JPS60129454A - Planetary speed-up and reduction gear - Google Patents

Abstract

PURPOSE:To combine an external gear of planetary speed-up/reduction gear with an output shaft thereof such that there are no backlash and play among tooth forms engaged with each other when a shaft core is eccentrically displaced, and in the vicinity of a mounting part of the shaft by effecting said combination with use of a universal joint system. CONSTITUTION:Spline holes 32, 39 are formed in a carrier 31 and an output shaft 22 attached to an external gear 26 communicated via a roller 25 to an eccentric body 24 provided on an input shaft 21. A spline 34 is formed on one end of a drive 33 for connecting both of the carrier and the output shaft, while a spline plate 36 is fixed on the other end of the drive via a shim 35, whereby the splines 34, 37 are respectively engaged with the spline holes 32, 39. Crowning parts 32b, 32c, 37b, 37c are formed on the both ends of the drive such that when outer shapes of the respective splines 32, 37 are displaced from straight line parts 32a, 37a, the resultant displacement can be absorbed. Thickness of the shim 35 is changed to alter an interval between the splines 32, 37, whereby an eccentric angle is made finely adjustable.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an improvement in a planetary gear multiplier/reducer in which the internal gear is a combination of pins or pins and rollers, and the external gear is a trocho bottom tooth profile, etc. The present invention relates to a mechanism that reduces meshing play and play in the planetary gear mechanism.

First, a known planetary gear reduction gear will be explained with reference to FIGS. 1 and 2.

In this known example, the planetary gear reducer reduces the rotation speed input from the input shaft 1 and applies it to the output shaft 2.

This deceleration mechanism is as follows.

The input shaft 1 is provided with -6 bodies a, , a, with a predetermined phase difference (180' in this example). each eccentric body 3
．． , 3. is external gear 5I via roller 4.

I'll deal with 52. External gears 51 + 52 have inner holes -
A plurality of holes 6 are provided, into which an inner pin 7 and an inner roller 8 are fitted. External gear 5. , 5t are provided with external teeth 9 such as trochoids or circular arcs, and the external teeth 9 mesh with an external pin 11 provided on the internal gear 10.

The inner pin 7 is fixed or fitted into the 7-rank portion 12 of the output shaft 2.

In this known example, the input @101 rotations is the eccentric body a, , at
During one rotation of the external tooth wheel 51+52,
The outer pin 117, which is the internal tooth of the internal gear 10, is displaced while meshing with only one. Therefore, one rotation of the input shaft 1 is transmitted to the output shaft 2 via the inner pin 7 as a rotation of the external gear 51.5□ (1/number of external m).

The planetary gear mechanism described above has the following problems.

This can also be said about gear transmission mechanisms in general, but because there is backlash or play between the meshing tooth profiles or in the installation of the shaft, the rotation does not reverse immediately when moving from forward rotation to reverse rotation, or vice versa. (There is a delay in response.) A planetary gear mechanism is exactly the same as a general gear transmission mechanism.
Even if there are a large number of meshing parts and conduction parts, backlash and play cannot be completely eliminated, and a reversal action does not occur immediately when reversing.

Now, we will refer to the delay in response during forward and reverse rotation due to backlash and play as angular paraclarity, and when the transmission mechanism is used as a rotation control device, this angular paraclarity becomes an obstacle to improving control accuracy. , resulting in a decrease in durability due to impact, etc.

This angular backlash can be reduced by reducing the gap between each component, but there is a limit due to processing errors, assembly errors, consideration of thermal expansion during operation, etc.

In the planetary gear mechanism shown in FIGS. 1 and 2, the inner roller hole 6. In this part, the angular backlash of the input shaft 1 is multiplied by the reduction ratio (
In this example, the distance is 43 times), so adjusting the gap in this part is very important.

