TW201710610A - Power transmission apparatus with inscribed cam and cylindrical pinions capable of efficiently transmitting motor rotation and being precisely positioned - Google Patents
Power transmission apparatus with inscribed cam and cylindrical pinions capable of efficiently transmitting motor rotation and being precisely positioned Download PDFInfo
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- TW201710610A TW201710610A TW105117987A TW105117987A TW201710610A TW 201710610 A TW201710610 A TW 201710610A TW 105117987 A TW105117987 A TW 105117987A TW 105117987 A TW105117987 A TW 105117987A TW 201710610 A TW201710610 A TW 201710610A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
- F16H1/24—Toothed gearings for conveying rotary motion without gears having orbital motion involving gears essentially having intermeshing elements other than involute or cycloidal teeth
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Abstract
Description
本發明是一種有關於可以高效率地傳動馬達的旋轉、高精度地定位、並且可使使用壽命較長的動力傳動裝置。 The present invention is directed to a power transmission device that can drive a motor with high efficiency, high-precision positioning, and long service life.
關於動力傳動裝置，特別是減速機，是一種可以把從馬達等動力源所得到的動力，透過齒輪(gear)等而減低旋轉速度後輸出，藉此來得到與減速比成比例之轉矩的裝置。動力傳動裝置是設置在因該動力傳動裝置而可運轉的裝置與動力源之間，可得到所需的轉矩、旋轉速度。動力傳動裝置被使用於例如：機器人、工廠搬運線等產業機械、船舶的螺旋槳、飛機的推進器。 The power transmission device, particularly the speed reducer, is a type of power that can be obtained by reducing the rotational speed by a gear or the like by a power source such as a motor, thereby outputting a torque proportional to the reduction ratio. Device. The power transmission device is disposed between the device operable by the power transmission device and the power source, and obtains a required torque and a rotation speed. The power transmission device is used for, for example, industrial machines such as robots and factory transportation lines, propellers for ships, and propellers for aircraft.
在專利文獻1中，揭示了一種如下之減速裝置，作為動力傳動裝置，該減速裝置具備有：內齒齒輪，於內周側形成有朝向徑向之內側的複數個內齒；以及外齒齒輪，配置在內齒齒輪之內周側，形成有用來與內齒咬合的朝向徑向之外側的複數個外齒，並且隨著旋轉軸的旋轉而 搖動旋轉。 Patent Document 1 discloses a reduction gear device as a power transmission device including: an internally toothed gear having a plurality of internal teeth formed toward the inner side in the radial direction on the inner peripheral side; and an externally toothed gear Arranged on the inner peripheral side of the internal gear, a plurality of external teeth facing the radially outer side for engaging the internal teeth are formed, and as the rotating shaft rotates Shake the rotation.
又，在專利文獻2中，揭示了一種如下之減速機，作為動力傳動裝置，該減速機具備有：內齒齒輪，具有複數個外銷(pin)或者被包嵌於外銷之外輥；以及外齒齒輪，配置在內齒齒輪之內周側，具有朝向徑向之外側的複數個外齒，並且該外齒齒輪與輸入軸相連接，又，外銷或者被包嵌於外銷之外輥的圓筒側面與外齒齒輪的複數個外齒可內接咬合。 Further, Patent Document 2 discloses a reduction gear as a power transmission device including: an internal gear having a plurality of pins or being wrapped around a roller; and a tooth gear, disposed on an inner peripheral side of the inner gear, having a plurality of external teeth facing the radially outer side, and the external gear is coupled to the input shaft, and the outer pin or the circle surrounded by the outer pin The outer teeth of the side of the cylinder and the external gear can be inscribed internally.
【專利文獻1】日本發明公開公報特開2014-185744號 [Patent Document 1] Japanese Invention Publication No. 2014-185744
【專利文獻2】日本發明公開公報特開2009-47214號 [Patent Document 2] Japanese Invention Publication No. 2009-47214
一般而言，具有複數個內齒的內齒齒輪、以及配置在內齒齒輪之內周側且具有與內齒咬合之複數個外齒的外齒齒輪，具備有如上之內齒齒輪及外齒齒輪的減速機，會把從動力源得到的動力從外齒齒輪傳動至內齒齒輪，減低旋轉速度而進行輸出。而且，為了使減速機的內齒齒輪與外齒齒輪之間的傳動容量為高效率，必須使內齒齒輪及外齒齒輪的齒厚較大，亦即，必須使模數較大。齒厚(s)與模數(m)的關係，以s=π/2×m來表示，模數(m)則是藉由 齒輪的直徑(d)與齒數(z)，以m=d/z來表示。另一方面，減速比表示減速機之相對於輸出旋轉數的輸入旋轉數，該減速比是由內齒齒輪之齒數與外齒齒輪之齒數的比來決定，要不使內齒齒輪及外齒齒輪的齒厚變大而盡可能地使減速比為較小，必須使內齒齒輪的直徑盡可能地較小。 Generally, an internally toothed gear having a plurality of internal teeth, and an externally toothed gear disposed on an inner peripheral side of the internal gear and having a plurality of external teeth engaged with the internal teeth are provided with the internal gear and the external gear as described above The gear reducer transmits the power obtained from the power source from the external gear to the internal gear, and reduces the rotational speed for output. Further, in order to make the transmission capacity between the internal gear and the external gear of the reduction gear high, it is necessary to make the tooth thickness of the internal gear and the external gear larger, that is, the modulus must be made large. The relationship between the tooth thickness (s) and the modulus (m) is expressed by s = π / 2 × m, and the modulus (m) is The diameter (d) of the gear and the number of teeth (z) are expressed in m = d / z. On the other hand, the reduction ratio indicates the number of input rotations of the reduction gear relative to the number of output rotations, which is determined by the ratio of the number of teeth of the internal gear to the number of teeth of the external gear, or the internal gear and the external gear. The tooth thickness of the gear becomes large and the reduction ratio is made as small as possible, and the diameter of the internal gear must be made as small as possible.
