JP2014152839A - Gear device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To solve the problems in a gear device provided with an input shaft, an output shaft, and at least a set of gear pairs disposed between both of the shafts, that gear transmission error cannot be sufficiently reduced only by reducing center distance error of the gear pairs, and processing costs and material costs of a gear are increased.SOLUTION: A gear device includes an input-side rotary encoder 9 detecting an actual rotation angle θin(r) of an input shaft 5, an output-side rotary encoder 10 detecting an actual rotation angle θout(r) of an output shaft 6, and a correcting mechanism 23 for adjusting a phase in the rotating direction between an input gear 3 at an input side and an output gear 4 at an output side of a gear pair 24 to reduce device transmission error as rotation transmission error between both of the shafts 5 and 6 determined from both of the rotation angles θin(r) and θout(r).

Description

  The present invention relates to a gear device having an input shaft, an output shaft, and a power transmission path between the two shafts, and having at least one pair of gear pairs in the power transmission path, and in particular, the input shaft and the output shaft. The present invention relates to a correction mechanism that can reduce the rotation transmission error between the two.

2. Description of the Related Art Conventionally, a gear device that outputs and rotates input rotational power by at least one pair of built-in gear pairs is applied to a system that requires high operation accuracy such as an indexing mechanism of a machine tool. It is necessary to reduce the rotation transmission error between the input shaft and output shaft of the device as much as possible. However, to this end, the errors generated due to the processing of the tooth surfaces of the gears constituting the gear pair (hereinafter referred to as “transmission gears”), the elastic deformation of the teeth due to the load, and the assembly are greatly reduced. Therefore, it is inevitable that the processing cost and material cost of the gear increase, and the assembly and maintenance of the device deteriorate.
Here, as shown in FIG. 6, the rotation transmission error is generally calculated from the gear ratio by the actual rotation angle θout (r) of the output-side transmission gear when the input-side gear rotates in the gear pair. Δe that is an angle deviating from the theoretical rotation angle θout (t) (hereinafter referred to as “gear transmission error”). Therefore, the aforementioned rotation transmission error between the input shaft and the output shaft is an angle at which the actual rotation angle of the output shaft when the input shaft rotates deviates from the theoretical rotation angle calculated from the gear ratio of the built-in gear pair. Minute (hereinafter referred to as “device transmission error”). When there is only one gear pair, it is the same as the gear transmission error, but when there are a plurality of gear pairs, The gear transmission error Δθe is synthesized.
As for the gear transmission error, the distance between the shafts of the gear shaft is obtained by inserting a piezoelectric element between the housings for supporting the bearings of the gear shaft of each transmission gear and applying a voltage to the piezoelectric element to expand and contract. Is known to keep the meshing position between the transmission gears constant (see, for example, Patent Document 1).

JP-A-3-213750

  However, in the above technique, the piezoelectric element is expanded and contracted based on the housing temperature, the gear temperature, the distance between the shafts, and the like measured between the transmission gears during power transmission, and only the error in the distance between the shafts generated by the power transmission is reduced. However, no consideration is given to errors that occur due to the processing of the tooth surfaces of the transmission gear, the elastic deformation of the teeth due to the load, and the assembly. For this reason, not only the gear transmission error but also the device transmission error that combines them cannot be sufficiently reduced, and it is required to increase the processing accuracy, rigidity, assembly accuracy, etc. of the transmission gear. There was a problem that the material cost increased and the assembly and maintenance of the apparatus deteriorated.

