JPH04302743A - Spehrical gear - Google Patents

Abstract

PURPOSE:To provide the features of a conical gear and a bevel gear concurrently as well as to respond to an error of the axial angle and to allow to transmit the torque regardless of the inclination of the rotary axis centers, by providing both, positive and negative spherical gears in which the tooth form elements of a spur gear are formed to the concentric spherical projecting surface and the recessed surface. CONSTITUTION:A spherical gear is composed of a positive spherical gear 1 and a negative spherical gear 2. And the positive spherical gear 1 is made by forming the tooth form elements E of spur gear, such as a basic cylinder, a pitch cylinder, and a pitch surface S, in a concentric spherical projecting surface 1b making a part 1a on the rotary axis center O1 as the center. On the other hand, the negative spherical gear 2 has its rotary axis center O2 in the direction crossing to the rotary axis center O1, and the tooth form elements of a spur gear is formed in a concentric spherical recessed surface 2b making the part 1a on the rotary axis center O1 as the center. By such a constitution, it is made possible to respond to an error of the axial angle between the rotary axis centers O1 and O2 of the positive and the negative gears 1 and 2, the torque transmission can be carried out even though the rotary axis centers O1 and O2 are inclined, and the spherical gear can have the features of a conical gear and a bevel gear concurrently.

Description

【発明の詳細な説明】[Detailed description of the invention]

【０００１】0001

【産業上の利用分野】本発明は例えばマニュプレータの
フレキシブル関節機構等でのトルク伝達に用いられる球
形歯車に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a spherical gear used for torque transmission in, for example, a flexible joint mechanism of a manipulator.

【０００２】0002

【従来の技術】従来この種の歯車として図１２や図１３
に示す歯車が知られている。[Prior Art] Conventionally, this type of gear is shown in Figs. 12 and 13.
The gear shown in is known.

【０００３】図１２に示す歯車はかさ歯車であって、通
常グリーソン式歯切盤や歯切フライス盤によって製作さ
れる。The gear shown in FIG. 12 is a bevel gear, and is usually manufactured using a Gleason gear cutting machine or a gear milling machine.

【０００４】この歯車は、二つの歯車Ｇ１・Ｇ２の回転
軸心Ｏ１・Ｏ２が一点で交わり、ピッチ面Ｓが円錐面で
あって、歯のモジュールが歯すじにそって変化し、歯す
じにそって歯当たりが出るので負荷能力が大きいという
特徴を有している。[0004] In this gear, the rotation axes O1 and O2 of the two gears G1 and G2 intersect at one point, the pitch surface S is a conical surface, and the tooth module changes along the tooth trace. It has the characteristic of having a large load capacity because the teeth are in contact with each other.

【０００５】ただ、円錐頂点が交わる構造のため組み立
てが難しく、また歯数比を変えるときは二つの歯車Ｇ１
・Ｇ２を対で交換しなければならないということがある
。However, it is difficult to assemble because of the structure in which the conical vertices intersect, and when changing the tooth ratio, two gears G1
- It may be necessary to exchange G2 in pairs.

【０００６】また図１３に示す歯車は円錐歯車であって
、外形はかさ歯車に似ているが、歯すじにそって転位係
数が連続的に変化するもので平歯車の一種といえる。The gear shown in FIG. 13 is a conical gear, and although its outer shape is similar to a bevel gear, the gear shift coefficient changes continuously along the tooth trace, so it can be said to be a type of spur gear.

【０００７】この歯車の歯切りは図１４、図１５の如く
、平歯車の歯切りと略同様にして製作され、ねじ状のホ
ブＨをホブＨのねじれ角だけホブＨの軸心を傾けて素材
Ｗに当て、ホブＨを例えばＣ方向に回転させ、ホブＨの
軸方向の進みに相当したＲ方向の回転を素材Ｗに与えな
がらホブＨに斜め方向の縦送りＦを与えることで創成歯
切りがなされている。As shown in FIGS. 14 and 15, the gear cutter of this gear is manufactured in substantially the same manner as the gear cutter of a spur gear. Applying the hob H to the material W, rotate the hob H in the C direction, for example, and apply a vertical feed F in an oblique direction to the material W while giving the material W a rotation in the R direction corresponding to the axial advancement of the hob H. A cut has been made.

