WO2018088161A1 - Dispositif de diminution ou d'augmentation de vitesse et actionneur - Google Patents

Dispositif de diminution ou d'augmentation de vitesse et actionneur Download PDF

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Publication number
WO2018088161A1
WO2018088161A1 PCT/JP2017/037846 JP2017037846W WO2018088161A1 WO 2018088161 A1 WO2018088161 A1 WO 2018088161A1 JP 2017037846 W JP2017037846 W JP 2017037846W WO 2018088161 A1 WO2018088161 A1 WO 2018088161A1
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WIPO (PCT)
Prior art keywords
face gear
tooth
teeth
gear
speed
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Application number
PCT/JP2017/037846
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English (en)
Japanese (ja)
Inventor
雄一 水谷
秀生 斉藤
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Thk株式会社
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Publication date
Application filed by Thk株式会社 filed Critical Thk株式会社
Publication of WO2018088161A1 publication Critical patent/WO2018088161A1/fr

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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
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • 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
    • F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
    • F16H55/02—Toothed members; Worms
    • F16H55/17—Toothed wheels

Definitions

  • the present invention relates to a deceleration or speed increasing device and an actuator.
  • a first face gear and a second face gear opposed to the first face gear are provided, and the first face gear is engaged with the second face gear so that the first face gear is engaged with the second face gear.
  • a speed reducer provided with a cam portion that is inclined with respect to (see, for example, Patent Document 1).
  • the first face gear precesses while moving the meshed portion with the second face gear.
  • the second face gear rotates relative to the first face gear by a difference in the number of teeth.
  • the relative rotation of the second face gear is output from an output shaft connected to the second face gear.
  • the present invention reduces the axial component (that is, loss force) of the contact force at the meshing point (that is, the contact point) between the teeth of the first face gear and the teeth of the second face gear, and relatively reduces the circular force. It is an object of the present invention to provide a speed reduction or speed increasing device and an actuator capable of increasing a circumferential component force (that is, driving force) and thereby improving torque transmission efficiency.
  • a first face gear, a second face gear facing the first face gear, and the first face gear and the second face gear mesh with each other.
  • the bottom portion of the other tooth groove of the first face gear and the second face gear meshing with one of the teeth of the first face gear and the second face gear is made non-contact with the one tooth.
  • the axial force (ie, loss force) of the contact force at the meshing point (ie, contact point) between the one tooth and the other tooth groove is reduced, and the circumferential force (ie, driving force) is relatively reduced. Can be increased. Therefore, torque transmission efficiency can be improved.
  • FIG. 3A is a schematic perspective view of the first face gear and the second face gear
  • FIG. 3B is a schematic perspective view of the second face gear. It is a figure explaining the contact force which arises in the contact point of a 1st face gear and a 2nd face gear.
  • FIG. 5A is a diagram showing the meshing points 1 to 21, and FIG. 5B is a diagram in which the meshing points 1 to 21 are projected onto one tooth groove of the second face gear.
  • FIG. 7 (a) is a graph showing the contact force generated at the meshing points 1 to 21
  • FIG. 7 (b) is a graph showing the axial component force
  • FIG. 7 (c) is the circumferential component force. It is a graph to show. It is sectional drawing of the actuator of the 1st Embodiment of this invention. It is sectional drawing of the actuator of the 2nd Embodiment of this invention.
  • FIG. 1 shows a cross-sectional view of the speed reducer 10 of the first embodiment
  • FIG. 2 shows an exploded perspective view of the speed reducer 10 of the present embodiment
  • reference numeral 1 denotes a first face gear
  • reference numeral 2 denotes a second face gear
  • reference numeral 3 denotes a cam portion.
  • the first face gear 1, the second face gear 2, and the cam portion 3 are accommodated in the housing 6.
  • the first face gear 1 and the second face gear 2 face each other.
  • the cam portion 3 inclines the first face gear 1 with respect to the second face gear 2 so that the first face gear 1 meshes with the second face gear 2.
  • the cam part 3 precesses the 1st face gear 1 so that the location which meshes may move.
  • the precession movement means movement such that the axis of the first face gear 1 draws a locus of the cone Co.
  • the first face gear 1 has a substantially disk shape.
