JP4030337B2

JP4030337B2 - Planetary gear type transmission and its backlash adjusting method

Info

Publication number: JP4030337B2
Application number: JP2002106003A
Authority: JP
Inventors: 康弘矢沢; 真弘上野
Original assignee: NIPPO DENKI CO., LTD.
Current assignee: NIPPO DENKI CO., LTD.
Priority date: 2002-04-09
Filing date: 2002-04-09
Publication date: 2008-01-09
Anticipated expiration: 2022-04-09
Also published as: JP2003301892A

Description

【０００１】
【発明の属する技術分野】
本発明は、遊星歯車式変速装置とそのバックラッシュ調整方法に関する。
【０００２】
【従来の技術】
遊星歯車式変速装置は、例えば、（１）入力軸（第一回転軸）に取り付けられた太陽歯車と、（２）太陽歯車と同心状に配置された内歯車と、（３）太陽歯車及び内歯車に噛み合って自転しながら公転するとともに、入力軸と同心状の出力軸（第二回転軸）を有するキャリアに回転可能に支持された遊星歯車とから構成される。このような遊星歯車式変速装置は、小型軽量で大きな変速比が得られること；入力軸と出力軸とを同心状に配置できること；両軸の回転方向を容易に同一方向にできること；などの特長を有し、工作機械、自動車における動力伝達等に広範囲に利用されている。また、近年ではサーボモータ等に連結されて制御系に用いられることも多くなっている。
【０００３】
一方、歯車には一般に、歯の背面の摩擦を防いで噛み合いを滑らかにするために、一対の歯車を噛み合わせたときにその歯面間に隙間（バックラッシュ）が設けられている。このバックラッシュが大きくなると、動力伝達時に歯打ち音が発生する不具合がある。さらに、回転方向が正逆に切り替えられる制御系に使用された場合、回転方向が切り替えられる度にバックラッシュ分だけ回転量が遅れ、伝達が不正確になるので、例えば位置決め装置に使用すると正逆回転によりバックラッシュ分停止位置がずれ、正確な制御ができなくなる。そして、上記した遊星歯車式変速装置では、太陽歯車と遊星歯車との噛み合い及び遊星歯車と内歯車との噛み合いにそれぞれバックラッシュが関与することになる。
【０００４】
そこで、本発明者らは、特願２００２−４５８３２において、バックラッシュ除去のための調整操作とバックラッシュゼロ維持のための保守管理（メンテナンス）とに要する負担の軽減を図ることができる新規な遊星歯車式変速装置と、その装置における新規なバックラッシュ調整方法を提案した。
【０００５】
図９（ａ）は、上記遊星歯車式変速装置の基本的構成例を模式的に示している。この遊星歯車式変速装置は、入力軸ＩＰ（第一回転軸）に取り付けられた太陽歯車Ｓと、太陽歯車Ｓと同心状に配置された内歯車Ｉと、太陽歯車Ｓ及び内歯車Ｉに噛み合って自転しながら公転するとともに、入力軸ＩＰと同心状の出力軸ＯＰ（第二回転軸）を有するキャリアＣに回転可能に支持された遊星歯車Ｐとから構成される。そして、内歯車Ｉは、軸方向に二分割された分割内歯車Ｉａ，Ｉｂで構成されるとともに、これら分割内歯車Ｉａ，Ｉｂは互いに中心軸線周りに相対回動可能とされている。また、遊星歯車Ｐは、軸方向に二分割された分割遊星歯車Ｐａ，Ｐｂで構成されるとともに、これら分割遊星歯車Ｐａ，Ｐｂはそれぞれ対応する分割内歯車Ｉａ，Ｉｂと噛み合っている。
【０００６】
このような遊星歯車式変速装置のバックラッシュ調整は、例えば次のようにして行われる。まず、出力軸ＯＰ側の分割内歯車Ｉａを中心軸線周りに所定の方向へ回動させて、バックラッシュ調整の基準状態（太陽歯車Ｓと分割遊星歯車Ｐａとの噛み合い及び分割遊星歯車Ｐａと分割内歯車Ｉａとの噛み合いにおいて片側の歯面同士がそれぞれ接触する状態）とする。次に、入力軸ＩＰ側の分割内歯車Ｉｂを中心軸線周りに、上記分割内歯車Ｉａとは逆方向へ回動させると、分割内歯車Ｉｂと分割遊星歯車Ｐｂとの間及び分割遊星歯車Ｐｂと太陽歯車Ｓとの間のバックラッシュがそれぞれ除去される。
【０００７】
ところで、上記したような遊星歯車式変速装置を複数段直列状に連結すれば、入力軸と出力軸とを同心状に配置できる特長を生かしてさらに小型で大変速比の遊星歯車式変速装置を得ることができる。その結果、伝動系、制御系を問わず昨今の変速装置に要求されている高精度化（減速装置の場合）及び高速化（増速装置の場合）の要請に応えることができるようになる。
【０００８】
図９（ｂ）は、複数段型の遊星歯車式変速装置の構成例を模式的に示している。図９（ｂ）の遊星歯車式変速装置は、同図（ａ）と同様の構造を有する遊星歯車機構ＧＴ１，ＧＴ２が直列状に２段連結されている。具体的には、出力軸ＯＰ側（変速１段目）の遊星歯車機構ＧＴ１の入力軸が、入力軸ＩＰ側（変速２段目）の遊星歯車機構ＧＴ２のキャリアＣ２から一体的に延出する中間軸ＣＳ（出力軸）と一体化されている。なお、図９（ｂ）では、第１段目の遊星歯車機構ＧＴ１を構成する各部に添え字１、第２段目の遊星歯車機構ＧＴ２を構成する各部に添え字２を付してある。
【０００９】
【発明が解決しようとする課題】
しかし、図９（ｂ）のような複数段型の遊星歯車式変速装置では、同図（ａ）と同様構造の遊星歯車機構ＧＴ１，ＧＴ２を単に２連としただけであるから、バックラッシュ調整に要する時間も単純に２倍かかることになる。このように、複数段型においてはバックラッシュ調整を行う際の操作の容易性と所要時間が問題となり、変速段数が増える（多段化される）ほどその差は大きくなる。すなわち、操作性や調整所要時間は、組立調整時においては生産能率や製造コストに直結し、保守管理（メンテナンス）時においてはランニングコストの増加や稼動率の低下となって使用者等に負担を強いる結果となる。
【００１０】
本発明の課題は、バックラッシュ調整の操作が容易で所要時間の短縮を図ることができる複数段型の遊星歯車式変速装置とそのバックラッシュ調整方法を提供することにある。
【００１１】
【課題を解決するための手段及び発明の効果】
上述の課題を解決するために、本発明の遊星歯車式変速装置は、
第一回転軸に取り付けられた太陽歯車と、その太陽歯車と同心状に配置された内歯車と、それら太陽歯車及び内歯車に噛み合って自転しながら公転するとともに、前記第一回転軸と同心状の第二回転軸を有するキャリアに回転可能に支持された遊星歯車とを含む遊星歯車機構が直列状に複数段連結された遊星歯車式変速装置であって、
各段の前記遊星歯車機構において、前記内歯車と前記遊星歯車とはそれぞれの中心軸線周りに相対回動可能に軸方向に二分割されるとともに、
互いに隣接する前記遊星歯車機構において、一方の段の前記第一回転軸が他方の段の前記第二回転軸と一体連結され、前記二分割された内歯車のうち異なる段に跨って対向する内歯車同士が一体形成されて一体内歯車ユニットを構成し、
伝動始端及び伝動終端に位置する前記二分割された内歯車（以下、分割内歯車という）の間に前記一体内歯車ユニットが配置されることを特徴とする。
【００１２】
本発明では、内歯車と遊星歯車との二分割構成及び一方の段の第一回転軸と他方の段の第二回転軸との一体連結構成と合わせて、二分割された内歯車のうち対向する内歯車同士が一体形成されて一体内歯車ユニットを構成し、この一体内歯車ユニットは伝動両端（伝動始端すなわち入力端と、伝動終端すなわち出力端）に位置する分割内歯車の間に配置される。単段型と同様構造の遊星歯車機構を直列状に複数段連結したものに比して大幅に構造が簡素化され、それに伴ってバックラッシュ調整の操作が容易となり、所要時間の短縮を図ることができる。また、構造の簡素化により遊星歯車式変速装置の小型軽量化も可能となる。しかも、本発明における操作の容易性・所要時間の短縮・小型軽量化等の効果は、変速段数が増える（多段化が進む）ほど顕著となる。
【００１３】
また、上述の課題を解決するために、本発明の遊星歯車式変速装置を、例えば２段変速型（２段連結）に適用する場合には、
入力軸に取り付けられた太陽歯車と、その太陽歯車と同心状に配置された内歯車と、それら太陽歯車及び内歯車に噛み合って自転しながら公転するとともに、前記入力軸と同心状の出力軸を有するキャリアに回転可能に支持された遊星歯車とを含む遊星歯車機構が直列状に２段連結されてギアケースに収容された遊星歯車式変速装置であって、
各段の前記遊星歯車機構において、前記内歯車と前記遊星歯車とはそれぞれの中心軸線周りに相対回動可能に軸方向に二分割されるとともに、
伝動終端側の前記遊星歯車機構の前記入力軸が伝動始端側の前記遊星歯車機構の前記出力軸と一体連結され、前記二分割された内歯車のうち異なる段に跨って対向する内歯車同士が一体形成されて一体内歯車ユニットを構成し、
伝動始端及び伝動終端に位置する前記二分割された内歯車（以下、分割内歯車という）の間に前記一体内歯車ユニットが配置され、
前記分割内歯車はともに前記ギアケースに対して中心軸線周りに回動可能に取り付けられるとともに、伝動終端に配置される前記分割内歯車には前記ギアケースに対する回動が不能な状態と回動が可能な状態とに調整可能な固定手段が付設され、
さらに、前記一体内歯車ユニットは前記ギアケースに対して中心軸線周りに回動可能に取り付けられていることを特徴とする。
【００１４】
このように、分割内歯車はともにギアケースに対して中心軸線周りに回動可能に取り付けられ、そのうちの一方（例えば伝動終端＝出力端）にはギアケースに対する固定手段が付設され、一体内歯車ユニットはギアケースに対して中心軸線周りに回動可能に取り付けられている。これによって、固定手段にて一方（例えば伝動終端）の分割内歯車（後述する基準分割内歯車）をバックラッシュ調整の基準状態（すなわち、分割内歯車と遊星歯車との噛み合い及び遊星歯車と太陽歯車との噛み合いにおいて片側の歯面同士がそれぞれ接触する状態）に保持固定し、これを基準として一体内歯車ユニットと他方（例えば伝動始端＝入力端）の分割内歯車（後述する調整分割内歯車）とを回動調整することによって、バックラッシュ調整を容易かつ迅速に行なうことができる。
【００１５】
その際、固定手段は伝動始端に比べて歯面の摩耗等によりバックラッシュが拡大しにくい（隙間が広がりにくい）伝動終端の分割内歯車（基準分割内歯車）に付設されるので、上記したバックラッシュ除去のための維持管理が簡便に行える。つまり、通常のバックラッシュ維持管理操作においては所定の積算稼動時間毎に、伝動終端側の分割内歯車は固定手段にてギアケースに固定（回動不能）状態のまま、これを基準として一体内歯車ユニットと伝動始端側の分割内歯車（調整分割内歯車）を回動調整することによって、バックラッシュを大幅に減少させることができる。そして、例えば上記したバックラッシュ維持管理操作の数回に１回の割合で、固定手段による伝動終端側の分割内歯車のギアケースに対する固定（回動不能）状態を解除し、上記バックラッシュ調整の基準状態に保持固定し直した後、一体内歯車ユニットと伝動始端側の分割内歯車を回動調整すれば、バックラッシュゼロが確実に達成される。このように、バックラッシュ維持管理に際して、簡易なバックラッシュ減少操作と正確なバックラッシュ除去操作とを組み合わせて実行することによって、管理工数、管理コスト等の削減を図ることができ、遊星歯車式変速装置の稼動率向上にも寄与する。
【００１６】
そして、分割内歯車とこれに隣接する一体内歯車ユニットとの間及び隣接する一体内歯車ユニット相互間（２段変速型にあっては、分割内歯車と一体内歯車ユニットとの間）には、それらの中心軸線周りでの相対回動が不能な状態と相対回動が可能な状態とに調整可能な規制手段（例えば１又は複数の締付ボルト等）を各々設けることができる。これにより、上記したバックラッシュ調整の基準状態において規制手段を調整してそれらの中心軸線周りでの相対回動を可能とすれば、各々の遊星歯車機構に形成される内歯車と遊星歯車との間及び遊星歯車と太陽歯車との間のバックラッシュが除去できるから、バックラッシュ除去操作が一層簡便となる。また、バックラッシュ除去操作の後、規制手段を調整してこれらを相対回動不能とすれば、遊星歯車式変速装置の作動中（運転中）に回転軸の回転方向が正逆切り替えられたり回転数が変化しても、慣性力によってバックラッシュが生じたり歯打ち音が発生したりするおそれも少なくなる。
【００１７】
したがって、上述の課題を解決するために、本発明に係る遊星歯車式変速装置のバックラッシュ調整方法は、
伝動始端又は伝動終端に位置する前記遊星歯車機構に形成される前記分割内歯車と前記遊星歯車との噛み合い及び前記遊星歯車と前記太陽歯車との噛み合いにおいて、片側の歯面同士がそれぞれ接触する基準状態に保持される基準状態保持工程と、
前記分割内歯車とこれに隣接する前記一体内歯車ユニットとの間及び隣接する前記一体内歯車ユニット相互間に各々設けられた規制手段を調整することによりそれらの中心軸線周りでの相対回動を可能として、各々の前記遊星歯車機構に形成される前記内歯車と前記遊星歯車との間及び前記遊星歯車と前記太陽歯車との間のバックラッシュが除去され、
その後、前記規制手段を調整してそれら分割内歯車及び一体内歯車ユニットの中心軸線周りでの相対回動を不能とするバックラッシュ除去工程と、
を含むことを特徴とする。
【００１８】
このバックラッシュ調整方法によれば、バックラッシュ除去操作を行うにあたり、遊星歯車式変速装置をバックラッシュ調整の基準状態に保持した後、分割内歯車とこれに隣接する一体内歯車ユニットとの間及び隣接する一体内歯車ユニット相互間に各々設けられた規制手段を調整して、それらの中心軸線周りでの相対回動可能とすれば、バックラッシュが除去できる。次に、このようなバックラッシュ除去操作の後、規制手段を調整してそれらを相対回動不能とすれば、分割内歯車と遊星歯車との噛み合い及び遊星歯車と太陽歯車との噛み合いにおいてバックラッシュが除去された状態で、遊星歯車式変速装置の作動（運転）がなされる。そして、歯面の摩耗等によりバックラッシュの再生が想定される積算稼動時間に達したとき、遊星歯車式変速装置を作動させたまま又は一旦作動を停止させ、上記基準状態に保持した後、規制手段を調整して再びそれらを相対回動可能とすれば、バックラッシュが除去される（維持管理状態）。このようにして、所定時間毎にバックラッシュを除去する調整操作を行うだけで、回転量のずれや歯打ち音の発生が抑制された円滑な回転が長期間にわたって維持される。しかも、バックラッシュ除去工程において一体内歯車ユニットを回動操作できるので、複数段型遊星歯車式変速装置におけるバックラッシュ除去のための調整操作回数を相対的に減らすことができる。すなわち、最初に基準状態保持工程を行っておけば、各段毎のバックラッシュ除去工程を実施するだけで変速装置全体のバックラッシュゼロを実現することができ（例えば図８（ａ）参照）、各段毎に基準状態保持工程を行う場合（例えば図９（ｂ）参照）に比べてバックラッシュ調整の所要時間を大幅に短縮できる。したがって、バックラッシュ調整のための所要時間の短縮に伴って、遊星歯車式変速装置の稼動率の向上を図ることもできる。
【００１９】
なお、規制手段の調整が、分割内歯車と一体内歯車ユニットの端面同士を締付部材によりギアケースの外側から締付固定してそれらの中心軸線周りでの相対回動を不能とし、又はその締付固定を解除して相対回動を可能とすることにより行われるようにすれば、遊星歯車式変速装置の作動（運転）状態でバックラッシュ調整が可能となる場合がある。
【００２０】
ここで、上記基準状態保持工程において、例えば特公平１−５１７０６号公報に記載されているように、入力軸又は出力軸を人為的に自由回転させることにより上記したバックラッシュ調整の基準状態を保持できれば、分割内歯車のうちの一方（例えば伝動終端側＝出力端側）にはギアケースに対する回動が不能な状態と回動が可能な状態とに調整可能な固定手段を付設するには及ばない。つまり、工場出荷時とか定期的にオーバーホール点検するような使用形態であれば、入力軸又は出力軸を人為的に自由回転させることが可能であり、分割内歯車のいずれか一方（例えば伝動終端側＝出力端側）が常にギアケースに固定状態（回動不能状態）であってもバックラッシュ除去操作は行える。
【００２１】
ところが、運転可能な状態に設置された複数段型遊星歯車式変速装置の入力軸には駆動源（モータ等）の駆動軸が連結され、その出力軸には作動部（制御装置等）の被駆動軸が連結されているので、入力軸や出力軸を人為的に自由回転させることは実際には極めて難しい。すなわち、このような場合には駆動軸や被駆動軸が連結された状態で入力軸や出力軸を人為的に回転させることになるので、複数段型遊星歯車式変速装置に連なる駆動源や作動部の内部機構が有する偏心等の回転誤差が重畳（上乗せ）され、上記したバックラッシュ調整の基準状態を現出することは困難となる。そこで、このような場合でも、分割内歯車はともにギアケースに対して中心軸線周りに回動可能に取り付けられ、分割内歯車のうちの一方（例えば伝動終端側＝出力端側）にはギアケースに対する回動が不能な状態と回動が可能な状態とに調整可能な固定手段を付設することによって、上記したバックラッシュ調整の基準状態を保持できる。
【００２２】
つまり、このような場合の基準状態保持工程は、
分割内歯車のいずれか一方（以下、基準分割内歯車という）に付設された固定手段を調整することにより複数の遊星歯車機構を収容するギアケースに対する基準分割内歯車の中心軸線周りでの回動を可能とし、
さらに、上記基準状態に設定され、
その後、固定手段を調整してギアケースに対する基準分割内歯車の中心軸線周りでの回動を不能とした状態に保持されることとなる。
【００２３】
このように、複数段型遊星歯車式変速装置の入出力軸に駆動源の駆動軸や作動部の被駆動軸が連結されていても、バックラッシュ調整の基準状態を容易に現出させることができるから、バックラッシュ調整の所要時間の短縮と、遊星歯車式変速装置の稼動率の向上とが確実に達成される。
【００２４】
そして、このときのバックラッシュ除去工程では、基準分割内歯車を起点とし、直列状に複数連結された遊星歯車機構の配列順序に沿って、一体内歯車ユニット及び基準分割内歯車以外の分割内歯車（以下、調整分割内歯車という）を中心軸線周りで回動調整することにより、遊星歯車機構毎のバックラッシュを順次除去することができる。遊星歯車機構の配列順序に沿って一方向に調整操作が行われるため、バックラッシュ除去操作が一層容易となり、作業の単純化を図ることができる。
【００２５】
さらに、上記バックラッシュ除去工程においては、バックラッシュ除去が、伝動終端の基準分割内歯車を起点とし、一体内歯車ユニットの回動調整により伝動始端側に向って順次行われ、伝動始端の調整分割内歯車の回動調整で終了するように設定することができる。既述の通り、一般に歯面の摩耗等によるバックラッシュの拡大量（隙間の広がり量）は、伝動終端側の遊星歯車機構よりも伝動始端側の遊星歯車機構の方が大となる。そこで、比較的短時間の積算稼動時間後のバックラッシュ維持管理操作においては、伝動始端側の一部の一体内歯車ユニットと調整分割内歯車とを回動調整することにより、伝動終端側に位置する残りの一体内歯車ユニットについて回動調整を省略できる場合がある。このような場合には、バックラッシュ除去工程の所要時間がさらに短縮される。
【００２６】
また、これらのバックラッシュ除去工程においては、一体内歯車ユニット及び調整分割内歯車の中心軸線周りでの回動調整を、複数連結された遊星歯車機構に対する個々の調整毎に交互に方向変換するように設定することができる。回動調整を交互に方向変換することによって、バックラッシュ除去工程での作業がさらに単純化されるとともに、作業時間をより一層短くすることが可能となる。
【００２７】
【発明の実施の形態】
（第１実施例）
以下、本発明の実施の形態を図面を参照しながら説明する。図１は、本発明の遊星歯車式変速装置に係る２段型遊星歯車式減速装置の一実施例を示す斜視図である。この２段型遊星歯車式減速装置１００は、ギアケース１０に収容された２段変速型の遊星歯車機構２０（遊星歯車列）と、ギアケース１０に備えられギアケース１０の外部からバックラッシュ調整（バックラッシュ除去）が可能なバックラッシュ調整機構３０とを有している。この実施例では遊星歯車機構２０は、図２（ａ）に示すように、出力軸２７側に位置する１段目の遊星歯車機構１２０（第一遊星歯車機構）と、入力軸２１側に位置する２段目の遊星歯車機構２２０（第二遊星歯車機構）とが直列状に２段連結されている。
【００２８】
図２（ａ）に示すように、第一遊星歯車機構１２０は、太陽歯車１２２と内歯車Ｉ１と１又は複数（例えば２個）の遊星歯車１２３とから構成される。太陽歯車１２２は中間軸２８（第一回転軸）に固定状態で取り付けられている。内歯車Ｉ１は太陽歯車１２２と同心状にギアケース１０に配置されている。遊星歯車１２３は、それら太陽歯車１２２及び内歯車Ｉ１に噛み合って自転しながら公転するとともに、中間軸２８と同心状の出力軸２７（第二回転軸）を有するキャリア１２６に軸方向の遊星歯車軸１２５を介して回転可能に支持されている。
【００２９】
一方、第二遊星歯車機構２２０も第一遊星歯車機構１２０と同様に、太陽歯車２２２と内歯車Ｉ２と１又は複数（例えば２個）の遊星歯車２２３とから構成される。太陽歯車２２２は入力軸２１（第一回転軸）に固定状態で取り付けられている。内歯車Ｉ２は太陽歯車２２２と同心状にギアケース１０に配置されている。遊星歯車２２３は、それら太陽歯車２２２及び内歯車Ｉ２に噛み合って自転しながら公転するとともに、入力軸２１と同心状の中間軸２８（第二回転軸）を有するキャリア２２６に軸方向の遊星歯車軸２２５を介して回転可能に支持されている。
【００３０】
このように、両遊星歯車機構１２０，２２０は中間軸２８で連結されている。したがって、第一遊星歯車機構１２０の入力軸（第一回転軸）は中間軸２８に該当し、第二遊星歯車機構２２０の出力軸（第二回転軸）は中間軸２８に該当する。また、入力軸２１はサーボモータ等の駆動源の駆動軸１にカップリング２を介して連結され、出力軸２７は制御装置等の作動部の被駆動軸に連結されている。
【００３１】
