JP2594437Y2 - Gear transmission - Google Patents
Gear transmissionInfo
- Publication number
- JP2594437Y2 JP2594437Y2 JP1993010743U JP1074393U JP2594437Y2 JP 2594437 Y2 JP2594437 Y2 JP 2594437Y2 JP 1993010743 U JP1993010743 U JP 1993010743U JP 1074393 U JP1074393 U JP 1074393U JP 2594437 Y2 JP2594437 Y2 JP 2594437Y2
- Authority
- JP
- Japan
- Prior art keywords
- gear
- output shaft
- internal gear
- internal
- planetary gear
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Description
【０００１】[0001]
【産業上の利用分野】本考案は、ロボットなどに適用さ
れる歯車変速機に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a gear transmission applied to a robot or the like.
【０００２】[0002]
【従来の技術】図２は従来のロボット等に使用されてい
る超小型の内公転型減速機の説明図である。図におい
て、本内公転型減速機の入力軸１は玉軸受２、３により
軸支されている。入力軸１の両軸受２、３間の偏心部に
は玉軸受４、５を介してそれぞれ歯数Ｚ１の遊星歯車６
ａ及び歯数Ｚ３の遊星歯車６ｂからなる一体の遊星歯車
ブロックが枢支されており、入力軸１の回転が遊星歯車
ブロックに昭和６０年実用新案登録願第１１４３０１号
に記載の内公転型減速機と同様の作用により伝達される
ようになっている。遊星歯車６ａは歯数Ｚ２を有するハ
ウジング１２に固定の内歯歯車７ａと噛合し、遊星歯車
６ｂは出力軸８基端に設けられている歯数Ｚ４の内歯歯
車７ｂと噛合し、減速比ｒ＝１−Ｚ１×Ｚ３／（Ｚ２×
Ｚ４）の減速を可能にしている。出力軸８は軸受９及び
軸受１０を介してハウジング１２により枢支されてい
る。2. Description of the Related Art FIG. 2 is an explanatory view of a very small internal revolving type speed reducer used in a conventional robot or the like. In the figure, an input shaft 1 of the internal revolution type reduction gear is supported by ball bearings 2 and 3. An eccentric portion between the two bearings 2 and 3 of the input shaft 1 is connected to the planetary gear 6 having the number of teeth Z1 via ball bearings 4 and 5.
a and a planetary gear block 6b having the number of teeth Z3 are pivotally supported, and the rotation of the input shaft 1 is applied to the planetary gear block by the inner revolution type reduction described in Utility Model Registration No. 114301 of 1985. It is transmitted by the same action as the machine. The planetary gear 6a meshes with the internal gear 7a fixed to the housing 12 having the number of teeth Z2, and the planetary gear 6b meshes with the internal gear 7b having the number of teeth Z4 provided at the base end of the output shaft 8 to reduce the gear ratio. r = 1−Z1 × Z3 / (Z2 ×
Z4) can be decelerated. The output shaft 8 is pivotally supported by a housing 12 via bearings 9 and 10.
【０００３】[0003]
【考案が解決しようとする課題】上記のような従来の内
公転型減速機においては、バックラッシュが発生するた
めに入力軸１から出力軸８への回転の伝達に誤差を生
じ、ロボットアーム等の制御がうまく行かない場合があ
る。このバックラッシュを除去するために歯車の加工精
度を高めたり、組立精度を向上させたりしているが、組
立加工が複雑となり経済性に欠ける。また、正転と逆転
とで異なる歯車を噛み合わせる構造にして対処する場合
もあるが、正転用、逆転用の２系統の動力伝達機構を必
要として構造が複雑となる。In the conventional internal revolving type speed reducer as described above, an error occurs in transmission of rotation from the input shaft 1 to the output shaft 8 due to occurrence of backlash, and a robot arm or the like is not provided. Control may not work well. In order to eliminate the backlash, the processing accuracy of the gears is increased or the assembly accuracy is improved, but the assembly processing is complicated and the economy is low. In some cases, different gears are engaged for forward rotation and reverse rotation to cope with the problem. However, the structure is complicated because two power transmission mechanisms for forward rotation and reverse rotation are required.
