JP2010164088A - 歯車装置および揺動歯車装置 - Google Patents
歯車装置および揺動歯車装置 Download PDFInfo
- Publication number
- JP2010164088A JP2010164088A JP2009004859A JP2009004859A JP2010164088A JP 2010164088 A JP2010164088 A JP 2010164088A JP 2009004859 A JP2009004859 A JP 2009004859A JP 2009004859 A JP2009004859 A JP 2009004859A JP 2010164088 A JP2010164088 A JP 2010164088A
- Authority
- JP
- Japan
- Prior art keywords
- pin
- gear
- holding groove
- tooth
- groove
- 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.)
- Granted
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/008—Changing the transfer ratio between the steering wheel and the steering gear by variable supply of energy, e.g. by using a superposition gear
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
- F16H1/321—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear the orbital gear being nutating
-
- 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
- F16H55/10—Constructively simple tooth shapes, e.g. shaped as pins, as balls
-
- 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
- F16H35/00—Gearings or mechanisms with other special functional features
- F16H35/008—Gearings or mechanisms with other special functional features for variation of rotational phase relationship, e.g. angular relationship between input and output shaft
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/19—Gearing
- Y10T74/19642—Directly cooperating gears
- Y10T74/1966—Intersecting axes
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Retarders (AREA)
- Power Steering Mechanism (AREA)
- Gears, Cams (AREA)
Abstract
【解決手段】第1の歯車装置は、第1の歯車としての入力部材20と、第2の歯車としての内輪391とを備える。内輪391の第1の端部391aは、入力部材20に対して傾斜しつつ噛み合っている。入力部材20は、入力部材本体201に形成された複数の保持溝79と、各保持溝79に保持され入力部材20の歯81をそれぞれ構成する複数のピン77とを含む。第1の端部391aは、ピン77に係合可能な複数の歯溝80を有する。保持溝77および歯溝80からピン77が受ける力F1,F2の合力F1+F2が、ピン77を保持溝79側に付勢するようにしてある。保持溝79の内面79bに対するピン77の第1の接触角βは、歯溝80の内面80bに対するピン77の第2の接触角αよりも大きい。
【選択図】図8
Description
上記式(1)が成立することにより、第1のモーメントM1が第2のモーメントM2より大きくなる理由を以下に説明する。
F3’×L=F2×μ×cosθ×L・・・・・(2)となる。
F2’×L=F2×sinθ×L・・・・・(3)となる。
F2×μ×cosθ×L<F2×sinθ×Lである。この不等式からF2およびLを除すると、
μcosθ<sinθとなるので、整理すると、
μ<sinθ/cosθとなり、さらには、
μ<tanθ・・・・・(4)となる。
180=θ+θ+{α+90+(90−β)}
=2×θ+180+α−βとなる。
Claims (4)
- 第1の軸線の回りに回転可能な第1の歯車と、
第1の軸線に対して傾斜する第2の軸線の回りに回転可能とされ第1の歯車と動力伝達可能に噛み合う第2の歯車とを備え、
上記第1および第2の歯車の一方は、当該一方の歯車の軸線を中心に放射状に配置された複数の保持溝と、各保持溝に保持され上記第1および第2の歯車の上記一方の歯をそれぞれ構成する複数のピンとを含み、
上記第1および第2の歯車の他方は、当該他方の歯車の軸線を中心に放射状に配置され上記ピンに係合可能な複数の歯溝を有し、
保持溝および歯溝からピンが受ける力の合力が、ピンを保持溝側に付勢するようにしてあることを特徴とする歯車装置。 - 請求項1において、上記保持溝の内面に対するピンの第1の接触角は、歯溝の内面に対するピンの第2の接触角よりも大きいことを特徴とする歯車装置。
- 請求項1または2において、上記歯溝からピンが受ける力がピンを保持溝およびピンの接触点回りに回転させる第1のモーメントは、歯溝の内面に対するピンの摩擦力がピンを上記接触点回りに回転させる第2のモーメントよりも大きくされていることを特徴とする歯車装置。
- 請求項1〜3の何れか1項に記載の歯車装置を2つ備え、
2つの第1の歯車は、2つの第2の歯車を挟んで配置されており、
上記2つの第2の歯車は、互いの軸線が合致するように配置され第2の軸線の回りに同行回転可能に連結されていることを特徴とする揺動歯車装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2009004859A JP5433238B2 (ja) | 2009-01-13 | 2009-01-13 | 歯車装置および揺動歯車装置 |
CN200910254282.7A CN101776130B (zh) | 2009-01-13 | 2009-12-14 | 齿轮装置以及章动齿轮装置 |
US12/652,880 US8216104B2 (en) | 2009-01-13 | 2010-01-06 | Gear set and nutation gear set |
AT10150538T ATE526524T1 (de) | 2009-01-13 | 2010-01-12 | Zahnradsatz und nutationszahnradsatz |
EP10150538A EP2206936B1 (en) | 2009-01-13 | 2010-01-12 | Gear set and nutation gear set |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2009004859A JP5433238B2 (ja) | 2009-01-13 | 2009-01-13 | 歯車装置および揺動歯車装置 |
Publications (3)
Publication Number | Publication Date |
