JP2571667Y2 - Torque actuator - Google Patents

Description

[Detailed description of the invention]

[0001]

[Industrial application field] The present invention relates to a torque actuator,
In particular, the present invention relates to a torque actuator that converts a straight thrust of an output shaft of an air cylinder device or a hydraulic cylinder device into a rotational force.

[0002]

2. Description of the Related Art As shown in FIGS. 7 and 8, a conventional torque actuator comprises a pair of cylinder devices (10) (10) from a casing (1) accommodating an output gear (3).
Are projected in the opposite direction, and the respective cylinder devices (10)
The rack (21) is formed on the output shaft (2) connected between the pistons (12) and (12), and the racks (21) are formed. Are engaged with the output gear (3). In this device, when a pneumatic pressure source or a hydraulic pressure is connected to the cylinder (11) of each of the cylinder devices (10) to control the supply pressure to the cylinders (11) and (11), the piston (12) (12) and output shaft (2)
Are reciprocally driven in a linear direction, and the output gear (3) rotates according to the amount of drive. Accordingly, when the driven portion is connected to the output shaft (31) of the output gear (3), the driven portion is reciprocated. In this case, the thrust applied to the pistons (12) (12) is directly converted into the direct power of the output shaft (2), and this direct power is converted into the rotational force of the output shaft (31). And a large torque can be generated using air pressure.

However, in this conventional device, since the rack portion (21) and the output gear (3) are in a normal gear transmission state, a backlash is essential in this transmission portion, and the backlash is also reduced. It will be relatively large. The present invention has been made in view of such a point, and a description is given of "a pair of cylinder devices (10) and (10) are opposed to each other with a casing (1) accommodating an output gear (3) therebetween.
The pistons (12) and (12) of these cylinder devices are connected by an output shaft (2), and the output shaft (2)
In which the rack portion (21) is engaged with the output gear (3), it is possible to reduce backlash due to backlash during transmission from the rack portion (21) to the output gear (3). That is the task.

[0004]

The technical means of the present invention for solving the above-mentioned problem is as follows. "The rack portion (21) is perpendicular to the axis between a pair of bars parallel to the axis of the output shaft (2). A plurality of pins (P) (P) are arranged in a parallel state, and each pin (P) meshes with the output gear (3), and a cylindrical collar (23) is attached to a round shaft (22). The pins (P) and (P) are rotatably fitted on the outside, and the pins (P) and (P) are arranged side by side at a constant pitch in a plane parallel to the axis of the output shaft (2). The output gear (3) meshes with the pins (P) and (P), and the tooth profile of the output gear (3) is formed in a form in which a substantially arc-shaped valley shape meshing with the pins (P) and (P) is continuous. The pin (P)
The engagement with (P) is such that the pin (P) is pressed against the root of the tooth of the output gear (3) in the radial direction of the output gear (3). "

[0005]

The above technical means operates as follows. The point that the rack portion (21) is driven in a linear direction by the driving of the piston (12) of the cylinder device (10) (10) and the output gear (3) meshing with the rack portion (21) is rotated differs from the case of the conventional example described above. The same is true. When the rack (21) is driven in a linear direction and the pins (P) (P) of the rack (21) move linearly, these mesh with the teeth of the output gear (3).
The meshing condition is such that the pin (P) is pressed against the root of the tooth of the output gear (3) in the radial direction of the output gear (3). Since the pin (P) is provided between a pair of bars parallel to the axis of the output shaft (2), the pin (P) is bent slightly by the press contact, and the pin (P) moves with the movement of the pin (P). When the meshing is disengaged, the bending is eliminated, and the following pin (P) meshes with the valley of the following tooth of the output gear (3).
In this engagement, the pin (P) has the cylindrical collar (23) rotatably fitted on the round shaft (22). The cylindrical collar (23) rotates, and the meshing becomes smooth. Thereafter, the meshing operation continues. in this way,
Under the condition that the valleys of the teeth of the output gear (3) are pressed against the pin (P) in the opposite direction, the rack portion (21) and the output gear ( Engagement with 3) proceeds.