【０００４】[0004]
【課題を解決するための手段】本考案に係る変速機は上
記課題の解決を目的にしており、入力軸の回転が出力軸
の基端に設けられた内歯歯車と内側に設けられた遊星歯
車との噛合により上記出力軸へ伝達される歯車変速機に
おいて、上記内歯歯車を弾性変形可能な肉厚に形成して
その外周を円錐ころ軸受で支持し、同軸受の位置を調整
して前記内歯歯車に中心方向の押圧力を加える手段を備
えたことを特徴とする。SUMMARY OF THE INVENTION A transmission according to the present invention has an object to solve the above-mentioned problems. The rotation of an input shaft is provided with an internal gear provided at a base end of an output shaft and a planet provided at an inner side. In the gear transmission transmitted to the output shaft by meshing with the gear, the internal gear is formed to have a thickness that can be elastically deformed.
The outer periphery is supported by tapered roller bearings, and the position of the bearing is adjusted
And a means for applying a central pressing force to the internal gear .
【０００５】また、本考案に係る歯車変速機において
は、入力軸の回転が出力軸の基端に設けられた内歯歯車
と内側に設けられた遊星歯車との噛合により上記出力軸
へ伝達される歯車変速機において、上記内歯歯車を内側
へ調整可能に押圧する手段と、上記出力軸の上記内歯歯
車近傍に設けられた減肉部とを備えた構成を特徴とす
る。In the gear transmission according to the present invention, the rotation of the input shaft is transmitted to the output shaft by meshing the internal gear provided at the base end of the output shaft and the planetary gear provided inside. The gear transmission is characterized in that it comprises means for adjusting the internal gear to the inside in such a manner that the internal gear can be adjusted inward, and a thinned portion provided near the internal gear on the output shaft.
【０００６】[0006]
【作用】即ち、本考案に係る歯車変速機においては、入
力軸の回転が出力軸の基端に設けられた内歯歯車と内側
に設けられた遊星歯車との噛合により上記出力軸へ伝達
される歯車変速機において、前記内歯歯車を例えば薄肉
構造の弾性変形可能な肉厚に形成すると共に、同内歯歯
車の外周を円錐ころ軸受で支持し、同内歯歯車に対する
円錐ころ軸受の相対的な位置、配列関係を変化調整する
ことにより同内歯歯車に中心方向に向かう押圧力が作用
する様にした手段を設けているので、前記出力軸の基端
に設けられた内歯歯車に押圧力が働くことにより内歯歯
車が出力軸の軸心方向に弾性変形して、内歯歯車と遊星
歯車とが噛み合う隙間を適度に減少させることができ
る。That is, in the gear transmission according to the present invention, the rotation of the input shaft is transmitted to the output shaft by meshing the internal gear provided at the base end of the output shaft with the planetary gear provided inside. In such a gear transmission, the internal gear may be thin-walled, for example.
The structure is made to be elastically deformable and the internal teeth
The outer circumference of the wheel is supported by tapered roller bearings,
Change and adjust the relative position and arrangement of tapered roller bearings
As a result, a pressing force acting toward the center acts on the internal gear.
Since there is provided a means was set to be, is elastically deformed internal gear in the axial direction of the output shaft by the pressing force acts on the internal gear provided at the proximal end of said output shaft, the internal gear The gap between the gear and the planetary gear can be reduced appropriately.
【０００７】また、本考案に係る歯車変速機において
は、入力軸の回転が出力軸の基端に設けられた内歯歯車
と内側に設けられた遊星歯車との噛合により上記出力軸
へ伝達される歯車変速機における内歯歯車が内側へ調整
可能に押圧されるとともに出力軸の上記内歯歯車近傍に
減肉部が設けられており、出力軸の基端に設けられてい
る内歯歯車に押圧力が働くことにより内歯歯車が出力軸
の軸心方向に弾性変形するが、出力軸に減肉部が設けら
れていることにより内歯歯車が弾性変形し易く、内歯歯
車と遊星歯車とが噛み合う隙間を適度に減少させること
ができる。In the gear transmission according to the present invention, the rotation of the input shaft is transmitted to the output shaft by meshing the internal gear provided at the base end of the output shaft with the planetary gear provided inside. The internal gear in the gear transmission is pressed inward in an adjustable manner, and a thinning portion is provided near the internal gear on the output shaft, and the internal gear provided at the base end of the output shaft is The internal gear is elastically deformed in the axial direction of the output shaft due to the pressing force, but the internal gear is easily elastically deformed due to the provision of the thinned portion on the output shaft. Can be appropriately reduced.
