Anti-backlash structure of planetary reducer

Abstract

The utility model discloses an anti-backlash structure of planetary reducer relates to speed reducer technical field, including sun gear and first ring gear, sun gear is provided in two module shell, the first ring gear is fixedly connected with module shell through limit subassembly, and the first ring gear is connected with the module shell through limit subassembly. According to the double-planetary-gear planetary gear transmission device, the backlash is eliminated at low cost, high-precision machining or an additional pre-tightening mechanism is not needed, the back backlash is directly offset through staggered meshing of the two sets of planetary gears, and the cost is remarkably reduced. The double-planetary-gear planetary gear transmission device has the advantages that the backlash is eliminated, and the double-planetary-gear planetary gear transmission device is simple in structure, convenient to operate and high in practicability. The sun gear is shared, the types of non-standard parts are reduced, the mold opening and inventory cost is reduced, and maintenance is convenient and fast. High-rigidity output: double-output-shaft design enhances the radial rigidity, and is suitable for high-load scenes. Only a standard ball bearing is used, the installation process is simplified, and the overall cost is reduced by more than 30% compared with a traditional scheme.

Description

TECHNICAL FIELD

[0001] The utility model relates to a reducer technical field, concretely is a kind of planet reducer's clearance elimination structure. BACKGROUND

[0002] Planet reducer is widely used in robot joint module and other fields due to compact structure, high transmission efficiency. However, due to the existence of gear meshing gap (backlash) of traditional planet reducer, it is easy to cause transmission precision to drop, vibration and noise to increase and other problems. The existing clearance elimination technology usually adopts to improve machining precision, increases pre-tightening mechanism or uses complex double gear set, but these methods have the defects such as high cost, complex process, maintenance difficulty.

[0003] Based on this, a planet reducer's clearance elimination structure is provided, which can eliminate the drawbacks of existing devices. UTILITY MODEL CONTENT

[0004] The utility model is directed to the problems of complex planet reducer clearance elimination structure, high cost and inconvenient maintenance in prior art, and provides a planet reducer's clearance elimination structure, which effectively eliminates backlash without increasing machining precision and additional mechanism, while reducing manufacturing cost and assembly difficulty through double planet wheel set misplacement meshing design.

[0005] To achieve the above object, the utility model provides the following technical scheme:

[0006] A planet reducer's clearance elimination structure, comprising a sun gear and a first inner toothed ring, the sun gear is arranged inside two module housings, the two module housings are symmetrically arranged, the first inner toothed ring is fixedly connected with the module housing through a limiting assembly, a plurality of first planet gears are arranged in a circular array on the inner side of the first inner toothed ring, one end of the plurality of first planet gears is rotatably arranged in a mounting hole in the inner side of a first planet carrier, an output flange is fixedly arranged at one end of the first planet carrier, the other end of the plurality of first planet gears is rotatably arranged in a mounting hole on one side of the output flange, a limiting shell is arranged at one end of the module housing, the two limiting shells are arranged in close proximity on one side, a second bearing is arranged on the inner side of one end of the first planet carrier, the inner ring of the second bearing is fixedly connected with one end of the limiting shell, and the other module housing is internally provided with a clearance elimination component for eliminating backlash.

[0007] On the basis of the above technical scheme, the utility model also provides the following optional technical scheme:

[0008] In an alternative: the anti-backlash component includes a second inner ring gear, the second inner ring gear is fixedly connected with another module shell through a limiting assembly, a plurality of second planetary gears are arranged in the inner side of the second inner ring gear in a circular array, one end of the second planetary gears is rotatably arranged in a mounting hole on one side of a second planet carrier, an output flange is fixedly arranged on one end of the second planet carrier, the other end of the second planetary gears is rotatably arranged in a mounting hole on one side of the output flange through a rotating shaft, one end of the second planet carrier is fixedly connected with a second bearing outer ring, and the mounting positions of the plurality of second planetary gears and the plurality of first planetary gears are arranged in a staggered manner.

