JPS6143585B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a backlash removal device for a bevel gear mechanism to prevent backlash from occurring between a pair of bevel gears, and particularly to a device for removing bumplash in a bevel gear mechanism, which is installed in a drive transmission mechanism of a joint shaft of a robot, etc. It is used.

Conventionally, there has been a device of this type as shown in FIG. In the figure, 1 is a motor output shaft, and 2 is a driving side bevel gear fastened to the motor output shaft 1 with a parallel key 5 and a nut 6. The driven bevel gear 3 is fitted onto the output shaft 4 and is coupled by a parallel key 7.

A shim 8 and a collar 9 are components for adjusting the thickness to remove backlash, and 10 is a gear box in which items 1 to 9 are stored.

In this conventional device, the output rotational force of the electric motor is transmitted from the driving side bevel gear 2 to the driven side bevel gear 3,
It is transmitted to the output shaft 4 via the parallel key 7. Then, in order to eliminate the play of the output shaft with respect to the input shaft, that is, backlash, which occurs when the rotation direction of the motor changes, the shim 8 and collar 9 are checked while checking the meshing state of the driving side bevel gear 2 and the driven side bevel gear. Adjust the thickness and insert.

Further, in this device, a thrust load generated by the rotation of the driving side bevel gear 2 is directly applied to the motor output shaft 1.

Since the conventional bevel gear breakage removing device is constructed as described above, the thickness of the shim 8 and collar 9 must be adjusted during assembly, and it is necessary to disassemble and reassemble each time adjustment is made. In addition, since the drive side bevel gear 2 and the motor output shaft 1 are tapered fitted, the meshing position changes greatly in the axial direction due to variations in the diameter of the large diameter side of the drive side bevel gear 2. Therefore, the shim 8 In addition to adjusting the thickness of the gear box 10, the motor mounting surface of the gear box 10 may also be cut, resulting in disadvantages such as a long adjustment time.

This invention was made in order to eliminate the drawbacks of the conventional ones as described above, and by providing an adjustment mechanism using a leaf spring, the thrust load can be applied to the motor output shaft without adjusting shims etc. It is an object of the present invention to provide a deformation removal device for a bevel gear mechanism that can prevent deformation from occurring directly.

An embodiment of the present invention will be described below with reference to the drawings. In Fig. 2, 1 is a tapered motor output shaft, and 12 is a tapered pin 1 attached to this motor output shaft 1.
The drive side bevel gear mounting portion of the relay shaft connected at 1 is formed into a parallel shaft shape. Reference numeral 2 denotes a driving side bevel gear, which is attached to the driving side bevel gear mounting portion of the relay shaft 12 so as to be able to move slightly along the parallel key 5 on the relay axis.

15 and 16 are first ball bearings, one ball bearing 15 is fitted only to the relay shaft 12, and the other ball bearing 16 is fitted across the driving side bevel gear 2 and the relay shaft 12. This supports the relay shaft 12 and the driving bevel gear 2, respectively. 13 is a housing for the first ball bearings 15 and 16, and holds the other first ball bearing 16 so as to be slidable in the axial direction.
14 is a C-shaped retaining ring for stopping movement of the first ball bearing 15 in the thrust direction, and 23 is a set screw for fixing the housing 13, which supports the mechanism including the drive side bevel gear 2, to the gear box 10.

3 is a driven bevel gear that meshes with the driving bevel gear 2, and is fixed to the output shaft 4 by a parallel key 7.

17 is a collar that determines the axial position of the driven bevel gear 3; 18 and 19 are second ball bearings that are fitted in positions on the output shaft 4 through the driven bevel gear 3 and support the output shaft 4; , is held in the gear box 10 so as to be movable in the thrust direction.

A first leaf spring 20 is a first elastic member inserted between the outer ring of the other first ball bearing 16 and the stepped portion of the housing 13, and the first leaf spring 20 connects the first ball bearing 16 to the drive side bevel gear 2. By applying a load in this direction, the load is applied from the back side of the driving side bevel gear 2 as a result.

