JP2010007787A - Rotation transmission mechanism or orthogonal type reduction gear - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a simply structured and inexpensive reduction gear which does not use any bevel gear and worm screw, does not have backlash and is reversible and usable in a joint of a robot and in a semiconductor manufacturing line, in a rotation transmission mechanism and an orthogonal type reduction gear for changing a direction of a rotation axis by 90° for input of a motor and the like. <P>SOLUTION: As a resolution means of the reduction gear, a swing mechanism (6) is used as an input or an output wherein a conical motion axis extends from an arbitral point as a start point and a diameter of a circle drawn by an end part of the conical motion axis is used as an eccentricity (4). An external tooth gear is arranged around the arbitral point and the rotation axis with a gear having the arbitral point as an axis core is used as an input or an output. A cylindrical part provided with an inner tooth gear which is firmly connected and fixed from a swing shaft of the swing mechanism to the arbitral point is arranged so as to surround the external tooth gear of the rotation axis with the gear and inner teeth of the cylindrical part and external teeth of the rotation axis with the gear diagonally meshing with each other. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a rotation transmission mechanism that changes the direction of a rotation shaft with respect to an input of a motor or the like, and an orthogonal reduction device.

  Conventionally, a mechanism having a structure in which two bevel gears are abutted at a right angle is generally used as a rotation transmission mechanism that changes the direction of a rotation axis by 90 degrees with respect to an input of a motor or the like. However, this transmission mechanism has a large backlash, and even if a non-backlash reduction gear is used, it is meaningless and cannot be used in a robot joint or a semiconductor manufacturing line.

  On the other hand, a worm speed reducer is generally used as an orthogonal speed reduction mechanism that changes the direction of the rotation axis by 90 degrees with respect to an input from a motor or the like. A non-backlash version of this type also appeared, but the reversibility inherent in worm screws, in other words, lacked back drivability, and could not be used in robot joints or semiconductor manufacturing lines.

  Therefore, in the rotation transmission mechanism and the orthogonal speed reduction mechanism that change the direction of the rotation axis with respect to the input of the motor etc., without using bevel gears or worm screws, it is non-backlash, reversible, Provided for use in a semiconductor production line.

  First, the rotation transmission mechanism of the present invention is as follows. A plurality of conical motion axes (1) extend in different directions starting from an arbitrary point (2). Each of the plurality of conical motion axes is provided with a swing mechanism in which the diameter of the circle (3) drawn by each end is the eccentric amount (4). The rocking shafts of the rocking mechanisms described above are firmly coupled (5). A rotation transmission mechanism in which one place of the plurality of swing mechanisms (6) is an input (7) and at least one place of the other swing mechanisms (6) is an output (8) is used as means.

  Next, the orthogonal reduction gear of the present invention will be described below. The conical motion axis (1) extends from an arbitrary point (2) as a starting point, and the swing mechanism (6) uses the diameter of the circle (3) drawn by the end of the conical motion axis as the eccentric amount (4). Is input or output. An external gear (9) is provided in the vicinity of the above-mentioned arbitrary point, and a rotating shaft (11) with a gear having the above-mentioned arbitrary point as an axis (10) is used as an input or output. A cylindrical part (15) having an internal gear (14) firmly connected and fixed (13) from the swing shaft (12) of the swing mechanism (6) to the arbitrary point (2). The reduction gear is arranged so as to surround the external gear (9) of the rotary shaft (11) with the gear, and the internal teeth of the cylindrical part and the external teeth of the rotary shaft with the gear are engaged at a diagonal (16). As a means.

  The conventional rotation transmission mechanism that changes the direction of the rotation axis by 90 degrees with respect to the input of a motor or the like has a large backlash and cannot be used in a robot joint or a semiconductor manufacturing line. Therefore, the conventional line has to be arranged in a line from the motor to the equipment connected via the non-backlash reduction gear, and the line has become long. However, according to the present invention, since the motor or the motor and the non-backlash reduction gear can be interrupted at a right angle, the line can be shortened. In addition, the noise was reduced.

  On the other hand, the worm speed reducer that changes the direction of the rotation axis by 90 degrees with respect to the input from the motor or the like has no back drivability due to its structure, and cannot be used in the joints of the robot and the semiconductor manufacturing line. However, according to the present invention, since the internal gear is adopted, there is reversibility and the backlash is small. Therefore, it can be used in robot joints and semiconductor manufacturing lines.

  Further, compared with the conventional non-backlash reducer, the structure is simple and the parts accuracy and assembly accuracy are not required, so that it can be provided at low cost. Backlash can be removed by assembling the conical motion axis (1) so that the swing angle is increased. Noise and vibration were reduced.

