WO2020147175A1 - 一种双蜗杆自消隙的蜗杆副结构 - Google Patents

一种双蜗杆自消隙的蜗杆副结构 Download PDF

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WO2020147175A1
WO2020147175A1 PCT/CN2019/077073 CN2019077073W WO2020147175A1 WO 2020147175 A1 WO2020147175 A1 WO 2020147175A1 CN 2019077073 W CN2019077073 W CN 2019077073W WO 2020147175 A1 WO2020147175 A1 WO 2020147175A1
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Prior art keywords
worm
movable
fixed
self
backlash
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PCT/CN2019/077073
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English (en)
French (fr)
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高强
程振涛
汤秀清
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广州市昊志机电股份有限公司
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Publication of WO2020147175A1 publication Critical patent/WO2020147175A1/zh

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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
    • 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
    • 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
    • F16H57/12—Arrangements for adjusting or for taking-up backlash not provided for elsewhere
    • 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
    • F16H1/20—Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members

Definitions

  • the invention relates to a worm, in particular to a worm pair structure with double worms with self-anti-backlash.
  • the purpose of the present invention is to provide a double-worm self-anti-backlashing worm pair structure that can compensate for the wear of the worm gear in real time, can realize high-precision transmission, and does not require manual adjustment of the worm gear.
  • a dual-worm self-anti-backlashing worm pair structure includes a fixed worm, a movable worm and an elastic structure.
  • the movable worm and the fixed worm rotate coaxially, and the movable worm and the fixed worm are fixed circumferentially and axially Relatively movable, the elastic structure is installed between the fixed worm and the movable worm to provide a force away from each other between the fixed worm and the movable worm, so that the fixed worm and the movable worm can both Contact with the tooth surface of the worm wheel to eliminate the backlash between the worm wheel and the fixed worm and the movable worm.
  • the movable worm and the fixed worm are connected by a spline.
  • the elastic structure includes an elastic member, and two ends of the elastic member respectively abut the movable worm and the fixed worm.
  • the elastic member is a disc spring or a spring.
  • the elastic structure further includes an adjusting washer located between the elastic member and the fixed worm.
  • the fixed worm part is sleeved in the movable worm, and the adjusting washer and the elastic member are located in the movable worm.
  • the elastic structure is a hydraulic structure
  • the elastic structure includes a rotating oil circuit input
  • the fixed worm is provided with a hydraulic oil circuit
  • the hydraulic oil circuit is in communication with the rotating oil circuit input
  • the movable A hydraulic oil chamber is provided between the worm and the fixed worm
  • the hydraulic structure is connected with an external hydraulic station to provide a force away from each other between the fixed worm and the movable worm.
  • the double-worm self-anti-backlash worm pair structure further includes a compression cover that is housed in the movable worm and fixedly connected to the movable worm, and the compression cover is located in the elastic structure One side.
  • the dual-worm self-anti-backlash worm pair structure further includes a support structure and a box body, the support structure includes a first bearing and a bearing seat, and the first bearing supports the fixed worm and passes through the bearing seat Installed in the box.
  • the support structure further includes a second bearing, the second bearing is a needle bearing, and the needle bearing supports the movable worm.
  • the movable worm and the fixed worm of the double-worm self-anti-backlashing worm pair structure of the present invention are circumferentially fixed and axially movable relative to each other.
  • the elastic structure is installed between the fixed worm and the movable worm to provide the fixed worm and the movable worm
  • Provides mutual distance between the fixed worm and the movable worm can contact the worm gear tooth surface, eliminating the backlash between the worm wheel and the fixed worm and the movable worm; and the elastic structure can compensate for the wear of the worm in real time; high precision transmission can be achieved , And there is no need to adjust the worm gear manually.
  • Fig. 1 is a schematic structural view of the first embodiment of the double-worm self-anti-backlashing worm pair structure of the present invention
  • Figure 2 is a cross-sectional view of the double worm self-anti-backlashing worm pair structure A-A of Figure 1;
  • Figure 3 is a perspective view of the working state of the double worm self-anti-backlashing worm pair structure of Figure 1;
  • Fig. 4 is an enlarged view at B of the double-worm self-anti-backlashing worm pair structure of Fig. 3;
  • Figure 5 is a cross-sectional view of the double worm self-anti-backlashing worm pair structure of Figure 4;
  • Fig. 6 is a schematic structural view of the second embodiment of the double-worm self-anti-backlashing worm pair structure of the present invention.
  • a component when referred to as being "fixed to” another component, it can be directly on the other component or a central component may also exist.
  • a component When a component is considered to be “connected” to another component, it can be directly connected to another component or there may be a centered component at the same time.
