A planetary transmission mechanism and reducer with backlash adaptive adjustment

Abstract

The present invention discloses a planetary transmission mechanism with adaptive backlash adjustment and a reducer. The planetary transmission mechanism with adaptive backlash adjustment includes a drive mechanism, a primary transmission system, an output shaft, and a fixed support. The primary transmission system includes a primary sun gear, primary planetary gears, a primary inner ring gear, and a primary planet carrier. The primary planet carrier includes a primary rotating arm and a primary planetary disc. The primary rotating arm and the primary planetary disc are elastically connected via a first elastic member. The primary planetary disc is transmission-connected to the output shaft, and the output shaft is rotatably connected to the fixed support. The reducer includes a reduction gear box and a planetary transmission mechanism with adaptive backlash adjustment. The fixed support is provided on the reduction gear box, and the planetary transmission mechanism with adaptive backlash adjustment is installed in the reduction gear box. The planetary transmission mechanism and reducer of the present invention can eliminate backlash in planetary reduction transmissions and can adaptively adjust to compensate for wear between gears when wear occurs, thereby ensuring transmission accuracy.

Description

Technical Field

[0001] The present invention relates to the technical field of reduction transmission mechanisms, and in particular to a backlash adaptive adjustment planetary transmission mechanism and a reducer. Background Art

[0002] Planetary reducer motors are widely used across various industries due to their compact structure and high reduction ratios. However, with the advancement of production technology and the demand for high-quality products, especially the development of precision and heavy-duty transmissions, higher requirements have been placed on the transmission accuracy of planetary reducers. The transmission accuracy of a planetary reducer is closely related to its return clearance. Return clearance of a planetary reducer refers to the angular displacement of the reducer output when the output is subjected to positive and negative rated torques when the input end is fixed and the output end rotates clockwise and counterclockwise. This angular displacement is called return clearance, also known as backlash.

[0003] In existing planetary reduction drive mechanisms, common solutions for achieving backlash reduction (reducing or eliminating backlash) include adjusting center distance with an eccentric sleeve, staggering the teeth of two thin gears, and using dual motors to drive dual transmission chains. However, these methods all present complex structures and assembly, as well as high costs. Furthermore, as the planetary reducer is used, wear between its gears increases, further increasing backlash and severely impacting transmission efficiency. Summary of the Invention

[0004] In order to overcome the shortcomings of the prior art, one of the objects of the present invention is to provide a planetary transmission mechanism with adaptive backlash adjustment. The second object of the present invention is to provide a reducer that can eliminate the backlash in the planetary reduction transmission and can adaptively adjust to compensate for wear when wear occurs between gears to ensure transmission accuracy.

[0005] One of the purposes of the present invention is achieved by the following technical solution:

[0006] The gear train is connected to the gear axle of the first gear and the gear train is connected to the gear train ...

[0007] Furthermore, the diameters of the root circle and the addendum circle of the first-stage sun gear, the first-stage planetary gear and the first-stage internal gear ring remain unchanged, and the tooth thicknesses of the first-stage sun gear, the first-stage planetary gear and the first-stage internal gear ring are suitable for linear variation along their respective axial directions.

[0008] Furthermore, a secondary transmission system is arranged between the primary planetary disk and the output shaft, and the secondary transmission system includes a secondary sun gear, secondary planetary gears, a secondary inner gear ring and a secondary planetary carrier; the secondary sun gear is coaxially arranged with the primary planetary disk and is transmission-connected; the secondary inner gear ring is fixedly arranged, and the secondary planetary gears are respectively meshed with the secondary sun gear and the secondary inner gear ring; the secondary planetary carrier includes a secondary swing arm and a secondary planetary disk; the secondary swing arm is rotatably connected to the axial hole of the secondary planetary gear, and the secondary swing arm and the secondary planetary disk are elastically connected by a second elastic member; the second elastic member is suitable for applying a force to the secondary swing arm along the axial direction of the secondary planetary gear, so that the secondary planetary gear has a tendency to approach the secondary inner gear ring; the secondary planetary disk is transmission-connected to the output shaft.

[0009] Furthermore, the elastic force of the second elastic member is greater than the elastic force of the first elastic member.

[0010] Furthermore, the diameters of the root circle and the top circle of the secondary sun gear, the secondary planetary gear and the secondary inner ring gear remain unchanged, and the tooth thicknesses of the secondary sun gear, the secondary planetary gear and the secondary inner ring gear are suitable for linear variation along their respective axial directions.

[0011] Furthermore, the rotating shaft and the output shaft of the driving mechanism are both hollow shafts, and the centers of the first-stage planetary disk and the second-stage planetary disk are both provided with through holes.

[0012] Furthermore, a ball bearing is provided between the primary rotating arm and the shaft hole of the primary planetary gear; the inner ring of the ball bearing is interference fit with the primary rotating arm; and the outer ring of the ball bearing is interference fit with the shaft hole of the primary planetary gear.

