CN100402893C - Automatic speed reducing ratio-switching apparatus - Google Patents
Automatic speed reducing ratio-switching apparatus Download PDFInfo
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- CN100402893C CN100402893C CNB2005100761944A CN200510076194A CN100402893C CN 100402893 C CN100402893 C CN 100402893C CN B2005100761944 A CNB2005100761944 A CN B2005100761944A CN 200510076194 A CN200510076194 A CN 200510076194A CN 100402893 C CN100402893 C CN 100402893C
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Abstract
Helical gears are used for a sun gear, planet gears, and an internal gear. Accordingly, when a load, which exceeds a preset torque, is applied to the internal gear, the internal gear is moved in a direction toward an input shaft or a direction toward an output shaft while making rotation in a direction different from that of the sun gear to automatically switch the speed reducing ratio.
Description
Technical field
The present invention relates to a kind of can be when having applied the load that surpasses predetermined torque by using planetary gears automatically to change the automatic speed reducing ratio-switching apparatus of reduction speed ratio that passes to the biasing member of actuator from output shaft.
Background technique
Those devices of having used reduction speed ratio switching mechanism up to now comprise for example mechanical system such as building machinery.In this mechanical system, adopt electronic cylinder as the actuator that is used for the extend/retract operation system of drive link mechanism.
In this electronic cylinder, running shaft is connected with the input part of motor in shell, and screw axis is arranged in the running shaft.Screw axis is screwed on the nut member that is supported on rotationally in the shell.Between running shaft and nut member, be provided with two pairs of planetary gears with different reduction speed ratio.Each planetary gears comprises a central gear and meshes so that carry out a plurality of planetary pinions of planetary motion with each central gear and the internal gear that is located in the cylinder blanket.Each central gear is connected with running shaft by overrunning clutch, wherein according to direction of engagement different for forwards to and opposite direction.The planetary planet back shaft that is supporting each planetary gears rotationally is connected with nut member.
In electronic cylinder, at drive motor along forwards when rotating, running shaft also along forwards to rotation, nut member under the effect of planetary gears with less reduction speed ratio along forwards to rotation, so screw axis moves according to extensile mode.On the other hand, when drive motor rotates in the opposite direction, running shaft also rotates in the opposite direction, nut member rotates under having than the effect of the planetary gears of big retarding ratio in the opposite direction, so screw axis is according to contractile mode move (referring to Japanese unexamined patent No.2003-184982).
But, in aforesaid electronic cylinder, must use two kinds to have the planetary gears of different reduction speed ratio so that make screw axis can stretch and shrinkage operation.In this case, amount of parts increases, and whole electronic cylinder size becomes big.In the planetary gears of aforesaid electronic cylinder, irrelevant with the load torque size that is applied to electronic cylinder, stretch operation by carrying out with low speed than high thrust, and shrinkage operation by than low thrust to carry out at a high speed.Therefore, though be applied on the electronic cylinder load torque hour, the movement velocity of screw axis can not be increased to and be used to stretch under the high speed of operation.
Summary of the invention
Overall purpose of the present invention is to provide a kind of automatic speed reducing ratio-switching apparatus, it enable by with the operation of the biasing member that constitutes actuator slow down recently control torque and under high speed, transmit this moment of torsion of conversion automatically accordingly.
Main purpose of the present invention is to provide a kind of automatic speed reducing ratio-switching apparatus, and this device can reduce amount of parts and reduce whole plant bulk.
From in conjunction with wherein with the mode that exemplifies embodiment demonstrate will know more the following explanation that the accompanying drawing of the preferred embodiment of the invention provides understand of the present invention above with other purpose, feature and advantage.
Description of drawings
Fig. 1 is a perspective exploded view, demonstrates the automatic speed reducing ratio-switching apparatus according to first embodiment of the invention;
The longitudinal sectional view of Fig. 2 for cutting open along axial direction demonstrates the automatic speed reducing ratio-switching apparatus according to first embodiment of the invention;
The longitudinal sectional view of Fig. 3 A for cutting open along axial direction demonstrates the planetary pinion that is used to be formed in the automatic speed reducing ratio-switching apparatus shown in Fig. 1, and Fig. 3 B is along the transverse sectional view of cutting open at the IIIB-IIIB line shown in Fig. 3 A;
Fig. 4 is a local longitudinal sectional view that amplifies, and demonstrates the mate between planetary pinion and internal gear;
Fig. 5 is the perspective view that cut away a part, demonstrates the automatic speed reducing ratio-switching apparatus according to first embodiment of the invention;
Fig. 6 is a side view, demonstrates the central gear, planetary pinion and the internal gear that are in the high speed rotating state;
Fig. 7 is a side view, demonstrates central gear, planetary pinion and internal gear in the time will being applied on the bearing carrier above the load of predetermined torque;
Fig. 8 is the perspective view that cut away a part, demonstrates the locking state according to the automatic speed reducing ratio-switching apparatus of first embodiment of the invention;
Fig. 9 is a side view, demonstrates the central gear, planetary pinion and the internal gear that are in the aforesaid locking state;
Figure 10 is a side view, demonstrates and then central gear, planetary pinion and the internal gear after making the central gear counter-rotating;
Figure 11 is a side view, demonstrates central gear, planetary pinion and internal gear in the state that is in central gear high speed reverse rotation wherein;
Figure 12 is the perspective view that cut away a part, demonstrates the locking state according to the automatic speed reducing ratio-switching apparatus of first embodiment of the invention;
Figure 13 is a side view, demonstrates the sense of rotation of central gear, planetary pinion and internal gear in the state that the load on output shaft therein reduces with respect to Fig. 8;
Figure 14 is a partial enlarged drawing, demonstrates internal gear clutch and lock portion with respect to the intermeshing part of Fig. 8;
Figure 15 A is a perspective view, demonstrate the state that the biasing member of actuator wherein is arranged on initial position, Figure 15 B is a perspective view, demonstrate the state that the biasing member of actuator wherein moves towards workpiece, and Figure 15 C is a perspective view, demonstrates the biasing member of actuator wherein and is resisted against state on the workpiece;
Figure 16 is a longitudinal sectional view, demonstrates the wherein state by using band that movable link is moved;
Figure 17 is the side view that cut away a part, demonstrates electric clamping device;
The longitudinal sectional view of Figure 18 for cutting open along axial direction demonstrates this electric clamping device;
Figure 19 is the side view that cut away a part, demonstrates wherein and be equipped with the state of oil hydraulic cylinder;
Figure 20 is a longitudinal sectional view, demonstrates to be equipped with the viscosity attachment portion at the automatic speed reducing ratio-switching apparatus shown in Fig. 1 that is used for according to second embodiment of the invention;
Figure 21 is a longitudinal sectional view, demonstrates the improvement embodiment at the automatic speed reducing ratio-switching apparatus shown in Figure 20;
Figure 22 A to 22D is corresponding longitudinal sectional view, demonstrates the state that wherein is provided with various mechanisms in automatic speed reducing ratio-switching apparatus shown in Figure 1 between output shaft and input shaft;
Figure 23 is a longitudinal sectional view, demonstrates the automatic speed reducing ratio-switching apparatus according to third embodiment of the invention;
Figure 24 is a perspective view, demonstrates internal gear lock release mechanism;
Figure 25 is a longitudinal sectional view, demonstrates the automatic speed reducing ratio-switching apparatus according to four embodiment of the invention;
Figure 26 is a longitudinal sectional view, demonstrates the automatic speed reducing ratio-switching apparatus according to fifth embodiment of the invention;
Figure 27 is a perspective exploded view, demonstrates the automatic speed reducing ratio-switching apparatus according to sixth embodiment of the invention;
Figure 28 is a longitudinal sectional view, demonstrates the automatic speed reducing ratio-switching apparatus according to sixth embodiment of the invention;
Figure 29 A is a local longitudinal sectional view that amplifies, demonstrate the state that internal gear is wherein kept by retention mechanism, and Figure 29 B and 29C are the corresponding local longitudinal sectional view that amplifies, and demonstrate wherein internal gear and retention mechanism disengaging and internal gear towards the direction of output shaft or towards the state of the direction horizontal motion of input shaft;
Figure 30 is a longitudinal sectional view, demonstrates the automatic speed reducing ratio-switching apparatus according to seventh embodiment of the invention;
Figure 31 is a perspective view, demonstrates the latch that is provided with the vibration damping projection;
Figure 32 is a local longitudinal sectional view that amplifies, and demonstrates a damper mechanism;
Figure 33 is a longitudinal sectional view, demonstrates wherein deceleration unit automatically and the fixing state that is coupled to each other of reduction speed ratio deceleration unit;
Figure 34 is for having used the chuck assembly according to the automatic speed reducing ratio-switching apparatus of first embodiment of the invention on it; And
Figure 35 is a schematic representation, demonstrates speed relevant with conventional induction motor and multiphase induction motor and the relation between the moment of torsion.
