JP2002213566A - Parallel drive transmission - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a new transmission capable of utilizing the advantages of a simple planetary gear mechanism and the speed change mechanism of a traction drive system and suppressing the defects of them by hybrid-connecting them. SOLUTION: A sun gear 70 and a sun roller 60 are connected together via a single input shaft 30 and splines 30B and 30C. A sun gear 72 and a sun roller 62 are rotatably supported by a simple carrier pin 32 via needle bearings 76 and 66 respectively. A ring roller 64 and a ring gear 74 formed on a roller casing 14 and a gear casing 16 are kept at a stationary state respectively. The reduction gear ratio IRn of a simple planetary roller mechanism PR at no load is set smaller than the reduction gear ratio IG of the simple planetary gear mechanism PG.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a novel parallel drive transmission in which a transmission mechanism of a gear drive system and a transmission mechanism of a traction drive system are organically connected.

[0002]

2. Description of the Related Art Conventionally, a simple planetary gear mechanism provided with a sun gear, a planet gear supported by a carrier pin integrated with a carrier and circumscribing the sun gear, and a ring gear inscribed by the planet gear has been widely used. Are known. The simple planetary gear mechanism belongs to a so-called gear drive transmission mechanism that transmits power by meshing gears.

A simple planetary gear mechanism is a compact and relatively large gear ratio (including the concept of both a reduction ratio and a speed increase ratio).
The transmission ratio can be relatively easily changed, including the selection of deceleration and speedup by changing the fixing, input, and output of each element, and the transmission is compact. (Including the concept of both a speed reducer and a speed increaser).

[0004] On the other hand, a completely similar configuration is called a sun roller,
A simple planetary roller mechanism, which is supported by a carrier pin integrated with the carrier and is circumscribed by the sun roller and realized by a ring roller inscribed by the planetary roller, is also widely known. This simple planetary roller mechanism belongs to a transmission mechanism of a traction drive system that transmits power by so-called traction transmission.

In general, in the case of a transmission using a transmission mechanism of a gear drive system, the speed ratio, that is, the rotation speed (rotation angle) of the output shaft with respect to the rotation speed (rotation angle) of the input shaft is always within the range of backlash. It is constant.

On the other hand, in the case of a transmission using a traction drive transmission mechanism, the transmission ratio is basically not constant because the transmission of power involves slippage. This is because the degree of slip changes due to an increase or decrease in load, a change in temperature (change in viscosity of traction oil accompanying the change), and the like, and as a result, the gear ratio also changes. .

For this reason, for example, in the case of employing a configuration in which a transmission using a simple planetary roller mechanism of a traction drive system and a servo motor are combined to control a partner machine, the original rotation, stop, and reverse rotation are repeated to achieve the original. It is inevitable that such a problem that the stop position gradually shifts occurs.

To solve this problem, Japanese Patent Laid-Open No.
In Japanese Patent No. 9450 and Japanese Patent Laid-Open No. Hei 4-290652, encoders are provided at "two positions" of a motor shaft and an output shaft of a speed reducer having a simple planetary roller mechanism, and correction is repeatedly performed based on each output value. While controlling the motor.

[0009]

However, this method requires two encoders and has a structure (hard surface).
The equipment becomes complicated in both the control and the software (software),
It is inevitable that manufacturing costs will increase.

Such a problem does not occur when a speed reducer with a speed change mechanism of a gear drive system is combined with a servomotor. However, due to the configuration in which power is transmitted by meshing gear teeth, vibration and vibration are inevitable. The noise increases,
Further, since the teeth are successively meshed and separated one after another, a slight pulsation occurs in torque transmission.

SUMMARY OF THE INVENTION The present invention has been made in view of such a conventional problem, and actively utilizes the respective advantages of a gear drive system transmission mechanism and a traction drive system transmission mechanism. To minimize the occurrence of noise and realize, for example, a drive device with a simple structure and low cost while obtaining low noise and low vibration characteristics, or a transmission capable of obtaining a novel synergistic effect. It is an object of the present invention to provide a novel parallel-driven transmission that can be driven.

[0012]

SUMMARY OF THE INVENTION In the present invention, a single first device is provided.
A shaft and a single second shaft, a transmission mechanism of a gear drive system that transmits power by meshing gears between the first shaft and the second shaft, and traction that transmits power by traction transmission The above-mentioned problem has been solved by devising a novel parallel drive transmission characterized in that a drive system transmission mechanism is incorporated in parallel.

As described above, the speed change mechanism of the gear drive system transmits power by meshing gears, so that the speed ratio is constant (within the range of backlash).
Therefore, for example, when a transmission of parallel drive is constituted by transmission mechanisms of a gear drive system, if the transmission ratios are slightly different, so-called power circulation occurs, and the transmission cannot function as a speed reducer or a speed increaser. .

On the other hand, in a traction drive type transmission mechanism that transmits power by traction transmission, since "slip" is inevitable between the rollers, the speed ratio changes depending on the degree of the slip. As described above, this slip changes as the load or the like changes.

