JP2774210B2 - Rotary transmission - Google Patents

Description

【発明の詳細な説明】 【０００１】 【産業上の利用分野】本発明は、歯車やＶベルトを用い
ることなく回転伝動、差動、変速等を行うことが可能な
回転伝動装置に関するものである。 【０００２】 【従来の技術および発明の背景】回転の伝動や、差動、
変速を機械的に行う機械要素として、従来より歯車機
構、Ｖベルトやチェーンなどによる伝動帯機構が広く知
られている。しかしこれらは装置が大型化するという問
題があった。 【０００３】また流体を用いた回転伝動機構や、電磁式
の回転伝動機構もあるが、これらは滑りを伴うため、正
確な回転数の伝達が要求される装置、例えば工業用ロボ
ットなどの正確な位置決めが求められる装置には適さな
いという問題もあった。 【０００４】さらに同軸上に配置した３つの回転体にら
旋溝をそれぞれ設け、各ら旋溝の交差部にボールを介在
させて回転体間の回転伝達を行うものも公知である。
（特公昭４８−２１０２０号、特開昭４８−５７０６５
号、特開昭６０−７８１５５号等）。ここにボ−ルを循
環させるための通路すなわち循環路を内側または外側の
回転体に設けている。しかし従来は、回転体の回転に伴
回転体に設けている。しかし従来は、回転体の回転に伴
って一方へ送られるボールをこの循環路に順に送り込
み、これに伴って反対側から押し出されるボールを順に
ら旋溝に送り出すようにしていた。 【０００５】 【従来の技術の問題点】このようにボ−ルを循環路に送
り込むことにより他方から１つのボ−ルを押し出す従来
のものでは、ボールの僅かな偏位によって送り出しが円
滑にできなくなり、ボールを各ら旋溝と回転体との間に
噛み込んでロックするなどの問題が発生し易いという問
題があった。 【０００６】 【発明の目的】本発明はこのような事情に鑑みなされた
ものであり、ボールの送りが円滑でボールが噛み込みに
くくした回転伝動装置を提供することを目的とする。 【０００７】 【発明の構成】本発明によればこの目的は、周面に形成
された軸方向に長い長窓に連通する循環路を有するベル
ト保持部材と、前記循環路内を走行する可撓性の環状ベ
ルト部材と、前記ベルト部材に所定間隔を維持されつつ
循環路を走行する係合子と、前記係合子に係合する第１
および第２のガイド溝がそれぞれ形成された第１および
第２の回転筒とを備え、前記各係合子は前記第１のガイ
ド溝および第２のガイド溝にそれぞれ転接し互いに独立
方の回転筒の回転を前記係合子を介して他方の回転筒に
伝えることを特徴とする回転伝動装置、により達成され
る。 【０００８】 【実施例】図１は本発明の一実施例を示す側断面図、図
２はそのII−II線断面図である。これらの図で符号１０
Ｂは略円柱状のベルト保持部材である。このベルト保持
部材１０Ｂには環状の循環路１２Ｂが形成され、この循
環路１２Ｂは周面において接線方向に長い長窓１４Ｂに
連通する。 【０００９】１６Ｂは、はがねなどの可撓性材料で作ら
れた環状ベルト部材である。このベルト部材１６Ｂには
係合子１８Ｂが等間隔にかつ回転を許容するように保持
されている。この係合子１８Ｂが係止されたベルト部材
１６Ｂの左右側縁は、循環路１２Ｂの内側面に形成され
た溝２０Ｂ（図３）に係入し、この溝２０Ｂに沿ってベ
ルト部材１６Ｂは摺動する。なおこのベルト部材１６Ｂ
を組込むために、ベルト保持部材１０Ｂの一部を分割可
能としておいてもよい。 【００１０】ベルト部材１６Ｂに保持された係合子１８
Ｂは、長窓１４Ｂから突出する。２２Ｂおよび２４Ｂ
は、筒状の回転体である。これらの回転体２２Ｂ、２４
Ｂにはそれぞれら旋状のガイド溝２６Ｂおよび２８Ｂが
形成されている。各回転体２２Ｂ、２４Ｂは長窓１４Ｂ
を覆うようにベルト保持部材１０Ｂに両端から嵌め込ま
れている。 【００１１】この実施例によれば、ベルト保持部材１０
Ｂを固定して一方の回転体２２Ｂを回転すれば、長窓１
４Ｂに臨む係合子１８Ｂが長窓１４Ｂに沿って転動し、
これに伴って係合子１８Ｂに係合する他方の回転体２４
Ｂが回転する。逆に回転体２４Ｂを回転すれば回転体２
２Ｂが回転する。この時、各係合子１８Ｂはベルト部材
１６Ｂで連動するように送られるから、１つの係合子１
８Ｂが循環路１２Ｂに入る時には他の係合子１８Ｂがこ
のベルト部材１６Ｂによって循環路１２から円滑に引出
される。 【００１２】係合子１８Ｂは図２に示すように構成され
ている。すなわち回転部材ａと一体のピンｂには回転部
材ｃ、ｄが回転自在に取付けられ、回転部材ａがガイド
溝２８Ｂに、部材ｃがガイド溝２６Ｂに、また回転部材
ｄがベルト部材１６Ｂに回転自在に係合している。この
結果各ガイド溝２６Ｂ、２８Ｂに接触して各回転部材
ａ、ｃは自由に回転するので、係合子１８Ｂは円滑に移
動できる。 【００１３】図３は第２実施例を示す図１におけるII−
II線相当位置の断面図である。この実施例は係合子１８
Ｃを送るベルト部材１６Ｃが係合する溝２０Ｃに多数の
小径のボール３０、３０を収容し、ベルト部材１６Ｃの
