A planetary roller trochoid surface zero-backlash large transmission ratio composite transmission device

Abstract

The invention discloses a planetary roller cycloid surface zero-backlash large transmission ratio compound transmission device, comprising a housing, a zero-backlash large transmission ratio compound transmission mechanism installed inside the housing, the zero-backlash large transmission ratio compound transmission mechanism comprising a helical spline anti-backlash gear mechanism, a double-nut planetary roller screw mechanism and a cycloid rack wheel mechanism, the helical spline anti-backlash gear mechanism and the double-nut planetary roller screw mechanism are connected in transmission via a driven gear (33), the cycloid rack wheel part and the double-nut planetary roller screw part are connected via a nut seat (31), the helical spline anti-backlash gear part is provided with a first anti-backlash component (10), the double-nut planetary roller screw part is provided with a second anti-backlash component (32), and the cycloid rack wheel part is provided with a third anti-backlash component (24) and an adjustment component (26).

Description

Technical Field

[0001] The invention belongs to the technical field of aircraft control surface manipulation, and in particular relates to a planetary roller roller trochoid surface zero-backlash large transmission ratio composite transmission device. Background Art

[0002] Faced with the demand of hypersonic aircraft for highly compact, large-load-bearing, and high-precision rudder operating system transmission devices, the existing rudder control system transmission devices mostly use connecting rod mechanisms or other traditional mechanical mechanisms, which are not compact enough in structure, occupy a large space, have limited load-bearing capacity, and insufficient transmission accuracy, and cannot meet the current high-speed aircraft's requirements for precise control of the rudder during flight.

[0003] Therefore, the present invention proposes a planetary roller and cycloid surface zero-backlash large transmission ratio composite transmission device, wherein the helical spline anti-backlash gear transmission mechanism can effectively eliminate the tooth side clearance, realize smooth and impact-free reciprocating motion with a compact structure; the planetary roller screw mechanism can realize large load-bearing and high-tight transmission. Since the planetary roller screw mechanism itself has a gap, a double-nut planetary roller screw mechanism is used in the design process, which can effectively eliminate the axial clearance of its thread; the cycloid rack wheel mechanism can realize zero-backlash and smooth transmission due to the characteristics of the cycloid tooth shape. Therefore, a planetary roller and cycloid surface zero-backlash large transmission ratio composite transmission device can be obtained by combining the helical spline anti-backlash gear transmission mechanism, the planetary roller screw mechanism and the cycloid rack wheel mechanism. The device is used in an aircraft rudder operating system to achieve high precision, high tightness, large load-bearing, large transmission ratio and other performance requirements. In the prior art, there is no combination of the helical spline anti-backlash gear transmission mechanism, the planetary roller screw mechanism and the cycloid rack wheel mechanism for application in an aircraft rudder operating system. Summary of the invention

[0004] In view of the high compactness, large load-bearing capacity and high precision performance requirements of the above-mentioned hypersonic aircraft control surface operating system, the present invention aims to provide a planetary roller roller cycloid surface zero-backlash large transmission ratio composite transmission device, which combines a helical spline anti-backlash gear transmission mechanism, a planetary roller screw mechanism and a cycloid rack wheel mechanism to obtain a high-precision, high-compactness, large-load-bearing and large-transmission ratio helical spline anti-backlash planetary roller roller cycloid surface zero-backlash large transmission ratio composite transmission device. Applying this device to the aircraft control surface control system will help improve the space utilization, load-bearing capacity and control accuracy of the control system.

[0005] The technical solution adopted by the present invention is:

[0006] A planetary roller and cycloid surface zero-backlash large transmission ratio compound transmission device comprises a shell, a zero-backlash large transmission ratio compound transmission mechanism installed inside the shell, the zero-backlash large transmission ratio compound transmission mechanism comprises a helical spline anti-backlash gear mechanism, a double-nut planetary roller screw mechanism and a cycloid rack wheel mechanism, the helical spline anti-backlash gear mechanism and the double-nut planetary roller screw mechanism are connected to each other through a driven gear, the cycloid rack wheel part and the double-nut planetary roller screw part are connected through a nut seat, and the helical spline anti-backlash gear part is provided with a first anti-backlash component, the double-nut planetary roller screw part is provided with a second anti-backlash component, and the cycloid rack wheel part is provided with a third anti-backlash component and an adjustment component.

