JP3659925B2 - Micro traction drive - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
  The present invention relates to a microtraction drive that can be housed in a small-sized device and that can obtain a large reduction ratio and high torque with little risk of breakage.
[0002]
[Prior art]
Small devices such as micro robots that have a rotary drive source such as a motor in a small-diameter cylindrical main body and rotate the working part at the tip of the main body, such as a small excavation device for soil investigation and a turbine rotor central hole replica collection device In this case, it is necessary to provide a microtraction drive that transmits the rotation at a reduced speed in the main body.
[0003]
However, for example, the diameter of the cylindrical main body of these microrobots is as small as about 10 to several tens of millimeters, and when a microtraction drive is provided within such a limited dimension, if the conventional reduction gear or planetary gear is used, the gear The module is a small module of, for example, 0.05 mm or less, and the current machining method has poor machining accuracy and production problems. In addition, there is a problem in gear strength, and the torque of the working part is significantly restricted. The risk of damage was high.
[0004]
[Problems to be solved by the invention]
The present invention eliminates the problems of the conventional microtraction drive as described above, can be provided within limited dimensions in a small device, is easy to manufacture without the need for gear cutting, has high strength, An object of the present invention is to provide a microtraction drive having a high transmission torque.
[0005]
[Means for solving problems]
(1) The present invention has been made to solve the above-described problems. As a first means, the tip of the input shaft rotatably supported by the input shaft support bearing in the casing, and the input The rear end of the output shaft, which has the same axis as the shaft and is rotatably supported by the output shaft support bearing in the casing, is opposed to the rear end of the output shaft, and is attached to the casing or constitutes a part of the casing. On the other hand, between the inner peripheral surface of the outer ring whose rotation direction is fixed and the outer peripheral surface of the inner ring attached to the input shaft, the inner peripheral surface of the outer ring and the outer peripheral surface of the inner ring are rotated by the rotation of the inner ring. A plurality of rotating bodies that roll between and revolve around the central axis, engage a retainer provided at a rear end of the output shaft with the rotating body, and attach the outer ring to the plurality of rotating bodies. Let me pressRuIcrotraction driveThe rotating body is a steel ball, and the outer ring moves within a certain range in the central axis direction with respect to the casing. The outer ring, the steel ball, and the inner ring are configured to resist thrust in the direction opposite to the input shaft imposed on the outer ring, and the same between the outer ring and the casing. A first spring body for urging the outer ring in the direction opposite to the input shaft is loaded, a thrust in the direction opposite to the input shaft is imposed on the input shaft via the ball and the inner ring, and the input shaft support bearing is applied to the bearing inner ring. A radial ball bearing that resists the imposed thrust in the direction opposite to the tip of the input shaft via its bearing ball and bearing outer ring, and the contact surface of the rotating body by the thrust provided by using the input shaft support bearing Pressure contactA microtraction drive is provided.
[0006]
  According to the first means, similarly to the planetary gear device, the output shaft is input by the rotating body that revolves around the central axis by the rotation of the input shaft, based on the relationship between the outer peripheral surface of the inner ring and the outer peripheral surface of the outer ring. It is decelerated at a constant reduction ratio with respect to the rotation of the shaft and rotates. Therefore, even if the size is small, a relatively large reduction ratio can be set, and since the rotating body has a smooth rotating surface, there is no need to have teeth. The above problem does not occur.
[0007]
  AlsoSince a steel ball is used as the rotating body, the manufacture of each member is extremely easy and the strength is high. By applying a strong normal force with the loaded first spring body, the contact surface of the steel ball is sufficient. A high transmission torque is obtained as a microtraction drive. Further, the transmission torque can be adjusted by adjusting and setting the spring force of the first spring body.
[0008]
  (2No.2As a means of1In the microtraction drive of the above means, the inner ring of the input shaft support bearing is attached so as not to allow movement in the rotational direction relative to the input shaft but to allow movement within a certain range in the central axis direction. Provided is a microtraction drive characterized in that a second spring body for urging the bearing inner ring in the direction opposite to the input shaft is loaded between the bearing inner ring of the shaft support bearing and the inner ring.
[0009]
  First2According to the means1In addition to the action of the above means, by applying a strong normal force with the loaded first spring body and second spring body, a sufficient transmission force at the contact surface of the steel ball can be obtained, and as a microtraction drive High transmission torque. Further, the transmission torque can be adjusted by adjusting and setting the spring force of the first spring body and the second spring body.
[0010]
  (3No.3As a means of1Means or number2According to another aspect of the present invention, there is provided a microtraction drive characterized in that the cage is engaged with a bearing ball of the input shaft support bearing.
[0011]
  First3According to the means1Means or number2In addition to the action of the means, the cage can also obtain a rotational force by the revolution in the circumferential direction of the bearing ball, and the transmission of the rotational torque to the output shaft is improved.
[0012]
  (4No.4As a means of1Means to the second3In the microtraction drive according to any one of the means, the inner ring and the outer ring are configured as a steel frustum-shaped roller instead of the steel ball, and the input shaft support bearing is replaced with the radial ball bearing. Provided is a microtraction drive characterized by being a conical roller bearing provided with a bearing roller.
[0013]
  First4According to the means1No.3In addition to the action of either of these means, a steel frustum-shaped roller is used, which is stronger than a steel ball and gives a strong normal force with a loaded spring body. Sufficient transmission force can be obtained at the contact surface of the trapezoidal roller, and it has higher transmission torque as a microtraction drive.
[0014]
  (5No.5As a means ofInput supported rotatably on the input shaft support bearing in the casing The front end of the shaft and the rear end of the output shaft, which has the same center axis as the input shaft and is rotatably supported by the output shaft support bearing in the casing, are opposed to each other with a space therebetween, and is attached to the casing or the casing. Between the inner peripheral surface of the outer ring that constitutes a part and whose rotational direction is fixed with respect to the casing, and the outer peripheral surface of the inner ring attached to the input shaft, the inner peripheral surface of the outer ring is rotated by the rotation of the inner ring. A plurality of rotating bodies that roll with the outer peripheral surface of the inner ring and revolve around the central axis are fitted, a cage provided at a rear end of the output shaft is engaged with the rotating body, The outer ring is pressed against the plurality of rotating bodies.In the microtraction drive, the rotating body is a steel ball, the inner ring is fixed to the input shaft, and the inner ring and the steel ball resist the thrust of the input shaft tip direction imposed on the outer ring. The outer ring engages with a bearing outer ring of the input shaft support bearing, and the bearing inner ring of the input shaft support bearing does not allow movement in the rotational direction with respect to the input shaft and is within a certain range in the central axis direction. The bearing inner ring, the bearing ball, and the bearing outer ring are radial ball bearings that resist the thrust in the tip direction of the input shaft imposed on the bearing inner ring, and a thread portion provided on the input shaft. The nut that is screwed onto the inner ring presses the bearing inner ring toward the input shaft tip.Then, the thrust applied using the input shaft support bearing gives a contact force to the contact surface of the rotating body.A microtraction drive characterized by that.
