WO2023120439A1

WO2023120439A1 - Planetary-type rotary motion-linear motion conversion device

Info

Publication number: WO2023120439A1
Application number: PCT/JP2022/046536
Authority: WO
Inventors: 博國松; 貴之國松
Original assignee: 博國松
Priority date: 2021-12-20
Filing date: 2022-12-16
Publication date: 2023-06-29

Abstract

[Problem] The main problem the present invention addresses is to provide a planetary-type rotary motion-linear motion conversion device with which minute linear motion can be realized with a simple configuration, and which has a high linear motion conversion efficiency. [Solution] In this planetary-type rotary motion-linear motion conversion device, the tooth height is higher compared to the prior art, and a spiral groove with a coarse pitch is selected. At a reference diameter in which the spiral groove of a planetary shaft differs due to the shape selection and combination of a tooth shape, the spiral groove of the planetary shaft engages with the spiral grooves of a sun shaft and a ring shaft, and minute linear motion is generated by adopting spiral groove dimensions which relax the axial position immobility of the planetary shaft and a traveling shaft. Provided is a planetary-type rotary motion-linear motion conversion device which achieves efficient conversion to linear motion without a mechanism that demands sliding in the engagement transmission of the traveling shaft and the planetary shaft and in the engagement transmission of a revolving shaft and the planetary shaft.

Description

Planetary rotation-linear motion converter

The present invention relates to a planetary rotation-linear motion conversion device.

A rotation-linear motion conversion device that converts rotation to linear motion, and as a highly efficient rotation-linear motion conversion device with rolling elements interposed, there are ball screw type and planetary type rotation-linear motion conversion devices. It has been known. The ball screw type excels in two-way motion conversion of rotation-linear motion and linear motion-rotation. On the other hand, the planetary type is good at converting rotation into fine linear motion, and the converted fine linear motion is amplified and can produce a powerful axial load.
The planetary rotation-to-linear motion converters disclosed in

Patent Documents

1 and 2 below were discovered and disclosed with specifications capable of providing fine linear motion within the limits imposed.

Further, as disclosed in Patent Document 3 below, a planetary mechanism composed of a sun shaft, a planetary shaft, and a ring shaft is provided with a screw gear and a helical gear, which are in mesh with each other. In rotational transmission by a two-system planetary mechanism, by providing a difference in the transmission rotation ratio between the screw gear and the helical gear, the screw gear is induced to lose rotational transmission, resulting in planetary motion. Rotary-to-linear motion converters are known.

Further, as disclosed in Patent Document 4 below, the sun shaft is provided with a spiral groove, the ring shaft is provided with an annular groove, and the planetary shaft is provided with annular and screw engagement grooves in the same region. Planetary rotary-to-linear motion converters that discreetly engage the ring shaft are known.

Further, as disclosed in Patent Document 5 below, there is known a structure in which thrust bearings are mounted for rotation and revolution of the planetary shaft in order to receive the strong linear motion of the planetary rotation-linear motion converter. It is

Japanese Patent Laid-Open No. 10-196757 JP 2007-051684 Patent 4186969 Japanese Patent Laid-Open No. 08-338461 JP 2007-032717

The planetary rotation-linear motion converter is a mechanical element whose main purpose is to obtain fine linear motion. It is a device that converts the rotation of one of the shafts or the ring shaft into the linear motion of the other.
To give a concrete example, if it is assumed that the sun axis, which is the running axis, is rotated, the planetary shaft with the spiral groove will move to the axis by pulling the spiral groove of the ring shaft due to its rotation. In the multi-threaded spiral groove of the shaft, the rotation of the planetary shaft is offset by the revolutional linear motion by twisting the spiral groove to pull back the planetary shaft by using the revolution of the planetary shaft. can be made immovable. Various restrictions are imposed on the selection of the spiral groove specifications for each of the three shafts in order to satisfy the conditions such as the axial position immobility.
As disclosed in

Patent Documents

1 and 2, the main role of the planetary rotation-linear motion conversion device is the miniaturization of the linear motion conversion, and the restriction that hinders the miniaturization is the biggest obstacle. This is a challenge that must be overcome.

In addition, the planetary rotation-linear motion conversion device is composed of a sun axis, a planetary axis, and a ring axis, which are parallel to each other. Since the finer the grain, the more time it takes to process, there is a need to expand the options for processing means in order to achieve both high precision and high efficiency.

Further, as disclosed in the above-mentioned Patent Document 3, it is known to provide a means for obtaining fine linear motion by providing two series of planetary gears side by side.
It is premised that the specifications are compatible with the two systems of the planetary mechanism, and it is not easy to select the specifications. The challenge is to simplify the configuration and increase the degree of freedom in selecting specifications.

Further, as disclosed in the above Patent Document 4, the planetary shaft has a spiral groove that engages with the sun shaft and an annular groove that engages with the ring shaft in the same region, which reduces the strength of the engagement groove. There are drawbacks. In addition, it is difficult to form the engagement grooves that are slightly different in the same area, and the dimensions of the engagement grooves are limited.

The planetary rotation-linear motion conversion device is characterized by fine linear motion conversion, and is also a device that produces a strong axial load. As disclosed in the above Patent Document 5, direct motion is transmitted using the shaft end face of the planetary shaft that engages with the ring shaft. However, since the planetary shaft revolves while rotating, the structure is inevitably complicated. The challenge is to simplify the reaction force support structure.

According to Patent Document 3, a planetary rotation-linear motion conversion mechanism is known that provides fine linear motion by providing two series of planetary gear mechanisms. By adding a planetary gear mechanism with a spur gear to a planetary rotation-linear motion conversion mechanism with a spiral groove, one of the sun shaft or the ring shaft and the planetary shaft can break the immovable state of the axis and generate a linear motion. ing. According to the description in paragraph 0134 of the specification, the specifications of the spiral grooves and spur gears are set such that the axial positions of both the sun shaft and the ring shaft are fixed with respect to the planetary shafts. Paragraph 0135 replaces the number of teeth of the sun shaft spur gear, and gives the specifications for direct movement of the planetary shaft with respect to the sun shaft. In other words, it is a configuration that allows slippage to occur in the spiral groove engagement between the shaft that generates direct motion and the planetary shaft, which is a factor that causes frictional resistance and a decrease in efficiency.

