JP2015117763A - Series of speed-incrementing/speed-reducer units and speed-incrementing/speed-reducer units - Google Patents

Abstract

PROBLEM TO BE SOLVED: To constitute speed-incrementing/speed-reducer units under application of gears having circular arc teeth over a wide range from a low gear ratio to high gear ratio, sharing of component parts used in the speed-incrementing/speed-reducer units and common setting of component parts sizes and constitute series of speed-incrementing/speed-reducer units housing these groups of speed-incrementing/speed-reducer units.SOLUTION: Series of speed-incrementing/speed-reducer units are speed-incrementing/speed reducer units comprised three mechanisms, i.e. a low speed shaft, a transmission mechanism and a high speed shaft, and are constituted in such a way that each of the units and each of the component parts are arranged at each of the parts. They are series of speed-incrementing/speed-reducer units in which each of an oscillating inner contacted engaging planetary gear mechanism, a planetary type/star type planetary mechanism and a merged type planetary gear mechanism including the prescribed two planetary gear mechanisms is employed as the speed-incrementing/speed-reducer units and a group of speed-incrementing/speed-reducers that can adapt for a wide range of transmission gear ratio are housed.

Description

  The present invention relates to a speed increasing / reducing gear having a wide range of speed changing ratios from a low speed ratio to a high speed ratio and a series of speed increasing / decreasing gears that house these speed increasing / decreasing speed groups.

As the speed reducer using gears, many speed reducers employing a planetary gear mechanism are used. The speed increasing / reducing gears using this planetary gear mechanism can be roughly divided into two types in terms of structure. One is an increase / reduction gear that employs a planetary gear mechanism that revolves around a sun gear centered around a sun gear, and the other is a cyclo reduction gear (registered trademark). ) As shown by), the speed increase / decrease uses a swinging internal meshing planetary gear mechanism in which the external pin or internal gear of the internal (speed reducer case) meshes with one or more planetary gear external teeth. Machine.
As the speed increaser using the planetary gear mechanism, the speed increaser / decelerator using the planetary type, solar type, and star type planetary gear mechanisms described first is generally used in many cases. Although the gear ratio in the first gear is not so high, there is an advantage that reliable power transmission is possible. In addition, it is possible to obtain a large speed increase / decrease ratio by shifting the speed increase / decrease device in multiple stages. On the other hand, the latter speed increaser / reduction gear employing the oscillating internal meshing planetary gear mechanism is typified by a cyclo reduction gear (registered trademark) and is generally used as a speed reduction device having a large reduction ratio. Yes. In order to use it as a speed increasing device, it has many structural difficulties.

The present application discloses a speed-up / reduction gear that is newly improved and configured on the basis of the speed-reduction gear shown in FIGS. The speed reducer shown in FIG. 13 and FIG. 14 of this document 1 is a speed reducer capable of obtaining a high torque output with a low torque input.
However, when the speed increasing device is constructed by improving this mechanism, it is difficult to obtain a high torque output with a low torque input.
At present, the torque on the input side is several times the torque required on the output side, but it is considered effective for wind power generation using large blades on the input side. Is done. In the present application, a series of a plurality of speed increasing / decreasing gears using the above-described two kinds of planetary gear mechanisms and a speed increasing / decreasing gear housing these speed increasing / decreasing gear groups is disclosed.
Terms used in the present application are defined as follows.

・ Oscillating intermeshing planetary gear structure: An internal gear that is a sun gear meshes with an external gear that is a planetary gear by one or more differences, and the planetary gear rotates by an input shaft that has an eccentric part. Structure with planetary gear mechanism that revolves while rotating: Planetary planetary gear structure: In the planetary gear mechanism, the internal gear is fixed and the planetary gear meshing with the sun gear repeats its rotation and revolution, while the internal gear Structure with planetary gear mechanism inscribed in mesh with the star-type planetary gear structure: In the planetary gear mechanism, the carrier is fixed, the planetary gear meshing with the sun gear rotates, and the carrier repeats revolution, A structure with a planetary gear mechanism in which the planetary gear meshes internally with the internal gear. A mixed planetary gear structure: a swinging intermeshing planetary gear mechanism and a planetary planetary gear mechanism or a star-type planetary gear mechanism. Low-speed axis: If it functions as a speed reducer, it corresponds to the output shaft. If it functions as a speed increaser, it corresponds to the input axis. • High-speed axis: Input if it functions as a speed reducer. Corresponding to the shaft and functioning as a speed increasing device, shaft corresponding to the output shaft / speed reducer: The function of the speed reducer and the speed increasing device depending on whether the input side and output side are the low speed axis or the high speed axis Gear ratio: A speed ratio that functions as a reduction gear when functioning as a speed reducer and a speed ratio when functioning as a speed increaser

Patent Publication 2007-32836 Patent Gazette (B2) Patent No. 4811676 Patent Publication 2013-200028

An speed reducer consisting only of gears having an arc tooth profile has not been developed yet. As described in the background art above, the reduction gear is disclosed in Patent Literature 1, Literature 2, and Literature 3. Although there are many parts similar to the mechanism of the speed reducer, the mechanism for changing the speed of the speed reducer using gears also has a great structural difference between the speed reducer and the speed reducer. In the prior art, it is possible to obtain a large reduction ratio, but it is difficult to obtain a large speed increase ratio. The subject of the present application is to increase the gear ratio of the speed increase / reduction gear using a conventionally recognized gear, and to construct a speed increase / reduction gear that is lightweight and labor-saving, and these The purpose of the present invention is to share and share the parts used in the present speed increasing / decreasing device, and to achieve a series of speed increasing / decreasing gears that house the speed increasing / decreasing speed group composed of the aforementioned parts group. As mentioned above, the point which should be made the subject of this application is raised concretely below.
1) Construct an speed reducer using a gear having an arc tooth profile, and make the speed reducer series.
Patent Documents 1 and 2 disclose the characteristics of a gear having an arc tooth profile. According to the above document, a gear train can be configured with an arbitrary tooth size. This is possible, and there is no interference between the teeth of the gears, so that gears with a small number of teeth can be engaged. Therefore, the purpose of the speed reducer itself is to reduce the weight and save labor.
2) Increase the gear ratio (reduction ratio and speed increase ratio).
The gears described in claim 1 of patent publication 1 and literature 2 are used, and each speed change mechanism of the reduction gear group included in the series of speed reducers described in claim 1 of patent publication 3 is used as the speed reducer. The purpose of this invention is to increase the gear ratio of the speed increasing / decreasing gear composed of a gear having an arc tooth profile.
3) To build a speed reducer using planetary and star type planetary gear mechanisms with gears with arc teeth.
This type of speed reducer is constructed by an involute gear via a planetary gear mechanism in the prior art. It is thought that there are no speed reducers that construct a planetary gear mechanism with a gear having an arc tooth profile. One of the problems of the present application is to construct a planetary gear mechanism newly with a gear having an arc tooth profile, and to improve and construct it as an speed reducer. Furthermore, it aims at constructing the speed reducer which can be light-weighted and labor-saving.

  The invention of claim 1 is a series of speed increasing / decreasing gears including a speed increasing / decreasing gear composed of a plurality of gears including a gear having an arc tooth profile, and a plurality of low speed shaft unit composed of a plurality of low speed shaft parts. And a plurality of transmission mechanism units composed of a plurality of transmission mechanism parts, a transmission mechanism part composed of a plurality of transmission mechanism parts, and a plurality of high speed shaft units composed of a plurality of high speed shaft parts. A plurality of units and a plurality of parts of the low-speed shaft portion, the transmission mechanism portion, and the high-speed shaft portion, and the gear ratio of the speed reducer, the transmission capacity, the size of the gear teeth, and the speed reducer. By setting any one or more specifications of the type, the respective units and parts of the respective parts necessary for the speed reducer to satisfy the above specifications are selected. To the shaft As a result of assembling these units and parts, one or more speed increase / decrease gears are constructed, and each unit has a plurality of options and has a use based on the respective specifications from a plurality of parts. It is a series of speed increasing / decreasing units characterized in that a plurality of these speed increasing / decreasing units are housed, and each of the plurality of speed increasing / decreasing units has a low speed axis and a high speed axis. The concentricity and the plurality of speed reducers are both characterized by having both a function as a speed reducer and a function as a speed increaser. As a transmission means, an inner pin hole is provided in the low speed shaft or the intermediate rotor, transmitted to the inner pin attached to the intermediate gear through the inner pin hole, and inserted into the boss hole provided in the intermediate gear through the bearing. A mechanism for transmitting power to the eccentric cylindrical portion of the high-speed shaft or the intermediate cylindrical portion of the intermediate rotor, and an internal gear on the low-speed shaft or intermediate rotor are provided. A mechanism for transmitting the power to the intermediate gear, and for transmitting the power to the eccentric cylindrical portion of the high-speed shaft or the eccentric cylindrical portion of the intermediate rotor inserted into the boss hole provided in the intermediate gear via a bearing. A planetary planetary gear mechanism and a star-type planetary gear mechanism constructed using gears with an intermeshing planetary gear structure characterized by The planetary-type and star-type planetary gear structure having a planetary gear structure and the mixed-type planetary gear structure having a mixed planetary gear structure characterized by having both of the above characteristics are housed respectively. It is a series of speed reducers.

  The invention of claim 2 is an individual speed increase / reduction device of the speed increase / reduction gear group included in the series of speed increase / reduction gears of claim 1, and when functioning as a speed increaser, a low speed shaft or an intermediate rotor as power transmission means An internal pin hole is provided in the shaft, and is transmitted to an inner pin attached to the intermediate gear through the inner pin hole, and is inserted into a boss hole provided in the intermediate gear via a bearing. A mechanism for transmitting power to the eccentric cylindrical portion of the rotor is disposed, and an internal gear is provided on the low-speed shaft or intermediate rotor, and the power is transmitted to the intermediate gear that is in oscillating internal mesh with the internal gear. An internal meshing type characterized in that a mechanism for transmitting power to an eccentric cylindrical portion of a high-speed shaft or an eccentric cylindrical portion of an intermediate rotor inserted into a boss hole provided in the intermediate gear via a bearing Planetary gear structure Tsu was an increase or decrease the speed.

