JP5014038B2 - Linear drive actuator - Google Patents

Linear drive actuator Download PDF

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JP5014038B2
JP5014038B2 JP2007242129A JP2007242129A JP5014038B2 JP 5014038 B2 JP5014038 B2 JP 5014038B2 JP 2007242129 A JP2007242129 A JP 2007242129A JP 2007242129 A JP2007242129 A JP 2007242129A JP 5014038 B2 JP5014038 B2 JP 5014038B2
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gear
rack
teeth
idler
rack gear
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JP2009074582A (en
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剛 佐藤
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Oriental Motor Co Ltd
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Description

本発明は、ラックとピニオン機構を有する直線駆動用アクチュエータに関する。   The present invention relates to a linear drive actuator having a rack and a pinion mechanism.

図５はラックとピニオン機構を用いた直線駆動用アクチュエータで、このアクチュエータは、ケース１００内に収容されたモータ等の駆動源から回転動力が伝達される中間減速部１０１と、この中間減速部１０１のギヤ機構で減速された回転が伝達される回転軸１０２に設けられたピニオンギヤ１０３と、このピニオンギヤ１０３に噛み合い直線運動を行なうラックギヤ１０４とを備えている。ラックギヤ１０４はラックケース１０５に装着されたラックブッシュ１０６を介して摺動可能に支持されており、ラックギヤ１０４に設けられた直線状に並設された歯１０４ａにピニオンギヤ１０３の歯１０３ａが噛合して回転動力を直線運動に変換するものである。   FIG. 5 shows an actuator for linear drive using a rack and a pinion mechanism. This actuator includes an intermediate reduction unit 101 to which rotational power is transmitted from a drive source such as a motor housed in a case 100, and the intermediate reduction unit 101. A pinion gear 103 provided on a rotating shaft 102 to which rotation reduced by the gear mechanism is transmitted, and a rack gear 104 that meshes with the pinion gear 103 and performs linear motion. The rack gear 104 is slidably supported via a rack bush 106 mounted on the rack case 105, and the teeth 103a of the pinion gear 103 mesh with the teeth 104a arranged in a straight line provided on the rack gear 104. Rotational power is converted into linear motion.

従来のラックとピニオン機構では、ギヤ部において、１枚の歯に掛かる負荷を分散する方法として、スパーギヤの場合は、歯丈や転位により「正面噛合い率」を上げたり、歯幅で加重分散を図る方法、ヘリカルギヤの場合は、スパーギヤの方法に加えてねじれや歯幅を稼ぎ、「重なり噛合い率」「全噛合い率」を上げる方法を取る。
特開平１１−８２６６２号公報 In the conventional rack and pinion mechanism, as a method of distributing the load applied to one tooth in the gear part, in the case of a spur gear, the "front meshing rate" is increased by the tooth height and shift, or the load is distributed by the tooth width. In the case of a helical gear, in addition to the spur gear method, a method of increasing the “overlap meshing ratio” and the “total meshing ratio” by increasing torsion and tooth width is employed.
Japanese Patent Laid-Open No. 11-82662

しかしながら、従来のラックとピニオン機構では、伝達力が増幅されて出力されるラックギヤの歯車に、負荷が集中してしまう上、ラックギヤは長物形状であることから、歯の強度を大きく向上させる浸炭焼入れ等の改質策が取り辛い。その結果、寿命あるいは強度の面でラックギヤの歯面磨耗がボトルネックとなって、仕様向上あるいは寿命の延長が難しかった。   However, in the conventional rack and pinion mechanism, the load is concentrated on the gear of the rack gear that outputs the amplified transmission force, and the rack gear is long, so the carburizing and quenching that greatly improves the strength of the teeth. Such reforming measures are difficult to take. As a result, the rack gear tooth surface wear became a bottleneck in terms of service life or strength, and it was difficult to improve specifications or extend service life.

本発明は、上記課題を解決し、ラックギヤの歯面磨耗を防ぎ、仕様向上を図り、寿命の向上を図ることができる直線駆動用アクチュエータを提供することを目的とする。   An object of the present invention is to solve the above-mentioned problems, and to provide a linear drive actuator that can prevent tooth surface wear of a rack gear, improve specifications, and improve the service life.