【０００８】この歯車は、二つの歯車Ｇ１・Ｇ２の回転
軸心Ｏ１・Ｏ２が交差し、ピッチ面Ｓが円筒面であって
、歯すじにそって歯のモジュールは変化せずに転位係数
が変化して円錐形をなし、かさ歯車と違って円錐頂点が
交わらなくてもよいため組み立ては容易であり、歯数比
を変えるときは二つの歯車Ｇ１・Ｇ２の一方のみを交換
すればよいという特徴を有している。[0008] In this gear, the rotational axes O1 and O2 of the two gears G1 and G2 intersect, the pitch surface S is a cylindrical surface, and the tooth module does not change along the tooth trace and the shift coefficient changes. It changes into a conical shape, and unlike bevel gears, the apexes of the cone do not have to meet, so assembly is easy, and when changing the gear ratio, only one of the two gears G1 and G2 needs to be replaced. It has characteristics.

【０００９】[0009]

【発明が解決しようとする課題】しかしながら上記かさ
歯車及び円錐平歯車の場合、二つの歯車Ｇ１・Ｇ２の回
転軸心Ｏ１・Ｏ２がなす軸角の誤差には対応できず、回
転軸心Ｏ１・Ｏ２が少し傾斜してもトルク伝達が不可能
であり、また円錐歯車の場合歯当たりが点接触なためこ
ろがりは円滑となるが負荷能力が低く、大きなトルク伝
達が要求されるものには不向きなことがあるとともにか
みあい接触面積が少ないことによりそれだけ面圧が大き
くなり、接触面の耐摩耗性が低くなることがあるという
不都合を有している。[Problems to be Solved by the Invention] However, in the case of the above-mentioned bevel gears and conical spur gears, it is not possible to deal with errors in the shaft angles formed by the rotational axes O1 and O2 of the two gears G1 and G2, and the rotational axes O1 and O2 cannot be accommodated. Torque transmission is impossible even if the O2 is slightly inclined, and in the case of conical gears, the tooth contact is point contact, so rolling is smooth, but the load capacity is low, making it unsuitable for applications that require large torque transmission. In addition, since the meshing contact area is small, the surface pressure increases accordingly, and the wear resistance of the contact surface may decrease.

【００１０】0010

【課題を解決するための手段】本発明はこのような不都
合を解決することを目的とするもので、その要旨は、平
歯車の歯形要素が回転軸心上の点を中心とした同心球状
凸面内に形成された正球形歯車と、該正球形歯車の回転
中心に対して交差する方向に回転軸心をもち、平歯車の
歯形要素が該正球形歯車の回転軸心上の点を中心とした
同心球状凹面内に形成された負球形歯車とから構成され
ていることを特徴とする球形歯車にある。[Means for Solving the Problems] The purpose of the present invention is to solve such inconveniences, and the gist thereof is that the tooth profile elements of the spur gear have concentric spherical convex surfaces centered on a point on the rotation axis. A regular spherical gear formed inside the regular spherical gear, and a rotation axis having a rotation axis in a direction crossing the rotation center of the regular spherical gear, and a tooth profile element of the spur gear having a rotation axis centered at a point on the rotation axis of the regular spherical gear. and a negative spherical gear formed within concentric spherical concave surfaces.

【００１１】[0011]

【作用】平歯車の歯形要素が回転軸心上の点を中心とし
た同心球状凸面内に形成された正球形歯車と、該正球形
歯車の回転軸心に対して交差する方向に回転軸心をもち
、平歯車の歯形要素が該正球形歯車の回転軸心上の点を
中心とした同心球状凹面内に形成された負球形歯車との
相互の歯合によってトルク伝達がなされる。[Operation] A regular spherical gear in which the tooth profile element of the spur gear is formed within a concentric spherical convex surface centered on a point on the rotation axis, and the rotation axis is centered in a direction crossing the rotation axis of the regular spherical gear. Torque is transmitted through mutual meshing between the tooth shaped elements of the spur gear and the negative spherical gear formed within concentric spherical concave surfaces centered on a point on the rotation axis of the positive spherical gear.