[0013] The gear train is a gear train that is fixed to the first gear and the gear train is a gear that is fixed to the first gear and the gear train is a gear that is fixed to the first gear and the gear train is a gear that is fixed to the first gear and the gear train is a gear that is fixed to the first gear and the gear train is a gear that is fixed to the first gear and the gear train is a gear that is fixed to the first gear and the gear train is a gear that is fixed to the first gear and the gear train is a gear that is fixed to the first gear and the gear train is a gear that is fixed to the first gear and the gear train is a gear that is fixed to the first gear and the gear train is a gear that is fixed to the first gear and the gear train is a gear that is fixed to the first gear and the gear train is a gear that is fixed to the the movable inner gear ring has a tendency to approach; the third elastic member is suitable for applying a force along the axial direction of the duplex planetary gear to the first movable meshing portion, so that the first movable meshing portion has a tendency to approach the second end of the duplex planetary gear; the secondary sun gear is coaxially arranged with the first movable connection portion and is transmission-connected; the secondary inner gear ring is fixedly arranged, and the secondary planetary gears are respectively meshed with the secondary sun gear and the secondary inner gear ring; the secondary planet carrier includes a secondary swing arm and a secondary planetary disc; the secondary swing arm is rotatably connected to the axial hole of the secondary planetary gear, and the secondary swing arm and the secondary planetary disc are elastically connected by a second elastic member; the second elastic member is suitable for applying a force along the axial direction of the secondary planetary gear to the secondary swing arm, so that the secondary planetary gear has a tendency to approach the secondary inner gear ring; the secondary planetary disc is transmission-connected to the output shaft, and the output shaft is rotatably connected to the fixed support member, and the fixed support member is suitable for providing radial support force to the output shaft; the elastic force of the second elastic member is greater than the elastic force of the third elastic member and the elastic force of the first elastic member.

[0014] A backlash adaptive adjustment planetary transmission mechanism, comprising: a driving mechanism, a primary sun gear, a duplex planetary gear, a fixed inner gear ring, a movable planetary carrier, a second movable inner gear ring, an output shaft and a fixed support member; the rotating shaft of the driving mechanism is axially adjustable, the primary sun gear is coaxially arranged with the rotating shaft of the driving mechanism and is fixedly connected; the first ends of the duplex planetary gears are respectively meshed with the primary sun gear and the fixed inner gear ring, and the second ends of the duplex planetary gears are meshed with the second movable inner gear ring; the movable planetary carrier is rotatably connected to the duplex planetary gears; the fixed inner gear ring includes a fixed meshing portion and a fixed connecting portion; the second movable inner gear ring includes a second movable meshing portion and a second movable connecting portion; the fixed meshing portion The part is elastically connected to the fixed connection part by a fourth elastic member and / or the second movable meshing part is connected to the second movable connection part by a third elastic member; the fourth elastic member is suitable for applying a force along the axial direction of the duplex planetary gear to the duplex planetary gear, so that the second end of the duplex planetary gear has a tendency to approach the second movable inner gear ring; the third elastic member is suitable for applying a force along the axial direction of the duplex planetary gear to the second movable meshing part, so that the second movable meshing part has a tendency to approach the second end of the duplex planetary gear; the second movable connection part is transmission-connected to the output shaft, and the output shaft is rotatably connected to the fixed support member, and the fixed support member is suitable for providing radial support force to the output shaft.

[0015] The second object of the present invention is achieved by adopting the following technical solution:

[0016] A reducer is characterized by comprising a reduction gear box and a backlash adaptive adjustment planetary transmission mechanism, wherein the backlash adaptive adjustment planetary transmission mechanism is installed in the reduction gear box.

[0017] Compared with the existing technology, the beneficial effects of the present invention are: the rotating shaft of the driving mechanism can be axially adjusted, so that the axial position of the first-stage sun gear can be adjusted, and the running clearance between the first-stage sun gear and the planetary gear or the double-linked planetary gear can be eliminated by adjusting the axial position of the first-stage sun gear, thereby ensuring the transmission accuracy; and the setting of the first elastic member, the second elastic member, the third elastic member and the fourth elastic member can provide a pre-tightening force between the mutually meshing gears, and when wear occurs between the mutually meshing gears and a gap is generated, each elastic member can automatically adjust the axial position between the meshing gears with the gap under the action of the elastic force, so that the meshing is tighter, the backlash of the gear transmission is reduced, and the transmission accuracy is ensured. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 Schematic diagram of a first embodiment of a planetary transmission mechanism with adaptive backlash adjustment according to the present invention;

[0019] Figure 2 for Figure 1Add a schematic diagram of the secondary transmission system;

[0020] Figure 3 for Figure 2 A schematic diagram showing that the rotating shaft and output shaft of the middle drive mechanism are hollow shafts, and the centers of the primary and secondary planetary disks are through holes;

[0021] Figure 4 Schematic diagram of a second embodiment of the planetary transmission mechanism with adaptive backlash adjustment according to the present invention;

[0022] Figure 5 This is a schematic diagram of the third embodiment of the planetary transmission mechanism with backlash adaptive adjustment according to the present invention.

