JP2016138565A - Speed reduction mechanism and driving device with speed reduction mechanism - Google Patents

Speed reduction mechanism and driving device with speed reduction mechanism Download PDF

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JP2016138565A
JP2016138565A JP2015012152A JP2015012152A JP2016138565A JP 2016138565 A JP2016138565 A JP 2016138565A JP 2015012152 A JP2015012152 A JP 2015012152A JP 2015012152 A JP2015012152 A JP 2015012152A JP 2016138565 A JP2016138565 A JP 2016138565A
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planetary gear
gear
planetary
speed reduction
reduction mechanism
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JP6606328B2 (en
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ななこ 足立
Nanako Adachi
ななこ 足立
幸治 高梨
Koji Takanashi
幸治 高梨
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Nabtesco Corp
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Nabtesco Corp
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Priority to JP2015012152A priority Critical patent/JP6606328B2/en
Priority to CN201610015365.0A priority patent/CN105822726B/en
Priority to KR1020160007376A priority patent/KR20160091830A/en
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/04—Features relating to lubrication or cooling or heating
    • F16H57/042—Guidance of lubricant
    • F16H57/0427—Guidance of lubricant on rotary parts, e.g. using baffles for collecting lubricant by centrifugal force
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/08—General details of gearing of gearings with members having orbital motion
    • F16H57/082—Planet carriers
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F16H2001/324—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear comprising two axially spaced, rigidly interconnected, orbital gears

Abstract

PROBLEM TO BE SOLVED: To provide a speed reduction mechanism capable of reducing the number of component elements of a planetary gear mechanism and making a size of the planetary gear mechanism small and provide a driving device including the speed reduction mechanism.SOLUTION: A speed reducing mechanism in accordance with one preferred embodiment of this invention has several planetary gear mechanisms along an axial direction of the planetary gear. The planetary gear mechanism has a sun gear, a planetary gear, and a planetary carrier. The sun gear rotates in integral with an input side rotating shaft. The planetary gear is engaged with the sun gear and shows a revolution around an outer periphery of the sun gear through rotation of the sun gear. The planetary carrier rotatably supports the planetary gear and is rotatable around a center axis of the sun gear. The planetary carrier of one planetary gear mechanism of the adjoining planetary gear mechanisms in an axial direction has a motion restricting part for restricting motion of the planetary gear of the other planetary gear mechanism toward the axial direction.SELECTED DRAWING: Figure 1

Description

本発明の実施形態は、減速機構および減速機付き駆動装置に関する。   Embodiments described herein relate generally to a speed reduction mechanism and a drive unit with a speed reducer.

モータ等の減速機として、多段式の遊星歯車機構が用いられる場合がある。多段式の遊星歯車機構の各段は、入力側の回転軸と一体に設けられた太陽歯車と、太陽歯車に噛み合う遊星歯車と、遊星歯車を回転自在に支持し、出力側の回転軸と一体に設けられた遊星キャリアと、を備えている。   A multistage planetary gear mechanism may be used as a speed reducer such as a motor. Each stage of the multi-stage planetary gear mechanism is integrated with the input side rotating shaft, the planetary gear meshing with the sun gear, the planetary gear rotatably, and the output side rotating shaft. And a planetary carrier provided in the vehicle.

遊星歯車は、遊星キャリアに設けられた支持軸部に回転自在に支持されている。遊星歯車は、遊星歯車が支持軸部の軸方向に沿って遊星キャリアから離間する方向に移動するのを拘束する必要がある。このため、支持軸部にＣ字状のリング等の固定部材を設けたり、位置決めプレートやアキシャルプレートを設けたりしている。   The planetary gear is rotatably supported by a support shaft portion provided on the planet carrier. The planetary gear needs to restrain the planetary gear from moving in the direction away from the planet carrier along the axial direction of the support shaft portion. For this reason, a fixing member such as a C-shaped ring is provided on the support shaft portion, or a positioning plate or an axial plate is provided.

しかし、固定部材、位置決めプレート、アキシャルプレート等を備えることによって、減速機を構成する部品の点数が増える。部品点数の増加は、減速機の組み立ての手間および製作コストの増加に繋がる可能性があった。
また、多段式の遊星歯車機構においては、固定部材、位置決めプレート、アキシャルプレート等を設けるスペースを確保することによって、遊星歯車機構の小型化が妨げられる可能性があった。 However, by providing a fixing member, a positioning plate, an axial plate, etc., the number of parts constituting the speed reducer increases. The increase in the number of parts may lead to an increase in labor for assembling the reduction gear and an increase in manufacturing costs.
Further, in a multistage planetary gear mechanism, there is a possibility that downsizing of the planetary gear mechanism may be hindered by securing a space for providing a fixing member, a positioning plate, an axial plate, and the like.

特開平８−２４７２２３号公報JP-A-8-247223 特開２００２−２４２９９９号公報JP 2002-242999 A

本発明が解決しようとする課題は、遊星歯車機構の部品点数の削減および小型化を図ることができる減速機構、減速機付き駆動装置を提供することである。   The problem to be solved by the present invention is to provide a reduction gear mechanism and a drive device with a reduction gear that can reduce the number of parts and reduce the size of the planetary gear mechanism.

