JPH0416664B2 - - Google Patents
Info
- Publication number
- JPH0416664B2 JPH0416664B2 JP61164792A JP16479286A JPH0416664B2 JP H0416664 B2 JPH0416664 B2 JP H0416664B2 JP 61164792 A JP61164792 A JP 61164792A JP 16479286 A JP16479286 A JP 16479286A JP H0416664 B2 JPH0416664 B2 JP H0416664B2
- Authority
- JP
- Japan
- Prior art keywords
- drive
- toothed
- large gear
- pinions
- gear
- 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.)
- Expired - Lifetime
Links
- 238000006073 displacement reaction Methods 0.000 claims abstract description 6
- 230000005540 biological transmission Effects 0.000 claims abstract description 4
- 239000011295 pitch Substances 0.000 abstract 1
- 230000000694 effects Effects 0.000 description 2
- 230000036316 preload Effects 0.000 description 2
- 210000000707 wrist Anatomy 0.000 description 2
- 238000000034 method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
- B25J9/1045—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons comprising tensioning means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/103—Gears specially adapted therefor, e.g. reduction gears with backlash-preventing means
-
- 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
- F16H57/00—General details of gearing
- F16H57/12—Arrangements for adjusting or for taking-up backlash not provided for elsewhere
-
- 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
- F16H57/00—General details of gearing
- F16H57/12—Arrangements for adjusting or for taking-up backlash not provided for elsewhere
- F16H2057/121—Arrangements for adjusting or for taking-up backlash not provided for elsewhere using parallel torque paths and means to twist the two path against each other
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- General Engineering & Computer Science (AREA)
- Gear Transmission (AREA)
- Transmission Devices (AREA)
- Manipulator (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は歯車対を有した減速用駆動機構におい
てバツクラツシを除去する装置に関し、特に産業
用ロボツトのベース部に配設され、胴体を旋回さ
せる駆動装置のバツクラツシ除去装置に関する。[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to a device for eliminating backlash in a speed reduction drive mechanism having a pair of gears, and particularly to a device that is disposed at the base of an industrial robot and rotates the body. The present invention relates to a backlash removal device for a drive device.
一般に、歯車対をなす２つの歯車が噛み合つた
場合に、従動側の歯車のピツチ円上で測つた歯の
隙間の長さ（歯みぞの幅）と、駆動側の歯車のピ
ツチ円上で測つた歯の厚さ（歯厚）との差は有限
微小値であり、バツクラツシと言う。従つて駆動
側から観るとこのバツクラツシは遊びであつて、
精度を要する制御駆動部においてはこのバツクラ
ツシのおかげで精度の良い制御が困難となる。更
には、高速で制御を行なう場合にはこのバツクラ
ツシに起因して振動や騒音が発生する。特に産業
用ロボツトの制御駆動部に歯車対を有している場
合には、バツクラツシが起因して、ひいては手首
部先端の制御精度に悪影響を及ぼすと共に、高速
制御時には振動や騒音が発生する。
In general, when two gears forming a gear pair are meshed, the length of the gap between the teeth (the width of the tooth groove) measured on the pitch circle of the driven gear and the pitch circle of the driving gear. The difference from the measured tooth thickness (tooth thickness) is a finitely small value and is called a difference. Therefore, from the perspective of the drive side, this backlash is just a play.
In a control drive unit that requires precision, this backlash makes it difficult to control with high precision. Furthermore, when controlling at high speed, vibration and noise are generated due to this backlash. Particularly when the control drive section of an industrial robot has a gear pair, backlash causes a bad effect on the control accuracy of the tip of the wrist, and generates vibration and noise during high-speed control.
依つて、本発明は斯る問題点の解決を図るべ
く、歯車対のバツクラツシを除去せんとするもの
である。 Therefore, the present invention aims to eliminate the backlash of the gear pair in order to solve such problems.
