JPH0366956A - Suspended gear device - Google Patents

Abstract

PURPOSE:To exchange gears integrated as suspended gears rapidly and easily providing two integrated gears, one of which is engaged with a planetary gear, and disposing these integrated gears floatingly as suspended gears without axes of rotation. CONSTITUTION:Gears D, E integrated as suspended gears are without axes and thereby detached from a suspended gear device just by being slided so as to be exchanged rapidly and easily. The reduction ratio of the suspended gear device can be easily changed by exchanging the suspended gears D, E, thus forming the suspended gear device with different reduction ratios just by exchanging suspended gears D, E. If the bilateral positions of the gears D, E are reversed and the gears D is engaged with a gear F and the gear E with a gear C respectively, a different reduction ratio can be obtained. The suspended gear device with two different reduction ratios can be thus obtained even without exchanging the suspended gears.

Description

[Detailed Description of the Invention] [Field of Industrial Application] This invention relates to a planetary gear'? The present invention relates to a floating gear device in which some gears of a planetary gear are provided in a floating manner so that the center of rotation is not fixed and rotates around a variable center of rotation.

[Conventional technology]

A gear train in which two gears rotate and one gear (planetary gear) revolves around the other gear (sun gear) at the same time is called a planetary gear. .

In a planetary gear device incorporating a planetary gear.

The shaft 'i' (@) on which the gear is attached is the drive shaft slave fh
These axes are classified into Miki's basic axes: axes and fixed axes.
All are placed on the same axis.

The basic structure of the planetary gear device is shown in Figure 4.
A planet gear B on a carrier S is disposed between an external sun gear A and an internal sun gear 0, and meshes with the two sun gears A and C, respectively.

If gear C is fixed, the axis of gear C becomes a fixed axis, the axis of gear A becomes a driving axis, and the axis of carrier S becomes a driven wheel, and the axis of carrier S decelerates in the same direction as the axis of gear ^. (See FIG. 4(A)).

Also, if gear A is fixed and the axis of gear A is the fixed axis,
The shaft of gear C is the driving shaft, and the shaft of carrier S is the driven shaft.
The axis of the carrier S is rotated at a reduced speed in the same direction as the axis of the gear C (see Fig. 4 (B)).Furthermore, if the carrier S is fixed and the axis of the carrier S is a fixed axis, the axis of the gear A The shaft of gear C is a driving shaft, and the shaft of gear C is a driven shaft, and the shaft of gear C is rotated at a reduced speed in the opposite direction to the shaft of gear A (see FIG. 4(C)).

The above three types are planetary type (Figure 4 (A))
, solar type (Fig. 4 (B)), star type (Fig. 4 (C)
).

The planetary gear devices shown in FIGS. 4(A) to 4(C) have only one planetary gear train and are therefore called single planetary gears. On the other hand, a planetary gear system having two or more planetary gear trains is called a compound planetary gear train. For example, a double planetary type planetary gear system with two planetary gear trains is shown in FIG. 5. In this planetary gear system, If the planetary gears B and C are integrated, and the sun internal gear A is fixed and the carrier S is used as a driving shaft, the shaft of the sun internal gear becomes a driven shaft. If the number of teeth of the gears A, B, C, and D is Za, Zb, Zc, and Zd, and the rotation speed of the carrier S is Ns, then the rotation speed Nd of the gears is as follows.

Nd= NsX (1-ZaZc/ZbZd) where,
As the difference in the number of teeth, Za - Zb = a, Zd - Z
If c=b, Nd= NgX (bZa-aZd)/ZbZd
becomes.

The difference in the number of teeth between gears A, B, C, and D is 1, that is, a-b-1.
If Za-Zd is 1, then )ld=NgX 1/ZbZd, that is, Xs/Nd=ZbZd.

In this way, the speed ratio n (Ns/Nd) is the product of the number of teeth zb and Zd of gears B and D, and by appropriately setting the number of teeth Zb and Zd, a reduction gear with a large reduction ratio can be obtained.

Furthermore, if the driving shaft and driven shaft are reversed or the number of teeth is set appropriately, the speed will be increased instead of decelerated, and the planetary gear device will become a speed increasing device.

