JPS6026833A - Reduction gear - Google Patents
Reduction gearInfo
- Publication number
- JPS6026833A JPS6026833A JP13185683A JP13185683A JPS6026833A JP S6026833 A JPS6026833 A JP S6026833A JP 13185683 A JP13185683 A JP 13185683A JP 13185683 A JP13185683 A JP 13185683A JP S6026833 A JPS6026833 A JP S6026833A
- Authority
- JP
- Japan
- Prior art keywords
- gear
- shaft
- teeth
- input shaft
- output shaft
- 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
Links
- 230000003247 decreasing effect Effects 0.000 abstract 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
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
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
- F16H1/321—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear the orbital gear being nutating
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
Description
【発明の詳細な説明】
本発明は減速装置、特に歯車を用いた減速装置に関する
ものである。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a speed reduction device, and particularly to a speed reduction device using gears.
従来、この種減速装置としては、種々のものがあるが何
れも歯車数が多く構造が複雑であると共に当然ながらバ
ックラッシュが大きい欠点があった。このようなバック
ラッシュが、大きいものでは例えばロボット操作装置等
に用いた場合誤差が犬さく精度の高いロボットには使用
できない。Conventionally, there are various types of reduction gears of this type, but all of them have the drawbacks of having a large number of gears, a complicated structure, and, of course, a large amount of backlash. If such backlash is large, for example, when used in a robot operating device, etc., the error will be minimized and it cannot be used in a highly accurate robot.
本発明の目的は、歯車の数を最少魁とし、従ってバック
ラッシュが少なくなるようにした減速装置を得るにある
。An object of the present invention is to provide a speed reduction device in which the number of gears is minimized, thereby reducing backlash.
本発明の減速装置は、入力軸と、出力軸と、この入力軸
と出力軸を回動自在に支承したハウジングと、前記入力
軸に傾斜して設けた傾斜軸と、この傾斜軸に回動自在に
支承した歯車と、この歯車の歯にその歯が噛合するよう
前記ノーウジングに置屋した前記歯車とはその歯数が異
なる傘歯車と、前記歯車の回転中心部分と前記出力軸間
に連結した可撓接続機構とよシ成ることを特徴とする。The speed reduction device of the present invention includes an input shaft, an output shaft, a housing rotatably supporting the input shaft and the output shaft, an inclined shaft provided at an angle to the input shaft, and a rotatable shaft mounted on the input shaft. A freely supported gear, a bevel gear having a different number of teeth than the gear placed in the nousing so that the teeth of the gear mesh with the gear teeth, and a bevel gear connected between the rotation center portion of the gear and the output shaft. It is characterized by a flexible connection mechanism.
以下図面によって本発明の詳細な説明する。The present invention will be explained in detail below with reference to the drawings.
図中１は入力軸、２はこの入力軸１と同一軸線上に配列
した出力軸、３はこの入力軸ｌ及び出力軸２を夫々軸受
４，５を介して回動自在に支持したハウジングを示し、
本発明においては、入力軸１の軸線に対してθ°傾斜す
る軸線を有する傾斜軸６を入力軸ｌの内端にこれと一体
に設け、その−側面に歯７を有する環状の面歯車８をこ
の傾斜軸６によって球軸受又はすベシ軸受９を介してそ
の歯面の中心が前記入、出力軸の軸線上になるよう回動
自在に支承せしめ、この面歯車８の歯７に対向し、その
歯数が歯７と異なる歯１０會有しその歯の傾斜が同じく
θ０である環状の傘歯車１１を前記出力軸２と同心状に
前記ハウジング３に固定せしめる。In the figure, 1 is an input shaft, 2 is an output shaft arranged on the same axis as the input shaft 1, and 3 is a housing that rotatably supports the input shaft 1 and the output shaft 2 via bearings 4 and 5, respectively. show,
In the present invention, an inclined shaft 6 having an axis inclined by θ° with respect to the axis of the input shaft 1 is provided integrally with the inner end of the input shaft l, and an annular face gear 8 having teeth 7 on the side surface thereof. is rotatably supported by this inclined shaft 6 via a ball bearing or a beveled bearing 9 so that the center of its tooth surface is on the axis of the input and output shaft, and is opposed to the teeth 7 of this face gear 8. , an annular bevel gear 11 having 10 teeth different in number from teeth 7 and having the same inclination θ0 is fixed to the housing 3 concentrically with the output shaft 2.
