JP2017009041A - Power transmission device with inner contact cam and cylindrical pinion - Google Patents
Power transmission device with inner contact cam and cylindrical pinion Download PDFInfo
- Publication number
- JP2017009041A JP2017009041A JP2015125457A JP2015125457A JP2017009041A JP 2017009041 A JP2017009041 A JP 2017009041A JP 2015125457 A JP2015125457 A JP 2015125457A JP 2015125457 A JP2015125457 A JP 2015125457A JP 2017009041 A JP2017009041 A JP 2017009041A
- Authority
- JP
- Japan
- Prior art keywords
- cylindrical
- power transmission
- cam
- transmission device
- pinions
- 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
- 230000005540 biological transmission Effects 0.000 title claims abstract description 63
- 238000005096 rolling process Methods 0.000 claims description 7
- 230000009467 reduction Effects 0.000 abstract description 21
- 230000000694 effects Effects 0.000 description 5
- 230000002093 peripheral effect Effects 0.000 description 5
- 238000007789 sealing Methods 0.000 description 5
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 239000004519 grease Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
-
- 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
- F16H1/24—Toothed gearings for conveying rotary motion without gears having orbital motion involving gears essentially having intermeshing elements other than involute or cycloidal teeth
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Gear Transmission (AREA)
- Gears, Cams (AREA)
- Retarders (AREA)
Abstract
Description
本発明は、モーターの回転を高効率に伝達し、高精度に位置決めでき、且つ、長寿命化に適した動力伝達装置に関するものである。 The present invention relates to a power transmission device that transmits rotation of a motor with high efficiency, can be positioned with high accuracy, and is suitable for extending the service life.
動力伝達装置、特に減速機は、モーターなどの動力源から得た動力を、ギヤ（歯車）等を介して回転速度を減じて出力することで、減速比に比例したトルクを得ることができる装置である。動力伝達装置は、それによって動く装置と動力源との間に設置され、必要なトルク、回転速度を得ることができる。動力伝達装置は、例えば、ロボット、工場搬送ラインなどの産業機械、船舶のスクリュー、飛行機のプロペラに使用されている。 A power transmission device, especially a reduction gear, is a device that can obtain torque proportional to the reduction ratio by outputting the power obtained from a power source such as a motor through a gear (gear) or the like by reducing the rotational speed. It is. The power transmission device is installed between the moving device and the power source thereby to obtain the necessary torque and rotational speed. The power transmission device is used in, for example, industrial machines such as robots and factory transfer lines, ship screws, and airplane propellers.
動力伝達装置として、特許文献１には、径方向の内側に向けられた複数の内歯が内周側に形成された内歯歯車と、内歯歯車の内周側に配置され、内歯と噛み合うための径方向の外側に向けられた複数の外歯が形成され、回転軸の回転に伴い揺動回転する外歯歯車とを備えた、減速装置が開示されている。 As a power transmission device, Patent Literature 1 discloses an internal gear in which a plurality of internal teeth directed radially inward are formed on the inner peripheral side, an inner gear disposed on the inner peripheral side of the internal gear, A speed reducer is disclosed that includes a plurality of external teeth that are directed outward in the radial direction for meshing with each other and an external gear that swings and rotates as the rotary shaft rotates.
また、動力伝達装置として、特許文献２には、複数の外ピン或いは外ピンに被嵌された外ローラを有する内歯歯車と、内歯歯車の内周側に配置され、径方向の外側に向けられた複数の外歯を有し、入力軸に接続された外歯歯車と、を備え、外ピン或いは外ピンに被嵌された外ローラの円筒側面と外歯歯車の複数の外歯とが内接噛合することができる、減速機が開示されている。 In addition, as a power transmission device, Patent Document 2 discloses an internal gear having a plurality of external pins or external rollers fitted on the external pins, and an inner peripheral side of the internal gear, and is arranged radially outside. An external gear having a plurality of external teeth directed and connected to an input shaft, and a cylindrical side surface of an outer roller fitted on the external pin or the external pin and a plurality of external teeth of the external gear A speed reducer is disclosed that can mesh inwardly.
一般的に、複数の内歯を有する内歯歯車と、内歯歯車の内周側に配置され、内歯と噛み合う複数の外歯を有する外歯歯車とを備える減速機は、動力源から得た動力を外歯歯車から内歯歯車に伝達して、回転速度を減じて出力する。そして、減速機の内歯歯車と外歯歯車との間の伝達容量を高効率にするためには、内歯歯車及び外歯歯車の歯の厚さを大きく、すなわち、モジュールを大きくする必要がある。歯の厚さ（ｓ）とモジュール（ｍ）との関係は、ｓ＝π／２×ｍで表され、モジュール（ｍ）は、歯車の直径（ｄ）と歯数（ｚ）により、ｍ＝ｄ／ｚで表される。一方、減速機の出力回転数に対する入力回転数を表す減速比は、内歯歯車の歯数と外歯歯車の歯数の比によって決まるが、内歯歯車及び外歯歯車の歯の厚さを大きくすることなくできるだけ減速比を小さくしようとするには内歯歯車の直径をできるだけ小さくする必要がある。 Generally, a reduction gear including an internal gear having a plurality of internal teeth and an external gear having a plurality of external teeth arranged on the inner peripheral side of the internal gear and meshing with the internal teeth is obtained from a power source. The transmitted power is transmitted from the external gear to the internal gear, and the rotational speed is reduced and output. In order to increase the transmission capacity between the internal gear and the external gear of the reduction gear, it is necessary to increase the thickness of the teeth of the internal gear and the external gear, that is, to increase the module. is there. The relationship between the tooth thickness (s) and the module (m) is expressed by s = π / 2 × m, and the module (m) is expressed by m == the gear diameter (d) and the number of teeth (z). It is expressed in d / z. On the other hand, the reduction ratio indicating the input rotation speed with respect to the output rotation speed of the reduction gear is determined by the ratio of the number of teeth of the internal gear and the number of teeth of the external gear. In order to reduce the reduction ratio as much as possible without increasing it, it is necessary to make the diameter of the internal gear as small as possible.
