JP6571962B2 - Gear mechanism for taking output freely in multiple directions - Google Patents

Description

  The present invention relates to a gear mechanism using a planetary gear mechanism and an orthogonal shaft gear mechanism, and a gear that can freely output in multiple directions from which one or more additional power can be extracted as an output from the orthogonal shaft gear mechanism. Regarding the mechanism.

  Conventionally, there is a gear mechanism described in Patent Document 1 as this type of gear mechanism. Patent Document 1 has a spur gear type pinion at one end of a pinion shaft extending from a prime mover, and the pinion meshes with a face gear. The face gear is driven by the rotation of the pinion. A non-sparing spur gear is attached at a position 180 degrees around the face gear from the pinion. The other end of the shaft that supports the non-floating spur gear can be operatively connected to an auxiliary device to receive power from the shaft. In addition, a plurality of non-floating spur gears and shafts can be added along the periphery of the face gear to power the auxiliary device.

Japanese Patent No. 3075483

  However, in the technique of Patent Document 1, since the face gear is driven by rotating the idle pinion that meshes with the face gear, it cannot be output in the direction of the idle pinion. Furthermore, the face gear is decelerated from the idle pinion, but the speed is increased from the face gear to the non-idle pinion. In other words, the rotational speed ratio between the floating pinion that is an input and the non-floating pinion that is an output has a 1: 1 relationship, and there is a problem in that the output torque cannot be increased.

  The present invention solves the above-described problem, and obtains one or a plurality of output shafts orthogonal from one input shaft, and can output the output shaft in multiple directions from the entire circumference of the gear portion of the orthogonal shaft gear mechanism. An object of the present invention is to provide a gear mechanism for taking out an output freely in any direction.

In order to solve the above-mentioned problems, the present invention provides a planetary gear mechanism in an input stage, and an orthogonal shaft gear mechanism for changing the direction of an output stage in a gear mechanism in which an output shaft is orthogonal to an input shaft. The sun gear of the planetary gear mechanism is used as the input shaft, the gear of the orthogonal shaft gear mechanism is formed directly on the output end of the internal gear of the planetary gear mechanism, and the output gear meshed with the gear of the orthogonal shaft gear mechanism is the input shaft. It is attached to the output shaft orthogonal to. Also, a plurality of output gears meshing with the gears of the orthogonal shaft gear mechanism are provided, and the plurality of output gears are respectively attached to a plurality of output shafts provided orthogonal to the input shaft to extract outputs from a plurality of locations. Can do. Further, since the plurality of output shafts are set to have the same rotation direction as viewed from the output direction, the same output can be taken out in each direction. Further, a robot hand can be attached to each of the plurality of output shafts, and the robot hand can be operated and set as a working robot as the output shaft rotates.

According to the present invention, the planetary gear mechanism is provided in the input stage, the orthogonal shaft gear mechanism is provided in the direction change of the output stage, the sun gear of the planetary gear mechanism is used as the input shaft, and the output end of the internal gear of the planetary gear mechanism is provided. Since the gear of the orthogonal shaft gear mechanism is formed directly on the portion, and the output gear meshing with the gear of the orthogonal shaft gear portion is mounted on the output shaft orthogonal to the input shaft, from the entire circumference of the gear portion of the orthogonal shaft gear mechanism The output shaft can be extended in multiple directions. The necessary reduction (torque up) can be obtained by the planetary gear mechanism and the orthogonal shaft gear mechanism. Since the gear of the orthogonal shaft gear mechanism is formed directly on the internal gear of the planetary gear mechanism, the number of parts can be reduced and the direction of the input shaft becomes smaller. Since the 180 ° diagonal axis can move in the opposite direction, mechanisms that require symmetrical movement can be easily manufactured. Based on the principle of the planetary gear mechanism, the number of planetary gears may be other numbers such as two or four. The reduction ratio can also be set freely. By setting the number of teeth of the orthogonal gear mechanism provided on the internal gear and the number of teeth of the output gear, the speed increase, the speed reduction, and the ratio thereof can be set freely.

