The automatic method for eliminating limit corner gear tooth side gapTechnical field
The present invention relates to a kind of automatic method for eliminating limit corner gear tooth side gap, suitable in limited bulk spaceCarry out the Gapless gear transmission of finite angle.
Background technology
Gear drive is a kind of primary drive mode for being widely used in various mechanical systems and equipment.Gear driveIt is control common in electronic product and measuring mechanism, gear-driven precision directly influences control and the measurement property of productEnergy.For gear drive in single-direction transmission, transmission accuracy is higher.But in some servo Mechatronic Systems, ordinary gearReturn difference caused by backlash can make servo-drive system response lag.The gear geometry entity with complex shape as one in itselfWith the actuated element of gyration, it produces inclined using datum hole center as the tangent to periphery direction in the center of circle relative to preferable positionMove and transmit and rotate.Feed error when gear pair circumferential backlash is by designing, single gear foozle in itself and transmissionThe compositions such as centre-to-centre spacing error.The accuracy of manufacture of gear in itself, to the service behaviour, bearing capacity and service life of whole machineAll have a great impact.Various driving errors in the servo-drive system of gear transmission chain be present, these errors may be roughly divided into angleSpend driving error and Linear transmission error.Presence of the driving error of the above-mentioned type with taking turns running clearance during gear drive hasMuch relations.In the servo-drive system course of work, inevitably by the above-mentioned error propagation as caused by wheel running clearance.According toIts use condition, gear drive should meet the requirement of the following aspects.（One）Transmit movement accuracy and require that gear is more accurateGround transmission campaign, gearratio are constant.Require that angular errors of the gear in one turn are no more than certain limit.（Two）Transmit motionStationarity.It is required that gear transmits stable movement, to reduce shock and vibration and noise.Require instantaneously fast when limiting gear rotatesThe change of ratio.（Three）Load distributing homogeneity.It is required that during working gear, face is uniform, so that gear is in passing powerWhen not reason load skewness and make contact stress excessive, cause flank of tooth premature abrasion.Contact precision including the flank of tooth except connecingTouch beyond uniformity, in addition to contact area and contact position.（Four）It is driven the reasonability of sideshake.It is required that during working gear, it is non-Certain gap is left between working flank, with lubrication oil, the change in size caused by temperature, elastic deformation is compensated and addsSome errors when work, assembling.The accuracy of manufacture and backlash of gear are mainly depending on the purposes and condition of work of gear.For the gear of indexing drive, the kinematic accuracy of major requirement gear is higher；For high speed motive force transmission gear, in order to subtractShaochong is hit and noise, and work smoothness precision is had higher requirements；For the gear of heavy-duty low-speed transmission, then require that the flank of tooth hasHigher contact precision, to ensure that gear will not premature abrasion；, then should be strict for commutation transmission and the gear of reading mechanismBacklash is controlled, if necessary, gap must be eliminated.Limited by machining accuracy, flank of tooth pattern has deviation, and gear drive is difficult toAvoid due to back lash caused by profile error and alignment error etc..When needing drive control object（Or measurand）Back and forthDuring rotation, due to the presence of back lash, gear transmission chain is produced backlash, and bring larger control error or measurement to missDifference, control accuracy is produced and had a strong impact on, therefore, needing the occasion of transmission High-precision angle information or positional information, mustSuitable error control method must be used, to improve transmission accuracy, reach more preferable operational effect.Common hysterisis error controlMethod has：Double-motor anti-backlash method, double bevel gear backlash method, away from adjusting method, torsion/spring loads split gear disappears gap gear centreMethod, rub the gap method etc. that disappears.The removing method of gear backlash is a lot.In order to solve this problem, people design a lot of ways.ButIn terms of the method for known elimination backlash, always there is such or such deficiency in them, and such as complicated, size is big, holdsLoading capability is poor, can not compensate automatically.Recent decades, the research about gear clearance elimination is more deep, and research method is summarizedCome, the elimination commonly used in engineering or the main method for reducing backlash have：
1. adjust centre-to-centre spacing method：Backlash is controlled by the centre-to-centre spacing for changing driving gear and driven gear rotating shaft.This sideThe shortcomings that method is to increase the skimming wear of gear after adjusting centre-to-centre spacing, and the phenomenon killed even occurs when adjusting excessive.
