JPS6313939A - Control transmission-gear - Google Patents
Control transmission-gearInfo
- Publication number
- JPS6313939A JPS6313939A JP61155194A JP15519486A JPS6313939A JP S6313939 A JPS6313939 A JP S6313939A JP 61155194 A JP61155194 A JP 61155194A JP 15519486 A JP15519486 A JP 15519486A JP S6313939 A JPS6313939 A JP S6313939A
- Authority
- JP
- Japan
- Prior art keywords
- gear
- gears
- shaft
- backlash
- tapered 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.)
- Granted
Links
- 230000005540 biological transmission Effects 0.000 claims abstract description 25
- 230000001934 delay Effects 0.000 abstract 1
- 230000001105 regulatory effect Effects 0.000 abstract 1
- 230000000694 effects Effects 0.000 description 12
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 101100008044 Caenorhabditis elegans cut-1 gene Proteins 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000003754 machining Methods 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
- F16H1/2863—Arrangements for adjusting or for taking-up backlash
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
- Gears, Cams (AREA)
- Structure Of Transmissions (AREA)
Abstract
Description
【発明の詳細な説明】
〔発明の技術分野〕
本発明は、運転中に回転方向が正逆に切り替えられる産
業ロボット等の制御機器に使用される変速装置に関する
ものである。DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to a transmission device used in a control device such as an industrial robot whose rotational direction is switched between forward and reverse during operation.
産業ロボットなどの制御機器では、回転方向が一方向だ
けに限られず、随時正逆に切り替えられながら運転され
る。一方、このような制御機器に設けた変速装置の歯車
には必ずバックラッシュがあり、このバックラッシュの
ため回転方向が正逆に切り替えられる度に、バックラッ
シュ分だけ回転量が遅れ、伝達が不正確になるという問
題が指摘されている。In control equipment such as industrial robots, the direction of rotation is not limited to one direction, but is operated by switching between forward and reverse directions at any time. On the other hand, there is always backlash in the gears of transmissions installed in such control equipment, and due to this backlash, each time the direction of rotation is switched between forward and reverse, the amount of rotation is delayed by the amount of backlash, resulting in failure of transmission. The problem of accuracy has been pointed out.
従来、このようなバックラッシュによる伝達の不正確さ
を解消するため、歯車を二重に重ねてバックラッシュ分
だけ位相をずらせ、二歯面をバフクラッシュＯの状態に
して噛合させる機構等が提案されている。しかし、バッ
クラッシュには工作上不可避的に誤差が発生するため、
このような微小な誤差を有するバックラッシュ分だけ位
相をずらせて２枚の歯車を軸に固定することは、工作上
の割出し精度の上から極めて至難なことである。Conventionally, in order to eliminate such transmission inaccuracies due to backlash, a mechanism has been proposed in which gears are stacked double, the phase is shifted by the amount of backlash, and the two tooth surfaces mesh in a buff-crush O state. has been done. However, since errors inevitably occur in backlash due to the manufacturing process,
It is extremely difficult to fix two gears to the shaft with their phases shifted by the amount of backlash, which has such a minute error, from the viewpoint of indexing accuracy in machining.
また、二歯面噛合であるため、これから発生する宿命的
なりサビ作用は避けられず、円滑な運転を難しくする原
因になっている。In addition, since the teeth are in mesh with each other, the inevitable rusting effect that will occur in the future is inevitable, making smooth operation difficult.
本発明の目的は、スター型歯車機構（中間歯車軸が固定
され、内歯車が回転する型の歯車機構）または遊星歯車
機構を利用することにより、回転方向を正逆に切り替え
るときのバフクラッシュを実質的にＯの状態にした正確
がっ円滑な伝動を可能にし、しかも大きな動力の伝達で
あっても上記効果を保証できるようにする制御用変速装
置を提供することにある。An object of the present invention is to prevent buff crashes when switching the rotation direction between forward and reverse by using a star gear mechanism (a type of gear mechanism in which the intermediate gear shaft is fixed and the internal gear rotates) or a planetary gear mechanism. It is an object of the present invention to provide a control transmission which enables accurate and smooth transmission in a substantially O state and which can guarantee the above-mentioned effects even when transmitting a large amount of power.