Therefore, it is basically impossible to always keep the speed ratio of a transmission mechanism of a certain gear drive system and the speed ratio of a transmission mechanism of another traction drive system at the same state. , This is the common first axis, the second
Connecting to a shaft in parallel is a structure that is not normally conceivable.

However, the inventors have found that a transmission in which both are connected in parallel can be a transmission having various merits in various applications.

Based on this finding, in the present invention, a gear drive system transmission mechanism and a traction drive system transmission mechanism are intentionally arranged in parallel between a single first shaft and a single second shaft. I try to incorporate it.

Note that the term "single" in the term "single first axis" or "single second axis" means that it is regarded as "integral" as a rotating element. It does not necessarily mean that it is formed as a single item (one member).

The terms "first axis" and "second axis"
It is not necessarily required to have a cylindrical shape, but is a concept corresponding to “input shaft” and “output shaft”. If power is being input to the two transmission mechanisms from the first shaft side at a certain point in time, the first axis becomes the input shaft at that point.

The "traction transmission" is a method of transmitting power by frictional force or oil shear stress at a line (or surface) contact portion, such as a roller-to-roller contact. The known transmission itself is known, and the present invention can use the known transmission (or a transmission of this type to be developed) as it is in the present invention. That is, the specific type does not matter.

The present invention can be applied to a transmission unit that constitutes a part of a single transmission, by treating this part as a transmission.

As a specific aspect of the design of the gear ratio, in this structure, for example, when the parallel-driven transmission is used as a speed reducer, there is no load in the state where the transmission mechanism of the traction drive system is alone. The speed ratio at the time is set to a value smaller than the speed ratio of the transmission mechanism of the gear drive system (an example of claim 2).

When the parallel-driven transmission is used as a speed-increasing gear, the speed ratio of the traction drive system when there is no load in the state of the transmission mechanism alone is determined by changing the speed ratio of the transmission mechanism of the gear drive system. It can be used to set a value larger than the ratio (an example of utilization of claim 3).

Conversely, when the parallel-driven transmission is used as a speed increaser, the speed ratio of the traction drive system when there is no load in the state of the transmission mechanism alone is changed to the speed ratio of the gear drive system. It may be set to a value smaller than the speed ratio of the transmission mechanism (another example of claim 2),
When the parallel-driven transmission is used as a speed reducer, the speed ratio of the traction drive system when there is no load in the state of the transmission mechanism alone is set to a value larger than the speed ratio of the transmission mechanism of the gear drive system. (Another example of claim 3).

Each of them has its own function or merit, and can be expected to be applied to a predetermined application.

However, as will be described later, if the speed ratio of the traction drive system without the load in the state of the transmission mechanism alone is set to be the same as the gear ratio of the gear drive system transmission mechanism, the transmission mechanism of the traction drive system will be described. This setting should be avoided because the power cannot be transmitted basically.

As a typical operation example of setting the gear ratio, for example, when a parallel-driven transmission is used as a speed reducer, the gear ratio of the traction drive system when there is no load in the state of the transmission mechanism alone is determined by the gear ratio. When set to a value smaller than the gear ratio of the drive transmission mechanism, vibration, noise, and pulsation, which are the weak points of the gear drive transmission mechanism, are minimized and the traction drive transmission mechanism is weakened. It is possible to prevent the occurrence of such a problem that the stop position gradually shifts due to repeated forward rotation, stop, reverse rotation, etc. due to the irregular speed ratio. .

Therefore, it is possible to easily and inexpensively realize control such as combining with a general-purpose servomotor and precisely controlling the partner machine in an open loop via the parallel-driven transmission. Become. This means that when a combination of a motor and the parallel-driven transmission is regarded as “one drive unit”, low vibration, low noise, or low pulsation occurs.
In addition, it means that a medium-speed drive unit with high positioning accuracy can be obtained easily and at low cost, and it is considered that the configuration can meet many demands in the industry.

When the torque that can be generated when the transmission mechanism of the traction drive system is operated alone at the speed ratio of the transmission mechanism of the gear drive system is used as a reference torque, the reference torque is It is efficient to set the transmission capacity of the transmission mechanism of the traction drive system to substantially match the rated torque of the transmission mechanism of the traction drive system (claim 4).

The specific setting of the speed ratio of the transmission mechanism of the traction drive system when no load is applied to the speed ratio of the transmission mechanism of the gear drive system is determined by, for example, the load of the partner machine to be driven. Determined in consideration of torque.

As an example, when the torque that can be generated when the traction drive system transmission mechanism is operated at the gear ratio of the gear drive system transmission mechanism in a single state is set as a reference torque, the reference torque is The gear ratio of the transmission mechanism of the gear drive system and the speed change of the transmission mechanism of the traction drive system at no load so as to substantially match the load torque of the other machine to be driven via the parallel driven transmission. A ratio is set (claim 5).

Alternatively, the transmission mechanism of the gear drive system may be configured such that the reference torque is smaller than a minimum value of a variation range of a load torque of a partner machine to be driven via the parallel driven transmission. A speed ratio and a speed ratio of the traction drive system when there is no load are set (claim 6).