Also, the radial deformation of the output shaft 2 is also caused by the inner roller hole 6. The inner pin 7 and the inner roller 8 are greatly affected, and if the precision of these parts is increased, the rigidity of the output shaft 2 must also be increased, otherwise the inner roller hole 6. There is no point in improving only the accuracy of the inner pin 7 and inner roller 8. However, miniaturization and lightweight construction of the entire increase/deceleration mechanism are also important technical issues, and enlarging the output shaft 2 means increasing the size of other components, such as Cousing, bearings, etc., which ultimately reduces the overall size. will become larger.

On the other hand, the mechanism for extracting the rotation of external gears is 5, which uses a universal joint in winter and is published in Japanese Patent Application Laid-Open No. 5.0-657.
It is shown in Publication No. 60.

However, this publication does not mention anything about the essential solution to angular balaclarity as referred to in the present invention. .

□ Therefore, the purpose of the present invention is to increase and decrease the planetary gear; the feature of the present invention that reduces angular paraclarity in continuous shooting is the 11 versalge im 5 lower method between the external gear and the output gear. Hereinafter, the case of a speed reducer will be explained with reference to the drawings.

Figures 3 and 4 meet in sectional view showing one embodiment of the present invention.

The rotation applied to the input shaft 21 is transmitted to the output shaft 22,
Decelerated rotation can be obtained.

An eccentric body 24 is provided on the input shaft via a key 23, and is connected to an external gear 26 via rollers 25. Trochoidal or arcuate external teeth 27 are provided on the outer periphery of the external gear 26 and mesh with internal teeth consisting of an external pin 29 of a southeast internal tooth 28.

The carrier 31 is attached to the external gear 26 by a mounting pole) 30.
is fixed. The carrier 31 has an internally toothed spline hole 32, and the spline hole 32 is connected to the drive 33.
It is coupled with a spline 34 formed on the outer periphery of.

The drive 33 is connected to a °C spline plate 36 via a shim 35.
The spline 3 formed on the outer periphery of the spline plate 36Cr is fixed to the spline hole 3 formed on the inner periphery of the flange portion 38.The deceleration effect of the present invention configured as described above is as follows.

Regarding the rotation input from the input shaft 21, one rotation of the input shaft 21 corresponds to one rotation of the eccentric body 24, and the external gear 26 rotates by 1/(external gear). The rotation of the external gear 26 is coupled to the rotation of the drive 33 through the spline hole 32 and the spline 34, and further through the spline 37. The output shaft 22 rotates and is taken out through the spline hole 39.

In addition, in the above, 40 is balance way 14", T
hD, 41.42 is a spacer.

Further, the internal gear 28 is secured by a mounting bolt 45 so as to be sandwiched between the input side casing 43 and the output side casing 44, and can be easily disassembled by removing the mounting port 45. It has become something that

In the above configuration, the spline joint portion of the present invention has the following structure.

First, referring to FIG. 5, the spline 32 that engages with the tin line hole 34 has an outer shape that includes an intermediate straight portion 32a and crowned portions 32b on both sides thereof.
32c. Further, the spline 37 that engages with the spline hole 39 is also divided into 37c. Respective crowning parts 32b, 32c, 37b, 37
As can be seen from FIG. 6, where c is a sectional view taken along line C-0 in FIG. 5, the outer shape of the side surface is also divided into a straight portion and a crowning portion.

In this case, the state shown in FIG. 6 is such that the eccentric angle θ is the most dog degree, and each crowning part is alternately connected to the spline hole 34.
．． The outer shape of the spline 32 and 37 is determined to be in contact with the spline 39.

With this design, the spline 3 can be adjusted without eccentricity.
2.37 are engaged with the spline holes 34 and 39, a gap h is created between the outer shape of the spline 32.37 and the inner shape of the spline hole 34.39, as shown in FIG.

Therefore, the splines 32, 37 can be easily inserted into the spline holes 34, 39.

Then, when the eccentricity is eccentric by a predetermined amount t shown in FIG. 5, the eccentric angle becomes θ, and as shown in FIG.
39 is engaged.

