CN110259915A

CN110259915A - A kind of speed change gear that eliminating drive gap and its gap removing method

Info

Publication number: CN110259915A
Application number: CN201910520416.9A
Authority: CN
Inventors: 邓星桥
Original assignee: Chengdu Zhongliang Sichuan Technology Co Ltd
Current assignee: Chengdu Zhongliang Sichuan Technology Co Ltd
Priority date: 2019-06-14
Filing date: 2019-06-14
Publication date: 2019-09-20
Anticipated expiration: 2039-06-14
Also published as: CN110259915B

Abstract

The present invention relates to speed change gears and its gap removing method that one kind can eliminate drive gap, the speed change gear includes at least the worm and worm wheel for the antarafacial of axis each other being arranged in cabinet, the worm gear is equipped with wrom tooth that is dismountable and being interconnected with the snail road of the worm screw along its circumferentially spaced row, the worm gear includes at least two disks being bonded in the axial direction each other, the radial outside of at least two disks is each provided with the rolling element of circumferentially spaced arrangement, in the case where the worm screw and/or worm gear rotatable around its axis, appoint the flashy snail road adjacent to each other in the axial direction by least two disks and the wrom tooth that there is the rolling element of angle to limit engages, the rolling element that the wrom tooth is located at the worm axis two sides is contacted with the two sides flank lines in the snail road always in a manner of the angle is adjusted And the rolling element two-by-two between the mode that non-vertically intersects with the axis of the worm screw of axial connecting line distinguish rotation.

Description

A kind of speed change gear that eliminating drive gap and its gap removing method

Technical field

The present invention relates to technical field of mechanical transmission, it is related to a kind of speed change gear more particularly to one kind can be eliminated between transmission The speed change gear and its gap removing method of gap.

Background technique

Worm-drive is shaft staggered for two, transmission ratio is big, less big or discontinuous operation the occasion of transmitting power, due to having Stable drive, noise are small, shock loading is small, and have many advantages, such as self-locking performance, as the important transmission side of one of machine driving Formula is commonly applied in speed change gear.However, common worm-drive avoids to form lubricating oil film between contacting profile because of wheel Tooth rubs sassafras fever expansion and stuck, and being conjugated must be there are gap between two inoperative flank profils of tooth, and this gap is known as flank Gap, abbreviation sideshake.To guarantee that worm gear pair normally engages and be driven this sideshake usually to store lubricating oil and be used to compensate Thermal denaturation, flexible deformation, manufacturing and fixing error caused by being driven etc..But in the transmission for needing positive and negative rotation, between flank The presence of gap can generate between cog impact, while influence gear-driven stationarity.

Moreover, common worm-drive is easy to happen abrasion in transmission process, reason is transmission in conjugate tooth profiles Place's speed of related movement is always greater than worm screw peripheral speed or worm gear peripheral speed, therefore the relative velocity of contact point in any position It all will not be zero and be in sliding friction state always, i.e., have biggish relative sliding velocity between meshing gear, to will lead to The consumption of abrasion, the fever and energy of the flank of tooth, this is allowed for, and common worm geared frictional power loss is big, and transmission efficiency is low, Tooth surface abrasion is fast, and accuracy life is low.And after wearing, lead between the flank of tooth of worm and gear that there are gaps or gap to increase, influences Transmission accuracy and transmission stability can cause transmission failure when serious.

It can be seen that disadvantages mentioned above makes, common worm screw is difficult to meet in modern industry high-precision, high efficiency transmission is wanted It asks.Meshing backlass in common worm-drive will necessarily bring shock and vibration, noise, reduction system to be servo-actuated precision and stability Problem, especially in the worm-drive speed change gear for needing frequent positive and negative rotation, the presence of back lash will cause biggish Cumulative errors seriously affect transmission accuracy, position precision and the dynamic response characteristic of whole device.

Therefore, the prior art in worm-drive gap and sliding friction problem propose a large amount of improved method and Structure, for example, the Chinese patent literature of Publication No. CN109764113A discloses a kind of rotary reducer of adjustable slit.Tradition There is the error in manufacture assembling process in rotary reducer, there are gaps for abrasion rear worm wheel worm screw between cog.The present invention include pedestal, Angular contact bearing, worm shaft, gradual position helical teeth worm gear, steel ball, steel ball plug, plug pin, steel ball inner shaft, worm shaft adjust spiral shell Nail and bearing metal set；The modification coefficient of gradual position helical teeth worm gear is gradually changed along axial direction；Worm shaft can pass through worm shaft tune It saves screw and adjusts realization along worm shaft radially adjustment.The present invention not only reduces the installation difficulty of worm and gear rotary reducer, It can also reach ideal back lash by adjusting, improve assembling quality；And can rotary reducer abrasion after by adjusting The mode of back lash keeps degree of precision to operate normally, and greatly extends guarantor's accuracy life of rotary reducer, can be significantly Rotary reducer is promoted to promote the use of.The rotary reducer of the adjustable clearance of the patent disclosure is the axial direction by adjusting worm screw Position adjusts the backlash of transmission to compensate the Reducing thickness of wheel odontotripsis, and still, when machining worm wheel needs module hob to shovel Mill and precision manufactureing are difficult, and in worm gear and worm screw engaged transmission, while the number of teeth contacted is few, and bearing capacity is low, easily Abrasion, accuracy life is short, and precision manufactureing is at high cost, it is difficult to meet the requirement of high speed and precision transmission or heavy-loaded precision transmission.

