JPH0564256B2 - - Google Patents
Info
- Publication number
- JPH0564256B2 JPH0564256B2 JP22329985A JP22329985A JPH0564256B2 JP H0564256 B2 JPH0564256 B2 JP H0564256B2 JP 22329985 A JP22329985 A JP 22329985A JP 22329985 A JP22329985 A JP 22329985A JP H0564256 B2 JPH0564256 B2 JP H0564256B2
- Authority
- JP
- Japan
- Prior art keywords
- speed change
- transmission
- output shaft
- change ring
- ring
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- 230000005540 biological transmission Effects 0.000 claims description 55
- 230000008859 change Effects 0.000 claims description 39
- 230000009467 reduction Effects 0.000 claims description 12
- 238000010586 diagram Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 230000007423 decrease Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000002427 irreversible effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000004043 responsiveness Effects 0.000 description 1
Landscapes
- Manipulator (AREA)
- Friction Gearing (AREA)
- Transmission Devices (AREA)
Description
【発明の詳細な説明】
産業上の利用分野
本発明は重量がが比較的大きい物体の操作系
（例えばロボツトの操作系）に主として使用され
る摩擦無段変速機に関する。DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a continuously variable friction transmission mainly used in operating systems for relatively heavy objects (for example, operating systems for robots).
従来の技術
非回転の状態に保たれる１個の変速リングに共
通に摩擦係合する円錐面と、入力軸上の伝動車に
摩擦係合する凹断面形の伝動面と、出力軸上の伝
動車に摩擦係合する平坦な伝動面とをもつ複数の
円錐形転子が入力軸より出力軸に至る伝動系上に
設けられている「リング非回転形式の摩擦無段変
速機」と、上記平坦な伝動面に摩擦係合する要素
を非回転要素とすると共に変速リングを回転要素
として変速リングの回転を出力軸に伝達させ「リ
ング回転形式の摩擦無段変速機」とは、共に特公
昭57−13221号公報に記載されている。これらの
形式のものは、出力軸の回転速度を０にする点を
変速範囲に含み、且つ発生し得るトルクの最大値
を与える点が出力軸の回転速度を０にする点の近
くに置くと云う好ましい特性をもつので、大きい
トルクの発生を必要とする種々の用途に好適なも
のとして使用される。BACKGROUND ART A conical surface that is commonly frictionally engaged with one transmission ring kept in a non-rotating state, a concave transmission surface that is frictionally engaged with a transmission wheel on an input shaft, and a conical transmission surface that is frictionally engaged with a transmission wheel on an input shaft; A "ring non-rotating friction continuously variable transmission" in which a plurality of conical rotors with flat transmission surfaces that frictionally engage the transmission wheel are installed on the transmission system from the input shaft to the output shaft; A "ring rotation type frictionless continuously variable transmission" in which the element that frictionally engages with the flat transmission surface is a non-rotating element and the gear ring is a rotating element transmits the rotation of the gear ring to the output shaft. It is described in Publication No. 57-13221. These types include the point where the rotational speed of the output shaft becomes 0 in the shifting range, and the point that gives the maximum value of torque that can be generated is placed near the point where the rotational speed of the output shaft becomes 0. Because of these favorable characteristics, it is suitable for use in various applications requiring the generation of large torque.
第４図および第５図はリング非回転型のものと
リング回転型のものとにつきそれらの摩擦伝動系
を示す。これらの図において、１ａ，１ｂは入力
軸、２ａ，２ｂは出力軸、３ａ，３ｂは円錐形転
子、４ａ，４ｂは変速リングである。円錐形転子
３ａ，３ｂは円錐面５ａ，５ｂのほかに凹断面形
の伝動面６ａ，６ｂと平坦な伝動面７ａ，７ｂと
をもつ。出力軸２ａの回転方向は、第４図に示す
ものにおいては入力軸１ａの回転方向とは逆の方
向、第５図に示すものにおいては入力軸１ｂの回
転方向と同じ方向である。 FIGS. 4 and 5 show friction transmission systems for a non-rotating ring type and a rotating ring type. In these figures, 1a and 1b are input shafts, 2a and 2b are output shafts, 3a and 3b are conical rotors, and 4a and 4b are speed change rings. In addition to the conical surfaces 5a, 5b, the conical rotors 3a, 3b have concave cross-sectional transmission surfaces 6a, 6b and flat transmission surfaces 7a, 7b. The rotational direction of the output shaft 2a is the opposite direction to the rotational direction of the input shaft 1a in the one shown in FIG. 4, and the same direction as the rotational direction of the input shaft 1b in the one shown in FIG.