特許文献１による減速装置において、外歯歯車の直径と内歯歯車及び外歯歯車の歯の厚さを変えることなく、内歯歯車の直径を小さくすると減速比を小さくすることができるが、内歯歯車及び外歯歯車の歯の先端を細くする、或いは、内歯歯車及び外歯歯車の歯の高さを小さくする必要がある。しかし、歯の先端を細くすると歯の剛性が弱くなり、内歯歯車及び外歯歯車の歯の高さを小さくすると内歯歯車と外歯歯車との間の伝達容量が小さくなることから、内歯歯車の直径を小さくするには問題がある。例えば、ロボットアーム、ベルトコンベア等の産業機械で使用される減速機においては、減速比を３以下にするにはより問題が大きい。更に、内歯歯車及び外歯歯車の歯数を小さくすると、内歯歯車と外歯歯車の噛合せ時の摩擦が大きくなりやすく、更に、バックラッシが生じやすいという問題がある。 In the reduction gear according to Patent Document 1, the reduction ratio can be reduced by reducing the diameter of the internal gear without changing the diameter of the external gear and the thickness of the teeth of the internal gear and the external gear. It is necessary to make the tips of the teeth of the tooth gear and the external gear thinner, or to reduce the height of the teeth of the internal gear and the external gear. However, if the tip of the tooth is made thinner, the rigidity of the tooth becomes weaker, and if the tooth height of the internal gear and external gear is made smaller, the transmission capacity between the internal gear and the external gear becomes smaller. There is a problem in reducing the diameter of the toothed gear. For example, in a reduction gear used in industrial machines such as a robot arm and a belt conveyor, there is a greater problem in reducing the reduction ratio to 3 or less. Further, when the number of teeth of the internal gear and the external gear is reduced, there is a problem that friction at the time of meshing between the internal gear and the external gear tends to increase, and further backlash tends to occur.
また、特許文献２による減速機は、内歯歯車において外ローラを有しているために、特許文献１の減速装置より内歯歯車と外歯歯車の噛合せ時の摩擦を小さくすることはできるが、特許文献１の減速装置と同じように、内歯歯車の内周側に、径方向の外側に向けられた複数の外歯を有する外歯歯車が配置されているために、特許文献２の減速機においても、特許文献１の減速装置と同じ問題が生じる。 Moreover, since the reduction gear by patent document 2 has an outer roller in an internal gear, it can make the friction at the time of meshing of an internal gear and an external gear smaller than the reduction gear of patent document 1. However, since the external gear having a plurality of external teeth directed outward in the radial direction is arranged on the inner peripheral side of the internal gear as in the reduction gear of Patent Document 1, Patent Document 2 The same problem as that of the reduction gear of Patent Document 1 occurs even in the reduction gear.
従って、本発明の目的は、上記問題を解決して、動力伝達装置に入力された回転に対する高伝達容量を有し、高剛性を有し、バックラッシがなく、高精度に位置決めができ、低摩擦であって、且つ、最適な減速比を可能にする動力伝達装置を提供することである。 Accordingly, an object of the present invention is to solve the above problems, to have a high transmission capacity with respect to rotation inputted to the power transmission device, to have high rigidity, to have no backlash, to be positioned with high accuracy, and to have low friction. And it is providing the power transmission device which enables the optimal reduction gear ratio.
本発明によれば、上記目的は、回転可能なモーター軸を有するモーターと、モーター軸に接続された、第１の端面と第２の端面を有する回転可能な略円筒状のタレットと、タレットに配置された複数の円筒ピニオンと、略円環状の内接カムであって、内接カムの内面に円周方向に沿って等間隔に複数の内歯を有する内接カムと、内接カムに接続され、回転可能な出力軸とを備えた動力伝達装置であって、複数の円筒ピニオンが、タレットの第１の端面に円周方向に沿って等間隔に配置され、複数の円筒ピニオンのうちの少なくとも１つの円筒ピニオンの円筒側面が複数の内歯のうちの少なくとも１つの内歯のカム面に接触することによって、内接カムに接続された出力軸が回転するようになっている動力伝達装置によって達成される。 According to the present invention, the object is to provide a motor having a rotatable motor shaft, a rotatable substantially cylindrical turret having a first end surface and a second end surface connected to the motor shaft, and a turret. A plurality of arranged cylindrical pinions, a substantially annular inscribed cam, an inscribed cam having a plurality of inner teeth at equal intervals along the circumferential direction on the inner surface of the inscribed cam, and the inscribed cam A power transmission device having a connected and rotatable output shaft, wherein a plurality of cylindrical pinions are arranged at equal intervals along the circumferential direction on the first end surface of the turret; The power transmission in which the output shaft connected to the internal cam is rotated by the cylindrical side surface of the at least one cylindrical pinion contacting the cam surface of at least one internal tooth of the plurality of internal teeth. Achieved by the device.
また、複数の円筒ピニオンのうちの２つの円筒ピニオンの円筒側面が複数の内歯のうちの何れかの内歯のカム面に接触することによって、内接カムに接続された出力軸が回転するようになっている動力伝達装置であることが好ましい。 Moreover, the output shaft connected to the inscribed cam rotates when the cylindrical side surface of two of the plurality of cylindrical pinions contacts the cam surface of any of the plurality of inner teeth. It is preferable that the power transmission device is configured as described above.
２つの円筒ピニオンが、２つの円筒ピニオンの間に配置された１つの内歯を挟み込むように１つの内歯のカム面に接触する動力伝達装置であることが好ましい。 It is preferable that the two cylindrical pinions be a power transmission device that contacts a cam surface of one internal tooth so as to sandwich one internal tooth disposed between the two cylindrical pinions.