The problem to be solved by the present invention is as described above. Next, means for solving the problem will be described.
That is, according to the first aspect of the present invention, in a gear device having an input shaft, an output shaft, and a power transmission path between the two shafts, and having at least one pair of gear pairs in the power transmission path, An input angle position sensor for detecting a rotation angle, an output angle position sensor for detecting the rotation angle of the output shaft, and an input in the gear pair so as to reduce a rotation transmission error between both shafts obtained from the both rotation angles. And a correction mechanism for adjusting the phase in the rotational direction between the output side and the output side.
According to a second aspect of the present invention, the correction mechanism is interposed between both support portions that pivotally support the gear shafts of both transmission gears forming the gear pair, and an actuator that can change a distance between the support portions; A controller for controlling an actuator and changing an inter-axis distance between the gear shafts.
In claim 3, the correction mechanism is an intermediate gear that is meshed with both transmission gears forming the gear pair and can transmit power, an actuator that can change the position of the intermediate gear, and the actuator. A controller that changes an inter-axis distance between at least one of the transmission gears and a gear shaft of the intermediate gear.
5. The correction mechanism according to claim 4, wherein both gear shafts of the gear pair are disposed opposite to each other on the same shaft center, and an input differential side gear fixed to one shaft inner end portion of the both gear shafts; From the pinion gear, which is rotatably supported at both ends of a pinion shaft whose middle portion is fixed perpendicularly to the other shaft inner end portion of both gear shafts, and one side meshes with the input differential side gear, the gear A rotation device capable of changing a rotation angle and a rotation speed of the correction differential side gear, forming a pair, forming a differential device from the gear pair and the correction differential side gear meshed with the other side of the pinion gear; A controller for controlling the rotation device and changing a phase of the correction rotation input from the correction differential side gear to the pinion gear.
In claim 5, the correction mechanism includes a plurality of planetary gears rotatably supported on the outer peripheral portion of the rotatable carrier, an internal gear that meshes with the plurality of planetary gears and rotates on the outer periphery, A planetary gear device comprising a sun gear that meshes with the plurality of planetary gears and rotates on the inner periphery thereof, one of the planetary gear, the internal gear, and the sun gear is fixed to be a correction gear, and the remaining two are A rotation device capable of changing the rotation angle and rotation speed of the correction gear and a rotation device that controls the rotation device and that is input to the gear pair from the correction gear. And a controller for changing the phase.
According to a sixth aspect of the present invention, the correction gear is a sun gear, the input side of the gear pair is an internal gear, and the output side is a planetary gear.
According to a seventh aspect of the present invention, the correction gear is an internal gear, the input side of the gear pair is a sun gear, and the output side is a planetary gear.

Since this invention was comprised as mentioned above, there exists an effect shown below.
That is, according to claim 1, the gear transmission error, which is the rotation transmission error of each gear pair, can be adjusted by the correction mechanism in a direction to reduce the device transmission error, which is the rotation transmission error between the input shaft and the output shaft. Unlike the conventional case, it is different from only a part of the error factor of the gear transmission error, for example, by changing the distance between the shafts of the gear shaft so as to keep the meshing state constant. The gear transmission error itself, which shows the effect of all error factors, including the machining of the teeth, elastic deformation of the teeth due to load, assembly, etc., can be adjusted appropriately to reduce the device transmission error, which is a combination of the gear transmission errors. it can. This eliminates the need to increase the processing accuracy, rigidity, and assembly accuracy of the transmission gear, thereby reducing the gear processing cost and material cost and improving the assembly and maintenance of the gear device.
According to the second aspect of the present invention, the gear transmission error can be appropriately adjusted and the device transmission error can be reduced simply by increasing or decreasing the distance between the gear shafts of the transmission gear. Can be achieved. Furthermore, the inter-shaft distance of the gear shaft can be changed through the change of the distance between the support portions of the gear shaft, and the correction mechanism is simplified compared with the case where the inter-shaft distance is increased or decreased by directly operating the gear shaft. Costs can be reduced and maintenance can be improved.
According to claim 3, an intermediate gear is interposed between the two transmission gears, and the gear transmission error is adjusted and the device transmission error is reduced simply by increasing or decreasing the distance between the transmission gear and the gear shaft of the intermediate gear. Thus, the gear mechanism can be made compact by reducing the size of the correction mechanism. Furthermore, the inter-shaft distance between the gear shafts can be changed simultaneously between the input-side transmission gear and the intermediate gear and between the intermediate gear and the output-side transmission gear, and the single inter-axis distance is changed. Compared to the case, more complicated adjustment is possible, and the apparatus transmission error can be further reduced.
According to the fourth aspect of the present invention, the gear transmission error is adjusted by adjusting the gear transmission error only by inputting the correction rotation to the pinion gear on the output side of the gear pair and adjusting the phase of the pinion gear using the differential device. Thus, the gear mechanism can be made compact by reducing the size of the correction mechanism.
According to claim 5, by using the planetary gear device, the gear transmission error can be reduced only by changing the phase by inputting the correction rotation to one of the planetary gear, the internal gear, and the sun gear on the output side of the gear pair. The transmission error can be reduced by adjusting, and the correction gear also serves as one of the planetary gear, the internal gear, and the sun gear, so there is no need to provide a correction gear separately, and a correction mechanism is provided. The gear unit can be made compact by downsizing.
According to the sixth aspect of the present invention, the rotation device for the correction rotation can be arranged by utilizing the space on the axis of the planetary gear device, and the gear device can be further downsized.
According to the seventh aspect, the rotation device for the correction rotation can be arranged by utilizing the outer peripheral space of the planetary gear device, and the access to the rotation device from the outside becomes easy and the maintenance property is improved. Can be achieved.

It is a side view which shows the gear apparatus 1 concerning this invention, and its correction mechanism. It is a figure which shows 1 A of gear apparatuses of another form, Comprising: Fig.2 (a) is a side view of gear apparatus 1A, FIG.2 (b) is a rear view similarly. It is a side view of the gear apparatus 1B of another form. It is a side view of 1 C of gear apparatuses of another form. It is a figure which shows gear apparatus 1D of another form, Comprising: Fig.5 (a) is a side view of gear apparatus 1D, FIG.5 (b) is a back surface partial enlarged view similarly. It is explanatory drawing which shows the relationship between the rotation angle of the transmission gear of an input side, and the rotation angle of the transmission gear of an output side.