As will be described later, the configuration of claim 5 or 6 can be compatible with the configuration of claim 4.

Although various specific examples of the configuration of the present invention are conceivable, for example, the first shaft and the second shaft are arranged in parallel, and two or more gears are provided between the first shaft and the second shaft. And the same first shaft and second shaft are connected by the traction drive system transmission mechanism comprising two or more rollers.

On the other hand, the gear having a single first shaft and a single second shaft and having a sun gear, a planetary gear circumscribing the sun gear, and a ring gear inscribed by the planetary gear. A simple planetary gear mechanism as a traction drive transmission mechanism having a simple planetary gear mechanism as a drive transmission mechanism, a sun roller, a planet roller circumscribing the sun roller, and a ring roller inscribed by the planet roller; A sun gear and a sun roller are respectively incorporated into the single central shaft so as to be able to transmit power,
The planet gear and the planet roller are rotatably supported by a carrier integrated with a common carrier pin, respectively, and the ring gear and the ring roller are respectively integrated in a rotational direction, and the center shaft, the carrier, and the integrated Any one of the three elements of the ring gear and the ring roller may be the first shaft and the second shaft, respectively, and the remaining one may be fixed (claim 7).

In this case, at least one of the support portions or the connection portions of the elements of the transmission mechanism of the gear drive system and the transmission mechanism of the traction drive system is supported or connected in a coupling mode capable of allowing a slight relative rotation. When connected, there is an advantage that the minute relative rotation (shift) of the two mechanisms is easily absorbed and the assembly is facilitated. A connection mode that allows a slight relative rotation can be realized by, for example, a spline connection or a connection via a needle bearing.

Conversely, the support portion or the connection portion of each element of the transmission mechanism of the gear drive system and the transmission mechanism of the traction drive system may be assembled with the backlash thereof reduced as much as possible. It is effective for some applications. Thus, it is possible to obtain a transmission in which there is no backlash in any of the normal rotation direction and the reverse rotation direction and the accumulation of the deviation of the stop position does not occur while obtaining the above-described basic operation.

[0038]

Embodiments of the present invention will be described below in detail with reference to the drawings.

The driving device R shown in FIG.
(The parallel-driven transmission according to the present invention is used as a speed reducer).

FIGS. 2 and 3 are each viewed from an arrow in FIG.
It is sectional drawing which follows the II-II line and the III-III line.

As the motor M, a general-purpose motor is used, and the joint cover 1 forming a part of the casing 10 of the double reduction gear TR is used.
2 are connected via bolts 20. Motor shaft 22
Is rotatably supported by a bearing 24 disposed on a cylindrical protruding portion 12A of the joining cover 12, and a distal end portion thereof faces the inside of the double reduction gear TR. A spline 22A is formed at the tip end, and is connected via a coupling 26 to an input shaft (first axis: center axis) 30 of the double reduction gear TR on which the spline 30A is also formed.

The double reduction gear TR is provided with a casing 10 composed of a total of four blocks including the joining cover 12, the roller casing 14, the gear casing 16, and the output cover 18. In the casing 10, a simple planetary roller mechanism (transmission mechanism of a traction drive) PR for transmitting power by traction transmission and a simple planetary gear mechanism (transmission mechanism of a gear drive system) PG for transmitting power by meshing of gears. Are coaxially arranged.

The simple planetary roller mechanism PR includes a sun roller 6
0, a planetary roller 62 circumscribing the sun roller 60,
A ring roller 64 in which the planetary roller 62 is inscribed.

The sun roller 60 is provided with a two-speed reducer T
It is connected to the R input shaft 30 via a spline 30B. The planetary rollers 62 are 120 in this embodiment.
Three are arranged at a phase of ° and are rotatably supported by the carrier pins 32 via needle bearings 66 (in a state where slight backlash can occur). The ring roller 64 is connected to the roller casing 1.
4 is formed directly on the inner peripheral side.

On the other hand, the simple planetary gear mechanism PG includes a sun gear 70 and a planetary gear 72 circumscribing the sun gear 70.
And a ring gear 74 to which the planetary gear 72 is inscribed.

The sun gear 70, like the sun roller 60, is connected to the input shaft 30 via a spline 30C. That is, the sun roller 60 and the sun gear 70 are integrally rotatably connected to the input shaft 30 in the same phase within the range of the backlash of the splines 30B and 30C. The three planetary gears 72 are arranged at a phase of 120 ° similarly to the planetary roller 62, and each has a needle bearing 76.
(In a state where a slight backlash can occur), and is rotatably supported by the carrier pin 32, that is, the carrier pin 32 that supports the planetary roller 62. The ring gear 74 is formed directly on the inner peripheral side of the gear casing 16.

The carrier pin 32 is supported at both ends by an input side carrier 34 and an output side carrier 36 constituting a carrier (second shaft) integral with the output shaft 40. The input carrier 34 and the output carrier 36 are integrated via a carrier pin 41.

