CN114962554A - Precision backlash-free end face roller enveloping worm drive - Google Patents
Precision backlash-free end face roller enveloping worm drive Download PDFInfo
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- CN114962554A CN114962554A CN202210639445.9A CN202210639445A CN114962554A CN 114962554 A CN114962554 A CN 114962554A CN 202210639445 A CN202210639445 A CN 202210639445A CN 114962554 A CN114962554 A CN 114962554A
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- 230000007704 transition Effects 0.000 claims description 23
- 239000003638 chemical reducing agent Substances 0.000 claims description 11
- 230000005540 biological transmission Effects 0.000 abstract description 26
- 230000035945 sensitivity Effects 0.000 abstract description 3
- 230000008030 elimination Effects 0.000 abstract description 2
- 238000003379 elimination reaction Methods 0.000 abstract description 2
- 238000005096 rolling process Methods 0.000 abstract description 2
- 230000004048 modification Effects 0.000 description 26
- 238000012986 modification Methods 0.000 description 26
- 230000008859 change Effects 0.000 description 3
- 238000003754 machining Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000007493 shaping process Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
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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
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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
- F16H55/08—Profiling
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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
- F16H55/22—Toothed members; Worms for transmissions with crossing shafts, especially worms, worm-gears
- F16H55/24—Special devices for taking up backlash
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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
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
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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
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
-
- 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
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/039—Gearboxes for accommodating worm gears
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Gear Transmission (AREA)
- Gears, Cams (AREA)
Abstract
The invention discloses a precision backlash-free end face roller enveloping worm drive, which comprises: shell and restriction shell, worm subassembly, shell and restriction shell interconnect expert set up, and in the space that shell and restriction shell formed was located to the worm subassembly, wherein: the worm subassembly includes roller worm wheel and worm, and the roller worm wheel includes cylindrical roller, dabber and tooth base, and cylindrical roller rotates the bottom department of cover locating the tooth base. The invention can effectively solve the problems of large difficulty in precision processing/assembly of the circumferential roller, high error sensitivity, large radial space and the like in the traditional single-roller enveloping worm transmission, and the transmission pair utilizes the high-precision roller components formed by equidistantly mounting the rollers on the end surface to replace a worm wheel; the rolling friction of the rollers is used for replacing sliding friction in worm transmission, the transmission efficiency of the worm is greatly improved, the middle roller is not in contact with the tooth surface of the worm, the left and right rollers are in contact with the tooth surface of one side respectively, and backlash-free meshing of one side transmission motion side backlash elimination is realized.
Description
Technical Field
The invention belongs to the technical field of mechanical transmission, and particularly relates to precision backlash-free end face roller enveloping worm transmission.
Background
The worm transmission pair is taken as a typical basic part, has been widely applied to the important fields of national economy and national defense equipment such as aerospace, ships and submarines, weaponry equipment, mine metallurgy, rail transit and the like due to the advantages of large transmission ratio, compact structure, stable operation, self-locking property and the like, and is developing towards the directions of high precision, high efficiency, high bearing, no side clearance and the like along with the continuous improvement of the requirements of host equipment on the precision, return difference and service life of a transmission system.
However, the worm transmission belongs to the inclined plane transmission principle, the relative sliding speed of the worm transmission tooth surface is high, the tooth surface abrasion is fast, the tooth side clearance growth is fast, and the high-precision low/no-side clearance meshing in the field is difficult to realize.
The roller enveloping worm transmission is one of movable tooth worm gear transmission pairs, has the characteristics of high efficiency, high precision and zero backlash meshing, is widely applied to robot joints and numerical control machines, however, the transmission pair has the defects of high precision machining difficulty of a circumferential roller, high sensitivity of a worm form to errors, difficult installation of a negative pressure angle form, large space of a radial structure, and the like in production, the structure of the transmission pair needs to be further improved and optimized to meet the requirement that equipment continuously improves the precision, return difference and service life of a transmission system, and in addition, due to machining and manufacturing errors, the actual values and the design values of the tooth pitch, the tooth groove width and the tooth thickness of the worm gear have deviations; the deviation exists between the installation center distance and the design center distance of the worm and gear in the installation process, so that the tooth groove width and the tooth thickness at the meshing position are changed, and the generation of tooth side gaps is caused.
