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PLANETARY GEAR DEVICE AND PROGRAM FOR DESIGNING PLANETARY GEAR DEVICE 新技術説明会

外国特許コード F180009317
整理番号 (S2016-0784-N0)
掲載日 2018年1月24日
出願国 世界知的所有権機関(WIPO)
国際出願番号 2017JP021022
国際公開番号 WO 2017213151
国際出願日 平成29年6月6日(2017.6.6)
国際公開日 平成29年12月14日(2017.12.14)
優先権データ
  • 特願2016-112434 (2016.6.6) JP
発明の名称 (英語) PLANETARY GEAR DEVICE AND PROGRAM FOR DESIGNING PLANETARY GEAR DEVICE 新技術説明会
発明の概要(英語) This planetary gear device is made by combining a plurality of planetary gear mechanisms, wherein the planetary gear device has first and second planetary gear mechanisms that share a carrier, each planetary gear mechanism is configured from an internal gear (Ik) (k being an integer of 2 or greater) and a planetary gear (Pk) that meshes with the internal gear (Ik) and circumferentially orbits the internal gear, the planetary gear (Pk) of each planetary gear mechanism comprises a spur gear in the form of an external gear, the planetary gears (Pk) of the planetary gear mechanisms either share a center shaft or are linked integrally at the center shafts so as to integrally rotate about a common rotational center axis line, or are integrated together so as to integrally rotate about a common rotational center axis line, and the number of teeth (zp1) of a first planetary gear constituting the first planetary gear mechanism is different from the number of teeth (zp2) of a second planetary gear constituting the second planetary gear mechanism. The number of teeth of the internal gear (I1) is (zi1), the number of teeth of the internal gear (I2) is (zi2), the profile shift coefficient of the first planetary gear is (xp1), the profile shift coefficient of the internal gear that meshes therewith and constitutes the first planetary gear mechanism is (xi1), the profile shift coefficient of the second planetary gear is (xp2), the profile shift coefficient of the internal gear that meshes therewith and that constitutes the second planetary gear mechanism is (xi2), the motive power transmission efficiency of the planetary gear device including the profile shift coefficients (xp1, xi1, xp2, xi2) is (η), the profile shift coefficient of the internal gear (I1) is (xi1), the profile shift coefficient of the internal gear (I2) is (xi2), and the profile shift coefficients have a relationship of a combination of values selected from among a combination of profile shift coefficients in which the motive power transmission efficiency η is maximal or submaximal within an allowable range of design specifications given in advance.
従来技術、競合技術の概要(英語) BACKGROUND ART
Industrial machinery, vehicle, robot, such as OA equipment such as various kinds of drive system or power transmission system (speed increase) constitutes the apparatus, a sun gear, planetary gear, internal gear and the planetary gear mechanism composed of carrier has been known (for example, see Non-Patent Document 1). The planetary gear mechanism, and a relatively high reduction ratio can be realized, compared with the speed reduction ratio and transmission torque mechanism or the structure is relatively compact, in addition, the input shaft and output shaft are arranged coaxially and it is possible, a wide variety of the drive device or a driving system of the power transmission device or the power transmission system has been widely put into practical use.
The planetary gear mechanism, for example, the simple planetary gear mechanism, a Ravigneaux planetary gear mechanism, such as a complex planetary gear mechanism and the planetary gear mechanism is known that the strange. In general, high efficiency, high torque and a high reduction ratio gear mechanism, a variety of industrial equipment and household appliances because of their demand, another planetary gear mechanism, a wave motion gear mechanism (harmonic gear), such as cycloidal gear mechanism of the gear mechanism has also been developed, been put into practical use.
The reduction ratio is obtained by the various gear mechanism, is generally believed as follows. (1) (Step 1) the simple planetary gear mechanism: reduction ratio (step 1) about (2) a Ravigneaux planetary gear mechanism 1/4-1/10: reduction ratio of about (3) 1/10 complex planetary gear mechanism: strange about (4) 1/100 reduction ratio of the planetary gear mechanism: reduction ratio of approximately (5) 1/100 the wave motion gear mechanism: reduction ratio of the gear mechanism of a cycloid 1/30-1/200 (6): 1/60-1/200 reduction ratio
In such a wide variety of gear mechanism, a strange planetary gear mechanism, the wave motion gear mechanism and a cycloid gear mechanism, a relatively special structure because a structure in which a gear is used, a decrease in productivity, it is difficult to improve the degree of freedom in design of, the difficulty of improving the structural strength, or, the problem of expensive manufacturing cost and the like is liable to occur, therefore, generally using a simple spur gear of the planetary gear mechanism is a planetary gear mechanism and the like, productivity, the manufacturing cost, degree of freedom in design, such as considered desirable from the viewpoint of structural strength. In particular, a combination of a plurality of planetary gear mechanism is a complex planetary gear mechanism, as described above, since the reduction ratio of about 1/100 can be realized, requires a high reduction ratio gear of the planetary gear set may be preferably adopted as a mechanism considered.