在專利文獻1之減速裝置中，可以不改變外齒齒輪之直徑與內齒齒輪及外齒齒輪之齒厚，若使內齒齒輪之直徑變小，即可使減速比較小，但需要使內齒齒輪及外齒齒輪之齒前端變細，或者，需要使內齒齒輪及外齒齒輪之齒高較小。但是，若使齒前端變細，則齒的剛性會變弱，若使內齒齒輪及外齒齒輪之齒高較小，則內齒齒輪與外齒齒輪之間的傳動容量會變小，所以，要使內齒齒輪之直徑較小會有問題。例如，在機器手臂、帶式運送機等產業機械所使用的減速機中，要使減速比為3以下，問題會更大。此外，若使內齒齒輪及外齒齒輪之齒數較小，則內齒齒輪與外齒齒輪咬合時的摩擦會容易變大，此外，也會有容易產生齒隙的問題。 In the reduction gear of Patent Document 1, the diameter of the externally toothed gear and the tooth thickness of the internal gear and the external gear can be changed. If the diameter of the internal gear is made smaller, the deceleration can be made smaller, but it is necessary to The tooth tips of the tooth gear and the external gear are tapered, or the tooth height of the internal gear and the external gear is required to be small. However, if the tip end of the tooth is made thinner, the rigidity of the tooth becomes weak. If the tooth height of the internal gear and the external gear is small, the transmission capacity between the internal gear and the external gear becomes small. There is a problem with making the diameter of the internal gear smaller. For example, in a reduction gear used in industrial machines such as robot arms and belt conveyors, the problem is greater if the reduction ratio is 3 or less. Further, when the number of teeth of the internal gear and the external gear is small, the friction between the internal gear and the external gear is likely to increase, and there is also a problem that the backlash is likely to occur.
又，專利文獻2之減速機，由於在內齒齒輪中具有外輥，所以比起專利文獻1之減速裝置，可以使內齒齒輪與外齒齒輪咬合時的摩擦較小，但由於與專利文獻1之減速裝置一樣，在內齒齒輪的內周側，配置有具有朝向徑向外側之複數個外齒的外齒齒輪，所以在專利文獻2之減速機中，也會產生和專利文獻1之減速裝置相同的問題。 Further, since the reduction gear of Patent Document 2 has an outer roller in the internal gear, the friction between the internal gear and the external gear can be made smaller than that of the external gear of Patent Document 1, but it is related to the patent document. In the same manner as the reduction gear of the first embodiment, the externally toothed gear having a plurality of external teeth facing the outer side in the radial direction is disposed on the inner peripheral side of the internal gear, and therefore, in the reduction gear of Patent Document 2, the patent document 1 is also produced. The same problem with the speed reducer.
因此，本發明的目的在於：解決上述問題，提供 一種動力傳動裝置，對於輸入至動力傳動裝置之旋轉具有高傳動容量，具有高剛性，無齒隙，可以高精度地進行定位，為低摩擦，並且，可為最佳的減速比。 Therefore, the object of the present invention is to solve the above problems and provide A power transmission device has high transmission capacity for rotation to an input power transmission device, has high rigidity, has no backlash, can be positioned with high precision, has low friction, and can be an optimum reduction ratio.
根據本發明，上述目的可藉由如下之動力傳動裝置來達成，該動力傳動裝置是具備有如下構件之動力傳動裝置：馬達，具有可旋轉的馬達軸；可旋轉的大致呈圓筒狀之轉塔，連接於馬達軸，且具有第1端面及第2端面；複數個圓筒齒輪，配置在轉塔；內接凸輪，是大致呈圓環狀的內接凸輪，在內接凸輪之內面沿著圓周方向依等間隔具有複數個內齒；及可旋轉的輸出軸，連接於內接凸輪，又，複數個圓筒齒輪是在轉塔之第1端面沿著圓周方向依等間隔地配置，且複數個圓筒齒輪之中的至少1個圓筒齒輪之圓筒側面會與複數個內齒之中的至少1個內齒之凸輪面接觸，藉此，連接於內接凸輪的輸出軸會旋轉。 According to the present invention, the above object can be attained by a power transmission device comprising a power transmission device having a motor having a rotatable motor shaft and a rotatable substantially cylindrical rotation. The tower is connected to the motor shaft and has a first end surface and a second end surface; a plurality of cylindrical gears are arranged in the turret; and an internal cam is an annular inner ring cam, which is inside the inner cam. a plurality of internal teeth at equal intervals along the circumferential direction; and a rotatable output shaft connected to the inner cam, and a plurality of cylindrical gears are equally spaced along the circumferential direction at the first end surface of the turret And the cylindrical side surface of at least one of the plurality of cylindrical gears is in contact with the cam surface of at least one of the plurality of internal teeth, thereby being connected to the output shaft of the internal cam Will rotate.
又，宜為如下之動力傳動裝置：複數個圓筒齒輪之中的2個圓筒齒輪之圓筒側面會與複數個內齒之中的任一內齒之凸輪面接觸，藉此，連接於內接凸輪的輸出軸會旋轉。 Further, it is preferably a power transmission device in which a cylindrical side surface of two cylindrical gears of a plurality of cylindrical gears is in contact with a cam surface of any one of a plurality of internal teeth, thereby being connected to The output shaft of the internal cam rotates.