上記目的を達成する本発明の制御用変速装置は、太陽歯
車と内歯車との間に偶数個の中間歯車を介在させたスタ
ー型歯車機構または遊星歯車機構からなり、前記中間歯
車を支持する中間軸の一端にテーパ軸を偏心状態に一体
固定し、このテーパ軸の回転により前記中間軸を太陽歯
車の軸心を中心とする円周方向に実質的に沿わせて、時
計方向および反時計方向にそれぞれ移動調整自在にし、
かつ太陽歯車および内歯車の回転停止下に半数の中間軸
を時計方向へ、残り半数の中間軸を反時計方向にそれぞ
れ移動調整して歯車のバックラッシュを消去させ、その
位置に前記テーパ軸に切割入り環状固定子を緊密嵌合さ
せてロック可能にしたことを特徴とするものである。A control transmission of the present invention that achieves the above object is comprised of a star gear mechanism or a planetary gear mechanism in which an even number of intermediate gears are interposed between a sun gear and an internal gear, and an intermediate gear that supports the intermediate gears. A tapered shaft is integrally fixed to one end of the shaft in an eccentric state, and rotation of the tapered shaft causes the intermediate shaft to substantially follow the circumferential direction centered on the axis of the sun gear, thereby rotating the intermediate shaft clockwise and counterclockwise. The movement of each can be adjusted freely,
Then, while the sun gear and internal gear are stopped rotating, half of the intermediate shafts are moved clockwise and the other half of the intermediate shafts are moved and adjusted counterclockwise to eliminate the backlash of the gears, and the taper shaft is moved to that position. The stator is characterized in that the cut annular stator is tightly fitted and lockable.
第１図および第２図は、４個の偶数の中間歯車を持つス
ター型歯車機構を利用して、本発明の制御用変速装置を
構成した場合の一例を示すものである。FIGS. 1 and 2 show an example of a control transmission according to the present invention using a star gear mechanism having four even numbered intermediate gears.
これらの図において、１は入力軸、２は出力軸、３はケ
ーシングである。入力軸１は、ケーシング３の一方の軸
受部４に回転自在に支持され、その内端に太陽歯車５を
固定している。一方、出力軸２はケーシング３の他方の
軸受部６に回転自在に支持され、その内端に内歯車７を
固定している。これら太陽歯車５と内歯車７の間には、
等間隔に配分された偶数個（この実施例では４個）の中
間歯車３ａ、３ｂ、３ｃ、８ｄが噛合し、スター型の歯
車機構を構成している。この実施例では太陽歯車５．内
歯車７．中間歯車８ａ、８ｂ、８ｃ、８ｄは、いずれも
平歯車からなっている。In these figures, 1 is an input shaft, 2 is an output shaft, and 3 is a casing. The input shaft 1 is rotatably supported by one bearing portion 4 of the casing 3, and has a sun gear 5 fixed to its inner end. On the other hand, the output shaft 2 is rotatably supported by the other bearing 6 of the casing 3, and has an internal gear 7 fixed to its inner end. Between these sun gear 5 and internal gear 7,
An even number (four in this embodiment) of intermediate gears 3a, 3b, 3c, and 8d distributed at equal intervals mesh to form a star-shaped gear mechanism. In this embodiment, the sun gear 5. Internal gear7. The intermediate gears 8a, 8b, 8c, and 8d are all spur gears.
上記中間歯車８ａ、８ｂ、８ｃ、８ｄを支持するための
中間軸９ａ、９ｂ、９ｃ、９ｄは、その間にそれぞれ遊
動中介軸１３．・・−・−２１３を介して支持しており
、その遊動中介軸１３゜−−−−、１３は中間軸９ ａ
、 ９ ｂ、’９ ｃ、 ９ ｄ上にベアリングを
介して回動自在に支持されている。この遊動中介軸１３
．・−・−・、１３と中間歯車８ａ、８ｂ、８ｃ、８ｄ
との間には油膜形成可能な遊隙１４が介在している。第
１図、第２図、第３図では、上記遊隙１４は後述する効
果の説明上、誇張して大きく図示しであるが、実際には
油膜の発生に最適な極めて僅少な隙間である。Intermediate shafts 9a, 9b, 9c, 9d for supporting the intermediate gears 8a, 8b, 8c, 8d are provided with floating intermediate shafts 13. ...--213, and the floating intermediate shaft 13゜----, 13 is the intermediate shaft 9a
, 9 b, '9 c, and 9 d are rotatably supported via bearings. This floating intermediate shaft 13
．． ..., 13 and intermediate gears 8a, 8b, 8c, 8d
A gap 14 in which an oil film can form is interposed between the two. In FIGS. 1, 2, and 3, the play gap 14 is exaggerated and shown in a large size for explaining the effect described later, but in reality it is an extremely small gap that is optimal for the generation of an oil film. .
