JP2016017607A5 - - Google Patents
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- JP2016017607A5 JP2016017607A5 JP2014141983A JP2014141983A JP2016017607A5 JP 2016017607 A5 JP2016017607 A5 JP 2016017607A5 JP 2014141983 A JP2014141983 A JP 2014141983A JP 2014141983 A JP2014141983 A JP 2014141983A JP 2016017607 A5 JP2016017607 A5 JP 2016017607A5
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- JP
- Japan
- Prior art keywords
- gear
- shaft
- bevel
- bevel gear
- rotatable
- 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.)
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- 210000001503 Joints Anatomy 0.000 claims 2
- 230000005540 biological transmission Effects 0.000 claims 2
Claims (10)
前記第1の傘歯車と前記第2の傘歯車とのうちの少なくとも一方の傘歯車の歯形は、互いに最も深く噛み合う際に互いの歯先部と歯底部とが接触する形状である基準歯形の前記歯底部に、前記歯底部における内接球の直径よりも周方向に広い範囲で、他方の傘歯車の前記歯先部が接触しないように窪んだ形状の逃げ部を有する歯形である、
ことを特徴とする歯車機構。 A first bevel gear, and a second bevel gear that meshes with the first bevel gear and is relatively rotatable,
The tooth profile of at least one of the first bevel gear and the second bevel gear is a reference tooth profile in which the tooth tip portion and the tooth bottom portion come into contact with each other when meshing most deeply with each other. The tooth bottom has a tooth profile having a recessed portion that is recessed so that the tooth tip portion of the other bevel gear does not contact in a range wider than the diameter of the inscribed sphere in the tooth bottom portion in the circumferential direction.
A gear mechanism characterized by that.
ことを特徴とする請求項1記載の歯車機構。 The relief portion is formed in a region where a pressure angle in the reference tooth profile is larger than a predetermined angle.
The gear mechanism according to claim 1.
ことを特徴とする請求項1又は2に記載の歯車機構。 The escape portion is provided on the tooth profile of both the bevel gears of the first bevel gear and the second bevel gear.
The gear mechanism according to claim 1 or 2, characterized in that
前記第1の歯車と同軸で軸方向に対向して配置されると共に、前記第1の歯車に対向する歯を有し、前記ケーシングに対して回転自在かつ軸方向に相対的に固定された第2の歯車と、
前記第1の歯車及び前記第2の歯車と同軸に設けられた回転自在な第1の軸と、
前記第1の軸に対して傾斜して設けられた傾斜軸と、
前記第1の歯車及び前記第2の歯車の間に配置され、前記傾斜軸に対して回転自在に設けられると共に、前記第1の歯車及び前記第2の歯車に対して一定の傾斜角で噛合する揺動歯車と、
前記第1の軸と同軸に設けられると共に、前記第2の歯車又は前記揺動歯車と一体回転する第2の軸と、を備え、
前記第1の歯車及び前記第2の歯車の少なくとも一方は前記第1の傘歯車であり、前記揺動歯車は前記第2の傘歯車である、
ことを特徴とする請求項1乃至3のいずれか1項に記載の歯車機構。 A first gear having teeth directed to one side in the axial direction and fixed to the casing;
A first gear disposed coaxially with the first gear and facing the axial direction, having teeth facing the first gear, rotatable with respect to the casing and relatively fixed in the axial direction. Two gears,
A rotatable first shaft provided coaxially with the first gear and the second gear;
An inclined axis provided inclined with respect to the first axis;
The first gear and the second gear are disposed between the first gear and the second gear so as to be rotatable with respect to the tilt shaft and meshed with the first gear and the second gear at a constant tilt angle. An oscillating gear
A second shaft that is provided coaxially with the first shaft and rotates integrally with the second gear or the rocking gear;
At least one of the first gear and the second gear is the first bevel gear, and the swing gear is the second bevel gear.
The gear mechanism according to any one of claims 1 to 3, wherein the gear mechanism is provided.
