Double-power gear back clearance eliminating device

Abstract

The utility model provides a dual-power gear back clearance eliminating device which comprises a rack arranged on a walking device, a first one-way power system and a second one-way power system, and the first one-way power system and the second one-way power system are respectively connected with the rack. The first one-way power system comprises a first motor, a first speed reducer and a first gear, and the first gear is meshed with the rack; a first stress area and a first clearance area are respectively formed at the meshing part of the first gear and the rack; the second one-way power system comprises a second motor, a second speed reducer and a second gear, and the second gear is meshed with the rack. According to the dual-power gear back clearance eliminating device, the first stress face is tightly connected with the first stress wall in an abutting mode, the second stress face is tightly connected with the second stress wall in an abutting mode, the clearance between the first gear and a tooth groove is zero when the first gear rotates, the clearance between the first gear and the tooth groove is zero when the second gear rotates, and a walking device can be reversed; and the positioning precision is improved during forward positioning and reverse positioning.

Description

Technical Field

[0001] The utility model relates to a gear power system, in particular to a double-power gear backlash elimination device. Background Art

[0002] A gear transmission walking system is a system that uses a gear mechanism to achieve mechanical transmission and movement. It is commonly used in robots, automation equipment, and some special vehicles. Due to its characteristics of high efficiency, reliability, and easy control, the gear transmission walking system is widely used in occasions that require precise and robust mechanical transmission.

[0003] In the existing transmission system, when the gear-rack meshing transmission method is adopted, due to the machining errors of the gear and the rack, there is always gear backlash, that is, when the gear rotates in reverse, there is always a certain gap from non-contact to contact and force application. When the transmission system is applied to scenarios with high-precision positioning requirements and moves forward and backward to reach the same position, its positioning accuracy is not precise enough. Now, a double-power gear backlash elimination device is proposed to solve the above problems. Summary of the Utility Model

[0004] The technical problem to be solved by the utility model is: aiming at the defects of the existing technology, to provide a double-power gear backlash elimination device, which has the advantage of high positioning accuracy and solves the problem of high or low positioning accuracy.

[0005] In order to solve the above technical problems, the utility model adopts the following technical solutions:

[0006] A double-power gear backlash elimination device includes a rack, a first one-way power system, and a second one-way power system arranged on a walking device. The first one-way power system and the second one-way power system are respectively connected to the rack;

[0007] The first one-way power system includes a first motor, a first reducer, and a first gear. The input end of the first reducer is connected to the output end of the first motor. The first motor is in transmission connection with the first reducer. The first gear is arranged on the output end of the first reducer. The first gear meshes with the rack; a first force application area and a first clearance area are respectively formed at the meshing position of the first gear and the rack;

[0008] The second one-way power system includes a second motor, a second reducer, and a second gear. The input end of the second reducer is connected to the output end of the second motor. The second motor is in transmission connection with the second reducer. The second gear is arranged on the output end of the second reducer. The second gear meshes with the rack; a second force application area and a second clearance area are respectively formed at the meshing position of the second gear and the rack.

[0009] Preferably, first engaging teeth are formed on the first gear, tooth grooves are formed on the rack, the first engaging teeth are engaged with the tooth grooves, a first force-bearing surface is formed on one side of the first engaging teeth, a first clearance surface is formed on the other side of the first engaging teeth, a first force-bearing wall is formed on the inner wall of the tooth groove corresponding to the first force-bearing surface, a first clearance wall is formed on the inner wall of the tooth groove corresponding to the first clearance surface, and the first force-bearing surface abuts against the first force-bearing wall.

[0010] Preferably, the distance between the first force-bearing surface and the first force-bearing wall is equal to zero, and the distance between the first clearance surface and the first clearance wall is greater than zero.

[0011] Preferably, second engaging teeth are formed on the second gear, tooth grooves are formed on the rack, the second engaging teeth are engaged with the tooth grooves, a second force-bearing surface is formed on one side of the second engaging teeth, a second clearance surface is formed on the other side of the second engaging teeth, a second force-bearing wall is formed on the inner wall of the tooth groove corresponding to the second force-bearing surface, a second clearance wall is formed on the inner wall of the tooth groove corresponding to the second clearance surface, and the second force-bearing surface abuts against the second force-bearing wall.