[0007] Preferably, the shell includes a lower box body and an upper box cover, the lower box body is detachably connected to the bottom surface of the upper box cover, the top surface of the upper box cover is provided with a detachable observation cover, a first handle and a second handle, the first handle and the second handle are symmetrically distributed on both sides of the observation cover, and a detachable bearing cover is provided on the front side walls of the lower box body and the upper box cover, a detachable bearing support seat is provided on one side wall of the lower box body, a detachable bearing support cover is provided on the bearing support seat, and a detachable first bearing end cover and a second bearing end cover are provided on the other side wall of the lower box body.

[0008] Preferably, the first anti-backlash assembly comprises a central shaft, on which a fixed gear, an anti-backlash gear, a spring, a retaining ring, a stop retaining ring and a shaft end round nut are sleeved, the shaft end round nut is located at the inner end of the central shaft, the central shaft is also provided with an external helical spline, the spring is located on the outside of the external helical spline and between the anti-backlash gear and the retaining ring;

[0009] After the spring is pre-tightened, one end of the spring presses against the anti-backlash gear and the other end presses against the retaining ring, and the spring pushes the anti-backlash gear to move axially along the external helical spline and simultaneously produces a certain amount of circumferential rotation, so that the anti-backlash gear and the fixed gear form staggered teeth, so that the teeth of the anti-backlash gear and the fixed gear are respectively pressed against the tooth surfaces on the opposite sides of the driven gear.

[0010] Preferably, the helical spline anti-backlash gear part also includes a round nut, a support bearing and a bearing sleeve. The center shaft is supported by the support bearing and is placed in the bearing sleeve. The round nut is arranged on the center shaft and realizes axial positioning of the support bearing. The outer end of the center shaft passes through the second bearing end cover, and the second bearing end cover and the bearing sleeve are fixed to the lower housing by bolts.

[0011] Preferably, the double-nut planetary roller screw part also includes a screw shaft, the driven gear is arranged on the screw shaft, and a gear positioning sleeve and a bearing positioning sleeve are also arranged on the screw shaft, the gear positioning sleeve is located between the driven gear and the bearing positioning sleeve, and a tapered roller bearing is also arranged on the outer side of the bearing positioning sleeve, and the tapered roller bearing is located inside the sleeve cup, and the first bearing end cover and the sleeve cup are fixed to the lower box body by bolts.

[0012] Preferably, a shaft end positioning circular nut is provided at one end of the screw shaft, and the shaft end positioning circular nut is located inside the first bearing end cover, and a deep groove ball bearing is provided between the outer wall of the other end of the screw shaft and the bearing support seat.

[0013] Preferably, the second backlash elimination assembly comprises a first roller and a second roller, the first roller and the second roller are both arranged on the screw shaft, the end faces of both ends of the first roller are respectively provided with a first retaining frame and a second retaining frame, the outer walls of both ends of the first roller are respectively meshed with a first inner gear ring and a second inner gear ring, the outer sides of the first inner gear ring and the second inner gear ring are provided with a first pre-tightening nut, and the first pre-tightening nut is meshed with the first roller;

[0014] The end surfaces of both ends of the second roller are respectively provided with a third retainer and a fourth retainer, the outer walls of both ends of the second roller are respectively meshed with a third inner gear ring and a fourth inner gear ring, the outer sides of the third inner gear ring and the fourth inner gear ring are respectively provided with a second pre-tightening nut, and the second pre-tightening nut is meshed with the second roller;

[0015] A pre-tightening gasket is arranged between the first pre-tightening nut and the second pre-tightening nut along the circumferential direction thereof, and the first pre-tightening nut, the pre-tightening gasket, the second pre-tightening nut and the nut seat are pre-tightened and connected by arranging a pre-tightening screw.

[0016] Preferably, the cycloid rack wheel part also includes an output shaft, a wheel and a cycloid rack. The output shaft is connected to the wheel for transmission via two circumferentially symmetrically arranged flat keys. The wheel is a two-sided fan-shaped symmetrical structure. A plurality of equally spaced needle bearings are installed along the arc direction of the fan-shaped edges on both sides of the wheel. A rolling pin is installed at the center hole of each needle bearing. The cycloid rack makes repeated axial movements and transmits the remote motion to the wheel through contact with the rolling pin, thereby driving the output shaft to make non-full-circle rotational motion.

