CN107559388A - Decelerator - Google Patents

Decelerator Download PDF

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Publication number
CN107559388A
CN107559388A CN201710516208.2A CN201710516208A CN107559388A CN 107559388 A CN107559388 A CN 107559388A CN 201710516208 A CN201710516208 A CN 201710516208A CN 107559388 A CN107559388 A CN 107559388A
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CN
China
Prior art keywords
gear
eccentric wheel
external
input shaft
external gear
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Pending
Application number
CN201710516208.2A
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Chinese (zh)
Inventor
原田幸
原田幸一
田川祐二
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Brother Industries Ltd
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Brother Industries Ltd
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Filing date
Publication date
Priority to JP2016-130884 priority Critical
Priority to JP2016130884 priority
Application filed by Brother Industries Ltd filed Critical Brother Industries Ltd
Publication of CN107559388A publication Critical patent/CN107559388A/en
Pending legal-status Critical Current

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Abstract

The present invention relates to a kind of decelerator, the decelerator easy structure can just obtain larger speed reducing ratio.The external gear of input shaft side and the external gear of output shaft side are set to one, and the external gear of input shaft side and the external gear of output shaft side can be pivoted about with being fixed on the eccentric wheel of input shaft.The internal gear being meshed with the external gear of input shaft side is fixed on housing.It is concentric with the axle center of the internal gear that the external gear of output shaft side is meshed and input shaft.When input shaft is rotated under the driving of motor, external gear is revolved round the sun around the axle center of input shaft.The external gear of input shaft side is rotated by internal gear is driven centered on the axle center of eccentric wheel.The external gear of output shaft side and the external gear of input shaft side are integratedly pivoted about with the axle center of eccentric wheel.The internal gear of output shaft side is rotated with being driven in the external gear of output shaft side.The speed that output shaft obtains after being decelerated with the rotary speed of input shaft is rotated.

Description

Decelerator
Technical field
The present invention relates to a kind of decelerator.
Background technology
Decelerator has input shaft, rotor and output shaft.Input shaft can be rotated in the presence of external force, and rotor is used Slow down in the rotary speed to input shaft, output shaft is rotated with the rotary speed obtained after rotor slows down.Generally, The axle center in the axle center of input shaft and output shaft is become into concentric decelerator using high accuracy such as fluctuation gear, planetary gears and Complicated mechanism.Speed increaser described in No. 147665 publications of Japanese Unexamined Patent Publication 2012 year has rotor.Rotor joins by Euclidean Axle device is connected with input shaft.Rotor internally supports the eccentric wheel in a manner of eccentric wheel slides rotation freely.Eccentric wheel It is combined with output shaft.Output shaft runs through the through hole of fixed external gear.Fixed external gear is fixed on housing, fixed external gear with The internal gear of internal rotor is meshed.Rotor is rotated along with the rotation of input shaft, rotor carry out rotation while around Fixed external gear is revolved round the sun.Revolved round the sun by rotor so that eccentric wheel carries out rotation while being carried out around output shaft public Turn, so that output shaft rotates.
In the case of the speed increaser described in above-mentioned publication, input shaft corresponding output shaft for each revolution is represented The speed reducing ratio (also referred to as gear ratio) of rotating speed is with internal gear ratio corresponding with the gear ratio of fixed external gear.Obtain bigger Speed reducing ratio if, it is necessary to the rotor in speed increaser is made more large-scale, so as to increase internal gear and fixed external gear Gear ratio.
The content of the invention
It is an object of the present invention to provide a kind of decelerator that larger speed reducing ratio can be just obtained with easy structure.
The decelerator of technical scheme 1 has:Input shaft, its side being located on defined axial direction, the input shaft can be To be pivoted about along the axially extending axle center in the presence of external force;Output shaft, it sets with one heart with the axle center Opposite side on the axial direction, and the output shaft can be rotated independently of the input shaft;And rotor, its with it is described defeated Enter axle and the output shaft is connected, the rotor is used to slow down to the rotary speed of the input shaft, and makes the output Axle is rotated with the speed obtained after deceleration, and the decelerator is characterised by, the rotor has:Eccentric wheel, itself and institute State input shaft to be connected, and the eccentric wheel is eccentric with defined offset relative to the axle center of the input shaft;And at least two groups Gear train, each gear train form external gear and internal gear as one group, in the gear train, the internal gear than The external gear is meshed by the position of radial outside with the external gear, and the number of teeth of the internal gear is more than the external gear The number of teeth, in the gear train, the external gear is located at the periphery of the eccentric wheel, and the external gear can be with the bias The rotary shaft of wheel pivots about, and the axle center of the internal gear is identical with the axle center of the input shaft, the two groups of teeth Wheel group is adjacent on the axial direction, and the external gear of the adjacent gear train adjoins one another conjunction, and what is engaged is described The respective external diameter of external gear is different from each other, and the output shaft is described with the gear train of the opposite side on the axial direction Internal gear is connected.Decelerator can obtain and external gear is relative to the offset of internal gear and the external diameter of external gear is corresponding subtracts Fast ratio.Gear train in decelerator is two groups.External gear, which adjoins one another, to be closed and can be entered centered on the pivot of eccentric wheel Row rotation.Internal gear is integratedly rotated centered on axle center with output shaft.During input shaft has rotated a circle, outside Gear rotates the amount of the number of teeth difference of the external gear and internal gear centered on the pivot of eccentric wheel.Decelerator can utilize two Gear train is organized to obtain sufficiently large speed reducing ratio.Therefore, decelerator is without high-precision using fluctuation gear, planetary gear etc. in rotor The mechanism of degree and complexity, and can just obtain bigger speed reducing ratio with easy structure.
The decelerator of technical scheme 2 is characterised by that the input shaft has top ends, the top ends extend to than positioned at The external gear of the gear train of opposite side on the axial direction is by the position of the opposite side on the axial direction, the rotor With counterweight part, the counterweight part is connected with the top ends, and the counterweight part can rotate together with the input shaft, from described Axle looks up, and the position of centre of gravity of the counterweight part is in for the axle center of the input shaft, with the eccentric wheel The opposite side of pivot.Decelerator is connected with counterweight part in the top ends of input shaft.Looked up from axle, the center of gravity of counterweight part Position is located relative to axle for the position of centre of gravity of the position of centre of gravity of eccentric wheel, the position of centre of gravity of bearing and external gear Side for the heart, opposite with the pivot of eccentric wheel.Counterweight part can suppress turning effort along with eccentric wheel in The imbalance of the centrifugal force of input shaft.Therefore, decelerator can reduce the vibration of input shaft.