[0015]
  First5According to the means, TimesSince steel balls are used as rolling elements, the manufacture of each member is extremely easy and high in strength. By applying a strong normal force with a nut screwed into a threaded portion provided on the input shaft, a steel ball is provided. Sufficient transmission force can be obtained at the contact surface, and it has high transmission torque as a microtraction drive. Further, the transmission torque can be adjusted by adjusting and setting the pressing force by tightening the nut.
[0016]
  (6No.6As a means of5According to another aspect of the present invention, there is provided a microtraction drive characterized in that the cage is engaged with a bearing ball of the input shaft support bearing.
[0017]
  First6According to the means5In addition to the action of the means, the cage can also obtain a rotational force by the revolution in the circumferential direction of the bearing ball, and the transmission of the rotational torque to the output shaft is improved.
[0018]
  (7No.7As a means of5Means or number6In the microtraction drive of the above means, instead of the steel balls, the inner ring and the outer ring are configured as steel frustum-shaped rollers, and the input shaft support bearings are replaced with the radial ball bearings. Micro traction drive characterized by being a conical roller bearing with
[0019]
  First7According to the means5Means or number6In addition to the action of the above-mentioned means, a steel frustum-shaped roller is used, so it is stronger than a steel ball and gives a strong normal force with a nut screwed into the threaded portion of the input shaft. As a result, a sufficient transmission force at the contact surface of the steel frustum-shaped roller can be obtained, and a higher transmission torque can be obtained as a microtraction drive.
[0020]
  (8No.8As the means, the first means to the first7In the microtraction drive according to any one of the above means, a rotation drive source is provided in a cylindrical main body, and is provided between the rotation drive source and the working unit of a small apparatus that rotates and drives the working unit at the tip of the main body. A microtraction drive is provided.
[0021]
  First8According to the means, the first to the first7By the action of any of these means, the restriction on the torque of the working part by the microtraction drive in a small device such as a micro robot is relaxed, or the risk of breakage is reduced.
[0022]
DETAILED DESCRIPTION OF THE INVENTION
  The present inventionThe first1Reference exampleA microtraction drive according to the above will be described with reference to FIG. Figure 1 shows a bookReference exampleIt is a sectional view in the direction of the central axis of the microtraction drive.
[0023]
  As shown in FIG.Reference exampleIn the microtraction drive 100, the center of the housing 101 surrounding the central axis X is constituted by the outer ring 102, the input shaft port 103 is provided at one end in the central axis X direction of the housing 101, and the seal 104 is attached. The input shaft 105 is inserted through the input shaft 105, and the input shaft 105 is rotatably supported by an input shaft support bearing 106 provided in the housing 101.
[0024]
  On the other hand, an output shaft port 107 is provided at the other end of the housing 101 in the direction of the central axis X, and a seal 108 is attached. The output shaft 109 is penetrated on the central axis X, and the output shaft 109 is provided in the housing 101. The output shaft support bearing 110 is rotatably supported. The front end (left end in FIG. 1) of the input shaft 105 and the rear end (right end in FIG. 1) of the output shaft 109 are coaxially opposed with a gap.
[0025]
  An inner ring 111 is fixed to the front end side of the input shaft 105 from the input shaft support bearing 106. A concave groove is provided in the circumferential direction on the outer peripheral surface of the inner ring 111 to form an inner ring raceway surface 111a, and a smooth rotating surface is formed between the inner ring surface of the outer ring 102 and the outer ring raceway surface 102a formed in the circumferential direction. As the rotating body, a plurality of steel balls 112 are fitted so as to be rollable in the circumferential direction.
[0026]
  At the rear end of the output shaft 109, a retainer 113 that engages with the ball 112 is provided between the inner ring raceway surface 111a and the outer ring raceway surface 102a, and is rotated according to the rolling of the ball 112 in the circumferential direction. As a result, the output shaft 109 is configured to rotate. The cage 113 is a fork inserted between the balls 112 or a cylinder having holes for loosely fitting the balls 112 individually.
[0027]
  The outer ring 102 is shrink-fitted with a plurality of balls 112 arranged on the inner ring raceway surface 111 a so as to be in pressure contact with the outer ring raceway surface 102 a, and the normal direction N of the contact surface N (this In this case, a normal force which is a pressure contact force in the radial direction from the central axis X is strongly applied, so that the balls 112 slide with the inner ring raceway surface 111a and the outer ring raceway surface 102a. Rolls.
[0028]
  The housing 101 constitutes a part of a main body such as a micro robot apparatus (not shown) provided with the housing 101, or is fixed inside the main body, and the rotation direction is fixed in the micro robot apparatus or the like.
[0029]
  Book configured as aboveReference exampleIn the microtraction drive 100, the output shaft 109 is rotated by the ball 112 that revolves around the central axis X by the rotation of the input shaft 105 based on the relationship between the diameters of the inner ring raceway surface 111a and the outer ring raceway surface 102a. The input shaft 105 rotates at a constant reduction ratio with respect to the rotation of the input shaft 105.
[0030]
  Therefore, as with the planetary gear device, a relatively large reduction ratio can be set even with a small size, and since the ball 112 is a rotating body having a smooth rotating surface, it is not necessary to have gear teeth. Even if it is downsized, there is no problem in strength in manufacturing fine gears. In addition, since the steel balls 112 are used instead of the gears, the manufacture of each member is extremely easy and the strength is high, and by providing a strong normal force by shrink fitting of the outer ring 102, a sufficient transmission force on the contact surface is obtained. As a result, the microtraction drive 100 has a high transmission torque.
[0031]
  The present inventionThe first2Reference exampleA microtraction drive according to the above will be described with reference to FIG. Figure 2 shows a bookReference exampleIt is a principal axis direction sectional view of the microtraction drive of.
[0032]
  BookReference exampleThe structure of the outer ringIs first1Reference exampleExcept for the basicOn the second1Reference exampleTherefore, the input shaft support bearing, the output shaft support bearing, and the like are not shown in the figure, and their main parts are shown in FIG.
[0033]
  As shown in FIG.Reference exampleIn the microtraction drive 200, the center of the housing 201 surrounding the central axis X is constituted by the elastic outer ring 202. The elastic outer ring 202 is made of an elastic material such as highly elastic steel or alloy having a channel-shaped cross section whose outer peripheral side is open, and its inner peripheral surface is an outer ring raceway surface 202a.
[0034]
  In addition, a bolt structure 202c is provided in the left and right flange portions 202b on the left and right sides in the center line X direction on the cross section, and a bolt 214 is inserted between them, and tightened so that both flange portions 202b are narrowed by a nut 215. It has.
[0035]
  The housing 201 is configured by attaching the elastic outer ring 202 to other parts by appropriate means such as using bolts 214 and nuts 215.The second1Reference exampleSimilarly, a part of a main body of a micro robot apparatus or the like (not shown) including the same is configured or fixed inside the main body, and the rotation direction is fixed in the micro robot apparatus or the like.
[0036]
  The input shaft 205 and the output shaft 209 are opposed to each other with their ends spaced apart from each other. The inner ring 211 is fixed to the distal end side of the input shaft 205 and the outer peripheral surface of the inner ring 211 is recessed in the circumferential direction. An inner ring raceway surface 211a is formed with a groove, and a plurality of steel balls 212 are fitted between the outer ring raceway surface 202a formed in the circumferential direction of the inner circumferential surface of the elastic outer ring 202 so as to roll in the circumferential direction. It is disguised.
