JPH0989052A - Backlash adjusting method for reduction gear device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To easily inexpensively adjust backlash in a gear train of a reduction gear device further perform backlash adjustment of practical use even when a low accurate gear element is used. SOLUTION: When backlash is adjusted of a reduction gear device constituted by an input gear 16, intermediate gears 22, 24 and an output gear 42, an intermediate gear assembly unit is preformed so as to be position movably in a reference plane, further a distance between axial lines of the input gear 16 and the intermediate gear 22 is left as placed in a locked condition by a lock jig 50, the intermediate gear 24 is displaced to be moved relating to the output gear 42, so that backlash in an output stage having a great influence to transmission accuracy of a gear train is constituted to be adjusted to an optimum value.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for easily adjusting the backlash of a reduction gear device which reduces input rotation by a predetermined reduction ratio by a gear train and extracts it as output rotation. In particular,
Input gear, intermediate gear, and output gear manufactured without mischieving the accuracy of gears are used, and these gears are arranged in sequence to obtain deceleration output from the output gear according to the gear ratio between gear trains. The present invention relates to a method for adjusting backlash in a reduction gear device.

[0002]

2. Description of the Related Art It is well known that a reduction gear device using a gear train is used for a joint portion of an industrial robot, a transmission mechanism portion of a machine tool or the like. In order to secure a high level and to improve the operation accuracy of the robot and the processing accuracy of machine tools and the like, it is necessary to adjust the backlash in the gear train within a predetermined standard amount.

For this reason, the manufacturing and processing precision of each gear element such as an input gear, an intermediate gear, an output gear and the like, which constitutes a gear train, and a gear supporting component have been improved, and a gear for accommodating these gear trains has been improved. The precision of the machining of the shaft hole for gear mounting in the box and the machining accuracy of the distance between the holes are made highly precise, so that the backlash when assembling the reduction gear device is reduced and adjusted within the range that does not hinder the smooth rotation of the gear. In particular, he put a lot of effort into it.

[0004]

However, in such a conventional backlash adjusting method, the processing accuracy of each gear or component which is a constituent element of the reduction gear device is, for example, the first grade of the Japanese gear manufacturing standard. Since it is necessary to form with such high precision, there are disadvantages such as an increase in processing man-hours, and careful attention to assembly, which makes assembly work difficult, resulting in high costs. There was a disadvantage to say that.

Therefore, the object of the present invention is to enable the proper adjustment and setting of the amount of backlash while using, for example, a gear having a relatively low processing accuracy such as grade 3 of the Japanese gear manufacturing standard as a gear train element. Another object of the present invention is to provide a backlash adjusting method for a reduction gear device. Another object of the present invention is to assemble a reduction gear train using a low-precision input gear, intermediate gear, output gear, etc. by using a simple backlash adjusting jig, and to adjust the backlash amount to an appropriate amount. It is to provide a method that can be adjusted.

[0006]

In order to achieve the above-mentioned object of the present invention, the present invention provides an intermediate gear when adjusting the backlash of a reduction gear device including an input gear, an intermediate gear and an output gear. Preliminarily formed so that the position can be moved in a plane, and by moving the intermediate gear with respect to the output gear while the distance between the center axes of the input gear and the intermediate gear is restricted by the restriction jig. By adjusting the backlash in the output stage, which has a great influence on the transmission accuracy of the gear train, to the optimum value, it is possible to adjust the backlash of the reduction gear device relatively easily, and to use a gear train that uses an inexpensive gear with low manufacturing accuracy. Even with the reduction gear device that it has, it is configured so that high-accuracy transmission performance can be exhibited by proper backlash setting.

That is, the present invention provides a backlash adjusting method in a reduction gear device in which an input gear, an intermediate gear, and an output gear are arranged in this order, and a reduction rotation output according to the gear ratio between these gears is obtained in the output gear. In the above, the intermediate gear is formed in advance so that the position of the central axis of the intermediate gear can be adjusted and moved within one plane while maintaining the meshing state with the input gear and the output gear. The respective distances between the axes are fixed by a restraining jig having a predetermined arm length substantially corresponding to the pitch circle radius of the input and intermediate gears, and the intermediate gears are fixed within the one plane after the fixing operation. By moving the input gear around the axis of the input gear, the backlash between the intermediate gear and the output gear is adjusted to a predetermined backlash amount for positioning. After the backlash adjustment, the intermediate gear is fixed at a position positioned in the one plane, and the restraint jig is removed. It provides an adjustment method.