宜為如下之動力傳動裝置：2個圓筒齒輪是將配置於2個圓筒齒輪之間的1個內齒夾入般地與1個內齒之凸輪面接觸。 Preferably, the power transmission device is such that the two cylindrical gears are in contact with one of the internal teeth disposed between the two cylindrical gears in a manner similar to the cam surface of one internal tooth.
宜為如下之動力傳動裝置：在2個圓筒齒輪之間配置1個圓筒齒輪，2個圓筒齒輪之中的一方的圓筒齒輪之 圓筒側面會與位於配置有1個圓筒齒輪之方向的內齒之凸輪面接觸，而2個圓筒齒輪之中的另一方的圓筒齒輪之圓筒側面則會與位於配置有1個圓筒齒輪之方向的內齒之凸輪面接觸。 It is preferably a power transmission device in which one cylindrical gear is disposed between two cylindrical gears, and one of the two cylindrical gears is a cylindrical gear. The side surface of the cylinder is in contact with the cam surface of the internal tooth located in the direction in which one cylindrical gear is disposed, and the cylindrical side surface of the other of the two cylindrical gears is disposed with one of the cylindrical sides The cam surface of the internal teeth in the direction of the cylindrical gear is in contact.
宜為如下之動力傳動裝置：1個圓筒齒輪不會與複數個內齒的任何內齒接觸。 It is preferably a power transmission device in which one cylindrical gear does not come into contact with any internal teeth of a plurality of internal teeth.
宜為如下之動力傳動裝置：複數個圓筒齒輪與複數個內齒的接觸是滑動接觸。 It is preferably a power transmission device in which the contact of a plurality of cylindrical gears with a plurality of internal teeth is a sliding contact.
宜為如下之動力傳動裝置：複數個圓筒齒輪與複數個內齒的接觸是滾動接觸。 Preferably, the power transmission is such that the contact of the plurality of cylindrical gears with the plurality of internal teeth is a rolling contact.
宜為如下之動力傳動裝置：複數個圓筒齒輪的各圓筒齒輪是滾輪從動件或凸輪從動件。 Preferably, the power transmission device is: each of the cylindrical gears of the plurality of cylindrical gears is a roller follower or a cam follower.
把複數個圓筒齒輪，沿著圓周方向依等間隔配置在轉塔之端面，使圓筒齒輪之圓筒側面與內齒之凸輪面接觸，藉此，可以使圓筒齒輪及內齒的尺寸較大，所以圓筒齒輪及內齒可具有高剛性，並且，可以達到具有高傳動容量的效果。又，藉由使至少2個圓筒齒輪之圓筒側面與複數個內齒之中的任一個內齒之側面接觸，更可達到具有高傳動容量的效果。 The plurality of cylindrical gears are arranged at equal intervals in the circumferential direction on the end surface of the turret, so that the cylindrical side surface of the cylindrical gear is in contact with the cam surface of the internal teeth, whereby the size of the cylindrical gear and the internal teeth can be made Larger, the cylindrical gear and the internal teeth can have high rigidity, and the effect of having a high transmission capacity can be achieved. Further, by bringing the cylindrical side faces of at least two cylindrical gears into contact with the side faces of any one of the plurality of internal teeth, an effect of having a high transmission capacity can be achieved.
而且，使2個圓筒齒輪將配置於該等圓筒齒輪之間的內齒夾入般地與內齒之凸輪面接觸，藉此，可以達到無齒隙而可高精度地定位的效果。即使是在2個圓筒齒輪之間配置有1個圓筒齒輪的情況下，使2個圓筒齒輪之中的一 方的圓筒齒輪之圓筒側面與位於配置有1個圓筒齒輪之方向的內齒之凸輪面接觸，使另一方的圓筒齒輪之圓筒側面與位於配置有1個圓筒齒輪之方向的內齒之凸輪面接觸，藉此，也可以達到無齒隙而可高精度地定位的效果。此時，藉由使該1個圓筒齒輪不會與複數個內齒之任一內齒接觸，可以達到吸收動力傳動裝置在加工上的精度誤差，又，可使圓筒齒輪與內齒滑順地接觸而動作的效果。 Further, the two cylindrical gears are brought into contact with the cam faces of the internal teeth by sandwiching the internal teeth disposed between the cylindrical gears, whereby the effect of positioning without high backlash can be achieved with high precision. Even when one cylindrical gear is disposed between two cylindrical gears, one of the two cylindrical gears is made. The cylindrical side surface of the square cylindrical gear is in contact with the cam surface of the internal tooth in the direction in which one cylindrical gear is disposed, so that the cylindrical side surface of the other cylindrical gear is located in the direction in which one cylindrical gear is disposed The cam faces of the internal teeth are in contact with each other, whereby the effect of positioning without high backlash can be achieved with high precision. At this time, by making the one cylindrical gear not contact with any of the internal teeth of the plurality of internal teeth, the accuracy error of the absorption power transmission device can be achieved, and the cylindrical gear and the internal tooth can be slipped. The effect of touching the ground and moving.
此外，藉由使圓筒齒輪與內齒的接觸為滑動接觸，可以用一個零件來構成圓筒齒輪，所以可提高圓筒齒輪的剛性，並且，可達到削減製造成本的效果。 Further, since the cylindrical gear can be constituted by one piece by bringing the cylindrical gear into contact with the internal teeth, the rigidity of the cylindrical gear can be improved, and the effect of reducing the manufacturing cost can be achieved.
