JP2020200884A - Acceleration/reduction machine coping with linear mechanism having high acceleration/reduction gear ratio using differential depending on swing and libration and also robot - Google Patents

Abstract

To provide a libration mechanism for canceling vibration, in a reduction mechanism having an intersection point in an input axis, engaging by including a free gear in a tilt axis, and depending on a fixed gear and an output gear.SOLUTION: Conventionally, a crank mechanism and a tilt axis 5 are used, a free gear 7 is made eccentric, a differential is generated in engagement of the gear, and a rotation center deviates from the center of gravity and is made eccentric, and therefore it deviates from the geometric center structurally. In the present invention, a rotation axis center line of an input/output axis 1 and an input/output axis 2 is arranged on a straight line, the rotation axis center and the geometric center of the tilt axis 5 are made to intersect, and the free gear 7 where libration is made through a bearing is arranged in the input/output axis 1. In 1-stage acceleration/reduction machine, an inner ring rail 10 is fixed to the tilt axis 5 having an intersection point in the input/output axis 1 on the same line as the input/output axis 1 and the input/output axis 2 to thereby generate swing, the libration is generated in 2-toothing of the outer tooth of the free gear 7 formed to an outer ring supported with the bearing, a circumference difference is generated in the internal gear 6 and the internal gear 8 engaged in 4-points to 3-internal gears and fixed in an enclosure and the internal gear, and thereby it is decelerated by the differential.SELECTED DRAWING: Figure 1

Description

The present invention is a general-purpose high acceleration / deceleration machine based on a compound planetary gear mechanism in which a bevel gear is meshed with a differential generated by swinging and libration.

In the conventional accelerator / reducer, the free gear 7 of the external tooth is coupled to the input / output shaft 1 supported by the input / output bearing 11 by a crank mechanism, so that the internal gear 6 of the internal tooth and the internal gear 8 mesh with each other. The eccentricity of the mechanism was used to make a differential, and the rotation of the input / output shaft 1 was accelerated / decelerated and output to the input / output shaft 1. (See Fig. 10)

The crank mechanism based on the eccentricity of FIG. 10 is replaced with the tilting shaft mechanism based on the tilting shaft 5 based on the swinging principle of FIG. 11, in order to reduce the beating and vibration. (See Fig. 11)

Since a problem occurred in the tilt shaft mechanism of the tilt shaft 5 in FIG. 11, the simple swing mechanism in the tilt shaft 5 was replaced with a libration mechanism with eccentricity by shifting the swing center. (Refer to Fig. 12) (* For libration, refer to lunar libration)

Japanese Unexamined Patent Publication No. 48-24155

In the prior art, an inclined shaft 5 was formed on the input / output shaft 1, and a free gear 7 was connected to eccentric to deal with a problem, and a libration mechanism with eccentricity was used, but vibration was also involved, so the eccentricity was used. It is necessary to change to a libration mechanism that cancels vibration without.

In this way, in order to deal with the vibration problem of the acceleration / deceleration mechanism of the prior art, the free gear 7 is swung by using the tilt shaft 5, and the meshing portion is weighed by changing to a mechanism that corrects the dentition center line of the free gear 7. Instead of moving, deal with problems of conventional technology.

In the conventional technique, an inclined shaft 5 is formed on the input / output shaft 1 to deal with a problem, and the free gear 7 is eccentric and connected. However, since the eccentricity involves vibration, a libration mechanism that corrects only the center of the dentition of the free gear 7. Change to the mechanism that meshes with.

In this way, in order to deal with the vibration problem of the prior art, the tilting shaft 5 is used for the vibration generating mechanism, and the gears are connected via the free bearing 4 to give a balance to the gear of the free gear 7 corrected only at the center of the gear. An acceleration / deceleration mechanism that constitutes a balancing mechanism that meshes with an internal gear 6 fixed to the body 3 and also meshes with an internal gear 8 at a symmetrical point of the free gear 7 to generate a differential.