[0012] Preferably, the distance between the second force-bearing surface and the second force-bearing wall is equal to zero, and the distance between the second clearance surface and the second clearance wall is greater than zero.

[0013] Preferably, the first force-bearing surfaces on the first gear and the second gear are arranged in a relative manner.

[0014] Preferably, the first gear and the second gear respectively perform linear motion on the rack.

[0015] Preferably, the driving rotation directions of the first gear and the second gear are opposite.

[0016] Preferably, the rack, the first gear and the second gear are located on the same plane.

[0017] Preferably, the rack is arranged on the traveling device, the first motor is arranged on the traveling device, and the second motor is arranged on the traveling device.

[0018] The utility model adopts the above technical solutions, and compared with the prior art, has the following technical effects:

[0019] In the double-power gear backlash elimination device, by tightly abutting the first force-bearing surface against the first force-bearing wall and the second force-bearing surface against the second force-bearing wall, the clearance between the first gear and the tooth groove is zero when the first gear rotates, and the clearance between the second gear and the tooth groove is zero when the second gear rotates, so that the positioning accuracy of the traveling device can be improved during commutation, forward positioning and reverse positioning. Description of the Drawings

[0020] Figure 1Schematic diagram of the connection structure between the first gear and the rack in a double-power gear backlash elimination device of the present utility model;

[0021] Figure 2 Schematic diagram of the force on the first gear in a double-power gear backlash elimination device of the present utility model;

[0022] Figure 3 Schematic diagram of the force on the second gear in a double-power gear backlash elimination device of the present utility model;

[0023] Figure 4 Schematic diagram of the three-dimensional structure of a double-power gear backlash elimination device of the present utility model;

[0024] Among them, each reference numeral is:

[0025] 1 Traveling device, 2 First one-way power system, 21 First gear, 22 First motor, 23 First reducer, 24 First clearance surface, 25 First clearance wall, 26 First stress surface, 27 First stress wall, 28 First engaging tooth, 3 Second one-way power system, 31 Second gear, 32 Second motor, 33 Second reducer, 34 Second engaging tooth, 35 Second clearance surface, 36 Second clearance wall, 37 Second stress surface, 38 Second stress wall, 4 Rack, 41 Tooth groove. Detailed implementation manners

[0026] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments.

[0027] All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0028] Embodiment 1:

[0029] Please refer to Figures 1-4, a backlash elimination device for a dual - power gear in this embodiment, includes a rack 4, a first one - way power system 2 and a second one - way power system 3 arranged on the traveling device 1. The first one - way power system 2 and the second one - way power system 3 are respectively connected to the rack 4. The first one - way power system 2 includes a first motor 22, a first reducer 23, and a first gear 21. The input end of the first reducer 23 is connected to the output end of the first motor 22, the first motor 22 is in transmission connection with the first reducer 23, the first gear 21 is arranged on the output end of the first reducer 23, and the first gear 21 meshes with the rack 4. A first force - receiving area and a first clearance area are respectively formed at the meshing part of the first gear 21 and the rack 4. The second one - way power system 3 includes a second motor 32, a second reducer 33, and a second gear 31. The input end of the second reducer 33 is connected to the output end of the second motor 32, the second motor 32 is in transmission connection with the second reducer 33, the second gear 31 is arranged on the output end of the second reducer 33, and the second gear 31 meshes with the rack 4. A second force - receiving area and a second clearance area are respectively formed at the meshing part of the second gear 31 and the rack 4.

[0030] During application, when the traveling device 1 works through the first one - way power system 2, first make the first motor 22 operate. After the first motor 22 operates, the first reducer 23 reduces the rotation speed of the first motor 22 and increases the torque. Then the first reducer 23 drives the first gear 21 to rotate. When the first gear 21 rotates, the first gear 21 cooperating with the rack 4 enables the first one - way power system 2 to move, and the second gear 31 also moves on the rack 4 driven by the first gear 21. And when the first one - way power system 2 moves, the first force - receiving surface 26 and the first force - receiving wall 27 are in close contact. At the same time, when the traveling device 1 changes direction, the traveling device 1 makes the second power system work. When the second power system works, first make the second motor 32 operate. After the second motor 32 operates, the second reducer 33 reduces the rotation speed of the second motor 32 and increases the torque. Then the second reducer 33 drives the second gear 31 to rotate. When the second gear 31 rotates, the second gear 31 cooperating with the rack 4 enables the second one - way power system 3 to move, and the first gear 21 also moves on the rack 4 driven by the second gear 31. And when the second one - way power system 3 moves, the second force - receiving surface 37 and the second force - receiving wall 38 are in close contact. When the first power system and the second power system are operating, the close contact between the first force - receiving surface 26 and the first force - receiving wall 27, and the close contact between the second force - receiving surface 37 and the second force - receiving wall 38 can improve the accuracy of the first power system and the second power system in positive and reverse positioning.