For example, the Chinese patent literature of Publication No. CN208665301U discloses a kind of electric steering system gap Compensation mechanism, electric power steering include shell and intermeshing worm gear and worm screw, and the upper end of worm screw is driven by a motor rotation, Rocker compensating gear includes the self-aligning bearing for being solidly set on worm screw upper end end, and the backlash compensation group of worm screw lower end is arranged in Part；Backlash compensation component includes eccentric body and bearing, and bearing is solidly set on worm gear, and eccentric body is solidly set on bearing, in eccentric body It opens up fluted on excircle, O-ring is cased on eccentric body by groove, backlash compensation component is located at the appearance being arranged on shell Set in slot, O-ring is bonded with the inner wall of accommodation groove, the center of circle of eccentric body inner periphery than eccentric body excircle the center of circle close to snail Wheel.Eccentric body to the one deviation worm gear position of engagement in worm screw lower end radial force, this radial force worm screw can be pushed to engage point It sets, and then eliminates gap of worm；O-ring and shell are flexibly connected, and will completely eliminate the abnormal sound for colliding generation herein.But It is that the blank compensation apparatus that the patent provides compensates the backlash of transmission again by the axial position of adjustment worm screw Radial force request is high, and worm screw can not be pushed to meshing point position when radial force is smaller, when radial force is larger, will increase worm screw Snail road and the between cog of wrom tooth of worm gear wear, and when the wrom tooth of multiple worm gears is engaged with the snail road of worm screw, each wrom tooth Inter-lobe clearance may be different, the axial position for adjusting worm screw may result in exist between other wrom tooths and snail road between Gap, it is difficult to meet the requirement of precision drive.

Disappear gap dress for example, the Chinese patent literature of Publication No. CN208634321U discloses a kind of accurate worm couple It sets, is axially connected including two and half worm gears by threaded hole on voussoir and soket head cap screw, pressure spring and wedge are installed on jacking block The positioning of block hole.When installation adjusting screw feed so that voussoir along the wedge mouth axial displacement on worm gear, while can make pressure spring by Squeeze the elastic force generated along spring axial direction, drive worm gear turns an angle, make the flank of tooth of two panels worm gear respectively with worm screw Forced contact, to eliminate the drive gap in accurate worm couple.The structure space utilization rate pole that the utility model uses Height, structure are simple, at low cost, easy to accomplish.The reason of gap but the backlash eliminating equipment of patent offer disappears since use misplaces, Wrom tooth on two and half worm gears is contacted with worm screw or so two flank of tooth simultaneously respectively, due to the opposite sliding speed between the worm-drive flank of tooth It spends larger, therefore is easy loss between leading to the flank of tooth, transmission efficiency is lower.

For example, the Chinese patent literature of Publication No. CN108799477A discloses a kind of tune of worm gear worm backlash Complete machine structure, deceleration mechanism and automobile, wherein the adjustment mechanism of worm gear worm backlash includes: outer ring；The inner ring of open loop, with There is gap in the inner ring, the outer surface of the inner ring is fixedly connected with the inner surface of the outer ring, the inner ring radially The elastic element that can generate radial compacting force is equipped between outer ring；First protrusion of elastic material, set on the outer ring Inner surface, opening of first protrusion close to the inner ring；Second protrusion of elastic material, set on the appearance of the inner ring There is gap relatively and radially with first protrusion in face.But the worm gear worm backlash adjustment that the patent provides Mechanism, after not accounting between cog abrasion, existing gap can not pass through between the flank of tooth at left and right sides of the wrom tooth of worm gear and worm screw Change the relative distance between worm and wheel to eliminate, so that the device that the patent provides can not eliminate worm and gear positive and negative In the transmission turned, the impact between wrom tooth and two lateral tooth flanks influences the stationarity in transmission.

It is helped for example, the Chinese patent literature of Publication No. CN208602557U discloses a kind of adjustable steering system in gap Power device, including shell, motor and intermeshing worm gear and worm screw；The output shaft phase of one end of the worm screw and motor Even, the other end is mounted in shell by first bearing；Mounting hole is provided on shell, the first bearing is located at the mounting hole It is interior；The side opposite with worm gear is equipped with regulating mechanism on shell, which includes compressed spring and adjusting bolt；It is described One end of compressed spring is connected on the outer ring of first bearing, and the other end is abutted against with bolt is adjusted；Adjusting bolt and compression Under the action of spring, worm and wheel is close together.The utility model can eliminate worm gear snail by adjusting the position of bearing Gap between bar avoids renewal part bring trouble, reduces the maintenance cost of automobile, and eliminate because of worm gear and worm screw Between gap and the noise that generates, improve the driving comfort of user.Adjustable turn of the gap that the utility model provides To system assistant device, the gap between worm and wheel is eliminated due to the relative distance using adjustment worm and wheel, but Gap when but not accounting for worm gear and being engaged with worm screw, between two flank of tooth of wrom tooth and worm screw.

For example, the Chinese patent literature of Publication No. CN109322979A discloses one kind for eliminating Worm Wheel System The device in gap.Wherein, which includes: shell, drive end bearing bracket, floating worm component, bevel pinion, worm gear, adjusting washer, bullet Spring, tegillum, in which: bevel pinion is used to passing to the power of motor into the bevel gear in floating worm component；Bevel gear is logical It crosses flat key to be connected with worm screw, and worm gear is imparted power to by worm screw；Worm gear is mounted on by bearing in same axial line On shell bearing chamber and drive end bearing bracket bearing chamber in, and lower part of the housing has a round hole to communicate with cavity；Spring is mounted in small It in the circular hole of lid, is withstood on floating worm component by round hole, and guarantees that spring has centainly by adjusting the quantity of washer Pretightning force so that the toothed surface of the worm and wheel in floating worm component is tightly bonded.The embodiment of the present invention can be reduced And the hysterisis error of Worm Wheel System is eliminated, worm gear output accuracy is improved, the accurate output for meeting aviation rotary actuator is wanted It asks.But the device that the patent provides equally is realized using the axial position of adjustment worm screw by using the worm screw of floating The elimination in gap, it is weak using this kind of method elimination gap bearing capacity, it is easy to happen between the flank of tooth with respect to sliding friction and wears, essence It is short to spend the service life, and precision manufactureing is difficult.

For example, the Chinese patent literature of Publication No. CN109163084A discloses a kind of automatic anti-backlash worm wheel worm structure And its processing method and disappear gap method, including worm gear and worm screw, the worm gear and worm screw cooperate；The worm screw includes worm screw Axis, worm set, spring, clamp nut and locking nut；The worm shaft is coupled with worm set by spline, the worm shaft with One end of worm set is fixed by the clamp nut and locking nut.But the automatic anti-backlash worm wheel worm screw that the patent provides Structure and the gap method that disappears, essence are the axial positions for changing worm screw using spring, and the elastic force based on spring makes worm gear Wrom tooth is remained with two lateral tooth flanks and is contacted, and increases the pressure between two lateral tooth flank of wrom tooth and worm screw, thus increase wrom tooth with Opposite sliding friction between two lateral tooth flanks, the abrasion in turn resulting in the flank of tooth increase, and reduce the accuracy life of device.