又、前記出力軸２の内端１２は前記面歯車８の歯面の中
心を中心とする球形とし、前記面歯車８の回転中心とな
る軸部１３の端面は前記球形に接する凹形ならしめる。Further, the inner end 12 of the output shaft 2 is formed into a spherical shape centered on the center of the tooth surface of the surface gear 8, and the end surface of the shaft portion 13, which is the center of rotation of the surface gear 8, is formed into a concave shape in contact with the spherical shape. .
更に前記面歯車８の軸部１３と前記出力軸２には夫々４
枚の弧状板状スプリング１４．１５の一端を置屋し、こ
のスプリング１４．１５の他端は固定ネジ１６によって
互いに連結せしめる。Further, the shaft portion 13 of the face gear 8 and the output shaft 2 each have a diameter of 4.
One end of the two arc-shaped plate springs 14.15 is mounted, and the other ends of the springs 14.15 are connected to each other by a fixing screw 16.
本発明減速装置は、上記のような構成であるから入力軸
１を回転すれば面歯車８は入力軸１の軸線に対してすり
こぎ運動をするようになり、これによって固定の傘歯車
１１の歯と接する面歯車８の歯の位置も順次に変化する
ようになる。Since the speed reduction device of the present invention has the above-described configuration, when the input shaft 1 is rotated, the face gear 8 performs a sliding motion with respect to the axis of the input shaft 1, and thereby the fixed bevel gear 11 is rotated. The position of the tooth of the face gear 8 in contact with the tooth also changes sequentially.
第２図は第１図の状態から入力軸１が略１８０゜回転し
た状態を示す。FIG. 2 shows a state in which the input shaft 1 has been rotated approximately 180 degrees from the state shown in FIG.
この状態では傘歯車１１の下方の鑑と面歯車の歯が噛合
するようになる。この際面歯車８と傘歯車１１０因数が
例えば１つだけ異なるようにしているものの場合には入
力軸ｌが１回転した状態では面歯車８がその歯の１つ分
だけ入力軸１に相対的に回転するようになる。In this state, the lower mirror of the bevel gear 11 and the teeth of the face gear mesh with each other. In this case, in the case where the factors of the face gear 8 and the bevel gear 110 are different by, for example, one, the face gear 8 is relative to the input shaft 1 by one tooth when the input shaft l rotates once. It will start rotating.
この面歯車８の１歯分の回転は板状スプリング１４．１
５を介して出力軸２に伝達される。The rotation of one tooth of this face gear 8 is caused by the plate spring 14.1.
5 to the output shaft 2.
上記のように本発明装置によれば入力軸１の回転が出力
軸２に減速されて伝達されることになシ、その減速比は
例えば面歯車８の歯数を１００、傘歯車１１の歯数を９
９とすれば１／１ｏｏとすることができる。As described above, according to the device of the present invention, the rotation of the input shaft 1 is transmitted to the output shaft 2 at a reduced speed. number 9
If it is set to 9, it can be set to 1/1oo.
尚、面歯車８の軸方向の変移は板状スプリング１４．１
５によって吸収され回転伝達に支障を生ずることはない
。Incidentally, the axial displacement of the face gear 8 is caused by the plate spring 14.1.
5 and does not interfere with rotation transmission.
尚、本考案の他の実施例においては上記面歯車８の前記
傾斜θ０はこれよシ大きくしても良く、この場合には歯
車８は面歯車ではなく傘歯車状とする。In other embodiments of the present invention, the inclination θ0 of the face gear 8 may be made larger than this, and in this case, the gear 8 is shaped like a bevel gear instead of a face gear.
以下本発明装置による効果を列記すれば次の通シである
。The effects of the device of the present invention are listed below.
（１） −組の歯車にて大きな減速比が簡単に得られる
。(1) A large reduction ratio can be easily obtained with -set of gears.
（２） 歯数を変えることにより、種々の減速比が得ら
れる。(2) Various reduction ratios can be obtained by changing the number of teeth.
