JPS61290261A - Planetary differential gears using non-circular gear - Google Patents

Abstract

PURPOSE:To form planet shafts and planet gears in small shape and decrease distortion in each part, by providing the planet shafts, that is a plurality of the planet gears symmetrically with an input shaft, in the case of planetary differential gears with built-in non-circular gears. CONSTITUTION:A device forms a main driving side gear 7 of a planet gear6 and a fixed gear 9 to be engaged as non-circular gears having a pitch line 7a and 9c. While the device, providing an output gear 10 to be fixed to an output shaft 11, forms the output gear 10 as a circular gear to be engaged with a driven side gear 8 of each planet gear 6. Here a rotary angle phi of the output shaft 11 corresponding to a rotary angle theta of an input shaft 2 generates a relation as shown in the drawing, and the device, performing intermittent rotation by the output shaft 11, can be utilized for indexing in an automatic machine or the like.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention is utilized in the technical field of gear devices, and particularly relates to a planetary differential gear device using non-circular gears.

(Prior art) In factory equipment and office equipment, for example, the rotation of the output shaft of a general-purpose 4-pole mode is decelerated by a deceleration means, and then this decelerated constant speed rotation is converted into oscillation, oscillating rotation, intermittent rotation, etc. It is often necessary to achieve non-uniform speed rotation, and it has been widely practiced in the past to interpose non-uniform speed means such as a foot, cam mechanism, or Geneva mechanism. However, this requires both a deceleration means and an inconstant speed means, which not only increases the installation area but also makes the device expensive. Furthermore, conventional cam mechanisms and Geneva mechanisms have the drawbacks of being limited in the inconstant rotation that can be achieved, having a high slip rate, and having poor mechanical efficiency.

On the other hand, planetary differential gears have been widely used as compact devices that can provide high reduction ratios. On the other hand, the gear is a conventional circular gear (a gear with a circular pitch line)
is used a lot.

Although non-circular gears were not inconceivable, conventional gears were limited to gears whose tooth profile could be machined for practical purposes, such as internal gears. Therefore, even if a planetary differential gear device was manufactured by combining ring gears, the change in angular velocity of the unequal angular velocity output relative to the constant angular velocity input could only be achieved within a limited range.

Furthermore, with the recent development of computers, it has become practically possible to design and process non-circular gears other than internal gears. (See pages 38 onwards, and Proceedings of the 2nd Design Automation Engineering Conference, pages 38 onwards). However, using only one set of such non-circular gears does not provide the intermittent rotation, oscillation, and oscillating rotation required for automation of various devices, so it is difficult to incorporate them into the planetary differential gear system described above. As a result, the above-mentioned non-uniform rotational motion useful for automation was obtained, and an attempt was also made to integrate the deceleration means and the non-uniform velocity means (Proceedings of the Japan Society of Mechanical Engineers (Part 3) 39). Vol. 317, p. 393 onwards). In other words, the conventional planetary differential gear device based on this attempt, as schematically shown in FIG. A planetary gear d is rotatably supported on the shaft C, and the planetary gear d is integrally formed with a driving side gear e and a driven side gear r, and the driving side gear C is connected to a fixed gear g and a driven side gear. gear f
is meshed with the output gear, and the output gear is integrally provided with an output shaft j that is pivotally supported by the case, and these gears are non-circular gears. The planetary differential gear device constructed in this way can be evaluated as one that integrates a reduction means and an inconstant speed means, but on the other hand, while the input shaft a rotates at a constant speed, the output Since the shaft j rotates at an inconstant speed, acceleration acts on each component on the output side, and the transmission force or load acting between the components on the input side and the output side pulsates. For this reason, it is necessary to increase the strength of each part compared to a conventional planetary differential gear device using circular gears. In particular, since only one planetary shaft C, that is, the planetary gear d, is provided eccentrically with respect to the input shaft a, the center of gravity of the part that rotates with the input shaft a is also eccentric, making it impossible to maintain gravity balance, as well as the planetary gear d The force acting on the tooth surface of the input shaft a also acts eccentrically on the input shaft a through the carrier b, so a large bending moment acts on the input shaft a, and the dimension from the input shaft a to the planetary axis C is large. Furthermore, the bearing supporting the input shaft a also becomes larger, and for the same reason, a bending moment acts on the output shaft j as well.As a result, the entire gear device becomes large and heavy, making it difficult to put it into practical use. It was necessary to eliminate these shortcomings.

