JPH0539836A - Transmission - Google Patents
TransmissionInfo
- Publication number
- JPH0539836A JPH0539836A JP21322991A JP21322991A JPH0539836A JP H0539836 A JPH0539836 A JP H0539836A JP 21322991 A JP21322991 A JP 21322991A JP 21322991 A JP21322991 A JP 21322991A JP H0539836 A JPH0539836 A JP H0539836A
- Authority
- JP
- Japan
- Prior art keywords
- gear
- gears
- planetary
- internal gear
- internal
- 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.)
- Pending
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- Retarders (AREA)
- Transmission Devices (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、例えばロボット用等の
変速装置に適した超小型化が可能な遊星歯車式の変速装
置に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a planetary gear type transmission which is suitable for a transmission such as a robot and can be miniaturized.
【０００２】[0002]
【従来の技術】従来遊星歯車式の変速装置において大き
な変速比を得るには、遊星歯車式の変速機構を複数組連
結して構成していた。2. Description of the Related Art Conventionally, in order to obtain a large speed change ratio in a planetary gear type transmission, a plurality of planetary gear type transmission mechanisms are connected.
【０００３】[0003]
【発明が解決しようとする課題】しかしながら上述のよ
うに遊星歯車式の変速機構を複数組連結した装置は、構
造が複雑であるため、小型化が困難であり、特に超小型
化しようとする場合は、中心軸に設ける太陽歯車が噛合
干渉を生じるため、この歯車機構が超小型化するための
隘路になるという問題点があった。However, the device in which a plurality of sets of planetary gear type speed change mechanisms are connected as described above has a complicated structure, and hence it is difficult to reduce the size. However, there is a problem in that the sun gear provided on the central axis causes meshing interference, and this gear mechanism becomes a bottleneck for ultra-miniaturization.
【０００４】[0004]
【課題を解決するための手段】上述の問題点を解決する
ため本発明においては、ケースを貫通して高速回転軸と
低速回転軸を同一軸線上に設け、このケース内の高速回
転軸を対応するケースの内側に内歯歯車をケースに固定
して設け、この内歯歯車と噛合する歯車を有すると共
に、前記高速回転軸と転接触する摩擦ホイールとを一体
的に形成した複数個の遊星回転体を設け、これら各遊星
回転体の一側にこの回転体に設けた前記歯車より小径の
小差歯車を設け、これらの各小差歯車がそれぞれ噛合す
る内歯歯車を前記低速回転軸と一体的に形成し、前記複
数個の遊星回転体を外包する弾性リングによって各遊星
回転体の摩擦ホイールを前記高速回転軸に圧接するよう
にして変速装置を構成する。In order to solve the above problems, in the present invention, a high-speed rotating shaft and a low-speed rotating shaft are provided on the same axis through the case, and the high-speed rotating shaft in this case corresponds. A plurality of planetary rotations in which an internal gear is fixed to the case, has a gear that meshes with the internal gear, and integrally forms a friction wheel that makes rolling contact with the high-speed rotating shaft. Body is provided, a small differential gear having a smaller diameter than the gear provided on the rotary body is provided on one side of each of the planetary rotary bodies, and an internal gear that meshes with each of the small differential gears is integrated with the low-speed rotation shaft. And a friction wheel of each planetary rotor is pressed against the high-speed rotation shaft by an elastic ring that externally surrounds the plurality of planetary rotors.