[0023] In the figure: 1. driving mechanism; 11. rotating shaft; 21. primary sun gear; 22. primary planet gear; 23. primary inner gear ring; 241. primary rotating arm; 242. primary planet disk; 3. output shaft; 4. fixed support member; 51. secondary sun gear; 52. secondary planet gear; 53. secondary inner gear ring; 541. secondary rotating arm; 542. secondary planet disk; 61. duplex planet gear; 62. first movable meshing part; 63. first movable connecting part; 64. fixed rotating arm; 65. fixed planet disk; 71. fixed meshing part; 72. fixed connecting part; 73. movable planet carrier; 74. second movable meshing part; 75. second movable connecting part; 81. first elastic member; 82. second elastic member; 83. third elastic member; 84. fourth elastic member. DETAILED DESCRIPTION

[0024] To facilitate understanding of the present invention, the present invention will be described more fully below with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the accompanying drawings. However, the present invention may be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the present disclosure.

[0025] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly attached to the other element or there may be an intermediate element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only.

[0026] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this invention pertains. The terms used in this specification of the present invention are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0027] Example 1

[0028] like Figure 1 As shown, a schematic diagram of a backlash adaptive adjustment planetary transmission mechanism provided in the first embodiment of the present invention is shown, which includes a drive mechanism 1, a primary transmission system, an output shaft 3 and a fixed support 4. The rotating shaft 11 of the drive mechanism 1 is axially adjustable. It should be noted that axial adjustment means that the rotating shaft 11 can be displaced along its own axial direction and can be axially limited when displaced to a predetermined position. Specifically, the drive mechanism 1 can be a motor, and the motor that can axially adjust the rotating shaft 11 is a prior art and will not be described in detail here.

[0029] The primary transmission system includes a primary sun gear 21, primary planetary gears 22, a primary inner ring gear 23, and a primary planet carrier. The root and tip diameters of the primary sun gear 21, primary planetary gears 22, and primary inner ring gear 23 remain constant, and the tooth thicknesses of the primary sun gear 21, primary planetary gears 22, and primary inner ring gear 23 are adapted to vary linearly along their respective axial directions. That is, the primary sun gear 21, primary planetary gears 22, and primary inner ring gear 23 are all gears with variable tooth thickness. The primary sun gear 21 is coaxially arranged and fixedly connected to the rotating shaft 11 of the drive mechanism 1. Specifically, the primary sun gear 21 and the rotating shaft 11 of the drive mechanism 1 can be connected by a common fixed connection method such as a key connection. The primary inner ring gear 23 is fixedly arranged, and the primary planetary gears 22 mesh with the external teeth of the primary sun gear 21 and the internal teeth of the primary inner ring gear 23, respectively. The primary planet carrier includes a primary rotating arm 241 and a primary planetary disc 242. The primary rotating arm 241 is rotatably connected to the axial hole of the primary planetary gear 22. Specifically, a ball bearing is disposed between the primary rotating arm 241 and the axial hole of the primary planetary gear 22; the inner ring of the ball bearing has an interference fit with the primary rotating arm 241; and the outer ring of the ball bearing has an interference fit with the axial hole of the primary planetary gear 22. The primary rotating arm 241 is elastically connected to the primary planetary disc 242 via a first elastic member 81. The first elastic member 81 is adapted to apply a force along the axial direction of the primary planetary gear 22 to the primary rotating arm 241, so that the outer teeth of the primary planetary gear 22 tend to approach the inner teeth of the primary inner gear ring 23. The primary planetary disc 242 is transmission-connected to the output shaft 3, which is rotatably connected to the fixed support member 4. The fixed support member 4 is adapted to provide radial support force to the output shaft 3.

[0030] In the above-described arrangement, the rotating shaft 11 of the drive mechanism 1 is axially adjustable, making the axial position of the primary sun gear 21 adjustable. By adjusting the axial position of the primary sun gear 21, the running clearance between the primary sun gear 21 and the primary planetary gears 22 can be eliminated, thereby ensuring transmission accuracy. The first elastic member 81 can provide a preload force between the meshing primary planetary gears 22 and the primary inner gear ring 23. When wear occurs between the meshing primary planetary gears 22 and the primary inner gear ring 23, the first elastic member 81 can automatically adjust the axial position of the primary planetary gear 22 under the action of the elastic force, so that the meshing between the primary planetary gears 22 and the primary inner gear ring 23 is tighter, thereby reducing the backlash of the gear transmission and ensuring transmission accuracy. The working principle of the above-mentioned backlash adaptive adjustment planetary transmission mechanism is as follows: the rotating shaft 11 of the driving mechanism 1 drives the first-stage sun gear 21 to rotate. Since the first-stage inner ring gear 23 is fixed, the first-stage planetary gear 22 will rotate and revolve around the first-stage sun gear 21. The revolving first-stage planetary gear 22 will drive the first-stage planetary carrier to rotate, and the rotating first-stage planetary carrier will drive the output shaft 3 to rotate for power output.

