CN102297257B - Planetary gear reducer with adjustable back lash - Google Patents
Planetary gear reducer with adjustable back lash Download PDFInfo
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- CN102297257B CN102297257B CN 201110250012 CN201110250012A CN102297257B CN 102297257 B CN102297257 B CN 102297257B CN 201110250012 CN201110250012 CN 201110250012 CN 201110250012 A CN201110250012 A CN 201110250012A CN 102297257 B CN102297257 B CN 102297257B
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- 239000003638 chemical reducing agent Substances 0.000 title abstract description 7
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- 230000005540 biological transmission Effects 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 2
- 230000008030 elimination Effects 0.000 description 2
- 238000003379 elimination reaction Methods 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 239000012467 final product Substances 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
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Abstract
The invention discloses a planetary gear reducer with an adjustable back lash; an inner gear ring in the reducer is fixed and cannot rotate; the teeth of the planetary gear are respectively meshed with the outer teeth of a sun gear and the inner teeth of the inner gear ring; the planetary gear reducer with the adjustable back lash is characterized in that: a first planetary gear group and a second planetary gear group are respectively arranged in a transmission level; and end surface teeth which are mutually occluded are respectively arranged on a contact surface between a first planetary gear frame component and a lower lock block and the contact surface between a second planetary gear frame component and an upper lock block. According to the invention, the back lash required by the reducer is obtained through differential gear adjustment by simultaneously eliminating gear side spacing as well as the spacing between a shaft and an inner hole of a planetary gear in a clockwise direction and a counterclockwise direction.
Description
Technical field
The present invention relates to the Planetary Gear Transmission in mechanical transmission, particularly adjustable-back-gap planetary gear decelerator.
Background technique
In planetary type gear transmission unit, usually adopt several planet wheels while transmitted loads, make power dividing and reasonably adopted interior engagement, thereby has a series of advantage: as compact structure, volume is little, lightweight, gear range is large, composition and decomposition that transmission efficiency is high, smooth running, noise are little, can move etc., thereby be widely used in mechanically multiple, as deceleration, speedup and variable speed drive.
One class Gear Planet Transmission is arranged, require the output revolving shaft of Gear Planet Transmission to have counterclockwise and clockwise two kinds of working staties, require simultaneously the angle return difference of two kinds of working state conversions very little, claim again little back clearance, zero back clearance transmission.Back clearance is defined as: input end is fixed, output terminal clockwise and counterclockwise rotation, when making output terminal produce rated torque ± 2% moment of torsion, the speed reducer output terminal has a small angular displacement, this angular displacement is exactly the backhaul gap, and unit is " dividing ", is exactly sixtieth once.As actuating motor, stepper motor retarder, be mainly used in the CNC numerical control machine tool, bag machinery, plastics machinery, printing machinery etc.The back clearance that the every one-level of general involute planetary gearing speed-reducer is slowed down is not done requirement, if the back clearance requirement is arranged and be not less than 0.5 °, is left intact, and be only to reduce the gear meshing backlass and verify that its meshing backlass gets final product; But if the retarder of the very little back clearance of high-precision requirement (as 10 ' or 5 '), the machining accuracy of the machining accuracy of gear and planetary wheel carrier must be very high, otherwise can't guarantee assembling under minimum back lash and the formedness of running.The deficiency of its existence is:
1, the roll flute of high class gear processing, the Cutter Body Processing with Machining Center of highi degree of accuracy planetary wheel carrier, time process-cycle is long, and cost significantly rises.
2, the meshing backlass that causes of gear wear and the increasing of planet wheel and bearing pin matching gap can't solve back clearance at all and become large problem, only scrap.
Summary of the invention
The present invention is for avoiding the existing deficiency of above-mentioned prior art, a kind of adjustable-back-gap planetary gear decelerator is provided, by adopting two groups of planetary gear set and planetary wheel carrier assembly, eliminate simultaneously the gap of clockwise and anticlockwise backlash, axle and planet wheel endoporus, then obtain the desired back clearance of retarder by poor tooth adjustment.