It is a front view which shows the gear mechanism which takes out an output freely in multiple directions by embodiment of this invention. It is the sectional view on the AA line of FIG. FIG. 2 is a perspective view of FIG. 1. It is a perspective view which shows the gear mechanism which takes out an output in 3 directions by embodiment of this invention. It is a perspective view which shows the gear mechanism which takes out an output in 2 directions which form the angle of 90 degrees by other embodiment of this invention. It is a perspective view which shows the gear mechanism which takes out an output in 2 directions which comprise the angle of 180 degrees by other embodiment of this invention. It is a perspective view which shows the gear mechanism which takes out an output in one direction by other embodiment of this invention. It is a perspective view which shows the gear mechanism which decelerates the output shaft by the output gear installed in the diagonal which makes the angle of 180 degrees, and takes out an output in 2 directions by other embodiment of this invention. It is a conceptual diagram which shows the structure assembled | attached to the multi-directional free output gear mechanism which used the output shaft of the motor as the sun gear by embodiment which assembled | attached the motor and the reduction gear. FIG. 10 is a sectional view taken along line B-B in FIG. 9. FIG. 10 is a perspective view showing an embodiment in which two claw members are attached to the multidirectional universal output gear mechanism of FIG. 9. FIG. 10 is a perspective view showing an embodiment in which four claw members are attached to the multidirectional universal output gear mechanism of FIG. 9. FIG. 9 is a perspective view showing an embodiment in which a guide rail and a drive screw shaft are provided in the multidirectional universal output gear mechanism of FIG. 9, and two claw members supported by the drive screw shaft are moved detachably along the guide rail. It is. FIG. 9 is a perspective view showing an embodiment in which a guide rail and a drive screw shaft are provided in the multidirectional universal output gear mechanism of FIG. 9 and four claw members supported by the drive screw shaft are moved detachably along the guide rail. It is. FIG. 10 is a perspective view showing an embodiment in which a moving cam is provided in the multidirectional universal output gear mechanism of FIG. It is a perspective view which shows the gear mechanism which takes out an output in 8 directions by embodiment of this invention.

Hereinafter, a first embodiment of the present invention will be described in detail with reference to FIGS.
FIG. 1 to FIG. 3 show a gear mechanism for taking out an output freely in multiple directions according to an embodiment of the present invention. The gear mechanism includes a planetary gear mechanism 100 and a face gear mechanism 200 which is an orthogonal shaft gear mechanism. Yes.

  The planetary gear mechanism 100 meshes with the sun gear 1 which is composed of an output shaft of a drive source such as a motor, an internal gear / face gear 2 arranged concentrically with the sun gear 1, It is composed of three planetary gears 3 that mesh with the internal gear 2 b of the internal gear / face gear 2. The three planetary gears 3 are rotatably supported on the planetary shafts 4 via planetary bearings 5, respectively. The three planetary shafts 4 are fixed to the planetary shaft reinforcing ring 6 with fixing pins 6a. A planetary bearing 5 is fixed to the planetary shaft 4 opposite to the planetary shaft reinforcing ring 6 by a planetary collar 13 and further supports an internal gear / face gear bearing 7 of the internal gear / face gear 2. Further, the end surface of the planetary shaft 4 is fixed by a pin 6b. Thus, when the sun gear 1 is rotated, the three planetary gears 3 do not revolve but only rotate.

  The outer peripheral surface of the internal gear 2 b of the internal gear / face gear 2 is supported by an internal gear bearing holder 20 so as to be rotatable by the internal gear / face gear bearing 7. The rotation of the three planetary gears 3 by the sun gear 1 is transmitted to the internal gear 2b, and the internal gear / face gear 2 is rotationally driven.

  The internal gear / face gear 2 is formed by integrating the face gear portion 2a of the face gear mechanism 200, and four output gears 9 are provided for each 90 ° circumferential direction of the face gear portion 2a. Are arranged in a direction orthogonal to the surface of the first and second meshes. At the center of the output gear 9, an output shaft 10 disposed in parallel with the face gear portion 2a is fastened. The output shaft 10 is a pair of output shaft bearings 11a, 11a supported by a support portion. 11b is rotatably supported. An output shaft bearing 11 a that supports the proximal end side of the output shaft 10 is supported by a hollow box-shaped case portion 12 a provided on the flange 12. The case portion 12a is provided with opening holes 12b in four wall portions, and the output shaft bearing 11a on the base end side is assembled to the inner peripheral surface of the opening hole 12b. An output shaft bearing 11b that supports the distal end side of the output shaft 10 is supported by an output shaft bearing housing 22 (not shown). Further, the output gear 9 supported by the output shaft 10 is provided between each pair of output shaft bearings 11a and 11b in parallel to each surface of the case portion 12a.