本発明は上述した発明目的に鑑みて、１つの大
歯車の異なる２つの歯に同一の円ピツチを有した
第１、第２のピニオンとを噛合させて各歯車の回
転軸線が互いに平行な２つの歯車対を設け、
前記第１、第２のピニオンの回転軸上に所定の
同一ピツチ円径を有した第１、第２の被駆動側歯
付プーリを各々固定し、
駆動装置の駆動軸における軸線方向の２位置に
第１、第２の所定の同一ピツチ円径を有した２つ
の駆動側歯付プーリを互いに相対的な所望量の回
転変位を付与した後に両者を固定手段で相対的に
固定可能に設け、
前記駆動側、被駆動側の歯付プーリを２つの歯
付ベルトを介して結合することにより１つの駆動
源からの２つの伝動対を形成し、かつ、
前記被駆動側歯付プーリの前記所定のピツチ円
径を前記駆動側歯付プーリの前記所定のピツチ円
径よりも大きく設定し、
前記第１、第２の駆動側歯付プーリ間に付与し
た相対的調節回転変位と前記駆動軸の軸線を前記
大歯車の回転軸線から遠ざけるベルト張力調節調
節変位とによつて前記歯付ベルトを介して前記第
１、第２のピニオンと前記大歯車とを常時噛合状
態に維持し、歯車対のバツクラツシを除去するこ
とを特徴とした歯車対を有する減速用駆動機構を
提供する。
In view of the above-mentioned object of the invention, the present invention has been developed by meshing two different teeth of one large gear with first and second pinions having the same circular pitch, so that the rotation axes of each gear are parallel to each other. a drive shaft of a drive device, with first and second driven side toothed pulleys each having a predetermined same pitch diameter fixed on the rotation shafts of the first and second pinions; After applying a desired amount of rotational displacement relative to each other, the two drive-side toothed pulleys having the same pitch diameter at the first and second predetermined positions at two positions in the axial direction are fixed relative to each other by a fixing means. The toothed pulleys on the driving side and the driven side are connected via two toothed belts to form two transmission pairs from one drive source, and the driven side The predetermined pitch circle diameter of the toothed pulley is set larger than the predetermined pitch circle diameter of the drive side toothed pulley, and the relative adjustment rotation is applied between the first and second drive side toothed pulleys. The first and second pinions and the large gear are always in mesh via the toothed belt by the displacement and the belt tension adjustment adjustment displacement that moves the axis of the drive shaft away from the rotational axis of the large gear. To provide a speed reduction drive mechanism having a gear pair characterized in that the gear pair is maintained and the backlash of the gear pair is eliminated.
上述の構成を有する本発明の歯車対を有した減
速用駆動機構によれば、先ず、上記の駆動装置の
駆動軸に設けた２つの駆動側歯付プーリを同駆動
軸から回転自在に解放した状態にして手動で逆回
転を付与する。これにより、各歯付ベルトを介し
て被駆動側の２つのプーリを回動させて第１、第
２ピニオンに回転を与え、それらのピニオン歯を
相手側大歯車の歯面に突き当て状態に噛み合せて
第１段階のバツクラツシ除去を遂行する。次に、
その状態のまま駆動側の２つのプーリを共に固定
手段で確実に駆動装置の駆動軸に固定し、同時に
両者も相対回転不可に固定する。次いで、駆動装
置の駆動軸を大歯車の軸線から遠ざける方向に変
位させると、両歯付ベルトには引つ張りによる張
力が付加される。このとき、被駆動側歯付プーリ
のピツチ円径が駆動側歯付プーリのピツチ円径よ
り大きいことから、第１、第２ピニオンと大歯車
との噛合状態下では各ベルトに就いて行き側のベ
ルト部分と返り側のベルト部分との間で張力に差
が発生する。この各ベルトの張力差は被駆動プー
リを介して第１、第２のピニオンに大歯車との噛
合面で予圧を付与する。故に、歯車対を有した減
速用駆動機構は、常に予圧下でバツクラツシが除
去される状態と成り、従つて、駆動系から被駆動
系へ確実な歯車による伝動が可能となる。 According to the deceleration drive mechanism having the gear pair of the present invention having the above-described configuration, first, the two drive-side toothed pulleys provided on the drive shaft of the drive device are rotatably released from the drive shaft. state and manually apply reverse rotation. As a result, the two pulleys on the driven side are rotated via each toothed belt, giving rotation to the first and second pinions, and the pinion teeth are brought into contact with the tooth surfaces of the large gear on the other side. They are engaged to perform the first step of debunking. next,
In this state, the two pulleys on the drive side are both securely fixed to the drive shaft of the drive device by the fixing means, and at the same time, both are fixed so that they cannot rotate relative to each other. Next, when the drive shaft of the drive device is displaced in a direction away from the axis of the large gear, tension is applied to both toothed belts. At this time, since the pitch circle diameter of the driven side toothed pulley is larger than the pitch circle diameter of the drive side toothed pulley, when the first and second pinions are engaged with the large gear, each belt is There is a difference in tension between the belt part on the return side and the belt part on the return side. This difference in tension between the belts applies a preload to the first and second pinions via the driven pulleys at their meshing surfaces with the large gear. Therefore, the deceleration drive mechanism having a pair of gears is always in a state in which backlash is removed under preload, and therefore, reliable transmission from the drive system to the driven system by the gears is possible.