  • a component When a component is considered to be “set on” another component, it may be set directly on another component or there may be a centered component at the same time.
  • the terms “vertical”, “horizontal”, “left”, “right” and similar expressions used herein are for illustrative purposes only.
  • a double-worm self-anti-backlashing worm pair structure includes a worm wheel 1, a fixed Worm 2, movable worm 3, elastic structure 4, compression cover 5, input gear assembly 6, bearing lock nut 7, supporting structure 8 and box 9.
  • the fixed worm 2 is partially housed in the movable worm 3 and the movable worm 3 is fixed in the circumferential direction by a spline, and can move in the axial direction. At this time, the fixed worm 2 and the movable worm 3 are coaxial.
  • the worm wheel 1 meshes with the fixed worm 2 and the movable worm 3 at the same time.
  • the elastic structure 4 includes an adjusting pad 41 and an elastic member 42.
  • the adjusting washer 41 and the elastic member 42 are located inside the movable worm 3 and in the recess of the fixed worm 2.
  • the adjusting washer 41 is located between the side wall of the fixed worm 2 and the elastic member 42.
  • the elastic member 42 is a spring or a disc spring.
  • the elastic member 42 is a disc spring.
  • the compression cover 5 and the movable worm 3 are fixed by screwing to prevent loosening.
  • the input gear assembly 6 is fixed at the end of the movable worm 3 and is used for torque input connection of the servo motor.
  • the supporting structure 8 includes a first bearing 81, a bearing seat 82 and a second bearing 83.
  • the first bearing 81 is a tapered roller bearing, which is used to support the fixed worm 2 so that the fixed worm 2 can only rotate and cannot move axially.
  • the first bearing 81 is mounted to the case 9 through a bearing seat 82.
  • the second bearing 83 is a needle bearing for supporting the movable worm 3, and the second bearing 83 is installed on the box 9.
  • the bearing lock nut 7 is fixed to the end of the fixed worm 2 to lock the first bearing 81.
  • the fixed worm 2 and the movable worm 3 are limited by a spline connection and can only move relative to each other.
  • the elastic structure 4 forces the fixed worm 2 and the movable worm 3 to generate a force away from each other. Both the fixed worm 2 and the movable worm 3 can contact the tooth surface of the worm wheel 1.
  • the fixed worm 2 and the movable worm 3 rotate forward, the fixed worm 2 contacts the left tooth surface of the worm wheel 1. Because of the elastic structure 4, the movable worm 3 can still contact the right tooth surface of the worm wheel 1 at this time.
  • the fixed worm 2 and the movable worm 3 are reversed, because there is no backlash, there will be no problem of the worm running freely, and zero backlash transmission can be realized, the accuracy is not attenuated, and the accuracy is high.
  • the spring force of the disc spring is set to F, and the distance between the point of action of the worm wheel 1 and the worm is L from the center of rotation of the worm wheel 1. It can be estimated that the worm wheel 1 is subjected to external torque within M ⁇ F*L, and the structure of this worm pair is either forward or reverse There is no backlash in rotation, and it can be transmitted with high precision.
  • the disc spring force F can be set as required. The larger the F, the larger the torque M without backlash in the forward and reverse rotations; but correspondingly, the wear of the worm wheel 1 and the worm will accelerate.
  • the worm wheel 1 and the worm will heat up and expand during use. Because of the zero backlash, the traditional worm wheel 1 and the worm structure will be stuck. Due to the existence of the elastic structure 4, the movable worm 3 can return after thermal expansion. Bounce the position without jamming, which solves this problem well.
  • the worm wheel 1 and the worm will wear out during use. At this time, the elastic structure 4 can self-compensate to compensate for the backlash.
  • a double-worm self-defending worm pair structure includes a worm wheel 1, a fixed worm 2 , Movable worm 3, elastic structure 4, compression cover 5, input gear assembly 6, bearing lock nut 7, supporting structure 8 and box 9.
  • the elastic structure 4 is hydraulic structure.
  • the hydraulic structure includes a rotary oil path input member 43 and a sealing member 44.
  • the sealing member 44 is a sealing ring.
  • the fixed worm 2 is provided with a hydraulic oil passage 21, and the hydraulic oil passage 21 is in communication with the rotary oil passage input member 43.
  • a hydraulic oil chamber is provided between the movable worm 3 and the fixed worm 2.
  • the hydraulic oil chamber is in communication with the hydraulic oil circuit 21.
  • the hydraulic structure communicates with the external hydraulic station to provide a force away from each other between the fixed worm 2 and the movable worm 3.
  • the double-worm self-anti-backlash worm pair structure in the present application solves the problem of backlash between the worm wheel 1 and the worm, and enables the worm pair structure to work under zero backlash conditions and high-precision transmission; reduces the processing difficulty of the worm pair. 1. It is sufficient with the worm, and does not need to be a double-lead worm; the elastic structure 4 will speed up the wear of the worm wheel 1 and the worm.
  • the material of the worm wheel 1 can be changed to alloy steel, or the contact surface of the worm wheel 1 and the worm can be surface treated , Increase the wear resistance, can solve the wear problem.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Gear Transmission (AREA)
  • Gears, Cams (AREA)

