CN112145653B - Multistage gear drive structure - Google Patents
Multistage gear drive structure Download PDFInfo
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- CN112145653B CN112145653B CN202010913477.4A CN202010913477A CN112145653B CN 112145653 B CN112145653 B CN 112145653B CN 202010913477 A CN202010913477 A CN 202010913477A CN 112145653 B CN112145653 B CN 112145653B
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- gear
- module
- transmission module
- backlash
- tertiary
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
- F16H55/02—Toothed members; Worms
- F16H55/17—Toothed wheels
- F16H55/18—Special devices for taking up backlash
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
Abstract
The application provides a multistage gear drive structure sets up on outer frame, includes: the device comprises a motor driving module, a secondary transmission module, a tertiary transmission module and a main shaft driving module; the secondary transmission module, the tertiary transmission module and the main shaft driving module are all provided with anti-backlash gear structures; the main shaft driving module is fixedly connected to the outer frame, and the motor driving module, the secondary transmission module and the tertiary transmission module are respectively connected to the outer frame through sliding grooves; and the motor driving module, the secondary transmission module and the tertiary transmission module are respectively provided with a positioning pin hole and a mounting threaded hole, the positioning pin holes are used for coarse positioning adjustment when the motor driving module, the secondary transmission module and the tertiary transmission module are mounted with an outer frame, and the mounting threaded holes are used for fixed mounting after the coarse positioning adjustment when the motor driving module, the secondary transmission module and the tertiary transmission module are mounted with the outer frame. The beneficial effect of this application is: structural stress generated by assembly and manufacturing errors in the transmission process of the multi-stage gear can be effectively eliminated through the anti-backlash gear structure, and the modularized assembly is realized through the sliding groove, so that the module is convenient to disassemble and assemble; the locating pin hole improves the installation efficiency of the module.
Description
Technical Field
The utility model relates to a multistage gear drive technical field mainly is applied to the no backlash gear drive occasion that has certain requirement to the structural accuracy of shaft, especially relates to the high accuracy photoelectricity revolving stage that needs compact overall arrangement among fields such as aerospace.
Background
In the field of precision turntables in requirements of aerospace and the like, particularly multi-shaft multi-frame high-precision turntables often need to be compactly arranged in a narrow space, but a transmission mode directly driven by a motor often occupies a large space, and in traditional mechanical transmission, such as gear transmission, due to assembly and manufacturing errors among parts, the phenomena of uneven mechanical stress, accuracy loss and the like in the transmission process often occur, and particularly under the conditions of continuous forward rotation and continuous reverse rotation, the control accuracy loss in the gear transmission process can be caused by the poor return stroke of a gear.
The existing method for eliminating the backlash and improving the transmission precision of the multi-stage gear mostly improves the machining precision of the gear. The machining precision of the improved gear can cause the machining cost and the machining difficulty to be improved on the one hand, and on the other hand, because the parameters related to the manufacturing precision of the control gear are more, when the assembly problem occurs, the error reason is not easy to be checked, so that the debugging progress is influenced.
Disclosure of Invention
It is an object of the present application to address the above problems, and to provide a multistage gear transmission structure.
In a first aspect, the present application provides a multi-stage gear transmission structure, disposed on an outer frame, comprising: the device comprises a motor driving module, a secondary transmission module, a tertiary transmission module and a main shaft driving module; the secondary transmission module, the tertiary transmission module and the main shaft driving module are all provided with anti-backlash gear structures, the main shaft driving module, the secondary transmission module and the tertiary transmission module form a multi-stage transmission structure, the output end of the motor driving module is connected to the tertiary transmission module, the secondary transmission module is meshed with the tertiary transmission module, and the main shaft driving module is meshed and connected with one side of the secondary transmission module, which is far away from the tertiary transmission module; the main shaft driving module is fixedly connected to the outer frame, sliding grooves are formed in the motor driving module, the secondary transmission module and the tertiary transmission module, and the motor driving module, the secondary transmission module and the tertiary transmission module are detachably connected to the outer frame through the sliding grooves respectively; the motor driving module, the secondary transmission module and the tertiary transmission module are all provided with positioning pin holes and mounting threaded holes, the positioning pin holes are used for coarse positioning adjustment when the motor driving module, the secondary transmission module, the tertiary transmission module and the outer frame are mounted, and the mounting threaded holes are used for fixed mounting after the coarse positioning adjustment when the motor driving module, the secondary transmission module, the tertiary transmission module and the outer frame are mounted.