以下、本発明を添付図面に示す実施例に基づい
て更に詳細に説明する。第１図は本発明による歯
車対を有する減速用駆動機構の略示斜視図、第２
図は歯車対の模式的上面図、第３図は駆動軸への
２つのプーリの取付状態を示す断面図である。
Hereinafter, the present invention will be explained in more detail based on embodiments shown in the accompanying drawings. FIG. 1 is a schematic perspective view of a deceleration drive mechanism having a gear pair according to the present invention;
The figure is a schematic top view of the gear pair, and FIG. 3 is a sectional view showing how two pulleys are attached to the drive shaft.
まず第１図を参照すると、駆動装置としてのサ
ーボモータ１０の駆動軸１２には第１の駆動側歯
付プーリ１４と第２の駆動側歯付プーリ１６とが
固定されている。一方、大歯車３０をその回転軸
線３６の周りに回転させるよう該回転軸線３６と
互いに平行な回転軸線３２，３４を有し、互いに
適宜離間して大歯車３０と噛合した第１、第２の
ピニオン２６，２８が配設されている。これら第
１、第２のピニオン２６，２８には第１、第２の
被駆動側歯付プーリ２２，２４が固定され、該第
１、第２の被駆動側歯付プーリ２２，２４と前記
第１、第２の駆動側歯付プーリ１４，１６とは
各々弾性体から成る第１、第２の歯付ベルト１
８，２０を介して連結されている。 First, referring to FIG. 1, a first drive-side toothed pulley 14 and a second drive-side toothed pulley 16 are fixed to a drive shaft 12 of a servo motor 10 as a drive device. On the other hand, the first and second gears have rotation axes 32 and 34 that are mutually parallel to the rotation axis 36 so as to rotate the large gear 30 around the rotation axis 36, and are meshed with the large gear 30 at an appropriate distance from each other. Pinions 26 and 28 are provided. First and second driven side toothed pulleys 22 and 24 are fixed to these first and second pinions 26 and 28, and the first and second driven side toothed pulleys 22 and 24 and the The first and second drive-side toothed pulleys 14 and 16 are the first and second toothed belts 1 each made of an elastic body.
8 and 20.
