TW201030255A - Planetary device for conversion between rotary motion and linear motion - Google Patents

Planetary device for conversion between rotary motion and linear motion Download PDF

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Publication number
TW201030255A
TW201030255A TW98140075A TW98140075A TW201030255A TW 201030255 A TW201030255 A TW 201030255A TW 98140075 A TW98140075 A TW 98140075A TW 98140075 A TW98140075 A TW 98140075A TW 201030255 A TW201030255 A TW 201030255A
Authority
TW
Taiwan
Prior art keywords
planetary
shaft
sun
gear
axis
Prior art date
Application number
TW98140075A
Other languages
Chinese (zh)
Inventor
Toshiyuki Aso
Hideo Saito
Soshi Miyahara
Akihiro Unno
Takashi Sakuyama
Original Assignee
Thk Co Ltd
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Filing date
Publication date
Priority claimed from JP2009223542A external-priority patent/JP2010156454A/en
Priority claimed from JP2009223541A external-priority patent/JP2010156453A/en
Priority claimed from JP2009223540A external-priority patent/JP2010156452A/en
Application filed by Thk Co Ltd filed Critical Thk Co Ltd
Publication of TW201030255A publication Critical patent/TW201030255A/en

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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
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H25/22—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members
    • F16H25/2247—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members with rollers
    • F16H25/2252—Planetary rollers between nut and screw

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transmission Devices (AREA)
  • Retarders (AREA)

Abstract

Provided is a planetary device for conversion between rotary motion and linear motion capable of increasing stroke of a sun shaft and enhancing productivity and durability. The planetary device for conversion between rotary motion and linear motion has: a sun shaft 1 having a sun gear 11 and a spiral projected line 12; a planetary shaft 4 having a planetary gear 41 that is engaged with the sun gear 11 of the sun shaft 1 and a spiral groove 42 that is engaged with the spiral projected line 12 of the sun shaft 1; and a nut 2 having an inner gear 21 that is engaged with the planetary gear 41 of the planetary shaft 4 and being engaged with the spiral groove 42 of the planetary shaft 4. When the sun shaft 1 is rotated relative to the nut 2, the planetary shaft 4 moves linearly in the axial direction of the sun shaft 1 relative to the sun shaft 1. An area where the planetary gear 41 of the planetary shaft 4 is formed and an area where the spiral groove 42 of the planetary shaft 4 is formed are separated from each other along the axial direction of the planetary shaft 4. The sun gear 11 of the sun shaft 1 that is engaged with the planetary gear 41 of the planetary shaft 4 is formed in the spiral projected line 12 of the sun shaft 1.