Embodiment
Fig. 1 is a perspective exploded view, demonstrates the automatic speed reducing ratio-switching apparatus according to first embodiment of the invention.As shown in Figure 1, automatic speed reducing ratio-switching apparatus 10 comprises shell 12a, 12b and the planetary gears 14 that constitutes by separated into two parts.
Its cross section of shell 12a is a rectangle.Be formed with lock portion 32a to 32d on the inboard of shell 12a, they are to be used for carrying out parallelly equally as hereinafter described when mobile locking the arc-shaped convex that receiving part 30a to 30d engages with internal gear towards the direction of input shaft 26 in that internal gear 20 is the same as hereinafter described.In addition, shell 12a is provided with the bearing part 34a that is used for supporting rotationally input shaft 26.Shell 12b is the same with shell 12a, and its cross section is a rectangle.Be formed with lock portion 33a to 33d on the inboard of shell 12b, they are to be used for carrying out parallelly locking the arc-shaped convex that receiving part 31a to 31d engages with internal gear when mobile towards the direction of output shaft 28 in that internal gear 20 is the same as hereinafter described.In addition, shell 12b is provided with the bearing part 34b that is used for supporting rotationally output shaft 28.
Planetary gears 14 comprises the central gear 16 that forms as one with input shaft 26, being meshing with each other simultaneously is in planetary pinion 18a, 18b, 18c, internal gear 20 and the bearing carrier 22 that about 120 degree angles separate and revolve round the sun and rotate along the circumferencial direction of central gear 16.Bearing carrier 22 has cylindrical major diameter inner 23 and internally 23 and stretches out the output shaft 28 that guides towards shell 12b simultaneously.Central gear 16 is inserted into inner 23 facing to its inside.Inner 23 are formed with respectively with the isolated window 21 of 120 degree equal angles.Planetary pinion 18a, 18b, 18c are facing to window 21.In this embodiment, use pin 24 supporting these planetary pinions 18a, 18b, 18c rotationally by bearing carrier 22.Shown in Fig. 3 A and 3B, each pin 24 is provided with otch 29a, the 29b that forms by with its part circumference excision.Between planetary pinion 18a, 18b, 18c and each pin 24, form gap 25a, 25b by these otch 29a, 29b.These gaps 25a, 25b for example are filled with oil or grease.The viscosity quality of oil or grease is preferably higher.Major diameter internal gear 20 is engaged on the excircle side of planetary pinion 18a, 18b, 18c, these planetary pinions and the internal tooth engagement that is engraved on the inner circumference of internal gear 20.Be connected with the rotating driveshaft of unshowned rotary driving source by the connector element (not shown) with the input shaft 26 that central gear 16 forms as one.In this arrangement, the coaxial as shown in fig. 1 setting of input shaft 26 and output shaft 28.
Each the helical gear torsion angle that is used to constitute central gear 16, planetary pinion 18 and internal gear 20 is not particularly limited.But this torsion angle preferably approximately is 30 ° to 40 °.Viscosity as the oil of viscous resistance member, grease etc. is not particularly limited.But this viscosity preferably approximately is 10000 to 100000 (cSt).In addition, also can be by shear rate and the viscous resistance that changes the viscous resistance member by the viscosity of gap width and aforesaid grease etc.
Be formed with a plurality of stretch out respectively crooked simultaneously internal gears locking receiving part 30a to 30d, 31a to 31d at the place, end of the cylinder form of internal gear 20.As shown in figure 14, thus internal gear locking receiving part 30a to 30d, 31a to 31d have the shape of stretching out and become curve along circumferencial direction accordingly with lock portion 32a to 32d, 33a to 33d.Internal gear locking receiving part 30a to 30d, 31a to 31d and lock portion 32a to 32d, 33a to 33d are as the internal gear locking mechanism.
When the input shaft 26 that constitutes as mentioned above in assembling, internal gear 20 and bearing carrier 22, at first input shaft 26 is inserted among the bearing part 34a of shell 12a, output shaft 28 is inserted among the bearing part 34b of shell 12b, and internal gear 20 is assemblied on the outside of bearing carrier 22.Shell 12a and shell 12b interconnect, thereby the central gear of input shaft 26 16 and planetary pinion 18a, 18b, 18c engagement are tightened afterwards.Therefore, planetary gears 14 is contained in (referring to Fig. 5) among shell 12a, the 12b.
Then will the operation of this automatic speed reducing ratio-switching apparatus 10 be described.At first, give unshowned rotary driving source energising, and the rotary driving force of rotary driving source is passed to central gear 16 by input shaft 26.Suppose that rotary driving source makes input shaft 26 and central gear 16 as along seeing along clockwise direction and rotate to the direction (in the direction of the arrow Z as shown in Fig. 2) of output shaft 28 from input shaft 26.
When the rotating force that will be in low load passes to input shaft 26, planetary pinion 18a, 18b, 18c revolves round the sun along the netted direction of arrow of Fig. 6 (and other figure) but is not rotated, internal gear 20 also revolves round the sun along the thick direction of arrow of Fig. 6 (and other figure), and bearing carrier 22 also revolves round the sun along clockwise direction (referring to Fig. 6) according to the mode of integral body, because at central gear 16, planetary pinion 18a, 18b, 18c, used the viscous resistance member among inside 23 and the internal gear 20, therefore the viscous resistance by the viscous resistance member has applied static friction.That is to say, with reference to Fig. 6 (and other figure), at central gear 16 when the hacures direction of arrow is rotated because rotating speed is lower, thus by the viscous resistance member inner 23 and internal gear 20 between applied static friction.As a result, inside 23, internal gear 20, planetary pinion 18a, 18b, 18c and central gear 16 rotate according to the mode of integral body.
Subsequently, by output shaft 28 when bearing carrier 22 has applied the load that surpasses predetermined torque, central gear 16 rotates, planetary pinion does not carry out any revolution but is rotated along the counter clockwise direction opposite with the direction of central gear 16 (the blank direction of arrow) thus, and with the internal gear 20 of planetary pinion 18 engagement along rotation (referring to Fig. 7) counterclockwise.That is to say that owing to being applied to load on the output shaft 28 and reducing, the rotating speed of the bearing carrier 22 that forms as one with output shaft 28 also reduces at rotating speed.But internal gear 20 is rotation in the same way still.In other words, the rotating speed of internal gear 20 is greater than the rotating speed of bearing carrier 22.Therefore, the viscous resistance between internal gear 20 and bearing carrier 22 increases.Along with viscous resistance equally increases as mentioned above, because planetary pinion 18a, 18b, 18c and the internal gear 20 that is engaged with are helical gear, thus produce thrust along tooth bar line direction, and internal gear 20 moves along the direction of as shown in Figure 8 arrow Z1.