  The invention of claim 3 is an individual speed increase / reduction gear of the speed increase / reduction gear group included in the speed increase / reduction gear series of claim 1, and is a planetary planetary gear mechanism constructed using a gear having an arc tooth profile, It is an speed reducer having a planetary type and star type planetary gear structure, characterized in that a star type planetary gear mechanism is arranged.

  The invention of claim 4 is an individual speed increasing / reducing gear of the speed increasing / decreasing gear group included in the speed increasing / decreasing gear series of claim 1, and includes both an intermeshing type planetary gear structure, a planetary type and a star type planetary gear structure. It is an speed reducer with a mixed planetary gear structure characterized by the characteristics of

The series of speed-up gears according to claim 1 includes 16 types of gearboxes that are improved and applied to the mechanism of the speed reducer group housed in the series of speed reducers described in claim 1 of JP2013-200028A. This is an increase / decrease gear.
As the speed increasing device, six types of speed increasing / decreasing gears having a swinging intermeshing planetary gear structure which is considered to be difficult to employ are accommodated. The speed increasing / reducing gear having the swinging intermeshing planetary gear structure has a low-speed shaft portion, a low-speed shaft portion unit with an internal pin hole (A) or a low-speed shaft portion unit with an internal gear (B), a high-speed shaft portion. Are provided with a high-speed shaft unit (D) with an inner pin hole or a high-speed shaft unit (E) with an internal gear. The speed increasing / decreasing gear having this structure has a characteristic that a relatively large gear ratio can be obtained.
It is possible to construct four types of speed increase / reduction gears having a planetary planetary gear structure and two types of speed increase / reduction gears having a star type planetary gear structure by using a gear having an arc tooth shape. The speed increasing / reducing gear having the planetary gear structure is generally constructed using an involute gear, but the speed increasing / reducing speed having a newly improved planetary gear structure for a gear having an arc tooth profile is used. It is.
Further, the speed increasing / reducing gear having a swinging internal meshing / planetary / star type planetary gear structure as a mixed type having both a swinging internal meshing planetary gear structure, a planetary type planetary gear structure and a star type planetary gear structure. It is possible to construct four types. The speed increasing / reducing gear having the above-described mixed planetary gear structure is an speed increasing / reducing speed having both characteristics at the same time.

The block diagram of a rocking intermeshing type planetary gear structure is shown. The block diagram of a planetary type and star type planetary gear structure is shown. The block diagram of a mixed planetary gear structure is shown. It is a figure which shows the relationship of each gear in the planetary gear mechanism used for the Example of this application. It is the figure which showed the structural example used for a planetary type and a star type planetary gear mechanism. The block diagram of the planetary type and star type planetary gear mechanism used for the Example of this application is shown. The speed increasing / reducing gears 01 and 02 in the swinging intermeshing planetary gear structure 01 are shown. The speed increasing / reducing gears 03 and 04 in the swinging intermeshing planetary gear structure 02 are shown. The speed increasing / reducing gears 05 and 06 in the swinging intermeshing planetary gear structure 03 are shown. The speed increase / reduction gears 07 and 08 in the planetary type and star type planetary gear structure 01 are shown. The speed increase / decrease gears 09 and 10 in the planetary type and star type planetary gear structure 02 are shown. The speed reducers 11 and 12 in the planetary type and star type planetary gear structure 03 are shown. The speed reducers 13 and 14 in the mixed planetary gear structure 01 are shown. The speed reducers 15 and 16 in the mixed planetary gear structure 02 are shown.

  Hereinafter, embodiments of the present invention will be described with reference to Tables 01 to 04 and FIGS. 1 to 6.

  Table 01 is a list of part names and part numbers used in the series of speed reducers of the embodiment. However, the inner pin or the planetary pin (36) is indicated as an inner pin when used as a speed reducer component in the swinging intermeshing planetary gear structure, and the increase or decrease of the planetary type or star type planetary gear structure. When used as a speed machine component, it is displayed as a planetary pin.

Table 02 is a list of unit names used in the low-speed shaft portion, the transmission mechanism portion, and the high-speed shaft portion of the speed increasing / decreasing gear series of the embodiment. Each unit is a collection of parts in each part. In the following, each unit will be briefly described with reference to Table 02 and FIGS.
-Low speed shaft unit with inner pin hole (A): Consists of parts of a low speed shaft (01) with an inner pin hole and a casing (10) for the low speed shaft. An inner pin hole is provided in the low speed shaft (01) with the inner pin hole.
Low speed shaft unit with internal gear (B): Consists of parts of a low speed shaft with internal gear (02) and a casing for low speed shaft (10). An internal gear is provided on the low speed shaft (02) with an internal gear.
Low speed shaft unit with planetary pin hole (C): Consists of parts of a low speed shaft with a planetary pin hole (03) and a casing for the low speed shaft (10). A planetary pin hole is provided on the low speed shaft (03) with a planetary pin hole.
High-speed shaft unit (D) with an inner pin hole: It is composed of a high-speed shaft (04) or a high-speed shaft (05) and a high-speed shaft casing (11) with an inner pin hole. The high-speed shaft casing (11) with an inner pin hole is provided with an inner pin hole.
A high-speed shaft unit with an internal gear (E): a high-speed shaft (04) or a high-speed shaft (05) and a high-speed shaft casing with an internal gear (12). An internal gear is provided in the high speed shaft casing (12) with an internal gear.
Planetary planetary gear high-speed shaft unit (F): Consists of parts of a high-speed shaft (06) and a planetary type F high-speed shaft casing (13). Used for the speed increase / decrease device 08 and the speed increase / decrease device 10.
Planetary planetary gear high-speed shaft unit (G): Consists of parts of a high-speed shaft (07) and a planetary-type G high-speed shaft casing (14). Used for the speed increase / decrease unit 07, the speed increase / decrease unit 09, and the speed increase / decrease unit 12.
Star-type planetary gear high-speed shaft unit (H): Consists of parts of a high-speed shaft (08) and a star-type H high-speed shaft casing (15). Used for the speed increasing / decreasing device 11.
Star-type planetary gear high-speed shaft unit (I): Consists of parts of a high-speed shaft (09) and a star-type I high-speed shaft casing (16). Used for the speed increase / decrease unit 13 and the speed increase / decrease unit 14.
A transmission mechanism unit (J): composed of parts of an intermediate gear (23) and an inner pin (36). A boss hole is provided in the intermediate gear (23).
-Transmission mechanism unit (K): Consists of parts of an intermediate gear (24) and an inner pin (36). A boss hole is provided in the intermediate gear (24).
-Transmission mechanism unit (L): Consists of parts of an intermediate gear (25) and an inner pin (36). A boss hole is provided in the intermediate gear (25).
A transmission mechanism unit (M): composed of parts of a planetary gear (26), a planetary pin (37), and a carrier disk (38).
A transmission mechanism unit (N): composed of parts of a planetary gear (26) and a planetary pin (36).
A transmission mechanism unit (O): composed of parts of a planetary gear (27), a sun gear (29), and a planetary pin (36).

  Table 03 is a list of unit names and part numbers used for the speed reducer 01 to the speed reducer 16 in the speed increase / decrease series of the embodiment for each of the low speed shaft portion, the transmission mechanism portion, and the high speed shaft portion. It is. The number of gears is also displayed for each speed reducer.

  The series of the speed reducer of the embodiment is classified into three types of structures that employ a planetary gear mechanism. One is six kinds of speed increase / reduction gears having a swinging intermeshing planetary gear structure, then six kinds of speed increasing / reducing gears having a planetary type and star type planetary gear structure, This is a series of speed increase / reduction gears that house 16 types of speed reducers, 4 types of speed reducers with mixed planetary gear structures that have mesh type planetary gear structure and planetary type or star type planetary gear structure.