On the other hand, in the planetary gear mechanism, a plurality of meshes with the gear and the sun gear and planet gears are so arranged in the circumferential direction, the planetary gear mechanism is the mechanism for establishing the constraints or as design conditions, the coaxial condition, the condition for assembling the adjacent conditions and the condition 3 is generally contemplated. Coaxial conditions, the sun gear, internal gear formed coaxially in the axial center of the carrier and a condition and, assembly conditions, are arranged at regular intervals a plurality of planetary gears meshing with the sun gear and the internal gear and is the condition, the adjacent condition, the planetary gear does not interfere with each other adjacent the condition.
Fig. 17 is, the sun gear, planetary gear, internal gear and the carrier of the planetary gear mechanism composed of a conventional conceptual view showing the structure of. Fig. 18 is, the sun gear, planetary gear, internal gear and the planetary gear mechanism with respect to a carrier, is a conceptual diagram showing a conventional configuration of the other. Fig. 19 is, the sun gear, planetary gear, internal gear and the planetary gear mechanism composed of a carrier in combination with a plurality of planetary gear mechanism with respect to the composite, is a conceptual view showing the structure of the prior art. Fig. 20 is, is not equipped with an inner gear, the sun gear, planetary gear and the carrier of the planetary gear mechanism composed of a combination of a plurality of planetary gear mechanism with respect to the composite, is a conceptual view showing the structure of the prior art.
Fig. 17 is, the configuration of the simple planetary gear mechanism are shown. The number of teeth of sun gear S zs 、planetary gear P the number of teeth zp 、the number of teeth of the internal I zi 、P N the number of planetary gears (a natural number) and respectively set, I is fixed to the gear, the sun gear S input shaft, output shaft respectively set and a carrier H case, the reduction ratio of the planetary gear mechanism, the coaxial condition, the condition for assembling the adjacent conditions and, represented by (1) the following formula. Incidentally, in Fig. 17, the code K is, the sun gear S and the internal gear in a broad sense means including I and the sun gear, the planetary gear mechanism shown in Fig. 17, the most common 2K-H belonging to the type.
Fig. 18 is, a Ravigneaux type planetary gear mechanism shown in the configuration. The number of teeth of sun gear S zs 、outward in the radial direction of the planetary gear P1 and the number of teeth zp1 、radially inwardly of the planetary gear P2 and the number of teeth zp2 、I z in the number of teeth of the geari 、planetary gear P1, P2 and 2N respectively set the number, I is fixed to the gear, the sun gear S input shaft, output shaft respectively set and a carrier H case, the reduction ratio of the planetary gear mechanism, the coaxial condition, and the condition for assembling the adjacent condition, represented by (2) the following formula. In addition, a Ravigneaux type planetary gear mechanism, the first planetary gear P2 of the stage 1 by inverting the rotation direction, and a carrier H as a reference, and the sun gear S and I in the same direction so that the gear, the reduction ratio in the denominator of the equation shown (2), the number of teeth of sun gear S zs applied to the sign is reversed. In addition, adjacent condition, defined by a plurality of equations, this is, each equation can be adapted to any of the adjacent means that the condition is satisfied.
(2) In the equation, φ is, the sun gear S and the center axis of the center axis of the planetary gear P1 and a straight line connecting, the sun gear S and the center axis of the planetary gear P2 and a straight line connecting the center axis of an angle intersect.
Fig. 17 and Fig. 18 the planetary gear unit is shown, in the same plane of the gear train is constituted by, as described above, the rotation axis direction within the plane spaced by a distance from each of the planetary gear mechanism and the planetary gear mechanism is disposed in the composite, the simple planetary gear mechanism and, as compared with the Ravigneaux planetary gear mechanism, in order to achieve a high reduction ratio gear mechanism can be used preferably considered. However, in a complex planetary gear mechanism, a planetary gear mechanism are juxtaposed respectively to satisfy the condition 3 described above Therefore, the above-described design conditions are satisfied can be realized in a high reduction ratio on the, in practice, very difficult. Therefore, the planetary gear mechanism to reduce the design conditions of the intended configuration of the composite planetary gear mechanism, for example, in JP-1-3 has been proposed.