  • a plurality of teeth 1a and a plurality of tooth grooves 1b are alternately formed radially.
  • the tooth 1a has a convex shape based on the side surface of the cone.
  • the tooth groove 1b has a concave shape based on the side surface of the cone. The shapes of the tooth 1a and the tooth groove 1b will be described later.
  • the second face gear 2 is also substantially disk-shaped. On the surface of the second face gear 2 facing the first face gear 1, a plurality of teeth 2a and a plurality of tooth grooves 2b are alternately formed radially. Similar to the first face gear 1, the teeth 2a have a convex shape based on a conical side surface. The tooth groove 2b has a concave shape based on the side surface of the cone. The shapes of the tooth 2a and the tooth groove 2b will be described later. The number of teeth of the second face gear 2 and the number of teeth of the first face gear 1 are different from each other.
  • the cam portion 3 includes a cam body 4 and a support body 5 connected to the cam body 4.
  • the first face gear 1 and the second face gear 2 are sandwiched between the cam body 4 and the support body 5.
  • the cam body 4 and the support body 5 are fastened by a fastening member 16 such as a bolt.
  • the cam body 4 is non-rotatably connected to the input shaft 11 by a detent means such as a key.
  • a detent means such as a key.
  • a ring-shaped raceway 4 a 1 is formed on the inclined plate 4 a of the cam body 4.
  • a ring-shaped raceway 1c (see FIG. 1) that faces the raceway 4a1 is formed on the back surface of the first face gear 1.
  • a plurality of first balls 13 are arranged in a ring shape between the raceways 1c and 4a1.
  • a ring-shaped raceway 5 a 1 (see FIG. 1) is formed on the vertical plate 5 a of the support body 5.
  • a ring-shaped raceway 2c facing the raceway 5a1 is formed on the back surface of the second face gear 2.
  • a plurality of second balls 14 are arranged in a ring shape between the raceways 2c and 5a1.
  • the first face gear 1 is supported by a housing 6 via a plate-like member 9 so as to be capable of precessing and not rotating.
  • the plate-like member 9 is formed by forming a thin plate into a ring shape.
  • the outer peripheral side of the plate-like member 9 is fixed to the housing 6 by a fastening member such as a bolt.
  • the inner peripheral side of the plate-like member 9 is fixed to the first face gear 1 by a fastening member such as a bolt.
  • the plate-like member 9 is elastically deformed so as to allow the precession of the first face gear 1 and limit the rotation of the first face gear 1.
  • the second face gear 2 is rotatably supported by the housing 6 via a bearing 18.
  • the outer ring of the bearing 18 is fixed to the housing 6, and the inner ring of the bearing 18 is fixed to the second face gear 2.
  • the ring-shaped output portion 15 is fixed to the second face gear 2 by a fastening member such as a bolt.
  • the shape of the output part 15 is not specifically limited, For example, it is ring shape.
  • the output portion 15 is formed with a screw hole 15a for fixing to the counterpart component (see FIG. 2).
  • the housing 6 includes a housing body 7 to which an outer ring of the bearing 18 is fixed, and a cover 8 fastened to the housing body 7 by a fastening member such as a bolt.
  • the plate-like member 9 is sandwiched between the housing body 7 and the cover 8.
  • the movement of the reduction gear device 10 of this embodiment is as follows.
  • the cam portion 3 rotates together with the input shaft 11.
  • the first face gear 1 precesses.
  • the second face gear 2 rotates relative to the first face gear 1 by the difference in the number of teeth between the first face gear 1 and the second face gear 2.
  • the rotation of the first face gear 1 is limited by the plate-like member 9 and the second face gear 2 rotates.
  • the rotation of the second face gear 2 is transmitted to the output unit 15.
  • the output unit 15 rotates at a reduction ratio determined by the number of teeth of the first face gear 1 and the number of teeth of the second face gear 2.
  • FIG. 3A shows a schematic perspective view of the first face gear 1 and the second face gear 2
  • FIG. 3B shows a schematic perspective view of the second face gear 2.
  • the first face gear 1 is inclined and meshed with the second face gear 2.
  • the first face gear 1 and the second face gear 2 mesh at one place (position A in FIG. 3A).
  • a plurality of meshing points that is, contact points
  • a plurality of teeth 2a and a plurality of tooth grooves 2b are alternately formed radially.
  • the tooth 2a has a convex shape based on the side surface of the cone.
  • the tooth groove 2b has a concave shape based on the side surface of the cone.
  • the cones are added to the teeth and groove of the second face gear 2 and the first face gear 1.
  • the teeth 2a of the second face gear 2 are formed on a part of the side surface of the cone C1.
  • the tooth groove 2b of the second face gear 2 is formed on a part of the side surface of the cone C2.
  • the vertices of the cone C1 of the plurality of teeth 2a intersect at the meshing center P1.