入力軸の回転方向を一定としつつしかも出力軸
を正負いずれの方向にも回転させ得ると共に可成
り大きい出力トルクを低速回転時に発生し得る摩
擦無段変速機は特公昭50−19807号公報に示され。
第６図はこの公報に示されるものの摩擦伝動系
を、円錐形転子に符号３ｃ，３ｄを、変速リング
に符号４ｃを付して示す。 A frictionless continuously variable transmission capable of rotating the output shaft in both positive and negative directions while keeping the rotational direction of the input shaft constant and capable of generating a considerably large output torque at low speed rotation is disclosed in Japanese Patent Publication No. 19807-1987. It is.
FIG. 6 shows the friction transmission system shown in this publication, with the conical rotors labeled 3c and 3d, and the speed change ring labeled 4c.
発明が解決しようとする課題
特公昭57−13221号公報記載の摩擦無段変速機
（以下、表現を簡単にするため、Ｒ型変速機と呼
ぶこととする。）は上記利点をもち用途範囲の広
いものであるが、それを使用して構成された重量
物操作装置は、逆負荷時（操作される重量物の側
より変速機および電動機が駆動されようとする状
態にあるとき）において、所定位置に到達した重
量物を該位置に停止させるには、電動機の電源を
切り、変速機を非可逆要素として作用させなけれ
ばならない。これは、逆負荷時においては、出力
軸の回転速度を０するでき位置に変速リングを到
達していても、逆負荷による出力軸の回転を阻止
する力が変速機の側にないことによるもので、出
力軸は極めて微小な速度の下に回転を継続し、重
量物は所定位置を超えて下降してしまう。Problems to be Solved by the Invention The friction continuously variable transmission (hereinafter referred to as R-type transmission for simplicity) described in Japanese Patent Publication No. 57-13221 has the above advantages and can be used in a wide range of applications. Although it is widely used, a heavy object operating device configured using it can perform a specified operation under reverse load (when the transmission and electric motor are about to be driven from the side of the operated heavy object). In order to stop a heavy object that has reached a position, the electric motor must be switched off and the transmission must act as an irreversible element. This is because during reverse loads, even if the speed change ring reaches the position where it can reduce the rotation speed of the output shaft to 0, there is no force on the transmission side to prevent the output shaft from rotating due to the reverse load. The output shaft continues to rotate at an extremely low speed, and the heavy object falls beyond a predetermined position.
また、このものをロボツトの駆動系に使用する
場合、制御対象の移動方向を速やかに反転するこ
とは困難である。これは、電動機の回転子が大き
い慣性抵抗をもつことによる。 Furthermore, when this device is used in a robot drive system, it is difficult to quickly reverse the moving direction of the controlled object. This is because the rotor of the electric motor has a large inertial resistance.
次に、第６図に示す摩擦伝動系をもつ特公昭50
−19807号公報記載の摩擦無段変速機について述
べると、このものは出力軸２ｃの回転速度が不安
定になる点を含まないと共に入力軸１ｃの回転方
向を変えることなく出力軸２ｃに正負両方向の回
転を与えることができるが、正方向の変速範囲の
大きさと負方向の変速範囲の大きさとが必然的に
等しいものとなり、一方を小さくしつつ他方を大
きくするという要請があつても、それにこたえる
ことはできない。本発明は上記公報に示されるも
のの欠点を伴わない摩擦無段変速機の提供を目的
とする。 Next, we will discuss the 1970s special public transport system with the friction transmission system shown in Figure 6.