第一遊星歯車機構１２０の内歯車Ｉ１と第二遊星歯車機構２２０の内歯車Ｉ２とはともに、それぞれ同一歯数を有し軸方向に二分割されるとともに、互いに中心軸線周りに相対回動可能な分割内歯車で構成されている。そして、これらの分割内歯車のうち異なる段に跨って対向する内歯車同士が一体形成されて一体内歯車ユニット２４を構成している。この一体内歯車ユニット２４は、出力端（伝動終端）に位置する第一遊星歯車機構１２０の分割内歯車１２４（基準分割内歯車）と入力端（伝動始端）に位置する第二遊星歯車機構２２０の分割内歯車２２４（調整分割内歯車）との間に配置される。その結果、両分割内歯車１２４，２２４及び一体内歯車ユニット２４はそれぞれギアケース１０に対して中心軸線周りに回動可能に取り付けられて（収容されて）いる。
【００３２】
また、第一遊星歯車機構１２０の遊星歯車１２３と第二遊星歯車機構２２０の遊星歯車２２３とはともに、それぞれ同一歯数を有し、軸方向にほぼ同じ歯幅で二分割された分割遊星歯車１２３Ａ，１２３Ｂ；２２３Ａ，２２３Ｂで構成される。そして、これら分割遊星歯車１２３Ａ，１２３Ｂ；２２３Ａ，２２３Ｂはそれぞれ対応する分割内歯車１２４，２２４及び一体内歯車ユニット２４と噛み合っている。
【００３３】
図２（ａ）及び図３（ａ）に示すように、出力端（伝動終端）に配置される基準分割内歯車１２４にはギアケース１０に対する回動が不能な状態と回動が可能な状態とに調整可能な１又は複数（例えば４本）の固定ボルト３４（固定手段）が付設されている。具体的には、図３（ａ）に示すように、ギアケース１０には、座ぐり部に続いてバックラッシュ調整分だけ固定ボルト３４のねじ部３４ａの呼び径よりも大きく形成された大径孔１０ｂ１が軸方向に貫通している。そして、基準分割内歯車１２４には、固定ボルト３４のねじ部３４ａと螺合するねじ孔１２４ａが大径孔１０ｂ１と同心状にかつ軸方向に形成されている。これによって、ギアケース１０の外側から、基準分割内歯車１２４の端面とギアケース１０の内面とを固定ボルト３４のねじ部３４ａと基準分割内歯車１２４のねじ孔１２４ａとにより締付固定して、基準分割内歯車１２４のギアケース１０に対する回動が不能な状態（固定状態）と、固定ボルト３４による締付固定を解除して、回動が可能な状態（固定解除状態）とに調整可能とされている。なお、大径孔１０ｂ１の代りに長孔を用いてもよい。
【００３４】
一方、図１及び図２（ｂ）において、遊星歯車機構２０とギアケース１０との間にはバックラッシュ調整機構３０が配設されている。すなわち、一体内歯車ユニット２４とギアケース１０との間には、その一体内歯車ユニット２４をギアケース１０に対して中心軸線周りに回動付勢する付勢手段としての引張コイルスプリング１３３（弾発部材）が介装されている。一方、入力端（伝動始端）に配置される調整分割内歯車２２４とギアケース１０との間に、その調整分割内歯車２２４をギアケース１０に対して中心軸線周りに回動付勢する付勢手段としての圧縮コイルスプリング２３３（弾発部材）が介装されている。
【００３５】
具体的には、一体内歯車ユニット２４から半径方向外側に向かって突出する突出ピン１３１（第一支持部材）と、ギアケース１０の入力軸２１側の外部から軸方向に沿って打ち込み固定された打込ピン３２（第二支持部材）との間に、引張コイルスプリング１３３が掛け渡されている。また、入力軸２１側の分割内歯車２２４から半径方向外側に向かって突出する突出ピン２３１（第一支持部材）と上記打込ピン３２（第二支持部材）との間に、圧縮コイルスプリング２３３が掛け渡されている。
【００３６】
付勢手段（弾発部材）１３３，２３３によって、一体内歯車ユニット２４と調整分割内歯車２２４とは互いに逆方向に回転付勢されるので、内歯車Ｉ１，Ｉ２と遊星歯車１２３，２２３との噛み合い及び遊星歯車１２３，２２３と太陽歯車１２２，２２２との噛み合いにおいて、バックラッシュ調整がほぼ同時になされるとともに、各歯面の接触面圧をほぼ一定に維持することができる。これらの突出ピン１３１，２３１、打込ピン３２、コイルスプリング１３３，２３３は、ギアケース１０の外周面に形成された凹部１０ａ１，１０ａ２に各々収納されているので、ギアケース１０の外部に突出物がなく、バックラッシュ除去操作に制約を受けにくい。また、各凹部１０ａ１，１０ａ２を外側からカバー等で覆うことができ、凹部１０ａ１，１０ａ２からギアケース１０内部への塵埃の侵入を防ぐことができる。なお、弾発部材としては、引張コイルスプリング、圧縮コイルスプリング以外に、板ばね、皿ばね等のばね部材や、ゴム部材、スポンジ部材等を用いることができ、一体内歯車ユニット２４や調整分割内歯車２２４をギアケース１０に対して中心軸線周りに回動付勢する付勢力を作用させることができるものであればよい。
【００３７】
さらに、図３（ａ）に示すように、２つの分割内歯車１２４，２２４と一体内歯車ユニット２４との間には、それらの中心軸線周りでの相対回動が不能な状態と相対回動が可能な状態とに調整可能な規制手段としての１又は複数（例えば４本）の締付ボルト３５１，３５２（締付部材）が各々設けられている。具体的には、ギアケース１０と基準分割内歯車１２４とには、ギアケース１０の座ぐり部に続いてバックラッシュ調整分だけ締付ボルト３５１のねじ部３５１ａの呼び径よりも大きく形成された大径孔１０ｂ２，１２４ｂ１が、同心状にかつ軸方向に貫通している。そして、一体内歯車ユニット２４には、締付ボルト３５１のねじ部３５１ａと螺合するねじ孔２４ａが大径孔１０ｂ２，１２４ｂ１と同心状にかつ軸方向に形成されている。これによって、ギアケース１０の外側から、基準分割内歯車１２４と一体内歯車ユニット２４の対向する端面同士を締付ボルト３５１のねじ部３５１ａと一体内歯車ユニット２４のねじ孔２４ａとにより締付固定して、両者の相対回動を不能とする状態（固定状態）と、締付ボルト３５１による締付固定を解除して、相対回動を可能とする状態（固定解除状態）とに調整可能とされている。なお、大径孔１０ｂ２，１２４ｂ１の代りに長孔を用いてもよい。
【００３８】
また、ギアケース１０と基準分割内歯車１２４と一体内歯車ユニット２４とには、ギアケース１０の座ぐり部に続いてバックラッシュ調整分だけ締付ボルト３５２のねじ部３５２ａの呼び径よりも大きく形成された大径孔１０ｂ３，１２４ｂ２，２４ｂが、同心状にかつ軸方向に貫通している。そして、調整分割内歯車２２４には、締付ボルト３５２のねじ部３５２ａと螺合するねじ孔２２４ａが大径孔１０ｂ３，１２４ｂ２，２４ｂと同心状にかつ軸方向に形成されている。これによって、ギアケース１０の外側から、一体内歯車ユニット２４と調整分割内歯車２２４の対向する端面同士を締付ボルト３５２のねじ部３５２ａと調整分割内歯車２２４のねじ孔２２４ａとにより締付固定して、両者の相対回動を不能とする状態（固定状態）と、締付ボルト３５２による締付固定を解除して、相対回動を可能とする状態（固定解除状態）とに調整可能とされている。なお、大径孔１０ｂ３，１２４ｂ２，２４ｂの代りに長孔を用いてもよい。
【００３９】
以上に述べた突出ピン１３１，２３１、打込ピン３２、コイルスプリング１３３，２３３、固定ボルト３４、締付ボルト３５１，３５２等が、バックラッシュ除去状態及び歯面の適正面圧状態を得るためのバックラッシュ調整機構３０を構成している。
【００４０】
以上で説明した遊星歯車式減速装置１００の作動について説明する。駆動軸１からの駆動力は、入力軸２１から遊星歯車機構２０（第一遊星歯車機構１２０及び第二遊星歯車機構２２０）で減速され、出力軸２７から取り出される。そして、バックラッシュゼロの初期設定又はバックラッシュの維持管理（再調整）は、図３、図４及び図８（ａ）を参照して、以下のようにして調整される。
【００４１】
Ａ．基準状態保持工程
（Ａ−１）固定ボルト３４を緩め、基準分割内歯車１２４とギアケース１０との締付固定を解除して、基準分割内歯車１２４のギアケース１０に対する回動が可能な状態（固定解除状態）に調整する（図３（ａ）参照）。
（Ａ−２）固定ボルト３４のねじ部３４ａ先端を基準分割内歯車１２４のねじ孔１２４ａに係合させる等の手段によって、基準分割内歯車１２４を引張コイルスプリング１３３の付勢方向とは反対方向（図４（ａ）のＸ方向）へ回動させて、バックラッシュ調整の基準状態（基準分割内歯車１２４と分割遊星歯車１２３Ａとの噛み合い及び分割遊星歯車１２３Ａと太陽歯車１２２との噛み合いにおいて片側の歯面同士がそれぞれ接触する状態）とする（図４（ａ）、図８（ａ）▲１▼参照）。
（Ａ−３）固定ボルト３４を締め付け、基準分割内歯車１２４とギアケース１０とを締付固定して、基準分割内歯車１２４のギアケース１０に対する回動が不能な状態（固定状態）に保持する（図３（ａ）参照）。
【００４２】
Ｂ．第一遊星歯車機構のバックラッシュ調整工程（第一バックラッシュ調整工程）
（Ｂ−１）締付ボルト３５１を緩め、基準分割内歯車１２４と一体内歯車ユニット２４の端面同士の締付固定を解除して、両者の相対回動を可能とする状態（固定解除状態）に調整する（図３（ａ）参照）。
（Ｂ−２）一体内歯車ユニット２４に対して引張コイルスプリング１３３の付勢力が自動的に作用し、一体内歯車ユニット２４がその付勢方向（図４（ｂ）のＹ方向）へ回動されて、一体内歯車ユニット２４と分割遊星歯車１２３Ｂとの間及び分割遊星歯車１２３Ｂと太陽歯車１２２との間のバックラッシュＢがそれぞれ除去される（図４（ｂ）、図８（ａ）▲２▼参照）。なお、一体内歯車ユニット２４の回動につれて、第二遊星歯車機構２２０の分割遊星歯車２２３Ａは第一遊星歯車機構１２０の分割遊星歯車１２３Ｂとほぼ同一角度分回動調整される（図４（ｂ）参照）。したがって、一体内歯車ユニット２４の回動によって、第一遊星歯車機構１２０におけるバックラッシュＢの除去と第二遊星歯車機構２２０における基準状態の設定とがほぼ同時に達成される。
（Ｂ−３）締付ボルト３５１を締め付け、基準分割内歯車１２４と一体内歯車ユニット２４の端面同士を締付固定して、両者の相対回動を不能とする状態（固定状態）に保持する（図３（ａ）参照）。
【００４３】
Ｃ．第二遊星歯車機構のバックラッシュ調整工程（第二バックラッシュ調整工程）
（Ｃ−１）締付ボルト３５２を緩め、一体内歯車ユニット２４と調整分割内歯車２２４の端面同士の締付固定を解除して、両者の相対回動を可能とする状態（固定解除状態）に調整する（図３（ａ）参照）。
（Ｃ−２）調整分割内歯車２２４に対して圧縮コイルスプリング２３３の付勢力が自動的に作用し、調整分割内歯車２２４がその付勢方向（図４（ｃ）のＸ方向）へ回動されて、調整分割内歯車２２４と分割遊星歯車２２３Ｂとの間及び分割遊星歯車２２３Ｂと太陽歯車２２２との間のバックラッシュＢがそれぞれ除去される（図４（ｃ）、図８（ａ）▲３▼参照）。
（Ｃ−３）締付ボルト３５２を締め付け、一体内歯車ユニット２４と調整分割内歯車２２４の端面同士を締付固定して、両者の相対回動を不能とする状態（固定状態）に保持する（図３（ａ）参照）。
【００４４】
上記工程において、（Ｂ−１）の締付ボルト３５１を緩める手順及び（Ｃ−１）の締付ボルト３５２を緩める手順は、それぞれ（Ａ−１）の固定ボルト３４を緩める手順と同時又は（Ａ−２）の基準状態設定の手順より前に実施することができる。また、再調整の際には、通常はＢ工程及びＣ工程のみを実施してバックラッシュ減少操作を行い、数回に１回程度の割合でＡＢＣ全工程を実施してバックラッシュ除去操作を行うようにしたり、あるいは、通常はＣ工程のみ、数回に１回はＢＣ工程のみ、十数回に１回はＡＢＣ全工程を実施してもよい。このように、稼動状況に合わせてバックラッシュのメンテナンス計画を立案すればよい。いずれにしても、Ａ工程における基準分割内歯車１２４の回動方向、Ｂ工程における一体内歯車ユニット２４の回動方向、及びＣ工程における調整分割内歯車２２４の回動方向は順次逆転するので、調整操作が単純化され操作ミスの防止にも役立つ。
【００４５】
（変形例）
図５に図１の変形例を示す。この遊星歯車式減速装置４００のバックラッシュ調整機構３０では、一体内歯車ユニット２４に固定される突出ピン１３１Ａとギアケース１０に固定される打込ピン３２との間に、その一体内歯車ユニット２４をギアケース１０に対して中心軸線周りに回動付勢する付勢手段としての圧縮コイルスプリング１３３Ａ（弾発部材）が介装される。さらに、調整分割内歯車２２４に固定される突出ピン２３１Ａとギアケース１０の上記打込ピン３２との間にも、同様の付勢手段としての圧縮コイルスプリング２３３Ａ（弾発部材）が介装される。ただし、スプリング１３３Ａと２３３Ａには、引張スプリングと圧縮スプリングとのいずれを用いてもよく、その付勢力が互いに逆方向に作用するように設定するのが望ましい。この変形例では、バックラッシュ調整機構３０を収納する凹部１０ａが一箇所に集中配置され、一層コンパクト化が図られている。さらに、バックラッシュ調整のために固定ボルト３４を緩めたとき、基準分割内歯車１２４にさらに別の付勢手段（例えばスプリング等の弾発部材）の付勢力を作用させて、基準状態（上記Ａ−２の手順）へ自動調節できるようにしてもよい。なお、図５において図１と共通する部分には同一符号を付して説明を省略する。
【００４６】
（第２実施例）
図６は、本発明の遊星歯車式変速装置に係る２段型遊星歯車式減速装置の他の実施例を示す斜視図である。この遊星歯車式減速装置５００のバックラッシュ調整機構３０は、図７（ａ）に示すように、ギアケース１０には、バックラッシュ調整分だけ調整レバー３６のねじ部３６ａの呼び径よりも大きく形成された大径孔１０ｃ１，１０ｃ２がそれぞれ軸方向に貫通している。そして、一体内歯車ユニット２４には、調整レバー３６のねじ部３６ａと螺合するねじ孔２４ｃが一方の大径孔１０ｃ１と同心状にかつ軸方向に形成されている。また、調整分割内歯車２２４には、調整レバー３６のねじ部３６ａと螺合するねじ孔２２４ｃが他方の大径孔１０ｃ２と同心状にかつ軸方向に形成されている。なお、大径孔１０ｃ１，１０ｃ２の代りに長孔を用いてもよい。また、図６において図１と共通する部分には同一符号を付して説明を省略する。
【００４７】
この調整レバー３６によるバックラッシュ調整は以下のようにして行われる。基準状態保持工程の後、ギアケース１０の外側から調整レバー３６を大径孔１０ｃ１に差し込み、そのねじ部３６ａを一体内歯車ユニット２４のねじ孔２４ｃにねじ込んで、調整レバー３６を一体内歯車ユニット２４に固定する。調整レバー３６を動かし、一体内歯車ユニット２４を中心軸線周りで回動調整して、第一遊星歯車機構１２０のバックラッシュ除去操作を行う。次いで、調整レバー３６を一体内歯車ユニット２４から取り外し、ギアケース１０の外側から大径孔１０ｃ２に差し込み、調整分割内歯車２２４のねじ孔２２４ｃにねじ込んで調整分割内歯車２２４に固定する。調整レバー３６を動かし、調整分割内歯車２２４を中心軸線周りで回動調整して、第二遊星歯車機構２２０のバックラッシュ除去操作を行う。なお、基準分割内歯車１２４にも調整レバー３６のねじ部３６ａをねじ込むためのねじ孔を設けておき、基準状態保持工程において調整レバー３６を基準分割内歯車１２４にねじ込み固定し、基準分割内歯車１２４の基準状態設定を調整レバー３６の回動調整により行ってもよい。
【００４８】
なお、以上の説明は、遊星歯車式変速装置のうち、遊星歯車式減速装置についてのみ行ったが、遊星歯車式増速装置にも適用可能であり、上記実施例においてモータ等の駆動力を入力する入力軸と駆動力を外部出力する出力軸とを入れ替えて実施することができる。
【００４９】
また、本発明は２段型に限定されることなく、３段以上の変速装置にも適用可能である。その一例として図８（ｂ）に、３段型遊星歯車式変速装置に本発明を適用した場合の模式図を示す。３段型におけるバックラッシュ調整も、これまでに説明した２段型の場合（図８（ａ）参照）と同様に実施できる。すなわち、３段型変速装置においては、
（１）基準状態保持工程では、基準分割内歯車１２４を所定方向（例えば図４（ａ）のＸ方向）へ回動させて、バックラッシュ調整の基準状態（基準分割内歯車１２４と分割遊星歯車１２３Ａとの噛み合い及び分割遊星歯車１２３Ａと太陽歯車１２２との噛み合いにおいて片側の歯面同士がそれぞれ接触する状態）とする（図８（ｂ）▲１▼参照）。
（２）第一バックラッシュ調整工程では、第一の一体内歯車ユニット２４１を基準分割内歯車１２４とは逆方向に回動させて、第一の一体内歯車ユニット２４１と分割遊星歯車１２３Ｂとの間及び分割遊星歯車１２３Ｂと太陽歯車１２２との間のバックラッシュがそれぞれ除去されるように調整する（図８（ｂ）▲２▼参照）。
（３）第二バックラッシュ調整工程では、第二の一体内歯車ユニット２４２を第一の一体内歯車ユニット２４１とは逆方向に回動させて、第二の一体内歯車ユニット２４２と分割遊星歯車２２３Ｂとの間及び分割遊星歯車２２３Ｂと太陽歯車２２２との間のバックラッシュがそれぞれ除去されるように調整する（図８（ｂ）▲３▼参照）。
（４）第三バックラッシュ調整工程では、調整分割内歯車３２４を第二の一体内歯車ユニット２４２とは逆方向に回動させて、調整分割内歯車３２４と分割遊星歯車３２３Ｂとの間及び分割遊星歯車３２３Ｂと太陽歯車３２２との間のバックラッシュがそれぞれ除去されるように調整する（図８（ｂ）▲４▼参照）。
なお、図８（ｂ）において、２８１は第一遊星歯車機構１２０と第二遊星歯車機構２２０とを連結する第一の中間軸、２８２は第二遊星歯車機構２２０と第三遊星歯車機構３２０とを連結する第二の中間軸である。また、第三遊星歯車機構３２０の各構成要素に対しては、第一遊星歯車機構１２０（又は第二遊星歯車機構２２０）に倣う形で符号を付してある。
【００５０】
このように、本発明のバックラッシュ調整方法では、次の特徴を有する。
（１）伝動終端に位置する基準分割内歯車を起点とし、一体内歯車ユニットの回動調整が伝動始端側に向って順次行われ、伝動始端の調整分割内歯車の回動調整でバックラッシュ除去工程が終了する。
（２）基準分割内歯車、一体内歯車ユニット及び調整分割内歯車の中心軸線周りの回動調整は、個々の調整毎に交互に方向変換しながら行われる。
【図面の簡単な説明】
【図１】本発明の遊星歯車式変速装置に係る２段型遊星歯車式減速装置の一実施例を示す斜視図。
【図２】図１の正面断面図及び部分破断左側面図。
【図３】図１の平面断面図及び右側面図。
【図４】バックラッシュ調整状態を出力軸側から見た作用説明図。
【図５】図１の変形例を示す斜視図。
【図６】本発明の遊星歯車式変速装置に係る２段型遊星歯車式減速装置の他の実施例を示す斜視図。
【図７】図６の正面断面図及び左側面図。
【図８】本発明に係る複数段型遊星歯車式変速装置の基本的構成例を示す模式図。
【図９】図８の比較例として示す遊星歯車式変速装置の模式図。
【符号の説明】
１００，４００，５００遊星歯車式変速装置
１２０第一遊星歯車機構（遊星歯車機構）
２２０第二遊星歯車機構（遊星歯車機構）
１０ギアケース
２１入力軸（第一回転軸）
１２３，２２３遊星歯車
Ｉ１，Ｉ２内歯車
２４一体内歯車ユニット
１２４基準分割内歯車
２２４調整分割内歯車
２７出力軸（第二回転軸）
２８中間軸（第一回転軸；第二回転軸）
３０バックラッシュ調整機構
１３３引張コイルスプリング（付勢手段；弾発部材）
２３３圧縮コイルスプリング（付勢手段；弾発部材）
３４固定ボルト（固定手段）
３５１，３５２締付ボルト（規制手段；締付部材）[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a planetary gear type transmission and a backlash adjusting method thereof.
[0002]
[Prior art]
The planetary gear transmission includes, for example, (1) a sun gear attached to an input shaft (first rotating shaft), (2) an internal gear arranged concentrically with the sun gear, (3) a sun gear, The planetary gear is constituted by a planetary gear rotatably engaged with a carrier having an output shaft (second rotation shaft) concentric with the input shaft while revolving while rotating while meshing with the internal gear. Such a planetary gear type speed change device is small and lightweight and can provide a large gear ratio; the input shaft and the output shaft can be arranged concentrically; the rotational directions of both shafts can be easily made the same direction; It is widely used for power transmission in machine tools and automobiles. In recent years, it is often used in a control system connected to a servo motor or the like.
[0003]
On the other hand, a gear generally has a gap (backlash) between tooth surfaces when a pair of gears are engaged with each other in order to prevent friction on the back surface of the teeth and smooth the engagement. When this backlash becomes large, there is a problem that rattling noise is generated during power transmission. Furthermore, when used in a control system in which the rotation direction is switched between forward and reverse, the amount of rotation is delayed by the amount of backlash every time the rotation direction is switched, and transmission becomes inaccurate. Due to the rotation, the stop position is shifted by the amount of backlash, making accurate control impossible. In the planetary gear transmission described above, backlash is involved in the meshing between the sun gear and the planetary gear and the meshing between the planetary gear and the internal gear.