---|---|
JP2010164088A true JP2010164088A (ja) | 2010-07-29 |
JP2010164088A5 JP2010164088A5 (ja) | 2012-01-26 |
JP5433238B2 JP5433238B2 (ja) | 2014-03-05 |
Family
ID=41719310
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2009004859A Active JP5433238B2 (ja) | 2009-01-13 | 2009-01-13 | 歯車装置および揺動歯車装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US8216104B2 (ja) |
EP (1) | EP2206936B1 (ja) |
JP (1) | JP5433238B2 (ja) |
CN (1) | CN101776130B (ja) |
AT (1) | ATE526524T1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2019221310A1 (ko) * | 2018-05-15 | 2019-11-21 | (주)로보티즈 | 2점 접촉 내접기어를 갖는 기어 모듈 |
Families Citing this family (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5282938B2 (ja) * | 2008-07-07 | 2013-09-04 | 株式会社ジェイテクト | 伝達比可変機構およびこれを備える車両用操舵装置 |
US20110017005A1 (en) * | 2009-07-22 | 2011-01-27 | International Truck Intellectual Property Company, Llc | Reduced friction ring and pinion gear set |
JP5423461B2 (ja) * | 2010-02-12 | 2014-02-19 | 株式会社ジェイテクト | 揺動歯車の加工方法 |
JP2014035016A (ja) * | 2012-08-08 | 2014-02-24 | Jtekt Corp | 伝達比可変装置 |
JP2014098469A (ja) * | 2012-11-16 | 2014-05-29 | Jtekt Corp | 伝達比可変装置 |
JP6305076B2 (ja) * | 2014-01-29 | 2018-04-04 | キヤノン株式会社 | 歯車機構、変速機及び多関節ロボットアーム |
WO2016140234A1 (ja) * | 2015-03-02 | 2016-09-09 | Thk株式会社 | 減速又は増速装置 |
JP6954817B2 (ja) * | 2017-11-30 | 2021-10-27 | ナブテスコ株式会社 | 補助装置 |
CN108533708B (zh) * | 2018-06-15 | 2022-08-09 | 王踊 | 推力滚齿齿轮及使用此种齿轮的传动装置 |
CN111237400B (zh) * | 2020-03-20 | 2023-01-17 | 苏州大学 | 双球面摆线滚子章动传动装置 |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH10246293A (ja) * | 1997-03-04 | 1998-09-14 | Namu:Kk | 変速歯車装置 |
JPH11315908A (ja) * | 1998-05-06 | 1999-11-16 | Namu:Kk | 歯車対及びコリオリ運動歯車装置 |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
IS988B6 (is) * | 1975-04-15 | 1978-03-08 | Balcke-Dürr AG. | Tannhjólakerfi |
CN1018567B (zh) * | 1988-06-30 | 1992-10-07 | 湖南省机械研究所 | 少齿差星轮减速器和变速器 |
EP0412767A3 (en) * | 1989-08-08 | 1992-11-19 | Tai-Her Yang | A rigid harmonic speed reduction or angle cutting driving method and structure |
JPH0544794A (ja) * | 1991-08-08 | 1993-02-23 | Hitachi Ltd | 揺動回転板を用いた減速装置 |
IT235746Y1 (it) | 1995-12-21 | 2000-07-12 | Galasso Piero | Apparecchiatura per la rilevazione e la visualizzazione dellepressioni plantari in stato di quiete e di moto |
US5967883A (en) * | 1996-12-28 | 1999-10-19 | Namu Co., Ltd. | Working apparatus provided with rotary table for mass-production of gears |
US6348021B1 (en) * | 1999-12-15 | 2002-02-19 | Alphonse J. Lemanski | Variable speed power transmission |
JP4939191B2 (ja) * | 2006-12-01 | 2012-05-23 | 荻野工業株式会社 | 揺動型歯車装置 |
-
2009
- 2009-01-13 JP JP2009004859A patent/JP5433238B2/ja active Active
- 2009-12-14 CN CN200910254282.7A patent/CN101776130B/zh active Active
-
2010
- 2010-01-06 US US12/652,880 patent/US8216104B2/en active Active
- 2010-01-12 EP EP10150538A patent/EP2206936B1/en active Active
- 2010-01-12 AT AT10150538T patent/ATE526524T1/de not_active IP Right Cessation
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH10246293A (ja) * | 1997-03-04 | 1998-09-14 | Namu:Kk | 変速歯車装置 |
JPH11315908A (ja) * | 1998-05-06 | 1999-11-16 | Namu:Kk | 歯車対及びコリオリ運動歯車装置 |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2019221310A1 (ko) * | 2018-05-15 | 2019-11-21 | (주)로보티즈 | 2점 접촉 내접기어를 갖는 기어 모듈 |
KR20190130760A (ko) * | 2018-05-15 | 2019-11-25 | (주)로보티즈 | 2점 접촉 내접기어를 갖는 기어 모듈 |
KR102087879B1 (ko) * | 2018-05-15 | 2020-03-12 | (주)로보티즈 | 2점 접촉 내접기어를 갖는 기어 모듈 |
