JPS60136642A - Uniform motion type reduction gear - Google Patents

Abstract

PURPOSE:To eliminate play of gears even the direction of rotation is changed by making the complementary angle of the pitch corn angle of a pair of face gears half of the tilt angle. CONSTITUTION:When an input shaft 6 revolves an oscillating disc 9 engages gears 1 to gears 2 in order with making an oscillating motion. A tilting plate 8 is secured to the input shaft 6 and its axis is tilted by angle alpha against the input shaft line. An output shaft 7 is provided with a spherical seat in its inside end portion, and on the spherical seat a plurality of engaging grooves 7a are arranged in the axial direction. The oscillating disc 9 has a plurality of projected stripes in its inner diameter surface to engage to the engaging groove 7a and can freely oscillate along the engaging grooves 7a, but the rotation of the oscillating disc 9 the output shaft 7 to rotate. On the other surface of the oscillating disc 9 the gears 1 are arranged which face and engage to the gears 2 provided on a cover 5, and because of every gear's having a complementary angle of the pitch corn angle in alpha/2 a uniform motion joint is obtained.

Description

【発明の詳細な説明】 ロボットの部品その池の用途からコンパクトな減速装置
で、しかも内臓歯車が正逆回転転換時に遊びをもたない
もの、即ちバックラッシュ無しのものの要求が生れてい
る。本発明はギアの利用が１対のフェースギア（以下す
べて「ギア」と略称する。）でたりるコンパクトな減速
装置に関するもので、両ギアのかみ合いに於て上記の要
求を満すようにしたものである。[Detailed Description of the Invention] Due to the various uses of robot parts, there is a demand for a compact reduction gear device in which the internal gear does not have any play when switching between forward and reverse rotations, that is, one without backlash. The present invention relates to a compact speed reduction device in which the gears are a pair of face gears (hereinafter referred to as "gears"), and the meshing of both gears satisfies the above requirements. It is something.

図面についてその実施例を説明する。Examples will be described with reference to the drawings.

ケース３には左右にふた４、５が固着されている。Lids 4 and 5 are fixed to the left and right sides of the case 3.

入力軸６はふた４へ、また出力軸７はふた５へ、同一軸
線上に於て夫々回転自在に軸支される。傾斜板８は入力
軸へ固着され、その軸線は入力軸線に対しズ角傾斜して
いる。出力軸７は内端部に球面座を備え、この球面座に
軸線方向複数の係合溝７ａを設けである。首振盤９は内
径面に係合溝７ａと係合する受数突条を備え、係合溝に
沿い釘振自在であるが、首振盤の回転は出力軸に回転を
強制する。首振盤の一面は傾斜板の一部と当接している
。首振盤の他面にはギア１が設けである。これと対向し
てふた５の内面にギア２が固着してあり、これがギア［
とかみ合う。傾斜板とふた４の間には、ばね１０　が挿
入してあり、ギア１をギア２へｆｌＥするよう作用する
。ギア１，２は何れもピッチ円錐角の余角を第２，３図
に示す如く、先に述べた角■の半角とする。またギア１
，２は歯数を接近させたものとし、ピッチ円錐の頂点Ｖ
ｌ　、Ｖ２を歯先円錐の頂点に対し、大ギア１では外側
に小ギア２では内側に夫々ｌだけ偏位させである。ケー
ス３内には油を充填しておく。The input shaft 6 is rotatably supported on the lid 4 and the output shaft 7 is rotatably supported on the lid 5 on the same axis. The inclined plate 8 is fixed to the input shaft, and its axis is inclined at an angle of Z with respect to the input axis. The output shaft 7 has a spherical seat at its inner end, and the spherical seat is provided with a plurality of engagement grooves 7a in the axial direction. The swinging disc 9 has a number protrusion on its inner diameter surface that engages with the engagement groove 7a, and can swing freely along the engagement groove, but rotation of the swinging disc forces the output shaft to rotate. One side of the oscillating disk is in contact with a part of the inclined plate. A gear 1 is provided on the other side of the oscillation disk. Opposing this, a gear 2 is fixed to the inner surface of the lid 5, and this is a gear [
interlock with each other. A spring 10 is inserted between the inclined plate and the lid 4, and acts to move the gear 1 toward the gear 2. For both gears 1 and 2, the complementary angle of the pitch cone angle is a half angle of the angle 2 mentioned above, as shown in FIGS. 2 and 3. Also gear 1
, 2 are the numbers of teeth that are close to each other, and the apex of the pitch cone V
l and V2 are respectively deviated by l to the outside for the large gear 1 and to the inside for the small gear 2 with respect to the apex of the tip cone. Case 3 is filled with oil.

