WO2023042321A1 - Mécanisme d'élimination de jeu et dispositif de détection d'angle de rotation - Google Patents

Mécanisme d'élimination de jeu et dispositif de détection d'angle de rotation Download PDF

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Publication number
WO2023042321A1
WO2023042321A1 PCT/JP2021/034005 JP2021034005W WO2023042321A1 WO 2023042321 A1 WO2023042321 A1 WO 2023042321A1 JP 2021034005 W JP2021034005 W JP 2021034005W WO 2023042321 A1 WO2023042321 A1 WO 2023042321A1
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WIPO (PCT)
Prior art keywords
gear
pinion
stepped
teeth
rotatably held
Prior art date
Application number
PCT/JP2021/034005
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English (en)
Japanese (ja)
Inventor
卓也 村北
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村北ロボテクス株式会社
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Publication date
Application filed by 村北ロボテクス株式会社 filed Critical 村北ロボテクス株式会社
Priority to PCT/JP2021/034005 priority Critical patent/WO2023042321A1/fr
Priority to JP2022517942A priority patent/JP7130296B1/ja
Publication of WO2023042321A1 publication Critical patent/WO2023042321A1/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
    • F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
    • F16H1/20—Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members
    • 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
    • F16H55/18—Special devices for taking up backlash
    • 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
    • F16H57/00—General details of gearing
    • F16H57/12—Arrangements for adjusting or for taking-up backlash not provided for elsewhere

