An anti-backlash assembly tool and method for an NGW type planetary reducer

Abstract

The application discloses a kind of NGW type planetary reducer's clearance elimination assembly tool and method, it is related to transmission device technical field, it can solve the problem that existing NGW type planetary reducer assembly clearance is difficult to eliminate.This embodiment of a kind of NGW type planetary reducer's clearance elimination assembly tool is used in the clearance elimination of planetary reducer assembly process, including gear ring locking assembly, gear locking assembly, first torque loading assembly, second torque loading assembly, and positioning frame assembly, and slider seat;Gear ring locking assembly and gear locking assembly are respectively used to mesh locking planetary reducer's gear ring cylinder and planetary gear;First torque loading assembly and second torque loading assembly are all set on slider seat and are respectively used to apply opposite direction torque to planetary reducer;Gear ring locking assembly is provided with assembly hole for applying axial force to transmission gear, in the state that planetary reducer is fixed in positioning frame assembly, assembly hole is located directly below the transmission gear of planetary reducer.

Description

Technical Field

[0001] This invention relates to the field of transmission device technology, and specifically to a backlash-eliminating assembly tooling and method for an NGW-type planetary reducer. Background Technology

[0002] Planetary gear reducers are widely used in robot joints, servo actuators, automated equipment, and construction machinery due to their compact structure, high load capacity, wide transmission ratio range, and coaxial input / output. According to common classification methods, planetary transmissions can be divided into NGW, NW, WW, and NN types based on their meshing configuration. Among them, the NGW type planetary reducer includes both an external meshing pair (W) between the sun gear and planet gears and an internal meshing pair (N) between the planet gears and the ring gear, achieving power splitting and superposition through a common planet gear. It is one of the most widely used basic structures.

[0003] In high-precision transmission scenarios, the transmission accuracy, positioning accuracy, and repeatability of a reducer largely depend on the backlash (tooth flank clearance) of the gear meshing pair. Excessive backlash leads to increased commutation idle distance, low-speed crawling, servo jitter, and increased noise, making it difficult to meet the requirements of "low backlash or even zero backlash" for industrial robots, precision indexing, and high-dynamic servo control. Therefore, how to achieve low backlash assembly while ensuring lifespan, efficiency, and manufacturability has always been a key technological challenge in planetary reducer manufacturing.

[0004] In the prior art, the following solutions are typically used to reduce the backlash of NGW-type planetary reducers.

[0005] One method to reduce average backlash after assembly is to improve gear machining quality, control center distance, and pair and match sun gears, ring gears, and planetary gears. This method relies heavily on part precision and statistical matching, has high process costs, and is sensitive to batch consistency.

[0006] Second, methods such as axial preload, spring loading, and corrugated washers are used to increase system stiffness, aiming to reduce commutation backlash under low load conditions. However, these methods primarily improve support stiffness or eliminate backlash, with limited ability to eliminate the actual tooth flank clearance of the gear pair. Furthermore, excessive preload can easily lead to frictional heating and reduced efficiency.

[0007] Third, the meshing clearance can be adjusted using eccentric bushings, adjustable bearing seats, wedges, etc. This method requires structural allowance for adjustment freedom, the assembly steps are complex, the adjustment results are highly dependent on the operator's experience, and for the case of "two meshing pairs existing at the same time" in NGW type, it is often difficult to solve the contradiction of only being able to take care of one meshing pair at a time and achieving zero clearance for both meshing pairs at the same time.

[0008] Fourth, using split / double planetary gears and adjusting the phase to eliminate backlash: Some structures design the common planetary gear as split or double, achieving backlash elimination through phase misalignment, elastic coupling, or end-face friction locking. However, in actual production, assembly gaps or tolerance accumulation are often unavoidable between split parts. Without an effective "controlled pre-tightening and locking" process, circumferential degrees of freedom may remain after locking, leading to the recurrence of backlash.

[0009] Therefore, for NGW-type planetary reducers, especially those structures containing two meshing pairs—the "sun gear-external tooth meshing pair" and the "planet gear-ring gear internal tooth meshing pair"—existing backlash reduction solutions cannot solve the assembly clearance problem.

[0010] Based on the above background, the inventors have proposed a backlash-eliminating assembly fixture and method for an NGW-type planetary reducer, which solves at least one of the above problems. Therefore, this application is hereby filed. Summary of the Invention

[0011] The purpose of this application is to provide a backlash-eliminating assembly fixture and method for NGW-type planetary reducers, thereby solving the problem that it is difficult to eliminate assembly backlash in existing NGW-type planetary reducers.