  Hereinafter, embodiments of the present invention will be described in detail. In the gear device according to the present invention, the direction indicated by the arrow F in each figure is the forward direction, the direction indicated by the arrow U is the upward direction, and the position and direction of each member described below are the forward direction and the upward direction. It is based on.

First, the overall configuration of the gear device 1 according to the present invention will be described with reference to FIG.
In the gear device 1, housings 7 and 8 are disposed opposite to each other in the device case 2, and the input shaft 5 and the output shaft 6 are rotatably supported in the housings 7 and 8 in the front-rear direction. Has been.

  Among these, the front end of the input shaft 5 penetrates the housing 7 and the front wall of the device case 2 and projects forward, and the rear end of the motor shaft 15a of the electric motor 15 is connected to the projected end. The input shaft 5 is rotationally driven by the rotational power from the electric motor 15. On the other hand, the rear end of the output shaft 6 penetrates the rear wall of the housing 8 and the device case 2 and protrudes rearward so that rotational power can be output to the outside of the device.

  Further, in the housing 7, the input gear 3 is fixed on the input shaft 5, and in the housing 8, the output gear 4 is fixed on the output shaft 6. A pair of gear pairs 24 is formed by meshing.

  An input-side rotary encoder 9 and an output-side rotary encoder 10 are arranged on the input shaft 5 and the output shaft 6, respectively, so that the rotation of the shaft can be transmitted as a digital rotation angle signal.

  Thus, when the electric motor 15 is driven, rotational power is output from the gear device 1 via the input shaft 5, the input gear 3, the output gear 4, and the output shaft 6, and at that time, the input side rotary Respective rotation angle signals of the input shaft 5 and the output shaft 6 are transmitted from the encoder 9 and the output-side rotary encoder 10, and the correction mechanism 23 described later in the rotational direction between the input gear 3 and the output gear 4 of the gear pair 24. The phase can be adjusted.

Next, the device rotation error correction mechanism 23 in the gear device 1 will be described with reference to FIGS.
In the correction mechanism 23, hydraulic cylinders 11 and 12 are interposed between the housing 7 on which the input shaft 5 is supported and the housing 8 on which the output shaft 6 is supported. The oil chambers in the hydraulic cylinders 11 and 12 are communicated with the electromagnetic valves 13 and 14 through oil passages 21 and 22, respectively.

  The solenoid valves 13 and 14 are connected to the controller 16 via signal lines 19 and 20, respectively. The controller 16 is connected to the input rotary encoder 9 and the output rotary encoder 10 via signal lines. 17 and 18 are connected.

  In such a configuration, while the gear device 1 is in operation, the actual rotation angle θin (r) of the input shaft 5 and the actual rotation angle θout ( r) is detected simultaneously, and each rotation angle signal is transmitted to the controller 16 via the signal lines 17 and 18.

  In the controller 16, the theoretical rotational angle θout (t) of the output shaft 6 corresponding to the detected actual rotational angle θin (r) of the input shaft 5 is calculated from the gear ratio of the gear pair 24, and the theoretical rotational angle The gear transmission error Δθe [= θout (r) −θout (t)] is calculated from the difference between θout (t) and the detected actual rotation angle θout (r) of the output shaft 6. In the present embodiment, since the gear pair in the gear device 1 is a set, the gear transmission error Δθe is equal to the device transmission error of the gear device 1.

  An opening / closing signal is transmitted from the controller 16 to the electromagnetic valves 13 and 14 via the signal lines 19 and 20 so that the gear transmission error Δθe thus determined is reduced. Pressure oil from a hydraulic pump (not shown) is supplied to and discharged from the hydraulic cylinders 11 and 12 through the oil passages 21 and 22.

  Then, the piston rods 11a and 12a of the hydraulic cylinders 11 and 12 expand and contract, the vertical distance between the front and rear portions between the housings 7 and 8 is increased and decreased, and the input shaft 5 and the shafts supported by the housings 7 and 8 are supported. The inter-axis distance between the front and rear portions between the output shafts 6 is also increased or decreased. Thereby, the contact position between each tooth surface between the input gear 3 and the output gear 4 can be changed, and the phase of the rotation direction between the input gear 3 and the output gear 4 can be adjusted.

  In this embodiment, the gear transmission error Δθe, that is, the device transmission error itself of the gear device 1 is set as the determination criterion for the adjustment. In contrast, it can be adjusted in consideration of all error factors including the processing of the tooth surfaces of the input gear 3 and the output gear 4, the elastic deformation of the teeth due to the load, the assembly, etc. The processing of the input gear 3 and the output gear 4 There is no need to wastefully improve accuracy, rigidity, and assembly accuracy.