The technological scheme that technical solution problem of the present invention adopts is:
Adjustable-back-gap planetary gear decelerator of the present invention, ring gear in described retarder does not rotate for fixing, planetary gear is meshed with the external tooth of sun gear and the internal tooth of ring gear respectively, its structural feature is: be respectively arranged with the first planetary gear set and the second planetary gear set in a gear stage, be respectively equipped with the end-tooth of mutual interlock on the surface of contact of the surface of contact of the first row star wheel frame assembly and lower lock dog and the second planetary wheel carrier assembly and upper locking piece, described lower lock dog and upper locking piece are locked by the lock dog pin; Radial ball bearing is contained in bearing saddle bore, limits radial ball bearing axial displacement with circlip for hole; Screw is fastened on bearing support the endoporus output terminal of described ring gear; The position of circlip for shaft restriction radial ball bearing on the first row star wheel frame assembly is axial; Lock screw tightens together the second planetary wheel carrier assembly, lower lock dog, upper locking piece and described the first row star wheel frame assembly.
The structural feature of adjustable-back-gap planetary gear decelerator of the present invention also is:
There is the end-tooth number of teeth that arranges on the first row star wheel frame assembly of end-tooth of mutual interlock and lower lock dog to be N at described surface of contact; There is the end-tooth number of teeth that arranges on the second planetary wheel carrier assembly of end-tooth of mutual interlock and upper locking piece to be N+1 at described surface of contact.
Described retarder is double reduction or multi-stage speed-reducing.
Compared with the prior art, beneficial effect of the present invention is embodied in:
1, retarder of the present invention can use the gear assembling complete machine of conventional grade of accuracy (7 grades); This is because every one-level has two groups of gears, pass through to adjust two groups of gear trains during assembling, guarantee that one group of gear train is at the pin direction elimination meshing backlass of taking advantage of a situation, another group gear train is eliminated meshing backlass in the counterclockwise direction, gear after installing has like this eliminated whole meshing backlasses, and namely back clearance is " 0 "; The meshing backlass of gear can not turn round for the retarder of " 0 ", then obtains needed back clearance by poor tooth adjustment.
2, retarder of the present invention strengthens in the back lash that gear causes because of wearing and tearing when producing the increase of back clearance, can adjust meshing backlass by poor tooth, again obtains very little back clearance, namely can recover to improve even the back clearance precision.
Description of drawings
Fig. 1 is that structure of the present invention is analysed and observe total figure;
Fig. 2 is that the present invention counterclockwise eliminates the gap schematic diagram;
Fig. 3 is that clockwise direction of the present invention is eliminated the gap schematic diagram;
Fig. 4 is the second planetary wheel carrier assembly left view in the present invention;
Fig. 5 is the second planetary wheel carrier assembly plan view in the present invention;
Fig. 6 is the second planetary wheel carrier assembly plan view in the present invention;
Fig. 7 is the first row star wheel frame assembly plan view in the present invention;
Fig. 8 is the second planetary wheel carrier assembly right elevation in the present invention;
Fig. 9 is upper locking piece in the present invention, lower lock dog and lock dog pin assembly plan view;
Figure 10 is upper locking piece in the present invention, lower lock dog and lock dog pin assembly right elevation;
Figure 11 is upper locking piece in the present invention, lower lock dog and lock dog pin assembly left view;
Figure 12 is double reduction adjustable-back-gap planetary gear decelerator schematic diagram of the present invention;
Number in the figure: 1 time lock dog; 2 lock dog pins; 3 upper locking pieces; 4 second planetary gear set; 5 sun gears; 6 ring gears; 7 first planetary gear set; 8 second planetary wheel carrier assemblies; 9 lock screws; 10 the first row star wheel frame assemblies; 11 radial ball bearings; 12 circlip for holes; 13 screws; 14 bearing supports; 15 circlips for shaft.