FIG. 1 is a configuration diagram of six types of speed increasing / decreasing gears having a swinging intermeshing planetary gear structure. A low-speed shaft unit (A) with an internal pin hole and a low-speed shaft unit (B) with an internal gear are arranged in the low-speed shaft portion, and the transmission mechanism units (J) and (K) are arranged in the transmission mechanism portion. , (L) and the intermediate casing (17), the intermediate casing (18), the intermediate gears (23), (24) and (25), and the intermediate rotor with the internal gear and the internal pin hole, which are transmission mechanism parts An intermediate rotor is provided. In the high-speed mechanism portion, a high-speed shaft unit (D) with an inner pin hole and a high-speed shaft unit (E) with an internal gear are arranged. 16 types of speed reducers with swinging intermeshing planetary gear structure, planetary type, star type planetary gear structure and mixed type planetary gear structure have the input side as the low speed shaft and the output side as the high speed shaft In this case, it functions as a speed increaser, and conversely, if the input side is a high speed shaft part and the output side is a low speed shaft part, it functions as a speed reducer.
The characteristics of the speed reducer with the swinging intermeshing planetary gear structure are shown below.
1) The low-speed shaft part uses a low-speed shaft (01) with an inner pin hole and a low-speed shaft (02) with an internal gear.
When a speed reducer having a swinging intermeshing planetary gear structure generally used in the prior art is operated as a speed increaser with the input side and output side reversed, the input side is set as the low speed shaft Will work. The power transmission at this time is an external gear and a sun gear that are transmitted from the low-speed shaft to the inner pin (with inner roller) and cut into the curved plate through the inner pin hole of the curved plate that is a planetary gear. The external pin or the internal gear meshes, and the power is transmitted to the output shaft through the eccentric portion of the output shaft. In this case, transmission from the inner pin (with inner roller) to the inner pin hole normally has a self-locking function, and power transmission is considered impossible. Here, self-locking will be described taking the case of a worm reducer as an example. This means that the input shaft (worm shaft) cannot be rotated from the output side (in this case, the worm wheel side) in the absence of a mechanical or electrical brake mechanism. The main feature of the present application is that an inner pin hole is provided in the low-speed shaft in order to release the self-locking function, and a mechanism is employed in which power is transmitted to the inner pin through the inner pin hole.
Similarly, when a speed increaser is constructed as described above using the speed change mechanism unit B1 and the speed change mechanism unit B2 of FIG. 4 disclosed in JP2013-200028A, Power transmission from the eccentric shaft on the input side to the external gear and power transmission to the internal gear that oscillates and engages with this external gear are possible. It becomes a procedure, and power is taken out from the eccentric shaft on the output side from the internal gear through the meshing of the external gear. As described above, the self-locking function works, and it is considered impossible to transmit power. In this application, in order to cancel this, an internal gear is provided on the low speed shaft, power is transmitted to the intermediate gear, and the eccentric cylinder of the high speed shaft is inserted into the boss hole provided in the intermediate gear via a bearing. It adopts a structure in which power is transmitted to the part and output. In addition, in the speed increase / decrease device that performs multi-speed shifting, a structure is adopted in which the eccentric cylindrical portion of the intermediate rotor is inserted into the boss hole of the intermediate gear via a bearing, and the power is transmitted to the second speed change gear. Is a major feature.
2) In the transmission mechanism unit, the transmission mechanism unit units (J), (K), and (L) are arranged to share and share components, and the intermediate casing with the internal gear (17 ), Intermediate casing (18), intermediate gears (23), (24) and (25), an intermediate rotor with internal gear (30) and an intermediate rotor with internal pin hole (31), thereby increasing and reducing the speed reducer It corresponds to multi-stage.
3) In the high-speed shaft portion, a high-speed shaft unit (D) with an inner pin hole and a high-speed shaft unit (E) with an internal gear are arranged.
Similar to the feature of using the low-speed shaft (01) with the inner pin hole and the low-speed shaft (02) with the internal gear in the low-speed shaft portion, the inner pin that is a high-speed shaft portion component also in the high-speed shaft portion By using the high speed shaft casing (11) with a hole and the high speed shaft casing (12) with an internal gear, the self-lock function at the time of input / output is released.
4) The value of the gear ratio of the speed increaser / reduction gear having the swinging intermeshing planetary gear structure is the value of the speed ratio of the speed increaser / reduction gear having other planetary type, star type planetary gear structure and mixed type planetary gear structure. It has a feature that it can be set larger than the value.

FIG. 2 is a configuration diagram of six types of speed increasing / decreasing gears having a planetary type and star type planetary gear structure. A low-speed shaft unit (C) with a planetary pin hole and a low-speed shaft unit (B) with an internal gear are arranged on the low-speed shaft portion, and the transmission mechanism unit (M), (N) And an intermediate casing with internal gears (19), (20) an intermediate casing with planetary pin holes (21), a sun gear (28), and a planetary intermediate rotor (34), (35), which are transmission mechanism parts. Yes. Planetary planetary gear high-speed shaft units (F), (G), and (H) are arranged in the high-speed mechanism.
The features of the speed reducer with planetary and star type planetary gear structures are shown below.
1) In the low-speed shaft portion, a low-speed shaft unit (C) with a planetary pin hole and a low-speed shaft unit (B) with an internal gear are arranged.
The low-speed shaft unit (C) with a planetary pin hole is a planetary gear unit that is used in an speed increase / decrease device that employs a planetary planetary gear mechanism and that is composed of a gear having an arc tooth profile developed uniquely in the present application. In the embodiment of the present application, the speed reducer having a planetary planetary gear structure employs a mechanism based on the configuration diagram of each gear shown in FIG. The low-speed shaft unit with internal gear (B) is used in an speed reducer with a star-type planetary gear structure and adopts a mechanism based on the configuration diagram of each gear shown in (2) of FIG. doing. Both are planetary gear units composed of gears with arc tooth shapes developed uniquely in the present application.
2) In the transmission mechanism, the transmission mechanism units (M) and (N) are arranged to share components and share the component size, and with an internal gear that is a transmission mechanism component Intermediate casing (19), (20) Planetary pin hole intermediate casing (21), sun gear (28) and planetary intermediate rotors (34), (35) are arranged to increase the number of stages of the speed reducer. It corresponds.
3) In the high speed shaft portion, the planetary planetary gear high speed shaft unit (F), (G) and the star type planetary gear high speed shaft unit (H) are arranged.
4) The value of the gear ratio of the speed increaser / reduction gear having the planetary type or star type planetary gear structure is the same as the speed ratio of the speed increasing / reducing gears having the other oscillating intermeshing planetary gear structure or the mixed planetary gear structure. Although it is smaller than the value, it has a feature that power can be transmitted reliably.

  FIG. 3 is a configuration diagram of four types of speed increasing / decreasing gears having a mixed planetary gear structure. A low speed shaft unit (A) with an internal pin hole, a low speed shaft unit (B) with an internal gear and a low speed shaft unit (C) with a planetary pin hole are arranged in the low speed shaft portion. , The transmission mechanism unit (J), (K), (N), (O) and the intermediate casing (17) with the internal gear as the transmission mechanism parts, the intermediate casing (18), the intermediate casing with the internal gear hole ( 22) and an intermediate rotor (30) with internal gears, an intermediate rotor (32) with external internal gears, and an intermediate rotor (33) with internal pin hole external gears. The high-speed mechanism unit includes a high-speed shaft unit (D) with an inner pin hole, a high-speed shaft unit (E) with an internal gear hole, and a star-type planetary gear high-speed shaft unit (I). The speed-up / reduction gear having the mixed planetary gear structure is an speed-reduction gear having both the swinging intermeshing-type planetary gear structure and the planetary and star-type planetary gear structures disclosed in FIGS. 1 and 2. Therefore, the characteristics of the speed reducer having the mixed planetary gear structure are the characteristics of the speed reducer having the other two structures. In addition, the value of the speed ratio of the speed increasing / decreasing device can be set to an intermediate value of the speed ratio values of the speed increasing / decreasing device having the other two structures as described above. In other words, in the speed increasing / decreasing gear series of the present application, when it is desired to set a small gear ratio value, a speed increasing / reducing gear having a planetary type or star type planetary gear structure is configured and a large gear ratio value is set. If you want to configure an speed reducer with a swinging intermeshing planetary gear structure and want to set the intermediate gear ratio, configure an speed reducer with a mixed planetary gear structure. It has the characteristics that can be.

Table 04 and FIG. 4 show the relationship between planetary gears, sun gears, and internal gears in planetary type and star type planetary gear mechanisms in the case of using a gear having an arc tooth profile in a list and a diagram. is there. FIG. 5 illustrates the relationship of the gears in the planetary gear mechanism of Table 04 in the order of the numbers in the table.
The relationship between the gears in Table 04 and FIG. 4 is as follows.
(A) Relationship between gears in planetary type and star type planetary gear mechanisms To determine the number of teeth of the sun gear Za, planetary gear Zb, internal gear Zc and the number N of planetary gears in the planetary type and star type planetary gear mechanisms It is necessary to satisfy the following three relationships.

Relationship 1) Zc = Za + 2Zb + 2

This expression is a relational expression necessary for adjusting the center distance of each gear.
Further, this equation shows a relationship when the gear (standard gear) of claim 1 described in Japanese Patent Application Laid-Open No. 2007-32836 of Patent Document 1 is used. That is, in the relationship 1 in FIG. 4, it is necessary to make the center distance a1 between the sun gear and the planetary gear and the center distance a2 between the planetary gear and the internal gear equal.
However, if the gear of Claim 1 described in Patent Publication (B2) Patent No. 4811676 of Patent Document 2 is used, the center distance of the mesh can be adjusted, and the number of teeth that does not satisfy the relationship of this formula It is also possible to select a gear.

a1 = a2

In the column of relationship 1 in Table 04, the number of teeth Za, Zb and Zc of each gear number 1 to 8 is displayed by the equation of relationship 1).

Relation 2) (Za + Zc) / N = integer value N: number of planetary gears

This equation is necessary for arranging the planetary gears at equidistant positions. In Table 04 and Relationship 2 in FIG. 4, when the planetary gears are arranged at uneven positions, it is necessary to satisfy the relationship of the following equation. Generally, the planetary gear can be arranged if the relationship of the constraint meshing of the following expression is satisfied.

(Za + Zc) θ / 180 = integer value θ: half the angle formed by the adjacent planetary gears

In the column of relation 2 in Table 04, the number of planetary gears of numbers 1 to 8, the angle θ, and the values of (Za + Zc) * N and (Za + Zc) * θ / 180 are related to 2) The numerical value obtained by the formula is displayed. Although the value of (Za + Zc) * θ / 180 in each gear configuration of number 4 does not indicate an integer value, the gear of claim 1 described in Patent Publication (B2) No. 4811676 of Patent Document 2 is used. If so, the arrangement position of each gear may be finely adjusted on the drawing.

Relation 3) Zb + 2 <(Za + 2 + Zb) sin θ

This expression is a relational expression for preventing the planetary gears from colliding with each other. This formula shows a relational expression when the gear (standard gear) according to claim 1 described in JP-A-2007-32836 is used and the planetary gears are arranged at equidistant positions. When the planetary gears are arranged at uneven positions, it is necessary to satisfy the relationship of the following formula.

dba <2a1sinθ dba: diameter of tip circle of planetary gear a1: center distance between sun gear and planetary gear

In the column of relation 3 in Table 04, the values of Zb + 2, numbers (Za + 2 + Zb) * sin θ, (Za + Zc) * θ, dba, and 2a1 * sin θ from numbers 1 to 8 are related 3 ) The numerical value obtained by the formula is displayed. First, each value of Zb + 2 and (Za + 2 + Zb) * sin θ indicates Zb + 2 <(Za + 2 + Zb) * sin θ, and each value of dba and 2a1 * sin θ is It can be seen that dba <2a1 * sin θ.