US11105397B2 (en) | 2018-05-15 | 2021-08-31 | Robotis Co., Ltd. | Gear module comprising two-point contact internal gear |
Also Published As
Publication number | Publication date |
---|---|
EP2206936B1 (en) | 2011-09-28 |
ATE526524T1 (de) | 2011-10-15 |
US20100179012A1 (en) | 2010-07-15 |
CN101776130B (zh) | 2014-09-03 |
CN101776130A (zh) | 2010-07-14 |
US8216104B2 (en) | 2012-07-10 |
EP2206936A1 (en) | 2010-07-14 |
JP5433238B2 (ja) | 2014-03-05 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP5433238B2 (ja) | 歯車装置および揺動歯車装置 | |
JP5227853B2 (ja) | 揺動型歯車装置、伝達比可変機構、および車両用操舵装置 | |
JP5282938B2 (ja) | 伝達比可変機構およびこれを備える車両用操舵装置 | |
JP5234314B2 (ja) | 車両用操舵装置 | |
JP5229543B2 (ja) | 車両用操舵装置 | |
JP2006082718A (ja) | 舵角比可変操舵装置 | |
JP5218830B2 (ja) | 車両用操舵装置 | |
JP5224109B2 (ja) | 車両用操舵装置 | |
JP5257682B2 (ja) | 揺動歯車装置、伝達比可変機構、および車両用操舵装置 | |
JP5472686B2 (ja) | 車両用操舵装置 | |
JP5234313B2 (ja) | 車両用操舵装置 | |
JP5110361B2 (ja) | 伝達比可変機構およびこれを備える車両用操舵装置 | |
JP5110362B2 (ja) | 伝達比可変機構およびこれを備える車両用操舵装置 | |
JP5333846B2 (ja) | 揺動型歯車装置、伝達比可変機構、および車両用操舵装置 | |
JP2010060018A (ja) | 揺動型歯車装置、伝達比可変機構および車両用操舵装置 | |
JP5158419B2 (ja) | 車両用操舵装置 | |
JP2008201378A (ja) | 舵角可変式ステアリング装置 | |
JP2010036748A (ja) | 減速機およびこれを備える電動パワーステアリング装置 | |
JP2010025307A (ja) | 減速機およびこれを備える電動パワーステアリング装置 | |
JP2009208557A (ja) | 車両用操舵装置 | |
JP2006083930A (ja) | 自在継手 | |
JP2010006341A (ja) | 車両用操舵装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A711 | Notification of change in applicant |
Free format text: JAPANESE INTERMEDIATE CODE: A711 Effective date: 20110525 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A821 Effective date: 20110525 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20110719 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A821 Effective date: 20110720 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20111207 |
|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20111207 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20121211 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20121220 |
|
A02 | Decision of refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A02 Effective date: 20130411 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20130710 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A821 Effective date: 20130711 |
|
A911 | Transfer to examiner for re-examination before appeal (zenchi) |
Free format text: JAPANESE INTERMEDIATE CODE: A911 Effective date: 20130805 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20131010 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20131018 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20131114 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20131209 |
|
R150 | Certificate of patent or registration of utility model |
Free format text: JAPANESE INTERMEDIATE CODE: R150 Ref document number: 5433238 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
S111 | Request for change of ownership or part of ownership |
Free format text: JAPANESE INTERMEDIATE CODE: R313117 |
|
R371 | Transfer withdrawn |
Free format text: JAPANESE INTERMEDIATE CODE: R371 |
|
S111 | Request for change of ownership or part of ownership |
Free format text: JAPANESE INTERMEDIATE CODE: R313117 |
|
S531 | Written request for registration of change of domicile |
Free format text: JAPANESE INTERMEDIATE CODE: R313531 |
|
R350 | Written notification of registration of transfer |
Free format text: JAPANESE INTERMEDIATE CODE: R350 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |