JP2002235825A - Rotating speed reducer - Google Patents
Rotating speed reducerInfo
- Publication number
- JP2002235825A JP2002235825A JP2001077243A JP2001077243A JP2002235825A JP 2002235825 A JP2002235825 A JP 2002235825A JP 2001077243 A JP2001077243 A JP 2001077243A JP 2001077243 A JP2001077243 A JP 2001077243A JP 2002235825 A JP2002235825 A JP 2002235825A
- Authority
- JP
- Japan
- Prior art keywords
- thin pipe
- cylindrical coil
- pipe
- outer peripheral
- thin
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Friction Gearing (AREA)
Abstract
Description
【０００１】［産業上の利用分野］電動モータ等に取り
付けて、回転速度を減速し、回転力を増大させる分野。[Industrial application field] A field in which the rotational speed is reduced and the rotational force is increased by being attached to an electric motor or the like.
【０００２】［従来技術］ （１）弾性歯車を使用した減速装置（ハーモニックドラ
イブ）。 （２）円筒コイルローラーを使用した直線運動駆動装置
（特開平０８−２１９２４８）。[Related Art] (1) A reduction gear (harmonic drive) using an elastic gear. (2) A linear motion drive device using a cylindrical coil roller (Japanese Patent Application Laid-Open No. 08-219248).
【０００３】［発明が解決しようとする課題］従来の歯
車減速に於いては、減速比及び伝達力を増大させるとす
べり率が増大し完全な潤滑が必要となり、且つ、バック
ラッシュが大きくなる等の欠点が存在した。更に、小型
化及び低コスト化の課題が存在した。[Problems to be Solved by the Invention] In the conventional gear reduction, when the reduction ratio and the transmission force are increased, the slip ratio increases, complete lubrication is required, and the backlash increases. There were drawbacks. Further, there is a problem of miniaturization and cost reduction.
【０００４】［課題を解決しようとするための手段］ （１）、圧接する円筒面の内周と外周の長さの差を利用
する。 （２）、圧接力を、円筒コイルローラーのコイル中心径
の弾性変形（巻数の増大）に起因させる。この際、コイ
ル中心径は、軸方向に沿って一定である必要はない。[Means for Solving the Problems] (1) The difference between the lengths of the inner circumference and the outer circumference of the cylindrical surface to be pressed against is utilized. (2) The pressing force is caused by elastic deformation (increase in the number of turns) of the center diameter of the coil of the cylindrical coil roller. In this case, the coil center diameter does not need to be constant along the axial direction.
【０００５】［発明の実施の形態］図面にしたがつて説
明する。図１は、本願発明の軸方向断面図であり、図２
のＡ−Ｂ断面図である。図２は、図１のＣ−Ｄ断面図で
ある。円筒コイルローラー４がリテイナー５により回転
シャフト１の回りに等分割に、且つ、回転シャフト１に
平行に配置された後に、薄肉パイプ２を半径方向に弾性
変形させて組み立てる。ここで、上記組立後にも、薄肉
パイプ２の半径方向の弾性歪は大部分は残ったままであ
る。次に、上記組立後の薄肉パイプ２の外側に、厚肉パ
イプ３を圧入する。 この際、円筒コイルローラー４の
弾性変形の大部分はコイル中心径の縮小、即ち、巻数の
増大となる。薄肉パイプ２の両端に固定されるフランジ
６の一方は上記組立後に固定する。次に、動作について
説明する。図１に於いて、薄肉パイプ２、あるいは、厚
肉パイプ３のどちらかを固定した状態で、回転シャフト
１を電動モーター等で回転させると、固定していない一
方が減速されて回転する。この際の減速比は、厚肉パイ
プ３の内周と薄肉パイプ２の外周の長さの差と薄肉パイ
プ２の外周の長さの比である。次に、薄肉パイプ２の半
径方向の弾性変形について述べる。薄肉パイプ２の端部
は、固定されるか、あるいは、出力を取り出すかのどち
らかであるために、変形しないことが極めて望ましい。
そうすると、薄肉パイプ２の半径方向の弾性変形は、軸
方向に沿って均一ではなく、端部を離れた位置から徐々
に変形し始める。故に、回転シャフト１と薄肉パイプ２
の間に組み込まれる円筒コイルローラー４のコイル中心
径は軸方向に沿って均一ではない、即ち、円筒コイルロ
ーラー４の中心軸線は直線とはならない、しかし、コイ
ルローラーの場合は中心軸線が曲線となってもスムース
な回転が可能である。次に、薄肉パイプ２が両端部で半
径方向の弾性変形を抑制されるために、円筒コイルロー
ラー４の圧接力は、前記両端部に近付くにつれて増大す
る。このことで、円筒コイルローラー４の軸方向位置は
薄肉パイプ２の中心近くに自動的に補正される円筒コイ
ルローラー４の両端には、ころがりをスムースにするた
めに、テーパー座がね７が組み込まれている。 本願発明の要旨は以上のごとくであるが、要約すると、
（１）、円筒コイルローラー４の弾性変形は、巻数が増
大する弾性変形であり、この弾性変形の反力を全ての圧
接力の源とする。 （２）、円筒コイルローラー４の弾性変形は、軸方向に
沿って均一でなくとも、即ち、コイルの中心軸線が曲線
であっても、スムースなころがりが可能である。 （３）、円筒コイルローラー４の軸方向位置は、圧接力
が減少する方に自動的に補正される。[Embodiment of the Invention] A description will be given with reference to the drawings. FIG. 1 is an axial sectional view of the present invention, and FIG.