(Problems to be Solved by the Invention) In the present invention, in a planetary differential gear device using non-circular gears as described above, a large stress acts particularly on the input shaft, and the entire device becomes large and heavy. This is an attempt to solve the problem of becoming.

(Means for Solving the Problems) Means for solving the above problems will be explained with reference mainly to FIG. 1, which shows the basic main parts of the present invention.

The planetary differential gear device 1 of the present invention has one end 5a connected to the input shaft 2 by a carrier 4 fixed to the input shaft 2 (for example, rotatably supported by a casing 3). A planetary shaft 5 is provided eccentrically (eg, parallel and separated), and a planetary gear 6 is rotatably supported on this planetary shaft 5 . The planetary gear 6 includes a driving gear 7 and a driven gear 8 that are integrally formed. And the driving side gear 7
The fixed gear 9 (for example, fixed integrally with the casing 3) and the driven gear 8 are arranged to mesh with the output gear 10, respectively. The output gear 10 is integrally provided with an output shaft 11 (for example, rotatably mounted on the casing 3).

The driving gear 7 and the fixed gear 9 and/or the driven gear 8 and the output gear 10 are formed into non-circular shapes whose pitch lines are rotationally symmetrical. The planetary shafts 5 are disposed symmetrically with respect to the input shaft 2 by the symmetrical number (for example, 2 when the pitch line of the fixed gear 9 is 90 as shown in FIG. 2), and the planetary gears 5 are is also provided on each planetary shaft 5.

(Function) Next, the function of the above means will be explained. An input shaft 2 connected to an output shaft of a power means such as a moder rotates at a constant speed in the direction shown by the arrow in the figure. Accordingly, the planetary shaft 5 integral with the input shaft 2 also revolves around the input shaft 2 at the same speed, and each planetary gear 6 also revolves at a constant speed. At the same time, due to this revolution, each main drive gear (Ill gear 7) rotates in the direction of the arrow in the figure by meshing with the fixed gear 9. At this time, each main drive side gear 7 and the fixed gear 9 are arranged as a pair as shown in FIG. 2, for example. If the gear is a non-circular gear, the rotation of the driving side gear 7, that is, the driven side gear 8 which is integrated therewith, will be at an inconstant speed.

On the other hand, if the driven gear 8 and the output gear 10 are circular gears, the above-mentioned non-uniform rotation of each driven gear 8 is decelerated relative to the constant rotation of the input shaft 2, and the output gear 10 is The signal is transmitted to the output shaft 11 via.

In this case, the relationship between the rotation angle e of the input shaft 2 and the rotation angle Φ of the output shaft 110 is as shown in FIG. 3, when the rotation angle θ is e!
One cycle of changes in the rotation angle Φ is completed. Now, if i = 2π/θ, then if i≧2 and i is a natural number, then the rotation angle e is between zero and 2π.
The change is i cycles, and in this case, i planetary gears 6 can be provided symmetrically.

(Embodiment) A first embodiment of the present invention will be described below with reference mainly to FIG. 4.

The casing 3 includes a yoke 3a and a front lid 3b and a rear lid 3C that are fitted to prevent oil leakage before and after the yoke 3a.
It's okay.

The input shaft 2 is supported through the front cover 3b by a ball bearing 13, and an oil seat/L/14 is fitted therein to prevent oil leakage at the penetrating portion.

In this embodiment, the carrier 4 is formed as a disc integrated with the input shaft 2, and an output shaft 11 coaxial with the input shaft 2 extends between the center portion and the rear cover 3C.

It is rotatably supported by roller bearings 15 and ball bearings 13. An oil seal 14 is also fitted at a portion where the output shaft 11 passes through the rear cover 3C.

A fixed gear 9 is connected to an output shaft 11 inside the case 3 of the rear cover 3C.
A hole 9a through which the output shaft 11 passes is bored in the central portion of the fixed gear 9.