Definitions

  • the present invention relates to a backlash removal mechanism and a rotation angle detection device using the mechanism.
  • Devices for detecting the rotation angle of rotational motion are widely known, and for example, the magnetic type described in Document 1, the capacitance type described in Document 2, and the optical type are known.
  • Documents 3 to 5 use two gears with different numbers of teeth to enable multi-rotation measurement based on the so-called vernier principle.
  • Patent No. 6626476 U.S. Patent Application Publication No. 2002/000129 JP 2000-283704 JP 2004-354075 JP 2007-155698 Patent No. 3882167 JP 2004-044620
  • the present invention provides, in summary, the following.
  • a substrate, a large gear, a first small gear, a second small gear, a planetary gear, and an urging mechanism wherein the large gear is rotatably held by the substrate;
  • the small gear is rotatably held by the base while meshing with the large gear
  • the second small gear is rotatably held by the base while meshing with the large gear
  • the planetary gears are the first small gear and the second While meshing with both of the small gears, the first small gear, the second small gear, and the planetary gear are rotatably held by the biasing mechanism at a position where the respective rotation axes of the first and second small gears and the planetary gears are aligned approximately on the same plane.
  • the planetary gear is a stepped planetary gear, further comprising a first stepped gear and a second stepped gear, the large gear being rotatably held by a base material, and the first stage gear
  • the lower stage of the stepped gear is rotatably held by the base material while meshing with the large gear
  • the lower stage of the second stepped gear is rotatably held by the base material while meshing with the large gear
  • the first small gear is
  • the second pinion is rotatably held by the base material while meshing with the upper stage of the first stepped gear
  • the second pinion is rotatably held by the base material while meshing with the upper stage of the second stepped gear.
  • the number of teeth of the upper stage of the stepped gear is the same as the number of teeth of the upper stage of the second stepped gear, and the ratio of the number of teeth of the lower stage to the number of teeth of the upper stage of the stepped planetary gear is equal to the number of teeth of the first stage. equal to the ratio of the number of teeth of the lower stage of the second stepped gear to the number of teeth of the lower stage of the stepped gear, said stepped planetary gear having its lower stage meshing with the first pinion and its upper stage meshing with the second pinion.
  • a first stepped gear is a first stepped gear train that connects the large gear and the first pinion
  • a second stepped gear is the gear that connects the large gear and the second pinion.
  • a second stepped gear train coupled to the pinion gears, all gears in these gear trains being rotatably retained on respective substrates to urge said stepped planetary gears to The backlash removing mechanism according to [1] or [2], which removes all backlash between rows.
  • FIG. 1 shows the principle of the present invention, comprising a substrate 1, a large gear 2, a first pinion 3, a second pinion 4, a planetary gear 5 and a biasing mechanism 6.
  • the large gear 2 is rotatably held by the base material 1
  • the first small gear 3 is rotatably held by the base material 1 while meshing with the large gear 2
  • the second small gear 4 is meshed with the large gear 2.
  • the planetary gear 5 meshes with both the first small gear 3 and the second small gear 4, and the first small gear 3 and the second small gear 4 and the planets
  • the rotation axes of the gears 5 are rotatably held by the biasing mechanism 6 at a position in which the rotation axes of the gears 5 are aligned approximately on the same plane.
  • a backlash removing mechanism characterized in that the movement has a restoring force and urges the planetary gear 5 to remove backlash.
  • the biasing mechanism 6 may be, for example, a known invention such as a spring-biased swing arm (Reference 7), and as shown in FIG. 6d, the block 6a rotatably retains the planetary gear 5 and slides along a path defined by a guide 6b fixed to the substrate 1, a compression spring 6c biases the block 6a, and an anchor 6d.
  • a biasing mechanism that is fixed to the base material 1 and supports the reaction force of the compression spring 6c may be used.
  • the first small gear 3 when the planetary gear 5 is urged in the direction toward the rotation axis of the large gear 2, the first small gear 3 produces counterclockwise torque and the second small gear 4 produces clockwise torque. of torque is applied. Since the small gear 3 and the small gear 4 are torqued in opposite directions, the forces are balanced without rotating the large gear 2 .
  • the first pinion 3 contacts only the tooth flank that contacts when the large gear 2 is rotated clockwise, and conversely, the second pinion 4 contacts when the large gear 2 is rotated counterclockwise. contact only with the tooth flank that is in contact with This action eliminates the backlash.
  • the biasing mechanism may not only push, but also pull, in which case the contacting tooth flanks are reversed.
  • the gear train is meshed with each other, the planetary gear 5 or the biasing mechanism 6 is displaced only in a very small range, but within that range the pinion gears 3 and 4 and the planetary gear 5 form a differential mechanism. It eliminates backlash caused by static errors during gear manufacturing and dynamic errors such as wear and thermal expansion.
  • the biasing mechanism 6 does not necessarily have to be a linear motion mechanism, and as described above, it may be approximately linearly moved by a rotating mechanism such as a swing arm.
  • the term "gear” refers to a mechanism that transmits power through meshing of teeth.