For example, the Chinese patent literature of Publication No. CN101598212B discloses a kind of automatic elimination backlash machine Structure, including sliding block, centering block, spring, spring base and the fixation gear and free gear wheel that are separately positioned on coaxial line arranged in dislocation I and loading end II on loading end on spoke；Sliding block bottom surface forms prismatic pair with the loading end I being arranged on fixed gear spoke； The pedestal ground and sliding block top surface (inclined-plane) of centering block form prismatic pair；The yaw part of centering block is located at the circle on free gear spoke In arc groove, revolute pair is formed with loading end II；Spring base is mounted on the spoke of fixed gear, and center line, which is parallel to, to be set The loading end I on fixed gear spoke is set, one end of spring mounts elastically, and the other end is contacted with the side of sliding block. Such automatic Xian Chu backlash mechanism not only large carrying capacity, high reliablity, and structure is simple, manufacture easy to process.But It is the automatic elimination backlash mechanism that the patent provides, does not use the face of the wrom tooth and worm screw two sides that roll, from And the wrom tooth and two lateral tooth flank of worm screw are opposite sliding friction, flank of tooth loss is big, and accuracy life is low；And due to actuated element More, volume is greatly, structure is complicated leads to the servo-drive for being difficult to be suitable for requiring high transmission accuracy, large carrying capacity, mechanism compact The transmission device of system, and some transmissions, because meshing efficiency is low, sideshake caused by tooth surface abrasion cannot be eliminated automatically, Wu Fazhen It is positive to realize zero clearance transmission.

To sum up, in view of the shortcomings of the prior art, needing a kind of drive gap is zero, tooth surface abrasion is slow, preferably a kind of energy Automatically the novel worm-drive speed change gear of the backlash generated by tooth surface abrasion is eliminated.

In addition, on the one hand since the understanding to those skilled in the art has differences；On the other hand since inventor makes Lot of documents and patent are had studied when of the invention, but length limits and do not enumerate all details and content in detail, however this is absolutely Non-present invention does not have the feature of these prior arts, and present invention has been provided with all features of the prior art, Er Qieshen Ask someone to retain the right for increasing related art in the background technology.

Summary of the invention

Cause to be difficult to be suitable for since actuated element is more, volume is big, structure is complicated for existing elimination backlash structure It is required that the deficiency of the transmission device of the compact servo drive system of high transmission accuracy, large carrying capacity, mechanism, the present invention provides A kind of speed change gear for eliminating drive gap, during speed change gear transmission, by least being limited by two rolling elements Wrom tooth respectively with two lateral tooth flanks in snail road always at least the local flank of tooth keep line contact, thus pass through two rolling elements and snail Two lateral tooth flank of road against backlash is avoided the occurrence of, so as to eliminate the hysterisis error in transmission process, avoid generating Between cog impact, improves the stationarity of transmission, and sliding friction is changed into relative rolling friction by the rotation of rolling element, subtracts The abrasion of few flank of tooth, improves accuracy life.

A kind of speed change gear for eliminating drive gap, including at least the antarafacial of axis each other being arranged in cabinet worm screw and Worm gear.The worm gear is equipped with snail that is dismountable and being interconnected with the snail road of the worm screw along its circumferentially spaced row Tooth.The worm gear includes at least two disks being bonded in the axial direction each other, and the radial outside of at least two disks is respectively arranged There is the rolling element of circumferentially spaced arrangement, in the case where the worm screw and/or worm gear rotatable around its axis, appoints flashy institute The wrom tooth that the road Shu Wo rolling element adjacent to each other in the axial direction by least two disks and with angle limits engages. The wrom tooth be located at the rolling elements of the worm axis two sides in a manner of the angle is adjusted always with the snail road The contact of two sides flank lines and the rolling element two-by-two between the side non-vertically intersected with the axis of the worm screw of axial connecting line Formula distinguishes rotation.The angle is formed between the axis of two circumferentially-adjacent rolling elements on different disks.

According to a preferred embodiment, the wrom tooth is included at least axially spaced first to be rolled along the worm gear Body and the second rolling element.In the case where the worm gear is rotated around its axis along first direction or second direction, at least one Wrom tooth is engaged with the snail road so that first rolling element and second rolling element two sides tooth with the snail road respectively The axial connecting line of brought into linear contact and first rolling element and second rolling element keeps length constant so that the wrom tooth The mode for forming relative rolling friction with the snail road realizes the gapless driving of worm gear Yu the worm screw.

According to a preferred embodiment, the worm screw around own axis and at least two wrom tooths with it is described In the case that snail road engages, by limiting the first rolling element of the wrom tooth and the first face Xiang Suoshu in the snail road First rolling element applies the first tangential force and the first radial force.By the second rolling element and the snail road that limit the wrom tooth Second face and to second rolling element apply identical with first tangential force direction the second tangential force and with institute State the second opposite radial force of the first radial force.First tangential force by first rolling element and first flank of tooth it Between rolling friction and drive first rolling element rotatable around its axis.Second tangential force passes through second rolling element Rolling friction between second flank of tooth and drive second rolling element rotatable around its axis.The worm gear passes through described First radial force of first rolling element transmitting and the second radial force transmitted by second rolling element are around its axis Line rotation.

According to a preferred embodiment, the worm screw around own axis and first radial force be greater than it is described In the case where second radial force, the wrom tooth passes through contrary first radial force and second radial power drive institute Axis of the worm gear along the direction of first radial force around the worm gear is stated to rotate.First rolling element is by being greater than described the First tangential force of two tangential forces is rotatable around its axis in a manner of being greater than the angular speed that described second rolls rotation.

According to a preferred embodiment, the worm screw around own axis and first radial force be less than it is described In the case where second radial force, the wrom tooth passes through contrary first radial force and second radial power drive institute Axis of the worm gear along the direction of second radial force around the worm gear is stated to rotate.First rolling element is by being less than described the First tangential force of two tangential forces is rotatable around its axis in a manner of being less than the angular speed that described second rolls rotation.

