CN214367547U - Planetary gear train clearance eliminating device based on flexible mechanism, speed reducer and robot joint - Google Patents
Planetary gear train clearance eliminating device based on flexible mechanism, speed reducer and robot joint Download PDFInfo
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- CN214367547U CN214367547U CN202120053655.0U CN202120053655U CN214367547U CN 214367547 U CN214367547 U CN 214367547U CN 202120053655 U CN202120053655 U CN 202120053655U CN 214367547 U CN214367547 U CN 214367547U
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Abstract
The utility model discloses a planetary gear train crack device, reduction gear and robot joint that disappears based on flexible mechanism. The clearance eliminating device comprises an adjusting screw and a spring, the adjusting screw is in threaded connection with the integrated flexible planet wheel carrier, the integrated flexible planet wheel carrier is provided with a movable platform, a spring hole is formed in the movable platform, and the spring is sleeved on the adjusting screw and is installed in the spring hole; when the threaded connection depth of the adjusting screw and the integrated flexible planet carrier reaches or exceeds a set depth, the adjusting screw can extrude the spring, so that the movable platform generates elastic movement along the radial direction of the integrated flexible planet carrier, and the elastic movement in the radial direction can be converted into circumferential elastic rotation of the bearing hole of the planet carrier around the center of the planet carrier through the elastic connecting piece. The utility model provides a planetary gear train backlash eliminating device has advantages such as integration, lightweight, compact structure, principle are simple reliable, the pretightning force is adjustable, and the range of application is extensive.
Description
Technical Field
The utility model relates to a planetary gear reducer, concretely relates to planetary gear train crack device, planetary gear reducer and cooperation robot joint that disappears based on flexible mechanism belongs to planetary reducer technical field.
Background
The speed reducer is the key part of robot joint's core, compares in the harmonic speed reducer that uses in traditional robot joint, and planetary gear reducer has advantages such as rigidity height, efficient, reverse drive performance are good, compares in RV speed reducer and has advantages such as small, light in weight. The planetary gear train is reasonably matched with teeth and optimized in efficiency, so that a reducer with a large reduction ratio and high transmission efficiency can be obtained, and the reducer is suitable for the robot joint.
There are many methods for eliminating backlash, such as using anti-backlash gears, gear with variable tooth thickness, and dual motor anti-backlash, but these methods are difficult to implement in planetary gear reducers. For example, CN110925409A adopts a mode of combining a fixed gear ring and a floating gear ring, and realizes backlash elimination by adjusting the relative angle of the two gear rings; CN105508585A uses primary and secondary planet wheels to realize double-side meshing elimination gap. In the methods, one or more redundant parts are added to realize clearance elimination, so that the weight and the rotational inertia of the speed reducer are increased, and the dynamic performance of the speed reducer is adversely affected.
How to provide a light and integrated anti-backlash mechanism capable of eliminating the backlash of a planetary gear reducer is a problem which needs to be solved urgently.
Disclosure of Invention
The utility model discloses a main aim at provides a planetary gear train crack device, reduction gear and robot joint that disappears based on flexible mechanism to overcome prior art's not enough.
In order to achieve the purpose of the invention, the technical scheme adopted by the utility model comprises:
one aspect of the embodiment of the utility model provides a planetary gear train anti-backlash device based on flexible mechanism, it includes adjusting screw and spring, adjusting screw and integrated flexible planet wheel carrier threaded connection, integrated flexible planet wheel carrier has the movable platform, be equipped with the spring hole on the movable platform, the spring housing is established on adjusting screw and is installed in the spring hole; when the threaded connection depth of the adjusting screw and the integrated flexible planet carrier reaches or exceeds a set depth, the adjusting screw can extrude the spring, so that the movable platform elastically moves along the radial direction of the integrated flexible planet carrier, and the planet gear shaft bearing hole in the integrated flexible planet carrier elastically rotates around the center of the integrated flexible planet carrier in the circumferential direction.
In some embodiments, the adjustment screw and the spring are both disposed radially of the integrated flexible planetary carrier.