  • the tooth profile may be involute, cycloid, trochoid, or the like.
  • the backlash removing mechanism includes a case where the large gear 2 is an internal gear, and a rack as a special case where the number of teeth of the large gear 2 is infinite. If the gear 2 is regarded as a rack, its motion can be regarded as linear motion rather than rotary motion. Further, the large gear 2 does not necessarily have to be circular, and may be provided with teeth on a free curve as long as it can be properly meshed with the small gears 3 and 4 .
  • the tooth width of the small gear 3 and the small gear 4 is increased, and the engagement position between the small gear 3 and the small gear 4 and the planetary gear 5 is adjusted. may be shifted in the tooth trace direction to avoid interference.
  • the small gears 3 and 4 do not necessarily have the same number of teeth. Rather, if different numbers of teeth are selected and absolute encoders are provided for each, they can be used as a multi-rotation rotation angle detector.
  • An absolute encoder means a device that can measure the absolute value of the rotation angle within the range of one rotation.
  • the rotation angle of the first pinion 3 and the rotation angle of the second pinion 4 show a unique combination within the range of the least common multiple of the number of teeth, it is possible to measure multiple rotations within that range. Become. For example, if the number of teeth of the first pinion is 19 and the number of teeth of the second pinion is 17, it is possible to measure up to 323 teeth. At this time, if the number of teeth of the large gear is 323, the second small gear can measure the rotation angle of the large gear with 19 times the resolution.
  • the number of teeth of the pinion is a product of suitable prime numbers
  • the number of rotations of the large gear can be measured up to 10 rotations.
  • the prime factors are selected from the sequence of prime numbers 2, 3, 5, and 7, which are selected in order from the smallest prime number, without duplication. has a special meaning in terms of design at the point where the is the minimum and at the point where the number of teeth is approximately equal. If the number of teeth is too small, they may be multiplied by any common natural number, ie the ratio of the number of teeth is 14:15.
  • the backlash removing mechanism includes a base material 1, a large gear 2, a first small gear 3, a second small gear 4, a stepped planetary gear 5, and an urging mechanism 6. , a first stepped gear 7 and a second stepped gear 8, the large gear 2 is rotatably held on the base material 1, and the lower stage of the first stepped gear 7 meshes with the large gear 2. The lower stage of the second stepped gear 8 is rotatably held by the base 1 while meshing with the large gear 2, and the first small gear 3 is held by the first stepped gear.
  • the second small gear 4 is rotatably held by the base material 1 while meshing with the upper stage of the second stepped gear 8 , and the stepped planetary gear 5 While the lower stage meshes with the first small gear 3 and the upper stage meshes with the second small gear 4, the rotation axes of the first small gear 3, the second small gear 4 and the stepped planetary gear 5 are approximately the same. It is rotatably held by an urging mechanism 6 at a position aligned on a plane, and the urging mechanism 6 is a mechanism with one degree of freedom that moves on a plane parallel to the rotation plane of the large gear 2, and the movement is a restoring force. and urging the stepped planetary gear 5 to remove the backlash.
  • the gears located on the far side of the paper are the lower gears
  • the gears on the front side of the paper are the upper gears.
  • This configuration has the effect of increasing the number of teeth of the pinion gears 3 and 4 in the configuration of FIG. can be done.
  • the reduction ratio of the gear train from the planetary gear 5 to the large gear 2 must be selected so as to match between the first and second trains. Therefore, planetary gears generally need to be stepped gears (including special cases in which the number of teeth of the upper and lower stages are the same and become ordinary spur gears).
  • the number of teeth of the upper and lower stages of the stepped planetary gear 5 can be derived from a simple calculation of the reduction ratio.
  • the product of the number of teeth of the upper stage of the second stepped gear 8 is the number of teeth of the upper stage of the stepped planetary gear 5 , the number of teeth of the lower stage of the second stepped gear 7 , and the first stepped gear 8 . and the number of teeth of the upper stage of .
  • the number of teeth of the lower stage of the first stepped gear 7 is 15, the number of teeth of the first pinion 3 is 11, the number of teeth of the second stepped gear 8 is 14, and the number of teeth of the second pinion 4 is 14. is 13, and the number of teeth of the upper stage of the stepped gear 7 and the stepped gear 8 is the same arbitrary number of teeth (for example, when the number of teeth of each is 10), the upper part of the stepped planetary gear 5
  • the number of teeth of the lower stage should be 15 and 14, respectively.
  • the prime factors of 11, 13, 14, and 15 teeth shown in the example are selected from the sequence of prime numbers 2, 3, 5, 7, 11, and 13, which are selected in order from the smallest prime number, so as not to overlap, and in the sense of the least common multiple
  • the point with the smallest number of teeth and the point with approximately the same number of teeth have special significance in terms of design. If the number of teeth is too small, they may be multiplied by any common natural number, ie the ratio of the number of teeth should be 11:13:14:15 regardless of the order.
  • suitable combinations include 13:14:15:17, 14:15:17:19, 17:19:21:22, 19:21:22:23.