A kind of speed change gear, including at least the worm and worm wheel for the antarafacial of axis each other being arranged in cabinet.The worm gear edge Its circumferentially spaced row is equipped with wrom tooth that is dismountable and being interconnected with the snail road of the worm screw.The worm screw and/ Or in the case that worm gear is rotatable around its axis, the flashy snail road and the wrom tooth limited by least two rolling elements Engagement.The wrom tooth respectively with two lateral tooth flank of snail road each other at least keep partial line contact the rolling element with always that The opposite mode of this rotation direction is rotated around respective axis.

A kind of gap removing method, the method includes the speed change gears described in one of above-mentioned preferred embodiment to eliminate snail Gap between the road Chi Yuwo.

Advantageous effects of the invention include following one or more:

1, gapless driving structure compared with prior art, the present invention are offset one from another by the axis and contour in worm gear The wrom tooth that at least two rolling elements limit, during transmission, two lateral tooth flanks in snail road at least one rolling element against, It is driven so as to no backlash, eliminates hysterisis error, and flank can be avoided in the moment that worm gear rotation direction switches The impact of gap bring, reduces the abrasion of between cog；

2, speed change gear provided by the invention utilizes bullet by fitting in two axial directions and rotatable disk relative to each other Property body elastic force, force at least two rolling elements of wrom tooth to be bonded always with the flank of tooth of snail road two sides, i.e., by abrasion or its He impacts so that wrom tooth and snail road are there are in the case where backlash, between two rolling elements that can also change wrom tooth by elastomer Angle so that wrom tooth and snail road are in the state of two-way zero clearance always during transmission, to be always ensured that Speed change gear is gapless driving；

3, during speed change gear is driven, it is possible that the rigid shock of moment, causes inter-lobe clearance to occur, or Person generates impact to wrom tooth, and wrom tooth is caused to wear, and wrom tooth of the invention is made of the rolling element of two changeable angles, The moment of impact, the impact that rolling element is born is by elastomeric absorbent, and slow release, reduces impact and damages to rolling element bring Wound, improves accuracy life.

4, speed change gear provided by the invention can be while keeping gapless driving, by being existed using two and half worm gears Axis upwardly through several ellipse screw hole, using two and half worm gear of bolt-connection, thus by the friction between bolt come The position between two rolling elements of wrom tooth is adjusted to reach the automatic function of eliminating gap, thus in the same of gapless driving When, realize the automatic function of eliminating backlash；

5, speed change gear provided by the invention passes through two rolling elements and snail road tooth in the friction adjustment wrom tooth between bolt Gap between face, structure is simple, compact, and the kinematic pair between two and half worm gears be low pair, therefore convenient processing and manufacture, It is at low cost；

6, speed change gear provided by the invention is during transmission, always due to two rolling elements and two lateral tooth flank of snail road Line contact is kept, so that the opposite sliding friction between the flank of tooth is converted to relative rolling friction, can not only further be reduced Between cog abrasion, and can be reduced because of tooth surface abrasion bring backlash problem, the stationarity and transmission efficiency of transmission are improved, and Increase accuracy life.

7, speed change gear provided by the invention can be significantly due to gapless driving and relative rolling friction Impact and abrasion are reduced, therefore rolling element of the invention need not be manufactured using non-ferrous metal, reduces cost of manufacture, and using rolling Kinetoplast is made of softer material, can effectively be avoided wearing worm screw snail road bring, be increased the service life of worm screw.

Detailed description of the invention

Fig. 1 is the structural schematic diagram of a preferred embodiment of the present invention；

Fig. 2 is the structural schematic diagram of the worm gear in a preferred embodiment of the present invention；

Fig. 3 is the structural representation that wrom tooth is engaged with snail road in a preferred embodiment of the present invention；

Fig. 4 is the contact line schematic diagram of a preferred rolling element of the invention；

Fig. 5 is the contact line schematic diagram of another preferred rolling element of the invention；With

Fig. 6 is the contact line schematic diagram that body is determined in another preferred rolling of the invention.

Reference signs list

1: cabinet 2: worm screw

3: worm gear 4: snail road

5: wrom tooth 6: rolling element

7: 61: the first rolling element of screw hole

62: the second rolling element 2a: worm axis

F1: the first the F2: the second tangential force of tangential force

F3: the first the F4: the second radial force of radial force

4a: the first 4b: the second flank of tooth of the flank of tooth

8: contact line 9: rolling element axial connecting line

3a: worm gear axis 3b: worm gear contour

α: angle

Specific embodiment

It is described in detail with reference to the accompanying drawing.

Embodiment 1

Present embodiment discloses a kind of speed change gears, are also possible to a kind of speed change gear that can eliminate drive gap, the dress Setting can be realized by the device of the invention and/or other alternative components.For example, by using in the device of the invention Each components realize the device of the invention.In the case where not causing conflict or contradictory situation, the preferred implementation of other embodiments The entirety and/or partial content of mode can be used as the supplement of the present embodiment.

According to a kind of preferred embodiment, a kind of speed change gear for eliminating drive gap includes at least setting in cabinet 1 The antarafacial of axis each other worm screw 2 and worm gear 3.Preferably, as shown in Figure 1, cabinet 1 is open at least provided with two, one is opened Mouth is located at the axial one end of worm screw 1, connect for devices such as servo-drives with worm screw 1.The one end of worm gear 2 axially is equally set It is equipped with opening, the opening with shaft coupling for connecting.Preferably, axis antarafacial refers to worm gear axis 3a and worm axis 2a each other For different surface beeline, worm axis 2a and worm gear axis 3a be not on the same face, the two, that is, non-intersecting and not parallel.Preferably, Worm axis 2a and worm gear axis 3a are orthogonal.By the set-up mode, rubbing between wrom tooth 5 and snail road 4 can be reduced It wipes, and there is biggish transmission ratio.

