CN112324862B - Worm gear transmission mechanism, rotary table and method for eliminating back clearance of worm gear - Google Patents
Worm gear transmission mechanism, rotary table and method for eliminating back clearance of worm gear Download PDFInfo
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- CN112324862B CN112324862B CN202011195555.8A CN202011195555A CN112324862B CN 112324862 B CN112324862 B CN 112324862B CN 202011195555 A CN202011195555 A CN 202011195555A CN 112324862 B CN112324862 B CN 112324862B
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- worm
- gear
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- wheel
- worm wheel
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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
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
- F16H1/04—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members
- F16H1/12—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with non-parallel axes
- F16H1/16—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with non-parallel axes comprising worm and worm-wheel
-
- 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
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
- F16H1/26—Special means compensating for misalignment of axes
Abstract
The invention discloses a worm gear transmission mechanism, a rotary table and a method for eliminating back clearance of a worm gear, which comprises the following steps: the worm and gear mechanism comprises a worm wheel and a worm, the worm wheel is in meshing transmission with the worm, and the worm is arranged on the worm support assembly; the sensor comprises a first sensor and a second sensor, wherein the first sensor is used for detecting the rotation information of the worm wheel, and the second sensor is used for detecting the rotation angle information of the worm; and the driving assembly drives the worm to move tangentially along the worm wheel according to the information of the first sensor and the second sensor so as to compensate the backlash of the worm and gear mechanism. The back clearance of the worm and gear can be eliminated, the transmission without the back clearance is realized, and the transmission precision of the worm and gear is improved.
Description
Technical Field
The invention is used in the field of mechanical transmission, and particularly relates to a worm and gear transmission mechanism, a rotary table and a method for eliminating a worm and gear backlash.
Background
The worm and gear rotary table is widely used in the manufacturing industry, and particularly, a rotating part is processed in a vertical processing center by matching with a tip tailstock; however, the positioning and repeating precision of the turntable is not ideal due to the back clearance of the worm gear, and the turntable is mainly used in the middle-end market and cannot meet the requirement of high-precision processing.
Disclosure of Invention
The invention aims to at least solve one of the technical problems in the prior art, and provides a worm and gear transmission mechanism, a rotary table and a method for eliminating the back clearance of the worm and gear, which can eliminate the positive or reverse back clearance of the worm and gear, realize transmission without the back clearance and improve the transmission precision of the worm and gear.
The technical scheme adopted by the invention for solving the technical problem is as follows:
in a first aspect, a worm gear drive comprises:
the worm and gear mechanism comprises a worm wheel and a worm, the worm wheel is in meshing transmission with the worm, and the worm is arranged on the worm support assembly;
the sensor comprises a first sensor and a second sensor, wherein the first sensor is used for detecting the rotation information of the worm wheel, and the second sensor is used for detecting the rotation angle information of the worm;
and the driving assembly drives the worm to move tangentially along the worm wheel according to the information of the first sensor and the second sensor so as to compensate the backlash of the worm and gear mechanism.
With reference to the first aspect, in certain implementations of the first aspect, the worm support assembly includes a support seat, the support seat is provided with a shaft hole, the worm is supported in the shaft hole through a first bearing and a second bearing, gaps exist between an inner ring of the first bearing and an inner ring of the second bearing and the worm, and the worm can axially displace along the shaft hole.
With reference to the first aspect and the foregoing implementation manners, in certain implementation manners of the first aspect, the driving assembly includes an oil cylinder, a reversing valve, and an oil pump, and an output end of the oil cylinder is connected with the worm through a rotary joint.
With reference to the first aspect and the foregoing implementation manners, in some implementation manners of the first aspect, the rotary joint includes a joint inner ring and a joint outer ring, the joint inner ring is connected with the worm, and the joint outer ring is connected with the output end of the oil cylinder through a connecting block.
With reference to the first aspect and the foregoing implementation manners, in some implementation manners of the first aspect, the display device further includes a control unit, and the sensor and the driving assembly are both connected to the control unit.
With reference to the first aspect and the foregoing implementations, in certain implementations of the first aspect, the first sensor includes a vector position detector, and the worm gear is coupled to a position detection component that cooperates with the vector position detector.
In a second aspect, a turntable comprises:
a rotating table;
a motor;
in the worm and gear transmission mechanism according to any one of the implementations of the first aspect, the worm wheel is connected to the rotary table, and the output end of the motor is connected to the worm.
