JP4301759B2

JP4301759B2 - Planetary gear type transmission

Info

Publication number: JP4301759B2
Application number: JP2002045832A
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: 2002-02-22
Filing date: 2002-02-22
Publication date: 2009-07-22
Anticipated expiration: 2022-02-22
Also published as: JP2003247631A

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、遊星歯車式変速装置のバックラッシュを除去するには、通常の平歯車式変速装置等とは異なる技術を用いることが必要となる。そのための一解決手段として、実開平１―１１４５８号公報や特開平−１２９４３４号公報には、「内歯車又は遊星歯車を軸方向に二分割し、この分割した歯車に回転方向の位相差（角度差）を設けるとともに２枚の歯車間にばね材を介在させて、その歯車間のバックラッシュを除去する（解消する）技術」が提案されている。また、他の解決手段として、実公平６−３２０５号公報、特公平１−５１７０６号公報及び特公平７−１１７１２７号公報等には、「内歯車と遊星歯車とを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し、これらの歯面の位相を回転方向に互いにずらすことによって、バックラッシュを除去する（調整する）技術」が開示されている。
【０００５】
【発明が解決しようとする課題】
ところで、前者のバックラッシュ除去機構は、平歯車式変速装置等で用いられているシザーズギアを遊星歯車式変速装置に適用したものに相当し、ばね材は装着された歯車間でのみ機能する。したがって、遊星歯車式変速装置でバックラッシュ除去を確実に行うためには、二分割された内歯車間と二分割された遊星歯車間とにそれぞればね材を介装させる必要があり、そのための部品コスト・組立コストの他に２つのばね力のバランスを調整するための調整工程と熟練技術とを要する。
【０００６】
一方、後者のバックラッシュ除去機構では、軸方向に二分割された内歯車と遊星歯車とを回転方向にずらす（位相差を設ける）ことによって、正逆の回転方向各々における分割内歯車と分割遊星歯車との歯面の接触（すなわちバックラッシュゼロ）を実現することができる。しかしながら、分割内歯車と分割遊星歯車との歯面の接触関係の調整、すなわち歯面の面圧調整は、依然として経験と勘に委ねられている。したがって、調整された面圧が大きすぎると歯面の摩耗が激しくなってバックラッシュが発生しやすくなり、逆に調整された面圧が小さすぎると高速回転時の慣性によりやはりバックラッシュが発生しやすくなり、いずれの場合にもバックラッシュゼロを維持するために再調整を頻繁に行わねばならなくなる。このように、バックラッシュ調整操作により歯面の適正な接触面圧を得るためには熟練を要し、計測機器、治具等を用いて調整しなければならない場合もある。
【０００７】
本発明の課題は、歯面の適正な接触面圧が熟練を要することなく容易に得られ、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遊星歯車式変速装置を提供することにある。
【０００８】
【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がギアケースに収容された遊星歯車式変速装置であって、
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、
前記二分割された内歯車（以下、分割内歯車という）から選ばれた少なくとも一方と前記ギアケースとの間に、その選択された分割内歯車を前記ギアケースに対して中心軸線周りに回動付勢する付勢手段が介装され、
前記付勢手段は、前記選択された分割内歯車から半径方向外側に突出する第一支持部材と、前記ギアケースに軸方向に沿って固定された第二支持部材との間に掛け渡された弾発部材であることを特徴とする。
【０００９】
本発明によれば、分割内歯車とギアケースとの間に介装される付勢手段（例えばばね部材等）によって、分割内歯車はギアケースに対して所定の付勢力にて中心軸線周りに回動付勢される。これによって、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除去が行われ、かつ各歯面の適正な接触面圧が熟練者によらなくても容易に得られる。また、このようにして初期調整されたバックラッシュ除去状態を維持するための保守管理を不要（メンテナンスフリー）としたり、簡単な調整操作のみで済ますことが可能となる。したがって、経験や勘に頼らなくてもバックラッシュ除去状態及び歯面の適正面圧状態を初期設定したり維持管理したりすることができる。なお、本発明の遊星歯車式変速装置は、変速段数が１段タイプのもの（単段型変速装置）は勿論、複数段タイプ（複数段型変速装置）の各変速段にも適用される。
【００１０】
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１段変速型（単段型）として用いる場合には、
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がギアケースに収容された遊星歯車式変速装置であって、
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、
前記二分割された内歯車（以下、分割内歯車という）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、前記分割内歯車のうち出力軸側の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る一方、入力軸側の分割内歯車と前記ギアケースとの間に、その分割内歯車を前記ギアケースに対して中心軸線周りに回動付勢する付勢手段が介装され、
前記付勢手段は、前記入力軸側の分割内歯車から半径方向外側に突出する第一支持部材と、前記ギアケースに軸方向に沿って固定された第二支持部材との間に掛け渡された弾発部材であることを特徴とする。
【００１１】
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（例えば出力軸側）にはギアケースに対する固定手段が付設され、他方（例えば入力軸側）にはギアケースとの間に付勢手段が介装される。これによって、固定手段にて一方（例えば出力軸側）の分割内歯車をバックラッシュ調整の基準状態（すなわち、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、他方（例えば入力軸側）には付勢手段の付勢力を作用させることができ、バックラッシュ除去のための初期設定又は維持管理の方向が一方向側（付勢力作用方向側）に単純化される。
【００１２】
その際、出力軸側に比べて歯面の摩耗等によりバックラッシュが拡大しやすい（隙間が広がりやすい）入力軸側の分割内歯車にバックラッシュ調整のための付勢手段が設けられるので、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、出力軸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、入力軸側の分割内歯車に付勢手段の付勢力を作用させることによって、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、固定手段による出力軸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、入力軸側の分割内歯車に付勢手段の付勢力を作用させれば、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る。
【００１３】
そして、分割内歯車の相互間には、両分割内歯車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両分割内歯車を相対回動可能とすれば、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、上記付勢手段の付勢力により自動的に、バックラッシュが除去され、かつ各々の歯面に所定の（適正な）接触面圧が付与されるから、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両分割内歯車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。
【００１４】
したがって、このような遊星歯車式変速装置のバックラッシュ調整方法は、
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がギアケースに収容され、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た遊星歯車式変速装置のバックラッシュ調整方法であって、