2. contact hairspring method：Hairspring is laid by last ring in driving-chain, reaction torque is produced, makes institute in driving-chainThere is part all to keep one-way compression, gear makes the flank of tooth be in one flank gearing state all the time during forward or reverse, so as to disappearExcept influence of the backlash to backlash.The major defect of this method be in driving-chain still with the presence of backlash, transmit torque it is small, mainlySuitable for miniature instrument.
3. eccentric bushing（Axle）Adjusting method：By a gear in intermeshing a pair of gears on motor output shaft,And motor is arranged on eccentric shaft, pass through rotating eccentric sleeve（Axle）Corner, adjust two meshing gears centre-to-centre spacing, eliminate circleBacklash during stud wheel forward and backward.Feature is simple in construction, but its sideshake can not compensate automatically.
4. biplate thickness engaging side set adjusting method：In intermeshing a pair of gears, one is made wide gear, and another is with twoPiece thickness engaging forms.In work, the left flank of a thickness engaging and the right flank of another thickness engaging is set to be close to wide tooth respectivelyThe arranged on left and right sides of teeth groove is taken turns, is not in dead band to eliminate backlash, when reverse, specific regulating measures are：Circumferential spring existsSeveral circumferential arc grooves have respectively been opened on two thin slices gear, and have pacified spring-loaded short column on the end face of two gears.In springIn the presence of make two thin slices gear misplace and eliminate backlash.The pulling force of spring in this structure type must be enough gramTaking driving torque can just work.Because this method is limited by circumferential arc groove and spring sizes, therefore it is only applicable to Machine Tools ElectricActual training device, reading plotter and be not suitable for drive device.Adjustable extension spring is equipped with lug on two thin slices gear, and the one of springOn lug, the other end is hooked on screw end hook.The pulling force size of spring can use the extension elongation of nut adjusting screw, adjustUse nut check again afterwards.This thin slice side set adjustment mechanism, is characterized in relatively simple for structure, but adjustment is relatively time consuming, and flankGap can not compensate automatically, and axial dimension is larger, and structure owes compact.
High application scenario, the method for eliminating gap using above split gear side set mostly are required in transmission accuracy.In the typical case of such mechanism, fixed master gear connects firmly with rotating shaft, and fixed master gear side processing is slightly larger than the cylinder of the diameter of axle,Load pinion and process an equal amount of circular hole by its coaxial sleeve on the cylinder, and keep being bonded with fixed master gear.MeanwhileTo ensure preferably eliminate backlash in the range of 360 ° in any angle, typically along circle all on master, loading pinion faceCircumferential direction installs 2~4 groups of springs, forces pulling force with offer elimination backlash, number of springs is more, complicated, and size is big.
And in more Industry Control and measurement application, control object or measurand often only need to be less limitedIn the range of reciprocating rotation, then the master being fixed thereon, loading pinion in there is most of flank of tooth to be located at outside slewing area, never joinWith engaging, processing and material cost are wasted, and in the product of part body limited space, these teeth are not only completely uselessPlace, larger space can be also taken, and easily be formed and interfered with peripheral member, be unfavorable for space utilization and assembling is realized, limitationThe application of mechanism.With the lifting of clearance elimination gear operating mode complexity, prior art clearance elimination gear can not meet containing the gap that disappearsThe needs of the dynamics of mechanic electric system characteristic research of gear mechanism.
The content of the invention
The purpose of the present invention be in view of the shortcomings of the prior art part, there is provided a kind of mode is simple, compact-sized, energyEnough realize that gear drive without back lash, improves gear-driven precision, and can reduce cost, improve the automatic elimination of assemblingThe method for limiting corner gear tooth side gap.