第２図を参照しながら、第１図で図示した装置
機構により歯車対のバツクラツシを除去する原理
につき記載する。第１の駆動側歯付プーリ１４と
第１歯付ベルト１８と第１被駆動側歯付プーリ２
２とを介して第１ピニオン２６を回転軸線３２の
周りに矢印Ｃ１方向に適量回転させ、自身の歯の
側面Ｆ１を大歯車３０の歯の側面Ｆ３と当接させ
る。この第１ピニオン２６を逆回転させないよう
保持して歯の側面Ｆ１とＦ３との当接状態を維持
したまま、第２ピニオン２８を第２の駆動側歯付
プーリ１４と第２歯付ベルト２０と第２被駆動側
歯付プーリ２４とを介して回転軸線３４の周りに
矢印Ｃ２方向に回転させる。そうすると、この第
２ピニオン２８の歯の側面Ｆ２が大歯車３０の他
の歯の側面Ｆ４と当接する。こうして大歯車３０
の別々の歯と２つのピニオン歯車２６，２８の歯
とが当接した状態を維持すべく第１、第２の駆動
側歯付プーリ１４，１６をサーボモータ１０の駆
動軸１２に後述の手段により固定し、更には２つ
の歯付ベルト１８，２０に張力を付与するようサ
ーボモータ１０を２つの回転軸線３２，３４から
離隔する方向に僅かに移動させて、適宜な固定手
段によりサーボモータ１０を固定する。この移動
の方向は好ましくは２つの回転軸線３２，３４を
結ぶ線分の垂直二等分線の方向がよい。こうして
設定された減速用駆動機構において第１ピニオン
２６が矢印Ｃ１の方向に回転する方向にサーボモ
ータ１０を回転させると、第１ピニオン２６と大
歯車３０とが各々側面Ｆ１，Ｆ３を介して当接状
態を維持したまま矢印Ｃ１，Ｃ３の方向に回転す
る。この時、第２ピニオン２８は矢印Ｃ２とは逆
の方向に回転するが、初期設定の段階においてこ
の第２ピニオン２８の歯の側面Ｆ２と大歯車３０
の他の歯の側面Ｆ４とは当接しているため常に当
接状態を維持したまま各々矢印Ｃ２の逆方向とＣ
３方向とに回転する。サーボモータ１０の駆動軸
１２を逆の方向に回転させると今度は第２ピニオ
ン２８が矢印Ｃ２の方向に回転し、大歯車３０と
第１ピニオン２６とは各々矢印Ｃ３，Ｃ１の逆方
向に回転するが、前記と同様に側面Ｆ２とＦ４，
Ｆ３とＦ１とは常に当接状態を維持しながら回転
する。従つて、サーボモータ１０の駆動軸１２を
どちらに回転させようともバツクラツシは完全に
除去されている。 Referring to FIG. 2, the principle of eliminating backlash in a pair of gears using the device mechanism shown in FIG. 1 will be described. The first driving side toothed pulley 14, the first toothed belt 18, and the first driven side toothed pulley 2
2, the first pinion 26 is rotated by an appropriate amount in the direction of the arrow C1 around the rotational axis 32, and the side surface F1 of its teeth is brought into contact with the side surface F3 of the teeth of the large gear 30. While holding the first pinion 26 so as not to rotate in the reverse direction and maintaining the state of contact between the side surfaces F1 and F3 of the teeth, the second pinion 28 is moved between the second drive-side toothed pulley 14 and the second toothed belt 20. and the second driven toothed pulley 24 around the rotation axis 34 in the direction of arrow C2. Then, the side surface F2 of the tooth of the second pinion 28 comes into contact with the side surface F4 of another tooth of the large gear 30. In this way, the large gear 30
The first and second drive-side toothed pulleys 14 and 16 are connected to the drive shaft 12 of the servo motor 10 by means described below in order to maintain the state in which the separate teeth of the two pinion gears 26 and 28 are in contact with each other. The servo motor 10 is fixed by an appropriate fixing means, and the servo motor 10 is moved slightly in a direction away from the two rotation axes 32 and 34 so as to apply tension to the two toothed belts 18 and 20. to be fixed. The direction of this movement is preferably in the direction of the perpendicular bisector of the line segment connecting the two rotational axes 32, 34. When the servo motor 10 is rotated in the direction in which the first pinion 26 rotates in the direction of the arrow C1 in the deceleration drive mechanism set in this way, the first pinion 26 and the large gear 30 come into contact with each other via the side surfaces F1 and F3. It rotates in the directions of arrows C1 and C3 while maintaining the contact state. At this time, the second pinion 28 rotates in the direction opposite to the arrow C2, but at the initial setting stage, the tooth side face F2 of the second pinion 28 and the large gear 30
Since it is in contact with the side surface F4 of the other tooth, the contact state is always maintained and the direction opposite to the arrow C2 and C
Rotates in 3 directions. When the drive shaft 12 of the servo motor 10 is rotated in the opposite direction, the second pinion 28 rotates in the direction of arrow C2, and the large gear 30 and first pinion 26 rotate in the opposite directions of arrows C3 and C1, respectively. However, as above, side faces F2 and F4,
F3 and F1 rotate while always maintaining a state of contact. Therefore, no matter which direction the drive shaft 12 of the servo motor 10 is rotated, backlash is completely eliminated.