Therefore, internal gear locking receiving part 31b and lock portion 33b engagement, and internal gear locking receiving part 31c and lock portion 33c engagement.Internal gear 20 is in locking state, thereby makes it to carry out any further motion.When internal gear 20 is in the locking state, central gear 16 is rotated along the direction of hacures arrow shown in Figure 6, therefore planetary pinion 18a, 18b, 18c are revolving round the sun with bearing carrier 22 (referring to Fig. 9) when counterclockwise being rotated, thereby the rotating speed of reduction and the moment of torsion of increase are being passed to output shaft 28.In this case, moment of torsion be with gear between planetary pinion 18a, 18b, 18c and internal gear 20 than corresponding power.
Subsequently, the rotation driving direction is oppositely so that make internal gear 20 remove locking state.That is to say, make central gear 20 along rotation counterclockwise by input shaft 26.Therefore, as shown in figure 10, planetary pinion 18a, 18b, 18c according to the rotation of central gear 16 when clockwise direction is rotated with bearing carrier 22 along counterclockwise revolve round the sun (referring to Figure 10).And then internal gear 20 is in locking state in central gear 16 beginnings and promptly is in halted state after rotation counterclockwise.Therefore, between bearing carrier 22 and internal gear 20, appear at the difference that relatively rotates quantitative aspects, therefore increased the viscous resistance between internal gear 20 and inner 23.Because viscous resistance increases between internal gear 20 and inner 23 and because planetary pinion 18a, 18b, 18c and internal gear 20 are helical gear, so produce thrust along the tooth bar line direction of spiralization on the barrel surface of gear.This thrust makes internal gear 20 along carrying out parallel moving in the opposite direction with Z1 side.This internal gear 20 when clockwise direction is rotated along carrying out parallel move in the opposite direction with Z1 side, the internal gear locking receiving part 30 of internal gear 20 separates with the lock portion 32 of shell 12b, and internal gear 20 releasing locking states.
As mentioned above, when internal gear 20 is removed locking state, planetary pinion 18a, 18b, 18c, internal gear 20 and bearing carrier 22 are consistent along (referring to Figure 11) rotation counterclockwise with central gear 16, mode according to integral body revolves round the sun along counter clockwise direction round central gear 16, thereby is back at the initial position shown in Fig. 5.That is to say, at central gear 16 after internal gear 20 is removed locking states during along the counter clockwise direction high speed rotating, planetary pinion 18a, 18b, 18c revolve round the sun along counter clockwise direction under the situation that does not produce its rotation, and internal gear 20 is equally along counterclockwise being rotated.
The situation of front is along the explanation that exemplifies of right handed state to wherein input shaft 26 and central gear 16.But, when counter clockwise direction is rotated, also realized operation and effect identical or that be equal to central gear 16 at input shaft 26.
That is to say, input shaft 26 and central gear 16 along rotation counterclockwise and in this state by output shaft 28 when bearing carrier 22 applies load above predetermined torque, internal gear locking receiving part 30b and lock portion 32b engagement, internal gear locking receiving part 30c and lock portion 32c engagement, and internal gear 20 is in the locking state.In addition, oppositely to make central gear 16 when clockwise direction rotates by input shaft 26, internal gear 20 is removed locking states to turn back in the original state shown in Fig. 5 at rotary driving force.
On the other hand, when internal gear 20 is in as shown in Figure 8 the locking state, can make internal gear 20 remove locking states by the load that reduces to be applied on the output shaft 28.That is to say, in the state that load on output shaft 28 reduces, planetary pinion 18a, 18b, 18c revolve round the sun along clockwise direction along clockwise being rotated in when counterclockwise being rotated with bearing carrier 22 according to central gear 16, and rotate (referring to Figure 13) with the internal gear 20 of planetary pinion 18a, 18b, 18c engagement along clockwise direction.In this state, the rotational speed of internal gear 20 is owing to the viscous resistance member that is arranged between internal gear 20 and inner 23 becomes less than the rotating speed of bearing carrier 22, and appears at the difference on the relative rotation number between bearing carrier 22 and internal gear 20.Therefore, viscous resistance increases between internal gear 20 and inner 23.Because viscous resistance increases between internal gear 20 and inner 23 and because planetary pinion 18a, 18b, 18c and internal gear 20 are helical gear, so produce thrust along the direction of the tooth bar line of spiralization on the barrel surface of gear.
In addition, as shown in figure 14, each internal gear locking receiving part 31c and lock portion 33c have a kind of like this shape, thereby depict a curve along circumferencial direction.Therefore, when clockwise direction rotated, along applying in the opposite direction with Z1 side, and internal gear 20 carried out parallel moving to this power with thrust at internal gear 20.That is to say, internal gear 20 when clockwise direction is rotated along carrying out parallel move in the opposite direction with Z1 side, internal gear locking receiving part 31a to 31d divides with lock portion 33a to 33d and opens, and internal gear 20 is removed locking states.
In the automatic speed reducing ratio-switching apparatus 10 according to first embodiment, central gear 16, planetary pinion 18 and internal gear 20 adopt helical gears, and at internal gear 20 be provided for being provided with the viscous resistance member between the inside 23 of bearing carrier 22.Therefore, when having applied the load that surpasses predetermined torque to bearing carrier 22, internal gear 20 according to the relative rotation speed difference between internal gear 20 and bearing carrier 22 along carrying out parallel moving towards the direction of input shaft 26 or towards the direction of output shaft 28.Therefore, can automatically change the reduction speed ratio that passes to the biasing member of actuator from output shaft 28.The biasing member of actuator in outside route in case stop and then biasing member on the direction of outside route, when mobile, also can make internal gear 20 remove locking states easily, and can automatically change reduction speed ratio once more.In addition, the biasing member of actuator can be along outside path movement under low moment of torsion and high speed.
Then the pressurization device 70 (actuator) that is combined with according to the automatic speed reducing ratio-switching apparatus 10 of first embodiment of the invention is described with reference to Figure 15 A to 15C.
The device of pressurization device 70 (actuator) for where necessary workpiece W being pressurizeed.Pressurization device 70 consists essentially of motor 72, automatically deceleration unit 74, fixedly reduction speed ratio deceleration unit 76, feed screw axle 78, movable link 80, pipe 82 and guide 84.Movable link 80 and pipe 82 are as the biasing member of actuator.
In this pressurization device 70, under as the incentive action of the motor 72 of rotary driving source by automatic deceleration unit 74 and fixedly reduction speed ratio deceleration unit 76 make 78 rotations of feed screw axle.Feed nut (not shown) with movable link 80 of thread groove moves by guide 84 guiding and along the axial direction of feed screw axle 78.Movable link 80 is used for being resisted against on the workpiece W so that the pipe 82 of the pressures partially 86 of extruding workpiece W is connected with having at the front end place.The inside of pipe 82 is hollow.In this structure, feed screw axle 78 passes inner insertion of hollow of pipe 82.
When drive motor 72, the rotatory force of motor 72 under low load rotated central gear 16.Therefore, planetary pinion 18, internal gear 20 and bearing carrier 22 along clockwise direction according to the mode of integral body around central gear 16 revolution (referring to Fig. 6).Therefore, this corresponding with the rotation number of input shaft 26 rotation passes to output shaft 28 to produce high speed rotating.This rotates by fixing reduction speed ratio deceleration unit 76 and transmits so that 78 rotations of feed screw axle from output shaft 28.Feed nut with movable link 80 of thread groove moves by guide 84 guiding and along the axial direction of feed screw axle 78.Therefore, pressures partially 86 from the initial position shown in Figure 15 A towards workpiece W high-speed mobile (referring to Figure 15 B).