[0009] In an alternative: the mounting phase difference between the plurality of first planetary gears and the plurality of second planetary gears is 180 degrees.

[0010] In an alternative: the limiting assembly includes a limiting pin, a plurality of first limiting grooves are arranged in a circular array on the outer sides of the first inner ring gear and the second inner ring gear, a plurality of second limiting grooves are arranged in a circular array on the inner side of the module shell, the first limiting grooves and the second limiting grooves are combined into limiting holes, and a plurality of threaded holes are arranged in a circular array on one side of the module shell, and a first screw is arranged in the threaded hole in a matched mode.

[0011] In an alternative: end covers are tightly arranged on one side of the module shell, and the end covers are fixedly connected with the module shell through a plurality of second screws.

[0012] In an alternative: a first bearing is arranged on the first inner ring gear, the second inner ring gear and the output flange, and the plurality of first bearings are limited by one end of the module shell and one end of the end cover.

[0013] In an alternative: a first rotating ring is slidably arranged on the inner side of the module shell, a second rotating ring is slidably arranged on the inner side of the first rotating ring, and the second rotating ring is slidably arranged on the outer side of the limiting shell.

[0014] Compared with the prior art, the utility model has the advantages of the following:

[0015] The utility model low cost anti-backlash: without high-precision machining or additional pre-tightening mechanism, directly offset the backlash through two groups of planetary gears staggered engagement, significantly reduce the cost. Structure simplification: share the sun gear, reduce the non-standard parts, reduce the cost of mold and inventory, convenient maintenance. High rigidity output: double output shaft design, enhance the radial stiffness, suitable for high load scene. Process friendly: only use standard ball bearing, simplify the installation process, the overall cost is reduced by more than 30% than traditional scheme. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is the structural schematic diagram of the utility model.

[0017] Figure 2 It is the first inner gear ring and second inner gear ring installation schematic diagram of the utility model.

[0018] Figure 3 It is the first planetary gear and second planetary gear installation schematic diagram of the utility model.

[0019] Figure 4 It is the first planetary gear installation schematic diagram of the utility model.

[0020] Figure 5 It is the output flange and second planet carrier connection schematic diagram of the utility model.

[0021] Mark annotation: 11 sun gear, 12 first inner gear ring, 13 first planetary gear, 14 first planet carrier, 15 output flange, 16 module shell, 17 end cover, 18 first rotating ring, 19 second rotating ring, 20 limit shell, 21 first bearing, 22 second bearing, 23 second inner gear ring, 24 second planetary gear, 25 second planet carrier. DETAILED DESCRIPTION

[0022] In order to make the utility model's purpose, technical scheme and advantage more clearly, the following is combined with the embodiment, and the utility model is further detailed.

[0023] In one embodiment, as shown in Figures 1-5 A backlash elimination structure of planetary reducer, comprising sun gear 11 and first inner gear ring 12, the sun gear 11 is arranged inside two module shells 16, the two module shells 16 are symmetrically arranged, the first inner gear ring 12 is fixedly connected with module shell 16 through limit assembly, a plurality of first planetary gears 13 are arranged in the circular array on the inner side of the first inner gear ring 12, and the first planetary gears 13 are rotatably arranged in the mounting hole in the inner side of the first planet carrier 14 at one end of the first planetary gears 13.

[0024] The other end of the first planetary gear 13 is rotatably arranged in the mounting hole on one side of the output flange 15, the limit shell 20 is arranged at one end of the module shell 16, the two limit shells 20 are arranged in close contact on one side, the second bearing 22 is arranged in the inner side of one end of the first planet carrier 14, the inner ring of the second bearing 22 is fixedly connected with one end of the limit shell 20, and the other module shell 16 is internally provided with a backlash elimination component for eliminating backlash.

