WO2006132239A1 - ボール形減速装置 - Google Patents
ボール形減速装置 Download PDFInfo
- Publication number
- WO2006132239A1 WO2006132239A1 PCT/JP2006/311316 JP2006311316W WO2006132239A1 WO 2006132239 A1 WO2006132239 A1 WO 2006132239A1 JP 2006311316 W JP2006311316 W JP 2006311316W WO 2006132239 A1 WO2006132239 A1 WO 2006132239A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- ball
- driven
- cam
- input shaft
- balls
- Prior art date
Links
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
- F16H1/04—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members
- F16H1/12—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with non-parallel axes
- F16H1/16—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with non-parallel axes comprising worm and worm-wheel
-
- 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
- F16H1/04—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members
- F16H1/12—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with non-parallel axes
- F16H1/16—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with non-parallel axes comprising worm and worm-wheel
- F16H1/163—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with non-parallel axes comprising worm and worm-wheel with balls between the co-operating parts
-
- 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
- F16H25/04—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying rotary motion
- F16H25/06—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying rotary motion with intermediate members guided along tracks on both rotary members
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/19—Gearing
- Y10T74/19642—Directly cooperating gears
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/19—Gearing
- Y10T74/19642—Directly cooperating gears
- Y10T74/19698—Spiral
- Y10T74/19702—Screw and nut
- Y10T74/19744—Rolling element engaging thread
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/19—Gearing
- Y10T74/19642—Directly cooperating gears
- Y10T74/19698—Spiral
- Y10T74/19828—Worm
- Y10T74/19842—Distribution of pressure
Definitions
- the present invention is arranged such that an input shaft and an output shaft are orthogonal to each other, and a ball-type deceleration in which an output-side follower wheel transmits rotation via a driven ball as the input shaft rotates. Relates to the device.
- Deceleration devices are applied to robot technology that transports various parts in a production process such as a DVD.
- the input shaft provided with the joint arm is rotationally driven at a predetermined rotational speed, whereby the output shaft is lowered to the predetermined rotational speed to transmit power.
- a ball groove having a helical hook-shaped tooth line is formed in the worm, and a recess in which the ball is rotatably arranged is provided in the wheel.
- the rotation is transmitted to the wheel via the ball, so that the friction between the worm and the wheel is low and the backlash is eliminated, thereby realizing a reduction device with high transmission efficiency.
- Patent Document 1 JP-A-6-109081
- the ball groove of the worm is a hook-like groove cam, and the substantially hemispherical portion of the ball is always fitted in the surface contact state with the ball groove. .
- the concave curved surface portion of the ball groove and the spherical surface portion of the ball generate sliding force.
- Sliding the ball groove and the ball in a surface contact state is disadvantageous in terms of the friction generated between them, and in order to avoid the surface contact state and realize the point contact, a hook-like groove cam
- a rib cam system is used in which a rib cam is provided on the input shaft, the rib force is brought into contact with the ball as the input shaft rotates to transmit the pressing force. There is a problem that backlash occurs.
- the present invention has been made in view of the above circumstances, and its purpose is to eliminate knock lash when adopting a rib cam system in which the cam protrusion and the driven ball are engaged by point contact.
- An object of the present invention is to provide a ball-type reduction gear that can be used.
- a follower wheel attached to an output shaft rotatably provided in the housing, a plurality of follower balls slidable at equal angular intervals on the outer periphery of the follower wheel, and arranged in a state orthogonal to the output shaft
- a ball-type speed reducer having an input shaft having cam projections formed on both sides with mating surfaces mating with the driven ball, and among the four or more driven balls arranged on the input shaft, It is set so that the driven ball on one end side of the input shaft and the driven ball on the other end side always come into contact with the mating surface on one side of the cam ridge without any gap.
- a follower wheel attached to an output shaft rotatably provided in the housing, a plurality of follower balls slidable at equal angular intervals on the outer periphery of the follower wheel, and arranged in a state orthogonal to the output shaft
- a ball-type speed reducer having an input shaft having cam projections formed on both sides with mating surfaces mating with the driven ball, and among the four or more driven balls arranged on the input shaft,
- An intermediate driven ball is disposed between the cam ridges so as not to contact the mating surface. Set so that the driven ball on one end of the input shaft and the driven ball on the other end always abut against the mating surface on one side of the cam ridge in the direction facing the intermediate driven ball without any gap.