In a third aspect, a method of eliminating a worm gear backlash comprises the steps of:
acquiring rotation information of the worm wheel starting to rotate;
acquiring rotation angle information of the worm from the beginning of rotation of the worm to the beginning of rotation of the worm wheel;
calculating an axial displacement compensation value of a first worm according to the rotation angle information;
and driving the worm to move along the tangential direction of the worm wheel, wherein the movement stroke is the axial displacement compensation value of the first worm.
With reference to the third aspect, in certain implementation manners of the third aspect, the rotation angle information is a, the worm gear and worm reduction ratio is k, the worm gear and worm meshing radius is r, and the first worm axial displacement compensation value is
With reference to the third aspect and the foregoing implementation manners, in some implementation manners of the third aspect, the method further includes:
monitoring an actual angle of motion value of the worm gear;
comparing the actual motion angle value with the theoretical motion angle value of the worm wheel, and calculating a second worm axial displacement compensation value according to the difference value of the actual motion angle value and the theoretical motion angle value;
and driving the worm to move tangentially along the worm wheel, wherein the movement stroke is the axial displacement compensation value of the second worm.
One of the above technical solutions has at least one of the following advantages or beneficial effects: through combining the information obtained by the first sensor and the second sensor, the driving assembly drives the worm to move for a specific distance along a specific direction so as to compensate the backlash of the worm and gear mechanism, so that the backlash eliminating effect can be achieved, and high positioning precision is achieved. The scheme eliminates the positive or reverse back clearance of the worm gear, realizes transmission without back clearance, improves the transmission precision of the worm gear, and meets various use working conditions of high precision, high rigidity, large bearing and the like.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic structural view of one embodiment of the worm gear transmission mechanism of the present invention.
Detailed Description
Reference will now be made in detail to the present preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to like elements throughout.
In the present invention, if directions (up, down, left, right, front, and rear) are described, it is only for convenience of describing the technical solution of the present invention, and it is not intended or implied that the technical features referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, it is not to be construed as limiting the present invention.
In the invention, the meaning of "a plurality of" is one or more, the meaning of "a plurality of" is more than two, and the meaning of "more than", "less than", "more than" and the like is understood to not include the number; the terms "above", "below", "within" and the like are understood to include the instant numbers. In the description of the present invention, if there are descriptions of "first" and "second" for the purpose of distinguishing technical features only, they are not interpreted as indicating or implying relative importance or implicitly indicating the number of the technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the present invention, unless otherwise specifically limited, the terms "disposed," "mounted," "connected," and the like are to be understood in a broad sense, and for example, may be directly connected or indirectly connected through an intermediate; can be fixedly connected, can be detachably connected and can be integrally formed; may be mechanically coupled, may be electrically coupled or may be capable of communicating with each other; either internal to the two elements or in an interactive relationship of the two elements. The specific meaning of the above-mentioned words in the present invention can be reasonably determined by those skilled in the art in combination with the detailed contents of the technical solutions.
When the worm gear and worm transmission mechanism is positioned, the motor drives the worm to rotate; the worm moves under two conditions, and continues to rotate in the direction of the last positioning or rotates reversely; it can be known that the worm continues to rotate in the last positioning direction, no gap exists between the worm and the gear, positioning accuracy is not affected, and the worm reverses, because of the relationship of the mechanical back gap of the worm and the gear, an idle stroke exists, which is expressed as: the worm can have a section of idle running and the worm wheel does not rotate, the clearance is not eliminated, the transmission precision of the worm and worm wheel transmission mechanism can be influenced, and the clearance is further reflected to equipment such as a rotary table and a machine tool.
The embodiment of the invention provides a worm and gear transmission mechanism, which comprises a worm and gear mechanism, a sensor and a driving assembly, and is combined with a figure 1, wherein the worm and gear mechanism comprises a worm wheel 1 and a worm 2, the worm 2 is arranged on a worm supporting assembly, the worm wheel 1 is in meshing transmission with the worm 2, and the power transmission from the worm 2 to the worm wheel 1 is realized.
The sensor includes a first sensor for detecting rotation information of the worm wheel 1 and a second sensor for detecting rotation angle information of the worm 2. It is understood that the rotation information includes information on the start of rotation of the worm wheel 1 and/or information on the angle of rotation of the worm wheel 1 and/or information on the direction of rotation of the worm wheel 1, and the like.
The driving assembly can adopt driving modes such as an oil cylinder, an air cylinder, a motor and the like, and the driving assembly drives the worm 2 to move tangentially along the worm wheel 1 according to the information of the first sensor and the second sensor so as to compensate the backlash of the worm and gear mechanism.