【００１２】0012

【実施例】図１乃至図１１は本発明の実施例を示し、図
１乃至図９は第１実施例、図１０は第２実施例、図１１
は第３実施例である。[Embodiment] FIGS. 1 to 11 show embodiments of the present invention, FIGS. 1 to 9 are the first embodiment, FIG. 10 is the second embodiment, and FIG.
is the third embodiment.

【００１３】図１乃至図９の第１実施例において、１は
正球形歯車であって、平歯車の歯形要素Ｅ、例えば基礎
円筒やピッチ円筒、ピッチ面Ｓが回転軸心Ｏ１上の点１
ａを中心とした同心球状凸面１ｂ内に形成されている。In the first embodiment shown in FIGS. 1 to 9, 1 is a regular spherical gear, and the tooth profile element E of the spur gear, such as a base cylinder or a pitch cylinder, and a pitch surface S are located at a point 1 on the rotation axis O1.
It is formed within a concentric spherical convex surface 1b centered at a.

【００１４】２は負球形歯車であって、上記正球形歯車
１の回転軸心Ｏ１に対して交差する方向に回転軸心Ｏ２
をもち、平歯車の歯形要素が正球形歯車１の回転中心Ｏ
１上の点１ａを中心とした同心球状凹面２ｂ内に形成さ
れている。Reference numeral 2 denotes a negative spherical gear, which has a rotation axis O2 in a direction crossing the rotation axis O1 of the positive spherical gear 1.
, and the tooth profile element of the spur gear is centered at the rotation center O of the regular spherical gear 1.
It is formed within a concentric spherical concave surface 2b centered on point 1a on point 1.

【００１５】この正球形歯車１及び負球形歯車２の歯切
りは基本として上記ホブＨによる平歯車の創成歯切法が
用いられており、図５、図６の如く素材Ｗの回転Ｒ、ホ
ブＨの回転Ｃ、ホブＨの縦送りＸ及び横送りＹの四つ運
動をＮＣ同時制御し、ホブＨに凸又は凹状の円弧軌跡Ｎ
に沿ったＫ方向の合成送りを与えて創成歯切りがなされ
ている。For gear cutting of the positive spherical gear 1 and the negative spherical gear 2, the generating gear cutting method of the spur gear using the hob H is basically used, and as shown in FIGS. 5 and 6, the rotation R of the material W, the hob The four movements of rotation C of H, vertical feed
Generative gear cutting is performed by giving a composite feed in the K direction along the .

【００１６】このようにして製作された歯形は図７、図
８、図９の如く恰も転位量を積極的に増減させるような
歯切りがなされる。The tooth profile produced in this manner is cut in such a way as to actively increase or decrease the amount of dislocation as shown in FIGS. 7, 8, and 9.

【００１７】たとえば正球形歯車１の場合、歯すじ方向
の中央部では図７の如く標準歯形であってもａ端部側で
は図８の如くマイナス転位が与えられ、ｂ端部側では図
９の如くプラス転位が与えられ、負球形歯車２の場合に
はａ端部側では図８の如くマイナス転位が与えられ、ｂ
端部側では図９の如くプラス転位が与えられ、この歯形
要素Ｅたる歯たけ、歯厚、歯先円直径は歯すじ方向に連
続して変化する歯形となる。For example, in the case of the regular spherical gear 1, even if the center part in the tooth trace direction has a standard tooth profile as shown in FIG. 7, the a-end side is given a negative dislocation as shown in FIG. 8, and the b-end side is given a negative dislocation as shown in FIG. In the case of the negative spherical gear 2, a negative displacement is given on the a end side as shown in FIG. 8, and b
On the end side, a positive dislocation is given as shown in FIG. 9, and the tooth profile element E, which is the tooth depth, tooth thickness, and tip circle diameter, becomes a tooth profile that changes continuously in the tooth trace direction.

