CN216519536U - Speed reducer back clearance influence elimination mechanism and robot joint module - Google Patents
Speed reducer back clearance influence elimination mechanism and robot joint module Download PDFInfo
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- CN216519536U CN216519536U CN202122736284.9U CN202122736284U CN216519536U CN 216519536 U CN216519536 U CN 216519536U CN 202122736284 U CN202122736284 U CN 202122736284U CN 216519536 U CN216519536 U CN 216519536U
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- speed reducer
- output shaft
- planet carrier
- volute spring
- spring seat
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Abstract
The utility model provides a mechanism for eliminating backlash influence of a speed reducer and a robot joint module, wherein the speed reducer comprises a shell, a sun shaft, a planetary gear, an inner gear ring, a planet carrier and an output shaft; the output shaft is arranged on the planet carrier and extends out of the shell; the speed reducer back clearance influence eliminating mechanism comprises a volute spring; the shell is provided with a vortex spring seat, the vortex spring seat is provided with an inner cavity through which the output shaft passes, and the vortex spring is positioned in the inner cavity of the vortex spring seat; the inner end of the volute spring is connected with the output shaft, and the outer end of the volute spring is connected with the volute spring seat; when the speed reducer rotates forwards and backwards, the output shaft always bears the radial moment of the volute spring, so that the planet carrier connected with the output shaft is always acted by the radial moment, the planet gear on the planet carrier is tightly meshed with the inner gear ring and is always in a stressed state, the gear teeth of the planet gear are prevented from swinging back and forth in the gear gap of the inner gear ring, the idle stroke amount generated by each forward and backward rotation is equal, and the purposes of eliminating the back clearance side effect and improving the transmission precision are achieved.
Description
Technical Field
The utility model belongs to the technical field of speed reducers, and particularly relates to a speed reducer backlash influence eliminating mechanism and a robot joint module.
Background
In the prior art, in order to reduce the rotation speed and increase the torque force of the mechanical equipment, a speed reducer is usually connected to a motor to form a speed reduction motor. The speed reducing motor has the advantages of compact structure, small volume, light weight, high transmission efficiency, large output torque, stable operation and the like, and is widely applied to robots.
In the traditional speed reducer, gear backlash is arranged between gear transmission mechanisms to prevent gear teeth from being clamped due to errors and thermal deformation, but the backlash brings idle stroke to the mechanism during reverse rotation, so that the mechanism cannot be accurately positioned, namely the speed reducer has the problem of backlash; and the impact force generated when the motor is started and stopped can lead the whole mechanical equipment to vibrate, thereby further reducing the transmission precision. Therefore, for a robot which needs to transmit high-precision angle information or position information, it is an urgent technical problem to eliminate the backlash influence as much as possible to control the transmission precision.
SUMMERY OF THE UTILITY MODEL
In view of the above drawbacks of the prior art, an object of the present invention is to provide a mechanism for eliminating the back clearance effect of a speed reducer and a robot joint module, in which a scroll spring is used to tension an output shaft, so that a planet carrier connected to the output shaft is always subjected to a radial moment, and a planetary gear on the planet carrier is tightly meshed with an inner gear ring and is always in a stressed state, so as to ensure a certain amount of idle stroke generated by each forward and reverse rotation, thereby achieving the purposes of eliminating the back clearance side effect and improving the transmission precision.
In order to achieve the above objects and other related objects, the present invention provides a backlash influence eliminating mechanism for a speed reducer, the speed reducer including a housing, a sun shaft, a planetary gear, an inner gear ring, a planet carrier, and an output shaft, the sun shaft being rotatably disposed in the housing, the inner gear ring being connected to the housing; the planet carrier is connected with a planet gear which is meshed between the sun shaft and the inner gear ring; the output shaft is arranged on the planet carrier and extends out of the shell; the speed reducer back clearance influence eliminating mechanism comprises a volute spring; the shell is provided with a vortex spring seat, the vortex spring seat is provided with an inner cavity through which an output shaft passes, and the vortex spring is positioned in the inner cavity of the vortex spring seat; the inner end of the volute spring is connected with the output shaft, and the outer end of the volute spring is connected with the volute spring seat; when the speed reducer rotates forwards and backwards, the output shaft always bears the radial moment of the volute spring, so that the planet carrier connected with the output shaft is always acted by the radial moment, the planet gear on the planet carrier is tightly meshed with the inner gear ring and is always in a stressed state, the gear teeth of the planet gear are prevented from swinging back and forth in the gear gap of the inner gear ring, the idle stroke amount generated by each forward and backward rotation is constant, and the purposes of eliminating the back clearance side effect and improving the transmission precision are achieved.