The same shown in Figure 15 C, the pressures partially 86 that moves is resisted against on the workpiece W, and applies load above predetermined torque from pressurization device 70 to bearing carrier 22 by output shaft 28.In this case, central gear 16 rotates, so planetary pinion 18a, 18b, 18c be rotated along the counter clockwise direction opposite with the direction of central gear 16, and these planetary pinions 18a, 18b, 18c do not revolve round the sun simultaneously.Rotate (referring to Fig. 7) with the internal gear 20 of planetary pinion 18a, 18b, 18c engagement along counter clockwise direction.Therefore, thrust is on internal gear 20, and internal gear 20 carries out parallel moving along the Z1 direction.
As shown in fig. 8, because internal gear 20 carries out parallel moving along the Z1 direction, thus internal gear locking receiving part 31b and lock portion 33b engagement, internal gear locking receiving part 31c and lock portion 33c engagement, and internal gear 20 is in locking state.When internal gear 20 is in the locking state, planetary pinion 18 revolves round the sun (referring to Fig. 9) along clockwise direction with bearing carrier 22 according to being rotated in when counterclockwise being rotated of central gear 16, and by output shaft 28 moment of torsion that increases is passed on the pressures partially 86 of pressurization device 70.Therefore, workpiece W is subjected to the extruding (referring to Figure 15 C) of pressures partially 86, and workpiece W is carried out extrusion process, and/or is used to make the operation of the position motion of workpiece W.
Suppose the number of teeth of Z (A) expression central gear 16 and the number of teeth of Z (C) expression internal gear 20, then the reduction speed ratio that obtains in the locking state of internal gear 20 is represented by 1/ (1+Z (C)/Z (A)).The output torque that obtains from output shaft 28 for (1+Z (C)/Z (A)) of the input torque that produces from input shaft 26 doubly.For example, the number of teeth of central gear 16 be 12 and the number of teeth of internal gear 20 be 66, then obtain 6.5 times high moment of torsion.
When the current polarity that offers motor 72 reverses after workpiece W equally is subjected to the extruding of pressures partially 86 as mentioned above, central gear 16 under the effect of input shaft 26 along rotation counterclockwise.When planetary pinion 18a, 18b, 18c are rotated along clockwise direction according to being rotated in of central gear 16 with bearing carrier 22 along counterclockwise revolve round the sun (referring to Figure 10).Therefore, thrust is on internal gear 20.Internal gear 20 when clockwise direction is rotated along carrying out parallel move in the opposite direction with Z1 side.The internal gear locking receiving part 30 of internal gear 20 separates with the lock portion 32 of shell 12b, and internal gear 20 is removed locking state.
When internal gear 20 is removed locking states, planetary pinion 18a, 18b, 18c, internal gear 20 and bearing carrier 22 once more with central gear 16 along anticlockwise rotation as one man according to the mode of integral body around central gear 16 along counterclockwise revolve round the sun (referring to Figure 11).Therefore, corresponding with the rotating speed of input shaft 26 rotating speed is directly passed to output shaft 28 to produce high speed rotating.Pressures partially 86 in by guide 84 guiding along the direction high-speed motion that separates with workpiece W.Therefore, it can turn back at the initial position shown in Figure 15 A.
Automatic speed reducing ratio-switching apparatus 10 according to first embodiment, by output shaft 28 when actuator will be applied on the bearing carrier 22 above the load of predetermined torque, the internal gear 20 that rotates along the sense of rotation identical with central gear 16 rotates along the direction different with central gear 16.Therefore, internal gear locking receiving part 30a to 30d, 31a to 31d and lock portion 32a to 32d, 33a to 33d mesh, and the rotation of internal gear 20 stops, and internal gear 20 is locked.When internal gear 20 is in the locking state, automatically change by the reduction speed ratio that output shaft 28 transmits, and the biasing member of actuator moves under high moment of torsion and low speed.On the other hand, for the direction of displacement that makes biasing member becomes return path from outside path changing, with the current polarity reversing of rotary driving source.Like this, central gear 16 is equally reverse as mentioned above, and internal gear 20 is removed locking state.Therefore, the reduction speed ratio that passes to the biasing member that is used to constitute actuator from output shaft 28 automatically is converted.Biasing member can move along return path at low moment of torsion with at a high speed.
In above-mentioned first embodiment, motor 72 and movable link 80 interconnect to transmit the rotating force of motor 72 by feed screw axle 78.But, for above-mentioned feed screw axle 78 without any restriction.For example, as disclosed in the Japanese unexamined patent No.2005-106284, can make movable link 80 move (referring to Figure 16) with belt 140.
In addition, the present invention also can be applied to such structure, wherein at Figure 17 and the electric fixture device shown in 18 (referring to for example Japanese unexamined patent No.2001-105332 and No.2002-219625) the same motor 72 with feed screw axle 78 and put, and device and oil hydraulic cylinder 142 and put (for example referring to Japanese unexamined patent No.2005-54862) (referring to Figure 19).
Even can be located between output shaft 28 and the bearing carrier 22 so that also rotating speed and moment of torsion can be passed to output shaft 28 effectively in the rotation number of output shaft 28 during less than the rotation number of input shaft 26 as the viscosity attachment portion 36 of internal drag, and the difference between the rotation number of the rotation number of input shaft 26 and output shaft 28 becomes big according to first embodiment in automatic speed reducing ratio-switching apparatus 10.In Figure 20, demonstrate this layout according to the automatic speed reducing ratio-switching apparatus 10A of second embodiment.In second embodiment, viscosity attachment portion 36 is located on the side of bearing carrier 22.This viscosity attachment portion 36 comprises a plurality of disks 38, and they have center hole and while stacked together space predetermined spacing on output shaft 28.And bearing carrier 22 is provided with all-in-one-piece disk 39 and is inserted between a plurality of disks that are separated from each other 38.For example, between a plurality of disks 38,39, be filled with oil or grease with high viscosity.
As shown in figure 21, be arranged on the extruding that a disk 39 on the side of output shaft 28 can be subjected to threaded adjusting screw rod 150.Therefore, can increase or reduce fluid resistance to regulate the rotating force of rotary driving source.
Can between input shaft 26 and output shaft 28, insert powder coupling 152 so that rotating speed and moment of torsion are passed to output shaft 28 (referring to Figure 22 A) effectively from input shaft 26.Perhaps can between input shaft 26 and output shaft 28, be provided for the magnet 160 of rotor 162.The board member 164 that is made of aluminium or copper is installed on the inboard of shell 12b.Thereby can make this board member 164 to carry out forward by the magnetic flux that uses adjusting screw rod 166 to change magnet 160 and motion backward, thereby rotational resistance be variable (referring to Figure 22 B).In addition optionally, coil 168 can be installed in around the rotor 162.Can change of the rotation (referring to Figure 22 C) of the resistance of resistor 170 with respect to coil 168 with control rotor 162.In addition optionally, can tighten rotor 162 is used for rotor 162 rotations with influence ON/OFF control (referring to Figure 22 D) with break 172 simply.
Then in Figure 23, demonstrate automatic speed reducing ratio-switching apparatus 10B according to third embodiment of the invention.In this automatic speed reducing ratio-switching apparatus 10B according to the 3rd embodiment, compare with automatic speed reducing ratio-switching apparatus 10A according to second embodiment, internal gear lock release mechanism 40 is located on the excircle end face of internal gear 20A.