【０００８】[0008]
【実施例】図１は本考案の一実施例に係る内公転型減速
機の説明図である。図において、本実施例に係る内公転
型減速機はロボットなどに使用される超小型のもので、
図１に示すように入力軸１は玉軸受２、３により軸支さ
れている。入力軸１の両軸受２、３間の偏心部には玉軸
受４、５を介してそれぞれ歯数Ｚ１の遊星歯車６ａ及び
歯数Ｚ３の遊星歯車６ｂからなる一体の遊星歯車ブロッ
クが枢支されており、入力軸１の回転が遊星歯車ブロッ
クに従来例における内公転型減速機と同様の作用により
伝達されるようになっている。遊星歯車６ａは歯数Ｚ２
を有するハウジング１２に固定の内歯歯車７ａと噛合
し、遊星歯車６ｂは出力軸８基端に設けられている歯数
Ｚ４の内歯歯車７ｂと噛合し、減速比ｒ＝１−Ｚ１×Ｚ
３／（Ｚ２×Ｚ４）の減速を可能にしている。出力軸８
はハウジング１２に設けられている後部軸受１０と、出
力軸８の内歯歯車７ｂの外周に設置されている前部軸受
１５とにより軸支されている。この前部軸受１５は円錐
ころ軸受で、シム１６を介してボルト１７ａによる押え
具１７により位置が調整されるようになっている。FIG. 1 is an explanatory view of an internal revolution type speed reducer according to an embodiment of the present invention. In the figure, the inner revolving type speed reducer according to the present embodiment is a very small one used for a robot or the like,
As shown in FIG. 1, the input shaft 1 is supported by ball bearings 2 and 3. An integrated planetary gear block composed of a planetary gear 6a having a number of teeth Z1 and a planetary gear 6b having a number of teeth Z3 is pivotally supported at the eccentric portion between the two bearings 2 and 3 of the input shaft 1 via ball bearings 4 and 5, respectively. The rotation of the input shaft 1 is transmitted to the planetary gear block by the same operation as that of the conventional internal revolution type speed reducer. The planetary gear 6a has a tooth number Z2.
The planetary gear 6b meshes with the internal gear 7b having the number of teeth Z4 provided at the base end of the output shaft 8, and the reduction ratio r = 1−Z1 × Z.
It is possible to reduce the speed by 3 / (Z2 × Z4). Output shaft 8
Are supported by a rear bearing 10 provided on the housing 12 and a front bearing 15 installed on the outer periphery of the internal gear 7 b of the output shaft 8. The front bearing 15 is a tapered roller bearing, the position of which is adjusted by a holding tool 17 with a bolt 17 a via a shim 16.
【０００９】出力軸８の内歯歯車７ｂは遊星歯車６ｂと
噛合して減速比ｒで回転するが、前部軸受をなす円錐こ
ろ軸受はシム１６の厚みにより位置を調整することによ
って出力軸８の中心に向けて押圧力Ｆを生ずる。この押
圧力Ｆによって内歯歯車７ｂが出力軸８の中心方向に弾
性変形し、遊星歯車６ｂとが噛み合う隙間を減少させ
る。これにより、本内公転型減速機におけるバックラッ
シュが抑制される。なお、前部軸受１５の位置の調整は
シム１６の厚さで行われ、歯車の摩耗に従って前部軸受
１５の位置を調整することによって前部軸受１５の押圧
力Ｆの調節、即ち内歯歯車７ｂの弾性変形量の調節が可
能となり、長期に亘ってバックラッシュを抑制すること
ができる。また、内歯歯車７ｂにおける弾性変形量の増
大を図るため、出力軸８の内歯歯車７ｂが設けられてい
る基端と玉軸受３が設けられている箇所との間の端部に
適宜の間隔で複数の孔１８が穿設されている。この孔１
８を設けて出力軸８の内歯歯車７ｂ近傍を減肉すること
により出力軸８端部の弾性、即ち内歯歯車７ｂの弾性が
増加してより変形し易くなり、内歯歯車７ｂと遊星歯車
６ｂとの噛み合いが多くなって一層バックラッシュを減
少させることができる。The internal gear 7b of the output shaft 8 meshes with the planetary gear 6b and rotates at a reduction ratio r. The tapered roller bearing forming the front bearing adjusts the position by the thickness of the shim 16 to adjust the output shaft 8b. , A pressing force F is generated toward the center. Due to the pressing force F, the internal gear 7b is elastically deformed toward the center of the output shaft 8, and the gap between the internal gear 7b and the planetary gear 6b is reduced. Thereby, the backlash in the internal revolution type reduction gear is suppressed. The position of the front bearing 15 is adjusted by the thickness of the shim 16, and by adjusting the position of the front bearing 15 in accordance with the wear of the gear, adjustment of the pressing force F of the front bearing 15, that is, the internal gear The amount of elastic deformation of 7b can be adjusted, and backlash can be suppressed for a long time. Further, in order to increase the amount of elastic deformation of the internal gear 7b, a suitable end is provided between the base end of the output shaft 8 where the internal gear 7b is provided and the location where the ball bearing 3 is provided. A plurality of holes 18 are formed at intervals. This hole 1
By reducing the thickness of the vicinity of the internal gear 7b of the output shaft 8 by providing the internal gear 8, the elasticity of the end portion of the output shaft 8, that is, the elasticity of the internal gear 7b increases, so that the internal gear 7b is more easily deformed. Engagement with the gear 6b increases, and backlash can be further reduced.