(B) Speed ratio (gear ratio) of planetary type and star type planetary gear mechanisms
FIG. 4 shows a configuration diagram of the planetary gear mechanism of (1) planetary type and (2) star type. (1) In the planetary type, the internal gear is fixed, the sun gear is the high speed axis, and the carrier is the low speed axis. (2) The star type has a carrier fixed, a sun gear as a high speed shaft, and an internal gear as a low speed shaft. In each case, the speed ratio (gear ratio) i can be expressed by the following equation.

(1) Speed ratio of planetary type i = Zc / Za + 1

(2) Speed ratio of star type i = −Zc / Za (Negative value means that the rotation direction of the low speed axis is opposite to that of the high speed axis)

The above relational expression is based on the relational expression used when the planetary gear mechanism is configured by using the involute gear, and is improved and assembled into a planetary gear mechanism composed of a gear having an arc tooth profile. Is shown.

FIG. 5 is a diagram based on the data of the numbers 1 to 8 of the relations of the respective gears in the planetary gear mechanism shown in Table 04.
As for the number N of planetary gears, two, three, and four examples are shown. Numbers 2), 6) and 8) show examples of using three and four planetary gears. In order to obtain a stable output, a configuration in which the angle θ which is half of the angle formed by the adjacent planetary gears is 45 degrees and the number of planetary gears N = 4 is considered good. Numbers are examples of 2), 6) and 8). Other than the examples shown in Table 04 and FIG. 5, an optimum combination of gears is conceivable, but we want to make it a future problem.

  FIG. 6 is a configuration diagram of the planetary gear mechanism used in the embodiment of the present application. The size of the gear teeth is R = 3. Za is the number of teeth of the sun gear, Zb is the number of teeth of the planetary gear, and Zc is the number of teeth of the internal gear. FIG. 1 is a configuration diagram used as a planetary planetary gear mechanism and a star planetary gear mechanism. FIG. 2 is a configuration diagram used as a star type planetary gear mechanism. It is the figure which has arrange | positioned three planetary gears, respectively. In FIG. 1A, half of the angle formed by the adjacent planetary gears is 66 degrees, and in FIG. 2B, half of the angle formed by the adjacent planetary gears is 60 degrees. a is the pitch circle diameter of the internal gear Zc, and is also the center-to-center distance between the planetary gear Zb inscribed in the internal gear and the sun gear Za in contact with the planetary gear Zb. Therefore, the equation for obtaining the number of teeth Zc of the internal gear is as follows. Zc = Za + 2Zb + 2. In the case of a gear having an arc tooth profile, +2 in the above formula is as shown in (1) and (2) of FIG. 6, the tip circle diameter of the sun gear Za and the pitch circle diameter of the planetary gear Zb or the sun gear. Since the pitch circle diameter of Za and the diameter of the tooth tip circle of the planetary gear Zb are contact circles on the mesh, the equation is obtained by multiplying the number of teeth by two. As shown in Table 1 (internal gear pump gear basic calculation formula) disclosed in Japanese Patent Publication No. 2007-032836 of Patent Document Right 1, the above-mentioned breakdown is the pitch circle diameter d1 = In the case of the root circle diameter df1 and the internal gear, the pitch circle diameter d2 = the tip bottom circle diameter da2 is used as a basis. The formula in Table 1 is a gear basic calculation formula applied to each gear used in the internal gear pump, the speed reducer, and the speed reducer. If the above formula is a standard gear basic calculation formula for a gear having an arc tooth profile, Table 1 (internal gear type pump gear basic calculation disclosed in Japanese Patent No. 4811676 of Patent Document (B2) of Patent Document 2). The expression (equation) corresponds to the shift gear described in the involute gear. By using the above formula, it is possible to adjust the center distance and finely adjust the meshing of each gear shown in FIG. In the series of speed reducers of the present application, the gear train used for the planetary planetary gear mechanism and the star planetary gear mechanism is based on (1) and (2) in FIG. It is also possible to refer to the gear train at numbers 1 to 8 in Table 04.

Examples in the present application will be described with reference to Tables 05 to 20 and FIGS.
The speed increase / reduction gears having the swinging intermeshing planetary gear structure shown in Tables 05 to 10 and FIGS. 7 to 9 mesh with each other while the external gear swings with the internal gear. This is a group of speed reducers that employ a swinging intermeshing planetary gear mechanism. In addition, each speed increase / decrease housed in the speed increase / decrease series of the present application has a low speed axis and a high speed axis, and when the low speed axis side functions as the input shaft side, it functions as a speed increaser, When the high speed shaft side is made to function as the input shaft side, it has a great feature of functioning as a speed reducer. The speed reducer with the swinging intermeshing planetary gear structure is more than the planetary type, the speed reducer with the star type planetary gear structure, and the speed reducer with the mixed type planetary gear structure described in the next section. Also, a large gear ratio (comparing gear ratios in Tables 05 to 20) can be obtained. The characteristics of the speed increase / reduction gears having the respective structures will be described in detail in the next section, but if the gear ratio is taken as an example, as shown in each table, the swinging intermeshing planetary gear structure The speed increaser / reducer with the gearbox is suitable for mechanical devices that require a large gear ratio. The speed increaser / reducer with a planetary or star type planetary gear structure has a small speed ratio, but from the input side to the output side. It is suitable for machinery that wants to transmit power reliably, and the speed reducer with a mixed planetary gear structure has the characteristics of both. Yes, it can be said that it is suitable for machinery that wants to take advantage of both features. The structural features of the speed reducer having a swinging intermeshing planetary gear structure will be listed.
1. A low-speed shaft unit with an internal pin hole (A) or a low-speed shaft unit with an internal gear (B) is provided on the low-speed shaft.
The low-speed shaft unit with an internal pin hole is a part of the low-speed shaft unit with an internal pin hole in the low-speed shaft unit (A), and the low-speed shaft unit with an internal gear is provided with an internal pin hole. The low speed shaft (02) with the internal gear, which is the component (B), is characterized in that the internal gear is chopped. Both are important factors in ensuring power transmission.
2. A high-speed shaft unit (D) with an internal pin hole or a low-speed shaft unit (E) with an internal gear is provided on the high-speed shaft.
The high-speed shaft casing (11) with an inner pin hole, which is a component of the high-speed shaft unit (D) with an inner pin hole in the high-speed shaft portion, has an inner pin hole (fixed), The high speed shaft casing (12) with internal gear, which is a part of the high speed shaft unit (E) with gear, is characterized in that the internal gear is cut. Both are important factors in ensuring power transmission.
3. The transmission mechanism unit includes at least one of transmission mechanism units (J), (K) and (L), and an intermediate rotor with internal gear (30) and an intermediate rotor with an internal pin hole (31) as transmission mechanism parts. That.
These units and parts are important elements in a mechanism for shifting gears in one stage and multiple stages.
The speed reducer housed in the speed reducer series of the present application has both the function as the speed increaser and the function as the speed reducer as described above. The speed ratio for each function is expressed as a gear ratio without using it.

As shown in FIG. 1, the speed increasing / decreasing machine 01 is a low speed shaft unit (A) with an inner pin hole in a low speed shaft portion, a transmission mechanism unit (J) in a transmission mechanism portion, and a high speed with an internal gear in a high speed shaft portion. A shaft unit (E) is provided. Table 05 shows the basic data and the gear ratio of each gear of the speed increasing / reducing gear 01 in the swinging intermeshing planetary gear structure 01 shown in FIG. An example in the case of functioning as a speed increaser is displayed.
Table 05 lists the gear basic data and the gear ratios of the external gear of the intermediate gear (23) and the internal gear of the high speed shaft casing (12) with the internal gear used in the speed reducer 01. It is. The speed increase / decrease device 01 is a one-speed speed increase / decrease device. Therefore, although the gear ratio i = 1 / the number of teeth of the external gear, in the present application, the gear ratio is expressed as an inverse value of the above equation. In addition, a positive value and a negative value are distinguished depending on the rotation directions of the input shaft and the output shaft. When the rotation on the input shaft side and the rotation on the output shaft side rotate in opposite directions, it is expressed as a negative gear ratio.
From Table 05, the gear ratio i of the speed increasing / decreasing device 01 is −29.
In the prior art, many speed reducers that employ a swinging intermeshing planetary gear mechanism are used. Its basic structure is as follows.
When functioning as a speed reducer, power transmission is transmitted to an external gear (planetary gear) that is cut into a curved plate while the rotation of the eccentric cylindrical portion of the high-speed shaft (input shaft) swings. The toothed gear meshes with an outer pin or an internal gear that is a sun gear. The power is a mechanism that is transmitted from the inner pin to the output shaft through the inner pin hole processed in the curved plate. The power transmission at this time is self-transmission in the power transmission operation from the inner pin hole of the curved plate to the inner pin and the meshing operation of the outer pin or the internal gear and the external gear cut by the curved plate. The lock function works and is difficult to reverse. If, in this reducer, the input shaft side and the output shaft side are interchanged to function as a speed increaser, the external pin or internal gear on the input shaft side and the external gear cut by the curved plate The intermeshing is engaged, and the power is transmitted from the inner pin to the inner pin hole processed in the curved plate, and the power is transmitted to the output shaft. However, in the internal meshing operation of the external pin or the internal gear and the external gear cut by the curved plate, and the power transmission operation from the internal pin to the internal pin hole processed in the curved plate Since the self-lock function works in the same manner as in the case of the reducer, power transmission is impossible. The speed increaser / decelerator of the present application is characterized by including a low speed shaft unit (A) with an inner pin hole in order to release the self-lock function described above (to function as a speed increaser). That is, specifically, the low-speed shaft (01) with the inner pin hole which is the unit part is used, and the inner pin (36) to the intermediate gear (23) through the inner pin hole, Furthermore, the internal gear of the high-speed shaft casing (12) with internal gear and the external gear of the intermediate gear (23) mesh with each other, and the power is transferred to a boss hole provided in the intermediate gear (23). A mechanism is employed that is transmitted to the eccentric cylindrical portion of the high-speed shaft (04) inserted through the bearing and output. However, the speed increaser / reduction gear having the swinging intermeshing planetary gear structure can obtain a large gear ratio, but functions as a speed increaser because it is a structure that releases the self-locking function described above. In this case, a large torque is not transmitted to the high speed shaft (output shaft), although a large torque is required for the low speed shaft (input shaft). It seems to be suitable as an acceleration / deceleration device for wind power generation.

