Steering engine with backlash automatic compensation function

Abstract

The utility model discloses a steering engine with a backlash automatic compensation function, and belongs to the technical field of steering engines. The steering engine with the backlash automatic compensation function comprises a motor and a steering engine speed reducer driven by the motor, and is characterized in that the steering engine speed reducer comprises a shell, a motor gear, a first-stage gear set, a first-stage shaft, a second-stage gear set, a second-stage shaft, a third-stage gear set, a third-stage shaft, an output gear and an output gear shaft. The three-stage gear assembly has the beneficial effects that the spring used for applying the axial force to the three-stage gear set is arranged between the three-stage piece gear and the upper shell, and under the action of the spring, the three-stage gear set and the output gear are meshed in a non-backlash mode, so that the technical problem that the backlash becomes large after the gears are abraded can be solved, and the service life of the three-stage piece gear assembly is prolonged. And the service life of the steering engine is prolonged.

Description

Technical Field

[0001] The present application belongs to the technical field of steering gears, and in particular relates to a steering gear with an automatic backlash compensation function. Background Art

[0002] Servos are usually used in products such as quadruped robots, humanoid robots, and building block robots. Servos are composed of motors, reducers, boxes, control boards, position encoders, control software, etc. Long-term use of servos will cause gear wear and increase the gear meshing side clearance, affecting performance. Utility Model Content

[0003] The purpose of the embodiment of the present application is to provide a servo with an automatic side clearance compensation function, which configures a spring between the third-stage gear and the upper shell to apply axial force to the third-stage gear set. Under the action of the spring, the third-stage gear set and the output gear are engaged without side clearance, thereby solving the technical problem of increased side clearance after gear wear, thereby improving the performance and service life of the servo.

[0004] In order to solve the above technical problems, this application is implemented as follows:

[0005] The embodiment of the present application provides a steering gear with a backlash automatic compensation function, including a motor and a steering gear reducer driven by the motor, the steering gear reducer including a housing, a motor gear, a primary gear set, a primary shaft, a secondary gear set, a secondary shaft, a tertiary gear set, a tertiary shaft, an output gear and an output gear shaft, the housing including a middle housing and an upper housing and a lower housing respectively arranged at the upper and lower ends of the middle housing, the primary shaft and the secondary shaft are respectively fixed to the middle housing, the upper and lower ends of the tertiary shaft and the output gear shaft are respectively fixed to the upper housing and the middle housing, the motor gear is arranged on the output shaft of the motor, the primary gear set is arranged on the primary shaft and meshes with the motor gear, The secondary gear set is arranged on the secondary shaft and meshes with the primary gear set, the tertiary gear set is arranged on the tertiary shaft and meshes with the secondary gear set, the output gear is arranged on the output gear shaft and meshes with the tertiary gear set, the tertiary gear set includes a tertiary shaft gear and a tertiary sheet gear arranged on the top of the tertiary shaft gear, the tertiary shaft gear has a certain cone angle along its tooth thickness direction; the output gear meshes with the tertiary shaft gear and has a cone angle adapted to the tertiary shaft gear; a spring for applying axial force to the tertiary gear set is arranged between the tertiary sheet gear and the upper shell, and under the action of the spring, the tertiary gear set and the output gear are meshed without side clearance.

[0006] Optionally, the tertiary shaft is slidably matched with the upper shell through a first sliding bearing, and the tertiary shaft is slidably matched with the middle shell through a second sliding bearing.

[0007] Optionally, the motor is configured in the housing.

[0008] Optionally, the secondary gear set includes a secondary shaft gear and a secondary sheet gear arranged on the top of the secondary shaft gear, the secondary shaft gear and the secondary sheet gear both form a certain cone angle along the tooth thickness direction, and the cone angle direction of the secondary sheet gear is opposite to that of the secondary shaft gear.

[0009] Optionally, the three-stage blade gear forms a certain taper along the tooth thickness direction thereof, and the taper angle direction of the three-stage blade gear is opposite to that of the three-stage shaft gear.

[0010] Optionally, the cone angle taper of the third-stage blade gear and the third-stage shaft gear is 0.1° to 2°.

[0011] Optionally, the cone angle taper of the secondary shaft gear is adapted to the cone angle taper of the tertiary blade gear.