Disclosure of Invention
The invention aims to provide a non-backlash end face roller enveloping worm transmission based on the existing roller enveloping worm transmission technology, reduce the size of a transmission pair, the sensitivity of a worm form to errors and the assembly difficulty, and provide a precise sectional modification mode of a worm to realize the non-backlash precise transmission.
The technical scheme adopted by the invention is as follows: precision no backlash end face roller envelope worm drive includes:
the shell and the limiting shell are communicated with each other;
the worm subassembly is located in the space that shell and restriction shell formed, wherein: the worm assembly comprises a roller worm wheel and a worm, the roller worm wheel comprises a cylindrical roller, a mandrel and a gear blank, the cylindrical roller is rotatably sleeved at the bottom end of the gear blank, the mandrel is embedded at the top end of the gear blank, the roller worm wheel and the worm are matched with each other, and the roller worm wheel is rotatably embedded at the top of the inner wall of the shell.
Furthermore, the roller worm wheel is positioned above the worm and meshed with the left and right tooth surfaces of the worm through a cylindrical roller cylindrical surface.
Furthermore, the worm is modified in a segmented mode, so that the left and right rollers are respectively in contact with a single-side tooth surface, and backlash-free meshing of one side for transmitting motion and one side for eliminating backlash is achieved.
Furthermore, a driving motor is arranged on one side of the outer wall of the shell.
Further, a speed reducer is fixedly arranged at one end of the driving motor, the speed reducer is embedded in the outer wall of the shell, and the output end of the speed reducer is fixedly arranged at one end of the worm.
Further, the worm is modified in section, the clearance or interference of the transition area changes with the rotation angle value of the worm wheel, and the circumferential rotation amount is representable as
The change value is fit to the transition tooth surface by adopting a worm polynomial interpolation,
wherein is σ 2 Amount of circumferential rotation of interference fit segment, σ 1 For the circumferential rotation of the clearance-fit section, σ t The angular position quantity corresponding to the end point of the transition section,
is the tooth surface corner of the worm wheel.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:
in addition, the transmission pair utilizes high-precision roller components formed by equidistantly mounting rollers on the end surface to replace a worm wheel, improves the transmission precision, utilizes rolling friction of the rollers to replace sliding friction in worm transmission, greatly improves the transmission efficiency, utilizes the sectional precise shaping of the worm tooth surface, ensures that the middle roller is not contacted with the worm tooth surface, and the left and right rollers are respectively contacted with the single-side tooth surface to realize the backlash-free meshing of one side transmission motion and one backlash elimination side.
Drawings
FIG. 1 is a front view of a precision backlash free face roller enveloping worm drive of the present invention;
FIG. 2 is a top view of the worm and roller engagement at a point in time in accordance with the present invention;
FIG. 3 is a schematic view of the principle of the present invention for shaping the tooth surface of a worm;
FIG. 4 is a schematic diagram showing a comparison of interpolation of tooth surface contour lines of the worm transition according to the present invention;
FIG. 5 is a schematic diagram of coordinate transformation before and after modification according to the present invention;
FIG. 6 is a bottom view of the present invention;
FIG. 7 is a perspective view of a mandrel of the present invention;
fig. 8 is a perspective view of the driving motor of the present invention;
fig. 9 is a perspective view of the speed reducer of the present invention.
The labels in the figure are: 1. a cylindrical roller; 2. a mandrel; 3. a tooth blank; 4. a worm; 5. a worm axis; 6. a theoretical tooth surface; 7. an actual tooth surface; 8. fitting a transition tooth surface by linear interpolation of a worm; 9. Interpolating and fitting a transition tooth surface by a worm polynomial; 10. theoretical tooth surface of worm transition region; 1101. a housing; 1102. a drive motor; 1103. a speed reducer; 1104. the shell is constrained.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Example one
Referring to fig. 1-9: precision no backlash terminal surface roller envelope worm drive, its characterized in that includes:
the enclosure 1101 and the limiting shell 1104 are arranged in a mutually communicated mode, the enclosure 1101 and the limiting shell 1104 are arranged in a space formed by the enclosure 1101 and the limiting shell 1104, and the worm assembly is arranged in the space formed by the enclosure 1101 and the limiting shell 1104, wherein: the worm subassembly includes roller worm wheel and worm 4, and the roller worm wheel includes cylindrical roller 1, dabber 2 and tooth base 3, and cylindrical roller 1 rotates the bottom department that the cover located tooth base 3, and dabber 2 inlays the top department of locating tooth base 3, and roller worm wheel and worm 4 match each other, and the roller worm wheel rotates inlays the inner wall top department of locating shell 1101, and cylindrical roller 1 cylinder all adopts high rigidity material thermal treatment with 4 flank of worm, further accurate abrasive machining.