[0004]
Therefore, the inventors of the present invention have proposed a novel planetary structure in Japanese Patent Application No. 2002-45832 that can reduce the burden required for adjustment operation for backlash removal and maintenance management (maintenance) for maintaining zero backlash. A gear-type transmission and a novel backlash adjustment method in the apparatus were proposed.
[0005]
FIG. 9A schematically shows a basic configuration example of the planetary gear transmission. This planetary gear type transmission is in mesh with a sun gear S attached to an input shaft IP (first rotation shaft), an internal gear I arranged concentrically with the sun gear S, the sun gear S and the internal gear I. And a planetary gear P rotatably supported by a carrier C having an output shaft OP (second rotation shaft) concentric with the input shaft IP. The internal gear I is composed of divided internal gears Ia and Ib that are divided into two in the axial direction, and the divided internal gears Ia and Ib are capable of relative rotation about the central axis. The planetary gear P is composed of split planetary gears Pa and Pb that are divided into two in the axial direction, and the split planetary gears Pa and Pb mesh with the corresponding split internal gears Ia and Ib, respectively.
[0006]
The backlash adjustment of such a planetary gear transmission is performed as follows, for example. First, the divided internal gear Ia on the output shaft OP side is rotated in a predetermined direction around the central axis, and the backlash adjustment reference state (engagement between the sun gear S and the divided planetary gear Pa and division with the divided planetary gear Pa) is performed. (The state where the tooth surfaces on one side are in contact with each other in meshing with the internal gear Ia). Next, when the divided internal gear Ib on the input shaft IP side is rotated around the central axis in the direction opposite to the divided internal gear Ia, the divided planetary gear Pb is separated between the divided internal gear Ib and the divided planetary gear Pb. And the backlash between the sun gear S and the sun gear S are respectively removed.
[0007]
By the way, if the planetary gear type transmission as described above is connected in a plurality of stages in series, the planetary gear type transmission having a smaller size and a large gear ratio can be obtained by taking advantage of the ability to arrange the input shaft and the output shaft concentrically. Obtainable. As a result, it is possible to meet the demands for high accuracy (in the case of a reduction gear) and high speed (in the case of a speed increase device) required for recent transmissions regardless of the transmission system and the control system.
[0008]
FIG. 9B schematically shows a configuration example of a multi-stage planetary gear transmission. In the planetary gear type transmission shown in FIG. 9B, planetary gear mechanisms GT1 and GT2 having the same structure as that shown in FIG. 9A are connected in two stages in series. Specifically, the input shaft of the planetary gear mechanism GT1 on the output shaft OP side (shift 1st stage) extends integrally from the carrier C2 of the planetary gear mechanism GT2 on the input shaft IP side (shift 2nd stage). It is integrated with the intermediate shaft CS (output shaft). In FIG. 9B, a subscript 1 is attached to each part constituting the first stage planetary gear mechanism GT1, and a subscript 2 is attached to each part constituting the second stage planetary gear mechanism GT2.
[0009]
[Problems to be solved by the invention]
However, in the multi-stage planetary gear transmission shown in FIG. 9B, the planetary gear mechanisms GT1 and GT2 having the same structure as in FIG. The time required for this is simply doubled. As described above, in the multi-stage type, the ease of operation and the required time for performing the backlash adjustment become a problem, and the difference increases as the number of shift stages increases (multistage). In other words, operability and time required for adjustment are directly related to production efficiency and manufacturing cost during assembly adjustment, and during maintenance management (maintenance), the running cost increases and the operation rate decreases, which burdens users. It will be a compelling result.
[0010]
An object of the present invention is to provide a multi-stage planetary gear type transmission device and a backlash adjustment method thereof that can easily perform a backlash adjustment operation and can reduce a required time.
[0011]
[Means for Solving the Problems and Effects of the Invention]
In order to solve the above-described problem, the planetary gear transmission of the present invention is
A sun gear attached to the first rotation shaft, an internal gear arranged concentrically with the sun gear, and revolving while rotating while meshing with the sun gear and the internal gear, and concentric with the first rotation shaft A planetary gear mechanism including a planetary gear mechanism that is rotatably supported by a carrier having a second rotation shaft of
In the planetary gear mechanism of each stage, the internal gear and the planetary gear are divided into two in the axial direction so as to be relatively rotatable around respective central axes,
In the planetary gear mechanisms adjacent to each other, the first rotation shaft of one stage is integrally connected to the second rotation shaft of the other stage, and the inner gears that face across different stages among the two divided internal gears. Gears are integrally formed to form an integral internal gear unit,
The integral internal gear unit is arranged between the two divided internal gears (hereinafter referred to as divided internal gears) located at the transmission start end and transmission end.
[0012]
In the present invention, the internal gear and the planetary gear are divided into two parts and the one-stage first rotation shaft and the other-stage second rotation shaft are integrally connected to each other. The internal gears are integrally formed to form an integrated internal gear unit, and the integrated internal gear unit is disposed between the split internal gears located at both transmission ends (the transmission start end or input end and the transmission end end or output end). The Compared to a single-stage planetary gear mechanism with multiple stages connected in series, the structure is greatly simplified, and the backlash adjustment operation becomes easier and the required time is shortened. Can do. Further, the simplification of the structure enables the planetary gear transmission to be reduced in size and weight. In addition, the effects such as ease of operation, reduction of required time, and reduction in size and weight in the present invention become more prominent as the number of shift stages increases (multistage speed increases).
[0013]
In order to solve the above-mentioned problem, when the planetary gear type transmission of the present invention is applied to, for example, a two-speed transmission type (two-stage connection),
A sun gear attached to the input shaft, an internal gear arranged concentrically with the sun gear, revolving while rotating in mesh with the sun gear and the internal gear, and an output shaft concentric with the input shaft A planetary gear transmission including a planetary gear mechanism including a planetary gear rotatably supported by a carrier having two stages connected in series and accommodated in a gear case,
In the planetary gear mechanism of each stage, the internal gear and the planetary gear are divided into two in the axial direction so as to be relatively rotatable around respective central axes,
The input shaft of the planetary gear mechanism on the transmission end side is integrally connected to the output shaft of the planetary gear mechanism on the transmission start end side, and the internal gears facing each other across different stages among the two divided internal gears. It is integrally formed to constitute an integral internal gear unit,
The integral internal gear unit is disposed between the two divided internal gears (hereinafter referred to as divided internal gears) located at the transmission start end and transmission end,
The split internal gears are both attached to the gear case so as to be rotatable around a central axis, and the split internal gears arranged at the transmission end are in a state in which the rotation with respect to the gear case is impossible. An adjustable fixing means is attached to the possible state,
Further, the integral internal gear unit is attached to the gear case so as to be rotatable around a central axis.
[0014]
As described above, both of the divided internal gears are attached to the gear case so as to be rotatable around the central axis, and one of them (for example, transmission terminal = output end) is provided with a fixing means for the gear case, and the integrated internal gear The unit is attached to the gear case so as to be rotatable around a central axis. As a result, one (for example, transmission end) of the divided internal gear (a reference divided internal gear to be described later) is fixed to the reference state for backlash adjustment (that is, the meshing between the divided internal gear and the planetary gear and the planetary gear and the sun gear). Are held and fixed in a state in which the tooth surfaces on one side are in contact with each other), and the internal gear unit and the other (for example, transmission start end = input end) split internal gear (adjustment split internal gear described later) based on this By rotating and adjusting the backlash, the backlash adjustment can be performed easily and quickly.