At the center of the input side carrier 34, a cylindrical portion 34 is provided.
A is formed, and a bearing 38 is arranged on the outer periphery of the cylindrical portion 34A. The input side carrier 34 is rotatably supported by the joint casing 12 via the bearing 38. The coupling 26 has entered the inner periphery of the cylindrical portion 34A. A bearing 39 is disposed on the inner periphery of the cylindrical portion 34A, and one end of the input shaft 30 is supported by the bearing 39.

On the other hand, the output side carrier 36 is integrated with the output shaft 40 and is rotatably supported by the output casing 18 via a bearing 42. A bearing 44 is arranged at the center of the output carrier 36 and supports the other end of the input shaft 30.

The casing 10 including the joint casing 12, the roller casing 14, the gear casing 16, and the output casing 18 is integrally connected via bolts 46A and 46B. The difference in the insertion direction of the bolts 46A and 46B and the number (type) of the connected casings is based on the requirement in the procedure of assembling the respective members.

The casing 10 is integrated with a motor M, and the motor M is fixed to an external member (not shown) via a mounting member 48. Therefore, in this embodiment, the ring roller 64 and the ring gear 74 formed on the roller casing 14 and the gear casing 16 are integrated in the rotation direction and maintained in a fixed state.

Incidentally, since the simple planetary gear mechanism PG transmits power through meshing of the gears, the reduction ratio IG is a fixed value determined by the number of teeth of each gear regardless of the load. The speed reduction ratio IG can be changed only within the range of the backlash.

On the other hand, since the simple planetary roller mechanism transmits power with slip (depending on the load), the reduction ratio changes according to the magnitude of the load. Does not have a valid value. Qualitatively, the reduction ratio at the time of no load (when there is no slip) is the largest, and as the load increases, the slip increases and the reduction ratio decreases.

The present invention can be carried out in various modes of setting the gear ratio according to the application. In this embodiment,
The reduction ratio IRn of the simple planetary roller mechanism PR in the unloaded state when no load is applied is set smaller than the reduction ratio IG of the simple planetary gear mechanism PG.

The reduction ratio IG of the simple planetary gear mechanism PG
Is given by 1 + Zi / Zs, where Zs is the number of teeth of the sun gear 70 and Zi is the number of teeth of the ring gear 74. In the case of this embodiment, IG = 1 + 72/18 = 5,000.
(Deceleration at which the speed becomes 1/5).

On the other hand, the reduction ratio IRn under no load in the single state of the simple planetary roller mechanism PR is slightly different depending on the degree of deformation of the roller due to the pressing load for generating the traction force.
Is given by IRn = 1 + Di / ds, where ds is the outer diameter of the ring roller and Di is the inner diameter of the ring roller 74.

For example, in order to make the reduction ratio IR of the simple planetary roller mechanism PR equal to the reduction ratio IG of the simple planetary gear mechanism PG when the slip ratio of 0.2% occurs, the simple planetary roller mechanism is used. PR no-load reduction ratio IRn is 5 *
The outer diameter ds of the sun roller 60 and the inner diameter Ds of the ring roller 64 may be set in advance so that (1−0.002) = 4.990. Note that * is a multiplication operator.

Next, the operation of the driving device R will be described.

The rotation of the motor shaft 22 of the motor M is transmitted to the input shaft 30 via the coupling 26. Input shaft 3
0, the sun roller 60 and the sun gear 70 are respectively spline-connected, so that the rotation of the input shaft 30 is performed in parallel with the simple planetary roller mechanism PR and the simple planetary gear mechanism P.
It is transmitted to the G side.

However, here, the simple planetary roller mechanism PR and the simple planetary gear mechanism PG have the sun roller 60 and the sun gear 70 connected to the same input shaft 30, and the planetary roller 62 and the planetary gear 72 have the same carrier. It is supported by pins 32. Further, the ring roller 64 and the ring gear 74 are integrated in a fixed state. for that reason,
Each of the rollers of the simple planetary roller mechanism PR is allowed to be out of phase with the simple planetary gear mechanism PG only within the backlash of each gear of the simple planetary gear mechanism PG.

In addition, the reduction ratio IRn (= 4.990) under no load in the single state of the simple planetary roller mechanism PR.
Is the reduction ratio IG of the simple planetary gear mechanism PG (= 5.000)
It is set smaller than.

For this reason, the revolving speed of the planetary roller 62 of the simple planetary roller mechanism PR is slightly faster than the revolving speed of the planetary gear 72 of the simple planetary gear mechanism PG due to the smaller reduction ratio. Since the actual reduction ratio IR of the planetary roller mechanism PR is forcibly synchronized with the reduction ratio IG of the simple planetary gear mechanism PG, a slip corresponding to the difference between the rollers of the simple planetary roller mechanism PR (0 0.2%) is forcibly generated.