As shown in FIG. 1, the speed increasing / decreasing device 02 includes a low-speed shaft unit (A) with an inner pin hole in the low-speed shaft portion, a transmission mechanism unit (J), a transmission mechanism unit (K), An intermediate casing (17) with tooth gears, an intermediate rotor (30) with internal gears, and a high-speed shaft unit (D) with an inner pin hole in the high-speed shaft portion. Table 06 lists the basic data and the gear ratio of each gear used for the speed increasing / reducing gear 02 in the swing intermeshing planetary gear structure 01 shown in FIG.
An example in the case of functioning as a speed increaser is shown for each gear combination for each gear position.
The first gear stage displays the basic data and the gear ratio 1i of the external gear of the intermediate gear (23) and the internal gear of the intermediate casing with the internal gear (17). The first gear stage is mechanically the same mechanism as the speed increasing / decreasing unit 01, so that the gear ratio 1i = −29. The second gear stage displays basic data and a gear ratio 2i of the external gear of the intermediate gear (24) and the internal gear of the intermediate rotor (30) with the internal gear. As shown in FIG. 7, the power from the intermediate gear (23) at the first stage is generated by the eccentric cylinder of the intermediate rotor (30) inserted through the boss hole processed in the intermediate gear (23) and the bearing. Is transmitted to the department. Further, an internal gear is cut into the intermediate rotor (30), and the internal gear and the external gear of the intermediate gear (24) are engaged in the oscillating inscribed mesh while the power is intermediate. It is transmitted to the high-speed shaft unit (D) with the inner pin hole through the inner pin (36) attached to the gear (24). The gear ratio 2i of the second gear is a structure in which the reverse rotation direction of the first gear is transmitted to the high speed shaft as it is, so that the gear ratio is a positive value. The gear ratio 2i = 23. Therefore, the speed ratio i = (− 29) × 23 of the speed increasing / decreasing device 02 and i = −667. Here, as a feature of the structure adopted in the speed increasing / decreasing device 02, in order to release the self-locking function like the speed increasing / decreasing device 01, a high speed shaft unit (D) with an inner pin hole is provided on the high speed shaft portion. The high-speed shaft casing (11) with an inner pin hole, which is a unit part, is provided. In other words, the inner pin hole (fixed) is provided in the high-speed shaft casing (11) with the inner pin hole, and the power from the inner pin (36) is transmitted through the inner pin hole to the high-speed shaft (05). ) To be transmitted to the eccentric cylindrical portion and output.
An intermediate casing (17) with internal gears and an intermediate rotor (30) with internal gears provided in the speed change mechanism are important parts for multi-speed shifting, and show the characteristics of the speed reducer. It is.

As shown in FIG. 1, the speed increasing / decreasing machine 03 includes a low speed shaft unit (A) with an inner pin hole in the low speed shaft portion, a transmission mechanism unit (J) in the transmission mechanism portion, and an intermediate casing (17) with internal gears. And an intermediate rotor (31) with an inner pin hole, and a high-speed shaft unit (E) with an internal gear on the high-speed shaft portion. Table 07 lists the basic data and the gear ratio of each gear used in the speed increaser / decelerator 03 in the swinging intermeshing planetary gear structure 02 shown in FIG.
An example in the case of functioning as a speed increaser is shown for each gear combination for each gear position. The first gear stage displays the basic data and the gear ratio 1i of the external gear of the intermediate gear (23) and the internal gear of the intermediate casing with the internal gear (17). The first gear stage is mechanically the same mechanism as the speed increasing / decreasing unit 01, so that the gear ratio 1i = −29. The second gear stage displays basic data and a gear ratio 2i of the external gear of the intermediate gear (23) and the internal gear of the high speed shaft casing (12) with the internal gear. As shown in FIG. 8, the power from the intermediate gear (23) at the first stage is generated by a boss hole processed in the intermediate gear (23) and an intermediate rotor (inserted through a bearing). 31) to the eccentric cylindrical portion. Further, the intermediate rotor (31) is provided with an inner pin hole into which the inner pin (36) is inserted, and power is transmitted to the intermediate gear (23) through the inner pin. The external gear of the intermediate gear (23) and the internal gear of the high-speed shaft casing (12) with the internal gear are oscillating in mesh and the power is processed into the intermediate gear (23). The boss hole is transmitted to the eccentric cylindrical portion of the high-speed shaft (04) inserted through the boss hole and the bearing, and is output. Since the gear ratio 2i of the second gear is opposite to the reverse rotation direction of the first gear, the gear ratio 2i is a negative value. The gear ratio 2i = −29. Therefore, the speed change ratio i = (− 29) × (−29) of the speed increasing / decreasing machine 03, and i = 841. The intermediate casing (17) with an internal gear and the intermediate rotor (31) with an inner pin hole provided in the speed change mechanism are important parts for performing multi-speed shifting, and show the characteristics of the speed increasing device 03. is there.

  As shown in FIG. 1, the speed increasing / decreasing device 04 has a low-speed shaft unit (B) with an internal gear at a low-speed shaft part, a transmission mechanism unit (L) at a transmission mechanism part, and a high-speed with an internal pin hole on a high-speed shaft part. A shaft unit (D) is provided. Table 08 is a list of basic data and gear ratios of the gears used in the speed increasing / reducing gear 04 in the swinging intermeshing planetary gear structure 02 shown in FIG. An example in the case of functioning as a speed increaser is displayed as a combination of gears. As shown in Table 08, the basic data and the gear ratio of the internal gear of the low-speed shaft with internal gear (02) that is a part of the external gear of the intermediate gear (25) and the low-speed shaft unit with internal gear (B) i is displayed. As shown in FIG. 8, power is transmitted while the internal gear of the low speed shaft (02) with the internal gear (02) and the external gear of the intermediate gear (25) are oscillating and intermeshing. ) Is transmitted to an inner pin (36) provided in the above. The inner pin is inserted into an inner pin hole (fixed) provided in a casing for a high speed shaft with an inner pin hole (11) which is a part of the high speed shaft unit (D) with an inner pin hole. The inner pin (36) swings and rotates with a structure in which power is transmitted and output to an eccentric cylindrical portion of a high-speed shaft (04) attached to a boss hole provided in the intermediate gear (25) via a bearing. doing. The structure on the high speed shaft side is the same as that of the speed increasing / decreasing device 02. The gear ratio i is the same as that of the second gear stage of the speed increase / decrease device 02, so that the gear ratio i = 29.

  As shown in FIG. 1, the speed increasing / decreasing device 05 includes a low-speed shaft unit (B) with an internal gear in a low-speed shaft portion, a transmission mechanism unit (K) in a transmission mechanism portion, an intermediate casing (18), an intermediate gear ( 25), an intermediate rotor (30) with an internal gear, and a high-speed shaft unit (D) with an internal pin hole in the high-speed shaft portion. Table 09 lists the basic data and the gear ratio of each gear used in the speed increasing / reducing gear 05 in the swinging intermeshing planetary gear structure 03 shown in FIG. An example in the case of functioning as a speed increaser is shown for each gear combination for each gear position. In Table 09, the first gear stage displays the basic data and the gear ratio 1i of the external gear of the intermediate gear (25) and the internal gear of the low speed shaft with internal gear (02). The first gear stage is mechanically the same mechanism as the speed increase / decrease unit 04, so that the gear ratio 1i = 29. The second gear stage displays basic data and a gear ratio 2i of the external gear of the intermediate gear (24) and the internal gear of the intermediate rotor (30) with the internal gear. As shown in FIG. 9, the power from the intermediate gear (25) at the first stage is generated from the boss hole processed in the intermediate gear (25) and the internal gear inserted through the bearing. It is transmitted to the eccentric cylindrical part of the attached intermediate rotor (30). Furthermore, an internal gear is cut into the intermediate rotor (30). The internal gear and the external gear of the intermediate gear (24) mesh with each other by swinging one gear and are transmitted to the internal pin (36) attached to the intermediate gear (24). The inner pin is inserted into an inner pin hole (fixed) provided in a high speed shaft casing (11) with an inner pin hole. The power is transmitted to the eccentric cylindrical portion of the high-speed shaft (05) through the inner pin hole and output. Since the gear ratio 2i of the second gear is the same as the rotation direction of the first gear, the gear ratio 2i is a positive value. The gear ratio 2i = 23. Therefore, the gear ratio i of the speed increasing / decreasing device 05 is 29 × 23, and i = 667. The intermediate casing (18), the intermediate gear (25), and the intermediate rotor with internal gear (30) provided in the speed change mechanism are important parts for performing multi-speed shifting, and show the characteristics of the speed reducer. It is.