[0031] Preferably, refer to Figure 2 A secondary transmission system is provided between the primary planetary disc 242 and the output shaft 3. This system further increases the transmission ratio of the planetary transmission mechanism. The secondary transmission system includes a secondary sun gear 51, secondary planetary gears 52, a secondary inner ring gear 53, and a secondary planet carrier. The diameters of the root and addendum circles of the secondary sun gear 51, the secondary planetary gears 52, and the secondary inner ring gear 53 remain constant, while the tooth thicknesses of the secondary sun gear 51, the secondary planetary gears 52, and the secondary inner ring gear 53 are adapted to vary linearly along their respective axial directions. In other words, the secondary sun gear 51, the secondary planetary gears 52, and the secondary inner ring gear 53 are all variable-thickness gears. The secondary sun gear 51 is coaxially arranged with the primary planetary disc 242 and is in transmission connection therewith. The secondary inner ring gear 53 is fixedly disposed, and the secondary planetary gears 52 mesh with the external teeth of the secondary sun gear 51 and the internal teeth of the secondary inner ring gear 53, respectively. The secondary planetary carrier includes a secondary swing arm 541 and a secondary planetary disc 542. The secondary swing arm 541 is rotatably connected to the axial hole of the secondary planetary gear 52. Specifically, a ball bearing is also disposed between the secondary swing arm 541 and the axial hole of the secondary planetary gear 52. The inner ring of the ball bearing has an interference fit with the secondary swing arm 541, while the outer ring of the ball bearing has an interference fit with the axial hole of the secondary planetary gear 52. The secondary swing arm 541 and the secondary planetary disc 542 are elastically connected via a second elastic member 82. The second elastic member 82 is adapted to apply a force along the axial direction of the secondary planetary gear 52 to the secondary swing arm 541, causing the outer teeth of the secondary planetary gear 52 to tend toward the inner teeth of the secondary inner gear ring 53. The secondary planetary disc 542 is drivingly connected to the output shaft 3. The elastic force of the second elastic member 82 is greater than the elastic force of the first elastic member 81.

[0032] Similarly, in the above-described arrangement, the rotating shaft 11 of the drive mechanism 1 is axially adjustable, making the axial position of the primary sun gear 21 adjustable. By adjusting the axial position of the primary sun gear 21, the running clearance between the primary sun gear 21 and the primary planetary gears 22 can be eliminated, thereby ensuring transmission accuracy. The first elastic member 81 can provide a preload force between the meshing primary planetary gears 22 and the primary inner gear ring 23. When wear and clearance occur between the meshing primary planetary gears 22 and the primary inner gear ring 23, the first elastic member 81 can automatically adjust the axial position of the primary planetary gear 22 under the action of the elastic force, thereby achieving a tighter meshing between the primary planetary gears 22 and the primary inner gear ring 23. The second elastic member 82 can provide a pre-tightening force between the meshing secondary planetary gears 52 and the secondary inner gear ring 53, and when wear occurs between the meshing secondary planetary gears 52 and the secondary inner gear ring 53 and a gap is generated, the second elastic member 82 can automatically adjust the axial position of the secondary planetary gear 52 under the action of the elastic force, so that the meshing between the secondary planetary gears 52 and the secondary inner gear ring 53 is tighter.

[0033] In the above-mentioned setting, when the first elastic member 81 applies a force to the first-stage rotating arm 241 along the axial direction of the first-stage planetary gear 22, it also applies a force in the opposite direction to the second-stage sun gear 51, so that the second-stage sun gear 51 and the second-stage planetary gear 52 tend to move away from each other, and the elastic force of the second elastic member 82 is greater than the elastic force of the first elastic member 81, which can ensure that the second-stage planetary gear 52 and the second-stage sun gear 51 generally still tend to move closer to each other, so that the second-stage planetary gear 52 and the second-stage sun gear 51 can always be tightly engaged, thereby ensuring the accuracy of transmission. The working principle of the above-mentioned backlash adaptive adjustment planetary transmission mechanism is as follows: the rotating shaft 11 of the driving mechanism 1 drives the primary sun gear 21 to rotate. Since the primary inner ring gear 23 is fixed, the primary planetary gear 22 will rotate and revolve around the primary sun gear 21. The revolving primary planetary gear 22 will drive the primary planet carrier to rotate. The rotation of the primary planet carrier will drive the secondary sun gear 51 to rotate. Since the secondary inner ring gear 53 is also fixed, the secondary planetary gear 52 will rotate and revolve around the secondary sun gear 51. The revolving secondary planetary gear 52 will drive the secondary planet carrier to rotate. The rotating secondary planet carrier will drive the output shaft 3 to rotate for power output.

[0034] Preferably, if Figure 3 As shown, the rotating shaft 11 and the output shaft 3 of the driving mechanism 1 are both hollow shafts, and the centers of the primary planetary disc 242 and the secondary planetary disc 542 are both provided with through holes. This arrangement facilitates wiring.