The first problem-solving means is to fix the inner ring rail 10 to the inclined shaft 5 of the input / output shaft 1 and connect the free gear 7, and swing the free gear 7 to correct and balance only the center of the dentition to balance the outer teeth. With a mechanism in which the dentition of the free gear 7 is double-rowed, the symmetrical points of the two dentitions of the scaled free gear 7 mesh with each other between the two symmetric points of the internal gear 6 and the internal gear 8.

In the above problem-solving means, the free gear 7 is connected to the inner ring rail 10 via the free bearing 4 and fixed to the inclined shaft 5. This is because the inner ring of the bearing structure is the inner ring rail 10 and the rolling element and the cage are used to connect the free bearing 4 to the outer ring. Is a free gear 7, which is swung by an inclined shaft 5 to generate a sway in the dentition of the free gear 7 having two dentitions formed on the outer ring and mesh with the free gear 7.

As described above, the accelerator / reducer of the present invention uses a swing mechanism based on an inclined shaft 5 formed on the input / output shaft 1 on the high rotation side, and the housing 3 at the symmetrical points of each of the two tooth rows of the free gear 7. The two points of the internal gear 6 and the internal gear 8 are meshed with each other, and the internal gear 6 is fixed to the housing 3 to generate a differential in the internal gear 8 and connected to the input / output shaft 2 on the low rotation side.

The inner ring rail 10 fixed to the inclined shaft 5 formed on the input / output shaft 1 is the inner ring of the bearing which itself has an integral configuration, and supports the free gear 7 of the outer ring which is connected via the free bearing 4 and rotates freely. By the swing mechanism in 5, the free gear 7 of the external gears of the double row is weighed and meshed with each other of the internal gear 6 and the internal gear 8 to generate a differential.

Two dentitions of the free gear 7 mesh with each other at two points of symmetry of the internal gear 6 fixed to the housing 3, and mesh firmly by having meshing points at opposite points, but the input / output shaft 2 It meshes with the internal gear 8 to be connected, but has an internal gear 9 facing the internal gear 8 with the internal gear 6 interposed therebetween to support the stress of the input / output shaft 2 on the low rotation side.

The input / output shaft 1 is supported by the internal gear 8 and the internal gear 9 by the input / output bearing 11, and is connected to the input / output bearing 12, and the internal gear 8 and the internal gear 9 facing each other across the internal gear 6 are supported by the input / output bearing 12. It is fixed to the housing 3, a differential is generated between the internal gears 6, and the input / output shaft 2 and the internal gear 8 are connected to the free gear 7 and the internal gear 9.

The inner ring of the input / output bearing 11 is fixed to both ends of the inclined shaft 5 on the input / output shaft 1, the outer ring of the input / output bearing 11 is fixed to the inner gear 8 and the inner gear 9, and the inner ring of the input / output bearing 12 is the inner gear 8. And the internal gear 9, the outer ring of the input / output bearing 12 is connected to the housing 3, and the internal gear 8 and the internal gear 9 are supported and freely rotated.

The acceleration / deceleration machine is composed of a plurality of mechanisms and integrated to prevent the shaft from bending. One of the phases is reversed to realize an internal balanced load, and the free gear 7 has two external teeth and four internal gears. A one-stage accelerator / decelerator with a robust support mechanism that engages at each location.

In order to allow a high load, the diameter of components such as shafts and bearings has been increased, and the symmetrical structure equipped with internal gears 9 has been balanced to achieve multiple rows and simplification, and has an automatic centering function for large loads and input / output. It has a high yield strength against the reaction on the shaft 2.

Next, it is a composite mechanism that causes the tilt shaft 5 to swing and balances the free gear 7 with a balanced symmetrical structure. It does not require a new balance mechanism and suppresses the occurrence of inconvenient eccentricity and vibration. It has a high acceleration / reduction ratio and quietness.