In some embodiments, one end of the spring abuts against the bottom surface of the spring hole, and the other end of the spring abuts against the nut of the adjusting screw.
In some embodiments, the integrated flexible planetary carrier comprises a first ring member, a plurality of second ring members symmetrically arranged around the central ring member, and two movable platforms, wherein the first ring member is provided with a planetary carrier central shaft bearing hole, the second ring members are provided with planetary gear shaft bearing holes, the two movable platforms are distributed on two sides of the integrated flexible planetary carrier, any one movable platform is arranged between two adjacent second ring members, the first ring member is connected with each second ring member through a first elastic connecting piece, and the movable platforms are connected with the adjacent second ring members through second elastic connecting pieces.
In some embodiments, the first ring member, the second ring member, the movable platform, the first elastic connector and the second elastic connector are all integrally provided.
In some embodiments, the second ring segments are an even number.
In some embodiments, two adjacent second annular members are capable of rotating relatively around the center of the integrated flexible planetary carrier in pairs.
In some embodiments, the first resilient coupling comprises a flexible leaf spring and the second resilient coupling comprises a first flexible hinge and a second flexible hinge connected in series.
Furthermore, the movable platform is connected with the adjacent second annular member through the first flexible hinge and the second flexible hinge in sequence.
In some embodiments, the radial stiffness of the planetary gear train backlash elimination device is:
wherein, K1The first flexible hinge has equivalent rigidity in the radial direction of the integrated flexible planet wheel carrier, K2The second flexible hinge has equivalent rigidity in the radial direction of the integrated flexible planet wheel carrier, K3The second annular element performs circumferential rotation through the first elastic connecting element, and the equivalent rigidity in the radial direction of the integrated flexible planet gear carrier is KsIs the stiffness of the spring.
Another aspect of the embodiments of the present invention provides a speed reducer, which includes:
a planetary gear train backlash eliminating device based on a flexible mechanism; and
the planetary gear is meshed with the inner gear ring and the sun gear.
Another aspect of the embodiments of the present invention provides a robot joint, which includes the speed reducer.
Compared with the prior art, the utility model discloses the technical scheme that the above embodiment provided has following beneficial effect at least:
(1) by designing an integrated flexible planet wheel carrier, a bearing hole of a planet wheel shaft can rotate around the center of the planet wheel carrier without attaching additional redundant parts, and forward and reverse tooth side gaps are eliminated in pairs;
(2) the pretightening force adjusting mechanism is arranged on the integrated flexible planet wheel carrier, so that the pretightening force borne by the planet wheel anti-backlash device can be adjusted, the reliable work of the anti-backlash device is ensured, the switching threshold value of the anti-backlash state of the planet wheel can be adjusted by adjusting the pretightening force, and when the load exceeds the threshold value, the follow-up planet wheel overcomes the rigidity of the anti-backlash device under the action of the torque of the follow-up planet wheel around the center of the planet wheel carrier and returns to the normal same-side meshing state;
(3) the planetary gear train backlash eliminating device based on the flexible mechanism has the advantages of integration, light weight, compact structure, simple and reliable principle, adjustable pretightening force, wide application range and the like.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic view of an overall assembly structure of a planetary gear train backlash elimination device according to an embodiment of the present invention;
fig. 2 is a partial enlarged view of a threaded connection (an area a in fig. 1) of a planetary gear train backlash elimination device according to an embodiment of the present invention;
fig. 3 is a perspective view of an integrated flexible planetary carrier according to an embodiment of the present invention;
fig. 4 is a front view of an integrated flexible planetary carrier according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a planetary gear train backlash elimination device operating in an example gear train according to an embodiment of the present invention;
description of reference numerals: 10-integrated flexible planet carrier, 101-first ring piece, 102-second ring piece, 11-flexible plate spring, 12-planet gear shaft bearing hole, 13-movable platform, 14-first flexible hinge, 15-second flexible hinge, 16-planet carrier central shaft bearing hole, 20-adjusting screw, 21-spring, 30-inner gear ring, 31-planet gear shaft and 32-bearing gland.