Next, the operation of the gear mechanism will be described.
Due to the rotation of the sun gear 1, the internal gear / face gear 2 is decelerated and rotated according to the principle of the planetary gear mechanism 100. The face gear portion 2a is rotated in the circumferential direction by the rotation of the internal and face gear 2, and the four output gears 9 are supported by the output shaft 10 and rotate on four surfaces orthogonal to the surface of the face gear portion 2a. . In this way, rotation output can be obtained from the output shaft 10 extending in four directions different from each other by 90 ° in the direction orthogonal to the sun gear 1. The rotation directions of the output shafts 10 are all equal when viewed from the output direction of the shafts.

In the case of FIG. 1 to FIG. 3, if the number of teeth of the sun gear 1 is 20, the number of teeth of the planetary gear 3 is 40, and the number of teeth of the internal gear 2b is 100, The gear and face gear 2 is decelerated to 1/5.
If the number of teeth of the face gear portion 2a of the internal gear / face gear 2 is 120 and the number of teeth of the output gear 9 is 100, the speed increases from the face gear portion 2a to the output gear 9 by a factor of 1.2. The output gear 9 is decelerated to about 1/4.

4 to 7 show that the output shaft can be freely set in another embodiment of the present invention. The same parts as those in FIGS. 1 to 3 are denoted by the same reference numerals, and the description of the same parts is omitted.
In the embodiment of FIG. 4, three output gears 9 are provided, and outputs are taken out in three directions from three output shafts 10 that respectively support the output gears 9.
In the embodiment of FIG. 5, there are two output gears 9 whose 90 ° angles are changed from each other, and outputs are taken out from two output shafts 10 respectively supporting these output gears 9 in two different 90 ° directions. It is a thing.
In the embodiment of FIG. 6, there are two output gears 9 whose angles are mutually changed by 180 °, and outputs are taken out from two output shafts 10 respectively supporting these output gears 9 in two different directions of 180 °. It is a thing.
In the embodiment of FIG. 7, one output gear 9 is provided, and an output is taken out in one direction from one output shaft 10 that supports the output gear 9.
Thus, by selecting the number of output gears 9 from 1 to 4 as necessary, it is possible to freely select and output in the 1 to 4 directions.

Next, FIG. 8 shows an embodiment in which the rotation of the output shaft is decelerated. The same parts as those in FIGS. 1 to 3 are denoted by the same reference numerals, and description of the same parts is omitted.
In FIG. 8, two output gears 9B are arranged at diagonal angles different from each other by 180 °, and the number of teeth Y of the output gear 9B is larger than the number of teeth K of the face gear portion 2a of the internal gear / face gear 2, where Y> K is set.
In the case of the embodiment of FIGS. 1 to 3, when the number of teeth of the sun gear 1 is 20, the number of teeth of the planetary gear 3 is 40, and the number of teeth of the internal gear 2b is 100, according to the principle of the planetary gear reducer (star type), The internal gear / face gear 2 is decelerated to 1/5.
When the number of teeth of the face gear portion 2a of the internal gear / face gear 2 is 120 and the number of teeth of the output gear 9B is 180, the speed is reduced by a factor of 1 / 1.5 from the face gear portion 2a to the output gear 9B. From the gear 1 to the output gear 9B is decelerated to about 1 / 7.5.

FIGS. 9 and 10 show an example in which the output shaft of the motor is the sun gear 1 and is assembled to the multidirectional free output gear mechanism. Also in this case, the same parts as those in FIGS. 1 to 3 are denoted by the same reference numerals, and the description of the same parts is omitted.
An internal gear bearing holder 20 supports the internal gear / face gear bearing 7 of the internal gear / face gear 2, and the internal gear bearing holder 20 supports both side openings of the output gear case 21 together with the flange 12. . The output gear case 21 is provided with an output shaft bearing housing 22 that supports the output shaft 10 in openings formed in four rectangular tube-like surfaces. The output shaft bearing housing 22 includes one bearing 11b of the output shaft bearings 11a and 11b for rotatably supporting the output shaft 10. The other bearing 11a of the output shaft bearing 11 that rotatably supports each output shaft 10 is housed in a hollow portion of the flange 12, and the output gear 9 is interposed between the pair of output shaft bearings 11a and 11b. Is supported by the output shaft 10. The sun gear 1 constituted by the rotating shaft (output shaft) 23a of the motor portion 23 is inserted into the opening hole formed in the wall surface of the internal gear bearing holder 20 and assembled.