本発明は以上のように構成される。入力軸が旋回すると
、首振盤は酊振運動をしながら、ギア１を順次ギア２と
かみ合わせる。いまギア１，２の歯数を夫々Ｚｌ　、Ｚ
２　とすると、入力軸の１回転にＺｌ　＝１００、Ｚ２
　＝９９　とすると入力軸の１回転ただし本発明に於て
は用途の性質上ギア１の等速回転に対し、ギア２も等速
回社することが要請される。一般にジヨイントが等速ジ
ヨイントとなるためには２軸外問に於ける係合点が２軸
の交叉角を２等分する平面上に位置することを要するが
、ギア１．２はピッチ円錐角の余角を−Ａ−ζ共通にし
、この条件を満している。しかしながら歯数を異にする
２つのギア１，２に対し、以上の条件を適用するので通
常の歯切、即ちピッチ円錐と歯先円錐との両頂点を一散
させた歯切を行うと、両者をかみ合わせても、ピッチ線
を重ね合わせることができない。この点で本発明は前記
の如くピッチ円錐頂点を歯先円錐頂点の内と外とに夫々
！たけ変位させて歯切するので、両者のかみ合いに於て
は第４図に示す如く共通のピッチ線を得ることができる
。Ｌの数値はギア歯数と角ぺの曲数として算出できる。The present invention is configured as described above. When the input shaft rotates, the oscillation disk sequentially meshes gear 1 with gear 2 while making a oscillating motion. Now let the number of teeth of gears 1 and 2 be Zl and Z, respectively.
2, Zl = 100, Z2 for one rotation of the input shaft
=99, one rotation of the input shaft However, in the present invention, due to the nature of the application, it is required that gear 2 rotates at a constant speed when gear 1 rotates at a constant speed. Generally, in order for a joint to become a constant velocity joint, the engagement points on the two axes must be located on a plane that bisects the intersection angle of the two axes. This condition is satisfied by making the complementary angles -A-ζ common. However, since the above conditions are applied to two gears 1 and 2 with different numbers of teeth, if normal gear cutting is performed, that is, gear cutting in which both the vertices of the pitch cone and the tip cone are scattered, Even if the two are interlocked, the pitch lines cannot overlap. In this respect, the present invention, as described above, places the pitch cone apex inside and outside the tooth tip cone apex, respectively! Since the gears are cut by displacing the gears by a certain amount, it is possible to obtain a common pitch line as shown in FIG. 4 in the engagement between the two gears. The value of L can be calculated as the number of gear teeth and the number of corners.

両ギア１．２は以上のように構成してもなお次の問題点
が残る。ギア１，２のピッチ線は第４図のように重なり
合うが、両ギアのピッチ円錐頂点Ｖｌ　、Ｖ２　は同図
の共通ピッチ線上でＶｌ、、Ｖ２　の間隔をもつ。ピッ
チ線が重なり合うのはギア１．２の両軸線を含む平面内
に於てだけであり、この間隔が存在する限り隣接歯が幾
何学的に相互かみ合い可能な状態にあるということはで
きない。しかしこの点は実用面での支障とはならない。Even if both gears 1.2 are configured as described above, the following problem still remains. The pitch lines of gears 1 and 2 overlap as shown in FIG. 4, but the pitch cone vertices Vl and V2 of both gears have an interval of Vl, V2 on the common pitch line in the same figure. The pitch lines overlap only in a plane containing both axes of the gear 1.2, and as long as this distance exists, it is not possible for adjacent teeth to be geometrically intermeshed. However, this point does not pose a practical problem.