又，使圓筒齒輪與內齒的接觸為滾動接觸，採用滾輪從動件或凸輪從動件來作為圓筒齒輪，藉此，可使圓筒齒輪與內齒間的摩擦較小，且可達到從圓筒齒輪對於內齒高效率地傳動旋轉的效果。 Moreover, the contact between the cylindrical gear and the internal tooth is a rolling contact, and the roller follower or the cam follower is used as the cylindrical gear, whereby the friction between the cylindrical gear and the internal tooth can be made small, and The effect of high-efficiency transmission rotation from the cylindrical gear to the internal teeth is achieved.
另外，本發明之其他目的、特徵及優點，從關於附圖之以下本發明實施例之記載應可清楚闡明。 In addition, other objects, features and advantages of the present invention will be apparent from
101‧‧‧動力傳動裝置 101‧‧‧Power Transmission
102‧‧‧馬達 102‧‧‧Motor
103‧‧‧馬達軸 103‧‧‧Motor shaft
104‧‧‧外罩 104‧‧‧ Cover
105‧‧‧外罩 105‧‧‧ Cover
106‧‧‧輸出軸 106‧‧‧ Output shaft
107‧‧‧轉塔 107‧‧‧Tower
108‧‧‧轉塔之第1端面 108‧‧‧The first end of the turret
109‧‧‧內接凸輪 109‧‧‧Internal cam
110‧‧‧第1內齒 110‧‧‧1st internal tooth
111‧‧‧第2內齒 111‧‧‧2nd internal tooth
112‧‧‧第1凸輪面 112‧‧‧1st cam surface
113‧‧‧第2凸輪面 113‧‧‧2nd cam surface
114‧‧‧圓筒齒輪 114‧‧‧Cylinder gear
115‧‧‧第1圓筒齒輪 115‧‧‧1st cylinder gear
116‧‧‧第2圓筒齒輪 116‧‧‧2nd cylinder gear
117‧‧‧第3圓筒齒輪 117‧‧‧3rd cylinder gear
118‧‧‧圓筒齒輪之圓筒側面 118‧‧‧Cylinder side of cylindrical gear
119‧‧‧連結要件 119‧‧‧Linking requirements
120‧‧‧密封裝置 120‧‧‧ Sealing device
121‧‧‧軸承 121‧‧‧ bearing
122‧‧‧軸承 122‧‧‧ bearing
123‧‧‧軸承 123‧‧‧ bearing
124‧‧‧密封裝置 124‧‧‧ Sealing device
III‧‧‧截線 III‧‧‧ cut line
【圖1】從本發明之動力傳動裝置的前方看來的立體圖。 Fig. 1 is a perspective view from the front of the power transmission device of the present invention.
【圖2】從本發明之動力傳動裝置的側面看來的截面圖。 Fig. 2 is a cross-sectional view from the side of the power transmission device of the present invention.
【圖3】表示從本發明之動力傳動裝置的前方看來的轉塔及內接凸輪之某旋轉時的狀態的截面圖。 Fig. 3 is a cross-sectional view showing a state in which a certain rotation of a turret and an inscribed cam is seen from the front of the power transmission device of the present invention.
【圖4】表示從本發明之動力傳動裝置的前方看來的轉 塔及內接凸輪之別的旋轉時的狀態的截面圖。 Fig. 4 shows the rotation from the front of the power transmission device of the present invention. A cross-sectional view of the state in which the tower and the inscribed cam are rotated.
以下，參照圖示來說明本發明之實施例，但本發明並不限定於該等實施例。 Hereinafter, embodiments of the present invention will be described with reference to the drawings, but the present invention is not limited to the embodiments.
參照圖1~4，說明本發明之動力傳動裝置的實施例。圖1中，顯示動力傳動裝置101的概略圖。動力傳動裝置101具備有：馬達102、外罩104、105、可旋轉的輸出軸106。圖2中，顯示從側面來看動力傳動裝置101的截面圖。動力傳動裝置101具備有：馬達102，具有可旋轉的馬達軸103；可旋轉的大致呈圓筒狀之轉塔107，是具有第1端面108與第2端面的大致呈圓筒狀之轉塔107，且在第2端面側藉由連結要件119而連接於馬達軸103；配置在轉塔107的複數個圓筒齒輪114；內接凸輪109，大致呈圓環狀，且在其大致呈圓環狀之內面，沿著圓周方向依等間隔具有複數個內齒；以及連接於內接凸輪109且可旋轉的輸出軸106。又，動力傳動裝置101具備有軸承121、122、123，軸承121配置在外罩104與可旋轉的轉塔107之間，而軸承122及123則配置在外罩105與輸出軸106之間。動力傳動裝置101更具備有用以將油、滑脂等進行保持、密封的密封裝置120、124。密封裝置例如有：油封、襯墊、機械密封等。 An embodiment of the power transmission device of the present invention will be described with reference to Figs. In Fig. 1, a schematic view of a power transmission device 101 is shown. The power transmission device 101 includes a motor 102, housings 104 and 105, and a rotatable output shaft 106. In Fig. 2, a cross-sectional view of the power transmission device 101 is shown from the side. The power transmission device 101 includes a motor 102 having a rotatable motor shaft 103, a rotatable substantially cylindrical turret 107, and a substantially cylindrical turret having a first end surface 108 and a second end surface. 107 is connected to the motor shaft 103 by the connection requirement 119 on the second end face side; a plurality of cylindrical gears 114 disposed on the turret 107; the inward cam 109 is substantially annular and substantially rounded therein The inner surface of the ring has a plurality of internal teeth at equal intervals along the circumferential direction; and an output shaft 106 coupled to the inner cam 109 and rotatable. Further, the power transmission device 101 is provided with bearings 121, 122, and 123. The bearing 121 is disposed between the outer cover 104 and the rotatable turret 107, and the bearings 122 and 123 are disposed between the outer cover 105 and the output shaft 106. The power transmission device 101 further includes sealing devices 120 and 124 for holding and sealing oil, grease, and the like. The sealing device is, for example, an oil seal, a gasket, a mechanical seal or the like.