[0012] To solve the above-mentioned technical problems, the present invention adopts the following solution:

[0013] On the one hand, this application provides a backlash elimination assembly fixture for NGW type planetary reducers, used for backlash elimination during the assembly process of planetary reducers, including a gear ring locking assembly, a gear locking assembly, a first torque loading assembly, a second torque loading assembly, a positioning frame assembly for fixing the planetary carrier of the planetary reducer, and a slider seat;

[0014] The gear ring locking assembly and the gear locking assembly are used to engage and lock the gear ring cylinder and the planetary gear of the planetary reducer, respectively.

[0015] The first torque loading component and the second torque loading component are both disposed on the slider seat and are used to apply torques in opposite directions to the transmission gear and planetary gear of the planetary reducer, respectively;

[0016] The gear ring locking assembly is provided with a mounting hole for applying axial force to the transmission gear to achieve an interference fit with the planetary gear. When the planetary reducer is fixed in the positioning frame assembly, the mounting hole is located directly below the transmission gear of the planetary reducer.

[0017] Optionally, the positioning frame assembly includes an outer positioning ring for fitting onto the gear ring cylinder and a pressure frame for placing on the planetary carrier, as well as connecting bolts along the axial direction of the outer positioning ring for connecting the outer positioning ring and the pressure frame;

[0018] The outer positioning ring is fixedly connected to the gear ring locking assembly. The outer positioning ring is provided with a plurality of positioning lifting blocks distributed along its circumference. The bottom of the planetary carrier is placed on the positioning lifting blocks.

[0019] The pressure frame is provided with multiple extension blocks distributed along its circumference;

[0020] The connecting bolts are installed through the extension block and the positioning lifting block.

[0021] Optionally, the gear ring locking assembly includes a base plate and a keypad that are fixedly connected;

[0022] The outer peripheral wall of the spline is provided with locking spline teeth that mesh with the gear ring cylinder;

[0023] The mounting holes penetrate the base plate and the keypad.

[0024] Optionally, the gear locking assembly includes a drive gear shaft and an anti-rotation bracket;

[0025] The drive gear shaft is provided with a connecting platform and a drive gear ring for meshing with all planetary gears. The anti-rotation frame is fitted onto the drive gear shaft and connected and fixed to the connecting platform.

[0026] The anti-rotation frame is provided with at least one anti-rotation arm for engaging with the groove of the planetary carrier.

[0027] Optionally, the first torque loading assembly includes a bidirectional threaded sleeve, a first screw, a second screw, and a preload wrench, as well as a torque transmission nut for threaded connection to the top of the transmission gear;

[0028] The first screw and the second screw are coaxially arranged and both are threadedly connected to the bidirectional threaded sleeve, and the helical directions of the threads on the first screw and the second screw are opposite;

[0029] The other end of the first screw is rotatably connected to the preload wrench along the axial direction of the transmission gear. The end of the preload wrench away from the first screw is fitted onto the torque transmission nut and rotates synchronously with it in the circumferential direction.

[0030] The other end of the second screw is rotatably connected to the slider seat.

[0031] Optionally, the top of the torque transmission nut may be a closed structure or have a limiting protrusion structure.

[0032] Optionally, the second torque loading component includes a slider body slidably disposed within a slider seat and a pressing knob threadedly connected to the slider seat, the end of the pressing knob pressing against the slider body;

[0033] It also includes an adjusting tooth rotatably connected to the end of the slider body, and an adjusting knob threaded onto the adjusting tooth and used to drive the adjusting tooth to rotate, with the end of the adjusting knob pressing against the slider body;

[0034] The outer peripheral wall of the adjusting tooth is provided with multiple external tooth structures for meshing with the planetary gear.

[0035] Optionally, the adjusting tooth further includes at least one adjusting arm extending outward tangentially therein;

[0036] The adjusting arm is provided with an adjusting screw hole;

[0037] The adjustment knob is threadedly connected to the adjustment arm via an adjustment screw hole and presses against the slider body.

[0038] Optionally, the number of the slider seat, the first torque loading component, and the second torque loading component are the same as the number of planetary gears. The first torque loading component and the second torque loading component provided on each slider seat correspond to the drive shaft of the transmission gear and the planetary gear mounted on the drive shaft, respectively.

[0039] On the other hand, this application provides a backlash-free assembly method for an NGW-type planetary reducer, applicable to any of the backlash-free assembly fixtures described above for an NGW-type planetary reducer, comprising the following steps:

[0040] S1. Positioning and Assembly: Install the planet carrier, gear ring cylinder, planetary gears, and transmission gears of the planetary reducer into the positioning frame assembly to complete the initial assembly. At this time, both the planetary gears and the transmission gears can rotate freely.

[0041] S2, Meshing Assembly: Install the positioning frame assembly with planetary reducer onto the gear ring locking assembly and complete the meshing of the gear ring locking assembly with the gear ring cylinder; install the gear locking assembly into the planetary reducer of the positioning frame assembly and mesh with all planetary gears at the same time. At this time, the rotation of both planetary gears and transmission gears is restricted.

