JPS62101943A - Reducer - Google Patents

Abstract

PURPOSE:To simplify a reducing mechanism and improve its strength by using a double slider mechanism. CONSTITUTION:A slider part 12b is fixed to a planetary gear 13, and a slider part 16a is provided on an output shaft 16. In addition, a middle disc 15 which moves sliding on each of the slider parts 13b, 16a and has mutually perpendicular grooves 15a, 15b is provided to take out only the rotation of the planetary gear 13 which rotates at a low speed revolving round the center axis of an internal gear 14 at a high speed as the source of output. The above-mentioned constitution can simplify a reducing mechanism, and also improve its strength.

Description

[Detailed Description of the Invention] [Field of Application of the Invention] The present invention relates to a reduction gear device, and particularly to a reduction gear device that is small in size and has a high reduction ratio.
This invention relates to a reduction gear that is suitable for transmitting large torque.

[Background of the invention]

In order to extract the rotation of the planetary gear as one of the conventional internal planetary gear type reduction gears, holes are provided in the planetary gear at equal intervals on a concentric circle with the center of the planetary gear, and small diameter pins are inserted into the holes. By installing it on the output shaft installed on the same axis as the input shaft (crankshaft).

There is a device that is taking output. This device has the advantage of being able to transmit a large amount of torque, but it has a large number of parts.
Not only was this a major constraint on weight reduction, but the shape of the parts was also complex.

In addition, as another example of an internal type reduction gear, a flexible ring with serration-like teeth formed on the outer circumferential surface is provided instead of the planetary gear, and the flexible ring is connected via a bearing. An elliptical rotary drive body (
There is a device in which a flexible ring is deformed and pressed against a fixed internal gear using an input shaft (input shaft), and the speed is reduced by the difference between the number of teeth of the fixed internal gear and the number of teeth of the flexible ring. This device has the advantage of being small and lightweight and can obtain a high reduction ratio, but it has problems with rigidity because the flexible ring has to be made thin because it needs to be deformed, and it requires a large transmission torque. When the flexible ring is made thicker.

It was predicted that this deformation would require a large amount of energy, which would not only pose a serious problem in terms of efficiency, but also increase the possibility that the flexible ring would break.

In addition, other gear reduction devices, such as those using spur gears or worm gears, are considerably larger in terms of capacity and weight than the internal type reduction devices mentioned above, and are required for small, lightweight, and high-height devices such as robot arms. It was unsuitable for use as a reduction gear.

Note that this type of technology is described, for example, in the catalog ``Cyclo Reducer J'' of Sumitomo Heavy Industries, Ltd.

[Object of the Invention] An object of the present invention is to provide a reduction gear device that is small and lightweight, can achieve high deceleration, and can transmit large torque.

[Summary of the invention]

Conventional high speed reduction devices are capable of transmitting large torque at the expense of being compact and lightweight, or
Most of the devices were designed to be smaller and lighter at the expense of transmitting large torque, and there was no high reduction gear that was small and lightweight and could transmit large torque. The reason for this is that a complex mechanism was used to extract only the rotation of the eccentrically rotating planetary gear, resulting in a large size, or that the shape was made to be strong and deformable due to the need for flexibility. , the strength has weakened, etc. The present invention uses a double slider mechanism, which is known in mechanics, in order to extract the rotation of the planetary gear of an internal planetary tooth type reduction gear as an output, thereby simplifying the mechanism and achieving sufficient strength. This made it possible to create a structure.

[Embodiments of the invention]

Hereinafter, one embodiment of the present invention will be described with reference to the drawings.

(1) First, an embodiment of the speed reduction device according to claim (1) will be described. FIG. 1 shows an example of the basic configuration of the present invention. In addition, FIG. 2 schematically shows the configuration of the reduction gear device shown in FIG. 1, and in FIG. 1 or 2,
A crankshaft 11 serving as an input shaft is rotatably fitted to a planetary gear 13 having external teeth 13a on its outer periphery via a bearing 12 such as a ball bearing. External teeth 13a of the planetary gear 13 mesh with internal teeth 14a of the fixed sun gear 14. Also, planetary gear 1
A slider 13b is fixed to the planetary gear 13, and the slider 13b of the planetary gear 13 is slidable along the groove 15a of the intermediate disk 15. intermediate disc 1
5, in addition to the groove portion 15a.

A groove portion 15b is provided in a direction different from that of the groove portion 15a. In the second [ii], the groove portion 15a and the groove portion 15b of the intermediate disk 15 are provided in a substantially perpendicular direction. Output shaft 1
A slider 16a is fixed to the intermediate disk 15, and is configured to be slidable along the groove 15b of the intermediate disk 15.

For example, in the internal planetary gear type reduction gear according to the present invention shown in FIGS. 1 and 2, when a crankshaft 11 serving as an input shaft rotates, a planetary gear 13 rotates eccentrically via a bearing 12. Since the planetary gear 13 is connected to the bearing 12, the minute shaft rotates by the same amount as the input shaft with respect to the crankshaft (input shaft) 1112. However, the external teeth 13 of the planetary gear 13
Since a is meshed with the internal teeth 14a of the fixed sun gear 14, 2For example, the number of teeth of the internal teeth 14a of the fixed sun gear 14 is Zs.
, when the number of external teeth 13a of the planetary gear 13 is Zp, the fixed sun gear rotates when the input shaft 11 rotates once. Therefore, the reduction ratio W at this time is.

