CN105650249A - Friction reducer - Google Patents

Friction reducer Download PDF

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Publication number
CN105650249A
CN105650249A CN201510784450.9A CN201510784450A CN105650249A CN 105650249 A CN105650249 A CN 105650249A CN 201510784450 A CN201510784450 A CN 201510784450A CN 105650249 A CN105650249 A CN 105650249A
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CN
China
Prior art keywords
deceleration device
planet carrier
rotation
plane
friction eceleration
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Granted
Application number
CN201510784450.9A
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Chinese (zh)
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CN105650249B (en
Inventor
冈村晖久夫
井上仁
出口德生
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Nidec Shimpo Corp
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Nidec Shimpo Corp
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Publication of CN105650249A publication Critical patent/CN105650249A/en
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Publication of CN105650249B publication Critical patent/CN105650249B/en
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/028—Gearboxes; Mounting gearing therein characterised by means for reducing vibration or noise
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H2057/02086—Measures for reducing size of gearbox, e.g. for creating a more compact transmission casing

Abstract

The invention relates to a friction reducer. The friction reducer comprises a barrel-shaped housing, more than two speed reducing devices, an input shaft, an output shaft and a pressure device. Each speed reducing device is provided with a sun rotation body, more than two planet rotation bodies and a planet frame. The sun rotation body of the first stage speed reducing device is connected with the input shaft. The sun rotation body of the nth stage speed reducing device is connected with the planet frame of the (n-1)th speed reducing device, wherein n is an integer larger than 2. The planet frame of the end stage speed reducing device is directly or indirectly connected with the output shaft. The rotation surface of each sun rotation body is formed by a circular conical surface whose outer diameter gradually reduces towards the output side. The angle formed between the generatrix of the rotation surface of the nth stage speed reducing device and the center axis is smaller than the angle formed between the e generatrix of the rotation surface of the (n-1)th stage speed reducing device and the center axis.

Description

Friction eceleration machine
Technical field
The present invention relates to the friction eceleration machine of a kind of deceleration device being arranged with two or more in the shell of tubular.
Background technology
Have the rotation of miniature motor must be exported the angular velocity range being decelerated to expectation and the position transmitting power at mechanisms such as precision equipment, office automation peripheral equipments. Such as, in order to utilize the electronic motor of small-sized and light weight, in the device of driven for opening and closing window shutter or curtain, use multi-stage type step-down gear. Such as multi-stage speed-reducing machine disclosed in Japanese Unexamined Patent Publication 2000-65165 publication is the step-down gear being arranged with multiple deceleration device in the shell of tubular, makes the revolving force of electronic motor slow down and export.
The planetary gear speed-reduction machine that Japanese Unexamined Patent Publication 2000-65165 publication is recorded is the step-down gear being accommodated in case body 1 by three-stage planetary gear unit P1-P3. Planetary gear unit P1-P3 is made up of sun wheel 9, sun and planet gear 5 and planet carrier 4, and is arranged in row in coaxial. The internal tooth that inner peripheral surface at case body 1 is formed with three-stage planetary gear unit P1-P3 shares.
In above-mentioned such conventional multi-stage speed-reducing machine, although transmitting torque have bigger difference in the output shaft side of high speed rotating and the output shaft side of low speed rotation, but deceleration device at different levels is made up of the gear of same shape and identical size. Due to the torque transmitted by deceleration device more rearward level become more big, damaged in order to prevent the deceleration device of outgoing side from occurring, it is necessary to by the torque of output shaft restriction input. Therefore, in conventional multi-stage speed-reducing machine, output shaft can not be carried big torque.
Summary of the invention
In view of above-mentioned situation, it is an object of the invention to provide a kind of friction eceleration machine that output shaft can be applied big torque.
In an exemplary enforcement mode of the application, friction eceleration machine comprises: the shell of tubular, the center Axis Extension that the shell of described tubular extends along the vertical direction; The deceleration device of two or more, described deceleration device arranges in the enclosure vertically; Input shaft and output shaft, described input shaft and described output shaft rotate centered by the axis of center; And pressurizing device, deceleration device is pressurizeed in the axial direction by described pressurizing device relative to shell. Deceleration device has: sun rotator, and described sun rotator rotates centered by the axis of center;The planetary rotation body of two or more, described planetary rotation body is configured in the radial outside of sun rotator, and contacts with the plane of rotation of sun rotator and the inner peripheral surface of shell; And planet carrier, described planet carrier by the supporting of planetary rotation body for rotating while can rotating and centered by the axis of center. The sun rotator of first step deceleration device is connected with input shaft directly or indirectly. The sun rotator of n-th grade of deceleration device (n is the integer of more than 2) is connected with the planet carrier of (n-1) level deceleration device. The planet carrier of final speed reducing device is connected with output shaft directly or indirectly. The plane of rotation of sun rotator is by external diameter along with the cone surface diminished to outgoing side is formed, and the bus of the plane of rotation of n-th grade of deceleration device is less relative to center axis angulation than the bus of the plane of rotation of (n-1) level deceleration device relative to center axis angulation.
The width of the generatrix direction of the plane of rotation contacted with sun rotator in the planetary rotation body of n-th grade of deceleration device is bigger than the width of the generatrix direction of the plane of rotation contacted with sun rotator in the planetary rotation body of (n-1) level deceleration device.
At least the planetary rotation body of deceleration device beyond final stage has the outgoing side plane of rotation that the plane of rotation with sun rotator contacts and the input side plane of rotation contacted with the inner peripheral surface of shell, outgoing side plane of rotation by external diameter along with the cone surface diminished to outgoing side is formed, input side plane of rotation by external diameter along with the cone surface diminished to input side is formed.
Deceleration device has the planet carrier pin of two or more, the end of the outgoing side of planet carrier pin is configured in planet carrier, the through planetary rotation body in the end of the input side of planet carrier pin, planet carrier pin configures relative to center axis with tilting, and any one or both center axis with planet carrier pin in planet rotator intersect with applying from shell in the line of action of the vertical resistibility of input side plane of rotation to apply the line of action of vertical resistibility in outgoing side plane of rotation from sun rotator.
Apply to apply to submit fork in the line of action of the vertical resistibility of input side plane of rotation at the center axis of planet carrier pin in the line of action of the vertical resistibility of outgoing side plane of rotation with from shell from sun rotator.
Deceleration device has the planet carrier pin of two or more, the end of the outgoing side of planet carrier pin is configured in planet carrier, and the through planetary rotation body in the end of input side, planet carrier pin configures relative to center axis with tilting, and the planet carrier pin of n-th grade of deceleration device is less relative to center axis angulation than the planet braces pin of (n-1) level deceleration device relative to center axis angulation.
The end winding support of the outgoing side of planet carrier pin is in planet carrier, and planetary rotation body rotates centered by planet carrier pin.