  The rotation transmission mechanism of the present invention will be described below. Two conical motion axes (1) are extended 90 degrees apart from an arbitrary point (2), and the diameter of the circle (3) drawn by each end of the conical motion axis is defined as the amount of eccentricity (4). Each swing mechanism is provided. Specifically, an eccentric bearing (17) is considered. The rocking shafts of the rocking mechanisms described above are firmly coupled (5). One position of the plurality of swing mechanisms (6) is used as an input (7), and a rotation input shaft (18) is provided. The other swing mechanism (6) is used as an output (8), and a rotation output shaft (19) is provided. Alternatively, it is conceivable that the swing output is taken out from the end portion (20) of the conical motion shaft (1) and connected to the swing type reduction gear.

  Next, the orthogonal reduction gear of the present invention will be described below. The conical motion axis (1) extends oppositely starting from an arbitrary point (2), and the swinging mechanism uses the diameter of the circle (3) drawn by the end of the conical motion axis as the eccentric amount (4). (6) is used as an input. Specifically, it is conceivable to use a rocking bearing. In addition, a rotating shaft (11) with a gear having the above-mentioned arbitrary point as an axis (10) is provided. The rotating shaft includes an external gear (9) in the vicinity of the above-mentioned arbitrary point. Specifically, a pair of external gears facing each other in the axial direction around the above-mentioned arbitrary point is provided. The rotation axis is output. A cylindrical part (15) having an internal gear (14) firmly connected and fixed (13) from the swing shaft (12) of the swing mechanism (6) to the arbitrary point (2). The outer gear (9) of the rotating shaft (11) with the gear is disposed so as to surround the inner tooth of the cylindrical part and the outer tooth of the rotating shaft with the gear (26) at a diagonal (16). did. The external gear and the internal gear have different numbers of teeth, and can be realized as a speed reducer. It is desirable to reduce the number of teeth of the external gear by one from that of the internal gear. In addition, the backlash can be removed by assembling the conical motion axis (1) so that the swing angle is increased.

  In addition, the common matters of the rotation transmission mechanism of the present invention and the orthogonal speed reducer will be described below. The positional relationship between the respective conical motion axes is not limited to a right angle or facing, but can be designed at an arbitrary angle. Also, the positional relationship between input and output can be freely set. Further, each swing mechanism (6) may not be arranged on the same spherical surface as long as the swing angle of the conical motion axis (1) is the same. In addition, a plurality of swing mechanisms (6) having an input shaft (18) or an output shaft (19) may be arranged. In addition to the purpose of stabilizing the swing, it is also for increasing the degree of freedom of arrangement at the installation site.

The perspective view of a perspective view showing a plurality of cone motion axes of a rotation transmission mechanism, and a locus of a cone motion axis. The front view of an orthogonal axis | shaft type | mold rotation transmission mechanism provided with the eccentric bearing and the rotating shaft. Sectional drawing of a rotation transmission mechanism. Sectional drawing of the rotation transmission mechanism of the structure which simplified the connection fixing | fixed part of two rocking shafts. Sectional drawing of the orthogonal reduction gear of this invention. BRIEF DESCRIPTION OF THE DRAWINGS FIG.

Explanation of symbols

1 Indicates the cone motion axis
2 Indicates the apex of the cone motion axis
3 Indicates the circular orbit drawn by the end of the cone motion axis
4 Indicates the amount of eccentricity of the cone motion axis
5 Indicates the coupling part of the swing shaft
6 Show swing mechanism
7 Indicates the input rotation axis
8 Indicates the output rotation axis
9 Indicates external gear
10 shows the axis of the output shaft of the orthogonal reduction gear of the present invention
11 shows the output shaft of the orthogonal reduction gear of the present invention
12 shows the swing axis of the swing mechanism of the orthogonal reduction gear of the present invention.
13 shows a state in which the swing shafts of the two swing mechanisms facing each other of the orthogonal reduction gear of the present invention are coupled.
14 shows internal gear
15 Shows cylindrical parts
16 Indicates the diagonal position
17 Shows a rotating bearing with a flat core
18 Indicates an input shaft with rotation input
19 Indicates an output shaft with rotation output
20 Shows the end of the conical motion axis in the sense of rocking output

Claims (2)

A plurality of conical motion axes extend in different directions starting from an arbitrary point, and each has a swing mechanism having an eccentric amount that is the diameter of a circle drawn by each end of the plurality of conical motion axes. A rotation transmission device in which the rocking shafts of the rocking mechanism are firmly coupled to each other, and one of the plurality of rocking mechanisms is used as an input and at least one of the other rocking mechanisms is used as an output. The conical motion axis extends from an arbitrary point, and the swing mechanism with the diameter of the circle drawn by the end of the conical motion shaft as an eccentric amount is input or output,
An external gear is provided in the vicinity of the above arbitrary point, and a rotating shaft with a gear centered on the above arbitrary point is used as an input or output,
A cylindrical part having an internal gear firmly connected and fixed from the swing shaft of the swing mechanism toward the arbitrary point is arranged so as to surround the external gear of the rotary shaft with the gear. A reduction gear or gearbox in which the internal teeth of a cylindrical part and the external teeth of a rotating shaft with gears are engaged diagonally.