[0015]
At this time, the fixing means is attached to the split internal gear (reference split internal gear) at the end of transmission where the backlash is less likely to expand due to wear on the tooth surface than the transmission start end. Maintenance management for rush removal can be performed easily. In other words, in normal backlash maintenance management operations, the divided internal gear on the transmission end side remains fixed (unrotatable) to the gear case by the fixing means at every predetermined accumulated operating time, and is integrated with this as a reference. Backlash can be greatly reduced by rotating and adjusting the gear unit and the split internal gear on the transmission start end side (adjustment split internal gear). Then, for example, at a rate of once every several times of the above-described backlash maintenance management operation, the fixing means releases the fixed (non-rotatable) state of the divided internal gear on the transmission end side to the gear case, and the backlash adjustment is performed. If the integral internal gear unit and the divided internal gear on the transmission start end side are rotated and adjusted after being held and fixed in the reference state, zero backlash is reliably achieved. As described above, when performing backlash maintenance management, a simple backlash reduction operation and an accurate backlash removal operation are executed in combination to reduce management man-hours and management costs. It also contributes to the improvement of the equipment operating rate.
[0016]
And between the split internal gear and the adjacent internal gear unit and between the adjacent internal gear units (in the two-speed transmission type, between the split internal gear and the integrated internal gear unit) The control means (for example, one or a plurality of tightening bolts) that can be adjusted between a state in which the relative rotation around the central axis is impossible and a state in which the relative rotation is possible can be provided. Thus, if the regulating means is adjusted in the reference state of the backlash adjustment described above to enable relative rotation around the central axis, the inner gear and the planetary gear formed in each planetary gear mechanism Since the backlash between the intermediate gear and the planetary gear and the sun gear can be removed, the backlash removal operation is further simplified. In addition, after the backlash removal operation, if the regulating means are adjusted so that they cannot be rotated relative to each other, the rotation direction of the rotating shaft can be switched between forward and reverse during operation (during operation) of the planetary gear transmission. Even if the number changes, the possibility of backlash or rattling noise due to inertial force is reduced.
[0017]
Therefore, in order to solve the above-described problem, the backlash adjustment method for the planetary gear type transmission according to the present invention includes:
In the meshing of the split internal gear and the planetary gear formed in the planetary gear mechanism located at the transmission start end or the transmission end and the meshing of the planetary gear and the sun gear, the reference surfaces on which one side tooth surfaces contact each other A reference state holding step to be held in a state;
By adjusting restricting means provided between the divided internal gear and the adjacent internal gear unit adjacent thereto and between the adjacent internal gear units, relative rotation about their central axes can be achieved. As possible, backlash between the internal gear and the planetary gear formed in each planetary gear mechanism and between the planetary gear and the sun gear is removed,
Then, a backlash removing step for adjusting the restricting means to disable relative rotation around the central axis of the divided internal gear and the integral internal gear unit;
It is characterized by including.
[0018]
According to this backlash adjustment method, when performing the backlash removal operation, the planetary gear type transmission is held in the reference state for backlash adjustment, and then between the split internal gear and the adjacent internal gear unit adjacent thereto. Backlash can be eliminated by adjusting the restricting means provided between the adjacent integral internal gear units so that they can rotate relative to each other around their central axes. Next, after such backlash removal operation, if the regulating means are adjusted so that they cannot be rotated relative to each other, backlash will occur in meshing between the split internal gear and the planetary gear and meshing between the planetary gear and the sun gear. The planetary gear transmission is actuated (operated) in a state where is removed. Then, when the accumulated operating time when backlash regeneration is assumed due to tooth surface wear or the like is reached, the planetary gear transmission is kept in operation or temporarily stopped and held in the above-mentioned reference state. If the means are adjusted so that they can rotate relative to each other again, backlash is eliminated (maintenance state). In this way, only by performing an adjustment operation to remove backlash every predetermined time, smooth rotation with suppressed rotation amount deviation and rattling noise is maintained for a long period of time. Moreover, since the integral internal gear unit can be rotated in the backlash removal step, the number of adjustment operations for backlash removal in the multi-stage planetary gear transmission can be relatively reduced. That is, if the reference state holding process is performed first, the backlash zero of the entire transmission can be realized only by performing the backlash removal process for each stage (see, for example, FIG. 8A). The time required for backlash adjustment can be greatly reduced as compared with the case where the reference state holding step is performed for each stage (see, for example, FIG. 9B). Accordingly, as the time required for backlash adjustment is shortened, the operating rate of the planetary gear transmission can be improved.
[0019]
The adjustment of the restricting means may be performed by fixing the end faces of the split internal gear and the integral internal gear unit from the outside of the gear case with a fastening member and disabling relative rotation around the center axis line, or If it is carried out by releasing the tightening and fixing to enable relative rotation, backlash adjustment may be possible in the operating (operating) state of the planetary gear type transmission.
[0020]
Here, in the reference state maintaining step, as described in, for example, Japanese Patent Publication No. 1-51706, the above-described reference state of backlash adjustment is maintained by artificially rotating the input shaft or the output shaft. If possible, one of the divided internal gears (for example, the transmission end side = output end side) may be provided with a fixing means that can be adjusted to a state in which the gear case cannot be rotated and a state in which the gear case can be rotated. Absent. In other words, if the usage mode is such that the factory overhauls or periodically overhauls, the input shaft or output shaft can be freely rotated artificially, and either one of the split internal gears (for example, the transmission end side) The backlash removal operation can be performed even when the output end side is always fixed to the gear case (non-rotatable state).
[0021]
However, the drive shaft of a drive source (such as a motor) is connected to the input shaft of a multi-stage planetary gear transmission installed in an operable state, and the operating shaft (such as a control device) is connected to the output shaft. Since the drive shaft is connected, it is actually extremely difficult to artificially freely rotate the input shaft and output shaft. That is, in such a case, since the input shaft and the output shaft are artificially rotated with the drive shaft and the driven shaft connected, the drive source and the operation connected to the multi-stage planetary gear transmission A rotation error such as eccentricity of the internal mechanism of the unit is superimposed (added), and it becomes difficult to bring out the reference state of the backlash adjustment described above. Therefore, even in such a case, the divided internal gears are both attached to the gear case so as to be rotatable around the central axis, and one of the divided internal gears (for example, the transmission end side = the output end side) has a gear case. By attaching fixing means that can be adjusted between a state in which the rotation is impossible and a state in which the rotation is possible, the reference state of the backlash adjustment described above can be maintained.
[0022]
In other words, the reference state maintaining step in such a case is
Rotation around the central axis of the reference split internal gear with respect to the gear case housing a plurality of planetary gear mechanisms by adjusting the fixing means attached to one of the split internal gears (hereinafter referred to as the reference split internal gear) Enable
Furthermore, it is set to the above reference state,
Thereafter, the fixing means is adjusted to be held in a state in which the rotation around the central axis of the reference split internal gear with respect to the gear case is disabled.