２つの円筒ピニオンの間には１つの円筒ピニオンが配置され、２つの円筒ピニオンのうちの一方の円筒ピニオンの円筒側面は１つの円筒ピニオンが配置される方向にある内歯のカム面に接触し、２つの円筒ピニオンのうちの他方の円筒ピニオンの円筒側面は１つの円筒ピニオンが配置される方向にある内歯のカム面に接触する動力伝達装置であることが好ましい。 One cylindrical pinion is disposed between the two cylindrical pinions, and the cylindrical side surface of one of the two cylindrical pinions is in contact with the cam surface of the internal tooth in the direction in which the one cylindrical pinion is disposed. The cylindrical side surface of the other cylindrical pinion of the two cylindrical pinions is preferably a power transmission device that contacts the cam surface of the internal tooth in the direction in which the single cylindrical pinion is disposed.
１つの円筒ピニオンは、複数の内歯の何れにも接触しない動力伝達装置であることが好ましい。 One cylindrical pinion is preferably a power transmission device that does not contact any of the plurality of internal teeth.
複数の円筒ピニオンと複数の内歯との接触は、滑り接触である動力伝達装置であることが好ましい。 The contact between the plurality of cylindrical pinions and the plurality of internal teeth is preferably a power transmission device that is a sliding contact.
複数の円筒ピニオンと複数の内歯との接触は、転がり接触である動力伝達装置であることが好ましい。 The contact between the plurality of cylindrical pinions and the plurality of internal teeth is preferably a power transmission device that is a rolling contact.
複数の円筒ピニオンの各円筒ピニオンが、ローラーフォロア又はカムフォロアである動力伝達装置であることが好ましい。 It is preferable that each cylindrical pinion of the plurality of cylindrical pinions is a power transmission device that is a roller follower or a cam follower.
複数の円筒ピニオンを、タレットの端面に円周方向に沿って等間隔に配置し、円筒ピニオンの円筒側面を内歯のカム面に接触させることによって、円筒ピニオン及び内歯のサイズを大きくすることができるため、円筒ピニオン及び内歯は高剛性を有することができ、且つ、高伝達容量を有することができるという効果を奏する。また、少なくとも２つの円筒ピニオンの円筒側面を複数の内歯のうちの何れかの内歯の側面に接触させることによって、更に高伝達容量を有することができるという効果を奏する。 The size of the cylindrical pinion and the internal teeth is increased by arranging a plurality of cylindrical pinions at equal intervals along the circumferential direction on the end surface of the turret and bringing the cylindrical side surface of the cylindrical pinion into contact with the cam surface of the internal teeth. Therefore, the cylindrical pinion and the internal teeth can have a high rigidity and an effect of having a high transmission capacity. Further, by bringing the cylindrical side surfaces of at least two cylindrical pinions into contact with the side surfaces of any of the plurality of internal teeth, there is an effect that a higher transmission capacity can be obtained.
そして、２つの円筒ピニオンをこれらの円筒ピニオンの間に配置された内歯を挟み込むように内歯のカム面に接触させることによって、バックラッシをなくして高精度に位置決めすることができるという効果を奏する。２つの円筒ピニオンの間に１つの円筒ピニオンが配置された場合でも、２つの円筒ピニオンのうちの一方の円筒ピニオンの円筒側面を１つの円筒ピニオンが配置される方向にある内歯のカム面に接触させ、他方の円筒ピニオンの円筒側面を１つの円筒ピニオンが配置される方向にある内歯のカム面に接触させることによって、バックラッシをなくして高精度に位置決めすることができるという効果を奏する。この場合、その１つの円筒ピニオンを複数の内歯の何れにも接触させないことによって、動力伝達装置の加工上の精度誤差を吸収し、また、円筒ピニオンと内歯とを滑らかに接触させて動作させることができるという効果を奏する。
更に、円筒ピニオンと内歯との接触を滑り接触にすることによって、一つの部品で円筒ピニオンを構成できるため、円筒ピニオンの剛性を高くでき、且つ、製造コストを削減できるという効果を奏する。
また、円筒ピニオンと内歯との接触を転がり接触にし、円筒ピニオンとしてローラーフォロア又はカムフォロアを採用することよって、円筒ピニオンと内歯との間の摩擦を小さくすることができ、円筒ピニオンから内歯に対して高効率に回転を伝達することができるという効果を奏する。
Then, by bringing the two cylindrical pinions into contact with the cam surfaces of the internal teeth so as to sandwich the internal teeth disposed between these cylindrical pinions, there is an effect that the backlash can be eliminated and positioning can be performed with high accuracy. . Even when one cylindrical pinion is arranged between two cylindrical pinions, the cylindrical side surface of one of the two cylindrical pinions is set to the cam surface of the internal tooth in the direction in which one cylindrical pinion is arranged. By bringing them into contact with each other and bringing the cylindrical side surface of the other cylindrical pinion into contact with the cam surface of the internal tooth in the direction in which one cylindrical pinion is arranged, there is an effect that positioning can be performed with high accuracy without backlash. In this case, the single cylindrical pinion is not brought into contact with any of the plurality of internal teeth, so that an accuracy error in processing of the power transmission device is absorbed, and the cylindrical pinion and the internal teeth are smoothly contacted to operate. There is an effect that can be made.
Furthermore, since the cylindrical pinion can be configured with a single component by making the contact between the cylindrical pinion and the internal teeth into a sliding contact, it is possible to increase the rigidity of the cylindrical pinion and reduce the manufacturing cost.
In addition, by making the contact between the cylindrical pinion and the internal tooth into a rolling contact and adopting a roller follower or a cam follower as the cylindrical pinion, the friction between the cylindrical pinion and the internal tooth can be reduced. In contrast, the rotation can be transmitted with high efficiency.
なお、本発明の他の目的、特徴及び利点は、添付図面に関する以下の本発明の実施例の記載から明らかになるであろう。 Other objects, features and advantages of the present invention will become apparent from the following description of embodiments of the present invention with reference to the accompanying drawings.
以下、本発明の実施例について図面を参照して説明するが、本発明はこれらの実施例に限定されるものではない。 Examples of the present invention will be described below with reference to the drawings, but the present invention is not limited to these examples.