前記太陽歯車と遊星歯車との噛み合い及び前記遊星歯車と内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、
前記二分割された内歯車（以下、分割内歯車という）の相互間に設けられた規制手段を調整することにより両分割内歯車の中心軸線周りでの相対回動を可能とし、
さらに、前記分割内歯車から選ばれた少なくとも一方と前記ギアケースとの間に介装された付勢手段により、その選択された分割内歯車が前記ギアケースに対して中心軸線周りに回動付勢されて、前記内歯車と遊星歯車との間及び前記遊星歯車と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両分割内歯車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、
を含むものとして表わすことができる。
【００１５】
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、規制手段を調整して両分割内歯車を相対回動可能とすれば、付勢手段の付勢力により自動的に、バックラッシュが除去され、各歯面に所定の接触面圧が付与される（初期設定状態）。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両分割内歯車を相対回動不能とすれば、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、かつ各歯面の接触面圧が適正に維持された状態で、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両分割内歯車を相対回動可能とすれば、付勢手段の付勢力により自動的に、バックラッシュが除去され、各歯面に所定の接触面圧が付与される（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し、所定の接触面圧を付与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。
【００１６】
なお、規制手段の調整が、分割内歯車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両分割内歯車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。
【００１７】
ここで、バックラッシュ調整の際、既に述べた特公平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（例えば出力軸側）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（例えば出力軸側）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。
【００１８】
ところが、運転可能な状態に設置された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、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（例えば出力軸側）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。
【００１９】
例えば、１段変速型（単段型）の遊星歯車式変速装置に用いた場合のバックラッシュ調整方法は、
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がギアケースに収容され、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た遊星歯車式変速装置のバックラッシュ調整方法であって、
前記二分割された内歯車（以下、分割内歯車という）のうち出力軸側の分割内歯車に付設された固定手段を調整することにより前記ギアケースに対するその分割内歯車の中心軸線周りでの回動を可能とし、
さらに、前記太陽歯車と遊星歯車との噛み合い及び前記遊星歯車と内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設定され、
その後、前記固定手段を調整して前記ギアケースに対する前記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基準状態保持工程と、
前記分割内歯車の相互間に設けられた規制手段を調整することにより両分割内歯車の中心軸線周りでの相対回動を可能とし、
さらに、前記分割内歯車のうち入力軸側の分割内歯車と前記ギアケースとの間に介装された付勢手段により、その分割内歯車が前記ギアケースに対して中心軸線周りに回動付勢されて、前記内歯車と遊星歯車との間及び前記遊星歯車と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両分割内歯車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、
を含むものとして表わすことができる。
【００２０】
【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。この遊星歯車式減速装置１００は、ギアケース１０に収容された遊星歯車機構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。
【００２１】
図２（ａ）に示すように、遊星歯車機構２０は、太陽歯車２２と内歯車２４と１又は複数（例えば２個）の遊星歯車２３とから構成される。太陽歯車２２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２４は太陽歯車２２と同心状にギアケース１０に配置されている。遊星歯車２３は、それら太陽歯車２２及び内歯車２４に噛み合って自転しながら公転するとともに、入力軸２１と同心状の出力軸２７（第二回転軸）を有するキャリア２６に軸方向の遊星歯車軸２５を介して回転可能に支持されている。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。
【００２２】
そして、内歯車２４は、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内歯車２４Ａ，２４Ｂで構成されるとともに、これら分割内歯車２４Ａ，２４Ｂは互いに中心軸線周りに相対回動可能とされ、その結果、分割内歯車２４Ａ，２４Ｂ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。また、遊星歯車２３は、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２３Ａ，２３Ｂで構成されるとともに、これら分割遊星歯車２３Ａ，２３Ｂはそれぞれ対応する分割内歯車２４Ａ，２４Ｂと噛み合っている。
【００２３】
図２（ａ）及び図３（ａ）に示すように、出力軸２７側の分割内歯車２４Ａ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、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、出力軸２７側の分割内歯車２４Ａには、固定ボルト３４のねじ部３４ａと螺合するねじ孔２４Ａ１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、分割内歯車２４Ａ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と分割内歯車２４Ａのねじ孔２４Ａ１とにより締付固定して、分割内歯車２４Ａ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。
【００２４】
一方、図１及び図２（ｂ）において、入力軸２１側の分割内歯車２４Ｂとギアケース１０との間に、その分割内歯車２４Ｂ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３３（弾発部材）が介装されている。具体的には、入力軸２１側の分割内歯車２４Ｂから半径方向外側に向かって突出する突出ピン３１（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３３が掛け渡されている。付勢手段（弾発部材）によって所定方向に所定の付勢力を作用させることができるので、内歯車２４と遊星歯車２３との噛み合い及び遊星歯車２３と太陽歯車２２との噛み合いにおいて、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３１，打込ピン３２，引張コイルスプリング３３は、ギアケース１０の外周面に形成された凹部１０ａに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、凹部１０ａを外側からカバー等で覆うことができ、凹部１０ａ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以外に、圧縮コイルスプリング、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、分割内歯車２４Ｂ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。