  • the vertices of the cone C2 of the plurality of tooth grooves 2b also intersect at the meshing center P1.
  • This meshing center P1 is located on the axis of the input shaft 11, and coincides with the center of precession of the first face gear 1 (the apex of the cone Co in FIG. 1).
  • the teeth 1a of the first face gear 1 are formed on a part of the side surface of the cone C3.
  • the tooth groove 1b of the first face gear 1 is formed on a part of the side surface of the cone C4.
  • the vertices of the cone C3 of the plurality of teeth 1a intersect at the meshing center P1.
  • the vertices of the cone C4 of the plurality of tooth grooves 1b also intersect at the meshing center P1.
  • the shapes of the teeth 1a, 2a and the grooves 1b, 2b of the first face gear 1 and the second face gear 2 are formed on a part of the side surface of the cone, the first face gear 1 and the second face gear are formed. 2 is easy to manufacture. However, it is also possible to correct the tooth grooves 1b and 2b using the trochoid curve so that the teeth 1a and 2a and the tooth grooves 1b and 2b roll completely.
  • the correction using the trochoid curve is as follows.
  • the teeth 1a, 2a of the first face gear 1 and the second face gear 2 are formed on a part of the side surface of the cone, and the teeth 1a, 2a of the first face gear 1 and the second face gear 2 on the reference circle are formed.
  • Let the curve be a single R arc.
  • the curves of the teeth grooves 1b, 2b coincide with the locus drawn by the teeth 1a, 2a.
  • the shape based on the side surface of the cone includes, in addition to a part of the side surface of the cone, a shape corrected using a trochoid curve.
  • FIG. 4 when the first face gear 1 and the second face gear 2 mesh with each other, the teeth 1a of the first face gear 1 and the teeth groove 2b of the second face gear 2 come into contact with each other.
  • the tooth 1a of the first face gear 1 is indicated by a broken-line circle
  • the curve of the tooth groove 2b of the second face gear 2 is indicated by a solid line.
  • a first tooth 1a of the face gear first contact force F 0 at the point of contact with the second face gear 2 tooth groove 2b can be divided into an axial component force F 1 and the circumferential component of force F 2. This axial component force F 1 and the circumferential component of force F 2 is changed according to the position of the contact point.
  • FIG. 5A shows meshing points 1 to 21 between the teeth 1 a of the first face gear 1 and the teeth 2 b of the second face gear 2.
  • a plurality of meshing points 1 to 21 are generated in the circumferential direction around the meshing points 10 to 11.
  • the meshing points 1 to 21 are projected onto one tooth groove 2 b of the second face gear 2.
  • the teeth 1a of the first face gear 1 and the bottom portion 19 of the tooth groove 2b of the second face gear 2 are not in contact with each other at the meshing points 8-14.
  • a relief is formed at the bottom 19 of the tooth groove 2b.
  • the two-dot chain line indicates the curve of the tooth groove 2b before the relief is formed
  • the solid line in the figure indicates the curve of the tooth groove 2b after the relief is formed.
  • Width in the circumferential direction of the relief W1 is 30% or more and less than 70% of the circumferential pitch P 0 of the tooth space 2b (gear pitch P 0), is preferably set to 30% or more and less than 50% .
  • the shape of the relief is not particularly limited and is, for example, an arc shape.
  • the clearance range W1 is set to less than 70%.
  • the escape range W1 is 50% or more, the number of teeth 1a meshing is small and the rigidity is lowered. Therefore, it is desirable to make the escape range W1 less than 50%.
  • the escape range W1 is less than 30%, the effect of improving the torque transmission efficiency may not be sufficiently exhibited, so the escape range W1 is set to 30% or more.
  • FIG. 7 (a) is generated at meshing points 1 to 21 when a preload of -1 ⁇ m is applied between the first face gear 1 and the second face gear 2 and a torque of 50 Nm is applied to the output side.
  • the result of calculating the contact force is shown.
  • Hertz contact theory is used for the calculation.
  • FIG. 7 (b) shows the result of calculating the axial component force at the meshing points 1 to 21.
  • FIG. When there was no escape, the axial component force at the meshing point 12 was the maximum. When there was relief, the axial component force at the meshing points 8 to 14 became zero. Since the axial component force at the meshing points 8 to 14 became zero, the axial component force at the meshing points 1 to 7 and 15 to 21 was slightly increased. However, the total axial component force (ie, loss force) was reduced to less than half.
  • FIG. 7 (c) shows the result of calculating the circumferential force at the meshing points 1 to 21.
  • FIG. When there was no escape, positive circumferential component force was generated at the meshing points 11 to 21, and negative circumferential component force was generated at the meshing points 1 to 10.
  • the circumferential force at the meshing points 8 to 14 became zero.