The decelerator of technical scheme 3 is characterised by that the rotor has:Housing, the gear train are contained in the housing; And supporting mass, it is located at the housing, top ends described in the state support that the supporting mass can be rotated with the counterweight part.Slow down Device can more reliably reduce the vibration along with input shaft caused by the rotation of eccentric wheel.
The decelerator of technical scheme 4 is characterised by that the input shaft has top ends, the top ends extend to than positioned at The external gear of the gear train of opposite side on the axial direction is by the position of the opposite side on the axial direction, the rotor Have:Housing, the gear train are contained in the housing;And supporting mass, it is located at the housing, and the supporting mass is with the input shaft Top ends described in the state support that can be rotated.Decelerator can strengthen input shaft using supporting mass, so as to input Axle is made thinner.Therefore, decelerator can reduce the radial dimension of eccentric wheel as much as possible, and can increase offset.
The decelerator of technical scheme 5~8 is characterised by that the eccentric wheel has:Inner side eccentric wheel, it is fixed on described Input shaft, and the inner side eccentric wheel is eccentric relative to the axle center of the input shaft;And outside eccentric wheel, it is located at the interior lateral deviation The outer circumferential side of heart wheel and the inner side eccentric wheel is fixed on, and the outside eccentric wheel is inclined relative to the axle center of the inner side eccentric wheel The heart, the outside eccentric wheel phase can be changed by making the outside eccentric wheel be rotated relative to the inner side eccentric wheel For the position of the inner side eccentric wheel.Eccentric wheel can be by changing the position for fixing the inside side eccentric wheel of outside eccentric wheel Put, to change offset of the outside eccentric wheel relative to input shaft.Therefore, eccentric wheel can be by adjusting offset, to realize The state that external gear engages with internal gear depth.Decelerator can reduce the gap in gear train, so as to reduce revolving force Loss in transmittance process.
The decelerator of technical scheme 9 is characterised by that the decelerator has between the eccentric wheel and the external gear Bearing.Decelerator can make external gear carry out more smooth relative to the rotation of eccentric wheel, exist so as to reduce revolving force Loss in transmittance process.
The decelerator of technical scheme 10,11 is characterised by, the gear train is from the side on the axial direction towards another Side goes have first gear group, second gear group and the 3rd gear train successively, the external gear of the second gear group and described the The external gear of one gear train is fixed as one, and the length of the external gear of the second gear group on the axial direction is more than described the Length of the external gear of one gear train on the axial direction, and the external gear of the second gear group by another on the axial direction The part of side is prominent to radial outside, and the external diameter of the external gear of the second gear group is different from the outer of the first gear group The external gear of the external diameter of gear, the external gear of the 3rd gear train and the second gear group, which is formed, to be integrated, and described the The external diameter of the external gear of three gear trains is different from the external diameter of the external gear of the first gear group, also different from the second gear The external diameter of the external gear of group, the internal gear of the 3rd gear train are fixed on the output shaft, the internal tooth of the second gear group Take turns to be formed with the internal gear of the 3rd gear train and be integrated, and the internal gear of the second gear group can be with the output shaft Internal gear with the 3rd gear train is moved to by another on the axial direction together along the axial movement in the output shaft During the position of side, the internal gear of the second gear group is meshed with the external gear of the second gear group, the 3rd tooth The state that the internal gear of wheel group is meshed with the external gear of the 3rd gear train is released from, and is moved in the output shaft by institute When stating the position of the side on axial direction, the internal gear of the second gear group is meshed with the external gear of the second gear group State is released from, and the internal gear of the 3rd gear train is meshed with the external gear of the 3rd gear train.Pass through output shaft edge Axial movement, enables to decelerator to select a gear train to come and first gear group from second gear group and the 3rd gear train It is connected.The external diameter of the external gear of second gear group is different from the external diameter of the external gear of the 3rd gear train.Therefore, decelerator can Change speed reducing ratio.
Brief description of the drawings
Fig. 1 is the longitudinal section stereogram of decelerator 1.
Fig. 2 is the exploded perspective view of decelerator 1.
Fig. 3 is the exploded perspective view of eccentric wheel 30.
Fig. 4 is the action specification figure of eccentric wheel 30.
Fig. 5 is the action specification figure of gear train 10.
Fig. 6 is the action specification figure of gear train 20.
Fig. 7 is the longitudinal section of decelerator 101.
Embodiment
Illustrate the construction of the decelerator 1 of one embodiment of the present invention.Decelerator 1 is rotation speed that can be to input shaft 2 Degree is slowed down, and the mechanism that the speed that output shaft 3 can be made to be obtained after deceleration is rotated.
As depicted in figs. 1 and 2, decelerator 1 has input shaft 2, output shaft 3 and rotor 4.The input shaft 2 of present embodiment For the rotary shaft of motor 6.Input shaft 2 is in shaft-like extension along the vertical direction, input shaft 2 under the driving of motor 6 using axle center AX as Center is rotated.In the following description, for convenience of explanation, it is specified that being axially along the direction of above-below direction, in accompanying drawing It is indicated with arrow.Input shaft 2 has top ends 2A, center section part 2B and base end part 2C.Motor 6 can be in horse with input shaft 2 The mode that is rotated of inside up to 6 keeps the base end part 2C of the input shaft 2.Top ends 2A and center section part 2B are projected into motor 6 Top.Top ends 2A is in radially to be formed step-likely.Top ends 2A top external diameter is less than top ends 2A lower outer diameter.
The output shaft 3 of present embodiment is the inner ring of bearing 8, and output shaft 3 is in annular shape.Bearing 8 is rolling bearing.Bearing In annular shape, outer ring 7 supports the output shaft 3 in a manner of output shaft 3 can rotate for 8 outer ring 7.Output shaft 3 is located at than input The positions of the base end part 2C of axle 2 by the top.The axle center AX of the pivot of output shaft 3 and input shaft 2 is concentric, and the energy of output shaft 3 Rotated independently of the ground of input shaft 2.In the following description, in the pivot of the rotary body situation concentric with axle center AX Under, for convenience of description, using the pivot of rotary body as axle center AX.
