JPS60260737A - Removing device for angular backlash in planetary gear mechanism - Google Patents

Abstract

PURPOSE:To surely remove angular backlash by axially having a transmitting gear which transmits the rotation of an input shaft to an eccentric shaft, and mounting the transmitting gear to the input shaft or the eccentric shaft after the phases of the halved gears are displaced as much as angular backlash. CONSTITUTION:The rotation of an input shaft 1 is transmitted to each eccenstric shafts 4 via a pinion 2 and three transmitting gears 3 which are arranged at the same angle about the pinion 2. In a mechanism which changes speed by the use of an internally engaging planeary gear mechanism consisting of an internal gear 10 and external gears 8 and 82 which are fluctuated by the rotarion of said shaft 4, the transmitting gear 3 is halved axially or two transmitting gears 3 are arranged axially. Both the transmitting gears 3 are firmly mounted with a stopper bolt 19 after they are displaced to have different phases from each other as much as angular backlash. Then, the torque trasmission in the normal direction is effected by the transmitting gear 31 while the torque transmission in the reverse direction is effected by the transmission gear 32. In both the normal and the reverse rotation, angular backlash can be surely prevented.

Description

Detailed Description of the Invention (Industrial Application Field) The present invention is directed to the prevention of angular backlash in a planetary gear mechanism in which an internal gear having an arcuate tooth profile is meshed with an external gear having an arcuate tooth profile or a trochoidal tooth profile. It relates to a removal device (described later).

(Prior art) In a gear transmission mechanism, there is play or sluggishness between the gears that mesh with each other or in the means used to attach them to the shaft, and when changing from normal rotation to reverse rotation, a reversal on the driving side immediately becomes a reversal on the driven side. I can't come.

In the internal meshing planetary gear mechanism, Utility Model Application No. 58-102855
As seen in Japanese Utility Model Publication No. 59-3048, etc., multiple meshes are engaged in parallel to increase transmission torque, maintain strength, maintain balance, etc. In a mechanism, play and loss at individual meshing parts interfere with each other and become smaller, but since force is supposed to be transmitted at each meshing part, even with this mechanism, there is play and loss during reverse rotation. Evening occurs.

The above-mentioned play and waviness are relative when there are a plurality of meshing parts. Hereinafter, this relative play or deviation will be referred to as angular backlash.

Hereinafter, an example of a conventionally known planetary gear mechanism will be described with reference to FIGS. 3 and 4.

A pinion 2 is provided at the end of the input shaft 1 and meshes with three transmission gears 3 provided at equal angles around the input shaft 1. The transmission gear 3 is attached to an eccentric shaft 4 and is rotatable.

The eccentric body shaft 4 is supported by bearings 5□ and 52, and two eccentric bodies 66.6□ are provided between them. The eccentric bodies 61 , 62 are arranged with a phase shift of 180 degrees from each other, and each eccentric body 61 , 62 is rotatably connected to an external gear 81 , 82 having external teeth 7 via an eccentric body bearing 9 . ing. That is, as can be seen from FIG.
8.82 via an eccentric bearing 9. The external teeth 7 have a circular arc or trochoid shape.

The internal gear 10 has internal teeth consisting of an external pin 11,
The internal gear 10 also serves as an outer case.

The external gears 81, 82 have a curved inner peripheral surface 12, into which a support block 13 is inserted. A carrier 14 is provided at the end of the support pro shift 13,
The carrier 14 is fixed to the support block 13 by pins 15 and bolts 16. A bearing 17 is provided between the carrier 14 and the internal gear 10 and between the support block 13 and the internal gear 10. ．． 172 is provided to rotationally support the internal gear 10. The rotation of the internal gear 10 is extracted from the rotation extraction section 18.

3- Rotation of the human power shaft 1 is transmitted to the transmission gear 3 via the pinion 2. The rotational speed of the transmission gear 3 is reduced by the ratio of the number of teeth. The transmission gear 3 rotates the eccentric shaft 4. Since the center 0□ of the external gear 83.8□ provided on the eccentric shaft 4 is eccentric by the rotation center OI and e of the input shaft 1, the external gear 81.82 is disposed on the eccentric shaft 4 for each rotation. rotates once around the OI, and the meshing between the external teeth 7 and the internal teeth consisting of the external pin 11 shifts one tooth at a time, resulting in planetary gear movement.

As already mentioned, angular backlash exists in gear transmission mechanisms, and the planetary gear mechanism shown in FIG. 3.4 is no exception.

(Problem to be solved by the invention) The existence of such angular backlash leads to a decrease in accuracy when the transmission mechanism is used as a control device, and also causes a decrease in durability due to impact as a transmission mechanism. It becomes something that happens.

In order to eliminate and reduce the angular backlash mentioned above, it has been necessary to increase the machining accuracy of the parts and waste time selecting and combining parts, but even with this method, it is possible to sufficiently remove the angular backlash. This was difficult and resulted in high costs.