側縁がこのボール３０を転動させつつ走行するようにし
た。 【００１４】この実施例によればベルト部材１６Ｃの走
行が円滑になる。なお係合子１８Ｃは相互に回転自在な
２つの回転部材ｅ、ｆで構成し、回転部材ｅをガイド溝
２８Ｃに、回転部材ｆをガイド溝２６Ｃおよびベルト部
材１６Ｃにそれぞれ係合させたが、図２と同様の構造と
すれば一層抵抗は少なくなる。 【００１５】図４は第３実施例の断面図、図５はその分
解斜視図である。この実施例では、第１および第２のベ
ルト保持部材４０、４２を同軸に配設し、各ベルト保持
部材４０、４２に設けた第１および第２の循環路４４、
４６の軸方向に長い長窓４８、５０が互いに対向するよ
うに両部材４０、４２を連結固定している。そして循環
路４４の溝５２に係入して走行する第１のベルト部材５
４には第１の係合子５６が等間隔に回転自在に保持され
ている。 【００１６】循環路４６内の溝５８に係入して走行する
第２のベルト部材６０には２つ一組をなす第２の係合子
６２、６２が等間隔に回転自在に保持されている。両部
材４０、４２間には、第１、第２の回転筒６４、６６が
同軸に挟持されている。 【００１７】第１の回転筒６４には第１の係合子５６が
係入するら旋状の第１のガイド溝６８が、また第２の回
転筒６６には第２の係合子６２、６２が係入するら旋状
の２条のガイド溝７０、７０が形成されている。そして
係合子５６が２つの係合子６２、６２に挟まれるように
全体が組立てられている。これらの係合子５６、６２は
前記図２、３に示す構造のものが用いられる。 【００１８】この実施例によれば、第１、第２のベルト
保持部材４０、４２を固定して、第１の回転筒６４を回
転すれば、そのガイド溝６８により係合子５６がベルト
部材５４と共に移動し、この時係合子６２、６２も移動
する。このため係合子６２、６２が第２のガイド溝７０
内を転動するから、第２の筒６６も回転する。ガイド溝
６８、７０が逆ピッチであれば逆転でき、異なるピッチ
であれば変速できる。また２つのベルト保持部材４０、
４２を一体に回転させ、また両ガイド溝６８、７０を逆
等ピッチにしておけば差動装置となる。 【００１９】この実施例によれば回転の伝達は係合子５
６、６２を介して行われるので、摩擦抵抗が少なく円滑
な回転の伝達が可能となる。 【００２０】図６は第４実施例の断面図である。この実
施例では、前記図４、５における実施例の第２のベルト
保持部材４２を各長窓４８、５０が対向するように非同
軸に並設し、第２の回転筒６６をこの第２のベルト保持
部材４２に同軸に配設したものである。なおここに用い
る係合子５６、６２も前記図２、３に示す構造のものが
可能である。 【００２１】 【発明の効果】請求項１の発明は以上のように、係合子
をベルト部材により所定間隔に保持しつつ循環路を走行
させ、軸方向に長い長窓に臨ませ、この係合子を２つの
回転体のガイド溝に係合させて回転伝達を行うので、歯
車、ベルト等を用いることなく小型の回転伝達装置を得
ることができる。この際各回転体のガイド溝のピッチを
適宜選択することにより正・逆回転伝達、変速が可能に
なり、またベルト保持部材から回転入力すれば差動装置
とすることも可能である。従って従来の傘歯車や遊星歯
車場などを用いた差動機構に比べ著しい小型化が可能に
なる。 【００２２】さらに各係合子はベルト部材で連動して移
動するから、循環路からら旋溝への出入りが円滑にな
り、係合子をら旋溝や回転体間に噛み込むことがなく、
円滑な動作が可能になる。特に各係合子は２つのガイド
溝に転接して互いに独立に回転可能な２つの回転部材を
持つものであるから、一層円滑な動作が可能である。 【００２３】この時２つのベルト保持部材に設けた循環
路にそれぞれ第１、第２のベルト部材を設け、この一方
に保持された第１の係合子を他方に保持された第２の係
合子間に挟んで回転伝達するようにすれば、第１、第２
の係合子はそれぞれ１つのガイド溝内を転動すればすむ
のでガイド溝摺動時の抵抗が減り、一層滑らかな回転伝
達が可能になる。 【００２４】Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rotary transmission capable of performing rotary transmission, differential transmission, speed change, etc. without using gears or V-belts. . BACKGROUND OF THE INVENTION Rotational transmission, differential,