Patent Document 1 is the composite to the planetary gear mechanism, the sun gear, planetary gear and the internal gear 2 having a set of planetary gear mechanisms, each of the planetary gear mechanism and the planetary gear are integrally and coaxially, the dislocation of the use by a structure in which design conditions are relaxed. In addition, in Patent Document 2 is a complex planetary gear mechanism, the sun gear, a planetary gear and the internal gear 2 a planetary gear mechanism and a set of coupled, non-axial symmetry with respect to the planetary gear arrangement can be designed by a structure in which a condition may be alleviated.
Fig. 19 is, as described in Patent Document 3 a composite conceptual view showing the structure of the planetary gear mechanism of the present invention. Patent Document 3 is a complex planetary gear mechanism, as shown in Fig. 19, the sun gear of the planetary gear mechanism S1 a set of 2, and S2 are interconnected, each planetary gear P1 by a common carrier H, the spindle and the bearing P2 is supported by the bearing or independently, to improve the degree of freedom in the design and configuration.
The above-described various forms of the planetary gear mechanism, both, an inner gear of the planetary gear mechanism as a representative has a structure, as other configurations of the planetary gear mechanism, as shown in Fig. 20, an inner gear of the planetary gear mechanism is not provided in the form of complex has been known.
Fig. 20 a complex planetary gear mechanism is shown, in the planetary gear mechanism shown in Fig. 18 in the formula I Ravigneaux gear S2 (Fig. 18) (Fig. 20) to the sun gear of the planetary gear mechanism as an alternative to grasp. In the planetary gear mechanism shown in Fig. 20, the sun gear S1, is S2, the carrier rotates in the opposite direction H as a reference.
The number of teeth of sun gear S1 zs1 、the sun gear S2 and the number of teeth zs2 、planetary gear P1 and the number of teeth zp1 、number of teeth of the planetary gear P2 zp2 、planetary gear P1, and the number of P2 is set to 2N, the sun gear S2 is fixed, the input shaft S1 a sun gear, carrier H is set to the output shaft, the reduction ratio of the planetary gear mechanism, the coaxial condition, the condition for assembling the adjacent conditions and, represented by (3) the following formula. In addition, adjacent condition, as defined by the formula (3) of the plurality of equations, this is, for each expression should be adapted to any of the means. In addition, in the formula below, is φ, the sun gear S1, planetary gear S2 and the center axis of the straight line connecting the center axis of the P1, the sun gear S1, planetary gear S2 and the center axis of the central axis P2 intersects a straight line connecting the angle.
In addition, a modification of the planetary gear mechanism shown in Fig. 20, the shared central axis 2 and two planet gears has a different number of teeth of the planetary gear mechanism is a composite, as described in Patent Document 4 or the like.
  • 出願人(英語)
  • ※2012年7月以前掲載分については米国以外のすべての指定国
  • YOKOHAMA NATIONAL UNIVERSITY
  • 発明者(英語)
  • FUJIMOTO Yasutaka
  • KOBUSE Daiji
国際特許分類(IPC)
指定国 National States: AE AG AL AM AO AT AU AZ BA BB BG BH BN BR BW BY BZ CA CH CL CN CO CR CU CZ DE DJ DK DM DO DZ EC EE EG ES FI GB GD GE GH GM GT HN HR HU ID IL IN IR IS JP KE KG KH KN KP KR KW KZ LA LC LK LR LS LU LY MA MD ME MG MK MN MW MX MY MZ NA NG NI NO NZ OM PA PE PG PH PL PT QA RO RS RU RW SA SC SD SE SG SK SL SM ST SV SY TH TJ TM TN TR TT TZ UA UG US UZ VC VN ZA ZM ZW
ARIPO: BW GH GM KE LR LS MW MZ NA RW SD SL SZ TZ UG ZM ZW
EAPO: AM AZ BY KG KZ RU TJ TM
EPO: AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR
OAPI: BF BJ CF CG CI CM GA GN GQ GW KM ML MR NE SN ST TD TG
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