Detailed Description
The present invention will be more fully understood from the following detailed description, which should be read in conjunction with the accompanying drawings. Detailed embodiments of the present invention are disclosed herein; however, it is to be understood that the disclosed embodiments are merely exemplary of the invention, which may be embodied in various forms. Therefore, specific functional details disclosed herein are not to be interpreted as limiting, but merely as a basis for the claims and as a representative basis for teaching one skilled in the art to variously employ the present invention in virtually any appropriately detailed embodiment.
Referring to fig. 1-4, a planetary gear train backlash eliminating device based on a flexible mechanism according to an embodiment of the present invention includes an adjusting screw 20 and a spring 21, the adjusting screw 20 is in threaded connection with an integrated flexible planetary gear carrier 10, the integrated flexible planetary gear carrier 10 has a movable platform 13, the movable platform 13 is provided with a spring hole, the spring 21 is sleeved on the adjusting screw 20 and is installed in the spring hole, one end of the spring 21 is tightly attached to the bottom surface of the spring hole, and the other end is tightly attached to a nut of the adjusting screw 20. The adjusting screw 20 and the spring 21 are both arranged along the radial direction of the integrated flexible planetary carrier 10. The threaded connection depth of the adjusting screw 20 and the integrated flexible planetary carrier 10 can be directly adjusted through the adjusting screw 20.
Further, by adjusting the threaded connection depth of the adjusting screw 20 and the integrated flexible planet carrier 10, the adjusting screw deforms the extrusion spring 21 and transmits pressure to the movable platform 13 of the planet carrier 10, so that the movable platform elastically moves along the radial direction of the planet carrier 10, and further, the planet gear shaft bearing hole in the integrated flexible planet carrier elastically rotates around the center of the integrated flexible planet carrier in the circumferential direction.
Further, the integrated flexible planet carrier 10 comprises a first ring member 101, a plurality of second ring members 102 and two movable platforms 13, wherein the second ring members 102 are symmetrically arranged around the central ring member, the first ring member is provided with a planet carrier central shaft bearing hole 16, the second ring member is provided with a planet gear shaft bearing hole 12, the two movable platforms 13 are distributed on two sides of the integrated flexible planet carrier 10, each movable platform 13 is arranged between two adjacent second ring members 102, the first ring member 101 is connected with each second ring member 102 through a first elastic connecting piece, and the movable platforms 13 are connected with the adjacent second ring members 102 through a second elastic connecting piece. Wherein the number of the second ring members 102 is even. The first elastic connecting piece adopts a flexible plate spring 11, the second elastic connecting piece comprises a first flexible hinge 14 and a second flexible hinge 15 which are sequentially connected, and the movable platform 13 is sequentially connected with the adjacent second annular piece 102 through the first flexible hinge 14 and the second flexible hinge 15.
Wherein, first annular member, second annular member, movable platform, first elastic connecting piece and second elastic connecting piece all set up as an organic whole.
By adopting the above structural design, the integrated flexible planet carrier 10 can convert the circumferential rigidity of each planet-gear shaft bearing hole 12 around the center of the planet carrier 10 into the radial rigidity of the movable platform 13 in the vertical direction through the flexible hinges 14 and 15, meanwhile, each planet-gear shaft bearing hole 12 can elastically rotate around the center of the planet carrier 10 through the flexible plate spring 11, and the movable platform 13 can elastically move along the radial direction of the planet carrier 10 through the flexible hinges 14 and 15.
Further, the radial rigidity of the planetary gear train backlash eliminating device is as follows:
wherein, K1Is the equivalent rigidity of the first flexible hinge 14 in the radial direction of the integrated flexible planet carrier 10, K2The second flexible hinge 15 has equivalent rigidity in the radial direction of the integrated flexible planet carrier 10, K3The equivalent rigidity, K, of the second annular element 102 in the radial direction of the integrated flexible planetary carrier 10 when the second annular element rotates in the circumferential direction through the first elastic connecting elementsIs the stiffness of the spring 21.
More intuitively, referring to fig. 3-4, the integrated flexible planetary carrier 10 can convert the elastic movement of the movable platform 13 in the radial direction into the elastic rotation of the planet axle bearing hole 12 around the circumference of the center of the planetary carrier through the flexible leaf spring 11, the first flexible hinge 14 and the second flexible hinge 15, and maintain a certain restoring force in the process.