- FIG. 1 is a perspective view of a ball-type speed reducer (Example 1).
- FIG. 2 is an enlarged longitudinal sectional view showing a state where the driven ball and the cam ridge are engaged (Example 1).
- FIG. 3 is an enlarged longitudinal sectional view showing a state where the driven ball and the cam ridge are engaged (Example 2).
- FIG. 4 is a development view schematically showing how the mating surface with which the driven ball abuts changes when the intermediate cam protrusion is exceeded (Example 2).
- the ball-type speed reducer when a rib cam method is used in which the cam protrusion and the driven ball are engaged by point contact, one of the input shafts out of four or more driven balls arranged on the input shaft. Since the driven ball on the side and the driven ball on the other end are always in contact with the mating surface on one side of the cam ridge without any gap, the knock lash between the driven ball and the cam ridge is eliminated. can do.
- the point contact reduces the friction between the cam ridge and the driven ball, improves the transmission force to the follower wheel, and enables smooth rotation with high accuracy.
- Embodiment 1 of the present invention will be described with reference to FIGS. 1 and 2.
- the ball-type speed reducer 1 of the present invention is applied to a robot technology that transports various parts in a production process such as a DVD.
- a stepped output shaft in a housing 2 as shown in FIG. 3 is rotatably provided.
- a disc-shaped follower wheel 4 is concentrically fitted to the output shaft 3 so as to rotate in a body-like manner.
- the sliding portion 6 may be a sliding groove having a substantially hemispherical shape, a substantially V-shaped section, or a horseshoe-shaped section! /.
- An input shaft 7 that receives a driving force from a driving source (not shown) is disposed in a state orthogonal to the output shaft 3 and is rotatably supported by bearings 8 and 9. Input shaft 7 is connected to driven ball 5
- a rib cam system having a plurality of cam projections 10 formed on both sides with mating surfaces 10a and 10b to be joined is adopted.
- the two driven balls 5 arranged on one end side A of the input shaft 7 are always cam projections as shown in FIG. It is in contact with the joint surface 10a on one side of 10 in a point contact state without any gap.
- the two driven balls 5 arranged on the other end side B of the input shaft 7 are always in contact with the mating surface 10b on one side of the cam projection 10 in a point contact state without any gap.
- the driven ball 5 on one end side A and the driven ball 5 on the other end side B of the input shaft 7 are always on the mating surface 10a (10b) on one side of the cam projection 10 in the direction facing each other without any gaps.
- These driven balls 5 have a slight gap P interposed between the mating surfaces 10b (10a) facing the mating surfaces lOa (lOb) with which they follow.
- the two driven balls 5 arranged on one end side A of the input shaft 7 always abut on the mating surface 10b on one side of the cam ridge 10 in a point contact state without any gap, and the input shaft 7
- the two driven balls 5 arranged on the other end side B of the cam may be in contact with the mating surface 10a on one side of the cam ridge 10 in a point contact state without any gap.
- the friction between the cam ridge 10 and the driven ball 5 can be reduced by point contact, the transmission force to the follower wheel 4 can be improved, and smooth rotation operation can be realized with high accuracy. wear. In this case, it is only necessary to bring four or more driven balls 5 into contact with the mating surface lOa (lOb) on one side of the cam ridge 10 without any gap without adding a new separate member. Well cost effective.
- FIG. 3 and FIG. 4 show Embodiment 2 of the present invention.
- Example 2 as shown in FIG. 3, out of the five driven balls 5, the intermediate M driven ball 5 is applied to both the mating surfaces 10a and 10b of the cam ridge 10 without any power transmission. It is placed in contact.
- the two driven balls 5 arranged on one end side A of the input shaft 7 are always in contact with the mating surface 10a on one side of the cam projection 10 without any gap.
- the two driven balls 5 arranged on the other end side B of the input shaft 7 are always in contact with the mating surface 10b on one side of the cam projection 10 without any gap.
- the driven ball 5 at one end A and the driven ball 5 at the other end B are always on the mating surface lOa (lOb) on one side of the cam projection 10 in a direction facing the intermediate M driven ball 5. Abutting.