Description

201030255 六、發明說明： 【發明所屬之技術領域】 本發明係關於一種使用行星齒輪機構而將旋轉運動變換 為直線運動之行星式旋轉-直線運動變換裝置。 【先前技術】 作為將旋轉運動變換為直線運動之行星式旋轉-直線運動 變換裝置之一，習知有一種具備太陽軸、空出環狀空間而包 圍在太陽軸周圍之螺帽、及排列在太陽軸與螺帽之間之複數 行星軸的行星式旋轉-直線運動變換裝置（參照專利文獻 1)。太陽軸係具有螺旋狀太陽齒輪與螺紋狀太陽齒輪二者。 行星軸亦具有螺旋狀行星齒輪與螺紋狀行星齒輪。螺帽亦具 有螺旋狀内齒輪與螺紋狀内齒輪。太陽軸之螺旋狀太陽齒 輪、行星軸之螺旋狀行星齒輪、及螺帽之螺旋狀内齒輪構成 第一行星齒輪機構，太陽軸之螺紋狀太陽齒輪、行星軸之螺 紋狀行星齒輪及螺帽之螺紋狀内齒輪構成第二行星齒輪機 構。太陽軸之螺紋狀太陽齒輪、行星軸之螺紋狀行星齒輪及 螺帽之螺紋狀内齒輪之節距相同，構成相互嚙合之第二行星 齒輪機構。而且，藉由將第一行星齒輪機構與第二行星齒輪 機構之齒數比設為不同，而可將螺帽之旋轉運動變換為太陽 軸之直線運動。 亦即，專利文獻1所記載之行星式旋轉-直線運動變換裝 置中，係使太陽軸之螺旋狀太陽齒輪相對行星軸之螺旋狀行 098140075 4 201030255 星齒輪的齒數 .軸之楼故狀行星太陽齒輪相對行星 之螺旋狀内齒輪相對行星軸之釋旋狀〜另一方面，使螺帽 螺帽之螺· 仃星齒輪的餘比，與 比互呈一致。齒輪相對订星轴之螺紋狀行星齒輪的條數 ❹ 原理於如下說變換裝置之動作 行星麵圍燒太陽_圍-邊自#1_^進行相對性旋轉，則 -行星齒輪機μ轉。此處，因為第 假設太陽軸未朝二星:輪:第構上，不同，若 二公轉位置與第二行星齒輪機構之行::=:行星 周方向偏移。但是，因為行 α轉位置會朝圓 行星齒輪保持相互結合’因此螺旋狀：輪:螺紋狀 螺紋狀行錢輪之公轉位置無法偏移。若^軸=置與 移動’則相對於螺旋狀行星齒輪之公轉位置變化^線方向 星齒輪之公轉位置亦會變化。故，太陽軸朝 、紋狀行 [先行技術文獻] 、、、向移動。 [專利文獻] 圖^文獻1:日本專利特開2〇〇7-物2號公報(參照圖卜 [發明内容】 (發明所欲解決之問題） 098140075 5 201030255 ^疋f知仃星式旋轉_直線運動變換裝置中，存在有當 太&轴對朝軸線方向進行相對直線運 之螺紋狀太陽齒輪偏離行料之螺紋狀行星齒輪區域時= =:狀太太陽齒輪會碰抵_之螺旋狀行星齒輪之 澤題。因此，太陽軸之耔铝晷 …合碰卜 受限於太陽軸之螺紋狀太陽 齒輪不s城仃星輛之職狀行星齒輪之 步’因為僅;，之螺紋狀行星齒輪之轴線方二 螺旋狀打錢輪m側進行齒輪驅動 = 使行星轴傾斜之彎曲六# ^ 口此谷易作用 課題。 f曲力矩’而亦會有旋轉之傳動效率變差之 在曲力矩作用於行一 周面排列_•狀凹陷、並=::=之外 凹星式鱗·直線運動㈣= 製外之方式製造，C數凹陷，事實上無法由乾 因而產生太陽軸存在困難性之新 如即使可域製模具來製衫陽軸，亦無法修正起因加工^ 差或淬火後之應變等的㈣四陷的節距誤差無法修正。其理 由在於事實上無法磨削加w數凹陷磨削。此外，太_理 多數凹陷與行星多數㈣為間歇性嗜合之構造，且之 凹部及多數凸部如上述由#易具加工精度之軋製加工進象 製造，因而在太陽^陷與行j_軸凸部間容易發生顏動（間 098140075 6 201030255 隙)’亦有造成太陽軸之凹陷及行 影響之課題。 辨之凸领耐久性不良 換樣衫於解㈣㈣以鱗-直線運動變 、裝^上相如完成者，其目的在於提供 =螺帽之行程量、並可提升生產性及耐久性之實c 式才疋轉-直線運動變換裝置。 星 ❹ ⑩ ★再者一般在行星齒輪機射，為將行絲在太 等分排列’ SI特星歡織必料 °圍 與螺帽之内齒輪齒數和之因數’且為太陽 7螺帽之螺紋狀内齒輪條數和之因數。在專利文W 2 載之行星錢轉_直線運動變換裝置巾，在將行星軸個數特 7上述因數後，紐約數個數之行絲之行録輪不間斯 地喊合於太陽軸之太陽絲及之_輪，而將各行星齒 輪之齒數相對於行星軸之個數設定於！以外之非公因數的 數值。亦即，各行錄之行星絲之靜純在各行星輪之 圓周方向位置呈現偏移。 若將從行星軸之行星齒輪凸部(齒冠）至凸部（齒冠)設為一 週期’則彳f星歡行星絲料太陽歡找練之喊合相 位伴隨太陽軸及行錄之_，而在該—·之範圍内逐漸 變化。若將行絲之健及行星錄之齒數設定為如上塊專 利文獻！所記載之行星式旋轉-直線運動變換裝i，則可使 各行星軸之行星鈴相對太糾之太陽絲之4合相位，配 098140075 201030255 合各行星軸之圓周方向位置而逐漸偏移（參照曰本專利特開 2007_56952號公報(段落[〇〇71]、[〇1〇7]))。行星齒輪機構中， 行星軸之行星齒輪齒數相較於太陽軸之太陽齒輪及螺帽内 齒輪，有較小之傾向，會有行星轴之行星齒輪與太陽軸之太 陽齒輪之I合率降低㈣題。#由使各行錄之行星齒輪嗜 合相位，配合各行餘之圓周方向位置逐漸偏移，可彌補唾 合率之惡化。 但是’就食輪之原理而言，當行星軸之行星齒輪之凸部齒 面（齒冠附近之齒面）喷合於太陽軸之太陽齒輪之凹部齒面 (齒底附近之齒Φ)時’騎從行星㈣動最场矩至太陽 軸。如專敎獻1所記狀行星歧轉直_動變換裝 置，僅使各行星軸之行星齒輪相對太陽轴之太陽齒輪之喃合 相位各行星歡圓财•置逐漸鮮，職難從複數行星 轴均衡地傳動扭矩至太陽轴。而且，因此原因，由於會產生 使位於行星式旋轉·直線運動變換裝置中心之太陽轴朝半徑 方向偏移之作用力，因此亦較難地由複數行星軸均衡保料 陽轴。 、 本發明第二態樣為基於解決上述習知行星式 動變換裝置之課題岐成者，其目的在於提供太=線運 圍所排列之複數行星軸可均衡保持太陽軸之太陽轴周 線運動變換裝置。 订星式旋轉、直 更進一步，專利文獻1所記載行至軸之·狀行星. 098140075 201030255 二==紋:太陽齒輪’就正交於輪線之剖面觀看其具有 正mrp，螺紋狀行星齒輪及螺紋狀太陽齒輪中， 線=:r之齒形為漸開線，輪，當就含行星軸軸 接mr’觀純星錄㈣⑽切絲相互呈線 作是，衷刹令缸， k(參照段洛[0241]))。 二 直線運動變換裝 置中，當就含行星軸軸線之剖面觀看 、 ❹ .規百螺紋狀行星齒輪及螺 紋狀场錄相互呈線制，因此切錢線接觸部分發生 差動滑動之課題。該線接觸之部分中，依太陽㈣行星轴之 自公轉比Μ滑動的區域在中央附近僅有—點在隔著不滑 動區域之二侧分佈差崎動。#在螺紋狀行聽輪與螺紋 狀太陽齒輪之間發生絲滑動，黯星軸與太陽軸之間的旋 轉傳動效率會變差，因旋㈣動效率變差致使需要較大輸出 之馬達。 而且’當使太陽軸進行衧程時，利用使螺旋狀太陽齒輪相 對螺旋狀行星齒輪之齒數比與螺紋狀太陽齒輪相對螺紋狀 行星齒輪之齒數比不同’使太陽軸以齒數比之差朝軸線方向 進行行程的原理。因此，亦會有在螺紋狀行星齒輪與螺紋狀 太陽齒輪之間原本就容易發生滑動之問題。 更進步’因加工誤差或錯位(miss alignment)而使螺紋狀 行星齒輪及螺紋狀太陽齒輪未如理論進行線接觸，該等亦會 有局部碰觸之可能性。當在局部碰觸之狀態下對太陽轴施加 098140075 9 201030255 軸線方向載重，則接觸部之面壓會提升，致使螺紋狀行星齒 輪及螺紋狀太陽齒輪容易遭破壞。 本發明第三態樣為基於解決習知行星式旋轉_直線運動變 換裝置之上述問題而完成者’其目的在於提供一種可減少滑 動率、且可容許加工誤差與錯位之行星式旋轉_直線運動變 換裝置。 (解決問題之手段） 以下’說明本發明第一態樣。 為解決上述本發明第一態樣之課題，本發明第一態樣為一 種行星式旋轉-直線運動變換裝置，其具備有；太陽軸，具 有太陽齒輪，同時具有螺旋凸條或圓周方向凸條；行星軸， 具有嚙合於上述太陽軸之上述太陽齒輪的行星齒輪，同時具 有嚙合於上述太陽轴之上述螺旋凸條或上述圓周方向凸條 的螺旋溝或圓周方向溝；及螺帽，具有嗔合於上述行星轴之 上述行星齒輪的内齒輪，同時具㈣合於上述行星軸之上述 螺旋溝或上述圓周方向溝的螺旋凸條或圓周方向凸條；而上 述太陽軸之上述太陽齒輪、上述行星軸之上述行星齒輪、及 2職之上述_輪構成行星齒輪機構，當使上述太陽轴 :螺帽進行相對旋轉’則上述行星軸相對上述太陽轴 月—通太_之轴線方向進行相對直線運動；其中，形成上 述仃星軸之上述行|錄㈣域 蟫旌:查赤埤/、形成上返仃星軸之上迷 …5 α周方向溝的區域’在上述行絲之軸線方向 098140075 201030255 呈分離’在上述太陽軸之上述螺旋凸條或上述圓周方向凸條 •之凸部，形成與上述行星轴之上述行星齒輪相嗜合的上述太 陽齒輪。 本發明第ϋ之另—態樣為—種行星式旋轉·直線運動 變換裝置’其具備有：太陽軸，具有太陽齒輪，同時具有螺 旋凸條或圓周方向凸條；行星軸’具有喃合於上述太陽軸之 上述太陽齒輪的行星齒輪，同時具有齡於上述太陽轴之上 β述螺旋凸條或上述圓周方向凸條的螺旋溝或圓周方向溝；及 螺帽，具料合於上述行絲之上述行星錄_齒輪同 時具㈣合於上述行絲之上述職溝或上述圓周方向溝 的螺旋凸條或圓周方向凸條；而上述太陽轴之上述太陽齒 輪上述行星軸之上述行星齒輪、及上述螺帽之上述内齒輪 構成行星齒輪機構，當使上述螺帽相對上述太陽轴進行相對 旋轉’上述行絲相對上述螺帽在上賴帽之軸線方向進 ©行相對直線運動；其中，形成上述行星軸之上述行星齒輪的 區域、與形成上述行星軸之上述職溝或上述圓周方向溝的 區域，在上述行星軸之軸線方向呈分離，在上述螺帽之上述 螺旋凸條或上述圓周方向凸條之凸部，形成與上述行星轴之 上述行星齒輪相嚙合的上述内齒輪。 以下’說明本發明第二態樣。 為解決上述本發明第二態樣之課題，本發明第二態樣為一 種行星式旋轉-直線運動變換裝置，其具備有：太陽軸，具 098140075 11 201030255 有太陽齒輪，同時具有螺旋凸條或圓周方向凸條，·行星轴， 具有喝合於上述太陽轴之上述太陽齒輪的行星齒輪，同時具 有嗔合於上述太陽轴之上述螺旋凸條或上述圓周方向凸條 的職溝或圓周方向溝;及螺帽.，具有喻合於上述行星轴之 上述行星嵩輪的内齒輪’同時具有喝合於上述行星軸之上述 螺旋溝或上述圓周方㈣的螺旋凸條或圓周方向凸條；而上 述太陽軸之上述太陽齒輪、上述行星轴之上述行星齒輪、及 上述螺帽之上述内齒輪構成行星齒輪機構，當使上述太陽軸❹ 相對上述螺帽進行相對旋轉，則上述螺帽㈣上述太陽轴朝 上述太陽軸之轴線方向進行相對直線運動；其中將— 個上述行星轴等分排列在上述太陽車由周圍，相位角度各以 120度偏移的三個行絲之上述行星齒輪之喃合相位相一 致。 本發明第二態樣另一態樣為一種行星式旋轉·直線運動變 換裝置，其具備有：太陽軸，具有太陽齒輪，同時具有螺旋〇 凸條或圓周方向凸條；行星軸，具料合於上述太陽軸之上 述太陽嵩輪的行星齒輪，同時具有唾合於上述太陽軸之上述 螺旋凸條或上述圓周方向凸條的螺旋溝或圓周方向溝；及螺 帽，具有4合於上述行星轴之上述行星齒輪的内齒輪 ，同時 具有替於上述行星軸之上述螺旋溝或上述圓周方向溝的 螺旋凸條或圓周方向凸條；而上述太陽軸之上述太陽齒輪、 上述行星軸之上述行星齒輪、及上述螺帽之上述内齒輪構成 098140075 12 201030255 行星齒輪機構，當使上述太陽軸相對上述螺帽進行相對旋 轉，則上述螺帽相對上述太陽軸朝上述太陽轴之轴線方向進 订相對直線運動；其中’將4xn個上述行星軸等分排列在上 述太陽轴周圍，相㈣度各以9G度偏移的四個行星軸之上 述行生齒輪之喊合相位相一致。 其中，η為自然數，上述相位角度在從上述太陽軸之軸線 方向觀看下’以連結上述太陽軸中心與行星軸中心之方向、 ❹與既疋基準方向所夾的角度而表示，上述嗤合相位為上述行 星軸之上述行星齒輪的既定基準位置相對於連結上述太陽 軸中心與上述行星軸_心之方向的傾斜程度。 以下，說明本發明第三態樣。 為解決上述本發明第三態樣之課題，本發明第三態樣為 一種仃星式旋轉-直線運動變換裝置，其具備有：太陽軸， 具有太陽齒輪，同時具有螺旋凸條或圓周方向凸條；行星 ®軸，具有妨於上述太陽轴之上述太陽齒輪的行星齒輪，同 時具有嚙合於上述太陽軸之上述螺旋凸條或上述圓周方向 凸條的螺旋溝或圓周方向溝，·及螺帽，具有嚙合於上述行星 轴之上述行星齒輪的内齒輪，同時具有嚙合於上述行星軸之 上述螺旋溝或上述圓周方向溝的螺旋凸條或圓周方向凸 條，而上述太陽轴之上述太陽齒輪、上述行星軸之上述行星 齒輪、及上述螺帽之上述内齒輪構成行星齒輪機構，當使上 述太陽軸相對上述螺帽進行相對旋轉，則上述螺帽相對上述 098140075 13 201030255 太陽軸朝上述太_之#線方向進行相對直線運動；其中， 於上述行錄之上_旋溝或上㈣财㈣、上述太陽轴 ，上述螺旋凸條或上述圓周方向凸條、及上述螺帽之上述螺 旋凸條或上述圓周方向凸條中至少—者施以凸起，以使上述 打星軸之上賴旋溝或上㈣財向溝點制於上述太陽 軸之上述螺旋凸條或上述關方向凸條、及上述螺帽之上述 螺旋凸條或上述圓周方向凸條。 根據本發明第-態樣，因為在太陽轴之螺旋凸條或圓周方 °條之凸成與行星軸之行星齒輪相嘲合的太陽齒 輪’因此即使行星軸相對太陽軸在軸線方向相對移動，太陽 軸之螺旋凸條或圓周方向凸條亦不會與行星軸之行星齒輪 發生干涉’可保持太陽軸之螺旋凸條或圓周方向凸條、斑行 星軸之螺贿或圓财㈣㈣合，雜场歡太陽齒輪 =行呈軸之行星齒輪之間之喃合。所以，可增加螺帽相對太❹ 陽軸在轴線方向之相對行程量。此外’太陽轴可由切削、札 製任一種方式製得’在將太陽軸淬火後亦可透過磨削加工等 修正節距，因此可提升太陽軸之生產性。更進一步，形成行 星軸之仃星齒輪的區域、與形成行星轴之螺旋溝或圓周方向 溝的區域係在行星軸之減方向呈分離，因此行星軸亦可由 切削、軋製任一種方式製造得，行星轴之製造亦趨於容易。 根據本發明第一態樣之另一態樣，因為在螺帽之螺旋凸條 098140075 201030255 或圓周方向凸條之凸部形成與行星轴之行星齒輪相嚙合的 内齒輪’因此即使行星轴相對螺帽朝軸線方向相對移動，嫘 帽之螺旋凸條或圓周方向凸條亦不會與行星轴之行星齒輪 干涉’可保持螺帽之螺旋凸條或圓周方向凸條、與行星軸之 螺旋溝或圓周方向溝之η齒合，保持螺帽之内齒輪與行星軸之 行星齒輪之間之嚙合。因此，可增加太陽轴相對螺帽在軸線 方向之相對行程量。此外，螺帽可由切削、軋製任一種方式 G 製得’在將螺帽淬火後亦可由磨削加工等修正節距，因此可 提升螺帽之生產性。更進一步，形成行星轴之行星齒輪的區 域、與形成行星軸之螺旋溝或圓周方向溝的區域，係在行星 軸之軸線方向呈分離，因此行星軸亦可由切削、軋製任一種 方式製得，行星軸之製造亦趨於容易。 根據本發明第二態樣，因為相位角度各以120度偏移的三 個行星軸、或相位角度各以90度偏移的四個行星軸之行星 ❿ 齒輪之嚙合相位互保持一致，因此宛如旋盤的三爪夾頭或四 爪夾頭般，上述三或四個行星轴之行星齒輪可穩定地保持太 陽軸。 根據本發明第二態樣之另一態樣，當更進一步使鄰接之η 個行星軸的行星齒輪之嚙合相位呈互異，則鄰接之η個行星 軸的行星齒輪會不間斷地嚙合於太陽轴之太陽齒輪，因此亦 可彌補行星齒輪與太陽齒輪之間的嚙合率惡化。 根據本發明第三態樣，於行星軸之螺旋溝或圓周方向溝、 098140075 15 201030255 太陽軸之螺旋凸條或圓周方向凸條、及螺帽之螺旋凸I 周方向凸條中至少一者，施以凸起，藉岐該等進=或圓 觸，由此可使接觸狀態接近於滾動接觸，因而可減輕仃點接 動。又，可使接觸部分之面壓達穩定。 1差動滑 本發明第三態樣中，當從軸線方向觀看行星軸時，疒 之螺旋溝或圓周方向溝相對太陽轴之螺旋凸條或圓了星轴 凸條呈不滑動的區域、及行星軸之螺旋溝或圓周方周方向 螺帽之螺旋凸條或圓周方向凸條呈不滑動的區域， + 星軸的螺旋溝或圓周方向溝之半徑方向互異的你^於订 J证置處。原因 在於，太陽軸之螺旋凸條或圓周方向凸條的導程、戋螺中= 螺旋凸條或®周方向凸條的導程對於行星袖之螺旋 周方向溝的導程呈相異’可使太陽㈣目對螺帽直線運動。藉 由使行星軸之螺旋溝或圓周方向溝與太陽輛之螺旋凸條或 圓周方向凸條之間之接觸點位置’自行星轴之螺旋溝或圓周 方向溝與螺帽之螺旋凸條或圓周方向凸條之間之接觸點位 置朝行星軸半徑方向偏離，而可將接觸點接近至不滑動區 域、即滚動接觸之區域’可更減輕差動滑動。 【實施方式】 以下，根據所附圖式，詳細說明本發明行星式旋轉_直線 運動變換裝置之實施形態。圖1表示本發明第一實施形態行 星式旋轉-直線運動變換裝置之立體圖（為使内部構造容易 理解，而呈現將螺帽切割一半之狀態）。行星式旋轉_直線運 098140075 16 201030255 動變換裝置係具備有沿共通之軸線3延伸的太陽軸1及螺帽 2。在太陽軸1與螺帽2之間的環狀空間中，配置與該等複 數(例如九個）相喃合之行星軸4。行星轴4之軸線係平行於 太陽轴1及螺帽2之軸線。九個行星4係圍繞太陽軸1周圍 在圓周方向隔開均等間隔排列。若使太陽轴1相對螺帽進行 相對旋轉，則螺帽2朝軸線方向進行直線運動。 在太陽軸1形成作為太陽齒輪之正齒輪11、及作為螺旋 © 凸條之外螺紋12。在行星軸4形成作為行星齒輪之正齒輪 41、及作為螺旋溝之外螺紋42。在螺帽2形成作為内齒輪 之正齒輪21、及作為螺旋凸條之内螺紋22。太陽韩1之太 陽齒輪、行星轴4之行星齒輪、及螺帽2之内齒輪保持相互 嗜合’而構成行星齒輪機構。太陽齒輪、行星齒輪、及内齒 輪為螺旋角25度以下之齒輪，包含螺旋角〇度齒輪、即正 齒輪在内。太陽軸1之螺旋凸條、行星軸4之螺旋溝、及螺 ❿帽之螺旋凸條亦以同一節距相互嚙合，而構成行星滾子螺椁 機構。 如圖2所示，在太陽軸1之外周面，設置作為嫘旋凸條用 之複數條(例如八條)螺旋狀外螺紋12 ^外螺紋12係沿向圓 筒狀外周面之螺旋纏繞線(helix winding)。以含太陽軸i轴 線之切剖平面所呈現外螺紋12之缺口剖面形狀為梯形。當 然，外螺紋12之外徑較外螺紋12之牙谷直徑還大。 如圖1所示’若使作為太_丨之螺旋凸條之外螺紋12 098140075 17 201030255 節距合致於作為行星軸 y. , _ 1 之螺旋溝之外螺紋42節距，則可 使太1%軸1之外螺紋]0 k …、 喝合於行星轴4之外螺紋42。 在太陽軸1之外螺紋 凸部，形成作為太陽齒輪之正齒 輪11。该正齒輪u例如 /、〜般正齒輪同樣地，形成漸開線 齒面。该正齒輪u之全4 ^ , W商度係較小於外螺紋12之牙頂高 度’且外螺紋12中於正 10 酉輪11齒底之靠内侧處形成接觸面 1 ia。換a之，正齒輪1 ^ ^ ^ ^ 之齒底圓被設定為較大於太陽軸1 之外螺紋12之牙谷直徑 觸面12a。 仃星軸4之外螺紋42接觸到該接 太 轴 1 之 πρ "ife* 11 嘀合有作為行星軸4之行星齒輪之 正齒輪41。形成於八條201030255 SUMMARY OF THE INVENTION Technical Field The present invention relates to a planetary rotary-linear motion converting device that converts a rotary motion into a linear motion using a planetary gear mechanism. [Prior Art] As one of the planetary rotary-linear motion converting devices that convert rotational motion into linear motion, a nut having a sun shaft, an annular space, and surrounding the sun shaft is arranged, and A planetary rotary-linear motion converter of a plurality of planetary shafts between a sun shaft and a nut (refer to Patent Document 1). The sun shaft has both a helical sun gear and a threaded sun gear. The planetary shaft also has a helical planetary gear and a threaded planetary gear. The nut also has a helical internal gear and a threaded internal gear. The helical sun gear of the sun shaft, the helical planetary gear of the planetary shaft, and the helical internal gear of the nut constitute a first planetary gear mechanism, a helical sun gear of the sun shaft, a threaded planetary gear of the planetary shaft, and a nut The threaded internal gear constitutes a second planetary gear mechanism. The threaded sun gear of the sun shaft, the threaded planet gear of the planetary shaft, and the threaded internal gear of the nut have the same pitch, and constitute a second planetary gear mechanism that meshes with each other. Further, by setting the gear ratio of the first planetary gear mechanism and the second planetary gear mechanism to be different, the rotational motion of the nut can be converted into a linear motion of the sun shaft. In other words, in the planetary rotary-linear motion converter described in Patent Document 1, the helical sun gear of the sun shaft is helically wound with respect to the planetary shaft. 098140075 4 201030255 The number of teeth of the star gear. The gear is rotated relative to the planetary axis of the helical internal gear of the planet. On the other hand, the ratio of the screw and the comet gear of the nut nut is consistent with each other. The number of the helical planetary gears of the gear relative to the star axis ❹ The principle is as follows: The operation of the conversion device is as follows: The planetary surface is surrounded by the sun _ circumference-edge from #1_^ for relative rotation, then - the planetary gear machine is turned. Here, because the first assumption is that the sun axis is not facing the two stars: the wheel: the first configuration is different, if the second revolution position is offset from the second planetary gear mechanism: :=: the circumference of the planet. However, since the row α-turn position will remain coupled to the circular planet gears, the spiral is also: the wheel: the threaded thread-shaped money wheel can not be displaced. If the ^ axis = set and move ' is changed relative to the revolution position of the helical planetary gear ^ line direction, the revolution position of the star gear will also change. Therefore, the sun axis moves toward the striate line [previous technical literature], and moves toward it. [Patent Document] Fig. 1 Document 1: Japanese Patent Laid-Open No. 2-7-No. 2 (refer to FIG. 2 [Summary of the Invention] (Problems to be Solved by the Invention) 098140075 5 201030255 ^疋f Knowing the Star Rotation _ In the linear motion conversion device, when there is a threaded planetary gear region in which the threaded sun gear is relatively linearly transported in the axial direction, and the threaded planetary gear region is offset, the ==:: too, the sun gear will hit the spiral of the _ The problem of the planetary gears. Therefore, the aluminum shaft of the sun shaft is limited by the sun-axis of the sun-shaped gear, which is not the step of the planetary gear of the city. Because of only; Gear axis axis two spiral shaped money wheel m side gear drive = bending the planet axis tilting six # ^ mouth this valley easy to work on the problem. f crank torque 'and there will be rotation of the transmission efficiency is worse The moment acts on the circumference of the line to arrange the _•-shaped depression, and =::= outside the concave star scale. The linear motion (4) = the way of making the outside, the C number is concave, in fact, it is difficult to produce the sun shaft due to the difficulty. The new one is even if the domain mold can be used to make the shirt It is also impossible to correct the pitch error of the (four) four traps due to machining or strain after quenching. The reason is that it is impossible to grind and add w-sag grinding. In addition, most of the depressions and the majority of the planets (4) The structure is intermittently incompetent, and the concave portion and the plurality of convex portions are manufactured by the rolling processing of the above-mentioned easy-to-machine processing precision, so that the sun is likely to occur between the sun and the j-axis convex portion. 098140075 6 201030255 隙) 'There is also a problem that causes the sun shaft to be sunken and affected. The poor durability of the collar is changed. (4) (4) The scale-linear motion is changed, and the upper phase is completed. Provides the amount of stroke of the nut, and can improve the productivity and durability of the real-style c-turn-linear motion converter. Star ❹ 10 ★ In addition, generally in the planetary gear machine, in order to divide the line in too much Arrange the 'SI special star weaving must be the material and the number of teeth and the factor inside the nut' and the number of the threaded internal gears of the Sun 7 nut and the factor. In the patent text W 2 carrier planet money _ Linear motion transducer, in the planetary shaft After the above factors of the number 7, the New York number of lines of the line of the record wheel is not the same as the sun axis and the _ wheel of the sun axis, and the number of teeth of each planet gear is set relative to the number of planet axes The value of the non-common factor other than !, that is, the static purity of the planetary filaments recorded in each row is offset in the circumferential direction of each planetary gear. If the planetary gear convex portion (tooth crown) from the planetary shaft is to the convex portion (Tooth crown) is set to a cycle', then 彳f Xinghuan planet silk material sun joy seeks the phase of the screaming phase with the sun axis and the record, and gradually changes within the scope of the -. The number of teeth of the Jianhe Planetary Record is set to the above-mentioned patent document! The planetary rotation-linear motion transformation device i described in the above can make the planetary ring of each planetary axis relatively close to the 4th phase of the sun wire, with 098140075 201030255 The position of each of the planetary shafts in the circumferential direction is gradually shifted (refer to Japanese Patent Laid-Open Publication No. 2007-56952 (paragraph [〇〇71], [〇1〇7])). In the planetary gear mechanism, the number of planetary gear teeth of the planetary shaft is smaller than that of the sun gear and the inner gear of the nut shaft, and the I-coincidence of the planetary gear of the planetary shaft and the sun gear of the sun shaft is lowered (4) question. # By making the planetary gears of each line inaccurate phase, and gradually shifting the position in the circumferential direction of each line, the deterioration of the salvation rate can be compensated. However, in the principle of the food wheel, when the convex tooth surface of the planetary gear of the planetary shaft (the tooth surface near the crown) is sprayed on the concave tooth surface of the sun gear of the sun shaft (the tooth Φ near the tooth bottom) 'Ride from the planet (four) to move the most field moment to the sun axis. For example, the special planetary gear is turned into a straight-for-transition device, and only the planetary gears of the planetary axes are aligned with the sun gear of the sun axis. The planets are pleasing to the moon. The shaft evenly transmits torque to the sun shaft. Further, for this reason, since the urging force for shifting the sun axis at the center of the planetary rotary/linear motion converter toward the radial direction is generated, it is also difficult to balance the positive magnetic axis from the plurality of planetary axes. The second aspect of the present invention is based on solving the above problems of the conventional planetary type dynamic conversion device, and the object of the invention is to provide a plurality of planetary axes arranged in a line of too much line to balance the movement of the sun axis of the sun axis. Transform device. The star-shaped rotation and the straightening further, the patent-oriented to the axis of the planet. 098140075 201030255 Two == pattern: the sun gear 'is orthogonal to the cross section of the wheel to see it has a positive mrp, threaded planetary gear In the threaded sun gear, the tooth shape of the line =: r is an involute, the wheel, when it is connected with the planetary shaft, the mr' view of the pure star record (four) (10), the shreds are mutually lined, and the cylinder is k, Refer to paragraph Luo [0241])). In the linear motion conversion device, when the cross-section of the axis of the planetary shaft is viewed, the 百 百 百 螺纹 螺纹 行星 行星 及 及 及 及 及 及 螺 螺 螺 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 接触In the portion of the line contact, the area in which the self-revolution ratio of the sun (four) planetary axis slides is only near the center, and the point is distributed on the two sides of the non-slip area. #The wire slide occurs between the threaded row of the wheel and the threaded sun gear, and the rotation transmission efficiency between the comet axis and the sun shaft is deteriorated, and the motor with a larger output is required due to the difference in the rotational efficiency of the rotary (four). Moreover, when the sun shaft is subjected to the stroke, the gear ratio of the helical sun gear to the helical planetary gear is different from the gear ratio of the threaded sun gear to the threaded planetary gear, so that the sun shaft is oriented toward the axis by the gear ratio. The principle of the direction of travel. Therefore, there is also a problem that sliding between the threaded planetary gear and the threaded sun gear is likely to occur. More progress 'The threaded planetary gears and the threaded sun gears are not in line contact with the theory due to machining errors or misalignment, and there is also the possibility of partial contact. When a load of 098140075 9 201030255 is applied to the sun shaft in a state of partial contact, the surface pressure of the contact portion is increased, so that the threaded planetary gear and the threaded sun gear are easily damaged. The third aspect of the present invention is based on solving the above problems of the conventional planetary type rotary-linear motion converting device. The object of the present invention is to provide a planetary rotating_linear motion that can reduce the slip rate and allow machining errors and misalignments. Transform device. (Means for Solving the Problem) The following describes the first aspect of the present invention. In order to solve the above-described problem of the first aspect of the present invention, a first aspect of the present invention is a planetary rotary-linear motion conversion device comprising: a sun shaft having a sun gear and having a spiral rib or a circumferential rib a planetary shaft having a planetary gear meshed with the sun gear of the sun shaft, and having a spiral groove or a circumferential groove that meshes with the spiral ridge or the circumferential rib of the sun shaft; and a nut having a 嗔And an internal gear of the planetary gear of the planetary shaft, wherein (4) a spiral rib or a circumferential rib of the spiral groove or the circumferential groove of the planetary shaft; and the sun gear of the sun shaft, The planetary gear of the planetary shaft and the above-mentioned _ wheel of the two positions constitute a planetary gear mechanism, and when the sun shaft: the nut is relatively rotated, the planetary shaft is opposite to the axial direction of the sun shaft. a linear motion; among them, the above-mentioned line forming the above-mentioned comet axis|recorded (four) domain: 查赤埤/, forming a top-back 仃 star axis above... 5 The region of the circumferential groove d is separated from the above-mentioned spiral rib of the sun axis or the convex portion of the circumferential rib in the axial direction of the above-mentioned filament, forming a convexity with the above-mentioned planetary gear of the above-mentioned planetary shaft. The above sun gear. Another aspect of the present invention is a planetary type rotation and linear motion conversion device which is provided with a sun shaft having a sun gear and having a spiral ridge or a circumferential rib; the planet axis 'having a merging The planetary gear of the sun gear of the sun shaft has a spiral groove or a circumferential groove which is older than the above-mentioned sun axis, or a circumferential groove; and a nut, which is combined with the wire The planetary record_gear has (4) a spiral ridge or a circumferential rib of the groove or the circumferential groove of the wire; and the planetary gear of the planetary gear of the sun shaft; The inner gear of the nut constitutes a planetary gear mechanism, and when the nut is relatively rotated with respect to the sun shaft, the wire is relatively linearly moved relative to the nut in the axial direction of the upper cap; wherein a region of the planetary gear of the planetary shaft, and a region forming the groove or the circumferential groove of the planetary shaft, and the planetary shaft The axial direction is separated, and the internal gear that meshes with the planetary gear of the planetary shaft is formed in the spiral rib of the nut or the convex portion of the circumferential rib. The following describes the second aspect of the invention. In order to solve the above-mentioned second aspect of the present invention, a second aspect of the present invention is a planetary rotary-linear motion conversion device, which is provided with: a sun shaft, having a sun gear, having a sun gear, and having a spiral rib or a circumferential rib, a planetary shaft having a planetary gear that engages the sun gear of the sun shaft, and has a groove or a circumferential groove that is coupled to the spiral rib of the sun shaft or the circumferential rib And a nut having an inner gear of the planetary wheel that is adapted to the planetary shaft and having a spiral rib or a circumferential rib that is engaged with the spiral groove or the circumferential side (four) of the planetary shaft; The sun gear of the sun shaft, the planetary gear of the planetary shaft, and the internal gear of the nut constitute a planetary gear mechanism, and when the sun shaft 相对 is relatively rotated with respect to the nut, the nut (four) the sun a relatively linear motion of the axis toward the axis of the sun axis; wherein the above-mentioned planetary axes are equally divided in the sun Around, the phase angles of the three planetary wires each offset by 120 degrees are identical in phase. Another aspect of the second aspect of the present invention is a planetary rotary and linear motion conversion device, comprising: a sun shaft having a sun gear, and having a spiral ridge or a circumferential rib; the planetary shaft having a material a planetary gear of the sun wheel of the sun shaft, and a spiral groove or a circumferential groove that is sprinkled on the spiral ridge or the circumferential ridge of the sun shaft; and a nut having a joint of the above-mentioned planet The internal gear of the planetary gear of the shaft has a spiral rib or a circumferential rib for the spiral groove or the circumferential groove of the planetary shaft; and the sun gear of the sun shaft and the planet of the planetary shaft The gear and the internal gear of the nut constitute a 098140075 12 201030255 planetary gear mechanism. When the sun shaft is relatively rotated relative to the nut, the nut is aligned relative to the sun axis toward the axis of the sun shaft. Linear motion; where '4xn of the above-mentioned planetary axes are equally divided around the above-mentioned sun axis, and the phase (four degrees) are each offset by 9G degrees. Over the four planetary gear shaft of the green line of engagement call phase coincide. Wherein, η is a natural number, and the phase angle is expressed by an angle between the center of the sun axis and the center of the planetary axis, and the angle between the ❹ and the 疋 reference direction when viewed from the axial direction of the sun axis. The phase is a predetermined reference position of the planetary gear of the planetary shaft with respect to a degree of inclination of a direction connecting the center of the sun axis and the direction of the planetary axis. Hereinafter, a third aspect of the invention will be described. In order to solve the above-described problem of the third aspect of the present invention, a third aspect of the present invention is a comet type rotary-linear motion conversion device, comprising: a sun shaft having a sun gear and having a spiral ridge or a circumferential convex a planet shaft having a planetary gear that is adapted to the sun gear of the sun shaft, and a spiral groove or a circumferential groove that engages with the spiral rib or the circumferential rib of the sun shaft, and a nut An internal gear having the planetary gear meshing with the planetary shaft, and having a spiral rib or a circumferential rib that meshes with the spiral groove or the circumferential groove of the planetary shaft, and the sun gear of the sun shaft, The planetary gear of the planetary shaft and the internal gear of the nut constitute a planetary gear mechanism. When the sun shaft is relatively rotated with respect to the nut, the nut is opposite to the sun shaft of the 098140075 13 201030255. #线方向 Relative linear motion; Among them, above the above-mentioned line records - gyro or upper (four) Cai (four), the above too a male shaft, wherein the spiral rib or the circumferential rib, and at least one of the spiral rib or the circumferential rib of the nut are convexly raised to make the above-mentioned star-shaped shaft The upper (four) financial groove is formed by the spiral rib of the sun shaft or the closing rib, and the spiral rib or the circumferential rib of the nut. According to the first aspect of the present invention, since the helical rib or the circumferential square of the sun shaft protrudes into a sun gear that is ridiculed with the planetary gear of the planetary shaft, even if the planetary shaft relatively moves in the axial direction with respect to the sun axis, The spiral ribs or circumferential ribs of the sun axis will not interfere with the planetary gears of the planetary shafts. It can keep the spiral ridges of the sun shaft or the circumferential ribs, the bolts of the zebra planet shaft or the round coins (4) (4). The field of the sun gear = the harmony between the planetary gears of the line. Therefore, the relative stroke amount of the nut relative to the sun shaft in the axial direction can be increased. In addition, the 'sun shaft can be made by any method of cutting or drawing.' After the sun shaft is quenched, the pitch can be corrected by grinding, etc., so that the productivity of the sun shaft can be improved. Furthermore, the region in which the planet axis of the planetary shaft is formed and the region in which the spiral groove or the circumferential groove forming the planetary axis are separated from each other in the direction of the reduction of the planetary axis, the planetary shaft can also be manufactured by cutting or rolling. The manufacture of planetary shafts has also become easier. According to another aspect of the first aspect of the present invention, since the spiral rib 098140075 201030255 of the nut or the convex portion of the circumferential rib forms an internal gear that meshes with the planetary gear of the planetary shaft, even if the planetary shaft is relatively snail The cap moves relative to the axis, and the spiral ribs or circumferential ribs of the cap do not interfere with the planet gears of the planet shaft. The spiral ribs or circumferential ribs of the nut can be maintained, and the spiral groove of the planet shaft or The n-tooth of the circumferential groove is engaged to maintain the meshing between the inner gear of the nut and the planetary gear of the planetary shaft. Therefore, the relative stroke amount of the sun shaft with respect to the nut in the axial direction can be increased. Further, the nut can be made by any of the methods of cutting and rolling. The pitch can be corrected by grinding or the like after the nut is quenched, so that the productivity of the nut can be improved. Furthermore, the region in which the planetary gears of the planetary shaft are formed and the spiral groove or the circumferential groove forming the planetary shaft are separated in the axial direction of the planetary shaft, so that the planetary shaft can also be produced by cutting or rolling. The manufacture of planetary shafts has also become easier. According to the second aspect of the present invention, since the meshing phases of the three planetary axes whose phase angles are each shifted by 120 degrees or the planetary axes of the four planetary axes whose phase angles are each shifted by 90 degrees are mutually consistent, it is like Like the three-jaw chuck or the four-jaw chuck of the rotary disc, the planetary gears of the above three or four planetary shafts can stably maintain the sun shaft. According to another aspect of the second aspect of the present invention, when the meshing phases of the planetary gears adjacent to the n planetary shafts are further different, the planetary gears of the adjacent n planetary shafts are continuously meshed with the sun. The sun gear of the shaft can also compensate for the deterioration of the meshing rate between the planetary gear and the sun gear. According to a third aspect of the present invention, at least one of a spiral groove or a circumferential groove of the planetary shaft, a spiral rib or a circumferential rib of the sun shaft, and a spiral convex I circumferential rib of the nut, By applying a bulge, by the entanglement or the round contact, the contact state can be brought close to the rolling contact, thereby reducing the squatting contact. Moreover, the surface pressure of the contact portion can be stabilized. 1 Differential slip In the third aspect of the invention, when the planetary shaft is viewed from the axial direction, the spiral groove or the circumferential groove of the crucible is not sliding with respect to the spiral ridge or the rounded star ridge of the sun axis, and The spiral groove of the planetary shaft or the spiral rib or the circumferential rib of the circumferential circumferential direction nut is a non-sliding area, and the radius of the spiral groove or the circumferential groove of the star axis is different from each other. At the office. The reason is that the lead of the spiral rib or the circumferential rib of the sun axis, the lead of the snail = the spiral rib or the ridge of the circumferential rib is different for the lead of the spiral groove of the planetary sleeve. (4) The linear motion of the nut is observed. By making the contact point between the spiral groove or the circumferential groove of the planetary shaft and the spiral rib or the circumferential rib of the sun's beam from the spiral groove of the planetary shaft or the spiral ridge or circumference of the circumferential groove and the nut The position of the contact point between the directional ribs is deviated toward the radial direction of the planet axis, and the contact point can be approached to the non-sliding region, that is, the area of the rolling contact, which can more effectively reduce the differential sliding. [Embodiment] Hereinafter, embodiments of the planetary rotary-linear motion converting device of the present invention will be described in detail based on the drawings. Fig. 1 is a perspective view showing a planetary-type rotary-linear motion converting device according to a first embodiment of the present invention (in a state in which the internal structure is easily understood, a state in which the nut is cut in half) is shown. Planetary Rotation_Linear Transport 098140075 16 201030255 The motion changer is provided with a sun shaft 1 and a nut 2 extending along a common axis 3. In the annular space between the sun shaft 1 and the nut 2, a planetary shaft 4 which is composited with the plural (for example, nine) is disposed. The axis of the planet shaft 4 is parallel to the axis of the sun shaft 1 and the nut 2. Nine planets 4 are arranged around the sun axis 1 at equal intervals in the circumferential direction. When the sun shaft 1 is relatively rotated with respect to the nut, the nut 2 linearly moves in the axial direction. A spur gear 11 as a sun gear and a thread 12 other than a spiral yoke are formed on the sun shaft 1. A spur gear 41 as a planetary gear and a screw 42 as a spiral groove are formed in the planetary shaft 4. A spur gear 21 as an internal gear and an internal thread 22 as a spiral rib are formed in the nut 2. The sun gear, the planetary gear of the planetary shaft 4, and the gear inside the nut 2 are kept in harmony with each other to constitute a planetary gear mechanism. The sun gear, the planetary gear, and the internal gear are gears with a helix angle of 25 degrees or less, and include a helix angle gear, that is, a spur gear. The spiral ribs of the sun shaft 1, the spiral grooves of the planet shaft 4, and the spiral ribs of the screw cap are also meshed with each other at the same pitch to constitute a planetary roller screw mechanism. As shown in FIG. 2, on the outer peripheral surface of the sun shaft 1, a plurality of (for example, eight) helical external threads 12 are provided as the spiral ridges, and the external threads 12 are spirally wound along the cylindrical outer peripheral surface. (helix winding). The notched cross-sectional shape of the external thread 12 represented by the plane of the i-axis containing the sun axis is trapezoidal. Of course, the outer diameter of the external thread 12 is larger than the diameter of the valley of the outer thread 12. As shown in Fig. 1, if the pitch of the thread 12 098140075 17 201030255 is taken as the helical rib of the _ 丨 合, the pitch of the thread 42 as the outer axis of the helical groove y. , _ 1 can be too 1 %Axis 1 external thread]0 k ..., is engaged with the external thread 42 of the planetary shaft 4. A convex portion is formed outside the sun shaft 1 to form a positive gear 11 as a sun gear. Similarly, the spur gear u, for example, a spur gear, forms an involute tooth surface. The spur gear u is 4^, the W degree is smaller than the crest height of the external thread 12, and the external thread 12 forms the contact surface 1 ia at the inner side of the tooth bottom of the positive 10 wheel. In other words, the bottom circle of the spur gear 1 ^ ^ ^ ^ is set to be larger than the valley diameter contact surface 12a of the thread 12 outside the sun shaft 1. The external thread 42 of the comet shaft 4 contacts the πρ "ife* 11 of the connecting shaft 1 with the spur gear 41 as the planetary gear of the planetary shaft 4. Formed in eight