【００１８】この第１実施例は上記構成であるから、平
歯車の歯形要素Ｅが回転中心Ｏ１上の点１ａを中心とし
た同心球状凸面１ｂ内に形成された正球形歯車１と、正
球形歯車１の回転軸心Ｏ１に対して交差する方向に回転
軸心Ｏ２をもち、平歯車の歯形要素Ｅが正球形歯車１の
回転中心Ｏ１上の点１ａを中心とした同心球状凹面２ｂ
内に形成された負球形歯車２との相互の歯合によってト
ルク伝達がなされることになり、このため二つの歯車１
・２の回転軸心Ｏ１・Ｏ２がなす軸角の誤差に対応でき
るとともに回転軸心Ｏ１・Ｏ２が少し傾斜してもトルク
伝達は可能となり、ピッチ面Ｓは円筒面であって上記円
錐歯車と同様であるが歯すじが直線でない曲線となり、
歯当たりが点接触なためころがりは円滑となるとともに
円錐歯車よりも負荷能力の向上が期待でき、したがって
円錐歯車とかさ歯車の特徴を併有する歯車となる。Since this first embodiment has the above-mentioned configuration, the tooth-shaped element E of the spur gear is a regular spherical gear 1 formed within a concentric spherical convex surface 1b centered on a point 1a on the rotation center O1, and a regular spherical gear A concentric spherical concave surface 2b having a rotation axis O2 in a direction crossing the rotation axis O1 of the gear 1, and a tooth profile element E of the spur gear having a concentric spherical concave surface 2b centered on a point 1a on the rotation center O1 of the regular spherical gear 1.
Torque is transmitted through mutual meshing with the negative spherical gear 2 formed within the
・It is possible to accommodate errors in the shaft angles formed by the rotational axes O1 and O2 of 2, and torque transmission is possible even if the rotational axes O1 and O2 are slightly tilted. It is similar, but the tooth trace becomes a curve instead of a straight line.
Because the tooth contact is point contact, rolling is smoother and it is expected that the load capacity will be improved compared to conical gears, so it is a gear that has both the characteristics of conical gears and bevel gears.

【００１９】図１０の第２実施例は別例構造を示し、上
記第１実施例の正球形歯車１と負球形歯車２の回転軸心
Ｏ１・Ｏ２がなす軸角が９０度であったが、この場合軸
角が９０度以外の場合に本発明を適用したものである。The second embodiment shown in FIG. 10 shows a different structure, in which the axial angle formed by the rotation axes O1 and O2 of the positive spherical gear 1 and the negative spherical gear 2 of the first embodiment was 90 degrees. In this case, the present invention is applied when the shaft angle is other than 90 degrees.

【００２０】図１１の第３実施例も別例構造を示し、こ
の場合正球形歯車１の回転軸心Ｏ１上の点１ａが正球形
歯車１の外部に存在する場合に本発明を適用したもので
ある。The third embodiment shown in FIG. 11 also shows another structure, in which the present invention is applied when the point 1a on the rotation axis O1 of the regular spherical gear 1 is located outside the regular spherical gear 1. It is.

【００２１】これら第２、第３実施例にあっても上記第
１実施例と同様な作用効果を得るものである。[0021] These second and third embodiments also provide the same effects as those of the first embodiment.

【００２２】[0022]

【発明の効果】本発明は上述の如く、二つの歯車の回転
軸心がなす軸角の誤差に対応できるとともに回転軸心が
少し傾斜してもトルク伝達は可能となり、ころがりは円
滑となるとともに円錐歯車よりも負荷能力の向上が期待
でき、したがって円錐歯車とかさ歯車の特徴を併有する
歯車となる。[Effects of the Invention] As described above, the present invention can accommodate errors in the shaft angles formed by the rotational axes of two gears, and even if the rotational axes are slightly tilted, torque transmission is possible, rolling is smooth, and It is expected that the load capacity will be better than that of a conical gear, and therefore it is a gear that has both the characteristics of a conical gear and a bevel gear.

