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Gear clearance adjusting structure and robot

A gear gap and structure adjustment technology, which is applied to belts/chains/gears, mechanical equipment, transmission parts, etc., can solve the problems of difficult gear processing, high processing and assembly costs, and achieve motor damage avoidance, simple structure, and reduced The effect of manufacturing costs

Inactive Publication Date: 2019-07-05
SHENYANG SIASUN ROBOT & AUTOMATION
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Modern industrial robots have high precision requirements, and the backlash of the transmission gear is very important to it. The traditional solution is that the input motor is driven by the gear pair, and then reaches the output flange through a high-precision reducer. At this time, the backlash of the bevel gear pair The precision index meets the requirements only after the gap is reduced by the reduction ratio of the reducer. For the structural form without a reducer at the end, the accuracy of the robot can only be met by improving the accuracy of the bevel gear and adjusting the shim during assembly, resulting in Gear processing is difficult, and processing and assembly costs are high

Method used

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  • Gear clearance adjusting structure and robot
  • Gear clearance adjusting structure and robot
  • Gear clearance adjusting structure and robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0030] Embodiment 1 adopts the mode that screw rod and nut are connected

[0031] combine figure 1 As shown, the first adjustable screw 6 passes through the first gear 1 and the output shaft 5 in the axial direction and is fixed by the first nut 7, and the first adjustable screw 6 is changed by tightening or loosening the first nut 7. The position of a nut 7 on the first adjustable screw rod 6 makes the first gear 1 shift under the elastic force of the first compression spring 3, that is, stretch out or retreat, thereby changing the gear clearance, specifically, tighten the first gear 1 When tightening the nut 7, the distance between the first nut 7 and the end of the first adjustable screw rod 6 decreases, so that the first gear 1 will retreat toward the direction away from the second gear 2, so that the gear gap becomes larger, otherwise, when the screw is loosened When the first nut 7, the distance between the first nut 7 and the end of the first adjustable screw 6 becomes...

Embodiment 2

[0035] Embodiment 2 adopts screw rod and threaded connection

[0036]The first adjustable screw 6 is threadedly connected to the first gear 1, and the second adjustable screw 17 is threaded to the second gear 2. Specifically, the first gear 1 and the second gear 2 are axially provided with a plurality of threaded holes matching the screw rod. Here, for the convenience of explanation, the gears are used instead of the first gear 1 or the second gear 2. The gear clearance adjustment structure is also provided with a mounting flange. Both the first gear assembly and the second gear assembly are provided, the compression spring is arranged between the gear and the mounting flange, the screw rod passes through the mounting flange and is threadedly connected with the threaded hole of the gear, and the depth screwed into the threaded hole by adjusting the screw rod can be adjusted. Adjust the distance between the gear and the mounting flange so that the clearance of the gear can be c...

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Abstract

According to the technical scheme of the embodiment of the invention, the structures of a screw and a spring are adopted, when the gear clearance is adjusted, the position of a gear can be adjusted through the screw and tensioned through the spring, the pretightening force of a gear pair is easy to adjust, the magnitude of the pretightening force can be randomly adjusted, and a gasket does not need to be used; and in addition, gear idling can be caused through compression of the spring when the gear encounters large impact loads, motor damage is avoided, the structure is simple, and the manufacture cost can be further reduced.

Description

technical field [0001] The invention relates to the mechanical field, in particular to a gear gap adjustment structure and a robot. Background technique [0002] In general-purpose articulated industrial robots, bevel gear transmission has always been the mainstream form of the traditional end drive structure. Generally, the 5-axis and 6-axis motors are located on the three-axis or the forearm, and are transmitted to the wrist at the end through the long axis, and then the direction of rotation is changed through the bevel gear to complete the action requirements of the industrial robot. [0003] Modern industrial robots have high precision requirements, and the backlash of the transmission gear is very important to it. The traditional solution is that the input motor is driven by the gear pair, and then reaches the output flange through a high-precision reducer. At this time, the backlash of the bevel gear pair The precision index meets the requirements only after the gap ...

Claims

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Application Information

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IPC IPC(8): F16H57/12
CPCF16H57/12
Inventor 曲道奎张鹏李学威边弘晔何书龙郎雷
Owner SHENYANG SIASUN ROBOT & AUTOMATION
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