CN1869478B - Mechanism for converting rotary motion into linear motion - Google Patents
Mechanism for converting rotary motion into linear motion Download PDFInfo
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- CN1869478B CN1869478B CN 200510129001 CN200510129001A CN1869478B CN 1869478 B CN1869478 B CN 1869478B CN 200510129001 CN200510129001 CN 200510129001 CN 200510129001 A CN200510129001 A CN 200510129001A CN 1869478 B CN1869478 B CN 1869478B
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- rack bar
- revolution roller
- screw thread
- roller
- linear motion
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
- F16H25/22—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members
- F16H25/2247—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members with rollers
- F16H25/2252—Planetary rollers between nut and screw
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- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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- Power Steering Mechanism (AREA)
Abstract
Revolving rollers, each provided on an outer peripheral surface thereof with revolving roller grooves extending therearound, are caused to mesh with a rack rod thread of a central rack rod with an axial angle over a lead angle of the rack rod thread and arranged for rotation on a holder member to be twisted. The holder member is rotated round the rack rod by a motor to translate the rack rod. A large thrust can be generated while ensuring a high reliability since a high efficiency is achieved by realizing rolling contact in set points of mesh of the rack rod thread and the revolving roller grooves, points of mesh are made planar, and interference in other points than the points of mesh can be suppressed. Also, play can be restricted by assembling the revolving rollers to the rack rod thread while applying torque in a direction, in which the axial angle is increased.
Description
Technical field
The present invention relates to by rotatablely move and straight line motion between conversion moving direction come the mechanism for converting rotary motion into linear motion of conversion torque and thrust, relate in particular to the mechanism for converting rotary motion into linear motion that high thrust, high reliability, gap are little and efficient is high that is suitable for power steering gear.
Background technique
At first, the general technology for the power steering gear of automobile illustrates its summary.Figure 21 is the steering equipment that becomes tooth bar (rack) the gear mode of main flow in the automobile now.Its main structural element have steering wheel 101, as the steering column 102 of its running shaft, be arranged at its underpart small gear 103, be provided with the bar (rod) of the tooth bar of this pinion (claim usually this bar this as tooth bar, but the present invention is for fear of obscuring, below be referred to as rack bar (rack rod), and symbolic number be made as 1) and the steering tie rod 105 that is connected its two ends and is connected with deflecting roller 106 at its other end.
Like this, the driver is as if steering wheel rotation 101, and then steering column 102 rotates, and the small gear 103 of lower end also rotates.By with the tooth bar of small gear 103 engagement, the rotation of small gear 103 makes rack bar 1 straight line motion in the axial direction, connected steering tie rod 105 motions and travel direction control.Power steering gear is following system, that is, be some in these structural elements of boosting and the power that reduces driver's steering wheel rotation 101.
In recent years, this power steering gear became indispensable component in the automobile.Especially nearest, automobile integral body also is like this, promptly by this power steering gear, replaces hydraulic auxiliary push mode (owing to often making the oil hydraulic pump rotation, so generally consume a lot of power) in the past, and the electric powered steering mode has occupied main flow, has made contribution to saving the energy.
The such mechanism for converting rotary motion into linear motion of the present invention is applied to driven steering device as tooth bar boosting mechanism 107, and above-mentioned tooth bar boosting mechanism 107 is paid the rack bar 1 straight-line boost of motor as rotary driving source.But, in this case,, require will have both reducing gear as mechanism for converting rotary motion into linear motion owing to wish to utilize the high motor of rotating speed from the viewpoint of miniaturization.As satisfying the mechanism that requires like this, a kind of mechanism for converting rotary motion into linear motion (for example, referring to Patent Document 1) of for example ball screw mode has been proposed from prior art.
At this, this patent documentation 1 described the steering gear cuts on rack bar 1 screw thread, by nut being engaged on this screw thread, also utilizing the motor as rotating power source to make this nut rotation, makes rack linear move.And, in this case, when making engine revolution 1 circle, owing to only make the amount of helical pitch of the screw thread of rack bar mobile rack bar,, then can obtain the big retarding ratio by this amount that reduces if the angle of lead of screw thread is diminished, thereby improved the rotating speed of motor, realized miniaturization.
At this moment, have than heavy load,, this ball-recirculation is rolled contact, thereby reduce friction and reach high efficiency so be furnished with a plurality of balls herein owing to act between the screw thread of the screw thread of rack bar and nut.
Patent documentation 1: the spy opens flat 7-165049 communique
But, prior art shown in the above-mentioned patent documentation 1 can not lack makes a plurality of balls circuit device around the cylindrical of rack shaft, if this ball-recirculation is unsmooth, then can produce sliding friction between ball and nut and between ball and tooth bar, thereby the change of the friction factor of ball makes greatly transmission efficiency reduce.
Especially, in order to make motor miniaturization (with the motor of little torque high speed rotating), in the steering gear of having set than the big retarding ratio, owing to must reduce the angle of lead (present situation is about 5 degree) of screw thread, so when coefficient of rolling friction (present situation is about 0.01) increases, then as shown in figure 23, efficient will obviously reduce.
Herein because this Figure 23 has represented to be the relation of efficient of angle of lead and ball screw framework of parameter with the coefficient of rolling friction, as shown in the figure, along with coefficient of rolling friction since about 0.01 increases, conclude that transmission efficiency will reduce.
In addition, in the prior art, in a single day if produce slip, then the ball rolling surface begins roughening, and it can bring out further slip, and the coefficient of rolling friction that causes retrieving sharply rises, and the danger that mechanism is broken is at short notice arranged.
Therefore, in this ball screw framework, it is often in shape to the most important thing is to guarantee to make the circulation of ball, for this reason, in the optimal ball backhaul pathways of design, most important project is the high precision int of the geomery of ball and nut thread, rack bar screw thread, thereby cost will uprise.In addition, this moment, required precision significantly improved owing to be accompanied by the increase of ball quantity, so from the upper limit of cost aspect ball quantity a limit is being arranged also in fact, on the other hand, this ball quantity has determined the maximum output that ball screw framework can produce.
