End face worm gear pair speed reducing mechanism, speed reducer and coreless motor

Abstract

The end face worm gear pair speed reducing mechanism comprises a worm gear part, a worm part and a driving part, the worm gear part comprises a first end face worm gear and a second end face worm gear, the first end face worm gear and the second end face worm gear are coaxially arranged, and teeth of the first end face worm gear and teeth of the second end face worm gear are opposite or opposite. The first end face worm gear and the second end face worm gear are fixedly connected during transmission; the worm part comprises a first worm and a second worm, and the first worm and the second worm are meshed with the first end face worm gear and the second end face worm gear respectively; the driving piece is configured to drive the first worm and the second worm to rotate. On the premise that the pitch radius of a single worm is not increased and the situation that the efficiency is reduced due to the fact that the ultimate pressure angle is too large is avoided, multiplication of output torque is achieved, the torque output capacity in a compact space is remarkably improved, meanwhile, when high-precision reversing or positioning needs to be carried out, an anti-backlash state can be switched, and the working efficiency is improved. And the transmission stability, the dynamic response precision and the repeated positioning precision are obviously improved.

Description

Technical Field

[0001] This invention relates to the field of mechanical transmission technology, specifically to an end-face worm gear reduction mechanism, a reducer, and a hollow cup motor. Background Technology

[0002] A speed reducer is an independent transmission device connecting a power source and an actuator. Its main function is to reduce speed and increase torque to meet the actual speed and torque requirements of the working mechanism. Worm gear reducers, a common type of speed reducer, utilize the interleaved shaft transmission between the worm and worm wheel. They offer advantages such as a large transmission ratio, compact structure, smooth transmission, and reverse self-locking capability, and are widely used in various industrial transmission applications.

[0003] In related technologies, worm gear reducers typically consist of a worm and a worm wheel, which mesh on intersecting axes in space to achieve transmission. In this structure, a direct way to increase output torque is to increase the worm's pitch circle radius to enhance its load-bearing capacity. However, increasing the worm's pitch circle radius increases its limiting pressure angle. An excessively large limiting pressure angle will result in an excessively large actual pressure angle on the meshing pair's concave surface, severely impacting transmission efficiency. To ensure basic transmission efficiency, worm gear reducers must strictly limit the limiting pressure angle, which necessitates that the worm's pitch circle radius cannot be too large. Therefore, the worm dimensions of existing worm gear reducers are strictly constrained, resulting in limited torque output capacity and making it difficult to meet the demands of high-torque transmission in situations with limited axial installation space. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this application provides an end-face worm gear pair reduction mechanism and a reducer.

[0005] This application discloses a face worm gear reduction mechanism comprising: a worm gear component, a worm component, and a driving component. The worm gear component includes a first face worm gear and a second face worm gear, which are coaxially arranged. The teeth of the first face worm gear and the second face worm gear are opposite or opposite to each other. The first face worm gear and the second face worm gear are fixedly connected during transmission. The worm gear component includes a first worm and a second worm, which mesh with the first face worm gear and the second face worm gear, respectively. The driving component is configured to drive the first worm and the second worm to rotate. The rotation of the first worm causes the first face worm gear to rotate, and the rotation of the second worm causes the second face worm gear to rotate.

[0006] Preferably, the teeth of the first end face worm wheel and the teeth of the second end face worm wheel have the same helix direction, and the rotation directions of the first worm and the second worm are opposite.

[0007] Preferably, the driving component includes a first driving part and a second driving part, wherein the first driving part is configured to drive a first worm gear to rotate, and the second driving part is configured to drive a second worm gear to rotate. The force exerted by the first worm on the worm wheel at the first end face is the first force, and the force exerted by the second worm on the worm wheel at the second end face is the second force. The directions of the first force and the second force can be switched between being in the same direction and being in opposite directions.

[0008] Preferably, the driving component includes a third driving part and a transmission part. The transmission part includes a first gear and a second gear. The driving end of the third driving part is connected to a first worm. The first gear is disposed on the first worm. The first gear and the second gear mesh. The second gear is disposed on the second worm.

[0009] Preferably, the end face worm gear pair reduction mechanism further includes an adjusting element, which is adjustablely connected to the first end face worm gear and the second end face worm gear respectively; when the adjusting element is loosened, the first end face worm gear and the second end face worm gear can rotate relative to each other; when the adjusting element is locked, the first end face worm gear and the second end face worm gear are locked and fixed.

[0010] Preferably, the adjusting member includes a fastening part, one of the first end face worm gear and the second end face worm gear is provided with a waist-shaped hole, and the other is provided with a threaded hole; the fastening part passes through the waist-shaped hole and is threadedly connected to the threaded hole, so that the first end face worm gear and the second end face worm gear are locked or can rotate relative to each other.