図１〜４を参照して、本発明の動力伝達装置の実施例を説明する。図１に、動力伝達装置１０１の概略図を示す。動力伝達装置１０１は、モーター１０２、ハウジング１０４、１０５、回転可能な出力軸１０６を備える。図２に、動力伝達装置１０１を側面から見た断面図を示す。動力伝達装置１０１は、回転可能なモーター軸１０３を備えるモーター１０２と、第１の端面１０８と第２の端面を有する略円筒状のタレット１０７であって、第２の端面側において連結要素１１９によってモーター軸１０３に接続された回転可能な略円筒状のタレット１０７と、タレット１０７に配置された複数の円筒ピニオン１１４と、略円環状であって、その略円環状の内面に円周方向に沿って等間隔に複数の内歯を有する内接カム１０９と、内接カム１０９に接続され、回転可能な出力軸１０６とを備える。また、動力伝達装置１０１は、軸受１２１、１２２、１２３を備え、軸受１２１はハウジング１０４と回転可能なタレット１０７との間に、軸受１２２及び１２３はハウジング１０５と出力軸１０６との間に、それぞれ配置される。動力伝達装置１０１は、更に、オイル、グリース等を保持、密封するための密封装置１２０、１２４を備える。密封装置としては、例えば、オイルシール、パッキン、メカニカルシール、等がある。 With reference to FIGS. 1-4, the Example of the power transmission device of this invention is described. In FIG. 1, the schematic of the power transmission device 101 is shown. The power transmission device 101 includes a motor 102, housings 104 and 105, and a rotatable output shaft 106. FIG. 2 is a cross-sectional view of the power transmission device 101 as viewed from the side. The power transmission device 101 is a motor 102 having a rotatable motor shaft 103, a substantially cylindrical turret 107 having a first end surface 108 and a second end surface, and is connected by a connecting element 119 on the second end surface side. A rotatable substantially cylindrical turret 107 connected to the motor shaft 103, a plurality of cylindrical pinions 114 arranged on the turret 107, and a substantially annular shape, the circumferential surface of the substantially annular inner surface extending along the circumferential direction And an internal cam 109 having a plurality of internal teeth at equal intervals, and an output shaft 106 connected to the internal cam 109 and rotatable. The power transmission device 101 includes bearings 121, 122, and 123. The bearing 121 is between the housing 104 and the rotatable turret 107, and the bearings 122 and 123 are between the housing 105 and the output shaft 106, respectively. Be placed. The power transmission device 101 further includes sealing devices 120 and 124 for holding and sealing oil, grease, and the like. Examples of the sealing device include an oil seal, a packing, and a mechanical seal.
図３に、図２のＩＩＩ−ＩＩＩに沿った断面において、動力伝達装置１０１を前面から見たある回転タイミングにおけるタレット及び内接カムの状態を表す断面図を示す。図３に示すように、タレット１０７の第１の端面１０８には、複数の円筒ピニオン１１４（１１５、１１６、１１７）が、略円筒状のタレット１０７の円周方向に沿って等間隔に配置される。そして、複数の円筒ピニオンのうちの少なくとも１つの円筒ピニオン（例えば、第２の円筒ピニオン１１６）の円筒側面１１８が複数の内歯のうちの少なくとも１つの内歯のカム面（例えば、第１の内歯１１０の第２のカム面１１３）に接触することによって、モーター軸１０３に接続されたタレット１０７の回転が内接カム１０９に伝達され、内接カム１０９に接続された出力軸１０６を回転させることができる。 FIG. 3 is a cross-sectional view showing the state of the turret and the inscribed cam at a certain rotation timing when the power transmission device 101 is viewed from the front in the cross section taken along the line III-III in FIG. As shown in FIG. 3, a plurality of cylindrical pinions 114 (115, 116, and 117) are arranged at equal intervals along the circumferential direction of the substantially cylindrical turret 107 on the first end surface 108 of the turret 107. The The cylindrical side surface 118 of at least one cylindrical pinion (for example, the second cylindrical pinion 116) of the plurality of cylindrical pinions is connected to the cam surface (for example, the first tooth of at least one of the plurality of internal teeth). By contacting the second cam surface 113) of the internal teeth 110, the rotation of the turret 107 connected to the motor shaft 103 is transmitted to the internal cam 109, and the output shaft 106 connected to the internal cam 109 is rotated. Can be made.
複数の円筒ピニオン１１４（１１５、１１６、１１７）をタレット１０７の第１の端面１０８に配置させ、複数の円筒ピニオン１１４のそれぞれの円周側面１１８に各内歯１１０、１１１のカム面１１２、１１３を接触させるようにすることによって、特許文献１、２のような径方向の外側に向けられた複数の外歯が形成された外歯歯車を備える減速機よりも、動力伝達装置全体のサイズを大きくすることなく、円筒ピニオン及び内歯のサイズを大きくすることができる。従って、本発明の動力伝達装置の円筒ピニオン及び内歯は高剛性を有することができ、且つ、高伝達容量を有することができる。 A plurality of cylindrical pinions 114 (115, 116, 117) are arranged on the first end surface 108 of the turret 107, and the cam surfaces 112, 113 of the internal teeth 110, 111 are arranged on the circumferential side surfaces 118 of the plurality of cylindrical pinions 114, respectively. As a result, the size of the entire power transmission device can be made smaller than a reduction gear including external gears formed with a plurality of external teeth directed outward in the radial direction as in Patent Documents 1 and 2. Without increasing the size, the size of the cylindrical pinion and the internal teeth can be increased. Therefore, the cylindrical pinion and the internal teeth of the power transmission device of the present invention can have high rigidity and high transmission capacity.