Preferably, the outer wall of the output shaft is provided with a first clamping groove, the inner wall of the vortex spring seat is provided with a second clamping groove, the inner end of the vortex spring is clamped in the first clamping groove, and the outer end of the vortex spring is clamped in the second clamping groove, so that the vortex spring is convenient to position and install.
Preferably, first draw-in groove is radial draw-in groove, avoids volute spring and output shaft to break away from, guarantees connection stability.
Preferably, the second clamping groove is communicated with the end face, far away from the planet carrier, of the vortex spring seat to form an open groove, and the installation difficulty of the outer end of the vortex spring is reduced.
Preferably, the output shaft is provided with a limit end cover, and the limit end cover is matched with the output shaft to limit the axial displacement of the volute spring, so that the volute spring is prevented from being separated from the second clamping groove.
The utility model also provides a robot joint module, which comprises a motor and a speed reducer, wherein the speed reducer comprises the speed reducer backlash influence eliminating mechanism.
As described above, the speed reducer backlash influence eliminating mechanism and the robot joint module according to the present invention have the following advantageous effects:
the mechanism for eliminating the back clearance influence of the speed reducer has the advantages of simple structure, small volume and low cost, only one volute spring is needed to strain the output shaft, so that the planet carrier connected with the output shaft always bears the action of radial torque, the planet gear on the planet carrier is tightly meshed with the inner gear ring and is always in a stressed state, the idle stroke quantity generated by each positive and negative rotation of the speed reducer is ensured to be constant, the joint module can accurately obtain the angle of the output end, and the purposes of eliminating the back clearance side effect and improving the transmission precision are achieved.
Drawings
Fig. 1 is a cross-sectional view of a speed reducer backlash influence eliminating mechanism of the present invention mounted on a robot joint module.
Fig. 2 is a plan view of the speed reducer backlash influence eliminating mechanism of the present invention mounted on an output shaft.
Fig. 3 is an exploded view of fig. 2.
Description of the reference numerals
The outer shell 01, the planet carrier 02, the output shaft 03, first draw-in groove 031, the volute spring 1, volute spring seat 2, second draw-in groove 21.
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure.
Please refer to fig. 1 to 3. It should be understood that the structures, ratios, sizes, and the like shown in the drawings and described in the specification are only used for matching with the disclosure of the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions under which the present invention can be implemented, so that the present invention has no technical significance, and any structural modification, ratio relationship change, or size adjustment should still fall within the scope of the present invention without affecting the efficacy and the achievable purpose of the present invention. In addition, the terms "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms is not to be construed as a scope of the present invention.
As shown in fig. 3, the speed reducer includes a housing 01, a sun shaft rotatably disposed in the housing 01, a planetary gear, an inner gear ring connected to the housing 01, a planet carrier 02, and an output shaft 03; the planet carrier 02 is connected with a planet gear which is meshed between the sun shaft and the inner gear ring; the output shaft 03 is disposed on the carrier 02 and extends out of the housing 01. Because the speed reducer has a gear transmission mechanism, the speed reducer has a back clearance problem, idle stroke amount exists when the speed reducer rotates forwards and backwards, and the idle stroke amount of the forward rotation and the backward rotation at each time has difference, so that the transmission precision is greatly influenced, and the transmission of high-precision angle information cannot be ensured.
Based on this, as shown in fig. 1 to 3, the present invention provides a speed reducer backlash influence eliminating mechanism, which includes a volute spring 1; the shell 01 is provided with a vortex spring seat 2, the vortex spring seat 2 is provided with an inner cavity through which an output shaft 03 passes, and the vortex spring 1 is positioned in the inner cavity of the vortex spring seat 2; the inner end of the volute spring 1 is connected with the output shaft 03, and the outer end of the volute spring 1 is connected with the volute spring seat 2.
Because volute spring 1 strains output shaft 03, makes output shaft 03 bear radial moment all the time, and then makes the planetary gear on the planet carrier 02 who is connected with output shaft 03 compress tightly on the ring gear, realizes the inseparable meshing of planetary gear and ring gear, and like this, the idle stroke volume that the speed reducer is positive and negative to rotate each time is equal, effectively guarantees the transmission of high accuracy angle information, eliminates the side effect of back clearance, improves transmission accuracy.
It is understood that the connection mode of the volute spring 1 with the output shaft 03 and the volute spring seat 2 is a detachable fixed connection mode or an undetachable fixed connection mode, and the detachable fixed connection mode is not limited to this, and the detachable fixed connection mode is preferably adopted in the present embodiment for the convenience of disassembling and replacing the volute spring 1.