As shown in FIG. 1, the speed increasing / decreasing device 06 includes a low-speed shaft unit (B) with an internal gear in the low-speed shaft portion, a transmission mechanism unit (J) in the transmission mechanism portion, an intermediate casing (18), an intermediate gear ( 25), an intermediate rotor (31) with an inner pin hole, and a high-speed shaft unit (E) with an internal gear on the high-speed shaft portion. Table 10 lists the basic data and the gear ratio of each gear used in the speed increaser / decelerator 06 in the swing intermeshing planetary gear structure 03 shown in FIG. An example in the case of functioning as a speed increaser is shown for each gear combination for each gear position. In Table 10, the first gear stage displays the basic data and the gear ratio 1i of the external gear of the intermediate gear (25) and the internal gear of the low speed shaft with internal gear (02). The first shift is mechanically the same mechanism as the speed increasing / decreasing device 05, so that the gear ratio 1i = 29. The second gear stage displays basic data and a gear ratio 2i of the external gear of the intermediate gear (23) and the internal gear of the high speed shaft casing (12) with the internal gear. As shown in FIG. 9, the power from the intermediate gear (25) at the first stage is generated by a boss hole processed in the intermediate gear (25) and an inner pin hole inserted into the boss hole through a bearing. It is transmitted to the eccentric cylindrical portion of the attached intermediate rotor (31). Further, the intermediate rotor (31) is provided with an inner pin hole into which the inner pin (36) is inserted, and power is transmitted to the intermediate gear (23) through the inner pin. The external gear of the intermediate gear (23) and the internal gear of the high-speed shaft casing (12) with the internal gear are oscillating in mesh and the power is processed into the intermediate gear (23). It is structured to be transmitted to the boss hole and the eccentric cylindrical portion of the high-speed shaft (05) inserted through the boss hole and a bearing for output. Since the gear ratio 2i of the second gear is opposite to the reverse rotation direction of the first gear, the gear ratio 2i is a negative value. The gear ratio 2i = −29. Therefore, the gear ratio i = 29 × (−29) of the speed increase / decrease device 06 is obtained, and i = −841.
The intermediate casing (18), the intermediate gear (25), and the intermediate rotor (31) with an inner pin hole provided in the speed change mechanism are important parts for multi-stage shifting, and show the features of this speed reducer. It is.

  As shown in FIG. 2, the speed increaser / decelerator 07 includes a low-speed shaft unit (C) with a planetary pin hole in the low-speed shaft portion, a transmission mechanism unit (N) and a sun gear (28) in the transmission mechanism portion, and a high-speed shaft portion. Is provided with a planetary type planetary gear high-speed shaft unit (G). Table 11 is a list of basic data and gear ratios of each gear used in the speed increaser / decelerator 07 in the planetary type and star type planetary gear structure 01 shown in FIG. The combination of each gear when it is made to function as a gearbox is displayed. In Table 11, basic data and gear ratios of the external gear of the planetary gear (26), the external gear of the sun gear (28), and the internal gear of the planetary type G high-speed shaft casing (14) are displayed. . Since it is a planetary planetary gear mechanism, the gear ratio i = Zc / Za + 1. Here, Za is the number of teeth of the sun gear, Zc is the number of teeth of the internal gear. Therefore, the gear ratio i = 4.75. As shown in FIG. 10, the power transmission is performed from the low-speed shaft unit with planetary pin holes in the low-speed shaft unit (C) to the transmission mechanism unit (N), the sun gear (28), and the planetary planetary gear high-speed. It is transmitted to the shaft unit (G) and output. The planetary gear mechanism used in the speed increaser / decelerator 07 is based on the configuration diagram of each gear shown in (1) of FIG.

  As shown in FIG. 2, the speed increaser / decelerator 08 includes a low-speed shaft unit (C) with a planetary pin hole in the low-speed shaft portion, a transmission mechanism unit (M) and a sun gear (28) in the transmission mechanism portion, and a high-speed shaft portion. Is provided with a planetary planetary gear high-speed shaft unit (F). Table 12 is a list of basic data and gear ratios of each gear used in the speed increaser / decelerator 08 in the planetary type and star type planetary gear structure 01 shown in FIG. The combination of each gear when it is made to function as a gearbox is displayed. Table 12 shows basic data and gear ratios of the external gear of the planetary gear (26), the external gear of the sun gear (28), and the internal gear of the planetary type F high-speed shaft casing (13). . Since it is a planetary planetary gear mechanism, the gear ratio i is 4.75. As shown in FIG. 10, the power transmission is from the low-speed shaft unit with planetary pin holes in the low-speed shaft unit (C) to the transmission mechanism unit (M), the sun gear (28), the planetary planetary gear high speed. It is transmitted to the shaft unit (F) and output. The speed increase / decrease device 08 employs a structure similar to that of the speed increase / decrease device 07. The difference is that the speed increasing device 08 is provided with a carrier disk (38) which is a component of the transmission mechanism unit (M) in order to obtain a stable rotation of each gear.

As shown in FIG. 2, the speed reducer 09 includes a low-speed shaft unit (C) with a planetary pin hole in the low-speed shaft portion, a transmission mechanism unit (N) in the transmission mechanism portion, and an intermediate casing (19) with internal gears. The sun gear (28), the planetary intermediate rotor (34), and the planetary planetary gear high-speed shaft unit (G) are provided in the high-speed shaft portion. Table 13 lists the basic data and the gear ratio of each gear used for the speed increaser / decelerator 09 in the planetary and star type planetary gear structure 02 shown in FIG. An example in the case of functioning as a speed increaser is shown for each gear combination for each gear position.
In Table 13, the first gear stage is the basic data and gear shift of the external gear of the planetary gear (26), the external gear of the planetary intermediate rotor (34), and the internal gear of the intermediate casing with the internal gear (19). The ratio 1i is displayed. In terms of the mechanism of the first speed change, a planetary planetary gear mechanism is employed, so that the gear ratio is 1i = 4.75. The second gear stage displays the basic data and the gear ratio 2i of the external gear of the planetary gear (26), the external gear of the sun gear (28), and the internal gear of the planetary type G high-speed shaft casing (14). ing. From the external gear of the planetary intermediate rotor (34), which is the sun gear serving as the output of the first gear to the planetary pin (36) inserted into the planetary pin hole provided in the planetary intermediate rotor (34). Power is transmitted. Here, since the planetary pin (36) is also used in each speed increasing / decreasing device in the swinging intermeshing planetary gear structure, the component name is the inner pin or the planetary pin. In the speed reducer in the planetary gear structure, it functions as a planetary pin. The power from the planetary pin (36) is transmitted to the planetary gear (26), and the planetary gear (26) and the internal gear cut by the planetary type G high-speed shaft casing (14) are inscribed. Engage. The power is transmitted to the sun gear (28) which is in mesh with the planetary gear (26), and is output to the high speed shaft (07). This planetary gear mechanism is the same as the planetary planetary gear mechanism in the first gear. Therefore, the gear ratio 2i of the second gear stage is 4.75. Therefore, the gear ratio i of this speed increase / decrease 09 is 4.75 × 4.75 and i = 22.5625.
The intermediate casing (19) with an internal gear and the planetary intermediate rotor (34) provided in the speed change mechanism are important parts for multi-stage shifting, and show structural features of the speed reducer 09. is there.

As shown in FIG. 2, the speed reducer 10 includes a low speed shaft unit (C) with a planetary pin hole in the low speed shaft portion, a transmission mechanism unit (M) in the transmission mechanism portion, and an intermediate casing (20) with internal gears. The sun gear (28), the planetary intermediate rotor (35), and the planetary planetary high-speed shaft unit (F) are provided on the high-speed shaft. Table 14 lists the basic data and the gear ratio of each gear used in the speed increaser / decelerator 10 in the planetary and star planetary gear structure 02 shown in FIG. An example in the case of functioning as a speed increaser is shown for each gear combination for each gear position.
In Table 14, the first stage of gear shift is the basic data and gear shift of the external gear of the planetary gear (26), the external gear of the planetary intermediate rotor (35), and the internal gear of the intermediate casing with internal gear (20). The ratio 1i is displayed. In terms of the mechanism of the first speed change, a planetary planetary gear mechanism is employed, so that the gear ratio is 1i = 4.75. The second gear stage displays the basic data and the gear ratio 2i of the external gear of the planetary gear (26), the external gear of the sun gear (28), and the internal gear of the planetary type F high-speed casing (13). ing. From the external gear of the planetary intermediate rotor (35), which is the sun gear serving as the output of the first gear to the planetary pin (36) inserted into the planetary pin hole provided in the planetary intermediate rotor (35). Power is transmitted. The power from the planetary pin (36) is transmitted to the planetary gear (26), and the planetary gear (26) and the internal gear cut by the planetary type F high-speed shaft casing (13) are inscribed. Engage. The motive power is transmitted to the sun gear (28) circumscribing the planetary gear (26) and output to the high speed shaft (06). This planetary gear mechanism is the same as the planetary planetary gear mechanism in the first gear. Therefore, the gear ratio 2i of the second gear stage is 4.75. Therefore, the gear ratio i of this speed increase / decrease 09 is 4.75 × 4.75 and i = 22.5625.
The intermediate casing (20) with an internal gear and the planetary intermediate rotor (35) provided in the speed change mechanism are important parts for multi-stage shifting, and show structural features of the speed increase / decrease gear 10. is there. In terms of mechanism, the same mechanism as the speed increase / decrease unit 09 is adopted. The difference is that the carrier disk (38) is used as a part of the speed change mechanism unit (M) as shown in the speed increasing / decreasing unit 08, and the power is stably and reliably supplied from the speed increasing / decreasing unit 09. It has an improved structure so that transmission is possible.