Therefore, the upper limit has appearred in the ball screw framework of prior art transmission power in practical application, therefore, utilizes the power steering apparatus of this mechanism to be equipped with the problem that can not carry desired straight line motion output (tooth bar thrust) on bigger large car.
Summary of the invention
First purpose of the present invention be to provide a kind of when guaranteeing high reliability, seek the high efficiency mechanism for converting rotary motion into linear motion of high thrustization.In addition, even second purpose of the present invention is to provide the mechanism for converting rotary motion into linear motion that a kind of parts precision reduces to a certain extent, the gap is also little.
In order to address the above problem, the present invention has mainly adopted the structure of the following stated.
A kind of mechanism for converting rotary motion into linear motion, it comprises cylindrical shape or columniform rack bar, be supported on around the above-mentioned rack bar and can with above-mentioned rack bar do counterrotating supporting part and can be rotatably by the revolution roller of above-mentioned supporting units support, this mechanism for converting rotary motion into linear motion is characterised in that
Above-mentioned rack bar has screw thread at its periphery, and this screw thread has the angle of lead of regulation,
Be configured to greatlyyer with respect to the crossed axis angle of above-mentioned revolution roller of the axle of above-mentioned rack bar, and, screw the axle of the described revolution roller of assembling with respect to the axle of described rack bar than the angle of lead of above-mentioned rack bar screw thread,
Above-mentioned revolution roller has circumferentia on its periphery, this circumferentia is meshed with the flank of above-mentioned rack bar screw thread.
In addition, in above-mentioned mechanism for converting rotary motion into linear motion, the structure of above-mentioned revolution roller is: have annular slot on its outer circumferential face, this annular slot has the circumferentia of bi-side, and the circumferentia of these bi-side is meshed with two flanks as the bi-side on the screw thread of above-mentioned rack bar top respectively.In addition, in above-mentioned mechanism for converting rotary motion into linear motion, above-mentioned revolution roller is made of a plurality of above-mentioned annular slot that forms.
In addition, in above-mentioned mechanism for converting rotary motion into linear motion, its structure is: when making above-mentioned revolution roller and above-mentioned rack bar threaded engagement fixedly install (assembling), with direction that crossed axis angle that the angle of lead of above-mentioned rack bar screw thread compares, is set greatlyyer above-mentioned revolution roller increases on additional force or torque on one side, Yi Bian fixedly install (assembling).
Based on the present invention, can provide the mechanism for converting rotary motion into linear motion that can produce big thrust, high efficiency and high reliability.
In addition, based on the present invention,, on the steering gear that is applied to automobile, make and also can on large car, carry electrically powered steering apparatus using same as the mechanism for converting rotary motion into linear motion of motor as rotary driving source.
Description of drawings
Fig. 1 is the longitudinal section of the mechanism for converting rotary motion into linear motion relevant with first mode of execution of the present invention.
Fig. 2 is the schematic representation of the revolution roller of side in front of disposing in mechanism for converting rotary motion into linear motion shown in Figure 1, with regular posture.
Fig. 3 is the side view of the whole revolution roller of the mechanism for converting rotary motion into linear motion relevant with first mode of execution of the present invention.
Fig. 4 is the side view (part is a sectional view, the cross section of the B1-B2-B3-B4 of Fig. 5) of the assembly of the revolution roller of first mode of execution and supporting part
Fig. 5 is the cross-sectional view (the A-A cross section of Fig. 4) of the assembly of the revolution roller of first mode of execution and supporting part
Fig. 6 is the explanatory drawing of projection drawing of the rack bar screw thread helical of first mode of execution.
Fig. 7 be from the Vertical direction on the projection plane of first mode of execution observe screw thread helical on the thread side, right side of (observing) from the rack bar axle and the common vertical line of revolution Roller Shaft to view.
Fig. 8 is the figure of plane curve (sinusoidal curve) of the projection plane projection of the screw thread helical of expression on the thread side, rack bar right side of first mode of execution.
Fig. 9 is the explanatory drawing of Fig. 8 to the engagement place of rack bar axial elongation.
Figure 10 is a M enlarged view partly shown in Figure 9.
Figure 11 is the explanatory drawing of the plane curve (sinusoidal curve) of the projection plane projection of the screw thread helical on the thread side, rack bar left side of first mode of execution to the engagement place of rack bar axial elongation.
Figure 12 is a N enlarged view partly shown in Figure 11.
Figure 13 is the explanatory drawing with the engagement place of the prior art of first mode of execution contrast.
Figure 14 is a P enlarged view partly shown in Figure 13.
Figure 15 is the explanatory drawing of the engagement place on the rack bar screw thread of first mode of execution.
Figure 16 is the side view of the assembly of the revolution roller of the mechanism for converting rotary motion into linear motion relevant with second embodiment of the invention and supporting part.
Figure 17 is the cross-sectional view (the A-A cross section of Figure 16) of the assembly of the revolution roller of second mode of execution and supporting part
Figure 18 is the side view (part is a sectional view) of the assembly of the revolution roller of the mechanism for converting rotary motion into linear motion relevant with third embodiment of the invention and support and connection part.
Figure 19 is the side view (part is a sectional view, the cross section of the B1-B2-B3-B4 of Figure 20) of the assembly of the revolution roller of the 3rd mode of execution and supporting part.
Figure 20 is the cross-sectional view (the A-A cross section of Fig. 4) of the assembly of the revolution roller of the 3rd mode of execution and supporting part.
Figure 21 is the explanatory drawing of the elemental motion of the mechanism for converting rotary motion into linear motion relevant with embodiments of the present invention.
Figure 22 is the rack bar screw thread of expression embodiments of the present invention and the explanatory drawing of the relevant action of revolution roller.
Figure 23 is the characteristic pattern of an example of efficient of the ball screw framework of expression prior art.
Among the figure: the 1-rack bar, 1a-rack bar screw thread, 1d-rack bar axle, 21,22,23, the 24-roller that revolves round the sun, 21b, 22b, 23b, the 24b-roller groove (annular slot) that revolves round the sun, 21d, 22d, 23d, the 24d-roller that revolves round the sun, 21e, 22e, 23e, the 24e-roller thrust block that revolves round the sun, 21f, 22f, 23f, 24f-revolution roller radial bearing, 3-supporting part, 3e-support thrust bearing, 3f-supports radial bearing, 3d-support and connection portion, 3d-support and connection portion, 3f-roller built-in hold support joint, the 5-motor, the 6-shell, 103-small gear, 107-tooth bar boosting mechanism.