【０００５】また前記したケースの内側に設けた内歯歯
車を適当な間隔をおいて左右２個所に配置して固定する
と共に、これら各内歯歯車間の内側に内歯歯車のピッチ
円を内径とする２個のリング状のアウターレースをそれ
ぞれ設け、前記遊星回転体の左右に前記内歯歯車とそれ
ぞれ噛合する歯車を設けると共に、この歯車のピッチ円
を外径とするピッチ円ホイールを前記歯車間の内側にそ
れぞれ形成し、これら左右のピッチ円ホイールの間にリ
ング受胴部を形成し、前記歯車の外側にそれぞれ前記摩
擦ホイールを形成し、一方の摩擦ホイールの外側に前記
小差歯車を設けて遊星回転体を形成し、前記リング受胴
部に前記弾性リングが圧接するようにして変速装置を構
成することもできる。Further, the internal gears provided on the inside of the above-mentioned case are arranged and fixed at two positions on the left and right at appropriate intervals, and the pitch circles of the internal gears are formed on the inner side between the internal gears. Are provided with two ring-shaped outer races, respectively, and gears meshing with the internal gears are provided on the left and right sides of the planetary rotor, and a pitch circle wheel having a pitch circle of the gears as an outer diameter is provided as the gear wheel. Each of them is formed inside the space, a ring receiving portion is formed between the left and right pitch circle wheels, the friction wheels are formed outside of the gears, and the small differential gear is formed outside of one of the friction wheels. It is also possible to form a planetary rotator by providing the elastic body and the elastic ring in pressure contact with the ring receiving portion to configure the transmission.
【０００６】[0006]
【作用】上述のように本発明によれば、摩擦伝動機構を
含む一組の遊星歯車機構によって、変速比が大で、しか
も太陽歯車機構の代わりに摩擦伝動機構を設けたから、
この部分の歯車機構の噛合干渉がなくなるため、超小型
化が可能な変速装置が得られる。したがって本発明装置
は、構造が簡単で、製造が容易である上に、超小型化も
容易になる。As described above, according to the present invention, the gear ratio is large and the friction transmission mechanism is provided instead of the sun gear mechanism by the set of planetary gear mechanisms including the friction transmission mechanism.
Since the meshing interference of the gear mechanism in this portion is eliminated, a transmission device that can be made extremely small can be obtained. Therefore, the device of the present invention has a simple structure, is easy to manufacture, and is easily miniaturized.
【０００７】また遊星歯車の噛合部に、各歯車のピッチ
円径に等しいピッチ円ホイールとアウターレースとの転
接触機構を設ければ、各歯車の噛合が常に無理なく、な
めらかに行われるから、この変速装置の作動を円滑にす
ることができる。Further, if a rolling contact mechanism of a pitch circle wheel equal to the pitch circle diameter of each gear and the outer race is provided in the meshing portion of the planetary gear, the meshing of each gear is always performed smoothly and smoothly. The operation of this transmission can be made smooth.
【０００８】[0008]
【実施例】以下、図面について本発明の一実施例を説明
する。図中１は略中空円筒状のケースで、２はそのケー
ス本体、３はケース蓋、４はケース蓋３をケース本体２
に締結するボルトである。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. In the figure, 1 is a substantially hollow cylindrical case, 2 is the case body, 3 is the case lid, 4 is the case lid 3, and the case body 2
It is a bolt to be fastened to.
【０００９】本実施例においては、ケース本体２の片側
に突設した載頭円錐状のボス部２ａ内に２個のボールベ
アリング５，６を介して低速回転軸７をケース本体２を
貫通して回転自在に設け、この軸７の内側端にボールベ
アリング８を設け、前記ケース蓋３のボス部３ａ内にボ
ールベアリング９を設け、これらのボールベアリング
８，９によってケース蓋３を貫通する高速回転軸10を前
記低速回転軸７と同一軸線上に設ける。In this embodiment, the low-speed rotating shaft 7 penetrates the case body 2 through two ball bearings 5 and 6 in a boss portion 2a having a frusto-conical shape protruding from one side of the case body 2. Rotatably provided, a ball bearing 8 is provided at the inner end of the shaft 7, a ball bearing 9 is provided within the boss portion 3a of the case lid 3, and the ball bearings 8 and 9 penetrate the case lid 3 at high speed. The rotary shaft 10 is provided on the same axis as the low speed rotary shaft 7.