Shell has inner peripheral surface, and described inner peripheral surface contacts with the plane of rotation of the planetary rotation body of the deceleration device of final stage, and by internal diameter along with the cone surface diminished to outgoing side is formed.
Pressurizing device is made up of plane cam, and plane cam transmits torque and produces corresponding to the load in the central axial direction transmitting torque.
Input side cam ring in pressurizing device is connected with the planet carrier of final speed reducing device, and outgoing side cam ring is connected with output shaft.
Pressurizing device is made up of elastomerics, and elastomerics produces corresponding to the reactive force in the central axial direction of distortion amount.
Friction eceleration facility have stator to be fixed on shell directly or indirectly, and the electronic motor that rotor is connected with input shaft, rotor makes axial central part be in staggered configuration to the side contrary with deceleration device in the axial direction relative to the central part of the axis of stator, pressurizing device is made up of electronic motor, and electronic motor produces corresponding to the magnetic biasing pressure in the central axial direction of the position in the central axial direction of rotor.
Friction eceleration facility have ring-type parts, described ring-type parts have inner peripheral surface, described inner peripheral surface contacts with the plane of rotation of the planetary rotation body of the deceleration device of final stage, and by internal diameter along with the cone surface diminished to outgoing side is formed, pressurizing device is formed by the force application part that ring-type parts exert a force to the input side in central axial direction.
Exemplary one according to the application implements mode, the sun rotator of deceleration device by the external diameter of plane of rotation along with the cone surface diminished to outgoing side is formed. Therefore, by deceleration device being pressurizeed in central axial direction by pressurizing device, it is possible to the bus corresponding to plane of rotation is applied in planetary rotation body relative to the vertical resistibility of center axis angulation. Further, the angle of the described formation of n-th grade of deceleration device is less than the angle of the described formation of (n-1) level deceleration device. Therefore, sun rotator applies bigger vertical resistibility by planetary rotation body, and n-th grade of deceleration device can transmit the torque bigger than (n-1) level deceleration device.
Exemplary one according to the application implements mode, owing to the torque that level step-down gear transmits more rearward of friction eceleration machine is more big, therefore, it is possible to make output shaft carry big torque.
With reference to accompanying drawing and by the following detailed description to preferred implementation, the present invention above-mentioned and other key element, feature, step, feature and advantage will become apparent.
Accompanying drawing explanation
Fig. 1 is the sectional view of the friction eceleration machine 1 involved by the first preferred implementation.
Fig. 2 illustrates n-th grade of deceleration device DnAnd (n-1) level deceleration device DN-1Figure.
Fig. 3 illustrates K level deceleration device DkThe figure of planetary rotation body 32.
Fig. 4 is the sectional view of the friction eceleration machine 1 involved by the 2nd preferred implementation.
Fig. 5 is the sectional view of the friction eceleration machine 1 involved by the 3rd preferred implementation.
Fig. 6 is the sectional view of the friction eceleration machine 1 involved by the 4th preferred implementation.
Fig. 7 is the sectional view of the friction eceleration machine 1 involved by the 5th preferred implementation.
Fig. 8 is the sectional view of the friction eceleration machine 1 involved by the 6th preferred implementation.
Embodiment
Referring to accompanying drawing, an exemplary enforcement mode of the present invention is described. In this manual, in order to convenient, using central axial direction as upper and lower to being described, but friction eceleration machine involved in the present invention posture in use is not limited. Further, in this manual, by central axial direction referred to as " axis ", by the radial direction centered by the axis of center and circumference referred to as " radial direction " and " circumference ".
<the first preferred implementation>
Fig. 1 is the sectional view of the structure example illustrating the friction eceleration machine 1 involved by one embodiment of the present invention, has illustrated by the plane cutting comprising center axis J cross section when friction eceleration machine 1. In the figure, using the upside of paper as outgoing side, friction eceleration machine 1 is described as input side in downside. Deceleration device 3, pressurizing device 6, thrust block 7, ring-type parts 8, bearing 9 and 10 is intactly being described than the keep left position of side of the center axis J of Fig. 1.
Friction eceleration machine 1 is the step-down gear of the multi-stage type rotary motion obtained from electronic motor (omitting diagram) slowed down and export, and friction eceleration machine 1 has shell 2, the deceleration device 3 of two or more, the input shaft 4 rotated centered by the axis J of center and output shaft 5, pressurizing device 6, thrust block 7, ring-type parts 8 and bearing 9,10.
Center axis J is the rotation center axis of deceleration device 3, input shaft 4 and output shaft 5, represents by the straight line extended along the vertical direction. Each deceleration device 3 is the deceleration device utilizing frictional force to transmit torque, and arranges vertically in shell 2. That is, friction eceleration machine 1 has the deceleration device 3 of the two or more arranged vertically in shell 2.Such as, if M is the integer of more than three, friction eceleration machine 1 is by M level deceleration device D1-DmForm.
<shell 2>
Shell 2 is the machine shell of the centrally tubular that axis J extends. Such as, shell 2 is the parts having lid drum, and has cylindrical portion 21, ceiling plate portion 22 and base plate 23. The inner peripheral surface 211 of cylindrical portion 21 is made up of the barrel surface of axis centered by the axis J of center.
Ceiling plate portion 22 is the plate member of the toroidal surrounding output shaft 5, and extends from the end of the outgoing side of cylindrical portion 21 to radially inner side. Radially inner side at the inner peripheral surface 221 of ceiling plate portion 22 is configured with bearing 10.
Base plate 23 is the plate member of the toroidal surrounding input shaft 4, and is configured in the end of the input side of cylindrical portion 21. Periphery in base plate 23 is formed with screw thread tooth. Being screwed togather by the inner peripheral surface of the periphery of base plate 23 and cylindrical portion 21, base plate 23 is fixed on cylindrical portion 21. Radially inner side at the inner peripheral surface 231 of base plate 23 is configured with bearing 9.
<input shaft 4 output shaft 5>
Input shaft 4 is the driving sidespin rotating shaft of rotor or the axle being connected to electronic motor directly or indirectly. Such as, input shaft 4 is fixed on the axle of electronic motor. Or input shaft 4 is connected to the axle of electronic motor by power transmissions such as gears. Output shaft 5 is the load side turning axle being connected to load. Input shaft 4 is relative to output shaft 5 high speed rotating relatively. Input shaft 4 and output shaft 5 rotate respectively centered by the axis J of center.
Bearing 9 is that input shaft 4 supports the input side bearing for rotating relative to base plate 23. Bearing 10 is that output shaft 5 supports the outgoing side bearing for rotating relative to ceiling plate portion 22. Such as, bearing 9,10 is all ball bearing. Bearing 9 is fixed on base plate 23 by being embedded into inner peripheral surface 231 from outgoing side. Bearing 10 is fixed on ceiling plate portion 22 by being embedded into inner peripheral surface 221 from input side.