As also as shown in Figure 24, internal gear lock release mechanism 40 comprises spring mounting portion 42, spring 44a, 44b and internal gear locking receiving part 30a to 30d, 31a to 31d.Being formed with groove on the external peripheral surface of internal gear 20A is inserted with simultaneously and is arranged on circlewise basically along axial direction that the elastic mounting part of central position divides 42.Spring 44a, 44b are spirally wound on these grooves.In addition, be provided with internal gear 20A at two circumferential edges places of the cylinder form of internal gear 20A and separate the first annular construction member 46a and the second annular construction member 46b that forms and have internal gear locking receiving part 30a to 30d, 31a to 31d respectively, thereby they can be along carrying out parallel moving towards the direction of input shaft 26 or the annular engaging groove 48 towards the direction of output shaft 28 along internal gear 20A.At internal gear 20A along towards the direction of input shaft 26 or carry out parallel when mobile towards the direction of output shaft 28, spring 44a, 44b are inserted between the spring mounting portion 42 of first annular construction member 46a (the perhaps second annular construction member 46b) and internal gear 20A, and internal gear locking receiving part 31a to 31d (30a to 30d) engages with lock portion 33a to 33d (32a to 32d), thereby constitutes locking state.Afterwards, carry out squeezing action by the elastic force of spring 44a, 44b along the direction opposite, and remove locking state rapidly with parallel movement direction.In this embodiment, spring 44a, 44b have been used.But, do not have any restriction for these spring components, as long as used resilient member.For example, can also adopt rubber etc.Can adopt magnet as internal gear lock release mechanism 40 so that guarantee the function that the elastic force with resilient member is equal to.
Therefore, this automatic speed reducing ratio-switching apparatus 10B according to the 3rd embodiment can be incorporated in the pressurization device shown in Figure 15 A to 15C 70.From at the state shown in Figure 15 B, at pressures partially 86 when thereby workpiece W moves intended distance and is resisted against workpiece W, applied the load that surpasses predetermined torque from pressurization device 70 to bearing carrier 22 by output shaft 28, planetary pinion 18a, 18b, 18c are rotated and do not revolve round the sun along the counter clockwise direction opposite with the direction of central gear 16 according to the rotation of central gear 16 then, and with the internal gear 20A of these planetary pinions 18 engagements along rotation (referring to Fig. 7) counterclockwise.Therefore, thrust is on internal gear 20A, and internal gear 20A carries out parallel moving along the Z1 direction.
Subsequently, offer polarity reversing after of the electric current of motor 72 by pressures partially 86 extruding workpiece W.Therefore, central gear 16 rotates along counter clockwise direction under the effect of input shaft 26.When planetary pinion 18 is rotated along clockwise direction according to being rotated in of central gear 16 with bearing carrier 22 along counterclockwise revolve round the sun (referring to Figure 10).Therefore, thrust is on internal gear 20A.This internal gear 20A when clockwise direction is rotated along carrying out parallel move in the opposite direction with Z1 side.The internal gear locking receiving part 31 of internal gear 20A separates with the lock portion 33 of shell 12b, and internal gear 20A removes locking state.
According to the automatic speed reducing ratio-switching apparatus 10B of the 3rd embodiment, by being provided for the internal gear lock release mechanism 40 of internal gear 20A, thereby can make internal gear locking receiving part 30,31 and lock portion 32,33 remove locking states rapidly.
Then, Figure 25 demonstrates the automatic speed reducing ratio-switching apparatus 10C according to four embodiment of the invention.This automatic speed reducing ratio-switching apparatus 10C comprises shell 12a, 12b and planetary gears 14B.This planetary gears 14B is contained among shell 12a, the 12b that assembles according to integral way.
Be formed with therein and be used for the lock portion 54 that having of shell 12a stretched out shape, they parallelly equally as hereinafter described when mobile can be locked receiving part 52 with bearing carrier and engage along carrying out towards the direction of input shaft 26 at bearing carrier 22B.Be formed with therein and be used for the lock portion 55 that having of shell 12b stretched out shape, they parallelly equally as hereinafter described when mobile can be locked receiving part 53 with bearing carrier and engage along carrying out towards the direction of output shaft 28B at bearing carrier 22B.Lock portion 54,55 has the shape of stretching out that becomes curve along circumferencial direction.Be provided with bearing part 34c so that support internal gear 20B rotationally.
Be formed with a plurality of bearing carriers locking receiving parts 52,53 for bearing carrier 22B, each all stretches out towards the end of the cylinder form of internal gear 20B.Bearing carrier locking receiving part 52,53 has corresponding with lock portion 54,55 shape of stretching out that becomes curve along circumferencial direction.Bearing carrier locking receiving part 52,53 and lock portion 54,55 are as the bearing carrier locking mechanism.
Then will the operation of this automatic speed reducing ratio-switching apparatus 10C be described.Drive motor 72, and the rotating force that is in the motor 72 of low load rotates central gear 16.Therefore, planetary pinion 18, internal gear 20B and bearing carrier 22B revolve round the sun integratedly round central gear 16 along clockwise direction (referring to Fig. 6).Therefore, the rotation number corresponding with the rotation number of input shaft 26 passed to output shaft 28B to carry out high speed rotating.Make 78 rotations of feed screw axle by output shaft 28B by fixing reduction speed ratio deceleration unit 76.Feed nut axial direction along feed screw axle 78 in by guide 84 guiding with movable link 80 of thread groove moves.Therefore, pressures partially 86 from the initial position shown in Figure 15 A along direction high-speed mobile (referring to Figure 15 B) near workpiece W.
The same shown in Figure 15 C, pressures partially 86 be resisted against on the workpiece W and from pressurization device 70 by output shaft 28B when internal gear 20B applies load above predetermined torque, along with central gear 16 rotations, planetary pinion 18a, 18b, 18c are rotated simultaneously along the counter clockwise direction opposite with the direction of central gear 16 that these planetary pinions 18a, 18b, 18c do not revolve round the sun, and with the internal gear 20B of these planetary pinions 18a, 18b, 18c engagement along counterclockwise rotating (referring to Fig. 7).Therefore, thrust is on bearing carrier 22B, and this bearing carrier 22B carries out parallel moving along the Z direction.
This bearing carrier 22B carries out parallel moving along the Z direction, bearing carrier locking receiving part 53 and lock portion 55 engagements, and constitute locking state.When bearing carrier 22B was in the locking state, planetary pinion 18a, 18b, 18c were rotated in when counterclockwise being rotated with bearing carrier 22B revolve round the sun (referring to Fig. 9) according to central gear 16.The moment of torsion that will increase by output shaft 28B passes to the pressures partially 86 of pressurization device 70, so workpiece W is subjected to the extruding (referring to Figure 15 C) of pressures partially 86.
Subsequently, when the current polarity that offers motor 72 reverses after workpiece W is subjected to the extruding of pressures partially 86, central gear 16 under the effect of input shaft 26 along rotation counterclockwise.Along with central gear 16 rotates, planetary pinion 18a, 18b, 18c when clockwise direction is rotated with bearing carrier 22B along counterclockwise revolve round the sun (referring to Figure 10).Therefore, thrust is on bearing carrier 22B.This bearing carrier 22B when clockwise direction is rotated along carrying out parallel move in the opposite direction with Z side.The bearing carrier locking receiving part 53 of bearing carrier 22B separates with lock portion 55, and bearing carrier 22B removes locking state.
When bearing carrier 22B removes locking state, planetary pinion 18a, 18b, 18c, internal gear 20B and bearing carrier 22B once more with central gear 16 along anticlockwise rotation as one man around central gear 16 along counterclockwise revolve round the sun integratedly (referring to Figure 11).Therefore, corresponding with the rotating speed of input shaft 26 rotating speed is directly passed to output shaft 28B to produce high speed rotating.Pressures partially 86 in by guide 84 guiding along the direction high-speed motion that separates with workpiece W, thereby it can successfully turn back at the initial position shown in Figure 15 A.