- the two driven balls 5 arranged on one end side A of the input shaft 7 are always in contact with the mating surface 10b on one side of the cam projection 10 without any gap, and the other end side of the input shaft 7
- the two driven balls 5 arranged in line B may always be in contact with the mating surface 10a on one side of the cam ridge 10 without a gap.
- Example 2 when the rib cam method is employed in which the cam ridge 10 and the driven ball 5 are engaged by point contact, the five driven balls 5 face the intermediate M driven ball 5. Therefore, since it always contacts the mating surface 10a (10b) on one side of the cam ridge 10 without a gap, the relative movement between the driven ball 5 and the cam ridge 10 is prevented, and backlash can be eliminated. it can . For this reason, the same effect as Example 1 is acquired. [0024] Note that the number of the driven balls 5 is not limited to six or five, and four or more driven balls 5 are in contact with the mating surface 10a (10b) of the cam protrusion 10 in a direction in which the driven balls 5 face each other. If it is. Industrial applicability
- the force of four or more driven balls is always the mating surface on one side of the cam ridge.
- the backlash between the driven ball and the cam ridge can be eliminated, the transmission force to the follower wheel can be improved, and smooth rotation can be achieved with high accuracy. it can. For this reason, demand for cost reduction with a simple structure with high performance can be stimulated, and it can be widely applied to the machine industry through the distribution of machined parts.
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
- Friction Gearing (AREA)
- Gear Transmission (AREA)
- Gears, Cams (AREA)
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE112006000712T DE112006000712T5 (de) | 2005-06-08 | 2006-06-06 | Kugel-Drehzahlminderungsvorrichtung |
JP2007520120A JPWO2006132239A1 (ja) | 2005-06-08 | 2006-06-06 | ボール形減速装置 |
EP06757056A EP1890053A4 (en) | 2005-06-08 | 2006-06-06 | REDUCING BALL GEAR |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2005168058 | 2005-06-08 | ||
JP2005-168058 | 2005-06-08 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2006132239A1 true WO2006132239A1 (ja) | 2006-12-14 |
Family
ID=37498440
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2006/311316 WO2006132239A1 (ja) | 2005-06-08 | 2006-06-06 | ボール形減速装置 |
Country Status (7)
Country | Link |
---|---|
US (1) | US7712390B2 (ja) |
EP (1) | EP1890053A4 (ja) |
JP (1) | JPWO2006132239A1 (ja) |
KR (1) | KR20080013848A (ja) |
CN (1) | CN100540940C (ja) |
DE (1) | DE112006000712T5 (ja) |
WO (1) | WO2006132239A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2009185956A (ja) * | 2008-02-08 | 2009-08-20 | Kamo Seiko Kk | 動力伝達装置 |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113153980B (zh) * | 2021-05-18 | 2022-04-08 | 成都理工大学 | 一种分体式蜗杆及其传动机构 |
CN113175500B (zh) * | 2021-05-18 | 2022-04-08 | 成都理工大学 | 一种球滚子蜗轮蜗杆传动装置及系统 |
CN113153981B (zh) * | 2021-05-18 | 2022-04-08 | 成都理工大学 | 一种具有无间隙蜗杆蜗轮传动装置 |
CN113175499B (zh) * | 2021-05-18 | 2022-04-08 | 成都理工大学 | 一种具有球形滚子的蜗轮及其传动机构 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS4623871Y1 (ja) * | 1968-04-20 | 1971-08-17 | ||
JPS4876372U (ja) * | 1971-12-23 | 1973-09-21 | ||
