JP2013221570A - Speed change gear drive and actuator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a speed change gear drive not generating moment to a bearing for supporting an annular member, and an actuator equipped with the speed change gear drive.SOLUTION: A speed change gear drive 2 is capable of offsetting moment applied to a bearing 91, generated by revolution of respective annular members 30, 40, 50 by adjusting the reference phase of the input-output axis Lo of the eccentric center of the respective annular members 30, 40, 50 in a first annular member 30, a second annular member 40 and a third annular member 50 arranged in a direction of an input-output axis Lo. The life of the bearing 91 can thereby be extended, and the output characteristics of the speed change gear drive 2 (an actuator 1) can be kept excellent.

Description

  The present invention relates to a transmission gear device including a planetary gear mechanism and an actuator including the transmission gear device.

  The transmission gear device is used as a speed reduction device or a speed increase device that shifts rotation input by a drive source such as a motor. As such a transmission gear device, for example, Patent Document 1 discloses a reduction gear device using a planetary gear mechanism. In this speed reducer, two annular members (oscillating members) arranged in the input / output axis direction are revolved around the shaft member, and the external gear formed on the annular member and the external gear formed on the housing. The rotation component of the annular member corresponding to the difference in the number of teeth with the internal gear meshing with the gear is output.

JP 2011-208767 A

  Here, in the conventional transmission gear device, like the reduction gear of Patent Document 1, the two annular members are supported by bearings arranged on both sides of the annular member in the input / output axial direction. For this reason, a moment generated by the revolution of two annular members having different distances in the input / output axis direction from the bearing is always applied to the bearing. For this reason, there is room for improvement in terms of the life of the bearing.

  The present invention has been made in view of such circumstances, and an object thereof is to provide a transmission gear device that reduces a moment generated in a bearing that supports an annular member, and an actuator including the transmission gear device. .

  (1) A transmission gear device according to the present invention is externally fitted to a shaft member centered on an input / output axis so as to be relatively rotatable, and is accommodated in a cylindrical member centered on the input / output axis so as to be relatively rotatable. An internal gear having an internal tooth centered on an eccentric axis that is eccentric with respect to the input / output axis, and an external gear having external teeth that can mesh with the internal tooth and having a different number of teeth from the internal gear. An annular member that meshes with the shaft member or the cylindrical member, and the annular members are arranged in the input / output axis direction, and the input / output axis reference of the eccentric center of the at least one annular member is provided. Are arranged so as to be different from the phase of the input / output axis reference at the eccentric center of the other annular member.

  (Claim 2) The at least one annular member may be formed so as to have a mass different from that of the other annular member.

  (Claim 3) Further, the three annular members are arranged in the input / output axis direction, and the phase of the eccentric center of the annular member at the center is based on the input / output axis reference phase before the eccentric centers of the annular members on both sides. You may make it arrange | position so that it may differ from the phase of a writing output axis line reference | standard.

  (Claim 4) Further, the cylindrical member in which a housing hole whose center is eccentric with respect to the input / output axis is formed, and the housing gear is housed so as to be relatively rotatable, and the internal gear is disposed on the inner circumferential surface. You may make it provide the said annular member formed, and the said shaft member by which the said external gear was formed in the outer peripheral surface.

  (Claim 5) Further, the shaft member having an eccentric outer peripheral surface whose center is eccentric with respect to the input / output axis, and the eccentric outer peripheral surface are supported so as to be relatively rotatable, and the external gear is mounted on the outer peripheral surface. You may make it provide the said cyclic | annular member formed and the said cylindrical member in which the said internal gear formed in the internal peripheral surface.

  (Claim 6) An actuator according to the present invention is arranged so as to face a cylindrical rotor, a cylindrical stator arranged opposite to the outer side in the radial direction of the rotor, and an inner side in the radial direction of the rotor. A transmission gear device according to any one of claims 1 to 3, wherein the transmission gear device is formed with an accommodation hole whose center is eccentric with respect to the input / output axis. A cylindrical member, the annular member which is accommodated in the accommodation hole so as to be relatively rotatable, the internal gear is formed on an inner peripheral surface, and the shaft member whose outer gear is formed on an outer peripheral surface. Prepare.

  (Claim 1) According to the present invention, in the annular members arranged in at least three in the input / output axis direction, by adjusting the phase of the input / output axis reference at the eccentric center of each annular member, It is possible to cancel the moment applied to the bearing caused by the revolution. As a result, the life of the bearing can be extended, and the output characteristics of the transmission gear device can be kept good.

  (Claim 2) Further, by adjusting the mass of each annular member, the moment applied to the bearing caused by the revolution of each annular member can be offset. As a result, the transmission gear device can be configured easily and at low cost.

  (Claim 3) Further, it is only necessary to arrange three annular members, and a small and simple transmission gear device can be configured.

  (Claim 4) When the cylindrical member is rotated by inputting a driving force, the annular member accommodated in the accommodation hole of the cylindrical member revolves around the input / output axis along with the rotation of the cylindrical member. become. Here, by restricting the rotation of the annular member, the shaft member formed with the external gear meshing with the internal gear of the annular member rotates around the input / output axis at a rotational speed based on the difference in the number of teeth of both gears. To output the driving force. Thus, the transmission gear device can obtain a high gear ratio by shifting and outputting the revolution component of the annular member that revolves in a state where rotation is restricted.