[0012] Optionally, the output gear shaft is rotatably matched with the upper shell through a first bearing, and the output gear shaft is rotatably matched with the middle shell through a second bearing.

[0013] The beneficial effects of the embodiments of the present application are:

[0014] The present application configures a spring between the third-stage gear and the upper shell to apply axial force to the third-stage gear set. Under the action of the spring, the third-stage gear set and the output gear achieve backlash-free meshing, thereby solving the technical problem of increased backlash after gear wear, thereby improving the performance and service life of the servo. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative work, among which:

[0016] Figure 1 A schematic diagram of the overall structure of a servo with automatic backlash compensation function provided in an embodiment of the present application;

[0017] Figure 2 A schematic cross-sectional view of a servo with automatic backlash compensation function provided in an embodiment of the present application;

[0018] Figure 3A schematic diagram of the structure of a two-stage gear set provided in an embodiment of the present application;

[0019] Figure 4 A schematic diagram of the structure of a three-stage gear set provided in an embodiment of the present application;

[0020] Figure 5 A schematic diagram of the assembly structure of the output gear and the output gear shaft provided in an embodiment of the present application. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0022] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0023] See also Figure 1 to Figure 2 As shown, the embodiment of the present application provides a steering gear with a backlash automatic compensation function, including a motor 1 and a steering gear reducer driven by the motor 1, the steering gear reducer including a housing 2, a motor gear 3, a primary gear set 4, a primary shaft 5, a secondary gear set 6, a secondary shaft 7, a tertiary gear set 8, a tertiary shaft 9, an output gear 10 and an output gear shaft 11. The motor 1 is arranged in the housing 2.

[0024] The housing 2 includes a middle housing 21 and an upper housing 22 and a lower housing 23 respectively disposed at upper and lower ends of the middle housing 21 .

[0025] The primary shaft 5 and the secondary shaft 7 are fixed to the middle housing 21 , respectively. The upper and lower ends of the tertiary shaft 9 and the output gear shaft 11 are fixed to the upper housing 22 and the middle housing 21 , respectively.

[0026] The motor gear 3 is arranged on the output shaft of the motor 1, and the primary gear set 4 is arranged on the primary shaft 5 and meshes with the motor gear 3. The secondary gear set 6 is arranged on the secondary shaft 7 and meshes with the primary gear set 4. The tertiary gear set 8 is arranged on the tertiary shaft 9 and meshes with the secondary gear set 6. The output gear 10 is arranged on the output gear shaft 11 and meshes with the tertiary gear set 8.

[0027] Recombination Figure 3 As shown, the secondary gear set 6 includes a secondary shaft gear 61 and a secondary sheet gear 62 arranged on the top of the secondary shaft gear 61. The secondary shaft gear 61 and the secondary sheet gear 62 both form a certain cone angle along the tooth thickness direction, and the cone angle direction of the secondary sheet gear 62 is opposite to that of the secondary shaft gear 61.

[0028] Recombination Figure 4 As shown, the three-stage gear set 8 includes a three-stage shaft gear 81 and a three-stage blade gear 82 disposed on the top of the three-stage shaft gear 81. The three-stage shaft gear 81 has a certain cone angle along its tooth thickness direction. The three-stage blade gear 82 forms a certain taper along its tooth thickness direction, and the cone angle direction of the three-stage blade gear 82 is opposite to that of the three-stage shaft gear 81.

[0029] In a specific embodiment, the taper angle of the three-stage blade gear 82 and the three-stage shaft gear 81 is 0.1° to 2°.

[0030] The output gear 10 is meshed with the third-stage shaft gear 81 and has a cone angle adapted to the third-stage shaft gear 81 .

[0031] A spring 12 for applying an axial force to the three-stage gear set 8 is arranged between the three-stage gear 82 and the upper housing 22 . Under the action of the spring 12 , the three-stage gear set 8 and the output gear 10 are meshed without backlash.

[0032] It should be noted that during the initial installation, under the action of the spring 12, the three-stage gear set 8 moves axially to achieve backlash-free meshing with the output gear 10; during the use of the servo, when the gear teeth wear, the spring 12 pushes the three-stage gear set 8 to move axially, and the three-stage shaft gear 81 always achieves backlash-free meshing with the output gear 10.