The planetary gear train backlash eliminating device in the embodiment can be connected with a planetary gear shaft bearing (not shown in the figure) and a planet carrier central shaft bearing (not shown in the figure) in various planetary gear trains, so as to support a planetary gear shaft (not shown in the figure) to perform rotary motion. FIG. 5 illustrates an application of the planetary gear train anti-backlash device in an example gear train. The planetary gear train is a 3K planetary gear train, wherein an even number of planetary gears are adopted, and the planetary gear train is not used as a part for transmitting torque in a transmission chain. The planetary gear train backlash eliminating device adjusts the threaded connection depth of the planetary gear train backlash eliminating device and the integrated flexible planetary gear carrier 10 through the adjusting screw rod 20, the extrusion spring 21 drives the movable platform 13 of the planetary gear carrier to enable the planetary gear carrier 10 to generate radial deformation, the radial deformation of the planetary gear carrier is converted into the rotation of the planetary gear shaft bearing hole 12 around the center of the planetary gear carrier through the flexible mechanism, and therefore two adjacent planetary gear shafts 31 are driven to generate reverse motion, further, the adjacent pair of planetary gears keep the engagement state with the inner gear ring 30 and the sun gear (not shown in the figure) on the opposite sides, the adjustment screw rod 20 and the integrated flexible planetary gear carrier 10 are continuously adjusted in the threaded connection depth after backlash elimination, the spring 10 is further compressed, at the moment, because the backlash is eliminated, the planetary gear carrier 10 can not generate elastic deformation any more, and the deformation force of the spring 10 is converted into the pretightening force applied to the engagement surface of the planetary gears, the tooth surface is tightly attached, and a planetary gear is always in a meshing state when the planetary gear train works in the forward and reverse directions, so that the backlash of the planetary gear is eliminated.
Therefore, the planetary gear reducer can be constructed by applying the planetary gear train backlash eliminating device of the embodiment. And the planetary gear reducer can be applied to various fields.
For example, in an application case, a planetary gear reducer with the planetary gear train backlash eliminating device added can be used in a transmission reducing mechanism of a joint of a cooperative robot to drive the cooperative robot with high man-machine interaction performance.
The aspects, embodiments, features and examples of the present invention should be considered illustrative in all respects and not intended to be limiting, the scope of the invention being defined only by the claims. Other embodiments, modifications, and uses will be apparent to those skilled in the art without departing from the spirit and scope of the claimed invention.
The use of titles and chapters in the utility model is not meant to limit the utility model; each section may apply to any aspect, embodiment, or feature of the present invention.
Unless specifically stated otherwise, use of the terms "comprising", "including", "having" or "having" is generally to be understood as open-ended and not limiting.
While the invention has been described with reference to illustrative embodiments, it will be understood by those skilled in the art that various other changes, omissions and/or additions may be made and substantial equivalents may be substituted for elements thereof without departing from the spirit and scope of the invention. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the invention without departing from its scope. Therefore, it is intended that the invention not be limited to the particular embodiment disclosed for carrying out this invention, but that the invention will include all embodiments falling within the scope of the appended claims. Moreover, unless specifically stated any use of the terms first, second, etc. do not denote any order or importance, but rather the terms first, second, etc. are used to distinguish one element from another.
Claims (10)
1. The utility model provides a planetary gear train gap eliminating device based on flexible mechanism which characterized in that: the clearance eliminating device comprises an adjusting screw rod (20) and a spring (21), the adjusting screw rod (20) is in threaded connection with the integrated flexible planet carrier (10), the integrated flexible planet carrier (10) is provided with a movable platform (13), the movable platform (13) is provided with a spring hole, and the spring (21) is sleeved on the adjusting screw rod (20) and is installed in the spring hole; when the threaded connection depth of the adjusting screw (20) and the integrated flexible planet carrier (10) reaches or exceeds a set depth, the adjusting screw (20) can extrude the spring (21), so that the movable platform (13) elastically moves along the radial direction of the integrated flexible planet carrier (10), and the planet gear shaft bearing hole (12) in the integrated flexible planet carrier (10) elastically rotates around the center of the integrated flexible planet carrier (10) in the circumferential direction.