The present invention has been made in view of the above-mentioned problems in the conventional planetary rotation-linear motion conversion device. To provide a planetary rotation-linear motion conversion device that supports a structure for generating a linear motion and a powerful reaction force with a simple structure.

In the following description, one of the sun axis and the ring axis is set to be stationary with respect to the planetary axis. This axis is referred to as the revolution axis. The other shaft is axially translated to convert rotary motion into linear motion. This axis is expressed as a travel axis. Also, one of the sun axis and the ring axis that drives is referred to as a drive axis, and the other whose motion is converted to linear motion is referred to as a driven axis.

According to the present invention, the configuration for solving the above-mentioned major problem imposed on the planetary rotary-to-linear motion conversion device is the configuration of the first aspect, that is, the sun axis having parallel axes and the The planetary shaft engages with the respective engaging grooves, and the planetary shaft and the ring shaft having axes parallel to each other engage with the respective engaging grooves. In a planetary rotation-linear motion conversion device that converts the motion form with
The engagement groove of the planetary shaft that engages with the sun shaft is a single dimension engagement groove, and the engagement groove of the planetary shaft that engages with the ring shaft engages with the sun shaft. By a planetary rotation-linear motion conversion device, wherein the engagement groove is the same as the engagement groove of the planetary shaft, and the engagement groove provided in one of the sun shaft and the ring shaft is an annular groove achieved.

In addition, according to the present invention, the method of simplifying the compound planetary mechanism for extracting fine linear motion by cooperating the engagement of the spiral groove or screw gear and the spur gear or helical gear is the configuration of the second aspect of the present invention. That is, the sun shaft and the planetary shaft having axes parallel to each other are engaged by respective spiral grooves, the planetary shaft and the ring shaft having axes parallel to each other are engaged by respective spiral grooves, and the sun A planetary type in which one of the shaft and the ring shaft and the planetary shaft are meshed by respective spur gears, and they cooperate to convert the motion form between rotary motion and linear motion. In the rotary-linear motion conversion device,
The planetary shaft is provided with the helical groove and the spur gear having different reference diameters, and the sun shaft and the ring shaft are assigned to either a revolving shaft or a running shaft. In order to make the axial position with the planetary shaft immovable, the product of the rotation ratio driven by the meshing of the spur gear and the number of spiral grooves provided on the planetary shaft is the number of spiral grooves of its own. In order to engage with the planetary shaft and induce arbitrary linear motion conversion, the running shaft is corrected to the same value as the number, the reference diameter ratio of the adopted spiral groove and the ratio of the spiral grooves applied to the planetary shaft It is achieved by a planetary rotation-to-linear motion conversion device in which the linear conversion is modified by the product of the number of threads and the difference between the number of threads of its own helical groove.

The next object is to easily support the reaction force of the linear motion by making use of the characteristics of the planetary rotation-linear motion conversion device. The sun shaft and the planetary shaft having axes parallel to each other are engaged by their respective engaging grooves, and the planetary shaft and the ring shaft having axes parallel to each other are engaged by their respective engaging grooves, In a planetary rotation-linear motion conversion device that converts motion forms between rotary motion and linear motion,
Rotational motion of a drive shaft, which is one of the sun shaft and the ring shaft, is converted into linear motion of a driven shaft, which is the other of the sun shaft and the ring shaft, and the driven shaft is , a support shaft which is coaxially and spaced apart and which engages itself and said planetary shaft by means of respective engagement grooves, whereby said rotational movement of said drive shaft is coupled to said driven shaft and said planetary shaft; This is accomplished by a planetary rotary-to-linear motion converter that converts to differential with the support shaft.

The conventional planetary rotation-linear motion conversion device has various limitations because the engagement groove of the planetary shaft is engaged with the engagement groove of the sun shaft and the engagement groove of the ring shaft with the same reference diameter. cause to receive.
According to the fourth aspect of the present invention, the sun shaft and the planetary shaft having axes parallel to each other are engaged by respective spiral grooves, and the planetary shaft and the ring shaft having axes parallel to each other are engaged by respective spiral grooves. In a planetary rotation-linear motion conversion device that converts a motion form between rotary motion and linear motion by engaging with a spiral groove, the planet that is in contact with the reference diameter of the spiral groove of the sun shaft This is achieved by a planetary rotation-linear motion conversion device in which the reference diameter of the spiral groove of the shaft and the reference diameter of the spiral groove of the planetary shaft that is in contact with the reference diameter of the spiral groove of the ring shaft are different.

According to the configuration of the first aspect of the present invention, the engaging groove in one of the sun shaft and the ring shaft of the planetary rotation-to-linear motion converter is replaced with an annular groove. The effect is to increase the options for high-precision machining of the engagement groove.
A means for obtaining highly accurate spiral grooves is grinding, and a dedicated grinding machine is used for the purpose of spiral groove grinding. Grinding each groove along the spiral groove is a means of high precision, but it is difficult to say that it is highly efficient. On the other hand, for the grinding of annular grooves, that is, multi-groove surfaces, form grinding using a cylindrical grinder or centerless grinder is suitable, and means for achieving both high precision and high efficiency can be applied.

In addition, in the conventional planetary rotation-linear motion conversion device, when selecting the reference diameter of the engagement grooves provided on the sun shaft and the ring shaft with respect to the reference diameter of the engagement grooves of the planetary shaft, the axis position of the revolution shaft is fixed. constrained to be
On the other hand, if the engagement groove between the sun shaft or the ring shaft and the planetary shaft is an annular groove as in the first aspect of the present invention, the axial position is unconditionally immovable, and this imposes an imposition on the specifications of the engagement groove. restrictions are circumvented.
As a result, the degree of freedom in selecting the reference diameter is increased, and a reference diameter ratio of the engaging grooves that is advantageous for miniaturizing the linear motion conversion can be adopted.