Regarding the frictionless continuously variable transmission described in Publication No. 19807, this one does not include the point where the rotational speed of the output shaft 2c becomes unstable, and the output shaft 2c can be rotated in both positive and negative directions without changing the rotational direction of the input shaft 1c. However, the size of the shifting range in the positive direction and the shifting range in the negative direction are necessarily equal, and even if there is a request to reduce one while increasing the other, I can't answer. The object of the present invention is to provide a friction continuously variable transmission that does not have the drawbacks shown in the above-mentioned publications.
課題を解決するための手段
本発明によるものは、１個の変速リングに共通
に摩擦係合する円錐面と入力軸上の伝動車に摩擦
係合する凹断面形の伝動面と出力軸上の伝動車に
摩擦係合する平坦な伝動面とをもつ複数の円錐形
転子が設けらている摩擦伝動系の入力軸と変速リ
ングとを連動させる歯車減速装置を設けると共
に、出力軸と変速リングとを連動させるフイード
バツク系とパイロツトモータと変速リングとを連
動させる速度指令系とを設け、これらのフイード
バツク系とパイロツトモータと速度指令系とによ
りサーボ装置を構成させ、出力軸の回転速度を０
にする変速リングの位置により定まる正方向の変
速範囲の大きさと負方向の変速範囲の大きさとの
比を上記歯車減速装置の減速比の選定により定め
るようにしたことを特徴とする。Means for Solving the Problems The present invention has a conical surface that is commonly frictionally engaged with one speed change ring, a concave transmission surface that is frictionally engaged with a transmission wheel on an input shaft, and a transmission surface that is on an output shaft. A gear reduction device is provided to interlock the input shaft and the speed change ring of the friction transmission system, which is provided with a plurality of conical rotors each having a flat transmission surface that frictionally engages with the transmission wheel, and the output shaft and the speed change ring are provided. A servo device is constructed by these feedback systems, the pilot motor, and the speed command system, and the rotational speed of the output shaft is set to 0.
The present invention is characterized in that the ratio between the size of the positive speed change range and the size of the negative speed change range determined by the position of the speed change ring is determined by selection of the reduction ratio of the gear reduction device.
作 用
上記本発明による摩擦無段変速機は一種の機械
式サーボ装置である。このものは第４図に示す摩
擦伝動系を基盤とし該伝動系の利点（例えば比較
的大きい出力トルクの発生、構造の簡潔さ、大き
い耐久性）を生かしているもので、応答性が高く
安定した動作を行うものである。Function The friction continuously variable transmission according to the present invention is a type of mechanical servo device. This system is based on the friction transmission system shown in Figure 4, and takes advantage of the advantages of this transmission system (for example, generation of relatively large output torque, simple structure, and high durability), and has high responsiveness and stability. It performs the following actions.
本発明によるものにおける歯車減速装置の作用
については次の実施例において述べることとす
る。 The operation of the gear reduction device according to the present invention will be described in the following example.
実施例
第１図は本発明の１実施例を、第２図は第１図
に示すものの伝動系を取り出して示す。Embodiment FIG. 1 shows an embodiment of the present invention, and FIG. 2 shows the transmission system shown in FIG. 1.
第１図において、１は入力軸、２は出力軸、３
は円錐形転子、４は変速リングである。円錐形転
子３には変速リング４に摩擦係合する円錐面５と
入力軸１上の伝動車６に摩擦係合する凹断面形の
伝動面７と、出力軸２上の伝動車８に摩擦係合す
る平坦な伝動面９とが設けられている。 In Figure 1, 1 is the input shaft, 2 is the output shaft, and 3 is the input shaft.
is a conical trochanter, and 4 is a speed change ring. The conical rotor 3 has a conical surface 5 that frictionally engages with the speed change ring 4, a concave transmission surface 7 that frictionally engages the transmission wheel 6 on the input shaft 1, and a transmission surface 7 that frictionally engages the transmission wheel 8 on the output shaft 2. A frictionally engaging flat transmission surface 9 is provided.