上記中間軸９ａ、９ｂ、９ｃ、９ｄは、その端部に距離
ｅだけ偏心させた状態でテーパ軸１０、−・・・・−１
１０とネジ１１．−・−・−９１１とを一体固定してお
り、このテーパ軸１０．・−−−−−−、１０に切割１
６入りの環状固定子１５を緊密嵌合させてケーシング３
に支持されている。すなわち、環状固定子１５は内面テ
ーパを有すると共に、軸方向に沿って第６図に示すよう
な切割１６を有しており、この環状固定子１５をテーパ
軸１０に嵌合させ、ネジ１１に螺合させたナフト１２を
締めつけることにより、テーパ面の擦り合わせと切削１
６の開きによって径方向に拡張させ、それに伴うクサビ
効果によってテーパ軸ｌＯを確実にケーシング３に固定
させるようになっている。The intermediate shafts 9a, 9b, 9c, and 9d are tapered shafts 10, ---1, with their ends being eccentric by a distance e.
10 and screw 11. -・-・-911 are integrally fixed, and this tapered shaft 10.・------, cut into 10 1
The casing 3 is tightly fitted with the annular stator 15 containing 6 pieces.
is supported by That is, the annular stator 15 has a tapered inner surface and a cut 16 along the axial direction as shown in FIG. By tightening the screwed napht 12, the tapered surface can be rubbed and cut 1.
6 expands in the radial direction, and the resulting wedge effect securely fixes the tapered shaft lO to the casing 3.
また、上記テーパ軸１０は、環状固定子１５を弛めた状
態では、第４図に示すようにＦ方向およびＧ方向の左右
いずれの方向にも回転可能であり、この回転によって中
間軸９ａ、９ｂ。Further, when the annular stator 15 is loosened, the tapered shaft 10 can rotate in either the left or right direction in the F direction and the G direction, as shown in FIG. 4, and this rotation allows the intermediate shaft 9a, 9b.
９ｃ、９ｄをテーパ軸ｌＯの軸心を中心にしてＦ方向お
よびＧ方向の左右に移動調整できるようになっている。9c and 9d can be adjusted by moving left and right in the F direction and the G direction about the axis of the tapered shaft IO.
−
このような構成において、上記テーパ軸１０等からなる
移動調整機構を操作することにより、次のように歯車の
バックラッシュを消去した状態にセットすることができ
る。- In such a configuration, by operating the movement adjustment mechanism consisting of the tapered shaft 10 and the like, it is possible to set the gear in a state in which backlash is eliminated as follows.
すなわち、まず太陽歯車５および内歯車７を非回転状態
にロックすると共に、環状固定子１５を弛めてテーパ軸
１０を非ロツク状態にしておく。この状態で、第２図に
示すように互いに対角関係にある２本の中間軸９ａ、９
ｂを、これらに一体のテーパ軸１０．１０を回転させる
ごとにより矢印Ｆ方向へ行き止まるまで回転させ、また
同じく対角関係にある残り２本の中間軸９ｃ、９ｄを、
これらに一体のテーパ軸１０゜１０を回転させることに
より、上記矢印Ｆ方向とは反対の矢印Ｇ方向へ同じく行
き止まるまで回転させる。That is, first, the sun gear 5 and the internal gear 7 are locked in a non-rotating state, and the annular stator 15 is loosened to place the tapered shaft 10 in an unlocked state. In this state, as shown in FIG.
b is rotated in the direction of arrow F until it stops each time the tapered shaft 10.10 integrated therewith is rotated, and the remaining two intermediate shafts 9c and 9d, which are also in a diagonal relationship, are rotated.
By rotating the tapered shaft 10 degrees 10 integrated with these, the shafts are rotated in the direction of arrow G, which is opposite to the direction of arrow F, until they come to a stop.
このような中間軸９ａ、９ｂ、９ｃ、９ｄの回転により
、中間歯車８ａ、８ｂ、８ｃ、８ｄは、それぞれテーパ
軸１０の軸心を中心として回転するが、その回転量はバ
ックラッシュ相当の僅かな距離であるため、太陽歯車５
の軸心を中心とする円周方向にはパ沿う回転として見做
すことができる。そのため上記中間歯車８ａ。Due to such rotation of the intermediate shafts 9a, 9b, 9c, and 9d, the intermediate gears 8a, 8b, 8c, and 8d each rotate about the axis of the tapered shaft 10, but the amount of rotation is small enough to correspond to backlash. Because the distance is 5, the sun gear 5
It can be regarded as a rotation along Pa in the circumferential direction around the axis of . Therefore, the intermediate gear 8a.
８ｂと８ｃ、８ｄとは、それぞれ前者８ａ、８ｂがＦ方
向へ、また後者８ｃ、３ｄがＧ方向へ回転することによ
り、太陽歯車５の歯面への接触と内歯車７の歯面へる接
触とが第２図に示す状態になったとき、すなわちバック
ラッシュを消去したところで停止する。8b, 8c, and 8d contact the tooth surface of the sun gear 5 and the tooth surface of the internal gear 7 by rotating the former 8a, 8b in the F direction and the latter 8c, 3d in the G direction, respectively. When the contact reaches the state shown in FIG. 2, that is, when the backlash is eliminated, it stops.