（３）種々の減速比に於いて、部品点数は変わらない。(3) The number of parts remains the same for various reduction ratios.
（４）バックラッシュが多段の平歯車減速機に比べ、噛
み合い部が１ケ所のみであるのと軸受部も少なくなるの
で極めて少ない。(4) Backlash is extremely low compared to multi-stage spur gear reducers because there is only one meshing part and fewer bearing parts.
第１図、第２図は夫々本発明装置の断面図を示す。
１・・・入力軸、２・・・出力軸、３・・・ハウジング
、４．５・・・軸受、６・・・傾斜軸、７，１０・・・
歯、８・・・面歯車、９・・・すべ９軸受、１１・・・
傘歯車、１２・・・内端、１３・・・軸部、１４．１５
・・・スプリング、１６・・・固定ネジ。FIGS. 1 and 2 each show a sectional view of the device of the present invention. DESCRIPTION OF SYMBOLS 1... Input shaft, 2... Output shaft, 3... Housing, 4.5... Bearing, 6... Inclined shaft, 7, 10...
Teeth, 8...face gear, 9...all 9 bearings, 11...
Bevel gear, 12...Inner end, 13...Shaft portion, 14.15
... Spring, 16... Fixing screw.
Claims (1)
支承したハウジングと、前記入力軸に傾斜して設けた傾
斜軸と、この傾斜軸に回動自在に支承した歯車と、この
歯車の歯にその歯が噛合するよう前記ハウジングに固定
した前記歯車とはその歯数が異なる傘歯車と、前記歯車
の回転中心部分と前記出力軸間に連結した可撓接続機構
とより成ることを特徴とする減速装置。an input shaft, an output shaft, a housing rotatably supporting the input shaft and the output shaft, a tilted shaft provided at an angle to the input shaft, and a gear rotatably supported on the tilted shaft; A bevel gear is fixed to the housing so that its teeth mesh with the teeth of the gear, and the bevel gear has a different number of teeth from the gear, and a flexible connection mechanism is connected between the rotation center portion of the gear and the output shaft. A speed reduction device characterized by:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP13185683A JPS6026833A (en) | 1983-07-21 | 1983-07-21 | Reduction gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP13185683A JPS6026833A (en) | 1983-07-21 | 1983-07-21 | Reduction gear |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS6026833A true JPS6026833A (en) | 1985-02-09 |
Family
ID=15067719
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP13185683A Pending JPS6026833A (en) | 1983-07-21 | 1983-07-21 | Reduction gear |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6026833A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61142354U (en) * | 1985-02-25 | 1986-09-03 | ||
| WO2009074150A1 (en) * | 2007-12-10 | 2009-06-18 | Rolf Strohtmann | Step-down gear mechanism |
| JP4511635B1 (en) * | 2009-05-22 | 2010-07-28 | 国立大学法人福島大学 | Modified crown gear reduction mechanism |
| WO2010134218A1 (en) * | 2009-05-22 | 2010-11-25 | 国立大学法人福島大学 | Deformation crown gear speed reduction mechanism |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS4512664Y1 (en) * | 1966-08-29 | 1970-06-02 | ||
| JPS4521944Y1 (en) * | 1969-04-01 | 1970-09-01 |
-
1983
- 1983-07-21 JP JP13185683A patent/JPS6026833A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS4512664Y1 (en) * | 1966-08-29 | 1970-06-02 | ||
| JPS4521944Y1 (en) * | 1969-04-01 | 1970-09-01 |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61142354U (en) * | 1985-02-25 | 1986-09-03 | ||
| WO2009074150A1 (en) * | 2007-12-10 | 2009-06-18 | Rolf Strohtmann | Step-down gear mechanism |
| JP4511635B1 (en) * | 2009-05-22 | 2010-07-28 | 国立大学法人福島大学 | Modified crown gear reduction mechanism |
| WO2010134218A1 (en) * | 2009-05-22 | 2010-11-25 | 国立大学法人福島大学 | Deformation crown gear speed reduction mechanism |
| US8210070B2 (en) | 2009-05-22 | 2012-07-03 | National University Corporation Fukushima University | Modified crown reduction gear |
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