【００２５】
さらに、図３（ａ）に示すように、分割内歯車２４Ａ，２４Ｂの相互間には、両分割内歯車２４Ａ，２４Ｂ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３５（締付部材）が設けられている。具体的には、ギアケース１０と出力軸２７側の分割内歯車２４Ａ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３５のねじ部３５ａの呼び径よりも大きく形成された大径孔１０ｂ２，２４Ａ２が、同心状にかつ軸方向に貫通している。そして、入力軸２１側の分割内歯車２４Ｂには、締付ボルト３５のねじ部３５ａと螺合するねじ孔２４Ｂ１が大径孔１０ｂ２，２４Ａ２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、分割内歯車２４Ａ，２４Ｂの対向する端面同士を締付ボルト３５のねじ部３５ａと分割内歯車２４Ｂのねじ孔２４Ｂ１とにより締付固定して、両分割内歯車２４Ａ，２４Ｂの相対回動を不能とする状態（固定状態）と、締付ボルト３５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１０ｂ２，２４Ａ２の代りに長孔を用いてもよい。
【００２６】
以上に述べた突出ピン３１，打込ピン３２，引張コイルスプリング３３，固定ボルト３４，締付ボルト３５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。
【００２７】
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（太陽歯車２２・遊星歯車２３・内歯車２４・キャリア２６）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）は以下のようにして調整される。
【００２８】
Ａ．基準状態保持工程
（Ａ−１）固定ボルト３４を緩め、出力軸２７側の分割内歯車２４Ａとギアケース１０との締付固定を解除して、分割内歯車２４Ａ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）出力軸２７側の分割内歯車２４Ａを引張コイルスプリング３３の付勢方向とは反対方向（図４のＸ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２２と分割遊星歯車２３Ａとの噛み合い及び分割遊星歯車２３Ａと分割内歯車２４Ａ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４参照）。
（Ａ−３）固定ボルト３４を締め付け、出力軸２７側の分割内歯車２４Ａとギアケース１０とを締付固定して、分割内歯車２４Ａ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）。
【００２９】
Ｂ．バックラッシュ調整工程
（Ｂ−１）締付ボルト３５を緩め、分割内歯車２４Ａ，２４Ｂの端面同士の締付固定を解除して、両分割内歯車２４Ａ，２４Ｂ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）入力軸２１側の分割内歯車２４Ｂに対して引張コイルスプリング３３の付勢力が自動的に作用し、分割内歯車２４Ｂがその付勢方向（図４のＹ方向）へ回動されて、分割内歯車２４Ｂと分割遊星歯車２３Ｂとの間及び分割遊星歯車２３Ｂと太陽歯車２２との間のバックラッシュＢがそれぞれ除去される（図４参照）。
（Ｂ−３）締付ボルト３５を締め付け、分割内歯車２４Ａ，２４Ｂの端面同士を締付固定して、両分割内歯車２４Ａ，２４Ｂ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）。
【００３０】
上記工程において、（Ｂ−１）の締付ボルト３５を緩める手順は、（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ＡＢ両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てもよい。
【００３１】
（変形例１）
図５に図１の変形例を示す。この遊星歯車式減速装置１１０のバックラッシュ調整機構３０Ａでは、入力軸２１側の分割内歯車２４Ｂに固定される突出ピン３１Ｂとギアケース１０に固定される打込ピン３２との間に、その分割内歯車２４Ｂ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３３Ｂ（弾発部材）が介装される。さらに、出力軸２７側の分割内歯車２４Ａに固定される突出ピン３１Ａ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引張コイルスプリング３３Ａ（弾発部材）が介装される。ただし、スプリング３３Ｂと３３Ａの付勢力は逆方向に作用する。これによって、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、スプリング３３Ａの付勢力を利用して基準状態（上記Ａ−２の手順）へ自動調節できるようになる。
【００３２】
（変形例２）
図６に図１の他の変形例を示す。この遊星歯車式減速装置１２０のバックラッシュ調整機構３０Ｂでは、上記Ｂ工程（バックラッシュ調整工程）において、突出ピン３１の移動位置を保持するためのノッチ機構を備えている。このノッチ機構は、側面に複数（例えば４個）のノッチ３６ａを有するノッチ板３６がギアケース１０の外周面に固定具（例えば固定ねじ）３６ｂで取り付けられ、突出ピン３１の先端部にユニバーサルジョイント３１ａを介して凹部１０ａの外側へ突出状に取り付けられたレバー３１ｂが、ノッチ３６ａに選択的に係合可能に構成されている。上記バックラッシュ調整工程において、レバー３１ｂをノッチ３６ａのいずれかに係合すれば、分割内歯車２４Ｂの調節位置を保持することができるので、締付ボルト３５を省略することができる。
【００３３】
（第２実施例）
図７は、本発明の遊星歯車式変速装置に係る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２００は、図８（ａ）に示すように２つの遊星歯車機構（遊星歯車列）を直列接続した２段変速型である。この実施例では出力軸２７側に位置する１段目の遊星歯車機構２０１と入力軸２１側に位置する２段目の遊星歯車機構２０２が同一構造にて構成されており、両者は中間軸２８で連結されている。したがって、１段目の遊星歯車機構２０１の入力軸（第一回転軸）は中間軸２８に該当し、２段目の遊星歯車機構２０２の出力軸（第二回転軸）は中間軸２８に該当する。
【００３４】
この実施例では、１段目の遊星歯車機構２０１に対応して設けられるバックラッシュ調整機構３０１は、２段目の遊星歯車機構２０２に対応するバックラッシュ調整機構３０２と同様の構造を有している。ただし、打込ピン３２は両バックラッシュ調整機構３０１，３０２で兼用されている（図７参照）。また、図９に示すように、１段目及び２段目の分割内歯車２４Ａ，２４Ａをそれぞれギアケース１０に固定状態及び固定解除状態に調整可能な１又は複数（例えば各３本）の固定ボルト３４１，３４２（固定手段）が付設されている。さらに、１段目及び２段目の両分割内歯車２４Ａ，２４Ｂ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（例えば各３本）の締付ボルト３５１，３５２（締付部材）が設けられている。固定ボルト３４１，３４２及び締付ボルト３５１，３５２の具体的取り付け構造は第１実施例（図３（ａ））と同様である。
【００３５】
この実施例でのバックラッシュ調整方法は、まず１段目の遊星歯車機構２０１に対して第１実施例と同様の手順（上記工程ＡＢ）で実施され、次に２段目の遊星歯車機構２０２に対して同様の手順が繰り返される。したがって、複数の遊星歯車機構２０１，２０２のそれぞれについてバックラッシュを除去する操作が行えるので、誤差の少ない回転伝達が長期にわたって可能となる。
【００３６】
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。
【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】図１の他の変形例を示す斜視図。
【図７】本発明の遊星歯車式変速装置に係る遊星歯車式減速装置の他の実施例を示す斜視図。
【図８】図７の正面断面図及び部分破断左側面図。
【図９】図７の平面断面図及び右側面図。
【符号の説明】
１００遊星歯車式変速装置
１０ギアケース
１０ａ凹部
２０遊星歯車機構
２１入力軸（第一回転軸）
２３遊星歯車
２４内歯車
２４Ａ分割内歯車
２４Ｂ分割内歯車
２７出力軸（第二回転軸）
３０バックラッシュ調整機構
３１突出ピン（第一支持部材）
３２打込ピン（第二支持部材）
３３引張コイルスプリング（付勢手段；弾発部材）
３４固定ボルト（固定手段）
３５締付ボルト（規制手段；締付部材）[0001]
BACKGROUND OF THE INVENTION
  The present invention is a planetary gear type speed change.EquipmentRelated.
