JPH0272240A - Planetary gear type reduction gear - Google Patents

Planetary gear type reduction gear

Info

Publication number
JPH0272240A
JPH0272240A JP22065488A JP22065488A JPH0272240A JP H0272240 A JPH0272240 A JP H0272240A JP 22065488 A JP22065488 A JP 22065488A JP 22065488 A JP22065488 A JP 22065488A JP H0272240 A JPH0272240 A JP H0272240A
Authority
JP
Japan
Prior art keywords
gear
internal gear
input shaft
planetary gear
reduction
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.)
Pending
Application number
JP22065488A
Other languages
Japanese (ja)
Inventor
Kazuhiro Suzuki
和博 鈴木
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nippon Cable System Inc
Original Assignee
Nippon Cable System Inc
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Nippon Cable System Inc filed Critical Nippon Cable System Inc
Priority to JP22065488A priority Critical patent/JPH0272240A/en
Publication of JPH0272240A publication Critical patent/JPH0272240A/en
Pending legal-status Critical Current

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H2001/2881—Toothed gearings for conveying rotary motion with gears having orbital motion comprising two axially spaced central gears, i.e. ring or sun gear, engaged by at least one common orbital gear wherein one of the central gears is forming the output

Abstract

PURPOSE:To realize cost cut and suppress noise and obtain the high reduction gear ratio by revolving planetary gear in a fixed internal gear through rotation by the revolution of an input shaft and reducing speed by the difference of the number of teeth for an internal gear in each revolution and taking out the revolution from an output shaft. CONSTITUTION:When a motor 12 revolves, an input shaft 2a revolves, and a planetary gear 4a revolves, rotating in the meshed state with a fixed internal gear 5a. When the planetary gear 4a revolves by one circumference, the gear 4a has the number of gears less by one piece than that of the internal gear 5a, and the gear 4a rotates by the portion of one piece in the reverse direction to the revolution direction. Therefore, speed is reduced to 1/91 between the input shaft 2a nd the gear 4a. Since the first stage reduction gear 1A and the second stage reduction gear 1B are directly connected, the total reduction ratio becomes 1/8281 which is the result of the multiplication of the reduction ratio in each stage. Since the whole reduction gear is simple and does not use a special structure, cost cut can be realized, and the gears 4-6 are in the meshing between the external gear and internal gear, and noise can be suppressed.

Description

【発明の詳細な説明】 ［産業上の利用分野コ 本発明は遊星歯車減速機に関する。さらに詳しくは、Ｐ
−３型遊星減速機の改良に関する。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a planetary gear reducer. For more details, please see P.
-Regarding improvement of type 3 planetary reducer.

本発明は、ロボットや自動車、工作機械など種々の産業
分野の機械装置に適用することができ、適用しうる産業
分野に制限はない。The present invention can be applied to mechanical devices in various industrial fields such as robots, automobiles, and machine tools, and there are no restrictions on the industrial fields to which it can be applied.

［従来の技術］ 従来より用いられている高減速比の減速機としては、ハ
ーモニックドライブシステムやファーガソンギヤシステ
ムがある。[Prior Art] Conventionally used reduction gears with a high reduction ratio include a harmonic drive system and a Ferguson gear system.

ハーモニックドライブシステムは第４図に示されるよう
に、楕円形のウェーブジェネレータ（ｖ）を回転させて
、弾性歯車（ｅ）を順次内歯車（Ｓ）に押しつけながら
噛み合せ、弾性歯車（ｅ）と内歯車（ｓ）の歯数差分だ
け弾性歯車（８）を反対方向に自転させて減速出力をう
る装置である。As shown in Figure 4, the harmonic drive system rotates an elliptical wave generator (v) and meshes the elastic gear (e) with the internal gear (S) while sequentially pressing it against the internal gear (S). This device generates a deceleration output by rotating the elastic gear (8) in the opposite direction by the difference in the number of teeth of the gear (s).

またファーガソンギヤシステムは第５〜６図に示される
ように、太陽ギヤ（Ｓ）を回転させて遊星ギヤ（ｐ）を
自転させながら公転させると、可動内歯ギヤ（ｆ）が固
定内歯ギヤ（ｒ）との歯数差分だけ自転し、減速出力が
取り出される装置である。In addition, as shown in Figs. 5 and 6, the Ferguson gear system rotates the sun gear (S) and causes the planetary gears (p) to revolve while rotating, and the movable internal gear (f) becomes the fixed internal gear. It is a device that rotates on its own axis by the difference in the number of teeth from (r) and outputs a deceleration output.