[0023]
Thus, even if the drive shaft of the drive source and the driven shaft of the operating portion are connected to the input / output shaft of the multi-stage planetary gear transmission, the backlash adjustment reference state can be easily displayed. Therefore, the time required for backlash adjustment can be shortened and the operating rate of the planetary gear transmission can be reliably improved.
[0024]
Then, in the backlash removal process at this time, the split internal gears other than the integral internal gear unit and the reference split internal gear are arranged in the arrangement order of the plurality of planetary gear mechanisms connected in series starting from the reference split internal gear. The backlash for each planetary gear mechanism can be sequentially removed by adjusting the rotation of the center gear (hereinafter referred to as an adjustment divided internal gear). Since the adjustment operation is performed in one direction along the arrangement order of the planetary gear mechanisms, the backlash removal operation is further facilitated, and the operation can be simplified.
[0025]
Further, in the backlash removal step, backlash removal is performed sequentially from the reference divided internal gear at the transmission end to the transmission start end side by adjusting the rotation of the integral internal gear unit, and the transmission start end is adjusted and divided. It can be set to end with the rotation adjustment of the internal gear. As described above, generally, the amount of backlash expansion (gap expansion amount) due to tooth surface wear or the like is larger in the planetary gear mechanism on the transmission start side than in the planetary gear mechanism on the transmission end side. Therefore, in the backlash maintenance management operation after a relatively short accumulated operating time, a part of the internal gear unit on the transmission start end side and the adjustment split internal gear are rotated to adjust the position to the transmission end side. In some cases, the rotation adjustment may be omitted for the remaining internal gear unit. In such a case, the time required for the backlash removal process is further shortened.
[0026]
Further, in these backlash removal steps, the rotation adjustment around the central axis of the integral internal gear unit and the adjustment divided internal gear is alternately changed in direction for each individual adjustment with respect to a plurality of connected planetary gear mechanisms. Can be set to By alternately changing the direction of the rotation adjustment, the work in the backlash removal process can be further simplified and the work time can be further shortened.
[0027]
DETAILED DESCRIPTION OF THE INVENTION
(First embodiment)
Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a perspective view showing an embodiment of a two-stage planetary gear type speed reducer according to the planetary gear type transmission of the present invention. The two-stage planetary gear reduction device 100 includes a two-stage planetary gear mechanism 20 (planetary gear train) housed in a gear case 10 and a backlash adjustment from the outside of the gear case 10 provided in the gear case 10. A backlash adjusting mechanism 30 capable of (backlash removal). In this embodiment, as shown in FIG. 2A, the planetary gear mechanism 20 is positioned on the first stage planetary gear mechanism 120 (first planetary gear mechanism) located on the output shaft 27 side and on the input shaft 21 side. The second stage planetary gear mechanism 220 (second planetary gear mechanism) is connected in two stages in series.
[0028]
As shown in FIG. 2A, the first planetary gear mechanism 120 includes a sun gear 122, an internal gear I1, and one or a plurality of (for example, two) planetary gears 123. The sun gear 122 is fixedly attached to the intermediate shaft 28 (first rotating shaft). The internal gear I1 is arranged in the gear case 10 concentrically with the sun gear 122. The planetary gear 123 meshes with the sun gear 122 and the internal gear I1 and revolves while rotating, and the planetary gear shaft in the axial direction is provided on the carrier 126 having the output shaft 27 (second rotation shaft) concentric with the intermediate shaft 28. It is rotatably supported via 125.
[0029]
On the other hand, similarly to the first planetary gear mechanism 120, the second planetary gear mechanism 220 includes a sun gear 222, an internal gear I2, and one or a plurality of (for example, two) planetary gears 223. The sun gear 222 is fixedly attached to the input shaft 21 (first rotating shaft). The internal gear I2 is arranged in the gear case 10 concentrically with the sun gear 222. The planetary gear 223 meshes with the sun gear 222 and the internal gear I2 and revolves while rotating, and the planetary gear shaft in the axial direction is provided on the carrier 226 having the intermediate shaft 28 (second rotation shaft) concentric with the input shaft 21. It is rotatably supported via 225.
[0030]
Thus, the planetary gear mechanisms 120 and 220 are connected by the intermediate shaft 28. Therefore, the input shaft (first rotation shaft) of the first planetary gear mechanism 120 corresponds to the intermediate shaft 28, and the output shaft (second rotation shaft) of the second planetary gear mechanism 220 corresponds to the intermediate shaft 28. The input shaft 21 is connected to a drive shaft 1 of a drive source such as a servo motor via a coupling 2, and the output shaft 27 is connected to a driven shaft of an operation unit such as a control device.
[0031]
Both the internal gear I1 of the first planetary gear mechanism 120 and the internal gear I2 of the second planetary gear mechanism 220 have the same number of teeth and are divided into two in the axial direction, and are relatively rotatable around the central axis. It consists of a split internal gear. Of these divided internal gears, internal gears facing each other across different stages are integrally formed to constitute an integrated internal gear unit 24. The integrated internal gear unit 24 includes a split internal gear 124 (reference split internal gear) of the first planetary gear mechanism 120 positioned at the output end (transmission end) and a second planetary gear mechanism 220 positioned at the input end (transmission start end). Between the divided internal gear 224 (adjusted divided internal gear). As a result, both the divided internal gears 124 and 224 and the integral internal gear unit 24 are attached (accommodated) to the gear case 10 so as to be rotatable around the central axis.
[0032]
The planetary gear 123 of the first planetary gear mechanism 120 and the planetary gear 223 of the second planetary gear mechanism 220 both have the same number of teeth, and are divided into two planetary gears having substantially the same tooth width in the axial direction. 123A, 123B; 223A, 223B. These divided planetary gears 123A, 123B; 223A, 223B mesh with the corresponding divided internal gears 124, 224 and the integral internal gear unit 24, respectively.
[0033]
As shown in FIGS. 2 (a) and 3 (a), the reference split internal gear 124 arranged at the output end (transmission end) cannot rotate with respect to the gear case 10 and can rotate. Further, one or a plurality of (for example, four) fixing bolts 34 (fixing means) that can be adjusted are attached. Specifically, as shown in FIG. 3A, the gear case 10 has a large diameter formed larger than the nominal diameter of the threaded portion 34a of the fixing bolt 34 by the backlash adjustment amount following the counterbore portion. The hole 10b1 penetrates in the axial direction. The reference split internal gear 124 is formed with a screw hole 124a that is screwed with the screw portion 34a of the fixing bolt 34, concentrically with the large-diameter hole 10b1 and in the axial direction. Thus, from the outside of the gear case 10, the end face of the reference split internal gear 124 and the inner surface of the gear case 10 are fastened and fixed by the screw portion 34 a of the fixing bolt 34 and the screw hole 124 a of the reference split internal gear 124. The reference split internal gear 124 can be adjusted to a state in which the rotation with respect to the gear case 10 is impossible (fixed state) and a state in which the fixing by the fixing bolt 34 is released to enable the rotation (fixed release state). Has been. A long hole may be used instead of the large diameter hole 10b1.
[0034]
On the other hand, in FIGS. 1 and 2B, a backlash adjusting mechanism 30 is disposed between the planetary gear mechanism 20 and the gear case 10. That is, between the integrated internal gear unit 24 and the gear case 10, a tension coil spring 133 (elasticity) as an urging means for urging the integrated internal gear unit 24 around the central axis with respect to the gear case 10. (Generating member) is interposed. On the other hand, between the adjustment divided internal gear 224 disposed at the input end (transmission start end) and the gear case 10, the adjustment divided internal gear 224 is urged to rotate about the central axis with respect to the gear case 10. A compression coil spring 233 (a resilient member) is interposed as a means.
[0035]
Specifically, the projecting pin 131 (first support member) projecting radially outward from the integral internal gear unit 24 and the outside of the gear case 10 on the input shaft 21 side are driven in and fixed along the axial direction. A tension coil spring 133 is stretched between the driving pin 32 (second support member). A compression coil spring 233 is disposed between the projecting pin 231 (first support member) projecting radially outward from the split internal gear 224 on the input shaft 21 side and the driving pin 32 (second support member). Is over.