[0033] The tertiary shaft 9 is slidably matched with the upper housing 22 through the first sliding bearing 13, and the tertiary shaft 9 is slidably matched with the middle housing 21 through the second sliding bearing 14. In this way, the axial movement resistance of the tertiary shaft 9 and the tertiary gear set 8 can be reduced, which is conducive to eliminating side clearance.

[0034] The cone angle taper of the secondary shaft gear 61 is adapted to the cone angle taper of the tertiary blade gear 82 .

[0035] Recombination Figure 5 As shown, the output gear shaft 11 is rotationally matched with the upper housing 22 through a first bearing 15 , and the output gear shaft 11 is rotationally matched with the middle housing 21 through a second bearing 16 .

[0036] In fact, the servo also includes a control board 17, a position encoder 18 and a connecting member 19. The control board 17 is arranged on the lower shell 23, the position encoder 18 is arranged on the control board 17, and the connecting member 19 is arranged between the position encoder 18 and the output gear shaft 11.

[0037] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0038] In addition, it should be noted that the scope of the methods and systems in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved. For example, the described methods may be performed in an order different from that described, and various steps may be added, omitted, or combined. In addition, features described with reference to certain examples may be combined in other examples.

[0039] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

Claims

1. A steering gear with automatic backlash compensation function, comprising a motor and a steering gear reducer driven by the motor, characterized in that: The steering gear reducer comprises a housing, a motor gear, a primary gear set, a primary shaft, a secondary gear set, a secondary shaft, a tertiary gear set, a tertiary shaft, an output gear and an output gear shaft. The housing comprises a middle housing and an upper housing and a lower housing respectively arranged at the upper and lower ends of the middle housing. The primary shaft and the secondary shaft are respectively fixed to the middle housing. The upper and lower ends of the tertiary shaft and the output gear shaft are respectively fixed to the upper housing and the middle housing. The motor gear is arranged on the output shaft of the motor. The primary gear set is arranged on the primary shaft and meshes with the motor gear. The secondary gear set is arranged on the secondary shaft and meshes with the primary gear. The gear set is meshed, the three-stage gear set is arranged on the three-stage shaft and meshes with the two-stage gear set, the output gear is arranged on the output gear shaft and meshes with the three-stage gear set, the three-stage gear set includes a three-stage shaft gear and a three-stage sheet gear arranged on the top of the three-stage shaft gear, and the three-stage shaft gear has a certain cone angle along its tooth thickness direction; the output gear is meshed with the three-stage shaft gear and has a cone angle adapted to the three-stage shaft gear; a spring for applying axial force to the three-stage gear set is arranged between the three-stage sheet gear and the upper shell, and under the action of the spring, the three-stage gear set and the output gear are meshed without side clearance.

2. The servo with automatic backlash compensation function according to claim 1, characterized in that: The tertiary shaft is slidably matched with the upper shell through a first sliding bearing, and the tertiary shaft is slidably matched with the middle shell through a second sliding bearing.

3. The steering gear with automatic backlash compensation function according to claim 1, characterized in that: The motor is disposed in the housing.

4. The steering gear with automatic backlash compensation function according to claim 1, characterized in that: The secondary gear set includes a secondary shaft gear and a secondary blade gear arranged on the top of the secondary shaft gear. The secondary shaft gear and the secondary blade gear both form a certain cone angle along the tooth thickness direction, and the cone angle direction of the secondary blade gear is opposite to that of the secondary shaft gear.

5. The steering gear with automatic backlash compensation function according to claim 4, characterized in that: The three-stage blade gear forms a certain taper along the tooth thickness direction thereof, and the taper angle direction of the three-stage blade gear is opposite to that of the three-stage shaft gear.

6. The steering gear with automatic backlash compensation function according to claim 5, characterized in that: The cone angle taper of the three-stage blade gear and the three-stage shaft gear is 0.1° to 2°.

7. The steering gear with automatic backlash compensation function according to claim 5, characterized in that: The cone angle taper of the secondary shaft gear is adapted to the cone angle taper of the tertiary blade gear.

8. The steering gear with automatic backlash compensation function according to claim 1, characterized in that: The output gear shaft is rotatably matched with the upper housing through a first bearing, and the output gear shaft is rotatably matched with the middle housing through a second bearing.

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