[0011] Preferably, the adjusting member further includes an elastic part, which is disposed in the waist-shaped hole. One end of the elastic part is connected to the fastening part, and the other end of the elastic part is connected to the first end face worm gear or the second end face worm gear.

[0012] Preferably, the pitch circle radii r of the first worm and the second worm satisfy the following condition: ,in , Let R be the transmission ratio between the first worm and the first end-face worm wheel, and R be the node radius of the first end-face worm wheel and the second end-face worm wheel. Let be the node helix angle of the first end face worm gear and the second end face worm gear. The helix angles of the first and second worms are given. The absolute value is no greater than 10°.

[0013] This application also discloses a speed reducer, including a housing and an end face worm gear pair speed reduction mechanism, wherein a first end face worm gear and a second end face worm gear are rotatably connected to the housing.

[0014] This application also discloses a hollow cup motor, comprising: A worm gear component includes a first end face worm gear and a second end face worm gear. The first end face worm gear and the second end face worm gear are coaxially arranged. The teeth of the first end face worm gear and the teeth of the second end face worm gear are opposite to or opposite to each other. The first end face worm gear and the second end face worm gear are fixedly connected during transmission. A worm gear assembly includes a first worm and a second worm, wherein the first worm and the second worm mesh with a first end face worm wheel and a second end face worm wheel, respectively; and The motor body is configured to drive the first worm and the second worm to rotate; the rotation of the first worm drives the first end face worm wheel to rotate, and the rotation of the second worm drives the second end face worm wheel to rotate.

[0015] The beneficial effects of this application are as follows: By setting the first worm and the second worm to mesh with the first end face worm wheel and the second end face worm wheel respectively, and making the first end face worm wheel and the second end face worm wheel coaxially arranged, and the first end face worm wheel and the second end face worm wheel fixedly connected during transmission, two parallel power transmission paths are formed. During transmission, the driving component drives the first worm and the second worm to rotate synchronously. The first worm drives the first end face worm wheel to rotate, and the second worm drives the second end face worm wheel to rotate. Since the first end face worm wheel and the second end face worm wheel are coaxially arranged, and the first end face worm wheel and the second end face worm wheel are fixedly connected during transmission, the output torques of the first end face worm wheel and the second end face worm wheel are superimposed in the same direction. Thus, without increasing the pitch circle radius of a single worm and avoiding excessive limit pressure angle leading to efficiency reduction, the output torque is multiplied, significantly improving the torque output capability in a compact space.

[0016] Meanwhile, when high-precision reversing or positioning is required, the system can be switched to the backlash-free state. In the backlash-free state, by controlling or adjusting, the first worm and the first end face worm wheel are kept in contact on one side, while the second worm and the second end face worm wheel are in contact on the other side. This allows the first worm and the first end face worm wheel to clamp the synchronously rotating first end face worm wheel and second end face worm wheel from both sides, eliminating the inherent tooth backlash. This avoids the impact, vibration, and positioning errors caused by backlash during reversing in traditional reducers, significantly improving the smoothness of transmission, dynamic response accuracy, and repeatability of positioning. Attached Figure Description

[0017] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings: Figure 1 This is a schematic diagram of the end face worm gear reduction mechanism in Embodiment 1; Figure 2 This is a schematic diagram of the end face worm gear pair reduction mechanism in the transmission state of Embodiment 1; Figure 3 This is a schematic diagram of the end face worm gear reduction mechanism in the backlash-free state in Example 1; Figure 4 This is a schematic diagram of the end face worm gear reduction mechanism when switching the transmission state to the backlash-free state in Embodiment 1; Figure 5 This is a schematic diagram of the end face worm gear reduction mechanism in Embodiment 2; Figure 6 This is a schematic diagram of the end face worm gear reduction mechanism in Embodiment 3; Figure 7 This is a schematic diagram of the worm gear component in Example 3; Figure 8 This is a schematic diagram of the end face worm gear reduction mechanism in Example 4; Figure 9 This is a schematic diagram of the hollow cup motor in Example 6.

[0018] Figure label: 1. Worm gear assembly; 11. First end face worm gear; 12. Second end face worm gear; 121. Waist-shaped hole; 2. Worm assembly; 21. First worm; 22. Second worm; 3. Drive assembly; 31. First drive unit; 32. Second drive unit; 33. Third drive unit; 34. Transmission unit; 341. First gear; 342. Second gear; 4. Adjusting component; 41. Fastening component; 5. Motor body. Detailed Implementation

[0019] The following drawings disclose several embodiments of this application. For clarity, many practical details will be described in the following description. However, it should be understood that these practical details should not be used to limit this application. That is, in some embodiments of this application, these practical details are not essential. In addition, for the sake of simplicity, some conventional structures and components will be shown in the drawings in a simple schematic manner.