  That is, in the gear device 1 having an input shaft 5, an output shaft 6, and a power transmission path between the shafts 5 and 6, and at least one pair of gear pairs 24 provided in the power transmission path, the input shaft 5 is an input-side rotary encoder 9 that is an input angle position sensor that detects an actual rotation angle θin (r) that is a rotation angle of 5, and an output angle that detects an actual rotation angle θout (r) that is a rotation angle of the output shaft 6. The gear pair is reduced so that a device transmission error, which is a rotation transmission error between the shafts 5 and 6 obtained from the output-side rotary encoder 10 which is a position sensor and the both rotation angles θin (r) and θout (r), is reduced. 24 is provided with a correction mechanism 23 that adjusts the phase in the rotational direction between the input gear 3 that is the input side and the output gear 4 that is the output side, so that it is a rotation transmission error between the input shaft 5 and the output shaft 6. Reduces device transmission error The correction mechanism 23 can adjust the gear transmission error Δθe, which is the rotation transmission error of each gear pair, in this embodiment, the single gear pair 24, in the direction of Unlike changing the distance between the input shaft 5 and the output shaft 6 to keep the meshing state constant, for example, by changing the distance between the input shaft 5 and the output shaft 6, the teeth of the input gear 3 and the output gear 4 forming the gear pair 24. Gear transmission error Δθe itself, which shows the effect of all error factors including surface machining, elastic deformation of teeth due to load, assembly, etc., is properly adjusted to reduce device transmission error, which is the composition of gear transmission error Δθe can do. This eliminates the need to increase the processing accuracy, rigidity, assembly accuracy, etc. of the input gear 3 and output gear 4, reduces the processing costs and material costs of the gears 3 and 4, and improves the assembly and maintenance of the gear device 1. Can be achieved.

  In addition, the correction mechanism 23 is a housing 7 that is a support portion that supports the input shaft 5 and the output shaft 6 that are the gear shafts of the input gear 3 and the output gear 4 that are both transmission gears forming the gear pair 24. · Hydraulic cylinders 11 and 12 that are interposed between 8 and are actuators that can change the distance between the housings 7 and 8, and the hydraulic cylinders 11 and 12 are controlled, and between the input shaft 5 and the output shaft 6 And a controller 16 for changing the inter-shaft distance, so that the gear transmission error Δθe can be appropriately adjusted by merely increasing or decreasing the inter-shaft distance between the input shaft 5 and the output shaft 6 of the input gear 3 and the output gear 4. The apparatus transmission error can be reduced, and the correction mechanism 23 can be downsized to make the gear device 1 compact. Furthermore, the distance between the input shaft 5 and the output shaft 6 can be changed by changing the distance between the housings 7 and 8 of the input shaft 5 and the output shaft 6, and the input shaft 5 and the output shaft 6 can be directly operated. Compared with the case where the distance between the axes is increased or decreased, the correction mechanism 23 can be simplified, and the apparatus cost can be reduced and the maintainability can be improved.

Next, another embodiment of the gear device 1 as described above will be described below with reference to FIGS.
A gear device 1A shown in FIG. 2 includes an intermediate gear 25 that meshes with both the input gear 3 and the output gear 4 in the gear device 1, and an intermediate shaft 26 of the intermediate gear 25 and the input gear 3 In this embodiment, at least one of the input shaft 5 and the output shaft 6 of the output gear 4, the distance between the shafts 5 and 6 can be changed.

  In the gear device 1A, an input shaft 5 and an output shaft 6 extending in the front-rear direction are supported on the upper and lower sides of the device case 2 so as to be rotatable. The front end of the input shaft 5 is While projecting forward through the front wall, the rear end of the output shaft 6 projects rearward through the rear wall of the device case 2, and rotational power input from the front is applied to the device. Can be output from behind. The input-side rotary encoder 9 and the output-side rotary encoder 10 are also arranged on the input shaft 5 and the output shaft 6, respectively.

  In the correction mechanism 23A of the gear device 1A, the intermediate shaft 26 is pivotally supported in the front-rear direction between the input shaft 5 and the output shaft 6 in parallel with the shafts 5 and 6. The intermediate gear 25 is fixed, and the intermediate gear 25 is engaged with both the input gear 3 and the output gear 4 constituting a pair of gear pairs 24A. Thereby, the rotational power of the input shaft 5 is transmitted from the input gear 3 to the output gear 4 via the intermediate gear 25 and output from the output shaft 6.