Embodiment
For the mechanism for converting rotary motion into linear motion relevant, below be elaborated with reference to Fig. 1～Figure 23 with embodiments of the present invention.At first, based on Fig. 1～Figure 15, Figure 21 and Figure 22 first mode of execution of the present invention is described, above-mentioned first mode of execution is the driven steering device that the present invention is applied to the tooth bar assisted of automobile.
Fig. 1 is the longitudinal section of tooth bar boosting mechanism of using the driven steering device of first mode of execution of the present invention, Fig. 2 is the schematic representation that the revolution roller of the front side of Fig. 1 is disposed with regular posture, Fig. 3 is the side view of whole revolution roller, Fig. 4 is the side view of the assembly of revolution roller and supporting part, and Fig. 5 is the cross-sectional view of this same components.In addition, Figure 21 is the schematic representation of configuration of the driven steering device of the expression tooth bar boosting mechanism of having used present embodiment, and Figure 22 is the schematic representation of the rotational motion to linear motion conversion action of this mechanism of explanation.
Remaining Fig. 6 to Figure 15 relates to the explanatory drawing that crossed axis angle of the present invention is set.At first, Fig. 6 is the explanatory drawing of the projection drawing (passing through the engagement place on the common parallel plane of rack bar axle and revolution Roller Shaft) of rack bar screw thread helical, Fig. 7 be from the Vertical direction on projection plane observe screw thread helical on the thread side, right side of (observing) from the rack bar axle and the common vertical line of revolution Roller Shaft to view.Fig. 8, Fig. 9 are that Figure 10 is the enlarged view of mate the plane curve (sinusoidal curve) of the screw thread helical on the thread side, rack bar right side to this projection plane projection.Similarly, Figure 11 is that Figure 12 is the enlarged view of this mate the plane curve (sinusoidal curve) of the screw thread helical on the thread side, the opposing party's rack bar left side to the projection of same projection face.
On the other hand, Figure 13 is applied under the situation of prior art at the handle mechanism for converting rotary motion into linear motion relevant with embodiments of the present invention, the plane curve (sinusoidal curve) of the screw thread helical on the thread side, rack bar right side to the projection of same projection face, Figure 14 is the enlarged view of the mate of Figure 13.Figure 15 is the distribution schematic diagram that expression contains the whole engagement place on the rack bar screw thread of mechanism for converting rotary motion into linear motion of present embodiment and prior art.
The structure of the mechanism for converting rotary motion into linear motion relevant with first mode of execution of the present invention at first, is described.On the periphery of rack bar 1, be formed with rack bar screw thread 1a.And, around rack bar axle 1d, be furnished with four revolution rollers 21,22,23 and 24 at interval with the equal angles of 90 degree as the central shaft of rack bar 1.With respect to rack bar axle 1d, screw revolution Roller Shaft 21d, 22d, 23d and the 24d (the mutual axle center of revolution Roller Shaft and rack bar axle also not parallel) of assembling as their central shaft.
Herein, as Fig. 3 shown in fully like that, on the cylindrical separately of these revolution rollers, the state that staggers mutually with axial position is provided with a plurality of annular slot 21b, 22b, 23b and 24b (in the example of Fig. 3, adjacent revolution roller roughly 1/4 of the helical pitch that staggers, say closely, staggered (helical pitch)/4} * Cos (crossed axis angle of revolution Roller Shaft and rack bar axle)).And, the mode that is meshed with two flanks (erectting the side that is provided with towards the screw thread top from the thread groove of rack bar screw thread) of rack bar screw thread 1a according to the circumferentia of the both sides that constitute each annular slot (from the annular slot bottom surface to the upright face that is provided with in ring-type top) is with the posture fixed configurations of screwing mutually revolve round the sun Roller Shaft 21d～24d and above-mentioned rack bar screw thread 1a.
At this moment, each revolution roller is by revolution roller radial bearing 21f～24f and revolution roller thrust block 21e～24e support rollers end 21c～24c, these roller bearings are entrenched on the supporting part 3, like this, all revolution rollers 21～24 can rotation. herein, because effect has radial load and axial load on this revolution roller, though so support the bearing of this revolution roller use above-mentioned as entad with two kinds of ball bearings of thrust, also can adopt a kind of in the angular contact ball bearing that can bear two loads or the tapered roller bearing.
In addition, owing to be the groove of horn shape in the present embodiment, the radial load that produces at mate becomes very little.Therefore,, following situation is arranged also then,, thereby can bear radial load, can save radial bearing promptly by making the thrust-bearing deep trouthization if the grade of load that bears is little.In addition, under the conditional situation of size also available needle bearing as each bearing.
Find out very legibly that from Fig. 4 and Fig. 5 the structure of supporting part 3 comprises: accompany the support end plate 3c of revolution roller 21,22,23 and 24 support end plate 3b, motor one side and connect the two the 3d of support and connection portion.The support and connection this moment 3d of portion is integrally formed with support end plate 3b, and the support end plate 3c with the opposing party's motor one side links together by support and connection bolt 7.On the direction that the crossed axis angle of revolution roller increases, support end plate 3b, 3c to two on one side and apply torque, carry out on one side the connection (adjusting tolerance of size by paying to assemble, also the gap when reducing assembling) of this support and connection bolt 7 than the big slightly angle of crossed axis angle of the regulation of revolution roller.Especially as shown in Figure 5, around rack bar 1, the 3d of this support and connection portion is arranged between each revolution roller 21,22,23 and 24.
Then, on the support end plate 3c of a side motor one side, pipe portion extends so that cover rack bar 1, as the rotor 5a of the structural element of motor 5 by being pressed into or hot charging is fixed on and supports on the end plate 3c.Then, by supporting radial bearing 3f and support thrust bearing 3e, this supporting part 3 can be supported on rotatably the inside of shell 6.These bearings also can adopt a kind of in angular contact ball bearing or the tapered roller bearing.Other two spring bearings can certainly adopt the multiple row angular contact ball bearing respectively.