Referring to fig. 1-9: the roller worm wheel is positioned above the worm, the cylindrical surface of the cylindrical roller 1 is meshed with the left and right tooth surfaces of the worm, the worm is precisely modified in a segmented manner, the left and right working tooth surfaces of the worm 4 are respectively provided with magnitude of interference, one side of the outer wall of the shell 1101 is provided with a driving motor 1102, the worm 4 is modified in a segmented manner, the cylindrical rollers 1 on the left and right sides are respectively contacted with a single-side tooth surface, the backlash-free meshing of backlash eliminating on one side for transmitting motion on one side is realized, the outer wall of the worm 4 is provided with a worm axis, a theoretical tooth surface and an actual tooth surface, the outer wall of the worm 4 is provided with a worm linear interpolation fitting transition tooth surface, the outer wall of the worm 4 is provided with a worm polynomial interpolation fitting transition tooth surface, the outer wall of the worm 4 is provided with a worm transition region theoretical tooth surface 10, one end of the driving motor 1102 is fixedly provided with a speed reducer 1103, the speed reducer 1103 is embedded in the outer wall of the shell 1101, and the output end of the speed reducer 1103 is fixed at one end of the worm 4, the worm is precisely modified in a segmented way, the clearance or interference of a transition area changes along with the rotation angle value of the worm wheel, and the circumferential rotation amount of the worm is expressed as
The change value is fit to the transition tooth surface by adopting a worm polynomial interpolation,
wherein is σ 2 Amount of circumferential rotation of interference fit segment, σ 1 For the circumferential rotation of the clearance-fit section, σ t The angular position quantity corresponding to the end point of the transition section,
for the corner of the worm gear tooth surface, firstly, performing inlet modification on the worm 4 and the right inlet tooth surface L4, and performing gap modification on the corresponding left tooth surface to ensure that the end surface roller cylindrical surface is gradually meshed with the right tooth surface of the worm 4 until interference meshing is performed, and the end surface roller cylindrical surface and the left tooth surface of the worm 4 are always in a gap state; secondly, performing interference modification on the right side tooth surface L3 of the worm 4 and performing clearance modification on the corresponding left tooth surface to ensure that the end surface roller cylindrical surface is in interference engagement with the right side tooth surface of the worm 4 and is always in a clearance state with the left tooth surface of the worm 4; the third stepThe right side tooth surface L2 of the worm 4 is subjected to transitional shape modification, and the corresponding left tooth surface is subjected to clearance shape modification, so that the end surface roller cylindrical surface is gradually disengaged and meshed with the right side tooth surface of the worm 4 and is always in a clearance state with the left tooth surface of the worm 4; fourthly, gap modification is carried out on the right side tooth surface L1 of the worm 4, transition modification, interference modification and outlet modification are carried out on the corresponding left tooth surface in sequence, so that the end surface roller cylindrical surface is always in gap engagement with the right side tooth surface of the worm 4, and is gradually engaged with the left tooth surface of the worm 4 until the states of interference engagement, interference engagement and gradual disengagement are reached until the states of gaps, when the normal tooth thickness change is generated in the modification of the worm 4, the original point on the worm to the corresponding point on the tooth surface after the modification can be regarded as rotating by one circumferential rotation amount
s is the normal tooth thickness variation of the worm tooth surface, Z2 is the tooth number of the roller worm wheel, d2 is the reference circle diameter of the roller worm wheel, as shown in FIG. 4, the dotted line is the theoretical tooth surface 10 of the worm transition region, the thin solid line is the linear interpolation fitting transition tooth surface of the worm, the thick solid line is the polynomial interpolation fitting transition tooth surface of the worm, the polynomial interpolation fitting transition tooth surface of the worm has the advantages of good smoothness, no rigid impact, no flexible impact and the like, the polynomial interpolation is used for fitting the transition tooth surface, and the circumferential rotation amount of the worm 4 with each section of the modified tooth surface is obtained,
as shown, the point P on the worm theoretical coordinate system (x2, y2, Z2) to the corresponding point P on the modified tooth flank coordinate system (x2 ', y2 ', Z2 ') can be regarded as being rotated by a circumferential rotation amount σ around the Z-axis, and therefore, the modified coordinate point can be obtained to complete the precise segmented modification of the tooth flank of the worm 4,
as a position vector of the modified point, i 2 ，k 2 ,j 2 Are respectively x 2 I 2, j2, k2 are x2 and y, respectively 2 ，z 2 The basal vector of (c).