【００１０】またケース１内の高速回転軸10に対応する
ケース本体２の内側に、２個のリング状の内歯歯車11,
11を適当な間隔をおいて左右２個所に配置してそれぞれ
ケース本体２にねじ込んだボルト12により固定すると共
に、これら各内歯歯車11, 11間の内側に内歯歯車11のピ
ッチ円P1（図５参照）を内径とする２個のリング状のア
ウターレース13, 13を間にスペーサー14を介挿してケー
ス本体２内に設ける。Inside the case body 2 corresponding to the high-speed rotating shaft 10 in the case 1, two ring-shaped internal gears 11,
11 are arranged at two positions on the left and right with an appropriate interval and are fixed by bolts 12 screwed into the case body 2, respectively, and a pitch circle P 1 of the internal gear 11 is provided inside the internal gears 11 and 11. Two ring-shaped outer races 13, 13 having an inner diameter of (see FIG. 5) are provided in the case body 2 with a spacer 14 interposed therebetween.
【００１１】また内歯歯車11, 11と噛合する歯車15, 15
を有すると共に、前記高速回転軸10と転接触する摩擦ホ
イール16, 16をそれぞれ歯車15, 15の外側に配置し、さ
らに歯車15のピッチ円P2（図５参照）を外径とする２個
のピッチ円ホイール17,17を歯車15, 15間の内側にそれ
ぞれ形成し、これら左右のピッチ円ホイール17, 17間に
ピッチ円ホイール17より小径のリング受胴部18を形成す
る。また前記一方（本実施例では図１における左側）の
摩擦ホイール16の外側に歯車15より小径の小差歯車19を
設けて遊星回転体20を一体に形成する。Further, gears 15, 15 meshing with the internal gears 11, 11
And the friction wheels 16 and 16 in rolling contact with the high-speed rotating shaft 10 are arranged outside the gears 15 and 15, respectively, and the pitch circle P 2 of the gear 15 (see FIG. 5) is the outer diameter. Pitch circle wheels 17, 17 are formed inside the gears 15, 15 respectively, and a ring receiving portion 18 having a smaller diameter than the pitch circle wheel 17 is formed between the left and right pitch circle wheels 17, 17. Further, a small differential gear 19 having a diameter smaller than that of the gear 15 is provided on the outer side of the one friction wheel 16 (on the left side in FIG. 1 in this embodiment) to integrally form the planetary rotor 20.
【００１２】上述のように２個の歯車11, 11と、２個の
摩擦ホイール16, 16と、２個のピッチ円ホイール17, 17
と、１個のリング受胴部18と、１個の小差歯車19とを一
体に形成した遊星回転体20を複数個（本実施例では３
個）ケース本体２内の円周等分位置に配置し、これら複
数個の遊星回転体20の各リング受胴部18を外包する弾性
リング21を嵌装して各遊星回転体20の摩擦ホイール16を
高速回転軸10に圧接するようにし、この状態で各遊星回
転体20の各小差歯車19がそれぞれ噛合する内歯歯車22を
前記低速回転軸７と一体的に形成する。As described above, the two gears 11, 11, the two friction wheels 16, 16 and the two pitch circle wheels 17, 17 are used.
And a plurality of planetary rotors 20 (in this embodiment, 3) which are integrally formed with one ring receiving portion 18 and one small difference gear 19.
The friction wheel of each planetary rotor 20 is arranged by equidistantly dividing the circumference of the case body 2 and fitting an elastic ring 21 that encloses each ring receiving portion 18 of the plurality of planetary rotors 20. 16 is brought into pressure contact with the high-speed rotation shaft 10, and in this state, the internal gear 22 with which the respective small difference gears 19 of the respective planetary rotary bodies 20 mesh is formed integrally with the low-speed rotation shaft 7.