このように回転が停止したとき、Ｆ方向に回転させた中
間歯車８ａ、３ｂによる歯車列、すなわち中間歯車８ａ
、８ｂと太陽歯車５．内歯車７との歯車列の歯当たり状
態は、太陽歯車５が反時計方向Ｒに回転する方向に接触
状態になっている。また、他方の中間歯車８ｃ、８ｄに
よる歯車列、すなわち中間歯車３ｃ、ｇｄと太陽歯車５
．内歯車７との歯車列の歯当たり状態は、太陽歯車５が
時計方向Ｃに回転する方向に接触状態になっている。こ
のような歯当たり状態になったところで、ネジ１１上の
ナツト１２を締め付け、上述したように環状固定子１５
によりテーパ軸１０をロックする。次いで、太陽歯車５
および内歯車７のロックを解除して運転可能な状態にす
る。When the rotation is stopped in this way, the gear train consisting of the intermediate gears 8a and 3b rotated in the F direction, that is, the intermediate gear 8a
, 8b and sun gear 5. The gear train is in contact with the internal gear 7 in the direction in which the sun gear 5 rotates in the counterclockwise direction R. In addition, a gear train consisting of the other intermediate gears 8c and 8d, that is, the intermediate gears 3c and gd and the sun gear 5
．． The gear train is in contact with the internal gear 7 in the direction in which the sun gear 5 rotates in the clockwise direction C. When the teeth are in contact with each other, tighten the nut 12 on the screw 11 and tighten the annular stator 15 as described above.
to lock the tapered shaft 10. Next, the sun gear 5
Then, the lock of the internal gear 7 is released to make it ready for operation.
なお、第５図に示す他の実施例は、中間軸９ａ （９ｂ
、９ｃ、９ｄ）の径がテーパ軸１０よりも大きく、かつ
両端支持された例であり、荷重が大きい場合に有利にし
たものであるが、この場合でも第１図の場合と同様な操
作により同じ歯当たり状態にセットすることができる。Note that in another embodiment shown in FIG. 5, the intermediate shaft 9a (9b
, 9c, 9d) have larger diameters than the tapered shaft 10 and are supported at both ends, which is advantageous when the load is large. Can be set to the same tooth contact condition.
上述のようにロックしたテーパ軸１０は、環状固定子１
５のクサビ効果により極めて強固に固定され、簡単に解
除されることはな（なる。The tapered shaft 10 locked as described above is connected to the annular stator 1
Due to the wedge effect of 5, it is fixed extremely firmly and will not be released easily.
ずなわち、テーパ軸１０と上記中間軸とは偏心関係にな
っているため、テーパ軸１０には常に大きな回転モーメ
ントが発生することになるが、上記クサビ効果による固
定によって、このような回転モーメントに容易に耐える
ことができ、大きな荷重であっても安定に伝達可能にす
る。In other words, since the tapered shaft 10 and the intermediate shaft are in an eccentric relationship, a large rotational moment is always generated in the tapered shaft 10, but such rotational moment is suppressed by the fixation by the wedge effect. It can easily withstand heavy loads and can stably transmit even large loads.
このように強固にロックされたテーパ軸ＩＯは、簡単に
ロックは解除されることはないが、しかし、セットの再
調整等のためにはロックの解除が必要である。このため
、上記環状固定子１５の端部外面にはネジ１７が切って
あり、このネジ１７に第７図、に示すようにナツト１８
を螺合させ、これを治具として回転操作することにより
環状固定子１５を矢印方向に引き出し、ロック解除がで
きるようにしである。The taper shaft IO that is firmly locked in this way cannot be unlocked easily, but it is necessary to release the lock in order to readjust the set or the like. For this purpose, a screw 17 is cut on the outer surface of the end of the annular stator 15, and a nut 18 is attached to the screw 17 as shown in FIG.
By screwing them together and rotating them as a jig, the annular stator 15 can be pulled out in the direction of the arrow and unlocked.
このロック解除の治具としては、第８，９図に示す実施
例のように、環状固定子１５の端部内面にネジ１７゛を
切り、このネジ１７°にボルト１９を螺合させると共に
、さらにこのボルト１９の頭部に他のボルト２０を螺合
させるようにしてもよい。すなわち、ボルト２０の先端
をネジ１１の端部に当接させながら回転操作することに
より、環状固定子１５を矢印方向に引き出し、ロック解
除することができる。As shown in the embodiment shown in FIGS. 8 and 9, the jig for unlocking is as follows: cut a screw 17° on the inner surface of the end of the annular stator 15, and screw the bolt 19 into the screw 17°; Furthermore, another bolt 20 may be screwed into the head of this bolt 19. That is, by rotating the tip of the bolt 20 while bringing it into contact with the end of the screw 11, the annular stator 15 can be pulled out in the direction of the arrow and unlocked.