BACKGROUND ART As a mechanical element for mechanically performing a gear shift, a gear mechanism, a drive belt mechanism using a V-belt, a chain, and the like have been widely known. However, these methods have a problem that the apparatus becomes large. There are also a rotary transmission mechanism using a fluid and an electromagnetic rotary transmission mechanism. However, these are accompanied by slippage, so that an apparatus which is required to transmit an accurate rotation speed, for example, an accurate apparatus such as an industrial robot. There is also a problem that it is not suitable for a device that requires positioning. It is also known to provide a spiral groove on each of three rotating bodies arranged coaxially and transmit rotation between the rotating bodies by interposing a ball at an intersection of each spiral groove.
(JP-B-48-21020, JP-A-48-57065)
No., JP-A-60-78155). Here, a passage for circulating the ball, that is, a circulation passage is provided in the inner or outer rotating body. However, conventionally, it is provided on the rotating body as the rotating body rotates. However, conventionally, the ball sent to one side in accordance with the rotation of the rotating body is sequentially sent to the circulation path, and the ball pushed out from the opposite side is sequentially sent out to the spiral groove. [0005] In the prior art in which one ball is pushed out from the other side by feeding the ball into the circulation path, the ball can be sent out smoothly due to a slight deviation of the ball. Thus, there is a problem that the ball tends to be locked between the spiral groove and the rotating body and locked. SUMMARY OF THE INVENTION The present invention has been made in view of such circumstances, and an object of the present invention is to provide a rotary transmission in which the ball is smoothly fed and the ball is hardly caught. According to the present invention, it is an object of the present invention to provide a belt holding member having a circulation path communicating with a long window extending in an axial direction formed on a peripheral surface, and a flexible member traveling in the circulation path. An annular belt member, an engaging member that travels on a circulation path while maintaining a predetermined interval between the belt member, and a first engaging member that engages with the engaging member.