The technical solution adopted by the present invention is：One in intermeshing driving gear, driven gear is made along thicknessDegree direction is divided into the sector gear of major and minor two panels, driving gear or driven gear by connecting firmly the fixed master on rotary gear shaft cylinderGear and the loading pinion composition parallel to fixed master gear, fixed master gear working portion and loading pinion being set to fanShape, the loading pinion small end covering of the fan bottom circular arc fitting rotary gear shaft cylinder face of cylinder；In the fixed master gear and load secondary toothInclined hole groove is made on the sector of wheel, the gear extension spring for keeping extended state is installed in inclined hole groove, gear extension spring will along inclined hole grooveFixed master gear and loading pinion link together, and gear extension spring one end is by loading the inclined hole groove of pinion, one endOblique pull is connected firmly on the inclined hole groove of fixed master gear；And fixed master gear and loading pinion mutually stagger certain angle, shouldAngular range at least staggers a tooth form width in the circumferential, at the same from opposite direction with it is another in driving gear, driven gearOne gear engagement；When load pinion and fixed master gear stagger certain angle after, gear extension spring will load pinion and solidDetermine master gear to be meshed with another above-mentioned gear, the radius of curvature of pinion and fixed master gear is loaded at meshing point respectively etc.In two same point contact cylinder end face radius of circle, any time engagement points with structural parameters difference andIn cyclically-varying.
The present invention has the advantages that compared to prior art：
Present invention installation in the sector inclined hole groove 7 of the fixed master gear and loading pinion keeps extended stateGear extension spring, master gear and loading pinion are fixed along inclined hole oblique pull by gear extension spring, it is relative that loading pinion can be providedFixed master gear along the circumferential direction force pulling force, ensure that main, loading pinion can engage with driven gear 5 simultaneously, without anti-To drive gap, and can provides loading pinion covering of the fan bottom arc surface and is bonded with side cylinder table top on fixation master gearPower, positive and negative two can only be ensure that in the certain angle that circumferentially coaxially staggers so as to limit loading pinion and fixed master gearThe accuracy of mesh of rotation direction.
Method is simple, compact-sized, compact, is easily installed.The present invention uses non-full circular principal and subordinate's moving teeth sectional wheelEngagement, can reduce volume, realize compact-sized.Size and number of components can be effectively reduced, and cost can be reduced.Using connecting firmlyThe circumference of fixation master gear 6 and the certain angle that staggers parallel to the loading pinion 2 for fixing master gear 6 on rotary gear shaft cylinderAngle forms driving gear, and Gear Processing precision and assembly precision are improved without undue, you can gear drive is realized without back lash,Gear-driven precision is greatly improved, and then improves the control accuracy of control object or the measurement accuracy to measurand.It is non-Full circular principal and subordinate's moving teeth can reduce processing cost and material, can make compact-sized and mitigate weight, beneficial to the layout of small space.Control and measuring mechanism suitable for narrow space.Gear extension spring oblique pull, there is provided the power of both direction ensure that finite angle toothWheel eliminates gap and transmission accuracy.Load pinion 2 can only with fixed master gear 6, in the certain angle that circumferentially coaxially staggers, andBe not in circular runout, no matter so that loading pinion 2 is being rotated forward or rotated backward with fixed master gear 6Cheng Zhong, it can guarantee that the accuracy of mesh of driving gear and driven gear 5.
Brief description of the drawings
Fig. 1 is compact finite angle gear clearance eliminating machine three-dimensional view of the present invention.
Fig. 2 is the structure decomposition figure of driving gear.
Fig. 3 is the pulling force decomposing schematic representation and active, driven gear site of engagement partial enlarged drawing of gear extension spring.
In figure：1 driving gear rotating shaft cylinder, 2 loading pinions, 3 stop screws, 4 gear extension springs, 5 driven gears, 6 activelyThe fixation master gear of gear, 7 inclined hole grooves.
Embodiment
In order that the purpose, technical scheme and advantage of embodiments of the invention are more clearly understood, with reference to embodimentAnd accompanying drawing, embodiments of the invention are further described in detail.Here, the schematic description and description of the present invention is onlyFor explaining the present invention, but it is not as a limitation of the invention.