[Problem to be solved by the invention]

Reduction devices are used in precision machinery fields such as printers, copiers, cameras, video cameras, and video recorders, various actuators for automobiles (e.g., door mirrors, wipers), and housing-related equipment (e.g., automatic door opening/closing).
It is widely used in various fields such as robot joints.

It goes without saying that a reduction gear with an optimal reduction ratio is required depending on the field of use and purpose of use.Recently, with the miniaturization and precision of printers, etc. An intermediate reduction ratio with a value (for example, 400
．． 5) is often required.

In addition, the three basic axes of the gears in a planetary gear system, the drive shaft, driven shaft, and fixed shaft, are located on the same axis, and it is difficult to arrange the input and output shafts eccentrically, which is a design constraint. .

By changing the number of teeth Zb and Zd of gears B and D, the reduction ratio can be changed. However, even if you try to change the reduction ratio while leaving gear A as it is, the pitch of gear B remains unchanged and there are restrictions that gear B is coaxial with gear A, so the number of teeth of gear B zb
cannot be changed.

In addition, there is a similar constraint on gears, and the number of teeth on gears Zd
cannot be changed, that is, among gears A, B, C, and D,
It is not possible to change one or both of gears B and D without changing gear A, and a different reduction ratio cannot be obtained unless all gears A, B, C, and D are changed at the same time.

The object of the present invention is to provide a planetary gear device in which different reduction ratios can be obtained by changing some of the constituent gears.

[Means to solve the problem]

The inventor noticed that gears without a rotating shaft can also rotate, and created a planetary gear system by removing the rotating shaft from some of the gears of the Tl planetary gear and providing some of the gears of the planetary gear in a floating manner. It consists of That is, by arranging the gear without a rotation axis and providing the gear in a floating manner, the gear does not have a fixed rotation center, but can rotate around a fluctuating rotation center.

Specifically, in the above known basic configuration, the sun internal gear is provided in a floating manner, the gear E is molded integrally with the gear, and the gear F is eccentrically meshed with the gear E.

Since the integrated gear wheel H is provided in a floating manner in this manner, it is referred to as a floating gear in this invention, and accordingly, the planetary gear device having this configuration is referred to as a floating gear device.

〔Example〕

Embodiments of the present invention will be described in detail below with reference to the drawings.

As shown in FIG. 1, a floating gear device lO according to the present invention
basically consists of six gears A-F. First, gear A has internal teeth, and gear B is eccentric to gear A.
are engaged. A gear wheel meshes with a gear C coaxial with the gear wheel, and another gear E is molded integrally with the gear wheel. Then, gear F is meshed with gear E, and this gear F is in mesh with gear E.
It is arranged eccentrically with respect to the gear A and is located coaxially with the gear A.

Gears A, B, C, and F have an axis (shaft) and are rotated around this axis, whereas gear E, which is an integral gear, does not have an axis and is arranged in a floating manner. ing. Therefore, *When carrier S of wheels B and C is rotated, gear [1
, E rotate with their gears meshing with gear C and gear E meshing with gear F, and their centers of rotation are not fixed and change over time. In other words, the eccentricity of eccentric gears B and C is e
Then, while moving the center of rotation on the circumference of a circle with radius e.

Gear wheel E rotates.

It seems appropriate to call the integrated gear E, which is disposed in a floating manner, as a floating gear. In addition, gear A is a sun internal gear, gears B and C are planetary gears, and gear F is a sun external gear.

According to the floating gear device gear B having the above configuration, since the gear E integrated as the floating gear does not have a shaft, it can be detached from the floating gear device by simply sliding, and the floating gear can be quickly and easily moved. can be exchanged for

By replacing the floating gears, the reduction ratio of the floating gear device 10 can be easily changed, and floating gear devices with different reduction ratios can be configured as desired by simply replacing the floating gears.

In particular, reverse the left and right sides of the gear wheel E, and change the gear wheel to gear F.
By meshing the gear E with the gear C, different reduction ratios can be obtained, and the floating gear device 10 having two different reduction ratios can be obtained without replacing the floating gears.