Rotor 4 is located between input shaft 2 and output shaft 3.Rotor 4 be for slowing down to the rotary speed of input shaft 2, And the mechanism that the speed for making output shaft 3 be obtained after deceleration is rotated.Rotor 4 have housing 5, eccentric wheel 30, bearing 40, Gear train 10, gear train 20, counterweight part 50, bearing 60 and keeping body 65.Rounded bottomed tube when housing 5 is overlooks, Bottom center has circular opening portion 5A.The top ends 2A and center section part 2B of input shaft 2 pass through from the 5A of opening portion.Motor 6 Configuration is screwed on the lower surface of the bottom of housing 5 in the downside of rotor 4, motor 6.The top ends 2A of input shaft 2 is with Section portion 2B is projected into rotor 4 through opening portion 5A.Edge 5B at the periphery of housing 5 is prominent upward and forms one around circumferential Circle.Edge 5B diametrically has thickness.The outer ring 7 of bearing 8 is screwed on the edge 5B of housing 5.
Eccentric wheel 30 has inner side eccentric wheel 31 and outside eccentric wheel 36.As shown in figure 3, inner side eccentric wheel 31 is in vertically The cylindrical shape of extension.What the top ends 2A and center section part 2B that the axial length of inner side eccentric wheel 31 is slightly smaller than input shaft 2 were added up Length.The center section part 2B of input shaft 2 is configured in the bore 32 of interior side eccentric wheel 31.The internal diameter of bore 32 is outer with center section part 2B's Footpath is roughly the same.The axle center BX of inner side eccentric wheel 31 is eccentric relative to axle center AX.Inner side eccentric wheel 31 has spiral shell in outer peripheral face 33 Pit.Screwed hole will radially penetrate between outer peripheral face 33 and the inner peripheral surface of bore 32.Fixing screws 34 are anchored on screwed hole, from And inner side eccentric wheel 31 is fixed on to the center section part 2B of input shaft 2.Therefore, inner side eccentric wheel 31 is connected with input shaft 2.Defeated When entering the rotation of axle 2, inner side eccentric wheel 31 is integratedly rotated with input shaft 2.In this case, the axle center of inner side eccentric wheel 31 BX advances on the track to be revolved round the sun around axle center AX.
Outside eccentric wheel 36 is in the cylindrical shape axially extended.The axial length of outside eccentric wheel 36 and inner side eccentric wheel 31 Axial length it is roughly the same.Inner side eccentric wheel 31 is configured in the bore 37 of outer side eccentric wheel 36.The internal diameter of bore 37 with it is interior The external diameter of the outer peripheral face 33 of side eccentric wheel 31 is roughly the same.The axle center CX of outside eccentric wheel 36 relative to inner side eccentric wheel 31 axle Heart BX is eccentric, and eccentric relative to axle center AX.Outside eccentric wheel 36 has screwed hole in outer peripheral face 38.Screwed hole radially will be outer Penetrated between side face 38 and the inner peripheral surface of bore 37.Fixing screws 39 are anchored on screwed hole, so as to which outside eccentric wheel 36 be fixed In inner side eccentric wheel 31.When input shaft 2 rotates, outside eccentric wheel 36 is integratedly carried out with input shaft 2 and inner side eccentric wheel 31 Rotation.In this case, the axle center CX of outside eccentric wheel 36 around the tracks that are revolved round the sun of axle center AX on advance.
The bottom of outside eccentric wheel 36 in the axial direction has circumferentially around the outer peripheral face groove portion of 38 1 weeks 381.In open loop shape Collar 41 (reference picture 2) fastened with groove portion 381, collar 41 be projected into than outer peripheral face 38 lean on radial outside position.
As depicted in figs. 1 and 2, bearing 40 is cylindric needle bearing.The inner ring of bearing 40 is entrenched in outside eccentric wheel 36 outer peripheral face 38.The outer ring of bearing 40 is mutually chimeric with the external gear 16 of gear train 10 and the external gear 26 of gear train 20.Bearing 40 bottom and the upper surface of the collar 41 on outside eccentric wheel 36 abut against.Collar 41 is determined bearing 40 in the axial direction Position.The axial length of bearing 40 for the axial length of eccentric wheel 30 substantially half, the axial length of bearing 40 with by external gear The length that 16 axial width and the axial width of external gear 26 add up to obtain is suitable.
Gear train 10, gear train 20 are housed in housing 5, and gear train 10 has external gear 16 and internal gear 11, gear Group 20 has external gear 26 and internal gear 21.Gear train 20 is located at the top of gear train 10.Moreover, being omitted in each accompanying drawing pair The diagram of the tooth of each gear.External gear 16 is in the tabular of annular, and external gear 16 has prominent to radial outside along outer peripheral face Multiple teeth.Internal gear 11 is in the tabular of annular, and internal gear 11 has the multiple teeth prominent to radially inner side along inner peripheral surface. Internal gear 11 is located at the radial outside of external gear 16.External gear 16 is intermeshed with internal gear 11.The external diameter of external gear 16 is less than The internal diameter of internal gear 11.That is, the number of teeth of external gear 16 is less than the number of teeth of internal gear 11.The axial width of external gear 16 is bearing 40 Axial length substantially 1/2.
The inner peripheral surface of external gear 16 is embedded in the bottom of the outer peripheral face of bearing 40.The axle center of external gear 16 and outside eccentric wheel 36 axle center CX is concentric.Internal gear 11 is screwed on the upper surface of the bottom of housing 5 and is fixed in the interior of edge 5B Side.The external diameter of internal gear 11 is roughly the same with the edge 5B of housing 5 internal diameter.The axle center of internal gear 11 and the axle center of input shaft 2 AX is concentric.Axle center CX is relative to offset A eccentric axle center AX with the external diameter radius R1 of external gear 16 and the internal diameter of internal gear 11 Radius G1 (reference picture 4) difference is suitable.When input shaft 2 rotates, axle center CX is along the length that offset A is left from axle center AX Revolved round the sun the position of amount.The one side of external gear 16 carries out revolution while being meshed with internal gear 11 around axle center AX.External gear 16 While it is meshed with internal gear 11, while being rotated centered on the CX of axle center independently of the ground of input shaft 2.In input shaft 2 to one The rotation of individual direction turn around during in, the public affairs of external gear 16 turn around, and rotation of the external gear 16 centered on the CX of axle center to input shaft 2 Turn direction reversely rotates the external gear 16 and the amount of the number of teeth difference of internal gear 11.
External gear 26 is in the tabular of annular, and external gear 26 has the multiple teeth prominent to radial outside along outer peripheral face. Internal gear 21 is in the tabular of annular, and internal gear 21 has the multiple teeth prominent to radially inner side along inner peripheral surface.Internal gear 21 Positioned at the radial outside of external gear 26.External gear 26 is intermeshed with internal gear 21.The external diameter of external gear 26 is less than internal gear 21 Internal diameter.That is, the number of teeth of external gear 26 is less than the number of teeth of internal gear 21.The axial width of external gear 26 is long for the axial direction of bearing 40 Substantially the 1/2 of degree.