Preferably, worm screw 2 is provided with multiple snail roads 4.Multiple snail roads 4 are in the helical form of variable diameter, as shown in figures 1 and 3.? The radius in the snail road 4 in the axial middle position of worm screw 2 is minimum.By the set-up mode, optimizes the size of wrom tooth 5, snail can be increased The number that tooth 5 is engaged with snail road 4 increases the bearing capacity of Worm Wheel System pair, even if bearing heavy duty or shock loading, also can It is enough to operate normally.Preferably, the area of section at 4 both ends of snail road is identical.Preferably, worm screw 2 is generally made of alloy material, example Such as 40Cr steel alloy.

Preferably, worm gear 2 can be cylindrical body.Worm gear 2 is detachably connected with wrom tooth 5.Wrom tooth 5 can by with snail Take turns 2 integrally formed tooth mandrel connections.For example, wrom tooth 5 can be set in tooth mandrel.It can be set between wrom tooth 5 and tooth mandrel Roller bearing or needle bearing are set, friction when 5 rotation of wrom tooth is reduced.Preferably, wrom tooth 5 can with tooth mandrel one at Type, and be mounted on worm gear 2 threadably.Preferably, worm gear 2 is equipped with several wrom tooths 5 along its circumferentially spaced row, As depicted in figs. 1 and 2.Preferably, wrom tooth 5 includes at least two rolling elements 6.Rolling element 6 along worm gear 2 axial and circumferential each other It is staggered, as depicted in figs. 1 and 2.Preferably, 6 mutual centre of rolling element of each wrom tooth 5 is symmetrical.Preferably, each wrom tooth is constituted 5 rolling element 6 can be two, three or more, and be distributed in the two sides of worm gear axis 3b.Preferably, rolling element 6 It can be around own axis.The axis of 6 rotation of rolling element is along the radial direction of worm gear 2, and its extension line and worm gear axis 3a hang down Straight intersection.Preferably, in the case where worm gear 3 is rotated around worm gear axis 3a, the edge of worm gear 3 is capable of forming with the axis of worm gear 3 The heart is the virtual circles motion profile in the center of circle.Wrom tooth 5 can be moved along by the virtual Circular test in the center of circle of the axle center of worm gear 3.It is excellent Selection of land, worm gear 3 can use the steel alloy of GCr15, elastic modulus E=206000MPa, Poisson's ratio μ=0.3.Preferably, it rolls Kinetoplast 6 can be cylindrical, taper or circle, respectively as shown in Fig. 4,5 and 6.Rolling element 6 can be with copper alloy.

Preferably, in the case where worm screw 2 and/or worm gear 3 rotatable around its axis, appoint flashy snail road 4 and by least The wrom tooth 5 that two rolling elements 6 limit engages, as shown in figures 1 and 3.Wrom tooth 5 is located at the rolling element 6 of 2 axis two sides of worm screw to begin The two sides flank lines in the road Zhong Yuwo 4 contact.Preferably, line contact refers to: connecing each other in rolling element 6 and two lateral tooth flanks in snail road 4 At least part of the moment of touching, rolling element 6 and the contact relation in snail road 4 is a little made of several adjacent to each other continuously contacting with Space curve.Preferably, at least part of contact relation refers to the 60%-100% in contact relation.Preferably, several The flank of tooth intersection for continuously contacting with the space curve constituted and referring to the rolling surface and snail road 4 of rolling element 6 adjacent to each other, that is, contact Line 8.As shown in figure 4, being parallel to 6 axis of rolling element with the face line 8 in snail road 4 when rolling element 6 is cylindrical Positioned at the straight line of the rolling surface of rolling element 6.As shown in figure 5, the contact line 8 when wrom tooth 3 is taper, with the flank of tooth in snail road 4 It is the straight line on the rolling surface of rolling element 6.Preferably, as shown in fig. 6, contact line 8 is when rolling element 6 is round One space curve from dome point to circular edge.By the set-up mode, during transmission, the two sides tooth in snail road 4 Face at least one rolling element 6 against, be driven so as to no backlash, eliminate hysterisis error, and can be in worm gear 2 The moment of rotation direction switching avoids backlash bring from impacting, and reduces the abrasion of between cog.Due to two rolling elements 6 and snail road 4 liang of lateral tooth flanks remain that line contacts, so that the opposite sliding friction between the flank of tooth is converted into relative rolling friction, it can not only Between cog abrasion is further reduced, and can be reduced because of tooth surface abrasion bring backlash problem, the stationarity of transmission is improved And transmission efficiency, and increase accuracy life.

Preferably, rolling element 6 two-by-two between the mode that non-vertically intersects with the axis of worm screw 2 of axial connecting line respectively from Turn.Preferably, multiple rolling elements 6 are distributed in the two sides of worm axis 2a, and the also left side with snail road 4 respectively of multiple rolling elements 6 Right face.Preferably, rolling element 6 two-by-two between axial connecting line as shown in figure 3, roll body axis line 9 non-vertically with Worm axis 2a intersection can be guaranteed by the set-up mode in any time that wrom tooth 5 is engaged with snail road 4, holding and snail 4 two sides face of road, avoids the occurrence of inter-lobe clearance.

Preferably, worm gear 3 is axial detachably connected in worm gear 3 by upper disk and lower disc.Preferably, upper disk and What the circumferential direction of lower disc was intervally arranged is provided with several rolling elements 6.Preferably, the company that upper disk and lower disc miss one another It connects, so that worm gear 3 axially adjacent two roll 6 and miss one another.Two rolling elements 6 on different disks constitute described respectively Wrom tooth 5 is contacted with the 4 two sides flank lines of snail road, and the axis of the two rolling elements 6 has an angle α to each other, is formed such as Fig. 1 and worm gear shown in Fig. 23.Preferably, upper disk and lower disc are provided with the screw hole 7 of multiple ellipses.Pass through ellipse Screw hole 7 is convenient for the arranged in dislocation of rolling element 6.Preferably, it is inserted into screw hole 7 by bolt and installs disk and lower disc.Pass through The set-up mode can use the angle α between two rolling elements 6 of the friction to adjust wrom tooth 5 between bolt to reach certainly The dynamic function of eliminating gap, to realize the automatic function of eliminating backlash while gapless driving.Moreover, passing through Gap in friction adjustment wrom tooth 5 between bolt between 4 flank of tooth of two rolling elements 6 and snail road, structure is simple, compact, and Kinematic pair between two disks is low pair, therefore convenient processing and manufacture, at low cost.