[0042] S3. Applying and maintaining opposite torque: Applying a first torque to the transmission gear using the first torque loading component and maintaining it within a preset value range, thereby eliminating the meshing clearance between the transmission gear and the gear ring cylinder. At the same time, applying a second torque opposite to the first torque to the planetary gear using the second torque loading component and maintaining it within a preset value range, thereby eliminating the meshing clearance between the planetary gear and the gear locking component.

[0043] S4. While maintaining the first torque and the second torque, apply axial clamping force to the transmission gear through the mounting hole to complete the interference fit and lock between the transmission gear and the planetary gear.

[0044] S5. After releasing the first torque and the second torque, check the meshing clearance between the transmission gear and the gear ring cylinder, as well as the meshing clearance between the planetary gear and the gear locking assembly. If the requirements are not met, repeat S3 and S4 until the meshing clearance meets the requirements.

[0045] The beneficial effects of this invention are:

[0046] This application, by setting up a gear ring locking assembly, a gear locking assembly, a first torque loading assembly, and a second torque loading assembly, enables the application to simultaneously apply opposite torques while the two meshing pairs are circumferentially locked using the gear ring locking assembly and the gear locking assembly. This allows the application to assemble and lock with the working tooth surfaces of the two meshing pairs simultaneously in close contact without gaps, achieving a gapless effect at the working positions of the two meshing pairs. On the other hand, since this application requires applying torque to the planetary reducer before and after assembly, it also simulates the gapless assembly of the planetary reducer under the applied torque working state. This ensures that the planetary reducer remains gapless even when the two meshing pairs are in their working positions during subsequent operation. Attached Figure Description

[0047] Figure 1 This is a three-dimensional structural diagram of an NGW-type planetary reducer.

[0048] Figure 2 This is a cross-sectional structural diagram of an NGW-type planetary reducer.

[0049] Figure 3 This is a three-dimensional structural diagram of the application in Embodiment 1.

[0050] Figure 4 This is a top view of the structure when used in Embodiment 1 of this application.

[0051] Figure 5 This is a three-dimensional structural diagram of the transmission gear when a first torque is applied in Embodiment 1 of this application.

[0052] Figure 6 This is a three-dimensional structural diagram of the planetary gear when a second torque is applied in Embodiment 1 of this application.

[0053] Figure 7 This is a three-dimensional structural diagram of the adjusting teeth in Embodiment 1 of this application.

[0054] Figure 8 This is a three-dimensional structural diagram of the gear locking assembly in Embodiment 1 of this application.

[0055] Figure 9 This is a three-dimensional structural diagram of the gear ring locking assembly in Embodiment 1 of this application.

[0056] Figure 10 This is a three-dimensional structural diagram of the positioning frame assembly in Embodiment 1 of this application.

[0057] Explanation of reference numerals in the attached drawings: 1-Planetary reducer, 11-Planetary carrier, 111-Mounting port, 112-Slot, 12-Gear ring cylinder, 121-Output gear ring, 122-Input gear ring, 13-Planetary gear, 14-Transmission gear, 141-Reduced diameter section, 142-Transmission gear structure, 2-Gear ring locking assembly, 21-Base plate, 211-Mounting slot, 22-Spline key, 221-Locking spline tooth, 222-Assembly hole, 223-Mounting hole, 3-Gear locking assembly, 31-Drive gear shaft, 311-Connecting platform, 312-Drive gear ring, 32-Anti-rotation bracket, 321-Anti-rotation arm, 322-Anti-rotation connecting hole, 4-Slider seat, 41-Fixed 42-Pin, 43-Sliding hole, 5-Locking hole, 5-First torque loading assembly, 51-Double threaded sleeve, 52-First screw, 53-Second screw, 531-Connecting collar, 54-Preload wrench, 541-Preload port, 55-Torque transmission nut, 6-Second torque loading assembly, 61-Slider body, 62-Top pressure knob, 63-Adjusting tooth, 631-External tooth structure, 632-Central rotation hole, 633-Adjusting arm, 634-Adjusting screw hole, 64-Adjusting knob, 7-Positioning frame assembly, 71-Pressure frame, 711-Extension block, 72-Outer positioning ring, 721-Positioning lifting block, 722-Placement step, 73-Connecting bolt. Detailed Implementation

[0058] The present invention will be further described in detail below with reference to the embodiments and accompanying drawings, but the embodiments of the present invention are not limited thereto.

[0059] like Figures 3 to 10 As shown, this embodiment provides a backlash elimination assembly fixture for an NGW type planetary reducer 1, used to eliminate backlash during the assembly process of the planetary reducer 1. It includes a gear ring locking assembly 2, a gear locking assembly 3, a first torque loading assembly 5, a second torque loading assembly 6, a positioning frame assembly 7 for fixing the planetary carrier 11 of the planetary reducer 1, and a slider seat 4.