実施形態の減速機構は、遊星歯車機構を、遊星歯車の軸方向に沿って複数持つ。遊星歯車機構は、太陽歯車、遊星歯車、遊星キャリアを持つ。太陽歯車は、入力側の回転軸と一体に回転する。遊星歯車は、太陽歯車と噛み合い、太陽歯車の回転によって太陽歯車の外周部を公転する。遊星キャリアは、遊星歯車を回転自在に支持し、かつ太陽歯車の中心軸まわりに回転自在である。軸方向において互いに隣り合う遊星歯車機構のうち、一方の遊星歯車機構の遊星キャリアは、他方の遊星歯車機構の遊星歯車の軸方向への移動を規制する移動規制部を持つ。   The speed reduction mechanism of the embodiment has a plurality of planetary gear mechanisms along the axial direction of the planetary gear. The planetary gear mechanism has a sun gear, a planetary gear, and a planet carrier. The sun gear rotates integrally with the rotation shaft on the input side. The planetary gear meshes with the sun gear and revolves around the outer periphery of the sun gear by the rotation of the sun gear. The planetary carrier rotatably supports the planetary gear and is rotatable about the central axis of the sun gear. Of the planetary gear mechanisms that are adjacent to each other in the axial direction, the planet carrier of one planetary gear mechanism has a movement restricting portion that restricts the movement of the planetary gear of the other planetary gear mechanism in the axial direction.

実施形態の減速機付きモータを示す断面図。Sectional drawing which shows the motor with a reduction gear of embodiment. 実施形態の減速機構を示す断面図。Sectional drawing which shows the deceleration mechanism of embodiment.

以下、実施形態の減速機構および減速機付き駆動装置を、図面を参照して説明する。   Hereinafter, a reduction mechanism and a drive unit with a reduction gear according to an embodiment will be described with reference to the drawings.

図１は、減速機付き駆動装置である減速機付きモータ１の中心軸線に沿った断面図である。図２は、減速機付きモータ１の減速機構３の断面図である。
図１に示すように、減速機付きモータ１は、モータ２と、モータ２の出力軸に連結された減速機構３と、を備えている。 FIG. 1 is a cross-sectional view taken along the central axis of a motor 1 with a speed reducer that is a drive unit with a speed reducer. FIG. 2 is a cross-sectional view of the speed reduction mechanism 3 of the motor 1 with a speed reducer.
As shown in FIG. 1, the motor 1 with a speed reducer includes a motor 2 and a speed reduction mechanism 3 connected to the output shaft of the motor 2.

モータ２は、筒状のハウジング４と、固定子５と、回転子６と、を備えたいわゆる電動モータである。
ハウジング４は、ハウジング本体７と、蓋体８と、を備えている。 The motor 2 is a so-called electric motor including a cylindrical housing 4, a stator 5, and a rotor 6.
The housing 4 includes a housing main body 7 and a lid body 8.

ハウジング本体７は、有底筒状で、筒状部７ｃと、筒状部７ｃの一端側を閉塞する閉塞板部７ｄと、を一体に備えている。閉塞板部７ｄの外周部には、外周側に拡径したフランジ部７ｆが一体に形成されている。   The housing main body 7 has a bottomed cylindrical shape, and integrally includes a cylindrical portion 7c and a closing plate portion 7d that closes one end of the cylindrical portion 7c. A flange portion 7f having an enlarged diameter on the outer peripheral side is integrally formed on the outer peripheral portion of the closing plate portion 7d.

蓋体８は、筒状部７ｃの他端側を閉塞する。ハウジング本体７の閉塞板部７ｄと蓋体８には、それぞれ軸受９Ａ，９Ｂを有した回転軸挿通孔７ｈ、８ｈが貫通形成されている。   The lid 8 closes the other end side of the cylindrical portion 7c. Rotating shaft insertion holes 7h and 8h having bearings 9A and 9B are formed through the closing plate portion 7d and the lid body 8 of the housing body 7, respectively.

固定子５は、円筒状をなし、複数の電磁鋼板を軸方向に積層したり、軟磁性粉を加圧成形したりすることにより形成された固定子鉄心１０と、固定子鉄心１０に巻き回されたコイル（図示無し）と、を備えている。このような固定子５は、ハウジング４内に固定されている。   The stator 5 has a cylindrical shape, and is wound around the stator core 10 and a stator core 10 formed by laminating a plurality of electromagnetic steel plates in the axial direction or press-molding soft magnetic powder. Coil (not shown). Such a stator 5 is fixed in the housing 4.

回転子６は、回転軸１１と、回転子鉄心１２と、を備えている。
回転軸１１は、回転軸挿通孔７ｈ、８ｈ内に挿通され、固定子５の径方向中央に、固定子５の中心軸と同軸上に配置されている。回転軸１１は、その両端部が軸受９Ａ，９Ｂによってハウジング４に回転自在に支持されている。この回転軸１１は、その一端１１ａが減速機構３側に突出するよう設けられている。 The rotor 6 includes a rotating shaft 11 and a rotor core 12.
The rotating shaft 11 is inserted into the rotating shaft insertion holes 7h and 8h, and is arranged at the center in the radial direction of the stator 5 and coaxially with the central axis of the stator 5. Both ends of the rotating shaft 11 are rotatably supported by the housing 4 by bearings 9A and 9B. The rotary shaft 11 is provided such that one end 11a protrudes toward the speed reduction mechanism 3 side.

回転子鉄心１２は、略円筒状で、回転軸１１に外嵌固定されている。この回転子鉄心１２は、複数の電磁鋼板を軸方向に積層したり、軟磁性粉を加圧成形したりすることにより形成される。回転子鉄心１２は、その外周面が、固定子鉄心１０の内周面に対して微少な隙間を介して対向している。   The rotor core 12 has a substantially cylindrical shape and is externally fixed to the rotary shaft 11. The rotor core 12 is formed by laminating a plurality of electromagnetic steel plates in the axial direction or press-molding soft magnetic powder. The outer surface of the rotor core 12 is opposed to the inner surface of the stator core 10 with a small gap.