According to the configuration of the second aspect of the present invention, the planetary shaft is provided with an engagement groove and a spur gear, the transmission between the revolution shaft and the planetary shaft is meshed by the spur gear, and the traveling shaft and the planetary shaft are engaged. The transmission is performed by engagement with an engagement groove, and by separating the rotation transmission, it is possible to adjust the reference diameter ratio of the engagement grooves of the running shaft and the planetary shaft.
As a result, it is possible to obtain a finer direct-motion conversion without being subject to the limitations of

Patent Documents

1 and 2. Since the specification of the engagement groove also allows the selection of an intermediate value of a decimal number, it is possible to set the required linear motion conversion. In addition, although Patent Document 3 uses a planetary gear mechanism with rotational transmission, the second aspect of this patent provides a simple configuration without relying on the second planetary gear mechanism.

Further, according to the configuration of the third aspect of the present invention, the planetary shaft is engaged with the support shaft for supporting the reaction force of the linear motion. As a result, the reaction force is transmitted through the driven shaft, the planetary shaft, and the support shaft, so that a large load is not applied to the drive shaft.
A planetary rotation-linear motion conversion device is a mechanism that produces a large axial load with a minute linear motion, that is, a small driving force. It is difficult to support. The present invention provides a configuration that does not place a burden on the drive shaft.

Further, according to the fourth aspect of the present invention, the rotation ratio between the sun axis and the planetary shaft and the rotation ratio between the ring shaft and the planetary shaft are set individually. As a result, the amount of linear motion can be freely adjusted in accordance with the difference between the rotation ratio and thread number ratio between the running shaft and the planetary shaft.
It is possible to obtain a finer and desired linear motion conversion without being subject to the limitations of

Patent Documents

1 and 2. In the conventional technology, fine spiral grooves are used to make linear motion finer. can be obtained. In the fourth aspect of the present invention, the engagement rotation of each shaft is configured to transmit rotation according to the reference diameter ratio.

FIG. 3 is a cross-sectional view showing an example of the planetary rotation-linear motion conversion device according to the first embodiment of the present invention, which is arrangement 1 of Table 2; (Embodiment 1) FIG. 4 is a cross-sectional view of arrangement 2 of Table 2, showing another example of a planetary rotary-to-linear motion converter according to the first aspect of the present invention; (Embodiment 2) FIG. 4 is a cross-sectional view showing an example of a planetary rotation-linear motion conversion device according to a second aspect of the present invention; (Embodiment 3) FIG. 4 is a cross-sectional view showing an example of a planetary rotation-linear motion conversion device according to a third aspect of the present invention, in which a support shaft is added to arrangement 2 of Table 2; (Embodiment 4) FIG. 4 is a cross-sectional view showing another example of a planetary rotation-to-linear motion conversion device according to the third aspect of the present invention; (Embodiment 5) FIG. 4 is a cross-sectional view showing a fourth aspect of the present invention; (Embodiment 6) 7 is an enlarged cross-sectional view of an engagement portion between a spiral groove provided on the sun shaft and a spiral groove on the planetary shaft of FIG. 6; FIG. 7 is an enlarged cross-sectional view of an engagement portion between a spiral groove provided on the ring shaft of FIG. 6 and a spiral groove of the planetary shaft; FIG.

[Principles and Constraints]
[Basic configuration of conventional technology]
The basic configuration of the planetary rotation-linear motion conversion device is that the spiral grooves of the sun shaft and the ring shaft engage with the spiral grooves of the planetary shaft to convert the motion form between rotary motion and linear motion. do.
The linear motion of the driven shaft is determined by a combination of the reference diameter (effective diameter) of each spiral groove, the number of threads of the spiral groove, the twisting direction of the spiral groove, and the engagement of the pitch. The principle is to keep the axis line position immovable with respect to the shaft, and this imposes various restrictions on specification selection.

Table 1 defines the specifications of the engagement grooves used in the following description.
The inner and outer diameters of the engaging groove are called "effective diameter" for engaging grooves such as spiral grooves, and "reference circle diameter" for spiral gears and spur gears. "Circle diameter" shall be abbreviated and "reference diameter" shall be used as a generic term.

The arrangement of the prior art, which is represented by Patent Document 1, is a configuration in which spiral grooves are formed on the running shaft, the planetary shaft, and the revolution shaft. The principles or constraints are as follows.
1) The reference diameter of each spiral groove has a relation of |d1-d2|=2dp.
2) The reference diameter of the engagement groove of the revolution shaft is a multiple of the planetary shaft.
Since the number of threads of the spiral groove is an integer value, the revolution axis and the planetary axis are integer multiples.
In order to keep the axis position stationary, it is necessary to offset the linear motion of the planetary shaft, which moves to the axis due to the rotation of the planetary shaft, with the linear motion of the planetary shaft, which moves to the axis due to the revolution. be.
In the formula, Z2=d2/dp・Zp=n (n is an integer value)
3) The reference diameter of the engagement groove of the running shaft is a multiple of the planetary shaft.
From items 1) and 2), the reference diameter of the spiral groove of the running shaft is expressed by d1=(2±n)dp.
4) The number of planetary shafts is a divisor of the sum of the number of spiral grooves on the sun shaft and ring shaft.
5) The linear momentum (linear conversion rate) per rotation of the sun axis or ring axis is expressed by the following equation.
Travel axis drive =d1/(d1+d2)・(d1/dp・Zp±Z1)・P Or revolution axis drive =d2/(d1+d2)・(d1/dp・Zp±Z1)・P be.

[Basic configuration of implementation 1]
Table 2 shows the types and configurations of the engagement grooves provided on the traveling shaft, revolution shaft, and planetary shaft of the planetary rotation-linear motion converter. Array 0 is a configuration based on the prior art, and

arrays

1 and 2 are configurations according to the first aspect of the present invention.

Array 1, which is the configuration of the first aspect of the present invention, has an annular groove in the engagement groove of the running shaft, which is one of the sun shaft and the ring shaft, and spiral grooves in the revolving shaft and the planetary shaft. be. Array 2 has annular grooves on the planetary shaft and revolution shaft, and spiral grooves on the running shaft. The principles and constraints of the specifications brought about by the configuration are described below. The definitions in Table 1 are used in the description using mathematical formulas.