[0025] The anti-backlash component comprises a second inner ring gear 23 fixedly connected with the other module shell 16 through a limiting assembly, a plurality of second planetary gears 24 are arranged in a circular array on the inner side of the second inner ring gear 23, one end of the second planetary gear 24 is rotatably arranged in a mounting hole on one side of a second planet carrier 25, an output flange 15 is fixedly arranged on one end of the second planet carrier 25, the other end of the second planetary gear 24 is rotatably arranged on the output flange 15 through a rotating shaft, and the other end of the second planet carrier 25 is fixedly connected with the outer ring of a second bearing 22; the mounting positions of the plurality of second planetary gears 24 and the plurality of first planetary gears 13 are staggered.

[0026] In use, when the sun gear 11 is fixedly connected with the output end of the external driving component, the sun gear 11 is engaged with the plurality of first planetary gears 13 and the plurality of second planetary gears 24, so that the first planetary gears 13 and the second planetary gears 24 are rotated; since the mounting positions of the first planetary gears 13 and the second planetary gears 24 are staggered, the meshing gap of one group of gears is filled by the reverse meshing of the other group of gears during work, so that zero-backlash transmission is achieved.

[0027] The mounting phase difference between the plurality of first planetary gears 13 and the plurality of second planetary gears 24 is 180 degrees; in use, the meshing gap of the plurality of first planetary gears 13 is filled by the reverse meshing of the plurality of second planetary gears 24, so that zero-backlash transmission is achieved.

[0028] The limiting assembly comprises a limiting pin, a plurality of first limiting grooves are arranged in a circular array on the outer sides of the first inner ring gear 12 and the second inner ring gear 23, a plurality of second limiting grooves are arranged in a circular array on the inner side of the module shell 16, the first limiting grooves and the second limiting grooves are combined into limiting holes, a plurality of threaded holes are arranged in a circular array on one side of the module shell 16, and a first screw is arranged in each threaded hole; in use, when it is necessary to fixedly connect the first inner ring gear 12 and the second inner ring gear 23 with the module shell 16, the first inner ring gear 12 and the second inner ring gear 23 are respectively placed in the two module shells 16, and the limiting shell 20 and the second bearing 22 can limit the positions of the first inner ring gear 12 and the second inner ring gear 23; then the limiting pin is placed in the limiting hole, and then the first screw is arranged in the threaded hole, so that the other end of the first inner ring gear 12 and the second inner ring gear 23 is limited by the end of the first screw, and the first inner ring gear 12 and the second inner ring gear 23 are fixedly connected with the module shell 16.

[0029] End covers 17 are tightly arranged on one side of the module shell 16, and the end covers 17 are fixedly connected with the module shell 16 through a plurality of second screws.

[0030] The first inner gear ring 12, the second inner gear ring 23 and the output flange 15 are provided with the first bearing 21, and the module shell 16 and the end cover 17 are provided with a plurality of first bearings 21, so that the first inner gear ring 12 and the second inner gear ring 23 are supported.

[0031] The first rotating ring 18 is arranged in the module shell 16, the second rotating ring 19 is arranged in the first rotating ring 18, and the second rotating ring 19 is arranged in the limiting shell 20, so that the module shell 16 is supported.

[0032] The above embodiment discloses a backlash structure of a planetary reducer, wherein the first inner gear ring 12 and the second inner gear ring 23 are arranged in the two module shells 16, the limiting shell 20 and the second bearing 22 are arranged on the first inner gear ring 12 and the second inner gear ring 23, the limiting pin is arranged in the limiting hole, the first screw is arranged in the threaded hole, the first screw is arranged on the other end of the first inner gear ring 12 and the second inner gear ring 23, the first inner gear ring 12 and the second inner gear ring 23 are fixedly connected with the module shell 16, the first planetary gear 13 and the second planetary gear 24 are engaged with the sun gear 11, the sun gear 11 is fixedly connected with the external driving part, the sun gear 11 is engaged with the plurality of first planetary gears 13 and the second planetary gears 24, the first planetary gear 13 and the second planetary gear 24 are rotated, the first planetary gear 13 and the second planetary gear 24 are arranged in a staggered manner, and the phase difference is 180 degrees, so that the meshing gap of the plurality of first planetary gears 13 is filled by the reverse meshing of the plurality of second planetary gears 24, and zero backlash transmission is realized.

