the second large gear 12 of the intermediate shaft and the second small gear 13 of the intermediate shaft are fixedly connected, the second large gear 12 of the intermediate shaft, the second small gear 13 of the intermediate shaft and the intermediate shaft are rotationally connected, the first large gear 7 of the intermediate shaft and the first small gear 6 of the input shaft are meshed, and the second large gear 12 of the intermediate shaft and the second small gear 11 of the input shaft are meshed; the first output shaft large gear 9 and the first output shaft output gear 10 are fixedly installed on the first output shaft 4, the first output shaft large gear 9 and the first output shaft first small gear 8 are meshed, and the first output shaft output gear 10 is meshed with the load gear 17; the second output shaft large gear 14 and the second output shaft output gear 15 are fixedly installed on the second output shaft 5, the second output shaft large gear 14 and the second output shaft output gear 15 are meshed with the second small gear 13 of the intermediate shaft, and the second output shaft output gear 15 is meshed with the load gear 17.

[0029] The first pinion 6 of the input shaft has the same diameter as the second pinion 11 of the input shaft; the first large gear 7 of the intermediate shaft has the same diameter as the second large gear 12 of the intermediate shaft; the first pinion 8 of the intermediate shaft has the same diameter as the second pinion 13 of the intermediate shaft; the large gear 9 of the first output shaft has the same diameter as the second large gear 14 of the output shaft; the output gear 10 of the first output shaft has the same diameter as the output gear 15 of the second output shaft.

[0030] The housing and the shafts, gears and torsion springs are designed according to the prior art. According to prior art calculations, the maximum input torque for driving the load is 4.5 N·m. In order not to sacrifice the transmission stiffness, the preset torque of the torsion spring 16 is set to be above 4.5 N·m.

[0031] The first input shaft pinion 6, the second input shaft pinion 11, the first intermediate shaft gear 7, the first intermediate shaft pinion 8, the second intermediate shaft gear 12, the second intermediate shaft pinion 13, the first output shaft gear 9, the first output shaft output gear 10, the second output shaft gear 14 and the second output shaft output gear 15 are all cylindrical gears.

Claims

1. Double-axis output anti-backlash reducer, characterized by: include, An input shaft (2), a first input shaft pinion (6) fixed on the input shaft, and a second input shaft pinion (11) loosely sleeved on the output shaft; the input shaft is used to be fixedly connected to the motor; A torsion spring (16), wherein after the torsion spring presets a torque, the upper torsion arm is fixedly connected to the first pinion (6) of the input shaft, and the lower torsion arm is fixedly connected to the second pinion (11) of the input shaft; An intermediate shaft (3), a first intermediate shaft gear set fixed on the intermediate shaft, and a second intermediate shaft gear set loosely sleeved on the intermediate shaft; 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 with an idler sleeve on the second output shaft (5); the second output shaft (5) and the first output shaft (4) are arranged side by side; The first pinion gear (6) of the input shaft meshes with the input end gear of the first intermediate shaft gear set, the output end gear of the first intermediate shaft gear set meshes with the input end gear of the first output shaft gear set, and the output end gear of the first output shaft gear set is used to mesh with the load gear (17); The second pinion gear (11) of the input shaft meshes with the input end gear of the second intermediate shaft gear set, the output end gear of the second intermediate shaft gear set meshes with the input end gear of the second output shaft gear set, and the output end gear of the second output shaft gear set is used to mesh with the load gear (17).

2. The dual-axis output backlash-eliminating reducer according to claim 1, characterized in that: The input end gear of the first intermediate shaft gear set is the first intermediate shaft large gear (7), and the output end gear of the first intermediate shaft gear set is the first intermediate shaft small gear (8); the first intermediate shaft large gear and the first intermediate shaft small gear are fixedly arranged side by side on the intermediate shaft (3); The input end gear of the second intermediate shaft gear set is the second large intermediate shaft gear (12), and the output end gear of the second intermediate shaft gear set is the second small intermediate shaft gear (13); the second large intermediate shaft gear and the second small intermediate shaft gear are connected side by side and are loosely sleeved on the intermediate shaft (3); 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 side by side on the first output shaft (4); The gear at the input end of the second output shaft gear set is a second output shaft gearwheel (14), and the gear at the output end of the second output shaft gear set is a second output shaft output gear (15); the second output shaft gearwheel and the second output shaft output gear are fixedly connected side by side to the second output shaft (5).

3. The dual-axis output backlash-eliminating reducer according to claim 2, characterized in that: The first pinion gear (6) of the input shaft and the second pinion gear (11) of the input shaft have the same diameter; the first large gear (7) of the intermediate shaft and the second large gear (12) of the intermediate shaft have the same diameter; the first pinion gear (8) of the intermediate shaft and the second pinion gear (13) of the intermediate shaft have the same diameter; the large gear (9) of the first output shaft and the large gear (14) of the second output shaft have the same diameter; and the output gear (10) of the first output shaft and the output gear (15) of the second output shaft have the same diameter.

4. The dual-axis output backlash-eliminating reducer according to claim 3, characterized in that: The first pinion gear (6) of the input shaft, the second pinion gear (11) of the input shaft, the first large gear (7) of the intermediate shaft, the first pinion gear (8) of the intermediate shaft, the second large gear (12) of the intermediate shaft, the second pinion gear (13) of the intermediate shaft, the first large gear (9) of the output shaft, the first output shaft output gear (10), the second large gear (14) of the output shaft and the second output shaft output gear (15) are all cylindrical gears.

5. The dual-axis output backlash-eliminating reducer according to claim 4, characterized in that: It also comprises a casing (1), wherein the input shaft (2), the intermediate shaft (3), the first output shaft (4), and the second output shaft (5) are respectively rotatably connected to the casing (1).

Images