図３においては、タレット１０７の第１の端面１０８に配置された円筒ピニオンの数は６、内接カム１０９の内歯の数は１２であるから、図３のタレット１０７と内接カム１０９を使用することによって、動力伝達装置１０１は、出力軸１０６においてモーター１０２のモーター軸１０３の回転数に対して半分の回転数を出力することができる（減速比２）。なお、円筒ピニオンの数及び内接カム１０９の内歯の数は、図３に示された数に限られたものではなく、あらゆる数の組合せが可能であって、それによって所望の減速比を得ることができる。 In FIG. 3, the number of cylindrical pinions arranged on the first end face 108 of the turret 107 is 6, and the number of internal teeth of the internal cam 109 is 12, so that the turret 107 and the internal cam 109 of FIG. By using the power transmission device 101, the output shaft 106 can output half the number of revolutions of the motor shaft 103 of the motor 102 (speed reduction ratio 2). Note that the number of cylindrical pinions and the number of internal teeth of the inscribed cam 109 are not limited to the numbers shown in FIG. 3, and any number of combinations are possible, thereby achieving a desired reduction ratio. Can be obtained.
また図３においては、複数の円筒ピニオンのうちの少なくとも２つの円筒ピニオン（例えば、第１の円筒ピニオン１１５及び第２の円筒ピニオン１１６）のそれぞれの円筒側面１１８が、複数の内歯のうちの少なくとも１つの内歯のカム面（例えば、第１の内歯１１０の第１のカム面１１２及び第２のカム面１１３）に接触する。 In FIG. 3, each cylindrical side surface 118 of at least two cylindrical pinions (for example, the first cylindrical pinion 115 and the second cylindrical pinion 116) of the plurality of cylindrical pinions is connected to the plurality of internal teeth. The cam surface of at least one internal tooth (for example, the first cam surface 112 and the second cam surface 113 of the first internal tooth 110) contacts.
更に図３においては、２つの円筒ピニオン（第１の円筒ピニオン１１５及び第２の円筒ピニオン１１６）が、第１の円筒ピニオン１１５と第２の円筒ピニオン１１６との間に配置された第１の内歯１１０を挟み込んで、第１の円筒ピニオン１１５及び第２の円筒ピニオン１１６のそれぞれの円筒側面１１８が、第１の内歯１１０の第１のカム面１１２及び第２のカム面１１３に接触する。このように、２つの円筒ピニオンを、その間にある内歯を挟み込むように配置することによって、２つの円筒ピニオンをその内歯に接触させてバックラッシをなくしている。そして、バックラッシがないので、動力伝達装置１０１は、モーター軸１０３に対する出力軸１０６の正確な位置決めを行うことができる。 Further, in FIG. 3, two cylindrical pinions (a first cylindrical pinion 115 and a second cylindrical pinion 116) are arranged between a first cylindrical pinion 115 and a second cylindrical pinion 116. The cylindrical side surfaces 118 of the first cylindrical pinion 115 and the second cylindrical pinion 116 are in contact with the first cam surface 112 and the second cam surface 113 of the first internal tooth 110 with the inner teeth 110 being sandwiched therebetween. To do. Thus, by arranging the two cylindrical pinions so as to sandwich the internal teeth between them, the two cylindrical pinions are brought into contact with the internal teeth to eliminate backlash. Since there is no backlash, the power transmission device 101 can accurately position the output shaft 106 with respect to the motor shaft 103.
図４に、図２のＩＩＩ−ＩＩＩに沿った断面において、動力伝達装置１０１を前面から見た図３との別の回転タイミングにおけるタレット及び内接カムの状態を表す断面図を示す。２つの円筒ピニオンの間（例えば、第１の円筒ピニオン１１５及び第３の円筒ピニオン１１７）には１つの円筒ピニオン（例えば、第２の円筒ピニオン１１６）が配置され、この２つの円筒ピニオンのうちの一方の円筒ピニオン（例えば、第１の円筒ピニオン１１５）の円筒側面１１８は、１つの円筒ピニオン（第２の円筒ピニオン１１６）が配置される方向にある第１の内歯１１０の第１のカム面１１２に接触し、この２つの円筒ピニオンのうちの他方の円筒ピニオン（第３の円筒ピニオン１１７）の円筒側面１１８は、１つの円筒ピニオン（第２の円筒ピニオン１１６）が配置される方向にある第２の内歯１１１の第２のカム面１１３に接触する。このように、２つの円筒ピニオンの間に他の円筒ピニオンが配置されている場合においても、２つの円筒ピニオンを、この２つの円筒ピニオンの間にある２つの内歯を挟み込むように配置することによって、２つの円筒ピニオンを２つの内歯に接触させてバックラッシをなくしている。そして、バックラッシがないので、動力伝達装置１０１は、モーター軸１０３に対する出力軸１０６の正確な位置決めを行うことができる。 FIG. 4 is a cross-sectional view showing a state of the turret and the inscribed cam at another rotational timing with respect to FIG. 3 when the power transmission device 101 is viewed from the front in the cross section taken along the line III-III in FIG. Between the two cylindrical pinions (for example, the first cylindrical pinion 115 and the third cylindrical pinion 117), one cylindrical pinion (for example, the second cylindrical pinion 116) is disposed, and of the two cylindrical pinions, The cylindrical side surface 118 of one of the cylindrical pinions (for example, the first cylindrical pinion 115) is the first of the first internal teeth 110 in the direction in which one cylindrical pinion (second cylindrical pinion 116) is disposed. The cylindrical side surface 118 of the other cylindrical pinion (third cylindrical pinion 117) that contacts the cam surface 112 is a direction in which one cylindrical pinion (second cylindrical pinion 116) is disposed. The second cam surface 113 of the second inner tooth 111 in contact with the second inner tooth 111 is contacted. As described above, even when another cylindrical pinion is arranged between the two cylindrical pinions, the two cylindrical pinions are arranged so as to sandwich the two internal teeth between the two cylindrical pinions. Thus, the two cylindrical pinions are brought into contact with the two inner teeth to eliminate backlash. Since there is no backlash, the power transmission device 101 can accurately position the output shaft 106 with respect to the motor shaft 103.
図３、図４に示すように、動力伝達装置１０１のモーター軸１０３が回転しているときにおいて、モーター軸１０３に接続されたタレット１０７と内接カム１０９とが如何なる状態で噛み合っている場合であっても円筒ピニオンと内歯との間にバックラッシがないので、動力伝達装置１０１は、モーター軸１０３が如何なる状態においても、モーター軸１０３に対する出力軸１０６の正確な位置決めを行うことができる。 As shown in FIGS. 3 and 4, when the motor shaft 103 of the power transmission device 101 is rotating, the turret 107 connected to the motor shaft 103 and the internal cam 109 are engaged in any state. Even if there is no backlash between the cylindrical pinion and the internal teeth, the power transmission device 101 can accurately position the output shaft 106 with respect to the motor shaft 103 regardless of the state of the motor shaft 103.