Specifically, as shown in fig. 3, a first locking groove 031 is formed in an outer wall of the output shaft 03, a second locking groove 21 is formed in an inner wall of the vortex spring seat 2, an inner end of the vortex spring 1 is locked in the first locking groove 031, and an outer end of the vortex spring 1 is locked in the second locking groove 21.
Further, as shown in fig. 2 and 3, in order to improve the connection stability between the volute spring 1 and the output shaft 03 and reduce the risk of falling off of the volute spring 1, the first locking groove 031 is a radial locking groove.
Further, as shown in fig. 3, an open slot is formed by communicating the second slot 21 with the end surface of the volute spring seat 2, which is far away from the planet carrier 02, so that the difficulty in mounting the outer end of the volute spring 1 is reduced.
As shown in fig. 2, a limiting end cover 04 is arranged on the output shaft 03 to prevent the axial movement of the volute spring 1 from separating from the volute spring seat 2 and affecting the transmission precision of the speed reducer.
It can be understood that the speed reducer back clearance influence eliminating mechanism can be applied to various speed reducers, and is used for eliminating the influence of back clearance and ensuring the transmission precision.
The utility model also provides a robot joint module which comprises a motor and a speed reducer, wherein the speed reducer back clearance influence eliminating mechanism is adopted by the speed reducer so as to meet the requirement that the robot needs to transmit angle information with high precision.
In conclusion, the mechanism for eliminating the backlash influence of the speed reducer has the advantages of simple structure, small volume and low cost, only one volute spring is needed to strain the output shaft, so that the planet carrier connected with the output shaft always bears the action of radial torque, the planet gear on the planet carrier is tightly meshed with the inner gear ring and is always in a stressed state, the idle stroke quantity generated by each positive and negative rotation of the speed reducer is ensured to be equal, the angle of the output end can be accurately obtained by the joint module, the purpose of eliminating the backlash side effect and improving the transmission precision is achieved, and the mechanism can be popularized and used.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the utility model. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (6)
1. A backlash influence eliminating mechanism of a speed reducer comprises a shell (01), a sun shaft, a planetary gear, an inner gear ring, a planet carrier (02) and an output shaft (03), wherein the sun shaft is rotationally arranged in the shell (01); the inner gear ring is connected with the shell (01); the planet carrier (02) is connected with a planet gear which is meshed between the sun shaft and the inner gear ring; the output shaft (03) is arranged on the planet carrier (02) and extends out of the shell (01); the speed reducer backlash influence eliminating mechanism is characterized by comprising a volute spring (1); the shell (01) is provided with a vortex spring seat (2), the vortex spring seat (2) is provided with an inner cavity through which an output shaft (03) passes, and the vortex spring (1) is positioned in the inner cavity of the vortex spring seat (2); the inner end of the volute spring (1) is connected with the output shaft (03), and the outer end of the volute spring (1) is connected with the volute spring seat (2).
2. The mechanism for eliminating the backlash influence of the speed reducer according to claim 1, wherein a first clamping groove (031) is formed in an outer wall of the output shaft (03), a second clamping groove (21) is formed in an inner wall of the vortex spring seat (2), an inner end of the vortex spring (1) is clamped in the first clamping groove (031), and an outer end of the vortex spring (1) is clamped in the second clamping groove (21).
3. The mechanism of claim 2, wherein the first locking groove (031) is a radial locking groove.
4. The mechanism for eliminating backlash influence of the speed reducer according to claim 2 or 3, wherein the second clamping groove (21) is communicated with an end surface, far away from the planet carrier (02), of the volute spring seat (2) to form an open groove.
5. The mechanism for eliminating the backlash influence of the speed reducer according to claim 4, wherein a limit end cover (04) is arranged on the output shaft (03).
6. A robot joint module comprising a motor and a speed reducer, wherein the speed reducer comprises the speed reducer backlash influence elimination mechanism according to any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122736284.9U CN216519536U (en) | 2021-11-09 | 2021-11-09 | Speed reducer back clearance influence elimination mechanism and robot joint module |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122736284.9U CN216519536U (en) | 2021-11-09 | 2021-11-09 | Speed reducer back clearance influence elimination mechanism and robot joint module |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216519536U true CN216519536U (en) | 2022-05-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122736284.9U Active CN216519536U (en) | 2021-11-09 | 2021-11-09 | Speed reducer back clearance influence elimination mechanism and robot joint module |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216519536U (en) |
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2021
- 2021-11-09 CN CN202122736284.9U patent/CN216519536U/en active Active
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