Unlike the accelerator (applying the elastic dynamics of metal) with a structure similar to the above, which requires a difference in the number of teeth of two teeth in one rotation of the input shaft, a difference in the number of teeth of one tooth is possible in one rotation of the input shaft. If the reduction ratio is the same, it is possible to double the tooth spacing and tooth height of the gears.

In order to realize the above structure, bearings are provided at both ends of the input / output shaft 1 and fixed to the internal gear 8 and the internal gear 9, respectively. Each of the bearings is provided and the internal gear 6 is sandwiched in order to fix and support the housing 3. Firmly supports the input / output shaft 2.

The mechanism sandwiches the internal gear 6 and supports the internal gear 8 and the internal gear 9 via the input / output bearing 12 in the housing 3, and the input / output shaft 1 is supported by the internal gear 8 and the internal gear 9 via the input / output bearing 11. Supported by 12.

In the above mechanism, the diameter of the free gear 7 and the input / output shaft 1 meshed with the internal gear 6 fixed to the housing 3 is increased, and the inside of the input / output shaft 2 and the input / output shaft 1 connected to the internal gear 8 is hollow. To reduce weight and increase yield strength.

With the above mechanism, the motor 14 is built into the speed reducer with a hollow structure, the through shaft 15 is provided in the hollow part that secures a large hollow diameter, and the through shaft 15 is provided by the electric motor integrated mechanism that directly connects the input / output shaft 2 and the through shaft 15. The rotational force is taken out from both ends through.

A through shaft 15 is provided in the hollow part of a small mechanism part that has a built-in electric motor 14 of the above mechanism to secure a large hollow diameter, and the fixed part and the movable part are twisted and supported by the cantilever structure of the through shaft 15. The rotational torque is taken out to the housing 3.

The above-mentioned hollow mechanism, which has a large hollow like the above-mentioned mechanism, allows a trapezoidal screw shaft or ball screw to penetrate through the cavity inside the housing, and a trapezoidal gear or ball nut is built in to convert the rotational force of the built-in motor 14 into a linear motion. Realize a linear motion mechanism.

Up to the above item, the deceleration operation is performed by using the input / output shaft 1 as the input shaft and the input / output shaft 2 as the output shaft, but the input / output shaft 2 is used as the input shaft and the input / output shaft 1 is used as the output shaft. It becomes a speed-up mechanism capable of high-efficiency speed-up operation.

Sectional drawing which shows structure of simple structure as concrete mechanism based on the basic concept of this invention Cross-sectional view showing a structure expressing the concept of the basic mechanism of the present invention based on the above figure as a concrete mechanism. Cross-sectional view showing a more efficient structure as a concrete mechanism with respect to the concept of the basic mechanism of the present invention. Cross-sectional view of a structure having an input shaft and an output shaft in the mechanism of the third embodiment to which the present invention is applied to the accelerator alone. A cross-sectional view of a structure in which the inside of the accelerator / decelerator is fixed by the mechanism of the fourth embodiment to which the present invention is applied to output a housing. Cross-sectional view of the housing fixed structure with a small acceleration / deceleration device integrated with an electric motor (plan to incorporate the bottom bracket of a bicycle) Cross-sectional view of a linear motion structure fixed to a housing with a compact acceleration / deceleration device integrated with an electric motor (plan to be incorporated into a linear actuator) Cross-sectional view of shaft fixed structure with electric motor integrated small acceleration / deceleration device (plan to incorporate into wheel hub of bicycle or wheelchair) Cross-sectional view of the structure to which the present invention is applied to the accelerator alone (proposed acceleration mechanism that can also be applied to wind power generation, etc.) Crank mechanism block diagram showing the basic concept as a reference diagram Block diagram with the crank mechanism used as a reference diagram changed to a swing mechanism A block diagram in which libration was devised to solve the problem with the swing mechanism in the reference diagram. Cross-sectional view of a mechanism expressing the concept of the above block diagram FIG. 2 as a concrete mechanism. A block diagram common to the present invention newly devised with respect to JP-A-48-24155 as a reference.