また図４においては、第１の円筒ピニオン１１５と第３の円筒ピニオン１１７との間に配置された１つの円筒ピニオン（第２の円筒ピニオン１１６）は、内接カム１０９の複数の内歯の何れにも接触していない。このように、図３から図４のようにタレット１０７が時計回りに回転して、第２の円筒ピニオン１１６に接触するカム面が、第１の内歯１１０の第２のカム面１１３から第２の内歯１１１の第１のカム面１１２に変わる間において、第２の円筒ピニオン１１６が一時的に内接カム１０９の複数の内歯の何れにも接触しない、すなわち、遊びを設けるようにすることによって、円筒ピニオン及び内歯の加工上の精度誤差を吸収することができるとともに、円筒ピニオンと内歯とを滑らかに接触させてタレット及び内接カムを回転させることができる。 In FIG. 4, one cylindrical pinion (second cylindrical pinion 116) disposed between the first cylindrical pinion 115 and the third cylindrical pinion 117 is a plurality of internal teeth of the inscribed cam 109. There is no contact. Thus, as shown in FIGS. 3 to 4, the turret 107 rotates clockwise, and the cam surface that contacts the second cylindrical pinion 116 is moved from the second cam surface 113 of the first internal tooth 110 to the second cam surface 113. During the transition to the first cam surface 112 of the second internal teeth 111, the second cylindrical pinion 116 temporarily does not contact any of the plurality of internal teeth of the internal cam 109, that is, to provide play. By doing so, it is possible to absorb the accuracy error in processing of the cylindrical pinion and the internal teeth, and it is possible to rotate the turret and the internal cam while bringing the cylindrical pinion and the internal teeth into smooth contact.
なお、複数の円筒ピニオン１１４（１１５、１１６、１１７）をタレット１０７に固定して、複数の円筒ピニオン１１４と複数の内歯１１０、１１１との接触を、滑り接触にすることができる。複数の円筒ピニオンをタレットに固定することにより、動力伝達装置の製造工程を簡略化でき、動力伝達装置をより低廉に製造することができる。 The plurality of cylindrical pinions 114 (115, 116, 117) can be fixed to the turret 107, and the contact between the plurality of cylindrical pinions 114 and the plurality of internal teeth 110, 111 can be made into sliding contact. By fixing a plurality of cylindrical pinions to the turret, the manufacturing process of the power transmission device can be simplified, and the power transmission device can be manufactured at a lower cost.
また、複数の円筒ピニオン１１４（１１５、１１６、１１７）と複数の内歯１１０、１１１との接触を、転がり接触にすることもできる。転がり接触にすることによって、円筒ピニオンと内歯との間の摩擦は小さくなって、動力伝達装置１０１は、モーター軸１０３の回転に対して出力軸１０６を高効率に回転させることができるとともに、動力伝達装置１０１の長寿命化にも繋がる。図３、図４に示すように、モーター軸１０３に接続されたタレット１０７を時計回りに回転させることによって、タレット１０７の第１の端面１０８に配置された複数の円筒ピニオン１１５、１１６、１１７が内接カム１０９の内歯１１０、１１１に接触して、内接カム１０９を時計回りに回転させることができる。図３において、第２の円筒ピニオン１１６の円筒側面１１８と第１の内歯１１０の第２のカム面１１３の接触に際しては、第２の円筒ピニオン１１６も時計回りに回転することで、第２の円筒ピニオン１１６と第１の内歯１１０との間の摩擦は小さくなる。第１の円筒ピニオン１１５の円筒側面１１８と第１の内歯１１０の第１のカム面１１２の接触に際しては、第１の円筒ピニオン１１５も時計回りに回転することで、第１の円筒ピニオン１１５と第１の内歯１１０との間の摩擦は小さくなる。また、図４において、第３の円筒ピニオン１１７の円筒側面１１８と第２の内歯１１１の第２のカム面１１３の接触に際しては、第３の円筒ピニオン１１７も時計回りに回転することで、第３の円筒ピニオン１１７と第２の内歯１１１との間の摩擦は小さくなる。第１の円筒ピニオン１１５の円筒側面１１８と第１の内歯１１０の第１のカム面１１２の接触に際しては、第１の円筒ピニオン１１５も時計回りに回転することで、第１の円筒ピニオン１１５と第１の内歯１１０との間の摩擦は小さくなる。 Further, the contact between the plurality of cylindrical pinions 114 (115, 116, 117) and the plurality of internal teeth 110, 111 may be rolling contact. By making the rolling contact, the friction between the cylindrical pinion and the internal teeth is reduced, and the power transmission device 101 can rotate the output shaft 106 with high efficiency with respect to the rotation of the motor shaft 103, and This also leads to a longer life of the power transmission device 101. As shown in FIGS. 3 and 4, by rotating the turret 107 connected to the motor shaft 103 clockwise, a plurality of cylindrical pinions 115, 116, 117 disposed on the first end surface 108 of the turret 107 are formed. The internal cam 109 can be rotated clockwise by contacting the internal teeth 110 and 111 of the internal cam 109. In FIG. 3, when the cylindrical side surface 118 of the second cylindrical pinion 116 and the second cam surface 113 of the first internal tooth 110 contact each other, the second cylindrical pinion 116 also rotates clockwise, The friction between the cylindrical pinion 116 and the first internal teeth 110 is reduced. When the cylindrical side surface 118 of the first cylindrical pinion 115 and the first cam surface 112 of the first internal tooth 110 come into contact with each other, the first cylindrical pinion 115 also rotates clockwise, so that the first cylindrical pinion 115 is rotated. And the friction between the first internal teeth 110 is reduced. In FIG. 4, when the cylindrical side surface 118 of the third cylindrical pinion 117 and the second cam surface 113 of the second internal tooth 111 contact each other, the third cylindrical pinion 117 also rotates clockwise. The friction between the third cylindrical pinion 117 and the second inner teeth 111 is reduced. When the cylindrical side surface 118 of the first cylindrical pinion 115 and the first cam surface 112 of the first internal tooth 110 come into contact with each other, the first cylindrical pinion 115 also rotates clockwise, so that the first cylindrical pinion 115 is rotated. And the friction between the first internal teeth 110 is reduced.