The above-mentioned restraint jig having a predetermined arm length substantially corresponding to the pitch circle radius of the input / intermediate gear is simply the center of the gear shaft of the input gear and the gear shaft of the intermediate gear at both ends of the rod. A rod-shaped body having a structure having an engaging end that engages with the center may be used. Therefore, the backlash of the gear train can be set and adjusted to an appropriate level simply by using a restraint jig which has a simple structure and is inexpensive. .

The intermediate gear includes a first reduction intermediate gear meshing with the input gear, a second reduction intermediate gear meshing with the output gear, and the first and second reduction intermediate gears. Is preferably formed so as to have a gear shaft that holds the above-mentioned structure and a fixing portion that can be fixed at a position positioned in the one plane.

[0010]

BEST MODE FOR CARRYING OUT THE INVENTION The present invention will be described below in more detail based on the embodiments shown in the accompanying drawings. FIG. 1 is a sectional view showing an example of the structure of a reduction gear device to which a backlash adjusting method according to an embodiment of the present invention is applied, and FIG.
3 is a plan view illustrating a state in which a restraint jig that restrains the axial distance between the input gear and the intermediate gear is mounted as an initial operation of the backlash adjustment step in the reduction gear device shown in FIG.
Is a side view of the input gear and the intermediate gear to which the restraint jig is attached, FIG. 4 is a perspective view of the configuration of FIG. 3, and FIG. 5 is the same as FIG. 2 for explaining the state of the final adjustment step with the restraint jig removed. FIG.

Referring to FIG. 1, a reduction gear device 6 according to an embodiment of the present invention comprises an input gear assembly 10, an intermediate gear assembly 20, and an output gear assembly 40 incorporated in a gear box 8. The input gear assembly 10 is an input gear (pinion) that is fixed and attached to the upper end region of an input shaft 14 that is rotatably supported by a base plate 8a of a gear box 8 via bearings 12 and that is attached and rotates integrally with the input shaft 14. 16 and has an input shaft 1
It rotates according to the rotation input inputted from the lower end side of 4.
A first stage gear 22 of an intermediate gear assembly 20 is provided that meshes with the input gear 16 of the input gear assembly 10.

The first-stage gear 22 of the intermediate gear assembly 20 is fixed and attached to an intermediate shaft 26, and the intermediate shaft 26 is mounted on a preselected region of a base plate 8a of the gearbox 8 via a rotary bearing 28. The shaft holder 30 is rotatably held on the formed high-precision reference surface 8b by a suitable fixing means such as a bolt screw. The shaft holder 30 is formed as a member that can be positioned and fixed at a desired position by slidingly displacing on the reference surface 8b, and is fixed by the bolt screw 32.

A second stage gear 24 is further fixed and attached on the intermediate shaft 26, and the second stage gear 24 is meshed with the large output gear 42 of the output gear assembly 40. The latter large output gear 42 is fixed and attached to the output shaft 44,
4 is rotatably supported by a base plate 8a of the gear box 8 via a bearing 46. In the reduction gear device 10 having the above-described gear train, the first stage according to the gear ratio of both gears between the input gear 16 of the input gear assembly 10 and the first stage gear 22 of the intermediate gear assembly 20. The eye deceleration is performed, and the second stage deceleration between the second stage gear 24 and the large output gear 42 is again performed according to the gear ratio of both gears. Of course, it is also possible to further reduce the speed by providing a plurality of intermediate gear assemblies 20 arranged between the input gear assembly 10 and the output gear assembly 40, if necessary.

Here, according to the present invention, in order to adjust the backlash in the gear train of the reduction gear device 10, as described above, the gear box 8 is provided with the reference surface 8b and the intermediate gear assembly. 20 is provided on the same reference surface 8b so as to be slidably displaced before being fixed, and both inputs of the input gear assembly 10 and the intermediate gear assembly 20 are provided. Recesses 18 and 34, which will be described later, are formed.