Abstract

一种双蜗杆自消隙的蜗杆副结构，包括固定蜗杆（2）、活动蜗杆（3）及弹性结构（4），活动蜗杆（3）与固定蜗杆（2）同轴转动，活动蜗杆（3）与固定蜗杆（2）周向固定并轴向可相对移动，弹性结构（4）安装于固定蜗杆（2）与活动蜗杆（3）之间给固定蜗杆（2）及活动蜗杆（3）之间提供相互远离的力使固定蜗杆（2）与活动蜗杆（3）均能接触蜗轮（1）齿面，消除蜗轮（1）与固定蜗杆（2）及活动蜗杆（3）之间的背隙，并且弹性结构（4）能够实时补偿蜗轮蜗杆的磨损，可以实现高精度传动，而且不需要人为周期调整蜗轮蜗杆。

Description

一种双蜗杆自消隙的蜗杆副结构 技术领域
本发明涉及蜗杆，尤其是涉及一种双蜗杆自消隙的蜗杆副结构。
背景技术
近年来，随着装备制造技术的发展，对伺服驱动设备提出精密、零背隙传动的要求。而在机床的应用中，常用的蜗轮蜗杆传动因齿隙的存在，反向运动会导致传动失效，从而降低传动的精度并对稳定性造成影响。目前主流的双导程蜗杆虽然可以短时减小背隙，但要求隔一段时间在蜗轮蜗杆磨损后人为重新调整，非常麻烦。
发明内容
为了克服现有技术的不足，本发明的目的在于提供一种可以实时补偿蜗轮蜗杆的磨损；可以实现高精度传动，而且不需要人为周期调整蜗轮蜗杆的双蜗杆自消隙的蜗杆副结构。
本发明的目的采用以下技术方案实现：
一种双蜗杆自消隙的蜗杆副结构，包括固定蜗杆、活动蜗杆及弹性结构，所述活动蜗杆与所述固定蜗杆同轴转动，所述活动蜗杆与所述固定蜗杆周向固定并轴向可相对移动，所述弹性结构安装于所述固定蜗杆与所述活动蜗杆之间给所述固定蜗杆及所述活动蜗杆之间提供相互远离的力使所述固定蜗杆与所述活动蜗杆均能接触蜗轮齿面，消除蜗轮与所述固定蜗杆及所述活动蜗杆之间的背隙。
进一步地，所述活动蜗杆与所述固定蜗杆之间通过花键连接。
进一步地，所述弹性结构包括弹性件，所述弹性件两端分别与所述活动蜗杆及所述固定蜗杆抵触。
进一步地，所述弹性件为碟簧或弹簧。
进一步地，所述弹性结构还包括调节垫片，所述调节垫片位于所述弹性件与所述固定蜗杆之间。
进一步地，所述固定蜗杆部分套设于所述活动蜗杆中，所述调节垫片及所述弹性件位于所述活动蜗杆内。
进一步地，所述弹性结构为液压结构，所述弹性结构包括旋转油路输入件，所述固定蜗杆设有液压油路，所述液压油路与所述旋转油路输入件连通，所述活动蜗杆与所述固定蜗杆之间设有液压油腔，所述液压结构与外部液压站连通为所述固定蜗杆及所述活动蜗杆之间提供相互远离的力。
进一步地，所述双蜗杆自消隙的蜗杆副结构还包括压紧盖，所述压紧盖收容于所述活动蜗杆并与所述活动蜗杆固定连接，所述压紧盖位于所述弹性结构一侧。
进一步地，所述双蜗杆自消隙的蜗杆副结构还包括支撑结构及箱体，所述支撑结构包括第一轴承及轴承座，所述第一轴承支撑所述固定蜗杆并通过所述轴承座安装于所述箱体。
进一步地，所述支撑结构还包括第二轴承，所述第二轴承为滚针轴承，所述滚针轴承支撑所述活动蜗杆。