The inner peripheral surface of external gear 26 is embedded in the top of the outer peripheral face of bearing 40.External gear 26 is by screw threads for fastening in external tooth The upside of wheel 16 engages with external gear 16, so as to be fixed as one with external gear 16.That is, external gear 16 connects with external gear 26 Close.External gear 16 and external gear 26 are located at the center section part 2B of input shaft 2 across eccentric wheel 30 and bearing 40.The axle center of external gear 26 It is concentric with the axle center CX of outside eccentric wheel 36.The external diameter of external gear 26 is less than the external diameter of external gear 16.The number of teeth of external gear 26 is small In the number of teeth of external gear 16.
Internal gear 21 is configured in the top of internal gear 11 with the state not contacted with internal gear 11.The internal diameter of internal gear 21 is small In the internal diameter of internal gear 11.That is, the number of teeth of internal gear 21 is less than the number of teeth of internal gear 11.Internal gear 21 has along the internal gear The edge of 21 inner side forms one week and is the teat 22 protruded upward from the upper surface of the internal gear 21.Teat 22 and bearing 8 inner ring is that the axis hole 3A of output shaft 3 fastens, so as to which output shaft 3 be positioned.Internal gear 21 is screwed in output shaft 3. That is, internal gear 21 is connected with output shaft 3.The axle center of internal gear 21 and the axle center AX of input shaft 2 are concentric.
External gear 26 can be to be pivoted about relative to axle center AX with the eccentric axle center CX of offset A, and external tooth Wheel 26 is meshed with internal gear 21.When input shaft 2 rotates, external gear 26 is integratedly entered centered on the CX of axle center with external gear 16 Row rotation.Internal gear 21 is driven in external gear 26, is integratedly rotated with output shaft 3 centered on the AX of axle center.
Counterweight part 50 is the cylindric counterweight portion with thickness in the axial direction.The inner peripheral surface 51 of counterweight part 50 is chimeric In the outer peripheral face 38 of outside eccentric wheel 36.Counterweight part 50 has screwed hole in outer peripheral face 52, by the way that fixing screws are anchored on into spiral shell Pit, the counterweight part 50 is fixed on outside eccentric wheel 36.Under the fixed position of counterweight part 50 and the top ends 2A of input shaft 2 Portion is corresponding.That is, counterweight part 50 is connected by eccentric wheel 30 with top ends 2A bottom.The axle center of counterweight part 50 is relative to axle Heart CX is eccentric, and eccentric relative to axle center AX.
Because axle center CX is eccentric relative to axle center AX, therefore, from the point of view of depression angle, position of centre of gravity, the axle of eccentric wheel 30 The position of centre of gravity for holding 40 position of centre of gravity, the position of centre of gravity of external gear 16 and external gear 26 is different from axle center AX position.Cause This, when input shaft 2 rotates, input shaft 2 can be by the centrifugation from eccentric wheel 30, bearing 40, external gear 16 and external gear 26 The effect of power.From the point of view of depression angle, the position of centre of gravity of counterweight part 50 is relative to the position of centre of gravity of eccentric wheel 30, the weight of bearing 40 For the position of centre of gravity of heart position, the position of centre of gravity of external gear 16 and external gear 26, the position in a manner of across axle center AX position In the center of gravity position with the position of centre of gravity of eccentric wheel 30, the position of centre of gravity of bearing 40, the position of centre of gravity of external gear 16 and external gear 26 Put opposite side.The weight of counterweight part 50 and the weight that eccentric wheel 30, bearing 40, external gear 16 and external gear 26 add up are big Cause identical.Therefore, when input shaft 2 rotates, can using counterweight part 50 come inhibitory action in the injustice of the centrifugal force of input shaft 2 Weighing apparatus.
Bearing 60 is the bearing of cylindric resin-made.The bore of bearing 60 and the top ends 2A of input shaft 2 top phase Engaging, so as to which bearing 60 supports the input shaft 2 in a manner of input shaft 2 can rotate.Bearing 60 carries the top of input shaft 2 End 2A top.Motor 6 remains the base end part 2C of input shaft 2.That is, bearing 60 and motor 6 carries the two of input shaft 2 End, so as to strengthen input shaft 2.The bottom 61 of bearing 60 is to radial outside in flange shape prominent.The lower surface of bearing 60 with The upper surface of eccentric wheel 30 is in contact or close to the upper surface of eccentric wheel 30.
Bearing 60 is held in housing 5 by keeping body 65 by bearing 8.Keeping body 65 is cylindrical, its top outer peripheral face to Radial outside protrudes, and its top inner peripheral surface is prominent to radially inner side.The lower outer diameter of keeping body 65 is with the axis hole 3A's of output shaft 3 Internal diameter is roughly the same.The top external diameter of keeping body 65 is more than the lower outer diameter of keeping body 65.The opening portion 66 on the top of keeping body 65 Internal diameter it is roughly the same with the external diameter of bearing 60.Bearing 60 is mutually chimeric with opening portion 66.The bottom 61 of bearing 60 and keeping body The lower surface on 65 top abuts against, so that bearing 60 positions relative to keeping body 65.The bottom of keeping body 65 is from axial direction Side is entrenched in the axis hole 3A of output shaft 3.The top of keeping body 65 and the upper surface of output shaft 3 abut against, so that keeping body 65 position relative to output shaft 3.The internal diameter of the opening portion 67 of the bottom of keeping body 65 is more than in counterweight part 50 along with input shaft 2 The diameter in the region that the outer peripheral face of counterweight part 50 is passed through when being rotated.Therefore, the bottom of keeping body 65 without interference with To the rotating range of counterweight part 50.
Reference picture 4, illustrate the action engaging situation be adjusted of the external gear wheel 16 of eccentric wheel 30 with internal gear 11.Inner side Eccentric wheel 31 is to be fastened by fixing screws 34 so as to be fixed on the state of input shaft 2.The axle center BX of inner side eccentric wheel 31 relative to The axle center AX of input shaft 2 is eccentric.Fixing screws 39 are unscrewed so that outside eccentric wheel 36 can enter relative to inner side eccentric wheel 31 Row rotation.The axle center CX of outside eccentric wheel 36 is eccentric relative to axle center BX.