It is AB sectional drawing of. FIG. 2 is a sectional view taken along line CD of FIG. After the cylindrical coil roller 4 is arranged equally by the retainer 5 around the rotary shaft 1 and parallel to the rotary shaft 1, the thin pipe 2 is assembled by elastically deforming the thin pipe 2 in the radial direction. Here, even after the above assembly, most of the elastic strain in the radial direction of the thin-walled pipe 2 remains. Next, the thick pipe 3 is pressed into the outside of the thin pipe 2 after the assembly. At this time, most of the elastic deformation of the cylindrical coil roller 4 results in a decrease in the coil center diameter, that is, an increase in the number of turns. One of the flanges 6 fixed to both ends of the thin pipe 2 is fixed after the assembling. Next, the operation will be described. In FIG. 1, when the rotary shaft 1 is rotated by an electric motor or the like in a state where either the thin pipe 2 or the thick pipe 3 is fixed, one of the unfixed pipes is decelerated and rotates. The speed reduction ratio at this time is the ratio of the difference between the inner circumference of the thick pipe 3 and the outer circumference of the thin pipe 2 and the outer circumference of the thin pipe 2. Next, radial elastic deformation of the thin pipe 2 will be described. It is highly desirable that the end of the thin-walled pipe 2 is not deformed because it is either fixed or takes out the output.
Then, the elastic deformation of the thin pipe 2 in the radial direction is not uniform along the axial direction, but gradually starts to deform from a position away from the end. Therefore, the rotating shaft 1 and the thin pipe 2
The center diameter of the coil of the cylindrical coil roller 4 incorporated between them is not uniform along the axial direction, that is, the center axis of the cylindrical coil roller 4 is not straight, but in the case of the coil roller, the center axis is curved. Even then, smooth rotation is possible. Next, since the elastic deformation in the radial direction is suppressed at both ends of the thin pipe 2, the pressing force of the cylindrical coil roller 4 increases as approaching the both ends. As a result, the axial position of the cylindrical coil roller 4 is automatically corrected near the center of the thin pipe 2. At both ends of the cylindrical coil roller 4, a tapered seat 7 is incorporated to smooth the rolling. Have been. The gist of the present invention is as described above.
(1) The elastic deformation of the cylindrical coil roller 4 is an elastic deformation in which the number of windings increases, and the reaction force of this elastic deformation is used as a source of all the pressing forces. (2) Even if the elastic deformation of the cylindrical coil roller 4 is not uniform along the axial direction, that is, even if the center axis of the coil is a curved line, smooth rolling is possible. (3) The axial position of the cylindrical coil roller 4 is automatically corrected so that the pressing force decreases.
【０００６】［実施例］ 回転シャフト１、 外径 ２０ｍｍ、材質 ＳＵＪ２、焼入れ後硬質クロー
ムメッキ。 薄肉パイプ２、 内径４０ｍｍ、外径４２ｍｍ、材質 ＳＵＳ３０４、内
面硬質クロームメッキ。 厚肉パイプ３、 内径４２・１５ｍｍ、材質 Ｓ４５Ｃ。 円筒コイルーローラー４、 線形２・０ｍｍ、同コイル外径１０・２０ｍｍ、コイル
コイルピッチ２・１ｍｍ、コイル自由長４０、材質 ピ
アノ線、外径センタレス研磨。 以上の数値、及び材質で実施した結果、減速比約１／２
８０となり、本願発明の技術思想を裏付ける明確な結果
がでている。Example Rotating shaft 1, outer diameter 20 mm, material SUJ2, hard chrome plating after quenching. Thin pipe 2, inner diameter 40mm, outer diameter 42mm, material SUS304, inner hard chrome plating. Thick pipe 3, inner diameter 42.15 mm, material S45C. Cylindrical coil-roller 4, linear 2.0 mm, coil outer diameter 10.20 mm, coil coil pitch 2.1 mm, coil free length 40, material piano wire, outer diameter centerless polishing. As a result of using the above values and materials, the reduction ratio was about 1/2
80, indicating a clear result supporting the technical idea of the present invention.