[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, in order to remove the backlash of the planetary gear transmission, it is necessary to use a technique different from that of a normal spur gear transmission. As a means for solving this problem, Japanese Utility Model Laid-Open No. 1-111458 and Japanese Patent Laid-Open No. 129434/1994 disclose that an internal gear or a planetary gear is divided into two in the axial direction, and the phase difference (angle) And a technique for removing (eliminating) backlash between the gears by providing a spring material between the two gears. In addition, as other solving means, Japanese Utility Model Publication No. 6-3205, Japanese Patent Publication No. 1-51706, Japanese Patent Publication No. 7-117127, etc., “Internal gears and planetary gears are relative to each other around their central axes. A technique is disclosed that removes (adjusts) backlash by splitting the tooth surface in the axial direction so as to be rotatable and shifting the phases of these tooth surfaces in the rotational direction.
[0005]
[Problems to be solved by the invention]
By the way, the former backlash removing mechanism corresponds to a scissors gear used in a spur gear transmission or the like applied to a planetary gear transmission, and the spring material functions only between the mounted gears. Therefore, in order to reliably remove the backlash in the planetary gear type transmission, it is necessary to interpose a spring material between the two divided internal gears and between the two divided planetary gears. In addition to cost and assembly cost, an adjustment process and skill for adjusting the balance of the two spring forces are required.
[0006]
On the other hand, in the latter backlash removal mechanism, the divided internal gear and the divided planetary in each of the forward and reverse rotation directions are obtained by shifting the axially divided internal gear and the planetary gear in the rotational direction (providing a phase difference). Contact of the tooth surface with the gear (ie, zero backlash) can be realized. However, adjustment of the contact relationship between the tooth surfaces of the divided internal gear and the divided planetary gear, that is, adjustment of the surface pressure of the tooth surfaces is still left to experience and intuition. Therefore, if the adjusted surface pressure is too large, the tooth surface will be worn more easily and backlash will occur easily. Conversely, if the adjusted surface pressure is too small, backlash will still occur due to inertia at high speed rotation. In all cases, readjustment must be done frequently to maintain zero backlash. As described above, in order to obtain an appropriate contact surface pressure of the tooth surface by the backlash adjustment operation, skill is required, and it may be necessary to adjust using a measuring device, a jig, or the like.
[0007]
  An object of the present invention is to obtain an appropriate contact surface pressure of a tooth surface easily without requiring skill, and a burden required for an adjustment operation for removing backlash and maintenance management (maintenance) for maintaining zero backlash. Planetary gear type speed changeEquipmentIt is to provide.
[0008]
[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 transmission in which a planetary gear rotatably supported by a carrier having a second rotation shaft is housed in a gear case,
  The internal gear and the planetary gear are divided into two axially so as to be capable of relative rotation around respective central axes,
  The selected divided internal gear is rotated around the central axis with respect to the gear case between at least one selected from the two divided internal gears (hereinafter referred to as divided internal gear) and the gear case. A biasing means for biasing is provided.,
  The urging means is stretched between a first support member projecting radially outward from the selected split internal gear and a second support member fixed to the gear case along the axial direction. Is an elastic memberIt is characterized by that.
[0009]
According to the present invention, the split internal gear is rotated around the central axis with a predetermined biasing force with respect to the gear case by the biasing means (for example, a spring member) interposed between the split internal gear and the gear case. It is urged to rotate. As a result, backlash removal is performed in the meshing between the internal gear and the planetary gear and in the meshing between the planetary gear and the sun gear, and an appropriate contact surface pressure of each tooth surface can be easily obtained without using an expert. . In addition, it is possible to eliminate the need for maintenance management (maintenance-free) for maintaining the backlash removal state that has been initially adjusted in this way, or to perform only a simple adjustment operation. Therefore, it is possible to initialize or maintain the backlash removal state and the appropriate surface pressure state of the tooth surface without relying on experience or intuition. The planetary gear transmission of the present invention is applicable not only to a one-stage type (single-stage transmission) but also to a plurality of shift stages (multi-stage transmission).
[0010]
  In order to solve the above-mentioned problem, when the planetary gear transmission of the present invention is used as, for example, a one-speed transmission type (single-stage type),
  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 in which a planetary gear rotatably supported by a carrier having a carrier is housed in a gear case,
  The internal gear and the planetary gear are divided into two axially so as to be capable of relative rotation around respective central axes,
  The two divided internal gears (hereinafter referred to as divided internal gears) are both attached to the gear case so as to be rotatable around a central axis, and among the divided internal gears, the divided internal gears on the output shaft side are connected to the divided internal gears. Fixing means that can be adjusted between a state in which the gear case cannot be rotated and a state in which the gear case can be rotated is attached, while the split internal gear is interposed between the split internal gear on the input shaft side and the gear case. A biasing means for biasing the gear case around the central axis is interposed.,
  The urging means is spanned between a first support member protruding radially outward from the split internal gear on the input shaft side and a second support member fixed to the gear case along the axial direction. Is an elastic memberIt is characterized by that.