[0035] Example 2

[0036] like Figure 4FIG. 1 shows a schematic diagram of a planetary transmission mechanism for adaptive backlash adjustment provided in a second embodiment of the present invention, which includes a drive mechanism 1, a primary sun gear 21, a duplex planetary gear 61, a first movable inner ring gear, a fixed planetary carrier, a secondary sun gear 51, a secondary planetary gear 52, a secondary inner ring gear 53, a secondary planetary carrier, an output shaft 3, and a fixed support 4. The rotating shaft 11 of the drive mechanism 1 is axially adjustable, and the primary sun gear 21 is coaxially arranged with and fixedly connected to the rotating shaft 11 of the drive mechanism 1. The first end of the duplex planetary gear 61 meshes with the outer teeth of the primary sun gear 21, and the second end of the duplex planetary gear 61 meshes with the inner teeth of the first movable inner ring gear. The fixed planetary carrier includes a fixed rotating arm 64 and a fixed planetary disc 65; the first movable inner ring gear includes a first movable meshing portion 62 and a first movable connecting portion 63; the fixed rotating arm 64 is rotatably connected to the shaft hole of the duplex planetary gear 61.

[0037] The fixed rotating arm 64 and the fixed planetary disc 65 are elastically connected via a first elastic member 81, and / or the first movable meshing portion 62 and the first movable connecting portion 63 are connected via a third elastic member 83. The first elastic member 81 is adapted to apply a force along the axial direction of the duplex planetary gear 61 to the fixed rotating arm 64, causing the second end of the duplex planetary gear 61 to tend toward the first movable inner gear ring; the third elastic member 83 is adapted to apply a force along the axial direction of the duplex planetary gear 61 to the first movable meshing portion 62, causing the first movable meshing portion 62 to tend toward the second end of the duplex planetary gear 61.

[0038] The secondary sun gear 51 is coaxially arranged with the first movable connection part 63 and is transmission connected; the secondary inner gear ring 53 is fixedly arranged, and the secondary planetary gears 52 are respectively meshed with the outer teeth of the secondary sun gear 51 and the inner teeth of the secondary inner gear ring 53; the secondary planetary carrier includes a secondary swing arm 541 and a secondary planetary disk 542; the secondary swing arm 541 is rotatably connected to the axial hole of the secondary planetary gear 52, and the secondary swing arm 541 and the secondary planetary disk 542 are elastically connected by a second elastic member 82; the second elastic member 82 is suitable for applying a force along the axial direction of the secondary planetary gear 52 to the secondary swing arm 541, so that the outer teeth of the secondary planetary gear 52 have a tendency to approach the inner teeth of the secondary inner gear ring 53; the secondary planetary disk 542 is transmission connected to the output shaft 3, and the output shaft 3 is rotatably connected in the fixed support member 4, and the fixed support member 4 is suitable for providing radial support force to the output shaft 3; the elastic force of the second elastic member 82 is greater than the elastic force of the third elastic member 83 and the elastic force of the first elastic member 81.

[0039] It should be noted that the fixed rotating arm 64 and the fixed planetary disc 65 are elastically connected through the first elastic member 81 and / or the first movable engaging portion 62 and the first movable connecting portion 63 are connected through the third elastic member 83. It should be understood that either the first elastic member 81 or the third elastic member 83 can be used simultaneously.

[0040] In the above-mentioned setting method, the rotating shaft 11 of the driving mechanism 1 can be axially adjusted, so that the axial position of the first-stage sun gear 21 can be adjusted. By adjusting the axial position of the first-stage sun gear 21, the running clearance between the first-stage sun gear 21 and the double planetary gear 61 can be eliminated, thereby ensuring the transmission accuracy.

[0041] When the fixed rotating arm 64 and the fixed planetary disc 65 are elastically connected by the first elastic member 81, and the first movable meshing portion 62 and the first movable connecting portion 63 are rigidly connected, the first elastic member 81 can provide a pre-tightening force between the mutually meshing duplex planetary gears 61 and the first movable inner ring gear, and when wear and gaps occur between the mutually meshing duplex planetary gears 61 and the first movable inner ring gear, the first elastic member 81 can automatically adjust the axial position of the duplex planetary gears 61 under the action of the elastic force, so that the meshing between the duplex planetary gears 61 and the first movable inner ring gear is tighter; when wear and gaps occur between the mutually meshing secondary planetary gears 52 and the secondary inner ring gear 53, the second elastic member 82 can automatically adjust the axial position of the secondary planetary gears 52 under the action of the elastic force, so that the meshing between the secondary planetary gears 52 and the secondary inner ring gear 53 is tighter, thereby ensuring transmission accuracy.