  • any gear may be driven, and in that case, it can be used as a speed reducer while measuring the rotation angle.
  • a multi-stage speed reducer can be constructed, as shown in FIG. 4 are the stepped gear train 10 and the stepped gear train 11 that connect the large gear 2, the small gear 3 and the small gear 4, respectively, and A reduction gear with a large reduction ratio can be obtained by using a backlash removing mechanism characterized in that each gear in the row is rotatably held on the base material 1 .
  • This configuration is effective because it is possible to remove the backlash of all the gears with a single biasing mechanism. Since the stepped gear train can be replaced with a virtual stepped gear with the same reduction ratio in terms of the reduction ratio, multi-rotation measurement is possible on the same principle as the configuration of FIG.
  • the value expressed by the number of advanced teeth is referred to as the tooth angle.
  • the tooth angle of the second gear when the tooth angle of the first gear is aligned with 0 is specifically called the reference tooth angle. Since the reference tooth angle C indicates 182 unique numerical values that do not overlap with respect to the number of rotations N, the number of rotations and the angle of rotation of the first gear can be known by reading these combinations. In this case, it is desirable to create a lookup table such as that shown in FIG.
  • the rotation speed and rotation angle of the first pinion can be calculated based on the following procedure.
  • the ratio of the number of rotations of the first and second gears is changed from 11:13 to 165:182 by the action of the stepped gear, as if the first and second gears Since the number of teeth may be 165 and 182, respectively, when using a stepped gear or stepped gear train, the following first and second gears are these virtual gears.
  • An initial state in which the tooth angles of the first pinion (the number of teeth is Z) and the second pinion (the number of teeth is Y) are set to 0 is appropriately determined.
  • the number of rotations of the large gear can be easily calculated according to the reduction ratio with the first gear, but if the large gear is also provided with a third encoder, the measurable number of rotations can be further increased. . Since the number of teeth of the first and second small gears can be measured up to 30,030, they can be regarded as gears with 30,030 teeth. Since the relationship between the virtual gear and the large gear is the same as the relationship between the first and second small gears, based on the above procedure, the number of teeth of the large gear and the number of teeth of the least common multiple of 30030 are calculated. can be measured. For example, if the number of teeth of the large gear is a prime number such as 17, 19, or 23 that does not overlap with a prime factor of 30,030, then up to 30,030 revolutions can be measured.
  • a common method for removing gear backlash is the so-called scissor gear, but it must be used for all gear stages, and the biasing mechanism itself rotates, making it difficult to adjust and assemble. was the problem. According to this backlash removing mechanism, the backlash of the gear train can be removed centrally, and the biasing force can be varied as needed, which is a great advantage.
  • the backlash elimination mechanism can also be used as a speed reducer, or can constitute a multi-rotation goniometer using its constituent elements.
  • the goniometer and speed reducer are often used together, so it is highly effective in that they can be realized using the components of the backlash elimination mechanism.
  • FIG. 4 is a diagram showing an example in which the stepped gear in FIG. 4 is a stepped gear train;
  • FIG. 4 is a diagram showing an embodiment of a rotation angle detection device to which a backlash removal mechanism is applied;
  • FIG. 7 is an exploded view of the detection portion of FIG. 6; It is the figure which extracted and showed the biasing mechanism of FIG.
  • FIG. 4 is a diagram showing an example of a lookup table;
  • FIG. 6 shows an example in which the present invention is implemented as a rotation angle detection device, and FIG. , a second small gear 4, a planetary gear 5, and an urging mechanism 6.
  • the large gear 2 is rotatably held by a base (not shown but coupled to the base 1a).
  • the first small gear 3 is rotatably held on the base 1 while meshing with the large gear 2
  • the second small gear 4 is rotatably held on the base 1 while meshing with the large gear 2
  • the planetary gear 5 While meshing with both the first pinion 3 and the second pinion 4, the respective rotation axes of the first pinion 3 and the second pinion 4 and the planetary gear 5 are aligned approximately on the same plane.
  • the rotation angle detection device is characterized in that the planetary gear 5 is energized to eliminate backlash.
  • the base material 1 includes a lower case 1a, an upper case 1b, a set screw 1c, and a bearing 1f. It connects with the upper case 1b.
  • the first small gear 3 has a main body 3a and a permanent magnet 3b
  • the second small gear 4 also has a main body 4a and a permanent magnet 4b, which are rotatably held on the base material 1 via bearings 1f. .
  • a circuit board 9 is fixed to the screw hole 1e, and has a magnetic encoder 9a on its back surface to read the rotation angles of the permanent magnets 3b and 4b.
  • FIG. 8 is an extracted view of the biasing mechanism.
  • a convex block 6a is provided with a rotating shaft 6f, which rotatably holds the planetary gear 5 and guides it into the same shaped slot of the substrate 1.
  • the leaf spring 6c slides against the apex of the leaf spring 6c, and the end of the leaf spring 6c has a smooth arc shape and slides in contact with the base material 1, and the restoring force due to the deflection of the leaf spring 6c slides down the block 6a.
  • An urging mechanism characterized by urging.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)