. /ΧΛ ^ 卜螺紋12的太陽軸1之正齒輪U 相位，在從太陽軸丨之 線方向觀看相互呈現一致。若太陽 釉1之正齒輪U齒數兔 〜Zl，行星軸4之正齒輪41齒數為 Ρζι ,則太陽軸丨之正齒 以配合、P h 與行星轴之正齒輪41之間 21 21速率比(轉速比}傳動旋轉。 之正ω輪11形成於太陽轴1之外螺紋12之凸 =匕，形成太陽轴i之正齒❹的區域與形成太陽柏 _ 1、紋12的區域’會在太陽軸1之轴線方向重叠。太 之正齒輪11形成為即使行星軸4對於太陽袖1在太 % 1之轴線方向產生相對位移，太陽軸1之正齒輪11亦 可維持與行星軸4之正錄41相唾合。 太陽轴1 配置有九㈣絲4。為在太_丨周圍等 098140075 201030255 分排列行星軸4,而將行星軸4之個數設定成作為太陽轴工 之太陽齒輪的正齒輪11齒數、與作為螺帽2内齒輪之正齒 輪21齒數和之因數，且將其設成作為太陽軸〗之螺旋凸條 的外螺紋12、與作為螺帽2之螺旋溝的内螺紋22之條數和 之因數。關於行星軸4之相位及嚙合相位(相對於相位之相 對角度），將於後述。/ΧΛ ^ The spur gear U phase of the sun shaft 1 of the thread 12 is identical to each other when viewed from the direction of the sun axis. If the spur gear U of the sun glaze 1 has a number of teeth ~Zl, and the number of teeth of the spur gear 41 of the planetary shaft 4 is Ρζι, then the positive teeth of the sun shaft 以 are matched, and the ratio of P h to the spur gear 41 of the planetary shaft is 21 21 ( The rotation ratio is rotated by the transmission. The positive ω wheel 11 is formed on the sun shaft 1 and the convexity of the thread 12 is 匕, the area forming the yaw of the sun axis i and the area forming the sun cypress _1, the line 12 will be in the sun. The axial direction of the shaft 1 overlaps. The spur gear 11 is formed such that the spur gear 11 of the sun shaft 1 can be maintained with the planetary shaft 4 even if the planetary shaft 4 is relatively displaced with respect to the sun sleeve 1 in the axial direction of the %1. The sun axis 1 is equipped with nine (four) wires 4. The planetary axes 4 are arranged in the vicinity of 098140075 201030255, and the number of the planetary shafts 4 is set as the sun gear of the sun axis. The number of teeth of the spur gear 11 and the factor of the number of teeth of the spur gear 21 which is the internal gear of the nut 2, and is set as the external thread 12 of the spiral ridge as the sun shaft, and the internal thread of the spiral groove as the nut 2 The number and the factor of 22. About the phase and meshing phase of the planet axis 4 (relative to the phase The relative angle) will be described later.

❷ 如圖3所示，在各行星軸4中，設置例如二條作為螺旋溝 之外螺紋42 ’並設置一對作為行星齒輪之正齒輪4ι。二條 一對正齒輪 外螺紋42形成於行星轴4之軸線方向中央部。 41形成於行星軸4之外螺紋42轴線方向二端部。從行星抽 4之軸線方向所觀看到一對正齒輪41之相位相互保持一 致。藉由在行星轴4之外螺紋42二端部形成正齒輪41，可 使行星軸4在軸線方向二端部進行齒輪驅動，可防止行星# 4傾斜。 上述太陽軸1中’形成外螺紋12之區域、與形成正齒輪 11之區域’係在太陽軸1之軸線方向形成重疊。相對於此 在行星轴4中’外螺紋42與正齒輪41相獨立彡 邱见形成外螺紋 42之區域、與形成正齒輪41之區域在行星輪4之軸線方内 保持分離。而且，行星軸4之外螺紋42嘀合於太陽轴工 外螺紋12 ’行星軸4之正齒輪41嚙合於太陽轴丨 11。藉由使行星軸4之外螺紋42與正齒輪41知 1相獨立，而不 須在行星轴4之外螺紋42牙谷底形成正齒輪41， ，吁各易製 098140075 19 201030255 造^星軸4,又可防止行星軸4與太陽Μ發生間歇性喷合。 ”、、可在保持仃錄4及太陽軸丨之外螺紋42、12及正齒 輪41、^相嗤合之狀態下，更增加太陽⑴之行程量，因 此在太陽軸1之外螺仗12 〈㈣紋12料正齒輪11。當在太陽軸！之 夕…紋12形成正齒輪，則乍見下太陽袖】之外螺㈣間歇 性喷合於彳t_4之外軌42。但是，因騎錄4之外 螺紋42在太_丨之外螺紋12之正齒輪u齒底圓更靠内 側進行接觸，因此行星軸4之外螺紋42不會間歇性喷合於 太陽軸1之外螺紋12。 如圖1所示，各行星軸4轴線方向二端，可圍繞軸線旋轉 地支撐於D環板狀之行星架（未圖㈤狀態。行支樓於螺 帽2，而可相對螺帽2繞軸線相對自由旋轉。當然，行星架 2之内徑大於太陽轴1之外徑。 如圖4所示，螺帽2形成略圓筒形狀。螺帽2之軸線方向 -端部’形成有用於將螺帽2安裝於其他構件之凸緣心 螺帽2無法㈣旋轉地連結於未圖示之其他構件上。在螺帽 2内周面之軸線方向二端部’形成有内徑擴展之 ” 差部2b。在該-對環狀階差部2b ’以虔 辦環狀階 環狀齒輪構件5(參照圖1)。一對環狀齒耠構件式固定一對 可與行星軸4之一對正齒輪41相嚙合之一 S中形成有 又，螺帽2之中央部2c内周面中，形成有 :對内齒輪2卜 外螺紋42相螺合之複數條(例如十條可與行星軸4之 098140075 ❹ ❹ 為螺旋凸條的内螺 201030255 紋22。内螺紋22具有沿向螺帽2内周面之螺旋纏繞線的既 定導程角。含螺帽2之軸線的平面中内螺紋22之缺口剖面 形狀為梯形。 ‘當組裝上述行星式旋轉-直線運動變換裝置時，首先使行 星軸4環抱於螺帽2之内側。在由行星架不偏移地固定行星 軸4與螺帽2之位置關係之階段下，將太陽轴1螺入於行星 轴4 〇 〇 如圖1所示，太陽軸1之正齒輪11、行星轴4之正齒輪 41及螺帽2之内齒輪21互動構成行星齒輪機構，分別具有 太陽齒輪、行星齒輪、内齒輪之功能。此外，太陽軸1之外 螺紋12、行星軸4之外螺紋42、螺帽2之内螺紋22互動構 成行星滚子螺桿機構，分別具有螺旋凸條、螺旋溝、螺旋凸 條之功能。 另外，在行星轴4之軸線方向二端部設置一對正齒輪41， ❹ 在螺帽2之軸線方向二端部設置一對内齒輪21，因此在行 星滚子螺桿機構之軸線方向二端部設置一對行星齒輪機構。 構成行星滚子螺桿機構的太陽軸1之外螺紋12、行星轴4 之外螺紋42及螺帽2之内螺紋22相互保持嚙合。外螺紋 12與外螺紋42具有相互反方向之導程，外螺紋42與内螺 -紋22具有相互同一方向之導程。外螺紋12、外螺紋42、内 螺紋22之節距相互相等。而且，行星轴4之外螺紋42導程 角與螺帽2之内螺紋22導程角在對側螺紋導程基準節圓中 098140075 21 201030255 保持相同。因此，即使行星轴4在螺帽2内側進行自公轉， 行星軸4亦不會相對螺帽2朝轴線方向進行行程。另一方 面，行星軸4之外螺紋42導程角不同於太陽轴1之外螺紋 12導程角。因此，若行星軸4圍繞太陽轴1周圍進行自公 轉，則行星軸4相對太陽轴1朝軸線方向進行直線運動。因 此，螺帽2亦相對太陽軸1朝轴線方向進行直線運動。 構成行星齒輪機構的太陽軸1之正齒輪11、行星軸4之 正齒輪41及螺帽2之内齒輪21亦相互喃合。在該行星式旋 轉-直線運動變換裝置中，正齒輪11、正齒輪41、内齒輪 21之齒數分別為69、24、120。 當使太陽軸1旋轉一圈時，太陽軸1相對螺帽2之行程量 (總導程）以如下計算得。如圖5所示，當使太陽軸1旋轉一 圈時，行星軸4圍繞太陽軸1周圍一邊進行自轉一邊進行公 轉。作為行星軸4之公轉轉速的行星轴公轉減速比，可由下 式求得。 [式1] » „ 1 (行星齒輪一般式）As shown in Fig. 3, in each of the planetary shafts 4, for example, two as the spiral groove outer threads 42' are provided, and a pair of spur gears 4ι as planetary gears are provided. Two pairs of spur gears The external threads 42 are formed at the central portion of the planetary shaft 4 in the axial direction. 41 is formed at both ends of the thread 42 in the axial direction outside the planetary shaft 4. The phases of the pair of spur gears 41 are observed to be consistent with each other as viewed from the direction of the axis of the planetary pumping 4. By forming the spur gear 41 at both ends of the screw shaft 42 outside the planetary shaft 4, the planetary shaft 4 can be gear-driven at both ends in the axial direction, and the inclination of the planet #4 can be prevented. The region of the sun shaft 1 where the external thread 12 is formed and the region where the spur gear 11 is formed overlap in the axial direction of the sun shaft 1. In contrast, in the planetary shaft 4, the external thread 42 is independent of the spur gear 41. The region where the external thread 42 is formed and the region where the spur gear 41 is formed are kept separated in the axial direction of the planetary gear 4. Further, the outer shaft 41 of the planetary shaft 4 is engaged with the sun shaft external thread 12'. The spur gear 41 of the planetary shaft 4 is engaged with the sun shaft 丨 11. By making the external thread 42 of the planetary shaft 4 independent of the spur gear 41, it is not necessary to form the spur gear 41 at the bottom of the thread 42 outside the planetary shaft 4, and it is easy to make 098140075 19 201030255 In addition, it prevents the planetary shaft 4 from intermittently spraying with the sun. In the state in which the threads 42 and 12 and the spur gears 41 and ^ are combined, the stroke amount of the sun (1) is increased, so that the sun shaft 1 is screwed 12 <(4) Grain 12 spur gear 11. When the sun shaft is on the eve of the sun... The spur gear 12 forms a spur gear, then the snails under the sun snails are squirted (4) intermittently sprayed on the 彳t_4 outer rail 42. However, due to riding The external thread 42 of the outer ring of the outer ring of the thread 12 is contacted further inside, so that the outer thread 42 of the planetary shaft 4 is not intermittently sprayed onto the outer thread 12 of the sun shaft 1. As shown in Fig. 1, each of the planetary shafts 4 has two ends in the axial direction, and is rotatably supported around the axis in a D-ring-shaped planet carrier (not shown in the figure (5). The row is supported on the nut 2, and the nut 2 is opposite to the nut 2 Relatively free to rotate about the axis. Of course, the inner diameter of the carrier 2 is larger than the outer diameter of the sun shaft 1. As shown in Fig. 4, the nut 2 is formed in a slightly cylindrical shape. The axial direction-end portion 'of the nut 2 is formed for The flange nut 2 that attaches the nut 2 to another member cannot be rotatably coupled to another member (not shown). The inner circumference of the nut 2 The end portion 'in the axial direction is formed with a difference portion 2b in which the inner diameter is expanded. The annular stepped ring gear member 5 is formed in the pair of annular step portions 2b' (see Fig. 1). The pair of member-type fixing members are formed in one of the meshing gears S of the planetary shaft 4, and the inner peripheral portion of the central portion 2c of the nut 2 is formed with the inner gear 2 and the outer thread 42. a plurality of stitches (for example, ten threads 098140075 ❹ 可 which are helical ribs of the planet shaft 4). The internal thread 22 has a predetermined lead angle along a spiral winding line of the inner circumferential surface of the nut 2 The notched cross-sectional shape of the internal thread 22 in the plane including the axis of the nut 2 is trapezoidal. 'When assembling the above-described planetary rotary-linear motion changing device, the planetary shaft 4 is first hung around the inner side of the nut 2. Under the stage of fixing the positional relationship between the planetary shaft 4 and the nut 2 without offset, the sun shaft 1 is screwed into the planetary shaft 4, as shown in Fig. 1, the spur gear 11 of the sun shaft 1, and the planetary shaft 4 The spur gear 41 and the inner gear 21 of the nut 2 interact to form a planetary gear mechanism, respectively having a sun gear, The function of the star gear and the internal gear. In addition, the external thread 12 of the sun shaft 1, the external thread 42 of the planetary shaft 4, and the internal thread 22 of the nut 2 interact to form a planetary roller screw mechanism, respectively having a spiral ridge, a spiral groove, Further, a pair of spur gears 41 are provided at both ends of the planetary shaft 4 in the axial direction, and a pair of internal gears 21 are provided at both ends of the nut 2 in the axial direction, so that the planetary roller screw mechanism is provided. A pair of planetary gear mechanisms are disposed at both ends of the axial direction. The outer shaft 12 of the sun shaft 1 constituting the planetary roller screw mechanism, the outer thread 42 of the planetary shaft 4, and the inner thread 22 of the nut 2 are kept in mesh with each other. The external thread 42 has a lead in opposite directions, and the external thread 42 and the inner thread 22 have a lead in the same direction. The pitches of the external thread 12, the external thread 42, and the internal thread 22 are equal to each other. Moreover, the lead angle of the outer thread 42 of the planetary shaft 4 and the lead angle of the inner thread 22 of the nut 2 remain the same in the opposite thread lead reference pitch circle 098140075 21 201030255. Therefore, even if the planetary shaft 4 revolves inside the nut 2, the planetary shaft 4 does not travel in the axial direction with respect to the nut 2. On the other hand, the lead angle of the outer thread 42 of the planetary shaft 4 is different from the lead angle of the outer thread 12 of the sun shaft 1. Therefore, if the planetary shaft 4 revolves around the sun shaft 1, the planetary shaft 4 moves linearly with respect to the sun shaft 1 in the axial direction. Therefore, the nut 2 also moves linearly with respect to the sun shaft 1 in the axial direction. The spur gear 11 of the sun shaft 1 constituting the planetary gear mechanism, the spur gear 41 of the planetary shaft 4, and the inner gear 21 of the nut 2 are also comminuted with each other. In the planetary rotary-linear motion converter, the number of teeth of the spur gear 11, the spur gear 41, and the internal gear 21 is 69, 24, and 120, respectively. When the sun shaft 1 is rotated one revolution, the stroke amount (total lead) of the sun shaft 1 with respect to the nut 2 is calculated as follows. As shown in Fig. 5, when the sun shaft 1 is rotated once, the planetary shaft 4 revolves around the circumference of the sun shaft 1 while rotating. The planetary shaft revolution reduction ratio, which is the revolution speed of the planetary shaft 4, can be obtained by the following equation. [Equation 1] » „ 1 (Planetary gear general type)

Pck :行星轴公轉減速比； SZ1 :太陽轴1之正齒輪11之齒數； NZ1 :螺帽2之正齒輪21之齒數 若代入具體數值，則為： 098140075 22 201030255 [式2] 5 0*6349 69 Ϊ20 行星輛公轉減速比(REV) 太陽轴！之外螺故12之節距為7mm，條數為8，因此太 ㈣1母〜圈旋轉之導程為7x8%mm。如圖6所示若將 太㈣軸1 &lt;外螺紋12之Spc(太陽軸敎導程基準節圓）設為 28.75mm’則太陽軸丨每—圈旋轉會在(28·75…之基準節 圓中朝轴線方向前進56mm。 另方面，因為行星軸4之外螺紋節距為7職，條數為2, 因此導程為7x2=14mm。若將行星軸4之外賴之ppc(行星 轴螺纹導絲準節圓）設為1Gmm，則行星軸4每一圈旋轉 會在（ΙΟχττ)之基準節圓中前進14mm。Pck: planetary shaft revolution reduction ratio; SZ1: number of teeth of the spur gear 11 of the sun shaft 1; NZ1: if the number of teeth of the spur gear 21 of the nut 2 is substituted into a specific value, it is: 098140075 22 201030255 [Formula 2] 5 0*6349 69 Ϊ20 Planetary Revolving Reduction Ratio (REV) Sun Axis! The pitch of the outer screw 12 is 7 mm, and the number of bars is 8, so the lead of the (four) 1 mother-turn rotation is 7x8% mm. As shown in Fig. 6, if the (4) axis 1 &lt; the external thread 12 of the Spc (the sun axis 敎 lead reference pitch circle) is set to 28.75 mm', the sun axis 丨 rotation per circle will be on the basis of (28·75... In the pitch circle, the direction is 56 mm in the direction of the axis. On the other hand, since the outer pitch of the planetary shaft 4 is 7 and the number of bars is 2, the lead is 7x2 = 14 mm. If the planetary shaft 4 is outside the ppc ( When the planetary shaft thread guide wire is set to 1Gmm, the rotation of the planetary shaft 4 will advance by 14 mm in the reference pitch of (ΙΟχττ).