転がり接触にするために、複数の円筒ピニオン１１４として、例えば、ローラーフォロア、カムフォロア、等を採用することができる。カムフォロアは、スタッド（軸）と外輪とを備え、ローラーフォロアは、内輪と外輪とを備えるが、スタッド又は内輪をタレット１０７に固定して、スタッド又は内輪の周りを外輪が回転できるように、カムフォロア又はローラーフォロアを円筒ピニオン１１５、１１６、１１７としてタレット１０７に配置する。このようにカムフォロア又はローラーフォロアをタレットに配置することにより、カムフォロア又はローラーフォロアの外輪が内接カムの内歯と接触して、カムフォロア又はローラーフォロアの外輪が回転し、カムフォロア又はローラーフォロアの外輪と内歯との間の摩擦を小さくすることができる。なお、カムフォロア又はローラーフォロアにおいて、スタッド又は内輪と外輪とは、滑り軸受にすることもできるし、スタッド又は内輪と外輪との間にニードルローラー等のころを採用して、外輪の回転に伴ってころを転動させる転がり軸受とすることもできる。 In order to make rolling contact, for example, a roller follower, a cam follower, or the like can be adopted as the plurality of cylindrical pinions 114. The cam follower includes a stud (shaft) and an outer ring, and the roller follower includes an inner ring and an outer ring. The cam follower is fixed to the turret 107 so that the outer ring can rotate around the stud or the inner ring. Alternatively, roller followers are arranged on the turret 107 as cylindrical pinions 115, 116, and 117. By arranging the cam follower or roller follower on the turret in this way, the outer ring of the cam follower or roller follower comes into contact with the inner teeth of the inscribed cam, the outer ring of the cam follower or roller follower rotates, and the outer ring of the cam follower or roller follower Friction between the inner teeth can be reduced. In the cam follower or roller follower, the stud or inner ring and the outer ring can be a sliding bearing, or a roller such as a needle roller is employed between the stud or inner ring and the outer ring, and the outer ring rotates. It can also be a rolling bearing that rolls the rollers.
上記記載は特定の実施例についてなされたが、本発明はそれに限らず、本発明の原理と添付の特許請求の範囲の範囲内で種々の変更及び修正をすることができることは当業者に明らかである。 While the above description has been made with respect to particular embodiments, it will be apparent to those skilled in the art that the invention is not limited thereto and that various changes and modifications can be made within the scope of the principles of the invention and the appended claims. is there.
１０１ 動力伝達装置
１０２ モーター
１０３ モーター軸
１０４ ハウジング
１０５ ハウジング
１０６ 出力軸
１０７ タレット
１０８ タレットの第１の端面
１０９ 内接カム
１１０ 第１の内歯
１１１ 第２の内歯
１１２ 第１のカム面
１１３ 第２のカム面
１１４ 円筒ピニオン
１１５ 第１の円筒ピニオン
１１６ 第２の円筒ピニオン
１１７ 第３の円筒ピニオン
１１８ 円筒ピニオンの円筒側面
１１９ 連結要素
１２０ 密封装置
１２１ 軸受
１２２ 軸受
１２３ 軸受
１２４ 密封装置
DESCRIPTION OF SYMBOLS 101 Power transmission device 102 Motor 103 Motor shaft 104 Housing 105 Housing 106 Output shaft 107 Turret 108 First end surface of turret 109 Inscribed cam 110 First inner tooth 111 Second inner tooth 112 First cam surface 113 Second Cam surface 114 cylindrical pinion 115 first cylindrical pinion 116 second cylindrical pinion 117 third cylindrical pinion 118 cylindrical side surface of cylindrical pinion 119 connecting element 120 sealing device 121 bearing 122 bearing 123 bearing 124 sealing device
Claims (8)
前記モーター軸に接続された、第１の端面及び第２の端面を有する回転可能な略円筒状のタレットと、
前記タレットに配置された複数の円筒ピニオンと、
略円環状の内接カムであって、前記内接カムの内面に円周方向に沿って等間隔に複数の内歯を有する内接カムと、
前記内接カムに接続された、回転可能な出力軸と
を備えた動力伝達装置であって、
前記複数の円筒ピニオンが、前記タレットの前記第１の端面に円周方向に沿って等間隔に配置され、前記複数の円筒ピニオンのうちの少なくとも１つの円筒ピニオンの円筒側面が前記複数の内歯のうちの少なくとも１つの内歯のカム面に接触することによって、前記内接カムに接続された前記出力軸が回転するようになっている
ことを特徴とする動力伝達装置。 A motor having a rotatable motor shaft;
A rotatable substantially cylindrical turret having a first end face and a second end face connected to the motor shaft;
A plurality of cylindrical pinions arranged in the turret;
A substantially annular inscribed cam, wherein the inscribed cam has a plurality of inner teeth at equal intervals along the circumferential direction on the inner surface of the inscribed cam;
A power transmission device having a rotatable output shaft connected to the inscribed cam;
The plurality of cylindrical pinions are arranged on the first end surface of the turret at equal intervals along a circumferential direction, and a cylindrical side surface of at least one cylindrical pinion of the plurality of cylindrical pinions is the plurality of internal teeth. The power transmission device, wherein the output shaft connected to the internal cam is rotated by contacting a cam surface of at least one of the internal teeth.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2015125457A JP6539514B2 (en) | 2015-06-23 | 2015-06-23 | Power transmission system using internal cam and cylindrical pinion |
| TW105117987A TWI694217B (en) | 2015-06-23 | 2016-06-07 | A power transmission apparatus with an inscribed cam and cylinderical pinions |
| KR1020160077739A KR102526572B1 (en) | 2015-06-23 | 2016-06-22 | A power transmission apparatus with an inscribed cam and cylinderical pinions |
| CN201610461480.0A CN106286716B (en) | 2015-06-23 | 2016-06-23 | Power transmission device using internally tangent cam and cylindrical pinion |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2015125457A JP6539514B2 (en) | 2015-06-23 | 2015-06-23 | Power transmission system using internal cam and cylindrical pinion |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JP2017009041A true JP2017009041A (en) | 2017-01-12 |
| JP6539514B2 JP6539514B2 (en) | 2019-07-03 |