  As shown in FIG. 2, the speed reducer 11 includes a low speed shaft unit (B) with an internal gear at a low speed shaft portion, a transmission mechanism unit (N) and a sun gear (28) as a transmission mechanism portion, and a high speed shaft portion. Is provided with a star-type planetary gear high-speed shaft unit (H). Table 15 is a list of basic data and gear ratios of the gears used in the speed increasing / reducing gear 11 in the planetary type and star type planetary gear structure 03 shown in FIG. The combination of each gear when it is made to function as a gearbox is displayed. In Table 15, the basic data and the gear ratio of the external gear of the planetary gear (26), the external gear of the sun gear (28), and the internal gear of the low speed shaft with internal gear (02) are displayed. Since it is a star type planetary gear mechanism, the gear ratio i = −Zc / Za. Here, Za is the number of teeth of the sun gear, Zc is the number of teeth of the internal gear. Therefore, the gear ratio i = −3.75. As shown in FIG. 12, the power transmission is from the low-speed shaft unit (B) with the internal gear of the low-speed shaft unit to the transmission mechanism unit (N), the sun gear (28), the star type planetary gear high speed. It is transmitted to the shaft unit (H) and output. The planetary gear mechanism used in the speed increasing / decreasing gear 11 is based on the configuration diagram of each gear shown in FIG.

As shown in FIG. 2, the speed reducer 12 includes a low-speed shaft unit (B) with an internal gear in the low-speed shaft portion, a transmission mechanism unit (N) in the transmission mechanism portion, and an intermediate casing (21) with planetary pin holes. The planetary planetary high-speed shaft unit (G) is provided on the high-speed shaft portion of the sun gear (28) and the planetary intermediate rotor (35). Table 16 lists the basic data and the gear ratio of each gear used in the speed increaser / decelerator 12 in the planetary star type planetary gear structure 03 shown in FIG. An example in the case of functioning as a speed increaser is shown for each gear combination for each gear position.
In Table 16, the first stage of the speed change is the basic data and speed change of the external gear of the planetary gear (26), the external gear of the planetary intermediate rotor (35), and the internal gear of the low-speed shaft with internal gear (02). The ratio 1i is displayed. The first speed change mechanism is a star type planetary gear mechanism in terms of mechanism, so that the speed change ratio is 1i = −3.75. The second gear stage displays the basic data and the gear ratio 2i of the external gear of the planetary gear (26), the external gear of the sun gear (28), and the internal gear of the planetary type G high-speed shaft casing (14). ing. From the external gear of the planetary intermediate rotor (35), which is the sun gear serving as the output of the first gear to the planetary pin (36) inserted into the planetary pin hole provided in the planetary intermediate rotor (35). Power is transmitted. The power from the planetary pin (36) is transmitted to the planetary gear (26), and the planetary gear (26) and the internal gear cut by the planetary type G high-speed shaft casing (14) are inscribed. Engage. The power is transmitted to the sun gear (28) which is in mesh with the planetary gear (26), and is output to the high speed shaft (07). This planetary gear mechanism employs a star-type planetary gear mechanism at the first speed change, and a planetary planetary gear mechanism at the second speed change. Therefore, the gear ratio 2i of the second gear stage is 4.75. Therefore, the speed change ratio of the speed increasing / decreasing device 12 is i = −3.75 × 4.75, and i = −17.8125.
The intermediate casing (21) with planetary pin holes and the planetary intermediate rotor (35) provided in the speed change mechanism are important parts for multi-speed shifting, and the speed increaser / decelerator 12 includes a planetary planetary gear mechanism and a star It has a feature that also has a type planetary gear mechanism.

As shown in FIG. 3, the speed reducer 13 includes a low-speed shaft unit (A) with an inner pin hole in the low-speed shaft portion, a transmission mechanism unit (J), a transmission mechanism unit (O), The intermediate casing (17) with the toothed gear, the intermediate rotor (30) with the internal gear, and the star type planetary gear high speed shaft unit (I) are provided in the high speed shaft portion. Table 17 lists the basic data and the gear ratio of each gear used for the speed increase / decrease 13 in the mixed planetary gear structure 01 shown in FIG. An example in the case of functioning as a speed increaser is shown for each gear combination for each gear position.
In Table 17, the first gear stage displays the basic data and the gear ratio 1i of the external gear of the intermediate gear (23) and the internal gear of the intermediate casing (17) with the internal gear. In terms of the mechanism of the first speed change, a swinging intermeshing planetary gear mechanism is adopted, so that the gear ratio 1i = −29. The second gear stage displays the basic data and the gear ratio 2i of the external gear of the planetary gear (27), the external gear of the sun gear (29), and the internal gear of the intermediate rotor with internal gear (30). Yes. The power from the intermediate gear (23) at the first gear stage is transmitted to the boss hole formed in the intermediate gear (23) and the eccentric cylindrical portion of the intermediate rotor (30) inserted through the bearing. The The intermediate rotor (30) has an internal gear, and the internal gear, the planetary gear (27), and the sun gear (29) have a structure employing a star-type planetary gear mechanism. . The power from the eccentric cylindrical portion of the intermediate rotor (30) is output to the high speed shaft (09) via the star type planetary gear structure.
The second gear stage employs a star type planetary gear mechanism, so that the gear ratio 2i = −4. Therefore, the speed ratio i = (− 29) × (−4) of the speed increase / decrease 13 is obtained, and the speed ratio i = 116.
The intermediate casing (17) with an internal gear and the intermediate rotor (30) with an internal gear provided in the speed change mechanism are important parts for multi-speed shifting. It has the feature of having both a type planetary gear mechanism and a star type planetary gear mechanism. The planetary gear mechanism configured using the transmission mechanism unit (O) employs the mechanism and gear train shown in (2) of FIG.

As shown in FIG. 3, the speed reducer 14 includes a low speed shaft unit (B) with an internal gear at the low speed shaft portion, a transmission mechanism unit (O), an intermediate casing (18), and an internal gear at the transmission mechanism portion. The geared intermediate rotor (30) is provided with a star-type planetary gear high-speed shaft unit (I) in the high-speed shaft portion. Table 18 is a table listing the basic data and the gear ratio of each gear used for the speed increase / decrease 14 in the mixed planetary gear structure 01 shown in FIG. An example in the case of functioning as a speed increaser is shown for each gear combination for each gear position.
In Table 18, the first gear stage displays the basic data and the gear ratio 1i of the external gear of the intermediate gear (25) and the internal gear of the low speed shaft with internal gear (02). In terms of mechanism, the first gear stage employs a swinging intermeshing planetary gear mechanism, so that the gear ratio is 1i = 29. The second gear stage displays the basic data and the gear ratio 2i of the external gear of the planetary gear (27), the external gear of the sun gear (29), and the internal gear of the intermediate rotor with internal gear (30). Yes. The power from the intermediate gear (25) at the first gear stage is transmitted to the boss hole processed in the intermediate gear (25) and the eccentric cylindrical portion of the intermediate rotor (30) inserted through the bearing. The The intermediate rotor (30) has an internal gear, and the internal gear, the planetary gear (27), and the sun gear (29) have a structure employing a star-type planetary gear mechanism. . The power from the eccentric cylindrical portion of the intermediate rotor (30) is output to the high speed shaft (09) via the star type planetary gear structure.
The second gear stage employs a star type planetary gear mechanism, so that the gear ratio 2i = −4. Therefore, the speed ratio i = 29 × (−4) of the speed increasing / decreasing device 14 and the speed ratio i = −116.
The intermediate casing (18) and the intermediate rotor (30) with internal gears provided in the speed change mechanism are important parts for multi-speed shifting, and the speed increaser / decelerator 14 is a swinging intermeshing planetary gear mechanism. And a star-type planetary gear mechanism.

As shown in FIG. 3, the speed increasing / decreasing device 15 includes a low speed shaft unit (C) with a planetary pin hole in the low speed shaft portion, a transmission mechanism unit (J), a transmission mechanism unit (N), An intermediate casing (22) with an internal gear, an intermediate rotor (33) with an internal pin hole external gear, and a high-speed shaft unit (E) with an internal gear are provided on the high-speed shaft. Table 19 lists the basic data and the gear ratio of each gear used in the speed increasing / reducing gear 15 in the mixed planetary gear structure 02 shown in FIG. An example in the case of functioning as a speed increaser is shown for each gear combination for each gear position.
In Table 19, the first gear stage is the external gear of the planetary gear (26), the external gear of the intermediate rotor (33) with an internal pin hole external gear, and the internal gear of the intermediate casing (22) with an internal gear. The basic data and the gear ratio 1i are displayed. In terms of the mechanism of the first speed change, a planetary planetary gear mechanism is employed, so that the gear ratio is 1i = 4.75. The second gear stage displays basic data and a gear ratio 2i of the external gear of the intermediate gear (23) and the internal gear of the high speed shaft casing (12) with the internal gear. The output from the external gear of the intermediate gear (33) with an internal pin hole external gear, which is the sun gear at the first gear stage, is transmitted through the internal pin hole provided in the intermediate rotor (33) to the internal pin ( 36). The inner pin (36) is inserted into the intermediate gear (23). The power from the internal pin (36) is subjected to internal meshing between the external gear of the intermediate gear (23) and the internal gear of the high speed shaft casing (12) with the internal gear, and then the high speed shaft as the output shaft. (04) is transmitted to the eccentric cylindrical portion and output.
Since the swinging intermeshing planetary gear mechanism is employed in the second speed change step, the gear ratio 2i = −29. Therefore, the gear ratio i of the speed increase / decrease 15 is 4.75 × (−29), and the gear ratio i = −137.75.
The intermediate casing (22) with an internal gear and the intermediate rotor (33) with an internal pin hole external gear provided in the speed change mechanism are important parts for multi-stage shifting, and the speed increase / decrease 15 is a planetary type. A planetary gear mechanism and a swinging intermeshing planetary gear mechanism are combined.