In arrangement 1, an annular groove is provided in the engagement groove of the running shaft, and the main purpose is to efficiently machine the running shaft.
In order to reduce the motion conversion to linear motion, it is necessary to reduce the difference between the reference diameters of the spiral grooves of the revolution shaft and the planetary shaft.
1) The reference diameter of each engagement groove is |d1-d2|=2dp.
2) The engagement groove between the planetary shaft and the revolution shaft, the number of revolution shaft threads and the reference diameter ratio are integer values.
d2/dp・Zp=Z2=n (n is an integer value)
d2/dp・Zp: Rotational linear motion of planetary axis, Z2: Revolutionary linear motion of planetary axis.
3) The reference diameter of the spiral groove of the running shaft is a multiple of the planetary shaft.
4) The number of planetary shafts is a divisor of the number of spiral grooves provided on the revolution shaft.
5) The amount of linear motion per rotation of the drive shaft, that is, the conversion rate of linear motion is shown below.
Travel axis drive =d1/(d1+d2)・d1/dp・Zp・P or revolution axis drive =d2/(d1+d2)・d1/dp・Zp・P.

The principles and constraints of array 2 are as follows.
By adopting the annular groove, the restrictions on the ratio of the engagement grooves and the reference diameters of the revolution shaft and the planetary shaft are lifted, making it possible to select specifications that are advantageous for the direct motion conversion ratio.
1) The reference diameter of each engagement groove is |d1-d2|=2dp.
2) The number of spiral grooves on the running shaft is a multiple of the number of planetary shafts.
3) Direct motion conversion ratio is expressed by the following formula.
Travel axis drive =d1/(d1+d2)・Z1・P or revolution axis drive =d2/(d1+d2)・Z1・P

[Basic configuration of implementation 2]
The configuration of the second aspect of the present invention shows a measure for providing simple and fine translational motion conversion.
First, the planetary shaft is provided with an engaging groove and a spur gear, which are configured with different reference diameters. The revolving shaft and the planetary shaft are engaged by spur gears, and the traveling shaft and the planetary shaft are engaged by engagement grooves.
The planetary shaft and the revolving shaft are engaged with each other through a spiral groove, but the rotation transmission is mainly driven by the meshing of the spur gears. On the other hand, the rotation of the planetary shaft and the running shaft is transmitted by the engagement of the spiral grooves. Direct motion is changed.
That is, it means that the linear motion is modified by the difference between the rotational linear motion in which the planetary shaft moves to the axis line due to its rotation and the revolutional linear motion in which the planetary shaft moves to the axis line by revolving. When adopting the helical groove specifications of the running shaft and the planetary shaft, depending on the value of the reference diameter ratio, if the rotation linear motion is brought closer to the revolution linear motion, the linear motion conversion becomes finer, and if it is moved away, it becomes coarser.
In Patent Document 3, a two-system planetary gear mechanism is used, but in the second aspect of the present invention, the simple structure can freely adjust the linear motion.

The specifications used for explanation are defined in Table 3.

The principles and constraints of basic configuration 2 are shown below.
1) The specifications of each spiral groove and spur gear have the following relationship.
・ d1/dp and d2/dp accept non-integer values ・ dg/dpg・Zp=Z2 is an integer value
dg/dpg・Zp is the rotational linear motion of the planetary shaft,
Z2 is the number of spiral grooves on the revolution shaft and also the revolution linear motion of the planetary shaft.
・ When the revolution axis is a ring axis: d1+dp=dg-dpg, d2-d1=2dp
When the orbital axis is the sun axis: d1-dp=dg+dpg, d1-d2=2dp
2) Direct motion conversion ratio is expressed by the following formula.
Travel axis drive =d1・dpg/(d1・dpg+dg・dp)・(d1/dp・Zp±Z1)・P
Revolution axis drive =dg・dp /(d1・dpg+dg・dp)・(d1/dp・Zp±Z1)・P
3) By reducing the difference between the reference diameter ratio (d1/dp) of the engagement grooves of the running shaft and the planetary shaft, the product of the number of spiral grooves and threads of the planetary shaft, and the number of threads Z1 of the running shaft, the linear motion becomes finer and larger. If you set it, it will be rough. The reference diameter ratio of the engagement groove can be set arbitrarily.

[Basic configuration of implementation 3]
The basic configuration 3 of the implementation does not show the specifications and arrangement of the engaging grooves, but rather relates to a mechanism for supporting the reaction force of the translational motion conversion.
Based on the

arrangement

0, 1 and 2 of the basic configuration 1 of the implementation, a support shaft for supporting the reaction force of the linear motion is added to the planetary shaft, and the driven shaft and the support shaft are engaged with a space. The differential can be drawn out by
As a result, the reaction force is transmitted through the driven shaft, the planetary shaft, and the support shaft, so that the support shaft can receive the reaction force without imposing a heavy load on the drive shaft. In order to make the linear motion finer, the reference diameter ratio of the ring axis to the sun axis is increased. It can support the reaction force.
Embodiment 4 has a configuration in which support shafts are added to array 2. FIG.
The direct motion conversion rate is expressed as d2/(d1+d2)·Z1·P.
Embodiment 5 has a configuration in which a support shaft whose axial position is fixed by engagement of an annular groove is added to the planetary rotation-linear motion conversion device of the second aspect of the present invention. The planetary shaft has an engaging groove and a spur gear with different reference diameters.
Rotational transmission with one of the revolving shafts is meshed by spur gears,
Rotational transmission with the other running shaft is configured to produce fine linear motion conversion by separate transmission due to engagement by the engagement grooves.
That is, the mechanism of translational motion conversion is according to the second aspect of the present invention.
Engagement involving the support shaft is achieved by forming the engagement grooves of the support shaft and the planetary shaft with annular grooves. All are composed of spiral grooves to generate a differential between the support shaft and the ring shaft. The direct motion conversion rate is expressed below.
dg・dp/(d1・dpg+dg・dp)・(d1/dp・Zp±Z１)・P

[Basic configuration of implementation 4]
The planetary rotation-linear motion conversion device transmits rotation through the sun shaft, the planetary shaft, and the spiral grooves provided on the planetary shaft, and converts the rotary motion into the linear motion. And if the ring shaft and the planetary shaft have the same rotation ratio and thread number ratio, all the shafts remain in the same position in the axial direction and are nothing more than a rotary transmission mechanism.
From this state, if the rotation ratio or thread number ratio of either the sun shaft or the ring shaft and the planetary shaft is broken to make them unequal, linear motion conversion can be generated.
In