<deceleration device 3>
Deceleration device 3 has the planet carrier pin 34 of the planetary rotation body 32 of the sun rotator 31 rotated centered by the axis J of center, the radial outside being configured in sun rotator and the two or more that contacts with the plane of rotation of sun rotator 31 and the inner peripheral surface 211 of shell 2, planet carrier 33 and two or more. Such as, three planetary rotation bodies 32 are circumferentially same by what be configured at substantially equal intervals centered by the axis J of center.
<sun rotator 31>
Sun rotator 31 is the turning unit having the periphery to tilt relative to center axis J as plane of rotation. The plane of rotation of sun rotator 31 is that external diameter is along with the cone surface diminished to outgoing side from input side. Sun rotator 31 is made up of the parts of the circular cone shape centered by the axis J of center. The plane of rotation of sun rotator 31 and cone surface Shi center axis J have a part for the side of the straight circular cone on summit.
<planetary rotation body 32>
Planetary rotation body 32 is turning unit, and have as plane of rotation to the periphery tilted relative to the rotation center axis of planet carrier 33. Planetary rotation body 32 is configured in the radial outside of sun rotator 31. The frictional force of planetary rotation body 32 by applying from sun rotator 31, relative to planet carrier 33 rotation. Planetary rotation body 32, by the frictional force applied from the cylindrical portion 21 of shell 2, revolves round the sun around sun rotator 31 centered by the axis J of center.
<planet carrier 33>
Planetary rotation body 32 is supported as rotating and rotate centered by the axis J of center by planet carrier 33.Planetary rotation body 32 is supported as rotating by planet carrier 33 centered by the rotation center axis tilted relative to center axis.
Planet carrier pin 34 is bar-like member. The through planetary rotation body 32 in the end of the input side of planet carrier pin 34. The end of the outgoing side of planet carrier pin 34 is configured in planet carrier 33. That is, deceleration device 3 has the planet carrier pin of two or more, and the end of the outgoing side of planet carrier pin is configured in planet carrier 33, the through planetary rotation body 32 in the end of the input side of planet carrier pin. Each planetary rotation body 32 is supported as rotating by planet carrier 33 by planet carrier pin 34.
The end winding support of the outgoing side of planet carrier pin 34 is in planet carrier 33. Planetary rotation body 32 rotates centered by planet carrier pin 34. According to this structure, compared with the situation that planet carrier pin 34 is fixed on planetary rotation body 32, it is possible to prevent from planet carrier pin 34 and planet carrier 33 are applied unnecessary load, thus reduce transmission loss. In planet rotator 32, relative to the rotation center axis of planet carrier 33 and the central shaft line overlap of planet carrier pin 34. Such as, between the inner peripheral surface and planet carrier pin 34 of planet rotator 32, it is configured with sliding surface bearing, needle bearing or linear bearings.
First step deceleration device D1Sun rotator 31 be connected to input shaft 4 directly or indirectly. Such as deceleration device D1Sun rotator 31 be fixed on input shaft 4. Final speed reducing device DmPlanet carrier 33 be connected to output shaft 5 directly or indirectly. Such as, deceleration device DmPlanet carrier 33 be connected with output shaft 5 by pressurizing device 6.
Any integer that n is set to more than 2 below M, n-th grade of deceleration device DnSun rotator 31 and (n-1) level deceleration device Dn-1Planet carrier 33 connect. Such as, deceleration device DnSun rotator 31 and deceleration device Dn-1Planet carrier 33 form. Deceleration device D1-DmThe parts being all made of metal are formed. It is filled with lubricant in shell 2. Lubricant such as can produce the frictional force for transmitting torque between rotator, and can prevent the abrasion of each parts, and can cool each parts.
<pressurizing device 6>
Pressurizing device 6 is the pressure applying means pressurizeed by deceleration device 3 in the axial direction relative to shell 2. Pressurizing device 6 is made up of plane cam, and plane cam transmits torque and produces the load corresponding to the axis J direction, center transmitting torque. According to this structure, by producing the stress corresponding to the axis J direction, center transmitting torque, it is possible to each deceleration device 3 is pressurizeed on axis J direction, center. Such as, pressurizing device 6 has input side cam ring 61, outgoing side cam ring 63 and multiple spherical rotator 62. Input side cam ring 61 and outgoing side cam ring 63 surround output shaft 5 respectively. Rotator 62 is configured between input side cam ring 61 and outgoing side cam ring 63.
Input side cam ring 61 is ring-type parts, and has banded side, and the side of described band shape has axial concavo-convex along the circumference centered by the axis J of center. Input side cam ring 61 and final speed reducing device DmPlanet carrier 33 connect. Outgoing side cam ring 63 is ring-type parts, and has banded side, the side of described band shape centrally circumference centered by axis J have axial concavo-convex. Outgoing side cam ring 63 is connected with output shaft 5. That is, in pressurizing device 6, input side cam ring 61 and final speed reducing device DmPlanet carrier 33 connect, outgoing side cam ring 63 is connected with output shaft 5.According to this structure, it is possible to utilize the bigger transmission torque of outgoing side to be pressurizeed by deceleration device 3. Input side cam ring 61 and outgoing side cam ring 63 make banded side mutually opposing and configure.
By deceleration device DmPlanet carrier 33 a part embedding input side cam ring 61 inner peripheral surface, input side cam ring 61 is fixed on planet carrier 33. Deceleration device DmPlanet carrier 33 can rotate relative to output shaft 5 and can move vertically.
It is fixed with spline pin 64 at output shaft 5. The terminal part of spline pin 64 is given prominence to from the periphery of output shaft 5. Inner peripheral surface at outgoing side cam ring 63 is formed with the cotter way 65 extended vertically. Spline pin 64 is accommodated in cotter way 65. Limit outgoing side cam ring 63 by spline pin 64 to rotate relative to output shaft 5. Being contacted with the inner ring of bearing 10 by the outgoing side side of outgoing side cam ring 63, restriction outgoing side cam ring 63 moves vertically relative to shell 2.
If from deceleration device DmPlanet carrier 33 input side cam ring 61 is applied torque, then rotator 62 is applied the vertical resistibility in the direction relative to peripheral, oblique by input side cam ring 61. Outgoing side cam ring 63 rotates by being applied in the circumferential component of the load from rotator 62. Pressurizing device 6 by the axial component of described vertical resistibility by deceleration device DmPlanet carrier 33 to axial input side pressing.
It is inside towards footpath that the cylindrical portion 21 of shell 2 applies the vertical resistibility in planetary rotation body 32, and does not have axial component. Therefore, applied in deceleration device D by pressurizing device 6mThe thrust load F of planet carrier 33 also apply in other deceleration device D evenly1-Dm-1Planet carrier 33.