  • the total circumferential component ie, driving force
  • the speed reduction device has the following effects. Since the bottom portion 19 of the tooth groove 2b of the second face gear 2 meshing with the teeth 1a of the first face gear 1 is not in contact with the teeth 1a of the first face gear 1, the teeth 1a of the first face gear 1 and the second face The axial component (ie, loss force) of the total contact force at the meshing points 1 to 21 with the tooth groove 2b of the gear 2 is reduced, and the total circumferential component (ie, drive force) is relatively increased. be able to. Therefore, torque transmission efficiency can be improved.
  • the width W1 of the circumferential clearance is set to 30% or more and less than 70% of the circumferential pitch P 0 of the teeth grooves 2b, it is possible to sufficiently improve the torque transmission efficiency and the first face gear 1
  • the teeth 1a and the tooth grooves 2b of the second face gear 2 can be reliably engaged with each other.
  • FIG. 8 is a sectional view of the actuator 30 according to the first embodiment of the present invention.
  • the actuator 30 of the first embodiment is obtained by adding a motor 22 that rotationally drives the cam portion 3 to the speed reduction device 10 of the first embodiment.
  • the motor 22 includes a stator 22a and a rotor 22b.
  • the stator 22a is provided with a coil 23, for example, and the rotor 22b is provided with a magnet 24, for example.
  • the coil 23 is energized, the rotor 22b rotates.
  • the input shaft 11 is integrally formed with the rotor 22b.
  • the motor 22 is a well-known one and will not be described in further detail.
  • the input shaft 11 of the motor 22 is connected to the cam portion 3 of the reduction gear device 10 of the first embodiment.
  • the stator 22a of the motor 22 is fixed to the housing 6 of the reduction gear device 10 of the first embodiment.
  • FIG. 9 shows a sectional view of the actuator 50 according to the second embodiment of the present invention.
  • the actuator 50 of the second embodiment is obtained by adding a motor 22 that rotationally drives the cam portion 34 to the speed reduction device 40 of the second embodiment.
  • a pair of second face gears 32 a and 32 b are provided so as to sandwich the first face gear 31.
  • the first face gear 31 has teeth 31a facing the second face gear 32a and teeth 31b facing the second face gear 32b in a back-to-back manner.
  • the teeth 31a of the first face gear 31 mesh with the teeth 32a1 of the second face gear 32a.
  • the teeth 31b of the first face gear 31 mesh with the teeth 32b1 of the second face gear 32b.
  • the shapes of the teeth 31a and 31b of the first face gear 31 and the teeth 32a1 and 32b1 of the second face gears 32a and 32b are the same as those of the reduction gear device 10 of the first embodiment.
  • the first face gear 31 is supported by the cam portion 34 so as to be capable of precessing.
  • the cam portion 34 includes a first cam 35 and a second cam 36.
  • a plurality of first balls 43 arranged in a ring shape are interposed between the first face gear 31 and the first cam 35.
  • a plurality of second balls 44 arranged in a ring shape are interposed between the first face gear 31 and the second cam 36.
  • the first cam 35 and the second cam 36 are fastened to each other by a fastening member 41 such as a bolt.
  • the second face gear 32 a is fixed to the housing 37.
  • a first bearing 46 is interposed between the second face gear 32 a and the first cam 35.
  • the second face gear 32 b is rotatably supported by the housing 37.
  • a second bearing 47 is interposed between the second face gear 32 b and the second cam 36.
  • An output part 32c is formed integrally with the second face gear 32b.
  • the cam portion 34 connected to the input shaft 11 rotates.
  • the cam portion 34 rotates, the first face gear 31 precesses.
  • the first face gear 31 precesses, the first face gear 31 rotates relative to the second face gear 32a by the difference in the number of teeth between the first face gear 31 and the second face gear 32a.
  • the second face gear 32 b rotates relative to the first face gear 31 by the difference in the number of teeth between the first face gear 31 and the second face gear 32 b.
  • the rotation of the second face gear 32b is the sum of the relative rotation of the first face gear 31 with respect to the second face gear 32a and the relative rotation of the second face gear 32b with respect to the first face gear 31.
  • a large reduction ratio can be obtained by rotating the two sets of face gears in a direction that cancels each other, and a small reduction ratio can be obtained by rotating in a direction that promotes each other.
  • the speed reducer has been described in the above embodiment, it can be used as a speed increaser by reversing the input side and the output side.
  • the speed increaser of the present invention can be used for a hydroelectric generator having a large power on the input side.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)
  • Gears, Cams (AREA)