さて、上述した第２図に示す歯当たり状態にセットされ
た変速装置において、入力軸１が時計方向Ｃ（正転方向
）に回転するときは、動力は中間歯車８Ｃの歯車例と中
間歯車８ｄの歯車列とを介して出力軸２に減速伝達され
るが、これに対し他方の中間歯車８ａの歯車例と中間歯
車８ｂの歯車列を介しては出力軸２に伝達されない。す
なわち、この時計方向Ｃの回転のときの他方の中間歯車
１３ａ、３ｂによる両歯車列の歯当たり状態は、回転方
向に対して隙間Ｃを介在させた状態であって動力は伝達
されず、反対側の歯面を単に接触させたまま追従回転す
るだけである。Now, in the transmission set in the tooth contact state shown in FIG. However, the deceleration is transmitted to the output shaft 2 via the gear train of the other intermediate gear 8a and the gear train of the intermediate gear 8b. In other words, when rotating in the clockwise direction C, the other intermediate gears 13a and 3b are in contact with the teeth of both gear trains, with a gap C interposed in the rotation direction, and no power is transmitted; It simply follows the rotation while keeping the side tooth surfaces in contact.
これに対し入力軸１が反時計方向Ｒ（逆転方向）のとき
は、上記正転時とは反対に、動力は他方の中間歯車８ａ
の歯車例と中間歯車８ｂの歯車列を介して出力軸２に減
速伝達され、中間歯車８ｃ、ｇｄによる歯車列を介して
は出力軸２に伝達されない。すなわち、この逆転Ｒのと
きの中間歯車８Ｃの歯車列と中間歯車８ｄの歯車列との
歯当たり状態は、回転方向に対して隙間Ｃ′を介在させ
た状態であって、反対側の歯面を単に接触させたまま追
従回転するだけになる。On the other hand, when the input shaft 1 is in the counterclockwise direction R (reverse direction), the power is transferred to the other intermediate gear 8a, contrary to the above-mentioned normal rotation.
The deceleration is transmitted to the output shaft 2 through the gear train of the intermediate gear 8b and the intermediate gear 8b, and is not transmitted to the output shaft 2 through the gear train of the intermediate gears 8c and gd. That is, the tooth contact state between the gear train of the intermediate gear 8C and the gear train of the intermediate gear 8d at the time of this reverse rotation R is a state in which a gap C' is interposed in the rotation direction, and the tooth surface on the opposite side is in contact with the gear train of the intermediate gear 8C. It simply follows and rotates while keeping in contact.
このように動力を伝達しない側の歯車列が接触状態を維
持したまま追従回転するため、正転方向Ｃから逆転方向
Ｒへ、また逆転方向Ｒから正転方向Ｃへ切り替わるとき
、その切り替わりの瞬間に、上記接触状態で追従してい
た歯車列側が直ちに動力伝達作用を行い、事実上バソク
ラシュＯの状態で回転方向の切り替えを行うことになる
。このため、パフクラシュ分だけ回転の遅れを発生する
ことなく、正確な伝達を行うことができる。In this way, the gear train on the side that does not transmit power follows the rotation while maintaining the contact state, so when switching from the forward direction C to the reverse direction R, or from the reverse direction R to the forward direction C, the moment of switching Then, the gear train side that was following in the above-mentioned contact state immediately performs a power transmission action, and the rotation direction is effectively switched in a batho-crash O state. Therefore, accurate transmission can be performed without causing rotational delay due to puff crash.
また、従来構造のように二歯面が同時接触してバックラ
ッシュを０にしたものでは、この二歯面噛合に伴う宿命
的なりサビ作用を発生して動力伝達を不円滑にするが、
本発明の装置では、反対側の歯面にバックラッシュに相
当する隙間ｃ、ｃ″を介在させているためクサビ作用の
発生はない。In addition, in the conventional structure where the two tooth surfaces are in simultaneous contact and the backlash is zero, a fateful rust effect occurs due to the meshing of the two tooth surfaces, making power transmission unsmooth.
In the device of the present invention, gaps c and c'', which correspond to backlash, are provided on the opposite tooth surface, so that no wedge effect occurs.
また、上述した変速装置では、中間歯車８ａ。Moreover, in the transmission described above, the intermediate gear 8a.