[0011]
As described above, both the split internal gears are attached to the gear case so as to be rotatable around the central axis, and one of them (for example, the output shaft side) is provided with a fixing means for the gear case, and the other (for example, the input shaft). The biasing means is interposed between the gear case and the gear case. As a result, one (for example, the output shaft side) of the divided internal gear is fixed to the reference state for backlash adjustment (that is, the meshing of the sun gear and the planetary gear and the meshing of the planetary gear and the internal gear on one side of the tooth surface. Can be held and fixed to each other (for example, the input shaft side), and the biasing force of the biasing means can be applied to the other (for example, the input shaft side). Simplified to the side (biasing force acting direction side).
[0012]
At that time, the biasing means for adjusting the backlash is provided on the divided internal gear on the input shaft side, which is likely to expand backlash due to wear on the tooth surface compared to the output shaft side (the gap is likely to widen). Maintenance for removing backlash that has occurred can be easily performed. In other words, in normal backlash maintenance management operations, the divided internal gear on the output shaft side remains fixed (non-rotatable) to the gear case by the fixing means at every predetermined accumulated operating time, and is kept in the divided state on the input shaft side. By applying the urging force of the urging means to the gear, the backlash can be greatly reduced. Then, for example, at a rate of once every several times of the backlash maintenance management operation described above, the fixing means releases the fixed (non-rotatable) state of the split internal gear on the output shaft side to the gear case, and the backlash adjustment is performed. If the biasing force of the biasing means is applied to the split internal gear on the input shaft side after holding and fixing in the reference state, zero backlash is reliably achieved. As described above, when performing the backlash maintenance management, it is possible to reduce management man-hours, management costs, and the like by executing a combination of a simple backlash reduction operation and an accurate backlash removal operation.
[0013]
Further, between the divided internal gears, a regulating means (for example, one or a plurality of tightening bolts) that can be adjusted between a state in which relative rotation about the central axis of both divided internal gears is impossible and a state in which relative rotation is possible. Attached bolts or the like). Thereby, in the meshing state between the planetary gear and the sun gear, and the meshing between the planetary gear and the sun gear, if the regulating means is adjusted in the reference state of the backlash adjustment described above and the two split internal gears can be rotated relative to each other, The backlash is automatically removed by the biasing force of the biasing means, and a predetermined (appropriate) contact surface pressure is applied to each tooth surface, so that the backlash removal operation is further simplified. In addition, after the backlash removal operation, if the regulating means is adjusted so that the two split internal gears cannot be rotated relative to each other, the rotation direction of the rotating shaft is switched between forward and reverse during operation (during operation) of the planetary gear transmission. Even if the rotation speed is changed or the rotation speed is changed, the possibility of backlash or rattling noise due to inertial force is reduced.
[0014]
  Therefore,like thisThe backlash adjustment method of the planetary gear transmission 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 rotatably supported by a carrier having a second rotation shaft is housed in a gear case, and 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. A method for adjusting the backlash of a planetary gear type transmission,
  A reference state holding step in which the tooth surfaces on one side are in contact with each other in meshing between the sun gear and the planetary gear and meshing between the planetary gear and the internal gear; and
  By adjusting a regulating means provided between the two divided internal gears (hereinafter referred to as divided internal gears), relative rotation around the central axis of both divided internal gears is possible.
  Further, the selected divided internal gear is rotated around the central axis with respect to the gear case by an urging means interposed between at least one selected from the divided internal gears and the gear case. The backlash between the internal gear and the planetary gear 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 both split internal gears;
  includingCan be expressed as a thing.
[0015]
According to this backlash adjustment method, when the backlash removal operation is performed, the planetary gear transmission is held in the reference state of the backlash adjustment, and then the regulating means is adjusted so that both split internal gears can be rotated relative to each other. Then, the backlash is automatically removed by the urging force of the urging means, and a predetermined contact surface pressure is applied to each tooth surface (initial setting state). Next, after such backlash removing operation, if the regulating means is adjusted so that the two split internal gears cannot be rotated relative to each other, the meshing between the internal gear and the planetary gear and the meshing between the planetary gear and the sun gear are performed. The operation (operation) of the planetary gear transmission is performed in a state where the backlash is removed and the contact surface pressure of each tooth surface is properly maintained. 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 is adjusted so that both split internal gears can be rotated relative to each other again, the backlash is automatically removed by the urging force of the urging means, and a predetermined contact surface pressure is applied to each tooth surface ( Maintenance status). In this way, by simply performing an adjustment operation that removes backlash every predetermined time and applies a predetermined contact surface pressure, smooth rotation with suppressed rotation amount deviation and rattling noise can be achieved over a long period of time. Maintained over.
[0016]
The adjustment of the restricting means is such that the end surfaces of the divided internal gears are fastened and fixed from the outside of the gear case by the fastening members, so that the relative rotation around the central axis of both divided internal gears is impossible, or the tightening thereof. If it is performed by releasing the fixation and enabling the relative rotation, the backlash adjustment may be possible in the operation (operation) state of the planetary gear type transmission.
[0017]
Here, at the time of backlash adjustment, as described in Japanese Patent Publication No. 1-51706 described above, the reference state of the above-described backlash adjustment is obtained by artificially rotating the input shaft or the output shaft. If it can be held, one of the divided internal gears (for example, the output shaft side) does not need to 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. In other words, if the usage mode is such that the factory overhauls or periodically overhauls, the input shaft or the output shaft can be freely rotated artificially, and either one of the split internal gears (for example, the output shaft side) ) Is always fixed to the gear case (unrotatable), the backlash removal operation can be performed.