[0060] The gear ring locking assembly 2 and the gear locking assembly 3 are used to engage and lock the gear ring cylinder 12 and the planetary gear 13 of the planetary reducer 1, respectively.

[0061] The first torque loading component 5 and the second torque loading component 6 are both disposed on the slider seat 4 and are used to apply torques in opposite directions to the transmission gear 14 and planetary gear 13 of the planetary reducer 1, respectively.

[0062] The gear ring locking assembly 2 is provided with a mounting hole 222 for applying axial force to the transmission gear 14 to achieve an interference fit with the planetary gear 13. When the planetary reducer 1 is fixed in the positioning frame assembly 7, the mounting hole 222 is located directly below the transmission gear 14 of the planetary reducer 1.

[0063] like Figure 1 and Figure 2 As shown, in this embodiment, the NGW type planetary reducer 1 is an existing planetary reducer 1, which includes a planet carrier 11, a planetary gear 13, a gear ring cylinder 12, a transmission gear 14 and other structures.

[0064] The planetary carrier 11 has a groove 112 and a mounting port 111 on its outer periphery, which facilitates the insertion of the planetary gear 13 into the planetary carrier 11 through the mounting port 111. An input gear ring 122 and an output gear ring 121 are provided on the inner circumferential wall of the gear ring cylinder 12. The input gear ring 122 meshes with the transmission gear structure 142 of the transmission gear 14, and the output gear ring 121 meshes with other external components to output power. The transmission gear 14 has a transmission shaft with a reduced diameter section 141. The planetary gear 13 is mounted on the transmission shaft, and the distance between the planetary gear 13 and the central shaft of the planetary reducer 1 is adjusted by the reduced diameter section 141. Multiple planetary gears 13 and transmission gears 14 are provided and evenly distributed in the row. Around the central shaft of the planetary reducer 1, the inner side of the planetary gear 13 needs to mesh with the power output end of other devices to receive power. Therefore, in this embodiment, the NGW-type planetary reducer 1 has two types of meshing pairs: one is the meshing position between the planetary gear 13 and the power input end, and the other is the meshing position between the transmission gear structure 142 and the input gear. Moreover, these two meshing positions are actually distributed on both sides of the central shaft of the transmission gear. In this embodiment, the planetary gear 13 and the transmission gear 14 actually have six sets, so the total number of meshing positions is actually twelve. During assembly, it is necessary to keep all twelve meshing positions without gaps at the same time. Any gap at any meshing position will affect other positions. Therefore, conventional assembly methods cannot assemble the transmission gear 14 and the planetary gear 13 while simultaneously eliminating gaps at both meshing pair positions.

[0065] This embodiment, by setting up a gear ring locking assembly 2, a gear locking assembly 3, a first torque loading assembly 5, and a second torque loading assembly 6, enables the application to simultaneously apply opposite torques while the two meshing pairs are circumferentially locked using the gear ring locking assembly 2 and the gear locking assembly 3. This allows the assembly and locking to be performed with the working side tooth surfaces of the two meshing pairs simultaneously in contact without gaps, achieving the technical effect of no gaps at the working positions of the two meshing pairs. On the other hand, since this embodiment requires applying torque to the planetary reducer 1 before and after assembly, this embodiment also simulates the zero-gap assembly of the planetary reducer 1 under the working state with applied torque. This ensures that the planetary reducer 1 remains zero-gap even when the two meshing pairs are in their working positions during subsequent operation.

[0066] In this embodiment, the positioning frame assembly 7 includes an outer positioning ring 72 for being fitted onto the gear ring cylinder 12 and a pressure frame 71 for being placed on the planetary carrier 11, as well as a connecting bolt 73 along the axial direction of the outer positioning ring 72 for connecting the outer positioning ring 72 and the pressure frame 71.

[0067] The outer positioning ring 72 is fixedly connected to the gear ring locking assembly 2. The outer positioning ring 72 is provided with a plurality of positioning lifting blocks 721 distributed along its circumference. The bottom of the planetary carrier 11 is placed on the positioning lifting blocks 721.

[0068] The pressure frame 71 is provided with a plurality of extension blocks 711 distributed along its circumference;

[0069] The connecting bolt 73 is installed through the extension block 711 and the positioning lifting block 721.