本発明は、上記課題を解決するため、ラックとピニオン機構を用いた直線駆動用アクチュエータにおいて、前記ラックギヤに噛み合う対を成すアイドラギヤを設け、これら対を成すアイドラギヤに同時に噛み合う駆動用のピニオンギヤを設け、前記ラックギヤに対する前記アイドラギヤの噛合い率を１．５以上に設定し、かつ噛合い周期が１／２周期ずれるように、前記対を成すアイドラギヤ同士の軸間距離を設定し、前記アイドラギヤと前記ラックギヤが、常時３枚以上の歯で噛み合って駆動力を伝達するようにしたことにある。 In order to solve the above problems, the present invention provides a linear drive actuator using a rack and a pinion mechanism, provided with idler gears that mesh with the rack gears, and provided with drive pinion gears that mesh simultaneously with the idler gears that form these pairs, The inter-axis distance between the pair of idler gears is set so that the meshing rate of the idler gear with respect to the rack gear is set to 1.5 or more, and the meshing period is shifted by 1/2 period, and the idler gear and the rack gear are set. However, the driving force is transmitted by always meshing with three or more teeth .

本発明によれば、対を成すアイドラギヤでラックギヤに噛合うので、ラックギヤに加わる負荷を分散することができる。また、前記アイドラギヤとラックギヤが、常時３枚以上の歯で噛合うことになるので、アイドラギヤに加わる荷重の分散が最適化される。 According to the present invention, the pair of idler gears mesh with the rack gear, so that the load applied to the rack gear can be distributed. Further, since the idler gear and the rack gear are always meshed with three or more teeth, the distribution of the load applied to the idler gear is optimized.

以下図示の実施の形態を図面を参照しながら詳細に説明する。
図１は、直線駆動用アクチュエータの内部機構を示す断面図である。 The embodiments shown in the drawings will be described in detail below with reference to the drawings.
FIG. 1 is a cross-sectional view showing an internal mechanism of a linear drive actuator.

図１において、１はラックケースで、このラックケース１の内部中空部１ａには、ラックブッシュ２を介してラックギヤ３が上下方向に摺動可能に配置されている。ラックケース１には、上下壁面１ｂに、上下方向に貫通する孔１ｃが設けられ、この上下壁面１ｂには、前記ラックブッシュ２がそれぞれ設けられている。これらラックブッシュ２に上下２箇所を摺動可能に支持されて前記ラックギヤ３が装着されている。   In FIG. 1, reference numeral 1 denotes a rack case, and a rack gear 3 is slidably disposed in an up-down direction via a rack bush 2 in an inner hollow portion 1 a of the rack case 1. The rack case 1 is provided with a hole 1c penetrating in the vertical direction on the upper and lower wall surface 1b, and the rack bush 2 is provided on the upper and lower wall surface 1b. The rack gear 3 is mounted on these rack bushes 2 so as to be slidably supported at two upper and lower positions.

前記ラックケース１の内部中空部１ａには、それぞれ軸４，５に支持されて一対のアイドラギヤ６，７が内蔵されており、これらアイドラギヤ６，７は前記ラックギヤ３にそれぞれ噛合している。これらアイドラギヤ６，７には、ピニオンギヤ８が同時に噛合しており、このピニオンギヤ８の支持軸９には、図示しない中間減速部のギヤが装着されている。この中間減速部のギヤには、図示しないモータ等の駆動源から回転動力が伝達され、中間減速部のギヤを通してピニオンギヤ８に回転動力が伝達されている。   A pair of idler gears 6, 7 are supported in shafts 4, 5 in the internal hollow portion 1 a of the rack case 1, and these idler gears 6, 7 mesh with the rack gear 3, respectively. A pinion gear 8 is meshed with these idler gears 6 and 7 at the same time, and a support shaft 9 of the pinion gear 8 is fitted with a gear of an intermediate reduction portion (not shown). Rotational power is transmitted from a drive source such as a motor (not shown) to the gear of the intermediate reduction unit, and the rotational power is transmitted to the pinion gear 8 through the gear of the intermediate reduction unit.