図２に示すように、減速機構３は、ケース３０と、ケース３０内に設けられた複数段の遊星減速部（遊星歯車機構）３１と、を備えている。この実施形態において、減速機構３は、複数段の遊星減速部３１として、例えば２段の遊星減速部（遊星歯車機構）３１Ａ，３１Ｂを備えている。   As shown in FIG. 2, the speed reduction mechanism 3 includes a case 30 and a plurality of planetary speed reduction units (planetary gear mechanisms) 31 provided in the case 30. In this embodiment, the speed reduction mechanism 3 includes, for example, two-stage planetary reduction sections (planetary gear mechanisms) 31A and 31B as the multiple-stage planetary reduction sections 31.

ケース３０は、有底筒状で、筒状部３０ａと、筒状部３０ａの一端を閉塞する閉塞板部３０ｂと、を一体に備えている。筒状部３０ａは、モータ２側の端部が、ハウジング本体７のフランジ部７ｆに突き合わされ、ボルト３２により一体に連結されている。これにより、ハウジング本体７の閉塞板部７ｄから突出した回転軸１１の一端１１ａが、ケース３０内に位置している。   The case 30 has a bottomed cylindrical shape, and integrally includes a cylindrical portion 30a and a closing plate portion 30b that closes one end of the cylindrical portion 30a. The end portion on the motor 2 side of the cylindrical portion 30 a is abutted against the flange portion 7 f of the housing body 7 and is integrally connected by a bolt 32. Thereby, one end 11 a of the rotating shaft 11 protruding from the closing plate portion 7 d of the housing body 7 is located in the case 30.

また、ケース３０の筒状部３０ａの内周面には、円筒状をなし、その内周面にギヤ歯４０ｇを有したリングギヤ４０が設けられている。   Further, a ring gear 40 having a cylindrical shape and having gear teeth 40g on the inner peripheral surface thereof is provided on the inner peripheral surface of the cylindrical portion 30a of the case 30.

１段目の遊星減速部３１Ａは、太陽歯車３３と、遊星歯車３４と、遊星キャリア３５と、を備えている。
太陽歯車３３は、回転軸１１の一端１１ａに一体に設けられている。太陽歯車３３は、その外周部にギヤ歯３３ｇを備えている。 The first stage planetary reduction unit 31A includes a sun gear 33, a planetary gear 34, and a planet carrier 35.
The sun gear 33 is provided integrally with the one end 11 a of the rotating shaft 11. The sun gear 33 includes gear teeth 33g on the outer peripheral portion thereof.

遊星歯車３４は、太陽歯車３３の外周部に配置されている。遊星歯車３４は、その外周部に、太陽歯車３３のギヤ歯３３ｇに噛み合うギヤ歯３４ｇを備えている。また、遊星歯車３４のギヤ歯３４ｇは、外周側に位置するリングギヤ４０のギヤ歯４０ｇに噛み合っている。さらに、遊星歯車３４は、中央部に回転軸１１と平行な方向に貫通する支持孔３４ｈが形成されている。   The planetary gear 34 is disposed on the outer periphery of the sun gear 33. The planetary gear 34 includes gear teeth 34g that mesh with the gear teeth 33g of the sun gear 33 on the outer periphery thereof. Further, the gear teeth 34g of the planetary gear 34 mesh with the gear teeth 40g of the ring gear 40 located on the outer peripheral side. Further, the planetary gear 34 is formed with a support hole 34h penetrating in a central portion in a direction parallel to the rotary shaft 11.

遊星キャリア３５は、遊星歯車３４とは別体に設けられている。遊星キャリア３５は、中央部に開口部３５ｈを有した円環状をなし、開口部３５ｈの内周面にはギヤ歯３５ｇが形成されている。
また、遊星キャリア３５において太陽歯車３３に近接する側には、開口部３５ｈの外周側に凹部３５ａが形成されている。この凹部３５ａには、円板状のスラストプレート３６が収容されている。 The planet carrier 35 is provided separately from the planet gear 34. The planet carrier 35 has an annular shape having an opening 35h at the center, and gear teeth 35g are formed on the inner peripheral surface of the opening 35h.
Further, on the planet carrier 35 on the side close to the sun gear 33, a recess 35a is formed on the outer peripheral side of the opening 35h. A disc-shaped thrust plate 36 is accommodated in the recess 35a.

遊星キャリア３５の外周部には、遊星歯車３４を回転自在に支持する支持軸部３７が突出形成されている。支持軸部３７の先端部３７ａは、遊星歯車３４の支持孔３４ｈを貫通し、遊星歯車３４よりも突出している。支持軸部３７の先端部３７ａには、周方向に連続するリング溝が形成され、このリング溝に、遊星歯車３４の支持孔３４ｈよりも大きな外径を有した平面視Ｃ字状の止め輪３８が装着されている。この止め輪３８により、遊星歯車３４は、支持軸部３７の軸方向に沿って、遊星キャリア３５から離間する方向への移動が規制される。また、止め輪３８と遊星歯車３４との間には、環状のスラストプレート３９が設けられている。   A support shaft portion 37 that rotatably supports the planetary gear 34 is formed on the outer periphery of the planet carrier 35 so as to protrude. The tip end portion 37 a of the support shaft portion 37 passes through the support hole 34 h of the planetary gear 34 and projects beyond the planetary gear 34. A ring groove that is continuous in the circumferential direction is formed at the distal end portion 37a of the support shaft portion 37, and a C-shaped retaining ring having a larger outer diameter than the support hole 34h of the planetary gear 34 is formed in this ring groove. 38 is attached. Due to the retaining ring 38, the planetary gear 34 is restricted from moving in the direction away from the planet carrier 35 along the axial direction of the support shaft portion 37. An annular thrust plate 39 is provided between the retaining ring 38 and the planetary gear 34.