<thrust block 7>
Thrust block 7 is the bearing of the thrust load F supporting pressurizing device 6 relative to shell 2. Thrust block 7 is by first step deceleration device D1Sun rotator 31 support for can rotate relative to base plate 23. Such as, thrust block 7 has the track plate of the ring-type surrounding input shaft 4, the multiple spherical rotator being configured between track plate and keeps the maintenance parts of rotator. In this embodiment, ring-type parts 8 are pads, and are configured between thrust block 7 and base plate 23.
Fig. 2 is the explanation figure of the part amplifying the friction eceleration machine 1 illustrating Fig. 1, illustrates n-th grade of deceleration device DnWith (n-1) level deceleration device Dn-1. In the figure, so that the state that center axis J swings to level describes deceleration device DnAnd Dn-1��
N-th grade of deceleration device DnThe bus of plane of rotation 311 relative to center axis J angulation ��nThan (n-1) level deceleration device Dn-1The bus of plane of rotation 311 relative to center axis J angulation ��n-1Little. That is, deceleration device DnThe bus of plane of rotation 311 of sun rotator 31 relative to center axis J angulation ��nWith deceleration device ��n-1The bus of plane of rotation 311 of sun rotator 31 relative to center axis J angulation ��n-1Meet ��n<��n-1Relation. The plane of rotation 311 of the sun rotator 31 of deceleration device 3 by external diameter along with the cone surface diminished to outgoing side is formed. Therefore, deceleration device 3 is pressurizeed on axis J direction, center by pressurizing device 6, it is possible to the bus corresponding to plane of rotation 311 is applied in planetary rotation body 32 relative to the vertical resistibility of center axis J angulation. N-th grade of deceleration device DnThe bus of plane of rotation 311 relative to center axis J angulation ��nThan (n-1) level deceleration device Dn-1The bus of plane of rotation 311 relative to center axis angulation ��n-1Little.Therefore, n-th grade of deceleration device DnBy sun rotator 31, planetary rotation body 32 applied bigger vertical resistibility, n-th grade of deceleration device DnCan than (n-1) level deceleration device Dn-1Transmit big torque. According to said structure, compared with gear reduction unit, it is possible to reduce due to deceleration device DnBack of the body gap and the vibration that causes and noise.
Owing to the inner peripheral surface 211 of shell 2 is the barrel surface extended vertically, therefore setting k as any integer of more than 1 below M, planetary rotation body 32 is relative to the rotation center axis J of planet carrier 33KTilt relative to center axis J. That is, planet carrier pin 34 tilts relative to center axis J and configures.
N-th grade of deceleration device DnPlanet carrier pin 34 relative to center axis J angulationThan (n-1) level deceleration device Dn-1Planet carrier pin 34 relative to center axis J angulationLittle. That is, deceleration device DnThe rotation center axis J of planetary rotation body 32nRelative to center axis J angulationWith deceleration device Dn-1The rotation center axis J of planetary rotation body 32n-1Relative to center axis J angulationMeet Relation. By such formation, as described later, it is possible to be easy to control deceleration device D1-DmOuter diameter shape.
Planetary rotation body 32 has the outgoing side plane of rotation 322 that the plane of rotation 311 with sun rotator 31 contacts and the input side plane of rotation 321 contacted with the inner peripheral surface 211 of shell 2. Outgoing side plane of rotation 322 by external diameter along with the cone surface diminished to outgoing side is formed. Input side plane of rotation 321 by external diameter along with the cone surface diminished to input side is formed. That is, at least the planetary rotation body 32 of deceleration device 3 beyond final stage has the outgoing side plane of rotation 322 that the plane of rotation 311 with sun rotator 31 contacts and the input side plane of rotation 321 contacted with the inner peripheral surface 211 of shell 2. Outgoing side plane of rotation 322 by external diameter along with the cone surface diminished to outgoing side is formed. Input side plane of rotation 321 by external diameter along with the cone surface diminished to input side is formed. According to this structure, it is possible to do not make the complex structure of shell 2, in shell 2, configure multiple-stage reduction unit 3.
Input side plane of rotation 321 and outgoing side plane of rotation 322 are all parts for the side of straight circular cone. The summit of this straight circular cone is positioned at planetary rotation body 32 relative on the rotation center axis of planet carrier 33. Planetary rotation body 32 makes the bottom surface of the bottom surface of the cone surface of formation input side plane of rotation 321 and the cone surface of formation outgoing side plane of rotation 322 to putting, in the shape making two circular cone integrations.
At n-th grade of deceleration device DnPlanetary rotation body 32 in the width TR of outgoing side plane of rotation 322 that contacts with sun rotator 31nThan (n-1) level deceleration device Dn-1Planetary rotation body 32 in the width TR of outgoing side plane of rotation 322 that contacts with sun rotator 31n-1Greatly. That is, deceleration device DnThe outgoing side plane of rotation 322 of planetary rotation body 32 and deceleration device Dn-1The outgoing side plane of rotation 322 of planetary rotation body 32 meet TRn>TRn-1Relation. The width TR of outgoing side plane of rotation 322nIt is the length of the generatrix direction of cone surface. That is, at n-th grade of deceleration device DnPlanetary rotation body 32 in, the width TR of the generatrix direction of the plane of rotation 322 contacted with sun rotator 31nThan (n-1) level deceleration device Dn-1Planetary rotation body 32 in the width TR of the generatrix direction of plane of rotation 322 that contacts with sun rotator 31n-1Greatly. According to this structure, transmitting torque more big, the width of the plane of rotation 322 of planetary rotation body 32 from input side to outgoing side is more big.Therefore, in each deceleration device 3, it is possible to the contact surface pressure between sun rotator 31 and planetary rotation body 32 is remained constant.
With the width TF of the outgoing side plane of rotation 321 that the inner peripheral surface 211 of shell 2 contactsnAlso with the width TR of outgoing side plane of rotation 322nSituation identical. That is, deceleration device DnThe width TF of input side plane of rotation 321 of planetary rotation body 32nWith deceleration device Dn-1The width TF of input side plane of rotation 321 of planetary rotation body 32n-1Meet TFn>TFn-1Relation. The width TF of input side plane of rotation 321nIt is the length of the generatrix direction of cone surface. The width TF of input side plane of rotation 321kThe width TR of specific output side plane of rotation 322kLittle.