［発明が解決しようとする課題］ ところが、従来のハーモニックドライブシステムではウ
ェーブジェネレータ（Ｗ）や弾性歯車（ｅ）などの特殊
な機構を含むため、高度な製造技術が必要であり、製作
コストが高くつくという問題がある。[Problems to be solved by the invention] However, since conventional harmonic drive systems include special mechanisms such as wave generators (W) and elastic gears (e), they require advanced manufacturing technology and are expensive to manufacture. There is a problem with getting it on.

また従来のファーガソンギヤシステムでは、太陽ギヤ（
Ｓ）と遊星ギヤ（ｐ＞とが外歯ギヤ同士の噛み合いであ
るため、噛みあい率が低く騒音が高いという問題がある
。In addition, in the conventional Ferguson gear system, the sun gear (
Since S) and the planetary gear (p>) are external gears that mesh with each other, there is a problem that the meshing ratio is low and noise is high.

そこで本発明は、高減速比かえられながら、低コストで
あり、低騒音である減速機を提供することを目的とする
。SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a reduction gear that has a high reduction ratio, is low in cost, and has low noise.

［課題を解決しようとする手段］ 本発明の遊星歯車減速機を第１図に基づき説明する。本
発明の減速機（１）は、入力軸（２）と、該入力軸（２
Ｊに結合された偏心軸（３）と、該偏心軸（３）に回転
自在に支持され、入力軸（２）の自転によって公転させ
られる遊星ギヤ（４）と、前記遊星ギヤ（４）が噛み合
うように、入力軸（２）と同心に配置された固定内歯ギ
ヤ（５）と、前記固定内歯ギヤ（５）とわずかに歯数か
相違し、かつ入力軸（′２Ｊと同心であって、前記遊星
ギヤ（４）が噛み合うように配置された可動内歯ギヤ（
６）と、前記可動内歯ギヤ（６）の回転中心に形成され
た出力軸（′７）とからなることを特徴とする。[Means for Solving the Problems] The planetary gear reducer of the present invention will be explained based on FIG. 1. The reducer (1) of the present invention includes an input shaft (2) and an input shaft (2).
an eccentric shaft (3) coupled to J; a planetary gear (4) rotatably supported by the eccentric shaft (3) and revolved by the rotation of the input shaft (2); and the planetary gear (4). A fixed internal gear (5) is arranged concentrically with the input shaft (2) so as to mesh with the fixed internal gear (5), and the fixed internal gear (5) has a slightly different number of teeth and is concentric with the input shaft ('2J). and a movable internal gear (
6), and an output shaft ('7) formed at the rotation center of the movable internal gear (6).

［作　用］ 本発明において、入力軸（２）が回転すると遊星ギヤ（
４）が自転しながら固定内歯ギヤ（５）の内周を公転す
る。自転の方向は公転の方向と反対向きである。そして
、遊星ギヤ（４）の自転によって、この遊星ギヤ（４）
に噛み合っている可動内歯ギヤ（６）が自転する。遊星
ギヤ（４）と前記固定内歯ギヤ（５）のは数はわずかに
相違しているので、遊星ギヤ（４）は１公転ごとに歯数
差だけ固定内歯ギヤ（５）に対し相対移動し減速される
。そして、この遊星ギヤ（４）の減速出力は可動内歯ギ
ヤ（６）を自転させで出力軸（刀から取り出される。[Function] In the present invention, when the input shaft (2) rotates, the planetary gear (
4) revolves around the inner circumference of the fixed internal gear (5) while rotating. The direction of rotation is opposite to the direction of revolution. Then, due to the rotation of the planetary gear (4), this planetary gear (4)
The movable internal gear (6) that meshes with rotates. Since the numbers of the planetary gear (4) and the fixed internal gear (5) are slightly different, the planetary gear (4) rotates relative to the fixed internal gear (5) by the difference in the number of teeth for each revolution. Move and slow down. The deceleration output of this planetary gear (4) is extracted from the output shaft (sword) by rotating the movable internal gear (6).

本発明では、出力軸（７）は入力軸（２と同心であるの
で本発明の減速機（１）を多段に連結することが容易で
あり、コンパクトな構成で高い減速比ををうろことかで
きる。In the present invention, since the output shaft (7) is concentric with the input shaft (2), it is easy to connect the reducer (1) of the present invention in multiple stages, and a high reduction ratio can be achieved with a compact configuration. .