As will be described in detail later, when the simple planetary roller mechanism PR is arranged alone in the power transmission system, the slip generated between the rollers of the simple planetary roller mechanism PR is connected. It depends on the magnitude of the load being applied (when a load of a predetermined magnitude is connected, the slip also has a predetermined magnitude). Conversely, simple planetary roller mechanism PR
When a predetermined slip occurs between the rollers, the simple planetary roller mechanism PR transmits (generates) a torque corresponding to the slip.

The reduction ratio IG of the simple planetary gear mechanism PG is constant, and the reduction ratio IR of the simple planetary roller mechanism PR is always made to match this reduction ratio IG. This means that the "slip" is always constant, which means that the torque (transmitted torque) generated in the simple planetary roller mechanism PR is always constant. Strictly speaking, the reduction ratio IR of the simple planetary roller mechanism PR fluctuates depending on parameters other than the load, and thus does not become an accurate constant value, but qualitatively falls within a range that can be regarded as constant.

In this embodiment, the torque generated in the situation where the "predetermined slip" occurs, that is, when the simple planetary roller mechanism PR is operated alone at the reduction ratio IG of the simple planetary gear mechanism PG. Is defined as a reference torque Trs.

The simple planetary roller mechanism PR always receives the transmission of the reference torque Trs corresponding to the "predetermined slip".

Here, various actions that can be obtained with respect to setting of the speed reduction ratio of both mechanisms will be described in detail while also explaining the technical support of the invention.

FIG. 4 shows the slip ratio Sr (%) and the output torque (= load torque) To () when the simple planetary roller mechanism PR is used alone with the sun roller input, the ring roller fixed, and the carrier output. kgf · m) with the rotation speed V of the sun roller as a parameter. Here, the slip ratio Sr is a reduction ratio IRn when no load is applied to the simple planetary roller mechanism PR (when there is no slip), and a reduction ratio I actually obtained when a load is applied.
The ratio with R (1-IRn / IR).

As is apparent from the figure, the slip ratio Sr and the output torque (load torque) To uniquely correspond along a predetermined curve (relation), and the rotational speed V of the sun roller is 180, 1800, Even if it changes like 3600 rpm, there is almost no change.

This means that, from the opposite viewpoint, the output torque To and the slip ratio Sr of the simple planetary roller mechanism PR substantially correspond to 1: 1 regardless of the rotation speed V. .

Now, assuming that the output torque To is To (1), the slip ratio Sr at that time can be read as 0.2% from the graph. Therefore, as described above, if the reduction ratio IRn of the simple planetary roller mechanism PR when there is no load is set to be smaller than the reduction ratio IG of the simple planetary gear mechanism PG by 0.1.
If the value is set small in advance by 2%, the simple planetary roller mechanism PR is forcibly rotated synchronously with the simple planetary gear mechanism PG, so that the output torque To of 0.2% is always obtained.
(1) will be responsible. This output torque To
(1) is the torque that can be generated when the simple planetary roller mechanism PR is operated alone at the reduction ratio IG of the simple planetary gear mechanism PG, that is, the reference torque Trs.

Now, in order to make the explanation easy to understand, for example, consider a conveyer for continuously moving a predetermined fixed machine as a partner machine to be driven. In such a conveyor, the load torque To hardly changes.

Here, the load torque To1 of a certain conveyor
Is extremely small with respect to the reference torque Trs.

In this case, as shown in FIG. 5A, the torque generated (responsible) in the simple planetary roller mechanism PR is equal to the reference torque Trs and is constant. ΔTo is taken by the simple planetary gear mechanism PG as the reverse torque Tg1 of the internal circulation, and this energy is wasted.

When the load torque To of the conveyor (the partner machine) is To2, which is slightly larger, the reverse torque Tg2 generated in the simple planetary gear mechanism PG is also reduced, as shown in FIG. Waste is reduced accordingly.

5A and 5B (further, the reduction ratio IRn when no load is applied when the simple planetary roller mechanism PR is alone is smaller than the reduction ratio IG of the simple planetary gear mechanism PG. When the mode is set to be large, or when the parallel-driven transmission is used as a speed increaser, the speed increase ratio at the time of no load in the single state of the simple planetary roller mechanism is smaller than the speed increase ratio of the simple planetary gear mechanism. Is not necessarily an "inappropriate mode",
In the point that reverse torque can always be applied, for example, for applications requiring instantaneous stop, especially for applications such as control mechanisms that require a large gain in the direction of torque reduction, or for driving from the load side when stopping. This can be an effective mode in applications where a brake function is required.

Returning to the description of the operation, FIG. 6A shows a case where the load torque To3 is equal to the reference torque Trs. As described above, the reduction ratio IG of the simple planetary gear mechanism PG and the reduction ratio IG of the simple planetary gear mechanism PG are set such that the reference torque Trs substantially matches the load torque To of the conveyer which is the other machine to be driven via the transmission TR of the parallel drive. When the reduction ratio IRn of the simple planetary roller mechanism PR when no load is set, the conveyor can always be driven only by the simple planetary roller mechanism PR, and waste of energy on the side of the simple planetary gear mechanism PG is prevented. Is completely gone.