遊星キャリア３５において、２段目の遊星減速部３１Ｂに臨む側には、回転軸１１の中心軸を中心として周方向に連続する環状の凹溝５０が形成されている。そして、凹溝５０に対し、遊星キャリア３５の内周側と外周側の表面が、２段目の遊星減速部３１Ｂにおける後述の遊星歯車４４の移動を規制する移動規制部５１Ａ，５１Ｂとされている。   In the planet carrier 35, an annular groove 50 that is continuous in the circumferential direction about the central axis of the rotating shaft 11 is formed on the side facing the second-stage planetary speed reducing portion 31 </ b> B. The inner and outer surfaces of the planet carrier 35 with respect to the concave groove 50 are movement restricting portions 51A and 51B that restrict the movement of the planetary gear 44 described later in the second stage planetary speed reducing portion 31B. Yes.

２段目の遊星減速部３１Ｂは、出力軸４２と、太陽歯車４３と、遊星歯車４４と、遊星キャリア４５と、を備えている。   The second stage planetary reduction unit 31B includes an output shaft 42, a sun gear 43, a planetary gear 44, and a planet carrier 45.

出力軸４２は、回転軸１１と同軸上に配置されている。図１に示すように、出力軸４２は、ケース３０の閉塞板部３０ｂに形成された軸挿通孔３０ｈを通して、一端４２ａがケース３０の外部に突出している。図２に示すように、この出力軸４２は、軸受４１Ａ，４１Ｂを介して中心軸周りに回転自在に設けられている。   The output shaft 42 is arranged coaxially with the rotating shaft 11. As shown in FIG. 1, the output shaft 42 has one end 42 a protruding outside the case 30 through a shaft insertion hole 30 h formed in the closing plate portion 30 b of the case 30. As shown in FIG. 2, the output shaft 42 is rotatably provided around the central axis via bearings 41A and 41B.

太陽歯車４３は、出力軸４２の他端側に設けられ、モータ２側に突出した軸部４２ｓに回動自在に設けられている。太陽歯車４３は、その外周部に、１段目の遊星減速部３１Ａにおける遊星キャリア３５のギヤ歯３５ｇに噛み合うギヤ歯４３ｇを備えている。これにより、太陽歯車４３は、１段目の遊星減速部３１Ａの遊星キャリア３５と一体に回転する。   The sun gear 43 is provided on the other end side of the output shaft 42, and is rotatably provided on a shaft portion 42 s that protrudes toward the motor 2 side. The sun gear 43 includes gear teeth 43g that mesh with the gear teeth 35g of the planet carrier 35 in the first stage planetary reduction unit 31A. Thereby, the sun gear 43 rotates integrally with the planet carrier 35 of the first stage planetary reduction unit 31A.

遊星歯車４４は、太陽歯車４３の外周部に配置されている。遊星歯車４４は、その外周部に、太陽歯車４３のギヤ歯４３ｇに噛み合うギヤ歯４４ｇを備えている。また、遊星歯車４４のギヤ歯４４ｇは、外周側に位置するリングギヤ４０のギヤ歯４０ｇに噛み合っている。さらに、遊星歯車４４は、中央部に回転軸１１と平行な方向に貫通する支持孔４４ｈが形成されている。   The planetary gear 44 is disposed on the outer periphery of the sun gear 43. The planetary gear 44 includes gear teeth 44g that mesh with the gear teeth 43g of the sun gear 43 on the outer periphery thereof. Further, the gear teeth 44g of the planetary gear 44 mesh with the gear teeth 40g of the ring gear 40 located on the outer peripheral side. Further, the planetary gear 44 is formed with a support hole 44 h penetrating in the center portion in a direction parallel to the rotation shaft 11.

遊星キャリア４５は、遊星歯車４４とは別体に設けられている。遊星キャリア４５は、中央部に開口部４５ｈを有した円環状をなし、開口部４５ｈの内周面にはギヤ歯４５ｇが形成されている。ギヤ歯４５ｇは、出力軸４２の外周面に形成されたギヤ歯４２ｇに噛み合っている。これにより、遊星キャリア４５は、出力軸４２と一体に回転する。   The planet carrier 45 is provided separately from the planet gear 44. The planet carrier 45 has an annular shape having an opening 45h at the center, and gear teeth 45g are formed on the inner peripheral surface of the opening 45h. The gear teeth 45g mesh with gear teeth 42g formed on the outer peripheral surface of the output shaft 42. Thereby, the planet carrier 45 rotates integrally with the output shaft 42.