A cylindrical portion 9b is formed on a part of the outer periphery of the fixed gear 9, and a disc-shaped rotating body 12 is rotatably supported by a ball bearing 13 on this cylindrical portion 9b.

One end side 5a and the other end @5b of two planetary shafts 5 are connected and fixed by an oak 5d across the carrier 4 and the rotating body 12, so that the planetary shafts 5 are supported symmetrically.

These planetary shafts 5 have planetary gears 6 and roller bearings 15.
The main drive of the planetary gear 6 (1111 wheel 7 and fixed gear 9 are formed as non-circular gears having pitch lines 7a and 9C as shown in FIG. 2, for example, and are meshed with each other). ing.

On the other hand, an output gear 10 is fixed to the output shaft 11, and is formed as a circular gear and meshes with the driven gear 8 of each planetary gear 6.

As an example of the rotationally symmetrical pitch lines of the non-circular gears of the driving side gear 7 and the fixed gear 9 in this embodiment, the pitch line 7a of the driving side gear 7 and the pitch of the fixed gear 9 are shown in FIG. Line 9C is shown. The relationship between the rotation angle Φ of the output shaft 11 corresponding to the rotation angle e of the input shaft 2 when using the driving side gear 7 and the fixed gear 9 that have a pitch line of such a shape is shown in Fig. 3. The rotation angle Φ reaches Φ at one rotation angle e1, and thereafter maintains Φi until it reaches the rotation angle e2. That is, in this case, the output shaft 11 rotates intermittently and can be used for indexing in automatic machines and the like.

In addition, as a non-circular gear between the main drive side gear 7 and the fixed gear 9,
Within the above conditions that i≧2 and i is a natural number, the form of one cycle of change in rotation angle Φ is as follows:
It may also be a non-circular gear having a pitch line shape that performs rocking or rocking rotation.

Also, pitch lines 7b and 9d between the driving side gear 7 and the fixed gear 9
If the shape of is made as shown in Figure 5, in this case, i = 3
Therefore, three planetary shafts 5, that is, three planetary gears 6 can be provided symmetrically with respect to the input shaft 2.

In the above embodiment, the combination of the driving side gear 7 and the fixed gear 9 is a non-circular gear, and the combination of the driven side gear 8 and the output gear 10 is a non-circular gear.
Although the combination of gears 7 and 9 is a circular gear, the combination of gears 7 and 9 may be a circular gear, and the combination of gears 8 and 10 may be a non-circular gear. Furthermore, both combinations may be non-circular gears.

Next, a second embodiment of the present invention will be described with reference to FIG. However, the same means as those explained in the first embodiment are given the same reference numerals, and differences from the first embodiment will be mainly described.

In this embodiment, the input shaft 2 has a cylindrical shape with a hollow hole 2a bored in its center, through which the output shaft 11 passes and is supported by a roller bearing 15. Both shafts 2 and 11 project on the sides. In this embodiment, with the above configuration, when the load on the output side is transmitted from the driven gear 8 to the output gear 10 to the output shaft 11, the structure supporting the output shaft 11 is The axial length of the part where the force acts can be shortened, which is advantageous in terms of strength, and is also convenient when it is required to be on the same side as the crowd.

In this embodiment, the output shaft 11 passes through the input shaft 2, but this may be reversed so that the input shaft 2 passes through the hollow hole 11a of the output shaft 11 ( (See FIG. 7, which shows a modification of the second embodiment).

In addition to the various embodiments described above, this invention also includes the following modifications.

(g) If the planetary shaft 5 is supported at both ends by the carrier 4 and the rotating body 12 as described above, the stress acting on the planetary shaft 5 can be reduced, but even if it is cantilever-supported only by the carrier 4, the stress acting on the planetary shaft 5 can be reduced. good.

(b) If the sun gear (fixed gear 9 and output gear 10 in the above description) is an external gear as described above, the external dimensions can be made small, but it may also be an internal gear (the (See Figure 7).

? → The planetary shaft 5 may be eccentric to the input shaft 2 so that it intersects with the input shaft 2 instead of being parallel to the input shaft 2. In this case, the gears are not spur gears but bevel gears.