本発明のよるものにおいて変速範囲を正方向と
負方向とに跨がるものとする歯車減速装置は、入
力軸１上の太陽歯車１０、ケーシング１１上の内
歯歯車１２、遊星歯車１３、キヤリア１４、変速
リング４上のスプライン歯車１５およびキヤリア
１４上の歯車１６より成り、キヤリア１４の回転
が変速リング４に伝えられるようになつている。 The gear reduction device according to the present invention, which has a speed change range spanning the positive direction and the negative direction, includes a sun gear 10 on the input shaft 1, an internal gear 12 on the casing 11, a planetary gear 13, and a carrier. 14, a spline gear 15 on the speed change ring 4 and a gear 16 on the carrier 14, so that the rotation of the carrier 14 is transmitted to the speed change ring 4.
以上において指摘した諸要素により機械式サー
ボ装置を構成するため、信号を受け入れて作動す
るパイロツトモータ１７とフイードバツク系１８
とが設けられる。パイロツトモータ１７は送りね
じ１９および送りナツト２０を介して変速リング
４に軸線方向の動きを与える。２１は出力軸２に
固着された歯車で、送りナツト２０上の歯車２２
に噛合う。機械式サーボ装置のフイードバツク系
は歯車２１，２２、送りねじ１９および変速リン
グ４を含んで構成される。 The various elements pointed out above constitute a mechanical servo device, including a pilot motor 17 and a feedback system 18 that accept signals and operate.
and is provided. The pilot motor 17 provides axial movement to the speed change ring 4 via a feed screw 19 and a feed nut 20. 21 is a gear fixed to the output shaft 2, and a gear 22 on the feed nut 20
meshes with The feedback system of the mechanical servo device includes gears 21, 22, a feed screw 19, and a speed change ring 4.
第２図は上記歯車減速装置により回転速度
KN1（但し、Ｋは１より小さい定数、N1は変速機
の入力軸１を駆動する電動機の回転速度）で回転
される変速リング４を示す。この図に符号ａ〜ｆ
を付して示す寸法を使用すれば、出力軸２の回転
速度N2は次式により算出される。 Figure 2 shows the rotation speed achieved by the above gear reduction device.
KN 1 (where K is a constant smaller than 1, and N 1 is the rotational speed of the electric motor that drives the input shaft 1 of the transmission). In this figure, the symbols a to f are
Using the dimensions shown with , the rotational speed N 2 of the output shaft 2 can be calculated by the following formula.
N2／N1＝（ｅ／ｆ＋ｂ／ｄ）Ｋ
−（ｂ／ｄ−ａ／ｃ）／（ｅ／ｆ＋ａ／ｃ）
……式１
なお、変速リングが非回転の状態に保たれるＲ
型変速機の出力軸の回転速度N2Rは上記式のＫを
０としたもので、N2R／N1は次式に示すようにな
る。N 2 /N 1 = (e/f+b/d)K - (b/d-a/c)/(e/f+a/c)
...Formula 1 Note that the speed change ring is kept in a non-rotating state R
The rotational speed N 2R of the output shaft of the type transmission is obtained by setting K in the above equation to 0, and N 2R /N 1 is expressed by the following equation.