[0042] When the first movable meshing portion 62 and the first movable connecting portion 63 are connected by the third elastic member 83, and the fixed rotating arm 64 and the fixed planetary disc 65 are rigidly connected, the third elastic member 83 can provide a pre-tightening force between the mutually meshing duplex planetary gears 61 and the first movable inner ring gear, and when wear and gaps occur between the mutually meshing duplex planetary gears 61 and the first movable inner ring gear, the third elastic member 83 can automatically adjust the axial position of the first movable inner ring gear under the action of the elastic force, so that the meshing between the duplex planetary gears 61 and the first movable inner ring gear is tighter; when wear and gaps occur between the mutually meshing secondary planetary gears 52 and the secondary inner ring gear 53, the second elastic member 82 can automatically adjust the axial position of the secondary planetary gears 52 under the action of the elastic force, so that the meshing between the secondary planetary gears 52 and the secondary inner ring gear 53 is tighter, thereby ensuring transmission accuracy.

[0043] When the fixed arm 64 and the fixed planetary disc 65 are elastically connected via the first elastic member 81, and the first movable meshing portion 62 and the first movable connecting portion 63 are connected via the third elastic member 83, both the first elastic member 81 and the third elastic member 83 can provide a preload force between the meshing duplex planetary gears 61 and the first movable inner ring gear. Furthermore, when wear and clearance occur between the meshing duplex planetary gears 61 and the first movable inner ring gear, the first elastic member 81, under the action of the elastic force, can automatically adjust the axial position of the duplex planetary gears 61 under the action of the elastic force, thereby tightening the meshing between the duplex planetary gears 61 and the first movable inner ring gear. The third elastic member 83, under the action of the elastic force, can automatically adjust the axial position of the first movable inner ring gear under the action of the elastic force, thereby tightening the meshing between the duplex planetary gears 61 and the first movable inner ring gear. When wear occurs and a gap occurs between the meshing secondary planetary gears 52 and the secondary inner gear ring 53, the second elastic member 82 can automatically adjust the axial position of the secondary planetary gear 52 under the action of elastic force, so that the meshing between the secondary planetary gears 52 and the secondary inner gear ring 53 is tighter.

[0044] In the above arrangement, when the first elastic member 81 applies a force along the axial direction of the primary planetary gears 22 to the fixed arm 64, the first movable inner ring gear tends to move toward the second elastic member 82, thereby causing the secondary sun gear 51 and the secondary planetary gears 52 to move away from each other. The greater elastic force of the second elastic member 82 than the first elastic member 81 allows the secondary planetary gears 52 and 51 to generally move toward each other, while also tightening the meshing between the first movable inner ring gear and the duplex gears. When the third elastic member 83 applies a force along the axial direction of the primary planetary gears 22 to the fixed arm 64, it also applies a force in the opposite direction to the secondary sun gear 51, causing the secondary sun gear 51 and the secondary planetary gears 52 to move away from each other. The greater elastic force of the second elastic member 82 than the third elastic member 83 allows the secondary planetary gears 52 and 51 to generally move toward each other, ensuring tight meshing between the secondary planetary gears 52 and 51 and ensuring transmission accuracy.

[0045] Example 3

[0046] like Figure 5, which shows a schematic diagram of a backlash adaptive adjustment planetary transmission mechanism provided in the third embodiment of the present invention, comprising a drive mechanism 1, a primary sun gear 21, a duplex planetary gear 61, a fixed inner ring gear, a movable planetary carrier 73, a second movable inner ring gear, an output shaft 3 and a fixed support 4. The rotating shaft 11 of the drive mechanism 1 is axially adjustable, and the primary sun gear 21 is coaxially arranged with the rotating shaft 11 of the drive mechanism 1 and fixedly connected. The first end of the duplex planetary gear 61 is respectively engaged with the primary sun gear 21 and the fixed inner ring gear, and the second end of the duplex planetary gear 61 is engaged with the second movable inner ring gear. The movable planetary carrier 73 is rotatably connected to the duplex planetary gear 61; the fixed inner ring gear includes a fixed meshing portion 71 and a fixed connecting portion 72; the second movable inner ring gear includes a second movable meshing portion 74 and a second movable connecting portion 75.

[0047] The fixed meshing portion 71 and the fixed connection portion 72 are elastically connected via a fourth elastic member 84, and / or the second movable meshing portion 74 and the second movable connection portion 75 are connected via a third elastic member 83. The fourth elastic member 84 is adapted to apply an axial force to the duplex planetary gears 61, causing the second ends of the duplex planetary gears 61 to tend toward the second movable inner gear ring. The third elastic member 83 is adapted to apply an axial force to the second movable meshing portion 74, causing the second movable meshing portion 74 to tend toward the second ends of the duplex planetary gears 61. The second movable connection portion 75 is drivingly connected to the output shaft 3, which is rotatably connected to the fixed support member 4. The fixed support member 4 is adapted to provide radial support for the output shaft 3. The planetary transmission mechanism in this embodiment is an NGWN-type planetary transmission mechanism.