[0020] It should be noted that all directional indications in the embodiments of this application, such as up, down, left, right, front, back, etc., are only used to explain the relative positional relationship and movement of the components in a specific posture as shown in the attached figure. If the specific posture changes, the directional indication will also change accordingly.

[0021] Furthermore, the use of terms such as "first" and "second" in this application is for descriptive purposes only and does not specifically refer to any order or sequence, nor is it intended to limit this application. They are merely used to distinguish components or operations described using the same technical terms and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but only if they are feasible for those skilled in the art. If a combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0022] To further understand the content, features, and effects of this application, the following embodiments are provided, and detailed descriptions are given in conjunction with the accompanying drawings.

[0023] Example 1: Reference Figure 1 , Figure 1 This is a schematic diagram of the end-face worm gear reduction mechanism in Embodiment 1. The end-face worm gear reduction mechanism in this embodiment includes an output worm gear component 1, a worm component 2, and a driving component 3. The worm gear component 1 includes a first end-face worm gear 11 and a second end-face worm gear 12, which are coaxially arranged. The teeth of the first end-face worm gear 11 and the second end-face worm gear 12 are opposite or back-to-back, and are fixedly connected during transmission. The worm component 2 includes a first worm 21 and a second worm 22, which mesh with the first end-face worm gear 11 and the second end-face worm gear 12, respectively. The driving component 3 is configured to drive the first worm 21 and the second worm 22 to rotate. The rotation of the first worm 21 drives the first end-face worm gear 11 to rotate, and the rotation of the second worm 22 drives the second end-face worm gear 12 to rotate.

[0024] In this embodiment, the end-face worm gear reduction mechanism is configured such that the first worm 21 and the second worm 22 mesh with the first end-face worm gear 11 and the second end-face worm gear 12 respectively, and the first end-face worm gear 11 and the second end-face worm gear 12 are coaxially arranged and fixedly connected during transmission, forming two parallel power transmission paths. During transmission, the driving component 3 drives the first worm 21 and the second worm 22 to rotate synchronously. The first worm 21 drives the first end-face worm gear 11 to rotate, and the second worm 22 drives the second end-face worm gear 12 to rotate. Since the first end-face worm gear 11 and the second end-face worm gear 12 are coaxially arranged and fixedly connected during transmission, the output torques of the first end-face worm gear 11 and the second end-face worm gear 12 are superimposed in the same direction. Thus, without increasing the pitch circle radius of a single worm or avoiding excessive pressure angle leading to efficiency reduction, the output torque is multiplied, significantly improving the torque output capability in a compact space.

[0025] Rereference Figure 1 Preferably, the teeth of the first end-face worm gear 11 and the second end-face worm gear 12 have the same rotation direction, and the rotation directions of the first worm 21 and the second worm 22 are opposite. In specific applications, the end-face worm gear reduction mechanism also includes an output shaft (not shown in the figure). The output shaft is coaxially arranged with the first end-face worm gear 11 and the second end-face worm gear 12, and the output shaft is fixedly sleeved on at least one of the first end-face worm gear 11 and the second end-face worm gear 12. That is, the first end-face worm gear 11 and the second end-face worm gear 12 are respectively fixedly sleeved on the outside of the output shaft. It should be noted that in this embodiment, the first end-face worm gear 11 and the second end-face worm gear 12 are sleeved on the same output shaft. Of course, in other embodiments, they can also be sleeved on two coaxially arranged output shafts, which is not limited here. By designing the teeth of the first end-face worm gear 11 and the second end-face worm gear 12 to have the same helix direction, and controlling the first worm 21 and the second worm 22 to rotate in opposite directions, it can be ensured that the driving torque generated by the first end-face worm gear 11 and the second end-face worm gear 12 on the output shaft is in the same direction. Utilizing spatial symmetry, the rotational torques acting on the output shaft are superimposed in the same direction when the two worms drive their respective worm gears, thus avoiding internal power circulation and efficiency loss caused by opposite torque directions. This not only further improves the total output torque and load-bearing capacity of the transmission system, but also makes the transmission process smoother and more reliable. Specifically, since the first end-face worm gear 11 and the second end-face worm gear 12 are arranged in opposite directions and their threads are symmetrically distributed, they can be designed as identical standard parts in terms of structure and size. This allows the same set of molds or machining programs to be used for forging and gear machining, greatly simplifying the production process and reducing manufacturing costs and inventory management complexity.