[0006]

[Effect] Since the present invention has the above-described configuration, the present invention has the following specific effects. Under the condition that the valleys of the teeth of the output gear (3) are pressed against the pin (P) in the opposite direction, the rack portion (21) and the output gear ( Since the meshing with 3) proceeds, the backlash is reduced as compared with the conventional one. [Regarding the invention of claim 2] The invention of claim 2 is based on the invention of claim 1 described above.
By limiting the relationship of the meshing portion between the rack portion (21) and the output gear (3), it is possible to further improve the descent and ensure the reinforcement of the pins (P) (P) so as to obtain a large rotating power. Means adopted for this purpose are as follows: "The casing (1) is arranged in the direction parallel to the pins (P) and (P) of the rack portion (21) from the side opposite to the output gear (3). The top surface of the ridge (14) protrudes along the root of the tooth at the engagement portion between the output gear (3) and the pin (P) (P). A notch (15) that allows bending due to the pressure contact with the pin (P), and a flat portion where the pin (P) is in rolling contact with both sides thereof ”. In this device, when a load in a direction perpendicular to the pin (P) is applied to the pin (P) by pressure contact between the pin (P) and a tooth valley of the output gear (3), the load meshes via a bar connecting both sides thereof. These pins (P) (P) via a plurality of pins (P) (P) near the part
Is backed up by the flat portion of the ridge (14) that makes rolling contact. Even when a large torque is generated in the output gear (3), the pins (P) and (P) can be prevented from being damaged. In other words, the contact pressure between the flat portion of the ridge (14) and the pins (P) and (P) causes the pins (P) and (P) of the meshing portion and the teeth of the output gear (3) to interlock via the crosspiece. Since it effectively acts as a pressing force against the valley bottom, backlash can be reliably prevented. Thus, the descent according to the first aspect of the present invention can be further improved, and a large torque can be generated.

[0007]

Next, the embodiment of the present invention will be described with reference to FIGS.
Will be described in detail. In the first embodiment shown in FIGS. 1 to 3, the output gear (3) housed in the casing (1) is provided with two rows of continuous tooth profiles (30) (30) as shown in FIGS.
And the output shaft (2) is inserted above the output gear (3) between the continuous tooth portions (30) (30), and the pin is inserted from both side surfaces of the output shaft (2). (P) Pins (P) with (P) protruding and arranged on each side
(P) The group engages with each of the tooth profile continuous portions (30) and (30). The pin (P) has a configuration in which cylindrical collars (23) and (23) are externally fitted to projecting portions at both ends of a round shaft (22) penetrating the output shaft (2) at right angles to the axis thereof, These pins (P) and (P) are arranged side by side at a constant pitch in the axial direction of the output shaft (2). Here, the cylindrical collar (2)
3) The length of the round shaft (22) is set to be smaller than the protruding length of the round shaft (22).
4). And the output gear (3)
The interval between the tooth profile continuities (30) and (30) is set such that each of the tooth profile continuity portions (30) and (30) is located between the reinforcing plate (24) and the side surface of the output shaft (2). Have been. In this embodiment, the output shaft (2) and the reinforcing plate (24) correspond to the crosspiece described in the claims. Both ends of the output shaft (2) protrude from both side surfaces of the casing (1).
1) It is connected and integrated with pistons (12) and (12) housed in (11).

A cover plate (1) serving as an upper surface of the casing (1)
On the lower surface of 3), ridges (14) and (14) protrude downward along the running trajectory of the bus at the upper end of the pins (P) and (P), and the interval between the ridges (14) and (14) is continuous. Part (30) (3
0). As shown in FIG. 1, a notch (15) that is concave upward is formed in the middle of the ridges (14) and (14), and the formation area of the notch (15) is a tooth-shaped continuous part (30). And the pin (P) are substantially coincident with each other.
Therefore, in the meshing section between the pins (P) and (P) and the tooth continuous portion (30), a very slight bending of each pin (P) is allowed, and in the section beyond this, the pins (P) and (P) Is pressed against the ridge (14). On the other hand, both ends of the round shafts (22) and (22) constituting the pins (P) and (P) are provided with reinforcing plates (24).
Are connected and integrated. As a result, the bending of the pin (P) caused by the press-contact force between the pin (P) and the output gear (3) caused when the pin (P) and the output gear (3) mesh with each other is reduced.
, And the bending load does not concentrate on a specific pin (P) during the meshing transmission between the output gear (3) and the rack (21). This means
The same applies to the bending load acting on the pin (P) in the axial direction of the output shaft (2).

According to this embodiment, when the internal pressure of the left cylinder (11) in FIG. 1 is increased, the output shaft (2) moves to the right, the output gear (3) rotates clockwise, and the output Shaft (3
From 1), the same rotational force can be obtained. Conversely, when the internal pressure of the right cylinder (11) is increased, the counterclockwise rotation can be obtained by the reverse operation.

In the above embodiment, the diameter of the round shaft (22) is set to 8 mm, while the inner diameter of the cylindrical collar (23) is set to a fitting tolerance of about JIS class 7 to class 9. ing. The outer diameter of the cylindrical collar (23) is set to 11 mm. Then, the engagement depth of the peak portion of the tooth profile continuous portion (30) with respect to the pin (P) is 5.5 m.
m, and the arrangement pitch of the pins (P) (P) is set to a value suitable for this.