[0037]
  At the rear end of the output shaft 209The second1Reference exampleThe cage 213 is provided in the same manner as described above, and is rotated in accordance with the rolling of the balls 212 in the circumferential direction. As a result, the output shaft 209 is configured to rotate.
[0038]
  In the elastic outer ring 202, the outer ring raceway surface 202a is elastically deformed in the inner circumferential direction by tightening bolts 214 and nuts 215, and a plurality of balls 212 arranged on the inner ring raceway surface 211a are pressed against each other by the outer ring raceway surface 202a. In the pressure contact point of the ball 212, a normal force that is a pressure contact force in the normal direction N (see FIG. 1) of the contact surface is strongly applied. Therefore, the plurality of balls 212 roll without sliding with the inner ring raceway surface 211a and the outer ring raceway surface 202a.
[0039]
  Book configured as aboveReference exampleIn the microtraction drive 200, the output shaft 209 is rotated by the ball 212 that revolves around the central axis X by the rotation of the input shaft 205 based on the relationship between the diameters of the inner ring raceway surface 211a and the outer ring raceway surface 202a. The rotation of the input shaft 205 is decelerated at a constant reduction ratio and rotates.
[0040]
  Therefore, like a planetary gear device, a relatively large reduction ratio can be set even with a small size, and it is not necessary to have gear teeth. In addition, since the steel balls 212 are used in place of the gears, the manufacture of each member is extremely easy and the strength is high, and by applying a strong normal force by tightening the elastic outer ring 202, the contact surface The microtraction drive 200 has a high transmission torque.
[0041]
  In addition, since the normal force applied to the ball 212 is given by tightening the elastic outer ring 202 with the bolt 214 and the nut 215, the structure and assembly of the device can be simplified, and the tightening force can be appropriately adjusted or tightened during use. Since the normal force can be applied by increasing the value, it becomes easy to cope with loosening due to wear or the like.
[0042]
  The present inventionThe first3Reference exampleA microtraction drive according to the above will be described with reference to FIG. Figure 3 shows the bookReference exampleIt is a principal axis direction sectional view of the microtraction drive of.
[0043]
  BookReference exampleThe structure of the outer ringIs first1Reference exampleExcept for the basicOn the second1Reference exampleTherefore, the input shaft support bearing, the output shaft support bearing, and the like are not shown in the figure, and their main parts are shown in FIG.
[0044]
  As shown in FIG.Reference exampleIn the microtraction drive 300, the first taper ring 316 and the second taper ring 317 having the same center axis X are provided adjacent to each other in the center of the housing 301 surrounding the center axis X, and the first taper ring 316 has an inner circumferential step. And an inward fitting portion 318 that can move in the direction of the central axis X with each other.
[0045]
  Each of the first taper ring 316 and the second taper ring 317 has a first taper surface 316a and a second taper surface 317a in which inner corners adjacent to each other in the cross section are formed obliquely. A bolt 317b through which the bolt hole 317c of 317 is inserted is screwed into the screw hole 316b of the first taper ring 316, and the both taper rings are fastened. The fastening structure can adjust the distance between the two. It is configured as follows.
[0046]
  Therefore, the first taper ring 316 and the second taper ring 317 form an outer ring, and the first taper surface 316a and the second taper surface 317a form an outer ring formed in the circumferential direction on the inner peripheral surface of the outer ring. A raceway surface is formed.
[0047]
  The housing 301 is configured by attaching a first taper ring 316 and a second taper ring 317 by appropriate means.The second1Reference exampleIn the same manner as above, it forms a part of a main body of a micro robot apparatus or the like (not shown) including the same, or is fixed inside the main body, and at least one of the first taper ring 316 and the second taper ring 317 rotates in the micro robot apparatus or the like The direction is fixed.
[0048]
  The input shaft 305 and the output shaft 309 are opposed to each other with their ends spaced apart from each other. An inner ring 311 is fixed to the distal end side of the input shaft 305, and an outer circumferential surface of the inner ring 311 is recessed in the circumferential direction. A groove is provided to form an inner ring raceway surface 311a, and a plurality of steel balls 312 can roll in the circumferential direction between the outer ring raceway surfaces formed by both tapered surfaces 316a and 317a of both tapered rings 316 and 317. It is fitted.
[0049]
  At the rear end of the output shaft 309The second1Reference exampleThe cage 313 is provided in the same manner as described above, and is rotated according to the rolling of the balls 312 in the circumferential direction. As a result, the output shaft 309 is rotated.
[0050]
  Both the taper rings 316 and 317 are tightened with bolts 317b so that both the taper surfaces 316a and 317a are narrowed in the central axis X direction, and the plurality of balls 312 disposed on the inner ring raceway surface 311a The pressure contact is made at 317a, and the normal force of the contact surface is strongly applied at the pressure contact of the ball 312. Therefore, the plurality of balls 312 roll without sliding with the inner ring raceway surface 311a, the first tapered surface 316a, and the second tapered surface 317a.
[0051]
  Book configured as aboveReference exampleIn the microtraction drive 300, the output shaft 309 is similar to the planetary gear device in that the center axis X is generated by the rotation of the input shaft 305 based on the relationship between the diameters of both the inner raceway surface 311a and the outer tapered raceway surfaces 316a and 317a. The balls 312 that revolve around the rotation are decelerated at a constant reduction ratio with respect to the rotation of the input shaft 305 and rotate.
[0052]
  Therefore, like a planetary gear device, a relatively large reduction ratio can be set even with a small size, and it is not necessary to have gear teeth. In addition, the steel balls 312 are used instead of the gears, so that the manufacture of each member is extremely easy and the strength is high. By tightening both the taper rings 316 and 317, a strong normal force is applied. Sufficient transmission force on the contact surface is obtained, and the microtraction drive 300 has a high transmission torque.
[0053]
  Moreover, since the normal force applied to the ball 312 is given by tightening the bolts 317b on both tapered rings 316 and 317, the structure and assembly of the apparatus can be simplified, and the tightening force can be appropriately adjusted or tightened during use. Since a normal force can be applied, it is easy to cope with loosening due to wear or the like.
[0054]
  Implementation of the present invention1The microtraction drive which concerns on a form is demonstrated based on FIG. FIG. 4 is a sectional view in the central axis direction of the microtraction drive according to the present embodiment.
[0055]
  As shown in FIG. 4, in the microtraction drive 400 of the present embodiment, the rotation in the rotational direction is not allowed while contacting the housing 401 at the approximate center inside the housing 401 surrounding the central axis X, and is constant in the central axis X direction. An outer ring 402 attached to allow movement within the range is provided, an input shaft port 403 is provided at one end of the housing 401 in the direction of the central axis X, a seal 404 is mounted, and the input shaft 405 penetrates the central axis X. The input shaft 405 is rotatably supported by an input shaft support bearing 406 provided in the housing 401.