Like this, on shell 6, this shell 6 is split into two parts to the supporting part 3 that is assembled with the revolution roller by bearing cap 4 fixed configurations, i.e. supporting part shell 6a and engine shell 6b, and above-mentioned supporting part shell 6a is chimeric the supporting part bearing; Above-mentioned engine shell 6b is pressed into or hot charging has the stator 5b of motor 5.Herein, this bearing cap 4 by riveted joint or screw clamp fixed configurations on supporting part shell 6a.
The supporting part 3 of having assembled revolution roller 21～24 like this is installed on the supporting part shell 6a, afterwards, and by installation engine shell 6b such as screw clamps.And, make stator 5b relative with rotor 5a and form motor 5 thus.When carrying out this assembling, lubricating grease just can suitably flow between structure member like this.But, prevent as the rotation of the rack bar 1 of straight line motion portion and only allow straight-line straight line motion pair in order to have encouraged rotational motion to linear motion conversion action, to have needed.
In the present embodiment, the small gear 103 that is arranged at Figure 21 is brought into play this effect with rack bar 1 and tooth bar that be meshed with small gear 103.If under the situation of the system that does not have this mechanism, for example in turning to system such as two-wire system, be necessary the straight line motion pair of assembling as ball silder separately.Under the situation of current such steering equipment, save the bulb stopper of slide section, even as sliding pair, because straight-line speed is little, institute is so that decrease in efficiency is also not obvious.Therefore, paying attention to also not having image as simple joint structure under the condition of cost.This generally is suitable for and is applied to beyond the steering equipment situation that the desired speed of straight line motion portion is little.That is, under the bigger situation of the deceleration ratio of setting, particularly, in the little situation of the angle of lead of rack bar screw thread.
As a most important viewpoint in the structure of the mechanism for converting rotary motion into linear motion of the invention described above mode of execution, be with respect to revolution Roller Shaft 21d～24d of this rack bar axle 1d crossed axis angle (by identical point describe to be parallel to rack bar axle 1d space line when being parallel to the space line of revolution Roller Shaft 21d～24d, be the angle that is in both angles in 0 °～90 ° the scope. in addition, also we can say, be the angle in 0 °～90 ° the scope two line angles that are in when rack bar axle 1d observes with the direction of the common vertical line (common vertical line has only) of revolution Roller Shaft 21d～24d. and, also we can say, be when two line projections are to the common parallel surface (face vertical with common vertical line) of rack bar axle 1d and revolution Roller Shaft 21d～24d, be in the angle in 0 °～90 ° the scope in the two projection line angles. defined crossed axis angle by such three kinds of observational techniques since Fig. 2 show this crossed axis angle can be as a reference with it) setting.
After having determined the crossed axis angle of revolution roller, that is, determined the revolution Roller Shaft towards after, in order to have determined the direction of revolution roller groove, if crossed axis angle is set improperly, the situation of the screw thread 1a that has realized good engagement and the roller groove 21b～24b that revolves round the sun then might appear can't see.Major technique of the present invention is characterised in that, in the mechanism for converting rotary motion into linear motion relevant with present embodiment, the angle of lead that above-mentioned crossed axis angle as very important design object is not rack bar screw thread 1a (cross-wise direction vertical and the direction angulation that is cut the thread groove of screw thread) with the rack bar axle center, but bigger than this angle of lead.According to this feature, below utilize Fig. 6 to Figure 10 and Figure 13, Figure 14 explanation can avoid near the reason of the interference the engagement place of revolution roller and rack bar screw thread., change the situation of utilizing revolution roller 21～24 on the direction of right side flank (with reference to the explanation of Fig. 6) the engagement generation of rack bar screw thread 1a, to revolve round the sun herein in order to make the explanation clear.
Though dispose rack bar and revolution roller, consider plane easily three-dimensionally for the position relation of investigating both.Projection plane shown in the stereogram of Fig. 6 is exactly this plane.The engagement place is passed through in this plane in the common parallel surface of rack bar axle 1d and revolution Roller Shaft 21d～24d.What observe rack bar from the Normal direction (common vertical line direction shown in Figure 6) of this common parallel surface is Fig. 7 to view.Engagement place and the helical that passes through on the rack bar screw thread right side flank at this place on the flank (side of screw thread) in Fig. 7, have been described.Fig. 8 is, the helical on engagement place on the flank and the rack bar screw thread right side flank is projected to result on the projection plane shown in Figure 6 (common parallel surface).
Herein, helical becomes sinusoidal curve, and in order to make two planes in engagement place K contact, this engagement place need be arranged on the position vertical with the projection line of the Roller Shaft that revolves round the sun at the sinusoidal tangent line of engagement place K to the major general.This is identical with following actions, that is, make to become with the tangent line of engagement place with the vertical line of the projection line of the Roller Shaft that revolves round the sun to parallel.Also can be understood as, the line vertical with the projection line of revolution Roller Shaft regarded as the circumferential projection of revolution roller.
Here will revolve round the sun for the time being under the situation of the Roller Shaft angle of cut as thread lead angle (in the thinking scope that can expect in the revolution Roller Shaft, below be designated as " in the past "), have with the point of the tangent line of the vertical direction of revolution Roller Shaft (for example, a of Fig. 8, b ...) be the intersection point with the projection line of rack bar axle 1d.
Therefore, as the feature of present embodiment, crossed axis angle shown in Figure 2 is bigger than the situation of the angle of lead of rack bar screw thread, promptly, when the situation of Roller Shaft than angle of lead that revolve round the sun erects, since can be set at the tangent line of this position of the position of engagement place be in also more downward-sloping than the situation of angle of lead, so this position just becomes position shown in Figure 8.Because in Fig. 8 and the relation between the tangent line of plane curve (sinusoidal curve) be not very clear and definite, so Fig. 9 is with its cross extending, make and the easier observation of the position of tangent line relation, and Figure 10 is near the enlarged view (plane of the direction vertical with paper is the flank of screw thread among Figure 10) of (the M portion of Fig. 9) this engagement place.On the other hand, the situation (with the situation of crossed axis angle as the rack bar thread lead angle) of above-mentioned (the thinking scope that can expect in) is in the past being represented as among Figure 13 of same explanatory drawing and Figure 14 (the P portion enlarged view of Figure 13).Part shown in the thin hatching is equivalent to the rack bar threaded top branch shown in Fig. 7 among Fig. 9, and the plane of the direction vertical with paper is the flank of screw thread among Fig. 9.