[0031] Embodiment 2:

[0032] The basic content is the same as that of Embodiment 1, the difference is:

[0033] Please refer to Figures 2-3, in the first gear 21 of this embodiment, a first engaging tooth 28 is formed, and a tooth groove 41 is formed on the rack 4. The first engaging tooth 28 meshes with the tooth groove 41. A first stress surface 26 is formed on one side of the first engaging tooth 28, and a first clearance surface 24 is formed on the other side of the first engaging tooth 28. A first stress wall 27 is formed on the inner wall of the tooth groove 41 corresponding to the first stress surface 26, and a first clearance wall 25 is formed on the inner wall of the tooth groove 41 corresponding to the first clearance surface 24. The first stress surface 26 abuts against the first stress wall 27, and the distance between the first stress surface 26 and the first stress wall 27 is equal to zero. The distance between the first clearance surface 24 and the first clearance wall 25 is greater than zero. A second engaging tooth 34 is formed on the second gear 31, and a tooth groove 41 is formed on the rack 4. The second engaging tooth 34 meshes with the tooth groove 41. A second stress surface 37 is formed on one side of the second engaging tooth 34, and a second clearance surface 35 is formed on the other side of the second engaging tooth 34. A second stress wall 38 is formed on the inner wall of the tooth groove 41 corresponding to the second stress surface 37, and a second clearance wall 36 is formed on the inner wall of the tooth groove 41 corresponding to the second clearance surface 35. The second stress surface 37 abuts against the second stress wall 38, and the distance between the second stress surface 37 and the second stress wall 38 is equal to zero. The distance between the second clearance surface 35 and the second clearance wall 36 is greater than zero.

[0034] During application, when the first power system is running, the first gear 21 will rotate clockwise. During its rotation, the first engaging tooth 28 on the first gear 21 will fit with the tooth groove 41 and make the first stress surface 26 abut against the first stress wall 27. At this time, the distance between the first stress surface 26 and the first stress wall 27 is zero, while the distance between the first clearance surface 24 and the first clearance wall 25 is greater than zero. When the second power system is running, the second gear 31 will rotate clockwise. During its rotation, the second engaging tooth 34 on the second gear 31 will fit with the tooth groove 41 and make the second stress surface 37 abut against the second stress wall 38. At this time, the distance between the second stress surface 37 and the second stress wall 38 is zero, while the distance between the second clearance surface 35 and the second clearance wall 36 is greater than zero. When the distance between the first stress surface 26 and the first stress wall 27 is zero and the distance between the second stress surface 37 and the second stress wall 38 is zero, it can enable the traveling device 1 to change direction, that is, the operation of the first power system and the second power system can improve the positioning accuracy.

[0035] Embodiment 3:

[0036] The basic content is the same as that of Embodiment 1, the difference is:

[0037] Please refer to Figures 1-4, in this embodiment, the first force-receiving surfaces 26 on the first gear 21 and the second gear 31 are arranged in a relative manner. The first gear 21 and the second gear 31 respectively perform linear motions on the rack 4. The driving rotation directions of the first gear 21 and the second gear 31 are opposite. The rack 4, the first gear 21 and the second gear 31 are located on the same plane. The rack 4 is arranged on the traveling device 1. The first motor 22 is arranged on the traveling device 1. The second motor 32 is arranged on the traveling device 1.

[0038] During application, the first motor 22 drives the first gear 21 to rotate clockwise respectively, so that the first gear 21 moves on the rack 4, and the second motor 32 drives the second gear 31 to rotate counterclockwise, so that the second gear 31 moves on the rack 4, realizing the commutation when the traveling device 1 operates.