Further, since the other machine such as the conveyor is driven only by the simple planetary roller mechanism PR,
The simple planetary gear mechanism PG rotates with its own load being zero, so that no meshing noise or vibration is generated. Further, since the power is transmitted by the rollers, minute pulsation which is inevitable in the transmission of the gear does not occur.

However, in such a case, the state of the backlash of the simple planetary gear mechanism PG is reversed only by slightly increasing or decreasing the load torque To of the conveyor, and so-called rattling noise is generated. It will be in an easy state.

Therefore, as shown in FIG. 6 (B), by setting the simple planetary gear mechanism PG to always bear a slight positive torque transmission Tg3 with respect to the load torque To4 of the conveyor, Problems can be resolved.

FIG. 7 shows a setting mode shown in FIG. 7 in which the mode shown in FIG. 6B is adapted so that it can be applied to a counterpart machine having a slight load change. This corresponds to an aspect.

That is, in this setting mode, the reference torque T
rs is the fluctuation range Tom of the load torque To of the partner machine to be driven via the parallel drive transmission TR.
The reduction ratio IG of the simple planetary gear mechanism PG and the reduction ratio IRn of the simple planetary roller mechanism PR at no load are set so as to be smaller than the minimum value Tomin of in to Tomax.

In this setting mode, the simple planetary gear mechanism PG is responsible for the difference between the load torque To and the reference torque Trs, that is, the torque Tg4 to Tg5 that cannot be driven by the simple planetary roller mechanism PR. Since the torque transmission on the simple planetary roller mechanism PR side is traction transmission via the roller, the torque transmission is performed with extremely low noise and low vibration, and no minute pulsation occurs. In this state, the simple planetary gear mechanism PG has its own torque transmission burden reduced by the simple planetary roller mechanism PR. Therefore, the meshing noise and vibration generated on the simple planetary gear mechanism PG side are drastically reduced. Therefore, while having the simple planetary gear mechanism PG,
Power transmission with low noise, low vibration, and low pulsation is possible for the entire double reduction gear TR.

On the other hand, in the double reduction gear TR, the overall reduction ratio, that is, the rotation speed (rotation angle) of the output shaft with respect to the rotation speed (rotation angle) of the input shaft is within the range of the backlash described above. It matches the speed reduction ratio IG of the mechanism PG and is always constant.

Therefore, even if the forward rotation, the stop, the reverse rotation, and the like are repeated while the simple planetary roller mechanism PR is provided, the stop position slightly shifts (accumulation of errors) occurs. I will not do it.

Therefore, a control structure based on an open loop, which has been conventionally realized only by a combination of the simple planetary gear mechanism PG and the servomotor, can be adopted, and the simple planetary roller mechanism PR can be used. The cost can be significantly reduced as compared with the case where control having the same level of accuracy is performed.

In this embodiment, the spline connection is provided between the input shaft 30 and the sun gear 70 and between the input shaft 30 and the sun roller 60, and between the carrier pin 32 and the planet gear 72. Carrier pin 32 and planetary roller 62
Are connected via needle bearings 76 and 66, respectively, so that minute relative rotation can be allowed in each part, and assembly is easy.

Further, there is no waste of energy, and the backlash does not reverse even if the load torque To fluctuates, so that rattling noise does not occur. Since the variation Tomin to Tomax of the load torque To is shared between the simple planetary gear mechanisms PG (Tg4 to Tg5),
The simple planetary roller mechanism PR can always perform a constant output operation corresponding to the reference torque Trs in a stable state (regardless of the fluctuation of the load). This advantage is very large for the simple planetary roller mechanism PR.

Therefore, if the transmission capacity on the simple planetary roller PR side is designed or selected so that the reference torque Trs matches the so-called “rated torque” of the simple planetary roller mechanism PR, the power sharing of the entire driving device R can be achieved. It can be realized most rationally.

When the load torque To of the partner machine becomes large (Toe) for some reason, as shown in FIG. 8, the increase in the load torque To is reduced by the torque on the simple planetary gear mechanism PG side. Tg6, so long as the driving capability of the motor M exceeds the torque Toe,
The other machine can be reliably driven. Therefore, even though the power transmission system has the simple planetary roller mechanism PR, it is possible to prevent a situation in which the simple planetary roller mechanism PR slips and cannot drive the partner machine.

The above theory can be applied to the case where the double reduction gear TR is used as a speed increase gear.

When used as a speed increaser, however, the speed increase ratio at the time of no load in the state of the simple planetary roller mechanism alone is set to be larger than the speed increase ratio of the simple planetary gear mechanism. become.

Thus, at first glance, the setting mode in the case of speed increase is opposite to the setting mode in the case of deceleration.
From the viewpoint that the output rotation speed is further reduced by slipping at the same input rotation speed, the situation is the same as in the case of deceleration, and whether the output torque becomes larger or smaller than the input torque (the output rotation speed becomes The difference is only whether it is smaller or larger than the input rotation speed.