【００１０】従来の内公転型減速機においては、バック
ラッシュが発生するために入力軸１から出力軸８への回
転の伝達に誤差を生じ、ロボットアーム等の制御がうま
く行かない場合がある。このバックラッシュを除去する
ために歯車の加工精度を高めたり、組立精度を向上させ
たりしているが、組立加工が複雑となり経済性に欠け
る。また、正転と逆転とで異なる歯車を噛み合わせる構
造にして対処する場合もあるが、正転用、逆転用の２系
統の動力伝達機構を必要として構造が複雑となるが、本
内公転型減速機においては、簡便な構成でバックラッシ
ュを軽減するために出力軸８を軸支するハウジング１２
内の内歯歯車７ｂの外周に円錐ころ軸受を取付け、この
円錐ころ軸受の位置の調整を可能にするとともに、出力
軸８の基端に孔１８を穿設して内歯歯車７ｂの弾性を増
加させており、出力軸８基端に取付けられた内歯歯車７
ｂは入力軸１偏心部の遊星歯車６ｂと噛合して回転する
が、この出力軸８は内歯歯車７ｂの外周に設けられた円
錐ころ軸受で軸支されているので、この円錐ころ軸受の
位置を調整することによって出力軸８の内歯歯車７ｂに
押圧力Ｆが働き、出力軸８の軸心方向に弾性変形する。
これにより、内歯歯車７ｂと遊星歯車６ｂとが噛み合う
隙間が減少してバックラッシュが軽減され、入力軸１か
ら出力軸８への回転の伝達に誤差を生ぜず、ロボットア
ーム等の制御が正確に行われる。In a conventional internal revolution type speed reducer, there is a case where an error occurs in transmission of rotation from the input shaft 1 to the output shaft 8 due to occurrence of backlash, and control of the robot arm or the like may not be performed properly. In order to eliminate the backlash, the processing accuracy of the gears is increased or the assembly accuracy is improved, but the assembly processing is complicated and the economy is low. In some cases, different gears are engaged for forward rotation and reverse rotation. This requires two power transmission mechanisms, one for forward rotation and the other for reverse rotation, which complicates the structure. In order to reduce the backlash with a simple configuration, the housing 12 supporting the output shaft 8 is used.
A tapered roller bearing is mounted on the outer periphery of the internal gear 7b to enable adjustment of the position of the tapered roller bearing, and a hole 18 is formed in the base end of the output shaft 8 to reduce the elasticity of the internal gear 7b. The internal gear 7 attached to the base end of the output shaft 8
b rotates while meshing with the planetary gear 6b of the eccentric portion of the input shaft 1. The output shaft 8 is supported by a tapered roller bearing provided on the outer periphery of the internal gear 7b. By adjusting the position, the pressing force F acts on the internal gear 7b of the output shaft 8, and the output gear 8 is elastically deformed in the axial direction.
As a result, the gap between the internal gear 7b and the planetary gear 6b is reduced to reduce backlash, and no error occurs in the transmission of rotation from the input shaft 1 to the output shaft 8, and the control of the robot arm and the like is accurate. Done in
【００１１】[0011]
【考案の効果】本考案に係る歯車減速機は前記のように
構成されており、出力軸の先端に設けられている内歯歯
車と内側に設けられている遊星歯車とが噛み合う隙間を
適度に減少させることができるので、バックラッシュが
抑制されて入力軸から出力軸への回転の伝達に誤差を生
じなくなる。The gear reducer according to the present invention is configured as described above, and appropriately reduces the gap between the internal gear provided at the tip of the output shaft and the planetary gear provided inside. Since it can be reduced, backlash is suppressed, and no error occurs in transmission of rotation from the input shaft to the output shaft.
【図１】図１は本考案の一実施例に係る内公転型減速機
の断面図である。FIG. 1 is a sectional view of an internal revolution type speed reducer according to an embodiment of the present invention.