[0039] Finally, several points should be noted: First, in the description of this application, it should be noted that unless otherwise specified and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense. It can be a mechanical connection or an electrical connection, or it can be the communication inside two components. It can be directly connected. "Up", "down", "left", "right", etc. are only used to represent the relative position relationship. When the absolute position of the object being described changes, the relative position relationship may change;

[0040] Second, in the drawings of the disclosed embodiments of the present utility model, only the structures related to the disclosed embodiments are involved. Other structures can refer to the general design. Without conflict, the same embodiment and different embodiments of the present utility model can be combined with each other;

[0041] Finally, the above are only the preferred embodiments of the present utility model and are not used to limit the present utility model. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. A dual-power gear backlash elimination device, characterized in that: It comprises a rack (4) arranged on a walking device (1), a first unidirectional power system (2) and a second unidirectional power system (3), wherein the first unidirectional power system (2) and the second unidirectional power system (3) are respectively connected to the rack (4); The first unidirectional power system (2) comprises a first motor (22), a first reducer (23), and a first gear (21); the input end of the first reducer (23) is connected to the output end of the first motor (22); the first motor (22) is transmission-connected to the first reducer (23); the first gear (21) is arranged on the output end of the first reducer (23); the first gear (21) is meshed with a rack (4); a first force-bearing area and a first gap area are respectively formed at the meshing portion of the first gear (21) and the rack (4); The second unidirectional power system (3) comprises a second motor (32), a second reducer (33), and a second gear (31); the input end of the second reducer (33) is connected to the output end of the second motor (32); the second motor (32) is transmission-connected to the second reducer (33); the second gear (31) is arranged on the output end of the second reducer (33); the second gear (31) is meshed with the rack (4); and a second force-bearing area and a second gap area are respectively formed at the meshing point of the second gear (31) and the rack (4).

2. The dual power gear backlash elimination device according to claim 1, characterized in that: A first meshing tooth (28) is formed on the first gear (21), a tooth groove (41) is formed on the rack (4), the first meshing tooth (28) meshes with the tooth groove (41), a first force-bearing surface (26) is formed on one side of the first meshing tooth (28), a first gap surface (24) is formed on the other side of the first meshing tooth (28), a first force-bearing wall (27) is formed on the inner wall of the tooth groove (41) corresponding to the first force-bearing surface (26), a first gap wall (25) is formed on the inner wall of the tooth groove (41) corresponding to the first gap surface (24), and the first force-bearing surface (26) abuts against the first force-bearing wall (27).

3. The dual power gear backlash elimination device according to claim 2, characterized in that: The distance between the first force-bearing surface (26) and the first force-bearing wall (27) is equal to zero, and the distance between the first gap surface (24) and the first gap wall (25) is greater than zero.

4. The dual-power gear backlash elimination device according to claim 2 is characterized in that: A second meshing tooth (34) is formed on the second gear (31), a tooth groove (41) is formed on the rack (4), the second meshing tooth (34) meshes with the tooth groove (41), a second force-bearing surface (37) is formed on one side of the second meshing tooth (34), a second gap surface (35) is formed on the other side of the second meshing tooth (34), a second force-bearing wall (38) is formed on the inner wall of the tooth groove (41) corresponding to the second force-bearing surface (37), a second gap wall (36) is formed on the inner wall of the tooth groove (41) corresponding to the second gap surface (35), and the second force-bearing surface (37) abuts against the second force-bearing wall (38).

5. The dual-power gear backlash elimination device according to claim 4 is characterized in that: The distance between the second force-bearing surface (37) and the second force-bearing wall (38) is equal to zero, and the distance between the second gap surface (35) and the second gap wall (36) is greater than zero.

6. The dual-power gear backlash elimination device according to claim 2, characterized in that: The first force-bearing surfaces (26) on the first gear (21) and the second gear (31) are arranged relative to each other.

7. The dual-power gear backlash elimination device according to claim 1 is characterized in that: The first gear (21) and the second gear (31) respectively perform linear motion on the rack (4).

8. The dual-power gear backlash elimination device according to claim 1, characterized in that: The first gear (21) and the second gear (31) are driven to rotate in opposite directions.

9. The dual-power gear backlash elimination device according to claim 1, characterized in that: The rack (4), the first gear (21) and the second gear (31) are located on the same plane.

10. The dual-power gear backlash elimination device according to claim 1, characterized in that: The rack (4) is arranged on the walking device (1), the first motor (22) is arranged on the walking device (1), and the second motor (32) is arranged on the walking device (1).

Images