遊星キャリア４５の外周部には、遊星歯車４４の個数に対応するように、複数（例えば、３つ）の凹部４５ａが形成されている。凹部４５ａには、遊星歯車４４を回転自在に支持する円柱状の支持軸部４７が挿入され、イモネジ４８により遊星キャリア４５に固定されている。支持軸部４７は、遊星キャリア４５から遊星キャリア３５側に向けて突出するよう設けられている。支持軸部４７の先端部４７ａは、遊星歯車４４の支持孔４４ｈを貫通し、遊星歯車４４よりも僅かに突出し、１段目の遊星減速部３１Ａの遊星キャリア３５に形成された凹溝５０内に入り込んでいる。   A plurality of (for example, three) recesses 45 a are formed on the outer periphery of the planet carrier 45 so as to correspond to the number of planet gears 44. A cylindrical support shaft portion 47 that rotatably supports the planetary gear 44 is inserted into the recess 45 a and is fixed to the planet carrier 45 by a set screw 48. The support shaft portion 47 is provided so as to protrude from the planet carrier 45 toward the planet carrier 35 side. The tip 47a of the support shaft 47 passes through the support hole 44h of the planetary gear 44, slightly protrudes from the planetary gear 44, and is in a concave groove 50 formed in the planetary carrier 35 of the first stage planetary reduction unit 31A. I'm stuck in.

遊星歯車４４の支持孔４４ｈから上方に突出した支持軸部４７の先端部４７ａの外周部には、環状のスラストプレート４９が設けられている。このスラストプレート４９は、遊星歯車４４と、１段目の遊星減速部３１Ａの遊星キャリア３５との間に介在している。これにより、遊星キャリア４５の凹溝５０の内周側および外周側の移動規制部５１Ａ、５１Ｂが、スラストプレート４９を介して遊星歯車４４に対向するようになっている。これら移動規制部５１Ａ、５１Ｂにより、遊星歯車４４の遊星キャリア３５側への移動が規制される。なお、移動規制部５１Ａ、５１Ｂと遊星歯車４４との間の隙間Ｃは、スラストプレート４９を介在させた状態で僅かにガタが生じる程度に設定されている。   An annular thrust plate 49 is provided on the outer peripheral portion of the tip end portion 47 a of the support shaft portion 47 protruding upward from the support hole 44 h of the planetary gear 44. The thrust plate 49 is interposed between the planetary gear 44 and the planet carrier 35 of the first-stage planetary reduction unit 31A. As a result, the inner and outer movement restricting portions 51 </ b> A and 51 </ b> B of the concave groove 50 of the planet carrier 45 are opposed to the planetary gear 44 through the thrust plate 49. These movement restricting portions 51A and 51B restrict the movement of the planetary gear 44 toward the planet carrier 35. The clearance C between the movement restricting portions 51A and 51B and the planetary gear 44 is set to such a degree that a slight backlash occurs with the thrust plate 49 interposed.

支持軸部４７には、潤滑油流路部４７ｊが形成されている。より具体的には、潤滑油流路部４７ｊは、支持軸部４７の先端部４７ａと支持軸部４７の外周面４７ｋとを連通するように形成されている。これにより、遊星減速部３１に満たされた潤滑油を、１段目の遊星減速部３１Ａの遊星キャリア３５に形成されている凹溝５０と２段目の遊星減速部３１Ｂの支持軸部４７との間、および２段目の遊星減速部３１Ｂの支持軸部４７と遊星歯車４４との間に、万遍なく行き渡る。   The support shaft portion 47 is formed with a lubricating oil passage portion 47j. More specifically, the lubricating oil passage portion 47j is formed so as to communicate the tip portion 47a of the support shaft portion 47 and the outer peripheral surface 47k of the support shaft portion 47. As a result, the lubricating oil filled in the planetary speed reduction unit 31 is supplied to the concave groove 50 formed in the planetary carrier 35 of the first stage planetary speed reduction part 31A and the support shaft part 47 of the second stage planetary speed reduction part 31B. And between the support shaft portion 47 of the second stage planetary reduction unit 31B and the planetary gear 44.

このような減速機付きモータ１は、モータ２の固定子５に通電すると、固定子５で発生する磁界によって、回転子６が回転する。この回転力が回転軸１１の一端１１ａから、減速機構３の１段目の遊星減速部３１Ａに入力される。回転軸１１と一体に太陽歯車３３が回転すると、太陽歯車３３と噛み合う遊星歯車３４が支持軸部３７回りに回転しながら、太陽歯車３３の外周部を旋回する。このような太陽歯車３３を中心とした遊星歯車３４の公転により、遊星キャリア３５がその中心軸周りに回転する。   In such a motor 1 with a reduction gear, when the stator 5 of the motor 2 is energized, the rotor 6 is rotated by the magnetic field generated by the stator 5. This rotational force is input from one end 11 a of the rotating shaft 11 to the first stage planetary reduction unit 31 </ b> A of the reduction mechanism 3. When the sun gear 33 rotates integrally with the rotary shaft 11, the planetary gear 34 that meshes with the sun gear 33 rotates around the support shaft portion 37 and turns around the outer peripheral portion of the sun gear 33. Due to the revolution of the planetary gear 34 around the sun gear 33, the planet carrier 35 rotates around its central axis.

また、遊星キャリア３５とともに、遊星キャリア３５のギヤ歯３５ｇに噛み合う２段目の遊星減速部３１Ｂの太陽歯車４３が回転する。太陽歯車４３が回転すると、太陽歯車４３と噛み合う遊星歯車４４が、支持軸部４７回りに回転しながら、太陽歯車４３の外周部を旋回する。このような太陽歯車４３を中心とした遊星歯車４４の公転により、遊星キャリア４５および出力軸４２がその中心軸回りに回転する。
このようにして、２段の遊星減速部３１Ａ、３１Ｂにより、モータ２の回転軸１１の回転が減速され、出力軸４２が回転駆動される。 Further, together with the planet carrier 35, the sun gear 43 of the second stage planetary speed reducing portion 31B that meshes with the gear teeth 35g of the planet carrier 35 rotates. When the sun gear 43 rotates, the planetary gear 44 that meshes with the sun gear 43 turns around the outer periphery of the sun gear 43 while rotating around the support shaft portion 47. Due to the revolution of the planetary gear 44 around the sun gear 43, the planet carrier 45 and the output shaft 42 rotate around the central axis.
In this way, the rotation of the rotating shaft 11 of the motor 2 is decelerated by the two-stage planetary speed reducing units 31A and 31B, and the output shaft 42 is rotationally driven.