Fig. 3 is the explanation figure of the part amplifying the friction eceleration machine 1 illustrating Fig. 1, illustrates kth level deceleration device DkPlanetary rotation body 32. In the drawings, the state description deceleration device D of level is swung to center axis Jk��
Due to the thrust load F and deceleration device D of pressurizing device 61�CDmShare, therefore from sun rotator 31 to kth level deceleration device DkPlanetary rotation body 32 apply corresponding to angle, ��kVertical resistibility QK. N-th grade of deceleration device DmAngle, ��nThan (n-1) level deceleration device Dn-1Angle, ��n-1Little. Therefore, to deceleration device DnPlanetary rotation body 32 apply than deceleration device Dn-1Big vertical resistibility Qn��
To kth level deceleration device DKPlanetary rotation body 32 apply vertical resistibility QkWith vertical resistibility PK. Vertical resistibility QkIt is the normal power applied to the outgoing side plane of rotation 322 of planetary rotation body 32 from sun rotator 31. Vertical resistibility PKIt is the normal power input side plane of rotation 321 of planetary rotation body 32 applied from the cylindrical portion 21 of shell 2.
Planet carrier pin 34 configures relative to center axis J with tilting. The vertical resistibility Q in outgoing side plane of rotation 322 is applied from sun rotator 31kLine of action apply the vertical resistibility P in input side plane of rotation 321 with from shell 2KLine of action in any one or both center axis with planet carrier pin 34 in planet rotator 32 intersect. Preferably apply the vertical resistibility Q in outgoing side plane of rotation 322 from sun rotator 31 furtherkLine of action apply the vertical resistibility P in input side plane of rotation 321 with from shell 2KLine of action at the center axis J of planet carrier pin 34KUpper intersection. According to this structure, owing to the moment caused by the vertical resistibility being applied to planetary rotation body 32 offsets, therefore, it is possible to prevent the parts to supporting planetary rotator 32 from applying unnecessary load, thus reduce transmission loss.
The each parts forming the friction eceleration machine 1 involved by present embodiment are described above. Hereinafter, the mutual relation of these parts and the action effect that produced by these parts are described in detail.
(1) load torque is increased
In the friction eceleration machine 1 involved by present embodiment, the plane of rotation 311 of sun rotator 31 by external diameter along with the cone surface diminished to outgoing side is formed. Therefore, by by pressurizing device 6 in the axial direction to deceleration device DKPressurization, it is possible to planetary rotation body 32 is applied the bus corresponding to plane of rotation 311 relative to center axis J angulation ��kVertical resistibility QK��
N-th grade of deceleration device DnAngle, ��nThan (n-1) level deceleration device Dn-1Angle, ��n-1Little. Therefore, apply the vertical resistibility Q bigger than planetary rotation body 32 by sun rotator 31n, n-th grade of deceleration device DnCan transmit than (n-1) level deceleration device Dn-1Big torque.Therefore, the torque that friction eceleration machine 1 can be big to output shaft 5 load.
(2) noise and vibration is reduced
In friction eceleration machine 1, each deceleration device 3 utilizes frictional force to transmit torque. Therefore, compared with gear reduction unit, it is possible to reduce the vibration and noise that cause by the back of the body gap of friction eceleration machine 1.
In friction eceleration machine 1, planetary rotation body 32 rotates centered by planet carrier pin 34. Therefore, in friction eceleration machine 1, compared with mechanical reduction gear, it is possible to suppress rocking and vibrating of planetary rotation body 32.
(3) pressurize corresponding to load torque
In friction eceleration machine 1, pressurizing device 6 is made up of plane cam, and plane cam produces corresponding to the load F axially transmitting torque. Therefore, friction eceleration machine 1 can utilize the big transmission torque of outgoing side to deceleration device D1-DmPressurization.
(4) weather resistance is improved
In friction eceleration machine 1, transmit torque more big from input side to outgoing side, the width TR of the outgoing side plane of rotation 322 of planetary rotation body 32kMore big. Therefore, the contact surface pressure between sun rotator 31 and planetary rotation body 32 can be remained constant by friction eceleration machine 1 in each deceleration device 3. Accordingly, it may be possible to the deceleration device 3 preventing outgoing side reduces the life-span due to abrasion, it is possible to improve the weather resistance of friction eceleration machine 1.
(5) shell is simplified
In friction eceleration machine 1, the inner peripheral surface 211 of shell 2 is made up of barrel surface. Planetary rotation body 32 is by relative to rotation center axis JkThe input side plane of rotation 321 and the outgoing side plane of rotation 322 that tilt are formed. Therefore, in friction eceleration machine 1, it is possible to do not make the structure of shell 2 become complicated, and configure multiple-stage reduction unit 3 in shell 2.
(6) transmission loss is reduced
In friction eceleration machine 1, vertical resistibility PkLine of action and vertical resistibility QkLine of action at rotation center axis JkUpper intersection. Therefore, apply the vertical resistibility P in planetary rotation body 32k��QkMoment offset. Therefore, in friction eceleration machine 1, it is possible to prevent the parts to supporting planetary rotator 32 from applying unnecessary load, thus reduce transmission loss.
In friction eceleration 1, planetary rotation body 32 rotates centered by planet carrier pin 34. Therefore, in friction eceleration machine 1, compared with the situation that planet carrier pin 34 is fixed on planetary rotation body 32, it is possible to prevent from planet carrier pin 34 and planet carrier 33 are applied unnecessary load, thus reduce transmission loss.
(7) friction eceleration machine 1 miniaturization is made
In friction eceleration machine 1, even if the size of the deceleration device of outgoing side 3 is identical with the size of the deceleration device 3 of input side, the deceleration device 3 of outgoing side also can transmit big torque. Accordingly, it may be possible to make friction eceleration machine 1 miniaturization.
In friction eceleration machine 1, the width TF of input side plane of rotation 321kThe width TR of specific output side plane of rotation 322kLittle. With input side plane of rotation 321 compared with sun rotator 31 contact range, the scope that input side plane of rotation 321 contacts with the inner peripheral surface 211 of shell 2 is bigger in the circumferential. Therefore, though axial width TFkSpecific output side plane of rotation 322 is little, and the contact surface pressure of the part that the contact surface pressure of the part that input side plane of rotation 321 contacts with inner peripheral surface 211 also can contact with plane of rotation 311 with outgoing side plane of rotation 322 is identical. Therefore, in friction eceleration machine 1, it is possible to make the axial compact in size of planetary rotation body 32.
In addition, the configuration of pressurizing device 6 is not limited to above-mentioned configuration. Such as, pressurizing device 6 can also be configured in input side.
<the 2nd preferred implementation>
In the first preferred embodiment, deceleration device D1�CDMThe parts being all made of metal are formed. On the other hand, in the 2nd preferred implementation, if s is more than 1 (M-1) integer below, until the deceleration device D of s levelsThe situation that planetary rotation body 32 is made up of engineering plastics is described.
Fig. 4 is the sectional view of a structure example of the friction eceleration machine 1 illustrating the 2nd preferred implementation, has illustrated by the plane cutting comprising center axis J cross section when friction eceleration machine 1. Friction eceleration machine 1 in 2nd preferred implementation is compared with the friction eceleration machine 1 in the enforcement mode 1 described in Fig. 1, and difference is: be provided with dividing plate 11 in shell 2, first step deceleration device D1Planetary rotation body 32 be made up of engineering plastics.