Sli'j-1 of the planetary gear 13 that rotates eccentrically at the reduction ratio W
3a, while the intermediate disk 15 is sliding in the groove 15a, the reduction ratio W =
Rotates at (Z s - Z P ) / Z s. Since the intermediate disk 15 can rotate and slide in the direction of the groove 15a, the direction of the groove 15b, which is provided in a direction different from that of the groove 15a, can always pass through a certain point. The groove 15b of the intermediate disk 15 and the slider 16a of the output shaft 16 slide so that this point becomes a point on the center line of the output shaft 16, and the output shaft 16 has a reduction ratio W = (Z s −Z p ) /
Rotate with Z s. This 13 b, 15 (15
FIG. 3 schematically shows a double slider mechanism constituted by a and 15b) and 16 (16a).

In FIG. 3, the pitch circle 34 of the sun gear 14 and the planetary gear 13 touch at a pitch point 30.

At this time, the sliding direction 35a of the slider 13b of the planetary gear 13 and the groove 15a of the intermediate disk 15 is
The center 33 of the pitch circle 33 of . is passing through. In FIG. 3, the intermediate disk is represented schematically by a circle 35;
Two straight lines 35a and 35b passing through the center 350 represent the directions of the grooves 15a and 15b. In an arbitrary contact state between the sun gear pitch circle 35 and the planetary gear pitch circle 33, the intermediate disk 35 becomes 35.
By sliding along the direction a, the straight line 35b indicating the sliding direction of the groove portion 15b can be made to always pass through any fixed point 360 in space. Therefore, the output shaft 36 (16) centered on a point 360 fixed in space is a straight line 35 indicating the sliding direction of the groove 15b and the slider 16a.
By sliding it along b, only the rotation of the planetary gear 13 can be extracted as an output without eccentricity. In FIG. 3, the center of the input shaft 11
' is also the center 340 of the sun gear 14 and the output shaft 36 (1
Although the centers 360 of 6) are made to coincide, it is not necessary to make them coincide, and therefore, the distance between the input shaft and the output shaft can be determined arbitrarily.

According to this embodiment, it is possible to construct a speed reduction device that can obtain a high reduction ratio using simple components with a small number of shapes as shown in FIG. 1 or FIG. Since there is no shaft, it is possible to transmit large torque with a small size, and 1. the distance between the input shaft and the output shaft can be arbitrarily determined.

(2) Next, the reduction gear described in claim (2) above-
An example is shown below. Planetary gear 13 in Figure 1 or Figure 2
FIG. 4 shows a planetary gear 43 in which cylindrical rollers are provided in place of the slider portion 13b.

5 shows an external view of the planetary gear 43. In FIG. 4 or 5, the planetary gear 43 is provided with a cylindrical roller 43b that is rotatably fitted to a pin 43G fixed to the main body of the planetary gear 43. , by using it instead of the planetary gear 13 in FIG. 1 or 2, the smooth contact between the groove 15a of the intermediate disk 15 and the slider 13b becomes rolling contact between the groove 15a and the cylindrical roller 43b. , it becomes possible to construct a more efficient speed reduction device than the speed reduction device described in claim rM(1). The same applies to the slider 16a of the output shaft 16, and efficiency can be improved by providing a cylindrical roller in place of the slider 16a.

Conversely, the planetary gear 13 and the slider 1 of the output shaft 16
3b and 16a are as shown in FIG. 1 or 2, and by providing cylindrical rollers on both sides of the grooves 15a and 15b of the intermediate disk 15, or one of the grooves, it is possible to achieve the above-mentioned claim (1). It becomes possible to configure a speed reduction device that is more efficient than other speed reduction devices.

(3) Next, FIG. 6 shows an embodiment of the speed reduction device according to claim (3). In the embodiment of FIG. 6, two planetary gears 63 and 63' are provided.

They are shifted from each other by 180'' pitch to form a speed reducer. This makes it possible to considerably reduce the influence of vibration caused by eccentric rotation of the planetary gears.

〔Effect of the invention〕

According to the present invention, it is possible to obtain a high reduction ratio using the small component part 12 having a simple shape, and since there is no need for flexible parts etc., high torque can be transmitted efficiently. When applied to required robot manipulators, etc., it has the effect of increasing the ratio of payload to its own weight compared to conventional manipulators.

[Brief explanation of drawings]

Fig. 1 is a vertical cross-sectional view of the basic configuration of a reduction gear device according to an embodiment of the present invention, Fig. 2 is a schematic external view of parts that constitute the reduction gear unit of Fig. 1, and Fig. 3 shows a double slider mechanism. Schematic diagram, Figure 4 is a cross-sectional view of a planetary gear equipped with cylindrical rollers, Figure 5 is a schematic external view of Figure 4, and Figure 6 is a vertical cross-section of a basic configuration diagram of a reduction gear device equipped with two planetary gears. It is a surface. 12... Bearing such as ball bearing, 13... Planetary gear, 13
a... External teeth of planetary gear, 14... Fixed sun gear, 1
4a... Internal teeth of fixed sun gear, 15... Intermediate disk.

Claims (1)

[Claims] 1. It has a fixed sun internal gear (14) and external teeth (13a) that mesh with the internal teeth (14a) of the fixed sun internal gear (14) via a bearing (12) by the crankshaft (11), and rotates eccentrically. In an internal planetary gear type speed reduction device consisting of a planetary gear (13), in order to output only the rotation of the planetary gear (13), which is rotating at a low speed while revolving at a high speed, a gear fixed to the planetary gear is used. A slider part (13b),
A double disc consisting of an output shaft (16) having a slider portion (16a) and an intermediate disk 15 having mutually perpendicular groove portions (15b) and (15a) that slide with the respective slider portions (13b) and (16a). A speed reduction device characterized by being equipped with a rider mechanism.