2. The planetary gear train backlash eliminating device based on the flexible mechanism according to claim 1, wherein: the integrated flexible planet carrier (10) comprises a first annular piece, a plurality of second annular pieces and two movable platforms (13), wherein the second annular pieces and the two movable platforms (13) are symmetrically arranged around a central annular piece, the first annular piece is provided with a planet carrier central shaft bearing hole (16), the second annular pieces are provided with planet gear shaft bearing holes (12), the two movable platforms (13) are distributed on two sides of the integrated flexible planet carrier (10), any movable platform (13) is arranged between every two adjacent second annular pieces, the first annular piece is connected with each second annular piece through a first elastic connecting piece, and the movable platforms (13) are connected with the adjacent second annular pieces through second elastic connecting pieces.
3. The planetary gear train backlash eliminating device based on the flexible mechanism according to claim 2, wherein: the first annular piece, the second annular piece, the movable platform (13), the first elastic connecting piece and the second elastic connecting piece are all integrally arranged.
4. The planetary gear train backlash eliminating device based on the flexible mechanism according to claim 2, wherein: an even number of the second ring members.
5. The planetary gear train backlash eliminating device based on the flexible mechanism according to claim 4, wherein: two adjacent second annular members can rotate relatively around the center of the integrated flexible planetary carrier (10) in pairs.
6. The planetary gear train backlash eliminating device based on the flexible mechanism according to claim 2, wherein: the adjusting screw rod (20) and the spring (21) are arranged along the radial direction of the integrated flexible planet wheel carrier (10); and/or one end of the spring (21) is tightly attached to the bottom surface of the spring hole, and the other end of the spring (21) is tightly attached to a screw cap of the adjusting screw rod (20).
7. The planetary gear train backlash eliminating device based on the flexible mechanism according to any one of claims 2 to 6, wherein: the first elastic connecting piece comprises a flexible plate spring (11), and the second elastic connecting piece comprises a first flexible hinge (14) and a second flexible hinge (15) which are connected in sequence.
8. The planetary gear train backlash eliminating device based on the flexible mechanism according to claim 7, wherein the radial rigidity of the planetary gear train backlash eliminating device is as follows:
wherein, K1The equivalent rigidity of the first flexible hinge (14) in the radial direction of the integrated flexible planet wheel carrier (10), K2The second flexible hinge (15) has equivalent rigidity in the radial direction of the integrated flexible planet wheel carrier (10), K3The second annular element performs circumferential rotation through the first elastic connecting element, and the equivalent rigidity in the radial direction of the integrated flexible planet wheel carrier (10) is KsIs the stiffness of the spring (21).
9. A speed reducer, characterized by comprising:
a planetary gear train backlash eliminating device based on a flexible mechanism according to any one of claims 1 to 8; and
the planetary gear set comprises a sun gear and a plurality of planetary gears which are arranged on an integrated flexible planetary gear carrier (10), and the planetary gears are meshed with an inner gear ring (30) and the sun gear.
10. A robot joint characterized by comprising the decelerator of claim 9.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202120053655.0U CN214367547U (en) | 2021-01-08 | 2021-01-08 | Planetary gear train clearance eliminating device based on flexible mechanism, speed reducer and robot joint |
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| CN202120053655.0U CN214367547U (en) | 2021-01-08 | 2021-01-08 | Planetary gear train clearance eliminating device based on flexible mechanism, speed reducer and robot joint |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2022148058A1 (en) * | 2021-01-08 | 2022-07-14 | 中国科学院宁波材料技术与工程研究所 | Planetary gear train backlash eliminating device based on flexible mechanism, speed reducer and robot joint |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022148058A1 (en) * | 2021-01-08 | 2022-07-14 | 中国科学院宁波材料技术与工程研究所 | Planetary gear train backlash eliminating device based on flexible mechanism, speed reducer and robot joint |
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