【０００７】［発明の効果］ （１）、大きな減速比が容易に達成できる。 （２）、バックラッシュがない。 （３）、小型化及び低コスト化が可能である。 （４）、ころがり伝達であるために、特殊な潤滑を必要
としない。[Effects of the Invention] (1) A large reduction ratio can be easily achieved. (2) No backlash. (3) It is possible to reduce the size and cost. (4) Rolling transmission does not require special lubrication.
【図１】本願発明の軸方向断面図で、図２のＡ−Ｂ断面
図。1 is an axial sectional view of the present invention, and is a sectional view taken along a line AB in FIG. 2;
【図２】本願発明の軸直角断面図で、図１のＣ−Ｄ断面
図。FIG. 2 is a sectional view taken at right angles to the axis of the present invention, and is a sectional view taken along line CD of FIG. 1;
（１）は、回転シャフト。 （２）は、薄肉パイプ。 （３）は、厚肉パイプ。 （４）は、円筒コイルローラー。 （５）は、リテイナー。 （６）は、フランジ。 （７）は、テーパー座がね。 (1) is a rotating shaft. (2) is a thin pipe. (3) is a thick pipe. (4) is a cylindrical coil roller. (5) is a retainer. (6) is a flange. (7) is a tapered seat.
Claims (2)
円筒コイルローラー（４）をリテイナー（５）により等
間隔に配置し、該円筒コイルローラーの外周に薄肉パイ
プ（２）を半径方向に弾性変形させた状態で圧接させ、
更に、該薄肉パイプの外周長さよりわずかに大なる内周
長さを有する厚肉パイプ（３）を該薄肉パイプの外側に
圧入させたことを特徴とする回転減速装置。1. A plurality of cylindrical coil rollers (4) are arranged at equal intervals on an outer peripheral surface of a rotating shaft (1) by a retainer (5), and a thin pipe (2) is formed on the outer periphery of the cylindrical coil roller by a radius. Pressure contact while elastically deformed in the direction,
Furthermore, a thick pipe (3) having an inner peripheral length slightly larger than the outer peripheral length of the thin pipe is pressed into the outside of the thin pipe.
減少させることにより、円筒コイルローラー（４）の軸
方向位置を補正するようにしたことを特徴とする請求項
１記載の回転減速装置。2. The rotation according to claim 1, wherein the axial position of the cylindrical coil roller is corrected by reducing the amount of elastic deformation at both ends of the thin pipe. Reduction gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2001077243A JP2002235825A (en) | 2001-02-09 | 2001-02-09 | Rotating speed reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2001077243A JP2002235825A (en) | 2001-02-09 | 2001-02-09 | Rotating speed reducer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JP2002235825A true JP2002235825A (en) | 2002-08-23 |
Family
ID=18934030
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2001077243A Pending JP2002235825A (en) | 2001-02-09 | 2001-02-09 | Rotating speed reducer |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2002235825A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8562474B2 (en) | 2011-03-22 | 2013-10-22 | Seiko Epson Corporation | Speed reducer, robot hand and robot |
| US8568264B2 (en) | 2011-03-23 | 2013-10-29 | Seiko Epson Corporation | Speed reducer, robot hand and robot |
| US8651992B2 (en) | 2011-03-22 | 2014-02-18 | Seiko Epson Corporation | Speed reducer, robot hand and robot |
| US8840513B2 (en) | 2011-03-22 | 2014-09-23 | Seiko Epson Corporation | Speed reducer, robot hand and robot |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60134956A (en) * | 1983-12-23 | 1985-07-18 | Nec Corp | Information processing system |
| JPH06241285A (en) * | 1993-02-20 | 1994-08-30 | Harmonic Drive Syst Ind Co Ltd | Friction gearing type wave motion device |
-
2001
- 2001-02-09 JP JP2001077243A patent/JP2002235825A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60134956A (en) * | 1983-12-23 | 1985-07-18 | Nec Corp | Information processing system |
| JPH06241285A (en) * | 1993-02-20 | 1994-08-30 | Harmonic Drive Syst Ind Co Ltd | Friction gearing type wave motion device |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8562474B2 (en) | 2011-03-22 | 2013-10-22 | Seiko Epson Corporation | Speed reducer, robot hand and robot |
| US8651992B2 (en) | 2011-03-22 | 2014-02-18 | Seiko Epson Corporation | Speed reducer, robot hand and robot |
| US8840513B2 (en) | 2011-03-22 | 2014-09-23 | Seiko Epson Corporation | Speed reducer, robot hand and robot |
| US8568264B2 (en) | 2011-03-23 | 2013-10-29 | Seiko Epson Corporation | Speed reducer, robot hand and robot |
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