ここで、１段目の遊星減速部３１Ａの遊星キャリア３５には、移動規制部５１Ａ，５１Ｂが一体成形されている。このため、２段目の遊星減速部３１Ｂにおける遊星歯車４４が支持軸部４７からの抜け方向に移動しようとすると、遊星歯車４４がスラストプレート４９を介して移動規制部５１Ａ，５１Ｂに当接する。この結果、遊星歯車４４は、殆どガタつくことなく回転（公転）する。   Here, movement restricting portions 51A and 51B are integrally formed on the planet carrier 35 of the first stage planetary speed reducing portion 31A. For this reason, when the planetary gear 44 in the second stage planetary speed reducing portion 31 </ b> B is about to move away from the support shaft portion 47, the planetary gear 44 contacts the movement restricting portions 51 </ b> A and 51 </ b> B via the thrust plate 49. As a result, the planetary gear 44 rotates (revolves) with almost no backlash.

このように、上述の実施形態では、軸方向において互いに隣り合う遊星減速部３１Ａ，３１Ｂにおいて、一方の遊星減速部３１Ａの遊星キャリア３５に、他方の遊星減速部３１Ｂの遊星歯車４４の軸方向への移動を規制する移動規制部５１Ａ，５１Ｂが設けられている。このため、遊星歯車４４を支持する支持軸部４７に、遊星歯車４４の脱落を防止する固定部材を設ける必要がない。これにより、減速機構３および減速機付きモータ１を構成する部品点数を抑え、組立の手間および製作コストの低減を図ることができる。   Thus, in the above-described embodiment, in the planetary reduction units 31A and 31B adjacent to each other in the axial direction, the planetary carrier 35 of one planetary reduction unit 31A is moved to the axial direction of the planetary gear 44 of the other planetary reduction unit 31B. There are provided movement restriction portions 51A and 51B for restricting the movement of the movements. For this reason, it is not necessary to provide the support shaft part 47 which supports the planetary gear 44 with a fixing member for preventing the planetary gear 44 from falling off. As a result, the number of parts constituting the speed reduction mechanism 3 and the motor 1 with a speed reducer can be reduced, and the assembly effort and manufacturing cost can be reduced.

また、遊星歯車４４と遊星キャリア３５（移動規制部５１Ａ，５１Ｂ）との隙間Ｃを最小限に抑えることができるため、減速機構３および減速機付きモータ１を小型化することが可能となる。
さらに、移動規制部５１Ａ，５１Ｂは、遊星キャリア３５に一体に形成されている。このため、部品点数を増加させることなく移動規制部５１Ａ，５１Ｂを形成することができる。 In addition, since the gap C between the planetary gear 44 and the planet carrier 35 (movement restricting portions 51A and 51B) can be minimized, the speed reduction mechanism 3 and the motor 1 with a speed reducer can be reduced in size.
Further, the movement restricting portions 51 </ b> A and 51 </ b> B are formed integrally with the planet carrier 35. For this reason, the movement restricting portions 51A and 51B can be formed without increasing the number of parts.

また、移動規制部５１Ａ，５１Ｂは、遊星キャリア３５の周方向に連続するリング状に形成されている。このため、遊星歯車４４が太陽歯車４３の周囲を旋回するときに、全周にわたって遊星歯車４４の軸方向への移動を規制することができる。   Further, the movement restricting portions 51 </ b> A and 51 </ b> B are formed in a ring shape continuous in the circumferential direction of the planet carrier 35. For this reason, when the planetary gear 44 turns around the sun gear 43, the movement of the planetary gear 44 in the axial direction can be restricted over the entire circumference.

また、移動規制部５１Ａ，５１Ｂは、遊星キャリア３５において遊星歯車４４に対向する側の表面に、遊星キャリア４５の周方向に連続し、遊星歯車４４から離間する側に凹んだ凹溝５０が形成され、移動規制部５１Ａ，５１Ｂは、凹溝５０の内周側および外周側に形成されている。これにより、凹溝５０の内周側および外周側に、周方向に連続する移動規制部５１Ａ，５１Ｂを容易に形成することができる。   Further, the movement restricting portions 51A and 51B are formed on the surface of the planetary carrier 35 on the side facing the planetary gear 44 with a concave groove 50 that is continuous in the circumferential direction of the planetary carrier 45 and recessed toward the side away from the planetary gear 44. The movement restricting portions 51A and 51B are formed on the inner peripheral side and the outer peripheral side of the groove 50. Thereby, it is possible to easily form the movement restricting portions 51 </ b> A and 51 </ b> B continuous in the circumferential direction on the inner peripheral side and the outer peripheral side of the groove 50.