And first and second rotary cylinders each having a second guide groove formed therein, wherein each of the engagement members is in rolling contact with the first guide groove and the second guide groove, respectively, and the rotary cylinders are independent of each other. Is transmitted to the other rotary cylinder via the engaging element. FIG. 1 is a side sectional view showing an embodiment of the present invention, and FIG. 2 is a sectional view taken along the line II-II. In these figures, reference numeral 10 is used.
B is a substantially columnar belt holding member. An annular circulation path 12B is formed in the belt holding member 10B, and the circulation path 12B communicates with a long window 14B that is long in the tangential direction on the peripheral surface. Reference numeral 16B denotes an annular belt member made of a flexible material such as a glass. This belt member 16B has
The engagement elements 18B are held at equal intervals and so as to allow rotation. Left and right side edges of the belt member 16B to the engaging member 18B is engaged is to engaged into a groove 20B formed on the inner surface of the circulation path 12B (FIG. 3), the belt member 16B along the groove 20B is slidingly Move. This belt member 16B
In order to incorporate the belt holding member, a part of the belt holding member 10B may be divided. The engaging element 18 held by the belt member 16B
B projects from the long window 14B. 22B and 24B
Is a cylindrical rotating body. These rotating bodies 22B, 24
B has spiral guide grooves 26B and 28B, respectively. Each rotating body 22B, 24B has a long window 14B.
From both ends to cover the belt holding member 10B. According to this embodiment, the belt holding member 10
B and the other rotating body 22B is rotated, the long window 1
The engagement element 18B facing 4B rolls along the long window 14B,
Accordingly, the other rotating body 24 engaged with the engagement element 18B
B rotates. Conversely, if the rotating body 24B is rotated, the rotating body 2
2B rotates. At this time, since each engagement element 18B is sent as interlocked with the belt member 16B, 1 single engaging element 1
When 8B enters the circulation path 12B, another engaging element 18B is smoothly pulled out of the circulation path 12 by the belt member 16B. The engagement element 18B is configured as shown in FIG.
ing. That is, the rotational member a and the rotational portion <br/> member c in pin b of the integral, d is attached rotatably to the rotating member a guide groove 28B, member c is the guide grooves 26B, also rotary member d is It is rotatably engaged with the belt member 16B. As a result, the rotating members a and c rotate freely by contacting the respective guide grooves 26B and 28B, so that the engaging element 18B can move smoothly. FIG. 3 shows a second embodiment.
FIG. 2 is a cross-sectional view taken along a line II. In this embodiment, the engaging element 18 is used.
A large number of small-diameter balls 30 are accommodated in grooves 20C in which belt members 16C for feeding C are engaged, and the side edges of the belt members 16C run while rolling the balls 30. According to this embodiment, the running of the belt member 16C becomes smooth. The engaging element 18C is composed of two rotatable rotating members e and f. The rotating member e is engaged with the guide groove 28C, and the rotating member f is engaged with the guide groove 26C and the belt member 16C. If the structure is similar to 2, the resistance is further reduced. FIG. 4 is a sectional view of the third embodiment, and FIG. 5 is an exploded perspective view thereof. In this embodiment, the first and second belt holding members 40 and 42 are disposed coaxially, and the first and second circulation paths 44 and
The two members 40 and 42 are connected and fixed so that long windows 48 and 50 long in the axial direction of 46 are opposed to each other. The first belt member 5 that travels while engaging in the groove 52 of the circulation path 44
A first engaging element 56 is rotatably held at 4 at equal intervals. A pair of second engaging members is provided on the second belt member 60 which travels while engaging with the groove 58 in the circulation path 46.