Hereinafter, embodiments of the present invention will be described with reference to FIGS. 1 to 14.

Embodiment 1 of the present invention shown in FIG. 1 is a basic acceleration / deceleration mechanism having a simple structure having an input shaft and an output shaft on the same axis, with the input / output shaft 1 as the input shaft and the input / output shaft 2 as the output shaft. In the mechanism that supports each movable part via a bearing that supports the housing 3, one end of the input / output shaft 1 is supported by the inner ring of the input / output bearing 11 in which the outer ring is fixed to the housing 3, and the other end is also input / output. The inner gear 8 is supported by the bearing 11, the inner gear 8 is supported by the inner ring of the input / output bearing 12 having the outer ring fixed to the housing 3, the outer ring of the input / output bearing 11 is fixed to the inner gear 8, and the other end of the input / output shaft 1 is input / output. It was supported by the inner ring of the bearing 11 and firmly supported by the inner gear 8 to prevent the input / output shaft 1 from breaking in the middle, and was fixed to the inclined shaft 5 together with the input / output bearing 12 whose outer ring was firmly fixed by the housing 3. Supporting the free gear 7 of the external gear, the internal gear 6 fixed to the housing 3, the internal gear 8, and the two dentitions formed on the outer edge of the free gear 7 of the external gear are meshed with each other to form the housing 3. The input / output shaft 2 having an integral structure in which the internal gear 8 is decelerated by generating a differential between the two internal gears 6 which are fixed and relatively stationary and the internal gear 8 is connected and fused is the input / output bearing. It is fixed to the housing 3 via 12, decelerates to generate torque, and the anti-torque generated in the input / output shaft 2 is received by the internal gear 6 from the internal gear 8 via the dentition formed in the free gear 7. The dentition of the free gear 7 is changed to two, and each dent is firmly supported by meshing with two points of symmetry of the internal gear 6, and the internal gear 8 is the symmetry point of the free gear 7. It is a mechanism that meshes with one point of the internal gear 6 and generates a differential by the difference in the number of teeth, and inputs and outputs the internal gear 6 and the internal gear 8 to the input / output shaft 1 and the input / output shaft 2, respectively. Two input / output bearings 11 for supporting the shaft 1 are provided, and two dentitions of one free gear 7 connected to the input / output shaft 1 mesh with the internal gear 6 at two points and enter at the symmetric point of the free gear 7. Since it meshes with the internal gear 8 integrated with the output shaft 2 at one point, the integrated input / output shaft 2 is supported by the input / output bearing 12, and the structure on the low speed shaft side is large generated from the low speed shaft side as the output shaft. A mechanism that takes out torque and supports it in the housing 3 via the input / output bearing 12, and withstands the anti-torque generated in the input / output shaft 2 and transmitted from the internal gear 8 via the free gear 7 at two symmetrical points of the internal gear 6.

The second embodiment of the present invention shown in FIG. 2 is an acceleration / deceleration mechanism based on a basic configuration using swing and balance as the operating principle, but the input shaft and the output shaft are on the same axis and the outer peripheral portion is lowered. A differential acceleration / deceleration mechanism with an inner peripheral part in the rotating part and a strong structure in the high rotation part is constructed, and the input mechanism on the high rotation side is arranged inside the output mechanism, and the concentric shaft acceleration / deceleration mechanism is used inside the center gear. The gear 6 is fixed to the housing 3, and similarly, the outer ring of the input / output bearing 12 is fixed to the housing 3 with the inner gear 6 of the central gear sandwiched between them, so that the two are integrated with the housing 3 and are located on both sides. A mechanism for supporting the inner gear 8 of the low-speed gear and the inner gear 9 of the bearing gear via the inner ring of the input / output bearing 12, two input / output bearings 11 are provided on the inner circumference of the inner gear 8 and the inner gear 9, and the inclined shaft 5 is provided on the inner ring. The input / output shaft 1 is fixed on both sides of the input / output shaft 1 and the free gear 7 is supported via the free bearing 4 via the inner ring rail 10 fixed to the inclined shaft 5 formed on the input / output shaft 1. The rotation of the tilting shaft 5 causes the free gear 7 to swing, and the free gear 7 having an external tooth configuration causes a balance movement in the two tooth rows of the free gear 7, and the external gear is located at two symmetrical points of the internal gear 6 of the central gear. The two dentitions of the free gear 7 are engaged with each other facing each other at the symmetrical points of the two dentitions of the free gear 7, and the two dentitions of the free gear 7 are meshed with the internal gear 8 on the low rotation side diagonally with the internal gear 6. The internal gear 8 and the internal gear 8 are operated via the free gear 7 by engaging the internal gear 9 of the bearing gear with the diagonal of the dentition different from the dentition in which the free gear 7 meshes with the internal gear 6. The dentition of the internal gear 9 and the internal gear 6 mesh with each other to generate a circumferential difference due to the difference in the number of teeth, and the differential generated by the generated peripheral difference causes acceleration / deceleration operation to fix the fixed side to the housing 3. The balance support mechanism that regulates rotation via the internal gear 6 and fixes the internal gear 8 and internal gear 9 to the housing 3 via the input / output bearing 12 of the same type to generate differential between both gears is the center gear. By sandwiching the internal gear 6 between the internal gear 8 and the internal gear 9 and engaging each internal gear via the free gear 7, input / output to / from the free gear 7 having the same number of teeth as the internal gear 6 fixed to the housing 3 By engaging internal gears with different numbers of teeth via a bearing 12 and changing to a structure that supports the internal gear 8 and internal gear 9 via an input / output bearing 12 of the same type, load distribution and quietness are improved, and the internal gear is improved. A differential is generated between the internal gear 6 whose rotation is restricted by the circumferential difference caused by the difference in the number of teeth in the internal gear 9, and the two dentitions of the free gear 7 are the internal gear 6 and the internal gear 8. The internal gear 9 has a strong structure in which each of them meshes with a plurality of internal gears at two diagonal points, and supports the internal gear 8 and the internal gear 9 via an input / output bearing 12 of the same type fixed together with the internal gear 6. The free gear 7 is connected to the inner ring rail 10 which supports the ke 11 and is fixed to the inclined shaft 5 via the input / output bearing 11 on both sides of the inclined shaft 5 formed on the input / output shaft 1. Is operated by engaging the three internal gears with the four points of the two dentitions, and the input / output shaft 1 and the input / output shaft 2 are used as the input / output shafts to generate a balance, resulting in a high load. The quiet rocking generation mechanism that can withstand is an accelerator / speed reducer that adopts a structure that outputs from the input / output shaft 2 integrated with the internal gear 8 and integrates the load-bearing structure and the output structure.