相比现有技术，本发明双蜗杆自消隙的蜗杆副结构的活动蜗杆与 固定蜗杆周向固定并轴向可相对移动，弹性结构安装于固定蜗杆与活动蜗杆之间给固定蜗杆及活动蜗杆之间提供相互远离的力使固定蜗杆与活动蜗杆均能接触蜗轮齿面，消除蜗轮与固定蜗杆及活动蜗杆之间的背隙；并且弹性结构能够实时补偿蜗轮蜗杆的磨损；可以实现高精度传动，而且不需要人为周期调整蜗轮蜗杆。
附图说明
图1为本发明双蜗杆自消隙的蜗杆副结构的第一实施例的一结构示意图；
图2为图1的双蜗杆自消隙的蜗杆副结构A-A处的剖视图；
图3为图1的双蜗杆自消隙的蜗杆副结构的工作状态立体图；
图4为图3的双蜗杆自消隙的蜗杆副结构的B处的放大图；
图5为图4的双蜗杆自消隙的蜗杆副结构的剖视图；
图6为本发明双蜗杆自消隙的蜗杆副结构的第二实施例的一结构示意图。
图中：1、蜗轮；2、固定蜗杆；21、液压油路；3、活动蜗杆；4、弹性结构；41、调节垫片；42、弹性件；43、旋转油路输入件；44、密封件；5、压紧盖；6、输入齿轮组件；7、轴承锁紧螺母；8、支撑结构；81、第一轴承；82、轴承座；83、第二轴承；9、箱体。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方 案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
需要说明的是，当组件被称为“固定于”另一个组件，它可以直接在另一个组件上或者也可以存在居中的组件。当一个组件被认为是“连接”另一个组件，它可以是直接连接到另一个组件或者可能同时存在居中组件。当一个组件被认为是“设置于”另一个组件，它可以是直接设置在另一个组件上或者可能同时存在居中组件。本文所使用的术语“垂直的”、“水平的”、“左”、“右”以及类似的表述只是为了说明的目的。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。
请参阅图1至图5，为本发明一种双蜗杆自消隙的蜗杆副结构的第一实施例，在本实施例中，一种双蜗杆自消隙的蜗杆副结构包括蜗轮1、固定蜗杆2、活动蜗杆3、弹性结构4、压紧盖5、输入齿轮组件6、轴承锁紧螺母7、支撑结构8及箱体9。
固定蜗杆2部分收容于活动蜗杆3与活动蜗杆3通过花键周向固定，并且在轴向上能够移动。此时固定蜗杆2与活动蜗杆3同轴。蜗 轮1同时与固定蜗杆2及活动蜗杆3啮合。在本实施例中，弹性结构4包括调节垫片41及弹性件42。调节垫片41及弹性件42位于活动蜗杆3内部并位于固定蜗杆2的凹陷处。调节垫片41位于固定蜗杆2的侧壁及弹性件42之间。弹性件42为弹簧或碟簧。在本实施例中，弹性件42为碟簧。压紧盖5与活动蜗杆3通过螺纹配合固定，防止松动。输入齿轮组件6固定于活动蜗杆3的末端，用于伺服电机的扭矩输入连接。
支撑结构8包括第一轴承81、轴承座82及第二轴承83。第一轴承81为圆锥滚子轴承，用于支撑固定蜗杆2使固定蜗杆2只能旋转，不能轴向窜动。第一轴承81通过轴承座82安装于箱体9。第二轴承83为滚针轴承，用于支撑活动蜗杆3，第二轴承83安装于箱体9。轴承锁紧螺母7固定于固定蜗杆2的端部锁紧第一轴承81。