【００１３】つぎに上述のように構成した本発明装置の
作用を説明する。図７に示すように、各遊星回転体20の
リング受胴部18には弾性リング21が嵌装されており、こ
の弾性リング21のばね力によって、各遊星回転体20の摩
擦ホイール16が、図４に示すように中心に設けた高速回
転軸10に圧接されているから、図４に示すように、高速
回転軸10が矢印Ｆの方向に回転すると、軸10と転接触し
ている摩擦ホイール16が矢印Ｇの方向に回転する。した
がって摩擦ホイール16と一体の歯車15も図５の矢印Ｇの
方向に自転すると共に、歯車15と噛合している内歯歯車
11が固定されているため、歯車15は矢印Ｈのように公転
する。Next, the operation of the device of the present invention configured as described above will be described. As shown in FIG. 7, an elastic ring 21 is fitted to the ring receiving portion 18 of each planetary rotating body 20, and the spring force of this elastic ring 21 causes the friction wheel 16 of each planetary rotating body 20 to move. As shown in FIG. 4, since the high-speed rotating shaft 10 provided in the center is pressure-contacted, as shown in FIG. 4, when the high-speed rotating shaft 10 rotates in the direction of arrow F, the friction that is in rolling contact with the shaft 10 Wheel 16 rotates in the direction of arrow G. Therefore, the gear 15 integrated with the friction wheel 16 also rotates in the direction of arrow G in FIG.
Since 11 is fixed, the gear 15 revolves as shown by an arrow H.
【００１４】このように歯車15が作動すると、この歯車
15と一体に形成されている小差歯車19も図３に示すよう
に、矢印Ｇの方向に自転すると共に、矢印Ｈの方向に公
転する。そしてこの小差歯車19は内歯歯車22と噛合して
いるため、内歯歯車22は小差歯車19の矢印Ｇ方向の自転
と矢印Ｈ方向の公転によって駆動される。しかしながら
この矢印Ｇ方向の自転と矢印Ｈ方向の公転は互いに相殺
されるため、内歯歯車22は非常に減速された回転にな
る。したがって内歯歯車22と一体の低速回転軸７は非常
に減速された回転になる。このため本発明装置は非常に
大きい変速比を得ることができる。When the gear 15 operates in this manner, the gear 15
As shown in FIG. 3, the small differential gear 19 formed integrally with 15 also rotates in the direction of arrow G and revolves in the direction of arrow H. Since the small difference gear 19 meshes with the internal gear 22, the internal gear 22 is driven by the rotation of the small gear 19 in the arrow G direction and the revolution in the arrow H direction. However, since the rotation in the arrow G direction and the revolution in the arrow H direction cancel each other out, the internal gear 22 is rotated at a very reduced speed. Therefore, the low-speed rotating shaft 7 integrated with the internal gear 22 is rotated at a very reduced speed. Therefore, the device of the present invention can obtain a very large gear ratio.
【００１５】なお本発明装置においては、図６に示すよ
うに、歯車15のピッチ円Ｐ2 を外径とするピッチ円ホイ
ール17が、内歯歯車11のピッチ円Ｐ1 を内径とするアウ
ターレース13にそれぞれ転接触しているため、内歯歯車
11と歯車15との噛合状態が常に無理なく円滑に行われ
る。In the device of the present invention, as shown in FIG. 6, the pitch circle wheel 17 having the pitch circle P 2 of the gear 15 as the outer diameter has the outer race having the pitch circle P 1 of the internal gear 11 as the inner diameter. Since they are in rolling contact with 13 respectively, the internal gear
The meshing state between 11 and the gear 15 is always smoothly performed.
【００１６】なお以上の説明は、高速回転軸10側より入
力し、低速回転軸７側より出力した場合の説明である
が、逆に低速回転軸７側から入力した場合は、大きな増
速比によって増速された回転が高速回転軸10側より出力
されること云うまでもない。The above description is for the case where the input is from the high speed rotating shaft 10 side and the output is from the low speed rotating shaft 7 side. Needless to say, the rotation speed increased by is output from the high-speed rotating shaft 10 side.