The third embodiment shown in FIG. 3 is almost the same as the second embodiment described above, and the same type of input / output bearings 11 are arranged on both sides of the input / output shaft 1 and fixed to the inclined shaft 5 formed on the input / output shaft 1. The free gear 7 is connected to the external gear by the free bearing 4, the free gear 7 is swung, the two dentitions of the outer ring are weighed, and the symmetrical point of the internal gear 6 of the central gear fixed to the housing 3. The same configuration as in the second embodiment described above is adopted, but the major difference is that the free bearing 4 has a larger diameter to improve the load capacity and at the same time the inner ring gear 10 also has a larger diameter. By increasing the diameter, the opening diameter is expanded, the hollow diameter is expanded, and the weight is reduced. The input / output bearing 11 that supports the input / output shaft 1 is increased in diameter, and at the same time, the support mechanism is balanced to improve the load capacity. The bearing 11 is made the same type to increase quietness, the inner diameters of the internal gear 8 and the internal gear 9 that support the outer ring of the input / output bearing 11 are unified, and the output bearing 12 that is supported by the housing 3 is also formed of the same type to form a symmetrical cross section. Therefore, the free gear 7 is sandwiched and point-symmetrically configured, and the input / output bearing 11 and the input / output shaft 1 are arranged on the input / output bearing 12 and the internal gear 8 and the internal gear 9 of the same type supported on the housing 3 with concentric shafts. Since the intersection of the free gear 7 with the rotating shaft is also on the concentric shaft, the input / output bearing 11 of the same type supports the internal gear 8 and the internal gear 9, and the inclined shaft 5 formed on the input / output shaft 1 is free. It is connected to the inner ring rail 10 via the bearing 4, the free gear 7 is meshed with the internal gear 6, the free gear 7 is supported via the free bearing 4, and the three internal gears are meshed with the four points of the two dentitions. The quiet rocking generation mechanism that can withstand a high load by operating with the input / output shaft 1 and the input / output shaft 2 as the input / output shaft to generate a balance has increased the diameter and the total length as described above. In the second embodiment, the internal gear 8 and the internal gear 9 are each provided with the input / output bearings 12 to distribute the load, and at the same time the axial distance of the input / output bearings 12 is expanded and the axial distance of the input / output bearings 11 is also expanded to rotate the shaft of the rotating shaft. The outer diameters of the input / output shaft 1 and the input / output shaft 2 are reduced by increasing the diameter of each component of the mechanism to reduce the bending phenomenon, collecting them on the outer circumference and arranging them in a balanced manner to increase rigidity and suppress vibration and beating. By enlarging, the inner diameter is also expanded to enable hollowing while maintaining high rigidity and strength, and this embodiment is a structure that outputs by the input / output shaft 2 integrated with the internal gear 8 and integrates the bearing structure and the output structure. An input / output shaft integrated with the internal gear 8 by adopting a balanced bearing in which the input / output bearing 11 of the input / output shaft 1 and the input / output bearing 12 of the input / output shaft 2 are configured in the same type. Adopting the structure output by 2 and output as a bearing structure Accelerator / reducer that integrates the force structure.

The fourth embodiment shown in FIG. 4 is the same as that of the third embodiment, and the bearings of the input / output shaft 1 and the input / output shaft 2 are of the same type, but the shapes of the internal gear 8 and the internal gear 9 are also the same type as the balanced bearings. With a vibration-damping structure that raises the degree of equilibrium and suppresses vibration and beating, the free gear 7 that meshes with two symmetrical points of the internal gear 6 fixed to the housing 3 and two gears has the same number of teeth and does not rotate. The mechanism is such that only the swing of the free gear 7 and the balance movement occur in the two dentitions, and the internal gear 6 fixed to the housing 3 meshes with the two symmetrical points, and the rotation of the input / output shaft 1 causes the mechanism to become. By changing the swing given to the free gear 7 into a balance and engaging the internal gear 8 and the internal gear 9, two symmetrical points of the internal gear 6 fixed to the housing 3 and the non-rotating free gear 7 are formed. The internal gear 8 and the internal gear 9 are differentially meshed with each other via the internal gear 8, and the torque is transmitted to the input / output shaft 2 connected to the internal gear 8. The internal gear 9 receives the counter torque from the internal gear 8 and the input / output shaft 2 is detachable. In the form, the input / output shaft 2 integrated with the internal gear 8 is changed to a structure in which the internal gear 8 and the input / output shaft 2 can be separated and connected, but the shape and material combination of the input / output shaft 2 can be freely combined. It can be changed individually and can be easily attached / detached / replaced. The shape of the input / output shaft 2 can be easily changed, and the replaceable structure is an equilibrium structure that is easy to attach / detach, suppresses vibration and beating, and has high quietness.