[0017] Preferably, the third anti-backlash assembly includes a wedge adjustment screw, a wedge and a rack seat. The wedge is in the shape of a rectangular parallelepiped with a certain slope on the top surface and a threaded hole is punched in the horizontal direction. Four raised oblique blocks cooperating with the inclined surface of the wedge are symmetrically arranged on the bottom of the rack seat. The rack seat is fixed to the trochoid rack by screws. By rotating the wedge adjustment screw, the wedge produces axial displacement, and the top surface of the wedge is tightly attached to the bottom surface of the rack seat, thereby lifting the rack seat, thereby eliminating the gap between the trochoid rack and the rolling pin to achieve zero-backlash transmission.

[0018] Preferably, the adjustment assembly includes a mobile platform, a clamping screw, a locking nut, a platform cover, a first connecting screw, a second connecting screw, an adjusting screw and a nut seat wedge, a rack seat positioning block is provided at each of the four corners on the top surface of the mobile platform, the rack seat is fixedly connected to the rack seat positioning block by screws, symmetrical positioning blocks are provided at the bottom of the mobile platform, and symmetrical rectangular grooves are also provided on the top surface of the mobile platform, and two symmetrical blind holes are provided in the rectangular grooves;

[0019] The first connecting screw fixedly connects the moving platform and the slider, the slider is slidably connected to the guide rail, the guide rail is fixed to the inner wall of the lower box body by screws, the second connecting screw fixedly connects the platform cover plate and the moving platform, the adjusting screw passes through the blind hole to connect the nut seat, the anti-loosening nut and the clamping screw are installed in the through hole on the moving platform, and the clamping screw is connected to the nut seat wedge, and the inclined surface of the nut seat wedge is close to the nut seat.

[0020] Beneficial effects of the present invention:

[0021] 1. The helical spline anti-backlash gear mechanism included in the helical spline anti-backlash planetary roller roller trochoid surface zero-backlash large transmission ratio composite transmission device of the present invention can cleverly eliminate the tooth side clearance, reduce the impact of the gear teeth during the forward and reverse rotation process, and realize smooth transmission;

[0022] 2. The planetary roller screw mechanism included in the helical spline anti-backlash planetary roller roller hypocycloid surface zero-backlash large transmission ratio composite transmission device of the present invention adopts a double-nut planetary roller screw structure, which can effectively eliminate the axial clearance of the thread, achieve large load-bearing capacity and ensure transmission accuracy;

[0023] 3. The trochoid rack wheel part included in the helical spline anti-backlash planetary roller roller trochoid surface zero-backlash large transmission ratio composite transmission device of the present invention is provided with an anti-backlash component and an adjustment component, which can ensure the high transmission accuracy and precise installation position of the output link;

[0024] 4. The helical spline anti-backlash planetary roller roller cycloid surface zero-backlash large transmission ratio composite transmission device of the present invention has a compact structure, large load-bearing capacity, and high transmission accuracy. Through the helical spline anti-backlash gear transmission mechanism, the planetary roller screw mechanism and the cycloid rack wheel mechanism, high-precision, zero-backlash large transmission ratio non-full-cycle motion can be achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0026] Figure 1 It is an axonometric view of the appearance of the helical spline anti-backlash planetary roller roller trochoid surface zero-backlash large transmission ratio composite transmission device of the present invention;

[0027] Figure 2 This is a front cross-sectional view of him 1.

[0028] Figure 3 This is an axonometric view of the lower box of the present invention;

[0029] Figure 4 This is an axonometric view of the upper box cover of the present invention;

[0030] Figure 5 This is the axonometric drawing of the first handle of the present invention;

[0031] Figure 6 An axonometric view of the cover for viewing the present invention;

[0032] Figure 7 This is the axonometric view of the second handle of the present invention;

[0033] Figure 8 This is an axonometric view of the bearing cap of the present invention;

[0034] Fig. 9 This is an axonometric view of the bearing movable support seat of the present invention;

[0035] Fig.10 This is an axonometric view of the movable support cover of the present invention;

[0036] Fig.11 It is an axonometric view of the helical spline anti-backlash gear part of the helical spline anti-backlash planetary roller roller trochoid surface zero-backlash large transmission ratio composite transmission device of the present invention;