Embodiment
Referring to Fig. 1, the present embodiment is a kind of sunlight automatic tracking device retarder.
In concrete enforcement, adjustable-back-gap planetary gear decelerator in the present embodiment, ring gear 6 is fixing not to be rotated, planetary gear is meshed with the external tooth of sun gear 5 and the internal tooth of ring gear 6 respectively, be provided with two groups of planetary gear set in a gear stage, i.e. the first planetary gear set 7 and the second planetary gear set 4, be respectively equipped with the end-tooth of mutual interlock on the surface of contact of the surface of contact of the first row star wheel frame assembly 10 and lower lock dog 1 and the second planetary wheel carrier assembly 8 and upper locking piece 3, lower lock dog 1 with upper locking piece 3 by 2 lockings of lock dog pin; Radial ball bearing 11 is contained in bearing support 14 holes, limits axial displacements with circlip for hole 12; Screw 13 is fastened on ring gear 6 endoporus output terminals with bearing support 14; The position of circlip for shaft 15 restriction radial ball bearings 11 on the first row star wheel frame assembly 10 is axial; Lock screw 9 tightens together the second planetary wheel carrier assembly 8, lower lock dog 1, upper locking piece 3 with the first row star wheel frame assembly 10.
Adjustable-back-gap planetary gear decelerator in the present embodiment has the end-tooth of mutual interlock at the first row star wheel frame assembly 10 and lower lock dog 1 surface of contact, the identical N that is made as of the number of teeth gets N=80; The second planetary wheel carrier assembly 8 and upper locking piece 3 surface of contact have the end-tooth of mutual interlock, and the number of teeth is all N+1,80+1=81 mutually;
The design parameter of each part is as follows:
The first planetary gear set 7 and the second planetary gear set 4 respectively are comprised of three gears; The parameter of gear is identical, is:
Modulus m=0.9; Number of teeth z=15; Pressure angle a=25 °;
Modification coefficient x=0.3106;
Public law line length w3=7 (0.04/-0.08);
Sun gear 5 gear parameters:
Modulus m=0.9; Number of teeth z=8; Pressure angle a=25 °;
Modification coefficient x=0.3;
Public law line length w2=4.27 (0.04/-0.08);
One of ring gear 6() gear parameter:
Modulus m=0.9; Number of teeth z=40; Pressure angle a=25 °;
Modification coefficient x=-0.0934;
Public law line length w6=15 (0.09/0.04);
Gap between planet wheel endoporus and bearing pin is that 0.04mm(is monolateral);
Centre distance 10.85mm;
Back clearance is comprised of two-part:
First portion: the meshing backlass between gear, the sideshake between the meshing backlass between sun gear and planet wheel and planet wheel and ring gear, through Practical Calculation, it is 0.5385 ° that this two-part sideshake causes back clearance;
Second portion: the back clearance that cause in planet wheel endoporus and bearing pin gap: through being calculated as:
180°*0.04*2/（10.85*π）=0.2112*2=0.4224°；
Amount to back clearance=0.4224 °+0.5385 °=0.9610 °;
The adjustment of the present embodiment back clearance is completed like this:
Power is from sun gear 5 input: sun gear 5 and ring gear 6 are meshed with the first planetary gear set 7 simultaneously, and eliminate 0.41925 ° of the back clearance that clockwise backlash produces; Eliminate simultaneously 0.2112 ° of the back clearance that the gap of axle and planet wheel endoporus produces, as shown in Figure 3.
Power is from sun gear 5 input: sun gear 5 and ring gear 6 are meshed with the second planetary gear set 4 simultaneously, and eliminate 0.41925 ° of the back clearance that anticlockwise backlash produces; Eliminate simultaneously 0.2112 ° of the back clearance that the gap of axle and planet wheel endoporus produces, as shown in Figure 2.
Keep under gap elimination state, that lower lock dog 1 and three lock dog pins of upper locking piece 3 use, 2 pins is dead, as Fig. 9, Figure 10 and shown in Figure 11.