【図２】図２は従来の内公転型減速機の断面図である。FIG. 2 is a sectional view of a conventional inner revolution type speed reducer.
１ 入力軸 ２ 玉軸受 ３ 玉軸受 ４ 玉軸受 ５ 玉軸受 ６ａ 遊星歯車 ６ｂ 遊星歯車 ７ａ 内歯歯車 ７ｂ 内歯歯車 ８ 出力軸 １０ 後部軸受 １２ ハウジング １５ 前部軸受（円錐ころ軸受） １６ シム １７ 押え具 １７ａ ボルト １８ 孔 DESCRIPTION OF SYMBOLS 1 Input shaft 2 Ball bearing 3 Ball bearing 4 Ball bearing 5 Ball bearing 6a Planetary gear 6b Planetary gear 7a Internal gear 7b Internal gear 8 Output shaft 10 Rear bearing 12 Housing 15 Front bearing (taper roller bearing) 16 Shim 17 Holding Tool 17a Bolt 18 hole
フロントページの続き (56)参考文献 特開 昭63−1838（ＪＰ，Ａ) 特開 昭60−168937（ＪＰ，Ａ) 特開 昭63−88351（ＪＰ，Ａ) 特開 平４−290643（ＪＰ，Ａ) 特開 昭60−241548（ＪＰ，Ａ) 特開 平２−118232（ＪＰ，Ａ) 実開 昭62−22347（ＪＰ，Ｕ) 実開 平２−28577（ＪＰ，Ｕ) (58)調査した分野(Int.Cl.6，ＤＢ名) F16H 1/32 Continuation of front page (56) References JP-A-63-1838 (JP, A) JP-A-60-168937 (JP, A) JP-A-63-88351 (JP, A) JP-A-4-290643 (JP) JP-A-60-241548 (JP, A) JP-A-2-118232 (JP, A) JP-A-6-22347 (JP, U) JP-A-2-28577 (JP, U) (58) Field surveyed (Int.Cl. 6 , DB name) F16H 1/32
Claims (2)
た内歯歯車と内側に設けられた遊星歯車との噛合により
上記出力軸へ伝達される歯車変速機において、上記内歯
歯車を弾性変形可能な肉厚に形成してその外周を円錐こ
ろ軸受で支持し、同軸受の位置を調整して前記内歯歯車
に中心方向の押圧力を加える手段を備えたことを特徴と
する歯車変速機。1. A gear transmission in which rotation of an input shaft is transmitted to the output shaft by meshing between an internal gear provided at a base end of an output shaft and a planetary gear provided inside, wherein the internal gear is provided. Is formed to a thickness that can be elastically deformed, and
The internal gear is supported by a roller bearing and the position of the bearing is adjusted.
A gear transmission comprising: means for applying a pressing force toward the center of the gear transmission.
を設けたことを特徴とする請求項１に記載の歯車変速
機。2. The gear transmission according to claim 1, wherein a thinned portion is provided near the internal gear on the output shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1993010743U JP2594437Y2 (en) | 1993-03-12 | 1993-03-12 | Gear transmission |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1993010743U JP2594437Y2 (en) | 1993-03-12 | 1993-03-12 | Gear transmission |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0669497U JPH0669497U (en) | 1994-09-30 |
| JP2594437Y2 true JP2594437Y2 (en) | 1999-04-26 |
Family
ID=11758794
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1993010743U Expired - Fee Related JP2594437Y2 (en) | 1993-03-12 | 1993-03-12 | Gear transmission |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2594437Y2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016084177A1 (en) * | 2014-11-26 | 2016-06-02 | 株式会社安川電機 | Robot arm, robot system, gear unit, and robot arm manufacturing method |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4746907B2 (en) * | 2005-04-11 | 2011-08-10 | 住友重機械工業株式会社 | Planetary gear reducer |
| JP4759607B2 (en) * | 2008-10-03 | 2011-08-31 | 株式会社伊藤製作所 | Rotary reducer |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6222347U (en) * | 1985-07-25 | 1987-02-10 | ||
| JP3034630B2 (en) * | 1991-03-19 | 2000-04-17 | 住友重機械工業株式会社 | Trochoid tooth type inscribed planetary gear structure |
-
1993
- 1993-03-12 JP JP1993010743U patent/JP2594437Y2/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016084177A1 (en) * | 2014-11-26 | 2016-06-02 | 株式会社安川電機 | Robot arm, robot system, gear unit, and robot arm manufacturing method |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0669497U (en) | 1994-09-30 |
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