With reference to the embodiment shown in fig. 1, the operation principle of the worm and gear transmission mechanism is described, when the worm wheel 1 moves in the counterclockwise direction, the next worm 2 acts to change the rotation direction, the second sensor can detect the reverse rotation of the worm 2, when the worm 2 acts in the reverse rotation, the first sensor monitors that the worm 2 has a idle stroke (the worm 2 rotates but the worm wheel 1 does not rotate), when the first sensor detects that the worm wheel 1 rotates, the first sensor can quickly determine and detect and send a signal, the second sensor reads the rotation angle of the worm 2 at the starting point, the angle is the relative value of the back clearance of the worm and gear 2 of the worm wheel 1, according to the relative value, the driving component moves to the right by a small displacement (e.g. 0.05 mm), the displacement can compensate the back clearance engaged with the worm and gear 2 of the worm wheel 1 and the worm 2, keeps contact all the time, and outputs high precision; by ensuring the correct tooth surface contact of the worm 2 and the worm wheel 1 in real time, namely the worm wheel 1 runs clockwise, the worm 2 is in contact with the left tooth surface of the worm wheel 1; the worm wheel 1 rotates anticlockwise, and the worm 2 is in surface contact with the right tooth surface of the worm wheel 1.
Through combining the information obtained by the first sensor and the second sensor, the driving assembly drives the worm 2 to move for a specific distance along a specific direction so as to compensate the backlash of the worm and gear mechanism, so that the backlash eliminating effect can be achieved, and high positioning precision is achieved. The scheme eliminates the positive or reverse back clearance of the worm gear, realizes transmission without back clearance, improves the transmission precision of the worm gear, and meets various use working conditions of high precision, high rigidity, large bearing and the like.
Wherein, referring to fig. 1, the worm support assembly includes a support base 4, the support base 4 is provided with a shaft hole, a bearing can be arranged in the shaft hole as required, and the bearing is limited on the support base 4 through a bearing gland 14 at the end part. For example, in the embodiment shown in fig. 1, the worm 2 is supported in the shaft hole by a first bearing 11 and a second bearing 12, and the helical teeth of the worm 2 are located between the first bearing 11 and the second bearing 12. Wherein the first bearing 11 and the second bearing 12 may be provided with one or more bearings, respectively. Clearances exist among the inner rings of the first bearing 11 and the second bearing 12 and the worm 2, and the worm 2 can axially realize displacement along the shaft hole so as to eliminate back clearances in the displacement process of the worm 2.
In some embodiments, referring to fig. 1, the driving assembly comprises a cylinder 5, a throttle valve 6, a reversing valve 7 and an oil pump 8, the reversing valve 7 is used for controlling the reversing of the cylinder 5, the reversing valve 7 can adopt a 2-position 4-electrified magnetic reversing valve 7, for example, when the worm 2 needs to be moved to the left for a certain displacement, the right side position of the 2-position 4-electrified magnetic reversing valve 7 is conducted, hydraulic oil is injected into the right side of the cylinder 5, the piston rod is pushed to move to the left for a proper small displacement (such as 0.05 mm), and the displacement can compensate the meshing 'backlash' of the worm and gear, keep always in contact and output high precision.
Further, referring to fig. 1, the output end of the cylinder 5 is connected to the worm 2 through the rotary joint 3. The rotary joint 3 comprises a joint inner ring and a joint outer ring, the joint inner ring and the joint outer ring can rotate relatively around an axis, the joint inner ring is connected with the worm 2, the joint outer ring is connected with the output end of the oil cylinder 5 through a connecting block 13, the oil cylinder 5 realizes the transmission of driving force to the rotating worm 2 through the rotary joint 3, and the torque of the worm 2 is prevented from acting on the oil cylinder 5 to cause the damage of the oil cylinder 5.
In some embodiments, in order to realize automatic control and adjustment, the worm and gear transmission mechanism further comprises a control unit, the sensors and the driving assembly are both connected with the control unit, the first sensor and the second sensor transmit monitored related information to the control unit in real time, the control unit calculates an axial displacement compensation value of the first worm 2 according to the related information, and further controls the driving assembly to drive the worm 2 to move tangentially along the worm wheel 1, and the movement stroke is the axial displacement compensation value of the first worm 2. The embodiment can automatically eliminate the forward or reverse 'back clearance' and realize transmission without back clearance. Can compensate clockwise or anticlockwise back clearance according to the actual meshing condition, can accomplish "0 back clearance" in theory, the repeatability can greatly improve, greatly improves the processing product size uniformity. The back clearance value does not need to be adjusted manually, the control unit does not need to perform the action of precision compensation, the real-time automatic adjustment is realized, and the debugging and processing efficiency of the worm and gear rotary table can be greatly improved.