  When the cylindrical member is rotated by inputting a driving force, the annular member accommodated in the accommodation hole of the cylindrical member revolves around the input / output axis along with the rotation of the cylindrical member. Here, by making the shaft member non-rotatable, the annular member rotates at a rotational speed based on the difference in the number of teeth of both gears and outputs a driving force. As described above, the transmission gear device can obtain a high gear ratio by shifting and outputting only the rotation component of the annular member that revolves while rotating.

  (Claim 5) When the driving force is input to the shaft member and rotated, the annular member formed with the external gear meshing with the internal gear of the cylindrical member enters at a rotational speed based on the difference in the number of teeth of both gears. Revolves while rotating around the output axis. The transmission gear device can obtain a high gear ratio by shifting and outputting only the rotation component of the annular member that revolves while rotating.

  Further, when the driving force is input to the shaft member and rotated, the annular member formed with the external gear meshing with the internal gear of the cylindrical member is rotated at the rotational speed based on the difference in the number of teeth of the two gears. Revolve while spinning around. Here, by restricting the rotation of the annular member, the cylindrical member is rotated around the input / output axis at a rotational speed based on the difference in the number of teeth of both gears, and outputs a driving force. Thus, the transmission gear device can obtain a high gear ratio by shifting and outputting the revolution component of the annular member that revolves in a state where rotation is restricted.

  (Claim 6) The transmission gear device is arranged to face the inner side in the radial direction of the rotor. Thereby, the length of the actuator in the input / output axis direction can be reduced, and can be easily applied to, for example, an in-wheel motor.

1 is a cross-sectional view showing a configuration of an actuator. It is an A direction arrow directional view in FIG. It is a figure for demonstrating the moment concerning a bearing of an annular member. Second embodiment of the present invention: It is a sectional view showing a configuration of an actuator.

  DESCRIPTION OF EMBODIMENTS Hereinafter, an embodiment in which an actuator provided with a transmission gear device of the present invention is embodied will be described with reference to the drawings.

<1. First embodiment>
(1-1. Structure of actuator)
A first embodiment of an actuator provided with a transmission gear device of the present invention will be described with reference to FIGS. 1 and 2. Here, the actuator 1 in the present embodiment is applicable to an in-wheel motor or the like built in a vehicle wheel WH. As will be described in detail later, the transmission gear device is arranged in such a manner that the disk member 60 is not rotatable relative to the housing H1 (H2), whereby the first, second, and third annular members 30, 40, This is a reduction gear 2 that regulates 50 rotations, shifts the revolution components of the first, second, and third annular members 30, 40, 50 and outputs them from the gear shaft 70. In FIG. 2, only a part of each gear is shown so as to represent the meshing state of the internal gears 31, 41, 51 and the external gear 71. Therefore, it differs from the number of teeth illustrated in this embodiment.

  The actuator 1 includes a housing H1, a speed reduction device 2, and a motor 3. The housing H <b> 1 is a case that houses the reduction gear 2 and the motor 3. In the actuator 1, the rotational driving force of the motor 3 is transmitted to the speed reduction device 2 and decelerated.

  The motor 3 includes a cylindrical rotor R1 and a cylindrical stator S1 disposed to face the outer side in the radial direction of the rotor R1. The rotor R1 includes, for example, a rotor yoke and a magnet. The stator S1 includes a stator core and a coil wound around the stator core.

  The reduction gear 2 is mainly composed of a gear mechanism 10 and an output shaft member 12. The gear mechanism 10 includes an outer ring 20 (corresponding to a “tubular member” of the present invention), a first annular member 30, a second annular member 40, a third annular member 50, a disk member 60, a gear shaft. 70 (corresponding to the “shaft member” of the present invention), a pin 81, bearings 91, 92, and the like.

  The output shaft member 12 is an output shaft that outputs rotation decelerated by the gear mechanism 10. The output shaft member 12 is disposed at the rotation center of the reduction gear 2 and the right end in FIG. 1 is connected to the vehicle wheel WH. Further, the output shaft member 12 is rotatably supported around the input / output axis Lo in the housing H1 by bearings 93 and 94 arranged on both sides of the outer periphery.

  The outer ring 20 is an input member that is formed in a cylindrical shape, is fitted with a rotor R1 on the outer periphery, and inputs the rotational driving force of the motor 3. The outer ring 20 is rotatably supported around the input / output axis Lo in the housing H1 by bearings 91 and 92 disposed on both sides of the inner periphery. On the inner peripheral surface between the bearings 91 and 92 in the outer ring 20, a first accommodation hole 21 is formed in the center, and a second accommodation hole 22 and a third accommodation hole 23 are formed on both sides of the first accommodation hole 21. The first accommodation hole 21 is formed by a cylindrical inner peripheral surface centered on a first eccentric shaft La that is eccentric by a predetermined distance from the input / output axis Lo. Similarly, the second accommodation hole 22 and the third accommodation hole 23 are eccentric with a predetermined distance from the input / output axis Lo, and have a cylindrical inner shape centering on a second eccentric axis Lb different from the first eccentric axis La. It is formed by the peripheral surface.

  The first accommodation hole 21, the second accommodation hole 22, and the third accommodation hole 23 are formed such that the eccentric directions with respect to the input / output axis Lo are opposite to each other. That is, the first eccentric shaft La of the first housing hole 21 and the second eccentric shaft Lb of the second housing hole 22 and the third housing hole 23 are spaced by 180 (deg) in the rotation direction about the input / output axis Lo. It is formed to become. In the present embodiment, the first accommodation hole 21, the second accommodation hole 22, and the third accommodation hole 23 are formed directly on the inner peripheral surface of the outer ring 20. It is good also as what is comprised by another member inserted and fixed.