圖3中，顯示在沿著圖2之III-III的截面中，表示從前面來看動力傳動裝置101之某旋轉時點下的轉塔及內接凸輪之狀態的截面圖。如圖3所示，在轉塔107之第1端面 108，有複數個圓筒齒輪114(115、116、117)，沿著大致呈圓筒狀的轉塔107之圓周方向依等間隔配置。而且，複數個圓筒齒輪之中的至少1個圓筒齒輪(例如，第2圓筒齒輪116)之圓筒側面118會與複數個內齒之中的至少1個內齒之凸輪面(例如，第1內齒110之第2凸輪面113)接觸，藉此，與馬達軸103相連接之轉塔107的旋轉會傳動至內接凸輪109，而可使與內接凸輪109相連接之輸出軸106旋轉。 In Fig. 3, a cross-sectional view showing a state of a turret and an inscribed cam at a certain rotation point of the power transmission device 101 as seen from the front is shown in a section along III-III of Fig. 2 . As shown in Figure 3, at the first end of the turret 107 108. A plurality of cylindrical gears 114 (115, 116, 117) are arranged at equal intervals along the circumferential direction of the substantially cylindrical turret 107. Further, the cylindrical side surface 118 of at least one of the plurality of cylindrical gears (for example, the second cylindrical gear 116) and the cam surface of at least one of the plurality of internal teeth (for example The second cam surface 113 of the first internal tooth 110 is in contact, whereby the rotation of the turret 107 connected to the motor shaft 103 is transmitted to the internal cam 109, and the output connected to the internal cam 109 can be output. The shaft 106 rotates.
使複數個圓筒齒輪114(115、116、117)配置於轉塔107之第1端面108，並使各內齒110、111之凸輪面112、113與複數個圓筒齒輪114之各圓周側面118接觸，藉此，比起如專利文獻1、2般具備了形成有朝向徑向外側之複數個外齒的外齒齒輪的減速機，可以不使動力傳動裝置全體的尺寸變大，而可使圓筒齒輪及內齒的尺寸較大。因此，本發明之動力傳動裝置的圓筒齒輪及內齒可具有高剛性，並且，可具有高傳動容量。 A plurality of cylindrical gears 114 (115, 116, 117) are disposed on the first end face 108 of the turret 107, and the cam faces 112, 113 of the internal teeth 110, 111 and the circumferential sides of the plurality of cylindrical gears 114 are disposed. In the case of the contactor, the reducer having the externally toothed gear formed with a plurality of external teeth facing the outer side in the radial direction can be used without increasing the size of the entire power transmission device. The cylindrical gear and the internal teeth are made larger in size. Therefore, the cylindrical gear and the internal teeth of the power transmission device of the present invention can have high rigidity and can have a high transmission capacity.
在圖3中，配置於轉塔107之第1端面108的圓筒齒輪之數為6，內接凸輪109的內齒之數為12，因此，藉由使用圖3之轉塔107與內接凸輪109，動力傳動裝置101在輸出軸106可以輸出相對於馬達102之馬達軸103的旋轉數為一半的旋轉數(減速比2)。另外，圓筒齒輪之數及內接凸輪109的內齒之數，並非限定於圖3所示之數，可以為所有數的組合，可以藉此來得到所需之減速比。 In FIG. 3, the number of the cylindrical gears disposed on the first end face 108 of the turret 107 is 6, and the number of internal teeth of the inscribed cam 109 is 12, and therefore, by using the turret 107 of FIG. The cam 109 and the power transmission device 101 can output a rotation number (reduction ratio 2) which is half the number of rotations of the motor shaft 103 of the motor 102 at the output shaft 106. Further, the number of the cylindrical gears and the number of the internal teeth of the inscribed cam 109 are not limited to the numbers shown in FIG. 3, and may be a combination of all numbers, whereby the required reduction ratio can be obtained.
又，在圖3中，複數個圓筒齒輪之中的至少2個圓筒齒輪(例如，第1圓筒齒輪115及第2圓筒齒輪116)的各圓筒 側面118，會與複數個內齒之中的至少1個內齒之凸輪面(例如，第1內齒110之第1凸輪面112及第2凸輪面113)接觸。 Further, in FIG. 3, each cylinder of at least two of the plurality of cylindrical gears (for example, the first cylindrical gear 115 and the second cylindrical gear 116) The side surface 118 is in contact with a cam surface of at least one of the plurality of internal teeth (for example, the first cam surface 112 and the second cam surface 113 of the first internal tooth 110).