End-tooth that mutual interlock is arranged at the first row star wheel frame assembly 10 and lower lock dog 1 surface of contact is as shown in Figure 7 and Figure 8, in Fig. 7 " A " the reference level number of teeth is N=80, the number of teeth of " C " reference level in Fig. 9 is N=80; And the second planetary wheel carrier assembly 8 and upper locking piece 3 surface of contact have the end-tooth of mutual interlock equally, and as Fig. 4, Fig. 5 and shown in Figure 6, " B " reference level end-tooth number of teeth in Fig. 4 is N+1=81, and the end-tooth number of teeth of " D " reference level in Fig. 9 is N+1=81; Namely both the number of teeth differs a tooth.Because the first row star wheel frame assembly 10 equates to be 80 with the number of teeth of lower lock dog 1 phase interlock, the second planetary wheel carrier assembly 8 is 81 with the number of teeth of upper locking piece 3 phase interlocks, work as so the second planetary wheel carrier assembly 8 and turning over clockwise a transverse pitch, with respect to up and down lock dog assembly parts, the corner that namely descends lock dog 1, lock dog pin 2 and upper locking piece 3 is 360 °/81; When the first row star wheel frame assembly 10 is equally also turning over a transverse pitch clockwise, it is up and down lock dog assembly parts relatively, and the corner that namely descends lock dog 1, lock dog pin 2 and upper locking piece 3 is 360 °/80; Both in the clockwise direction the difference of corner be 360 °/(81*80); This angle is exactly the minimum regulation unit of micro-adjusting mechanism: 360 °/(80*81)=0.0555556 °=3.3 '.
Eliminate all clockwise and counterclockwise behind the gap, carry out mark at the cylindrical of the first row star wheel frame assembly 10 and the second planetary wheel carrier assembly 8; Each part is installed in ring gear 6, the first row star wheel frame assembly 10 is adjusted a transverse pitch with respect to upper locking piece 3 and lower lock dog 1 assembly parts clockwise direction; Simultaneously the second planetary wheel carrier assembly 8 is adjusted a transverse pitch with respect to upper locking piece 3 and the lower lock dog 1 same clockwise direction of assembly parts, like this, the first row star wheel frame assembly 10 and the second planetary wheel carrier assembly 8 both had certain relative rotation before not adjusting a transverse pitch.At this moment, the first planetary gear set 7 and the second planetary gear set 4 can go slick and ensure in ring gear 6 minimum back clearance approximately 3.33 ', also can adjust simultaneously two end-tooths, so back clearance will become 2*3.33 '=6.66 '; Last locked lock screw 9.
When the tooth thickness wear that gear occurs and planet wheel coordinate wearing and tearing and when causing back clearance to become can not to satisfy usage requirement greatly with bearing pin, lock screw 9 can be unclamped, the first row star wheel frame assembly 10 and the second planetary wheel carrier assembly 8 are eliminated a certain amount of back clearance with the certain relative rotation of rotation direction adjustment again, it is turned round, the workmanship of the working life of prolonged deceleration device and raising retarder under the back clearance that is fit to.
Figure 12 shows that double reduction adjustable-back-gap planetary gear decelerator schematic diagram; Same principle also can be designed to the multi-stage speed-reducing retarder.
Claims (3)
1. adjustable-back-gap planetary gear decelerator, ring gear in described retarder (6) does not rotate for fixing, planetary gear is meshed with the external tooth of sun gear (5) and the internal tooth of ring gear (6) respectively, it is characterized in that: be respectively arranged with the first planetary gear set (7) and the second planetary gear set (4) in a gear stage, be respectively equipped with the end-tooth of mutual interlock on the surface of contact of the surface of contact of the first row star wheel frame assembly (10) and lower lock dog (1) and the second planetary wheel carrier assembly (8) and upper locking piece (3), described lower lock dog (1) is locked by lock dog pin (2) with upper locking piece (3), radial ball bearing (11) is contained in bearing saddle bore, limits radial ball bearing (11) axial displacement with circlip for hole (12), screw (13) is fastened on bearing support (14) the endoporus output terminal of described ring gear (6), the position of circlip for shaft (15) restriction radial ball bearing (11) on the first row star wheel frame assembly (10) is axial, lock screw (9) tightens together the second planetary wheel carrier assembly (8), lower lock dog (1), upper locking piece (3) with described the first row star wheel frame assembly (10).