  Furthermore, a hydraulic cylinder 27 is disposed on the left and right sides of the intermediate shaft 26, and an oil chamber in the hydraulic cylinder 27 is communicated with an electromagnetic valve 29 via an oil passage 28. The controller 16 is connected to the controller 16 via the line 30, and the input-side rotary encoder 9 and the output-side rotary encoder 10 are connected to the controller 16 via the signal lines 17 and 18, respectively. Yes. On the other hand, the intermediate shaft 26 is pivotally supported at the tip of the piston rod 27a of the hydraulic cylinder 27 so as to be movable left and right.

  In such a configuration, an opening / closing signal is transmitted from the controller 16 to the electromagnetic valve 29 via the signal line 30 so that the gear transmission error Δθe obtained in the same manner as the gear device 1 is reduced. Based on this, pressure oil from a hydraulic pump (not shown) is supplied to and discharged from the hydraulic cylinder 27 via the oil passage 28.

  Then, the piston rod 27a of the hydraulic cylinder 27 expands and contracts to change the left-right position of the intermediate shaft 26, and the inter-axis distance between the intermediate shaft 26 and the input shaft 5 and the inter-axis distance between the intermediate shaft 26 and the output shaft 6 are changed. Both are increased or decreased. Thereby, the contact position between each tooth surface between the input gear 3 and the intermediate gear 25 and between the intermediate gear 25 and the output gear 4 is simultaneously changed, and the phase in the rotational direction between the input gear 3 and the output gear 4 is changed. can do. Only one of the distance between the intermediate shaft 26 and the input shaft 5 and the distance between the intermediate shaft 26 and the output shaft 6 may be increased or decreased. Can be simplified.

  That is, the correction mechanism 23A is capable of changing the position of the intermediate gear 25 and the intermediate gear 25 which can be transmitted to the input gear 3 and the output gear 4 which are both transmission gears constituting the gear pair 24A. The hydraulic cylinder 27 that is an actuator, and the hydraulic cylinder 27 is controlled, and the input shaft 5 and the output shaft 6 that are at least one of the input gear 3 and the output gear 4, and the intermediate that is the gear shaft of the intermediate gear 25. And a controller 16 that changes the inter-axis distance between the shaft 26 and the input gear 3 and the output gear 4, an intermediate gear 25 is interposed between the input gear 3 and the output gear 4 and the intermediate gear 25. The gear transmission error Δθe can be adjusted and the device transmission error can be reduced simply by increasing or decreasing the inter-shaft distance between the shaft 5 / output shaft 6 and the intermediate shaft 26, and the gear mechanism can be reduced by reducing the correction mechanism 23A. 1A can be made compact. Further, as in the present embodiment, the inter-axis distance between the input shaft 5 / output shaft 6 and the intermediate shaft 26 is set to be the same for the input gear 3 / intermediate gear 25 and the intermediate gear 25 / output gear 4 simultaneously. It can be changed, and more complicated adjustment can be made compared with the case of changing the single inter-axis distance, and the apparatus transmission error can be further reduced.

  3 is different from the gear devices 1 and 1A described above in that a differential device 31 is formed in a power transmission path between the input shaft 5 and the output shaft 6, and the differential device 31 is By utilizing this, rotation for changing the phase of the gear on the output side of the gear pair (hereinafter referred to as “correction rotation”) can be input.

  In the gear device 1B, an input shaft 5 and an output shaft 6 extending in the front-rear direction are opposed to each other in the front-rear direction in the device case 2 so as to be rotatable on the same axis, and the front end of the input shaft 5 is The rear end of the output shaft 6 passes through the rear wall of the device case 2 and protrudes rearward while passing through the front wall of the device case 2 and protruding forward. The input-side rotary encoder 9 and the output-side rotary encoder 10 are also arranged on the input shaft 5 and the output shaft 6, respectively.

  In the correction mechanism 23B of the gear device 1B, the input differential side gear 32 is fixed to the inner end portion of the input shaft 5, while the intermediate portion of the pinion shaft 33 is provided to the inner end portion of the output shaft 6. Are fixed so as to be orthogonal to each other, and pinion gears 34 and 34 are rotatably supported at both ends of the pinion shaft 33, and the outer peripheral front portions of the pinion gears 34 and 34 mesh with the input differential side gear 32, A set of gear pairs 24B is formed. As a result, the rotational power of the input shaft 5 is transmitted from the input differential side gear 32 to the pinion shaft 33 via the pinion gears 34 and 34 and output from the output shaft 6.

  Further, a bevel gear portion 35a formed at the front portion of the correction differential side gear 35 is meshed with the outer peripheral rear portions of the pinion gears 34, 34, and the differential differential side gear 35 and the gear pair 24B A device 31 is configured.