In the case where the gap B of external gear 16 and internal gear 11 is not 0, operator makes outside eccentric wheel 36 relative to interior Side eccentric wheel 31 is rotated.From the point of view of depression angle, axle center CX position is moved around axle center BX.Axle center BX is relative to axle center AX Position for position do not become.Length between axle center CX position and axle center AX position is that offset A is changed. The internal diameter radius G1 of internal gear 11 and the length phase for adding up offset A and external gear 16 external diameter radius R1 and gap B When.Therefore, by adjusting offset A so that gap B is 0 or during close to 0, is nibbled in external gear 16 and the depth of internal gear 11 The state of conjunction.By fixing screws 39 fasten so as to by outside eccentric wheel 36 be fixed on inner side eccentric wheel 31, maintain external gear 16 with The engagement of internal gear 11.
Reference picture 5 and Fig. 6, illustrate the action of decelerator 1.In the following description, the position relationship at each position and rotation Towards on the basis of being direction in the case of to overlook decelerator 1.With the variable with θ represent input shaft 2 the anglec of rotation, The anglec of rotation of output shaft 3 and the anglec of rotation of rotor 4, unit is used as using radian.Mark M1 represents the rule on eccentric wheel 30 A bit fixed, M2 is marked to represent more defined on internal gear 11, mark M3 represents more defined on external gear 16, mark It is more defined on external gear 26 to remember that M4 is represented, mark M5 represents more defined on internal gear 21.For example, such as Fig. 5 institutes Show, internal gear 11 and external gear 16 are intermeshed at position of engagement T11 and position of engagement T12.Position of engagement T11 is internal gear The position of engagement being meshed with external gear 16 on 11.Position of engagement T12 is being meshed with internal gear 11 on external gear 16 The position of engagement.Input shaft 2 rotates θ in clockwise under the driving of motor 6 centered on the AX of axle center.Such as mark M1 and arrow Shown in head J, eccentric wheel 30 rotates θ in clockwise centered on the AX of axle center.External gear 16 is around axle center AX revolution θ in. As marked shown in M2, because internal gear 11 is fixed in housing 5 so internal gear 11 does not rotate.It has been rotated in eccentric wheel 30 Afterwards, the position of engagement T21 being meshed with external gear 16 on internal gear 11 is for the position of engagement T11 before rotation, with The amount of the number of teeth suitable with θ in is moved centered on the AX of axle center clockwise.That is, eccentric wheel 30 rotated after engagement Position T21 moves 2 π G1 (θ in/2 π)=G1 θ in for the position of engagement T11 before rotation.G1 is internal gear 11 Internal diameter radius.
Semidiameter be present between internal gear 11 at it in external gear 16.Therefore, as shown in mark M3 and arrow K, external gear 16 one side are revolved round the sun, and same external gear 16 of the outer perimeter of one side rotation external gear 16 is corresponding to the semidiameter of internal gear 11 Amount, so as to maintain the external gear 16 to be meshed with internal gear 11.Rotation and revolution are carried out by external gear 16 so that external tooth Wheel 16 on the position of engagement T22 being meshed with internal gear 11 for the position of engagement T12 before rotation, using axle center CX as Center moves the amount of the number of teeth suitable with θ a clockwise.Before position of engagement T22 on external gear 16 is relative to rotation Position of engagement T12 for, move 2 π R1 (θ a/2 π)=R1 θ a.R1 is the external diameter radius of external gear 16.On internal gear 11 The length that is moved for the T11 of the position of engagement of the position of engagement T21 being meshed with external gear 16 with external gear 16 The length that is moved for the T12 of the position of engagement of the position of engagement T22 being meshed with internal gear 11 it is identical.Therefore,
G1 θ in=R1 θ a (1)
Set up.
As shown in fig. 6, before the rotation of input shaft 2, position of engagement T31 on each of internal gear 21 and external gear 26 and It is intermeshed at the T32 of the position of engagement.Position of engagement T31 is the position of engagement being meshed with external gear 26 on internal gear 21.Nibble It is the position of engagement being meshed with internal gear 21 on external gear 26 to close position T32.External gear 16 and external gear 26 integratedly enter Row rotation.Therefore, as shown in mark M4 and arrow P, in during input shaft 2 rotates θ in, the one side of external gear 26 is around axle center AX is revolved round the sun clockwise, while carrying out rotation counterclockwise centered on the CX of axle center.After rotation, external gear 26 On the position of engagement T42 being meshed with internal gear 21 for the position of engagement T32 before rotation, centered on the CX of axle center The amount of the number of teeth suitable with θ a is moved clockwise.That is, position is engaged on external gear 26 with what internal gear 21 was meshed T42 is put for the position of engagement T32 before rotation, moves 2 π R2 (θ a/2 π)=R2 θ a.R2 is the outer of external gear 26 Footpath radius.
Semidiameter be present between external gear 26 at it in internal gear 21.Therefore, as shown in mark M5 and arrow Q, internal gear 21 by carrying out rotation clockwise, can eliminate the same internal gear 21 and external gear 26 of the outer perimeter of external gear 26 The corresponding girth of semidiameter is poor, so as to maintain the internal gear 21 to be meshed with external gear 26.Carried out certainly by internal gear 21 Turn so that the position of engagement T41 being meshed with external gear 26 on internal gear 21 relative to the position of engagement T31 before rotation and Speech, move the amount of the number of teeth suitable with θ b clockwise centered on the AX of axle center.Position of engagement T41 on internal gear 21 For the position of engagement T31 before rotation, 2 π G2 (θ b/2 π)=G2 θ b are moved.G2 is the internal diameter half of internal gear 21 Footpath.The length that the position of engagement T42 being meshed with internal gear 21 on external gear 26 is moved for the T32 of the position of engagement The length moved with the position of engagement T41 being meshed with external gear 26 on internal gear 21 for the T31 of the position of engagement It is identical.Therefore,
R2 θ a=G2 θ b (2)
Set up.
Drawn according to above-mentioned formula (1) and formula (2):
θ b=(G1/R1) (R2/G2) θ in (3).
As described above, internal gear 21 maintains the internal gear 21 to be meshed with external gear 26 by transfer certainly.By internal tooth The angle of the progress rotation of wheel 21 is set to θ out.θ out size is θ in and angle, θ b difference, wherein, angle, θ b is to pass through external tooth Wheel 26 carries out revolution and internal gear 21 carries out the amount that rotation causes the position of engagement on internal gear 21 to move.Therefore,
θ out=θ in- θ b (4)
Set up.Formula (4) is substituted into formula (3), drawn:
θ out={ 1- ((G1R2)/(R1G2)) } θ in (5).
The offset of eccentric wheel 30 is set to A, gap B and external gear when the external gear 16 is meshed with internal gear 11 If 26 gap B when being meshed with internal gear 21 is 0, then
R1+A=G1 (6)
R2+A=G2 (7)
Set up.Formula (6) and formula (7) are substituted into formula (5), drawn:
θ out={ ((R1-R2) A)/(R1 (R2+A)) } θ in (8).