2. adjustable-back-gap planetary gear decelerator according to claim 1, is characterized in that: have the first row star wheel frame assembly (10) and the upper end-tooth number of teeth that arranges of lower lock dog (1) of the end-tooth of mutual interlock to be N at described surface of contact; There are the second planetary wheel carrier assembly (8) and the upper end-tooth number of teeth that arranges of upper locking piece (3) of the end-tooth of mutual interlock to be N+1 at described surface of contact.
3. adjustable-back-gap planetary gear decelerator according to claim 1 and 2, is characterized in that described retarder is double reduction or multi-stage speed-reducing.
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201110250012 CN102297257B (en) | 2011-08-26 | 2011-08-26 | Planetary gear reducer with adjustable back lash |
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201110250012 CN102297257B (en) | 2011-08-26 | 2011-08-26 | Planetary gear reducer with adjustable back lash |
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| CN102297257A CN102297257A (en) | 2011-12-28 |
| CN102297257B true CN102297257B (en) | 2013-06-12 |
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| TWI452218B (en) * | 2012-02-07 | 2014-09-11 | Nat Univ Chung Cheng | No backlash gear structure |
| CN102927207B (en) * | 2012-11-05 | 2015-08-05 | 合肥波林新材料有限公司 | A kind of zero back clearance planetary transmission speed reducer |
| CN103277500B (en) * | 2013-04-11 | 2015-12-09 | 宁波海天精工股份有限公司 | A kind of gap adjusting method that disappears of gear drive |
| CN105351449A (en) * | 2015-12-16 | 2016-02-24 | 湖南机油泵股份有限公司 | Planetary transmission structure |
| CN105508585B (en) * | 2016-01-20 | 2018-01-19 | 湖北科峰传动设备有限公司 | One kind disappears gap planetary reducer |
| CN108061146A (en) * | 2016-11-09 | 2018-05-22 | 何汉权 | A kind of small size big retarding ratio is without back clearance retarder |
| CN111520456A (en) * | 2020-04-29 | 2020-08-11 | 浙江大学昆山创新中心 | Intelligent speed reducer |
| US11852053B2 (en) * | 2021-05-18 | 2023-12-26 | Borgwarner Inc. | Electrically-actuated camshaft phaser with backlash reduction |
| CN113404820B (en) * | 2021-06-29 | 2022-09-23 | 重庆大学 | Adjustable-gap multi-crank variable-tooth-thickness precision transmission device |
| CN114607756A (en) * | 2022-03-25 | 2022-06-10 | 六环传动（西安）科技有限公司 | Planetary gear reducer for robot |
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| DE102008035114A1 (en) * | 2008-07-28 | 2010-02-04 | Magna Powertrain Ag & Co Kg | Low-backlash planetary gear has ring gear with conical toothing and another ring gear with another conical toothing, where former ring gear is arranged adjacent to latter ring gear |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2726699B2 (en) * | 1989-04-25 | 1998-03-11 | 株式会社ハーモニック・ドライブ・システムズ | Planetary gear unit with backlash adjustment mechanism |
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2011
- 2011-08-26 CN CN 201110250012 patent/CN102297257B/en active Active
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| JP3550583B2 (en) * | 1994-11-04 | 2004-08-04 | 株式会社ニコン | Microscope coarse and fine focusing device |
| EP1171341B1 (en) * | 1998-06-25 | 2004-06-23 | Aimbridge Pty. Ltd. | A motor for driving a propeller including a phase adjuster for altering the pitch of the propeller blades |
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