  The first annular member 30 is a planetary gear disposed inside the outer ring 20 with the gear shaft 70 penetrating therethrough. The first annular member 30 is accommodated in the first accommodation hole 21 of the outer ring 20 via the first bearing 95 and is supported in a state of being rotatable relative to the outer ring 20. That is, the first accommodation hole 21 accommodates the first annular member 30 at a position where the center of the first annular member 30 is a predetermined distance from the input / output axis Lo. With such a configuration, the distance of the first eccentric shaft La of the first annular member 30 relative to the input / output axis Lo is maintained constant, and the first annular member 30 revolves with the rotation of the outer ring 20.

  The first annular member 30 has a first internal gear 31 formed on the inner peripheral surface, and an insertion hole 32 penetrating both end surfaces of the first annular member 30 in the input / output axis Lo direction. The insertion hole 32 is a pin hole into which the pin 81 inserted into the disk member 60 is inserted. In the present embodiment, as shown in FIG. 2, the insertion holes 32 formed at six locations are arranged at equal intervals in the circumferential direction of the first annular member 30. Further, the shape of the insertion hole 32 is formed to be the same as the circumscribed circle of the locus of the pin 81 with respect to the first annular member 30 when the first annular member 30 revolves around the input / output axis Lo. . More specifically, the inner diameter of the insertion hole 32 is the sum of the diameter of the pin 81 including the rolling bearing 82 and the amount of eccentricity of the first annular member 30 (the separation distance between the input / output axis Lo and the first eccentric shaft La). It is set to be almost equal.

  The second annular member 40 and the third annular member 50 are planetary gears arranged inside the outer ring 20 with the gear shaft 70 penetrating therethrough. The second annular member 40 and the third annular member 50 are accommodated in the second accommodation hole 22 and the third accommodation hole 23 of the outer ring 20 via the second bearing 96 and the third bearing 97, respectively. It is supported in a rotatable state. In other words, the second accommodation hole 22 and the third accommodation hole 23 are arranged such that the centers of the second annular member 40 and the third annular member 50 are at a predetermined distance from the input / output axis Lo. Each annular member 50 is accommodated. With this configuration, the distance between the second eccentric shaft Lb of the second annular member 40 and the third annular member 50 with respect to the input / output axis Lo is maintained constant, and the second annular member 40 and the third annular member 50 are connected to the outer ring 20. Revolves with the rotation of.

  Further, the second annular member 40 and the third annular member 50 are formed with a second internal gear 41 and a third internal gear 51 on the inner peripheral surface, respectively, and both ends of the second annular member 40 and the third annular member 50. Insertion holes 42 and 52 penetrating the surface in the direction of the input / output axis Lo are formed. The insertion holes 42 and 52 are pin holes into which the pins 81 inserted into the disk member 60 are inserted. In the present embodiment, as shown in FIG. 2, the insertion holes 42 and 52 formed at six locations are respectively arranged at equal intervals in the circumferential direction of the second annular member 40 and the third annular member 50. . Further, the shapes of the insertion holes 42 and 52 are such that when the second annular member 40 and the third annular member 50 revolve around the input / output axis Lo, the pin 81 with respect to the second annular member 40 and the third annular member 50 is formed. It is formed to be the same as the circumscribed circle of the trajectory. More specifically, the inner diameters of the insertion holes 42 and 52 are the diameter of the pin 81 including the rolling bearing 82 and the eccentric amounts of the second annular member 40 and the third annular member 50 (the input / output axis Lo and the second eccentric shaft La). The distance is set to be approximately equal to the sum of the separation distance).

  The first annular member 30, the second annular member 40, and the third annular member 50 are formed of the same material and the same diameter, but the thickness of the first annular member 30 in the input / output axis Lo direction is as follows. The second annular member 40 and the third annular member 50 are formed to be twice the thickness in the input / output axis Lo direction. That is, the mass of the first annular member 30 is formed to be twice the mass of the second annular member 40 and the third annular member 50. The first annular member 30, the second annular member 40, and the third annular member 50 are disposed inside the outer ring 20 with the gear shaft 70 penetrating so that the distance between the centers of the adjacent annular members is the same. ing. In addition, the first eccentric shaft La of the first housing hole 21 and the second eccentric shaft Lb of the second housing hole 22 and the third housing hole 23 are spaced by 180 (deg) in the rotation direction about the input / output axis Lo. It is formed to become. Therefore, the first annular member 30, the second annular member 40, and the third annular member 50 accommodated therein are rotated by their respective rotation shafts (the first eccentric shaft La and the second eccentric shaft Lb) when the outer ring 20 rotates. ) Revolves around the input / output axis Lo in a state where the position symmetrical to the input / output axis Lo is always maintained.

  The disk member 60 is arranged side by side with the third annular member 50 in the axial direction of the input / output axis Lo. The disk member 60 is fixed to the housing H1 so that it cannot rotate relative to the housing H1. On the left end surface 60 a of the disk member 60 in FIG. 1, as shown in FIG. 2, the right ends in FIG. 1 of the six cylindrical pins 81 are equally spaced in the circumferential direction of the disk member 60. It is fixed by press fitting or clearance fitting. The disk member 60 has a cylindrical inner peripheral surface 60b, and rotatably supports the output shaft member 12 via a bearing 94 provided inside the inner peripheral surface 60b.