62, 62 are rotatably held at equal intervals. First and second rotary cylinders 64 and 66 are coaxially sandwiched between the two members 40 and 42. The first rotating cylinder 64 has a spiral first guide groove 68 into which the first engaging element 56 is engaged, and the second rotating cylinder 66 has second engaging elements 62, 62. Are formed, and two spiral guide grooves 70, 70 are formed. And
The whole is assembled so that the engagement element 56 is sandwiched between the two engagement elements 62,62. These engaging members 56 and 62
The structure shown in FIGS. 2 and 3 is used. According to this embodiment, when the first and second belt holding members 40 and 42 are fixed and the first rotary cylinder 64 is rotated, the engaging member 56 is moved by the guide groove 68 to the belt member 54. moves with, this time, the engaging element 62, 62 is also moved. Therefore engaging elements 62, 62 second guide groove 70
Because it rolls inside, the second cylinder 66 also rotates. If the guide grooves 68 and 70 have the opposite pitch, the rotation can be reversed, and if the pitch is different, the gear can be shifted. Also, two belt holding members 40,
By rotating the unit 42 integrally and setting the two guide grooves 68 and 70 at an equal pitch, a differential device is obtained. According to this embodiment, the rotation is transmitted by the engaging element 5.
Since the rotation is performed through 6, 62, the frictional resistance is small, and the smooth transmission of rotation is possible. FIG. 6 is a sectional view of the fourth embodiment. In this embodiment, the second belt holding member 42 of the embodiment shown in FIGS. 4 and 5 is arranged non-coaxially so that the long windows 48 and 50 face each other. Are coaxially arranged on the belt holding member 42 of FIG. Used here
The engagement members 56 and 62 having the structure shown in FIGS.
It is possible. As described above, according to the first aspect of the present invention, the engaging member is caused to travel on the circulation path while being held at a predetermined interval by the belt member, and to face the long window in the axial direction. Is engaged with the guide grooves of the two rotators to transmit rotation, so that a small-sized rotation transmission device can be obtained without using gears, belts, and the like. At this time, by selecting the pitch of the guide groove of each rotating body as appropriate, transmission of forward / reverse rotation and shifting can be performed, and a differential device can be provided by inputting rotation from a belt holding member. Therefore, the size can be significantly reduced as compared with the conventional differential mechanism using a bevel gear or a planetary gear field. Further, since each engaging element moves in conjunction with the belt member, the ingress and egress of the spiral groove from the circulation path become smooth, and the engaging element does not bite between the spiral groove and the rotating body.
Smooth operation becomes possible. Particularly because each engaging elements are those having two rotary members rotatable independently of each other against rotation in two guide grooves, it is possible to further smooth operation. At this time, first and second belt members are respectively provided in the circulation paths provided in the two belt holding members, and the first engagement member held on one of the belt members is the second engagement member held on the other. If rotation is transmitted between the first and second
Since each of the engaging members need only roll in one guide groove, the resistance at the time of sliding of the guide groove is reduced, and smoother rotation transmission is possible. [0024]