In this way, according to the floating gear device of the present invention, different reduction ratios can be obtained by simply replacing some of the gears (floating gears) or arranging them left and right in reverse, without changing all of the gears. It will be done.

The floating gear is not limited to an internal gear, but may be an external gear as shown in FIG. 2. If the floating gear is an external gear, the gear F becomes a sun internal gear.

Also, although the carrier S of gears B and C is arranged coaxially with gear A, it is not necessary to arrange gear F coaxially with gear A and carrier S. Therefore, as shown in Fig. 3, , the gear F can be arranged offset from the axes of the gear A and the carrier S, and the arrangement of the input and output shafts can be appropriately selected, increasing freedom in design.

Furthermore, since the floating gear E is arranged in a floating manner and does not have a fixed center of rotation, it starts rotating with a small torque and continues to rotate smoothly. Therefore, a configuration that is quiet and has high transmission efficiency can be obtained.

According to the floating gear device gear B having the above configuration, which is a type of planetary gear device, the rotation speed Nf of the gear F is as follows.

Basic formula for two people (rotation speed) If Ni is the number of teeth of gear A, and Za is the rotation speed, then the rotation speed Nb of gear B with the number of teeth zb is expressed by the following formula.

Nb=(+-Za/Zb)Ni+Na Za/Zb, gears A, B, C, D, E, F number of teeth is Za-Zf
, if the rotational speed is Ha-Nf, then from the basic formula Nb=Nc
-(+-Za/Zb)Ni+Na Za/Zb ---
(+)Nd=Ne-(1-Zc/Zd)Ni+Nb Z
c/Zd ---(2)Nf= (1-Ze/
Zf) Ni+Ne Ze/Zf --- (3) Here, if gear A is fixed, Na=0, and substituting equation (1) into equation (2) and summarizing, Nd=Ne-(1 −
ZaZc/ZbZd)Ni---(4)2〇) by formula (
Substituting into 3) and summarizing.

Nf= (1-ZaZcZe/ZbZdZf)Xi(Z
aZe(Zd-Zc)-ZdZf(Za-Zb)-Za
Zd(Ze-Zf)) Old/ZbZdZf Considering the tooth number difference, Za-Zbsa, Zd-Zc+wd, Ze-Z
If f = e, Nf* (ZaZea d -ZdZfe a -Za
Zd* e) Old/ZbZdZf ---(5) Speed ratio n is n-Ni/Nf-ZbZdZf/ (ZaZe 11d
-ZdZf IIa-ZaZd 11e)
---(8) Therefore, by appropriately selecting the difference in the number of teeth.

Floating gear devices 10 with various speed ratios (reduction ratio, speed increase ratio) are obtained. - The floating gear device 10 can also be configured as a joint. Furthermore, a so-called double mechanism is also configured, which converts eccentric motion into rotational motion and transmits it.

(Example 1) For example, if the difference in the number of teeth between gears AB, DC, and AD is 1, that is, awl, d-1, 2a-Zdml, and
If the gears EF have the same number of teeth (e=0), then from equation (6).

n = ZbZdZf/ (ZaZe - ZdZf) =
ZbZdZf/ (ZaZf - ZdZf) = Zb
Zd/ (Za - Zd) = ZbZd, and as pointed out as a known planetary gear device,
A speed reduction device with high speed reduction can be obtained.

(Example 2) If n=de-1 and gears ED have the same number of teeth.

n=, ZbZdZf/ (ZaZe −ZdZf −Z
aZd) = ZbZdZf/ (Za(Ze-Zd)
-ZdZf)=ZbZdZf/-ZdZf=-zb, and a joint in which the direction of rotation is reversed is obtained.

In this configuration, after increasing the speed, the speed is decelerated at the same speed ratio.
Experimental results showed low star)) power, high transmission efficiency, and low noise.

(Example 3) If awl and dmemo are used, the reduction ratio n becomes n-Zb as in Example 2, and in this case, the floating gear device 10 is embodied as a double mechanism.