  Each pin 81 protrudes in the axial direction of the input / output axis Lo from the end surface 60a of the disk member 60 toward the left wall in FIG. 1 of the housing H1. 1 is connected to the same number of pin holes as the six pins 61 drilled in the housing H1 by press-fitting or gap fitting. Each pin 81 extrapolates a cylindrical rolling bearing 82 in a rotatable state. Each pin 81 is inserted into each insertion hole 32, 42, 52 of the first, second, and third annular members 30, 40, 50. A rolling bearing 82 is interposed between each insertion hole 32, 42, 52 and the pin 61, and a part of the outer peripheral surface of the rolling bearing 82 contacts the inner peripheral surface of each insertion hole 32, 42, 52. Thus, the pin 81 is engaged with each insertion hole 32, 42, 52 via the rolling bearing 82.

  When the first, second, and third annular members 30, 40, 50 revolve with the rotation of the outer ring 20, the first, second, and third annular members 30, 40 are formed in the disk member 60 having such a configuration. , 50 from the inner peripheral surface of each of the insertion holes 32, 42, 52 through a pin 81 and a rolling bearing 82. Based on the dimensional relationship of the outer diameter of the pin 81 including the rolling bearing 82 with respect to each insertion hole 32, 42, 52, the rotational component of the revolution movement of the first, second, third annular members 30, 40, 50 is a disk. It is transmitted to the member 60. Here, in this embodiment, since the disk member 60 is fixed to the housing H1, the first, second, and third annular members 30, 40, and 50 are restricted from rotating. Thus, the pin 81 and the insertion holes 32, 42, 52 constitute a transmission mechanism that transmits the rotation component of the first, second, and third annular members 30, 40, 50 that revolves to the disk member 60. Yes.

  The gear shaft 70 is a sun gear formed in the shape of a shaft and having an external gear 71, and is disposed inside the outer ring 20 so as to be rotatable about the input / output axis Lo. The gear shaft 70 is an output member into which the output shaft member 12 is fitted and outputs a driving force. The external gear 71 is formed on the outer peripheral surface of the gear shaft 70, penetrates the inner peripheral side of the first, second, and third annular members 30, 40, 50 and meshes with the internal gears 31, 41, 51. Yes. Further, the number of teeth of the external gear 71 of the gear shaft 70 is set to be smaller than the number of teeth of the first, second, and third internal gears 31, 41, 51, and the first, second, Since the third annular members 30, 40 and 50 are arranged eccentrically with respect to the input / output axis Lo, only a part of the external gear 71 is the first, second and third internal gear 31. , 41 and 51 are engaged with each other.

(1-2. Actuator operation)
Next, the operation of the actuator 1 will be described. First, when the motor 3 is operated, the outer ring 20 rotates around the input / output axis Lo together with the rotor R1 of the motor 3. With this rotation, the first, second, and third annular members 30, 40, and 50 accommodated in the first, second, and third accommodation holes 23, 24, and 25 formed in the outer ring 20, respectively, Revolves around the input / output axis Lo with 20 rotations.

  Here, in the insertion holes 32, 42, 52 of the first, second, and third annular members 30, 40, 50 that revolve, the pin 81 of the disk member 60 is inserted, and the pin 81 is inserted via the rolling bearing 82. Is engaged. Since the disk member 60 is fixed to the housing H <b> 1, the first annular member 30 is restricted from rotating around the first eccentric axis La by the pin 81. That is, as the outer ring 20 rotates, the first annular member 30 revolves around the input / output axis Lo while maintaining the phase disposed with respect to the first eccentric axis La. Since the disk member 60 is fixed to the housing H1, the second and third annular members 40 and 50 are restricted from rotating around the second and third eccentric shafts Lb by the pins 81. In other words, the second and third annular members 40 and 50 revolve around the input / output axis Lo while maintaining the phase arranged with respect to the second and third eccentric shafts Lb as the outer ring 20 rotates. Will do.

  The first, second, and third internal gears 31, 41, and 51 of the first, second, and third annular members 30, 40, and 50 have a different number of teeth from the external gear 71 of the gear shaft 70 that meshes. Therefore, only a part in the circumferential direction meshes with the external gear 71. As described above, when the first, second, and third annular members 30, 40, and 50 revolve around the input / output axis Lo, the gear shaft 70 is connected to the first, second, and third internal gears 31, 41 and 51 and the external gear 71 rotate at a rotation speed based on the number of teeth difference. Thus, in the reduction gear 1 of this embodiment, since the disk member 60 interlock | cooperating with the autorotation component of the 1st, 2nd, 3rd annular member 30,40,50 is being fixed to the housing H1, each member is Rotation is regulated. The revolution components of the first, second, and third annular members 30, 40, 50 are decelerated based on the difference in the number of teeth between the internal gears 31, 41, 51 and the external gear 71, and are connected to the gear shaft 70. Driving force is output from the output shaft member 12.

  Here, as shown in FIG. 3, the outer ring 20 rotatably supports the first, second, and third annular members 30, 40, and 50 through the first, second, and third accommodation holes 23, 24, and 25. doing. Therefore, a moment generated by the revolution of the first, second, and third annular members 30, 40, 50 is applied to the bearing 91 that supports the outer ring 20. However, the first, second, and third annular members 30, 40, 50 have the same thickness 2 a in the input / output axis Lo direction of the first annular member 30 as the input / output axis Lo of the second, third annular members 40, 50. Each thickness is formed to be twice the thickness a. Since the same material is formed to have the same diameter, the mass 2w of the first annular member 30 is formed to be twice the mass w of the second and third annular members 40, 50. The first accommodation hole 21, the second accommodation hole 22, and the third accommodation hole 23 are formed so as to have an interval of 180 (deg) in the rotation direction around the input / output axis Lo. Therefore, the input / output axis Lo reference phase of the eccentric center (input / output axis La) of the first annular member 30 is the input / output axis Lo of the eccentric center (input / output axis Lb) of the second and third annular members 40 and 50. Since the phase is shifted from the reference phase by 180 (deg), the direction of the moment generated by the revolution of the first annular member 30 is opposite to the direction of the moment generated by the revolution of the second and third annular members 40 and 50. Become.