【図面の簡単な説明】 【図１】本発明の第１実施例を示す側断面図 【図２】そのII−II線断面図 【図３】第２実施例のII−II線相当位置の断面図 【図４】第３実施例の断面図 【図５】その分解斜視図 【図６】第４実施例の断面図 【符号の説明】 １０Ｂ、１０Ｃ４０、４２ ベルト保持部材 １２Ｂ、１２Ｃ、４４、４６ 循環路 １４Ｂ、１４Ｃ、４８、５０ 長窓 １６Ｂ、１６Ｃ、５４、６０ ベルト部材 １８Ｂ、１８Ｃ、５６、６２ 係合子 ２２Ｂ、２２Ｃ 、２４Ｂ、２４Ｃ 回転体 ２６Ｂ、２６Ｃ、２８Ｂ、２８Ｃ ガイド溝 ６４、６６ 回転筒 ６８、７０ ガイド溝 ａ、ｂ、ｃ、ｅ、ｆ 回転部材 BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a side sectional view showing a first embodiment of the present invention. FIG. 2 is a sectional view taken along the line II-II. FIG. FIG. 4 is a sectional view of a third embodiment. FIG. 5 is an exploded perspective view of the belt. FIG. 6 is a sectional view of a fourth embodiment. [Description of References] 10B, 10C40, 42 Belt holding members 12B, 12C, 44 , 46 Circulation paths 14B, 14C, 48, 50 Long windows 16B, 16C, 54, 60 Belt members 18B, 18C, 56, 62 Engaging members 22B, 22C, 24B, 24C Rotating bodies 26B, 26C, 28B, 28C Guide grooves 64 , 66 Rotating cylinder 68, 70 Guide grooves a, b, c, e, f Rotating member

Claims (1)

(57)【特許請求の範囲】 １．周面に形成された軸方向に長い長窓に連通する循環
路を有するベルト保持部材と、前記循環路内を走行する
可撓性の環状ベルト部材と、前記ベルト部材に所定間隔
を維持されつつ循環路を走行する係合子と、前記係合子
に係合する第１および第２のガイド溝がそれぞれ形成さ
れた第１および第２の回転筒とを備え、前記各係合子は
前記第１のガイド溝および第２のガイド溝にそれぞれ転
接し互いに独立に回転可能な２つの回転部材を持ち、前
記一方の回転筒の回転を前記係合子を介して他方の回転
筒に伝えることを特徴とする回転伝動装置。 ２．周面に形成された軸方向に長い長窓に連通する循環
路を有する第１および第２のベルト保持部材と、各ベル
ト保持部材の循環路内をそれぞれ走行する第１および第
２の環状ベルト部材と、各ベルト部材に所定間隔を維持
されつつ各循環路を走行する第１および第２の係合子と
を備え、前記第１の係合子を前記第２の係合子で挟みつ
つ走行させる一方、前記第１および第２の係合子をそれ
ぞれ第１および第２のガイド溝に係合させ、これらの各
係合子は第１または第２のガイド溝と他方の係合子とに
それぞれ転接して互いに独立に回転可能な２つの回転部
材を持つことを特徴とする回転伝動装置。 ３．各ベルト保持部材および各回転筒は同軸に保持され
ている特許請求の範囲第２項記載の回転伝動装置。 ４．各ベルト保持部材は各長窓が対向するように非同軸
に並設されている特許請求の範囲第２項記載の回転伝動
装置。(57) [Claims] A belt holding member having a circulation path communicating with a long window in the axial direction formed on the peripheral surface, a flexible annular belt member running in the circulation path, and a predetermined interval maintained between the belt members. and engaging element running the circulation path, the engager first and second engaging into the guide groove and first and second rotary cylinder formed respectively, each engaging element is the first It has two rotating members rotatably in contact with the guide groove and the second guide groove, respectively, and can rotate independently of each other, and rotates the rotation of the one rotation cylinder through the engagement element to the other rotation member.
A rotary transmission device that transmits a signal to a cylinder . 2. Circulation communicating with a long window in the axial direction formed on the peripheral surface
First and second belt holding members each having a path, first and second annular belt members respectively running in the circulation paths of the belt holding members, and each of the circulation paths while maintaining a predetermined interval between the belt members. And the first and second engaging members are driven while the first and second engaging members are sandwiched between the second and the second engaging members. It engaged with the second guide groove, each of these engaging elements is characterized by having two rotary members rotatable independently of one another by rolling contact with each of the first or second guide groove and the other engaging elements And a rotary transmission. 3. 3. The rotary transmission according to claim 2, wherein each belt holding member and each rotary cylinder are held coaxially. 4. 3. The rotary transmission according to claim 2, wherein the belt holding members are arranged non-coaxially so that the long windows face each other.