[0070] In this embodiment, as Figure 9 As shown, a placement step 722 is also provided on the positioning lifting block 721, so that the bottom of the planetary carrier 11 can be placed on the placement step 722. In this embodiment, after the planetary carrier 11 is placed on the positioning lifting block 721 and the pressure frame 71 is placed on the planetary carrier 11, the positioning frame assembly 7 and the planetary carrier 11 can be fixedly connected as one unit by the connecting bolt 73. After the positioning frame assembly 7 is fixed to the base plate 21 of the gear ring locking assembly 2, the positioning frame assembly 7 and the planetary carrier 11 are also fixed. Since the planetary carrier 11 is set on the gear ring cylinder 12, the gear ring cylinder 12 is also fixed, and the planetary gear 13 and the transmission gear 14 will not come out, thus providing the prerequisite for the assembly and locking of the planetary gear 13 and the transmission gear 14.

[0071] In this embodiment, the gear ring locking assembly 2 includes a base plate 21 and a keypad 22 that are fixedly connected;

[0072] The outer peripheral wall of the spline 22 is provided with locking spline teeth 221 that mesh with the gear ring cylinder 12;

[0073] The mounting hole 222 is provided through the base plate 21 and the keypad 22.

[0074] In this embodiment, a circular mounting groove 211 is provided on the base plate 21. The keypad 22 is detachably connected to the mounting groove 211 of the base plate 21 by bolts, so that the keypad 22 cannot move. Therefore, after the keypad 22 meshes with the output gear ring 121 of the gear ring cylinder 12, the gear ring cylinder 12 can no longer rotate freely, thus achieving relative fixation of the gear ring cylinder 12. It is only necessary to drive the transmission gear 14 to rotate when adjusting the meshing gap between the input gear ring 122 of the gear ring cylinder 12 and the transmission gear structure 142.

[0075] In this embodiment, the spline teeth are of a conventional structure, and the mounting hole 222 is oval to facilitate the adjustment of the transmission gear 14 and the planetary gear 13. It can also be set to a slightly larger circle or other shapes, which will not be described in detail here.

[0076] In this embodiment, the gear locking assembly 3 includes a drive gear shaft 31 and an anti-rotation frame 32;

[0077] The drive gear shaft 31 is provided with a connecting platform 311 and a drive gear ring 312 for meshing with all planetary gears 13. The anti-rotation frame 32 is fitted on the drive gear shaft 31 and connected and fixed on the connecting platform 311.

[0078] The anti-rotation frame 32 is provided with at least one anti-rotation arm 321 for engaging with the groove 112 of the planetary carrier 11.

[0079] In this embodiment, the anti-rotation bracket 32 ​​is provided with three anti-rotation arms 321, all L-shaped and locked in the groove 112. In some embodiments, two, one, or six arms may also be provided. The main purpose of the anti-rotation bracket 32 ​​is to prevent the drive gear shaft 31 from rotating. In this embodiment, the anti-rotation bracket 32, which is fastened to the planetary carrier 11, prevents the drive gear shaft 31 from rotating. Subsequently, it is only necessary to drive the planetary gear 13 to adjust so that there is no meshing gap at the meshing position. In some embodiments, normally, the planetary gear 13 can also be locked by a device before driving the drive gear shaft 31 to rotate, so as to achieve meshing. While the gap is eliminated, this method is slightly less effective than the one described in this embodiment. This is because, since only the drive gear shaft 31 is rotated for adjustment, there may be one or several meshing gaps, and these gaps may be eliminated. Therefore, simulating the entire operating state of the planetary reducer 1 to eliminate meshing gaps has certain drawbacks. In this embodiment, the drive gear shaft 31 is fixed by the anti-rotation bracket 32, while the rotation of the planetary gears 13 is adjusted, so that the meshing gap between each planetary gear 13 and the drive gear is eliminated, resulting in a better technical effect.

[0080] In this embodiment, the anti-rotation frame 32 is also provided with an anti-rotation connection hole 322. The anti-rotation frame 32 is connected to the connecting platform 311 on the drive gear shaft 31 through the anti-rotation connection hole 322. The anti-rotation connection hole 322 facilitates the assembly and disassembly of the anti-rotation frame 32 and the drive gear shaft 31.

[0081] In this embodiment, the first torque loading component 5 includes a bidirectional threaded sleeve 51, a first screw 52, ​​a second screw 53, and a preload wrench 54, as well as a torque transmission nut 55 for threaded connection to the top of the transmission gear 14;

[0082] The first screw 52 and the second screw 53 are coaxially arranged and both are threadedly connected to the bidirectional threaded sleeve 51, and the helical directions of the threads on the first screw 52 and the second screw 53 are opposite.

[0083] The other end of the first screw 52 is rotatably connected to the pre-tightening wrench 54 along the axial direction of the transmission gear 14. The end of the pre-tightening wrench 54 away from the first screw 52 is fitted onto the torque transmission nut 55 and rotates synchronously with it in the circumferential direction.

[0084] The other end of the second screw 53 is rotatably connected to the top of the slider seat 4.