  The correction differential side gear 35 is fitted around the output shaft 6 so as to be relatively rotatable, and a worm wheel portion 35b is formed at the rear portion of the correction differential side gear 35, and the outer peripheral lower portion of the worm wheel portion 35b. The device case 2 is meshed with a worm 36 that is provided horizontally in the left-right direction. A motor shaft 37 a of an electric motor 37 is connected to the shaft center of the worm 36 to constitute a rotating device 39.

  The electric motor 37 is connected to the controller 16 via a signal line 38. Similarly to the controller 16, the input rotary encoder 9 and the output rotary encoder 10 are connected to the controller 16 via the signal line 17 18 is connected.

  In such a configuration, a motor drive signal is transmitted from the controller 16 to the electric motor 37 via the signal line 38 so that the gear transmission error Δθe obtained in the same manner as in the gear devices 1 and 1A is reduced. The worm 36 is rotated based on the motor drive signal. Then, the corrected differential side gear 35 is rotated at a predetermined rotation angle and rotational speed, and the phase of the corrected rotation input from the corrected differential side gear 35 to the pinion gears 34 and 34 is changed, and the pinion gears 34 and 34 are changed. Can be appropriately adjusted.

  That is, in the correction mechanism 23B, the input shaft 5 and the output shaft 6, which are both gear shafts of the gear pair 24B, are disposed opposite to each other on the same axis, and one input shaft 5 of the input shaft 5 and the output shaft 6 is disposed. Of an input differential side gear 32 fixed to the inner end of the shaft and a pinion shaft 33 fixed at a midpoint to the inner end of the other output shaft 6 of the input shaft 5 and the output shaft 6. A pair of gears 24B is formed from pinion gears 34 and 34, which are rotatably supported at both ends and mesh with the input differential side gear 32 at the outer peripheral front portion on one side, and the pair of gears 24B and the pinion gear 34. A differential device 31 is constituted by a correction differential side gear 35 meshed with the outer peripheral rear portion which is the other side of the rotation device 34, and a rotation device 39 capable of changing the rotation angle and rotation speed of the correction differential side gear 35, and the rotation The device 39 is controlled to And the controller 16 that changes the phase of the correction rotation input to the pinion gears 34 and 34 from the gear 35, so that the differential gear 31 is used to correct the pinion gears 34 and 34 on the output side of the gear pair 24B. By simply inputting the rotation and adjusting the phase of the pinion gears 34, 34, the gear transmission error Δθe can be adjusted to reduce the device transmission error, and the correction mechanism 23B can be reduced in size to make the gear device 1B compact. Can be achieved.

  Further, the gear device 1C shown in FIG. 4 forms a planetary gear device 40 in the power transmission path between the input shaft 5 and the output shaft 6, and the planetary gear device 40 is used to input and output the gear pair. The correction rotation for changing the phase in the rotation direction between the sides can be input.

  In the gear device 1 </ b> C, an input shaft 5 and an output shaft 6 that extend in the front-rear direction are supported on the upper and lower sides of the device case 2 so as to be rotatable. While penetrating and projecting forward, the rear end of the output shaft 6 penetrates the rear wall of the device case 2 and projects rearward. The input-side rotary encoder 9 and the output-side rotary encoder 10 are also arranged on the input shaft 5 and the output shaft 6, respectively.

  In the correction mechanism 23C of the gear device 1C, a carrier 41 is fixed in the middle of the inner end of the output shaft 6, and a plurality of planetary gears 42, 42,. .. Are radially arranged uniformly around the output shaft 6 and rotatably supported, and an internal gear 43a meshes with the outer periphery of the planetary gears 42, 42,. A pair 24C is formed.

  On the other hand, a sun gear 44 arranged coaxially is meshed with the inner periphery of the planetary gears 42, 42..., And the planetary gear device 40 is constituted by the sun gear 44 and the gear pair 24C. . Further, a motor shaft 45 a of an electric motor 45 is connected to the front portion of the sun gear 44, and a rotation device 46 is disposed in a space on the axis of the planetary gear device 40.

  The electric motor 45 is connected to the controller 16 via a signal line 47. Similarly to the controller 16, the input rotary encoder 9 and the output rotary encoder 10 are connected to the signal line 17 18 is connected.

  The internal gear 43a is integrally formed on the inner periphery of the ring gear 43 that is fitted around the output shaft 6 so as to be relatively rotatable, and the ring gear 43 is connected to the inner end of the input shaft 5. It meshes with a gear 48 fixed to the part.

  As a result, the rotational power of the input shaft 5 is input from the gear 48 to the planetary gear device 40 via the ring gear 43, and after being shifted by the gear pair 24C, is output from the output shaft 6.

  In such a configuration, a motor drive signal is transmitted from the controller 16 to the electric motor 45 via the signal line 47 so that the gear transmission error Δθe obtained in the same manner as the gear devices 1, 1 A, and 1 B is reduced. Based on the motor drive signal, the sun gear 44 is rotated at a predetermined rotation angle and rotation speed. Thereby, the phase of the correction rotation input from the sun gear 44 to the planetary gears 42, 42,... Can be changed, and the phase of the planetary gears 42, 42,.