前記直線駆動用アクチュエータの動作を説明すると、モータ等の駆動源から中間減速部のギヤを通してピニオンギヤ８に回転動力が伝達され、このピニオンギヤ８から一対のアイドラギヤ６，７に回転動力が伝達される。そして、これら一対のアイドラギヤ６，７によって同時に２箇所からラックギヤ３が駆動される。こうして、一対のアイドラギヤ６，７によって、ラックギヤ３は直線駆動されるので、ラックギヤ３の歯３ａに掛かる負担は分散され、ラックギヤ３の寿命あるいは強度は、従来のアクチュエータに比べて耐久性の向上を図ることができる。   Describing the operation of the linear drive actuator, the rotational power is transmitted from a drive source such as a motor to the pinion gear 8 through the gear of the intermediate speed reduction unit, and the rotational power is transmitted from the pinion gear 8 to the pair of idler gears 6 and 7. The rack gear 3 is driven from two locations simultaneously by the pair of idler gears 6 and 7. Thus, since the rack gear 3 is linearly driven by the pair of idler gears 6 and 7, the load applied to the teeth 3a of the rack gear 3 is dispersed, and the life or strength of the rack gear 3 is improved in durability as compared with the conventional actuator. Can be planned.

図２は、本発明の他の実施の形態で、この場合、アイドラギヤ６，７の歯６ａ，７ａとラックギヤ３の歯３ａの噛合いを、２枚の歯で噛合う状態と１枚の歯で噛合う状態をずらすことで、常時３枚の歯で噛合うように設定したものである。すなわち、ラックギヤ３の歯３ａと、アイドラギヤ６，７の歯６ａ，７ａとの噛合い率を１．５以上に設定したものである。Ｐ１はラックギヤ３の歯３ａのピッチで、アイドラギヤ６，７の同一の歯６ａ，７ａが噛合い続けている長さＴ１がＰ１×噛合い率で求められる。例えば、Ｐ１＝６．２８３とすると、同一の歯が噛合い続けている長さＴ１＝１０．２３４となる。   FIG. 2 shows another embodiment of the present invention. In this case, the teeth 6a and 7a of the idler gears 6 and 7 and the teeth 3a of the rack gear 3 are engaged with each other by two teeth and one tooth. By shifting the state of meshing with, it is set to always mesh with three teeth. That is, the meshing ratio between the teeth 3a of the rack gear 3 and the teeth 6a and 7a of the idler gears 6 and 7 is set to 1.5 or more. P1 is the pitch of the teeth 3a of the rack gear 3, and the length T1 in which the same teeth 6a, 7a of the idler gears 6, 7 are continuously engaged is obtained by P1 × engagement rate. For example, when P1 = 6.283, the length T1 = 10.234 in which the same tooth continues to mesh.

図３は、ラックギヤ３に対するアイドラギヤ６，７とピニオンギヤ８の配置構成を示したもので、ｚ1とｚ2は、ピニオンギヤ８とアイドラギヤ６，７の歯数（ｚ）を示したものである。θ1はピニオンギヤ８とアイドラギヤ６の中心を結ぶ線とピニオンギヤ８の中心からラックギヤ３に向けて垂直に引き下ろす垂線とのなす角度を示し、Ｄはアイドラギヤ６，７の中心間の距離（長さ）を示している。 FIG. 3 shows the arrangement configuration of the idler gears 6 and 7 and the pinion gear 8 with respect to the rack gear 3, and z 1 and z 2 show the number of teeth (z) of the pinion gear 8 and the idler gears 6 and 7. θ 1 represents an angle formed by a line connecting the center of the pinion gear 8 and the idler gear 6 and a perpendicular line drawn vertically from the center of the pinion gear 8 toward the rack gear 3, and D is a distance (length) between the centers of the idler gears 6 and 7. ).

そして、モジュール（ｍ）を、ｍ＝２．０とし、
歯数を、ｚ＝１２とし、
転位係数を、ｘ＝０．２３
とすると、
「拘束噛合い歯車」の成立条件として、以下の式を満足する必要がある。 And module (m) is m = 2.0,
The number of teeth is z = 12,
The dislocation coefficient is x = 0.23.
Then,
As a condition for establishing the “restraint meshing gear”, the following expression must be satisfied.