Patent Documents

1 and 2, in order to obtain fine linear motion, the specifications of the spiral groove are adopted, and the pitch of the spiral groove is selected to be fine.
In the fourth aspect of the present invention, on the contrary, a coarse groove pitch is selected, and the height of the tooth height is used to determine the reference diameter of the planetary shaft spiral groove in contact with the sun shaft spiral groove and the planetary shaft spiral in contact with the ring shaft spiral groove. A difference is provided in the reference diameter of the groove. In addition, by increasing the tooth height of the spiral groove, it is possible to form a highly precise and flexible tooth profile. As a method for changing the reference diameter, for example, the spiral groove can be realized by engaging with a curved tooth profile such as an involute tooth profile, a trapezoidal tooth profile with a different pressure angle, or a tooth profile with a bent tip.
A fourth aspect of the present invention is that the linear motion conversion ratio can be adjusted by engaging the engagement grooves of the planetary shaft with different reference diameters with the engagement grooves of the sun shaft and the ring shaft. .
Further, according to the planetary rotation-linear motion conversion device of Patent Document 3, the spiral groove between the running shaft and the planetary shaft is configured to cause slippage. It is a configuration that does not occur.

The specifications used for explanation are defined in Table 4.

The principles and limitations of the fourth aspect of the invention are set forth below.
The engagement points between the traveling shaft and the planetary shaft are the reference diameters d1 and dp1,
The points of engagement between the revolution shaft and the planetary shaft are reference diameters d2 and dp2.
1) The specifications of each spiral groove have the following relationships.
• d2/dp2 is an integer value and a non-integer value of d1/dp1.
・d2/dp2=Z2/Zp.
・|d1-d2|=dp1+dp2.
2) Direct motion conversion ratio is expressed by the following formula.
Travel axis drive =d1・dp2/(d1・dp2+d2・dp1)・(d1/dp1・Zp±Z1)・P
Revolution axis drive =d2・dp1/(d1・dp2+d2・dp1)・(d1/dp1・Zp±Z1)・P

[Embodiment 1]
FIG. 1 is arrangement 1 of Table 2, which is an example of a planetary rotary-to-linear motion converter according to the first aspect of the present invention.

Table 5 supplements the engagement groove specifications and the engagement relationship in FIG.

How to read Table 4 showing "engagement groove specifications and engagement relations" in FIG. 1 will be explained.
・ The circles at the intersections of the columns and rows indicate the axes that are engaged.
・ The upward direction of the 〇 mark indicates the planetary shaft 2, and the specifications of the engagement groove 2t.
(That is, the groove type/number of threads, reference diameter ratio, and total number) are listed in order.
・To the left of the 〇 mark, the engagement groove 1t of the upper sun shaft 1 and the engagement groove 3t of the lower ring shaft 3 (groove type, number of threads, reference diameter ratio, total number) are described in order.
Note that the terms "engagement groove specifications and engagement relationship" are also used in the following description.
1) As indicated by the number of circles, the single joint engagement groove 2t of the planetary shaft 2 is engaged with the engagement groove 1t of the sun shaft 1 and the engagement groove 3t of the ring shaft 3.
2) If you trace the ○ mark upward, the planetary shaft 2 has a single spiral groove 2t.
3) If you trace the circle mark in the upper row to the left, you will see that the engaging groove 1t of the sun shaft 1 has an annular groove, which has a reference diameter three times that of the engaging groove 2t of the planetary shaft 2.
4) If you trace the circle mark at the bottom to the left, you will see that the engagement groove 3t of the ring shaft 3 has five spiral grooves, and the reference diameter is five times that of the spiral groove of the planetary shaft 2.
5) The total number of planetary shafts 2 is 5, which is the same as the number of threads of the ring shaft 3.
6) The product of the reference diameter ratio <<5/1>> of the engagement grooves (2t, 3t) of the planetary shaft 2 and the ring shaft 3 and the number of spiral grooves 2t of the planetary shaft 2 <<1>>, that is, the The linear motion due to rotation is the same as the linear motion due to the revolution of the planetary shaft 2, that is, the number of threads of the engagement groove 3t of the ring shaft 3 is <<5, and the axial position between the planetary shaft 2 and the ring shaft 3 is immovable. .
7) The planetary shaft 2 moves along the annular groove 1t of the sun shaft 1, and the axial position is displaced.
Rotation of the sun axis 1 is thereby converted into linear motion of the ring axis 3 .
For reference, the direct motion conversion ratio is ≒ 1.1 (groove pitch is 1.)
8) A plurality of planetary shafts 2 are distributed on the circumference, and the shaft portions 5 at both ends of the planetary shafts 2 are inserted into the retainer 4 and rotatably stopped on the ring shaft 3 by retaining rings 6. ing.

[Embodiment 2]
FIG. 2 is Array 2 of Table 2, another example of a planetary rotary-to-linear motion converter according to the first aspect of the invention.
The purpose of this embodiment is to ensure that the axial positions of the planetary shaft and the orbiting shaft are fixed by engaging the planetary shaft and the ring shaft with an annular groove, and that the reference diameter ratio is not a multiple. It is acceptable.

Table 6 supplements the engagement groove specifications and the engagement relationship in FIG.

In Table 6, the ⋄ mark has been added to indicate the supplementation of rotational transmission by the meshing of spur gears. The ◯ mark indicates the engagement of the engagement groove as described above.
1) The engagement groove 2t of the planetary shaft 2 is an annular groove of a single dimension, and is engaged with the engagement groove 1t of the sun shaft 1 and the engagement groove 3t of the ring shaft 3.
2) The engaging groove 1t of the sun shaft 1 is a triple spiral groove, and the engaging groove 2t of the planetary shaft 2 is an annular groove, and the axial position is displaced by engagement.
3) The ring shaft 3 is provided with an engagement groove 3t, which engages with the engagement groove 2t of the planetary shaft 2. The reference diameter ratio is <<31:13>>, which is a non-integer multiple. is the engagement between the annular grooves, the axial position is immovable.
4) Spur gears (8, 7) are provided on the ring shaft 3 and the planetary shaft 2, which are revolution shafts, to complement the rotational transmission.
5) The spur gear 8 is fixed to the ring shaft 3 by fixing screws 10 at both ends of the ring shaft 3 . The spur gears 7 at both ends of the planetary shaft 2 are gear-cut in the engagement grooves 2t of the planetary shaft 2. As shown in FIG. Rotational motion of the sun shaft 1 is converted into linear motion of the ring shaft 3 via the planetary shaft 2 .
For reference, the direct motion conversion ratio is ≒ 0.42 (groove pitch is assumed to be 1)
6) The planetary shafts 2 are distributed around the circumference of the sun shaft 1 by means of which the shafts 5 are fitted in the retainer 4 .
Spur gears (7, 8) can also be replaced with helical gears. The shape of the engagement groove can be replaced by a screw groove, a screw gear, a spherical groove, or the like.