[0033] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art can easily think of changes or replacements within the technical range disclosed in the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A kind of planet decelerator's anti-backlash structure, including sun gear (11) and first inner toothed disc (12), the sun gear (11) is set inside two module shell (16), two the module shell (16) is symmetrically arranged, the first inner toothed disc (12) is fixedly connected with module shell (16) by limiting component, the first inner toothed disc (12) inboard circular array meshing is equipped with a plurality of first planetary gear (13), a plurality of the first planetary gear (13) one end rotating shaft rotation is arranged in the inboard mounting hole of first planet carrier (14), it is characterized in that, The first planet carrier (14) is fixed with an output flange (15) at one end, a plurality of first planet gears (13) are rotatably arranged in the mounting hole on one side of the output flange (15) at the other end, a plurality of module housings (16) are each provided with a limiting shell (20) at one end, and the two limiting shells (20) are arranged in close contact on one side, a second bearing (22) is arranged on the inner side of one end of the first planet carrier (14), and the inner ring of the second bearing (22) is fixedly connected with one end of the limiting shell (20), and the other module housing (16) is provided with a backlash elimination component inside for eliminating backlash.

2. The anti-backlash structure of a planetary speed reducer according to claim 1, wherein The backlash elimination component comprises a second inner ring gear (23), the second inner ring gear (23) is fixedly connected with the other module housing (16) through a limiting assembly, a plurality of second planet gears (24) are arranged in a circular array on the inner side of the second inner ring gear (23) and are engaged, the second planet gears (24) are rotatably arranged in the mounting hole on one side of the second planet carrier (25) at one end, the second planet carrier (25) is fixed with an output flange (15) at one end, the second planet gears (24) are rotatably arranged in the mounting hole on one side of the output flange (15) at the other end, and the second planet carrier (25) is fixedly connected with the outer ring of the second bearing (22) at one end, and the mounting positions of the plurality of second planet gears (24) and the plurality of first planet gears (13) are arranged in a staggered manner.

3. The anti-backlash structure of a planetary speed reducer according to claim 2, characterized in that, The mounting phase difference between the plurality of first planet gears (13) and the plurality of second planet gears (24) is 180 degrees.

4. The anti-backlash structure of a planetary speed reducer according to claim 3, wherein The limiting assembly comprises a limiting pin, a plurality of first limiting grooves are arranged in a circular array on the outer side of the first inner ring gear (12) and the second inner ring gear (23), a plurality of second limiting grooves are arranged in a circular array on the inner side of the module housing (16), the first limiting grooves and the second limiting grooves are combined into limiting holes, a plurality of threaded holes are arranged in a circular array on one side of the module housing (16), and a first screw is arranged in each threaded hole.

5. The anti-backlash structure of a planetary speed reducer according to claim 4, wherein An end cover (17) is arranged in close contact on one side of each module housing (16), and the end cover (17) is fixedly connected with the module housing (16) through a plurality of second screws.

6. The anti-backlash structure of a planetary speed reducer according to claim 5, wherein First bearings (21) are arranged on the first inner ring gear (12), the second inner ring gear (23) and the output flange (15), and the module housing (16) and the end cover (17) are respectively arranged on one end and one end of a plurality of first bearings (21).

7. The anti-backlash structure of a planetary speed reducer according to claim 6, wherein First rotating rings (18) are arranged in sliding connection on the inner side of the module housing (16), second rotating rings (19) are arranged in sliding connection on the inner side of the first rotating rings (18), and the second rotating rings (19) are arranged in sliding connection on the outer side of the limiting shell (20).

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