行星軸4圍繞太陽轴1之周圍進行公轉。使太陽轴丨旋轉 一圈日守之接觸部7(參照圖5)長度，根據上述行星轴公轉減 速比為28.75x7rx0.6349。此時太陽軸i之導程與行星軸4 之導程差為總導程L。 亦即，總導程L為太陽軸丨之導程行星軸4之導程，其 為 L=56x0.6349-28.75x 7Γ χ〇.6349/(1〇χ π )xl4=10mm。 若以一般式表示，總導程L可由如下式表示： [式3] 098140075 23 201030255The planet shaft 4 revolves around the circumference of the sun shaft 1. The sun shaft 丨 is rotated by the length of the contact portion 7 (see Fig. 5) of the circumstance, and the planetary shaft revolution reduction ratio is 28.75x7rx0.6349. At this time, the lead difference between the sun axis i and the planetary axis 4 is the total lead L. That is, the total lead L is the lead of the lead planetary axis 4 of the sun axis, which is L = 56 x 0.6349 - 28.75 x 7 Γ 6 .6349 / (1 〇χ π ) x l4 = 10 mm. If expressed in the general formula, the total lead L can be expressed by the following formula: [Formula 3] 098140075 23 201030255

xPA i=(stxpCKyxPA i=(stxpCKy

Pl&quot; s^N22-sz7^K：xPziPl&quot; s^N22-sz7^K:xPzi

Szt + Nz、 F&lt;xSltri (行星齒輪一般式） 其中， L=總導程 P=節距 szl=太陽轴齒輪齒數 SZ2=太陽軸螺紋條數 Ρζι=行星轴齒輪齒數Szt + Nz, F&lt;xSltri (planetary gear general type) where L = total lead P = pitch szl = number of sun shaft gear teeth SZ2 = number of sun shaft threads Ρζι = number of planetary shaft gears

Pz2=行星轴螺紋條數 NZ1=螺帽齒輪齒數 NZ2=螺帽螺紋條數Pz2=Number of planetary shaft threads NZ1=Number of nut gears NZ2=Number of nut threads

SL=太陽轴螺紋導程SL=SZ2xPSL=Sun shaft thread lead SL=SZ2xP

PL=行星轴螺紋導程PL=PZ2XP sn sPC=太陽軸螺紋導程基準節圓 PPC=行星轴螺紋導程基準節圓 NPC=螺帽螺紋導程基準節圓~PL = planetary shaft thread lead PL = PZ2XP sn sPC = sun shaft thread lead reference pitch circle PPC = planetary shaft thread lead reference pitch circle NPC = nut thread lead reference pitch circle ~

Pck=行星轴公轉減速比 如圖7所示，對行星轴4的外螺紋42施行凸起42a 098140075 24 201030255 以含行星# 4之轴線之剖吨看時、或以與行 ❹ 紋42導程㈤之㈣嶋時，凸起㈣麵形狀 藉由施以凸起仏，可使太陽輪i之外螺紋U與行星軸4 之外螺紋42形成點接觸。行星轴4與太陽軸【之接觸點， 被配置於行星轴4之外螺紋42相對太陽軸i之外螺紋12 滾動不滑動之點的附近。依此，可減輕太_ 1之外螺紋 12與行星軸4之外螺紋42之間之差動滑動，可提升旋轉之 傳動效率。 行星軸4之外螺紋42與太陽軸1之外螺紋12滚動不滑動 之接觸區域，以如下計算得。行星軸4圍繞太陽軸1之周圍 一邊進行自轉一邊進行公轉。當由進行自公轉之行星軸4 所描繪作為螺旋軌道長度之行星轴螺紋滾動執道長度、與由 進行自轉之太陽軸1所描緣作為螺旋軌道長度之太陽軸螺 紋滾動轨道長度相一致，且螺旋軌道長度差為零，則該螺旋 ® 轨道為滑動0區域。當然，每次在計算出行星軸螺紋滚動軌 道長度及陽軸螺紋滚動軌道長度時，可考慮行星轴4之外螺 紋42在p齒合節圓中的導程角、及太陽轴1之外螺紋12在响 合節圓中的導程角。 關於太陽軸1之太陽軸螺紋滾動執道長度及行星軸4之行 星軸螺紋滾動轨道長度，可使用太陽軸螺级嚙合節圓及行星 軸螺紋嚙合節圓而以下式表示。 [式4] 098140075 25 201030255 &lt;太陽轴螺紋滚動軌道長度&gt; p rm cosPr p — C w *CK , Ix p +l 户“ =taiT*f~~^—Pck = planetary shaft revolution deceleration, as shown in Fig. 7, the external thread 42 of the planetary shaft 4 is subjected to a projection 42a 098140075 24 201030255 to take the lead of the axis of the planet #4, or to lead with the line 42 (5) In the case of (4) 嶋, the convex (four) surface shape can be made to make a point contact with the external thread 42 of the planetary shaft 4 by applying the convex ridge. The contact point between the planetary shaft 4 and the sun shaft is disposed in the vicinity of the point where the thread 42 of the planetary shaft 4 is not slid relative to the sun shaft i and the thread 12 is rolled. Accordingly, the differential sliding between the external thread 12 of the _1 and the external thread 42 of the planetary shaft 4 can be alleviated, and the transmission efficiency of the rotation can be improved. The contact area of the outer thread 42 of the planetary shaft 4 with the outer thread 12 of the sun shaft 1 does not slide, as calculated below. The planetary shaft 4 revolves around the circumference of the sun shaft 1 while rotating. When the length of the planetary shaft thread, which is depicted by the planetary shaft 4 for self-revolving as the length of the spiral track, coincides with the length of the sun shaft thread rolling track as the length of the spiral track by the sun shaft 1 that performs the rotation, and If the spiral track length difference is zero, the spiral® track is a sliding 0 area. Of course, each time the planetary shaft thread rolling track length and the male shaft thread rolling track length are calculated, the lead angle of the outer thread 42 of the planetary shaft 4 in the p-tooth pitch circle and the sun shaft 1 can be considered. The lead angle of the external thread 12 in the ring pitch. Regarding the length of the sun shaft thread rolling path of the sun shaft 1 and the length of the planetary shaft 4, the length of the planetary shaft thread rolling track can be expressed by the following equations using the sun shaft screw pitch pitch circle and the planetary shaft thread meshing pitch circle. [Formula 4] 098140075 25 201030255 &lt;Sun shaft thread rolling track length&gt; p rm cosPr p — C w *CK , Ix p +l Household “ =taiT*f~~^—

^tpc\ ^ ^ x ^SK cosS, χπ^Ρ^^tpc\ ^ ^ x ^SK cosS, χπ^Ρ^

PCD 2 &lt;行星軸螺紋滾動軌道長度（配對太陽軸）&gt; P rm cosPCD 2 &lt; planetary shaft thread rolling track length (paired sun axis) &gt; P rm cos

^TjPCI x2 JD&gt; 一 C rSK ^°zi^TjPCI x2 JD&gt; A C rSK ^°zi

Pm η . rtrc\ 1 cos5. f η 替 尸mn - PCD χπχ/^ &quot;-1x2 2Pm η . rtrc\ 1 cos5. f η for corpse mn - PCD χπχ/^ &quot;-1x2 2

Pl 太陽軸1之外螺紋12與行星軸4之外螺紋42之間之滑動 率（％)，可根據下式求取。 [式5] &lt;太陽軸螺紋-行星軸螺紋滑動率(％) &gt; f p ^Pl The slip ratio (%) between the outer thread 12 of the sun shaft 1 and the outer thread 42 of the planet shaft 4 can be obtained according to the following formula. [Equation 5] &lt;Sun shaft thread - planetary shaft thread slip ratio (%) &gt; f p ^

1〇〇„ J^LxlOO U舶 ; 若使上述滑動率為零而求取太陽軸螺紋嚙合節圓及行星 軸螺紋嚙合節圓，則該太陽轴螺紋嚙合節圓及行星轴螺紋嚙 合節圓為不會滑動之區域。亦即，在該太陽轴螺紋嚙合節圓 及行星軸螺紋嚙合節圓中，太陽軸1之外螺紋12及行星軸 098140075 26 201030255 4之外螺紋42形成為滾動不滑動之接觸。 對於行星軸-螺帽間亦同樣地根據下式，使滑動率為零而 求取螺帽螺紋嚙合節圓及行星螺紋嚙合節圓，則在該太陽轴 螺紋嚙合節圓及行星軸螺紋嚙合節圓中，螺帽2之内螺紋 22及行星軸4之外螺紋42形成為滾動不滑動之接觸。若對 接觸於太陽轴1之外螺紋12及螺帽2之内螺紋22二者的行 星轴4之外螺紋42施以凸起，則亦可未必一定要對外螺紋 © 12及内螺紋22二者均施以凸起。 [式6] &lt;螺帽螺紋滾動執道長度&gt;1〇〇„ J^LxlOO U Ship; If the above sliding rate is zero and the sun shaft thread engagement pitch circle and the planetary shaft thread engagement pitch circle are obtained, the sun shaft thread engagement pitch circle and the planetary shaft thread engagement pitch circle are The area that does not slide. That is, in the sun shaft thread engagement pitch circle and the planetary shaft thread engagement pitch circle, the outer shaft 12 of the sun shaft 1 and the outer shaft 42 of the planetary shaft 098140075 26 201030255 4 are formed to be non-sliding. In the same way, for the planetary shaft-nut, according to the following formula, the slip ratio is zero, and the nut thread engagement pitch circle and the planetary thread engagement pitch circle are obtained, and the sun shaft thread meshes the pitch circle and the planetary shaft thread. In the engagement pitch circle, the internal thread 22 of the nut 2 and the external thread 42 of the planetary shaft 4 are formed to be in a rolling non-sliding contact. If the outer thread 12 and the internal thread 22 of the nut 2 are in contact with the sun shaft 1 If the outer thread 42 of the planetary shaft 4 is convex, it is not necessary to apply a convex to both the outer thread © 12 and the inner thread 22. [Equation 6] &lt; Nut thread rolling length>

^ &lt;行星軸滾動轨道長度(對螺帽螺紋）&gt;^ &lt; Planetary axis rolling track length (for nut thread)&gt;

&lt;螺帽螺紋-行星軸螺紋滑動率（％) &gt;&lt; Nut Thread - Planetary Thread Sliding Rate (%) &gt;

098140075 27 201030255 其中， p=節距 szl=太陽軸齒輪齒數 sZ2=太陽軸螺紋條數 PZ1=行星軸齒輪齒數 Pz2=行星軸螺紋條數 NZ1=螺帽齒輪齒數 Nz2=螺帽條數098140075 27 201030255 where p=pitch szl=number of sun shaft gears sZ2=number of sun shaft threads PZ1=number of planetary shaft gears Pz2=number of planetary shaft threads NZ1=number of nut gears Nz2=number of nuts

SL=太陽轴螺紋導程SL=SZ2xP Ρι=行星轴螺紋導程PL=PZ2xP sPC=太陽軸螺紋導程基準節圓&amp; ~ ^SL=Sun shaft thread lead SL=SZ2xP Ρι=Planet shaft thread lead PL=PZ2xP sPC=Sun shaft thread lead reference pitch circle &amp; ~ ^

Ppc=行星軸導程基準節圓 ·* —名JL. ^ NPC=螺帽螺紋導程基準節圓^Ppc=Planet axis lead reference pitch circle ·* —Name JL. ^ NPC=Nut screw lead reference pitch circle^

Stpc=太陽軸螺紋哺合節圓Stpc=Sun shaft thread feeding pitch circle

Ptpci=行星抽螺紋响合節圓（對太陽轴）Ptpci=Planet pumping thread ring pitch (for the sun axis)

PtPC2=行星轴螺紋嚙合節圓（對螺帽） NTPC=螺帽螺紋嚙合節圓 Ntpc-PCDx2+Ptpc1 Pck=行星軸公轉減速比 Psk=行星軸自轉減速比 098140075 28 201030255PtPC2=Planet shaft thread engagement pitch circle (pair nut) NTPC=Nut screw thread engagement pitch circle Ntpc-PCDx2+Ptpc1 Pck=Planet axis revolution reduction ratio Psk=Planet shaft rotation reduction ratio 098140075 28 201030255

Sr=太陽軸螺紋嚙合節圓螺旋角 Prl=行星軸螺紋嚙合節圓1螺旋角 . ^2=行星_紋替節® 2螺旋角 • NT=螺帽螺紋嚙合節圓螺旋角 SRD=太陽軸螺紋滾動執道長度Sr=Sun shaft thread engagement pitch circle helix angle Pr1=planetary thread thread engagement pitch circle 1 helix angle. ^2=planet_stranding knot® 2 helix angle • NT=nut thread engagement pitch circle spiral angle SRD=sun shaft thread Rolling length

Prdi=行星軸螺紋滾動軌道長度(對太陽軸）Prdi = planetary shaft thread rolling track length (for the sun axis)

Prd2=行星軸螺紋滾動軌道長度(對螺帽） ❹ NRD=螺帽螺紋滚動軌道矣度Prd2 = planetary shaft thread rolling track length (for nuts) ❹ NRD = nut thread rolling track twist

PcD=轴間距離 圖8表示未對行星軸45之外螺紋46施以凸起之比較例。 當就含行星軸45之軸線之剖韵觀看時，此例行星軸45之外 螺紋46之側壁47形成直線當就與行星軸45之轴線相正 交之剖面觀看時，則如圖9作齐’外螺紋46形成漸開線齒 面48。 ❹ 行星轴4之外螺紋42相對夯瞵軸1之外螺紋12不滑動之 區域、及行星轴4之外螺紋42邾對螺帽2之内螺紋22不滑 動之區域，係存在於行星軸4 #在方向的互異之位置處。理 由在於，行星軸4之外螺紋4^導程角與螺帽2之内螺紋22 • 導程角，在螺帽2之螺紋導稃#準節圓中相同，相對於此， • 行星軸4之外螺紋42導程角如與太陽抽1之外螺紋12導程 角相異。為使行星軸4之外礦終42滚動不滑動地接觸於太 陽軸1之外螺紋12及螺帽2 ;内螺紋22 ’而如圖10所不， 098140075 29 201030255 必須使行星軸4相對螺帽2之嚙合位置（線段AB)、與行星 軸4相對太陽軸1之嚙合位置（線段A’B’)在行星軸4之半徑 方向相異。亦即，必須使從行星軸4之軸線44至外螺紋42 與内螺紋22之接觸點的距離L1、與從行星轴4之軸線44 至外螺紋42與外螺紋12之接觸點的距離L2相異。 而且，由此，使内螺紋22之螺紋壓力角0及外螺紋12 之螺紋壓力角6»'相對於圓弧形狀凸起42a互異即可。亦即， 使外螺紋42與内螺紋22的接觸點C中螺帽2之内螺紋22 之螺紋壓力角0、與外螺紋42與外螺紋12的接觸點C'中 外螺紋12之螺紋壓力角0’互異即可。 螺帽2之内螺紋22之螺紋壓力角可如下求得。首先，決 定行星轴4之外螺紋42輪廓。其次，以計算求得之滑動0 區域為唾合節圓，通過滑動0嗤合節圓拉取行星軸4之軸線 44的平行線AB，線AB與圓弧P之交點為點C。其次，通 過點C拉取圓弧P之正切線DE。接著，將圓弧P之中心設 為點Ο，連結點C與點Ο而形成線CO。接著，從點Ο拉 出垂直於行星軸4之轴線44的線，其與線AB之交點為點 F，而形成線FO。 由以上之作圖，壓力角0可根據下式而求得。 [式7]PcD = inter-axis distance Fig. 8 shows a comparative example in which the outer thread 46 of the planetary shaft 45 is not convex. When viewed from the cross-section of the axis containing the planet shaft 45, the side wall 47 of the outer thread 46 of the planetary shaft 45 of this example forms a straight line when viewed in a cross section orthogonal to the axis of the planet shaft 45, as shown in FIG. The outer thread 46 forms an involute tooth surface 48.区域 The area where the external thread 42 of the planetary shaft 4 does not slide relative to the external thread 12 of the shaft 1 and the area where the external thread 42 of the planetary shaft 4 does not slide against the internal thread 22 of the nut 2 is present in the planetary shaft 4 #在不同的位置的位置。 The reason is that the outer diameter of the planetary shaft 4 and the internal thread 22 of the nut 2 • the lead angle are the same in the thread guide # quasi-circle of the nut 2, whereas the planetary shaft 4 The lead angle of the outer thread 42 is different from the lead angle of the thread 12 other than the sun pumping 1 . In order to make the end of the planetary shaft 4 rolling non-sliding contact with the external thread 12 and the nut 2 of the sun shaft 1; the internal thread 22' and as shown in Fig. 10, 098140075 29 201030255 must make the planetary shaft 4 relatively snail The meshing position of the cap 2 (line segment AB) and the meshing position of the planet shaft 4 with respect to the sun shaft 1 (line segment A'B') are different in the radial direction of the planetary shaft 4. That is, the distance L1 from the axis 44 of the planetary shaft 4 to the contact point of the external thread 42 and the internal thread 22 must be such that the distance L2 from the axis 44 of the planetary shaft 4 to the contact point of the external thread 42 and the external thread 12 is different. Further, by this, the thread pressure angle 0 of the internal thread 22 and the thread pressure angle 6»' of the external thread 12 can be made different from each other with respect to the circular arc-shaped projection 42a. That is, the thread pressure angle 0 of the internal thread 22 of the nut 2 in the contact point C between the external thread 42 and the internal thread 22, and the thread pressure angle 0 of the external thread 12 in the contact point C' of the external thread 42 and the external thread 12 'Different can be. The thread pressure angle of the internal thread 22 of the nut 2 can be determined as follows. First, the contour of the outer thread 42 of the planet shaft 4 is determined. Next, the sliding 0 region obtained by the calculation is a salivating pitch circle, and the parallel line AB of the axis 44 of the planetary shaft 4 is pulled by sliding the 0 coordinate circle, and the intersection of the line AB and the circular arc P is the point C. Next, the tangent line DE of the arc P is pulled through the point C. Next, the center of the circular arc P is set to a point Ο, and the point C and the point 连结 are connected to form a line CO. Next, a line perpendicular to the axis 44 of the planetary shaft 4 is pulled from the point ,, and its intersection with the line AB is a point F to form a line FO. From the above plot, the pressure angle 0 can be determined according to the following formula. [Formula 7]