[0018]
However, a drive shaft of a drive source (such as a motor) is connected to an input shaft of a planetary gear transmission installed in an operable state, and a driven shaft of an operating unit (such as a control device) is connected to its output shaft. Since they are connected, it is actually very difficult to artificially freely rotate the input shaft and output shaft. That is, in such a case, the input shaft and the output shaft are artificially rotated while the drive shaft and the driven shaft are connected to each other. A rotation error such as eccentricity of the mechanism is superimposed (added), and it becomes difficult to reveal the reference state of the backlash adjustment described above. Therefore, even in such a case, both the divided internal gears are attached to the gear case so as to be rotatable around the central axis, and one of the divided internal gears (for example, the output shaft side) is not rotated with respect to the gear case. By attaching fixing means that can be adjusted between an impossible state and a rotatable state, the reference state of the backlash adjustment described above can be maintained.
[0019]
For example, the backlash adjustment method when used in a single-speed (single-stage) planetary gear transmission is as follows:
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 that is rotatably supported by a carrier having a planetary gear type speed change in which the internal gear and the planetary gear are divided into two axially so as to be rotatable relative to each other about a central axis. A device backlash adjustment method,
By adjusting fixing means attached to the split internal gear on the output shaft side of the split internal gear (hereinafter referred to as split internal gear), the rotation around the central axis of the split internal gear with respect to the gear case is adjusted. Movement,
Further, in the meshing between the sun gear and the planetary gear and the meshing between the planetary gear and the internal gear, a reference state in which the tooth surfaces on one side are in contact with each other is set.
Thereafter, a reference state holding step in which the fixing means is adjusted and held in a state in which rotation around the central axis of the divided internal gear with respect to the gear case is disabled,
By adjusting the regulating means provided between the divided internal gears, it is possible to relatively rotate around the central axis of both divided internal gears,
Further, the split internal gear is rotated about the central axis with respect to the gear case by the biasing means interposed between the split internal gear on the input shaft side of the split internal gear and the gear case. The backlash between the internal gear and the planetary gear 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 both split internal gears;
Can be expressed as including.
[0020]
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 planetary gear type speed reducer according to the planetary gear type transmission of the present invention. The planetary gear type reduction gear 100 includes a planetary gear mechanism 20 (planetary gear train) housed in a gear case 10 and a backlash adjustment (backlash removal) provided on the gear case 10 from the outside of the gear case 10. And a backlash adjusting mechanism 30.
[0021]
As shown in FIG. 2A, the planetary gear mechanism 20 includes a sun gear 22, an internal gear 24, and one or a plurality of (for example, two) planetary gears 23. The sun gear 22 is fixedly attached to the input shaft 21 (first rotating shaft). The internal gear 24 is disposed in the gear case 10 concentrically with the sun gear 22. The planetary gear 23 meshes with the sun gear 22 and the internal gear 24 and revolves while rotating, and the planetary gear shaft in the axial direction is provided on a carrier 26 having an output shaft 27 (second rotation shaft) concentric with the input shaft 21. 25 is rotatably supported. 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.
[0022]
The internal gear 24 is composed of divided internal gears 24A and 24B having the same number of teeth and divided in two in the axial direction with substantially the same tooth width, and these divided internal gears 24A and 24B are mutually around the central axis. As a result, the divided internal gears 24A and 24B are attached (accommodated) so as to be rotatable around the central axis with respect to the gear case 10, respectively. The planetary gear 23 is composed of divided planetary gears 23A and 23B having the same number of teeth and divided in two in the axial direction with substantially the same tooth width, and these divided planetary gears 23A and 23B are respectively divided into corresponding divided gears. It meshes with the internal gears 24A, 24B.
[0023]
As shown in FIGS. 2A and 3A, the split internal gear 24A on the output shaft 27 side can be adjusted to a state in which the rotation with respect to the gear case 10 is impossible and a state in which the rotation is possible. Alternatively, a plurality of (for example, four) fixing bolts 34 (fixing means) are attached. Specifically, a large-diameter hole 10b1 formed in the gear case 10 larger than the nominal diameter of the threaded portion 34a of the fixing bolt 34 is penetrated in the axial direction following the counterbore portion by an amount corresponding to the backlash adjustment. . The split internal gear 24A on the output shaft 27 side is formed with a screw hole 24A1 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. As a result, from the outside of the gear case 10, the end face of the divided internal gear 24A and the inner surface of the gear case 10 are fastened and fixed by the threaded portion 34a of the fixing bolt 34 and the screw hole 24A1 of the divided internal gear 24A. The gear 24A can be adjusted to a state where the gear 24A cannot be rotated with respect to the gear case 10 (fixed state) and a state where the fastening by the fixing bolt 34 is released and the state can be rotated (fixed release state). . A long hole may be used instead of the large diameter hole 10b1.
[0024]
On the other hand, in FIG. 1 and FIG. 2B, the split internal gear 24 </ b> B is urged to rotate about the central axis with respect to the gear case 10 between the split internal gear 24 </ b> B on the input shaft 21 side and the gear case 10. A tension coil spring 33 (a resilient member) as an urging means is interposed. Specifically, a protruding pin 31 (first support member) that protrudes radially outward from the divided internal gear 24B on the input shaft 21 side, and an axial direction from the outside of the gear case 10 on the input shaft 21 side. A tension coil spring 33 is stretched between the driving pin 32 (second support member) fixed by driving. Since a predetermined urging force can be applied in a predetermined direction by the urging means (elastic member), each tooth surface is engaged in the engagement between the internal gear 24 and the planetary gear 23 and the engagement between the planetary gear 23 and the sun gear 22. The contact surface pressure can be maintained almost constant. Since the projecting pin 31, the driving pin 32, and the tension coil spring 33 are housed in the recess 10a formed on the outer peripheral surface of the gear case 10, there is no projecting object outside the gear case 10, and the backlash is removed. It is hard to be restricted by operation. Moreover, the recessed part 10a can be covered with a cover etc. from an outer side, and the penetration | invasion of the dust from the recessed part 10a to the gear case 10 inside can be prevented. In addition to the tension coil spring, a spring member such as a compression coil spring, a leaf spring, or a disc spring, a rubber member, a sponge member, or the like can be used as the resilient member, and the divided internal gear 24B is used as the gear case 10. On the other hand, any force can be used as long as it can apply an urging force for rotating and energizing around the central axis.