[0036]
The integral internal gear unit 24 and the adjustment divided internal gear 224 are rotationally biased in opposite directions by the biasing means (ballistic members) 133 and 233, so that the internal gears I1 and I2 and the planetary gears 123 and 223 In the meshing and meshing between the planetary gears 123 and 223 and the sun gears 122 and 222, the backlash adjustment is performed almost simultaneously, and the contact surface pressure of each tooth surface can be maintained substantially constant. Since these projecting pins 131 and 231, driving pin 32, and coil springs 133 and 233 are respectively housed in recesses 10 a 1 and 10 a 2 formed on the outer peripheral surface of the gear case 10, they protrude from the gear case 10. There is no restriction on the backlash removal operation. Moreover, each recessed part 10a1, 10a2 can be covered with a cover etc. from the outside, and the penetration | invasion of the dust from the recessed part 10a1, 10a2 to the gear case 10 inside can be prevented. As the elastic member, in addition to the tension coil spring and the compression coil spring, a spring member such as a leaf spring and a disc spring, a rubber member, a sponge member, and the like can be used. Any gear can be used as long as it can apply an urging force that urges the gear 224 to rotate around the central axis with respect to the gear case 10.
[0037]
Further, as shown in FIG. 3 (a), between the two divided internal gears 124 and 224 and the integral internal gear unit 24, the relative rotation around the central axis is impossible and the relative rotation is not possible. One or a plurality of (for example, four) tightening bolts 351 and 352 (tightening members) are provided as restricting means that can be adjusted to a state where the tightening is possible. Specifically, the gear case 10 and the reference split internal gear 124 are formed larger than the nominal diameter of the threaded portion 351a of the tightening bolt 351 by an amount corresponding to the backlash adjustment following the counterbore portion of the gear case 10. Large-diameter holes 10b2 and 124b1 are concentrically penetrating in the axial direction. The integral internal gear unit 24 is formed with a screw hole 24a that is screwed with the screw portion 351a of the tightening bolt 351 so as to be concentric with the large-diameter holes 10b2 and 124b1 and in the axial direction. As a result, the opposed end surfaces of the reference split internal gear 124 and the integral internal gear unit 24 are fastened and fixed from the outside of the gear case 10 by the screw portion 351a of the tightening bolt 351 and the screw hole 24a of the integral internal gear unit 24. Then, it is possible to adjust between a state in which the relative rotation of both is disabled (fixed state) and a state in which the tightening and fixing by the tightening bolt 351 is released to enable relative rotation (fixed released state). Has been. A long hole may be used in place of the large diameter holes 10b2 and 124b1.
[0038]
Further, the gear case 10, the reference split internal gear 124, and the integrated internal gear unit 24 are larger than the nominal diameter of the threaded portion 352a of the tightening bolt 352 by the amount corresponding to the backlash adjustment following the counterbore portion of the gear case 10. The formed large-diameter holes 10b3, 124b2, and 24b are concentrically penetrated in the axial direction. The adjustment divided internal gear 224 is formed with a screw hole 224a screwed with the screw portion 352a of the tightening bolt 352 concentrically with the large-diameter holes 10b3, 124b2, and 24b and in the axial direction. As a result, the opposing end surfaces of the integral internal gear unit 24 and the adjustment split internal gear 224 are fastened and fixed from the outside of the gear case 10 by the screw portion 352a of the tightening bolt 352 and the screw hole 224a of the adjustment split internal gear 224. Thus, it is possible to adjust between a state in which the relative rotation of both is disabled (fixed state) and a state in which the tightening and fixing by the tightening bolt 352 is released to enable relative rotation (fixed released state). Has been. A long hole may be used in place of the large diameter holes 10b3, 124b2, and 24b.
[0039]
The protruding pins 131 and 231, the driving pin 32, the coil springs 133 and 233, the fixing bolt 34, the tightening bolts 351 and 352, and the like described above are used to obtain a backlash-removed state and an appropriate surface pressure state of the tooth surface. A backlash adjusting mechanism 30 is configured.
[0040]
The operation of the planetary gear reduction device 100 described above will be described. The driving force from the drive shaft 1 is decelerated from the input shaft 21 by the planetary gear mechanism 20 (the first planetary gear mechanism 120 and the second planetary gear mechanism 220) and taken out from the output shaft 27. The initial setting of backlash zero or backlash maintenance (readjustment) is adjusted as follows with reference to FIGS. 3, 4 and 8A.
[0041]
A. Standard state maintenance process
(A-1) A state where the fixing bolt 34 is loosened to release the tightening and fixing between the reference divided internal gear 124 and the gear case 10 and the reference divided internal gear 124 can be rotated with respect to the gear case 10 (fixed release state) ) (See FIG. 3A).
(A-2) The reference split internal gear 124 is moved in a direction opposite to the biasing direction of the tension coil spring 133 by means such as engaging the tip of the screw portion 34a of the fixing bolt 34 with the screw hole 124a of the reference split internal gear 124. In the reference state of the backlash adjustment (meshing between the reference divided internal gear 124 and the divided planetary gear 123A and meshing between the divided planetary gear 123A and the sun gear 122) (Refer to FIG. 4 (a) and FIG. 8 (a) (1)).
(A-3) The fixing bolt 34 is tightened, and the reference divided internal gear 124 and the gear case 10 are fastened and fixed so that the reference divided internal gear 124 cannot be rotated with respect to the gear case 10 (fixed state). (See FIG. 3A).
[0042]
B. Backlash adjustment process for the first planetary gear mechanism (first backlash adjustment process)
(B-1) A state in which the fastening bolts 351 are loosened to release the fastening fixation between the end surfaces of the reference split internal gear 124 and the integral internal gear unit 24 to enable relative rotation between them (fixed release state). (Refer to FIG. 3A).
(B-2) The urging force of the tension coil spring 133 automatically acts on the integral internal gear unit 24, and the integral internal gear unit 24 rotates in the urging direction (Y direction in FIG. 4B). Thus, the backlash B between the integral internal gear unit 24 and the split planetary gear 123B and between the split planetary gear 123B and the sun gear 122 is removed (FIG. 4B, FIG. 8A). 2 ▼). As the integral internal gear unit 24 rotates, the divided planetary gear 223A of the second planetary gear mechanism 220 is rotated and adjusted by substantially the same angle as the divided planetary gear 123B of the first planetary gear mechanism 120 (FIG. 4B). )reference). Therefore, by the rotation of the integral internal gear unit 24, the removal of the backlash B in the first planetary gear mechanism 120 and the setting of the reference state in the second planetary gear mechanism 220 are achieved almost simultaneously.
(B-3) The tightening bolt 351 is tightened, and the end surfaces of the reference split internal gear 124 and the integral internal gear unit 24 are fastened and fixed, and the relative rotation of both is disabled (fixed state). (See FIG. 3 (a)).
[0043]
C. Second planetary gear mechanism backlash adjustment process (second backlash adjustment process)
(C-1) A state in which the fastening bolts 352 are loosened to release the fastening of the end faces of the integral internal gear unit 24 and the adjustment split internal gear 224 so that they can be rotated relative to each other (fixed release state). (Refer to FIG. 3A).
(C-2) The urging force of the compression coil spring 233 automatically acts on the adjustment divided internal gear 224, and the adjustment divided internal gear 224 rotates in the urging direction (X direction in FIG. 4C). Thus, the backlash B between the adjusted divided internal gear 224 and the divided planetary gear 223B and between the divided planetary gear 223B and the sun gear 222 is removed (FIG. 4C, FIG. 8A) 3 ▼).
(C-3) The tightening bolt 352 is tightened, and the end faces of the integral internal gear unit 24 and the adjustment split internal gear 224 are fastened and fixed, and kept in a state (fixed state) in which relative rotation between the two is disabled. (See FIG. 3 (a)).
[0044]
In the above process, the procedure of loosening the fastening bolt 351 of (B-1) and the procedure of loosening the fastening bolt 352 of (C-1) are the same as the procedure of loosening the fixing bolt 34 of (A-1), respectively ( It can be implemented before the procedure for setting the reference state in A-2). Further, when readjustment is performed, usually only the B process and the C process are performed to perform the backlash reduction operation, and the entire ABC process is performed at a rate of about once every several times to perform the backlash removal operation. Or, usually, only the C step, once every several steps, only the BC step, and once every ten dozens may be performed all the ABC steps. In this way, a backlash maintenance plan may be drafted in accordance with the operating status. In any case, the rotation direction of the reference divided internal gear 124 in the A process, the rotation direction of the integral internal gear unit 24 in the B process, and the rotation direction of the adjustment divided internal gear 224 in the C process are sequentially reversed. Adjustment operation is simplified and it helps to prevent operation mistakes.