CO = R 098140075 30 201030255 太陽軸1之外艘&amp; , 行星轴4之外_ 2之螺紋壓力角亦可以同樣方式求得。 太陽軸1之㈣ 輪廓可由以下方式決定。行星軸4、 太釉1之材質為鈿 千田4 鋼其具有彈性區域。若對太陽軸1 軸線方向之载重，則 神1苑加 ^仃星軸4及太陽軸丨之接觸部會 性變形，導致接觸 會出見彈 紋42輪摩，以… 觸橢圓。可歧行星軸4之外螺 I不觸抵太陽軸1之正齒輪齒底、 且接觸擴圓不會增力叔# _ ❸ 均加β動率。在設計外螺紋42 假設行星轴4之外料㈣ 螺紋42與太陽軸1之外螺紋12在滑動〇 區域中形成接觸，而払u A 牡π動0 而檢纣施加載重、嵌合齒數、接觸 壓力角。接觸R就含杆K及 3仃星軸4軸線之剖面觀看時為曲率 徑R之圓弧形狀，而 干亍 ^ A 非為由正面齒面所創作之漸開線齒輪 曲線。 行星轴4之外職42如圓1㈣示，當就含行星軸4之軸 線之剖面觀看時為曲率半徑m之圓弧形狀，且如_所示， 當就無觸點之切平_正交之舶s觀看時，其為曲率半 徑氾之圓弧形狀。亦即，行星軸4之外螺㈣呈現在正交 之二個平面分別具有圓弧狀曲線而如橄欖球之三維曲面。 另方面，太陽轴1之外螺紋12接觸面如目1〇所示，當 就含灯星軸4軸線之剖面觀看時為直線形狀，且如圖^所 不’备就與切平面正父之剖面s觀看時為朝行星軸4凸起之 曲率半徑ΓΙΙ2之圓弧形狀。 整理行星軸4及太陽轴1之接觸面形狀而以表1表示。此 098140075 201030255 處，當就含行星軸4軸線之剖面觀看時，行星轴4 '^夕卜螺紋 42的凸起42a曲率半徑被設定為10mm。因為太陽轴^之外 螺紋12為直線形狀，因此曲率半徑被設定為〇。曲率半# rl2及曲率半徑rII2係藉由將行星轴4及太陽軸1模型截斷 而進行測定。 [表1] 轉動體 (行星軸） rll=10mm rI2=12.512mm 接觸面 (太陽轴） rlll=0mm rII2=25.871mm 行星轴4之外螺紋42與太陽轴1之外螺紋12之接觸狀 態，為於正交二個平面分別具有圓弧狀曲線而如撖欖球之三 維曲面、與於正交二個平面一者具有直線而另一者則具有圓 派狀曲線之®㈣狀二維曲面之接觸。因此，藉由使用赫兹 接觸式，可計算出橢圓徑及面壓。 螺帽2之内螺紋22之接觸面如圖1()所示，就含行星轴4 軸線之剖面觀看時為直線形狀，且如圖13料，當就與切 平面正交之剖面S觀看時為朝行絲4凹陷之曲率半徑 rIII2=51.906mm之圓弧形狀。闵 因此’與行星軸4與太陽軸1 之接觸同樣地，藉由使用赫茲接雜 ^ 接觸式，可計戽出橢圓徑及面 壓0 如圖14所示，從太陽軸丨 釉線方向觀看，行星軸4之 098140075 201030255 外螺紋42之外徑圓43 一部分，係插入於太陽軸i之正齒輪 11之齒底圓13靠内側處。而且，行星軸4之外螺紋仏接 觸到太陽軸1之外螺紋12之點p，為太陽轴i之外螺纹12 之接觸Φ 12a(較太陽軸！之正齒輪^之齒底圓13更靠内側 (&gt;,、、、圖16X)若對太陽轴丨施加軸線方向之載重，則太陽 軸1之外螺紋12及行星轴4之外螺紋42之接觸點P會出現 彈性變形’使接觸區域擴大。太陽軸丨軸線方向之載重，將 ❹由彈性變形的太陽轴1之外螺紋12之接觸面12a所承受。 藉由使行星軸4之外螺紋42接觸於太陽軸1之外螺紋12 的接觸面12a，而可避免行星軸4之外螺紋42僅接觸至太 陽軸1之外螺紋12上所形成之正齒輪u。因此，可防止行 星轴4之外螺紋42間歇性碰抵太陽軸1的外螺紋12之正齒 輪11(亦即，發生行星軸4之外螺紋42碰抵於太陽軸1之 外螺紋12之正齒輪11的情況及未碰抵的情況），可使行星 _ 軸4之外螺紋42穩定地接觸至太陽軸1之外螺紋ι2。此外， 因為可防止行星軸4之外螺紋42間歇性碰抵於太陽軸i的 外螺紋12之正齒輪11，因此成為耐剪切應力與彎曲力矩之 螺紋。 本實施形態中，為欲使行星轴4之外螺紋42接觸至太陽 軸1的外螺紋12之接觸面12a，而加粗行星軸4之外螺紋 42。若極端加粗行星軸4之外螺紋42，則會干涉到相鄰之 行星軸4。因此，將行星軸4之配置個數減為九個。 098140075 33 201030255 =Γ 之導程角與太陽軸1的外螺紋12 之導程角相異。因此嚴格而言，行星軸 陽轴1之外螺紋12之接觸點Ρ，與太_丨中:與行二 中心之連結線15稍微偏移。另— 42之導㈣等㈣行星軸4的外螺纹 之導私角等於螺中目2的内螺纹22之導程角。因此， =螺:42與螺帽2之内螺心 陽軸1中心與行星軸4中心之連結線Μ上。^ 次 圖15表示使正齒輪之模數變 Ο 周速比及喷合相位下，將正純例。若在維持正齒輪史 〇.㈣太如從㈣減小至 ,^ 正齒輪11之圓節距會變小。 如圖16所不，右將正齒輪11之模數從⑽減小至〇.仏 之外螺紋12上所形成的正齒輪叫 间又 日螺紋12的接觸面％之半徑方向厚度。固 此’可使仃星軸4之外螺紋42輕 〇 紋Π之接觸面12ae更谁牛，至太陽軸1吻 太陽轴1的正齒_之進八:步 外螺紋12之嗔人&gt; 王间又，因此可增加太陽軸1的 mm舍恭&amp;郎圓（圖令喊合區域所示）’可使續嘴人r 圓接近不终切動 了㈣嚙4 率。所謂「嘴合筋圓 …可提升旋轉之傳動效 4之外螺紋42相奴係、指太陽軸1之外螺紋12與行星軸 指太陽軸1之外螺之點上軌跡。所謂「滑動0區域」係 瀠動之點上細。谁」肖仃屋軸4之外螺紋42不會發兰 _ 仃自公轉之行星㉝4職繪之螺旋狀轨 34 201030255 道長度與太陽軸1之螺旋狀軌道長度相一致的區域，為滑動 0區域。 如圖1所示，行星軸4之外螺紋42對於螺帽2知内螺紋 22,亦可在滾動而不發生差動滑動之接觸點附近進行接觸。 藉由使行星軸4尺寸超差(。⑽知)外螺紋42而可賦予預 壓’可消除齒隙。 ❹CO = R 098140075 30 201030255 Outside the sun shaft 1 &amp; , the thread pressure angle outside the planet shaft 4 can also be obtained in the same way. The (four) contour of the sun axis 1 can be determined in the following manner. The material of the planetary shaft 4 and the glaze 1 is 钿 千田 4 steel which has an elastic region. If the load on the axis of the sun axis 1 is in the direction of the axis of the sun axis, then the contact between the god 1 and the axis 4 and the sun axis will be deformed, causing the contact to appear in the 42-wheel, and the ellipse. The snail I of the distractable planet shaft 4 does not touch the spur gear tooth bottom of the sun shaft 1, and the contact expansion does not increase the force of the uncle # _ 均 plus the β kinetic rate. In the design of the external thread 42 assuming that the outer shaft of the planetary shaft 4 (4) the thread 42 and the outer shaft 12 of the sun shaft 1 form a contact in the sliding cymbal region, and the 払u A π move 0 to check the applied load, the number of fitting teeth, the contact pressure angle. The contact R is a circular arc shape having a curvature diameter R when viewed from a section of the axis of the rod K and the 3 axis of the comet axis, and the dry 亍 ^ A is not an involute gear curve created by the front tooth surface. The outer shaft 42 of the planetary shaft 4 is shown as a circle 1 (four), and when viewed from the cross section of the axis containing the planetary shaft 4, it is an arc shape having a radius of curvature m, and as shown by _, when there is no contact, the flattening _ orthogonal When viewed by the ship s, it is a circular arc shape with a radius of curvature. That is, the outer shaft (four) of the planetary shaft 4 is present in two planes orthogonal to each other having an arc-shaped curve, such as a three-dimensional curved surface of a football. On the other hand, the contact surface of the external thread 12 of the sun shaft 1 is as shown in Fig. 1 and is a straight line when viewed from the section including the axis of the lamp axis 4, and is not prepared as shown in Fig. When viewed in section s, it is an arc shape having a radius of curvature ΓΙΙ2 which is convex toward the planetary axis 4. Table 1 shows the shape of the contact surface of the planetary shaft 4 and the sun shaft 1. At 098140075 201030255, when viewed in a section including the axis of the planetary shaft 4, the radius of curvature of the projection 42a of the planetary shaft 4's thread 42 is set to 10 mm. Since the thread 12 is linear in shape other than the sun axis, the radius of curvature is set to 〇. The curvature half # rl2 and the radius of curvature rII2 are measured by cutting off the planetary shaft 4 and the sun shaft 1 model. [Table 1] Rotating body (planetary shaft) rll=10mm rI2=12.512mm Contact surface (sun shaft) rlll=0mm rII2=25.871mm The contact state between the external thread 42 of the planetary shaft 4 and the external thread 12 of the sun shaft 1 is The two orthogonal planes respectively have an arc-shaped curve, such as a three-dimensional curved surface of a rugby ball, and a straight line with one of the two orthogonal planes and the other has a rounded curve of the (four)-shaped two-dimensional surface. contact. Therefore, by using the Hertz contact type, the elliptical diameter and the surface pressure can be calculated. The contact surface of the internal thread 22 of the nut 2 is as shown in Fig. 1(), and is linear when viewed from the cross section of the axis of the planetary shaft 4, and as shown in Fig. 13, when viewed from the section S orthogonal to the tangent plane It is an arc shape with a radius of curvature rIII2=51.906 mm which is recessed toward the wire 4. Therefore, in the same way as the contact of the planetary shaft 4 with the sun shaft 1, by using the Hertzian contact type, the elliptical diameter and the surface pressure can be counted as shown in Fig. 14, as viewed from the direction of the solar axis 丨 glaze. 098140075 201030255 of the planetary shaft 4 is a part of the outer diameter circle 43 of the external thread 42 which is inserted into the inner side of the tooth bottom circle 13 of the spur gear 11 of the sun shaft i. Further, the thread 仏 outside the planetary shaft 4 contacts the point p of the thread 12 outside the sun shaft 1, and is the contact Φ 12a of the thread 12 other than the sun shaft i (more than the tooth bottom circle 13 of the spur gear of the sun shaft! When the inner side (&gt;,,, Fig. 16X) applies the load in the axial direction to the sun axis, the contact point P of the outer thread 12 of the sun shaft 1 and the outer thread 42 of the planetary shaft 4 is elastically deformed. The load of the axis of the sun axis in the axial direction is received by the contact surface 12a of the externally threaded shaft 12 of the elastically deformed sun shaft 1. By the external thread 42 of the planetary shaft 4 is in contact with the thread 12 of the sun shaft 1 The contact surface 12a can be prevented, and the external thread 42 of the planetary shaft 4 can be prevented from contacting only the spur gear u formed on the thread 12 outside the sun shaft 1. Therefore, the external thread 42 of the planetary shaft 4 can be prevented from intermittently hitting the sun shaft 1 The spur gear 11 of the external thread 12 (that is, the case where the external thread 42 of the planetary shaft 4 hits the spur gear 11 of the external thread 1 of the sun shaft 1 and the case where the spur gear 11 does not touch) can be used to make the planet _ shaft 4 The outer thread 42 stably contacts the outer thread 1 of the sun shaft 1. Further, since the planetary shaft 4 can be prevented The external thread 42 intermittently abuts against the spur gear 11 of the external thread 12 of the sun shaft i, and thus becomes a thread that is resistant to shear stress and bending moment. In the present embodiment, the external thread 42 is intended to contact the sun 42 to the sun. The contact surface 12a of the external thread 12 of the shaft 1 and the external thread 42 of the planetary shaft 4 are thickened. If the external thread 42 of the planetary shaft 4 is extremely thickened, it will interfere with the adjacent planetary shaft 4. Therefore, the planetary shaft will be engaged. The number of configurations of 4 is reduced to 9. The lead angle of 098140075 33 201030255 = 相 is different from the lead angle of the external thread 12 of the sun shaft 1. Therefore, strictly speaking, the contact of the external thread 12 of the planetary shaft male shaft 1 Point Ρ, and _ 丨 :: The line 15 of the line 2 is slightly offset. The guide 42 of the other line (4), etc. (4) The guide angle of the external thread of the planet shaft 4 is equal to the guide of the internal thread 22 of the screw head 2 Therefore, = screw: 42 and the inner thread of the nut 2 in the nut 2 and the center of the planet shaft 4 are connected. ^ Figure 15 shows that the modulus of the spur gear is changed to the peripheral speed ratio and spray In the phase, the positive example will be positive. If the spur gear history is maintained (4) is too reduced from (4), the circular pitch of the spur gear 11 will become smaller. In Fig. 16, the modulus of the spur gear 11 is reduced from (10) to the radius of the radial direction of the contact surface of the spur gear formed on the thread 12 of the outer thread 12. The contact surface 12ae of the outer thread 42 of the comet axis 4 is lighter, and the horn of the sun axis 1 is kissed by the yaw of the sun axis 1 to the eighth axis: the stalker of the external thread 12 &gt; Therefore, it is possible to increase the mm axis of the sun axis 1 and the Lang circle (shown in the area of the shouting area), which can make the circulatory person close to the end of the circle (4). The so-called "mouth rib circle... The transmission effect of the lifting rotation 4 is the slave thread of the external thread 42 and refers to the trajectory of the outer thread 12 of the sun shaft 1 and the outer axis of the sun shaft 1 of the planetary shaft. The so-called "sliding 0 area" is fine at the point of swaying. Who" Xiao Yu's shaft 4 is not threaded 42. _ 仃 Self-revolving planet 334 painted spiral rail 34 201030255 The length of the track is the same as the length of the spiral axis of the sun axis 1, is the sliding 0 area . As shown in Fig. 1, the external thread 42 of the planetary shaft 4 is known to the nut 2 as the internal thread 22, and can also be brought into contact near the contact point where the rolling does not occur. By providing the planetary shaft 4 with a size difference (10), the external thread 42 can be imparted to the pre-pressure to eliminate the backlash. ❹

圖18表示等分排列於太陽軸1周圍的行星軸4之相位。 如上述’為將行絲4等分排列在太陽轴ι周圍，而將行星 袖4之個數設為太陽軸1之正齒輪11齒數與螺帽2之内齒 =21齒數和的因數’且將其設為太陽轴工之外螺纹Q與螺 内螺紋22之條數和的因數。正齒輪u之齒數為仍、 内IS 21之齒數為120、外螺紋12之條數為8、内螺紋22 八為1G’因此若將行星軸4之配置個數設定為189與 因數9’則可將九個行星軸4在太陽軸1周圍等分排 =太叫！周圍之36()度範圍設為丨職則九 =::向度相位相偏移。此處，將太陽軸1之垂直上方 之行ϋ 11將配置在基準方向的彳τ絲4設為相位0 之γΪ:4。然後’朝順時針方向依序為相位卜2、3...8 的行星i 4。相位G的行星軸4之相心度為G度，相位1 角度為^声之^角度為40度，相位2的行星袖4之相位 度。相位3的行星軸4之相位角度為12〇度。相 098140075 35 201030255 位0之行星軸4與相位3之行星轴4以相位角度120度相偏 移。 若將行星軸4之正齒輪41中例如從凸部至凸部設為—週 期’則行星軸4之正齒輪41相對太陽軸1之正齒輪11之噛 合相位，會在該一週期之範圍内逐漸變化。有時正齒輪 之凸部會嚙合於正齒輪U之凹部，亦有時正齒輪41之凹部 會嚙合於正齒輪11之凸部。 圖19表示計算出相對於九個行星軸4之正齒輪“之噛合 相位（即為相位）的相對角度所得之結果。嚙合相位(相對於^目 位之相對角度），可由以下計算式表示。 (式8) 之齒數+360的餘數)Fig. 18 shows the phase of the planetary shaft 4 equally arranged around the sun shaft 1. As described above, in order to align the filaments 4 around the sun axis ι, the number of the planetary sleeves 4 is set to the number of teeth of the spur gear 11 of the sun shaft 1 and the internal teeth of the nut 2 = 21 and the number of teeth. This is set as a factor of the sum of the number of threads Q and the internal thread 22 of the sun shaft. The number of teeth of the spur gear u is still, the number of teeth of the inner IS 21 is 120, the number of the external threads 12 is 8, and the internal thread 22 is 1 G'. Therefore, if the number of the planetary shafts 4 is set to 189 and the factor 9' The nine planet shafts 4 can be equally divided around the sun axis 1 = too called! The surrounding 36 () degree range is set to 丨 则 9 =:: directional phase phase offset. Here, the ϋ 11 wire 4 disposed in the vertical direction of the sun axis 1 is set to γ Ϊ: 4 of the phase 0. Then, in the clockwise direction, the planets i 4 of the phase 2, 3...8 are sequentially. The phase of the planetary axis 4 of the phase G is G degree, and the phase 1 angle is the angle of the sound of the sound of 40 degrees, and the phase of the planetary sleeve 4 of the phase 2. The phase angle of the planet axis 4 of phase 3 is 12 degrees. Phase 098140075 35 201030255 The planet axis 4 of bit 0 and the planet axis 4 of phase 3 are offset by a phase angle of 120 degrees. If the spur gear 41 of the planetary shaft 4 is set to a period of, for example, a convex portion to a convex portion, the spur gear 41 of the planetary shaft 4 is coupled with the spur gear 11 of the sun shaft 1 in a range of the period. Gradually change. Sometimes the convex portion of the spur gear meshes with the concave portion of the spur gear U, and sometimes the concave portion of the spur gear 41 meshes with the convex portion of the spur gear 11. Fig. 19 shows the result of calculating the relative angles of the coupled phases (i.e., phases) with respect to the spur gears of the nine planetary shafts 4. The meshing phase (relative angle with respect to the target position) can be expressed by the following calculation formula. (Formula 8) Number of teeth + remainder of 360)

若（相位角度X太陽軸1的正齒輪U &gt; 180，貝丨J 唾合相位=(相位角度χ太陽軸1的正齒輪U之齒㈣6( 的餘數)-360 若（相位角度X太陽軸1的正齒鯰η 菌輪Η之齒數+360的餘數、 &lt;180,則 唾合相位==相位角度X太陽幸由1沾 的正齒輪11之齒數+360的 餘數 Θ 所謂該嚙合相位(相對於相位之相 之既定基準位置、例如凸部（當然亦W度）’係指行星軸4 、亦可疋義為凹部）相對 太陽軸1中心呈輻射狀延伸之方Μ傾斜赌。亦即，、 098140075 36 201030255If (phase angle X spur gear U &gt; 180 of the sun axis 1 , Bellow J salivation phase = (phase angle 齿 spur gear of the sun axis 1 (four) 6 (the remainder of the number) -360 if (phase angle X sun axis) The number of teeth of the Orthodontic 鲶 bacteria + + + 360, &lt; 180, then the phase of the stagnation = = phase angle X The number of teeth of the spur gear 11 of the sun is + the remainder of 360 Θ The so-called meshing phase ( The predetermined reference position with respect to the phase of the phase, for example, the convex portion (of course, the W degree) means that the planetary axis 4 or the concave portion is radially extended with respect to the center of the sun shaft 1. ,, 098140075 36 201030255