According to the technical scheme provided by the embodiment of the application, the anti-backlash gear structure comprises: the surface of the first anti-backlash gear is inwards sunken with at least two symmetrically arranged positioning holes, the surface of the second anti-backlash gear is respectively provided with an outwards-protruding positioning pin column corresponding to each positioning hole, and the first anti-backlash gear is fixedly connected with the second anti-backlash gear and enables each positioning pin column to be inserted into the corresponding positioning hole; the end part of the tension spring is fixedly connected with the first anti-backlash gear and the second anti-backlash gear.
According to the technical scheme provided by the embodiment of the application, the first gap eliminating gear is provided with a first waist-shaped groove, the second gap eliminating gear is provided with a second waist-shaped groove, and the pretightening force loading between the first gap eliminating gear and the second gap eliminating gear is realized through a screw fixed between the first waist-shaped groove and the second waist-shaped groove after the first waist-shaped groove and the second waist-shaped groove are aligned.
According to the technical scheme that this application embodiment provided, all be equipped with on second grade transmission module and the tertiary transmission module with anti-backlash gear structure complex mounting structure, mounting structure includes: the gear end cover is arranged on the gear lower support; the anti-backlash gear structure is fixedly connected to the gear shaft through a screw, the first bearing is arranged on the end face of the gear upper support, the second bearing is arranged on the end face of the gear lower support, two ends of the gear shaft are respectively and rotatably clamped in the first bearing and the second bearing, the gear upper support and the gear lower support are fixedly connected, and the gear end cover is arranged on the end face, far away from the first bearing, of the gear upper support.
According to the technical scheme provided by the embodiment of the application, be equipped with drive angle measurement system on the motor drive module, drive angle measurement system is used for measuring the angle of motor drive module output and obtains first angle, is equipped with the execution angle measurement system on the drive main shaft drive module, the execution angle measurement system is used for measuring the actual angle of main shaft drive module output and obtains the second angle, the difference of first angle and second angle makes up through software algorithm.
The invention has the beneficial effects that: the application provides a multi-stage gear transmission structure, by adopting a modularized design mode, a module is detachably arranged on an outer frame through a sliding groove, so that a multi-stage gear transmission system can be quickly arranged and adjusted, and meanwhile, each stage of transmission module adopts a clearance eliminating structure, so that structural stress generated by assembly and manufacturing errors in the multi-stage gear transmission process can be effectively eliminated; the design of the positioning pin hole on the module can facilitate the coarse positioning adjustment of the module when the module is arranged on the outer frame, thereby improving the installation efficiency of the module.
Drawings
Fig. 1 and 2 are schematic structural diagrams of a first embodiment of the present application;
FIG. 3 is a cross-sectional view of a first embodiment of an anti-backlash gear structure according to the present application;
FIGS. 4 and 5 are schematic structural views of an anti-backlash gear structure according to a first embodiment of the present disclosure;
FIG. 6 is a cross-sectional view of a mounting structure mated with an anti-backlash gear structure in accordance with a first embodiment of the present application;
the text labels in the figures are represented as: 100. a motor drive module; 300. a secondary transmission module; 200. a third-stage transmission module; 400. a spindle drive module; 500. a chute; 610. a positioning pin hole; 620. installing a threaded hole; 700. an anti-backlash gear structure; 710. a first anti-backlash gear; 712. a first waist-shaped groove; 720. a second anti-backlash gear; 730. a tension spring; 810. a gear upper bracket; 820. a gear lower bracket; 830. a gear shaft; 840. a first bearing; 850. a second bearing; 860. and a gear end cover.
Detailed Description
In order that those skilled in the art will better understand the technical solutions of the present invention, the following detailed description of the present invention is provided in conjunction with the accompanying drawings, and the description of the present section is only exemplary and explanatory, and should not be construed as limiting the scope of the present invention in any way.
As shown in fig. 1 and fig. 2, a schematic diagram of a first embodiment of the present application is shown, and a technical solution of the present embodiment is a pitch transmission structure applied to an outer frame of a two-axis four-frame electro-optical pod, including: a motor driving module 100, a secondary transmission module 300, a tertiary transmission module 200, and a spindle driving module 400; the second-stage transmission module 300, the third-stage transmission module 200 and the spindle driving module 400 are all provided with anti-backlash gear structures 700.