As shown in FIG. 3, the speed increasing / decreasing device 16 includes a low-speed shaft unit (C) with a planetary pin hole in the low-speed shaft portion, a transmission mechanism unit (K), a transmission mechanism unit (N), An intermediate casing (22) with internal gears, an intermediate rotor (32) with external internal gears, and a high-speed shaft unit (D) with internal pin holes in the high-speed shaft portion. Table 20 lists the basic data and the gear ratio of each gear used for the speed increasing / reducing gear 16 in the mixed planetary gear structure 02 shown in FIG. An example in the case of functioning as a speed increaser is shown for each gear combination for each gear position.
In Table 20, the first speed change is the external gear of the planetary gear (26), the external gear of the intermediate rotor (32) with the external gear and the internal gear of the intermediate casing (22) with the internal gear (22). Basic data and gear ratio 1i are displayed. In terms of the mechanism of the first speed change, a planetary planetary gear mechanism is employed, so that the gear ratio is 1i = 4.75. The second gear stage displays basic data and a gear ratio 2i of the external gear of the intermediate gear (24) and the internal gear of the intermediate rotor (32) with external internal gear. The output from the external gear of the intermediate rotor (32) with external internal gears, which is the first-stage sun gear, is the internal gear and the intermediate gear (24) cut by the intermediate rotor (32). This is transmitted to the inner pin (36) inserted into the inner pin hole provided in the intermediate gear (24) through the internal meshing with the external gear. Further, the inner pin (36) is inserted into the inner pin hole provided in the casing (11) for the high-speed shaft with the inner pin hole, and the inner pin (36) swings and rotates to the intermediate gear (24). Is transmitted to the eccentric cylindrical portion of the high-speed shaft (05) that is inserted into the boss hole provided through the bearing through the bearing.
Since the second gear stage employs a swinging intermeshing planetary gear mechanism, the gear ratio is 2i = 23. Therefore, the gear ratio i of the speed increase / decrease device 16 is 4.75 × 23, and the gear ratio i = 109.25.
The intermediate casing (22) with internal gears and the intermediate rotor (32) with external internal gears provided in the speed change mechanism are important parts for multi-speed shifting, and the speed increaser / decelerator 16 is a planetary planet. It has a feature of having both a gear mechanism and a swinging intermeshing planetary gear mechanism.

The characteristics of the speed reducer housed in the series of speed increasers shown in this embodiment will be shown.
1. The speed increasing / decreasing gear group of the present application is configured by using a gear having an arc tooth shape, and the required speed increasing / decreasing speed can be set by freely setting the gear tooth size R. The machine can be arbitrarily configured according to the size of the mechanical device and the gear ratio. (Embodiments of the present application are shown in the tables and figures with the gear tooth size R = 3.)
2. The speed increaser / reduction gear having the swinging intermeshing planetary gear structure of the present application is characterized by having both functions of the speed increaser and the speed reducer.
3. The speed increasing / reducing gear having the planetary planetary gear structure and the star planetary gear structure of the present application is characterized by being constituted by a gear having an arc tooth shape.
4. The speed reducer of the present application is an speed reducer that can freely have one or more of a swinging intermeshing planetary gear mechanism, a planetary planetary gear mechanism, and a star planetary gear mechanism.
5. Each speed increase / decrease unit is designed to meet the needs of the required speed increase / decrease units by sharing parts and sharing part sizes.
6. The speed increasing / decreasing gear of the present application is configured by using a gear having an arc tooth profile, but an involute tooth profile, a cycloid tooth profile,
It seems that the speed reducer can be configured by using gears having other tooth shapes such as a trochoid tooth shape.

  The series of the speed reducer according to claim 1 of the present invention includes a speed increaser and a speed reducer having a wide range of speed ratios including a speed reducer having a low speed ratio to a speed reducer having a high speed reduction ratio. This is a series of speed increase / decrease units that contain a group of speed increase / decrease units that can be used. In addition, each speed increaser / decelerator housed in this series is designed to share parts and share the same component size. For the purpose of reducing the weight and labor saving of the mechanical equipment including this speed reducer. This is a series of built-in speed reducers. It can be used as an acceleration / deceleration device in wind power generation.

Part number 01: Low speed shaft with internal pin hole 02: Low speed shaft with internal gear 03: Low speed shaft with planetary pin hole 04: High speed axis 05: High speed axis 06: High speed axis 07: High speed axis 08: High speed axis 09: High speed axis 10: Low speed shaft casing 11: High speed shaft casing with inner pin hole 12: High speed shaft casing with internal gear 13: Planetary type F high speed shaft casing 14: Planetary type G high speed shaft casing 15: Star type H high speed Shaft casing 16: Star type I high-speed shaft casing 17: Intermediate casing with internal gear 18: Intermediate casing 19: Intermediate casing with internal gear 20: Intermediate casing with internal gear 21: Intermediate casing 22 with internal pin hole: Intermediate casing with internal gear 23: intermediate gear 24: intermediate gear 25: intermediate gear 26: planetary gear 27: planetary gear 28: sun gear 29: thick Gear 30: Intermediate rotor with internal gear 31: Intermediate rotor with internal pin hole 32: Intermediate rotor with external gear internal gear 33: Intermediate rotor with internal pin hole external gear 34: Planetary intermediate rotor 35: Planetary intermediate rotor 36: Inner pin 37: Inner pin 38: Carrier disk unit Symbol A: Low speed shaft unit with inner pin hole B: Low speed shaft unit with internal gear C: Low speed shaft unit with planetary pin hole D: Inner pin hole High speed shaft unit E: High speed shaft unit with internal gear F: Planetary planetary gear high speed shaft unit G: Planetary planetary gear high speed shaft unit H: Star type planetary gear high speed shaft unit I: Star type planet Gear high-speed shaft unit J: transmission mechanism unit K: transmission mechanism unit L: transmission mechanism unit M: transmission mechanism unit N: transmission mechanism Unit O: transmission mechanism unit planetary gear number of teeth Za: sun gear number of teeth Zb: planetary gear tooth number Zc: the internal gear teeth symbol
a1: Center distance between the sun gear and the planetary gear a2: Center distance between the planetary gear and the internal gear dba: Tooth tip diameter of the planetary gear N: Number of planetary gears R: Arc radius (tooth size)
θ: Half of the angle formed by the adjacent planetary gears

Claims (4)

  A series of speed reducers including a speed reducer composed of a plurality of gears including a gear having an arc tooth profile, and a plurality of low speed shaft units composed of a plurality of low speed shaft units composed of a plurality of low speed shaft parts, and a plurality of speed reducers A plurality of transmission mechanism units composed of a plurality of transmission mechanism parts, a transmission mechanism unit composed of a plurality of transmission mechanism parts, and a high-speed shaft unit composed of a plurality of high-speed shaft units composed of a plurality of high-speed shaft parts. A plurality of units and parts of the low-speed shaft portion, the speed change mechanism portion, and the high-speed shaft portion, and the gear ratio of the speed reducer, the transmission capacity, the gear tooth size, and the speed reducer type By setting the specifications, the respective units and parts of the respective parts necessary for the speed increaser / decelerator to be satisfied with the above specifications are selected, and the respective parts from the low-speed shaft part to the transmission mechanism part and the high-speed shaft part are sequentially selected. Units and parts By assembling, one or more speed increase / decrease gears are configured, and the speed increase / decrease speed gears having applications based on the respective specifications from the unit groups and the plurality of parts having the plurality of options. It is a series of speed reducers that can be configured, and a plurality of these speed reducers are housed, and each of the plurality of speed reducers has a low speed axis and a high speed axis that are concentric. Each of the plurality of speed reducers has both a function as a speed reducer and a function as a speed increaser. Further, when functioning as a speed increaser, the plurality of speed reducers has a low speed as power transmission means. Eccentricity of the high-speed shaft provided with an inner pin hole in the shaft or the intermediate rotor, transmitted to the inner pin attached to the intermediate gear through the inner pin hole, and inserted into the boss hole provided in the intermediate gear through the bearing Cylinder Alternatively, a mechanism for transmitting power to the eccentric cylindrical portion of the intermediate rotor is disposed, and an internal gear is provided on the low speed shaft or the intermediate rotor, and the power is transmitted to the intermediate gear that is in oscillating internal mesh with the internal gear. A mechanism for transmitting power to the eccentric cylindrical portion of the high-speed shaft or the eccentric cylindrical portion of the intermediate rotor that is transmitted and inserted into the boss hole provided in the intermediate gear via a bearing is disposed. Planetary type and star type characterized by arranging planetary type planetary gear mechanism and star type planetary gear mechanism constructed using gears with mesh type planetary gear structure and gears with arc tooth shape A series of speed reducers with a planetary gear structure and a group of speed reducers with a mixed planetary gear structure characterized by having both of the above characteristics. .   When the individual speed increaser / reduction gears included in the speed increase / reduction gear group of claim 1 function as a speed increaser, an inner pin hole is provided in the low speed shaft or the intermediate rotor as power transmission means, Power is transmitted to the inner pin attached to the intermediate gear through the inner pin hole and inserted into the boss hole provided in the intermediate gear through the bearing to the eccentric cylindrical portion of the high-speed shaft or the eccentric cylindrical portion of the intermediate rotor. And an internal gear is provided on the low-speed shaft or the intermediate rotor, and power is transmitted to the intermediate gear that is in oscillating internal mesh with the internal gear, and is provided on the intermediate gear. Increase / decrease with an intermeshing planetary gear structure, in which a mechanism for transmitting power to the eccentric cylindrical part of the high-speed shaft or the eccentric cylindrical part of the intermediate rotor that is inserted into the boss hole via a bearing is arranged Speed machine.   A planetary type planetary gear mechanism and a star type planetary gear mechanism constructed by using gears having an arc tooth shape, which are individual speed reducers included in the speed reducer group included in the speed reducer series of claim 1. A speed increase / reduction gear with a planetary type and star type planetary gear structure.   It is an individual speed increasing / reducing gear of the speed increasing / decreasing gear group included in the speed increasing / decreasing gear series of claim 1, and has both the characteristics of an intermeshing planetary gear structure and a planetary type / star type planetary gear structure. The speed increaser / decelerator with a mixed planetary gear structure.

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