[0026] Rereference Figure 1Preferably, the driving component 3 includes a first driving part 31 and a second driving part 32. The first driving part 31 is configured to drive the first worm 21 to rotate, and the second driving part 32 is configured to drive the second worm 22 to rotate. The force exerted by the first worm 21 on the first end face worm wheel 11 is the first force, and the force exerted by the second worm 22 on the second end face worm wheel 12 is the second force. The directions of the first force and the second force can be switched between being in the same direction and being in opposite directions. In specific applications, the first driving part 31 and the second driving part 32 simultaneously drive the first worm 21 and the second worm 22 to rotate, respectively. In the transmission state, the first worm 21 abuts against one side of the teeth of the first end face worm wheel 11, and the second worm 22 abuts against the teeth on the same side of the second end face worm wheel 12. In the backlash-free state, the first worm 21 abuts against one side of the teeth of the first end face worm wheel 11, and the second worm 22 abuts against the other side of the teeth of the second end face worm wheel 12. In other words, the end-face worm gear reduction mechanism in this embodiment has two states: transmission state and backlash elimination state. In the transmission state, the first drive unit 31 and the second drive unit 32 synchronously output driving force, and drive the first worm 21 and the second worm 22 to rotate in opposite directions. At this time, the first worm 21 and the second worm 22 both act as active driving members. The first worm 21 and the second worm 22 act on the same side teeth of the first end-face worm gear 11 and the second end-face worm gear 12, respectively. In this way, the driving torque generated by the first end-face worm gear 11 and the second end-face worm gear 12 is purely superimposed in the same direction on the output central shaft, the system outputs the maximum torque, and the torque multiplication of the dual-path transmission is achieved.

[0027] Reference Figures 2-4 , Figure 2 This is a schematic diagram of the end-face worm gear reduction mechanism in the transmission state of Embodiment 1. Figure 3 This is a schematic diagram of the end face worm gear reduction mechanism in the backlash-free state in Example 1. Figure 4 This is a schematic diagram of the end-face worm gear reduction mechanism in the backlash-free state during transmission state switching in Embodiment 1. When high-precision reversing or positioning is required, it can be switched to the backlash-free state. In the backlash-free state, the second drive unit 32 drives the second worm 22 to rotate slightly, causing the second worm 22 to disengage from one side of the teeth of the second end-face worm gear 12 and move to abut against the other side of the teeth of the second end-face worm gear 12. That is, in the backlash-free state, the first worm 21, as the active drive member, remains in contact with one side of the teeth of the first end-face worm gear 11, while the second worm 22, as the pre-tensioned follower member, remains in contact with the other side of the teeth of the second end-face worm gear 12. In this way, the first worm 21 and the second worm 22 clamp the transmission chain formed by the first end-face worm gear 11 and the second end-face worm gear 12 from both sides, completely eliminating the tooth backlash in the transmission chain, realizing instantaneous switching without backlash, thereby avoiding reversing impact and vibration, and significantly improving transmission stability and positioning accuracy. Specifically, both the first drive unit 31 and the second drive unit 32 are electric motors.

[0028] Preferably, the first worm 21 and the second worm 22 are arranged in parallel and distributed on both sides of the output shaft. In specific applications, arranging the first worm 21 and the second worm 22 in parallel and symmetrically distributed on both sides of the output shaft ensures good consistency in the meshing state between them and their corresponding end face worm wheels. This not only optimizes space utilization and makes the overall structure more compact, but also ensures that the forces of the two transmission paths of the first worm 21 and the second worm 22 form an ideal force balance on the output shaft, effectively offsetting radial loads, thereby significantly reducing vibration and noise during operation and improving bearing life.

[0029] Preferably, the pitch circle radii r of the first worm 21 and the second worm 22 satisfy the following... ,in , R is the transmission ratio between the first worm 21 and the first end face worm wheel 11, and R is the node radius of the first end face worm wheel 11 and the second end face worm wheel 12. The node helix angle of the first end face worm gear 11 and the second end face worm gear 12 is... The helix angles of the first and second worms are given. The absolute value is no greater than 10°. In specific applications, the node radius R of the first end face worm gear 11 and the second end face worm gear 12, the node helix angle β of the first end face worm gear 11 and the second end face worm gear 12, and the transmission ratio i between the first worm 21 and the first end face worm gear 11 can be obtained by measurement. Based on the above relationships, the limiting pressure angle can be determined. The relationship between the pitch circle radii r of the first worm 21 and the second worm 22 is... Furthermore, by setting the absolute value of the limiting pressure angle α to no more than 10°, the efficiency requirements of the transmission chain can be met, ensuring that the worm gear pair operates within the high-efficiency range. That is, under the premise of ensuring the predetermined transmission efficiency, the maximum theoretical value of the worm pitch circle radius can be calculated. Therefore, both the first worm 21 and the second worm 22 can exert their maximum allowable torque carrying capacity while maintaining high individual transmission efficiency. Simultaneously, combined with the parallel drive structure of the two worms in this embodiment, the output forces of the two worms are superimposed, thus ultimately achieving the technical effect of simultaneously achieving high efficiency and high torque output within a compact structure. It should be noted that, to achieve correct spatial meshing, the worm offset E... a satisfy This determines the necessary axial mounting distance between the worm axis and the worm wheel axis to ensure the helix angle is achieved. The worm gear with a node helix angle The worm gear can form a stable spatial meshing contact at the designed node.