[0025]
Further, as shown in FIG. 3 (a), between the divided internal gears 24A and 24B, the relative rotation about the central axis of the divided internal gears 24A and 24B is impossible and the relative rotation is possible. One or a plurality of (for example, four) tightening bolts 35 (tightening members) are provided as a regulating means that can be adjusted to the desired state. Specifically, the gear case 10 and the split internal gear 24A on the output shaft 27 side have a backlash adjustment portion subsequent to the counterbore portion of the gear case 10 and an amount larger than the nominal diameter of the screw portion 35a of the fastening bolt 35. Largely formed large-diameter holes 10b2 and 24A2 are concentrically penetrating in the axial direction. The split internal gear 24B on the input shaft 21 side is formed with a screw hole 24B1 that is screwed with the screw portion 35a of the tightening bolt 35, concentrically with the large-diameter holes 10b2 and 24A2, and in the axial direction. As a result, the opposing end surfaces of the split internal gears 24A and 24B are fastened and fixed from the outside of the gear case 10 by the screw portions 35a of the tightening bolts 35 and the screw holes 24B1 of the split internal gear 24B. The gears 24A and 24B can be adjusted to a state where the relative rotation of the gears 24A and 24B is disabled (fixed state) and a state where the tightening and fixing by the tightening bolt 35 is released to enable relative rotation (fixed release state). Has been. A long hole may be used instead of the large diameter holes 10b2 and 24A2.
[0026]
The protruding pin 31, the driving pin 32, the tension coil spring 33, the fixing bolt 34, the tightening bolt 35, and the like described above have the backlash adjusting mechanism 30 for obtaining the backlash removing state and the appropriate surface pressure state of the tooth surface. Is configured.
[0027]
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 (sun gear 22, planetary gear 23, internal gear 24, carrier 26) and taken out from the output shaft 27. The initial setting of backlash zero or backlash maintenance (readjustment) is adjusted as follows.
[0028]
A. Standard state maintenance process
(A-1) A state in which the fixing bolt 34 is loosened to release the tightening and fixing between the divided internal gear 24A on the output shaft 27 side and the gear case 10 and the divided internal gear 24A can be rotated with respect to the gear case 10 ( (Unlocked state) is adjusted (see FIG. 3A).
(A-2) The split internal gear 24A on the output shaft 27 side is rotated in the direction opposite to the biasing direction of the tension coil spring 33 (the X direction in FIG. 4), and the reference state of the backlash adjustment (sun gear 22) And the divided planetary gear 23A and the divided planetary gear 23A and the divided internal gear 24A are engaged with each other (see FIG. 4).
(A-3) The fixing bolt 34 is tightened, and the divided internal gear 24A on the output shaft 27 side and the gear case 10 are fastened and fixed so that the divided internal gear 24A cannot rotate relative to the gear case 10 (fixed state). (See FIG. 3A).
[0029]
B. Backlash adjustment process
(B-1) A state in which the fastening bolts 35 are loosened to release the tightening and fixing of the end faces of the divided internal gears 24A and 24B, thereby enabling the relative rotation of the divided internal gears 24A and 24B (fixed release state) ) (See FIG. 3A).
(B-2) The biasing force of the tension coil spring 33 is automatically applied to the split internal gear 24B on the input shaft 21 side, and the split internal gear 24B rotates in the biasing direction (Y direction in FIG. 4). Thus, the backlash B between the divided internal gear 24B and the divided planetary gear 23B and between the divided planetary gear 23B and the sun gear 22 is removed (see FIG. 4).
(B-3) The tightening bolt 35 is tightened and the end faces of the divided internal gears 24A and 24B are fastened and fixed, and kept in a state (fixed state) in which the relative rotation of both the divided internal gears 24A and 24B is disabled. (See FIG. 3A).
[0030]
In the above process, the procedure of loosening the tightening bolt 35 of (B-1) is performed simultaneously with the procedure of loosening the fixing bolt 34 of (A-1) or before the procedure of setting the reference state of (A-2). be able to. Also, during readjustment, usually only the B process is performed to reduce the backlash, and both the AB processes are performed at a rate of about once every several times to perform the backlash removal operation. Also good.
[0031]
(Modification 1)
FIG. 5 shows a modification of FIG. In the backlash adjusting mechanism 30A of the planetary gear type reduction gear 110, the split between the protruding pin 31B fixed to the split internal gear 24B on the input shaft 21 side and the driving pin 32 fixed to the gear case 10 is divided. A tension coil spring 33B (elastic member) is interposed as a biasing means for biasing the internal gear 24B around the central axis with respect to the gear case 10. Further, a tension coil spring 33A (elastic member) as a biasing means is also provided between the projecting pin 31A fixed to the divided internal gear 24A on the output shaft 27 side and the driving pin 32 of the gear case 10. Is installed. However, the urging force of the springs 33B and 33A acts in the opposite direction. As a result, when the fixing bolt 34 is loosened for backlash adjustment, the biasing force of the spring 33A can be used to automatically adjust to the reference state (procedure A-2).
[0032]
(Modification 2)
FIG. 6 shows another modification of FIG. The backlash adjusting mechanism 30B of the planetary gear type reduction gear 120 includes a notch mechanism for holding the movement position of the protruding pin 31 in the B process (backlash adjusting process). In this notch mechanism, a notch plate 36 having a plurality of (for example, four) notches 36 a on a side surface is attached to the outer peripheral surface of the gear case 10 by a fixing tool (for example, a fixing screw) 36 b, and a universal joint is attached to the tip of the protruding pin 31. A lever 31b attached in a protruding manner to the outside of the recess 10a via 31a is configured to be selectively engageable with the notch 36a. In the backlash adjusting step, if the lever 31b is engaged with any one of the notches 36a, the adjusting position of the divided internal gear 24B can be maintained, so that the tightening bolt 35 can be omitted.