In some embodiments, referring to fig. 1, the first sensor comprises vector position detectors 9, the worm wheel 1 is connected with position detection parts 10 cooperating with the vector position detectors 9, the position detection parts 10 rotate synchronously with the worm wheel, and the number of the position detection parts 10 corresponds to the number of the vector position detectors 9. One or more of the vector position detector 9 and the position detecting part 10 are provided, and the vector position detector 9 can perform 360 ° monitoring and detection for detecting the rotation direction, the rotation angle, and the like of the worm wheel 1, particularly, for judging the change of the rotation direction.
The embodiment of the invention also provides a rotary table, which comprises a rotary table, a motor and a worm and gear transmission mechanism in any one of the above embodiments, wherein the worm wheel 1 is connected with the rotary table, and the output end of the motor is connected with the worm 2. The motor can adopt a servo motor according to the requirement, and the rotation angle information of the worm 2 can be directly obtained by utilizing an encoder of the servo motor.
The embodiment of the invention also provides a method for eliminating the back clearance of the worm gear, which comprises the following steps:
acquiring rotation information of the worm wheel 1 starting to rotate;
acquiring the rotation angle information of the worm 2 from the beginning of the rotation of the worm 2 to the beginning of the rotation of the worm wheel 1;
calculating an axial displacement compensation value of the first worm 2 according to the rotation angle information;
the driving worm 2 moves tangentially along the worm wheel 1, and the movement stroke is the axial displacement compensation value of the first worm 2.
With reference to the embodiment shown in fig. 1, the specific process is as follows: the servo motor drives the worm 2 to rotate, the control unit can detect the reverse rotation condition of the servo motor, when the servo motor performs reverse rotation, the position vector sensor monitors, at this time, the worm 2 can firstly have a section of idle stroke (the worm 2 rotates and the worm wheel 1 does not rotate), when the position vector sensor detects that the worm wheel 1 rotates, a signal is sent to the control unit, the control unit reads the rotation angle A of the starting point time period of the servo motor (the worm 2), and the angle is the relevant value of the back clearance of the worm wheel and the worm. The control unit calculates an axial displacement compensation value of the first worm 2 according to the rotation angle information, the control unit further controls the driving assembly to drive the worm 2 to move tangentially along the worm wheel 1, and the movement stroke is the axial displacement compensation value of the first worm 2. After the axial compensation of the worm 2 is completed, a backlash compensation action is completed.
The axial displacement compensation value of the first worm 2 can be calculated in the following way, the rotation angle information is A, the reduction ratio of the worm and the gear is k, the meshing radius of the worm and the gear is r, and the axial displacement compensation value of the first worm 2 is
In some embodiments, the method of eliminating worm gear backlash further comprises the steps of:
monitoring the actual motion angle value of the worm wheel 1;
comparing the actual motion angle value with the theoretical motion angle value of the worm wheel 1, and calculating the axial displacement compensation value of the second worm 2 according to the difference value of the actual motion angle value and the theoretical motion angle value;
the driving worm 2 moves tangentially along the worm wheel 1, and the movement stroke is the axial displacement compensation value of the second worm 2.
In combination with the embodiment of fig. 1, specifically, the position vector detector can monitor the actual motion angle value of the worm wheel 1 in real time, and compare the actual motion angle value with the theoretical angle value of the control unit in real time, so as to perform compensation correspondingly; for example, when the control unit requires the worm wheel 1 to rotate clockwise by an angle B, and the vector controller monitors that the actual angle value is C (assuming that B > C), the electromagnetic directional valve 7 is controlled, the right side of the electromagnetic directional valve 7 is conducted, hydraulic oil is injected into the right side of the oil cylinder 5, and the piston rod is pushed to move left by a proper small displacement f x (B-C), wherein f is a design coefficient. In other words, the system compensation of the actual motion angle value can be realized through the steps, and the transmission precision of the worm gear is improved.
In the description herein, references to the description of the term "example," "an embodiment," or "some embodiments," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The invention is not limited to the above embodiments, and those skilled in the art can make equivalent modifications or substitutions without departing from the spirit of the invention, and such equivalent modifications or substitutions are included in the scope of the claims of the present application.