(n= ZbZdZf/ -ZdZf= -Zb) (Example 4) If a shit die night, n = ZbZdZf/ (ZaZe-ZdZf-ZaZ
d), and the number of teeth of gears A, B, C, D, E, F is Za-
Set Zf appropriately and write ZaZe −ZdZf −Za
If Zd≠1, the reduction ratio force becomes a non-integer value, and a halfway reduction ratio can be obtained arbitrarily.

In addition, as Miki's basic axes (drive shaft, driven shaft, fixed shaft), in the example, gear A is fixed, the shaft of carrier S is the drive shaft, and the shaft of gear F is the driven shaft, and as a planetary type,
It constitutes a floating gear device 10. However, the present invention is not limited to this type, and the carrier S may be fixed to form a roller type, or the gear F may be fixed to form a star type.

The above-mentioned embodiments are for illustrating this invention, and do not limit this invention in any way, and all modifications and modifications within the technical scope of this invention are also included in this invention. Needless to say.

For example, the illustrated configuration is a basic structure, and structures obtained by expanding the basic structure are also included in the present invention.

Moreover, the examples (1) to 0) in which the difference in the number of teeth is specified are only examples of the present invention, and in addition to these, an almost infinite number of various configurations can be obtained.

〔Effect of the invention〕

As described above, according to the present invention, the gear port E integrated as a floating gear does not have a shaft, so it can be detached from the floating gear device by simply sliding, and the floating gear can be quickly and easily replaced. can. Therefore, you can replace some gears (floating gears) without changing all the gears,
Floating gear devices with different reduction ratios can be created by simply arranging the left and right sides in reverse.

Moreover, since the gear F can be arranged offset from the axes of the carrier S of the gears B and C and the gear A, the arrangement of the input and output shafts can be appropriately selected, increasing the degree of freedom in design.

Furthermore, by appropriately selecting the difference in the number of teeth, reduction gears with various reduction ratios can be obtained in a wide range from high reduction to low reduction. By reversing the thermal theory, the driving shaft and the driven shaft, or setting the number of teeth appropriately, it is possible to increase the speed instead of decelerating it, and the floating gear device can be configured as a speed increasing device. Furthermore, a simple joint or double mechanism can be constructed from a floating gear device.

Since the floating gear E is arranged in a floating manner and the center of rotation is not fixed, it starts rotating with a small torque and rotates smoothly, making it quiet and efficient.

In addition, the number of teeth of gears A, B, C, D, E, F is Za-Z
When t, ZaZe −ZdZf −ZaZd≠1
If so, the reduction ratio will be a non-integer value, and an intermediate reduction ratio can be obtained arbitrarily.

[Brief explanation of drawings]

1 to 3 are schematic diagrams of each embodiment of a floating gear device according to the present invention. FIGS. 4(A) to 4(C) are schematic diagrams showing the basic structure of a known planetary gear device. The figure is a schematic diagram of the basic structure of a known dual planetary gear device. A: Gear (coronal gear), S, C: Coaxial gear (M
(star gear), [1,E-integrated gear (floating gear with internal or external teeth), F: gear (sun gear), S: carrier of gears B and C, Za-Zf: gears A, B, C :, Number of teeth of D, E, F, N
i, Na ~ Nf: Input, gears A, B, C, 13, E
, F rotation speed n (= Xi/Nf): Speed ratio.

Claims (3)

[Claims] (1) A planetary gear comprising a sun internal gear A, an eccentric gear B meshing with the sun internal gear A, and a gear C coaxial with the gear B, a gear D meshing with the gear C, and another gear integral with the gear D. A floating gear device comprising a gear E, a floating gear without a rotating shaft and arranged in a floating manner, and an eccentric sun gear F meshing with the gear E of the floating gear. (2) An internal gear A, an eccentric gear B that meshes with the internal gear A, a gear C that is coaxial with the gear B, a gear D that meshes with the gear C, and another gear E that is integral with the gear D, and rotates. A floating gear device comprising a floating gear that does not have a shaft and is arranged in a floating manner, and an eccentric gear F that meshes with gear E of the floating gear. (3) A floating gear device in which some of the gears of the planetary gears are provided in a floating manner so that the center of rotation is not fixed and can rotate with a fluctuating center of rotation.