Now, according to the present invention, a simple jig is used to adjust the backlash in the gear train described above. As shown in FIGS. 2 to 4, this jig includes the center axis of the input shaft 14 of the input gear assembly 10 and the intermediate gear assembly 2
0 is formed as a restraint jig 50 for fixing and restraining the distance L between the center axis of the intermediate shaft 26, and the rod-shaped portion 52 and the engagement pins 54 and 56 protruding from both ends of the rod-shaped portion 52. It is configured to have. The center-to-center distance L between the engagement pins 54 and 56 with respect to the rod portion 52 is approximately the sum of the pitch circle radii of both the input gear 16 and the first-stage gear 22 of the intermediate gear assembly 20. Designed and formed to have the same value, both engaging pins 54 and 56 of the restraint jig 50 are input to both the input gear assembly 10 and the intermediate gear assembly 20 described above, and are drilled on the tops of the intermediate shafts 14 and 26. By engaging the above-mentioned recesses 18 and 34 provided, the distance between the gears 16 and 22 can be restricted. However, pin-shaped protrusions corresponding to both pins 54 and 56 of the restraint jig 50 are formed at the tips of the input shaft 14 and the intermediate shaft 26, while the rod-shaped portion 5 of the restraint jig 50 is formed.
It will be apparent that the same restraining action can be achieved even if the recesses corresponding to the recesses 18 and 34 are provided at both ends of the second structure.

Next, a backlash adjusting method using the above-mentioned restraint jig 50 will be described. First, the intermediate gear assembly 2
0 indicates that the bolt screw 32 is removed so that the sliding displacement can be freely adjusted on the reference surface 8b of the gear box 8,
Or keep it loose. Next, the restraint jig 50
Both pins 54 and 56 are engaged with the recess 18 formed in the input shaft 14 of the input gear assembly 10 and the recess 34 formed in the intermediate shaft 26 of the intermediate gear assembly 20 so as to be intermediate with the input gear assembly 10. The distance A (see FIG. 2) between the gear assembly 20 and the gear assembly 20
It is constrained and fixed to the length L between both pins 54 and 56 of 0 (see FIGS. 3 and 4).

Next, the intermediate gear assembly 20 which is still allowed to slide on the reference surface 8a is centered on the central axis of the input shaft 14 of the input gear assembly 10 and is placed on the arc indicated by arrow P in FIG. The intermediate gear assembly 20 is displaced by a small amount at this time.
2nd stage gear 24 and output large gear 42 of output gear assembly 40
The amount of backlash between and is the optimum amount, that is, both gears 2
Positioning is set such that both of them can smoothly rotate while maintaining the meshed state of Nos. 4 and 42, and there is no play between the gear tooth surfaces in both forward and reverse rotation directions. At this time, the distance B between the central axes between the second stage gear 24 and the large output gear 42 (FIG. 2) is set within a minute range with a distance corresponding to the sum of the pitch circle radii of both gears as a reference value. It goes without saying that it will be done.

Here, the point to be noted is that the intermediate gear assembly 2
The position of 0 affects both the amount of backlash with the input gear assembly 10 and the amount of backlash with the output gear assembly 40, but using the restraint jig 50 as described above. By restricting the distance between the central axes, it is possible to independently perform only the process of setting and adjusting the backlash between the intermediate gear assembly 20 and the output gear assembly 40.

Thus, when the backlash between the intermediate gear assembly 20 and the output gear assembly 40 is set to an appropriate amount and the adjustment is completed, the shaft holder 30 of the intermediate gear assembly 20 is moved to the gearbox 8. It is fixed to the reference surface 8b with bolts 32. After that, the input gear 16 and the first gear 2
In order to confirm whether the backlash between the gears 2 and 2 is an appropriate amount, it is confirmed that the gears 16 and 22 are rotated while maintaining the meshed state and smooth movement is performed. When it is determined that the amount of backlash is too large, the intermediate gear assembly 20 with respect to the input gear assembly 10 is held as long as the positioning position in the fixed state as long as necessary, and the distance A (Fig. 2 (see 2) may be adjusted so as to be displaced within a minute adjustment range.

However, the input gear 16 and the first stage gear 2
The transmission error due to the backlash between the first stage gear 22 and the second stage gear 24 is sufficiently reduced by the reduction ratio between the second stage gear 24 and the large output gear 42. The backlash between is rather both gears 16,
It may be considered that no adjustment is necessary so that the rotation of 22 can be smoothly performed.

Thus, the backlash adjustment in the gear train from the input gear assembly 10 to the output gear assembly 40 is completed, and then the restraint shaft 50 is recessed in the input gear assembly 10 and the intermediate gear assembly 20. It removes from 18, 34 and returns between both assemblies 10 and 20 to a free state. Then, when the intermediate gear assembly 20 is finally completely fixed to the reference surface 8b of the gear box 8 with the bolts 32, the backlash adjustment of the reduction gear device 6 is completed as shown in FIG.