Family
ID=57651381
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2015125457A Active JP6539514B2 (en) | 2015-06-23 | 2015-06-23 | Power transmission system using internal cam and cylindrical pinion |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP6539514B2 (en) |
| KR (1) | KR102526572B1 (en) |
| CN (1) | CN106286716B (en) |
| TW (1) | TWI694217B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109910432B (en) * | 2019-04-03 | 2020-11-13 | 北京印钞有限公司 | Ink supply system with planetary reduction cam device |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030195076A1 (en) * | 2002-04-11 | 2003-10-16 | Ballard Richard N. | Roller cam assembly |
| JP2007232082A (en) * | 2006-03-01 | 2007-09-13 | Okatsune Haguruma Seisakusho:Kk | Reduction gear |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB476604A (en) * | 1936-06-13 | 1937-12-13 | Carl Robert Hugo Bonn | Improvements in and relating to control devices for variable speed gearing |
| JP4948322B2 (en) | 2007-08-16 | 2012-06-06 | 住友重機械工業株式会社 | Swing internal meshing gear reducer |
| CA2757555C (en) * | 2009-03-31 | 2014-04-08 | Honda Motor Co., Ltd. | Drive device and vehicle with same |
| DE202009017290U1 (en) * | 2009-12-22 | 2011-04-14 | Weiß, Carmen | Stepped teeth with ball bearings between wheels |
| MA33477B1 (en) * | 2011-01-03 | 2012-08-01 | Taoufik Hicham | PROGRESSEUR OF MECHANICAL FORCE |
| DE102012022636B4 (en) * | 2012-11-16 | 2021-02-11 | Magna Pt B.V. & Co. Kg | Cross differential with electromechanical friction clutch for locking |
| JP2014185744A (en) | 2013-03-25 | 2014-10-02 | Jtekt Corp | Gear device |
| DE102013015061A1 (en) * | 2013-09-09 | 2015-03-12 | Hans-Erich Maul | Compact coaxial eccentric gear Drive of a hand-held electric or pneumatic device |
| JP5873060B2 (en) * | 2013-10-04 | 2016-03-01 | 京セラドキュメントソリューションズ株式会社 | Drive device |
| CN104251290A (en) * | 2014-08-28 | 2014-12-31 | 南京埃斯顿机器人工程有限公司 | Speed reducer for small-load industrial robot |
-
2015
- 2015-06-23 JP JP2015125457A patent/JP6539514B2/en active Active
-
2016
- 2016-06-07 TW TW105117987A patent/TWI694217B/en active
- 2016-06-22 KR KR1020160077739A patent/KR102526572B1/en active IP Right Grant
- 2016-06-23 CN CN201610461480.0A patent/CN106286716B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030195076A1 (en) * | 2002-04-11 | 2003-10-16 | Ballard Richard N. | Roller cam assembly |
| JP2007232082A (en) * | 2006-03-01 | 2007-09-13 | Okatsune Haguruma Seisakusho:Kk | Reduction gear |
Also Published As
| Publication number | Publication date |
|---|---|
| TWI694217B (en) | 2020-05-21 |
| JP6539514B2 (en) | 2019-07-03 |
| CN106286716A (en) | 2017-01-04 |
| KR102526572B1 (en) | 2023-04-28 |
| CN106286716B (en) | 2020-11-03 |
| KR20170000349A (en) | 2017-01-02 |
| TW201710610A (en) | 2017-03-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR101410201B1 (en) | Gear device | |
| US10281007B2 (en) | Speed reducer | |
| KR102381750B1 (en) | Reducer device | |
| US20200173532A1 (en) | Wave bearing for strain wave gearing | |
| KR101669380B1 (en) | Gear transmission and crankshaft structure used in said gear transmission | |
| EP3492774B1 (en) | Wave generator, and wave gear device | |
| JP2019090477A (en) | Eccentric oscillation type gear device | |
| JP2017044287A (en) | Wave gear transmission device | |
| TWI814784B (en) | Reducer | |
| JP6539514B2 (en) | Power transmission system using internal cam and cylindrical pinion | |
| JP6370128B2 (en) | Gear transmission | |
| JP7239144B2 (en) | barrel cam device | |
| JP2011161597A5 (en) | Machining method of oscillating gear | |
| GB2213555A (en) | Planetary or star gear mechanism with backlash elimination | |
| JP6025642B2 (en) | Planetary gear reducer and its series | |
| JP2020060263A (en) | Eccentric oscillation type speed reduction device | |
| JP5606587B2 (en) | Gear device | |
| JP6890563B2 (en) | Eccentric swing type speed reducer | |
| JP2009293714A (en) | Gear transmission | |
| JP2016211643A (en) | Speed reducer and manufacturing method of speed reducer | |
| JP2017053461A (en) | Planetary gear train | |
| JP2019167967A (en) | Manufacturing method of reduction gear and reduction gear series | |
| JP2016075369A (en) | Inscription engagement planetary gear mechanism | |
| JP2020051541A (en) | Gear speed reducer | |
| JP2024085235A (en) | Eccentric oscillating type reduction gear |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20180130 |
|
| A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20181030 |
|
| A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20181030 |
|
| A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20190104 |
|
| 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: 20190514 |
|
| A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20190610 |
|
| R150 | Certificate of patent or registration of utility model |
Ref document number: 6539514 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
| 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 |