[0037] Fig.12 It is a cross-sectional view of the planetary roller screw anti-backlash part of the helical spline anti-backlash planetary roller roller trochoid surface zero-backlash large transmission ratio composite transmission device of the present invention;

[0038] Fig.13 This is an axonometric view of the first cage of the present invention;

[0039] Fig.14 This is an axonometric view of the first roller of the present invention;

[0040] Fig.15 Axonometric measurement of the cycloid rack wheel part clearance elimination structure of the helical spline clearance elimination planetary roller roller cycloid surface zero clearance large transmission ratio composite transmission device of the present invention Figure 1 ;

[0041] Fig.16 Axonometric measurement of the cycloid rack wheel part clearance elimination structure of the helical spline clearance elimination planetary roller roller cycloid surface zero clearance large transmission ratio composite transmission device of the present invention Figure 2 ;

[0042] Fig.17 This is an axonometric diagram of the mobile platform of the present invention;

[0043] Fig.18 This is a cross-sectional view of the adjustment structure of the cycloid rack wheel part of the helical spline anti-backlash planetary roller cycloid surface zero-backlash large transmission ratio compound transmission device of the present invention.

[0044] Among them, 1. lower box; 2. gear positioning sleeve; 3. first bearing end cover; 4. shaft end positioning round nut; 5. screw shaft; 6. bearing positioning sleeve; 7. tapered roller bearing; 8. sleeve cup; 9. second bearing end cover; 10. first anti-backlash assembly; 1000. center shaft; 1001. fixed gear; 1002. anti-backlash gear; 1003. external helical spline; 1004. spring; 1005. retaining ring; 1006. retaining ring; 1007. shaft end round screw nut; 11, round nut; 12, support bearing; 13, bearing sleeve cup; 14, upper box cover; 15, first handle; 16, observation cover; 17, second handle; 18, flat key; 19, output shaft; 20, runner; 21, needle bearing; 22, rolling pin; 23, trochoid rack; 24, third anti-backlash assembly; 2401, wedge iron adjustment screw; 2402, wedge iron; 2403, rack seat; 25, mobile platform; 2501, rack seat positioning block; 2502, Blind hole; 2503, rectangular groove; 2504, positioning block; 26, adjustment assembly; 2601, clamping screw; 2602, anti-loosening nut; 2603, platform cover; 2604, first connecting screw; 2605, second connecting screw; 2606, adjustment screw; 2607, nut seat wedge; 27, guide rail; 2701, slider; 28, bearing support cover; 29, deep groove ball bearing; 30, bearing support seat; 31, nut seat; 32, second anti-backlash assembly ; 3201, first retaining frame; 3202, first inner gear ring; 3203, first roller; 3204, first pre-tightening nut; 3205, pre-tightening screw; 3206, second inner gear ring; 3207, second retaining frame; 3208, pre-tightening gasket; 3209, second pre-tightening nut; 3210, third retaining frame; 3211, third inner gear ring; 3212, second roller; 3213, fourth inner gear ring; 3214, fourth retaining frame; 33, driven gear. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0046] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0047] This embodiment provides a planetary roller roller trochoid surface zero-backlash large transmission ratio compound transmission device, such as Figure 1-18 As shown, it includes a shell and a zero-backlash and large transmission ratio compound transmission mechanism installed inside the shell, wherein the zero-backlash and large transmission ratio compound transmission mechanism includes a helical spline anti-backlash gear mechanism, a double-nut planetary roller screw mechanism and a cycloidal rack wheel mechanism, wherein the helical spline anti-backlash gear part is provided with a first anti-backlash component 10, the double-nut planetary roller screw part is provided with a second anti-backlash component 32, and the cycloidal rack wheel part is provided with a third anti-backlash component 24 and an adjustment component 26.

[0048] Specifically, Figure 1-10 As shown, the shell includes a lower box body 1 and an upper box cover 14, the lower box body 1 is detachably connected to the bottom surface of the upper box cover 14, the top surface of the upper box cover 14 is provided with a detachable observation cover 16, a first handle 15 and a second handle 17, the first handle 15 and the second handle 17 are symmetrically distributed on both sides of the observation cover 16, the front side walls of the lower box body 1 and the upper box cover 14 are both provided with detachable bearing covers (101), a side wall of the lower box body 1 is provided with a detachable bearing support seat 30, the bearing support seat 30 is provided with a detachable bearing support cover 28, and the other side wall of the lower box body 1 is provided with a detachable first bearing end cover 3 and a second bearing end cover 9.