Claims (8)
1. A worm gear drive, comprising:
the worm and gear mechanism comprises a worm wheel and a worm, the worm wheel is in meshing transmission with the worm, and the worm is arranged on the worm support component;
the sensor comprises a first sensor and a second sensor, wherein the first sensor is used for detecting the rotation information of the worm wheel, and the second sensor is used for detecting the rotation angle information of the worm;
the driving component drives the worm to move tangentially along the worm wheel according to the information of the first sensor and the second sensor so as to compensate the backlash of the worm wheel and worm mechanism;
the sensor and the driving assembly are connected with the control unit, and the control unit acquires rotation information of the worm wheel starting to rotate; the control unit acquires the rotation angle information of the worm from the beginning of the rotation of the worm to the beginning of the rotation of the worm wheel; the control unit calculates a first worm axial displacement compensation value according to the rotation angle information; the control unit controls the driving assembly to drive the worm to move along the tangential direction of the worm wheel, the movement stroke is a first worm axial displacement compensation value, the rotation angle information is A, the reduction ratio of the worm wheel and the worm is k, the meshing radius of the worm wheel and the worm is r, and the first worm axial displacement compensation value is
2. The worm-gear transmission mechanism according to claim 1, wherein the worm support assembly includes a support base having a shaft hole, the worm is supported in the shaft hole by a first bearing and a second bearing, and a gap is provided between an inner ring of the first bearing and an inner ring of the second bearing and the worm, and the worm can be displaced axially along the shaft hole.
3. The worm and gear transmission of claim 1, wherein the drive assembly comprises a cylinder, a reversing valve, and an oil pump, the output of the cylinder being connected to the worm by a swivel.
4. The worm and gear transmission of claim 3, wherein the rotary joint comprises an inner joint ring and an outer joint ring, the inner joint ring is connected to the worm, and the outer joint ring is connected to the output end of the cylinder through a connecting block.
5. The worm gear drive of claim 1, wherein the first sensor comprises a vector position detector, the worm gear being coupled to a position sensing component that cooperates with the vector position detector.
6. A turntable, comprising:
a rotating table;
a motor;
the worm gear according to any one of claims 1 to 5, wherein the worm wheel is connected to the rotary table, and an output of the motor is connected to the worm.
7. A method of eliminating backlash in a worm gear, comprising the steps of:
acquiring rotation information of the worm wheel starting to rotate;
acquiring rotation angle information of the worm from the beginning of rotation of the worm to the beginning of rotation of the worm wheel;
calculating a first worm axial displacement compensation value according to the rotation angle information;
the worm is driven to move tangentially along the worm wheel, the movement stroke is the axial displacement compensation value of the first worm,the rotation angle information is A, the reduction ratio of the worm gear to the worm gear is k, the meshing radius of the worm gear and the worm gear is r, and the axial displacement compensation value of the first worm is
8. The method of eliminating worm gear backlash as claimed in claim 7, further comprising the steps of:
monitoring an actual angle of motion value of the worm gear;
comparing the actual motion angle value with the theoretical motion angle value of the worm wheel, and calculating a second worm axial displacement compensation value according to the difference value of the actual motion angle value and the theoretical motion angle value;
and driving the worm to move along the tangential direction of the worm wheel, wherein the movement stroke is the axial displacement compensation value of the second worm.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011195555.8A CN112324862B (en) | 2020-10-30 | 2020-10-30 | Worm gear transmission mechanism, rotary table and method for eliminating back clearance of worm gear |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011195555.8A CN112324862B (en) | 2020-10-30 | 2020-10-30 | Worm gear transmission mechanism, rotary table and method for eliminating back clearance of worm gear |
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| CN112324862B true CN112324862B (en) | 2022-12-13 |
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Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010154686A (en) * | 2008-12-25 | 2010-07-08 | Mitsuba Corp | Motor with speed reduction mechanism |
| CN101994815A (en) * | 2009-08-18 | 2011-03-30 | 发得科技工业股份有限公司 | Backlash removing device of transmission mechanism |
| CN102252055A (en) * | 2011-06-29 | 2011-11-23 | 洛阳世必爱特种轴承有限公司 | Worm wheel-worm transmission unit with controllable device |
| CN102384220A (en) * | 2011-11-03 | 2012-03-21 | 沈阳机床（集团）设计研究院有限公司 | Worm wheel and worm device for automatically adjusting transmission clearance |
| CN102734389A (en) * | 2012-06-25 | 2012-10-17 | 西华大学 | Worm transmission device capable of eliminating gear backlash |
| CN102974900A (en) * | 2012-12-28 | 2013-03-20 | 重庆机床(集团)有限责任公司 | Rotational motion clearance eliminating mechanism for working table of gear hobbing machine |
| JP6362341B2 (en) * | 2014-01-31 | 2018-07-25 | キヤノン株式会社 | Worm speed reduction mechanism and pan head device using the same |
| CN208546487U (en) * | 2018-04-28 | 2019-02-26 | 株洲齿轮有限责任公司 | Reduction device for vehicle and vehicle component automated execution system |
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