[0056]
  The input shaft support bearing 406 is an angle bearing that resists thrust in the opposite end direction (right direction in FIG. 4) of the input shaft 405, and is composed of an inner ring 406 a, an outer ring 406 b, and a ball 406 c. The input side end 401a is engaged. The inner ring 406a is attached so as not to allow movement in the rotational direction on the input shaft 405 but to allow movement within a certain range in the central axis X direction.
[0057]
  On the other hand, an output shaft port 407 is provided at the other end of the housing 401 in the direction of the central axis X and a seal 408 is attached. The output shaft 409 penetrates the central axis X, and the output shaft 409 is provided in the housing 401. The output shaft support bearing 410 is rotatably supported. The front end (left end in FIG. 4) of the input shaft 405 and the rear end (right end in FIG. 4) of the output shaft 409 are coaxially spaced apart from each other.
[0058]
  A diameter-expanded portion 405a is provided on the distal end side of the input shaft 405 with respect to the input shaft support bearing 406, and an inner ring 411 is fixed on the distal end side thereof. The enlarged diameter portion 405a may be the input shaft 405 itself or a fixed spacer. An angle groove with an input shaft tip direction (left direction in FIG. 4) opened is provided on the outer peripheral surface of the inner ring 411 to form an inner ring raceway surface 411a, and an input shaft opposite tip direction (FIG. 4) is formed on the inner peripheral surface of the outer ring 402. An angle groove that is open in the right direction) is provided to form an outer ring raceway surface 402a, and a plurality of steel balls 412 can roll in the circumferential direction between the inner ring raceway surface 411a and the outer ring raceway surface 402a. It is fitted.
[0059]
  A first spring 419 is loaded between the output side end 401b in the housing 401 and the outer ring 402, and the first spring 419 is urged in the expanding direction, and between the inner ring 411 and the inner ring 406a of the input shaft support bearing 406 in the expanding direction. A second spring 420 to be urged is loaded.
[0060]
  The first spring 419 pushes the outer ring 402 in the direction opposite to the input shaft and pushes the inner ring 411 via the ball 412. The angle grooves of the outer ring raceway surface 402a and the inner ring raceway surface 411a are arranged in a direction against the pressing, the inner ring 411 is engaged with the enlarged diameter portion 405a, and the second spring 420 is also pressed in the tip direction of the input shaft. Therefore, the normal force by the first spring 419 acts on the contact surface between the ball 412 and the outer ring raceway surface 402a and the inner ring raceway surface 411a, and therefore the plurality of balls 412 slide with the inner ring raceway surface 411a and the outer ring raceway surface 402a. Rolls.
[0061]
  The second spring 420 pushes the inner ring 406a of the input shaft support bearing 406 in the direction opposite to the input shaft, and pushes the outer ring 406b via the ball 406c. Further, if the enlarged diameter portion 405a comes into contact with the inner ring 406a, the pressing force of the first spring 419 also works. The angle groove of the input shaft support bearing 406 is disposed in a direction against the pressing, and the outer ring 406b is engaged with the input side end 401a. Therefore, the contact surface between the ball 406c and the inner ring 406a and the outer ring 406b The normal force by the two springs 420 acts, so that the plurality of balls 406c roll without sliding with the inner ring 406a and the outer ring 406b.
[0062]
  At the rear end of the output shaft 409The second1Reference exampleThe cage 413 is provided in the same manner as described above, and is rotated according to the rolling of the balls 412 in the circumferential direction. As a result, the output shaft 409 is configured to rotate.
[0063]
  When the diameters of the inner ring raceway surface 411a and the outer ring raceway surface 402a are equal to the diameters of the inner ring 406a outer peripheral surface and the outer ring 406b inner peripheral surface of the input shaft support bearing 406, the cage 413 receives the input shaft support bearing 406. By providing the extending portion 413a that also engages with the ball 406c, the cage 413 can obtain a rotational force even when the ball 406c revolves in the circumferential direction, and transmission of the rotational torque to the output shaft 409 can be improved.
[0064]
  The housing 401 constitutes a part of a main body of a micro robot apparatus or the like (not shown) provided with the housing 401, or is fixed inside the main body, and the rotation direction is fixed in the micro robot apparatus or the like.
[0065]
  In the microtraction drive 400 of the present embodiment configured as described above, the output shaft 409 is rotated by the input shaft 405 based on the relationship between the diameters of the inner ring raceway surface 411a and the outer ring raceway surface 402a, as in the planetary gear device. Thus, the ball 412 (and the ball 406c) revolving around the central axis X is decelerated and rotated at a constant reduction ratio with respect to the rotation of the input shaft 405.
[0066]
  Therefore, like a planetary gear device, a relatively large reduction ratio can be set even with a small size, and it is not necessary to have gear teeth. In addition, since steel balls 412 are used instead of gears, the manufacture of each member is extremely easy and the strength is high, and a strong normal force is applied by the loaded first spring 419 and second spring 420. By giving, sufficient transmission force at the contact surface is obtained, and the microtraction drive 400 has a high transmission torque. Further, the transmission torque can be adjusted by adjusting and setting the spring force of the first spring 419 and the second spring 420.
[0067]
  In the present embodiment, when the cage 413 is engaged only with the ball 412, the second spring 420 may be omitted, and at that time, the enlarged diameter portion 405a is in contact with the inner ring 406a of the input shaft support bearing 406. Or the input shaft support bearing 406 supports the thrust received by the input shaft 405 from the first spring 419 by the input side end portion 401a depending on whether the inner ring 406a is not allowed to move in the direction of the central axis X. do it.
[0068]
  Implementation of the present invention2The microtraction drive according to the embodiment will be described with reference to FIG. FIG. 5 is a sectional view in the central axis direction of the microtraction drive according to the present embodiment.
[0069]
  In the present embodiment, it is assumed that the outer ring, the inner ring, and the input shaft support bearing use frustum-shaped rollers instead of balls.1Except for the difference in form, basically the first implementation1Since the configuration is similar to that of the embodiment, the description of the same points is omitted, and different points are mainly described.
[0070]
  As shown in FIG. 5, in the microtraction drive 500 of the present embodiment, the housing 501 is in contact with the housing 501 at the approximate center inside the housing 501 surrounding the central axis X and is not allowed to move in the rotational direction. An outer ring 502 attached so as to allow movement within the range is provided, and an input shaft 505 is inserted on one end side of the housing 501 on the central axis X, and the input shaft 505 is an input shaft support provided in the housing 501. The bearing 506 is rotatably supported.
[0071]
  The input shaft support bearing 506 is a conical roller bearing that resists thrust in the direction opposite to the tip of the input shaft 505, and includes an inner ring 506a, an outer ring 506b, and a roller 506c. Is engaged. The inner ring 506a is fixed on the input shaft 505.
[0072]
  On the other hand, an output shaft 509 is provided on the other end side of the housing 501 in the direction of the central axis X on the central axis X, and the output shaft 509 is rotatably supported by an output shaft support bearing 510 provided in the housing 501. The
[0073]
  A spacer 521 is fixed to the front end side of the input shaft 505 from the input shaft support bearing 506, and an inner ring 511 is fixed to the front end side thereof. An inner ring raceway surface 511a inclined in the direction of the input shaft tip is formed on the outer peripheral surface of the inner ring 511, and an outer ring raceway surface 502a inclined in the direction of the input shaft opposite to the tip end is formed on the inner peripheral surface of the outer ring 502. A plurality of steel rollers 512 are fitted between the surface 511a and the outer ring raceway surface 502a so as to be rotatable in the circumferential direction as a rotating body having a smooth rotating surface.