N2R／N1＝
−（ｂ／ｄ−ａ／ｃ）／（ｅ／ｆ＋ａ／ｃ）
……式２
これらの式において、ａは変速リンブの位置に
よつて大きさを変える変数である。変速リングが
非回転の状態に保たれる第４図に示すものの場
合、出力軸の回転方向は入力軸の回転方向とは逆
の方向で、N2Rはａの増大に伴つて減少し、（変
速リングが円錐形転子の頂点より遠ざかるに従つ
て減少し、）ａ：ｂ＝ｃ：ｄの条件が満足される
点において０となる。歯車減速機の設置により付
加された常数項（ｅ／ｆ＋ｂ／ｄ）Ｋは上記の式
１の分子ａの増大に伴い“正の値→０→負の値”
と云う過程の下に値を変えるようになる。このよ
うに入力軸と変速リングとの間に歯車減速装置を
介在させることにより、出力軸の回転速度を０に
する点が円錐形転子の円錐面上に位置させられる
ようになる。出力軸の回転速度を０にする円錐面
上の点の位置は上記歯車減速装置の減速比の選定
により適宜変更することができる。N 2R /N 1 = -(b/d-a/c)/(e/f+a/c)
...Equation 2 In these equations, a is a variable whose size changes depending on the position of the speed change limb. In the case of the one shown in Fig. 4 where the speed change ring is kept non-rotating, the direction of rotation of the output shaft is opposite to the direction of rotation of the input shaft, N 2R decreases as a increases, and ( It decreases as the speed change ring moves away from the apex of the conical trochanter, and becomes 0 at the point where the condition a:b=c:d is satisfied. The constant term (e/f+b/d) K added due to the installation of the gear reducer changes from "positive value → 0 → negative value" as the numerator a of the above equation 1 increases.
Through this process, the value will change. By interposing the gear reduction device between the input shaft and the speed change ring in this way, the point at which the rotational speed of the output shaft is set to zero is located on the conical surface of the conical rotor. The position of the point on the conical surface that makes the rotational speed of the output shaft zero can be changed as appropriate by selecting the reduction ratio of the gear reduction device.
第３図は、N1＝1800RPM，
KN1＝335RPM，400RPM，450RPM，
500RPMの場合につき、
出力軸の回転速度N2と変速リングの位置との関
係を例示する図である。この図において、ｘは変
速リングの位置を示す寸法、ｒは変速リングの移
動量の最大値である。 Figure 3 shows N 1 = 1800RPM, KN 1 = 335RPM, 400RPM, 450RPM,
FIG. 4 is a diagram illustrating the relationship between the rotational speed N 2 of the output shaft and the position of the speed change ring in the case of 500 RPM. In this figure, x is a dimension indicating the position of the speed change ring, and r is the maximum value of the amount of movement of the speed change ring.
先に指摘したように、変速リング４を移動させ
る機械式サーボ装置は信号を受け入れるパイロツ
トモータ１７とフイードバツク系１８とを含んで
構成されている。パイロツトモータ１７はそれに
投入される信号により回転させられて送りナツト
２０を１方向に移動させようとし、一方フイード
バツク系１８は出力軸２の回転を送りナツト２０
に伝えて変速リングをパイロツトモータ１７によ
る移動方向とは反対の方向に移動させようとす
る。変速リング４はこれらの移動作用が平衡して
変速リング４に位置の変動を伴わない状態におい
て停止する。この状態はパイロツトモータ１７に
投入される入力信号の大きさにより定まる状態で
ある。 As previously pointed out, the mechanical servo system for moving the speed change ring 4 includes a pilot motor 17 that receives signals and a feedback system 18. The pilot motor 17 is rotated by a signal applied to it to try to move the feed nut 20 in one direction, while the feedback system 18 controls the rotation of the output shaft 2 to move the feed nut 20 in one direction.
to move the speed change ring in the opposite direction to the direction of movement by the pilot motor 17. The speed change ring 4 stops in a state where these moving effects are balanced and the speed change ring 4 does not change its position. This state is determined by the magnitude of the input signal applied to the pilot motor 17.
発明の効果
本発明によるものは、重量物操作装置に好適な
もので、迅速に行われる単純な操作の下に重量物
を任意所望の位置に停止させ得るようにするもの
である。Effects of the Invention The present invention is suitable for a heavy object handling device, and enables a heavy object to be stopped at any desired position with quick and simple operation.