此外，在圖3中，2個圓筒齒輪(第1圓筒齒輪115及第2圓筒齒輪116)會把配置在第1圓筒齒輪115與第2圓筒齒輪116之間的第1內齒110夾入，而第1圓筒齒輪115及第2圓筒齒輪116的各圓筒側面118會與第1內齒110之第1凸輪面112及第2凸輪面113接觸。如此，將2個圓筒齒輪配置成會把位於該等之間的內齒夾入，藉此，使2個圓筒齒輪與該內齒接觸而消除齒隙。而且，由於沒有齒隙，所以動力傳動裝置101可以進行輸出軸106對於馬達軸103的正確定位。 In addition, in FIG. 3, the two cylindrical gears (the first cylindrical gear 115 and the second cylindrical gear 116) are disposed in the first between the first cylindrical gear 115 and the second cylindrical gear 116. The teeth 110 are sandwiched, and the cylindrical side faces 118 of the first cylindrical gear 115 and the second cylindrical gear 116 are in contact with the first cam surface 112 and the second cam surface 113 of the first internal teeth 110. In this manner, the two cylindrical gears are arranged such that the internal teeth located between the two are sandwiched, whereby the two cylindrical gears are brought into contact with the internal teeth to eliminate the backlash. Moreover, since there is no backlash, the power transmission 101 can perform proper positioning of the output shaft 106 with respect to the motor shaft 103.
圖4中，顯示在沿著圖2之III-III的截面中，表示從前面來看動力傳動裝置101之與圖3不同的旋轉時點下的轉塔及內接凸輪之狀態的截面圖。在2個圓筒齒輪之間(例如，第1圓筒齒輪115及第3圓筒齒輪117)配置有1個圓筒齒輪(例如，第2圓筒齒輪116)，該等2個圓筒齒輪之中的一方之圓筒齒輪(例如，第1圓筒齒輪115)之圓筒側面118，會與位於配置有1個圓筒齒輪(第2圓筒齒輪116)之方向的第1內齒110之第1凸輪面112接觸，而該等2個圓筒齒輪之中的另一方之圓筒齒輪(第3圓筒齒輪117)之圓筒側面118，則會與位於配置有1個圓筒齒輪(第2圓筒齒輪116)之方向的第2內齒111之第2凸輪面113接觸。如此，即使在2個圓筒齒輪之間配置有其他圓筒齒輪的情況下，也可將2個圓筒齒輪，配置成會把位於該等2個圓筒齒輪之間的2個內齒夾入，藉此，使2個圓筒齒輪與2個內齒接觸而消除齒隙。而且，由 於沒有齒隙，所以動力傳動裝置101可以進行輸出軸106對於馬達軸103的正確定位。 4 is a cross-sectional view showing a state of a turret and an inscribed cam at a rotation time point different from that of FIG. 3 in the power transmission device 101 as viewed from the front in the section III-III of FIG. One cylindrical gear (for example, the second cylindrical gear 116) is disposed between the two cylindrical gears (for example, the first cylindrical gear 115 and the third cylindrical gear 117), and the two cylindrical gears are disposed. The cylindrical side surface 118 of one of the cylindrical gears (for example, the first cylindrical gear 115) and the first internal tooth 110 located in the direction in which one cylindrical gear (second cylindrical gear 116) is disposed The first cam surface 112 is in contact with each other, and the cylindrical side surface 118 of the other of the two cylindrical gears (the third cylindrical gear 117) is disposed with a cylindrical gear The second cam surface 113 of the second internal teeth 111 in the direction of the (second cylindrical gear 116) is in contact. In this manner, even when another cylindrical gear is disposed between the two cylindrical gears, the two cylindrical gears can be arranged such that two internal clamps between the two cylindrical gears are placed In this way, the two cylindrical gears are brought into contact with the two internal teeth to eliminate the backlash. And by Without the backlash, the power transmission 101 can perform proper positioning of the output shaft 106 with respect to the motor shaft 103.
如圖3、圖4所示，由於在動力傳動裝置101之馬達軸103旋轉時，不管在連接於馬達軸103之轉塔107與內接凸輪109以何種狀態進行咬合的情況下，圓筒齒輪與內齒之間都沒有齒隙，所以動力傳動裝置101在馬達軸103的各種狀態下，都可以進行輸出軸106對於馬達軸103的正確定位。 As shown in FIGS. 3 and 4, when the motor shaft 103 of the power transmission device 101 rotates, regardless of the state in which the turret 107 connected to the motor shaft 103 and the inscribed cam 109 are engaged, the cylinder There is no backlash between the gear and the internal teeth, so the power transmission 101 can properly position the output shaft 106 with respect to the motor shaft 103 in various states of the motor shaft 103.
又，在圖4中，配置於第1圓筒齒輪115與第3圓筒齒輪117之間的1個圓筒齒輪(第2圓筒齒輪116)，不會與內接凸輪109之複數個內齒的任何內齒接觸。如此，從圖3至圖4般，轉塔107順時針地旋轉，與第2圓筒齒輪116接觸的凸輪面，在從第1內齒110之第2凸輪面113變成第2內齒111之第1凸輪面112之間，第2圓筒齒輪116暫時不會與內接凸輪109之複數個內齒的任何內齒接觸，亦即，藉由設置了遊隙，可以吸收圓筒齒輪及內齒在加工上的精度誤差，並且，可以使圓筒齒輪與內齒滑順地接觸而使轉塔及內接凸輪旋轉。 Further, in FIG. 4, one cylindrical gear (second cylindrical gear 116) disposed between the first cylindrical gear 115 and the third cylindrical gear 117 does not overlap with the inner cam 109. Any internal tooth contact of the tooth. As described above, the turret 107 rotates clockwise as in FIG. 3 to FIG. 4, and the cam surface that is in contact with the second cylindrical gear 116 changes from the second cam surface 113 of the first internal tooth 110 to the second internal tooth 111. Between the first cam faces 112, the second cylindrical gear 116 is temporarily not in contact with any internal teeth of the plurality of internal teeth of the inscribed cam 109, that is, by providing a play, the cylindrical gear and the inner can be absorbed. The accuracy of the teeth in machining, and the cylindrical gear and the internal teeth can be smoothly contacted to rotate the turret and the inscribed cam.