第３図を参照しながら２つの駆動側歯付プーリ
１４，１６をサーボモータ１０の駆動軸１２に締
結する締結機構、並びに締結の過程において該プ
ーリ１４，１６を互いに逆回転させることにより
歯車対のバツクラツシを除去する方法につき記載
する。まず第１の駆動側歯付プーリ１４はキー
（図示せず）を介して駆動軸１２のテーパ部４０
に固定される。次に第２駆動側歯付プーリ１６は
その円錐台部４２を前記第１駆動側歯付プーリ１
４のテーパ状凹所４１に挿入して、めねじ部を具
備した固定用ねじ棒４６を２つのプーリ１６，１
４の中心孔部に挿入し、駆動軸１２の先端のねじ
部４４と係合させることにより仮止めされる。こ
の状態のプーリ１４，１６と被駆動側歯付プーリ
２２，２４（第１図）とを各々歯付ベルト１８，
２０（第１図）を張架して連結する。第１駆動側
歯付プーリ１４と仮止め状態の第２駆動側歯付プ
ーリ１６とは固定用ねじ棒４６を介して緩く締結
されているだけなので、テーパ状凹所４１と円錐
台部４２とは小さな摩擦力しか作用しない。従つ
て２つのプーリ１４，１６を互いに反対方向に容
易に回転させ得る。こうして２つの駆動側歯付プ
ーリ１４，１６を互いに逆方向に回転させると、
各々歯付ベルト１８，２０と被駆動側歯付プーリ
２２，２４とを介して第１、第２のピニオン２
６，２８を第２図に示す互いに逆方向のＣ１，Ｃ
２方向に回転させ、前述の如く大歯車３０とは
各々側面Ｆ１とＦ３、側面Ｆ２とＦ４とが互いに
当接することによりバツクラツシが除去される。
この第１、第２のピニオン２６，２８と大歯車３
０とが当接噛合した状態を維持したまま固定用ね
じ棒４６を十分に締め込むことにより第２駆動側
歯付プーリ１６は円錐台部４２とテーパ状凹所４
１との強い摩擦により第１駆動側歯付プーリ１４
に締結され、以後第１、第２のプーリ１４，１６
は一体となり同一方向にのみ回転可能である。更
に好ましくは、２つの歯付きベルト１８，２０
（第１図）の張りを十分なものとするよう２つの
回転軸線３２，３４（第１図）を結ぶ線分の垂直
二等分線上を２つのピニオン歯車２６，２８から
離隔する方向にサーボモータ１０を僅かに平行移
動させ、適宜な固定手段により固定するとよい。 Referring to FIG. 3, a fastening mechanism that fastens two drive-side toothed pulleys 14 and 16 to the drive shaft 12 of the servo motor 10, and a gear pair that rotates the pulleys 14 and 16 in opposite directions during the fastening process. This section describes how to remove the backup data. First, the first drive-side toothed pulley 14 is connected to the tapered portion 40 of the drive shaft 12 via a key (not shown).
Fixed. Next, the second drive-side toothed pulley 16 connects its truncated cone portion 42 to the first drive-side toothed pulley 1.
4 into the tapered recess 41 of the pulley 16,
4 and is temporarily fixed by engaging with the threaded portion 44 at the tip of the drive shaft 12. The pulleys 14 and 16 in this state and the toothed pulleys 22 and 24 on the driven side (Fig.
20 (Fig. 1) are stretched and connected. Since the first drive-side toothed pulley 14 and the second drive-side toothed pulley 16 in the temporarily fixed state are only loosely fastened via the fixing threaded rod 46, the tapered recess 41 and the truncated conical portion 42 exerts only a small frictional force. Therefore, the two pulleys 14, 16 can be easily rotated in opposite directions. When the two drive-side toothed pulleys 14 and 16 are thus rotated in opposite directions,
The first and second pinions 2
6 and 28 are shown in FIG. 2 as C1 and C in mutually opposite directions.