When splines and spline holes are machined so that the state shown in Fig. 6 is obtained, l! − requires skill in processing technology. Therefore, in the embodiment of the present invention, the thickness of the shim 35 is changed and the spline 32 and the spline 3 are replaced.
The configuration 17 is configured such that the distance between the center point 7 and the center point 7 can be changed, thereby making it possible to finely adjust the eccentric angle θ. For this reason, the length of the spline hole 39 is increased.

It should be noted that in this embodiment, in the case of a speed reducer, it is not the case that the effect is the same even if the speed increaser is used in contrast to the case of low continuous shooting.

The effects of the present invention configured as described above are as follows.

Is there a force acting in the radial direction on the output shaft? This makes it possible to downsize the output shaft and, by extension, downsize the other output shafts.

The connection between the spline and the spline hole is simple, and the connection can be made without play or play during eccentricity.

If a spline is provided with a shim, the eccentric angle θ can be finely adjusted by replacing and attaching shims of different thicknesses, making it easier to process the outer shape of the spline.

[Brief explanation of the drawing]

FIG. 1 is a sectional view showing a known planetary gear reducer, FIG. 2 is a cross-sectional view taken along line A-Aj in FIG. 1, and FIG. 3 is a sectional view of a planetary gear reducer showing an embodiment of the present invention. Figure 4 is B-B of Figure 3.
A cross-sectional view, FIG. 5 is a schematic diagram showing the spline and spline hole of the integrated invention, FIG. 6 is a schematic cross-sectional view taken along line CC in FIG.
FIG. 7 is a combined view of the pline and spline hole in a non-eccentric state. 21: Input shaft, 22: Output side (, 24: Eccentric body, 2
5: Roller, 26: External gear, 27: External tooth, 28: Internal gear, 29: External pin, 32, 37: Spline, 34° 39 varnish spline hole, 33 Ni drive. Sub-Agent Patent Attorney Tsuji 3 Part 4 Figure 28') 7G- Procedural Amendment June 2, 1982. r, Mr. Manabu Shiga, Commissioner of the Japanese Patent Office1, Indication of the case: Japanese Patent Application No. 58-2380102, Title of the invention: Planetary gear increase/reducer 3, Relationship with the person making the amendment case: Address of the patent applicant: Chiyoda, Tokyo Ward Otemachi 2-2-1 Name (2
10) Representatives of Sumitomo Heavy Industries, Ltd. 1) Shigeru 4, Agent address: Sumitomo Heavy Industries, Ltd., 2-2-1 Otemachi, Chiyoda-ku, Tokyo Name (6129) Patent attorney Sou Koyama, Department 3 ( 1 idiot) 5.Returning agent Address: 105 Phone: 504-0197 Address: 19-14 Nishi-Shinbashi-chome, Minato-ku, Tokyo 7, Subject of amendment Column 8 for detailed explanation of the invention in the specification, Contents of amendment ( 1) Replace [trochoid] on page 6, line 5 of the specification with [
Trochoid] and correct it. (2) The phrase “prescribed amount” on page 8, line 17 of the specification [
A predetermined amount e]. (3) 1 low speed 1flJ on page 9, line 10 of the specification is corrected to [decelerator].

Claims (1)

[Scope of Claims] A planetary gear multiplier/reducer having an external gear that applies rotation of an input shaft to an eccentric body and rotates at a reduced speed while being regulated by rollers and an internal gear, wherein the output shaft and the external gear A spline hole or a spline hole is provided, a spline or spline hole is provided at both ends of a drive provided intermediate the output shaft and the external gear, and the output shaft and the external gear are spline-coupled via the drive. A planetary gear increaser/reducer characterized in that the outer shape of the spline has a groove in the straight line and the crowning parts on both sides, and the crowning parts mesh with the spline without any gaps when the spline is eccentric.