Abstract

L'invention concerne un dispositif de diminution ou d'augmentation de vitesse pouvant réduire la composante de force dans la direction axiale (c'est-à-dire la force perdue) de la force de contact au niveau du point dans lequel une dent d'une première roue de champ s'engrène avec un entredent d'une seconde roue de champ (c'est-à-dire le point de contact), et pouvant augmenter relativement la composante de force dans la direction circonférentielle (c'est-à-dire la force d'entraînement), améliorant ainsi l'efficacité de transmission de couple. Le dispositif de diminution ou d'augmentation de vitesse comprend une première roue de champ (1), une seconde roue de champ (2) faisant face à la première roue de champ (1), et une partie came (3) destinée à incliner la première roue de champ (1) par rapport à la seconde roue de champ (2) de sorte que la première roue de champ (1) s'engrène avec la seconde roue de champ (2), et à amener la première roue de champ (1) à effectuer une précession afin de déplacer l'endroit d'engrènement. Le dispositif est conçu pour que le fond (19) d'un entredent (2b) de la seconde roue de champ (2), qui s'engrène avec une dent (1a) de la première roue de champ (1), ne se mette pas en contact avec la dent (1a) de la première roue de champ (1).
PCT/JP2017/037846 2016-11-09 2017-10-19 Dispositif de diminution ou d'augmentation de vitesse et actionneur WO2018088161A1 (fr)

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JP2016-218529 2016-11-09
JP2016218529A JP6770873B2 (ja) 2016-11-09 2016-11-09 減速又は増速装置及びアクチュエータ

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112303206A (zh) * 2020-10-29 2021-02-02 中南大学 一种面齿轮支撑结构及传动结构
CN114389427A (zh) * 2021-12-13 2022-04-22 浙江大学杭州国际科创中心 基于电磁致动器的高精度、可变速、大负载精密定位平台

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2020043620A (ja) * 2018-09-06 2020-03-19 Thk株式会社 アクチュエータ
CN116846132B (zh) * 2023-08-24 2023-11-03 河南烛龙高科技术有限公司 超旋减速电机

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11315908A (ja) * 1998-05-06 1999-11-16 Namu:Kk 歯車対及びコリオリ運動歯車装置
JP2012002237A (ja) * 2010-06-13 2012-01-05 Institute Of National Colleges Of Technology Japan 小型減速機、およびそれを利用した小径高トルクモータ
JP2016017607A (ja) * 2014-07-10 2016-02-01 キヤノン株式会社 歯車機構、変速機及び多関節ロボットアーム

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11315908A (ja) * 1998-05-06 1999-11-16 Namu:Kk 歯車対及びコリオリ運動歯車装置
JP2012002237A (ja) * 2010-06-13 2012-01-05 Institute Of National Colleges Of Technology Japan 小型減速機、およびそれを利用した小径高トルクモータ
JP2016017607A (ja) * 2014-07-10 2016-02-01 キヤノン株式会社 歯車機構、変速機及び多関節ロボットアーム

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112303206A (zh) * 2020-10-29 2021-02-02 中南大学 一种面齿轮支撑结构及传动结构
CN114389427A (zh) * 2021-12-13 2022-04-22 浙江大学杭州国际科创中心 基于电磁致动器的高精度、可变速、大负载精密定位平台
CN114389427B (zh) * 2021-12-13 2023-03-17 浙江大学杭州国际科创中心 基于电磁致动器的高精度、可变速、大负载精密定位平台

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TW201825804A (zh) 2018-07-16
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