[Embodiment 3]
FIG. 3 is an example of a planetary rotary-to-linear motion conversion device according to the second aspect of the present invention. It is a simple structure and a structure that generates fine linear motion.

Table 7 supplements the specifications of the engagement groove and the spur gear and their relationship.

The ◯ mark in Table 7 indicates the transmission due to the engagement of the engagement groove.
A triangle mark indicates the engagement of the engagement groove.
The ☆ mark indicates the driving force of rotation due to meshing of gears.
A specific example will be explained with reference to FIG. 3 and Table 7.
1) The planetary shaft 2 is provided with a spiral groove 2t <<13>> and a spur gear 7 <<12>> with different reference diameters.
2) Tracing the ○ mark shows that the spiral grooves (1t, 2t) of the sun shaft 1 and the planetary shaft 2 are engaged. The product of the reference diameter ratio <<23:13>> and the number of spiral grooves 2t of the planetary shaft 2 <<1>>, that is, the rotational linear motion of the planetary shaft 2 is <<1.77>>, and the number of spiral grooves 1t of the sun shaft 1 <<1.77>>. 2>> That is, it is a value obtained by slightly removing the revolution linear motion of the planetary shaft 2.
3) When tracing the Δ mark, the spiral groove 3t of the ring shaft 3 and the spiral groove 2t of the planetary shaft 2 are engaged. The transmission rotation ratio due to engagement is originally <<49:13>>.
4) If you trace the ☆ mark, the spur gear 8 of the ring shaft 3 and the spur gear 7 of the planetary shaft 2 are meshed, the rotation ratio is <<4:1>>, and the spiral groove 2t of the planetary shaft 2 is The product "4" with the number of threads "1" and the number of threads "4" of the ring shaft 3 are the same, and the axial positions of the ring shaft 3 and the planetary shaft 2 are immovable. That is, the rotational linear motion of the planetary shaft 2 is corrected by the meshing of the spur gears (7, 8), and is canceled by the revolutional linear motion.
5) In this way, when the ring shaft 3 is driven, its rotational motion is converted into linear motion of the sun shaft 1.
6) When the standard diameter ratio of the engaging grooves of the sun shaft 1 and the planetary shaft 2 is <<23/13>>, the linear motion conversion rate is about 0.16 for the engaging groove pitch of 1;
7) If the specifications in parentheses in Table 7 are adopted, the product of the reference diameter ratio and the number of threads of the planetary shaft 2 will change from <<1.77>> to <<1.88>>, and the number of threads of the spiral groove of the sun shaft 2 will approach <<2>>. , the linear motion conversion ratio is halved to about 0.08. That is, when the rotation linear motion of the planetary shaft 2 approaches the revolution linear motion, the direct motion conversion rate is finely modified, and vice versa, it becomes rough.
8) In this embodiment, the ring shaft 3 is split in order to adjust the axial clearance between the sun shaft 1 and the ring shaft 3 .
A pair of ring shafts 3 provided with a spiral groove 3t are tightened by sandwiching a spur gear 8 and a spacer 13 for clearance adjustment, and a key 14 prevents reverse movement.
9) The planetary shafts 2 are distributed around the circumference of the sun shaft 1 by means of the retainer 4, the shaft portion 5 of which fits into the retainer 4; The retaining ring 6 prevents the retainer 4 from coming off the ring shaft 3 . Spur gears (7, 8) can also be replaced with helical gears. The shape of the engagement groove can be replaced by a screw groove, a screw gear, a spherical groove, or the like.

[Embodiment 4]
FIG. 4 shows an example of a planetary rotation-linear motion conversion device according to the third aspect of the present invention, having a configuration in which support shafts are added to arrangement 2 in Table 2. In FIG.
Whereas the prior art takes out the linear motion between the sun shaft 1 and the ring shaft 3, in the present embodiment, the reaction force received by the ring shaft 3, which is the driven shaft, is transferred through the planetary shaft 2. , the support shaft 12 receives the sun shaft 1, so that the sun shaft 1 is not subjected to a large burden.

Table 8 supplements the engagement groove specifications and engagement relationship in FIG.

Specifically, referring to FIG. 4 and Table 8,
1) As indicated by the circles, the engagement groove 2t of the planetary shaft 2 is engaged with the engagement groove 1t of the sun shaft 1, the engagement groove 3t of the ring shaft 3, and the engagement groove 12t of the support shaft 12. there is
2) The engagement grooves (1t, 2t, 12t) except for the ring shaft 3 are annular grooves, and the planetary shaft 2 is stationary with respect to the sun shaft 1 and the support shaft 12.
3) The ring shaft 3 is engaged with the planetary shaft 2 coaxially with the support shaft 12 with a space therebetween. The ring shaft 3 is provided with six spiral grooves as the engagement grooves 3t, and the rotation of the planetary shaft 2 displaces the axial position of the ring shaft 3 with respect to the planetary shaft 2. As shown in FIG. For reference, the direct motion conversion ratio is 2 (groove pitch is 1).
4) Driving the sun shaft 1 causes a differential between the support shaft 12 and the ring shaft 3;
5) The outer ring 11 is fitted to the inner diameter of the support shaft 12 and fixed to the support shaft 12 with the fixing screws 10 . The reason why the engagement groove 12t of the support shaft 12 is provided and separated from the outer ring 11 is to facilitate assembly.
It is also possible to assemble the planetary shaft 2 using elastic deformation by dividing the engagement groove portion as a thin outer ring 11, or to use the outer ring 11 divided into two.
6) The planetary shafts 2 are distributed around the circumference of the sun shaft 1 by means of which the shafts 5 are fitted in the retainer 4 .
A stop ring 6 prevents the retainer 4 from coming off the sun shaft 1 .