As described above, according to the present invention, when adjusting the backlash in the gear train of the reduction gear unit 6, the processing accuracy of each gear 16, 22, 24, 40, the input shaft 14, the intermediate shaft 26, etc. Since the restraint jig 50 skillfully utilizes the distance restraint to perform the adjustment displacement of the intermediate gear assembly 20 without depending on the position setting accuracy, the backlash amount on the output stage side is optimized. The backlash adjustment can be achieved without making the manufacturing accuracy of each gear element extremely high and making the processing difficult.

The restraint jig 50 for restraining the distance is set so that the distance L between the pins 54 and 56 at both ends of the rod-shaped portion 52 is set to the input gear 16 and the first stage gear 2 for various reduction gear devices.
Various distances may be provided in advance as a distance corresponding to the sum of the pitch circle radii between the two. In addition, this restraint jig 5
It is needless to say that 0 itself can be manufactured easily and inexpensively, so that it can be replenished as needed.

[0024]

As described above, the present invention has been described based on the embodiments, but according to the present invention, when adjusting the backlash of the reduction gear device including the input gear, the intermediate gear and the output gear, the intermediate gear is used. The intermediate gear is moved with respect to the output gear while preliminarily forming the gear so that the position can be moved in a plane and restraining the distance between the central axes of the input gear and the intermediate gear with a restraint jig. By adjusting the backlash in the output stage, which has a large effect on the transmission accuracy of the gear train, the backlash of the reduction gear device can be adjusted relatively easily, and a gear that uses an inexpensive gear with low manufacturing accuracy is used. Even with a reduction gear device with a train, it is possible to achieve high-precision transmission performance by setting the backlash appropriately and practically enough. As a result, it has become possible to effectively use for the backlash adjustment in the gear train by the transmission mechanism of the joint part of the industrial robot, the transmission mechanism inside the machine tool, and the like. Further, according to the present invention, since inexpensive gear elements can be used, it is possible to contribute to cost reduction of devices such as robots and machine tools.

[Brief description of drawings]

FIG. 1 is a cross-sectional view showing an example of the structure of a reduction gear device to which a backlash adjusting method according to an embodiment of the present invention is applied.

FIG. 2 is a plan view illustrating a state in which a restraint jig that restrains an axial distance between an input gear and an intermediate gear is mounted as an initial operation of a backlash adjustment step in the reduction gear device shown in FIG.

FIG. 3 is a side view of an input gear and an intermediate gear to which the restraint jig is attached.

FIG. 4 is a perspective view of the configuration of FIG.

FIG. 5 is a plan view similar to FIG. 2 for explaining the state of the final adjustment step with the restraint jig removed.

[Explanation of symbols]

 6 ... Reduction gear device 8 ... Gear box 8a ... Substrate 8b ... Reference surface 10 ... Input gear assembly 14 ... Input shaft 16 ... Input gear 18 ... Recess 20 ... Intermediate gear assembly 22 ... First stage gear 24 ... Second Step gear 26 ... Intermediate shaft 30 ... Shaft holder 34 ... Recess 40 ... Output gear assembly 42 ... Large output gear 44 ... Output shaft 50 ... Restraining jig

Claims (2)

[Claims] 1. A backlash adjusting method in a reduction gear device in which an input gear, an intermediate gear, and an output gear are arranged in this order, and a decelerated rotation output according to the gear ratio between these gears is obtained in the output gear. The gear is formed in advance so that the position of the central axis of the intermediate gear can be adjusted and moved within one plane while maintaining the meshing state with the input gear and the output gear, and the axial center of each of the input gear and the intermediate gear is formed. The distance between the input gear and the intermediate gear is fixed by a restraining jig having a predetermined arm length substantially corresponding to the radius of the pitch circle of the intermediate gear, and the intermediate gear is fixed to the input gear within the one plane after the fixing operation. The backlash between the intermediate gear and the output gear is adjusted to a predetermined backlash amount by moving the position about the axis of the backlash. Wherein removing the restraining jigs, backlash adjustment method of the reduction gear device characterized in that it is configured by including various steps as well as fixing the intermediate gear after the adjustment to the position positioned in said one plane. 2. The intermediate gear includes a first reduction intermediate gear meshing with the input gear, a second reduction intermediate gear meshing with the output gear, and the first and second reduction intermediate gears. The backlash adjusting method for a reduction gear device according to claim 1, which is preformed so as to have a held gear shaft and a fixing portion that can be fixed at a position positioned in the one plane.