本発明では、外歯ギヤと内歯ギヤとだけで構成されてお
り、ウェーブジェネレータや弾性歯車のような特殊な構
成部品を用いていないので、製作が容易であり低コスト
で製造しうる。また遊星ギヤ（４）と固定内園ギヤ（５
）および可動内歯ギヤ（６）との噛み合いは、外歯ギヤ
と内歯ギヤとの噛み合いであるので噛み合い率が高く、
シたがって低騒音となる。The present invention is composed of only an external gear and an internal gear, and does not use special components such as a wave generator or an elastic gear, so it is easy to manufacture and can be manufactured at low cost. Also, the planetary gear (4) and the fixed inner garden gear (5)
) and the movable internal gear (6), the meshing ratio is high because the meshing is between an external gear and an internal gear.
Therefore, the noise is low.

［実施例］ つぎに本発明の詳細な説明する。[Example] Next, the present invention will be explained in detail.

第１図は本発明の減速機のブロック図、第２図は本発明
の減速機を２段に連結したばあいのブロック図、第３図
は第２図に示された減速機の一実施例を示す断面図であ
る。Fig. 1 is a block diagram of the reduction gear of the present invention, Fig. 2 is a block diagram of the case where the reduction gear of the invention is connected in two stages, and Fig. 3 is an embodiment of the reduction gear shown in Fig. 2. FIG.

以下第３図の実施例を説明するが、この実施例は第２図
に示された２段連結の遊星歯車減速機の実施例である。The embodiment shown in FIG. 3 will be described below. This embodiment is an embodiment of the two-stage connected planetary gear reducer shown in FIG. 2.

なお、第２〜３図において、１段目減速機（ＩＡ）およ
び２段目減速機（ＩＢ）のそれぞれは第１図の減速機（
１）と同一構成であるので、同一部品に同一番号を付し
、さらに１段目と２段目の各部品にはそれぞれ符号（ω
、（ｂ）を付して区別する。In addition, in Figures 2 and 3, the first stage reducer (IA) and the second stage reducer (IB) are respectively the same as the reducer in Figure 1 (
Since it has the same configuration as 1), the same parts are given the same numbers, and each part in the first and second stages is given a code (ω
, (b) are added to distinguish them.

第３図において、ａｌ）は円筒状のケーシングであり、
一端面にモータ（１２）が取りつけられている。In Fig. 3, al) is a cylindrical casing;
A motor (12) is attached to one end surface.

モータ０２）の出力軸は１段目減速Ｉｌｌ　（ＬＡ）の
入力軸（２ａ）を兼ねている。入力軸（２ａ）には偏心
軸（３ａ）が固着されている。この偏心軸（３ａ）は円
筒形で、その軸心は入力軸（２ａ）の軸心と偏心してい
る。The output shaft of the motor 02) also serves as the input shaft (2a) of the first stage reduction Ill (LA). An eccentric shaft (3a) is fixed to the input shaft (2a). This eccentric shaft (3a) has a cylindrical shape, and its axial center is eccentric to the axial center of the input shaft (2a).

そして偏心軸（３ａ）の外周には遊星歯車（４ａ）のボ
ス部Ｑｌ）が摺動自在に嵌合されている。固定内歯ギヤ
（５ａ）はケーシング０１）の内周壁に形成されている
。そして前記遊星ギヤ（４ａ）が固定内歯ギヤ（５ａ）
に噛み合っている。したがって、入力軸（２ａ）が回転
すると、遊星ギヤ（４ａ）は偏心軸（３ａ）上を自転し
ながら、固定内歯ギヤ（５ａ）にそって公転する。A boss portion Ql) of a planetary gear (4a) is slidably fitted on the outer periphery of the eccentric shaft (3a). The fixed internal gear (5a) is formed on the inner peripheral wall of the casing 01). The planetary gear (4a) is a fixed internal gear (5a).
are meshed with each other. Therefore, when the input shaft (2a) rotates, the planetary gear (4a) revolves along the fixed internal gear (5a) while rotating on the eccentric shaft (3a).