The use method of the precision backlash-free end face roller enveloping worm drive provided by the embodiment of the invention is explained in detail below, and comprises the following steps: firstly, performing inlet modification on a right inlet tooth surface L4 of the worm 4, and performing clearance modification on a corresponding left tooth surface to ensure that an end surface roller cylindrical surface is gradually meshed with the right tooth surface of the worm 4 until interference meshing is achieved, and the end surface roller cylindrical surface and the left tooth surface of the worm 4 are always in a clearance state; secondly, performing interference modification on the right side tooth surface L3 of the worm 4 and performing clearance modification on the corresponding left tooth surface to ensure that the end surface roller cylindrical surface is in interference engagement with the right side tooth surface of the worm 4 and is always in a clearance state with the left tooth surface of the worm 4; thirdly, performing transitional modification on the right side tooth surface L2 of the worm 4, and performing clearance modification on the corresponding left tooth surface to gradually disengage and mesh the end surface roller cylindrical surface and the right side tooth surface of the worm 4 and keep in a clearance state with the left tooth surface of the worm 4; and fourthly, carrying out clearance modification on the right side tooth surface L1 of the worm 4, and sequentially carrying out transition modification, interference modification and outlet modification on the corresponding left tooth surface to ensure that the end surface roller cylindrical surface is always in clearance engagement with the right side tooth surface of the worm 4 and is gradually engaged with the left tooth surface of the worm 4 until the clearance engagement, the interference engagement and the gradual disengagement are carried out until the clearance state.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (6)
1. Precision no backlash terminal surface roller envelope worm drive, its characterized in that includes:
the device comprises a shell (1101) and a limiting shell (1104), wherein the shell (1101) and the limiting shell (1104) are arranged in communication with each other;
a worm assembly provided in a space formed by the housing (1101) and the restricting case (1104), wherein: the worm subassembly includes roller worm wheel and worm (4), the roller worm wheel includes cylindrical roller (1), dabber (2) and tooth base (3), the bottom department of tooth base (3) is located in cylindrical roller (1) rotation cover, dabber (2) inlays the top department of locating tooth base (3), the roller worm wheel matches each other with worm (4), the roller worm wheel rotates to inlay the inner wall top department of locating shell (1101).
2. The precision backlash free face roller enveloping worm drive of claim 1, wherein: the roller worm wheel is positioned above the worm and is meshed with the left and right tooth surfaces of the worm through the cylindrical surface of the cylindrical roller (1).
3. The precision backlash free face roller enveloping worm drive of claim 2, wherein: the worm (4) is modified in a sectional mode, so that the cylindrical rollers (1) on the left side and the right side are respectively contacted with the tooth surface on the single side, and backlash-free meshing of one side for transmitting motion and one side for eliminating backlash is realized.
4. The precision backlash free face roller enveloping worm drive of claim 3, wherein: and a driving motor (1102) is arranged on one side of the outer wall of the shell (1101).
5. The precision backlash free face roller enveloping worm drive of claim 4, wherein: one end of the driving motor (1102) is fixedly provided with a speed reducer (1103), the speed reducer (1103) is embedded in the outer wall of the shell (1101), and the output end of the speed reducer (1103) is fixedly arranged at one end of the worm (4).
6. The precision backlash free face roller enveloping worm drive of claim 5, wherein: the worm is modified in section, the clearance or interference of a transition area changes along with the rotation angle value of the worm wheel, and the circumferential rotation amount of the worm is expressed as
The variation value is fitted to the transition tooth surface (9) by adopting a worm polynomial interpolation,
wherein is σ 2 Amount of circumferential rotation of interference fit segment, σ 1 For the circumferential rotation of the clearance-fit section, σ t The angular position quantity corresponding to the end point of the transition section,
is the tooth surface corner of the worm wheel.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210639445.9A CN114962554A (en) | 2022-06-07 | 2022-06-07 | Precision backlash-free end face roller enveloping worm drive |
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| CN202210639445.9A CN114962554A (en) | 2022-06-07 | 2022-06-07 | Precision backlash-free end face roller enveloping worm drive |
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