  Here, if the thickness of the bearing 91 in the input / output axis Lo direction is d and the arrangement interval of the bearing 91, the first, second, and third annular members 30, 40, 50 in the input / output axis Lo direction is ignored, the bearing The center-to-center distances in the input / output axis Lo direction from 91 to the first, second, and third annular members 30, 40, 50 are (d / 2 + a / 2), (d / 2 + 2a), and (d / 2 + 7a /), respectively. 2), and the moments generated by the revolutions of the first, second, and third annular members 30, 40, 50 are 2w (d) when the direction of the moment by the second, third annular members 40, 50 is negative. / 2 + 2a), -w (d / 2 + a / 2), -w (d / 2 + 7a / 2). When these moments are added, they are canceled out and no moment is applied to the bearing 91. Therefore, the life of the bearing 91 can be extended, and the output characteristics of the reduction gear 2 (actuator 1) can be kept good. .

  Further, the speed reduction device 2 includes first, second, and third annular members by insertion holes 32, 42, and 52 of the first, second, and third annular members 30, 40, and 50 and the pin 81 of the disk member 60. A transmission mechanism that interlocks the rotation components of the members 30, 40, and 50 with the disk member 60 is configured. When the second and third annular members 30, 40, and 50 revolve around the input / output axis Lo, the transmission mechanism allows the revolution components of the second and third annular members 30, 40, and 50 and the second The rotation of the third annular member 30, 40, 50 is restricted. Thereby, the reduction gear 2 can transmit only the rotation component of the 2nd, 3rd annular members 30, 40, and 50 to the disk member 60 by a transmission mechanism, and can operate the gear mechanism 10 more reliably.

  Moreover, since the reduction gear 2 is provided with a plurality of annular members such as second and third annular members 30, 40, 50, the first, second, and third internal gears 31, 41, 51 having the first, Driving force is transmitted between the second and third annular members 30, 40, 50 and the gear shaft 70 having the external gear 71 that meshes with the first, second, and third internal gears 31, 41, 51. Can be distributed. Therefore, the reduction gear 2 can improve the maximum driving force that can be mechanically transmitted.

<1-3. Modification of First Embodiment>
The reduction gear 2 of the first embodiment uses the gear shaft 70 (shaft member) as an output member, whereas the modified embodiment of the first embodiment is such that the gear shaft 70 (shaft member) is relative to the housing H1. It is arranged in a non-rotatable state and has a different configuration in that only the rotation components of the first, second, and third annular members 30, 40, 50 that revolve while rotating are shifted and output from the disk member 60. . Other configurations are substantially the same as those in the first embodiment. Even in such a configuration, the same effect as the reduction gear 2 of the first embodiment can be obtained.

<2. Second embodiment>
(2-1. Structure of actuator)
A second embodiment of the actuator provided with the transmission gear device of the present invention will be described with reference to FIG. Here, the actuator 6 in the present embodiment is applicable to an in-wheel motor or the like built in a vehicle wheel. As will be described in detail later, the transmission gear device is arranged in a state in which the outer ring 120 cannot rotate relative to the housing H2, and the first, second, and third annular members 130, 140, and 150 that revolve while rotating. The speed reduction device 7 that shifts and outputs only the rotation component of the disk member 160 from the disk member 160.

  The actuator 6 includes a housing H <b> 2, a reduction gear 7, and a motor 8. The housing H <b> 2 is a case that houses the speed reduction device 7 and the motor 8. In the actuator 6, the rotational driving force of the motor 8 is transmitted to the speed reduction device 7 and decelerated.

  The motor 8 includes a cylindrical rotor R2 and a cylindrical stator S2 disposed to face the outer side in the radial direction of the rotor R2. The cylindrical rotor R2 includes, for example, a rotor yoke and a magnet. The stator S2 includes a stator core and a coil wound around the stator core.

  The reduction gear 7 is mainly composed of a gear mechanism 11. The gear mechanism 11 includes an outer ring 120 (corresponding to a “cylindrical member” of the present invention), a first annular member 130, a second annular member 140, a third annular member 150, a disk member 160, an input shaft. It comprises a member 170 (corresponding to the “shaft member” of the present invention), a pin 180, and bearings 191, 192.

  The outer ring 120 is formed in a cylindrical shape, an internal gear 121 is formed on the inner periphery, and the gear is centered on the input / output axis Lo. The outer ring 120 is fitted into the cylindrical portion of the housing H2.

  The input shaft member 170 is rotatably supported with respect to the housing H2 about the input / output axis Lo by a bearing 192 fitted in a circular hole of the housing H2. The input shaft member 170 is fixed integrally with the rotor R2 by fitting the rotor R2 of the motor 8. That is, the input shaft member 170 receives an input of the rotational driving force of the rotor R2. The input shaft member 170 includes a base end portion 171, a rotor fitting portion 172, a third eccentric body portion 175, a first eccentric body portion 173, and a second end in order from the base end side (right side in FIG. 4). An eccentric body portion 174 and a tip portion 176 are provided, and these are integrally formed.