Automatic speed reducing ratio-switching apparatus 10C according to the 4th embodiment, by output shaft 28B when actuator will be applied on the internal gear 20B above the load of predetermined torque, planetary pinion 18a, 18b, 18c and the bearing carrier 22B that rotates along the sense of rotation identical with central gear 16 rotates along the direction different with central gear 16.Therefore, bearing carrier locking receiving part 52,53 meshes with lock portion 54,55, and the rotation of bearing carrier 22B stops, thereby bearing carrier 22B is locked.When bearing carrier 22B is in the locking state, automatically change by the reduction speed ratio that internal gear 20B transmits.The biasing member that constitutes actuator moves with high moment of torsion and low speed near the end position of outer pathway.On the other hand, biasing member to outer pathway when return path moves, the current polarity of rotary driving source reversing, and central gear 16 counter-rotatings are so that bearing carrier 22B removes locking state.Therefore, the reduction speed ratio that passes to the biasing member of actuator from output shaft 28B automatically is converted.This biasing member that constitutes actuator can move along return path at low moment of torsion with at a high speed.
Then, Figure 26 demonstrates the automatic speed reducing ratio-switching apparatus 10D according to fifth embodiment of the invention.The same as shown in figure 26, compare with automatic speed reducing ratio-switching apparatus 10B according to the 3rd embodiment shown in Figure 23, in this automatic speed reducing ratio-switching apparatus 10D, be provided with annular groove in the circumferential edge portions office of bearing carrier 22C, and in these grooves, be provided with annular spring 60a, 60b.
Therefore, in the time will being incorporated in the pressurization device 70 according to the automatic speed reducing ratio-switching apparatus 10D of the 5th embodiment, pressures partially 86 moves intended distance towards workpiece W in the state shown in Figure 15 B, thereby is resisted against on the workpiece W.From pressurization device 70 by output shaft 28C when internal gear 20C has applied the load that surpasses predetermined torque, central gear 16 rotates, so planetary pinion 18 is rotated along the counter clockwise direction opposite with the direction of central gear 16 under situation about not revolving round the sun.Rotate (referring to Fig. 7) with the internal gear 20C of these planetary pinions 18a, 18b, 18c engagement along counter clockwise direction.Therefore thrust is on bearing carrier 22C, and this bearing carrier 22C carries out parallel moving along the Z direction.
Bearing carrier 22C carries out parallel moving along the Z direction, bearing carrier locking receiving part 53 and lock portion 55 engagements, and bearing carrier 22C is in locking state.When bearing carrier 22C was in the locking state, planetary pinion 18a, 18b, 18c were rotated in when counterclockwise being rotated with bearing carrier 22C along clockwise direction revolve round the sun (referring to Fig. 9) according to central gear 16.Transmit the moment of torsion that increases by output shaft 28C to the pressures partially 86 of pressurization device 70.Therefore, workpiece W is subjected to the extruding (referring to Figure 15 C) of pressures partially 86.
Subsequently, when the polarity of the electric current that offers motor 72 was reversed after by pressures partially 86 extruding workpiece W, central gear 16 rotated along counter clockwise direction under the effect of input shaft 26.Along with central gear 16 rotates, planetary pinion 18a, 18b, 18c when clockwise direction is rotated with bearing carrier 22C along counterclockwise revolve round the sun (referring to Figure 10).Therefore, thrust is on bearing carrier 22C.This bearing carrier 22C when clockwise direction is rotated along carrying out parallel move in the opposite direction with Z side.The bearing carrier locking receiving part 53 of bearing carrier 22C separates with lock portion 55, and bearing carrier 22C removes locking state.The bearing carrier locking receiving part 53 of bearing carrier 22C separates with the lock portion 55 of shell 12b, and bearing carrier 22C removes locking state.In this process, bearing carrier 22C under the resilient force of spring 60b along carrying out parallel move in the opposite direction with Z1 side.Bearing carrier 22C removes locking state rapidly.
According to the automatic speed reducing ratio-switching apparatus 10D of the 5th embodiment, bearing carrier 22C is provided with spring 60a, 60b, therefore can promptly remove the locking state of bearing carrier locking receiving part 52,53 and lock portion 54,55.
Figure 27 is a perspective exploded view, demonstrates the automatic speed reducing ratio-switching apparatus 10E according to the 6th embodiment.This automatic speed reducing ratio-switching apparatus 10E is following feature with difference according to the automatic speed reducing ratio-switching apparatus 10 of first embodiment.That is to say that shell 12a, 12b constitute with shell 212a, 212b, 212c.Bearing carrier 22 usefulness bearing carrier 222a, 222b constitute.In planetary gears 214, be provided with load-carrying ring 240a, 240b and the input axle collar 242.The lock portion 32a to 32d that has been formed among the shell 12a is provided as lock portion 232a to 232d on latch 244a.The lock portion 33a to 33d that has been formed among the shell 12b is provided as lock portion 233a to 233d on latch 244b.
When engaging between internal gear locking receiving part 230a to 230d and the lock portion 232a to 232d or between internal gear locking receiving part 230a to 230d and lock portion 232a to 232d, applied impact force.Internal gear locking receiving part 230 and lock portion 232 wear and tear easily.
For fear of these wearing and tearing, preferably increase in the arc-shaped convex of internal gear lock portion 230 and the area of contact between the lock portion 232, perhaps lock receiving part 230 and lock portion 232 is provided with a large amount of arc-shaped convex for internal gear.
Also can adopt the method for the mechanical strength that has wherein strengthened internal gear 220 and latch 244a, 244b to be used for antiwear method as another kind.When improving mechanical strength, the Rockwell hardness (HRC) of internal gear 220 and latch 244a, 244b preferably is not less than 50.Can adopt wherein internal gear 220 and latch 244a, 244b to be manufactured from the same material and be used to prevent the method for wearing and tearing as another with the method for the mechanical strength that obtains to be equal to.
Suppose to have adopted same material, the material that then is used for internal gear 220 and latch 244a, 244b does not have particular restriction.But, for example can adopt polyoxymethylene to form internal gear 220 and latch 244a, 244b.Adopting resin-based material for example during polyoxymethylene, the deadweight that can alleviate internal gear 220 and latch 244a, 244b.Therefore, the sound that can be reduced in internal gear 220 and latch 244a, is produced when 244b is in contact with one another.
The major diameter internal gear 220 that becomes cylindrical and have an internal tooth 246 that is engraved on the inner circumference is assemblied on the outer circumferential sides of planetary pinion 218a, 218b, 218c.These planetary pinions 218a, 218b, 218c and internal tooth 246 engagements.On the side circumferential surface of bearing carrier 222b, be provided with hole 254 so that the retention mechanism 252 that is made of steel ball 248 and spring 250 is installed.Position corresponding with retention mechanism 252 on the inner peripheral surface of internal gear 220 is provided with annular groove 256.
For example, even under without any load or low load, as actuator, drive when operation, between input shaft 26 and output shaft 28, appear at the deviation aspect the rotation number in some cases.Internal gear 20 may move along axial direction owing to the deviation of this rotation number undesirablely.On the contrary, this automatic speed reducing ratio-switching apparatus 10E is provided with retention mechanism 252, this mechanism so operates, even thereby so owing under without any load or low load, be driven the deviation that between input shaft 26 and output shaft 28, occurs rotation number easily, can prevent that also internal gear 220 is along moving to avoid occurring under without any the situation of load or low load the deviation of rotation number between input shaft 226 and output shaft 228 towards the direction of input shaft 226 or towards the direction of output shaft 228.
Therefore, when being provided with retention mechanism 252, prevented that internal gear 220 is along moving to avoid adjacency occurring between internal gear 220 and latch 244a, 244b under without any load or low loading condition towards the direction of input shaft 226 or towards the direction (referring to Figure 29 A) of output shaft 228.Therefore, can avoid producing in abutting connection with sound.