[0030] It's understandable that if the pressure angle of the tooth surface is inappropriate, the tangent point P between the worm and the end face worm wheel might become the meshing limit point, meaning the meshing limit line passes exactly through point P. In this case, only a portion of the tooth surface (the area above or below point P) is engaged, while the other portion remains completely idle, which is clearly something to avoid. When point P happens to become the meshing limit point, the corresponding pressure angle is called the limiting pressure angle.

[0031] In detail, for the first end-face worm gear 11 and the second end-face worm gear 12, each tooth has two working surfaces: one is a convex surface, i.e., the side of the tooth surface facing away from the worm gear axis; the other is a concave surface, i.e., the side of the tooth surface facing the worm gear axis. That is, the value of the limiting pressure angle α is positive or negative, and its sign is used to distinguish between the two working tooth surfaces. When α is positive, it corresponds to the limiting pressure angle of the concave surface of the worm gear; when α is negative, it corresponds to the limiting pressure angle of the convex surface of the worm gear. The absolute values ​​of the limiting pressure angles of the concave and convex tooth surfaces are equal, only their signs are opposite. In the transmission design of this embodiment, the convex surface of the worm gear is usually selected as the main power transmission working surface. Furthermore, in this embodiment, the absolute value of the limiting pressure angle α is no greater than 10°, which clarifies that this embodiment uses the convex surfaces of the first end-face worm gear 11 and the second end-face worm gear 12 as the main bearing tooth surfaces for design and optimization to ensure high-efficiency transmission.

[0032] Example 2: Reference Figure 5 , Figure 5 This is a schematic diagram of the end-face worm gear reduction mechanism in Embodiment 2. The difference between the end-face worm gear reduction mechanism in this embodiment and Embodiment 1 is that the teeth of the first end-face worm gear 11 and the teeth of the second end-face worm gear 12 are opposite to each other. That is, the first end-face worm gear 11 and the second end-face worm gear 12 abut against each other. The side of the first end-face worm gear 11 that is away from the teeth is in contact with the side of the second end-face worm gear 12 that is away from the teeth. This minimizes the axial space occupied by the first end-face worm gear 11 and the second end-face worm gear 12, making the axial dimension of the entire end-face worm gear reduction mechanism more compact. This has significant advantages in working conditions where the installation space, especially the axial space, is extremely limited, while retaining the core function of torque superposition of the dual worm gear pairs.

[0033] It should be noted that in this embodiment, both the first end face worm gear 11 and the second end face worm gear 12 are end face worm gears. Compared with traditional side worm gears, the two end face worm gears can directly and coaxially fit together on their toothless back sides, so that the first end face worm gear 11 and the second end face worm gear 12 share the same axial space, achieving extreme compactness. In contrast, since the teeth of the side worm gear are distributed on the side of the cylinder, if they are forcibly fitted back to back, the effective meshing surface will be opposite in direction, and effective transmission cannot be formed.

[0034] Example 3: Reference Figure 6 , Figure 6 This is a schematic diagram of the end-face worm gear reduction mechanism in Embodiment 3. The difference between the end-face worm gear reduction mechanism in this embodiment and Embodiment 2 is that the driving component 3 in this embodiment includes a third driving part 33 and a transmission part 34. The transmission part 34 includes a first gear 341 and a second gear 342. The driving end of the third driving part 33 is connected to the first worm 21. The first gear 341 is disposed on the first worm 21, and the first gear 341 and the second gear 342 mesh. The second gear 342 is disposed on the second worm 22. It can be understood that Embodiment 2 uses two motors to drive the first worm 21 and the second worm 22 respectively, while this embodiment uses a single motor. In practical applications, the third drive unit 33 drives the first worm 21 to rotate, and the first gear 341 fixed on the first worm 21 rotates accordingly. Through meshing with the second gear 342, it transmits power to the second worm 22, thereby causing the first worm 21 and the second worm 22 to naturally rotate in opposite directions. This rotational relationship ensures that the first worm 21 and the second worm 22 can respectively drive the first end face worm wheel 11 and the second end face worm wheel 12 to apply a rotational torque in the same direction to the output shaft, thus achieving effective torque superposition. In other words, this embodiment achieves dual-path power splitting through a single drive source and gear pair, simplifying the drive system and reducing manufacturing costs and control complexity while maintaining the core function of torque multiplication. Specifically, the third drive unit 33 is a motor.