The large gear 30 is rotated in two directions, and as described above, the side faces F1 and F3 and the side faces F2 and F4 of the large gear 30 come into contact with each other, thereby eliminating backlash.
These first and second pinions 26 and 28 and the large gear 3
By sufficiently tightening the fixing threaded rod 46 while maintaining the abutting and meshing state between the truncated conical part 42 and the tapered recess 4, the second drive-side toothed pulley 16
1 due to strong friction with the first drive side toothed pulley 14.
After that, the first and second pulleys 14, 16
are integral and can only rotate in the same direction. More preferably, two toothed belts 18, 20
(Fig. 1), the servo is moved away from the two pinion gears 26, 28 on the perpendicular bisector of the line connecting the two rotational axes 32, 34 (Fig. 1). It is preferable to move the motor 10 slightly in parallel and fix it by suitable fixing means.
以上に記載説明した減速用駆動機構は産業用ロ
ボツトのベース部に設けられて、その胴体を旋回
させる駆動機構として利用できるものである。 The deceleration drive mechanism described above can be installed on the base of an industrial robot and used as a drive mechanism for rotating the body of the robot.
以上の説明から明らかなように、本発明によれ
ば、歯車対の有した減速用駆動機構を組み込み状
態で、駆動側プーリの手動調節回転を行う操作及
び駆動軸と大歯車の回転軸との距離調節をしてベ
ルト張力を緊張させる操作の２操作を介して簡単
に第１、第２のピニオンと大歯車との間のバツク
ラツシ除去が可能であり、従つて振動及び騒音が
発生せず、特に産業用ロボツトの制御駆動部に使
用すると手首部先端の制御精度のよい減速用駆動
機構のバツクラツシ除去装置が提供可能となる。
As is clear from the above description, according to the present invention, when the deceleration drive mechanism of the gear pair is installed, the operation of manually adjusting the rotation of the drive pulley and the rotation of the drive shaft and the rotation shaft of the large gear are performed. Through the two operations of adjusting the distance and tightening the belt tension, it is possible to easily eliminate the backlash between the first and second pinions and the large gear, and therefore no vibration or noise is generated. In particular, when used in a control drive unit of an industrial robot, it is possible to provide a deceleration drive mechanism deceleration drive mechanism with high control precision at the tip of the wrist.
第１図は本発明による歯車対を有する減速用駆
動機構の略示斜視図、第２図は歯車対の模式的上
面図、第３図は２つのプーリの駆動軸への取付状
態を示す断面図。
１０……サーボモータ、１２……駆動軸、１４
……第１駆動側歯付プーリ、１６……第２駆動側
歯付プーリ、１８……第１歯付ベルト、２０……
第２歯付ベルト、２２……第１被駆動側歯付プー
リ、２４……第２被駆動側歯付プーリ、２６……
第１ピニオン、２８……第２ピニオン、３０……
大歯車、３２，３４，３６……回転軸線、４６…
…固定用ねじ棒。
Fig. 1 is a schematic perspective view of a deceleration drive mechanism having a gear pair according to the present invention, Fig. 2 is a schematic top view of the gear pair, and Fig. 3 is a cross section showing how two pulleys are attached to the drive shaft. figure. 10... Servo motor, 12... Drive shaft, 14
...First drive side toothed pulley, 16...Second drive side toothed pulley, 18...First toothed belt, 20...
Second toothed belt, 22...First driven side toothed pulley, 24...Second driven side toothed pulley, 26...
1st pinion, 28... 2nd pinion, 30...
Large gear, 32, 34, 36...rotation axis, 46...
...Threaded rod for fixation.