A second leaf spring 22 is a second elastic member inserted between the outer ring of one of the second ball bearings 19 and the step of the gear box 10, and is used to apply a load to the output shaft 4 in the right direction in the figure. As a result, a load is applied from the back side of the driven bevel gear 3. A third leaf spring 21 is a third elastic member inserted between the outer ring of the other second ball bearing 19 and the step of the gear box 10, and is used to apply a load to the output shaft 4 in the left direction in the figure. As a result, a load is applied from the front of the driven bevel gear 3.

Note that the load applied by the first leaf spring 20 is set to be larger than the load applied by the second leaf spring 22, and the load applied by the second leaf spring 22 is set to be larger than the load applied by the third leaf spring 21. has been done.

In the bucklash removal device for a bevel gear mechanism configured as described above, the output rotational force of the electric motor is transmitted from the driving bevel gear 2 to the driven bevel gear 3 via the relay shaft 12. Since the wave spring 22 is stronger than the wave spring 21, the driven bevel gear 3 is stopped slightly to the right in FIG. 2 from the normal meshing position. A subassembly consisting of the drive side bevel gear 2, relay shaft 12, housing 13, etc. and the motor output shaft 1 are connected with a taper pin, and in this state, the motor is tightened to the gear box 10, and the housing 13 is fixed with the set screw 23. do. Since the wave spring 20 is slightly stronger than the wave spring 22, the driven bevel gear 3
Pushed back to the left in the diagram. Until this force is balanced, the drive side bevel gear 2 slides on the relay shaft 4 along the parallel key 5 and functions as a backlash removal device for a bevel gear mechanism with a slight preload applied.

If the drive side bevel gear 2 is supported separately from the motor output shaft 1 as in the illustrated embodiment, an unreasonable radial load will not be applied to the motor output shaft 1, and the housing 13 can be attached to the gear box 10 by the set screw 23. By fixing it in place, the effect of thrust load is almost eliminated.

Although the above embodiment is an example of application to a joint shaft of a multi-joint robot, it can also be used as a de-battery removal device for a bevel gear mechanism of other machines.

The mechanism also works if a disc spring, coil spring, etc. is used as a substitute for the wave spring.

As described above, according to the present invention, it is no longer necessary to repeatedly disassemble and assemble the bevel gear mechanism to adjust the thickness of the shim in order to remove the breakage, thereby shortening the assembly adjustment time and reducing the breakage to zero. The effect is that the state can be maintained at all times.
It is also possible to obtain the secondary effect that no force other than the driving rotational force is applied to the motor output shaft.

[Brief explanation of the drawing]

Figure 1 is a sectional view showing a conventional bevel gear mechanism, Figure 2 is a sectional view showing a conventional bevel gear mechanism.
The figure is a sectional view showing an embodiment of the present invention. In the figure, 1 is a motor output shaft, 2 is a driving bevel gear, 3 is a driven bevel gear, 12 is a relay shaft, 13 is a housing, and 20, 21, and 22 are leaf springs.

Claims (1)

[Claims] 1 A relay shaft on the motor output side, a driving side bevel gear that is slidably attached to this relay shaft via a key, a driven side bevel gear that meshes with this driving side bevel gear, and a key that connects this driven side bevel gear. a first ball bearing that supports the relay shaft and the driving bevel gear; a plurality of second ball bearings that support the output shaft via the driven bevel gear; a holding member that holds the first and second ball bearings so that the output shaft and the driving bevel gear can slide;
A first elastic member inserted between the first ball bearing and the holding member so as to apply a load to the driving side bevel gear from this back side, and one elastic member inserted between the first ball bearing and the holding member to apply a load to the driven side bevel gear from this back side. A second elastic member inserted between the second ball bearing and the holding member; and a second elastic member inserted between the other ball bearing and the holding member so as to apply a load to the driven bevel gear from the front. 3, the load applied by the first elastic member is slightly larger than the load applied by the second elastic member, and the load applied by the second elastic member is applied by the third elastic member. A deformation removal device for a bevel gear mechanism, characterized in that the device is set to be slightly larger than the load.