ｚ1・θ1／１８０+ｚ2（１８０+θ1）／１８０+Ｄ／πｍ＝整数・・・（１） z 1 · θ 1/180 + z 2 (180 + θ 1) / 180 + D / πm = integer (1)

図４（ａ）の上段の図面は、歯車１がラックギヤ３の歯３ａと噛合う歯の枚数を示したもので、図４（ａ）の下段の図面は、歯車２がラックギヤ３の歯３ａと噛合う歯の枚数を示したものである。すなわち、図２において、歯車１をアイドラギヤ６とし、歯車２をアイドラギヤ７とすると、アイドラギヤ６の１枚の歯６ａがラックギヤ３の１枚の歯３ａに噛合っているとき、アイドラギヤ７の２枚の歯７ａがラックギヤ３の２枚の歯３ａに噛合っている状態となる。そして、アイドラギヤ６の２枚の歯６ａがラックギヤ３の２枚の歯３ａに噛合うようになってから少し遅れてアイドラギヤ７の２枚の歯７ａがラックギヤ３の２枚の歯３ａに噛合う状態からアイドラギヤ７の１枚の歯７ａがラックギヤ３の１枚の歯３ａに噛合う状態に変わる。したがって、図４（ｂ）に示すように、常時、アイドラギヤ６，７の３枚の歯６ａ，７ａでラックギヤ３の３枚以上の歯３ａに噛合うことになる。   The upper drawing of FIG. 4A shows the number of teeth that the gear 1 meshes with the teeth 3 a of the rack gear 3, and the lower drawing of FIG. 4A shows that the gear 2 is the teeth 3 a of the rack gear 3. It shows the number of teeth meshing with. That is, in FIG. 2, when the gear 1 is the idler gear 6 and the gear 2 is the idler gear 7, when one tooth 6a of the idler gear 6 meshes with one tooth 3a of the rack gear 3, two idler gears 7 The teeth 7a are engaged with the two teeth 3a of the rack gear 3. Then, the two teeth 7a of the idler gear 7 are engaged with the two teeth 3a of the rack gear 3 with a slight delay after the two teeth 6a of the idler gear 6 are engaged with the two teeth 3a of the rack gear 3. The state changes from a state where one tooth 7 a of the idler gear 7 is engaged with one tooth 3 a of the rack gear 3. Accordingly, as shown in FIG. 4B, the three teeth 6a and 7a of the idler gears 6 and 7 are always meshed with three or more teeth 3a of the rack gear 3.

前記噛合い率は、数１で表される次式となる。ここで、ｄａはアイドラギヤ歯先円直径、ｄｂはアイドラギヤ基礎円直径、ｈａはラック歯末の丈、Ｘはアイドラギヤ転位係数、ｍはモジュール、αは噛合い圧力角、ｄはアイドラギヤピッチ円直径を表す。   The meshing rate is represented by the following expression represented by Equation 1. Where da is the idler gear tip circle diameter, db is the idler gear basic circle diameter, ha is the rack tooth end length, X is the idler gear shift coefficient, m is the module, α is the meshing pressure angle, and d is the idler gear pitch circle diameter. Represents.

Figure 0005014038
Figure 0005014038

図３に示すアイドラギヤ６，７の中心間の長さＤは、Ｄ＝（ｎ+０．５）×Ｐ１
で表すことができる。ｎを６と設定すると、Ｐ１＝６．２８３となり、Ｄ＝４０．８３９５となる。 The length D between the centers of the idler gears 6 and 7 shown in FIG. 3 is D = (n + 0.5) × P1.
Can be expressed as If n is set to 6, P1 = 6.283 and D = 40.8395.

このように、アイドラギヤ６，７の歯６ａ，７ａとの噛合い率を１．５以上に設定し、噛合い周期が１／２周期ずれるように、アイドラギヤ６，７同士の軸４，５間距離を設定することで、図４（ａ）のように、１枚噛合いから２枚噛合いのサイクルを、２つのアイドラギヤ６，７がそれぞれ正反対の周期で行なうため、常時３枚の歯で噛合わせることができるようになる（図４（ｂ）参照）。   In this way, the meshing rate of the idler gears 6 and 7 with the teeth 6a and 7a is set to 1.5 or more, and the meshing cycle is shifted by 1/2 cycle between the shafts 4 and 5 between the idler gears 6 and 7. By setting the distance, as shown in FIG. 4 (a), the two idler gears 6 and 7 perform a cycle from one meshing to two meshing in opposite cycles, so always with three teeth. It becomes possible to engage with each other (see FIG. 4B).

以上のように、上記実施の形態によると、１歯あたりの負荷荷重の低減により歯車寿命の延長を図ることができる。また、負荷の分散により、小モジュールでも高負荷を保持することができる。さらに、小モジュール歯車化によるアクチュエータ機構の小型化を図ることができる。   As described above, according to the above embodiment, it is possible to extend the life of the gear by reducing the load load per tooth. Moreover, a high load can be maintained even with a small module by distributing the load. Further, the actuator mechanism can be reduced in size by using a small module gear.