【００１７】[0017]
【発明の効果】上述のように本発明によれば、摩擦伝動
機構を含む一組の遊星歯車機構によって、変速比が大
で、しかも太陽歯車機構の代わりに摩擦伝動機構を設け
たから、この部分の歯車機構の噛合干渉がなくなるた
め、超小型化が可能な変速装置が得られる。したがって
本発明装置は、構造が簡単で、製造が容易である上に、
超小型化も容易になる。As described above, according to the present invention, the gear ratio is large and the friction transmission mechanism is provided instead of the sun gear mechanism by the set of planetary gear mechanisms including the friction transmission mechanism. Since the meshing interference of the gear mechanism is eliminated, a transmission device that can be miniaturized can be obtained. Therefore, the device of the present invention has a simple structure, is easy to manufacture, and
Ultra miniaturization becomes easy.
【００１８】また遊星回転体20の歯車15と内歯歯車11と
の噛合部に、各歯車15, 11のピッチ円径に等しい接触面
を有するピッチ円ホイール17とアウターレース13との転
接触機構を設ければ、各歯車15, 11の噛合が常に無理な
く、なめらかに行われるから、この変速装置の作動を円
滑にすることができる。Further, a rolling contact mechanism between the outer race 13 and the pitch circle wheel 17 having a contact surface equal to the pitch circle diameter of each gear 15, 11 at the meshing portion between the gear 15 of the planetary rotor 20 and the internal gear 11. If the gears 15 and 11 are provided, the meshing of the gears 15 and 11 is always performed smoothly and smoothly, so that the operation of the transmission can be smoothly performed.
【００１９】したがって本発明によれば、無理のない機
構であるに拘らず変速比が大で、しかも超小型化が可能
な変速機を、簡単な構造で容易に製造することができる
というすぐれた効果が得られる。Therefore, according to the present invention, it is possible to easily manufacture a transmission which has a large gear ratio and is capable of being miniaturized with a simple structure, despite its reasonable structure. The effect is obtained.
【図１】本発明装置の縦断側面図である。FIG. 1 is a vertical side view of a device of the present invention.
【図２】本発明装置を高速回転軸側から見た正面図であ
る。FIG. 2 is a front view of the device of the present invention viewed from the high-speed rotating shaft side.
【図３】図１のＡ−Ａ断面図である。3 is a cross-sectional view taken along the line AA of FIG.
【図４】図１のＢ−Ｂ断面図である。4 is a sectional view taken along line BB of FIG.
【図５】図１のＣ−Ｃ断面図である。5 is a sectional view taken along line CC of FIG.
【図６】図１のＤ−Ｄ断面図である。6 is a cross-sectional view taken along line DD of FIG.
【図７】図１のＥ−Ｅ断面図である。7 is a sectional view taken along line EE of FIG.