[0045]
(Modification)
FIG. 5 shows a modification of FIG. In the backlash adjusting mechanism 30 of the planetary gear speed reduction device 400, the integral internal gear unit 24 is disposed between the protruding pin 131A fixed to the integral internal gear unit 24 and the driving pin 32 fixed to the gear case 10. A compression coil spring 133A (bounce member) is interposed as a biasing means for biasing the gear case 10 around the central axis. Further, a compression coil spring 233A (elastic member) as a biasing means is also interposed between the projecting pin 231A fixed to the adjustment divided internal gear 224 and the driving pin 32 of the gear case 10. The However, either the tension spring or the compression spring may be used for the springs 133A and 233A, and it is desirable to set the urging forces to act in opposite directions. In this modified example, the recesses 10a for accommodating the backlash adjusting mechanism 30 are concentrated and arranged at one place, so that further downsizing is achieved. Further, when the fixing bolt 34 is loosened for backlash adjustment, a biasing force of another biasing means (for example, a resilient member such as a spring) is applied to the reference split internal gear 124 to thereby perform the reference state (A -2 procedure) may be automatically adjusted. 5 that are the same as those in FIG. 1 are denoted by the same reference numerals and description thereof is omitted.
[0046]
(Second embodiment)
FIG. 6 is a perspective view showing another embodiment of the two-stage planetary gear type speed reducer according to the planetary gear type transmission of the present invention. As shown in FIG. 7A, the backlash adjusting mechanism 30 of the planetary gear speed reduction device 500 is formed in the gear case 10 to be larger than the nominal diameter of the screw portion 36a of the adjusting lever 36 by the backlash adjustment amount. The large-diameter holes 10c1 and 10c2 thus formed penetrate each axial direction. The integral internal gear unit 24 is formed with a screw hole 24c that is screwed with the screw portion 36a of the adjustment lever 36, concentrically with the one large-diameter hole 10c1 and in the axial direction. Further, the adjustment divided internal gear 224 is formed with a screw hole 224c screwed with the screw portion 36a of the adjustment lever 36 concentrically with the other large-diameter hole 10c2 and in the axial direction. A long hole may be used instead of the large diameter holes 10c1 and 10c2. Also, in FIG. 6, the same reference numerals are given to the same parts as in FIG.
[0047]
The backlash adjustment by the adjustment lever 36 is performed as follows. After the reference state maintaining step, the adjustment lever 36 is inserted into the large-diameter hole 10c1 from the outside of the gear case 10, the screw portion 36a is screwed into the screw hole 24c of the integral internal gear unit 24, and the adjustment lever 36 is integrated with the integral internal gear unit. 24. The adjustment lever 36 is moved, and the integral internal gear unit 24 is rotated and adjusted around the central axis, so that the backlash removal operation of the first planetary gear mechanism 120 is performed. Next, the adjustment lever 36 is removed from the integral internal gear unit 24, inserted into the large-diameter hole 10 c 2 from the outside of the gear case 10, screwed into the screw hole 224 c of the adjustment divided internal gear 224, and fixed to the adjustment divided internal gear 224. The adjustment lever 36 is moved, and the adjustment divided internal gear 224 is rotated and adjusted around the central axis, and the backlash removal operation of the second planetary gear mechanism 220 is performed. The reference split internal gear 124 is also provided with a screw hole for screwing the screw portion 36a of the adjustment lever 36, and the adjustment lever 36 is screwed and fixed to the reference split internal gear 124 in the reference state maintaining step. The reference state 124 may be set by rotating the adjustment lever 36.
[0048]
The above description has been made only for the planetary gear type speed reducer among the planetary gear type gearboxes. However, the present invention can also be applied to the planetary gear type speed increasing device. It is possible to replace the input shaft that performs the output shaft and the output shaft that outputs the driving force externally.
[0049]
Further, the present invention is not limited to the two-stage type, and can be applied to a transmission having three or more stages. As an example, FIG. 8B shows a schematic diagram when the present invention is applied to a three-stage planetary gear transmission. The backlash adjustment in the three-stage type can also be performed in the same manner as in the case of the two-stage type described so far (see FIG. 8A). That is, in the three-stage transmission,
(1) In the reference state maintaining step, the reference divided internal gear 124 is rotated in a predetermined direction (for example, the X direction in FIG. 4A), and the backlash adjustment reference state (the reference divided internal gear 124 and the divided planetary gear). The tooth surfaces on one side are in contact with each other in the meshing with 123A and the meshing between the split planetary gear 123A and the sun gear 122 (see (1) in FIG. 8B).
(2) In the first backlash adjustment step, the first internal gear unit 241 is rotated in the direction opposite to the reference divided internal gear 124, and the first internal gear unit 241 and the divided planetary gear 123B are The backlash between the intermediate planetary gear 123B and the sun gear 122 is adjusted so as to be removed (see (2) in FIG. 8B).
(3) In the second backlash adjusting step, the second internal gear unit 242 is rotated in the direction opposite to that of the first internal gear unit 241 so that the second internal gear unit 242 and the divided planetary gears are rotated. Adjustment is made so that the backlash between 223B and between the split planetary gear 223B and the sun gear 222 is eliminated (see FIG. 8B) (3).
(4) In the third backlash adjustment step, the adjustment divided internal gear 324 is rotated in the direction opposite to that of the second internal gear unit 242, and between the adjustment divided internal gear 324 and the divided planetary gear 323 B and divided. Adjustment is made so that backlash between the planetary gear 323B and the sun gear 322 is removed (see (4) in FIG. 8B).
In FIG. 8B, 281 is a first intermediate shaft that connects the first planetary gear mechanism 120 and the second planetary gear mechanism 220, and 282 is the second planetary gear mechanism 220 and the third planetary gear mechanism 320. It is the 2nd intermediate shaft which connects. Further, the constituent elements of the third planetary gear mechanism 320 are denoted by reference numerals in a form that follows the first planetary gear mechanism 120 (or the second planetary gear mechanism 220).
[0050]
Thus, the backlash adjustment method of the present invention has the following characteristics.
(1) Starting from the reference split internal gear located at the end of transmission, rotation adjustment of the integrated internal gear unit is performed sequentially toward the transmission start end, and backlash is eliminated by rotation adjustment of the adjustment split internal gear at the transmission start end. The process ends.
(2) The rotation adjustment around the central axis of the reference divided internal gear, the integral internal gear unit, and the adjustment divided internal gear is performed while changing the direction alternately for each adjustment.
[Brief description of the drawings]
FIG. 1 is a perspective view showing an embodiment of a two-stage planetary gear type speed reducer according to a planetary gear type transmission of the present invention.
2 is a front sectional view and a partially broken left side view of FIG. 1. FIG.
3 is a plan sectional view and a right side view of FIG. 1. FIG.
FIG. 4 is an operation explanatory diagram when the backlash adjustment state is viewed from the output shaft side.
FIG. 5 is a perspective view showing a modification of FIG.
FIG. 6 is a perspective view showing another embodiment of a two-stage planetary gear type speed reducer according to the planetary gear type transmission of the present invention.
7 is a front sectional view and a left side view of FIG. 6. FIG.
FIG. 8 is a schematic diagram showing a basic configuration example of a multi-stage planetary gear transmission according to the present invention.
9 is a schematic diagram of a planetary gear type transmission shown as a comparative example of FIG.
[Explanation of symbols]
100, 400, 500 planetary gear transmission
120 First planetary gear mechanism (planetary gear mechanism)
220 Second planetary gear mechanism (planetary gear mechanism)
10 Gear case
21 Input shaft (first rotary shaft)
123, 223 Planetary gear
I1, I2 Internal gear
24 Internal gear unit
124 Reference split internal gear
224 Adjustment division internal gear
27 Output shaft (second rotary shaft)
28 Intermediate shaft (first rotating shaft; second rotating shaft)
30 Backlash adjustment mechanism
133 Tensile coil spring (biasing means; elastic member)
233 Compression coil spring (biasing means; elastic member)
34 Fixing bolt (fixing means)
351, 352 Tightening bolt (regulating means; tightening member)