合相位(相對於相位之相對角度)表示連結太陽軸1中心和行 星轴钟心之方向、與連結行星軸4巾心和行星軸4既定基 準位置之方向所夾的角度。例如，飾絲4之凸部位於^ ^狀延伸之方向上時則為零’若從該方向朝順時針方向偏移 時則為正’若朝逆時針方向偏移時則為負。喃合相位取·18〇 度〜+180度範圍内之值。若相鄰行星轴4間之該嗔合相位(相 對於相位之相對角度)相異，則當在―行星軸4中正齒輪“ 之凸《合於太陽軸丨之正絲u時，.在另—行星轴 4中’正齒輪41中偏離凸部之位置處喃合於太陽轴^之正 齒輪11。因此，可彌補嚙合率之惡化。 如圖15所示，若正齒輪u、41之模數例如從G 68縮小 至〇.42’則齒數會增加。正齒輪11Μ1之喷合量亦會變大， 喷合率亦將提升。若私率提升，則亦減少錯開正齒輪Μ 之喷合相位之必要性。如此，與其錯開正齒輪41之喷合相 位錯開而提升喊合率’不如最好將正齒輪41之齡點均衡 地配置在太陽軸1之®財向’從正齒輪41均衡地對正齒 輪11施加扭矩。 本實施形態中，相位角度各以120度偏移的三個行星軸4 之嚙合相位彼此呈一致。亦即’使相位〇、3、6的行星軸4 之嚙合相位相一致，並使該等正齒輪41同時嚙合於正齒輪 11。在相位0、3、6的行星軸4之正齒輪41唾合於太陽轴 1之後，相位1、4、7的行星轴4之正齒輪Μ嚙合於太陽 098140075 37 201030255 軸1，接著’相位2、5、8的行星轴4之正齒輪41嗜合於 太陽軸1。亦即，3個同時嚙合的形態係重複3次。更進一 步在本實施形態中，相鄰接三個行星轴4之嚙合相位呈互 異。亦即，相位0、1、2、相位3、4、5、相位6、7、8的 行星軸4之响合相位呈互異。 根據本實施形態，因為相位角度各以120度偏移的三個行 星軸4之正齒輪41之嚙合相位呈一致，因此可從三個行星 軸4之正齒輪41均衡地賦予太陽軸1扭矩，且宛如轉盤的 三爪夾頭’三個行星軸4之正齒輪41穩定保持著太陽轴i。 更進一步，相鄰接三個行星軸4的正齒輪41之嚙合相位呈 互異因此亦可彌補正齒輪41與正齒輪η之喃合率牵化。 又，將二組行星齒輪機構設置於行星滾子螺桿機構之二端 部，並使二組行星齒輪機構之相位角度在從太陽軸之軸線方 向觀看下相互呈一致，由此可從行星軸4更均衡地賦予扭矩 至太陽軸1。 行星軸4之配置個數除3、6、9、12等3之倍數以外，亦 可為4、8、12、16等4之倍數。當為4之倍數(4χη)時，相 位角度各偏移9〇度的四個行星軸4之正齒輪41之唾合相位 相一致’且相鄰接η個行星軸4之嗤合相位互異即可。行星 軸4之配置個數可為三個或四個。在此情況下，只要使三個 或四個行星轴4的正齒輪41之嚙合相位呈一致即可。 圖20表示將行星轴之配置個數設定為11個的比較例，圖 098140075 38 201030255 21表示此時行星軸的正齒輪之嚙合相位◊如圖21所示，^ 知從相位2、8的行星軸之正齒輪會傳動最大扭矩至太陽 軸’而無法均衡地傳動扭矩至太陽軸、或難以對準太陽車由之 中 以下，說明在上述實施形態中行星軸4沿軸線方向相對太 陽軸1進行相對位移之例。 ❹ ❿ 亦可相反地，使行星軸朝軸線方向相對螺帽進行相對位 移。此情況下，在構成螺旋溝的螺帽之螺旋狀内螺紋凸邻 設置構成内齒輪之齒輪。構成螺旋溝之外螺紋、及在哕外 紋之軸線方向二側構成行星齒輪的一對正齒輪，在行星=螺 軸線方向分_狀態下被設於行星軸^構成螺線:= 螺紋、及在該外螺紋赠方向二側構成太陽齒輪的—對夕 :使=向分開之狀態下被設於太陽轴中。根據此例齒 灯相對螺棺進行行程，螺、帽之標紋狀 干涉於行星轴之行星齒輪。因此，可增加太陽轴相=會 軸線方向之相對性行程量。 、巾目在 圖22至圖24表示本發明第二實施形態之行星 線運動變換襞置。閽π 士 Α奴轉、直 圖22表示行星式奴轉-直線運動變 之立體示意圖（為估由* ;燹換裝置 (馮使内邛構造容易理解，而呈現將 I實施形態之行星式旋轉-直線運 置，亦具備有太陽軸51、配置在太陽轴51周圍之 098140075 39 201030255 轴54、及包圍太陽軸51及行星轴54之環狀螺帽52。 於太陽軸形成有作為太陽齒輪之正齒輪55、及作為螺 旋凸條之外螺紋56。與第-實施形態之行星式旋轉_直線運 動變換裝置祕地’太_ 51之正齒輪55形成於外螺紋 56之凸部。外螺紋56具有既定導程角。 於行星軸54形成作為行星齒輪之一對正齒輪57，並在一 對正齒輪57之間形成圓周方向溝58。圓周方向溝58為在 行星軸4之轴線方向排列多數朝圓周方向延伸之單一環狀 溝而成者。行星轴54之正齒輪57嚙合於太陽軸51之正齒 輪55行星軸54之圓周方向溝％响合於太陽軸51之外螺 紋56。如圖24之螺帽52剖視圖所示，行星軸54的圓周方 向溝58之導程角為〇度。行星軸54的圓周方向溝％之節 距與太_ 51的外螺故56之節距相同。行星軸54的配置 個數、行星軸54的嚙合相位與第一實施形態的行星式旋轉_ 直線運動變換裝置相同。 與第一實施形態行星式旋轉·直線魏義裝置之行星軸 4同樣地’於打星轴54的圓周方向溝％，施以可與太陽轴 51的外螺紋56及螺帽52的圓周方向凸條6〇點接觸之凸起 58a凸起地當就含行星轴54轴線的剖面觀看日寺，其形成 為圓弧幵邊。行星軸54與太陽轴之接觸點，被配置於行 星轴54的圓周方向溝58相對太陽軸的外螺紋％滚動不 滑動之接觸區域附近。 098140075 201030255 如圖22及圖23所示，在螺帽52形成作為内齒輪之一對 正齒輪59,在一對正齒輪59間形成圓周方向凸條60。螺帽 52的一對正齒輪59嚙合於行星轴54的一對正齒輪57，而 螺帽52的圓周方向凸條60嚙合於行星軸54的圓周方向溝 58。如圖24所示，螺帽52的圓周方向凸條60亦為排列複 數朝圓周方向延伸的單一環狀凸條而成者。圓周方向凸條 60之導程角為〇度。 ❹ 太陽軸51的正齒輪55、行星軸54的正齒輪57、及螺帽 52的正齒輪59 ’係構成行星齒輪機構。當使太陽軸51相對 螺帽52進行相對旋轉’則行星轴54圍繞太陽軸51周圍一 邊自轉並一邊公轉。 太陽軸51的外螺紋56、行星軸54的圓周方向溝58、及 螺帽52的圓周方向凸條60保持相互喃合。與上述第一實施 形態的行星式旋轉-直線運動變換裝置不同地，行星軸54的 ⑩ 圓周方向溝58、及螺帽52的圓周方向凸條60之導程角為〇 度，但若與第一實施形態同樣地’行星軸54圍繞太陽軸51 周圍一邊自轉並一邊公轉，則透過太陽軸51的外螺紋56 之導程角、與行星軸54的圓周方向溝58之導程角之差，使 行星轴54及螺帽52朝軸線方向移動。 根據本實施形態的行星式旋轉-直線運動變換裝置，可獲 得以下效果。1 :因為螺帽52的圓周方向凸條6〇、及行星 轴54的圓周方向溝58非為螺旋狀，因此可提升製作精度(加 098140075 41 201030255 工精度僅依存於加工機之饋進精度，並非由加工螺旋狀溝時 的分割精度(index accuracy)所左右）。2 :因為螺帽52的圓 周方向凸條60、及行星軸54的圓周方向溝58之導程角為 0，因而不會因導程誤差而發生相對位移。3 :因為螺帽52 的圓周方向凸條60、及行星軸54的圓周方向溝58之導程 角為〇，因而螺紋條數可定義為〇條，增加行星軸54配置 數之自由度，容易獲得強度。4 :因為可減少太陽軸51的螺The combined phase (relative angle with respect to the phase) indicates the angle between the center of the sun axis 1 and the center of the planetary axis, and the direction in which the planetary axis 4 and the planetary axis 4 are aligned. For example, when the convex portion of the decorative wire 4 is located in the direction in which the shape is extended, it is zero. If it is shifted clockwise from the direction, it is positive. If it is offset in the counterclockwise direction, it is negative. The merging phase takes a value ranging from 18 〜 to +180 degrees. If the kneading phase (relative angle with respect to phase) between adjacent planet shafts 4 is different, when the spur gear in the "planetary shaft 4" is "convex" in the sun axis of the sun axis, the other is - In the planetary shaft 4, the position of the spur gear 41 that is offset from the convex portion is spliced to the spur gear 11 of the sun shaft. Therefore, the deterioration of the meshing rate can be compensated. As shown in Fig. 15, if the spur gears u, 41 are molded, For example, if the number is reduced from G 68 to 〇.42', the number of teeth will increase. The amount of shots of the spur gear 11 Μ 1 will also increase, and the spray rate will also increase. If the private rate is increased, the spur gear 错 will also be reduced. Therefore, the phase of the shotping of the spur gear 41 is shifted to increase the call-in ratio. It is better to balance the age of the spur gear 41 in the balance of the sun shaft 1 from the spur gear 41. Torque is applied to the spur gear 11. In the present embodiment, the meshing phases of the three planetary shafts 4 whose phase angles are each shifted by 120 degrees coincide with each other, that is, the meshing of the planetary shafts 4 of the phases 〇, 3, and 6. The phases are identical and the spur gears 41 are simultaneously meshed with the spur gear 11. At phases 0, 3, 6 After the spur gear 41 of the planetary shaft 4 is sprinkled on the sun shaft 1, the spur gears of the planetary shafts 4 of the phases 1, 4, and 7 mesh with the sun 098140075 37 201030255, and then the planetary shafts 4 of the phases 2, 5, and 8 The spur gear 41 is in contact with the sun shaft 1. That is, the three meshing modes are repeated three times. Further, in the present embodiment, the meshing phases of the adjacent three planet shafts 4 are different from each other. The phase of the phase of the planetary axes 4 of the phases 0, 1, 2, the phases 3, 4, 5, and the phases 6, 7, and 8 are different. According to the present embodiment, the phase angles are offset by 120 degrees each. The meshing phase of the spur gear 41 of the planetary shaft 4 is uniform, so that the torque of the sun shaft 1 can be equally balanced from the spur gears 41 of the three planetary shafts 4, and like the three-jaw chuck of the turntable, the spur gears of the three planetary shafts 4 41. The sun axis i is stably maintained. Further, the meshing phases of the spur gears 41 adjacent to the three planet shafts 4 are different from each other, so that the merging ratio of the spur gear 41 and the spur gear η can be compensated for. Two sets of planetary gear mechanisms are disposed at two ends of the planetary roller screw mechanism, and two sets of planetary gears are provided The phase angles of the structures are identical to each other when viewed from the axis of the sun axis, whereby the torque can be more evenly distributed from the planetary shaft 4 to the sun shaft 1. The number of the planetary shafts 4 is divided by 3, 6, 9, 12, and the like. In addition to the multiple of 3, it may be a multiple of 4, 8, 12, 16, etc. When it is a multiple of 4 (4 χ η), the spur gear 41 of the four planetary shafts 4 whose phase angles are each shifted by 9 〇 degrees The phase of the phase coincides with each other and the phase of the adjacent planet axes 4 is different. The number of the planet axes 4 can be three or four. In this case, only three or four The meshing phase of the spur gear 41 of the planetary shaft 4 is uniform. Fig. 20 shows a comparative example in which the number of the planetary shafts is set to 11, and Fig. 098140075 38 201030255 21 indicates the meshing phase of the spur gear of the planetary shaft at this time. As shown in Fig. 21, it is known that the spur gears of the planetary shafts of phases 2 and 8 will transmit the maximum torque to the sun shaft', and the torque cannot be evenly transmitted to the sun shaft, or it is difficult to align with the sun. In the above embodiment, the planetary shaft 4 is relatively displaced relative to the sun shaft 1 in the axial direction. example. ❹ 亦可 Conversely, the planet shaft is relatively displaced relative to the nut in the axial direction. In this case, a gear that constitutes the internal gear is provided adjacent to the helical internal thread of the nut constituting the spiral groove. a pair of spur gears that form a planetary gear in two sides of the spiral groove and a planetary gear on the two sides in the axial direction of the outer ridge, and are disposed on the planetary shaft in the state of the planetary = screw axis direction to form a spiral: = a thread, and In the outer side of the external thread, the sun gear is formed on the two sides. In the state in which the = direction is separated, it is placed in the sun shaft. According to this example, the toothed lamp travels relative to the thread, and the thread of the screw and the cap interfere with the planetary gear of the planetary shaft. Therefore, the relative amount of travel of the solar axis phase in the direction of the axis can be increased. Fig. 22 to Fig. 24 show a planetary motion conversion device according to a second embodiment of the present invention.阍 π Α Α 转 , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , - Straight-line transport, also includes a sun shaft 51, a 098140075 39 201030255 shaft 54 disposed around the sun shaft 51, and an annular nut 52 surrounding the sun shaft 51 and the planet shaft 54. The sun shaft is formed as a sun gear. The spur gear 55 and the external thread 56 as the spiral rib. The planetary rotator-linear motion converter of the first embodiment is formed in a convex portion of the male screw 56. The external thread 56 is formed. A predetermined lead angle is formed. One of the planetary gears 54 is formed as a pair of planetary gears, and a circumferential groove 58 is formed between the pair of spur gears 57. The circumferential groove 58 is arranged in the axial direction of the planetary shaft 4. A plurality of single annular grooves extending in the circumferential direction are formed. The spur gear 57 of the planetary shaft 54 is meshed with the spur gear 55 of the sun shaft 51. The circumferential groove groove of the planetary shaft 54 is coupled to the external thread 56 of the sun shaft 51. Figure 24 is a cross-sectional view of the nut 52 The lead angle of the circumferential groove 58 of the planetary shaft 54 is the twist. The pitch of the circumferential groove % of the planetary shaft 54 is the same as the pitch of the outer screw 56 of the too _ 51. The number of the planetary shafts 54 is arranged, The meshing phase of the planetary shaft 54 is the same as that of the planetary rotary_linear motion converting device of the first embodiment. Similarly to the planetary shaft 4 of the planetary rotary and linear device of the first embodiment, the circumferential direction of the striking shaft 54 is The groove %, the projection 58a which is in point contact with the external thread 56 of the sun shaft 51 and the circumferential rib 6 of the nut 52 is convexly observed when the section containing the axis of the planetary shaft 54 is viewed, and the formation thereof The contact point between the planetary shaft 54 and the sun shaft is disposed in the vicinity of the contact area of the circumferential direction groove 58 of the planetary shaft 54 with respect to the external thread % of the sun shaft. 098140075 201030255 As shown in Fig. 23, the nut 52 is formed as one of the internal gears, and the spur gear 59 is formed between the pair of spur gears 59. The pair of spur gears 59 of the nut 52 are engaged with the pair of the planetary shafts 54. Spur gear 57, and the circumferential rib 60 of the nut 52 is engaged with The circumferential groove 58 of the star shaft 54. As shown in Fig. 24, the circumferential rib 60 of the nut 52 is also a single annular rib extending in a circumferential direction. The lead of the circumferential rib 60 The angle is the 。. The spur gear 55 of the sun shaft 51, the spur gear 57 of the planetary shaft 54, and the spur gear 59' of the nut 52 constitute a planetary gear mechanism. When the sun shaft 51 is relatively rotated with respect to the nut 52' Then, the planetary shaft 54 revolves around the circumference of the sun shaft 51 and revolves. The external thread 56 of the sun shaft 51, the circumferential groove 58 of the planetary shaft 54, and the circumferential rib 60 of the nut 52 are kept in harmony with each other. Unlike the planetary rotary-linear motion conversion device according to the first embodiment, the lead angle of the circumferential groove 54 of the planetary shaft 54 and the circumferential rib 60 of the nut 52 is a degree, but if In the same embodiment, the difference between the lead angle of the external thread 56 of the sun shaft 51 and the lead angle of the circumferential groove 58 of the planetary shaft 54 is the same as the 'the planetary shaft 54 revolves around the circumference of the sun shaft 51. The planetary shaft 54 and the nut 52 are moved in the axial direction. According to the planetary rotary-linear motion converter of the present embodiment, the following effects can be obtained. 1 : Since the circumferential rib 6 螺 of the nut 52 and the circumferential groove 58 of the planetary shaft 54 are not spiral, the manufacturing precision can be improved (adding 098140075 41 201030255 accuracy depends only on the feed precision of the processing machine, It is not caused by the index accuracy when processing the spiral groove. 2: Since the lead angle of the circumferential direction rib 60 of the nut 52 and the circumferential groove 58 of the planetary shaft 54 is 0, relative displacement is not caused by the lead error. 3: Since the lead angle of the circumferential rib 60 of the nut 52 and the circumferential groove 58 of the planetary shaft 54 is 〇, the number of threads can be defined as a purlin, and the degree of freedom of the number of the planetary shafts 54 is increased, which is easy. Get strength. 4: Because the snail of the sun shaft 51 can be reduced

紋條數設計，因而可容易獲得精度。5:可在不會降低正效 率的情況下，將逆效率設計為極小。 圖25至圖27表示本發明第三實施形態的行星式旋轉-直 線運動I換裂置。圖25表示行星式旋轉-直線運動變換裝置 之立體圖’圖26表示係剖視圖。本實施形態之行星式旋轉-直線運動變換裝置’亦具備有：太陽軸61、配置在太陽軸 61周圍的複數行星軸64、及包圍太陽軸及行星轴以的The number of stripes is designed so that accuracy can be easily obtained. 5: The inverse efficiency can be designed to be extremely small without reducing the positive efficiency. Fig. 25 through Fig. 27 show a planetary rotary-linear motion I splitting device according to a third embodiment of the present invention. Fig. 25 is a perspective view showing a planetary rotary-linear motion converting device. Fig. 26 is a cross-sectional view showing the same. The planetary rotary-linear motion converter of the present embodiment also includes a sun shaft 61, a plurality of planetary shafts 64 disposed around the sun shaft 61, and a sun axis and a planetary shaft.

環狀螺帽62。行星細β a w 丁生袖64之配置個數、行星軸64之嚙合相 位與第b只施形態之行星式旋轉直線運動變換裝置相同。 於太陽軸61 ’形成作為太陽齒輪之正齒輪65及圓周方向 凸條66。如圖27中+限, τ及％軸61之側視圖所示，圓周方向凸 條66為在太陽轴6 ] &amp; μ 〇〇 的軸線方向排列複數朝圓周方向延伸的 單條而成者。圓周方向凸條66之導程角為0度。太陽 軸61之正*輪65形成於圓周方向凸條66之凸部。 如圖25所示，在杆s 订星轴64，形成作為行星齒輪之一對正 098140075 42 201030255 齒輪67，並在一對正齒輪67之間形成作為螺旋溝之外螺紋 68。行星軸64之一對正#輪67嗜合於太陽軸61之正齒輪 65，而行星軸64之外螺紋68嚙合於太陽軸61之圓周方向 &quot;凸條66。行星軸64的外螺紋68之節距，與太陽軸61的圓 周方向凸條66之節距相同。行星軸64之外螺紋68具有既 定導程角。 與第一實施形態行星式旋轉-直線運動變換裝置之行星軸 ❹ 4同樣地，於行星軸64之外螺紋68，施以可與太陽軸61 之圓周方向凸條66及螺帽62之内螺紋70點接觸的凸起 68a。當就含行星軸64軸線之剖面觀看時，凸起68a形成圓 弧形狀。行星軸64與太陽軸61之接觸點，被配置於行星軸 64之外螺紋68相對太陽軸61之圓周方向凸條66滚動不滑 動之接觸區域附近。 於螺帽62，可形成作為内齒輪之正齒輪69、及作為螺旋 © 凸條之内螺紋70。螺帽62之正齒輪69嚙合於行星軸64之 正齒輪67，螺帽62之内螺紋70哺合於行星軸64之外螺紋 68。螺帽62之内螺紋70具有與行星轴64之外螺紋69呈相 反方向的相同導程角。 太陽軸61之正齒輪65、行星軸64之正齒輪67、及螺帽 - 62之正齒輪69構成行星齒輪機構。當使太陽轴61相對螺 帽62進行旋轉，則行星軸64圍繞螺帽62周圍一邊自轉並 一邊公轉。 098140075 43 201030255 太1%軸61之圓周方向凸條66、行星軸64之外螺紋68、 及螺帽62之内螺紋70保持相互嚙合。與上述第一實施形態 之行星式旋轉-直線運動變換裝置不同地，太陽軸61的圓周 方向凸條66之導程角為〇度，但與第一實施形態同樣地， 若行星軸64圍繞太陽軸61周圍一邊自轉並一邊公轉，則透 過太陽軸61的圓周方向凸條66之導程角、與行星軸64的 外螺紋68之導程角之差，使行星軸64及螺帽62朝軸線方 向移動。 根據本實施形態之行星式旋轉直線運動變換裝置，可獲 以下的效果。1，因為太陽轴61的圓周方向凸條％非為 螺旋狀’因此可提升製作精度。2:因為太_61的圓周方 向凸條66之導程角為〇 ’因此不會因導程誤差而發生相對 位移。3:因為太陽軸61的圓周方向凸條％之導程角為〇 因此螺紋之條數被定義為G條，可增加行星軸64配置數: 自由度，而容易獲得強度。4:因為可將太陽軸61之螺㈣ ，設計為0，因此可料獲得精度^ :可衫會降低正; 率的情況下，將逆效率設計為極小。 動if表雜裝本㈣第_實施雜拉錢轉·直線運 變換敦置而成之致動器。於該致動器中，透過中空馬達 73使螺帽2旋轉，由此朝軸線方向移動 體74進出入。 1 “核 螺帽2之前後方向二端部可旋轉地讀於轴幻6、77。 098140075 201030255 轴承76、77組裝於殼體74之内部。 馬達73 —體組裝於殼體74。作為馬達73之轉子的永久 磁石71被固定於螺帽之外周面。作為馬達73之定子的三相 線圈72在包圍永久磁石71的狀態下被一體固定於殼體74。 於殼體74之前部壁75，形成有防止太陽軸1圍繞軸線旋 轉、且容許太陽軸1在軸線方向直線運動的栓槽溝75a。於 太陽軸1，形成卡合於殼體75之栓槽溝75a的栓槽凸條la。 ⑩ 該等栓槽溝75a及栓槽凸條la構成止轉機構。 當馬達73使螺帽2旋轉，行星軸4圍繞太陽軸1周圍一 邊自轉並一邊公轉。伴隨行星軸4之自轉及公轉，喊合於行 星軸4的太陽轴1朝轴線方向移動。太陽軸丨圍繞轴線之旋 轉可由止轉機構la、75a進行限制，因此太陽軸i不會與螺 帽2 一起旋轉。 根據本實施形態之劾器，因為組裝有逆效率較低的行星 © 式旋轉-直線運動變換裝置，因 之軸方向位置的馬達73功率。 因此可減小用於保持太陽轴1 *^7 才氏 iff . 田&quot;4^ _L we ^Annular nut 62. The number of arrangement of the planetary fine β a w squaring sleeves 64 and the meshing phase of the planetary shaft 64 are the same as those of the planetary rotary linear motion converting device of the b-th embodiment. A spur gear 65 as a sun gear and a circumferential rib 66 are formed on the sun shaft 61'. As shown in the side view of the + limit, τ and % axis 61 in Fig. 27, the circumferential rib 66 is a single piece extending in the circumferential direction in the axial direction of the sun axis 6] & μ 〇〇. The lead angle of the circumferential rib 66 is 0 degrees. The positive * wheel 65 of the sun shaft 61 is formed in the convex portion of the circumferential rib 66. As shown in Fig. 25, at the rod s, the star shaft 64 is formed as one of the planetary gears to be aligned with the 098140075 42 201030255 gear 67, and a pair of spur gears 67 are formed as the outer thread 68 of the spiral groove. One of the planetary shafts 64 is aligned with the spur gear 65 of the sun shaft 61, and the external thread 68 of the planetary shaft 64 is engaged with the circumferential direction &quot; rib 66 of the sun shaft 61. The pitch of the external threads 68 of the planetary shaft 64 is the same as the pitch of the circumferential ridges 66 of the sun shaft 61. The outer shaft 68 of the planet shaft 64 has a predetermined lead angle. Similarly to the planetary shaft ❹ 4 of the planetary rotary-linear motion converter of the first embodiment, the external thread 68 of the planetary shaft 64 is threaded with the circumferential rib 66 and the nut 62 of the sun shaft 61. 70 points of contact bumps 68a. The projection 68a forms a circular arc shape when viewed in a cross section including the axis of the planetary shaft 64. The point of contact between the planetary shaft 64 and the sun shaft 61 is disposed in the vicinity of the contact area of the outer shaft of the planetary shaft 64 with respect to the circumferential direction of the sun rib 61. In the nut 62, a spur gear 69 as an internal gear and an internal thread 70 as a spiral © rib can be formed. The spur gear 69 of the nut 62 is engaged with the spur gear 67 of the planetary shaft 64, and the internal thread 70 of the nut 62 is fed to the external thread 68 of the planetary shaft 64. The internal thread 70 of the nut 62 has the same lead angle as the opposite direction of the external thread 69 of the planet shaft 64. The spur gear 65 of the sun shaft 61, the spur gear 67 of the planetary shaft 64, and the spur gear 69 of the nut 62 constitute a planetary gear mechanism. When the sun shaft 61 is rotated relative to the nut 62, the planet shaft 64 revolves around the circumference of the nut 62 and revolves. 098140075 43 201030255 The circumferential rib 66 of the 1% shaft 61, the external thread 68 of the planetary shaft 64, and the internal thread 70 of the nut 62 remain in mesh with each other. Unlike the planetary rotary-linear motion conversion device according to the first embodiment described above, the lead angle of the circumferential ridge 66 of the sun shaft 61 is a twist. However, similarly to the first embodiment, the planetary shaft 64 surrounds the sun. When the shaft 61 rotates and revolves around the shaft 61, the difference between the lead angle of the circumferential rib 66 of the sun shaft 61 and the lead angle of the external thread 68 of the planetary shaft 64 causes the planetary shaft 64 and the nut 62 to face the axis. Move in direction. According to the planetary rotary linear motion converting device of the present embodiment, the following effects can be obtained. 1. Since the circumferential ridge % of the sun shaft 61 is not spiral, the manufacturing precision can be improved. 2: Since the lead angle of the circumferential direction rib 66 of the _61 is 〇 ', no relative displacement occurs due to the lead error. 3: Since the lead angle of the circumferential rib % of the sun shaft 61 is 〇, the number of the threads is defined as a G strip, and the number of the planetary shafts 64 can be increased: the degree of freedom, and the strength is easily obtained. 4: Because the sun shaft 61 screw (four) can be designed to be 0, it is expected that the accuracy can be obtained: the shirt can be reduced in positive; and the reverse efficiency is designed to be extremely small. Move the if table miscellaneous (4) the first _ implementation of the money transfer to the straight line to change the actuator made by Dun. In the actuator, the nut 2 is rotated by the hollow motor 73, whereby the moving body 74 moves in and out in the axial direction. 1 "The front and rear ends of the core nut 2 are rotatably read on the shaft illusion 6, 77. 098140075 201030255 The bearings 76, 77 are assembled inside the housing 74. The motor 73 is assembled in the housing 74. As the motor 73 The permanent magnet 71 of the rotor is fixed to the outer peripheral surface of the nut. The three-phase coil 72 as the stator of the motor 73 is integrally fixed to the casing 74 in a state of surrounding the permanent magnet 71. On the front wall 75 of the casing 74, A pin groove groove 75a for preventing the sun shaft 1 from rotating about the axis and allowing the sun shaft 1 to linearly move in the axial direction is formed. The sun shaft 1 is formed with a pin groove protrusion 1a that is engaged with the pin groove groove 75a of the casing 75. 10, the bolt groove 75a and the bolt groove la constitute a rotation preventing mechanism. When the motor 73 rotates the nut 2, the planetary shaft 4 revolves around the sun shaft 1 and revolves while revolving. With the rotation and revolution of the planetary shaft 4, The sun shaft 1 that is engaged with the planetary shaft 4 moves in the axial direction. The rotation of the sun shaft about the axis can be restricted by the rotation preventing mechanisms la, 75a, so that the sun shaft i does not rotate together with the nut 2. According to this embodiment Morphological device, because assembly has inverse efficiency Low Planet © Rotary-linear motion converter, due to the power of the motor 73 in the axial direction. Therefore, it can be reduced to maintain the sun shaft 1 *^7 才. iff. Field&quot;4^ _L we ^