Engineering plastics are superior in physical strength, and enhance the resin of the specific function such as thermotolerance, wearability. Engineering plastics and metallographic phase ratio, frictional coefficient is bigger. Therefore, even if not having lubricant, the planetary rotation body 32 being made up of engineering plastics also can transmit big torque. Deceleration device D after the second stage2�CDMThe parts that are made of metal of planetary rotation body 32 form.
Dividing plate 11 is the partition member in the space in segmentation shell 2. Dividing plate 11 is made up of O 111, side plate 112 and oil sealing 113. Dividing plate 11 is configured in deceleration device D1With deceleration device D2Between. Dividing plate 11 suppresses lubricant to move to preceding-stage side. In more detail, dividing plate 11 prevents the lubricant being filled in shell 2 to deceleration device D1Side is moved.
Side plate 112 is the parts of ring-type, extends from the inner peripheral surface 211 of cylindrical portion 21 to radially inner side. O 111 is sealing element, and is configured between the periphery of inner peripheral surface 211 and side plate 112. Oil sealing 113 is sealing element, and is configured between the periphery of connection section 35 and the inner peripheral surface of side plate 112. Connection section 35 cylindrically, and by deceleration device D2Sun rotator 31 and deceleration device D1Planet carrier 33 connect.
In the friction eceleration machine 1 of the 2nd preferred implementation, first step deceleration device D1Do not need lubricant. Therefore, owing to friction eceleration machine 1 can make vertical resistibility Q diminish relative to identical load torque, therefore rotate resistibility and diminish, it is possible to reduce transmission loss.
<the 3rd preferred implementation>
First and the 2nd in preferred implementation, the internal diameter of shell 2 is constant in the axial direction. On the other hand, in the 3rd preferred implementation, in the shell 2 of axially midway change, it is configured with the deceleration device 3 of two or more at internal diameter.
Fig. 5 is the sectional view of the structure example illustrating the friction eceleration machine 1 involved by the 3rd preferred implementation, has illustrated by the plane cutting comprising center axis J cross section when friction eceleration machine 1. Friction eceleration machine 1 is compared with the friction eceleration machine 1 of the first preferred implementation, and difference is: the internal diameter of the cylindrical portion 21 of shell 2 is at second stage deceleration device D2With first step deceleration device D1Between less.
The cylindrical portion 21 of shell 2 is made up of the mutually different large-diameter portion 213 of internal diameter and minor diameter part 212. The internal diameter of large-diameter portion 213 is bigger than the internal diameter of minor diameter part 212. Deceleration device D1It is configured in the radially inner side of minor diameter part 212. Deceleration device D after the second stage2�CDmThe radially inner side and the size that are configured in large-diameter portion 213 are maximized.
In the friction eceleration machine 1 involved by the 3rd preferred implementation, with the use of the shell 2 that internal diameter has changed, it is possible to make the deceleration device 3 of rear class maximize.As long as just can transmit bigger torque owing to expanding the size of deceleration device 3, therefore friction eceleration machine 1 can carry bigger torque by output shaft 5.
In the first to the 3rd preferred implementation, relative to shell 2, the pressurizing device that deceleration device 3 pressurizes is made up of plane cam in the axial direction. On the other hand, in the 4th and the 5th preferred implementation, deceleration device 3 utilizes the reactive force of elastomerics by axially pressurizeing. In the 6th preferred implementation, deceleration device 3 utilizes the magnetic biasing pressure of electronic motor by axially pressurizeing.
<the 4th preferred implementation>
Fig. 6 is the sectional view of the structure example illustrating the friction eceleration machine 1 involved by the 4th preferred implementation, has illustrated by the plane cutting comprising center axis J cross section when friction eceleration machine 1. In the friction eceleration machine 1 involved by the 4th preferred implementation, compared with the friction eceleration machine 1 of the first preferred implementation, difference is: pressurizing device is made up of whisker 12, the cylindrical portion 21 of shell 2 has the inner peripheral surface 214 tilted relative to center axis J, the deceleration device D of final stagemPlanetary rotation body 32 have and the plane of rotation of the rotation center axis being parallel relative to planet carrier 33.
Whisker 12 is by first step deceleration device D1Sun rotator 31 to axial outgoing side force, in the axial direction relative to shell 2 to the deceleration device D after the second stage2-DmThe pressurizing device of pressurization. Whisker 12 is the elastomerics of the reactive force producing the axis J direction, center corresponding to distortion amount, and is made up of the volume spring surrounding output shaft 4. That is, pressurizing device 13 is made up of elastomerics, and elastomerics produces the reactive force in the axis J direction, center corresponding to distortion amount. According to this structure, it is possible to simplify pressurizing device 13. Whisker 12 is configured in deceleration device D1Sun rotator 31 and bearing 9 between.
The inner peripheral surface 214 of cylindrical portion 21 is the deceleration device D with final stagemPlanetary rotation body 32 plane of rotation contact inner peripheral surface, by internal diameter along with the cone surface diminished to outgoing side is formed. That is, inner peripheral surface 214 is made up of a part for the side of the straight circular cone centered by the axis J of center. According to this structure, it is possible to simplify the structure of shell 2.
The deceleration device D of final stagemPlanetary rotation body 32 there is the periphery with the rotation center axis being parallel relative to planet carrier 33 as plane of rotation. The plane of rotation of planetary rotation body 32 contacts with sun rotator 31, and contacts with the inner peripheral surface 214 of cylindrical portion 21. That is, deceleration device DmThe plane of rotation of planetary rotation body 32 by be formed relative to the barrel surface of axis centered by the rotation center axis of planet carrier 33.
Deceleration device DmThe rotation center axis relative to planet carrier 33 of planetary rotation body 32 relative to center axis J angulation and deceleration device DmThe bus of sun rotator 31 consistent relative to center axis J angulation. Therefore, the inner peripheral surface 214 of cylindrical portion 21 and deceleration device DmThe plane of rotation of sun rotator 31 be parallel to each other.
Deceleration device D beyond final stage1�CDm-1Planetary rotation body 32 have as plane of rotation to the periphery tilted relative to the rotation center axis of planet carrier 33. The deceleration device D of final stagemPlanet carrier 33 be combined with output shaft 5 by key or laciniation. That is, deceleration device DmPlanet carrier 33 be limited circumferentially to rotate relative to output shaft 5, but can move vertically.
In the friction eceleration machine 1 of the 4th preferred implementation, it is possible to be reduced at the pressurizing device axially pressurizeed by deceleration device 3 relative to shell 2.The deceleration device D of shell 2 and final stagemThe inner peripheral surface 214 of contact is applied in the load of deceleration device 3 by pressurizing device prevention. Therefore, in the friction eceleration machine 1 involved by present embodiment, it is possible to suppress the load in axis J direction, center to act on output shaft 5 and the bearing 10 of supporting output shaft 5, thus reduce transmission loss.