[0035] Reference Figure 7 , Figure 7 The diagram below illustrates the structure of the worm gear assembly in Embodiment 3. Preferably, the end-face worm gear reduction mechanism further includes an adjusting member 4, which is adjustablely connected to the first end-face worm gear 11 and the second end-face worm gear 12. When the adjusting member 4 is loosened, the first end-face worm gear 11 and the second end-face worm gear 12 can rotate relative to each other. When the adjusting member 4 is locked, the first end-face worm gear 11 and the second end-face worm gear 12 are locked and fixed. The adjusting member 4 allows the second end-face worm gear 12 to rotate relative to the first end-face worm gear 11 in a limited manner or to be locked and fixed as a single unit. When it is necessary to eliminate the transmission backlash, the adjusting member 4 can be loosened, and the circumferential position of the second end-face worm gear 12 can be manually or with the aid of tools finely adjusted so that the second worm 22 abuts against the other side of the teeth of the second end-face worm gear 12, and then the adjusting member 4 can be locked. In this way, the second worm 22 and the first worm 21 can be pre-tightened on different side teeth of the two end face worm wheels, thereby achieving clamping and backlash elimination at the mechanical structure level, effectively eliminating backlash, and improving the smoothness and positioning accuracy of the transmission.

[0036] Rereference Figure 6 and Figure 7Preferably, the adjusting member 4 includes a fastening part 41. One of the first end face worm gear 11 and the second end face worm gear 12 has a slotted hole 121, and the other has a threaded hole. The fastening part 41 passes through the slotted hole 121 and is threadedly connected to the threaded hole, so that the first end face worm gear 11 and the second end face worm gear 12 are locked or can rotate relative to each other. In specific applications, by loosening the fastening part 41 that passes through the slotted hole 121, the second end face worm gear 12 can rotate relative to the first end face worm gear 11 at a limited angle. By rotating the second end face worm gear 12, its meshing phase with the second worm 22 can be precisely adjusted until the teeth of the second worm 22 and the other side of the second end face worm gear 12 are tightly engaged. Then, the fastening part 41 is tightened to re-lock and fix the two. This process achieves active elimination of the backlash on the side of the second worm gear's auxiliary teeth. In this state, the first worm 21 is tightly pressed against one side of the teeth of the first end face worm wheel 11, while the second worm 22 is tightly pressed against the other side of the teeth of the second end face worm wheel 12. The two are clamped together from both sides of the transmission chain, thus completely eliminating backlash in the mechanical structure. This embodiment provides a reliable, low-cost, and easy-to-implement precision adjustment method with a simple oblong hole 121 and fastening part 41 structure. Specifically, the fastening part 41 is a screw.

[0037] Rereference Figure 6 and Figure 7 Preferably, the adjusting component 4 further includes an elastic part disposed within the oblong hole 121. One end of the elastic part is connected to the fastening part 41, and the other end is connected to the first end face worm gear 11 or the second end face worm gear 12. In specific applications, the elastic part is a spring, which is sleeved on the screw rod and accommodated within the oblong hole 121. During installation, the spring is in a pre-compressed state, and its elastic restoring force continuously acts between the fastening part 41 and the end face worm gear with the oblong hole 121, so that there is always an elastic tendency for the two end face worm gears to rotate relative to each other. This tendency can automatically push the second worm 22 towards and maintain a tight engagement with the other side of the teeth of the second end face worm gear 12. In this way, after the screw is loosened, the system does not require manual precise adjustment and re-tightening. It can automatically enter and maintain a backlash-free state by means of the spring force, which not only simplifies the operation but also continuously compensates for the small gaps caused by wear, maintaining transmission accuracy over a long period of time.

[0038] Example 4: Reference Figure 8 , Figure 8This is a schematic diagram of the end-face worm gear reduction mechanism in Embodiment 4. The difference between this embodiment and Embodiment 3 is that the teeth of the first end-face worm gear 11 and the second end-face worm gear 12 are arranged opposite each other, meaning they face each other. This further optimizes the axial space, allowing the first worm 21 and the second worm 22 to be accommodated within the area between the teeth of the two worm gears, resulting in a more concentrated and compact axial layout of the entire end-face worm gear reduction mechanism. This embodiment not only retains all the core functions of single-motor drive, gear pair split transmission, and torque superposition, but its symmetry also helps improve the force balance of the transmission.