なぜならギア１．２は歯数を近似させであるので間１ｆ
ｉＶ１Ｖ２は微小である。また両ギアのかみ合いはピッ
チ円錐の外端部附近で行われるので間隔Ｖｉ　Ｖ２がか
み合いに及ばす影響はｍ（視できる程度のものとなる。This is because gear 1.2 approximates the number of teeth, so the gap is 1f.
iV1V2 is minute. Furthermore, since the meshing of both gears takes place near the outer end of the pitch cone, the effect of the interval Vi V2 on the meshing is m (visible).

１対のフェースギアだけで作用す５シＺ　Ｍ　ｑｉ　＋
’？　４原理的には公知である。例えば特開昭５１−１
２６４６７゜しかしこの装置の畔点は両ギア間に円滑な
かみ合いが得がたいことにある。上記公知例に於ては歯
形を三角形又は台形に限定してこの間願を解決している
。何れの歯形も歯切が困難であるのみならず、かみ合わ
せには過大なバックラッシュを設けることを前層とせね
ばならない。5 shi Z M qi + that acts with only one pair of face gears
'? 4 It is known in principle. For example, JP-A-51-1
26467° However, the drawback of this device is that it is difficult to achieve smooth engagement between both gears. In the above-mentioned known example, the tooth profile was limited to a triangle or a trapezoid to solve the problem. Not only is it difficult to cut each tooth profile, but the front layer must provide an excessive amount of backlash for meshing.

これに対し本発明はインボリュート歯を利用できるので
、歯切が容易である。またインボリュート歯であるから
、簡単な押圧ばねの附設により、両ギア間にバックラッ
シュ無しのかみ合いを無理なく行わせることができる。On the other hand, since the present invention can utilize involute teeth, gear cutting is easy. Furthermore, since they are involute teeth, by simply adding a pressure spring, meshing without backlash can be achieved between the two gears without difficulty.

この２直が本発明の特徴である。These two shifts are a feature of the present invention.

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

第１図は本発明の正面図、第２図第３図は大小フェース
ギアの側面図、第４図は２つのピッチ円錐の関係説明図
である。 １．２・・・・ギア、３・・・・ケース、４，５・・・
・ふた、６・・・・入力軸、７・・・・出力軸、７ａ・
・・・係合溝、８・・・・傾斜板、９・・・・首振盤、
１０　・・・・皿ばね、Ｖｌ　、Ｖ２　・・・・ピッチ
円錐頂点。 特許出順人　三和テッキ株式会社 第１図 第４１FIG. 1 is a front view of the present invention, FIG. 2, FIG. 3 is a side view of large and small face gears, and FIG. 4 is an explanatory diagram of the relationship between two pitch cones. 1.2...Gear, 3...Case, 4,5...
・Lid, 6...Input shaft, 7...Output shaft, 7a...
・・・Engagement groove, 8... Inclined plate, 9... Swing plate,
10... Belleville spring, Vl, V2... Pitch cone apex. Patent issuer: Sanwa Tech Co., Ltd. Figure 1, Figure 41

Claims (1)

【特許請求の範囲】[Claims] ケースの一方のふたに支持された入力軸と、同一軸線上
で他方のふたに支持され内端部に球面座を有する出力軸
と、入力軸線に対し軸線をσ角傾斜して入力軸へ固着さ
れた傾斜板と、出力軸の球面座へ装着され傾斜板の押圧
回転により首振回転可能で他面にフェースギアを刻んだ
首振盤と、一方のふたに固着され前記フェースギアとか
み合う他のフェースギアとから成り、大小両フェースギ
アのピッチ円錐角の余角を何れも角ズの半角とし、かつ
両フェースギアのピッチ円錐の頂点を歯先円錐の頂点に
対し大は外側に小は内側に夫々偏位させたことを特徴と
する等連接年式減速装置。The input shaft is supported by one lid of the case, the output shaft is supported by the other lid on the same axis and has a spherical seat at the inner end, and the axis is tilted at an angle of σ with respect to the input axis and is fixed to the input shaft. a tilt plate attached to the spherical seat of the output shaft, which can be rotated by pressing and rotating the tilt plate and has a face gear carved on the other surface; The complementary angles of the pitch cone angles of both the large and small face gears are half angles of the angle, and the apex of the pitch cone of both face gears is set on the outside of the apex of the tip cone, and the small one is on the outside. An equi-articulated reduction gear that is characterized by being offset inward.