  That is, the correction mechanism 23C meshes with the plurality of planetary gears 42, 42,... Rotatably supported on the outer peripheral portion of the rotatable carrier 41, and the plurality of planetary gears 42, 42,. And the planetary gears 42, 42, which are composed of an internal gear 43 a rotating on the outer periphery and a sun gear 44 meshing with the plurality of planetary gears 42, 42. .., one of the internal gear 43a and the sun gear 44, in this embodiment, the sun gear 44 is fixed as a correction gear, and the remaining two, in this embodiment, the planetary gears 42, 42,..., The internal gear 43a A rotation device 46 capable of changing the rotation angle and rotation speed of the sun gear 44, and the rotation device 46. And the controller 16 that changes the phase of the correction rotation input to the planetary gears 42, 42,... Of the gear pair 24C from the sun gear 44. Therefore, the planetary gear unit 40 is used to output the gear pair 24C on the output side. The planetary gears 42, 42,..., The internal gear 43a, the sun gear 44, in this embodiment, the correction gear is input to the planetary gears 42, 42. The device transmission error can be reduced by adjusting the transmission error Δθe, and the correction gear is one of the planetary gears 42, 42,..., The internal gear 43a, and the sun gear 44, in this embodiment, the sun gear 44. Since it is also used, it is not necessary to provide a correction gear separately, and the correction mechanism 23C can be miniaturized and the gear device 1C can be made compact.

  Further, the correction gear is a sun gear 44, the input side of the gear pair 24C is an internal gear 43a, and the output side is a planetary gear 42, 42..., So that the space on the axis of the planetary gear unit 40 is utilized. Thus, the rotation device 46 for correction rotation can be arranged, and the gear device 1C can be further downsized.

  Further, the gear device 1D shown in FIG. 5 forms a planetary gear device 49 in the power transmission path between the input shaft 5 and the output shaft 6 in the same manner as the gear device 1C, and uses the planetary gear device 49. The correction rotation for changing the phase can be input to the gear on the output side of the gear pair. The correction gear at that time is not a sun gear as in the case of the gear device 1C, but an internal gear. Lugia 53a.

  In the gear device 1D, an input shaft 5 and an output shaft 6 extending in the front-rear direction are opposed to each other in the front-rear direction in the device case 2 so as to be rotatable on the same axis, and the front end of the input shaft 5 is The rear end of the output shaft 6 passes through the rear wall of the device case 2 and protrudes rearward while passing through the front wall of the device case 2 and protruding forward. The input-side rotary encoder 9 and the output-side rotary encoder 10 are also arranged on the input shaft 5 and the output shaft 6, respectively.

  In the correction mechanism 23D of the gear device 1D, a carrier 51 is fixed to the inner end portion of the output shaft 6, and a plurality of planetary gears 52, 52,. The sun gear 44 coaxially disposed on the inner periphery of the planetary gears 52, 52,..., Is radially arranged uniformly around the output shaft 6 and rotatably supported. A pair of gear pairs 24D is formed.

  On the other hand, an internal gear 53a is engaged with the outer periphery of the planetary gears 42, 42..., And the planetary gear unit 49 is constituted by the internal gear 53a and the gear pair 24D.

  Here, a cylindrical rotating case 53 is formed so as to be fitted around the input shaft 5 and the output shaft 6 so as to be relatively rotatable and to narrow the front and rear portions. The internal gear 53a is integrally formed. A correction lever 50 is erected from the outer peripheral surface of the rotating case 53.

  A pair of hydraulic cylinders 55 and 56 are arranged on the left and right sides of the spherical operating portion 50a provided at the outer end of the correction lever 50, and the tip ends of the piston rods 55a and 56a of the hydraulic cylinders 55 and 56 are The operation unit 50 a is sandwiched from the left and right, and the rotation device 61 is disposed in the outer peripheral space of the planetary gear device 49.

  The oil chambers in the hydraulic cylinders 55 and 56 are communicated with an electromagnetic valve 57 via oil passages 59 and 60, respectively. The electromagnetic valve 57 is connected to the controller 16 via a signal line 58, and The controller 16 is connected to the input-side rotary encoder 9 and the output-side rotary encoder 10 via signal lines 17 and 18, respectively, as described above.

  As a result, the rotational power of the input shaft 5 is input to the planetary gear device 49 via the sun gear 54, and after being shifted by the gear pair 24D, is output from the output shaft 6.