[0074]
  A spring 522 for urging the outer ring 502 in the direction opposite to the input shaft is loaded in the housing 501 and presses the inner ring 511 through the roller 512. Since the outer ring raceway surface 502a and the inner ring raceway surface 511a are arranged in a direction against the pressing, and the inner ring 511 is engaged with the spacer 521, the contact surface between the roller 512 and the outer ring raceway surface 502a and the inner ring raceway surface 511a. Therefore, the normal force by the spring 522 acts, so that the plurality of rollers 512 roll without sliding with the inner ring raceway surface 511a and the outer ring raceway surface 502a.
[0075]
  The thrust in the direction opposite to the input shaft received by the input shaft 505 is supported by the input shaft support bearing 506.
[0076]
  At the rear end of the output shaft 509The second1Reference exampleSimilarly to the above, a cage 513 is provided, and is rotated in accordance with the rolling of the roller 512 in the circumferential direction. As a result, the output shaft 509 is rotated. The cage 513 is a fork inserted between the rollers 512 or a cylinder having holes for loosely fitting the rollers 512 individually. If the dimensions allow, the rotating shaft of the rollers 512 can be used. By providing, the roller 512 may be engaged.
[0077]
  The housing 501 constitutes a part of a main body such as a micro robot apparatus (not shown) provided with the housing 501 or is fixed inside the main body, and the rotation direction is fixed in the micro robot apparatus or the like.
[0078]
  In the microtraction drive 500 of the present embodiment configured as described above, the first embodiment of FIG.1Similar to the configuration, the output shaft 509 is decelerated and rotated at a constant reduction ratio with respect to the rotation of the input shaft 505.
[0079]
  Therefore, as with the planetary gear device, a relatively large reduction ratio can be set even if the size is small, and the roller 512 is a rotating body having a smooth rotating surface, so there is no need to have gear teeth. Even if it is made, there is no problem in strength in manufacturing fine gears. In addition, since the steel roller 512 is used instead of the gear, the manufacture of each member becomes extremely easy,1The strength is higher than that of the ball 412 of the form, and a strong normal force is applied by the loaded spring 522, so that a sufficient transmission force at the contact surface can be obtained, and the microtraction drive 500 has a higher transmission torque. Become. Further, the transmission torque can be adjusted by adjusting and setting the spring force of the spring 522.
[0080]
  Note that in this embodiment, the first embodiment described above.1As in the embodiment, a second spring may be loaded between the inner ring 511 and the inner ring 506a of the input shaft support bearing 506. In this case, the inner ring 506a does not allow movement in the rotational direction on the input shaft 505. It is attached so as to allow movement within a certain range in the direction of the central axis X.
[0081]
  Further, when the diameters of the inner ring raceway surface 511a and the outer ring raceway surface 502a and the inner ring 506a outer peripheral surface and the outer ring 506b inner peripheral surface of the input shaft support bearing 506 are equal, the cage 513 supports the input shaft. By providing an extending portion that also engages with the roller 506c of the bearing 506, the cage 513 can obtain a rotational force even when the roller 506c revolves in the circumferential direction, and the transmission of the rotational torque to the output shaft 509 is improved. it can.
[0082]
  Implementation of the present invention3The microtraction drive according to the embodiment will be described with reference to FIG. FIG. 6 is a sectional view in the central axis direction of the microtraction drive according to the present embodiment.
[0083]
  As shown in FIG. 6, in the microtraction drive 600 of the present embodiment, the housing is engaged with the housing inner step 623 that narrows the front end direction of the input shaft at the substantially center inside the housing 601 surrounding the center axis X. An outer ring 602 is fixed in contact with the inner surface of 601, an input shaft port 603 is provided at one end of the housing 601 in the direction of the central axis X, a seal 604 is mounted, and the input shaft 605 is penetrated on the central axis X. 605 is rotatably supported by an input shaft support bearing 606 provided in the housing 601.
[0084]
  The input shaft support bearing 606 is an angle bearing that resists thrust in the front end direction (left direction in FIG. 6) of the input shaft 605, and includes an inner ring 606a, an outer ring 606b, and a ball 606c, and the outer ring 606b is spaced from the outer ring 602. The seat 624 is engaged.
[0085]
  The inner ring 606a is attached so as not to allow movement in the rotational direction on the input shaft 605 but to allow movement within a certain range in the central axis X direction, and to the input shaft 606 via a spacer 625. The nut 626 screwed into the provided screw 605c is pressed toward the input shaft tip.
[0086]
  On the other hand, an output shaft port 607 is provided at the other end in the central axis X direction of the housing 601 and a seal 608 is attached. The output shaft 609 is penetrated on the central axis X, and the output shaft 609 is provided in the housing 601. The output shaft support bearing 610 is rotatably supported. The front end (left end in FIG. 6) of the input shaft 605 and the rear end (right end in FIG. 6) of the output shaft 609 are coaxially spaced apart from each other.
[0087]
  An inner ring 611 is fixed to the front end side of the input shaft 605 from the input shaft support bearing 606 with a space therebetween, and is engaged with and fixed to a shaft end enlarged portion 605b provided on the input shaft 605 on the front end side. ing.
[0088]
  The inner ring 611 has an outer circumferential surface provided with an angle groove having an opening on the opposite side of the input shaft and an inner ring raceway surface 611a. The outer ring 602 has an inner circumferential surface provided with an angle groove having an input shaft on the distal end and an outer ring. A surface 602a is formed, and a plurality of balls 612 made of steel are fitted between the inner ring raceway surface 611a and the outer ring raceway surface 602a so as to be able to roll in the circumferential direction.
[0089]
  A nut 626 screwed into the screw 605c presses the inner ring 606a of the input shaft support bearing 606 in the direction of the input shaft tip through the spacer 625, and further causes the outer ring 602 to move through the ball 606c, the outer ring 606b, and the spacer 624 to the input shaft. Press toward the tip.
[0090]
  The angle grooves of the outer ring raceway surface 602a and the inner ring raceway surface 611a are arranged in a direction against the pressing, and the inner ring 611 is engaged with the shaft end enlarged diameter portion 605b, so that the balls 612, the outer ring raceway surface 602a and the inner ring raceway are engaged. A normal force due to the tightening force of the nut 626 acts on the contact surface with the surface 611a. Therefore, the plurality of balls 612 roll without sliding with the inner ring raceway surface 611a and the outer ring raceway surface 602a.
[0091]
  At the rear end of the output shaft 609The second1Reference exampleThe cage 613 is provided in the same manner as described above, and is rotated in accordance with the rolling of the balls 612 in the circumferential direction. As a result, the output shaft 609 is rotated.