Under the situation of expression Figure 10 of the present invention, the tangent line of engagement setting place is if depart from from the engagement setting, then depart from and produce the gap from the edge section on rack bar screw thread top, relative with above-mentioned situation, under the situation of Figure 14, at the downside of engagement setting place, with the edge section generation undercut on rack bar screw thread top.Promptly, as can be known: when crossed axis angle is made as thread lead angle (situation of Figure 14), though can be implemented in the contact of engagement setting place, but around it, interfere (circumferentia and the rack bar screw thread top undercut of revolution roller), relative therewith, crossed axis angle is being set to such an extent that under the big situation of the present invention (situation of Figure 10), realized contact, and can avoided the interference around it in engagement setting place than thread lead angle.
Promptly, near the engagement place of setting according to the contacted mode of circumferentia of rack bar thread side and revolution roller groove side, can avoid both interference. consequently, owing to can not produce excessive stress in the part, so following effect is arranged: can bear large-scale big stress, when guaranteeing high reliability, can produce high thrust near material limits.
If further illustrate, Figure 14 shows the example that the crossed axis angle of revolution roller is made as thread lead angle; The crossed axis angle that Figure 10 shows the revolution roller is made as the present embodiment bigger than thread lead angle, contrast Figure 14 and Figure 10, engagement setting place be the projection line of existing rack bar axle 1d and the intersection point of rack bar thread helix projection line (sinusoidal curve) (a shown in Figure 8, b ...), in the present embodiment, be the point (stain shown in Figure 8) that separates from rack bar axle 1d.Becoming such reason is, directly over drawing from Fig. 7, be provided with under the situation of revolution roller, in existing example, because the crossed axis angle of revolution roller equates with thread lead angle, the annular slot of roller so will revolve round the sun (be not spiral chute, but with the side face of the vertical groove of revolution roller axis) projection straight line with the sinusoidal engagement place of thread side projection is just dropped on the projection line of rack bar axle.Relative therewith, in the present embodiment, the crossed axis angle of roller is set greatlyyer than angle of lead owing to will revolve round the sun, and directly over Fig. 7, the revolution roller is set, so natural is, the intersection point (engagement place) that the projection straight line of the annular slot side face of revolution roller and the projection sinusoidal curve of rack bar screw thread intersect departs from (projection line of thread spindle) from the 1d that becomes benchmark, and this intersection point is (crossed axis angle of roller is set greatlyyer than thread lead angle owing to will revolve round the sun) above more being partial to than reference line 1d.
And, in example in the past, for annular slot as shown in Figure 14 below undercut, in the present embodiment, be formed with the gap and undercut can not take place though Figure 10 shows in the both sides of engagement place, but sinusoidal curve shown in Figure 8 is formed with flex point (the last convex shape of curve and the turning point of lower recess shape) at the intersection point place that the projection line with 1d intersects, herein, in general, the attribute that has owing to flex point is, for the tangent line of this flex point, one side of curve is present in not homonymy with another side, so in Figure 14, though tangent line is gapped on the sinusoidal curve above the 1d, below sinusoidal curve on tangent line be present in sinusoidal right side.To this, in the present embodiment owing to be the sinusoidal position of departing from upward from flex point, as shown in figure 10, so the tangent line of this position above it with below be formed with the gap.
More than be that the situation that revolution roller 21～24 revolves round the sun is taking place on the right side flank of rack bar screw thread 1a on the direction of engagement.But under following opposite situation, move too, promptly on the revolution roller, annular slot 21b～24b is set, consequently engagement occurs on the left side flank of rack bar screw thread 1a, and two sides of above-mentioned annular slot 21b～24b are above-mentioned circumferential two planes that are meshed with two flanks of bi-side as rack bar screw thread top shown in Figure 3 respectively.Figure 11, Figure 12 are the explanatory drawings identical with above-mentioned Fig. 9, Figure 10.This shows that the engagement place is arranged in the situation and the situation different (downside that is in the 1d projection line is set in Figure 12 engagement) that is positioned on the flank of right side on the left side flank of rack bar screw thread 1a.
Figure 15 has summed up above situation.The circumferentia of combination revolution roller forms annular slot 21b～24b, its result has following effect, promptly owing to two flanks with rack bar screw thread 1a use (the flank difference of using) as the engagement place on linear movement direction, so can reduce the load time that acts on a place, improve reliability.In addition, as can be seen from Figure 15, when the engagement place is distributed in the right side flank and on the straight line separately the during flank of left side (being called right side flank line of contact and left side flank line of contact among Figure 15).This engagement distributes can produce following effect: when the roller 21～24 that will revolve round the sun is engaged on the rack bar screw thread 1, if fix configuration revolution roller 21～24 adjusting method of tolerance of size (during the assembling as) applying torque on the direction that crossed axis angle increases at the revolution roller, then since the gap on two line of contact that the machining error of revolution roller 21～24 and rack bar screw thread 1 produces will reduce.
Then utilize Figure 22 that the action of this mode of execution is described.This Figure 22 is the schematic representation that has shown the outer round surface of rack bar 1 for operating principle is described.
Now, in Figure 22, consider to be defined in the situation that motor rotates from the top down.Supporting part is the center rotation with the rack bar axle, keeps four revolution rollers thereon also to carry out same rotation with motor.Therefore, in Figure 22, the revolution roller vertically moves from last (A position) downward (B position).The thick line of Figure 22 is illustrated in the right side flank that the revolution roller is positioned at the rack bar screw thread top under the situation of A position.