[Embodiment 5]
FIG. 5 shows a planetary rotation-to-linear motion conversion device with a support shaft according to a third aspect of the present invention, which is an embodiment different from that of FIG.
It is the structure provided with the mechanism of fine linear motion of the second aspect of the present patent and the support shaft whose axial position is fixed by the engagement of the annular groove described as the first aspect.

Table 9 supplements the engagement groove specifications and the engagement relationship in FIG.

The ◯ mark in Table 9 indicates the transmission due to the engagement of the engagement groove.
The ☆ mark indicates the driving force of rotation due to meshing of gears.
A triangle mark indicates the engagement of the engagement groove.
Specifically, referring to FIG. 5 and Table 9,
1) If you trace the ☆ marks in Table 9, the spur gear 8 of the sun shaft 1 and the spur gear 7 of the planetary shaft 2 are engaged to drive the rotation.
2) If you trace the Δ mark, the spiral groove 1t of the sun shaft 1 and the spiral groove 2t1 of the planetary shaft 2 are engaged.
The product of the rotation ratio <<2:1>> due to the engagement of the spur gears (8, 7) and the number of threads of the spiral groove 2t of the planetary shaft 2 <<1>> is the number of threads of the spiral groove 1t of the sun shaft 1 <<2>> Equivalently, the planetary axis 2 and the sun axis 1 are stationary in their axial positions.
That is, the rotational linear motion of the planetary shaft 2 is offset by the revolutional linear motion.
3) If you trace the upper ◯ mark, the spiral groove 12t of the ring shaft 3 and the spiral groove 2t2 of the planetary shaft 2 are engaged. The reference diameters of the spiral groove 2t2 of the planetary shaft 2 and the spur gear 7 are provided with an intended diameter difference. The product of the reference diameter ratio <<49:13>> between the spiral groove 3t of the ring shaft 3 and the spiral groove 2t2 of the planetary shaft 2 <<1>>, the number of threads of the spiral groove 2t of the planetary shaft 2 <<1>> is This value excludes the number of articles <<4>>.
That is, a difference is provided between the rotation linear motion and the revolution linear motion of the planetary shaft 2 .
4) If you trace the ◯ mark in the lower row, the annular groove 12t of the support shaft 12 and the annular groove 2t1 of the planetary shaft 2 are engaged, and the axial positions of the support shaft 12 and the planetary shaft 2 are immovable.
5) By means of them, the sun shaft 1 is driven and converted to a differential between the support shaft 12 and the ring shaft 3.
For reference, the direct motion conversion ratio is ≒ 0.08 (groove pitch is assumed to be 1).
6) The spur gear 8 is fixed to the sun shaft 1 by means of a spur gear fixture 9.
The planetary shafts 2 are distributed around the circumference of the sun shaft 1 by means of which the shaft portion 5 fits into the retainer 4 .
The spur gears (7, 8) can also be replaced with helical gears. The shape of the engagement groove can be replaced by a screw groove, a screw gear, a spherical groove, or the like.

[Embodiment 6]
FIG. 6 shows an example of a planetary rotation-linear motion conversion device based on the principle of the fourth aspect of the present invention.

The ◯ mark in Table 10 indicates rotational transmission due to the engagement of the helical groove.
☆ indicates rotational transmission by meshing of spur gears.
How to read Table 10 showing "spiral groove specifications and engagement relationship" in FIG. 6 will be explained.
・A circle mark at the intersection of a column and a row indicates a shaft in an engaged relationship.
・The upward direction of the row of 〇 marks represents the planetary shaft 2, and the specifications of the spiral groove 2t.
(That is, the groove type/number of threads, reference diameter ratio, and total number) are listed in order.
・To the left of the 〇 mark, the groove type/number of spiral grooves 1t of the upper sun shaft 1 and the spiral groove 3t of the lower ring shaft 3, the reference diameter (ratio), and the total number) are described in order.
・The upper direction of the star column indicates the reference diameter ratio/tooth ratio of the spur gear 7 of the planetary shaft 2, and the left direction of the row indicates the reference diameter ratio/tooth ratio of the spur gear 8 of the ring shaft 3. listed in order. A specific example will be described with reference to FIGS. 6, 7, 8 and Table 10.
1) If you trace the circle mark on the upper row, the sun shaft 1 is provided with two spiral grooves 1t, and is engaged with the spiral groove 2t of the planetary shaft 2 with a reference diameter 19.
FIG. 7 is a cross section showing the engagement between the spiral groove 1t of the sun shaft 1 and the spiral groove 2t of the planetary shaft 2. The engagement grooves 2t provided on the planetary shaft 2 are based on each other's involute tooth profile-like curved surfaces. Engaged at diameter 19.
2) If you trace the ◯ mark in the lower row, the ring shaft 3 is provided with four spiral grooves 3t, and the planetary shaft 2 is engaged with the reference diameter 20 of the spiral grooves 2t.
FIG. 8 is a cross section showing engagement between the spiral groove 3t of the ring shaft 3 and the spiral groove 2t of the planetary shaft 2. FIG. As for the tooth profile of the spiral groove 3t of the ring shaft 3, the reference diameter 20 of the spiral groove 2t of the planetary shaft 2 is moved to the tooth tip from the reference diameter 19 of the sun shaft 1 by selecting the pressure angle.
3) The number of threads of the spiral groove 3t of the ring shaft 3 and the rotation ratio of the ring shaft 3 and the planetary shaft 2 are the same, and the planetary shaft 2 and the ring shaft 3 are set so that their axial positions are immovable.
4) In this way, when a rotational motion is applied to the sun shaft 1, the motion is converted and the ring shaft 3 moves linearly. The closer the reference diameter ratio of the sun shaft 1 spiral groove 1t to the planetary shaft 2 spiral groove 2t is to the number of threads of the sun shaft 1 spiral groove 1t, the finer the linear motion becomes, and the farther away, the coarser.
5) When the standard diameter ratio of the spiral grooves of the sun axis 1 and the planetary axis 2 is <<25/11>>, the linear motion conversion rate is only <<0.1>> when the spiral groove pitch is <<1>>. Since the rectilinear transformation is minute, even if the pitch <<3>> is adopted, the rectilinear transformation is <<≈0.3>>.
The feature of the present invention is that the helical groove tooth profile is modified to freely set the three-axis engagement contact points, and by selecting a helical groove with a high tooth height, workability and processing accuracy are improved. . The contact point of each helical groove can be shifted from various combinations such as trapezoidal teeth with different pressure angles, involute tooth profiles, curved surfaces, planetary shaft two-tooth profiles, and circles.
6) If you trace the ☆ mark, the ring shaft 3 and the planetary shaft 2 are provided with spur gears (8, 7) that complement the rotational transmission. The immobility of the position is ensured, and the axial position is prevented from moving due to the error of the reference diameter of the spiral groove. The reference diameter of the planetary shaft spur gear 7 is set to be the same as the reference diameter 20 of the spiral groove 2t.
Both ends of the planetary shaft 2 are provided with spur gears 7 . Spur gears 8 are provided on both ends of the ring shaft 3, and are tooth-cut to avoid the spiral groove 3t.
The spur gears (7, 8) can be replaced with a helical gear, a cycloid tooth profile, or a positive rotation transmission means involving unevenness.
7) The planetary shafts 2 are distributed around the circumference of the sun shaft 1 by means of which the shanks 5 are fitted in the cages 4 .
The retaining ring 6 prevents the retainer 4 from coming off the ring shaft 3 .