[0092]
  When the diameters of the inner ring raceway surface 611a and the outer ring raceway surface 602a and the inner ring 606a outer peripheral surface and the outer ring 606b inner peripheral surface of the input shaft support bearing 606 are equal to each other, the cage 613 is provided with the input shaft support bearing 606. By providing the extending portion 613a that also engages with the ball 606c, the cage 613 can obtain a rotational force even by the revolution of the ball 606c in the circumferential direction, and the transmission of the rotational torque to the output shaft 609 can be improved.
[0093]
  The housing 601 constitutes a part of a main body such as a micro robot apparatus (not shown) provided with the housing 601 or is fixed inside the main body, and the rotation direction is fixed in the micro robot apparatus or the like.
[0094]
  In the microtraction drive 600 of the present embodiment configured as described above, the output shaft 609 rotates the input shaft 605 based on the relationship between the diameters of the inner ring raceway surface 611a and the outer ring raceway surface 602a as in the planetary gear device. Thus, the ball 612 (and the ball 606c) revolving around the central axis X is decelerated and rotated at a constant reduction ratio with respect to the rotation of the input shaft 605.
[0095]
  Therefore, like a planetary gear device, a relatively large reduction ratio can be set even with a small size, and it is not necessary to have gear teeth. In addition, since the steel balls 612 are used in place of the gears, the manufacture of each member is extremely easy and the strength is high, and a strong normal force is applied by the tightening force of the nut 626, so that the contact surface Therefore, the microtraction drive 600 has a high transmission torque. Further, the transmission torque can be adjusted by adjusting and setting the tightening force of the nut 626.
[0096]
  Implementation of the present invention4The microtraction drive according to the embodiment will be described with reference to FIG. FIG. 7 is a sectional view in the central axis direction of the microtraction drive according to the present embodiment.
[0097]
  In the present embodiment, it is assumed that the outer ring, the inner ring, and the input shaft support bearing use frustum-shaped rollers instead of balls.3Except for the difference in form, basically the first implementation3Since the configuration is similar to that of the embodiment, the description of the same points is omitted, and different points are mainly described.
[0098]
  As shown in FIG. 7, in the microtraction drive 700 of the present embodiment, an outer ring 702 is fixed to the inner surface of the housing 701 so as to contact the inner surface of the housing 701 and surround the central axis X, and the central axis of the housing 701 is fixed. An input shaft 705 is inserted on the central axis X on one end side in the X direction, and the input shaft 705 is rotatably supported by an input shaft support bearing 706 provided in the housing 701.
[0099]
  The input shaft support bearing 706 is a conical roller bearing that resists thrust in the front end direction of the input shaft 705, and includes an inner ring 706a, an outer ring 706b, and a roller 706c. The outer ring 706b engages with the housing inner small diameter portion 727. ing. The housing inner small diameter portion 727 is engaged with the outer ring 702. Therefore, the housing inner small diameter portion 727 may be replaced with a spacer mounted on the inner surface of the housing 701.
[0100]
  The inner ring 706a is attached so as not to allow movement in the rotational direction on the input shaft 705 but to allow movement within a certain range in the central axis X direction, and to the input shaft 705 via a spacer 725. The nut 726 that engages with the provided screw 705 c is pressed toward the distal end of the input shaft 705.
[0101]
  On the other hand, on the other end side of the housing 701 in the center axis X direction, an output shaft 709 is inserted on the center axis X, and the output shaft 709 is rotatably supported by an output shaft support bearing 710 provided in the housing 701. Is done.
[0102]
  An inner ring 711 is fixed to the front end side of the input shaft 705 from the input shaft support bearing 706 with a space therebetween, and is engaged with a shaft end enlarged diameter portion 705b provided on the input shaft 705 on the front end side. .
[0103]
  An inner ring raceway surface 711a inclined in the direction opposite to the input shaft tip is formed on the outer peripheral surface of the inner ring 711, and an outer ring raceway surface 702a inclined in the direction opposite to the input shaft tip is formed on the inner peripheral surface of the outer ring 702. A plurality of steel rollers 712 are fitted between the inner ring raceway surface 711a and the outer ring raceway surface 702a so as to roll in the circumferential direction.
[0104]
  A nut 726 screwed into the screw 705c presses the inner ring 706a of the input shaft support bearing 706 through the spacer 725 toward the tip of the input shaft, and further, the outer ring 702 is connected to the input shaft through the ball 706c, the outer ring 706b, and the spacer 725. Press toward the tip.
[0105]
  Since the outer ring raceway surface 702a and the inner ring raceway surface 711a are arranged in a direction against the pressing, and the inner ring 711 is engaged with the shaft end enlarged portion 705b, the roller 712, the outer ring raceway surface 702a, the inner ring raceway surface 711a, A normal force due to the tightening force of the nut 726 acts on the contact surface, and the plurality of rollers 712 roll with the inner ring raceway surface 711a and the outer ring raceway surface 702a without slipping.
[0106]
  At the rear end of the output shaft 709The second1Reference exampleSimilarly to the above, a cage 713 is provided, and is rotated according to the rolling of the roller 712 in the circumferential direction. As a result, the output shaft 709 is rotated.
[0107]
  The housing 701 constitutes a part of a main body such as a micro robot apparatus (not shown) provided with the housing 701, or is fixed inside the main body, and the rotation direction is fixed in the micro robot apparatus or the like.
[0108]
  In the microtraction drive 700 of the present embodiment configured as described above, the output shaft 709 rotates the input shaft 705 based on the relationship between the diameters of the inner ring raceway surface 711a and the outer ring raceway surface 702a, as in the planetary gear device. Thus, the roller 712 revolving around the center axis X is decelerated and rotated at a constant reduction ratio with respect to the rotation of the input shaft 705.
[0109]
  Therefore, like a planetary gear device, a relatively large reduction ratio can be set even with a small size, and it is not necessary to have gear teeth. In addition, since the steel roller 712 is used in place of the gear, the manufacture of each member becomes extremely easy.3The strength is higher than that of the ball 612 of the form, and a sufficient normal force is given by the tightening force of the nut 726, so that a sufficient transmission force at the contact surface can be obtained, and the microtraction drive 700 has a higher transmission torque. It becomes. Also, the transmission torque can be adjusted by adjusting and setting the tightening force of the nut 726.
[0110]
  Further, when the diameters of the inner ring raceway surface 711a and the outer ring raceway surface 702a and the inner ring 706a outer peripheral surface and the outer ring 706b inner peripheral surface of the input shaft support bearing 706 are equal, the cage 713 supports the input shaft. By providing an extending portion that also engages with the roller 706c of the bearing 706, the cage 713 can obtain a rotational force even when the roller 706c revolves in the circumferential direction, and the transmission of the rotational torque to the output shaft 709 is improved. it can.
[0111]
  In addition, the microtraction drive according to any of the above embodiments is provided with a rotational drive source such as a motor in a small-diameter cylindrical main body, such as a small excavator for soil investigation or a turbine rotor center hole replica collection device. If the rotation is transmitted between the rotation drive source and the working part of a small device such as a micro robot that rotates the working part at the tip of the main body, and the rotation is transmitted at a reduced speed, problems in the production of conventional reduction gears and planetary gears, The problem of strength is solved, the restriction on the torque of the working part of a small device such as a micro robot is relaxed, or the risk of breakage is reduced.