  In such a configuration, an open / close signal is transmitted from the controller 16 to the electromagnetic valve 57 via the signal line 58 so that the gear transmission error Δθe obtained in the same manner as the gear devices 1, 1 A, 1 B, and 1 C is reduced. Then, based on the open / close signal, pressure oil from a hydraulic pump (not shown) is supplied to and discharged from the hydraulic cylinders 55 and 56 through the oil passages 59 and 60.

  Then, the piston rods 55a and 56a of the hydraulic cylinders 55 and 56 expand and contract, the correction lever 50 is moved left and right, and the rotating case 53 is rotated around the input shaft 5 and the output shaft 6. As a result, the phase of the correction rotation input from the internal gear 53a of the rotating case 53 to the planetary gears 52, 52,... Is changed, and the phase of the planetary gears 52, 52,. be able to.

  That is, the correction gear is the internal gear 53a, the input side of the gear pair 24D is the sun gear 54, and the output side is the planetary gears 52, 52... The rotation device 61 for correction rotation can be arranged, and the rotation device 61 can be easily accessed from the outside, so that the maintainability can be improved.

  The present invention can be applied to all gear devices that have an input shaft, an output shaft, and a power transmission path between the two shafts, and at least one pair of gear pairs is provided in the power transmission path.

1 gear device 3 input gear (input side in gear pair, transmission gear)
4 Output gear (output side of gear pair, transmission gear)
5 Input shaft 6 Output shaft 7/8 Housing (support)
9 Input side rotary encoder (input angular position sensor)
10 Output side rotary encoder (output angular position sensor)
11, 12, 27 Hydraulic cylinder (actuator)
16 Controller 23 / 23A / 23B / 23C Correction mechanism 24 / 24A / 24B / 24C / 24D Gear pair 25 Intermediate gear 26 Intermediate shaft 31 Differential device 32 Input differential side gear 33 Pinion shaft 34 Pinion gear 35 Corrected differential side gear 39/46 times Moving device 40 Planetary gear device 41 Carrier 42/52 Planetary gear 43a / 53a Internal gear 44/54 Sun gear θin (r) Actual rotation angle of input shaft (rotation angle of input shaft)
θout (r) Actual rotation angle of output shaft (rotation angle of output shaft)

Claims (7)

  An input angle position for detecting a rotation angle of the input shaft in a gear device having an input shaft, an output shaft, and a power transmission path between the two shafts, and having at least one pair of gear pairs in the power transmission path A rotation angle between the input side and the output side of the gear pair so as to reduce a rotation transmission error between the shafts obtained from the rotation angle of the sensor, an output angle position sensor for detecting the rotation angle of the output shaft, and the rotation angle A gear device comprising a correction mechanism for adjusting a phase of a direction.   The correction mechanism is interposed between both support portions that support the gear shafts of both transmission gears forming the gear pair, and controls the actuator, the actuator capable of changing the distance between the support portions, The gear device according to claim 1, further comprising a controller that changes a distance between the gear shafts.   The correction mechanism includes an intermediate gear that is meshed with the two transmission gears forming the gear pair and can transmit power, an actuator that can change the position of the intermediate gear, the actuator, and at least one of the transmission gears. The gear device according to claim 1, further comprising a controller that changes an inter-axis distance between the one gear shaft and the gear shaft of the intermediate gear.   In the correction mechanism, both gear shafts of the gear pair are disposed opposite to each other on the same axis, an input differential side gear fixed to one inner end portion of the two gear shafts, and the other of the two gear shafts The gear pair is formed from a pinion gear that is rotatably supported at both ends of a pinion shaft that is fixed at right angles to the inner end portion of the shaft, and one side meshes with the input differential side gear, A differential device is constituted by the gear pair and a correction differential side gear meshed with the other side of the pinion gear, and a rotation device capable of changing a rotation angle and a rotation speed of the correction differential side gear, and the rotation device. The gear device according to claim 1, further comprising a controller that controls and changes a phase of the correction rotation input from the correction differential side gear to the pinion gear.   The correction mechanism includes a plurality of planetary gears rotatably supported on an outer peripheral portion of a rotatable carrier, an internal gear that meshes with the plurality of planetary gears and rotates on the outer periphery, and the plurality of planetary gears. A planetary gear device comprising a sun gear that meshes with and rotates on the inner circumference, one of the planetary gear, internal gear, and sun gear is fixed to be a correction gear, and the remaining two are rotatable. A rotation device capable of changing a rotation angle and a rotation speed of the correction gear and a controller for controlling the rotation device and changing a phase of the correction rotation input from the correction gear to the gear pair. The gear device according to claim 1, comprising:   6. The gear device according to claim 5, wherein the correction gear is a sun gear, an input side of the gear pair is an internal gear, and an output side is a planetary gear.   6. The gear device according to claim 5, wherein the correction gear is an internal gear, the input side of the gear pair is a sun gear, and the output side is a planetary gear.

Images