使用双蜗杆自消隙的蜗杆副结构时，固定蜗杆2和活动蜗杆3通过花键联接限位，只能轴向相对移动，弹性结构4迫使固定蜗杆2和活动蜗杆3产生相互远离的力。使得固定蜗杆2和活动蜗杆3均能接触蜗轮1的齿面。当固定蜗杆2和活动蜗杆3正转时候，固定蜗杆2与蜗轮1左齿面接触。因为弹性结构4的原因，这时候活动蜗杆3依旧可以和蜗轮1的右齿面接触。当固定蜗杆2和活动蜗杆3反转时候，因为不存在背隙，所以不会产生蜗杆空跑的问题，可以实现零背隙传动，精度不衰减，精度高。
此处设碟簧弹力为F，蜗轮1与蜗杆的作用点离蜗轮1旋转中心距离为L，可以估算蜗轮1受外界作用扭矩在M≤F*L内，此蜗杆副 结构不管正转还是反转，都不存在背隙，可以很高精度地传动。当蜗轮1受外界扭矩M＞F*L时候，此蜗杆副结构正转时候不存在背隙，反转时候会出现背隙，但当反转停止后，活动蜗杆3在弹性结构4作用下又会消除掉背隙，即将蜗轮1传动到理论的位置，不受背隙影响；即当蜗轮1受外界扭矩M＞F*L时候，联动精度会因背隙产生而受损失，但点动定位精度还是不受背隙影响可以非常高。此处碟簧力F可以根据需要设定，F越大，正反转没背隙的力矩M越大；但相应的，蜗轮1与蜗杆的磨损会加快。
蜗轮1与蜗杆使用过程中会发热膨胀，因为零背隙的原因，传统的蜗轮1与蜗杆结构就会发生卡死的问题，而这里由于弹性结构4的存在，在热膨胀后活动蜗杆3可以回弹让位置而不会产生卡死问题，很好地解决了这个问题。
蜗轮1与蜗杆使用过程中会发生磨损，这时候弹性结构4可以自补偿，将背隙补偿掉。
请继续参阅图6，为本发明一种双蜗杆自消隙的蜗杆副结构的第二实施例，在本实施例中，一种双蜗杆自消隙的蜗杆副结构包括蜗轮1、固定蜗杆2、活动蜗杆3、弹性结构4、压紧盖5、输入齿轮组件6、轴承锁紧螺母7、支撑结构8及箱体9。
在第二实施例中，一种双蜗杆自消隙的蜗杆副结构的原理与第一实施例中大致相同，与第一实施例不同的是，在第二实施例中，弹性结构4为液压结构。液压结构包括旋转油路输入件43以及密封件44。在第二实施例中，密封件44为密封圈。固定蜗杆2设有液压油路21， 液压油路21与旋转油路输入件43连通。活动蜗杆3与固定蜗杆2之间设有液压油腔。液压油腔与液压油路21连通。液压结构与外部液压站连通为固定蜗杆2及活动蜗杆3之间提供相互远离的力。
本申请中双蜗杆自消隙的蜗杆副结构解决了蜗轮1与蜗杆背隙问题，可以使蜗杆副结构在零背隙工况下工作，高精度传动；降低了蜗杆副的加工难度，普通蜗轮1与蜗杆即可，不需要做成双导程的蜗杆；弹性结构4会加快蜗轮1与蜗杆的磨损，可以通过将蜗轮1材质改为合金钢，或者对蜗轮1与蜗杆接触表面进行表面处理，增加耐磨性，可以解决磨损问题。
以上，所有的实施方式仅为本发明的优选实施方式而已，并非对本发明作任何形式上的限制；凡本行业的普通技术人员均可按说明书附图所示和以上而顺畅地实施本发明；但是，凡熟悉本专业的技术人员在不脱离本发明技术方案范围内，利用以上所揭示的技术内容而做出的些许更动、修饰与演变的等同变化，均为本发明的等效实施例；同时，凡依据本发明的实质技术对以上实施例所作的任何等同变化的更动、修饰与演变等，均仍属于本发明的技术方案的保护范围之内。