Abstract

[Problème] Fournir un mécanisme d'élimination de jeu et un dispositif de détection d'angle de rotation utilisant le mécanisme d'élimination de jeu. [Solution] L'invention concerne un mécanisme d'élimination de jeu caractérisé en ce qu'il comprend un matériau de base (1), un grand engrenage (2), un premier petit engrenage (3), un second petit engrenage (4), un engrenage planétaire (5), et un mécanisme de sollicitation (6), le mécanisme de sollicitation (6) étant un mécanisme à un degré de liberté qui se déplace sur une surface parallèle à la surface de rotation du grand engrenage (2), le mouvement est assorti d'une force de rappel, et l'engrenage planétaire (5) est sollicité pour éliminer un jeu.
PCT/JP2021/034005 2021-09-15 2021-09-15 Mécanisme d'élimination de jeu et dispositif de détection d'angle de rotation WO2023042321A1 (fr)

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PCT/JP2021/034005 WO2023042321A1 (fr) 2021-09-15 2021-09-15 Mécanisme d'élimination de jeu et dispositif de détection d'angle de rotation
JP2022517942A JP7130296B1 (ja) 2021-09-15 2021-09-15 バックラッシ除去機構および回転角検出装置

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PCT/JP2021/034005 WO2023042321A1 (fr) 2021-09-15 2021-09-15 Mécanisme d'élimination de jeu et dispositif de détection d'angle de rotation

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3025990U (ja) * 1995-12-18 1996-06-25 祐司 澤木 バックラッシュの除去装置
JP2002500330A (ja) * 1997-12-30 2002-01-08 ネクストロム・ホールディング・ソシエテ・アノニム トランスミッション装置
JP2007155698A (ja) * 2005-12-08 2007-06-21 Bei Sensors & Systems Co Inc マルチターン用非接触式角度位置センサ
JP2012154417A (ja) * 2011-01-26 2012-08-16 Nachi Fujikoshi Corp バックラッシ調整装置
JP2015190842A (ja) * 2014-03-28 2015-11-02 オリエンタルモーター株式会社 歯車を適正位置に保持する歯車支持機構を用いる回転角検出装置

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS4953173U (fr) * 1972-08-25 1974-05-10
FR2221981A5 (fr) * 1973-03-14 1974-10-11 France Etat
GB2151327B (en) * 1983-12-12 1986-12-10 United Technologies Corp Power gearing
JP4953173B2 (ja) 2005-06-14 2012-06-13 純一 武野 意識システム
US20070295136A1 (en) * 2006-05-05 2007-12-27 The Regents Of The University Of California Anti-backlash gear system

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3025990U (ja) * 1995-12-18 1996-06-25 祐司 澤木 バックラッシュの除去装置
JP2002500330A (ja) * 1997-12-30 2002-01-08 ネクストロム・ホールディング・ソシエテ・アノニム トランスミッション装置
JP2007155698A (ja) * 2005-12-08 2007-06-21 Bei Sensors & Systems Co Inc マルチターン用非接触式角度位置センサ
JP2012154417A (ja) * 2011-01-26 2012-08-16 Nachi Fujikoshi Corp バックラッシ調整装置
JP2015190842A (ja) * 2014-03-28 2015-11-02 オリエンタルモーター株式会社 歯車を適正位置に保持する歯車支持機構を用いる回転角検出装置

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