另外，可以將複數個圓筒齒輪114(115、116、117)固定於轉塔107，使複數個圓筒齒輪114與複數個內齒110、111的接觸為滑動接觸。藉由將複數個圓筒齒輪固定於轉塔，可以使動力傳動裝置之製造步驟簡略化，而可更低廉地製造動力傳動裝置。 Further, a plurality of cylindrical gears 114 (115, 116, 117) may be fixed to the turret 107 such that contact between the plurality of cylindrical gears 114 and the plurality of internal teeth 110, 111 is in sliding contact. By fixing a plurality of cylindrical gears to the turret, the manufacturing steps of the power transmission device can be simplified, and the power transmission device can be manufactured more inexpensively.
又，也可以使複數個圓筒齒輪114(115、116、117)與複數個內齒110、111的接觸為滾動接觸。藉由使之為滾 動接觸，圓筒齒輪與內齒之間的摩擦會變小，動力傳動裝置101可以使輸出軸106相對於馬達軸103的旋轉高效率地旋轉，並且，也可使動力傳動裝置101的使用壽命較長。如圖3、圖4所示，藉由使連接於馬達軸103的轉塔107順時針旋轉，配置在轉塔107之第1端面108的複數個圓筒齒輪115、116、117會與內接凸輪109之內齒110、111接觸，而可使內接凸輪109朝順時針旋轉。在圖3中，當第2圓筒齒輪116之圓筒側面118與第1內齒110之第2凸輪面113接觸之時，藉著第2圓筒齒輪116也進行順時針旋轉，第2圓筒齒輪116與第1內齒110之間的摩擦會變小。當第1圓筒齒輪115之圓筒側面118與第1內齒110之第1凸輪面112接觸之時，藉著第1圓筒齒輪115也進行順時針旋轉，第1圓筒齒輪115與第1內齒110之間的摩擦會變小。又，在圖4中，當第3圓筒齒輪117之圓筒側面118與第2內齒111之第2凸輪面113接觸之時，藉著第3圓筒齒輪117也進行順時針旋轉，第3圓筒齒輪117與第2內齒111之間的摩擦會變小。當第1圓筒齒輪115之圓筒側面118與第1內齒110之第1凸輪面112接觸之時，藉著第1圓筒齒輪115也進行順時針旋轉，第1圓筒齒輪115與第1內齒110之間的摩擦會變小。 Further, the contact of the plurality of cylindrical gears 114 (115, 116, 117) with the plurality of internal teeth 110, 111 may be in rolling contact. By making it roll With the dynamic contact, the friction between the cylindrical gear and the internal teeth becomes small, and the power transmission device 101 can rotate the output shaft 106 with respect to the rotation of the motor shaft 103, and can also prolong the service life of the power transmission device 101. Longer. As shown in FIGS. 3 and 4, by rotating the turret 107 connected to the motor shaft 103 clockwise, the plurality of cylindrical gears 115, 116, and 117 disposed on the first end face 108 of the turret 107 are inscribed. The inner teeth 110, 111 of the cam 109 are in contact, and the inner cam 109 can be rotated clockwise. In FIG. 3, when the cylindrical side surface 118 of the second cylindrical gear 116 comes into contact with the second cam surface 113 of the first internal tooth 110, the second cylindrical gear 116 also rotates clockwise, and the second circle The friction between the can gear 116 and the first internal tooth 110 becomes small. When the cylindrical side surface 118 of the first cylindrical gear 115 comes into contact with the first cam surface 112 of the first internal tooth 110, the first cylindrical gear 115 also rotates clockwise, and the first cylindrical gear 115 and the first cylindrical gear 115 1 The friction between the internal teeth 110 becomes small. Further, in FIG. 4, when the cylindrical side surface 118 of the third cylindrical gear 117 is in contact with the second cam surface 113 of the second internal tooth 111, the third cylindrical gear 117 is also rotated clockwise. The friction between the 3 cylindrical gear 117 and the second internal tooth 111 becomes small. When the cylindrical side surface 118 of the first cylindrical gear 115 comes into contact with the first cam surface 112 of the first internal tooth 110, the first cylindrical gear 115 also rotates clockwise, and the first cylindrical gear 115 and the first cylindrical gear 115 1 The friction between the internal teeth 110 becomes small.
為了使之為滾動接觸，可採用例如滾輪從動件、凸輪從動件等來作為複數個圓筒齒輪114。凸輪從動件具備有螺椿(軸)與外輪，滾輪從動件具備有內輪與外輪，把螺椿或內輪固定於轉塔107，使外輪可旋轉於螺椿或內輪的周圍，把凸輪從動件或滾輪從動件作為圓筒齒輪115、116、 117而配置於轉塔107。如此，藉由將凸輪從動件或滾輪從動件配置於轉塔，凸輪從動件或滾輪從動件之外輪會與內接凸輪之內齒接觸，凸輪從動件或滾輪從動件之外輪會旋轉，可以使凸輪從動件或滾輪從動件之外輪與內齒之間的摩擦較小。另外，在凸輪從動件或滾輪從動件中，螺椿或內輪與外輪可以為滑動軸承，也可以在螺椿或內輪與外輪之間採用滾針等滾子，而為隨著外輪的旋轉來使滾子轉動的滾動軸承。 In order to make it a rolling contact, for example, a roller follower, a cam follower, or the like can be employed as the plurality of cylindrical gears 114. The cam follower is provided with a threaded shaft (shaft) and an outer wheel. The roller follower is provided with an inner wheel and an outer wheel, and the threaded or inner wheel is fixed to the turret 107 so that the outer wheel can be rotated around the screw or the inner wheel. The cam follower or the roller follower is used as the cylindrical gear 115, 116, 117 is disposed in the turret 107. Thus, by arranging the cam follower or the roller follower on the turret, the cam follower or the roller follower outer wheel will contact the inner tooth of the inner cam, the cam follower or the roller follower The outer wheel will rotate so that the friction between the outer and inner teeth of the cam follower or the roller follower is small. In addition, in the cam follower or the roller follower, the screw or the inner wheel and the outer wheel may be a sliding bearing, or a roller such as a needle roller may be used between the screw or the inner wheel and the outer wheel, and the outer wheel The rolling bearing that rotates to make the roller rotate.