Preferably, elastomer can also be set between upper disk and lower disc, such as connected in the axle center of two disks Place's setting main spring, forces angle α to become larger, so that at least two rolling elements 6 of wrom tooth 5 using the elastic reaction of spring Always it is bonded with 4 liang of snail road lateral tooth flank, realizes two-way zero clearance transmission, to be always ensured that speed change gear for gapless biography It is dynamic.And during speed change gear transmission, it is possible that the rigid shock of moment, causes inter-lobe clearance to occur, or To wrom tooth 5 generate impact, cause wrom tooth 5 wear, and it is of the invention force the angle α of two rolling elements 6 to become larger using elastomer, In the moment of impact, the impact that rolling element 6 is born is by elastomeric absorbent, and slow release, reduces impact and brings to rolling element Damage, improve accuracy life.

Mode through the above arrangement, speed change gear provided by the invention, due to gapless driving and relative rolling friction, because Impact and abrasion can be greatly reduced in this, therefore rolling element 6 of the invention need not be manufactured using non-ferrous metal, reduce production Cost, and made of rolling element of softer material, 4 bring of the snail road abrasion to worm screw 2 can be effectively avoided, is increased Add the service life of worm screw 2.

According to a preferred embodiment, wrom tooth 5 include at least the first rolling element 61 for arranging along 3 axially spaced-apart of worm gear with And second rolling element 62, as shown in Figure 3.In the case where worm gear 3 is rotated around its axis along first direction or second direction, at least One wrom tooth 5 is engaged with snail road 4 so that the two sides flank lines of the first rolling element 61 and the second rolling element 62 respectively with snail road 4 connect Touching.Preferably, first direction can be clockwise, and second direction can be counterclockwise.Preferably, the first rolling element 61 contact with the first flank of tooth 4a, and the second rolling element 62 is contacted with the second flank of tooth 4b.Preferably, in snail road, 4 between cog is not lost And in the case where invariable precision, the axial connecting line of the first rolling element 61 and the second rolling element 2 keeps length constant.By this Set-up mode, in speed change gear frequently positive and negative transmission, the first rolling element 61 is kept in contact with the first flank of tooth 4a always, and the Two roll 62 is kept in contact with the second flank of tooth 4b always.Moreover, the first rolling element 61 and the second rolling element 62 can form phase The gapless driving of worm gear 3 Yu worm screw 2 is realized to the mode of rolling friction.

According to a preferred embodiment, worm screw 2 is around own axis and at least two wrom tooths 5 are engaged with snail road 4 In the case where, the first rolling element 61 by limiting wrom tooth 5, which is contacted with first flank of tooth 4a in snail road 4 to the first rolling element 61, to be applied Add the first tangential force F1 and the first radial force F3, as shown in Figure 3.Preferably, the second rolling element 62 by restriction wrom tooth 5 and snail Second flank of tooth 4b in road 4 contact and to the second rolling element 62 apply second tangential force F2 identical with the first direction tangential force F1 and The second radial force F4 opposite with the first radial force F3, as shown in Figure 3.First tangential force F1 passes through the first rolling element 61 and first Rolling friction between flank of tooth 4a and drive the first rolling element 61 rotatable around its axis.Second tangential force F2 passes through the second rolling element 62 and the second rolling friction between flank of tooth 4b and drive the second rolling element 62 rotatable around its axis.Worm gear 3 is rolled by first Body 61 transmit the first radial force F3 and by the second rolling element 62 transmit the second radial force F4 it is rotatable around its axis.It is excellent Selection of land, in the case where worm screw 2 is around own axis and the first radial force F3 is greater than the second radial force F4,5 side of passing through of wrom tooth To the first opposite radial force F3 and the second radial force F4 driving worm gear 3 along the direction of the first radial force F3 around the axis of worm gear 3 Rotation.First rolling element 61 is greater than the angle speed of the second 62 rotations of rolling by the first tangential force F1 greater than the second tangential force F2 The mode of degree is rotatable around its axis.Preferably, in worm screw 2 around own axis and the first radial force F3 is less than the second radial force In the case where F4, wrom tooth 5 drives worm gear 3 along the second radial force by the first contrary radial force F3 and the second radial force F4 The direction of F4 is rotated around the axis of worm gear 3.First rolling element 61 is by the first tangential force F1 less than the second tangential force F2 with small It is rotatable around its axis in the mode for the angular speed that second rolls 62 rotations.Preferably, by being located at the heavily loaded lateral tooth flank in snail road 4 Rolling element 6 can partially remove the shock loading of the speed change in transmission process with the rotation of biggish angular speed, improve transmission process In stationarity.

Embodiment 2

Present embodiment discloses a kind of speed change gear, which can be by the device of the invention and/or other are alternative Components are realized.For example, realizing the device of the invention by using each components in the device of the invention.It is not causing to rush In prominent or contradictory situation, the entirety and/or partial content of the preferred embodiment of other embodiments can be used as this implementation The supplement of example.

A kind of speed change gear, it is preferable that as shown in Figure 1, cabinet 1 is open at least provided with two, an opening is located at snail The axial one end of bar 1, connect for devices such as servo-drives with worm screw 1.The one end of worm gear 2 axially is again provided with out Mouthful, the opening with shaft coupling for connecting.Preferably, axis antarafacial refers to that worm gear axis 3a and worm axis 2a are antarafacial each other Straight line, worm axis 2a and worm gear axis 3a be not on the same face, the two, that is, non-intersecting and not parallel.Preferably, worm shaft Line 2a and worm gear axis 3a are orthogonal.By the set-up mode, the friction between wrom tooth 5 and snail road 4 can be reduced, and is had There is biggish transmission ratio.