The spindle driving module 400, the secondary transmission module 300 and the tertiary transmission module 200 form a multi-stage transmission structure, the output end of the motor driving module 100 is connected to the tertiary transmission module 200, the secondary transmission module 300 is engaged with the tertiary transmission module 200, and the spindle driving module 400 is engaged with one side of the secondary transmission module 300 away from the tertiary transmission module 200. In this embodiment, the motor driving module 100 drives the anti-backlash gear structure 700 in the third-stage transmission module 200 to rotate, and the anti-backlash gear structures 700 in the third-stage transmission module 200, the second-stage transmission module 300, and the spindle driving module 400 are sequentially engaged and connected to form a multi-stage transmission structure. In this embodiment, the backlash elimination gear structure 700 is disposed on each of the secondary transmission module 300, the tertiary transmission module 200, and the spindle driving module 400, so that structural stress caused by assembly and manufacturing errors during the multi-stage gear transmission process can be effectively eliminated, and the multi-stage gear transmission precision can be improved.
The spindle driving module 400 is fixedly connected to an outer frame, the motor driving module 100, the secondary transmission module 300 and the tertiary transmission module 200 are all provided with sliding grooves 500, and the motor driving module 100, the secondary transmission module 300 and the tertiary transmission module 200 are detachably connected to the outer frame through the sliding grooves 500 respectively. In this embodiment, all be equipped with spout 500 on motor drive module 100, second grade transmission module 300, the tertiary transmission module 200, motor drive module 100, second grade transmission module 300, tertiary transmission module 200 pass through respectively spout 500 connects gradually on outer frame for overall structure realizes the modular installation, realizes the swift installation of multistage gear drive system and adjustment, is favorable to guaranteeing multistage driven conveying precision.
All be equipped with registration pin hole 610 and installation screw hole 620 on motor drive module 100, second grade transmission module 300, the tertiary transmission module 200, coarse positioning adjustment when registration pin hole 610 is used for motor drive module 100, second grade transmission module 300, tertiary transmission module 200 and outer frame installation, installation screw hole 620 is used for motor drive module 100, second grade transmission module 300, the fixed mounting after coarse positioning adjustment when tertiary transmission module 200 and outer frame installation.
In this embodiment, during installation, the spindle driving module 400 is first fixedly installed on the outer frame, and then the third-stage transmission module 200, the second-stage transmission module 300, and the motor driving module 100 are sequentially connected to the corresponding sliding connection structures on the outer frame through the sliding grooves 500. When the motor driving module 100, the secondary transmission module 300 and the tertiary transmission module 200 are installed on the outer frame, initial positioning adjustment of each module on the outer frame can be performed through the pins installed in the positioning pin holes 610, after the position adjustment of the modules on the outer frame is completed, the modules are fixed on the outer frame by using the screws installed in the installation screw holes 620, and after the screws are fixed, the pins in the positioning pin holes 610 are removed.
In a preferred embodiment, as shown in fig. 3 to 5, the anti-backlash gear structure 700 includes: the anti-backlash mechanism comprises a first anti-backlash gear 710, a second anti-backlash gear 720 and a tension spring 730, wherein the surface of the first anti-backlash gear 710 is inwards recessed with at least two symmetrically arranged positioning holes, the surface of the second anti-backlash gear 720 is respectively provided with a convex positioning pin column corresponding to each positioning hole, and the first anti-backlash gear 710 and the second anti-backlash gear 720 are fixedly connected and enable each positioning pin column to be inserted into the corresponding positioning hole; the end of the tension spring 730 is fixedly connected with the first anti-backlash gear 710 and the second anti-backlash gear 720. The first backlash elimination gear 710 is provided with a first waist-shaped groove 712, the second backlash elimination gear 720 is provided with a second waist-shaped groove, and the first waist-shaped groove 712 is aligned with the second waist-shaped groove, and then the pretightening force loading between the first backlash elimination gear 710 and the second backlash elimination gear 720 is realized through a screw fixed between the first waist-shaped groove 712 and the second waist-shaped groove. In this embodiment, the anti-backlash gear structure 700 mainly includes a first anti-backlash gear 710 and a second anti-backlash gear 720 that are fixedly connected together in a stacked manner, and a tension spring 730 is disposed inside the first anti-backlash gear 710 and the second anti-backlash gear 720. In this embodiment, the tension spring 730 is fixed to the first anti-backlash gear 710 and the second anti-backlash gear 720 by screws, and the pre-tightening force loading of the two anti-backlash gears is completed by twisting the two anti-backlash gears. In this embodiment, since the first gap eliminating gear 710 is provided with the first waist-shaped groove 712, and the second gap eliminating gear 720 is provided with the second waist-shaped groove, when the first waist-shaped groove 712 and the second waist-shaped groove are aligned during installation, a pre-tightening force is first loaded through a screw installed between the first waist-shaped groove 712 and the second waist-shaped groove, and then the module is installed in the installation structure, and when the module is installed on the outer frame, the screw between the first waist-shaped groove 712 and the second waist-shaped groove is removed.