In the 4th preferred implementation, relative to shell 2, the pressurizing device that deceleration device 3 pressurizes is made up of whisker 12 in the axial direction. But, the pressurizing device of the present invention is not limited to this. Such as, in friction eceleration machine 1, pressurizing device can also replace whisker 12 by cup spring or leaf spring and form, and is exerted a force by deceleration device 3 in the axial direction. Or can also be that pressurizing device utilizes the elastic force of rubber in the axial direction to the structure of deceleration device 3 force.
In the 4th preferred implementation, whisker 12 is configured in input side. But, the configuration of the elastomericss such as whisker is not limited to this. Such as, in friction eceleration machine 1, it is also possible to be following structure: elastomerics is configured in outgoing side, the deceleration device D of final stagemTo planet carrier 33 to axial input side force.
<the 5th preferred implementation>
Fig. 7 is the sectional view of the structure example illustrating the friction eceleration machine 1 involved by the 5th preferred implementation, has illustrated by the plane cutting comprising center axis J cross section when friction eceleration machine 1. Friction eceleration machine 1 involved by 5th enforcement mode is compared with the friction eceleration machine 1 involved by the first preferred implementation, and difference is: pressurizing device 13 is made up of ring-type parts 131 and whisker 132, the deceleration device D of final stagemPlanetary rotation body 32 have and the plane of rotation of the rotation center axis being parallel relative to planet carrier 33.
Ring-type parts 131 surround deceleration device DmThe inner ring of planetary rotation body 32, there is the inner peripheral surface 133 tilted relative to center axis J. Inner peripheral surface 133 and deceleration device DmPlanetary rotation body 32 plane of rotation contact. Inner peripheral surface 133 by internal diameter along with the cone surface diminished to outgoing side is formed. That is, inner peripheral surface 133 is made up of a part for the side of the straight circular cone centered by the axis J of center. That is, friction eceleration machine 1 has ring-type parts 131, and described ring-type parts 131 have inner peripheral surface, the deceleration device D of described inner peripheral surface and final stagemThe plane of rotation contact of planetary rotation body 32, and by internal diameter along with the cone surface diminished to outgoing side is formed. According to this structure, it is possible to simplify the structure of shell 2.
Inner peripheral surface 133 and deceleration device DmThe plane of rotation of sun rotator 31 be parallel to each other. Ring-type parts 131 are accommodated in the cylindrical portion 21 of shell 2, and can move vertically. Ring-type parts 131 are limited to rotate relative to shell 2 by the spline parts such as spline or key.
Whisker 132 passes through to ring-type parts 131 to axial input side force, in the axial direction relative to shell 2 to deceleration device D1�CDmPressurization. Whisker 132 is the elastomerics of the reactive force producing the axis J direction, center corresponding to distortion amount. Whisker 132 is by encirclement deceleration device DmPlanet carrier 33 volume spring form. That is, pressurizing device is made up of force application part, and ring-type parts 131 are exerted a force by force application part to the input side in axis J direction, center. Whisker 132 is configured between the ceiling plate portion 22 of shell 2 and ring-type parts 131.
The deceleration device D of final stagemPlanetary rotation body 32 there is the periphery with the rotation center axis being parallel relative to planet carrier 33 as plane of rotation.The plane of rotation of planetary rotation body 32 contacts with sun rotator 31, and contacts with the inner peripheral surface 133 of ring-type parts 131. Deceleration device D beyond final stage1�CDm-1Planetary rotation body 32 have as plane of rotation to the periphery tilted relative to the rotation center axis of planet carrier 33. The deceleration device D of final stagemPlanet carrier 33 be fixed on output shaft 5.
In the friction eceleration machine 1 involved by the 5th preferred implementation, compared with the friction eceleration machine 1 of the 4th preferred implementation, owing to bigger load F can be produced, therefore, it is possible to transmit big load torque.
<the 6th preferred implementation>
Fig. 8 is the sectional view of the structure example illustrating the friction eceleration machine 1 involved by the 6th preferred implementation, has illustrated by the plane cutting comprising center axis J cross section when friction eceleration machine 1. Friction eceleration machine 1 involved by 6th preferred implementation is compared with the friction eceleration machine 1 involved by the first preferred implementation, difference is: pressurizing device is made up of the electronic motor 14 producing axial magnetic bias voltage, the cylindrical portion 21 of shell 2 has the inner peripheral surface 214 tilted relative to center axis J, and the deceleration device D of final stagemPlanetary rotation body 32 have and the plane of rotation of the rotation center axis being parallel relative to planet carrier 33.
Electronic motor 14 is inner-rotor type electric motor, and has axle 141, rotor 142, stator 143 and machine shell 144. Rotor 142 is fixed on axle 141, and together rotates centered by the axis J of center with axle 141. Stator 143 surrounds rotor 142, and is fixed on machine shell 144.
Machine shell 144 receives axle 141, rotor 142, stator 143 and transverse bearing 145. Transverse bearing 145 is the bearing stoping radial loading, and is supported by axle 141 as rotating relative to machine shell 144. Transverse bearing 145 is configured in than rotor 142 position on the lower. Axle 141 can move vertically relative to transverse bearing 145.
The upper end of machine shell 144 embeds in the inner peripheral surface 211 of shell 2. Thus, electronic motor 14 is installed on machine shell 2. Therefore, stator 143 is fixed on shell 2 by machine shell 144. Input shaft 4 is connected to axle 141 directly or indirectly. Such as, input shaft 4 and axle 141 form. Rotor 142 is connected to input shaft 4. That is, friction eceleration machine 1 has electronic motor 14, the rotor 142 that described electronic motor 14 comprises with the stator 143 and input shaft 4 that are fixed on shell 2 directly or indirectly are connected.
In electronic motor 14, rotor 142 make axial central part relative to the axis of stator 143 central part in the axial direction to deceleration device D1�CDmContrary side is in staggered configuration. That is, in electronic motor 14, the central part axially of rotor 142 than the central part axially of stator 143 in axial lower section. Therefore, electromagnetic force acts on rotor 142 from stator 143, and electronic motor 14 produces to have the electromagnetic force using to the component of axially top as magnetic biasing pressure. Magnetic biasing pressure changes corresponding to the position in the axis J direction, center of rotor 142. Therefore, electronic motor 14 produces the magnetic biasing pressure axially of the position in the axis J direction, center corresponding to rotor 142. That is, pressurizing device is made up of electronic motor 14, and electronic motor 14 produces the magnetic biasing pressure in the axis J direction, center of the position in the axis J direction, center corresponding to rotor 142.