１ ケース ２ ケース本体 ３ ケース蓋 ４ ボルト ５，６ ボールベアリング ７ 低速回転軸 ８，９ ボールベアリング 10 高速回転軸 11 内歯歯車 12 ボルト 13 アウターレース 14 スペーサー 15 歯車 16 摩擦ホイール 17 ピッチ円ホイール 18 リング受胴部 19 小差歯車 20 遊星回転体 21 弾性リング 22 内歯歯車 1 case 2 case body 3 case lid 4 bolt 5,6 ball bearing 7 low speed rotating shaft 8,9 ball bearing 10 high speed rotating shaft 11 internal gear 12 bolt 13 outer race 14 spacer 15 gear 16 friction wheel 17 pitch circle wheel 18 ring Receptacle part 19 Small gear 20 Planetary rotor 21 Elastic ring 22 Internal gear
Claims (2)
軸を同一軸線上に設け、このケース内の高速回転軸と対
応するケースの内側に内歯歯車をケースに固定して設
け、この内歯歯車と噛合する歯車を有すると共に、前記
高速回転軸と転接触する摩擦ホイールとを一体的に形成
した複数個の遊星回転体を設け、これら各遊星回転体の
一側にこの回転体に設けた前記歯車より小径の小差歯車
を設け、これらの各小差歯車がそれぞれ噛合する内歯歯
車を前記低速回転軸と一体的に形成し、前記複数個の遊
星回転体を外包する弾性リングによって各遊星回転体の
摩擦ホイールを前記高速回転軸に圧接するようにしたこ
とを特徴とする変速装置。1. A high-speed rotating shaft and a low-speed rotating shaft are provided on the same axis through the case, and an internal gear is fixed to the case inside the case corresponding to the high-speed rotating shaft in the case. A plurality of planetary rotating bodies having a gear that meshes with an internal gear and integrally forming a friction wheel that makes rolling contact with the high-speed rotating shaft are provided, and the rotating body is provided on one side of each planetary rotating body. A small differential gear having a smaller diameter than the provided gear is provided, an internal gear to which each of the small differential gears meshes is integrally formed with the low speed rotation shaft, and an elastic ring that encloses the plurality of planetary rotating bodies. The transmission is characterized in that the friction wheel of each planetary rotor is brought into pressure contact with the high-speed rotation shaft.
歯歯車を適当な間隔をおいて左右２個所に配置して固定
すると共に、これら各内歯歯車間の内側に内歯歯車のピ
ッチ円を内径とする２個のリング状のアウターレースを
それぞれ設け、前記遊星回転体の左右に前記内歯歯車と
それぞれ噛合する歯車を設けると共に、この歯車のピッ
チ円を外径とするピッチ円ホイールを前記歯車間の内側
にそれぞれ形成し、これら左右のピッチ円ホイールの間
にリング受胴部を形成し、前記歯車の外側にそれぞれ前
記摩擦ホイールを形成し、一方の摩擦ホイールの外側に
前記小差歯車を設けて遊星回転体を形成し、前記リング
受胴部に前記弾性リングが圧接するようにしたことを特
徴とする変速装置。2. The internal gear provided inside the case according to claim 1 is arranged and fixed at two left and right positions at appropriate intervals, and the internal gear is provided inside the internal gears. Two ring-shaped outer races each having a pitch circle as an inner diameter are respectively provided, and gears respectively meshing with the internal gears are provided on the left and right sides of the planetary rotor, and a pitch circle having the pitch circles as an outer diameter is provided. Wheels are formed inside the gears, respectively, a ring receiving portion is formed between the left and right pitch circle wheels, the friction wheels are formed outside the gears, and the friction wheels are formed outside the one friction wheel. A transmission, wherein a small differential gear is provided to form a planetary rotor, and the elastic ring is brought into pressure contact with the ring receiving portion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP21322991A JPH0539836A (en) | 1991-07-31 | 1991-07-31 | Transmission |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP21322991A JPH0539836A (en) | 1991-07-31 | 1991-07-31 | Transmission |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0539836A true JPH0539836A (en) | 1993-02-19 |
Family
ID=16635673
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP21322991A Pending JPH0539836A (en) | 1991-07-31 | 1991-07-31 | Transmission |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0539836A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1119257C (en) * | 1997-04-01 | 2003-08-27 | 本田技研工业株式会社 | Supporting structure for body cover of two-wheel motor vehicle |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5929864A (en) * | 1982-08-10 | 1984-02-17 | Matsushita Electric Works Ltd | Planetary reduction gear |
-
1991
- 1991-07-31 JP JP21322991A patent/JPH0539836A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5929864A (en) * | 1982-08-10 | 1984-02-17 | Matsushita Electric Works Ltd | Planetary reduction gear |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1119257C (en) * | 1997-04-01 | 2003-08-27 | 本田技研工业株式会社 | Supporting structure for body cover of two-wheel motor vehicle |
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