098140075 45 201030255 另外’本發日林受限於上述實施形態之具體形式，在不變 更本冬月主曰之範圍内可進行各種變更。 之之外螺紋’施以當從與外螺紋之導程成直角 \看時呈圓弧形狀的凸起。以與外螺紋導程成直角之 剖面疋義凸㈣形狀’可㈣使用車刀來域外螺紋。 更進一步，亦可取代行星軸之外螺紋，改為於太陽轴之外 螺紋及螺帽之内螺紋施以凸起，亦可就行星軸之外螺纹、太 陽軸之外螺紋及螺帽之内螺紋全部施以凸起。 更進一步’太陽軸之外螺紋與正齒輪亦可不用形成於太陽 軸車Λ方向同—區域，而是在軸線方向保持分開。在此情 況下’可使行_之外賴與太_之外觀在滑動率為零 的區域中進行接觸。 &quot;更進一步，亦可藉由使行星歡外敎尺寸縣，而賦予 行星轴之外螺紋、太陽軸之外螺紋及螺帽之内螺紋預壓，消 除軸線方向之齒隙。 更進-步，上述實施形態所示行星軸的外螺紋之凸起之曲 率半徑、錄、條數等設収格僅為―例，可配合總導程 額定動載重、額定靜載重等而適當變更。 曰提出申請之日本專利特願 曰提出申請之日本專利特願 曰提出申請之日本專利特願 28曰提出申請之日本專利特 本說明書係以2008年12月5 2008-311427、2008 年 12 月 5 2008-311428、2008 年 12 月 5 2008-311523、平成 21 年 9 月 098140075 46 201030255 願2009-223540、平成21年9月28日提出申請之日本專利 特願2009-22354卜及平成21年9月28日提出申請之曰本 專利特願2009-223542為基礎。該等的内容均全部涵蓋於本 案中。 【圖式簡單說明】 圖1為本發明第一實施形態行星式旋轉-直線運動變換裝 置之立體圖。 〇 圖2為太陽轴之側視圖。 圖3為行星轴之側視圖。 圖4為螺帽沿軸線之剖視圖。 圖5為表示使太陽軸旋轉一圈時的行星轴公轉角度之示 意圖。 圖6為總導程之計算出方法之概念圖。 圖7為表示對行星軸施以之凸起之圖。 ❿ 圖8為未對外螺紋施以凸起的比較例行星軸之侧視圖。 圖9為比較例行星轴剖視圖。 圖1〇為表示太陽軸及螺帽的螺紋壓力角之計算方法之概 念圖。 圖U為行星軸之側視圖（含正交於接觸點切平面之剖視 • 圖）。 圖12為太陽軸之立體圖（含正交於接觸點切平面之剖視 圖）。 098140075 47 201030255 圖13為螺帽的剖視圖（含正交於接觸點切平面之剖視圖）。 圖14為表示太陽軸之外螺紋、行星軸之外螺紋、螺帽之 内螺紋的嚙合而與軸線相正交之剖視圖。 圖15為使正齒輪之模數變化的行星式旋轉-直線運動變 換裝置之比較圖（模數〇 68(a)及模數〇 42(b))。 圖16為表不行星軸之外螺紋與太陽轴之外螺紋的嚙合之 立體圖（模數0.68(a)及模數0.42(b))。 圖17為與太陽轴轴線相正交之剖視圖（模數〇68⑻及模 數 0.42(b))。 圖18為表示等分排列在太陽軸周圍的九個行星轴相位之 侧視圖^ 圖^為表示九個行星軸的正齒輪妨相位之圖表。 圖20為表示等分排列在太陽軸周圍的十一行星轴相位之 比較例。 圖21為表示十一行星轴的正嵩輪嗜合相位之圖表。 圖22為本發明第二實施形態行星式旋轉_ 裝置之立體圖。 ㈣變換 圖23為上述行星式旋轉-直線運動變換襄置之剖 圖24為螺帽之剖視圖。 裝L25:發，實施形態行星式旋轉-直線運動變換 圖26為上述行星式旋轉_直線運動變換襄置之剖視圖。 098140075 〇 ❹ 48 201030255 圖27為太陽軸之側視圖。 圖28為組裝本發明第一實施形態行星式旋轉-直線運動 變換裝置而成的致動器之剖面立體圖。 【主要元件符號說明】 1 、 51 、 61 太陽轴 la 栓槽凸條 2 ' 52 &gt; 62 螺帽 © 2b 環狀階差部 2c 中央部 3 轴線 4 ' 54、64 行星轴 5 環狀齒輪構件 7 接觸部 11' 55 ' 65 太陽軸之正齒輪（太陽齒輪） φ 12、56 太陽軸之外螺紋（太陽軸之螺旋凸條） 12a 接觸面 15 連結線 21 、 59 ' 69 螺帽之正齒輪（内齒輪） 22 内螺紋 22 &gt; 70 螺帽之内螺紋(螺帽之螺漩凸條） 41、57、67 行星軸之正齒輪(行星齒輪） 42、68 行星軸之外螺紋(行星軸的螺旋溝） 098140075 49 201030255 42a、58a、 68a凸起 43 外徑圓 44 行星轴之軸線 45 行星轴 46 外螺紋 47 侧壁 48 漸開線齒面 58 行星轴之圓周方向溝 60 螺帽之圓周方向凸條 66 太陽軸之圓周方向凸條 70 内螺紋 71 永久磁石 72 三相線圈 73 馬達 74 殼體 75 前部壁 75a 栓槽溝 76、77 轴承 P 太陽軸之外螺紋與行星軸之外螺紋之接觸點 s 與接觸點切平面正交之剖面 098140075 50098140075 45 201030255 In addition, the Japanese version of the present invention is limited to the specific form of the above-described embodiment, and various changes can be made within the scope of the main winter theme. The outer thread is applied as a projection having an arc shape when viewed from a right angle to the lead of the external thread. The profile is at a right angle to the lead of the external thread. The shape of the convex (four) shape can be used. Furthermore, it is also possible to replace the external thread of the planetary shaft, instead of applying a protrusion to the thread outside the sun shaft and the internal thread of the nut, or the thread outside the planetary shaft, the thread outside the sun shaft and the nut. The threads are all convex. Further, the outer thread of the sun shaft and the spur gear may not be formed in the same direction as the yoke of the sun shaft, but may be kept apart in the axial direction. In this case, the appearance of the line _ outside and the _ can be made to contact in an area where the slip ratio is zero. &quot; Further, by making the planets outside the size of the county, the external thread of the planetary shaft, the external thread of the sun shaft and the internal thread of the nut can be preloaded to eliminate the backlash in the axial direction. Further, the radius of curvature, the number of records, and the number of the protrusions of the external thread of the planetary shaft shown in the above embodiment are only examples, and can be appropriately matched with the total lead rated dynamic load, the rated static load, and the like. change. Japanese patent application filed by the Japanese Patent Application No. PCT Application No. 28 filed by the Japanese Patent Application No. 28 filed on December 5, 2008, 2008-311427, December 5, 2008 2008-311428, December 5, 2008, 2008-311523, September, 2009, 098140075 46 201030255 May 2009-223540, Japan Patent Application No. 2009-22354, filed on September 28, 2011, and September 21, 2009 Based on the patent application 2009-223542, which is filed on the 28th. These contents are all covered in this case. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a perspective view showing a planetary rotary-linear motion converting apparatus according to a first embodiment of the present invention. 〇 Figure 2 is a side view of the sun shaft. Figure 3 is a side view of the planet shaft. Figure 4 is a cross-sectional view of the nut along the axis. Fig. 5 is a view showing the angle of the revolution of the planetary shaft when the sun shaft is rotated once. Figure 6 is a conceptual diagram of a method for calculating the total lead. Fig. 7 is a view showing a projection applied to a planetary shaft. ❿ Figure 8 is a side view of a comparative example planetary shaft without a projection on the external thread. Fig. 9 is a cross-sectional view of the planetary shaft of the comparative example. Figure 1 is a conceptual diagram showing a method of calculating the thread pressure angle of the sun shaft and the nut. Figure U is a side view of the planet axis (including a cross section perpendicular to the tangent plane of the contact point • Fig.). Figure 12 is a perspective view of the sun axis (including a cross-sectional view orthogonal to the tangent plane of the contact point). 098140075 47 201030255 Figure 13 is a cross-sectional view of the nut (including a cross-sectional view orthogonal to the tangent plane of the contact point). Fig. 14 is a cross-sectional view showing the engagement of the external thread of the sun shaft, the outer thread of the planetary shaft, and the internal thread of the nut, which are orthogonal to the axis. Fig. 15 is a comparison diagram of a planetary rotary-linear motion converting device for changing the modulus of the spur gear (modulo 〇 68 (a) and modulus 〇 42 (b)). Fig. 16 is a perspective view showing the meshing of the outer thread of the planetary shaft with the thread outside the sun shaft (modulus 0.68 (a) and modulus 0.42 (b)). Figure 17 is a cross-sectional view (modulo 〇 68 (8) and modulus 0.42 (b)) orthogonal to the axis of the sun axis. Fig. 18 is a side view showing the phases of nine planetary axes equally divided around the sun axis. Fig. 2 is a graph showing the phase of the spur gears of the nine planetary axes. Fig. 20 is a view showing a comparative example of the eleven planetary axis phases equally divided around the sun axis. Fig. 21 is a graph showing the phase of the positive wheel of the eleven planet axis. Figure 22 is a perspective view of a planetary rotary _device according to a second embodiment of the present invention. (4) Transformation Fig. 23 is a cross-sectional view of the above-described planetary rotary-linear motion conversion device. Fig. 24 is a cross-sectional view of the nut. Mounting L25: Hair, Embodimental Planetary Rotation-Linear Motion Conversion FIG. 26 is a cross-sectional view of the above-described planetary rotation_linear motion conversion device. 098140075 〇 ❹ 48 201030255 Figure 27 is a side view of the sun shaft. Fig. 28 is a cross-sectional perspective view showing an actuator in which a planetary rotary-linear motion converting device according to a first embodiment of the present invention is assembled. [Main component symbol description] 1 , 51 , 61 Sun shaft la Socket groove 2 ' 52 &gt; 62 Nut © 2b Annular step 2c Center 3 Axis 4 ' 54, 64 Planetary 5 Ring gear Member 7 Contact 11' 55 ' 65 Spur gear of the sun shaft (sun gear) φ 12, 56 Thread outside the sun shaft (spiral rib of the sun shaft) 12a Contact surface 15 Connecting line 21, 59 ' 69 Nut positive Gear (internal gear) 22 Internal thread 22 &gt; 70 Internal thread of the nut (spiral rib of the nut) 41, 57, 67 Spur gear of the planetary shaft (planetary gear) 42, 68 Thread outside the planet shaft (planet Spiral groove of the shaft) 098140075 49 201030255 42a, 58a, 68a raised 43 Outer diameter circle 44 Planetary axis 45 Planetary shaft 46 External thread 47 Side wall 48 Involute tooth surface 58 Planetary shaft circumferential groove 60 Nut Circumferential rib 66 The circumferential rib of the sun axis 70 Internal thread 71 Permanent magnet 72 Three-phase coil 73 Motor 74 Housing 75 Front wall 75a Bolt groove 76, 77 Bearing P Outside the sun shaft and the planet shaft Thread contact point s and Cross-sectional plane perpendicular to the tangential contact 09814007550

Claims (1)