可動内歯ギヤ（６ａ）は前記固定内歯ギヤ（５ａ）と同
心で、それに対向して配置されている。そして前記遊星
ギヤ（４ａ）が噛み合っている。この可動内歯ギヤ（６
ａ〉の歯数は、固定内歯ギヤ（５ａ）の歯数とわずかに
（本実施例では２枚）相違しており、固定内歯ギヤ（５
ａ）が９０枚である可動内歯ギヤ（６ａ）の自転中心に
は出力軸（７ａ）が形成されており、この出力軸（７ａ
）は軸受０２）で支持されている。この軸受Ｏりはケー
シングＱｌ＋の側壁から内側へ突出した隔壁にで支持さ
れており、入力軸（２ａ）と同心になっている。The movable internal gear (6a) is arranged concentrically with and opposite the fixed internal gear (5a). The planetary gears (4a) are in mesh with each other. This movable internal gear (6
The number of teeth of the fixed internal gear (5a) is slightly different (two in this example) from the number of teeth of the fixed internal gear (5a).
An output shaft (7a) is formed at the rotation center of the movable internal gear (6a) having 90 pieces of a).
) is supported by bearing 02). This bearing O is supported by a partition wall projecting inward from the side wall of the casing Ql+, and is concentric with the input shaft (2a).

２段目減速機（ＩＢ）の構成は実質的に１段目減速機（
ＩＡ）と同一である。そこで図面上に部品符号を付して
説明を省略する。なお、２段目減速［（ＩＢ）における
入力軸は１段目減速機（ＩＡ）の出力軸（７ａ）が相当
する。またこの出力軸（７ａ）には偏心軸（３ｂ）が軸
方向に突出して形成されており、遊星ギヤ（４ｂ）を偏
心位置に保持している。そして、可動内歯ギヤ（６ｂ）
の出力軸（７ｂ）はケーシング０１）の外側壁に形成さ
れた軸受０４）により支持されており、これか出力軸に
相当する。そして、この軸受（Ｉ４）および出力軸（７
ｂ）はいずれも入力軸（２ａ）と同心であり、可動内歯
ギヤ（６ｂ）を同心に保持している。The configuration of the second stage reducer (IB) is essentially the same as the first stage reducer (IB).
IA). Therefore, component numbers are given on the drawings and explanations thereof are omitted. Note that the input shaft in the second stage reduction gear (IB) corresponds to the output shaft (7a) of the first stage reduction gear (IA). Further, an eccentric shaft (3b) is formed on the output shaft (7a) to protrude in the axial direction, and holds the planetary gear (4b) at an eccentric position. And a movable internal gear (6b)
The output shaft (7b) is supported by a bearing 04) formed on the outer wall of the casing 01), and this corresponds to the output shaft. Then, this bearing (I4) and the output shaft (7
b) are both concentric with the input shaft (2a) and hold the movable internal gear (6b) concentrically.

本実施例において、モータ０２）が回転すると入力軸（
２ａ）が回転して、遊星歯車（４ａ）が固定内歯ギヤ（
５ａ〉と噛み合った状態で自転しながら公転する。そし
て遊星歯車（４ａ）が１周分公転したとき、遊星ギヤ（
４ａ）は固定内歯ギヤ＜５ａ）より歯数が１枚少ないの
で、その分だけ遊星ギヤ（４ａ）が公転方向と反対方向
に１枚分だけ自転する。したがって本実施例においては
、入力軸（２ａ）と遊星ギヤ（４ａ）との間で１／９１
に減速される。そして本実施例では１段目減速機（ＩＡ
）と２段目減速機（ＩＢ）とは直結しているので、絶減
速比は各段の減速比を乗算した１／８２８１となる。In this embodiment, when the motor 02) rotates, the input shaft (
2a) rotates, and the planetary gear (4a) becomes the fixed internal gear (
5a> and revolves while rotating on its axis. Then, when the planetary gear (4a) revolves one revolution, the planetary gear (4a)
Since 4a) has one less tooth than the fixed internal gear <5a), the planetary gear (4a) rotates by one tooth in the direction opposite to the revolution direction. Therefore, in this embodiment, the distance between the input shaft (2a) and the planetary gear (4a) is 1/91.
The speed is reduced to In this embodiment, the first stage reducer (IA
) and the second-stage reducer (IB) are directly connected, so the absolute reduction ratio is 1/8281, which is obtained by multiplying the reduction ratio of each stage.

本発明における減速機全体の構成は非常にシンプルであ
り、しかも、ウェーブジェネレータや弾性歯車などの特
殊構造を用いておらないので、製造が容易であり、低コ
スト化が可能である。また遊星ギヤ（４）と固定内歯ギ
ヤ（５）および可動内歯ギヤ（６）とは外歯ギヤと内歯
ギヤとの噛み合いとなるので、噛み合い率が高くとれ、
騒音を抑制するのに効果がある。The overall structure of the reduction gear according to the present invention is very simple and does not use special structures such as a wave generator or elastic gears, so manufacturing is easy and costs can be reduced. In addition, the planetary gear (4), the fixed internal gear (5), and the movable internal gear (6) mesh with the external gear and the internal gear, so a high meshing ratio can be achieved.
Effective in suppressing noise.