なお、本発明は、上記実施の形態のみに限定されるものではなく、例えば、図１の実施の形態では、６，７がアイドラギヤ、８がピニオンギヤで、４，５がアイドラ軸、９がピニオン軸（駆動軸）に設定したが、７をピニオンギヤ、６，８をアイドラギヤにした場合でも、ラックギヤ３を複数のギヤで駆動することができる。また、ラックギヤ３の歯３ａのピッチＰ１あるいは、アイドラギヤ６，７の直径または歯数は任意に設定することができ、さらに、アイドラギヤ６，７の直径または歯数に応じてピニオンギヤ８の直径または歯数を任意に設定することができる。など、その他、本発明の要旨を変更しない範囲内で適宜変更して実施し得ることは言うまでもない。   The present invention is not limited to the above embodiment. For example, in the embodiment of FIG. 1, 6 and 7 are idler gears, 8 is a pinion gear, 4 and 5 are idler shafts, and 9 is a pinion. Although the shaft (drive shaft) is set, the rack gear 3 can be driven by a plurality of gears even when 7 is a pinion gear and 6 and 8 are idler gears. Further, the pitch P1 of the teeth 3a of the rack gear 3 or the diameter or the number of teeth of the idler gears 6 and 7 can be arbitrarily set. Further, the diameter or the teeth of the pinion gear 8 according to the diameter or the number of teeth of the idler gears 6 and 7 can be set. The number can be set arbitrarily. In addition, it goes without saying that the present invention can be implemented with appropriate modifications within the scope not changing the gist of the present invention.

本発明の実施の形態による直線駆動用アクチュエータを示す概念断面図である。It is a conceptual sectional view showing an actuator for linear drive by an embodiment of the invention. ２つのアイドラギヤとラックギヤとの噛合いを説明する概念図である。It is a conceptual diagram explaining mesh | engagement with two idler gears and a rack gear. ２つのアイドラギヤとピニオンギヤとの配置関係を示す概念図である。It is a conceptual diagram which shows the arrangement | positioning relationship between two idler gears and a pinion gear. （ａ）は歯車１と歯車２の歯がラックギヤの歯と噛合う周期を約π／２ずらした場合の噛合い状態を示す図、（ｂ）は歯車１と歯車２の歯がラックギヤの歯と噛合う状態を合成して示す図である。(A) is a figure which shows the meshing state when the period in which the teeth of the gear 1 and the gear 2 mesh with the teeth of the rack gear is shifted by about π / 2, and (b) is the tooth of the gear 1 and the gear 2 of the rack gear. FIG. 従来のラックとピニオン機構を用いた直線駆動用アクチュエータを示す斜視図である。It is a perspective view which shows the actuator for a linear drive using the conventional rack and pinion mechanism.

符号の説明Explanation of symbols

１ ラックケース
２ ラックブッシュ
３ ラックギヤ
４ 軸
５ 軸
６ アイドラギヤ
７ アイドラギヤ
８ ピニオンギヤ
９ 支持軸
６ａ，７ａ 歯 1 rack case 2 rack bush 3 rack gear 4 shaft 5 shaft 6 idler gear 7 idler gear 8 pinion gear 9 support shaft 6a, 7a teeth

Claims (1)

ラックとピニオン機構を用いた直線駆動用アクチュエータにおいて、前記ラックギヤに噛み合う対を成すアイドラギヤを設け、これら対を成すアイドラギヤに同時に噛み合う駆動用のピニオンギヤを設け、前記ラックギヤに対する前記アイドラギヤの噛合い率を１．５以上に設定し、かつ噛合い周期が１／２周期ずれるように、前記対を成すアイドラギヤ同士の軸間距離を設定し、前記アイドラギヤと前記ラックギヤが、常時３枚以上の歯で噛み合って駆動力を伝達するようにしたことを特徴とする直線駆動用アクチュエータ。 In a linear drive actuator using a rack and a pinion mechanism, an idler gear that meshes with the rack gear is provided, a drive pinion gear that meshes simultaneously with the idler gear that forms the pair is provided, and the meshing ratio of the idler gear to the rack gear is 1 The distance between the paired idler gears is set so that the meshing period is shifted by 1/2 period, and the idler gear and the rack gear are always meshed with three or more teeth. A linear drive actuator characterized by transmitting a driving force .
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