According to this structure, in the friction eceleration machine 1 involved by present embodiment, axially deceleration device 3 is pressurizeed owing to utilizing the magnetic biasing of electronic motor 14 to be pressed in, therefore do not need to arrange pressurizing device in addition.
In the first to the 6th preferred implementation, deceleration device DnSun rotator 31 and deceleration device Dn-1Planet carrier 33 form. But, deceleration device DkStructure be not limited to this. Such as, it is also possible to be following structure: deceleration device DnSun rotator 31 and deceleration device Dn-1Planet carrier 33 formed by a point body component, deceleration device DnSun rotator 31 and deceleration device Dn-1Planet carrier 33 connect.
In the first to the 6th preferred implementation, friction eceleration machine 1 is made up of the deceleration device 3 of more than three grades. But, friction eceleration machine 1 can also be made up of the deceleration device 3 of two-stage. The present invention also can be applicable at the deceleration device D than final stagemThe position of level has the friction eceleration machine of planetary gear type reduction device rearward. The invention is not restricted to above-mentioned structure, it is also possible to suitably change in right.

Claims (13)

1. a friction eceleration machine, described friction eceleration machine comprises:
The shell of tubular, described shell is along the center Axis Extension extended in the vertical direction;
The deceleration device of two or more, described deceleration device arranges vertically in described shell;
Input shaft and output shaft, described input shaft and output shaft rotate centered by the axis of described center; And
Pressurizing device, described deceleration device is pressurizeed in the axial direction by described pressurizing device relative to described shell,
Described deceleration device has:
Sun rotator, described sun rotator rotates centered by the axis of described center;
The planetary rotation body of two or more, described planetary rotation body is configured in the radial outside of described sun rotator, and contacts with the plane of rotation of described sun rotator and the inner peripheral surface of described shell; And
Planet carrier, the supporting of described planetary rotation body for while can rotating, and self is rotated by described planet carrier centered by the axis of described center,
Described friction eceleration machine is characterised in that,
The described sun rotator of first step deceleration device is connected with described input shaft directly or indirectly,
The described sun rotator of n-th grade of deceleration device is connected with the described planet carrier of (n-1)th grade of deceleration device, and wherein n is the integer of more than 2,
The described planet carrier of final speed reducing device is connected with described output shaft directly or indirectly,
The plane of rotation of described sun rotator by external diameter along with the cone surface diminished to outgoing side is formed,
The bus of the described plane of rotation of n-th grade of deceleration device is less relative to described center axis angulation than the bus of the described plane of rotation of (n-1)th grade of deceleration device relative to described center axis angulation.
2. friction eceleration machine according to claim 1, it is characterised in that,
The width of the generatrix direction of the plane of rotation that the width ratio of the generatrix direction of the plane of rotation contacted with described sun rotator in the described planetary rotation body of n-th grade of deceleration device contacts with described sun rotator in the described planetary rotation body of (n-1)th grade of deceleration device is big.
3. friction eceleration machine according to claim 1, it is characterised in that,
At least the described planetary rotation body of deceleration device beyond final stage has the outgoing side plane of rotation that the plane of rotation with described sun rotator contacts and the input side plane of rotation contacted with the inner peripheral surface of described shell,
Described outgoing side plane of rotation by external diameter along with the cone surface diminished towards outgoing side is formed,
Described input side plane of rotation by external diameter along with the cone surface diminished towards input side is formed.
4. friction eceleration machine according to claim 3, it is characterised in that,
Described deceleration device has the planet carrier pin of two or more, and the end of the outgoing side of described planet carrier pin is configured in described planet carrier, the through described planetary rotation body in the end of the input side of described planet carrier pin,
Described planet carrier pin configures relative to described center axis with tilting,
Apply the center axis with described planet carrier pin in described planetary rotation body of line of action and any one or both that apply in the line of action of the vertical resistibility of described input side plane of rotation of vertical resistibility in described outgoing side plane of rotation from described shell from described sun rotator to intersect.
5. friction eceleration machine according to claim 4, it is characterised in that,
Apply to apply to submit fork in the line of action of the vertical resistibility of described input side plane of rotation at the center axis of described planet carrier pin in the line of action of the vertical resistibility of described outgoing side plane of rotation with from described shell from described sun rotator.
6. friction eceleration machine according to claim 1, it is characterised in that,
Described deceleration device has the planet carrier pin of two or more, and the end of the outgoing side of described planet carrier pin is configured in described planet carrier, the through described planetary rotation body in the end of described planet carrier pin input side,
Described planet carrier pin configures relative to described center axis with tilting,
The described planet carrier pin of n-th grade of deceleration device is less relative to described center axis angulation than the described planet carrier pin of (n-1)th grade of deceleration device relative to described center axis angulation.
7. friction eceleration machine according to claim 6, it is characterised in that,
The end winding support of the outgoing side of described planet carrier pin in described planet carrier,
Described planetary rotation body rotates centered by described planet carrier pin.
8. friction eceleration machine according to any one of claim 1 to 7, it is characterised in that,
Described shell has inner peripheral surface, and described inner peripheral surface contacts with the plane of rotation of the planetary rotation body of the deceleration device of final stage, and by internal diameter along with the cone surface diminished to outgoing side is formed.
9. friction eceleration machine according to any one of claim 1 to 7, it is characterised in that,
Described pressurizing device is made up of plane cam, and described plane cam transmits torque and produces corresponding to the load in the described central axial direction transmitting torque.
10. friction eceleration machine according to claim 9, it is characterised in that,
The input side cam ring of described pressurizing device is connected with the described planet carrier of the deceleration device of final stage, and the outgoing side cam ring of described pressurizing device is connected with described output shaft.
11. friction eceleration machines according to any one of claim 1 to 7, it is characterised in that,
Described pressurizing device is made up of elastomerics, and described elastomerics produces corresponding to the reactive force in the described central axial direction of distortion amount.
12. friction eceleration machines according to any one of claim 1 to 7, it is characterised in that,
Described friction eceleration facility have electronic motor, and the stator of described electronic motor is fixed on described shell directly or indirectly, and the rotor of described electronic motor is connected with described input side,
Described rotor makes axial central part be in staggered configuration to the side contrary with described deceleration device in the axial direction relative to the central part of the axis of described stator,
Described pressurizing device is made up of described electronic motor, and described electronic motor produces corresponding to the magnetic biasing pressure in the central axial direction of the position in the described central axial direction of described rotor.
13. friction eceleration machines according to any one of claim 1 to 7, it is characterised in that,
Friction eceleration facility have ring-type parts, and described ring-type parts have inner peripheral surface, and described inner peripheral surface contacts with the plane of rotation of the planetary rotation body of the deceleration device of final stage, and by internal diameter along with the cone surface diminished to outgoing side is formed,
Described pressurizing device is formed by the force application part that described ring-type parts exert a force to the input side in described central axial direction.
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