第１図は本発明の１実施例を示す縦断側面図、
第２図は第１図に示すものの伝動系を取り出して
示す図面、第３図は本発明によるものの変速性能
の説明用グラフ線図、第４図および第５図は特公
昭57−13221号公報記載の摩擦無段変速機の伝動
系の説明図、第６図は特公昭50−19807号公報記
載の摩擦無段変速機の伝動系の説明図である。
１……入力軸、２……出力軸、３……円錐形転
子、４……変速リング、５……円錐面、６……入
力軸上の伝動車、７……凹断面形の伝動面、８…
…出力軸上の伝動車、９……平坦な伝動面、１０
……太陽歯車、１１……ケーシング、１２……内
歯歯車、１３……遊星歯車、１４……キヤリア、
１５……スプライン歯車、１６……キヤリア上の
歯車、１７……パイロツトモータ、１８……フイ
ードバツク系、１９……送りねじ、２０……送り
ナツト、２１，２２……歯車。
FIG. 1 is a vertical sectional side view showing one embodiment of the present invention;
Figure 2 is a diagram showing the transmission system shown in Figure 1, Figure 3 is a graph diagram for explaining the speed change performance of the system according to the present invention, Figures 4 and 5 are from Japanese Patent Publication No. 13221/1983. FIG. 6 is an explanatory diagram of the transmission system of the friction continuously variable transmission described in Japanese Patent Publication No. 50-19807. 1... Input shaft, 2... Output shaft, 3... Conical trochanter, 4... Speed change ring, 5... Conical surface, 6... Transmission wheel on input shaft, 7... Concave section transmission Face, 8...
...Transmission wheel on output shaft, 9...Flat transmission surface, 10
... Sun gear, 11 ... Casing, 12 ... Internal gear, 13 ... Planet gear, 14 ... Carrier,
15... Spline gear, 16... Gear on carrier, 17... Pilot motor, 18... Feedback system, 19... Feed screw, 20... Feed nut, 21, 22... Gear.
Claims (1)
面と入力軸上の伝動車に摩擦係合する凹断面形の
伝動面と出力軸上の伝動車に摩擦係合する平坦な
伝動面とをもつ複数の円錐形転子が設けらている
摩擦伝動系の入力軸と変速リングとを連動させる
歯車減速装置を設けると共に、出力軸と変速リン
グとを連動させるフイードバツク系とパイロツト
モータと変速リングとを連動させる速度指令系と
を設け、これらのフイードバツク系とパイロツト
モータと速度指令系とによりサーボ装置を構成さ
せ、出力軸の回転速度を０にする変速リングの位
置により定まる正方向の変速範囲の大きさと負方
向の変速範囲の大きさとの比を上記歯車減速装置
の減速比の選定により定めるようにしたことを特
徴とする摩擦無段変速機。1. A conical surface that frictionally engages in common with one speed change ring, a concave transmission surface that frictionally engages with the transmission wheel on the input shaft, and a flat transmission surface that frictionally engages with the transmission wheel on the output shaft. A gear reduction device is provided that interlocks the input shaft of the friction transmission system, which is provided with a plurality of conical rotors, and a speed change ring, and a feedback system that interlocks the output shaft and the speed change ring, a pilot motor, and the speed change ring. A servo device is configured by these feedback systems, the pilot motor, and the speed command system, and the forward speed change range is determined by the position of the speed change ring that sets the rotational speed of the output shaft to 0. A continuously variable friction transmission, characterized in that the ratio between the magnitude of the shift range and the magnitude of the speed change range in the negative direction is determined by selecting a reduction ratio of the gear reduction device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP22329985A JPS6283549A (en) | 1985-10-07 | 1985-10-07 | Friction type continuously variable transmission |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP22329985A JPS6283549A (en) | 1985-10-07 | 1985-10-07 | Friction type continuously variable transmission |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6283549A JPS6283549A (en) | 1987-04-17 |
| JPH0564256B2 true JPH0564256B2 (en) | 1993-09-14 |
Family
ID=16795967
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP22329985A Granted JPS6283549A (en) | 1985-10-07 | 1985-10-07 | Friction type continuously variable transmission |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6283549A (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4423719B2 (en) * | 1999-10-28 | 2010-03-03 | 株式会社安川電機 | Robot and robot control method |
-
1985
- 1985-10-07 JP JP22329985A patent/JPS6283549A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6283549A (en) | 1987-04-17 |
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