８ｂ、８ｃ、８ｄが、それぞれ油膜を発生させる遊隙１
４を介して遊動中介輪１３に回転自在に支持されている
ため、この遊隙１４の油膜による偏心角の変動と、太陽
歯車５のう′シアル方向に対して変動が許容されること
によって歯車工作上の各種の誤差を吸収し、複数の歯車
列に対して動力を等配するため、極めて円滑な運転を可
能にする。8b, 8c, and 8d are clearances 1 that generate oil films, respectively.
4, the gear is rotatably supported by the idler gear 13 through the idler gear 13, so that the eccentric angle is allowed to fluctuate due to the oil film in the idler gap 14, and the sun gear 5 is allowed to fluctuate in the radial direction. Absorbs various manufacturing errors and evenly distributes power to multiple gear trains, allowing for extremely smooth operation.
なお上述の実施例では、スター型歯車機構をベースとし
た例について説明したが、本発明はＬ記中間歯車を遊星
歯車とする遊星歯車機構をベースにして構成してもよい
。遊星歯車機構を−・−スにする場合は、上述した中間
軸の移動調整機構を、中間歯車（遊星歯車）を支持する
キャリヤ上に設置するようにすれば全く同様の装置にす
ることができる。In the above-described embodiments, an example based on a star gear mechanism has been described, but the present invention may be constructed based on a planetary gear mechanism in which the L intermediate gear is a planetary gear. When a planetary gear mechanism is used as a planetary gear mechanism, a completely similar device can be obtained by installing the above-mentioned intermediate shaft movement adjustment mechanism on a carrier that supports the intermediate gear (planetary gear). .
また、上述した実施例は減速装置の場合を例示したが、
上記出力軸を人力軸にし、上記人力軸を出力軸にする関
係にすれば、増速装置としての適用が可能になる。In addition, although the above-mentioned embodiment illustrated the case of a reduction gear,
If the output shaft is a human-powered shaft and the human-powered shaft is used as an output shaft, it can be applied as a speed increasing device.
上述したように本発明の制御用変速装置によると、半数
の中間歯車による歯車例を動力伝達側とするとき、残り
半数の中間歯車による歯車列を単に歯面を接触状態にし
て追従させたけにすることができるため、それによって
回転方向を正逆に切り替えるときには、歯車の噛合関係
をバックラッシュが実質的に０であるのと等し、い状態
に直ちに切り替えることができる。したがって、回転遅
れのない正確な伝達を可能にする。また、本発明の装置
では、動力伝達側と反対側の歯面にはバックラッシュ相
当の隙間が常に形成されているため、従来の構造のよう
な二歯面噛合によるクサビ作用の発生は全く起こらず、
円滑な動力伝達を可能にする。As described above, according to the control transmission of the present invention, when half of the intermediate gears are on the power transmission side, the gear train of the remaining half of the intermediate gears can be simply brought into contact with the tooth surfaces to cause the gear train to follow the gear train. Therefore, when switching the rotation direction between forward and reverse, the meshing relationship of the gears can be immediately switched to a state in which the backlash is substantially zero. Therefore, accurate transmission without rotational delay is possible. In addition, in the device of the present invention, a gap equivalent to backlash is always formed on the tooth surface on the opposite side to the power transmission side, so the wedge effect due to the meshing of two tooth surfaces as in the conventional structure does not occur at all. figure,
Enables smooth power transmission.
また、上記中間歯車の歯当たり状態のセットを、テーパ
軸と切割付き環状固定子との間のクサビ効果によってロ
ックするため、極めて強固な固定が行われ、テーパ軸に
発生する大きな回転モーメントにも容易に耐えるため、
大きな荷重であっても上述した正確な運転を保証するこ
とができる。In addition, since the set of tooth contact conditions of the intermediate gear mentioned above is locked by the wedge effect between the taper shaft and the notched annular stator, extremely strong fixation is achieved and it can withstand large rotational moments generated on the taper shaft. To withstand easily,
The above-mentioned accurate operation can be guaranteed even under large loads.
また、このようなりサビ効果による強固なロックは、本
発明ではネジを利用した治具の付加によって節単に解除
するうことができる。Further, in the present invention, such a strong lock due to the rust effect can be easily released by adding a jig using a screw.