[0033]
(Second embodiment)
FIG. 7 is a perspective view showing another embodiment of the planetary gear type reduction gear according to the planetary gear type transmission of the present invention. This planetary gear speed reduction device 200 is a two-speed transmission type in which two planetary gear mechanisms (planetary gear trains) are connected in series as shown in FIG. In this embodiment, the first-stage planetary gear mechanism 201 located on the output shaft 27 side and the second-stage planetary gear mechanism 202 located on the input shaft 21 side have the same structure, and both of them are the intermediate shaft 28. It is connected with. Therefore, the input shaft (first rotating shaft) of the first stage planetary gear mechanism 201 corresponds to the intermediate shaft 28, and the output shaft (second rotating shaft) of the second stage planetary gear mechanism 202 corresponds to the intermediate shaft 28. To do.
[0034]
In this embodiment, the backlash adjusting mechanism 301 provided corresponding to the first stage planetary gear mechanism 201 has the same structure as the backlash adjusting mechanism 302 corresponding to the second stage planetary gear mechanism 202. Yes. However, the driving pin 32 is shared by both backlash adjusting mechanisms 301 and 302 (see FIG. 7). Further, as shown in FIG. 9, one or a plurality of (for example, three) fixed inner gears 24 </ b> A and 24 </ b> A that can be adjusted to the gear case 10 in a fixed state and a fixed release state, respectively. Bolts 341 and 342 (fixing means) are attached. Further, one or a plurality of restricting means that can be adjusted between a state in which relative rotation about the central axis of both the first and second divided internal gears 24A and 24B is impossible and a state in which relative rotation is possible. Clamping bolts 351 and 352 (clamping members) (for example, three each) are provided. The specific mounting structure of the fixing bolts 341 and 342 and the tightening bolts 351 and 352 is the same as that of the first embodiment (FIG. 3A).
[0035]
The backlash adjusting method in this embodiment is first performed on the first-stage planetary gear mechanism 201 in the same procedure (step AB) as in the first embodiment, and then the second-stage planetary gear mechanism 202. A similar procedure is repeated. Therefore, since the operation for removing the backlash can be performed for each of the plurality of planetary gear mechanisms 201 and 202, rotation transmission with less error can be performed over a long period of time.
[0036]
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. In the above embodiment, the driving force of the motor or the like is input. It is possible to replace the input shaft that performs the output shaft and the output shaft that outputs the driving force externally.
[Brief description of the drawings]
FIG. 1 is a perspective view showing an embodiment of a planetary gear type speed reducer according to the 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.
6 is a perspective view showing another modification of FIG. 1. FIG.
FIG. 7 is a perspective view showing another embodiment of the planetary gear type speed reducer according to the planetary gear type transmission of the present invention.
8 is a front sectional view and a partially broken left side view of FIG. 7. FIG.
9 is a plan sectional view and a right side view of FIG. 7. FIG.
[Explanation of symbols]
100 planetary gear transmission
10 Gear case
10a recess
20 Planetary gear mechanism
21 Input shaft (first rotary shaft)
23 Planetary gear
24 Internal gear
24A split internal gear
24B split internal gear
27 Output shaft (second rotary shaft)
30 Backlash adjustment mechanism
31 Protruding pin (first support member)
32 Driving pin (second support member)
33 Tensile coil spring (biasing means; elastic member)
34 Fixing bolt (fixing means)
35 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 transmission in which a planetary gear rotatably supported by a carrier having a second rotation shaft is housed in a gear case,
The internal gear and the planetary gear are divided into two axially so as to be capable of relative rotation around respective central axes,
The selected divided internal gear is rotated around the central axis with respect to the gear case between at least one selected from the two divided internal gears (hereinafter referred to as divided internal gear) and the gear case. A biasing means for biasing is interposed ,
The urging means is stretched between a first support member projecting radially outward from the selected split internal gear and a second support member fixed to the gear case along the axial direction. a planetary gear type transmission, wherein the elastic member der Rukoto.

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 can be rotated with respect to the gear case. The planetary gear transmission according to claim 1, further comprising a fixing means that can be adjusted to a state.

The planetary gear transmission according to claim 2, wherein the first rotating shaft is an input shaft, the second rotating shaft is an output shaft, and the divided internal gear to which the fixing means is attached is disposed on the output shaft side.

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 in which a planetary gear rotatably supported by a carrier having a carrier is housed in a gear case,
The internal gear and the planetary gear are divided into two axially so as to be capable of relative rotation around respective central axes,
The two divided internal gears (hereinafter referred to as divided internal gears) are both attached to the gear case so as to be rotatable around a central axis, and among the divided internal gears, the divided internal gears on the output shaft side are connected to the divided internal gears. Fixing means that can be adjusted between a state in which the gear case cannot be rotated and a state in which the gear case can be rotated is attached, while the split internal gear is interposed between the split internal gear on the input shaft side and the gear case. A biasing means for biasing the gear case around a central axis is interposed ,
The urging means is spanned between a first support member protruding radially outward from the split internal gear on the input shaft side and a second support member fixed to the gear case along the axial direction. a planetary gear type transmission apparatus according to claim Tamahatsu member der Rukoto was.

The planetary gear transmission according to any one of claims 1 to 4, wherein the urging means is housed in a recess formed in a peripheral surface of the gear case.

2. A regulating means that can be adjusted between a state in which relative rotation about the central axis of both divided internal gears and a state in which relative rotation is possible is provided between the divided internal gears. 6. The planetary gear transmission according to any one of items 5 to 5.

The restricting means includes a state in which the end faces of the divided internal gears are fastened and fixed from the outside of the gear case so that the relative rotation of both the split internal gears is disabled, and the tightening is released to perform relative rotation. The planetary gear transmission according to claim 6 , wherein the planetary gear transmission is a tightening member that can be adjusted to a possible state .