Claims

A sun gear attached to the first rotation shaft, an internal gear arranged concentrically with the sun gear, and revolving while rotating while meshing with the sun gear and the internal gear, and concentric with the first rotation shaft A planetary gear mechanism including a planetary gear mechanism that is rotatably supported by a carrier having a second rotation shaft of
In the planetary gear mechanism of each stage, the internal gear and the planetary gear are divided into two in the axial direction so as to be relatively rotatable around respective central axes,
In the planetary gear mechanisms adjacent to each other, the first rotation shaft of one stage is integrally connected to the second rotation shaft of the other stage, and the inner gears that face across different stages among the two divided internal gears. Gears are integrally formed to form an integral internal gear unit,
A planetary gear transmission, wherein the integral internal gear unit is disposed between the two divided internal gears (hereinafter referred to as divided internal gears) located at a transmission start end and a transmission end point.

A plurality of the planetary gear mechanisms are housed in a gear case;
Both of the divided internal gears are attached to the gear case so as to be rotatable around a central axis, and any one of the divided internal gears is in a state in which it cannot rotate with respect to the gear case and can be rotated. An adjustable fixing means is attached to the state,
The planetary gear transmission according to claim 1, wherein the integral internal gear unit is attached to the gear case so as to be rotatable around a central axis.

The first rotation shaft of the planetary gear mechanism located at the transmission start end is an input shaft, the second rotation shaft of the planetary gear mechanism located at the transmission end is an output shaft,
The planetary gear transmission according to claim 2, wherein the divided internal gear to which the fixing means is attached is disposed at a transmission end.

Between the split internal gear and the adjacent integrated internal gear unit and between the adjacent integrated internal gear units, relative rotation about the central axis is impossible and relative rotation is possible. The planetary gear type transmission according to any one of claims 1 to 3, wherein regulation means that can be adjusted to each other is provided.

The restricting means tightens and fixes the end faces of the split internal gear and the end faces of the integrated internal gear unit adjacent to each other or the end faces of the integrated internal gear units adjacent to each other from the outside of the gear case. 5. The planetary gear transmission according to claim 4, wherein the planetary gear transmission is a fastening member that can be adjusted between a state in which movement is disabled and a state in which fastening is released and relative rotation is enabled.

A sun gear attached to the input shaft, an internal gear arranged concentrically with the sun gear, revolving while rotating in mesh with the sun gear and the internal gear, and an output shaft concentric with the input shaft A planetary gear transmission including a planetary gear mechanism including a planetary gear rotatably supported by a carrier having two stages connected in series and accommodated in a gear case,
In the planetary gear mechanism of each stage, the internal gear and the planetary gear are divided into two in the axial direction so as to be relatively rotatable around respective central axes,
The input shaft of the planetary gear mechanism on the transmission end side is integrally connected to the output shaft of the planetary gear mechanism on the transmission start end side, and the internal gears facing each other across different stages among the two divided internal gears. It is integrally formed to constitute an integral internal gear unit,
The integral internal gear unit is disposed between the two divided internal gears (hereinafter referred to as divided internal gears) located at the transmission start end and transmission end,
The split internal gears are both attached to the gear case so as to be rotatable around a central axis, and the split internal gears arranged at the transmission end are in a state in which the rotation with respect to the gear case is impossible. An adjustable fixing means is attached to the possible state,
Further, the planetary gear transmission is characterized in that the integral internal gear unit is attached to the gear case so as to be rotatable around a central axis.

Between the divided internal gear and the integral internal gear unit, there are provided regulating means that can be adjusted to a state in which relative rotation around the central axis is impossible and a state in which relative rotation is possible. The planetary gear transmission according to claim 6.

The restricting means includes a state in which the end faces of the divided internal gear and the integral internal gear unit are fastened and fixed from the outside of the gear case so that the relative rotation is impossible, and the fastening and fixing are released to make the relative The planetary gear transmission according to claim 7, wherein the planetary gear transmission is a tightening member that can be adjusted to a state that allows rotation.

A backlash adjustment method for a planetary gear transmission according to any one of claims 1 to 5,
In the meshing of the split internal gear and the planetary gear formed in the planetary gear mechanism located at the transmission start end or the transmission end and the meshing of the planetary gear and the sun gear, the reference surfaces on which one side tooth surfaces contact each other A reference state holding step to be held in a state;
By adjusting restricting means provided between the divided internal gear and the adjacent internal gear unit adjacent thereto and between the adjacent internal gear units, relative rotation about their central axes can be achieved. As possible, backlash between the internal gear and the planetary gear formed in each planetary gear mechanism and between the planetary gear and the sun gear is removed,
Then, a backlash removing step for adjusting the restricting means to disable relative rotation around the central axis of the divided internal gear and the integral internal gear unit;
A backlash adjustment method for a planetary gear transmission, comprising:

The reference state maintaining step includes
By adjusting a fixing means attached to any one of the divided internal gears (hereinafter referred to as a reference divided internal gear), around a central axis of the reference divided internal gear with respect to a gear case that houses a plurality of the planetary gear mechanisms. Can be rotated,
Furthermore, the reference state is set,
10. The backlash adjustment of the planetary gear transmission according to claim 9, wherein the backlash adjustment of the planetary gear transmission according to claim 9, wherein the fixing means is adjusted to keep the gear case from rotating about the central axis of the reference split internal gear. Method.

In the backlash removal step,
A split internal gear other than the integral internal gear unit and the reference split internal gear (hereinafter referred to as an adjusted split internal gear) along the arrangement order of the planetary gear mechanisms that are connected in series, starting from the reference split internal gear. The backlash adjustment method for a planetary gear transmission according to claim 10, wherein the backlash for each planetary gear mechanism is sequentially removed by adjusting the rotation around the central axis.

The backlash removal in the backlash removal step is
Starting from the reference split internal gear at the end of transmission, it is set so that it is sequentially performed toward the transmission start end by adjusting the rotation of the integral internal gear unit, and is ended by adjusting the rotation of the adjustment split internal gear at the start of transmission. A backlash adjustment method for a planetary gear transmission according to claim 11.

In the backlash removal step,
The rotation adjustment around the central axis of the integral internal gear unit and the adjustment divided internal gear is set so as to alternately change the direction for each individual adjustment of the plurality of connected planetary gear mechanisms. A backlash adjustment method for the planetary gear transmission according to claim 12.