上述記載是關於特定的實施例而做成的，但本發明並不限於此，若為熟悉此項技藝者當可明白：可在本發明之原理與申請專利範圍之範圍內進行各種變更及修正。 The above description is made with respect to specific embodiments, but the present invention is not limited thereto, and it will be understood by those skilled in the art that various changes and modifications can be made within the scope of the present invention and the scope of the claims. .
101‧‧‧動力傳動裝置 101‧‧‧Power Transmission
102‧‧‧馬達 102‧‧‧Motor
103‧‧‧馬達軸 103‧‧‧Motor shaft
104‧‧‧外罩 104‧‧‧ Cover
105‧‧‧外罩 105‧‧‧ Cover
106‧‧‧輸出軸 106‧‧‧ Output shaft
107‧‧‧轉塔 107‧‧‧Tower
108‧‧‧轉塔之第1端面 108‧‧‧The first end of the turret
109‧‧‧內接凸輪 109‧‧‧Internal cam
114‧‧‧圓筒齒輪 114‧‧‧Cylinder gear
119‧‧‧連結要件 119‧‧‧Linking requirements
120‧‧‧密封裝置 120‧‧‧ Sealing device
121‧‧‧軸承 121‧‧‧ bearing
122‧‧‧軸承 122‧‧‧ bearing
123‧‧‧軸承 123‧‧‧ bearing
124‧‧‧密封裝置 124‧‧‧ Sealing device
III‧‧‧截線 III‧‧‧ cut line
Claims (8)
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|---|---|---|---|
| JP2015-125457 | 2015-06-23 | ||
| JP2015125457A JP6539514B2 (en) | 2015-06-23 | 2015-06-23 | Power transmission system using internal cam and cylindrical pinion |
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| Publication Number | Publication Date |
|---|---|
| TW201710610A true TW201710610A (en) | 2017-03-16 |
| TWI694217B TWI694217B (en) | 2020-05-21 |
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| TW105117987A TWI694217B (en) | 2015-06-23 | 2016-06-07 | A power transmission apparatus with an inscribed cam and cylinderical pinions |
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| JP (1) | JP6539514B2 (en) |
| KR (1) | KR102526572B1 (en) |
| CN (1) | CN106286716B (en) |
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| GB476604A (en) * | 1936-06-13 | 1937-12-13 | Carl Robert Hugo Bonn | Improvements in and relating to control devices for variable speed gearing |
| US6902507B2 (en) * | 2002-04-11 | 2005-06-07 | Richard N. Ballard | Roller cam assembly |
| JP4646831B2 (en) * | 2006-03-01 | 2011-03-09 | 株式会社岡常歯車製作所 | Decelerator |
| JP4948322B2 (en) | 2007-08-16 | 2012-06-06 | 住友重機械工業株式会社 | Swing internal meshing gear reducer |
| RU2502001C2 (en) * | 2009-03-31 | 2013-12-20 | Хонда Мотор Ко., Лтд. | Drive and vehicle equipped therewith |
| DE202009017290U1 (en) * | 2009-12-22 | 2011-04-14 | Weiß, Carmen | Stepped teeth with ball bearings between wheels |
| MA33477B1 (en) * | 2011-01-03 | 2012-08-01 | Taoufik Hicham | PROGRESSEUR OF MECHANICAL FORCE |
| DE102012022636B4 (en) * | 2012-11-16 | 2021-02-11 | Magna Pt B.V. & Co. Kg | Cross differential with electromechanical friction clutch for locking |
| JP2014185744A (en) | 2013-03-25 | 2014-10-02 | Jtekt Corp | Gear device |
| DE102013015061A1 (en) * | 2013-09-09 | 2015-03-12 | Hans-Erich Maul | Compact coaxial eccentric gear Drive of a hand-held electric or pneumatic device |
| JP5873060B2 (en) * | 2013-10-04 | 2016-03-01 | 京セラドキュメントソリューションズ株式会社 | Drive device |
| CN104251290A (en) * | 2014-08-28 | 2014-12-31 | 南京埃斯顿机器人工程有限公司 | Speed reducer for small-load industrial robot |
-
2015
- 2015-06-23 JP JP2015125457A patent/JP6539514B2/en active Active
-
2016
- 2016-06-07 TW TW105117987A patent/TWI694217B/en active
- 2016-06-22 KR KR1020160077739A patent/KR102526572B1/en active IP Right Grant
- 2016-06-23 CN CN201610461480.0A patent/CN106286716B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| JP2017009041A (en) | 2017-01-12 |
| TWI694217B (en) | 2020-05-21 |
| KR102526572B1 (en) | 2023-04-28 |
| CN106286716A (en) | 2017-01-04 |
| CN106286716B (en) | 2020-11-03 |
| KR20170000349A (en) | 2017-01-02 |
| JP6539514B2 (en) | 2019-07-03 |
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