[0085] In this embodiment, the bidirectional threaded sleeve 51 is provided with threaded holes with opposite helical directions, and the outer peripheral wall of the bidirectional threaded sleeve 51 is provided with edge, so that after the bidirectional threaded sleeve 51 is driven to rotate, the first screw 52 and the second screw 53 can be relatively close or relatively far apart, thereby enabling the first screw 52 to drive the preload wrench 54 to rotate clockwise or counterclockwise, thereby applying torque to or releasing torque to the transmission gear 14 through the torque transmission nut 55.

[0086] In this embodiment, a fixing pin 41 is provided on the top of the slider seat 4, and a connecting collar 531 is provided at the end of the second screw 53 away from the bidirectional threaded sleeve 51. The connecting collar 531 is fitted onto the fixing pin 41 and rotatably connected to it.

[0087] In this embodiment, a limiting protrusion structure is provided on the inner peripheral wall of the top of the torque transmission nut 55, so that after the torque transmission nut 55 is threadedly connected to the external thread on the top of the drive shaft, once the torque transmission nut 55 has rotated to its full position, it can no longer rotate. At this point, driving the torque transmission nut 55 again can apply torque to the drive shaft. In some embodiments, the top of the torque transmission nut 55 can also be set as a closed structure to achieve the same technical effect, which will not be elaborated here.

[0088] In this embodiment, as Figure 6 As shown, the second torque loading component 6 includes a slider body 61 slidably disposed in the slider seat 4 and a pressing knob 62 threadedly connected to the slider seat 4, with the end of the pressing knob 62 pressing against the slider body 61.

[0089] It also includes an adjusting tooth 63 rotatably connected to the end of the slider body 61, and an adjusting knob 64 threadedly connected to the adjusting tooth 63 and used to drive the adjusting tooth 63 to rotate, with the end of the adjusting knob 64 pressing against the slider body 61.

[0090] The outer peripheral wall of the adjusting tooth 63 is provided with a plurality of external tooth structures 631 for meshing with the planetary gear 13.

[0091] In this embodiment, by setting the slider body 61 and the pressing knob 62, the adjusting teeth 63 on the slider body 61 can press and mesh with the planetary gear 13 to achieve locking. Then, the adjusting knob 64 is used to drive the adjusting teeth 63 to rotate, so that the planetary gear 13 is driven to rotate, thereby adjusting and eliminating the meshing gap between the planetary gear 13 and the driving gear ring 312 of the driving gear shaft 31.

[0092] In this embodiment, as Figure 7 As shown, the adjusting tooth 63 also includes at least one adjusting arm 633 extending outward along its tangential direction;

[0093] The adjusting arm 633 is provided with an adjusting screw hole 634;

[0094] The adjustment knob 64 is threadedly connected to the adjustment arm 633 through the adjustment screw hole 634 and presses against the slider body 61.

[0095] In this embodiment, the adjusting tooth 63 extends outward along its tangential direction with two adjusting arms 633. One of the adjusting arms 633 is provided with an adjusting screw hole 634. The adjusting knob 64 is threaded into the adjusting screw hole 634. Driving the adjusting knob 64 to rotate will cause the entire adjusting tooth 63 to rotate at the end of the slider body 61, thereby driving the planetary gear 13 to rotate, thereby adjusting and eliminating the meshing gap between the planetary gear 13 and the driving gear ring 312 on the driving gear shaft 31.

[0096] In this embodiment, a central rotating hole 632 is also provided on the adjusting tooth 63, and the adjusting tooth 63 is rotatably connected to the end of the slider body 61 through the central rotating hole 632.

[0097] In this embodiment, the number of slider seat 4, first torque loading component 5 and second torque loading component 6 are the same as the number of planetary gears 13. The first torque loading component 5 and second torque loading component 6 provided on each slider seat 4 correspond to the drive shaft of the transmission gear 14 and the planetary gear 13 mounted on the drive shaft, respectively.

[0098] In this embodiment, the number of slider seat 4, first torque loading component 5 and second torque loading component 6 is set to six sets, and they correspond to transmission gear 14 and planetary gear 13 on transmission gear 14, which can facilitate the gap elimination operation of assembly personnel.

[0099] Example 2:

[0100] Based on Embodiment 1 above, this embodiment provides a backlash-free assembly method for an NGW-type planetary reducer 1, applicable to any of the backlash-free assembly fixtures for an NGW-type planetary reducer 1 described above, comprising the following steps:

[0101] S1. Positioning and assembly: The planet carrier 11, gear ring cylinder 12, planet gear 13, and transmission gear 14 of the planetary reducer 1 are installed into the positioning frame assembly 7 to complete the initial assembly. At this time, both the planet gear 13 and the transmission gear 14 can rotate freely.