The object of the invention is to eliminate or reduce angular backlash in planetary gear mechanisms of this type by means of simple installation.

(Means for Solving the Problems) The present invention is characterized in that the rotation of the input shaft is transmitted to the eccentric shaft through a pair of gears, and the external teeth are oscillated by the rotation of the eccentric shaft. In a planetary gear mechanism configured to change speed by an internally meshing planetary gear mechanism consisting of a gear and an internal gear that meshes with the external gear, one of the pair of gears is axially divided into two or two parts, They are attached to the input shaft or the eccentric shaft with their phases shifted by the amount of angular backlash.

(Example) An embodiment of the present invention will be described below with reference to FIG.

Since the illustrated embodiment is the same as the known example shown in Fig. 3.4 except for the configuration of the transmission gear, only the configuration of the transmission gear will be explained here, and the explanation of the other configurations will be omitted.

The transmission gears 3I, 32 have a configuration in which they are divided into two pieces or two parts in the axial direction, and can be stopped by shifting the phase from each other using a stop bolt 19.

The transmission gears 31, 32 are fastened to the eccentric shaft 4 by means of a key 20.

The transmission gears 33.3□ are assigned roles so that the transmission gear 31 transmits torque in the forward direction, and the transmission gear 3□ transmits torque in the reverse direction. Note that the division of roles may be forward rotation, and the reverse rotation may be vice versa.

As already mentioned, there is angular backlash in the gear transmission mechanism, so align the transmission teeth 11131 in the forward rotation direction,
The transmission gears 32 are aligned to eliminate angular backlash in the reverse direction and are offset from each other by the angular backlash. This installation can be done by measuring the angular backlash in advance, shifting the angles from each other by that amount, and then stopping the transmission gears 31 and 32.
2 in the forward or reverse rotation direction, and then install the transmission gear 3. It is also possible to deviate the angle and attach it with the fixing bolt 19 so as to eliminate angular backlash.

FIG. 2 shows another embodiment of the present invention, in which the transmission gears 31 and 34 are individually secured to the eccentric shaft 4 with keys 201 and 202, and when they are secured, they are phased with respect to each other by an angular backlash. It is something that shifts the. In this case, as shown in the figure, the eccentric shaft 4 has two stages, and each transmission gear 38.3. The installation work may be simplified by allowing the holder to be attached.

Although each of the above embodiments has been described as a speed reducer, the present invention can also be used as a speed increaser, and the output rotation can also be taken out by fixing the support block 13 and using the internal gear 10. Although the case where the rotation is extracted from the extraction part 18 is illustrated, the internal gear 10 side may be fixed and the support block 13 side may be used as the rotation extraction part.

Further, the pair of gears for transmitting the rotation of the input shaft to the eccentric shaft is not limited to the one end of the eccentric shaft shown in the example, but may be provided at an intermediate portion.

Furthermore, of a pair of gears, the gear on the eccentric shaft side is divided into two pieces or divided into two parts, and the phases are shifted by the amount of angular backlash. Needless to say, the present invention is applicable to all speed reducers that have a pair of gears that transmit rotation from an input shaft to a planetary gear mechanism.

(Effects of the Invention) Since a pair of gears is used to transmit the rotation of the input shaft to the eccentric shaft, this is a simple means for eliminating angular backlash.

There is no play or sag even when moving from forward rotation to reverse rotation, so accuracy is improved when used as a control device.

[Brief explanation of drawings]

Fig. 1 is a sectional view showing one embodiment of the present invention, Fig. 2 is a sectional view showing another embodiment of the invention, Fig. 3 is a sectional view showing a known planetary gear mechanism, #14 Fig. 8- is a view taken along line A-A1 in FIG. 3; 1: Input shaft, 2: Pinion, 3: Transmission gear, 4: Eccentric shaft, 61.6□: Eccentric, 7: External gear, 8□82: External gear, 10: Internal gear, 11: External gear Bin, 13: Support block, 19: Fixing bolt, 20: Key. Sub-Agent Patent Attorney Sanbe Tsuji

Claims (2)

[Claims] (1) The rotation of the input shaft is transmitted to the eccentric shaft through a pair of gears, and the internal gear consists of an external gear that is swung by the rotation of the eccentric shaft, and an internal gear that meshes with the external gear. In a planetary gear mechanism in which gears are changed by an intermeshing planetary gear mechanism, one of the pair of gears is axially divided into two pieces or divided into two parts, and the input shaft or eccentric body is separated from each other in phase by an amount of angular backlash. A device for eliminating angular backlash in a planetary gear mechanism, characterized in that it is attached to a shaft. (2) An angular backlash removing device (3) 2 in a planetary gear mechanism according to claim 1, characterized in that two gears or two gears divided into two are fixed with a phase shift by a stop bolt. or two-split gears
2. An angular backlash removing device in a planetary gear mechanism according to claim 1, wherein the device is fixed to the input shaft or the eccentric shaft to the JII with their phases shifted from each other.