In a preferred embodiment, as shown in fig. 6, each of the secondary transmission module 300 and the tertiary transmission module 200 is provided with a mounting structure cooperating with an anti-backlash gear structure 700, and the mounting structure includes: the gear assembly comprises a gear upper bracket 810, a gear lower bracket 820, a gear shaft 830, a first bearing 840, a second bearing 850 and a gear end cover 860; the anti-backlash gear structure 700 is fixedly connected to the gear shaft 830 through screws, the first bearing 840 is arranged on the end face of the gear upper bracket 810, the second bearing 850 is arranged on the end face of the gear lower bracket 820, two ends of the gear shaft 830 are respectively and rotatably clamped in the first bearing 840 and the second bearing 850, the gear upper bracket 810 and the gear lower bracket 820 are fixedly connected, and the gear end cover 860 is arranged on the end face, far away from the first bearing 840, of the gear upper bracket 810. In the preferred embodiment, the sliding grooves 500 are provided at both sides of the gear lower bracket 820.
In a preferred embodiment, a driving angle measurement system is disposed on the motor driving module 100, the driving angle measurement system is configured to measure an angle output by the motor driving module 100 to obtain a first angle, an execution angle measurement system is disposed on the driving spindle driving module 400, the execution angle measurement system is configured to measure an actual angle output by the spindle driving module 400 to obtain a second angle, and a difference between the first angle and the second angle is compensated by a software algorithm. In the preferred embodiment, the first angle represents the target output angle of the system, the second angle represents the actual output of the system, and the difference between the two angles can be supplemented by a software algorithm, so that better system transmission precision control is realized.
The principles and embodiments of the present application are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts of the present application. The foregoing is only a preferred embodiment of the present application, and it should be noted that there are objectively infinite specific structures due to the limited character expressions, and it will be apparent to those skilled in the art that a plurality of modifications, decorations or changes may be made without departing from the principle of the present application, and the technical features described above may be combined in a suitable manner; such modifications, variations, combinations, or adaptations of the invention using its spirit and scope, as defined by the claims, may be directed to other uses and embodiments, or may be learned by practice of the invention.
Claims (5)
1. The utility model provides a multistage gear drive structure, sets up on the outer frame, its characterized in that includes: the device comprises a motor driving module (100), a secondary transmission module (300), a tertiary transmission module (200) and a main shaft driving module (400); the secondary transmission module (300), the tertiary transmission module (200) and the spindle drive module (400) are all provided with anti-backlash gear structures (700), the spindle drive module (400), the secondary transmission module (300) and the tertiary transmission module (200) form a multi-stage transmission structure, the output end of the motor drive module (100) is connected to the tertiary transmission module (200), the secondary transmission module (300) is meshed with the tertiary transmission module (200), and the spindle drive module (400) is meshed with one side, away from the tertiary transmission module (200), of the secondary transmission module (300);
the spindle driving module (400) is fixedly connected to the outer frame, sliding grooves (500) are formed in the motor driving module (100), the secondary transmission module (300) and the tertiary transmission module (200), and the motor driving module (100), the secondary transmission module (300) and the tertiary transmission module (200) are detachably connected to the outer frame through the sliding grooves (500) respectively;
all be equipped with registration pin hole (610) and installation screw hole (620) on motor drive module (100), second grade transmission module (300), tertiary transmission module (200), coarse positioning adjustment when registration pin hole (610) are used for motor drive module (100), second grade transmission module (300), tertiary transmission module (200) and outer frame installation, installation screw hole (620) are used for motor drive module (100), second grade transmission module (300), tertiary transmission module (200) and outer frame installation when coarse positioning adjustment after fixed mounting.
2. The multi-stage gear transmission structure according to claim 1, wherein said anti-backlash gear structure (700) comprises: the anti-backlash mechanism comprises a first anti-backlash gear (710), a second anti-backlash gear (720) and a tension spring (730), wherein the surface of the first anti-backlash gear (710) is inwards recessed with at least two symmetrically arranged positioning holes, the surface of the second anti-backlash gear (720) is respectively provided with an outwards protruding positioning pin column corresponding to each positioning hole, and the first anti-backlash gear (710) is fixedly connected with the second anti-backlash gear (720) and enables each positioning pin column to be inserted into the corresponding positioning hole; the end part of the tension spring (730) is fixedly connected with the first anti-backlash gear (710) and the second anti-backlash gear (720).