And, considering the revolution roller δ radian (rad) that only revolves round the sun from this A position, only mobile δ (rack shaft radius) arrives the situation of B position on the circumference of rack bar.At this moment, does not move on rack bar is axial the circumferential position, right side of revolution roller groove, and only the upper and lower in unfolded drawing moves up.Therefore, when rack bar on axially (left and right directions on the unfolded drawing) during only mobile δ (rack bar axle radius) tan (rack bar thread lead angle), screw thread top right tooth flank is moved to the left the position that arrives dotted line, thereby guarantees the engagement of revolution roller groove and rack bar screw thread.So just, produce the rotational motion to linear motion conversion.
In addition, if δ is 2 π, then is equivalent to motor and whenever revolves the tooth bar amount of movement M that turns around (after, be called inter-agency distance) and be M=2 π (rack bar axle radius) tan (rack bar thread lead angle).Can find out from this formula,, can increase reduction speed ratio by reducing the rack bar thread lead angle.
In addition, the engagement place becomes the face engagement each other of curvature little (being similar to the plane) at the circumferentia of revolution roller one side and the flank of thread of rack bar one side.Therefore, because the resiliently deformable in when engagement and on very on a large scale, produce contact, so the maximum value of the stress that can suppress to produce (hertz stress).Therefore following effect is arranged, i.e. the load load-carrying of each engagement place increases, and can produce big thrust when pressing.Promptly, in the ball screw framework of prior art, ball is that point contacts with screw thread, relative with it, in the present embodiment, owing to be similar to contacting of plane during the engagement by rack bar screw thread and the roller that revolves round the sun, the contact of going up on a large scale that realizes by both elastic strain in addition is so can suppress to produce the maximum value of stress.
In addition, in the engagement place, frictional force action is on the direction that slide relative disappears, promptly on the one travel direction.By this frictional force, the revolution roller produces rotation, so that this revolution roller groove rolls on the guide rail that is called as rack bar screw thread top.Here importantly, even the rotation of revolution roller, in the engagement place, revolution roller groove does not move in the axial direction yet.This is not that screw thread but annular slot are realized by revolution roller groove.Reduced because the revolution roller has been controlled the rotating speed of self like this friction of whole engagement places and, so the effect of reducing the loss and raising the efficiency is arranged.Sum up above explanation, can regard the present invention nut is divided into as and rotate realize the rolling method of contact of roller freely.
But, rack bar 1 is produced under the situation of thrust, its reaction force acts in rack bar 1 axially on, this reaction force finally acts on the engagement place of rack bar screw thread 1a and the revolution roller groove 21b～24b of each roller that revolves round the sun.At this moment, in this embodiment,,, consequently can bear bigger load so only make the engagement place become many by the groove number owing on a revolution roller, be provided with a plurality of revolution roller grooves.In addition, in this embodiment, owing to be provided with many (being four revolution rollers 21～24) revolution rollers here, so further increased the engagement place, this part can be born heavy load like this, consequently can produce big tooth bar thrust.
And, in this embodiment, owing to around rack bar 1, revolution roller 21～24 is set at interval with equal angles, so in the power that acts on each revolution roller, act on radially (with rack bar axle 1d be the center radially) component cancel each other, outwards do not display, consequently reduced the load of supporting radial bearing 3f, can use the bearing of little load capacity, can help the reduction and the miniaturization of cost, and,, also can help the raising of performance owing to reduced consequent frictional loss.
Herein, when roller 21～24 is packed supporting part 3 into if consider to revolve round the sun (is the feature of present embodiment, being made as the structure bigger than the angle of lead of rack bar screw thread with the crossed axis angle of the roller that will revolve round the sun is prerequisite, adjusting method as tolerance of size), at this moment, at first, will be with the supporting end plate 3b integrally formed 3d of support and connection portion is with support and connection bolt 7 and mobilize pusher side support end plate 3c temporary fixed and as assembly, be inserted into supporting part shell 6a, be screwed into rack bar 1. in the central
Then, after this,, tighten the motor end a little and support end plate 3c, adjust the angle of two axles of revolution Roller Shaft and rack bar axle, after reducing the gap of engagement place, connect once more in case temporary fixed support and connection bolt 7 is loosening.Like this, herein, because reduce the friction of bearing portion increases along with the gap, though so carried out reversing of appropriateness, but this means terminal stage in assembling, can easily carry out the adjustment of gap and efficient, therefore, this mode of execution has the advantage of the scattered deviation of the degree that can reduce the gap and efficient.In the steering gear, even so-calledly avoid the gap to mean cutting off control, also can avoid the existence of the so-called dead band that steering wheel has no to react, can help the improvement of sense of direction.
In addition, in this embodiment, the stator 5b of motor 5 is arranged on shell 6 one sides, rotor 5a is arranged on supporting part 3 one sides, though it is and not shown, but just as what illustrated, owing to being provided with the small gear 103 that only allows rack bar 1 straight line motion to stop its rotation, so this rack bar 1 does not rotate, only carry out straight line motion, therefore, do not transmit the worry of rotating force, advantage easy to use is arranged to the steering tie rod 105 that is installed in rack bar 1 end.
Then second mode of execution of the present invention is described based on Figure 16, Figure 17.Figure 16 is the side view of the assembly of revolution roller and supporting part, and Figure 17 is its sectional view.Form support and connection portion along the revolution roller 21～24 of being screwed configuration with respect to rack bar, reverse the joint 3e except forming to support, because remaining is identical with first mode of execution that has illustrated, so omission is for the explanation of structure, action and the effect of other part.The shape of this joint also can be: from support on the intermediate entities that end plate 3b forms one, will revolve round the sun that cylinder that the external diameter of roller enlarges is a little dug through and shape under residual in the part of screwing configuration revolution roller.Like this, compare with the support and connection portion of first mode of execution, owing to can guarantee section area easily, so can reduce external diameter.Consequently, owing to can reduce to become the axial rotary inertia in center of running shaft of this assembly of conduct of rotary part, so reactivity, the action control easily distinctive effect of raising to instruction arranged.
Then, based on Figure 18 to Figure 20 the 3rd mode of execution of the present invention is described.Figure 18 is the inside of axle by revolution roller 21～24, and the erection drawing of revolution roller radial bearing 21f～24f is equipped with in inside.Owing to make the effect of this bearing load support and connection portion, claim this axle to be roller built-in hold support joint 3f.In addition, Figure 19 is the side view of the assembly of revolution roller and supporting part, also is the schematic representation that the mounting point of roller built-in hold support joint 3f is made as the cross section.Figure 20 is its cross-sectional view.In addition, because remaining is identical with first and second mode of execution that has illustrated, so omission is for the explanation of structure, action and the effect of other part.