第１図は本発明の実施例による変速装置の縦断面図、第
２図は第１図をｎ−ｎ矢視により見たときの同変速装置
の作動を説明する原理図、第３図は同変速装置の中間歯
車部分を示す拡大正面図、第４図は同装置に使用される
中間軸の移動調整機構の要部を示す斜視図、第５図は池
の実施例による中間歯車部分を示す縦断面図、第６図は
第５図のＶｌ−Ｖｌ矢視図、第７図は第５図に示す同部
分のテーパ軸をロック解除するときの状況を示す縦断面
図、第８図はさらに他の実施例による中間歯車部分を示
す縦断面図、第９図は同部分のテーパ軸をロック解除す
るときの状況を示す縦断面図である。
１・・・入力軸、 ２・・・出力軸、 ３・・・ケーシ
ング、 ５・・・太陽歯車、 ７・・・内歯車、 ８ａ
。
８ ｂ、 ８ ｃ、 ８ ｄ・・−中間歯車、 ９
ａ、９ｂ。
９ｃ、９ｄ・・・中間軸、 １０・・・テーパ軸、
１１・・・ネジ、 １２・・・ナツト、 １３・
・・遊動中介輪、 １４・・・遊隙、 １５・・・
環状固定子、 １６・・・切削、 １７．１７’ ・
・・ネジ、 １８・・・ナツト（治具）、 １９．２
０・・・ボルト（治具）。
第１図
第２図
第３図
第４図
第５図
９ａ（９ｂ、９ｃ、９ｄ）FIG. 1 is a longitudinal sectional view of a transmission according to an embodiment of the present invention, FIG. 2 is a principle diagram illustrating the operation of the transmission when FIG. 1 is viewed from the nn arrow direction, and FIG. FIG. 4 is an enlarged front view showing the intermediate gear portion of the same transmission, FIG. 4 is a perspective view showing the main part of the intermediate shaft movement adjustment mechanism used in the same device, and FIG. 5 is the intermediate gear portion according to Ike's embodiment. 6 is a view along the Vl-Vl arrow in FIG. 5, FIG. 7 is a longitudinal sectional view showing the situation when unlocking the taper shaft of the same portion shown in FIG. 5, and FIG. FIG. 9 is a vertical cross-sectional view showing an intermediate gear portion according to still another embodiment, and FIG. 9 is a vertical cross-sectional view showing a situation when the tapered shaft of the same portion is unlocked. DESCRIPTION OF SYMBOLS 1... Input shaft, 2... Output shaft, 3... Casing, 5... Sun gear, 7... Internal gear, 8a
. 8 b, 8 c, 8 d... - intermediate gear, 9
a, 9b. 9c, 9d... intermediate shaft, 10... taper shaft,
11...Screw, 12...Nut, 13.
...Idling intermediate care wheel, 14... Play gap, 15...
Annular stator, 16... cutting, 17.17' ・
...Screw, 18...Nut (jig), 19.2
0... Bolt (jig). Figure 1 Figure 2 Figure 3 Figure 4 Figure 5 Figure 9a (9b, 9c, 9d)
Claims (3)
在させたスター型歯車機構または遊星歯車機構からなり
、前記中間歯車を支持する中間軸の一端にテーパ軸を偏
心状態に一体固定し、このテーパ軸の回転により前記中
間軸を太陽歯車の軸心を中心とする円周方向に実質的に
沿わせて、時計方向および反時計方向にそれぞれ移動調
整自在にし、かつ太陽歯車および内歯車の回転停止下に
半数の中間軸を時計方向へ、残り半数の中間軸を反時計
方向にそれぞれ移動調整して歯車のバックラッシュを消
去させ、その位置に前記テーパ軸に切割入り環状固定子
を緊密嵌合させてロック可能にしたことを特徴とする制
御用変速装置。(1) Consisting of a star gear mechanism or a planetary gear mechanism in which an even number of intermediate gears are interposed between a sun gear and an internal gear, and a tapered shaft is eccentrically integrated at one end of the intermediate shaft that supports the intermediate gears. fixed, and by rotation of the tapered shaft, the intermediate shaft is made substantially along the circumferential direction centering on the axis of the sun gear, and can be adjusted to move clockwise and counterclockwise, respectively. While the internal gear stops rotating, half of the intermediate shafts are moved clockwise and the other half of the intermediate shafts are moved and adjusted counterclockwise to eliminate the backlash of the gears, and at that position the taper shaft is cut and fixed in an annular shape. A control transmission characterized in that the gears are tightly fitted and lockable.
ネジに螺合させた治具により環状固定子の緊密嵌合を解
除可能にした特許請求の範囲第１項記載の制御用変速装
置。(2) A control transmission device according to claim 1, wherein a screw is provided on the outer or inner surface of the annular stator, and the tight fitting of the annular stator can be released by a jig screwed onto the screw. .