［発明の効果］ 本発明によれば、減速機を多段に直結して大きな減速比
をうろことができしがち、低コストで製造でき、低騒音
という利点がある。[Effects of the Invention] According to the present invention, the reduction gears can be directly connected in multiple stages to allow large reduction ratios to be achieved, and there are advantages in that the reduction gears can be manufactured at low cost and have low noise.

【図面の簡単な説明】[Brief explanation of the drawing]

第１図は本発明の減速機のブロック図、第２図は本発明
の減速機を２段に連結したばあいのブロック図、第３図
は第２図に示された減速機の一実施例を示す断面図、第
４図はハーモニックドライブシステムの説明図、第５〜
６図はファーガソンギヤシステムのブロック図および概
略正面図である。 （図面の主要符号） （１）：遊星歯車減速機 （２）、（２ａ）、（２ｂ）　：入力軸（４）、 （５）、 （６）、 （７１、 （４ａ）、 （５ａ）、 （６ａ）、 （７ａ）、 （４ｂ）＋ （５ｂ）： （６ｂ）： （７ｂ）： 遊星ギヤ 固定内歯ギヤ 可動内［司ギヤ 出力軸Fig. 1 is a block diagram of the reduction gear of the present invention, Fig. 2 is a block diagram of the case where the reduction gear of the invention is connected in two stages, and Fig. 3 is an embodiment of the reduction gear shown in Fig. 2. 4 is an explanatory diagram of the harmonic drive system.
FIG. 6 is a block diagram and a schematic front view of the Ferguson gear system. (Main symbols in the drawing) (1): Planetary gear reducer (2), (2a), (2b): Input shaft (4), (5), (6), (71, (4a), (5a) , (6a), (7a), (4b) + (5b): (6b): (7b): Planetary gear fixed internal gear movable [main gear output shaft]

Claims (1)

【特許請求の範囲】 １　（ａ）入力軸と、 （ｂ）該入力軸に結合された偏心軸と、 （ｃ）該偏心軸に回転自在に支持され、入力軸の自転に
よって公転させられる遊星ギヤと、 （ｄ）前記遊星ギヤが噛み合うように、入力軸と同心に
配置された固定内歯ギヤと、 （ｅ）前記固定内歯ギヤとわずかに歯数が相違し、かつ
入力軸と同心であって、前記遊星ギヤが噛み合うように
配置された可動内歯ギヤと、 （ｆ）前記可動内歯ギヤの回転中心に形成された出力軸
と からなる遊星歯車減速機。 ２　請求項１記載の減速機を多段に連結してなる遊星歯
車減速機。[Scope of Claims] 1 (a) an input shaft; (b) an eccentric shaft coupled to the input shaft; (c) a planet rotatably supported by the eccentric shaft and revolved by the rotation of the input shaft. (d) a fixed internal gear disposed concentrically with the input shaft so that the planetary gear meshes with the fixed internal gear; (e) a fixed internal gear having a slightly different number of teeth from the fixed internal gear and concentric with the input shaft; A planetary gear reducer comprising: a movable internal gear arranged to mesh with the planetary gear; and (f) an output shaft formed at the rotation center of the movable internal gear. 2. A planetary gear reducer formed by connecting the reducers according to claim 1 in multiple stages.
JP22065488A 1988-09-02 1988-09-02 Planetary gear type reduction gear Pending JPH0272240A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP22065488A JPH0272240A (en) 1988-09-02 1988-09-02 Planetary gear type reduction gear

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP22065488A JPH0272240A (en) 1988-09-02 1988-09-02 Planetary gear type reduction gear

Publications (1)

Publication Number Publication Date
JPH0272240A true JPH0272240A (en) 1990-03-12

Family

ID=16754357

Family Applications (1)

Application Number Title Priority Date Filing Date
JP22065488A Pending JPH0272240A (en) 1988-09-02 1988-09-02 Planetary gear type reduction gear

Country Status (1)

Country Link
JP (1) JPH0272240A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015036163A (en) * 2013-08-13 2015-02-23 株式会社アイカムス・ラボ Balance weight device

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015036163A (en) * 2013-08-13 2015-02-23 株式会社アイカムス・ラボ Balance weight device

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