1 Sun shaft 1t Engagement groove of sun shaft 2 Planetary shaft
2t planetary shaft engagement groove 2t1 planetary shaft engagement groove
2t2 Planetary shaft engagement groove 3 Ring shaft 3t Ring shaft engagement groove
4 Cage 5 Planetary axle 6 Retaining ring
7 Spur gear of planetary shaft 8 Spur gear of revolution shaft 9 Spur gear fixture
10 Fixing screw 11 Outer ring 12 Support shaft 12t Engagement groove of support shaft
13 Spacer 14 Key 19 Reference diameter 20 Reference diameter

Claims

having a sun axis (1), a planetary axis (2) and a ring axis (3) with axes of rotation parallel to each other;
The sun shaft (1), the ring shaft (3), and the planetary shaft (2), which are assigned to either the revolving shaft (3 or 1) or the traveling shaft (1 or 3), cooperate with each other. to constitute a planetary rotation-linear motion conversion mechanism,
a spur gear (8) and a spiral groove (3t or 1t) on the revolution axis (3 or 1);
a spur gear (7) and a spiral groove (2t) on the planetary shaft (2);
A spiral groove (1t or 3t) is provided on the running shaft (1 or 3),
The rotation transmission means between the revolution shaft (3 or 1) and the planetary shaft (2) is
meshing by the respective spur gears (8, 7);
The rotation transmission means between the traveling shaft (1 or 3) and the planetary shaft (2) is
Engagement by each said spiral groove (1t or 3t, 2t),
The reference diameter given to the spiral groove (2t) of the planetary shaft (2) is different from the reference diameter of the spur gear (7),
A planetary rotation-linear motion conversion device in which the amount of movement of the traveling axis (1 or 3) with respect to the revolving axis (3 or 1) varies according to the magnitude of the difference.
The spiral groove (2t) provided in the planetary shaft (2) has a reference diameter (20) that engages with the spiral groove (3t or 1t) of the revolution shaft (3 or 1) and the running shaft (1 or 3). ) has a difference in the reference diameter (19) that engages with the spiral groove (1t or 3t),
The reference diameter of the spur gear (7) of the planetary shaft (2) is the spiral groove provided on the planetary shaft (2) that engages with the spiral groove (3t or 1t) of the revolution shaft (3 or 1). 2. A planetary rotation-to-linear motion converter according to claim 1, which has the same diameter as said reference diameter (20) of (2t).
It has a sun axis (1), a planetary axis (2), a ring axis (3), a support axis (12), which have rotation axes parallel to each other, and either a revolving axis (3 or 1) or a running axis (1 or 3). The first planetary rotation-linear motion conversion mechanism and the A second planetary rotation-linear motion conversion mechanism formed by cooperating with the orbital shaft (3 or 1), the planetary shaft (2), and the support shaft (12) is coaxially spaced from the placed and
The revolving shaft (3 or 1) and the planetary shaft (2) are annular grooves (3t or 1t, 2t) respectively provided in both the first and second planetary rotation-linear motion mechanisms. engaged by
A spiral groove (3t) provided on the running shaft (3) engages with an annular groove (2t) provided on the planetary shaft (2),
An annular groove (12t) provided in the support shaft (12) engages with an annular groove (2t) provided in the planetary shaft (2),
As a result, rotational motion applied to any one of the revolving shaft (3 or 1), the running shaft (1 or 3) and the support shaft (12) is controlled by the running shaft (1 or 3) and the support shaft (12). 12) Planetary rotary-to-linear motion converter that is converted to differential with.
An engagement groove (12t) is provided in the inner diameter of the support shaft (12), and the outer ring (11) fixed to the inner diameter of the support shaft (12) is an elastically deformable member or can be divided.
The planetary rotation-linear motion conversion device according to claim 3.
It has a sun axis (1), a planetary axis (2), a ring axis (3), a support axis (12), which have rotation axes parallel to each other, and either a revolving axis (3 or 1) or a running axis (1 or 3). The first planetary rotation-linear motion conversion mechanism and the A second planetary rotation-linear motion conversion mechanism formed by cooperating with the revolution shaft (3 or 1), the planetary shaft (2), and the support shaft (12) is coaxially spaced from the placed and
The orbital shaft (3 or 1) and the planetary shaft (2) are individually separated from the individual spur gears (8, 7) respectively constituting the first and second planetary rotation-linear motion conversion mechanisms. of engagement grooves (3t or 1t, 2t1, 2t2), the same shaft connecting them, each meshing with the spur gears (8, 7),
The running shaft (1 or 3) and the support shaft (12) are engaged by engagement grooves (1t or 3t, 12t) respectively provided with the engagement grooves (2t1, 2t2) of the planetary shaft (2). death,
Thereby, the rotational motion applied to any one of the revolving shaft (3 or 1), the running shaft (1 or 3) and the support shaft (12) is controlled by the running shaft (1 or 3) and the support shaft (12). Planetary rotary-to-linear motion converter converted to differential with (12).