[0048] It should be noted that the fixed engaging portion 71 and the fixed connecting portion 72 are elastically connected via the fourth elastic member 84 and / or the second movable engaging portion 74 and the second movable connecting portion 75 are connected via the third elastic member 83. It should be understood that either the third elastic member 83 or the fourth elastic member 84 can be used simultaneously.

[0049] In the above-mentioned setting method, the rotating shaft 11 of the driving mechanism 1 can be axially adjusted, so that the axial position of the first-stage sun gear 21 can be adjusted. By adjusting the axial position of the first-stage sun gear 21, the running clearance between the first-stage sun gear 21 and the double planetary gear 61 can be eliminated, thereby ensuring the transmission accuracy.

[0050] When the fixed meshing portion 71 and the fixed connecting portion 72 are elastically connected by the fourth elastic member 84, and the second movable meshing portion 74 and the second movable connecting portion 75 are rigidly connected, the fourth elastic member 84 can provide a pre-tightening force between the mutually meshing fixed meshing portion 71 and the duplex planetary gear 61, and when wear occurs between the mutually meshing fixed meshing portion 71 and the duplex planetary gear 61 and a gap is generated, the fourth elastic member 84 can automatically adjust the axial position of the fixed meshing portion 71 under the action of the elastic force, so that the fixed meshing portion 71 and the duplex planetary gear 61 are meshed more tightly; in addition, the fourth elastic member 84 can also make the duplex planetary gear 61 and the second movable meshing portion 74 meshed more tightly.

[0051] When the second movable meshing portion 74 and the second movable connecting portion 75 are connected by the third elastic member 83, and the fixed meshing portion 71 and the fixed connecting portion 72 are rigidly connected, the third elastic member 83 can provide a pre-tightening force between the mutually meshing second movable meshing portion 74 and the duplex planetary gear 61, and when wear occurs between the mutually meshing second movable meshing portion 74 and the duplex planetary gear 61 and a gap is generated, the third elastic member 83 can automatically adjust the axial position of the second movable meshing portion 74 under the action of the elastic force, so that the second movable meshing portion 74 and the duplex planetary gear 61 are meshed more tightly; in addition, the third elastic member 83 can also make the duplex planetary gear 61 and the fixed meshing portion 71 meshed more tightly.

[0052] When the fixed meshing portion 71 and the fixed connecting portion 72 are elastically connected by the fourth elastic member 84 and the second movable meshing portion 74 and the second movable connecting portion 75 are connected by the third elastic member 83, the fourth elastic member 84 can provide a pre-tightening force between the mutually meshing fixed meshing portion 71 and the duplex planetary gear 61, and the third elastic member 83 can provide a pre-tightening force between the mutually meshing second movable meshing portion 74 and the duplex planetary gear 61. And when wear occurs between the mutually meshing fixed meshing part 71 and the duplex planetary gear 61 and a gap is generated, the fourth elastic member 84 can automatically adjust the axial position of the fixed meshing part 71 under the action of elastic force, so that the fixed meshing part 71 and the duplex planetary gear 61 are meshed more tightly; and when wear occurs between the mutually meshing second movable meshing part 74 and the duplex planetary gear 61 and a gap is generated, the third elastic member 83 can automatically adjust the axial position of the second movable meshing part 74 under the action of elastic force, so that the second movable meshing part 74 and the duplex planetary gear 61 are meshed more tightly.

[0053] It should be noted that the approach and distance mentioned in the present invention should be understood as follows: when the variable tooth thickness gears move relative to each other in the axial direction, movement in the direction where the gap between the gears becomes smaller is approaching, and movement in the direction where the gap between the gears becomes larger is distance.

[0054] The present invention further discloses a reducer, which comprises a reduction box body and the aforementioned backlash self-adaptive adjustment planetary transmission mechanism, wherein the backlash self-adaptive adjustment planetary transmission mechanism is installed in the reduction box body.

[0055] The above are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention description and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A planetary transmission mechanism with adaptive backlash adjustment, characterized in that: include: The gear train is connected to the gear axle of the first gear and the gear is connected to the gear train of the first gear, and the gear train is connected to the gear axle of the first gear and the gear is connected to the gear train of the first gear. force; the diameters of the root circle and the top circle of the first-level sun gear, the first-level planetary gears and the first-level inner gear ring are unchanged, and the tooth thicknesses of the first-level sun gear, the first-level planetary gears and the first-level inner gear ring are suitable for linearly changing along their respective axial directions; a secondary transmission system is provided between the first-level planetary disk and the output shaft, and the secondary transmission system includes a secondary sun gear, secondary planetary gears, a secondary inner gear ring and a secondary planetary carrier; the secondary sun gear is coaxially arranged with the first-level planetary disk and is transmission-connected; the secondary inner gear ring is fixedly arranged, and the secondary planetary gears are respectively meshed with the secondary sun gear and the secondary inner gear ring; the secondary planetary carrier includes a secondary swing arm and a secondary planetary disk; the secondary swing arm is rotatably connected to the shaft hole of the secondary planetary gear, and the secondary swing arm and the secondary planetary disk are elastically connected by a second elastic member; the second elastic member is suitable for applying a force along the axial direction of the secondary planetary gear to the secondary swing arm, so that the secondary planetary gear has a tendency to approach the secondary inner gear ring; The secondary planetary disc is drivingly connected to the output shaft.