On the contrary, under the situation that retention mechanism 252 is not set, along moving towards the direction of input shaft 226 or towards the direction of output shaft 228, this internal gear 220 and latch 244a, 244b carry out adjacency to internal gear, and produce in abutting connection with sound under without any load or low load.For example, at internal gear 220 along when the direction of output shaft 228 is moved, adjacency appears under the situation of the lock portion 233b that does not mesh internal gear locking receiving part 231a and latch 244b, and produce in abutting connection with sound, because internal gear 220 rotates as seeing along clockwise direction from the side of input shaft 226.
This is used separately as first sealing mechanism to load-carrying ring 240a, 240b, their preferences as by rubber material for example NBR form.
In addition, the input axle collar 242 is installed on the circular groove of input shaft 226 and leaks out towards input shaft 226 from the central gear 216 with planetary pinion 218a, 218b, 218c engagement so that prevent oil, grease etc.The input axle collar 242 is as second sealing mechanism, and its preference forms as the silicone rubber that is for example had greasy property by rubber material.
The unspecial restriction of the shape of load-carrying ring 240a, load-carrying ring 240b and the input axle collar 242.But it is oval that the shape of cross section of load-carrying ring 240a and load-carrying ring 240b preferably is essentially.The shape of cross section of the input axle collar 242 preferably is essentially X-shaped.
All stretch out a plurality of internal gears locking receiving part 230a to 230d of predetermined length, the place, two ends that 231a to 231d is formed on the cylinder form of internal gear 220 along circumferencial direction bending and each respectively along axial direction.The same as shown in figure 27, internal gear locking receiving part 230a to 230d, 231a to 231d form curve form, thereby have corresponding to lock portion 232a to 232d, 233a to 233d the outstanding shape of circumferencial direction.These internal gear locking receiving parts 230a to 230d, 231a to 231d and lock portion 232a to 232d, 233a to 233d are as the internal gear locking mechanism.
According to the automatic speed reducing ratio-switching apparatus 10E of the 6th embodiment basically according to operate according to the identical mode of the automatic speed reducing ratio-switching apparatus 10 of first embodiment.But this automatic speed reducing ratio-switching apparatus 10E compares with automatic speed reducing ratio-switching apparatus 10 has retention mechanism 252.Therefore, when driving operation under the situation without any load or low load, the steel ball 248 of retention mechanism 252 is held by groove 256 extruding towards internal gear 220 under the spring force effect of spring 250.Therefore, can avoid internal gear 220 along towards the direction of output shaft 228 or towards the direction of input shaft 226 move (referring to Figure 29 A).
When the load that applies to output shaft 228 above predetermined torque, steel ball 248 has overcome the spring force of spring 250, and steel ball 248 is mobile a little towards spring 250.Steel ball 248 is pressed on the groove 256, and this steel ball and groove 256 break away from, and this steel ball 248 is removed constrained state.Therefore, internal gear 220 is along towards the direction of output shaft 228 or towards the direction of input shaft 226 move (referring to Figure 29 B and 29C).
Figure 30 demonstrates the longitudinal sectional view of cutting open along axial direction, demonstrates the automatic speed reducing ratio-switching apparatus 10F according to the 7th embodiment.This automatic speed reducing ratio-switching apparatus 10F has and is set in place in according to latch 244a, the 244b of the automatic speed reducing ratio-switching apparatus 10E of the 6th embodiment and the damper mechanism 270 of the office, joining portion between the internal gear 220.
This damper mechanism 270 comprises: be arranged on shell 212a facing surfaces on the vibration damping projection 260a with wedge-shaped cross-section, this projection is for example by resilient member such as synthetic resin or rubber constitutes and form as one with latch 258a; Vibration damping groove 262a is corresponding with vibration damping projection 260a thereby it is formed on shell 212a; Be arranged on shell 212b facing surfaces on the vibration damping projection 260b with wedge-shaped cross-section, it is by for example resilient member such as synthetic resin or rubber constitutes and form as one with latch 258b; And vibration damping groove 262b, shell 212b goes up and the protruding 260b corresponding (referring to Figure 31 and 32) of damping thereby it is formed on.
When being provided with damper mechanism 270, can reduce by the wearing and tearing that adjacency produced between internal gear 220 and latch 258a, the 258b and occur in abutting connection with the time sound that produces.
That is to say, at internal gear 220 along towards the motion of the direction (or along direction) of input shaft 226 time towards output shaft 228, the internal gear locking receiving part 230a to 230d (231a to 231d) of internal gear 220 is resisted against on the latch 258a (258b) of damper mechanism 270, and they are meshing with each other.Therefore, latch 258a (258b) rotates integratedly with internal gear 220.
In this case, when the vibration damping groove 262a (262b) of vibration damping projection 260a (260b) on the side that is formed on shell 212a (212b) that forms as one with latch 258a (258b) carries out sliding movement, because be provided with viscous members 272, so carry out braking maneuver by the viscous resistance of viscous members 272 with high viscosity.The impact that is produced when internal gear 220 is resisted against on latch 258a, the 258b is cushioned (absorption).Therefore, can suitably be suppressed at internal gear 220 be resisted against latch 258a, the wearing and tearing that produced when 258b is last and occur in abutting connection with the time sound that produced.
Preferably, be formed between vibration damping projection 260a and the vibration damping groove 262a and the gap between vibration damping projection 260b and vibration damping groove 262b narrow as far as possible so that improve efficient as damper mechanism 270.
By be used in combination according to the automatic speed reducing ratio-switching apparatus 10 of first embodiment and fixedly reduction speed ratio deceleration unit 76 can obtain the reduction speed ratio of wide range.For example, the automatic reduction speed ratio of deceleration unit 74 be 1: 4 and fixedly the reduction speed ratio of reduction speed ratio deceleration unit 76 be 1: 4, then can in 1: 4 to 1: 16 scope, change reduction speed ratio with respect to input from planetary pinion 94.Figure 33 demonstrates a longitudinal sectional view, demonstrates wherein deceleration unit 74 and fixedly reduction speed ratio deceleration unit 76 interconnective states automatically.
Therefore, in pressurization device 70, rotatablely moving of motor 72 passes to fixedly reduction speed ratio deceleration unit 76 by automatic speed reducing ratio-switching apparatus 10 from output shaft 28.As shown in figure 33, in fixing reduction speed ratio deceleration unit 76, central gear 90 rotations that engage with output shaft 28 are so that is supported rotationally and rotated with central gear 90 planet gear meshed 94 and with the internal gear 96 of these planetary pinions 94 engagements by pin 92.The rotating speed that passes to internal gear 96 passes to output shaft 102 by output shaft 98 and connector 100.Connector 100 and output shaft 102 interconnect by viscosity attachment portion 108.Output shaft 102 is tightened on the axle 106 by screw 104.
In this arrangement, the actuator that is connected with output shaft 28 is not limited to pressurization device 70.Actuator comprises certainly and is used to carry out linearity or rotates reciprocating mechanism, for example wherein the not shown fluid pressure cylinder that moves back and forth of piston rod (biasing member), the wherein linear actuator that moves back and forth of slider (biasing member), rotary actuator and the clamp device that moves back and forth of clamp arm (biasing member) wherein.But actuator is not limited thereto.
Figure 34 demonstrates the chuck assembly 110 as a kind of clamp device.The rotary driving force that provides from motor 112 by be combined in the automatic speed reducing ratio-switching apparatus 10 automatic deceleration unit 114 and fixedly reduction speed ratio deceleration unit 116 pass to output shaft 118.When output shaft 118 rotated, the connector 122 that is fastened on the screw rod 120 rotated with the feed nut 126 that is fastened on the screw rod 124.When feed nut 126 rotated, the feed screw axle that engages with feed nut 126 128 moved along axial direction.When 128 motions of feed screw axle, retained part 132 can utilize arm 130 to clamp workpiece W.