Claims (1)
ツチを有した第１、第２のピニオンとを噛合させ
て各歯車の回転軸線が互いに平行な２つの歯車対
を設け、 前記第１、第２のピニオンの回転軸上に所定の
同一ピツチ円径を有した第１、第２の被駆動側歯
付プーリを各々固定し、 駆動装置の駆動軸における軸線方向の２位置に
第１、第２の所定の同一ピツチ円径を有した２つ
の駆動側歯付プーリを互いに相対的な所望量の回
転変位を付与した後に両者を固定手段で相対的に
固定可能に設け、 前記駆動側、被駆動側の歯付プーリを２つの歯
付ベルトを介して結合することにより１つの駆動
源からの２つの伝動対を形成し、かつ、 前記被駆動側歯付プーリの前記所定のピツチ円
径を前記駆動側歯付プーリの前記所定のピツチ円
径よりも大きく設定し、 前記第１、第２の駆動側歯付プーリ間に付与し
た相対的調節回転変位と前記駆動軸の軸線を前記
大歯車の回転軸線から遠ざけるベルト張力調節調
節変位とによつて前記歯付ベルトを介して前記第
１、第２のピニオンと前記大歯車とを常時噛合状
態に維持し、歯車対のバツクラツシを除去するこ
とを特徴とした歯車対を有する減速用駆動機構。 ２ 前記大歯車は、産業用ロボツトのベース部に
設けられて胴体と直結され、該胴体を前記駆動装
置を形成する駆動モータの回転駆動力で正逆両方
向に旋回させる駆動機構である特許請求の範囲第
１項に記載の歯車対を有する減速用駆動機構。[Claims] 1. Two different teeth of one large gear mesh with first and second pinions having the same circular pitch to form two gear pairs in which the rotation axes of each gear are parallel to each other. and fixing first and second driven side toothed pulleys having the same predetermined pitch diameter on the rotating shafts of the first and second pinions, respectively, After applying a desired amount of rotational displacement relative to each other to two drive-side toothed pulleys having the same pitch diameter in the first and second positions at two positions, both can be relatively fixed by a fixing means. The toothed pulleys on the driving side and the driven side are connected via two toothed belts to form two transmission pairs from one drive source, and the toothed pulley on the driven side The predetermined pitch circle diameter is set to be larger than the predetermined pitch circle diameter of the drive-side toothed pulley, and the relative adjustment rotational displacement given between the first and second drive-side toothed pulleys and the drive The first and second pinions and the large gear are always maintained in a meshed state via the toothed belt by adjusting the belt tension and moving the axis of the shaft away from the rotational axis of the large gear. A reduction drive mechanism having a pair of gears characterized by eliminating the backlash of the pair. 2. The large gear is a drive mechanism that is provided on the base of the industrial robot and directly connected to the body, and that rotates the body in both forward and reverse directions by the rotational driving force of the drive motor forming the drive device. A deceleration drive mechanism having the gear pair according to scope 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP16479286A JPS6323064A (en) | 1986-07-15 | 1986-07-15 | Backlash removing device for speed reduction drive mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP16479286A JPS6323064A (en) | 1986-07-15 | 1986-07-15 | Backlash removing device for speed reduction drive mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6323064A JPS6323064A (en) | 1988-01-30 |
| JPH0416664B2 true JPH0416664B2 (en) | 1992-03-24 |
Family
ID=15800028
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP16479286A Granted JPS6323064A (en) | 1986-07-15 | 1986-07-15 | Backlash removing device for speed reduction drive mechanism |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6323064A (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2567082B2 (en) * | 1989-03-02 | 1996-12-25 | ファナック株式会社 | Joint structure of industrial robot |
| ATE243821T1 (en) * | 1998-12-01 | 2003-07-15 | Konrad Seidler Maschb Werkzeug | CHUCK DRIVE |
| JP4490341B2 (en) * | 2005-07-05 | 2010-06-23 | 株式会社ダイヘン | Link device and transfer robot |
| GB201305878D0 (en) * | 2013-04-01 | 2013-05-15 | Giessler Michael P A | Geared motorised drives |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62171565A (en) * | 1986-01-23 | 1987-07-28 | Hitachi Ltd | Turning device for industrial robot |
-
1986
- 1986-07-15 JP JP16479286A patent/JPS6323064A/en active Granted
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62171565A (en) * | 1986-01-23 | 1987-07-28 | Hitachi Ltd | Turning device for industrial robot |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6323064A (en) | 1988-01-30 |
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