  In this case, when the sun gear 1 is rotated by driving the motor unit 23, the face gear unit 2a is rotated in the circumferential direction by the rotation of the internal gear / face gear 2 as in the above-described embodiment, and the four output gears are rotated. 9 is supported by the output shaft 10 and rotates. Rotational output can be obtained from the output shaft 10 extending in four different directions every 90 ° in the direction orthogonal to the sun gear 1.

11 to 15 show an application example using a gear mechanism for taking out an output freely in multiple directions.
In either case, the mechanism of the above-described embodiment is used, and power is extracted from the output shaft 10 of FIGS. 9 and 10.

  FIG. 11 shows a configuration in which a claw member 30 is mounted on the output shaft 10 provided at the diagonal of the gear mechanism. The pair of claw members 30 are configured such that a portion 32 bent in a direction approaching each other is provided in the middle of an arm 31 serving as an arm portion, and tip claw portions 33 of the arm 31 move on the same arc. Thus, the gripping portion 34 is formed on the mutually opposing surfaces of the tip claw portion 33, and the gripping portion 34 is brought into contact with and separated from each other, thereby constituting an electric hand for holding the conveyed product.

  FIG. 12 shows a configuration in which claw members 30 similar to those in FIG. 11 are mounted on the four output shafts 10 of the gear mechanism. As a result, the claw members 30 that are opposite to each other come in contact with each other, so that the four tip claw portions 33 are concentrated and moved away from each other, and an electric hand that holds the conveyed product by the grip portion 34 is configured. Can do.

In FIG. 13, a long flat plate-like guide frame 41 extending in the horizontal direction is attached to the outer surface of the internal gear bearing holder 20, and a guide block is slidable on a guide rail 42 provided in the longitudinal direction on the lower surface of the guide frame 41. 43 is assembled. The guide block 43 slides along the guide rail 42, and a table 44 is mounted on the lower surface side of the guide block 43. A drive screw shaft 45 extending in the same direction as the guide rail 42 is attached to the table 44, and the tip of the drive screw shaft 45 is attached to the output shaft 10 of the gear mechanism. The drive screw shaft 45 is screwed into a drive screw nut 46 mounted on the table 44, and the drive screw shaft 45 rotates along with the rotation of the output shaft 10, and moves the drive screw nut 46 along the guide rail 42. It is. A hand claw 47 is attached to the lower surface of the table 44, and the hand claw 47 is reciprocated as the drive screw shaft 45 rotates. The hand claws 47 are provided diagonally, and the table 44, guide frame 41, guide rail 42 and the like are covered with a cover 48.
In this embodiment, driving the motor unit 23 activates the gear mechanism to drive the output shafts 10 on both sides of the internal gear bearing holder 20.
As the output shaft 10 rotates, the drive screw shafts 45 on both sides rotate to move the drive screw nuts 46 along the guide rail 42. Since the drive screw nut 46 is attached to the table 44, the table 44 moves along the guide rail 42 and moves the hand claw 47 as shown by the arrows X and X 'in the drawing. On the 180 ° diagonal side, the rotation of the hand claw 47 is reversed, so that the hand claw 47 moves symmetrically, and a hand mechanism that allows the hand claw 47 to move in parallel can be formed. In this way, the transported object can be clamped by bringing the hand claws 47 into and out of contact with each other, and the work can be performed as a hand mechanism of a working robot by assembling the apparatus as a robot hand.

  FIG. 14 shows a mechanism provided with four hand claws 47 in which the mechanism shown in FIG. In this way, the four hand claws 47 can be brought into and out of contact with each other at the same time, and can be assembled to the apparatus as a hand mechanism of a working robot.