[0112]
  Although the present invention has been described with reference to the illustrated embodiment, the present invention is not limited to this embodiment, and it goes without saying that various modifications may be made to the specific structure within the scope of the present invention. Absent.
[0113]
【The invention's effect】
(1) According to the invention of claim 1, the microtraction drive is configured so that the tip of the input shaft rotatably supported by the input shaft support bearing in the casing has the same center axis as the input shaft, and the inside of the casing. The outer end of the outer ring whose rotational direction is fixed with respect to the casing, with the rear end of the output shaft supported rotatably on the output shaft support bearing being spaced apart from each other and being attached to the casing or constituting a part of the casing Between the peripheral surface and the outer peripheral surface of the inner ring attached to the input shaft, the inner ring rotates between the inner peripheral surface of the outer ring and the outer peripheral surface of the inner ring, and revolves around the central axis. Since the plurality of rotating bodies are fitted, the cage provided at the rear end of the output shaft is engaged with the rotating body, and the outer ring is pressed against the plurality of rotating bodies. Output shaft similar to planetary gear unit , Based on the relationship of the diameter of the outer peripheral surface of the inner ring of the outer peripheral surface and the outer ring, the rotating body revolving the central axis by the rotation of the input shaft is rotated by being decelerated at a constant reduction ratio with respect to the rotation of the input shaft. Therefore, even if the size is small, a relatively large reduction ratio can be set, and since the rotating body has a smooth rotating surface, there is no need to have teeth. The above problem does not occur, and the manufacturing becomes extremely easy.
[0114]
  Also,Claim1According to the invention,PreviousThe rotating body is a steel ball, and the outer ring is attached to the casing so as to allow movement within a certain range in the central axis direction, and the outer ring, the steel ball, and the inner ring are attached to the outer ring. The ball is configured to withstand the thrust in the direction opposite to the input shaft, and is loaded with a first spring body that urges the outer ring in the direction opposite to the input shaft between the outer ring and the casing. A thrust in the opposite direction of the input shaft is imposed on the input shaft through an inner ring, and the input shaft support bearing is placed through a bearing ball and a bearing outer ring with respect to the thrust in the direction opposite to the input shaft applied to the inner ring of the bearing. As a radial ball bearingGiven by using the input shaft support bearing The thrust exerts a pressure contact force on the contact surface of the rotating body.Because it was configured as, TimesSince a steel ball is used as a rolling element, the manufacture of each member is extremely easy and the strength is high, and by applying a strong normal force with the loaded first spring body, sufficient contact at the contact surface of the steel ball is obtained. A transmission force is obtained, and the microtraction drive has a high transmission torque. Also, the transmission torque can be adjusted by adjusting and setting the spring force of the first spring body.
[0115]
  (2Claim2According to the invention of claim1The inner ring of the input shaft support bearing is attached so as not to allow movement in the rotational direction relative to the input shaft but to allow movement within a certain range in the central axis direction. Since the second spring body for urging the inner ring of the shaft support bearing in the direction opposite to the input shaft is loaded between the inner ring and the inner ring, in addition to the effect of the invention of claim 1 By providing a stronger normal force with the loaded first spring body and second spring body, a sufficient transmission force at the contact surface of the steel ball can be obtained, and a high transmission torque can be obtained as a microtraction drive. It will be a thing. Further, the transmission torque can be adjusted by adjusting and setting the spring force of the first spring body and the second spring body.
[0116]
  (3Claim3According to the invention of claim1Or claims2The microtraction drive according to claim 1, wherein the cage is configured to be engaged with a bearing ball of the input shaft support bearing.1Or claims2In addition to the effect of the invention, the cage can also obtain a rotational force by the revolution of the bearing ball in the circumferential direction, and the transmission of the rotational torque to the output shaft can be improved.
[0117]
  (4Claim4According to the invention of claim1Or claims3In the microtraction drive according to any one of the above, the inner ring and the outer ring are configured as a steel frustum-shaped roller instead of the steel ball, the input shaft support bearing is replaced with the radial ball bearing, and a frustum-shaped Since it is configured to be a conical roller bearing having a bearing roller of1Or claims3In addition to the effect of any of the inventions described above, the use of a steel frustum-shaped roller has a higher strength than that of a steel ball, and a strong normal force is applied by a loaded spring body. A sufficient transmission force at the contact surface of the trapezoidal roller is obtained, and the microtraction drive has a higher transmission torque.
[0118]
  (5) According to the invention of claim 5,A front end of the input shaft rotatably supported by the input shaft support bearing in the casing, and a rear end of the output shaft rotatably supported by the output shaft support bearing in the casing and having the same center axis as the input shaft. Between the inner peripheral surface of the outer ring attached to the casing or constituting a part of the casing and whose rotational direction is fixed with respect to the casing, and the outer peripheral surface of the inner ring attached to the input shaft. In between, a plurality of rotating bodies that roll between the inner peripheral surface of the outer ring and the outer peripheral surface of the inner ring by the rotation of the inner ring and revolve around the central axis are fitted, and are attached to the rear end of the output shaft. The cage provided is engaged with the rotating body, and the outer ring is pressed against the plurality of rotating bodies.In the microtraction drive, the rotating body is a steel ball, the inner ring is fixed to the input shaft, and the inner ring and the steel ball resist the thrust of the input shaft tip direction imposed on the outer ring. The outer ring engages with a bearing outer ring of the input shaft support bearing, and the bearing inner ring of the input shaft support bearing does not allow movement in the rotational direction with respect to the input shaft and is within a certain range in the central axis direction. The bearing inner ring, the bearing ball, and the bearing outer ring are radial ball bearings that resist the thrust in the tip direction of the input shaft imposed on the bearing inner ring, and a thread portion provided on the input shaft. The nut that is screwed onto the inner ring presses the bearing inner ring toward the input shaft tip.Then, the thrust applied using the input shaft support bearing gives a contact force to the contact surface of the rotating body.Because it was configured as, TimesSince steel balls are used as rolling elements, each member is extremely easy to manufacture and has high strength. By applying a strong normal force with a nut that is screwed into the threaded portion of the input shaft, Sufficient transmission force on the contact surface is obtained, and the microtraction drive has a high transmission torque. Further, the transmission torque can be adjusted by adjusting and setting the pressing force by tightening the nut.
[0119]
  (6Claim6According to the invention of claim5The microtraction drive according to claim 1, wherein the cage is engaged with a bearing ball of the input shaft support bearing.
[0120]
  First6According to the means5In addition to the action of the means, the cage can also obtain a rotational force by the revolution of the bearing ball in the circumferential direction, and the transmission of the rotational torque to the output shaft can be improved.
[0121]
  (7No.7As a means of5Means or number6In the microtraction drive of the above means, instead of the steel balls, the inner ring and the outer ring are configured as steel frustum-shaped rollers, and the input shaft support bearings are replaced with the radial ball bearings. In addition to the effect of the invention of claim 1, since a steel truncated cone roller is used, the strength is higher than that of a steel ball and is provided on the input shaft. By giving a strong normal force with the nut screwed to the threaded part, sufficient transmission force at the contact surface of the steel frustum-shaped roller can be obtained, and it has higher transmission torque as a microtraction drive It becomes.