[0102] S2, Meshing Assembly: Install the positioning frame assembly 7 with planetary reducer 1 onto the gear ring locking assembly 2 and complete the meshing of the gear ring locking assembly 2 with the gear ring cylinder 12. Install the gear locking assembly 3 into the planetary reducer 1 of the positioning frame assembly 7 and mesh with all the planetary gears 13 at the same time. At this time, the rotation of the planetary gears 13 and the transmission gears 14 is restricted.

[0103] S3. Applying and maintaining opposite torque: The first torque is applied to the transmission gear 14 by the first torque loading component 5 and maintained within a preset value range, so that the meshing gap between the transmission gear 14 and the gear ring cylinder 12 is eliminated. At the same time, the second torque loading component 6 applies a second torque opposite to the first torque to the planetary gear 13 and maintains it within a preset value range, so that the meshing gap between the planetary gear 13 and the gear locking component 3 is eliminated.

[0104] S4. While maintaining the first torque and the second torque, apply an axial clamping force to the transmission gear 14 through the mounting hole 222 to complete the interference fit and lock the transmission gear 14 and the planetary gear 13.

[0105] S5. After releasing the first torque and the second torque, check the meshing clearance between the transmission gear 14 and the gear ring cylinder 12, and the meshing clearance between the planetary gear 13 and the gear locking assembly 3. If they do not meet the requirements, repeat S3 and S4 until the meshing clearance meets the requirements.

[0106] In this embodiment, the meshing clearance can be detected by means of the output end reversing angular displacement or the relative swing of the gear ring, which are existing conventional technologies and will not be described in detail here.

[0107] In some embodiments, S1 and S2 can be combined into the same step, and S3 can be split into two steps, that is, the application of the first torque and the second torque are performed in two steps.

[0108] It is understood that the above embodiments are merely exemplary embodiments used to illustrate the principles of the present invention, and the present invention is not limited thereto. For those skilled in the art, various modifications and improvements can be made without departing from the spirit and essence of the present invention, and these modifications and improvements are also considered to be within the scope of protection of the present invention.

Claims

1. A backlash elimination assembly fixture for an NGW-type planetary reducer, used for backlash elimination during the assembly process of the planetary reducer (1), characterized in that, It includes a gear ring locking assembly (2), a gear locking assembly (3), a first torque loading assembly (5), a second torque loading assembly (6), a positioning frame assembly (7) for fixing the planet carrier (11) of the planetary reducer (1), and a slider seat (4). The gear ring locking assembly (2) and the gear locking assembly (3) are used to engage and lock the gear ring cylinder (12) and the planetary gear (13) of the planetary reducer (1), respectively. The first torque loading component (5) and the second torque loading component (6) are both disposed on the slider seat (4) and are used to apply torques in opposite directions to the transmission gear (14) and planetary gear (13) of the planetary reducer (1), respectively. The gear ring locking assembly (2) is provided with a mounting hole (222) for applying axial force to the transmission gear (14) to achieve an interference fit with the planetary gear (13). When the planetary reducer (1) is fixed in the positioning frame assembly (7), the mounting hole (222) is located directly below the transmission gear (14) of the planetary reducer (1).

2. The backlash-eliminating assembly fixture for an NGW-type planetary reducer according to claim 1, characterized in that, The positioning frame assembly (7) includes an outer positioning ring (72) for fitting onto the gear ring cylinder (12) and a pressure frame (71) for placing on the planetary carrier (11), as well as connecting bolts (73) along the axial direction of the outer positioning ring (72) for connecting the outer positioning ring (72) and the pressure frame (71). The outer positioning ring (72) is fixedly connected to the gear ring locking assembly (2). The outer positioning ring (72) is provided with a plurality of positioning lifting blocks (721) distributed along its circumference. The positioning lifting blocks (721) are provided with placement steps (722). The bottom of the planetary carrier (11) is placed on the placement steps (722) of the positioning lifting blocks (721). The pressure frame (71) is provided with a plurality of extension blocks (711) distributed along its circumference. The connecting bolt (73) is set through the extension block (711) and the positioning lifting block (721).

3. The backlash-eliminating assembly fixture for an NGW-type planetary reducer according to claim 1, characterized in that, The gear ring locking assembly (2) includes a base plate (21) and a keypad (22) that are fixedly connected. The outer peripheral wall of the spline (22) is provided with locking spline teeth (221) that mesh with the gear ring cylinder (12). The mounting hole (222) is provided through the base plate (21) and the keypad (22).

4. The backlash-eliminating assembly fixture for an NGW-type planetary reducer according to claim 1, characterized in that, The gear locking assembly (3) includes a drive gear shaft (31) and an anti-rotation frame (32). The drive gear shaft (31) is provided with a connecting platform (311) and a drive gear ring (312) for meshing with all planetary gears (13). The anti-rotation frame (32) is fitted on the drive gear shaft (31) and connected and fixed to the connecting platform (311). The anti-rotation frame (32) is provided with at least one anti-rotation arm (321) for engaging with the groove (112) of the planetary carrier (11).