[0049] In this embodiment, if Fig.11 As shown, the first anti-backlash component 10 includes a central shaft 1000, on which a fixed gear 1001, an anti-backlash gear 1002, a spring 1004, a retaining ring 1005, a stop ring 1006 and a shaft end round nut 1007 are sleeved, and the shaft end round nut 1007 is located at the inner end of the central shaft 1000. The central shaft 1000 is also provided with an external helical spline 1003, and the spring 1004 is located on the outside of the external helical spline 1003 and between the anti-backlash gear 1002 and the retaining ring 1005. When the spring 1004 is pre-tightened, one end of the spring 1004 presses against the anti-backlash gear 1002, and the other end presses against the retaining ring 1005, and the spring 1004 pushes the anti-backlash gear 1002 to move axially along the external helical spline 1003, and at the same time generates a certain amount of circumferential rotation, so that the anti-backlash gear 1002 and the fixed gear 1001 form staggered teeth, so that the teeth of the anti-backlash gear 1002 and the fixed gear 1001 are respectively close to the tooth surfaces on the opposite sides of the driven gear 33, so as to achieve the purpose of eliminating the tooth side clearance.

[0050] In this embodiment, the spiral spline anti-backlash gear part also includes a round nut 11, a support bearing 12 and a bearing sleeve 13. The central shaft 1000 is supported by the support bearing 12 and is placed in the bearing sleeve 13. The round nut 11 is arranged on the central shaft 1000 and realizes axial positioning of the support bearing 12. The outer end of the central shaft 1000 passes through the second bearing end cover 9. The second bearing end cover 9 and the bearing sleeve 13 are fixed to the lower housing 1 by bolts. Among them, one end of the screw shaft 5 is provided with a shaft end positioning round nut 4, and the shaft end positioning round nut 4 is located inside the first bearing end cover 3. A deep groove ball bearing 29 is arranged between the outer wall of the other end of the screw shaft 5 and the bearing support seat 30.

[0051] like Figure 12-14 As shown, the second backlash elimination assembly 32 includes a first roller 3203 and a second roller 3212, both of which are arranged on the screw shaft 5, and the first roller 3203 and the second roller 3212 are respectively provided with a first retaining frame 3201 and a second retaining frame 3207 at both end faces, and the first roller 3203 and the second roller 3212 are respectively provided with a first inner gear ring 3202 and a second inner gear ring 3206 at both end outer walls, and the first inner gear ring 3202 and the second inner gear ring 3206 are respectively provided with a first pre-tightening nut 3204, and the first pre-tightening nut 3204 is meshed with the first roller 3203; the second roller 3212 and the second roller 3212 are respectively provided with a first retaining frame 3201 and a second retaining frame 3207 at both end faces, and the first roller 3203 and the second roller 3212 are respectively provided with a first inner gear ring 3202 and a second inner gear ring 3206 at both end outer walls. There are a third retaining frame 3210 and a fourth retaining frame 3214, and the outer walls at both ends of the second roller 3212 are respectively meshed with a third inner gear ring 3211 and a fourth inner gear ring 3213, and the outer sides of the third inner gear ring 3211 and the fourth inner gear ring 3213 are provided with a second pre-tightening nut 3209, and the second pre-tightening nut 3209 is meshed with the second roller 3212; a pre-tightening gasket 3208 is provided between the first pre-tightening nut 3204 and the second pre-tightening nut 3209 along the circumferential direction thereof, and the first pre-tightening nut 3204, the pre-tightening gasket 3208, the second pre-tightening nut 3209 and the nut seat 31 are pre-tightened and connected by providing a pre-tightening screw 3205.