さらに、遊星歯車４４を回転自在に支持する支持軸部４７の先端部が、凹溝５０に対向して配置されている。このため、遊星歯車４４と遊星キャリア３５との間に介在させるスラストプレート４９を支持するために、遊星歯車４４から突出した支持軸部４７の先端部４７ａを、凹溝５０内に収容することができる。これにより、スラストプレート４９を確実に支持しつつ、遊星歯車４４と遊星キャリア３５との隙間Ｃを最小限とすることができる。   Further, the tip end portion of the support shaft portion 47 that rotatably supports the planetary gear 44 is disposed to face the concave groove 50. For this reason, in order to support the thrust plate 49 interposed between the planetary gear 44 and the planet carrier 35, the tip end portion 47 a of the support shaft portion 47 protruding from the planetary gear 44 can be accommodated in the concave groove 50. it can. Thus, the gap C between the planetary gear 44 and the planet carrier 35 can be minimized while the thrust plate 49 is reliably supported.

また、支持軸部４７には、支持軸部４７の先端部４７ａと支持軸部４７の外周面４７ｋとを連通する潤滑油流路部４７ｊが形成されている。これにより、遊星減速部３１に満たされた潤滑油を、１段目の遊星減速部３１Ａの遊星キャリア３５に形成されている凹溝５０と２段目の遊星減速部３１Ｂの支持軸部４７との間、および２段目の遊星減速部３１Ｂの支持軸部４７と遊星歯車４４との間に、万遍なく行き渡らせることができる。すなわち、遊星歯車４４と遊星キャリア３５との間、および支持軸部４７と遊星歯車４４との間の潤滑を図ることができる。遊星歯車４４は、遊星キャリア３５に対して相対的に回転するため、これらの間の潤滑を図ることで、遊星歯車４４や遊星キャリア３５の摩耗や温度上昇を抑えることができる。   Further, the support shaft portion 47 is formed with a lubricating oil passage portion 47 j that communicates the tip end portion 47 a of the support shaft portion 47 and the outer peripheral surface 47 k of the support shaft portion 47. As a result, the lubricating oil filled in the planetary speed reduction unit 31 is supplied to the concave groove 50 formed in the planetary carrier 35 of the first stage planetary speed reduction part 31A and the support shaft part 47 of the second stage planetary speed reduction part 31B. And between the support shaft portion 47 and the planetary gear 44 of the second stage planetary speed reducing portion 31B. That is, lubrication between the planetary gear 44 and the planetary carrier 35 and between the support shaft portion 47 and the planetary gear 44 can be achieved. Since the planetary gear 44 rotates relative to the planet carrier 35, wear and temperature rise of the planetary gear 44 and the planet carrier 35 can be suppressed by lubrication between them.

また、軸方向において互いに隣り合う遊星減速部３１Ａ，３１Ｂのうち、一方の遊星減速部３１ＡＢの遊星キャリア３５と、他方の遊星減速部３１Ｂの遊星歯車４４との間にスラストプレート４８を設けた。このため、遊星歯車４４が遊星キャリア３５側に移動するのを規制しつつ、遊星歯車４４が遊星キャリア３５に直接接触するのを抑えることができる。   In addition, a thrust plate 48 is provided between the planetary carrier 35 of one planetary reduction unit 31AB and the planetary gear 44 of the other planetary reduction unit 31B among the planetary reduction units 31A and 31B adjacent to each other in the axial direction. For this reason, it is possible to prevent the planetary gear 44 from directly contacting the planetary carrier 35 while restricting the planetary gear 44 from moving toward the planetary carrier 35.

なお、上述の実施形態では、２段の遊星減速部３１Ａ、３１Ｂを備えるようにしたが、これに限らない。３段以上の遊星減速部を備える構成としてもよい。
また、上述の実施形態では、モータ２は、筒状のハウジング４と、固定子５と、回転子６と、を備えたいわゆる電動モータである場合について説明した。しかしながら、これに限られるものではなく、モータ２に代わって油圧モータ、水圧モータ、原動機等、さまざまな駆動源を採用することができる。そして、この駆動源の出力軸に減速機構３が連結されていればよい。 In the above-described embodiment, the two-stage planetary deceleration units 31A and 31B are provided, but the present invention is not limited to this. It is good also as a structure provided with the planetary deceleration part of 3 steps | paragraphs or more.
Further, in the above-described embodiment, the case where the motor 2 is a so-called electric motor including the cylindrical housing 4, the stator 5, and the rotor 6 has been described. However, the present invention is not limited to this, and various drive sources such as a hydraulic motor, a hydraulic motor, and a prime mover can be used instead of the motor 2. And the deceleration mechanism 3 should just be connected with the output shaft of this drive source.

以上説明した少なくともひとつの実施形態によれば、遊星キャリア３５に、遊星歯車４４の軸方向への移動を規制する移動規制部５１Ａ，５１Ｂを持つことにより、減速機構３および減速機付きモータ１を構成する部品点数を抑え、組立の手間および製作コストの低減を図ることができる。また、遊星歯車４４と遊星キャリア３５との隙間Ｃを最小限に抑え、減速機構３および減速機付きモータ１を小型化することができる。   According to at least one embodiment described above, the planetary carrier 35 has the movement restricting portions 51A and 51B that restrict the movement of the planetary gear 44 in the axial direction, whereby the speed reduction mechanism 3 and the motor 1 with a speed reducer are provided. It is possible to reduce the number of parts to be configured, and to reduce the assembly effort and the manufacturing cost. Further, the clearance C between the planetary gear 44 and the planet carrier 35 can be minimized, and the speed reduction mechanism 3 and the motor 1 with speed reducer can be reduced in size.