Speed reducing ratio is defined as the rotating speed of the corresponding output shaft 3 for each revolution of input shaft 2, that is, is defined as θ in/ θ out.Formula (8) is deformed, drawn:
θ in/ θ out={ R1 (R2+A) }/{ A (R1-R2) } (9).
In the case where speed reducing ratio is more than 1, i.e., in the case of θ in/ θ out > 1, rotation speed of the rotor 4 to input shaft 2 Degree is slowed down, and the speed for making output shaft 3 be obtained after deceleration is rotated.In this case, the rotation side of output shaft 3 To identical with the direction of rotation of input shaft 2.Because R1, R2 and A value are all higher than 0, therefore, according to θ in/ θ out > 1 and formula (9) R1 > R2 can be drawn.The rotor 4 of present embodiment can slow down to the rotary speed of input shaft 2, and can make output shaft 3 Rotated with the speed obtained after deceleration.Understood according to formula (9), the value of the value of (R1-R2) closer to 0, θ in/ θ out It is bigger.That is, by making the external diameter radius R2 of external gear 26 closer to the external diameter radius R1 of external gear 16, it becomes possible to make rotor 4 obtain bigger speed reducing ratio.According to formula (9), in the case of R1=R2, speed reducing ratio becomes infinitely great, and therefore, rotor 4 does not revolve Turn.In the case where speed reducing ratio is less than -1, i.e., in the case of θ in/ θ out < -1, rotary speed of the rotor 4 to input shaft 2 Slowed down, and reverse rotation of the speed for making output shaft 3 be obtained after deceleration to the direction of rotation of input shaft 2.In the feelings Under condition, because R1, R2 and A value are all higher than 0, therefore, R1 < R2.
As explained above, decelerator 1 can obtain the offset A, outer relative to internal gear 11 with external gear 16 Gear 26 is corresponding relative to the offset A of internal gear 21, the external diameter radius R1 of external gear 16 and external gear 26 external diameter radius R2 Speed reducing ratio.Decelerator 1 has gear train 10 and gear train 20 this two groups of teeth wheel group.External gear 26 the upside of external gear 16 with External gear 16 is engaged, and external gear 26 can be pivoted about with axle center CX.Internal gear 21 is driven in external gear 26, with axle Integratedly rotated with output shaft 3 centered on heart AX.During input shaft 2 has rotated a circle, external gear 16 is with axle center The external gear 16 and the amount of the number of teeth difference of internal gear 11 are rotated centered on CX.Decelerator 1 can utilize gear train 10 and gear train 20 this two groups of teeth wheel groups obtain sufficiently large speed reducing ratio.Therefore, decelerator 1 in rotor 4 without using fluctuation gear, planet tooth The high accuracy such as wheel and complicated mechanism, and can just obtain bigger speed reducing ratio with easy structure.
Decelerator 1 is connected with counterweight part 50 in the top ends 2A of input shaft 2 bottom.From the point of view of depression angle, counterweight part 50 position of centre of gravity be located relative to it is for axle center AX position, with the position of centre of gravity of eccentric wheel 30, the center of gravity position of bearing 40 Put, the side that the position of centre of gravity of the position of centre of gravity of external gear 16 and external gear 26 is opposite.Counterweight part 50 can suppress along with inclined The turning effort of heart wheel 30 is in the imbalance of the centrifugal force of input shaft 2.Therefore, decelerator 1 can reduce the vibration of input shaft 2.
Decelerator 1 carries the upper of the top ends 2A of the input shaft 2 using bearing 60 in a manner of input shaft 2 can rotate Portion.Therefore, decelerator 1 can more reliably reduce the vibration along with input shaft 2 caused by the rotation of eccentric wheel 30.
Eccentric wheel 30 can be by changing the position for fixing the inside side eccentric wheel 31 of outside eccentric wheel 36, to change outside Eccentric wheel 36 relative to input shaft 2 offset A.Therefore, eccentric wheel 30 can be by adjusting offset A, to realize external gear The state that 16 states engaged with the depth of internal gear 11 and external gear 26 engage with the depth of internal gear 21.Decelerator 1 can subtract The gap in gap and gear train 20 in little gear group 10, so as to reduce loss of the revolving force in transmittance process.
Decelerator 1 is provided with bearing 40 between eccentric wheel 30 and external gear 16 and external gear 26.Therefore, decelerator 1 can External gear 16 and external gear 26 is carried out more smooth relative to the rotation of eccentric wheel 30, passed so as to reduce revolving force Loss during passing.
The present invention is not limited to above-mentioned embodiment, can carry out various changes.Can also be that the external diameter of external gear 16 is small In the external diameter of external gear 26.In this case, it is changed into θ in/ θ out < -1, speed reducing ratio becomes less than -1.Rotor 4 can be to defeated The rotary speed for entering axle 2 is slowed down, and the speed that output shaft 3 can be made to be obtained after deceleration is to the rotation side of input shaft 2 To reverse rotation.
External gear 16 and external gear 26 be screwed be integrated but it is also possible to be, by external gear 16 and external gear 26 into Shape is integrated.In this case, decelerator 1 can reduce parts count, can simplify the structure of rotor 4.
Can also there is no counterweight part 50.Can also there is no bearing 60 and keeping body 65.It can also be, counterweight part is only set 50, or bearing 60 and keeping body 65 are only set.In the feelings for having the structure of bearing 60 and keeping body 65 for no counterweight part 50 Under condition, decelerator 1 can strengthen input shaft 2 using bearing 60, so as to which input shaft 2 is made into thinner.Therefore, decelerator 1 can reduce the radial dimension of eccentric wheel 30 as much as possible, and can increase offset A.
Or, bias can not be adjusted by outside eccentric wheel 36 and inner side eccentric wheel 31 for eccentric wheel 30 A is measured, but by offset A is set as into the single part of prescribed level forms eccentric wheel 30 in advance.Internal gear 11, internal gear As long as the 21st, external gear 16 and the spur gear of external gear 26, it becomes possible to be easily made into, therefore be preferable, but can also make With angular gear, herringbone gear etc..