5. The backlash-eliminating assembly fixture for an NGW-type planetary reducer according to claim 1, characterized in that, The first torque loading assembly (5) includes a bidirectional threaded sleeve (51), a first screw (52), a second screw (53), and a preload wrench (54), as well as a torque transmission nut (55) for threaded connection to the top of the transmission gear (14). The first screw (52) and the second screw (53) are coaxially arranged and both are threadedly connected to the bidirectional threaded sleeve (51), and the helical directions of the threads on the first screw (52) and the second screw (53) are opposite. The other end of the first screw (52) is rotatably connected to the pre-tightening wrench (54) along the axial direction of the transmission gear (14). The end of the pre-tightening wrench (54) away from the first screw (52) is fitted on the torque transmission nut (55) and rotates synchronously with it in the circumferential direction. The other end of the second screw (53) is rotatably connected to the slider seat (4).

6. The backlash-eliminating assembly fixture for an NGW-type planetary reducer according to claim 5, characterized in that, The top of the torque transmission nut (55) is a closed structure or is provided with a limiting protrusion structure.

7. The backlash-eliminating assembly fixture for an NGW-type planetary reducer according to claim 1, characterized in that, The second torque loading component (6) includes a slider body (61) slidably disposed in a slider seat (4) and a pressing knob (62) threadedly connected to the slider seat (4), with the end of the pressing knob (62) pressing against the slider body (61); It also includes an adjustment tooth (63) rotatably connected to the end of the slider body (61), and an adjustment knob (64) threadedly connected to the adjustment tooth (63) and used to drive the adjustment tooth (63) to rotate, with the end of the adjustment knob (64) pressing against the slider body (61); The outer peripheral wall of the adjusting tooth (63) is provided with a plurality of external tooth structures (631) for meshing with the planetary gear (13).

8. The backlash-eliminating assembly fixture for an NGW-type planetary reducer according to claim 7, characterized in that, The adjusting tooth (63) also includes at least one adjusting arm (633) extending outward tangentially therein. The adjusting arm (633) is provided with an adjusting screw hole (634). The adjustment knob (64) is threadedly connected to the adjustment arm (633) through the adjustment screw hole (634) and presses against the slider body (61).

9. The backlash-eliminating assembly fixture for an NGW-type planetary reducer according to claim 1, characterized in that, The number of the slider seat (4), the first torque loading component (5) and the second torque loading component (6) are the same as the number of planetary gears (13). The first torque loading component (5) and the second torque loading component (6) provided on each slider seat (4) correspond to the drive shaft of the transmission gear (14) and the planetary gear (13) mounted on the drive shaft, respectively.

10. A backlash-free assembly method for an NGW-type planetary reducer, applicable to the backlash-free assembly fixture for an NGW-type planetary reducer as described in any one of claims 1-9, characterized in that, Includes the following steps: S1. Positioning and assembly: The planet carrier (11), gear ring cylinder (12), planetary gear (13), and transmission gear (14) of the planetary reducer (1) are installed into the positioning frame assembly (7) to complete the initial assembly. At this time, both the planetary gear (13) and the transmission gear (14) can rotate freely. S2, Meshing Assembly: Install the positioning frame assembly (7) with planetary reducer (1) onto the gear ring locking assembly (2) and complete the meshing of the gear ring locking assembly (2) with the gear ring cylinder (12). Install the gear locking assembly (3) into the planetary reducer (1) of the positioning frame assembly (7) and mesh with all the planetary gears (13) at the same time. At this time, the rotation of the planetary gears (13) and the transmission gears (14) is restricted. S3, applying and maintaining opposite torque: applying a first torque to the transmission gear (14) using the first torque loading component (5) and maintaining it within a preset value range, thereby eliminating the meshing gap between the transmission gear (14) and the gear ring cylinder (12). At the same time, applying a second torque opposite to the first torque to the planetary gear (13) using the second torque loading component (6) and maintaining it within a preset value range, thereby eliminating the meshing gap between the planetary gear (13) and the gear locking component (3). S4. While maintaining the first torque and the second torque, apply an axial clamping force to the transmission gear (14) through the assembly hole (222) so that the transmission gear (14) and the planetary gear (13) complete the interference fit and lock. S5. Based on the release of the first torque and the second torque, check the meshing clearance between the transmission gear (14) and the gear ring cylinder (12), as well as the meshing clearance between the planetary gear (13) and the gear locking assembly (3). If it does not meet the requirements, repeat S3 and S4 until the meshing clearance meets the requirements.

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