本発明のいくつかの実施形態を説明したが、これらの実施形態は、例として提示したものであり、発明の範囲を限定することは意図していない。これら実施形態は、その他の様々な形態で実施されることが可能であり、発明の要旨を逸脱しない範囲で、種々の省略、置き換え、変更を行うことができる。これら実施形態やその変形は、発明の範囲や要旨に含まれると同様に、特許請求の範囲に記載された発明とその均等の範囲に含まれるものである。   Although several embodiments of the present invention have been described, these embodiments are presented by way of example and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope and gist of the invention, and are also included in the invention described in the claims and the equivalents thereof.

１…減速機付きモータ（減速機付き駆動装置）、２…モータ（駆動源）、３…減速機構、３１Ａ，３１Ｂ…遊星減速部（遊星歯車機構）、３３…太陽歯車、３４…遊星歯車、３５…遊星キャリア、４３…太陽歯車、４４…遊星歯車、４５…遊星キャリア、４７…支持軸部、４７ａ…先端部、４７ｋ…外周面、４９…スラストプレート、５０…凹溝、５１Ａ，５１Ｂ…軌道規制部 DESCRIPTION OF SYMBOLS 1 ... Motor with a reduction gear (Driver with a reduction gear), 2 ... Motor (drive source), 3 ... Reduction mechanism, 31A, 31B ... Planetary reduction part (planetary gear mechanism), 33 ... Sun gear, 34 ... Planetary gear, 35 ... Planetary carrier, 43 ... Sun gear, 44 ... Planetary gear, 45 ... Planetary carrier, 47 ... Support shaft, 47a ... Tip, 47k ... Outer peripheral surface, 49 ... Thrust plate, 50 ... Concave groove, 51A, 51B ... Track control department

Claims (8)

入力側の回転軸と一体に回転する太陽歯車、前記太陽歯車と噛み合い、前記太陽歯車の回転によって前記太陽歯車の外周部を公転する遊星歯車、前記遊星歯車を回転自在に支持し、かつ前記太陽歯車の中心軸まわりに回転自在な遊星キャリア、を備えた遊星歯車機構が、前記遊星歯車の軸方向に沿って複数配置され、
前記軸方向において互いに隣り合う前記遊星歯車機構のうち、一方の前記遊星歯車機構の前記遊星キャリアに、他方の前記遊星歯車機構の前記遊星歯車の前記軸方向への移動を規制する移動規制部が設けられている減速機構。 A sun gear that rotates integrally with a rotation shaft on the input side, a planet gear that meshes with the sun gear, revolves the outer periphery of the sun gear by the rotation of the sun gear, supports the planet gear rotatably, and the sun A plurality of planetary gear mechanisms including a planet carrier rotatable around the central axis of the gear are arranged along the axial direction of the planetary gear,
Of the planetary gear mechanisms that are adjacent to each other in the axial direction, a movement restricting portion that restricts movement of the planetary gear of the other planetary gear mechanism in the axial direction to the planet carrier of one of the planetary gear mechanisms. A reduction mechanism provided. 前記移動規制部は、前記遊星キャリアに一体に形成されている請求項１に記載の減速機構。   The speed reduction mechanism according to claim 1, wherein the movement restricting portion is formed integrally with the planet carrier. 前記移動規制部は、前記遊星キャリアの周方向に連続するリング状に形成されている請求項２に記載の減速機構。   The speed reduction mechanism according to claim 2, wherein the movement restricting portion is formed in a ring shape that is continuous in a circumferential direction of the planet carrier. 前記移動規制部は、前記遊星キャリアにおいて前記遊星歯車に対向する側の表面に、前記遊星キャリアの周方向に連続し、前記遊星歯車から離間する側に凹んだ凹溝が形成され、
前記移動規制部は、前記凹溝の内周側および外周側の少なくとも一方に形成されている請求項３に記載の減速機構。 The movement restricting portion is formed on the surface of the planet carrier on the side facing the planetary gear, a concave groove that is continuous in the circumferential direction of the planetary carrier and recessed on the side away from the planetary gear,
The speed reduction mechanism according to claim 3, wherein the movement restricting portion is formed on at least one of an inner peripheral side and an outer peripheral side of the concave groove. 前記遊星歯車を回転自在に支持する支持軸部の先端部が、前記凹溝に対向して配置されている請求項４に記載の減速機構。   The speed reduction mechanism according to claim 4, wherein a distal end portion of a support shaft portion that rotatably supports the planetary gear is disposed to face the concave groove. 前記支持軸部に、該支持軸部の外周面と前記先端部とを連通し、潤滑油が通流される潤滑油流路部が形成されている請求項５に記載の減速機構。   6. The speed reduction mechanism according to claim 5, wherein a lubricating oil flow path portion through which lubricating oil flows is formed in communication with the outer peripheral surface of the supporting shaft portion and the tip portion. 前記軸方向において互いに隣り合う前記遊星歯車機構のうち、一方の前記遊星歯車機構の前記遊星キャリアと、他方の前記遊星歯車機構の前記遊星歯車との間に、スラストプレートを設けた請求項１〜請求項６の何れか１項に記載の減速機構。   A thrust plate is provided between the planet carrier of one of the planetary gear mechanisms among the planetary gear mechanisms adjacent to each other in the axial direction and the planetary gear of the other planetary gear mechanism. The speed reduction mechanism according to claim 6. 請求項１〜請求項７の何れか１項に記載の減速機構と、
前記減速機構に駆動力を伝達する駆動源と、を備えた減速機付き駆動装置。 The speed reduction mechanism according to any one of claims 1 to 7,
A drive unit with a speed reducer, comprising: a drive source that transmits a drive force to the speed reduction mechanism.
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