Because the inside at the revolution roller is provided with support and connection portion, further reduces rotary inertia so compared with above-mentioned second mode of execution, further improve reactivity, the easier distinctive effect of action control to instruction.In addition owing to except the revolution roller, do not need to connect two and support the space of components of end plate 3b, 3c, so have can increase the revolution roller the processing radical is set, can realize the more effect of high thrustization.In the present embodiment, though the revolution roller bearing of interior dress only uses radial bearing, also can be with angular contact ball bearing that has the thrust-bearing function concurrently or tapered roller bearing.Following effect is like this arranged, can be so that simplifying the structure of roller axle head simplifies the structure the axial location adjustment of revolution roller.In addition, in the present embodiment,, can certainly use ball bearing or roller bearing though use needle bearing as revolution roller radial bearing.
In the above description, it is the situation that four revolution rollers are arranged, but be not limited to this, several can. it is desirable to three. in addition, any one the revolution roller, for example for the revolution roller 21～24, though the diameter of their diameter and rack bar 1 about equally, as embodiments of the present invention, as long as intensity allows, can make the diameter of revolution roller set forr a short time than the diameter of rack bar. and, in this case, can further increase the radical of revolution roller, so also can be corresponding with the situation that requires bigger thrust.
So in the present invention, first purpose is to seek high thrustization when guaranteeing high reliability, in addition, reduce to a certain extent but also can reduce the gap even second purpose is the parts precision, in order to reach such purpose, the present invention includes following mode of execution.
First purpose relates to a kind of mechanism for converting rotary motion into linear motion, it comprises the circular cylindrical shape rack bar, also can do counterrotating supporting part around being supported on this rack bar with this rack bar, can be rotatably by the revolution roller of this supporting units support, and make above-mentioned bar and the counterrotating rotary driving source of above-mentioned supporting part, it is reached by first mode, this first mode is: have screw thread on the periphery of above-mentioned rack bar, set the crossed axis angle with respect to the above-mentioned revolution roller of rack bar axle greatlyyer, on the periphery of this revolution roller, be furnished with the circumferentia (the application's shown in the drawings a plurality of annular slots or single annular slot are not necessary conditions of the present invention) that is meshed with the flank of above-mentioned rack bar screw thread than the angle of lead of this rack bar screw thread.In addition, in the time of by above-mentioned first mode, and reach by second mode, this second mode is to have annular slot (single annular slot) on the periphery of this revolution roller, and this annular slot is bi-side with two faces of above-mentioned circumferentia that are meshed with two flanks of the bi-side of pushing up as the rack bar screw thread respectively.
And, in the time of by above-mentioned second mode, also can reach by Third Way with a plurality of above-mentioned annular slots.In addition, by above-mentioned first the time to Third Way, also can reach by cubic formula, this cubic formula is: in the common plane of above-mentioned revolution Roller Shaft and above-mentioned rack bar axle, to obtain plane curve to plane projection by the rack bar screw thread helical of above-mentioned engagement place by this engagement place, when considering above-mentioned plane curve, this engagement place is arranged in this tangent line and the vertical place of above-mentioned revolution Roller Shaft.
In addition, above-mentioned second purpose is in by above-mentioned cubic formula, also can arrive by the 5th mode, the structure of the 5th mode is: with above-mentioned revolution roller and above-mentioned rack bar threaded engagement fixedly the time, on the direction that the crossed axis angle of revolution roller increases, can apply power or torque on one side, Yi Bian carry out fixed configurations.
In addition, above-mentioned first and second purpose is reached by the following method: in mechanism for converting rotary motion into linear motion, it comprises the circular cylindrical shape rack bar, also can do counterrotating supporting part around being supported on this rack bar with this rack bar, can be rotatably by the revolution roller of this supporting units support, and make above-mentioned bar and the counterrotating rotary driving source of above-mentioned supporting part, wherein, on the periphery of above-mentioned rack bar, has screw thread, set the crossed axis angle with respect to the above-mentioned revolution roller of rack bar axle greatlyyer than the angle of lead of this rack bar screw thread, on the periphery of this revolution roller, are furnished with a plurality of annular slots, and the engagement place that makes each flank is distributed on the straight line that parallels with above-mentioned rack bar axle, and above-mentioned annular slot is the side with the circumferentia that is meshed with two flanks as the bi-side on rack bar screw thread top respectively.
Claims (9)
1. mechanism for converting rotary motion into linear motion, it comprises:
Cylindrical shape or columniform rack bar;
What be supported on described rack bar also can do counterrotating supporting part with described rack bar on every side;
With can be rotatably by the revolution roller of described supporting units support, this mechanism for converting rotary motion into linear motion is characterised in that,
Described rack bar has screw thread at its periphery, and this screw thread has the angle of lead of regulation,
Described revolution roller with respect to described rack bar the axle crossed axis angle be configured to bigger than the angle of lead of described rack bar screw thread, and with respect to described rack bar the axle, screw the assembling described revolution roller axle,
Described revolution roller has circumferentia on its periphery, this circumferentia is meshed with the flank of described rack bar screw thread.
2. according to the mechanism for converting rotary motion into linear motion described in the claim 1, it is characterized in that,
Described revolution roller has annular slot on its outer circumferential face, this annular slot has the circumferentia of bi-side, and the circumferentia of these bi-side is meshed with two flanks as the bi-side on the screw thread of described rack bar top respectively.
3. according to the mechanism for converting rotary motion into linear motion described in the claim 2, it is characterized in that,
Described revolution roller forms a plurality of described annular slots.
4. according to each described mechanism for converting rotary motion into linear motion in the claim 1～3, it is characterized in that,
Described revolution roller described rack bar around the revolution in, and with described revolution roller the axle be that rotation is carried out at the center.