Next, a second embodiment shown in FIGS. 4 and 5 has a slit (S) extending in the axial direction at the center of the output shaft (2) and opening up and down on the outer periphery of the output gear (3). One formed tooth profile continuous portion (30) is inserted. In this case, the round shafts (2) arranged so as to penetrate the side walls (33) (33) on both sides of the slit (S).
2) The cylindrical collar (23) is rotatably fitted in the middle in the middle to form a pin (P), and each tooth of the tooth profile continuous portion (30) meshes with this. The side wall (33) (3)
3) corresponds to the crosspiece referred to in the claims. In this case, the cover plate (1) is projected to the slit (S).
The projection (14) protruding from the lower surface of 3) is a pin (P).
(P). Further, both ends of the round shafts (22) and (22) constituting the pins (P) and (P) are side wall portions (33) and (33).
This is similar to the first embodiment in that the inconvenience of bending stress concentrated on some pins (P) can be eliminated. In this embodiment, the ridges (14) projecting from the lower surface of the cover plate (13) are in contact with the pins (P) and (P) in the output gear (3), and the center thereof is the same as in FIG. The portion is cut out (1. That is, the relationship between the tooth profile continuous portion (30) and the pins (P) and (P), the pin (P)
The relationship between (P) and the ridge (14) is configured in the same manner as in the above-described embodiment. Next, in a third embodiment shown in FIG. 6, a pair of tooth continuous portions (30) and (30) are separately formed, and a gear half (3 a) provided with one tooth continuous portion (30) is provided. A pair of screws is attached to the gear half (3b) having the output shaft (31), and both are urged in the separating direction. For this purpose, a torsion spline (N) is formed on the outer periphery of the output shaft, and a torsion spline formed on the inner periphery of the boss of the gear half (3a) is fitted to the spline (N) to apply a repulsive force between both gear halves. A disc spring (B) is provided to perform the operation.
The twist angle of the torsion spline (N) is 1 degree to 5 degrees with respect to a generatrix parallel to the axis of the output gear (3).
It is set to a small angle of about degrees, and the gear half (3
a) The teeth located at the same position of the tooth profile continuities (30) (30) of (3b) are urged in the direction in which the rotational direction shifts by the urging force of the disc spring (B). As a result, the power is transmitted under conditions that do not cause backlash in the engagement portion. Therefore, transmission with less rattling can be achieved. The urging force is applied by the disc spring (B). Since the twist angle of the torsion spline (N) is extremely small, the urging force by the disc spring (B) is applied to the rotation of each gear half. It is converted into a large biasing force in the direction.

[Brief description of the drawings]

FIG. 1 is a partially cutaway front view of a first embodiment of the present invention.

FIG. 2 is a sectional view taken along line XX.

FIG. 3 is a plan view

FIG. 4 is a partially cutaway front view of Embodiment 2 of the present invention.

FIG. 5 is a sectional view taken along line YY.

FIG. 6 is a sectional view of a main part of another embodiment.

FIG. 7 is an explanatory view of a conventional example.

FIG. 8 is an explanatory view of a conventional example.

[Description of sign]

 (3) Output gear (1) Casing (10) Cylinder device (12) Piston (2) Output shaft (21) Rack part (P) ..Pin (22) ・ ・ ・ Round shaft (23) ・ ・ ・ Cylinder collar

Claims (2)

(57) [Scope of request for utility model registration] A pair of cylinder devices (10) (10) are opposed to each other with a casing (1) accommodating an output gear (3) therebetween, and pistons (12) (12) of these cylinder devices (10) (10) are provided. ) Are connected by an output shaft (2), and the rack (21) of the output shaft (2) is engaged with the output gear (3). A plurality of pins (P) (P) perpendicular to the axis are installed in parallel between a pair of bars parallel to the axis of the output shaft (2), and the output gear of each pin (P) is provided. The engagement portion with (3) has a configuration in which a cylindrical collar (23) is rotatably fitted on a round shaft (22), and the pins (P) and (P) are parallel to the axis of the output shaft (2). The output gears are arranged side by side at a constant pitch in a 3) is engaged with the pins (P) and (P), and the tooth profile of the output gear (3) is of a type in which a substantially arc-shaped valley shape that engages with the pins (P) and (P) is continuous. (3) and the pin (P)
(P) is a torque actuator in which the pin (P) is pressed against the root of the tooth of the output gear (3) in the radial direction of the output gear (3). 2. A pin (P) of the rack (21) is provided on the casing (1) from the opposite side of the output gear (3).
A convex ridge (14) protruding along the parallel direction of (P) is provided, and a top surface of the convex ridge (14) is provided on the output gear (3).
And the pins (P) and (P) are engaged with each other to form notches (15) that allow the pin (P) to bend due to the pressure contact between the roots of the teeth and the pins (P).
The torque actuator according to claim 1, wherein the flat portion is a rolling contact.