[0122]
  (8Claim8According to the invention, claims 1 to7In the microtraction drive according to any one of the above, the rotary drive source is provided in a cylindrical main body, and is provided between the rotary drive source and the working unit of a small apparatus that rotates the working unit at the tip of the main body. Since it comprised so that it may become, Claim 1 thru | or Claim7The effect of any of the inventions eliminates the problems of manufacturing reduction gears and planetary gears in conventional small devices such as microrobots and the problem of strength, and restricts the torque of the working part of the small device by microtraction drive. Mitigates or reduces the risk of breakage.
[Brief description of the drawings]
FIG. 1 shows the present invention.The first1Reference exampleIt is a center axis direction sectional view of the microtraction drive concerning.
FIG. 2 shows the present invention.The first2Reference exampleIt is a principal axis direction principal part sectional view of the microtraction drive concerning.
FIG. 3 shows the present invention.The first3Reference exampleIt is a principal axis direction principal part sectional view of the microtraction drive concerning.
FIG. 4 shows the first embodiment of the present invention.1It is a central axis direction sectional view of a microtraction drive concerning a form.
FIG. 5 shows the first embodiment of the present invention.2It is a central axis direction sectional view of a microtraction drive concerning a form.
FIG. 6 shows the first embodiment of the present invention.3It is a micro traction drive central axis direction sectional view concerning a form.
FIG. 7 shows the first embodiment of the present invention.4It is a micro traction drive central axis direction sectional view concerning a form.
[Explanation of symbols]
100, 200, 300, 400, 500, 600, 700
Microtraction drive 101, 201, 301, 401, 501, 601, 701 housing
102, 402, 502, 602, 702 outer ring
102a, 202a, 402a, 502a, 602a, 702a outer ring raceway surface
105, 205, 305, 405, 505, 605, 705 input shaft
106, 206, 306, 406, 506, 606, 706 Input shaft support bearing
109, 209, 309, 409, 509, 609, 709 output shaft
110, 210, 310, 410, 510, 610, 710 output shaft support bearing
111, 211, 311, 411, 511, 611, 711 inner ring
111a, 211a, 311a, 411a, 511a, 611a, 711a inner ring raceway surface
112, 212, 312, 412, 612 balls
113, 213, 313, 413, 513, 613, 713 cage
202
Elastic outer ring
202b
Flange part
214
bolt
215
nut
316
1st tapering
316a
1st taper surface
316b
Screw hole
317
Second tapering
317a
Second taper surface
317b
bolt
318
In-row fitting part
419
1st spring
420
Second spring
512, 712
Kolo
522
Spring
605c, 705c
screw
626, 726
nut

Claims (8)

A front end of the input shaft rotatably supported by the input shaft support bearing in the casing, and a rear end of the output shaft rotatably supported by the output shaft support bearing in the casing and having the same center axis as the input shaft. Between the inner peripheral surface of the outer ring attached to the casing or constituting a part of the casing and whose rotational direction is fixed with respect to the casing, and the outer peripheral surface of the inner ring attached to the input shaft. In between, a plurality of rotating bodies that roll between the inner peripheral surface of the outer ring and the outer peripheral surface of the inner ring by the rotation of the inner ring and revolve around the central axis are fitted, and are attached to the rear end of the output shaft. the provided a retainer engaged with said rotary member, in the outer ring is pressed against the plurality of rotating bodies such luma Lee black traction drive,
The rotating body is a steel ball, and the outer ring is attached to the casing to allow movement within a certain range in the central axis direction, and the outer ring, the steel ball, and the inner ring are connected to the outer ring. The ball is configured to withstand the thrust in the direction opposite to the input shaft, and is loaded with a first spring body that urges the outer ring in the direction opposite to the input shaft between the outer ring and the casing. A thrust in the opposite direction of the input shaft is imposed on the input shaft through an inner ring, and the input shaft support bearing is placed through a bearing ball and a bearing outer ring against the thrust in the direction opposite to the input shaft applied to the inner ring of the bearing. and radial ball bearings to resist and,
A microtraction drive characterized in that a pressing force is applied to a contact surface of the rotating body by the thrust applied using the input shaft support bearing . 2. The microtraction drive according to claim 1 , wherein an inner ring of the input shaft support bearing is attached so as not to allow movement in a rotational direction relative to the input shaft but to allow movement within a certain range in the central axis direction. A microtraction drive comprising: a second spring body for urging the inner ring of the bearing in a direction opposite to the front end of the input shaft between the bearing inner ring of the input shaft support bearing and the inner ring. In the micro traction drive according to claim 1 or claim 2, micro traction drive, characterized by comprising the retainer engaged bearing balls both engagement of the input shaft support bearing. In claim 1 or micro traction drive according to claim 3, instead of the steel balls, constitute the inner and outer rings as steel frustoconical roller, the radial and the input shaft support bearing A microtraction drive characterized by being a conical roller bearing provided with a truncated cone bearing roller instead of a ball bearing. A front end of the input shaft rotatably supported by the input shaft support bearing in the casing, and a rear end of the output shaft rotatably supported by the output shaft support bearing in the casing and having the same center axis as the input shaft. Between the inner peripheral surface of the outer ring attached to the casing or constituting a part of the casing and whose rotational direction is fixed with respect to the casing, and the outer peripheral surface of the inner ring attached to the input shaft. In between, a plurality of rotating bodies that roll between the inner peripheral surface of the outer ring and the outer peripheral surface of the inner ring by the rotation of the inner ring and revolve around the central axis are fitted, and are attached to the rear end of the output shaft. the provided a retainer engaged with said rotary member, in the outer ring is pressed against the plurality of rotating bodies such luma Lee black traction drive,
The rotating body is a steel ball, the inner ring is fixed to the input shaft, and the inner ring and the steel ball are configured to resist thrust in the distal direction of the input shaft imposed on the outer ring. Engages with the bearing outer ring of the input shaft support bearing, and the bearing inner ring of the input shaft support bearing does not allow movement in the rotational direction with respect to the input shaft and allows movement within a certain range in the central axis direction. The bearing inner ring, the bearing ball, and the bearing outer ring are radial ball bearings that resist thrust in the tip direction of the input shaft imposed on the inner ring of the bearing, and are nuts that are screwed into threaded portions provided on the input shaft Is configured to press the bearing inner ring toward the input shaft tip direction ,
A microtraction drive characterized in that a pressing force is applied to a contact surface of the rotating body by the thrust applied using the input shaft support bearing . 6. The microtraction drive according to claim 5 , wherein the cage is engaged with a bearing ball of the input shaft support bearing. The microtraction drive according to claim 5 or 6 , wherein the inner ring and the outer ring are configured as a steel truncated cone roller instead of the steel ball, and the input shaft support bearing is used as the radial ball bearing. Instead, a microtraction drive characterized in that it is a conical roller bearing with a truncated cone bearing roller. The microtraction drive according to any one of claims 1 to 7 , wherein the rotation drive source and the working unit of a small apparatus that includes a rotation drive source in a cylindrical main body and rotationally drives a working unit at the tip of the main body. A microtraction drive characterized by being provided between the two.

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