[0052] In this embodiment, the first rollers 3203 are evenly distributed in the circumferential direction and mesh with the screw shaft 5, the first pre-tightening nut 3204, the first inner gear ring 3202 and the second inner gear ring 3206 at the same time, and the first rollers 3203 are ensured to be evenly distributed in the circumferential direction through the first retainer 3201 and the second retainer 3207. Similarly, the second rollers 3212 are evenly distributed in the circumferential direction and mesh with the screw shaft 5, the second pre-tightening nut 3209, the third inner gear ring 3211 and the fourth inner gear ring 3213 at the same time, and the second rollers 3212 are ensured to be evenly distributed in the circumferential direction through the third retainer 3210 and the fourth retainer 3214. The pre-tightening screw 3205 pre-tightens the first pre-tightening nut 3204, the pre-tightening gasket 3208, and the second pre-tightening nut 3209 so that the first pre-tightening nut 3204 and the second pre-tightening nut 3209 produce a slight axial displacement in the opposite direction, thereby eliminating the axial clearance between the first pre-tightening nut 3204 and the second pre-tightening nut 3209 and the first roller 3203 and the second roller 3212 respectively.

[0053] In this embodiment, the double-nut planetary roller screw part also includes a screw shaft 5, the driven gear 33 is arranged on the screw shaft 5, and the screw shaft 5 is also provided with a gear positioning sleeve 2 and a bearing positioning sleeve 6, the gear positioning sleeve 2 is located between the driven gear 33 and the bearing positioning sleeve 6, and a tapered roller bearing 7 is also provided on the outside of the bearing positioning sleeve 6, and the tapered roller bearing 7 is located inside the sleeve cup 8, and the first bearing end cover 3 and the sleeve cup 8 are fixed to the lower box body 1 by bolts. One end of the screw shaft 5 is provided with a shaft end positioning round nut 4, and the shaft end positioning round nut 4 is located inside the first bearing end cover 3, and a deep groove ball bearing 29 is provided between the outer wall of the other end of the screw shaft 5 and the bearing support seat 30.

[0054] like Figure 15-16 As shown, the cycloid rack wheel part also includes an output shaft 19, a wheel 20 and a cycloid rack 23. The output shaft 19 is connected to the wheel 20 for transmission through two circumferentially symmetrically arranged flat keys 18. The wheel 20 is a two-sided fan-shaped symmetrical structure. A plurality of equally spaced needle bearings 21 are installed along the arc direction of the fan-shaped edges on both sides of the wheel 20. A rolling pin 22 is installed at the center hole of each needle bearing 21. The cycloid rack 23 makes repeated axial movements and transmits the remote motion to the wheel 20 by contacting with the rolling pin 22, thereby driving the output shaft 19 to make non-full-circle rotational motion.

[0055] In this embodiment, the third anti-backlash component 24 includes a wedge adjustment screw 2401, a wedge 2402 and a rack seat 2403. The wedge 2402 is a rectangular parallelepiped with a certain slope on the top surface and a threaded hole in the horizontal direction. Four raised oblique blocks that cooperate with the inclined surface of the wedge 2402 are symmetrically arranged at the bottom of the rack seat 2403. The rack seat 2403 is fixed to the trochoid rack 23 by screws. By rotating the wedge adjustment screw 2401, the wedge 2402 produces axial displacement, and the top surface of the wedge 2402 is tightly attached to the bottom surface of the rack seat 2403, thereby lifting the rack seat 2403, thereby eliminating the gap between the trochoid rack 23 and the rolling pin 22 to achieve zero-backlash transmission.

[0056] like Figure 17-18 As shown, the adjustment assembly 26 includes a mobile platform 25, a clamping screw 2601, a locking nut 2602, a platform cover 2603, a first connecting screw 2604, a second connecting screw 2605, an adjusting screw 2606 and a nut seat wedge 2607. A rack seat positioning block 2501 is provided at each of the four corners on the top surface of the mobile platform 25. The rack seat 2403 is fixedly connected to the rack seat positioning block 2501 by screws. Symmetrical positioning blocks 2504 are provided at the bottom of the mobile platform 25. Symmetrical rectangular grooves 2503 are also provided on the top surface of the mobile platform 30. Two symmetrical rectangular grooves 2503 are provided in the rectangular grooves 2503. A blind hole 2502; the first connecting screw 2604 fixedly connects the mobile platform 25 and the slider 2701, the slider 2701 is slidably connected to the guide rail 27, the guide rail 27 is fixed to the inner wall of the lower box body 1 by screws, the second connecting screw 2605 fixedly connects the platform cover 2603 and the mobile platform 25, the adjusting screw 2606 passes through the blind hole 2502 to connect the nut seat 31, the anti-loosening nut 2602 and the clamping screw 2601 are installed in the through hole on the mobile platform 25, and the clamping screw 2601 is connected to the nut seat wedge 2607, and the inclined surface of the nut seat wedge 2607 is close to the nut seat 31.