In this arrangement, can for example include brush or brushless motor or polyphase induction motor as those of rotary driving source.In aforesaid rotary driving source, the preferred polyphase induction motor that constitutes by AC servomotor or stepping motor that adopts with cooling mechanism, wherein iron core is formed by silicon steel plate, and rotor has the cylinder form that is formed by aluminium so that increase secondary resistance.Figure 35 demonstrates the torque characteristics with respect to speed relevant with conventional induction motor with aforesaid polyphase induction motor.As shown in figure 35, adopting polyphase induction motor when being used for the rotary driving source of automatic speed reducing ratio-switching apparatus 10, comparing with conventional induction motor with respect to speed control torque more easily.From cost, compare with conventional induction motor and can produce aforesaid polyphase induction motor more at an easy rate.In addition, when adding encoder, can also be according to positioning control with mode identical in common servomotor and moment of torsion is controlled.
Though shown and described some preferred embodiment of the present invention in detail, it should be understood that under the situation that does not break away from the claims scope and can make various variations and change therein.
Claims (10)
1. automatic speed reducing ratio-switching apparatus, it is arranged between rotary driving source and the actuator, is used for automatically changing the reduction speed ratio by the biasing member of the rotary driving force operation of described rotary driving source, and described device comprises:
One planet gear mechanism (14), it comprises the input shaft (26) that is connected with described rotary driving source, the output shaft (28) that is connected with described actuator, is respectively a helical gear central gear (16), planetary pinion (18a to 18c) and an internal gear (20) and a bearing carrier (22), and this bearing carrier is supporting described planetary pinion (18a to 18c) rotationally and rotating integratedly along with the revolution of described planetary pinion (18a to 18c);
It is characterized in that described device also comprises:
One resistance element, it produces thrust between described internal gear (20) and described planetary pinion (18a to 18c); And
One arrestment mechanism, it is according to the increase of output load or reduce to make described internal gear (20) motion brake rotatablely moving of described internal gear (20) by described thrust.
2. automatic speed reducing ratio-switching apparatus as claimed in claim 1, wherein said resistance element are the viscous resistance member.
3. automatic speed reducing ratio-switching apparatus as claimed in claim 2, wherein said viscous resistance member are located at described planetary pinion (18a to 18c) and are inserted between the inside (23) of the described bearing carrier (22) in the described internal gear (20) and between described planetary pinion (18a to 18c) and internal gear (20) in inside.
4. automatic speed reducing ratio-switching apparatus as claimed in claim 1, wherein said arrestment mechanism comprises: an internal gear locking mechanism, its be located at by engagement described internal gear (20) the circumferential edges place internal gear clutch and be located at the shell (12a that is used to hold described planetary gears (14), lock portion 12b) (32a to 32d, 33a to 33d), thus described internal gear (20) is stopped operating and lock this internal gear.
5. automatic speed reducing ratio-switching apparatus as claimed in claim 1, wherein said arrestment mechanism comprises:
One first internal gear locking mechanism, its internal gear clutch and being located at that is located at a circumferential edges place of described internal gear (20) by engagement is used to hold the lock portion (32a to 32d) on the shell (12a) of described planetary gears (14), thereby described internal gear (20) is stopped operating and locks this internal gear; And
One secondary annulus locking mechanism, it is located at the internal gear clutch and the lock portion (33a to 33d) that is located on another shell (12b) at another circumferential edges place of described internal gear (20) by engagement, thereby described internal gear (20) is stopped operating and lock this internal gear, and wherein
Parallelly brake the described of described internal gear by the described first internal gear locking mechanism when mobile and rotatablely move along carrying out at described internal gear (20), and parallelly brake the described of described internal gear by described secondary annulus locking mechanism when mobile and rotatablely move along carrying out towards the direction of described output shaft (28) at described internal gear towards the direction of described input shaft (26).
6. automatic speed reducing ratio-switching apparatus as claimed in claim 1, wherein said arrestment mechanism comprises an internal gear locking mechanism, its be located at by engagement described internal gear (220) the circumferential edges place internal gear clutch and be fixed on latch on the shell (212a to 212c) (244a 244b) stop the rotation of described internal gear (220) and lock this internal gear.
7. automatic speed reducing ratio-switching apparatus as claimed in claim 6, wherein at described shell (212a to 212c) and described latch (244a, be provided with a damper mechanism (270) 244b), and (244a 244b) stops the described rotation of described internal gear (220) by described damper mechanism (270) afterwards meshing described internal gear clutch and described latch.
8. automatic speed reducing ratio-switching apparatus as claimed in claim 1, wherein
(222a 222b) is provided with a retention mechanism (252) to described bearing carrier, and described internal gear (220) is provided with and is used for the groove (256) that engages with described retention mechanism (252); And
Described retention mechanism (252) engage with described groove (256) with prevent described internal gear (220) from described actuator by described output shaft (228) when described bearing carrier (222b) applies the load that is no more than predetermined torque along towards the direction of described input shaft (226) or towards the direction motion of described output shaft (228).
9. automatic speed reducing ratio-switching apparatus as claimed in claim 3, wherein said bearing carrier (222a, 222b) be provided be used to avoid described viscous resistance member from described bearing carrier (222a, first sealing mechanism that flows out in 222b) (240a, 240b).
10. automatic speed reducing ratio-switching apparatus as claimed in claim 2, wherein said input shaft (226) are provided with second sealing component (242) that the described viscous resistance member that is used to avoid being located between described central gear (216) and the described planetary pinion (218a to 218c) goes out from an effluent of described input shaft (226).
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2004170263 | 2004-06-08 | ||
| JP2004170263 | 2004-06-08 | ||
| JP2005141123 | 2005-05-13 |
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| CN1707138A CN1707138A (en) | 2005-12-14 |
| CN100402893C true CN100402893C (en) | 2008-07-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNB2005100761944A Active CN100402893C (en) | 2004-06-08 | 2005-06-08 | Automatic speed reducing ratio-switching apparatus |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109923767A (en) * | 2016-10-31 | 2019-06-21 | Ntn株式会社 | Electric actuator |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4596282B2 (en) * | 2008-04-24 | 2010-12-08 | Ｓｍｃ株式会社 | Automatic reduction ratio switching device |
| JP5655580B2 (en) * | 2011-01-17 | 2015-01-21 | 日本電産シンポ株式会社 | Transmission case |
| CN109623709B (en) * | 2018-12-21 | 2020-06-02 | 浙江京禾电子科技有限公司 | Intelligent electric tool for installing photovoltaic module pressing block |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US1588602A (en) * | 1921-12-02 | 1926-06-15 | Midgley Car Lighting Company L | Power-transmission mechanism |
| US4026167A (en) * | 1975-05-02 | 1977-05-31 | Archer James M | Planetary transmission |
| CN2421452Y (en) * | 2000-04-18 | 2001-02-28 | 王明星 | Universal speed variator |
| US6354580B1 (en) * | 1999-10-01 | 2002-03-12 | Smc Kabushiki Kaisha | Electric clamp apparatus |
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- 2005-06-08 CN CNB2005100761944A patent/CN100402893C/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US1588602A (en) * | 1921-12-02 | 1926-06-15 | Midgley Car Lighting Company L | Power-transmission mechanism |
| US4026167A (en) * | 1975-05-02 | 1977-05-31 | Archer James M | Planetary transmission |
| US6354580B1 (en) * | 1999-10-01 | 2002-03-12 | Smc Kabushiki Kaisha | Electric clamp apparatus |
| CN2421452Y (en) * | 2000-04-18 | 2001-02-28 | 王明星 | Universal speed variator |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109923767A (en) * | 2016-10-31 | 2019-06-21 | Ntn株式会社 | Electric actuator |
| CN109923767B (en) * | 2016-10-31 | 2021-10-15 | Ntn株式会社 | Electric actuator |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1707138A (en) | 2005-12-14 |
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