[0039] Example 5: The reducer in this embodiment includes a housing, an output shaft, multiple bearings, and the end face worm gear reduction mechanism in Embodiment 1. The output shaft is rotatably mounted in the housing via bearings. The first worm 21 and the second worm 22 are also mounted in the housing via corresponding bearings. The first drive unit 31 and the second drive unit 32 are respectively installed through the housing.

[0040] Example 6: Reference Figure 9 , Figure 9 This is a schematic diagram of the hollow cup motor in Embodiment Six. The hollow cup motor in this embodiment includes an output worm gear component 1, a worm component 2, and a motor body 5. The worm gear component 1 includes a first end face worm gear 11 and a second end face worm gear 12, which are coaxially arranged. The teeth of the first end face worm gear 11 and the second end face worm gear 12 are opposite or back-to-back, and are fixedly connected during transmission. The worm component 2 includes a first worm 21 and a second worm 22, which mesh with the first end face worm gear 11 and the second end face worm gear 12, respectively. The motor body 5 is configured to drive the first worm 21 and the second worm 22 to rotate. The rotation of the first worm 21 drives the first end face worm gear 11 to rotate, and the rotation of the second worm 22 drives the second end face worm gear 12 to rotate.

[0041] In this embodiment, the hollow cup motor is configured to have a first worm 21 and a second worm 22 meshing with a first end face worm wheel 11 and a second end face worm wheel 12 respectively, and the first end face worm wheel 11 and the second end face worm wheel 12 are coaxially arranged, and the first end face worm wheel 11 and the second end face worm wheel 12 are fixedly connected during transmission, forming two parallel power transmission paths. During transmission, there are two motor bodies 5 in this embodiment. The two motor bodies 5 drive the first worm 21 and the second worm 22 to rotate synchronously. The first worm 21 drives the first end face worm wheel 11 to rotate, and the second worm 22 drives the second end face worm wheel 12 to rotate. Since the first end face worm wheel 11 and the second end face worm wheel 12 are coaxially arranged and are fixedly connected during transmission, the output torques of the first end face worm wheel 11 and the second end face worm wheel 12 are superimposed in the same direction. Thus, without increasing the pitch circle radius of a single worm and avoiding excessive limit pressure angle that would lead to a decrease in efficiency, the output torque is doubled, significantly improving the torque output capability in a compact space.

[0042] In summary, by setting the first worm 21 and the second worm 22 to mesh with the first end face worm wheel 11 and the second end face worm wheel 12 respectively, and by coaxially arranging the first end face worm wheel 11 and the second end face worm wheel 12, and by fixing the first end face worm wheel 11 and the second end face worm wheel 12 together during transmission, two parallel power transmission paths are formed. During transmission, the driving component 3 drives the first worm 21 and the second worm 22 to rotate synchronously. The first worm 21 drives the first end face worm wheel 11 to rotate, and the second worm 22 drives the second end face worm wheel 12 to rotate. Since the first end face worm wheel 11 and the second end face worm wheel 12 are coaxially arranged and fixedly connected during transmission, the output torques of the first end face worm wheel 11 and the second end face worm wheel 12 are superimposed in the same direction. Thus, without increasing the pitch circle radius of a single worm or avoiding an excessively large ultimate pressure angle that would lead to a decrease in efficiency, the output torque is multiplied, significantly improving the torque output capability within a compact space. Meanwhile, when high-precision reversing or positioning is required, the system can be switched to the backlash-free state. In the backlash-free state, by controlling or adjusting, the first worm 21 is kept in contact with one side of the teeth of the first end face worm wheel 11, while the second worm 22 is in contact with the other side of the teeth of the second end face worm wheel 12. This allows the first worm 21 and the first end face worm wheel 11 to clamp the synchronously rotating first end face worm wheel 11 and second end face worm wheel 12 from both sides, eliminating the inherent tooth backlash. This avoids the impact, vibration, and positioning error caused by backlash during reversing in traditional reducers, and significantly improves the smoothness of transmission, dynamic response accuracy, and repeatability of positioning.