5. mechanism for converting rotary motion into linear motion according to claim 1 is characterized in that,
Will with the perpendicular plane of the common vertical line of described revolution Roller Shaft and described rack bar axle as common plane, and with this common plane as the projection plane, the rack bar screw thread helical of the engagement place at the position of meshing by flank and described revolution roller circumferentia as described rack bar screw thread is depicted plane curve to described projection plane vertical projection, on this plane curve, set described engagement place with the tangent line of this engagement place relation vertical with described revolution Roller Shaft.
6. according to the mechanism for converting rotary motion into linear motion described in the claim 1, it is characterized in that,
When fixedly installing making described revolution roller and described rack bar threaded engagement, with direction that crossed axis angle that the angle of lead of described rack bar screw thread compares, is set greatlyyer described revolution roller increases on additional force or torque on one side, Yi Bian fixedly install.
7. according to the mechanism for converting rotary motion into linear motion described in the claim 3, it is characterized in that,
The circumferential engagement place separately of the flank separately of described rack bar and the annular slot of described revolution roller is set on the roughly straight line parallel with described rack bar axle.
8. according to the mechanism for converting rotary motion into linear motion described in the claim 1, it is characterized in that,
Described supporting part comprises support end plate that accompanies described revolution roller and the support and connection portion that is connected described support end plate,
Described support and connection portion is constituted as along the shape of screwing the revolution roller of configuration with respect to described rack bar.
9. according to the mechanism for converting rotary motion into linear motion described in the claim 1, it is characterized in that,
Described supporting part comprises support end plate that accompanies described revolution roller and the support and connection portion that is connected described support end plate,
Described support and connection portion is constituted as axle by screwing the inside of the revolution roller of configuration with respect to described rack bar, and the radial bearing of the described revolution roller of double as.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2005151147A JP4516479B2 (en) | 2005-05-24 | 2005-05-24 | Rotational linear motion conversion mechanism |
| JP2005151147 | 2005-05-24 | ||
| JP2005-151147 | 2005-05-24 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1869478A CN1869478A (en) | 2006-11-29 |
| CN1869478B true CN1869478B (en) | 2010-05-05 |
Family
ID=37387813
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200510129001 Expired - Fee Related CN1869478B (en) | 2005-05-24 | 2005-11-29 | Mechanism for converting rotary motion into linear motion |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP4516479B2 (en) |
| CN (1) | CN1869478B (en) |
| DE (1) | DE102005051981A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US12037054B2 (en) | 2020-02-12 | 2024-07-16 | Hl Mando Corporation | Steer-by-wire steering apparatus |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4952671B2 (en) * | 2008-06-27 | 2012-06-13 | トヨタ自動車株式会社 | Planetary differential screw type rotation / linear motion conversion mechanism manufacturing method |
| CN106812792A (en) * | 2016-12-29 | 2017-06-09 | 慈兴集团有限公司 | A kind of modified form motor turning combination bearing |
| US11499609B2 (en) | 2018-04-30 | 2022-11-15 | Nexen Group, Inc. | Rotary to linear torque transmission device |
| DE102018120266A1 (en) * | 2018-08-21 | 2020-02-27 | Thyssenkrupp Ag | Steer-by-wire steering gear with hollow shaft motor and ball screw |
| KR20210102783A (en) * | 2020-02-12 | 2021-08-20 | 주식회사 만도 | Steer-by-wire type steering apparatus |
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| CN87101219A (en) * | 1986-12-23 | 1988-07-06 | 贝尔纳·迪吕索 | The screw mandrel of band recirculated satellite rollers |
| CN1033309A (en) * | 1987-11-17 | 1989-06-07 | 德国航空及宇航研究及实验协会 | Convert the device of axial motion to rotatablely moving |
| US4838103A (en) * | 1986-07-03 | 1989-06-13 | Weyer Paul P | Fluid-power device with rollers |
| WO2001090599A1 (en) * | 2000-05-19 | 2001-11-29 | Schiebel Antriebstechnik Gesellschaft M.B.H. | Device for converting rotational movements into linear movements or vice versa |
| WO2004094870A1 (en) * | 2003-04-24 | 2004-11-04 | Toyota Jidosha Kabushiki Kaisha | Planetary differential screw-type rotational motion/linear motion converter |
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| JPS545170A (en) * | 1977-06-11 | 1979-01-16 | Shiyouichi Naruse | Male screw receiver for feed screw |
| JPS62121463U (en) * | 1986-12-19 | 1987-08-01 | ||
| JPH0361749A (en) * | 1989-07-28 | 1991-03-18 | Asahi Seiko Kk | Feed screw mechanism |
| JP2001182798A (en) * | 1999-12-27 | 2001-07-06 | Koyo Mach Ind Co Ltd | Feed screw unit and feed device provided therewith |
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2005
- 2005-05-24 JP JP2005151147A patent/JP4516479B2/en not_active Expired - Fee Related
- 2005-10-31 DE DE200510051981 patent/DE102005051981A1/en not_active Withdrawn
- 2005-11-29 CN CN 200510129001 patent/CN1869478B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4838103A (en) * | 1986-07-03 | 1989-06-13 | Weyer Paul P | Fluid-power device with rollers |
| CN87101219A (en) * | 1986-12-23 | 1988-07-06 | 贝尔纳·迪吕索 | The screw mandrel of band recirculated satellite rollers |
| CN1033309A (en) * | 1987-11-17 | 1989-06-07 | 德国航空及宇航研究及实验协会 | Convert the device of axial motion to rotatablely moving |
| WO2001090599A1 (en) * | 2000-05-19 | 2001-11-29 | Schiebel Antriebstechnik Gesellschaft M.B.H. | Device for converting rotational movements into linear movements or vice versa |
| WO2004094870A1 (en) * | 2003-04-24 | 2004-11-04 | Toyota Jidosha Kabushiki Kaisha | Planetary differential screw-type rotational motion/linear motion converter |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US12037054B2 (en) | 2020-02-12 | 2024-07-16 | Hl Mando Corporation | Steer-by-wire steering apparatus |
Also Published As
| Publication number | Publication date |
|---|---|
| JP4516479B2 (en) | 2010-08-04 |
| CN1869478A (en) | 2006-11-29 |
| JP2006329259A (en) | 2006-12-07 |
| DE102005051981A1 (en) | 2006-11-30 |
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