Therefore, the qualitative operation when used as a speed-up gear is basically the same as the operation described above. That is, in order to obtain the mode as shown in FIG. 6A, a torque that can be generated when the simple planetary roller mechanism is operated alone at the speed increasing ratio of the simple planetary gear mechanism is set as the reference torque. In addition, the speed increase ratio of the simple planetary gear mechanism and the no-load of the simple planetary roller mechanism are adjusted so that the reference torque substantially matches the load torque of the partner machine to be driven via the parallel-driven transmission. The speed increase ratio is set.

Further, in order to obtain the mode as shown in FIG. 7, when the torque that can be generated when the simple planetary roller mechanism is operated alone at the speed increase ratio of the simple planetary gear mechanism is set as the reference torque, The speed increase ratio of the simple planetary gear mechanism and the simple planetary roller so that the reference torque is smaller than the minimum value of the variation range of the load torque of the partner machine to be driven via the parallel drive transmission. The speed increase ratio when the mechanism is not loaded is set.

For example, if the input side and the output side of the double reduction gear in the above-described embodiment are exchanged and input is made from the carrier side, the function as a speed increaser is obtained. , The above qualitative tendency is reversed. That is, the configuration "set the reduction ratio of the simple planetary roller mechanism at no load to a value smaller than the reduction ratio of the simple planetary gear mechanism when used as a speed reducer" is such that the input and output are directly performed by the same device. In the case of reverse rotation, "when used as a speed increaser, the speed increase ratio of the simple planetary roller mechanism at no load is set to a value larger than that of the simple planetary gear mechanism."
That is not the case.

However, the state in which the input and output are reversed as it is is that “when used as a speed increaser, the speed increase ratio of the simple planetary roller mechanism at no load is smaller than the speed increase ratio of the simple planetary gear mechanism. Set to a value. " The advantage of this setting mode is that since the transmission mechanism of the traction drive system always generates a reverse torque (corresponding to the reference torque), the motor is unlikely to reversely rotate due to the torque from the load side (the counterpart machine side) when stopped. That is, it provides an automatic braking function.

As described above, the present invention has a possibility that the parallel-driven transmission can be applied to various uses by design.

In the above-described embodiment, the backlash is intentionally formed in both transmission mechanisms in consideration of ease of assembly and the like, but various backlashes of both transmission mechanisms have already been proposed. It is effective in some applications to assemble it in a state as low as possible by the backlash reduction method.

In this case, while obtaining the above-described basic operation, there is obtained an effect that there is no backlash in any of the normal rotation direction and the reverse rotation direction and there is no accumulation of the deviation of the stop position. Become. Therefore, especially forward rotation, stop,
In applications where reversal and the like are repeated (such as driving a joint of a robot), a control mechanism that can always accurately position the vehicle at the intended stop position can be constructed at low cost.

In the above-described embodiment, the transmission driven in parallel is constituted by the simple planetary gear mechanism and the simple planetary roller mechanism. However, the present invention is not limited to this. The specific configuration of the transmission mechanism of the traction drive system and the specific configuration of the traction drive system need not be particularly limited to a simple planetary mechanism. In short, a gear drive system and a traction drive system are provided between a common input shaft and an output shaft. The same effect can be obtained as long as the speed change mechanisms are arranged in parallel and each speed ratio is set to a speed ratio at which an intended operation can be generated.

The slip mechanism of the traction drive system is not limited to that of the simple planetary gear mechanism. A predetermined slip occurs when a predetermined load is applied, and a predetermined slip occurs when a predetermined slip occurs. This is because there is a common qualitative property that the torque of.

Accordingly, for example, the input shaft and the output shaft are arranged in parallel, and the input shaft and the output shaft are connected to each other by a gear drive type transmission mechanism comprising two or more gears, and the connection between the same input shaft and output shaft is two or more. A configuration may be used in which the traction drive system is configured to be connected (in parallel) by a traction drive system transmission mechanism including the rollers. In this case, the number of gears and the number of rollers do not necessarily have to match. The gear ratio can be adjusted by changing the number of teeth of each gear and the outer diameter of each roller. When adjusting the distance between the shafts, one or both may be provided with an appropriate idler.

Further, the gear drive system is classified into the international classification F1.
6H 1/32 may be changed to an oscillating internal meshing planetary gear type (including a flexible meshing type),
This may itself be a multi-stage deceleration structure. Also,
The configuration on the traction drive system side can also employ various configurations in the same manner, and may be of a type called a traction transmission type wave transmission mechanism corresponding to a flexing engagement type.

Further, the type of the transmission mechanism of the gear drive system and the type of the transmission mechanism of the traction drive system do not necessarily have to be similar to each other. If possible,
Different types of combinations may be used.

[0106]

As described above, according to the present invention,
While positively utilizing the respective advantages of the simple planetary gear mechanism and the simple planetary roller mechanism, it is possible to obtain a transmission that can be used in various modes in which the occurrence of each problem is minimized, for example, low noise, and An excellent effect is obtained in that it is possible to construct a drive system with a simple control structure and low cost and to provide an automatic braking function while obtaining low vibration characteristics.