3. The multi-stage gear transmission structure according to claim 2, wherein the first backlash elimination gear (710) is provided with a first waist-shaped groove (712), the second backlash elimination gear (720) is provided with a second waist-shaped groove, and the first waist-shaped groove (712) and the second waist-shaped groove are aligned and then pre-tightening force loading between the first backlash elimination gear (710) and the second backlash elimination gear (720) is realized through a screw fixed between the first waist-shaped groove (712) and the second waist-shaped groove.
4. The multi-stage gear transmission structure according to claim 1, wherein the secondary transmission module (300) and the tertiary transmission module (200) are each provided with a mounting structure cooperating with the anti-backlash gear structure (700), the mounting structure comprising: the gear fixing device comprises a gear upper bracket (810), a gear lower bracket (820), a gear shaft (830), a first bearing (840), a second bearing (850) and a gear end cover (860); the anti-backlash gear structure (700) is fixedly connected to the gear shaft (830) through screws, the first bearing (840) is arranged on the end face of the gear upper support (810), the second bearing (850) is arranged on the end face of the gear lower support (820), two ends of the gear shaft (830) are rotatably connected to the first bearing (840) and the second bearing (850) in a clamping mode respectively, the gear upper support (810) and the gear lower support (820) are fixedly connected, and the gear end cover (860) is arranged on the end face, far away from the first bearing (840), of the gear upper support (810).
5. The multi-stage gear transmission structure according to claim 1, wherein a driving angle measurement system is arranged on the motor driving module (100), the driving angle measurement system is used for measuring an angle output by the motor driving module (100) to obtain a first angle, an execution angle measurement system is arranged on the driving spindle driving module (400), the execution angle measurement system is used for measuring an actual angle output by the spindle driving module (400) to obtain a second angle, and a difference between the first angle and the second angle is compensated by a software algorithm.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010913477.4A CN112145653B (en) | 2020-09-03 | 2020-09-03 | Multistage gear drive structure |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010913477.4A CN112145653B (en) | 2020-09-03 | 2020-09-03 | Multistage gear drive structure |
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| CN112145653A CN112145653A (en) | 2020-12-29 |
| CN112145653B true CN112145653B (en) | 2022-04-01 |
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| CN202010913477.4A Active CN112145653B (en) | 2020-09-03 | 2020-09-03 | Multistage gear drive structure |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1567838A1 (en) * | 1988-03-21 | 1990-05-30 | Институт Технической Кибернетики Ан Бсср | Multistage gearing with taking up backlash |
| CN201415331Y (en) * | 2009-06-12 | 2010-03-03 | 广东领航数控机床股份有限公司 | X-axis guide rail of high-precision fixed beam type numerical control gantry boring and milling machine and driving structure thereof |
| CN201674335U (en) * | 2010-05-10 | 2010-12-15 | 济南二机床集团有限公司 | Rotary servo feed mechanism |
| CN202441839U (en) * | 2012-03-01 | 2012-09-19 | 北京机械设备研究所 | Axially-limited anti-backlash gear |
| CN102996757A (en) * | 2012-12-11 | 2013-03-27 | 北京遥测技术研究所 | Double gear backlash structure for staggered teeth regulation spring force |
| CN208578930U (en) * | 2018-06-21 | 2019-03-05 | 广州启帆工业机器人有限公司 | A kind of clearance elimination gear case |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102434649A (en) * | 2010-09-29 | 2012-05-02 | 富泰华工业（深圳）有限公司 | Transmission member and transmission mechanism with same |
| CN110126820B (en) * | 2019-05-17 | 2021-05-07 | 浙江吉利控股集团有限公司 | Automatic parking system, parking method and vehicle |
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2020
- 2020-09-03 CN CN202010913477.4A patent/CN112145653B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1567838A1 (en) * | 1988-03-21 | 1990-05-30 | Институт Технической Кибернетики Ан Бсср | Multistage gearing with taking up backlash |
| CN201415331Y (en) * | 2009-06-12 | 2010-03-03 | 广东领航数控机床股份有限公司 | X-axis guide rail of high-precision fixed beam type numerical control gantry boring and milling machine and driving structure thereof |
| CN201674335U (en) * | 2010-05-10 | 2010-12-15 | 济南二机床集团有限公司 | Rotary servo feed mechanism |
| CN202441839U (en) * | 2012-03-01 | 2012-09-19 | 北京机械设备研究所 | Axially-limited anti-backlash gear |
| CN102996757A (en) * | 2012-12-11 | 2013-03-27 | 北京遥测技术研究所 | Double gear backlash structure for staggered teeth regulation spring force |
| CN208578930U (en) * | 2018-06-21 | 2019-03-05 | 广州启帆工业机器人有限公司 | A kind of clearance elimination gear case |
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