(b) Although the carrier 4 and the rotating body 12 are disk-shaped so as to provide good rotational bow, they may also be formed into an arm-shape.

(Effects of the Invention) This invention provides a planetary differential gear device incorporating non-circular gears, in which a plurality of planetary shafts, that is, planetary gears, are provided symmetrically with respect to the input shaft, and therefore it has many of the following effects. be.

(~ In particular, since multiple planetary shafts and planetary gears on which fluctuating loads act are arranged symmetrically, these fluctuating loads can be divided into multiple parts, making it possible to reduce the shape of each planetary shaft and planetary gear. Not only can the weight of the input shaft rotation be reduced, but each planetary shaft receives the same reaction force from each planetary gear, so not only the input shaft but also the inertia shaft and fixed gear receive torsional moments. , it is possible to provide a highly practical device that does not receive bending moments and can reduce the dimensions of each part including the bearing.Furthermore, as a result, distortion of each part is also reduced, improving transmission efficiency and Rotation accuracy is also improved.

(B) Since non-circular gears are incorporated into the planetary differential gear system, various variations in the rotation angle of the output shaft that cannot be obtained with only one set of non-circular gears can be obtained, making it useful for automating various devices. sell. Furthermore, by designing a non-circular gear, it is possible to increase the number of repetitions (number of indexes) during one rotation of the output shaft.

It is also possible to improve the acceleration characteristics of the output shaft.

0 Since the planetary differential gear device itself can perform the deceleration action, no separate deceleration means is required, and it also has a locking function. Furthermore, the input/output shaft can be supported linearly, making it convenient to use.

q Since only gears are used as the transmission means, the slip ratio is small, and the transmission efficiency does not decrease as in the case of using a camshaft and Geneva means, and the rotational accuracy is improved.

[Brief explanation of drawings]

Fig. 1 is a schematic diagram showing the basic structure of the main parts of this invention, Fig. 2 is a pitch diagram of an example of a non-circular gear in this invention, and Fig. 3 is a diagram when this non-circular gear is used. FIG. 2 is an input/output angle diagram. FIG. 4 is a longitudinal sectional side view showing the detailed structure of the first embodiment of the present invention, FIG. 5 is a pitch diagram of another non-circular gear according to the present invention, and FIG.
FIG. 7 is a longitudinal side view showing the detailed structure of the embodiment, and a schematic diagram showing a modification thereof. FIG. 8 is a schematic diagram showing an outline of a conventional gear device. 1... Planetary differential gear device, 2... Input shaft, 3...
Casing, 4...Carrier, 5...Free Ju shaft, 5
B... One end side, 6... Planetary gear, 7... Main drive (m
L gear, 8... Driven side gear, 9... Fixed gear, 7t
h, 7b, 9a, 9d -- pitch line, 10 -- output gear, 11 -- output shaft. ] Fig. 3 1- Planetary differential gear device 2- Jinkamari 4--Carrier 5- Planetary glaze 5a---One end side 6-11! Tooth ratio 7- Drive side wheel S +++ v- Working side wheel ratio 9- Fixed gear 9cm = (Fixed gear gear 0 tan line to W27fr car 11- Output shaft

Claims (2)

[Claims] (1) A planetary gear is rotatably supported on a planetary shaft which is connected at one end by a carrier fixed to the input shaft and is provided eccentrically with respect to the input shaft, and this planetary gear is connected to the drive side gear. and a driven side gear are integrally formed, the driving side gear meshes with a fixed gear, and the driven side gear meshes with an output gear provided integrally with an output shaft. The driving side gear, the fixed side gear, and/or the driven side gear and the output gear are formed into non-circular gears whose pitch lines are rotationally symmetrical, and the planetary shafts are connected to the input shaft by the number of the symmetrical ones. A planetary differential gear device using non-circular gears, characterized in that the gears are provided at symmetrical positions. (2) The input shaft and the output shaft are coaxial with each other, and one of the shafts is cylindrical with a hollow hole, and the other shaft is passed through the hollow hole. A planetary differential gear device using the non-circular gear according to scope 1.