ことを特徴とする請求項4記載の歯車機構。 The oscillating gear includes an elastic support portion that elastically supports the teeth meshing with the first gear and the teeth meshing with the second gear so as to be able to contact and separate from each other in the axial direction.
The gear mechanism according to claim 4.
前記第1の歯車と同軸に設けられた回転自在な第1の軸と、
前記第1の軸に対して傾斜して設けられた傾斜軸と、
前記傾斜軸に対して回転自在に設けられると共に、前記第1の歯車に対して一定の傾斜角で噛合する揺動歯車と、
前記第1の軸と同軸に設けられると共に、前記揺動歯車と一体回転する第2の軸と、を備え、
前記第1の歯車は前記第1の傘歯車であり、前記揺動歯車は前記第2の傘歯車である、
ことを特徴とする請求項1乃至3のいずれか1項に記載の歯車機構。 A first gear having teeth directed to one side in the axial direction and fixed to the casing;
A rotatable first shaft provided coaxially with the first gear;
An inclined axis provided inclined with respect to the first axis;
An oscillating gear provided so as to be rotatable with respect to the tilt shaft and meshing with the first gear at a constant tilt angle;
A second shaft provided coaxially with the first shaft and rotating integrally with the swing gear,
The first gear is the first bevel gear, and the swing gear is the second bevel gear;
The gear mechanism according to any one of claims 1 to 3, wherein the gear mechanism is provided.
ことを特徴とする変速機。 One or more sets of the gear mechanism according to any one of claims 4 to 6 are provided, the rotation input to one of the first shaft and the second shaft is changed, and the other shaft is used. Output,
A transmission characterized by that.
ことを特徴とするアクチュエータ。 A transmission according to claim 7, wherein the one shaft is coupled to a drive shaft of the drive motor;
An actuator characterized by that.
ことを特徴とする多関節ロボットアーム。 A plurality of joints that connect the plurality of links to each other, and at least one of the plurality of joints includes the actuator according to claim 8.
An articulated robot arm.
前記アクチュエータにより駆動する駆動部と、を備える、 A drive unit driven by the actuator,
ことを特徴とする機器。 Equipment characterized by that.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2014141983A JP6429517B2 (en) | 2014-07-10 | 2014-07-10 | Gear mechanism, transmission, and articulated robot arm |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2014141983A JP6429517B2 (en) | 2014-07-10 | 2014-07-10 | Gear mechanism, transmission, and articulated robot arm |
Publications (3)
Publication Number | Publication Date |
---|---|
JP2016017607A JP2016017607A (en) | 2016-02-01 |
JP2016017607A5 true JP2016017607A5 (en) | 2017-08-03 |
JP6429517B2 JP6429517B2 (en) | 2018-11-28 |
Family
ID=55232972
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2014141983A Active JP6429517B2 (en) | 2014-07-10 | 2014-07-10 | Gear mechanism, transmission, and articulated robot arm |
Country Status (1)
Country | Link |
---|---|
JP (1) | JP6429517B2 (en) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6777404B2 (en) * | 2015-03-02 | 2020-10-28 | Thk株式会社 | Deceleration or acceleration device |
JP6770873B2 (en) * | 2016-11-09 | 2020-10-21 | Thk株式会社 | Deceleration or acceleration device and actuator |
CN114198464B (en) * | 2021-12-22 | 2023-04-28 | 姜虹 | Gear pair and nutation speed reducer |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0756324B2 (en) * | 1990-05-14 | 1995-06-14 | 一郎 上村 | Conical rolling equal tooth bevel gear device and processing method of the same device |
JPH10109104A (en) * | 1996-10-02 | 1998-04-28 | Sanyo Special Steel Co Ltd | Tooth form of face gear of planetary type inclined roll mill |
JP6140958B2 (en) * | 2012-09-25 | 2017-06-07 | キヤノン株式会社 | Gear mechanism, reducer and robot arm |
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2014
- 2014-07-10 JP JP2014141983A patent/JP6429517B2/en active Active
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