[Brief description of the drawings]

FIG. 1 is a cross-sectional view showing a drive device in which a double reduction gear and a motor according to the present invention are integrally combined.

2 is a sectional view taken along the line II-II in FIG.

FIG. 3 is a sectional view taken along line III-III in FIG. 1;

FIG. 4 is a diagram showing a relationship between a slip ratio and an output torque (load torque) when the simple planetary roller mechanism is used alone.

FIG. 5 is a diagram schematically showing the power sharing of the simple planetary gear mechanism and the simple planetary roller mechanism when the load torque of the partner machine is smaller than the reference torque.

FIG. 6 is a diagram schematically showing the power distribution of the simple planetary gear mechanism and the simple planetary roller mechanism when the reference torque is substantially equal to or slightly smaller than the load torque of the counterpart machine.

FIG. 7 is a diagram schematically showing the power distribution of the simple planetary gear mechanism and the simple planetary roller mechanism when the reference torque is slightly smaller than the minimum value of the variation range of the load torque of the partner machine.

FIG. 8 is a diagram schematically showing the power distribution of the simple planetary gear mechanism and the simple planetary roller mechanism when the load torque of the partner machine becomes extremely large for some reason.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 ... Casing 22 ... Motor shaft 22A ... Spline 30 ... Input shaft (center axis) 30A ... Spline 32 ... Carrier pin 34 ... Input side carrier 36 ... Output side carrier 60 ... Sun roller 62 ... Planetary roller 64 ... Ring roller 66 ... Needle Bearing 70 ... Sun gear 72 ... Planetary gear 74 ... Ring gear 76 ... Needle bearing R ... Driver M ... Motor TR ... Dual reducer PR ... Simple planetary roller mechanism PG ... Simple planetary gear mechanism To ... Load torque IRn ... Simple planetary roller Reduction ratio of the mechanism when there is no load IG: Reduction ratio of the simple planetary gear mechanism Sr: Slip ratio Trs: Reference torque

 ──────────────────────────────────────────────────続 き Continued on the front page F-term (reference)

Claims (7)

[Claims] 1. A gear drive transmission mechanism comprising a single first shaft and a single second shaft, and transmitting power between the first and second shafts by meshing gears. And a traction drive transmission mechanism that transmits power by traction transmission is incorporated in parallel. 2. The gear ratio according to claim 1, wherein a gear ratio of the traction drive system when there is no load in a state where the transmission mechanism is alone is set to a value smaller than a gear ratio of the gear drive system. And a parallel-driven transmission. 3. The gear ratio according to claim 1, wherein a gear ratio of the traction drive system when there is no load in a state where the transmission mechanism is alone is set to a value larger than a gear ratio of the gear drive system. And a parallel-driven transmission. 4. The reference torque according to claim 1, wherein a torque that can be generated when the transmission mechanism of the traction drive system is operated at a speed ratio of the transmission mechanism of the gear drive system in an independent state is a reference torque. Wherein the transmission capacity of the transmission mechanism of the traction drive system is set such that the reference torque substantially matches the rated torque of the transmission mechanism of the traction drive system. 5. The reference torque according to claim 1, wherein a torque that can be generated when the transmission mechanism of the traction drive system is operated at a speed ratio of the transmission mechanism of the gear drive system in an independent state is a reference torque. Then, the gear ratio of the transmission mechanism of the gear drive system and the traction drive system are adjusted so that the reference torque substantially matches the load torque of the partner machine to be driven via the parallel-driven transmission. A transmission of a parallel drive, wherein a speed ratio of the speed change mechanism when no load is set is set. 6. The torque according to claim 1, wherein a torque that can be generated when the transmission mechanism of the traction drive system is operated at a speed ratio of the transmission mechanism of the gear drive system in a single state is a reference torque. In this case, the speed of the transmission mechanism of the gear drive system is changed so that the reference torque is smaller than a minimum value of a fluctuation range of a load torque of a partner machine to be driven via the parallel driven transmission. A transmission of a parallel drive, wherein a transmission ratio of the transmission mechanism of the traction drive system when no load is set is set. 7. The gear having a single first shaft and a single second shaft, and having a sun gear, a planetary gear circumscribing the sun gear, and a ring gear inscribed by the planetary gear. A simple planetary gear mechanism as a drive transmission mechanism, a sun roller, and a planetary roller circumscribing the sun roller;
A simple planetary roller mechanism as a transmission mechanism of the traction drive system having a ring roller with which the planetary roller is inscribed, wherein the sun gear and the sun roller are incorporated so as to be capable of transmitting power to the single central shaft, respectively. The planetary gear and the planetary roller are rotatably supported by a carrier pin integrated with a common carrier, respectively, the ring gear and the ring roller are respectively integrated in a rotational direction, and the center shaft, the carrier, Wherein two of the three elements of the integrated ring gear and ring roller are the first shaft and the second shaft, respectively, and the other is fixed, and the other is fixed. Machine.