Claims (10)

  1. 一种双蜗杆自消隙的蜗杆副结构，包括固定蜗杆，其特征在于：所述双蜗杆自消隙的蜗杆副结构还包括活动蜗杆及弹性结构，所述活动蜗杆与所述固定蜗杆同轴转动，所述活动蜗杆与所述固定蜗杆周向固定并轴向可相对移动，所述弹性结构安装于所述固定蜗杆与所述活动蜗杆之间给所述固定蜗杆及所述活动蜗杆之间提供相互远离的力使所述固定蜗杆与所述活动蜗杆均能接触蜗轮齿面，消除蜗轮与所述固定蜗杆及所述活动蜗杆之间的背隙。
  2. 根据权利要求1所述的双蜗杆自消隙的蜗杆副结构，其特征在于：所述活动蜗杆与所述固定蜗杆之间通过花键连接。
  3. 根据权利要求1所述的双蜗杆自消隙的蜗杆副结构，其特征在于：所述弹性结构包括弹性件，所述弹性件两端分别与所述活动蜗杆及所述固定蜗杆抵触。
  4. 根据权利要求3所述的双蜗杆自消隙的蜗杆副结构，其特征在于：所述弹性件为碟簧或弹簧。
  5. 根据权利要求3所述的双蜗杆自消隙的蜗杆副结构，其特征在于：所述弹性结构还包括调节垫片，所述调节垫片位于所述弹性件与所述固定蜗杆之间。
  6. 根据权利要求5所述的双蜗杆自消隙的蜗杆副结构，其特征在于：所述固定蜗杆部分套设于所述活动蜗杆中，所述调节垫片及所述弹性件位于所述活动蜗杆内。
  7. 根据权利要求1所述的双蜗杆自消隙的蜗杆副结构，其特征在于：所述弹性结构为液压结构，所述弹性结构包括旋转油路输入件， 所述固定蜗杆设有液压油路，所述液压油路与所述旋转油路输入件连通，所述活动蜗杆与所述固定蜗杆之间设有液压油腔，所述液压结构与外部液压站连通为所述固定蜗杆及所述活动蜗杆之间提供相互远离的力。
  8. 根据权利要求1所述的双蜗杆自消隙的蜗杆副结构，其特征在于：所述双蜗杆自消隙的蜗杆副结构还包括压紧盖，所述压紧盖收容于所述活动蜗杆并与所述活动蜗杆固定连接，所述压紧盖位于所述弹性结构一侧。
  9. 根据权利要求1所述的双蜗杆自消隙的蜗杆副结构，其特征在于：所述双蜗杆自消隙的蜗杆副结构还包括支撑结构及箱体，所述支撑结构包括第一轴承及轴承座，所述第一轴承支撑所述固定蜗杆并通过所述轴承座安装于所述箱体。
  10. 根据权利要求9所述的双蜗杆自消隙的蜗杆副结构，其特征在于：所述支撑结构还包括第二轴承，所述第二轴承为滚针轴承，所述滚针轴承支撑所述活动蜗杆。
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