2. The planetary transmission mechanism with adaptive backlash adjustment according to claim 1, characterized in that: The elastic force of the second elastic member is greater than the elastic force of the first elastic member.

3. The planetary transmission mechanism with adaptive backlash adjustment according to claim 1, characterized in that: The diameters of the root circle and the top circle of the secondary sun gear, the secondary planetary gear and the secondary inner gear ring remain unchanged, and the tooth thicknesses of the secondary sun gear, the secondary planetary gear and the secondary inner gear ring are suitable for linear variation along their respective axial directions.

4. The planetary transmission mechanism with adaptive backlash adjustment according to claim 1, characterized in that: The rotating shaft and the output shaft of the driving mechanism are both hollow shafts, and the centers of the first-stage planetary disk and the second-stage planetary disk are both provided with through holes.

5. The planetary transmission mechanism with adaptive backlash adjustment according to claim 1, characterized in that: A ball bearing is provided between the primary rotating arm and the shaft hole of the primary planetary gear; the inner ring of the ball bearing is interference fit with the primary rotating arm; and the outer ring of the ball bearing is interference fit with the shaft hole of the primary planetary gear.

6. A planetary transmission mechanism with adaptive backlash adjustment, characterized in that: include: The transmission gear of the present invention is a gear selected from the group consisting of a first gear and a second gear, and a second gear selected from the group consisting of a first gear and a second gear. The fixed rotating arm applies a force along the axial direction of the double-linked planetary gear, so that the second end of the double-linked planetary gear has a tendency to approach the first movable inner gear ring; the third elastic member is suitable for applying a force along the axial direction of the double-linked planetary gear to the first movable meshing portion, so that the first movable meshing portion has a tendency to approach the second end of the double-linked planetary gear; the secondary sun gear is coaxially arranged with the first movable connection portion and is transmission-connected; the secondary inner gear ring is fixedly arranged, and the secondary planetary gears are respectively meshed with the secondary sun gear and the secondary inner gear ring; the secondary planetary carrier includes a secondary rotating arm and a secondary planetary disk; the secondary rotating arm is rotatably connected to the axial hole of the secondary planetary gear, and the secondary rotating arm and the secondary planetary disk are elastically connected by a second elastic member; the second elastic member is suitable for applying a force along the axial direction of the secondary planetary gear to the secondary rotating arm, so that the secondary planetary gear has a tendency to approach the secondary inner gear ring; The secondary planetary disc is transmission-connected to the output shaft, and the output shaft is rotatably connected in the fixed support member, and the fixed support member is suitable for providing radial support force to the output shaft; the elastic force of the second elastic member is greater than the elastic force of the third elastic member and the elastic force of the first elastic member; the primary sun gear and the rotating shaft of the drive mechanism are connected by a key.

7. A planetary transmission mechanism with adaptive backlash adjustment, characterized in that: include: A driving mechanism, a primary sun gear, a duplex planetary gear, a fixed inner gear ring, a movable planetary carrier, a second movable inner gear ring, an output shaft and a fixed support member; the rotating shaft of the driving mechanism is axially adjustable, the primary sun gear is coaxially arranged with the rotating shaft of the driving mechanism and is fixedly connected; the first ends of the duplex planetary gears are respectively meshed with the primary sun gear and the fixed inner gear ring, and the second ends of the duplex planetary gears are meshed with the second movable inner gear ring; the movable planetary carrier is rotatably connected to the duplex planetary gears; the fixed inner gear ring includes a fixed meshing portion and a fixed connecting portion; the second movable inner gear ring includes a second movable meshing portion and a second movable connecting portion; the fixed meshing portion and the fixed connecting portion are elastically connected and / or connected by a fourth elastic member. Or the second movable meshing portion and the second movable connection portion are connected by a third elastic member; the fourth elastic member is suitable for applying a force along the axial direction of the duplex planetary gear to the duplex planetary gear, so that the second end of the duplex planetary gear has a tendency to approach the second movable inner ring gear; the third elastic member is suitable for applying a force along the axial direction of the duplex planetary gear to the second movable meshing portion, so that the second movable meshing portion has a tendency to approach the second end of the duplex planetary gear; the second movable connection portion is transmission-connected to the output shaft, and the output shaft is rotatably connected to the fixed support member, and the fixed support member is suitable for providing radial support force to the output shaft; the first-level sun gear and the rotating shaft of the drive mechanism are connected by a key.

8. A reducer, characterized in that: It comprises a reduction gear box and a backlash adaptive adjustment planetary transmission mechanism according to any one of claims 1 to 7, wherein the backlash adaptive adjustment planetary transmission mechanism is installed in the reduction gear box.

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