JPS5422054A (en) * | 1977-07-19 | 1979-02-19 | Hatano Kougiyou Kk | Ball worm wheel |
JPS62246644A (ja) * | 1986-04-16 | 1987-10-27 | Ogawa Kogyo Kk | 動力伝動装置 |
JPS62194228U (ja) * | 1986-05-30 | 1987-12-10 | ||
JPH11108145A (ja) * | 1997-10-03 | 1999-04-20 | Ookubo Haguruma Kogyo Kk | 減速装置 |
Family Cites Families (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR452634A (fr) * | 1912-12-06 | 1913-05-20 | Alfred Hereng | Roue hélicoidale, droite ou creuse, dont la dentuire est formée d'organes mobiles (billes ou rouleaux libres de forme circulaire quelconque) engrenant avec vis ou pignon de forme appropriée |
US3365974A (en) * | 1965-10-07 | 1968-01-30 | Edgar M. Lieberman | Anti-friction worm gearing drive |
US3468179A (en) * | 1968-03-26 | 1969-09-23 | Kearney & Trecker Corp | Recirculating ball worm drive |
DE1941380A1 (de) * | 1969-08-14 | 1971-12-09 | Georg Titt | Rollschneckengetriebe |
JPS5322798B2 (ja) | 1972-01-13 | 1978-07-11 | ||
JPS6014633A (ja) * | 1983-07-07 | 1985-01-25 | Kazuya Hirose | 伝動装置 |
JPH0762749B2 (ja) | 1986-02-20 | 1995-07-05 | 松下電器産業株式会社 | 発光型表示装置 |
US5237886A (en) * | 1992-04-13 | 1993-08-24 | Kellar Franz W | Split-worm gear set |
JPH06109081A (ja) | 1992-09-29 | 1994-04-19 | Kamo Seiko Kk | ウォーム歯車装置 |
JP2833947B2 (ja) * | 1992-12-24 | 1998-12-09 | 加茂精工株式会社 | カムによる間欠回転装置 |
JP2000042855A (ja) | 1998-07-30 | 2000-02-15 | Amada Co Ltd | 駆動装置のバックラッシ防止方法およびその装置 |
EP1454078A2 (en) * | 2001-11-13 | 2004-09-08 | Dan Stoianovici | Ball-worm transmission |
US20060156845A1 (en) * | 2004-12-23 | 2006-07-20 | Davy Tong | Self-Retaining Recirculating Ball-Worm and Gear Device |
HUP0501213A2 (en) * | 2005-12-30 | 2007-09-28 | Istvan Bogar | Drive with rolling elements |
-
2006
- 2006-06-06 JP JP2007520120A patent/JPWO2006132239A1/ja not_active Withdrawn
- 2006-06-06 US US11/792,055 patent/US7712390B2/en not_active Expired - Fee Related
- 2006-06-06 EP EP06757056A patent/EP1890053A4/en not_active Withdrawn
- 2006-06-06 DE DE112006000712T patent/DE112006000712T5/de not_active Withdrawn
- 2006-06-06 WO PCT/JP2006/311316 patent/WO2006132239A1/ja active Application Filing
- 2006-06-06 CN CNB2006800016291A patent/CN100540940C/zh not_active Expired - Fee Related
- 2006-06-06 KR KR1020077016389A patent/KR20080013848A/ko not_active Application Discontinuation
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS4623871Y1 (ja) * | 1968-04-20 | 1971-08-17 | ||
JPS4876372U (ja) * | 1971-12-23 | 1973-09-21 | ||
JPS5422054A (en) * | 1977-07-19 | 1979-02-19 | Hatano Kougiyou Kk | Ball worm wheel |
JPS62246644A (ja) * | 1986-04-16 | 1987-10-27 | Ogawa Kogyo Kk | 動力伝動装置 |
JPS62194228U (ja) * | 1986-05-30 | 1987-12-10 | ||
JPH11108145A (ja) * | 1997-10-03 | 1999-04-20 | Ookubo Haguruma Kogyo Kk | 減速装置 |
Non-Patent Citations (1)
Title |
---|
See also references of EP1890053A4 * |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2009185956A (ja) * | 2008-02-08 | 2009-08-20 | Kamo Seiko Kk | 動力伝達装置 |
Also Published As
Publication number | Publication date |
---|---|
CN100540940C (zh) | 2009-09-16 |
EP1890053A4 (en) | 2011-01-05 |
EP1890053A1 (en) | 2008-02-20 |
KR20080013848A (ko) | 2008-02-13 |
CN101091074A (zh) | 2007-12-19 |
JPWO2006132239A1 (ja) | 2009-01-08 |
DE112006000712T5 (de) | 2008-04-10 |
US7712390B2 (en) | 2010-05-11 |
US20080121060A1 (en) | 2008-05-29 |
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