Preferably, in the case where worm screw 2 and/or worm gear 3 rotatable around its axis, appoint flashy snail road 4 and by least The wrom tooth 5 that two rolling elements 6 limit engages.As shown in figures 1 and 3.Preferably, wrom tooth 5 respectively with 4 liang of snail road lateral tooth flank each other At least keep the rolling element 6 of partial line contact with the opposite mode of rotation direction is rotated around respective axis each other always.Preferably, Partial line contact refers to: the moment that two lateral tooth flanks in rolling element 6 Yu snail road 4 are in contact with each other, the contact of rolling element 6 and snail road 4 At least part of relationship is adjacent to each other to continuously contact with the space curve a little constituted by several.Preferably, contact relation At least part refers to the 60%-100% in contact relation.Preferably, several adjacent to each other to continuously contact with the sky constituted Half interval contour refers to the rolling surface of rolling element 6 and the flank of tooth intersection in snail road 4, i.e. contact line 8.As shown in figure 4, when rolling element 6 is circle When cylindricality, the straight line of the rolling surface positioned at rolling element 6 of 6 axis of rolling element is parallel to the face line 8 in snail road 4. As shown in figure 5, the contact line 8 with the flank of tooth in snail road 4 is straight on the rolling surface of rolling element 6 when wrom tooth 3 is taper Line.As shown in fig. 6, contact line 8 is a space curve from dome point to circular edge when rolling element 6 is round.It is excellent Selection of land, the rolling element 6 that wrom tooth 5 is contacted with 4 two sides flank lines of snail road respectively with always each other the opposite mode of rotation direction around each It is rotated from axis.That is, guaranteeing any time, two sides tooth generates the tangential force of the same direction, and rolling element to rolling element 6 respectively 6 at least keep the face of the state of relative rolling and 4 two sides of snail road.Pass through the set-up mode, during transmission, snail Two lateral tooth flanks in road 4 at least one rolling element 6 against, be driven so as to no backlash, eliminate hysterisis error, and Backlash bring can be avoided to impact in the moment that 2 rotation direction of worm gear switches, reduce the abrasion of between cog.Due to two rollings Kinetoplast 6 remains that line contacts with 4 liang of snail road lateral tooth flank, rubs so that the opposite sliding friction between the flank of tooth is converted to relative rolling It wipes, can not only further reduce between cog abrasion, and can be reduced because of tooth surface abrasion bring backlash problem, improve and pass Dynamic stationarity and transmission efficiency, and increase accuracy life.

Preferably, worm gear 3 is axial detachably connected in worm gear 3 by upper disk and lower disc.Preferably, upper disk and What the circumferential direction of lower disc was intervally arranged is provided with several rolling elements 6.Preferably, the company that upper disk and lower disc miss one another It connects, so that worm gear 3 axially adjacent two roll 6 and miss one another and form angle α, forms worm gear 3 as depicted in figs. 1 and 2. Preferably, upper disk and lower disc are provided with the screw hole 7 of multiple ellipses.It is convenient for the mistake of rolling element 6 by the screw hole 7 of ellipse Position installation.Preferably, it is inserted into screw hole 7 by bolt and installs disk and lower disc.By the set-up mode, spiral shell can use The angle α between two rolling elements 6 of the friction to adjust wrom tooth 5 between bolt reaches the automatic function of eliminating gap, thus While gapless driving, the automatic function of eliminating backlash is realized.Moreover, passing through the friction adjustment wrom tooth between bolt Gap in 5 between 4 flank of tooth of two rolling elements 6 and snail road, structure is simple, compact, and the kinematic pair between two disks is Low pair, thus it is convenient processing and manufacture, at low cost.

Embodiment 3

The present embodiment is gap removing method corresponding with embodiment 1,2 and 3, and duplicate content repeats no more.

A kind of gap removing method, method include that the speed change gear of one of above-mentioned preferred embodiment eliminates wrom tooth 5 and snail Gap between road 4.Preferably, speed change gear includes at least worm screw 2 and the worm gear 3 for the antarafacial of axis each other being arranged in cabinet 1. Preferably, as shown in Figure 1, cabinet 1 is open at least provided with two, an opening is located at the axial one end of worm screw 1, is used for servo The devices such as driving are connect with worm screw 1.The one end of worm gear 2 axially is again provided with opening, and the opening with shaft coupling for connecting It connects.Preferably, axis antarafacial refers to that worm gear axis 3a and worm axis 2a are different surface beeline, worm axis 2a and worm gear each other Axis 3a is not on the same face, the two, that is, non-intersecting and not parallel.Preferably, worm axis 2a and worm gear axis 3a is being each other just It hands over.By the set-up mode, the friction between wrom tooth 5 and snail road 4 can be reduced, and there is biggish transmission ratio.

Preferably, worm gear 3 is axial detachably connected in worm gear 3 by left half worm gear and right half worm gear.Preferably, left half What the circumferential direction of worm gear and right half worm gear was intervally arranged is provided with several rolling elements 6.Preferably, left half worm gear and right half worm gear The connection to miss one another forms worm gear as depicted in figs. 1 and 2 so that worm gear 3 axially adjacent two roll 6 and miss one another 3.Preferably, left half worm gear and right half worm gear are provided with the screw hole 7 of multiple ellipses.By the screw hole 7 of ellipse convenient for rolling The arranged in dislocation of body 6.Preferably, it is inserted into screw hole 7 by bolt and left half worm gear and right half worm gear is installed.Pass through the setting side Gap is eliminated to reach automatic in formula, the position that can use between two rolling elements 6 of the friction to adjust wrom tooth 5 between bolt Function realize the automatic function of eliminating backlash thus while gapless driving.Moreover, by between bolt Gap in friction adjustment wrom tooth 5 between 4 flank of tooth of two rolling elements 6 and snail road, structure is simple, compact, and two and half worm gears Between kinematic pair be low pair, therefore it is convenient processing and manufacture, at low cost.

It should be noted that above-mentioned specific embodiment is exemplary, those skilled in the art can disclose in the present invention Various solutions are found out under the inspiration of content, and these solutions also belong to disclosure of the invention range and fall into this hair Within bright protection scope.It will be understood by those skilled in the art that description of the invention and its attached drawing are illustrative and are not Constitute limitations on claims.Protection scope of the present invention is defined by the claims and their equivalents.