[0057] The adjusting screw 2606 is pulled upward by rotating the adjusting screw 2606, and the clamping screw 2601 is rotated to press the nut seat wedge 2607 downward, thereby pressing the nut seat 31 downward. The accurate assembly position of the moving platform 25 and the nut seat 31 is achieved by adjusting the height of the nut seat 31.

[0058] The above description is only used to illustrate the technical solution of the present invention rather than to limit it. Other modifications or equivalent substitutions made to the technical solution of the present invention by ordinary technicians in this field should be included in the scope of the claims of the present invention as long as they do not depart from the spirit and scope of the technical solution of the present invention.

Claims

1. A planetary roller trochoid surface zero-backlash large transmission ratio compound transmission device, characterized in that: It comprises a housing, and a zero-backlash large transmission ratio compound transmission mechanism installed inside the housing, wherein the zero-backlash large transmission ratio compound transmission mechanism comprises a helical spline anti-backlash gear mechanism, a double-nut planetary roller screw mechanism, and a trochoid rack wheel mechanism; The helical spline anti-backlash gear mechanism is provided with a first anti-backlash component, which includes a central shaft, on which a fixed gear and an anti-backlash gear are sleeved; The double-nut planetary roller screw mechanism comprises a screw shaft, and a driven gear is arranged on the screw shaft; The fixed gear and the anti-backlash gear of the helical spline anti-backlash gear mechanism are transmission-connected with the double-nut planetary roller screw mechanism via a driven gear; The trochoid rack wheel mechanism comprises an output shaft, a wheel and a trochoid rack, wherein the trochoid rack performs repeated axial movement, and drives the output shaft to perform non-full-cycle rotational motion through the wheel; The cycloid rack wheel mechanism is connected to the double-nut planetary roller screw mechanism through a nut seat, and the double-nut planetary roller screw mechanism is provided with a second anti-backlash component, and the cycloid rack wheel mechanism is provided with a third anti-backlash component and an adjustment component; The third clearance eliminating component includes a wedge iron adjustment screw, a wedge iron and a rack seat. The wedge iron is a rectangular parallelepiped with a certain slope on the top surface and has a threaded hole in the horizontal direction. Four raised inclined blocks cooperating with the inclined surface of the wedge iron are symmetrically arranged at the bottom of the rack seat. The rack seat is fixed to the trochoid rack by screws. When the wedge iron adjustment screw is rotated, the wedge iron is axially displaced, and the top surface of the wedge iron is in close contact with the bottom surface of the rack seat, thereby lifting the rack seat and eliminating the gap between the trochoid rack and the rolling pin. The adjustment assembly includes a mobile platform, a clamping screw, a locking nut, a platform cover, a first connecting screw, a second connecting screw, an adjusting screw and a nut seat wedge. A rack seat positioning block is provided at each of the four corners on the top surface of the mobile platform. The rack seat is fixedly connected to the rack seat positioning block by screws. Symmetrical positioning blocks are provided at the bottom of the mobile platform. Symmetrical rectangular grooves are also provided on the top surface of the mobile platform. Two symmetrical blind holes are provided in the rectangular grooves. The first connecting screw fixedly connects the mobile platform and the slider, the slider is slidably connected to the guide rail, the guide rail is fixed to the inner wall of the lower box body by screws, the second connecting screw fixedly connects the platform cover plate and the mobile platform, the adjustment screw passes through the blind hole to connect the nut seat, the anti-loosening nut and the clamping screw are installed in the through hole on the mobile platform, and the clamping screw is connected to the nut seat wedge, and the inclined surface of the nut seat wedge is close to the nut seat.

2. A planetary roller trochoid surface zero-backlash large transmission ratio compound transmission device according to claim 1, characterized in that: The shell includes a lower box body and an upper box cover, the lower box body is detachably connected to the bottom surface of the upper box cover, the top surface of the upper box cover is provided with a detachable observation cover, a first handle and a second handle, the first handle and the second handle are symmetrically distributed on both sides of the observation cover, the front side walls of the lower box body and the upper box cover are both provided with detachable bearing covers, a side wall of the lower box body is provided with a detachable bearing support seat, the bearing support seat is provided with a detachable bearing support cover, and the other side wall of the lower box body is provided with a detachable first bearing end cover and a second bearing end cover.