201030255 七、申請專利範圍： 種行星式旋轉-直線運動變換裝置，其具備有： 太陽軸’具有太陽齒輪，同時具有職凸條或圓周方向凸 條； 卜車〃有嚙合於上述太陽軸之上述太陽齒輪的行星齒 輪’同時具有唾合於上述太陽軸之上述職凸條或上述圓周 方向凸條的螺旋溝或圓周方向溝；及 螺帽’具有嘴合於上述行星軸之上述行星齒輪的内齒輪， 同時具有鳴合於上述行星轴之上述螺旋溝或上述圓周方向 溝的螺旋凸條或圓周方向凸條； 而上述太陽軸之上述太陽齒輪、上述行星軸之上述行星齒 輪、及上述螺帽之上述内齒輪構成行星齒輪機構， 當使上述太_相對上述螺帽進行相對旋轉時，則上述行 參 =對=太陽軸朝上述太陽軸之軸線方向進行相 線運動，其特徵在於， | Φ成上述灯星轴之上述行星齒輪的區域、與形成上述行星 軸之上述職溝或上侧財向溝㈣域 軸線方向呈分離， 义订至軸之 在上述太陽軸之上述螺旋凸條或上述圓周方向凸條之凸 =形成與上述行星軸之上述行星齒輪相私的上述太陽齒 2 •如申請專·請第1奴行星式旋轉. 直線運動變換裝 098140075 51 201030255 置’其中’上述太陽軸之上述螺旋凸條或上述圓周方向凸 條、與上述行星軸之上述螺旋溝或上述關方向溝之接觸位 置’在從上述太陽軸之軸線方向觀看下餘於較上述太陽抽 之上述太陽齒輪的齒底圓更靠内側處。 3. 如申明專利範圍帛2項之行星式旋轉_直線運動變換裝 置’其中’於上述行星軸之上述螺旋溝或上述圓周方向溝施 以凸起(crowning) ’以使當就含上述行星軸軸線之剖面觀看 時、或當就與上述行星轴之上述螺旋溝或上述圓周方向溝之〇 導程成直角之剖面觀看時’上述行星軸之上述螺旋溝或上述 圓周方向溝、與上述太陽軸之上述螺旋凸條或上述圓周方向 凸條形成點接觸。 4. 如申請專利範圍第1至3項中任一項之行星式旋轉-直 線運動變換裝置，其巾，在上述行錄之軸線方向中央部形 成上述螺旋溝或上述圓周方向溝， 在上述行星軸之轴線方向二端部，形成一對上述行星齒❹ 輪。 5·如申請專利範圍第1至3項中任—項之行星式旋轉-直 ，運動變換震置，其中，使上述太陽軸之上述螺旋凸條或上 述圓周方向凸條之導程角、與上述行星軸之上述螺旋溝或上 $圓周方向溝之導程角互異，以使當上述太陽轴相對上述螺 ^目進行相對旋轉時’上述行星軸可相對上述太陽轴在上述太 陽轴之轴線方向進行相對直線運動。 098140075 52 201030255 6. —種行星式旋轉-直線運動變換裝置，其具備有： 太陽轴’具有太陽齒輪’同時具有螺旋凸條或圓周方向凸 條； ‘ #雜，射替於謂太_之均太陽絲的行星齒 輪，同時具有喝合於上述太陽軸之上述螺旋凸條或上述圓周 方向凸條的螺旋溝或圓周方向溝；及 螺帽，具有唾合於上述行星軸之上述行星#輪的内齒輪， ❿同時具有鳴合於上述行星軸之上述螺旋溝或上述圓周方向 溝的螺旋凸條或圓周方向凸條； ° 而上述太陽軸之上述太陽齒輪、上述行星轴之上述行星齒 輪、及上述螺帽之上述内齒輪構成行星齒輪機構， 當使上述螺帽相對上述太陽軸進行相對旋轉時，則上述行 星轴相對上述螺帽在上述螺帽之軸線方向進行相對直線運 動；其特徵在於， 參 形成上述行絲之上述行星絲的區域、與形成上述行星 軸之上述螺旋溝或上述圓周方向溝的區域，在上述行星轴之 軸線方向呈分離， 在上述螺帽之上述螺旋凸條或上述圓周方向凸條之凸 部’形成與上述行星軸之上述行星齒輪㈣合的上述内齒 輪0 7.如申請專利範圍第6項之行星式旋轉_直線運動變換裝 置’其中，使上述螺帽之上述螺旋凸條或上述圓周方向凸條 098140075 53 201030255 進行相對直線運動 之導程角，上述行星軸之上述螺旋溝或上述_方向溝 導程角設為互異，以使t上述螺帽相對上述太_進行 旋轉時，上述行星财相對上_帽在上賴帽之轴線方向 8.一種行星式旋轉·'直線運動變換裝置，其具備有： 太陽軸’具有太陽齒輪，同時具有螺旋凸條或圓周方向凸 灯生轴’具有唾合於上述太陽軸之上述太陽齒輪 輪’同時具有私於上収_之上料料料上述^ © 方向凸條的螺旋溝或圓周方向溝；及 螺帽，具有嗤合於上述行星軸之上述行星齒輪的内齒輪， 同時具有嗜合於上述行星軸之上述螺旋溝或上述圓周方向 溝的螺旋凸條或圓周方向凸條； 而上述太陽轴之上述太陽齒輪、上述行星轴之上述行星齒 輪、及上述螺帽之上述内齒輪構成行星齒輪機構， 當使上述太陽㈣目對上㈣帽進行相對旋轉時，則 =::::朝上述太陽軸之轴線方向進行相對直線 將 Μ個上述行錄等分排列在上述太__， 相位角度各以120度偏移的三個行星軸之上— 之嗜合相位相m ^行星齒輪 η為自然數， 098140075 54 201030255 上述相位角度在從上述太_之_方向觀看下，以連姓 上述太陽軸中心與行星軸中心之方向、與既定基準方向所失 的角度而表示， 上述喷合㈣為上崎妹之以行星絲的既定基準 位置相對於連結上述太陽軸中心與上述行星轴中心之方向 的傾斜程度。 .9·-種彳τ星式旋轉_直線運動變換|置，其具備有： ❿域軸，具有太陽齒輪’ _具有職凸條或圓周方向凸 订星軸’具有唾合於上述太陽軸之上述太陽齒輪的行星齒 輪’同時具有齡於上述太陽軸之上述職凸條或上述圓周 方向凸條的螺旋溝或圓周方向溝；及 螺帽，具有喷合於上述行星軸之上述行星齒輪的内齒輪，201030255 VII. Patent application scope: A planetary type rotary-linear motion conversion device, which is provided with: a sun shaft having a sun gear and having a working ridge or a circumferential rib; the rut has the above-mentioned sun shaft The planetary gear of the sun gear has both a spiral groove or a circumferential groove that is sprinkled on the above-mentioned sun shaft or the circumferential rib; and the nut ' has a mouth that fits the planetary gear of the planetary shaft a gear having both the spiral groove or the circumferential rib of the spiral groove or the circumferential groove of the planetary shaft; and the sun gear of the sun shaft, the planetary gear of the planetary shaft, and the nut The internal gear constitutes a planetary gear mechanism. When the above-mentioned _ is relatively rotated with respect to the nut, the row = = pair = the sun axis moves in the direction of the axis of the sun axis, and is characterized in that | Φ a region of the planetary gear that is the above-mentioned lamp star axis, and the above-mentioned working groove or upper side of the planetary shaft (4) the direction of the axis of the domain is separated, and the convex rib of the sun axis or the convex ridge of the circumferential direction of the sun axis is formed to form the sun tooth 2 which is private to the planetary gear of the planetary shaft. ·The first slave planetary rotation. Linear motion conversion device 098140075 51 201030255 The contact between the spiral rib of the above-mentioned sun shaft or the circumferential rib, the spiral groove of the planetary shaft or the closed groove The position 'is located on the inner side of the bottom circle of the sun gear which is drawn from the sun as viewed from the direction of the axis of the sun axis. 3. The planetary rotary-linear motion converter of claim 2, wherein 'the spiral groove of the planetary shaft or the circumferential groove is crowned' so that the above-mentioned planetary shaft is included The spiral groove or the circumferential groove of the planetary shaft, and the sun axis, when viewed from a cross section of the axis, or when viewed in a cross section at a right angle to the spiral groove of the planetary shaft or the circumferential groove of the circumferential groove The spiral ribs or the circumferential ribs are in point contact. 4. The planetary rotary-linear motion conversion device according to any one of claims 1 to 3, wherein the spiral groove or the circumferential groove is formed in a central portion of the row in the axial direction of the row, in the planetary The two ends of the shaft in the axial direction form a pair of the above-described planetary gear wheels. 5. The planetary-type rotation-straight-like motion-shifting of any of the first to third patent applications, wherein the spiral rib of the sun axis or the lead angle of the circumferential rib is The lead angles of the spiral grooves or the upper circumferential grooves of the planetary shafts are different from each other such that when the sun shaft is relatively rotated with respect to the screw, the planetary shaft may be opposite to the sun shaft at the axis of the sun shaft. The line direction is relatively linear. 098140075 52 201030255 6. A planetary rotary-linear motion conversion device, comprising: a sun shaft 'having a sun gear' having both a spiral ridge or a circumferential rib; '#he, the shot is replaced by the a planetary gear of a solar filament having a spiral groove or a circumferential groove that is combined with the spiral rib or the circumferential rib of the sun axis; and a nut having a spoke of the above-mentioned planet # wheel of the above-mentioned planet axis The inner gear has a spiral ridge or a circumferential rib that is coupled to the spiral groove or the circumferential groove of the planetary shaft; and the sun gear of the sun shaft, the planetary gear of the planetary shaft, and The internal gear of the nut constitutes a planetary gear mechanism, and when the nut is relatively rotated with respect to the sun shaft, the planetary shaft relatively moves linearly with respect to the nut in the axial direction of the nut; a region of the planetary filament forming the filament, and the spiral groove or the circumference forming the planetary shaft a region of the directional groove is separated in an axial direction of the planetary shaft, and the inner spiral gear is formed by the convex rib of the nut or the convex portion ′ of the circumferential rib to form the inner gear of the planetary gear (four) of the planetary shaft 7. The planetary rotary-linear motion converting device of claim 6, wherein the above-mentioned helical rib of the nut or the circumferential rib 098140075 53 201030255 is subjected to a relative linear motion lead angle, the planet The spiral groove of the shaft or the lead angle of the _direction groove is set to be different, so that when the nut is rotated relative to the above-mentioned too, the planetary wealth is relatively _cap in the axial direction of the upper cap. a planetary rotation type 'linear motion conversion device, comprising: a sun shaft having a sun gear, and having a spiral ridge or a circumferential directional light shaft having a sun gear wheel that is sprinkled on the sun shaft and having a private a spiral groove or a circumferential groove of the above-mentioned ^ © direction rib; and a nut having the above-mentioned planet coupled to the above-mentioned planet axis The internal gear of the wheel has a spiral rib or a circumferential rib which is compatible with the spiral groove or the circumferential groove of the planetary shaft; and the sun gear of the sun shaft, the planetary gear of the planetary shaft, and The inner gear of the nut constitutes a planetary gear mechanism, and when the sun (four) is oppositely rotated with respect to the upper (four) cap, then::::: a relative straight line toward the axis of the sun axis The aliquots are arranged above the three __, the three phase axes whose phase angles are offset by 120 degrees - the phase of the affinity phase m ^ planet gear η is a natural number, 098140075 54 201030255 The above phase angle is from the above _ In the direction of the _ direction, the angle between the center of the sun axis and the center of the planetary axis and the angle of the predetermined reference direction is indicated, and the above-mentioned spray (4) is the predetermined reference position of the upper wire of the Uesugi sister relative to the link. The degree of inclination of the center of the sun axis and the direction of the center of the planetary axis. .9·- type 彳 星 star-type rotation _ linear motion transformation | set, which has: ❿ domain axis, with sun gear ' _ has a job ridge or a circumferential direction of the convex star axis' has a salivation on the above sun axis The planetary gear of the sun gear has a spiral groove or a circumferential groove that is older than the above-mentioned sun shaft or the circumferential rib; and a nut having a planetary gear that is sprayed on the planetary shaft gear, 同時具有嗤合於上述行星軸之上述螺旋溝或上述圓周方向 溝的螺旋凸條或圓周方向凸條； 而上述太陽軸之上述太陽齒輪、上述行星抽之上述行星齒 輪、及上述螺帽之上述内齒輪構成行星齒輪機構， 當使上述太陽⑽目對上述螺帽進行相對旋轉時，則上述螺 帽相對上述太陽轴朝上述太陽軸之軸線方向線 運動；其特徵在於， 琛 xn個上述行星軸等分排列在上述太陽軸周圍， 相位角度各以9〇度偏移的四個行絲之上述行星齿輪之 098140075 55 201030255 嗔合相位相一致，其中， n為自然數， 上述相位角度在從上述太陽軸之轴線方向 上述太陽軸中心與行星軸中心之方向、與既下’以連結 的角度而表示， 疋土準方向所爽 上述喷合相位為上述行星歡上述行 位置相對於連結上述太陽軸中心與上述=既定基準 的傾斜程度。 星輛中心之方向 〇 10·如申請專利範圍第8或9項之行星 換裝置，其中，春n、查9 ιν μ4 4 直線運動變 八甲田η達2以上時，相鄰接11個 哭 行星齒輪之上述嚙合相位呈互異。 的上述 ❹ 換=範圍第8或9項之行星式叫直線運動變 置，其巾，由上述太陽歡上述太陽絲、上述行星轴 之上述行星齒輪、及上述螺帽之上述内齒輪所構成的一對行 星齒輪機構，被設置於由上述太陽軸之上賴旋a條或上述 圓周方向凸條、上述行星軸之上述螺旋溝或上述圓周方向 溝及上述螺帽之上述螺旋凸條或上述圓周方向凸條所構成 的嚙合機構之軸線方向二側。 12.如申請專利範圍第11項之行星式旋轉-直線運動變換 裝置’其中’當從上述太陽軸之軸線方向觀看，被設於上述 嗔合機構軸線方向二侧之上述一對行星齒輪機構的行星軸 相位角度互相保持一致。 098140075 56 201030255 13·如申請專利範圍第8或9項之行星式旋轉-直線運動變 換裝置，其中，使上述太陽轴之上述螺旋凸條或上述圓周方 向凸條、上述行星軸之上述螺旋溝或上述圓周方向溝、及上 述螺帽之上述螺旋凸條或上述圓周方向凸條中至少一者之 導程角’與其他至少—者之導程角相異，以使當上述太陽轴 相對上述螺帽進行相對旋轉時，上述螺帽可相對上述太陽轴 在上述太陽軸之軸線方向進行相對直線運動。 © 14·種行星式旋轉·直線運動變換裝置，其具備有： 太陽軸纟有太陽齒輪，同時具有螺旋凸條或圓周方向凸 行絲，具有私於上述太陽歡上社陽絲的行星齒 ^同時具㈣合於上述太陽軸之上述螺旋凸條或上述圓周 方向凸條的螺旋溝或圓周方向溝；及 瘳同合於上述行絲之上述行錢輪的内齒輪， 溝:螺增W 而上述太陽軸之上述太陽齒輪、上述行星轴之 輪三及上述螺帽之上述内齒輪構成行星齒輪機構，仃 當使上述太陽⑽目對上述螺帽進行 帽相對上述域_上述太_之赠轉時’則上述螺 運動，·其待徵在於，. Q進订相對直線 .陽 098140075 於上述行星軸之上述螺旋溝或上述_方向溝、上 Anny&lt; 57 201030255 軸之上述螺旋凸條或上述_方向凸條、及上述螺帽之 螺旋t條或上述圓周方向凸條中至少一者施以凸起，以使上 述灯生軸之上述螺旋溝或上述圓周方向溝點接觸於 陽轴之上述螺旋凸條或上述圓周方向凸條、及上 述螺旋凸條或上述圓周方向凸條。 。上 14項之行星式旋轉·直線運動變換 之 € 2上収陽ιΓ之上軸之上述職_上翻周方向溝 和上述场轴之切螺旋凸條或上述圓周方向凸條之間 ==Γ之軸線的距離’係與從上述行星軸之上 述螺=或上述圓周方向溝和上述螺帽之 :離述:昱周方向凸條之間之接觸點起至上述行星軸之轴線的 16·如申料職㈣15項之行星錢轉·直線運動變換 裝置’其巾，纽含上述行絲減之㈣觀看時、或就與 上速订星軸的上述螺旋溝或上述圓周方向溝之導程成直角 之剖面觀看時，上述行星軸之上述螺旋溝或上述圓周方向 溝、與上述太陽軸之上述螺旋凸條或上述圓周方向凸條之間 之接觸點中上述太陽軸之上述螺旋凸條或上述圓周方向凸 條之螺紋壓力角，係與上述行星轴之上述螺旋溝或上述圓周 方向溝、與上述螺帽之上述螺旋凸條或上述_方向凸條之 間之接觸點中上述螺帽之上述螺旋凸條或上述圓周方向凸 條之螺紋壓力角相異。 098140075 58 201030255 π.如申請專利範圍第14至16項中任—項之行星式旋轉、 直線運動變換裝置，其中，於上述行星轴之上述螺旋溝或上 述圓周方向溝施以上述凸起， 當就含上述行星軸軸線之剖面觀看時、或就與上述行星輪 社述螺旋溝或上述圓周方向溝之導程成直角之剖面觀看 時，上述行星軸之上述喊溝或上述圓周方向溝之上述 係形成圓弧形狀。 Φ 18.如申請專利範圍第17項之行星式旋轉_直線運動變核 裝置，其中，當就與上賴絲之上述·溝或上述圓周方 向溝與上述太陽軸之上述螺旋凸條或上述圓周方向凸條之 間之接觸點，或上騎錄之上料雜或上述關方向溝 與上述螺帽之上述職凸條或上述圓周方向凸條之間之接 觸點的切平面相正交剖面觀看時，上述行星軸之上述螺旋溝 或上述圓周方向溝之上述凸起絲成圓弧形狀。 Κ如申請專利範圍第14至16項中任—項之行星式旋轉 直線運動變縣置，其中，上述太陽轴之上述螺旋凸條或上 逑圓周方向凸條、上述行星軸之上述螺旋溝或上述圓周方向 溝、及上述螺帽之上述螺旋凸條或上述圓周方向凸條中至二 -T之導程角係與其他至少一者之導程角相異，以當使上二 太陽轴相對上述螺帽進行相對旋轉時，則上述螺帽相對上述 太陽軸在上述太陽軸之軸線方向進行相對直線運動。 2〇.一種致動器，其具備有： 098140075 59 201030255 申請專利範圍第1、2、3、6、7、8、9、14、15及16項 中任一項之行星式旋轉_直線運動變換裝置； 驅動源，使上述行星式旋轉-直線運動變換裝置之上述螺 帽相對上述太陽軸旋轉；及 止轉機構，防止上述太陽軸圍繞其轴線旋轉，且容許太陽 轴在其轴線方向直線運動； 上述驅動源使上述螺帽相對上述太陽軸旋轉，以使上述太 陽軸相對上述螺帽在太陽軸之軸線方向直線運動。 098140075 60At the same time, there are spiral ribs or circumferential ribs that are coupled to the spiral groove or the circumferential groove of the planetary shaft; and the sun gear of the sun shaft, the planetary gear of the planetary pump, and the nut are The internal gear constitutes a planetary gear mechanism, and when the sun (10) is relatively rotated with respect to the nut, the nut moves relative to the sun axis toward the axis of the sun shaft; and the 行星xn of the planetary shafts Equally arranged around the sun axis, the phase angles of each of the four planetary wires offset by 9 degrees are the same as the phase of the above-mentioned planetary gears 098140075 55 201030255, wherein n is a natural number, and the phase angle is from the above In the direction of the axis of the sun axis, the direction of the center of the sun axis and the center of the planet axis, and the angle of the bottom of the axis are connected, and the phase of the spray in the quasi-soil direction is the above-mentioned position of the above-mentioned planets relative to the sun. The degree of inclination of the axis center and the above = a given reference. The direction of the center of the star vehicle 〇10· For example, the planetary replacement device of the 8th or 9th patent application scope, in which the spring n, the check 9 ιν μ4 4 linear motion becomes more than 2 when the octagonal η is more than 2, adjacent to the 11 crying planetary gears The above meshing phases are different from each other. The above-mentioned ===The planetary type of the eighth or the ninth item is called a linear motion, and the towel is composed of the sun ray, the planetary gear of the planetary shaft, and the internal gear of the nut. a pair of planetary gear mechanisms are disposed on the sun shaft, or the circumferential rib, the spiral groove of the planetary shaft, the circumferential groove, and the spiral rib or the circumference of the nut The meshing mechanism formed by the directional ribs has two sides in the axial direction. 12. The planetary rotary-linear motion converting device of claim 11, wherein 'the pair of planetary gear mechanisms disposed on two sides of the axial direction of the kneading mechanism when viewed from the axial direction of the sun shaft The planetary shaft phase angles are consistent with each other. The planetary rotary-linear motion conversion device of claim 8 or 9, wherein the spiral rib of the sun shaft or the circumferential rib, the spiral groove of the planetary shaft or The lead angle of the circumferential groove and the spiral rib of the nut or the circumferential rib of the nut is different from the lead angle of the other at least one of the lead angles such that the sun axis is opposite to the snail When the cap is relatively rotated, the nut is relatively linearly movable in the axial direction of the sun shaft with respect to the sun shaft. © 14· Planetary Rotary and Linear Motion Converters, which are equipped with: a sun gear with a sun gear, a spiral rib or a circumferential directional wire, and a planetary tooth that is private to the sun. At the same time, (4) a spiral groove or a circumferential groove that is combined with the spiral rib of the sun shaft or the circumferential rib; and an internal gear of the money wheel that is combined with the wire, the groove: the screw increases The sun gear of the sun shaft, the wheel 3 of the planetary shaft, and the internal gear of the nut constitute a planetary gear mechanism, and the sun (10) is caused to perform a cap on the nut relative to the domain _ When the 'the above snail movement, · is to be found, Q is ordered relative to the straight line. Yang 098140075 on the above-mentioned spiral groove of the above-mentioned planetary shaft or the above-mentioned _ direction groove, the above Anny's 57 201030255 axis of the above spiral rib or the above _ And directional ribs, and at least one of the spiral t of the nut or the circumferential ribs are convex to contact the spiral groove or the circumferential groove of the lamp shaft Said helical ridge or the circumferential direction of the ridge of the male shaft, and the said helical rib or ridge in the circumferential direction. . The above-mentioned position of the above-mentioned position of the above-mentioned _ upper-turning circumferential groove and the above-mentioned field axis-cut spiral rib or the above-mentioned circumferential ribs of the above-mentioned 14-piece planetary rotation and linear motion transformation ==Γ The distance of the axis is the same as the above-mentioned screw from the above-mentioned planetary shaft or the above-mentioned circumferential groove and the above-mentioned nut: the contact point between the circumferentially-oriented ridges and the axis of the above-mentioned planetary shaft For example, the application of the (4) 15 planetary money transfer and linear motion conversion device 'the towel, the new line contains the above-mentioned line minus (4) when viewing, or the above-mentioned spiral groove with the upper speed of the star axis or the lead groove of the above-mentioned circumferential direction The spiral rib of the sun axis in the contact point between the spiral groove or the circumferential groove of the planetary shaft, the spiral rib of the sun shaft or the circumferential rib when viewed in a right angle section The thread pressure angle of the circumferential rib is the contact point between the spiral groove or the circumferential groove of the planetary shaft, the spiral rib of the nut, or the _direction rib Above snail Or the circumferential direction of the ridge of the thread ridge angle different pressure. </ RTI> </ RTI> </ RTI> </ RTI> </ RTI> </ RTI> </ RTI> </ RTI> </ RTI> </ RTI> </ RTI> </ RTI> </ RTI> </ RTI> </ RTI> </ RTI> <RTIgt; When viewed in a cross section including the axis of the planetary shaft or at a right angle to a lead of the spiral groove or the circumferential groove of the planetary wheel, the above-mentioned spur groove or the circumferential groove of the planetary shaft It forms an arc shape. Φ 18. The planetary rotary-linear motion nucleation device of claim 17, wherein the spiral rib or the circumference of the sun groove is formed with the groove or the circumferential groove of the upper wire a contact point between the directional ridges, or a cross section of the contact plane between the upper riding or the above-mentioned closing direction groove and the above-mentioned working ridge of the nut or the circumferential rib The spiral groove of the planetary shaft or the convex wire of the circumferential groove has an arc shape. For example, in the planetary-type rotating linear motion of any of the above-mentioned patents, the spiral ribs or the upper ridges of the upper sun, the spiral grooves of the planetary shaft or The circumferential groove and the spiral rib of the nut or the lead angle of the circumferential rib to the two-T are different from the lead angles of at least one of the other to make the upper two sun axes relatively When the nut is relatively rotated, the nut moves relatively linearly with respect to the sun shaft in the axial direction of the sun shaft. An actuator comprising: 098140075 59 201030255 Planetary rotation_linear motion of any one of claims 1, 2, 3, 6, 7, 8, 9, 14, 15 and 16 a driving device for rotating the nut of the planetary rotary-linear motion converting device relative to the sun shaft; and a rotation preventing mechanism for preventing the sun shaft from rotating about its axis and allowing the sun shaft to be in the axial direction thereof a linear motion; the drive source rotates the nut relative to the sun shaft to linearly move the sun shaft relative to the nut in the axial direction of the sun shaft. 098140075 60
TW98140075A 2008-12-05 2009-11-25 Planetary device for conversion between rotary motion and linear motion TW201030255A (en)

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
JP2008311428 2008-12-05
JP2008311427 2008-12-05
JP2008311523 2008-12-05
JP2009223542A JP2010156454A (en) 2008-12-05 2009-09-28 Planetary type rotary-linear motion converting device
JP2009223541A JP2010156453A (en) 2008-12-05 2009-09-28 Planetary rotation/linear motion converter
JP2009223540A JP2010156452A (en) 2008-12-05 2009-09-28 Planetary rotation/linear motion converter

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TWI659168B (en) * 2017-09-22 2019-05-11 洪子晴 Roller screw structure and mechanism thereof
TWI679361B (en) * 2018-08-10 2019-12-11 毅得企業股份有限公司 Deformation transmission group

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TWI659168B (en) * 2017-09-22 2019-05-11 洪子晴 Roller screw structure and mechanism thereof
TWI679361B (en) * 2018-08-10 2019-12-11 毅得企業股份有限公司 Deformation transmission group

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