[0043] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. An end face worm wheel pair reduction mechanism characterized by, The worm gear (1) comprises a first end face worm gear (11) and a second end face worm gear (12), the first end face worm gear (11) and the second end face worm gear (12) are coaxially arranged, the teeth of the first end face worm gear (11) and the teeth of the second end face worm gear (12) are opposite or opposite, the first end face worm gear (11) and the second end face worm gear (12) are fixedly connected when transmitting power; The worm gear (1) comprises a first end face worm gear (11) and a second end face worm gear (12), the first end face worm gear (11) and the second end face worm gear (12) are coaxially arranged, the teeth of the first end face worm gear (11) and the teeth of the second end face worm gear (12) are opposite or opposite, the first end face worm gear (11) and the second end face worm gear (12) are fixedly connected when transmitting power; The driving member (3) comprises a first driving part (31) and a second driving part (32), the first driving part (31) is configured to drive the first worm (21) to rotate, and the second driving part (32) is configured to drive the second worm (22) to rotate; The force of the first worm (21) acting on the first end face worm gear (11) is the first acting force, the force of the second worm (22) acting on the second end face worm gear (12) is the second acting force, and the directions of the first acting force and the second acting force can be switched between the same direction and the opposite direction.

2. The face-toothed worm gear pair reduction mechanism according to claim 1, characterized in that The driving member (3) comprises a third driving part (33) and a transmission part (34), the transmission part (34) comprises a first gear (341) and a second gear (342), the driving end of the third driving part (33) is connected with the first worm (21), the first gear (341) is arranged on the first worm (21), the first gear (341) and the second gear (342) are engaged, and the second gear (342) is arranged on the second worm (22).

3. The face-toothed worm gear pair reduction mechanism according to claim 1, characterized in that It further comprises a gap adjusting member (4), which is adjustably connected to the first end face worm gear (11) and the second end face worm gear (12) respectively; When the gap adjusting member (4) is loosened, the first end face worm gear (11) and the second end face worm gear (12) can rotate relative to each other; when the gap adjusting member (4) is locked, the first end face worm gear (11) and the second end face worm gear (12) are locked and fixed.

4. The face-toothed worm gear pair reduction mechanism according to claim 1, characterized in that, ​ 5. The face-toothed worm gear pair reduction mechanism according to claim 4, characterized in that ​ ​ 6. The face-toothed worm gear pair reduction mechanism according to claim 5, characterized in that The pitch adjusting piece (4) comprises a fastening part (41), one of the first end face worm wheel (11) and the second end face worm wheel (12) is provided with a waist-shaped hole (121), and the other is provided with a threaded hole; the fastening part (41) passes through the waist-shaped hole (121) and is threadedly connected with the threaded hole, so that the first end face worm wheel (11) and the second end face worm wheel (12) are locked or can be relatively rotated.

7. The face-toothed worm gear pair reduction mechanism according to claim 6, characterized in that The pitch adjusting piece (4) further comprises an elastic part, which is arranged in the waist-shaped hole (121), one end of the elastic part is connected with the fastening part (41), and the other end of the elastic part is connected with the first end face worm wheel (11) or the second end face worm wheel (12).

8. The face-toothed worm gear pair reduction mechanism of claim 1, wherein, The pitch circle radius r of the first worm (21) and the second worm (22) satisfies wherein , is the transmission ratio of the first worm (21) and the first face worm wheel (11), R is the node radius of the first face worm wheel (11) and the second face worm wheel (12), is the node helix angle of the first face worm wheel (11) and the second face worm wheel (12), is the helix angle of the first worm (21) and the second worm (22), The absolute value of the difference between the helix angle of the first worm (21) and the helix angle of the second worm (22) is not greater than 10°.

9. A speed reducer characterized by, The end face worm wheel pair speed reduction mechanism comprises a housing and the end face worm wheel pair speed reduction mechanism as claimed in any one of claims 1-8, and the first end face worm wheel (11) and the second end face worm wheel (12) are respectively rotatably connected to the housing.

10. A hollow cup motor, characterized by The end face worm wheel pair speed reduction mechanism comprises: A worm wheel piece (1) comprising a first end face worm wheel (11) and a second end face worm wheel (12), the first end face worm wheel (11) and the second end face worm wheel (12) are coaxially arranged, the teeth of the first end face worm wheel (11) and the teeth of the second end face worm wheel (12) are opposite or opposite, and the first end face worm wheel (11) and the second end face worm wheel (12) are fixedly connected when transmitting power; A worm piece (2) comprising a first worm (21) and a second worm (22), the first worm (21) and the second worm (22) are respectively engaged with the first end face worm wheel (11) and the second end face worm wheel (12); and A motor body (5) configured to drive the first worm (21) and the second worm (22) to rotate; the rotation of the first worm (21) drives the first end face worm wheel (11) to rotate, and the rotation of the second worm (22) drives the second end face worm wheel (12) to rotate.

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