  The base end portion 171 is formed in a cylindrical shape or a columnar shape with the input / output axis Lo as the central axis. The distal end portion 176 is provided on the distal end side (left side in FIG. 4) of the input shaft member 170, that is, on the disk member 160 side. Similar to the base end portion 171, the tip end portion 176 is formed in a cylindrical shape or a columnar shape having the input / output axis Lo as the central axis. A bearing 191 is disposed on the outer peripheral surface of the tip portion 176, and the tip portion 176 supports the disk member 160 so as to be relatively rotatable.

  The rotor fitting portion 172 is formed in a cylindrical shape or a columnar shape with the input / output axis Lo as the central axis. The outer diameter of the rotor fitting portion 172 is formed larger than the outer diameter of the base end portion 171. A rotor R2 formed separately from the input shaft member 170 is fitted onto the outer peripheral surface of the rotor fitting portion 172 by press fitting.

  The first eccentric body portion 173 has a circular outer peripheral surface centered on the first eccentric axis La that is eccentric with respect to the input / output axis Lo. The outer diameter of the first eccentric body portion 173 is set larger than the outer diameter of the base end portion 171 in the present embodiment. The first eccentric body portion 173 is formed so as to be located in the axial center of the outer ring 120 in the axial direction.

  The second eccentric body portion 174 and the third eccentric body portion 175 are respectively formed on both sides of the first eccentric body portion 173 in the input / output axis Lo direction. The 2nd eccentric body part 174 and the 3rd eccentric body part 175 have the circular outer peripheral surface centering on the 2nd eccentric axis line Lb eccentrically | centered with respect to the input-output axis line Lo. The second eccentric body portion 174 and the third eccentric body portion 175 are formed to have the same diameter as the first eccentric body portion 173. The second eccentric axis Lb is eccentric by the same amount as the eccentricity of the first eccentric axis La in a direction that is 180 ° out of phase with the first eccentric axis La with respect to the input / output axis Lo. The 2nd eccentric body part 174 and the 3rd eccentric body part 175 are formed so that it may be located in the axial direction both sides of the outer ring | wheel 120 in an axial direction. Therefore, when the input shaft member 170 rotates around the input / output axis Lo, the first, second, and third eccentric body parts 173, 174, and 175 of the input shaft member 170 revolve around the input / output axis Lo. .

  The disk member 160 is attached to the housing H2 and the input shaft member 170 by a bearing (not shown) inserted into the housing H2 and a bearing 191 inserted into the outer peripheral surface of the distal end portion 172 of the input shaft member 170. It is supported so as to be rotatable around the input / output axis Lo. The disk member 160 is located on the left side of the input shaft member 170 in FIG. 1 and includes a flange portion 161 and a shaft portion 162. The flange portion 161 is formed in a disk shape having a circular hole in the center, and the inner peripheral surface of the flange portion 161 is rotatably supported on the tip end portion 176 of the input shaft member 170 via a bearing 191. A plurality of circular recesses 161a are formed at equal intervals in the circumferential direction around the input / output axis Lo on the right end surface of the flange 161 in FIG. That is, the circular center position of each circular recess 161a is located on the same circle with the input / output axis Lo as the center. The shaft portion 162 is integrally formed coaxially with the flange portion 161 on the left end surface of the flange portion 161 in FIG. The shaft portion 162 is formed in a cylindrical shape or a columnar shape centered on the input / output axis Lo.

  The first annular member 130 is formed in a disk shape having a circular hole in the center. The inner peripheral surface of the first annular member 130 is fitted and inserted into the outer peripheral side of the first eccentric body portion 173 of the input shaft member 170 via the first bearing 195. That is, the first annular member 130 is supported by the first eccentric body portion 173 so as to be rotatable about the first eccentric axis La. Since the first eccentric body 173 is eccentric with respect to the input / output axis Lo, the first annular member 130 revolves around the input / output axis Lo and rotates around the first eccentric axis La within the housing H2. It is provided to do.

  As for this 1st annular member 130, the 1st external gear 131 is formed in the outer peripheral surface. That is, the first annular member 130 is a planetary gear centered on the first eccentric axis La. Therefore, the center position of the pitch circle of the first external gear 131 coincides with the first eccentric axis La. The axial width of the first annular member 130 is formed to be half of the axial width of the outer ring 120. The first annular member 130 meshes with the axial center of the internal gear 121 of the outer ring 120. The pitch circle diameter of the first annular member 130 is set smaller than the pitch circle diameter of the outer ring 120 by the amount of eccentricity of the first eccentric axis La with respect to the input / output axis Lo. Therefore, the first annular member 130 is in a state of being inscribed and meshed with a part of the internal gear 121 of the outer ring 120. That is, the first annular member 130 rotates relative to the outer ring 120 while meshing with the internal gear 121 of the outer ring 120.

  Further, a plurality of circular through holes 132 are formed at equal intervals in the circumferential direction around the first eccentric axis La at the center in the radial direction of the first annular member 130. That is, the circular center position of each circular through-hole 132 is located on the same circle centered on the first eccentric axis La. The circular through holes 132 are formed in the same number as the circular concave portions 161 a formed in the flange portion 161 of the disk member 160. The inner diameter of the circular through hole 132 is larger than the inner diameter of the circular recess 161 a formed in the flange portion 161 of the disk member 160. When viewed from the axial direction of the input / output axis Lo, each circular through-hole 132 is positioned so that the entire circular recess 161a corresponding to each formed in the flange portion 161 of the disk member 160 can be visually recognized. It is formed into a shape.