3. A planetary roller trochoid surface zero-backlash large transmission ratio compound transmission device according to claim 2, characterized in that: The first anti-backlash assembly further comprises a spring, a retaining ring, a stop retaining ring and a shaft end round nut, wherein the shaft end round nut is located at the inner end of the central shaft, an external helical spline is further provided on the central shaft, and the spring is located at the outer side of the external helical spline and between the anti-backlash gear and the retaining ring; After the spring is pre-tightened, one end of the spring presses against the anti-backlash gear and the other end presses against the retaining ring, and the spring pushes the anti-backlash gear to move axially along the external helical spline and simultaneously produces a certain amount of circumferential rotation, so that the anti-backlash gear and the fixed gear form staggered teeth, so that the teeth of the anti-backlash gear and the fixed gear are respectively pressed against the tooth surfaces on the opposite sides of the driven gear.

4. A planetary roller trochoid surface zero-backlash large transmission ratio compound transmission device according to claim 3, characterized in that: The helical spline anti-backlash gear mechanism also includes a round nut, a support bearing and a bearing sleeve cup. The central shaft is supported by the support bearing and is placed in the bearing sleeve cup. The round nut is arranged on the central shaft and realizes axial positioning of the support bearing. The outer end of the central shaft passes through the second bearing end cover, and the second bearing end cover and the bearing sleeve cup are fixed to the lower housing by bolts.

5. The planetary roller trochoid surface zero-backlash large transmission ratio compound transmission device according to claim 3, characterized in that: The screw shaft is also provided with a gear positioning sleeve and a bearing positioning sleeve. The gear positioning sleeve is located between the driven gear and the bearing positioning sleeve. A tapered roller bearing is also provided on the outside of the bearing positioning sleeve. The tapered roller bearing is located inside the sleeve cup. The first bearing end cover and the sleeve cup are fixed to the lower box body by bolts.

6. A planetary roller trochoid surface zero-backlash large transmission ratio compound transmission device according to claim 5, characterized in that: A shaft end positioning circular nut is arranged at one end of the screw shaft, and the shaft end positioning circular nut is located inside the first bearing end cover. A deep groove ball bearing is arranged between the outer wall of the other end of the screw shaft and the bearing support seat.

7. The planetary roller trochoid surface zero-backlash large transmission ratio compound transmission device according to claim 5, characterized in that: The second backlash elimination assembly comprises a first roller and a second roller, the first roller and the second roller are both arranged on the screw shaft, the end faces of both ends of the first roller are respectively provided with a first retaining frame and a second retaining frame, the outer walls of both ends of the first roller are respectively meshed with a first inner gear ring and a second inner gear ring, the outer sides of the first inner gear ring and the second inner gear ring are provided with a first pre-tightening nut, and the first pre-tightening nut is meshed with the first roller; The end surfaces of both ends of the second roller are respectively provided with a third retainer and a fourth retainer, the outer walls of both ends of the second roller are respectively meshed with a third inner gear ring and a fourth inner gear ring, the outer sides of the third inner gear ring and the fourth inner gear ring are respectively provided with a second pre-tightening nut, and the second pre-tightening nut is meshed with the second roller; A pre-tightening gasket is arranged between the first pre-tightening nut and the second pre-tightening nut along the circumferential direction thereof, and the first pre-tightening nut, the pre-tightening gasket, the second pre-tightening nut and the nut seat are pre-tightened and connected by arranging a pre-tightening screw.

8. The planetary roller trochoid surface zero-backlash large transmission ratio compound transmission device according to claim 3, characterized in that: The output shaft is connected to the runner through two circumferentially symmetrically arranged flat keys. The runner is a two-sided fan-shaped symmetrical structure. A plurality of equally spaced needle bearings are installed along the arc direction of the fan-shaped edges on both sides of the runner. A rolling pin is installed at the center hole of each needle bearing. The hypocycloid rack makes repeated axial movements and transmits the motion to the runner through contact with the rolling pin, thereby driving the output shaft to make non-full-circle rotational motion.

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