  FIG. 15 shows another embodiment in which the flange 12 of the gear mechanism is arranged on the lower surface side, and the guide frame 51 is fixed to the end surface of the flange 12. Two guide blocks 53 are assembled to a guide rail 52 provided on the lower surface side of the guide frame 51, and support the table 54 respectively. On the side surface of the table 54, an elongated hole 55 a provided at one end of the moving cam 55 attached to the output shaft 10 is supported by the table guide pin 56 so as to be slidable. Each of the pair of moving cams 55 is attached to one end of the output shaft 10 provided at an angle of 180 °, and a long hole 55 a formed in the other end of the moving cam 55 is locked to the table guide pin 56. Has been. When the output shaft 10 rotates in this way, the hand claws 57 attached to the table 54 are operated so as to be able to contact and separate from each other as indicated by the arrows X and X ′ in accordance with the rotation operation of the moving cam 55 and operate as a hand mechanism.

  As described above, according to the above embodiment, the planetary gear mechanism 100 is provided in the input stage, the face gear mechanism 200 is provided in the direction change of the output stage, the sun gear 1 of the planetary gear mechanism 100 is used as the input shaft, Since the internal gear / face gear 2 is used as the internal gear of the planetary gear mechanism 100, and the output gear 9 meshing with the face gear of the face gear portion 2a is mounted on the output shaft 10 orthogonal to the input shaft, the face gear mechanism The output shaft can be extended in multiple directions from the entire circumference of the 200 face gear portions 2a. The planetary gear mechanism 100 and the face gear mechanism 200 can provide the necessary reduction (torque up). Since the face gear of the face gear mechanism 200 is formed directly on the internal gear of the planetary gear mechanism 100, the number of parts can be reduced and the input shaft direction can be reduced. Since the 180 ° diagonal axis can move in the opposite direction, mechanisms that require symmetrical movement can be easily manufactured. In this way, two or four hand claws attached to two or four output shafts can be brought into contact with and separated from each other at the same time and used as a hand mechanism for a working robot.

The present invention is not limited to the above-described embodiment. For example, in the first embodiment, three planetary gears 3 have been described. However, based on the principle of the planetary gear reduction mechanism, The number of gears 3 may be other numbers such as two or four. Also, the reduction ratio can be set freely. By setting the number of teeth of the face gear portion 2a of the internal gear / face gear 2 and the number of teeth of the output gear 9, the speed increase / decrease and the ratio thereof can be freely set.
Further, in the other embodiments described with reference to FIGS. 4 to 7, the configuration is such that the output can be taken out from one direction to three directions by changing the angle every 90 °. The output shaft can be arranged freely in three directions, six directions, eight directions shown in FIG. FIG. 16 shows power in eight directions, and the same parts as those in FIGS. 1 to 3 are given the same reference numerals and the description thereof is omitted.
Although the face gear mechanism has been described as the orthogonal shaft gear mechanism, other orthogonal shaft gear mechanisms such as a bevel gear mechanism may be used.

DESCRIPTION OF SYMBOLS 1 Sun gear 2 Internal gear / face gear 2a Face gear part 2b Internal gear 3 Planetary gear 4 Planetary shaft 5 Planetary bearing 6 Planetary shaft reinforcement ring 7 Internal gear / face gear bearing 9 Output gear 10 Output shaft 11 Output shaft bearing 100 Planetary gear Mechanism 200 Face gear mechanism

Claims (6)

In the gear mechanism in which the output shaft is orthogonal to the input shaft, the planetary gear mechanism is provided in the input stage, the orthogonal shaft gear mechanism is provided in the direction change of the output stage, and the sun gear of the planetary gear mechanism is used as the input shaft. A gear of an orthogonal shaft gear mechanism is directly formed on an output end portion of an internal gear of the planetary gear mechanism, and an output gear meshing with the gear of the orthogonal shaft gear mechanism is mounted on an output shaft orthogonal to the input shaft. A gear mechanism that can output freely in multiple directions. 2. The output gear according to claim 1, wherein a plurality of output gears meshing with the gears of the orthogonal shaft gear mechanism are provided, and the plurality of output gears are respectively attached to a plurality of output shafts provided orthogonal to the input shaft. A gear mechanism that can freely output in multiple directions. The gear mechanism according to claim 2, wherein the plurality of output shafts are set to have the same rotation direction when viewed from the output direction. 3. The gear mechanism according to claim 2, wherein a robot hand is attached to each of the plurality of output shafts, and the robot hand is operated in accordance with the rotation of the output shaft. 5. The gear mechanism according to claim 1, wherein the gear of the orthogonal shaft gear mechanism is a face gear. 5. The gear mechanism according to claim 1, wherein a gear of the orthogonal shaft gear mechanism is a bevel gear.

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