  The second annular member 140 and the third annular member 150 are each formed in a disk shape having a circular hole in the center. The inner peripheral surfaces of the second annular member 140 and the third annular member 150 are arranged on the outer peripheral side of the second eccentric body portion 174 and the outer peripheral side of the third eccentric body portion 175 of the input shaft member 170, respectively. The bearings 97 are respectively inserted and inserted. That is, the second annular member 140 and the third annular member 150 are supported by the second eccentric body 174 and the third eccentric body 175 so as to be rotatable about the second eccentric axis Lb. And since the 2nd eccentric body part 174 and the 3rd eccentric body part 175 are eccentric with respect to the input / output axis Lo, the 2nd annular member 140 and the 3rd annular member 150 are the input / output axis Lo in the housing H2. It is provided so as to revolve around and rotate around the second eccentric axis Lb.

  A second external gear 141 and a third external gear 151 are formed on the outer peripheral surface of the second annular member 140 and the third annular member 150, respectively. That is, the second annular member 140 and the third annular member 150 are planetary gears centered on the second eccentric axis Lb. Accordingly, the center positions of the pitch circles of the second external gear 141 and the third external gear 151 coincide with the second eccentric axis Lb. The second annular member 140 and the third annular member 150 are each formed in a quarter of the axial width of the outer ring 120. The second annular member 140 and the third annular member 150 are arranged on both axial sides of the first annular member 130 and mesh with both axial sides of the internal gear 121 of the outer ring 120. The pitch circle diameter of the second external gear 141 and the third external gear 151 is set smaller than the pitch circle diameter of the outer ring 120 by the amount of eccentricity of the second eccentric axis Lb with respect to the input / output axis Lo. Yes. Therefore, the second annular member 140 and the third annular member 150 have a relationship of being inscribed and meshed with a part of the internal gear 121 of the outer ring 120. That is, the second annular member 140 and the third annular member 150 rotate relative to the outer ring 120 while meshing with the internal gear 121 of the outer ring 120.

  Furthermore, a plurality of circular through holes 142 and 152 are provided at equal intervals in the circumferential direction around the second eccentric axis Lb at the radial center of the second external tooth body 141 and the radial center of the third external tooth body 151. Is formed. That is, the circular center positions of the circular through holes 142 and 152 are located on the same circle with the second eccentric axis Lb as the center. The circular through holes 142 and 152 are formed in the same number as the circular concave portions 161 a formed in the flange portion 161 of the disk member 160. The inner diameters of the circular through holes 142 and 152 are larger than the outer diameter of the circular recess 161 a formed in the flange portion 161 of the disk member 160. When viewed in the axial direction of the input / output axis Lo, each circular through hole 142, 152 can visually recognize the entire circular recess 161a corresponding to each formed in the flange portion 161 of the disk member 160. Formed in position and shape.

  The first annular member 130, the second annular member 140, and the third annular member 150 are formed of the same material and the same diameter, but the thickness of the first annular member 130 in the input / output axis Lo direction is as follows. The second annular member 140 and the third annular member 150 are formed to be twice the thickness in the input / output axis Lo direction. That is, the mass of the first annular member 130 is formed to be twice the mass of the second annular member 140 and the third annular member 150. The first annular member 130, the second annular member 140, and the third annular member 150 are arranged inside the outer ring 120 with the input shaft member 170 penetrating so that the distance between the centers of the adjacent annular members is the same. Has been. Further, the first eccentric body portion 173, the second eccentric body portion 174, and the third eccentric body portion 175 are formed to have an interval of 180 (deg) in the rotation direction about the input / output axis Lo. Accordingly, the first annular member 130, the second annular member 140, and the third annular member 150 that are fitted into these are respectively rotated when the input shaft member 170 rotates (the first eccentric shaft La and the second eccentric shaft La). The eccentric shaft Lb) revolves around the input / output axis Lo in a state where the position symmetrical to the input / output axis Lo is always maintained.

  The plurality of pins 181 are formed in a columnar shape, and a cylindrical slide bearing 182 is fitted on the outer periphery of each pin 181. Each pin 181 is fitted in a circular recess 161a formed in the flange portion 161 of the disk member 160, and protrudes in the axial direction from the right end surface of the flange portion 161 in FIG. Each pin 181 passes through circular through holes 132, 142, 152 formed in the first, second, and third external tooth bodies 131, 141, 151. The outer diameter of the sliding bearing 182 is set smaller than the inner diameter of the circular through holes 132, 142, 152. A part of the outer peripheral surface of the slide bearing 182 is in contact with a part of the inner peripheral surface of the circular through holes 132, 142, 152. As the input shaft member 170 rotates, the contact portion between the plain bearing 182 and the circular through holes 132, 142, 152 moves.

(2-2. Actuator operation)
Next, the operation of the actuator 6 will be described. First, when the motor 8 is operated, the input shaft member 170 connected to the rotor R1 of the motor 3 rotates around the input / output axis Lo. With this rotation, the first, second, and third eccentric body portions 173, 174, and 175 revolve around the input / output axis Lo. Then, the first annular member 130 revolves around the input / output axis Lo along with the revolution of the first eccentric body portion 173. At this time, the first annular member 130 meshes with the internal gear 121 of the outer ring 120, and thus corresponds to the difference in the number of teeth between the first external tooth 132 and the internal gear 121, about the first eccentric axis La. Rotate. On the other hand, as the second and third eccentric body parts 174 and 175 revolve, the second and third annular members 140 and 150 revolve around the input / output axis Lo. At this time, the second and third annular members 140 and 150 are meshed with the internal gear 121 to correspond to the difference in the number of teeth between the second and third external teeth 142 and 152 and the internal gear 121. It rotates around the second and third eccentric axis Lb.