Refering to Fig. 1, Fig. 2.A pair of rotary axes line is fixed, intermeshing gear, respectively driving gear and driven gear5.Wherein, driving gear is made up of biplate, and gear shape is identical, and effective working portion is sector.The main tooth of driving gear andSecondary tooth can use straight tooth column tooth, as driven gear 5.The secondary bottom of the tooth portion face of cylinder and side cylinder step surface radius on main toothIt is identical, and coaxial assembling, it can be rotated around the cylinder, stagger certain angle, and stop screw limits its maximum rotation scope, actual energyEnsure the tooth that staggers.First by intermeshing driving gear, one in driven gear 5 is made through-thickness pointInto the sector gear of major and minor two panels, driving gear（It can also be driven gear）By connecting firmly the fixed master on rotary gear shaft cylinder 1Gear 6 and loading pinion 2 parallel to fixed master gear 6 are formed, and the fixed working portion of master gear 6 and loading pinion 2 being setFor sector, the face of cylinder of 2 small end covering of the fan bottom circular arc fitting rotary gear shaft cylinder of loading pinion 1；In the fixed master gear and addCarry and inclined hole groove 7 is made on the sector of pinion 2, the gear extension spring 4 of installation holding extended state, gear extension spring 4 in inclined hole groove 7Fixed master gear 6 and loading pinion 2 are linked together respectively along the both ends of inclined hole groove 7, fixed master gear 6 and loading pinion2 angles of circumference for mutually staggering certain angle, while engaged from opposite direction with driven gear 5.Fixed master gear 6 and the secondary tooth of loadingWheel 2 mutually staggers certain angle, and the angular range should ensure that at least in the tooth form width that can circumferentially stagger.Load pinion 2The via for being symmetrical with the both sides of inclined hole groove 7 is formed with covering of the fan, appropriate gap is reserved between two vias, two stop screws 3 are by addingTwo vias on the covering of the fan of pinion 2 are carried, fixed master gear 6 and loading pinion 2 are linked together, avoid fixing master gear 6Depart from loading pinion 2, to ensure that loading pinion 2 can be relatively fixed master gear 6 in limited angular range, make certainlyCoaxially it is bonded by the small end covering of the fan bottom arc surface of loading pinion 2 rotated with connecting firmly the cylinder table top on master gear rotating shaft cylinder 1.
Refering to Fig. 3.Correspondence position with loading pinion 2 on the sector of the fixed master gear 6 is formed with inclined hole groove7, inclined hole groove 7 is interior to load gear extension spring 4, provides oblique pulling at work.Oblique pulling can be analyzed to the power of both direction, an edgeThe tangential horizontal component of circumference, a radial component along radial direction.Horizontal component provides fixed master gear in rotation process6th, load and force pulling force between pinion 2, no matter making to fix master gear 6, loading pinion 2 is being rotated forward or rotated backwardDuring, making to fix master gear 6 and loading pinion 2 can be with driven gear 5 while keeping engaging；Radial component is workingDuring force loading the small end covering of the fan bottom arc surface of pinion 2 be brought into close contact with rotary gear shaft cylinder cylinder table top, so as to limitLoad pinion 2 can only with fixed master gear 6, in the certain angle that circumferentially coaxially staggers, without circular runout, so as toNo matter loading pinion 2 is set to rotate forward with fixed master gear 6 or in counter rotation, can guarantee that driving gearWith the accuracy of mesh of driven gear 5.After two panels sector gear relatively rotates certain number of teeth, gear extension spring 4 compresses, then will fanShape split gear engages with driven gear, and the radius of curvature of two sector gears is respectively equal to two in same point contact at meshing pointCylinder end face radius of circle, any time engagement points with structural parameters difference and be in cyclically-varying.Due toThe effect of gear extension spring 4, the gear teeth of split gear contact engagement with two flanks of driven gear respectively, have reached the gap that disappearsEffect, improve transmission accuracy.