Rotor 4 has gear train 10 and gear train 20 this two groups of teeth wheel group, but can also have more than four groups of even number set Gear train.For example, in the case of with four groups of gear trains, rotor can also become following structure.First gear group External gear and the external gear of second gear group are located at input shaft by eccentric wheel and bearing.The internal gear of second gear group is fixed with The rotary shaft that can be pivoted about with axle center AX.The external gear of 3rd gear train and the external gear of the 4th gear train by Eccentric wheel and bearing are located at the rotary shaft.The internal gear of the internal gear of first gear group and the 3rd gear train is individually fixed in shell Body.The internal gear of 4th gear train is fixed on output shaft.In gear train of the structure of rotor with more than six groups of even number set In the case of be also same.Decelerator can correspondingly obtain bigger speed reducing ratio with the increase of the group number of gear train.
Can also be, as shown in fig. 7, decelerator 101 is the structure that can change speed reducing ratio.The rotor 104 of decelerator 101 With housing 5, eccentric wheel 130, bearing 140, gear train 110, gear train 120 and gear train 170.Housing 5, eccentric wheel 130, axle Hold 140 structure and the housing 5 of above-mentioned embodiment, eccentric wheel 30, the structure of bearing 40 are roughly the same, therefore omit the description. The external gear 116 of gear train 110 is mutually chimeric with the bottom of bearing 140.The internal gear 111 of gear train 110 is fixed on the bottom of housing 5 The upper surface in portion and it is integrally fixed in the 5B of edge.External gear 116 and internal gear 111 maintain the state being meshed.Gear train 120 External gear 126 is located at the top of external gear 116, and is fixed as one with external gear 116.External gear 126 has outer in the axial direction More than two times of length of the axial length of gear 116, the top of external gear 126 are prominent to radial outside.External gear 126 it is upper Portion is configured to the gear in periphery with tooth.The lower outer diameter of external gear 126 is less than the top external diameter of external gear 126, external gear 126 bottom does not have tooth in periphery.
The external gear 176 of gear train 170 is formed with external gear 126 in the top of external gear 126 and is integrated.External gear 116 Axle center, the axle center of external gear 126 and the axle center of external gear 176 and the axle center of eccentric wheel 130 it is concentric.External gear 116, external gear 126 and external gear 176 be configured to centered on the axle center of eccentric wheel 130 be rotated independently of the ground of input shaft 2.External gear The external diameter of 126 gear parts is more than the external diameter of external gear 116, and the external diameter of external gear 176 is less than the external diameter of external gear 116.
The internal gear 171 of gear train 170 is fixed on output shaft 103 in the lower section of output shaft 103.Output shaft 103 is bearing 108 inner ring.The internal gear 121 of gear train 120 is formed with internal gear 171 in the lower section of internal gear 171 and is integrated.Internal gear 121 have more than two times of length of the axial length of internal gear 111 in the axial direction, and the bottom of internal gear 121 is to radially inner side It is prominent.The bottom of internal gear 121 is configured to the gear for having tooth in inner circumferential.The top external diameter of internal gear 121 is less than internal gear 121 Lower outer diameter, the top of internal gear 121 does not have tooth in periphery.
The axle center in the axle center of internal gear 111, the axle center of internal gear 121 and internal gear 171 and the axle center AX of input shaft 2 are same The heart.Internal gear 121 and internal gear 171 are configured to pivot about with axle center AX.The gear parts of internal gear 121 Internal diameter is more than the internal diameter of internal gear 111, and the internal diameter of internal gear 171 is less than the internal diameter of internal gear 111.The outer ring 107 of bearing 108 does not have Have and be fixed on housing 5, but be configured to be axially moveable.Therefore, output shaft 103, internal gear 121 and the energy of internal gear 171 Enough it is axially moveable.
When output shaft 103 is moved upward to axle, internal gear 121 is meshed with external gear 126, internal gear 171 with it is outer The state that gear 176 is meshed is released from.Rotor 104 utilizes the rotary speed of gear train 110 and gear train 120 to input shaft 2 Slowed down, and reverse rotation of the speed for making output shaft 103 be obtained after deceleration to the direction of rotation of input shaft 2.When defeated To when moving axially below, the state that internal gear 121 is meshed with external gear 126 is released from shaft 103, internal gear 171 with it is outer Gear 176 is meshed.Rotor 104 is slowed down using gear train 110 and gear train 170 to the rotary speed of input shaft 2, and is made Output shaft 103 is with the equidirectional rotation of the speed that is obtained after deceleration to the direction of rotation of input shaft 2.
It is axially moveable by output shaft 103, enables to decelerator 101 to be selected from gear train 120 and gear train 170 One gear train is connected with gear train 110.The external diameter of the external gear 126 of gear train 120 is different from the external tooth of gear train 170 The external diameter of wheel 176.Therefore, decelerator 101 can change speed reducing ratio.
Supporting mass of the bearing 60 of above-mentioned embodiment equivalent to the present invention.First of gear train 110 equivalent to the present invention Gear train, gear train 120 is equivalent to the second gear group of the present invention, threeth gear train of the gear train 170 equivalent to the present invention.

Claims (11)

1. a kind of decelerator, the decelerator (1) has:
Input shaft (2), its side being located on defined axial direction, the input shaft can be in the presence of external force with along the axial direction The axle center (AX) of extension pivots about;
Output shaft (3), itself and the axle center opposite side on the axial direction, and the output shaft can be independently of described with one heart Rotated input shaft;And
Rotor (4), it is connected with the input shaft and the output shaft, and the rotor is used for the rotary speed to the input shaft Slowed down, and the speed for making the output shaft be obtained after deceleration is rotated,
The decelerator is characterised by,
The rotor has:
Eccentric wheel (30), it is connected with the input shaft, and the eccentric wheel relative to the axle center of the input shaft with defined Offset is eccentric;And
At least two groups of teeth wheel group (10,20), each gear train be using external gear (16,26) and internal gear (11,21) as one group and Into, in the gear train, the internal gear is mutually nibbled than position of the external gear by radial outside with the external gear To close, the number of teeth of the internal gear is more than the number of teeth of the external gear,
In the gear train, the external gear is located at the periphery of the eccentric wheel, and the external gear can be with the bias The rotary shaft of wheel pivots about, and the axle center of the internal gear is identical with the axle center of the input shaft,
The external gear of adjacent on the axial direction and adjacent gear train of the two groups of teeth wheel group adjoins one another Close,
The respective external diameter of the external gear engaged is different from each other,
The output shaft is connected with the internal gear of the gear train of the opposite side on the axial direction.
2. decelerator according to claim 1, it is characterised in that
The input shaft has top ends (2A), and the top ends extend to the gear than the opposite side on the axial direction The position for the opposite side that the external gear of group is leaned on the axial direction,
The rotor has counterweight part (50), and the counterweight part is connected with the top ends, and the counterweight part can be with the input Axle rotates together,
Looked up from the axle, the position of centre of gravity of the counterweight part is in for the axle center of the input shaft and institute State the opposite side of the pivot of eccentric wheel.