  Here, the pin 181 is penetrated by the circular through-holes 132, 141a, 151a of the first, second, and third external tooth bodies 131, 141, 151. The sliding bearing 182 is in sliding contact with the inner peripheral surfaces of the circular through holes 132, 141a, 151a. Accordingly, when the first, second and third annular members 130, 140 and 150 rotate relative to the housing 10, the first eccentric axis La of the first, second and third annular members 130, 140 and 150. The rotation component around the second eccentric axis Lb is transmitted to the disk member 160, and the driving force is output. Also in the actuator 6 having the above configuration, the same effect as that of the actuator 1 of the first embodiment can be obtained.

<2-3. Modification of Second Embodiment>
While the speed reduction device 7 of the second embodiment uses the disk member 160 as an output member, the deformation mode of the second embodiment is arranged in a state in which the disk member 160 is not rotatable relative to the housing H2. As a result, the rotation of the first, second, and third annular members 130, 140, and 150 is restricted, and the revolution components of the first, second, and third annular members 130, 140, and 150 are shifted and output from the outer ring 120. It has a different configuration. In addition, about another structure, it is substantially the same as 2nd embodiment. Even in such a configuration, the same effect as the actuator 6 of the second embodiment can be obtained.

<Others>
As described above, the transmission gear device of the present invention is configured to include the three annular members 30, 40, 50 or 130, 140, 150, but the same effect can be obtained even if there are four or more. The transmission gear device has been described as the speed reducers 2 and 6. In addition, by setting the input / output relationship of the input member and the output member in the opposite direction, a speed increasing device to which the transmission gear device of the present invention is applied can be provided. That is, in the reduction gear 2, the input member is the outer ring 20 and the output member is the gear shaft 70. However, the speed increasing device can be obtained by using the input member as the gear shaft 70 and the output member as the outer ring 20. . In the reduction gear 6, the input member is the shaft member 120 and the output member is the disk member 160. However, the input member is the disk member 160 and the output member is the shaft member 120. Can do.

DESCRIPTION OF SYMBOLS 1,6: Actuator, 2,7: Reduction gear (transmission gear device), 3,8: Motor 10, 11: Gear mechanism, 12: Output shaft member 20,120: Outer ring (tubular member), 21: First Housing hole 22: Second housing hole 23: Third housing hole 121: Internal gear 30, 130: First annular member 31: First internal gear 32: Insertion hole 131: First external tooth Gear: 132: Circular through hole 40, 140: Second annular member, 41: Second internal gear, 42: Insertion hole, 141: Second external gear, 142: Circular through hole 50, 150: Third annular member , 51: third internal gear, 52: insertion hole, 151: third external gear, 152: circular through hole 60, 160: disk member, 161: flange portion 70: gear shaft (shaft member), 71: outer Toothed gear 81,181: Pin, 82,182: Rolling bearing 91, 2,191,192: Bearing 170: Input shaft member (shaft member), 173: First eccentric body part, 174: Second eccentric body part, 175: Third eccentric body part Lo: Input / output axis line, La: First Eccentric shaft, Lb: Second eccentric shaft H1, H2: Housing, R1, R2: Rotor, S1, S2: Stator

Claims (6)

Centered on an eccentric axis that is fitted on a shaft member centered on the input / output axis so as to be relatively rotatable and is accommodated on a cylindrical member centered on the input / output axis so as to be relatively rotatable. An annular gear meshing with the shaft member or the cylindrical member by an internal gear having internal teeth and an external gear having external teeth that can mesh with the internal teeth and having a different number of teeth from the internal gear Comprising a member,
The annular member is arranged in at least three in the input / output axis direction, and the phase of the input / output axis reference of the eccentric center of at least one of the annular members is the input / output axis reference of the eccentric center of the other annular member. A transmission gear device arranged to be different from the phase of the gear. In claim 1,
The transmission gear device, wherein the at least one annular member has a mass different from that of the other annular member. In claim 1 or 2,
Three annular members are arranged in the input / output axis direction, and the phase of the input / output axis reference at the eccentric center of the annular member at the center is the phase of the input / output axis reference at the eccentric center of the annular member on both sides Transmission gear devices arranged differently. In any one of Claims 1-3,
The cylindrical member in which the accommodation hole whose center is eccentric with respect to the input / output axis is formed;
The annular member accommodated in the accommodation hole so as to be relatively rotatable, and the internal gear formed on an inner peripheral surface;
A transmission gear device comprising: the shaft member in which the external gear is formed on an outer peripheral surface. In any one of Claims 1-3,
The shaft member formed with an eccentric outer peripheral surface whose center is eccentric with respect to the input / output axis; and
The annular member supported on the eccentric outer peripheral surface so as to be relatively rotatable, and the external gear is formed on the outer peripheral surface;
A transmission gear device comprising: the cylindrical member formed on the inner peripheral surface of the internal gear. A cylindrical rotor;
A cylindrical stator disposed facing the radially outer side of the rotor;
A transmission gear device according to any one of claims 1 to 3 disposed opposite to the radially inner side of the rotor,
The transmission gear device includes:
The cylindrical member in which the accommodation hole whose center is eccentric with respect to the input / output axis is formed;
The annular member accommodated in the accommodation hole so as to be relatively rotatable, and the internal gear formed on an inner peripheral surface;
An actuator comprising: the shaft member on which an external gear is formed on an outer peripheral surface.

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