中間歯車を油膜発生可能な遊隙を介して支持した特許請
求の範囲第１項記載の制御用変速装置。(3) The control transmission according to claim 1, wherein an idler intermediate gear is supported on the intermediate shaft, and an intermediate gear is supported on the idler intermediate gear via a clearance that can generate an oil film.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP61155194A JPS6313939A (en) | 1986-07-03 | 1986-07-03 | Control transmission-gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP61155194A JPS6313939A (en) | 1986-07-03 | 1986-07-03 | Control transmission-gear |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6313939A true JPS6313939A (en) | 1988-01-21 |
| JPH0553979B2 JPH0553979B2 (en) | 1993-08-11 |
Family
ID=15600547
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP61155194A Granted JPS6313939A (en) | 1986-07-03 | 1986-07-03 | Control transmission-gear |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6313939A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02118237A (en) * | 1988-10-28 | 1990-05-02 | Takashi Takahashi | Change gear using planetary gear mechanism |
| JPH02221755A (en) * | 1988-12-24 | 1990-09-04 | Man Roland Druckmas Ag | Method for correcting error of gear and gear for use in utilizing said method |
| JPH10138062A (en) * | 1996-09-10 | 1998-05-26 | Staubli Faverges | Assembling method for epicycle reduction gear, and epicycle reduction gear |
| WO2003050435A1 (en) * | 2001-12-11 | 2003-06-19 | Harmonic Drive Systems Inc. | Planetary gear device |
| EP2796750A1 (en) * | 2013-04-25 | 2014-10-29 | Swepart Transmission AB | Epicyclic gear train |
| DE102015200461A1 (en) | 2015-01-14 | 2016-07-14 | Schaeffler Technologies AG & Co. KG | Planetenradlagerung with U-shaped sleeve |
| EP3674583A1 (en) * | 2018-12-28 | 2020-07-01 | Exedy Corporation | Power transmission device |
| CN114906577A (en) * | 2022-05-31 | 2022-08-16 | 南京苏之晟环保设备有限公司 | Silencing type unpowered belt rotary sweeper |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017215758A1 (en) * | 2016-06-16 | 2017-12-21 | Güdel Group AG | Planetary gear unit |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2444734A (en) * | 1944-09-14 | 1948-07-06 | Us Navy | Backlash eliminator for planetary gears |
| JPS4885080U (en) * | 1972-01-18 | 1973-10-16 | ||
| JPS5043843U (en) * | 1973-08-20 | 1975-05-02 | ||
| JPS5440960A (en) * | 1978-02-23 | 1979-03-31 | Tsubakimoto Chain Co | Fastening apparatus between a shaft and a boss |
-
1986
- 1986-07-03 JP JP61155194A patent/JPS6313939A/en active Granted
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2444734A (en) * | 1944-09-14 | 1948-07-06 | Us Navy | Backlash eliminator for planetary gears |
| JPS4885080U (en) * | 1972-01-18 | 1973-10-16 | ||
| JPS5043843U (en) * | 1973-08-20 | 1975-05-02 | ||
| JPS5440960A (en) * | 1978-02-23 | 1979-03-31 | Tsubakimoto Chain Co | Fastening apparatus between a shaft and a boss |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02118237A (en) * | 1988-10-28 | 1990-05-02 | Takashi Takahashi | Change gear using planetary gear mechanism |
| JPH02221755A (en) * | 1988-12-24 | 1990-09-04 | Man Roland Druckmas Ag | Method for correcting error of gear and gear for use in utilizing said method |
| JPH10138062A (en) * | 1996-09-10 | 1998-05-26 | Staubli Faverges | Assembling method for epicycle reduction gear, and epicycle reduction gear |
| WO2003050435A1 (en) * | 2001-12-11 | 2003-06-19 | Harmonic Drive Systems Inc. | Planetary gear device |
| US6866608B2 (en) | 2001-12-11 | 2005-03-15 | Harmonic Drive Systems, Inc. | Planetary gear device |
| EP2796750A1 (en) * | 2013-04-25 | 2014-10-29 | Swepart Transmission AB | Epicyclic gear train |
| WO2014173701A1 (en) * | 2013-04-25 | 2014-10-30 | Swepart Transmission Ab | Epicyclic gear train |
| US9574637B2 (en) | 2013-04-25 | 2017-02-21 | Swepart Transmission Ab | Epicyclic gear train |
| DE102015200461A1 (en) | 2015-01-14 | 2016-07-14 | Schaeffler Technologies AG & Co. KG | Planetenradlagerung with U-shaped sleeve |
| EP3674583A1 (en) * | 2018-12-28 | 2020-07-01 | Exedy Corporation | Power transmission device |
| CN114906577A (en) * | 2022-05-31 | 2022-08-16 | 南京苏之晟环保设备有限公司 | Silencing type unpowered belt rotary sweeper |
| CN114906577B (en) * | 2022-05-31 | 2023-12-22 | 南京苏之晟环保设备有限公司 | Silencing type unpowered belt rotary sweeper |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0553979B2 (en) | 1993-08-11 |
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