【００２３】以上所期の目的を充分達成することができ
る。[0023] As described above, the intended purpose can be fully achieved.

【図面の簡単な説明】[Brief explanation of drawings]

【図１】本発明の第１実施例を示す正球形歯車の斜視図
である。FIG. 1 is a perspective view of a regular spherical gear showing a first embodiment of the present invention.

【図２】本発明の第１実施例を示す負球形歯車の斜視図
である。FIG. 2 is a perspective view of a negative spherical gear showing a first embodiment of the present invention.

【図３】図１及び図２に示す球形歯車の歯合状態の部分
断面図である。FIG. 3 is a partial cross-sectional view of the spherical gear shown in FIGS. 1 and 2 in a meshed state.

【図４】図１及び図２に示す球形歯車の断面図である。FIG. 4 is a cross-sectional view of the spherical gear shown in FIGS. 1 and 2. FIG.

【図５】図１に示す正球形歯車の歯切りを説明する断面
図である。5 is a sectional view illustrating gear cutting of the regular spherical gear shown in FIG. 1. FIG.

【図６】図２に示す負球形歯車の歯切りを説明する断面
図である。6 is a sectional view illustrating gear cutting of the negative spherical gear shown in FIG. 2. FIG.

【図７】歯形を示す断面図である。FIG. 7 is a sectional view showing a tooth profile.

【図８】歯形を示す断面図である。FIG. 8 is a sectional view showing a tooth profile.

【図９】歯形を示す断面図である。FIG. 9 is a sectional view showing a tooth profile.

【図１０】本発明の第２実施例の球形歯車の断面図であ
る。FIG. 10 is a sectional view of a spherical gear according to a second embodiment of the present invention.

【図１１】本発明の第３実施例の球形歯車の断面図であ
る。FIG. 11 is a sectional view of a spherical gear according to a third embodiment of the present invention.

【図１２】かさ歯車の断面図[Figure 12] Cross-sectional view of bevel gear

【図１３】円錐歯車の断面図である。FIG. 13 is a sectional view of a conical gear.

【図１４】円錐歯車の歯切りを説明する側面図[Fig. 14] Side view illustrating gear cutting of a conical gear

【図１５
】円錐歯車の歯切りを説明する断面図[Figure 15
】Cross-sectional view explaining gear cutting of conical gears

【符号の説明】[Explanation of symbols]

１　　　　正球形歯車 １ａ　　正球形歯車の回転中心上の点 １ｂ　　同心球状凸面 ２　　　　負球形歯車 ２ｂ　　同心球状凹面 Ｅ　　　　歯形要素 Ｏ１　　　　回転軸心 Ｏ２　　　　回転軸心 1 Regular spherical gear 1a Point on the rotation center of the regular spherical gear 1b Concentric spherical convex surface 2 Negative spherical gear 2b Concentric spherical concave surface E Tooth profile element O1 Rotation axis center O2 Rotation axis center

Claims (1)

【特許請求の範囲】[Claims] 【請求項１】　　平歯車の歯形要素が回転軸心上の点を
中心とした同心球状凸面内に形成された正球形歯車と、
該正球形歯車の回転軸心に対して交差する方向に回転軸
心をもち、平歯車の歯形要素が該正球形歯車の回転軸心
上の点を中心とした同心球状凹面内に形成された負球形
歯車とから構成されていることを特徴とする球形歯車。1. A regular spherical gear in which the tooth profile elements of the spur gear are formed within concentric spherical convex surfaces centered on a point on the rotation axis;
The rotational axis is in a direction crossing the rotational axis of the regular spherical gear, and the tooth profile elements of the spur gear are formed within a concentric spherical concave surface centered on a point on the rotational axis of the regular spherical gear. A spherical gear comprising a negative spherical gear.