3. decelerator according to claim 2, it is characterised in that
The rotor has:
Housing (5), the gear train are contained in the housing;And
Supporting mass (60), it is located at the housing, top described in the state support that the supporting mass can be rotated with the counterweight part Portion.
4. decelerator according to claim 1, it is characterised in that
The input shaft has top ends, and the top ends extend to the gear train than the opposite side on the axial direction The position for the opposite side that the external gear is leaned on the axial direction,
The rotor has:
Housing, the gear train are contained in the housing;And
Supporting mass, it is located at the housing, top ends described in the state support that the supporting mass can be rotated with the input shaft.
5. decelerator according to claim 1, it is characterised in that
The eccentric wheel has:
Inner side eccentric wheel (31), it is fixed on the input shaft, and the inner side eccentric wheel is inclined relative to the axle center of the input shaft The heart;And
Outside eccentric wheel (36), it is located at the outer circumferential side of the inner side eccentric wheel and is fixed on the inner side eccentric wheel, and this is outer Side eccentric wheel is eccentric relative to the axle center of the inner side eccentric wheel,
The outside eccentric wheel can be changed by making the outside eccentric wheel be rotated relative to the inner side eccentric wheel Relative to the position of the inner side eccentric wheel.
6. decelerator according to claim 2, it is characterised in that
The eccentric wheel has:
Inner side eccentric wheel, it is fixed on the input shaft, and the inner side eccentric wheel is eccentric relative to the axle center of the input shaft;And
Outside eccentric wheel, it is located at the outer circumferential side of the inner side eccentric wheel and is fixed on the inner side eccentric wheel, and the outer lateral deviation Heart wheel is eccentric relative to the axle center of the inner side eccentric wheel,
The outside eccentric wheel can be changed by making the outside eccentric wheel be rotated relative to the inner side eccentric wheel Relative to the position of the inner side eccentric wheel.
7. decelerator according to claim 3, it is characterised in that
The eccentric wheel has:
Inner side eccentric wheel, it is fixed on the input shaft, and the inner side eccentric wheel is eccentric relative to the axle center of the input shaft;And
Outside eccentric wheel, it is located at the outer circumferential side of the inner side eccentric wheel and is fixed on the inner side eccentric wheel, and the outer lateral deviation Heart wheel is eccentric relative to the axle center of the inner side eccentric wheel,
The outside eccentric wheel can be changed by making the outside eccentric wheel be rotated relative to the inner side eccentric wheel Relative to the position of the inner side eccentric wheel.
8. decelerator according to claim 4, it is characterised in that
The eccentric wheel has:
Inner side eccentric wheel, it is fixed on the input shaft, and the inner side eccentric wheel is eccentric relative to the axle center of the input shaft;And
Outside eccentric wheel, it is located at the outer circumferential side of the inner side eccentric wheel and is fixed on the inner side eccentric wheel, and the outer lateral deviation Heart wheel is eccentric relative to the axle center of the inner side eccentric wheel,
The outside eccentric wheel can be changed by making the outside eccentric wheel be rotated relative to the inner side eccentric wheel Relative to the position of the inner side eccentric wheel.
9. the decelerator according to any one of claim 5~8, it is characterised in that
The decelerator has bearing (40) between the eccentric wheel and the external gear.
10. according to decelerator according to any one of claims 1 to 8 (101), it is characterised in that
The gear train goes have first gear group (110), second gear successively from the side on the axial direction towards opposite side Group (120) and the 3rd gear train (170),
The external gear (126) of the second gear group is fixed as one with the external gear (116) of the first gear group, and described Length of the external gear of two gear trains on the axial direction is more than length of the external gear of the first gear group on the axial direction Degree, and the part by the opposite side on the axial direction of the external gear of the second gear group is prominent to radial outside,
The external diameter of the external gear of the second gear group is different from the external diameter of the external gear of the first gear group,
The external gear (176) of 3rd gear train and the external gear of the second gear group are formed and are integrated, and the described 3rd The external diameter of the external gear of gear train is different from the external diameter of the external gear of the first gear group, also different from the second gear group External gear external diameter,
The internal gear of 3rd gear train is fixed on the output shaft (103),
The internal gear (171) of the internal gear (121) of the second gear group and the 3rd gear train, which is formed, to be integrated, and described The internal gear of second gear group can together with the internal gear of the output shaft and the 3rd gear train along the axial movement,
When the output shaft is moved to the position by the opposite side on the axial direction, the internal gear of the second gear group and institute The external gear for stating second gear group is meshed, and the external gear of the internal gear and the 3rd gear train of the 3rd gear train is mutually nibbled The state of conjunction is released from,
When the output shaft is moved to the position by the side on the axial direction, the internal gear of the second gear group with it is described The state that the external gear of second gear group is meshed is released from, internal gear and the 3rd gear train of the 3rd gear train External gear is meshed.
11. decelerator according to claim 9, it is characterised in that
The gear train goes have first gear group, second gear group and the successively from the side on the axial direction towards opposite side Three gear trains,
The external gear of the second gear group and the external gear of the first gear group are fixed as one, the second gear group Length of the external gear on the axial direction is more than length of the external gear on the axial direction of the first gear group, and described the The part by the opposite side on the axial direction of the external gear of two gear trains is prominent to radial outside,
The external diameter of the external gear of the second gear group is different from the external diameter of the external gear of the first gear group,
The external gear of 3rd gear train and the external gear of the second gear group are formed and are integrated, and the 3rd gear train External gear external diameter be different from the first gear group external gear external diameter, also different from the external tooth of the second gear group The external diameter of wheel,
The internal gear of 3rd gear train is fixed on the output shaft,
The internal gear of the internal gear of the second gear group and the 3rd gear train, which is formed, to be integrated, and the second gear group Internal gear can together with the internal gear of the output shaft and the 3rd gear train along the axial movement,
When the output shaft is moved to the position by the opposite side on the axial direction, the internal gear of the second gear group and institute The external gear for stating second gear group is meshed, and the external gear of the internal gear and the 3rd gear train of the 3rd gear train is mutually nibbled The state of conjunction is released from,
When the output shaft is moved to the position by the side on the axial direction, the internal gear of the second gear group with it is described The state that the external gear of second gear group is meshed is released from, internal gear and the 3rd gear train of the 3rd gear train External gear is meshed.
CN201710516208.2A 2016-06-30 2017-06-29 Decelerator Pending CN107559388A (en)

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