Claims

1. one kind can eliminate the speed change gear of drive gap, the worm screw for the antarafacial of axis each other being arranged in cabinet (1) is included at least (2) and worm gear (3), the worm gear (2) is equipped with dismountable and can be with the snail road of the worm screw (2) along its circumferentially spaced row (4) wrom tooth (5) being interconnected,

It is characterized in that, the worm gear (3) includes at least two disks being bonded in the axial direction each other, the diameter of at least two disks It is each provided with the rolling element (6) of circumferentially spaced arrangement outward,

In the case where the worm screw (2) and/or worm gear (3) rotatable around its axis, appoint the flashy snail road (4) and by extremely The wrom tooth (5) engagement that rolling element (6) adjacent to each other and with angle (α) limits in the axial direction of few two disks, institute It states wrom tooth (5) and is located at the rolling element (6) of the worm screw (2) axis two sides in a manner of the angle (α) is adjusted always Contacted with the two sides flank lines of the snail road (4) and the rolling element (6) two-by-two between axial connecting line non-vertically with the snail The mode of the axis intersection of bar (2) distinguishes rotation, wherein

Between the axis for two circumferentially-adjacent rolling elements (6) that the angle (α) is formed on different disks.

2. speed change gear according to claim 1, which is characterized in that the wrom tooth (5) includes at least along the worm gear (3) The first rolling element (61) and the second rolling element (62) of axially spaced-apart arrangement,

In the case where the worm gear (3) is rotated around its axis along first direction or second direction, at least one wrom tooth (5) and institute The road Shu Wo (4) engage so that first rolling element (61) and second rolling element (62) respectively with the snail road (4) The contact of two sides flank lines and first rolling element (61) and the axial connecting line of second rolling element (62) holding length are constant So that the mode that the wrom tooth (5) and the snail road (4) form relative rolling friction realizes worm gear (3) and the worm screw (2) Gapless driving.

3. the speed change gear according to one of preceding claims, which is characterized in that turn in the worm screw (2) around own axes Dynamic and in the case that at least two wrom tooths (5) engages with the snail road (4), pass through the restriction wrom tooth (5) first is rolled First face of kinetoplast (61) and the snail road (4) and apply the first tangential force and first to first rolling element (61) Radial force, by limiting the second rolling element (6) of the wrom tooth (5) and the second face Xiang Suoshu of the snail road (4) Second rolling element (6) applies identical with first tangential force direction the second tangential force and opposite with first radial force Second radial force, wherein

First tangential force drives institute by the rolling friction between first rolling element (61) and first flank of tooth It is rotatable around its axis to state the first rolling element (61)；

Second tangential force drives institute by the rolling friction between second rolling element (62) and second flank of tooth It is rotatable around its axis to state the second rolling element (62)；

First radial force and rolled by described second that the worm gear (3) is transmitted by first rolling element (61) Body (62) transmitting the second radial force and it is rotatable around its axis.

4. the speed change gear according to one of preceding claims, which is characterized in that turn in the worm screw (2) around own axes In the case that dynamic and described first radial force is greater than second radial force, the wrom tooth (5) passes through contrary described the Worm gear (3) described in one radial force and the second radial power drive is along the direction of first radial force around the worm gear (3) Axis rotation, and

First rolling element (61) is greater than second rolling by being greater than the first tangential force of second tangential force The mode of the angular speed of kinetoplast (62) rotation is rotatable around its axis.

5. the speed change gear according to one of preceding claims, which is characterized in that turn in the worm screw (2) around own axes In the case that dynamic and described first radial force is less than second radial force, the wrom tooth (5) passes through contrary described the Worm gear (3) described in one radial force and the second radial power drive is along the direction of second radial force around the worm gear (3) Axis rotation, and

First rolling element (61) is by being less than the first tangential force of second tangential force to be less than second rolling element (62) mode of the angular speed of rotation is rotatable around its axis.

6. a kind of speed change gear includes at least worm screw (2) and the worm gear (3) of the antarafacial of axis each other being arranged in cabinet (1), described Worm gear (2) is equipped with wrom tooth that is dismountable and being interconnected with the snail road (4) of the worm screw (2) along its circumferentially spaced row (5), which is characterized in that

In the case where the worm screw (2) and/or worm gear (3) rotatable around its axis, appoint the flashy snail road (4) and by extremely The wrom tooth (5) engagement that few two rolling elements (6) limit, the wrom tooth (5) respectively with (4) two lateral tooth flank of snail road each other At least keep the rolling element (6) of partial line contact with the opposite mode of rotation direction is rotated around respective axis each other always.

7. the transmission device according to one of preceding claims, which is characterized in that the wrom tooth (5) includes at least along described The first rolling element (61) and the second rolling element (62) of worm gear (3) axially spaced-apart arrangement,

In the case where the worm gear (3) is rotated around its axis along first direction or second direction, at least one wrom tooth (5) and institute The road Shu Wo (4) engage so that first rolling element (61) and second rolling element (62) respectively with the snail road (4) The axial connecting line of the contact of two sides flank lines and first rolling element (61) and second rolling element (2) keep length constant with So that the mode that the wrom tooth (5) and the snail road (4) form relative rolling friction realizes worm gear (3) and the worm screw (2) Gapless driving.

8. the transmission device according to one of preceding claims, which is characterized in that turn in the worm screw (2) around own axes Dynamic and in the case that at least two wrom tooths (5) engages with the snail road (4), pass through the restriction wrom tooth (5) first is rolled First face of kinetoplast (61) and the snail road (4) and apply the first tangential force and first to first rolling element (61) Radial force, by limiting the second rolling element (6) of the wrom tooth (5) and the second face Xiang Suoshu of the snail road (4) Second rolling element (6) applies identical with first tangential force direction the second tangential force and opposite with first radial force Second radial force, wherein

9. the transmission device according to one of preceding claims, which is characterized in that turn in the worm screw (2) around own axes In the case that dynamic and described first radial force is greater than second radial force, the wrom tooth (5) passes through contrary described the Worm gear (3) described in one radial force and the second radial power drive is along the direction of first radial force around the worm gear (3) Axis rotation, and

First rolling element (61) is greater than second rolling by being greater than the first tangential force of second tangential force The mode of the angular speed of dynamic (62) rotation is rotatable around its axis.

10. a kind of gap removing method, which is characterized in that the method includes using speed change described in one of claim 1 to 9 Device eliminates the gap between wrom tooth (5) and snail road (4).