The fifth embodiment shown in FIG. 5 is the same as that of the fourth embodiment of the previous section, and the functional parts corresponding to the input / output shaft 2 of the previous section are built in the hollow portion in which the inside of the input / output shaft 1 and the input / output shaft 2 is hollow. The internal gear 8 and the internal gear 9 are connected to the housing 3, the outer peripheral portion is rotated, an input / output shaft 2 is provided inside, and the internal gear 9 is fixed to the housing 3 and connected to the internal gear 8 to house the internal gear 9. It is fixed to the body 3 and stationary, the inside and the side surface of the mechanism are fixed, and the rotation applied to the input / output shaft 1 causes the free gear 7 to swing to balance the two dentitions, and the internal gear 8 and By fixing the internal gear 9, the free gear 7 rotates and meshes with two symmetrical points of the internal gear 6 of the central gear, and the outer peripheral portion fixed to the internal gear 6 synchronized with the free gear 7 rotates. The structure is such that the inner gear 8 and the inner gear 9 are supported on the outer peripheral portion, and the outer peripheral portion of the internal gear 8 and the internal gear 9 is connected to the outer peripheral portion by an input / output bearing 12 of the same type and is connected to the input / output shaft 2 fixed to the housing 3. The mechanism is supported on the side surface of the housing 3 with the input / output shaft 2 as a through shaft, the rotation of the input / output shaft 1 is accelerated / decelerated and output to the outer peripheral portion, and both side surfaces and the inner peripheral portion of the housing 3 are fixed. It can be applied to the twisting mechanism of the robot arm by rotating the outer circumference part by making the mechanism part itself of the speed reducer function as a hub by bearing the axle itself with the speed increase / reducer of the output structure that outputs at the outer circumference. With a structure that allows various structural parts, wires, cables, etc. to pass through the cavity provided in the internal space, one end is fixed to the through shaft and the housing 3, and the other end is fixed to the outer peripheral part. Accelerator / decelerator with drive bearing structure.

The sixth embodiment shown in FIG. 6 has the same structure as that of the fifth embodiment of the previous section, the outer peripheral portion is the housing 3, the internal gear 6 is fixed, and the internal gear 8 is connected to the through shaft 15 as the input / output shaft 2. It is an acceleration / deceleration mechanism that supports the through shaft 15 via the input / output bearing 12, and a small electric motor 14 is built in the housing 3 and is supported by the electric motor 14 via the electric motor bearing 13 to give a driving force to the input / output shaft. In this embodiment, an input / output shaft 2 directly connected to the internal gear 8 on the drive side is provided, connected to the through shaft 15, fixed to the housing 3 outside the electric motor 14, and the subordinate side is inserted to support the other end of the through shaft 15. The structure is such that the output shaft 2 and the internal gear 9 are supported by the housing 3 via the input / output bearing 12, and the through shafts 15 fixed to the input / output shafts 2 at both ends are the input / output shafts 2 of both ends output extending to the outside. The mechanism of this embodiment, in which the electric motor 14 assists the output, is an accelerator / decelerator with a built-in electric motor that can be built into the bottom blanket shell of a general frame (bicycle), and normally supports a bearing that fixes the crank shaft that transmits the pedal effort. Although it is a mechanical part that has a structure to do so, a general bottom blanket shell without an electric assist function, which provides an electric assist function because an accelerator with a built-in electric motor can be sufficiently built in the space of the bottom blanket shell, is lighter. Therefore, a hollow crank shaft is used to obtain strength and lightness that can withstand human power, but the mechanism of this form is that the accelerator with built-in electric motor is housed in the bottom blanket shell, and the through shaft 15 is used as the function of the crank shaft. By using it for output, the output mechanism of human power and electric assist is shared, the input / output shaft 1 is rotated by the electric motor 14, and the inner ring rail 10 fixed to the inclined shaft 5 formed on the input / output shaft 1 is oscillated. , The two tooth rows of the free gear 7 of the external gear connected via the free bearing 4 are weighed and meshed with the symmetrical point of the internal gear 6, and the drive shaft built in the electric motor 14 is via the electric motor bearing 13. The joint between the drive shaft and the input / output shaft 1 is firmly supported, and both ends of the inclined shaft 5 of the input / output shaft 1 are held by the internal gear 8 and the internal gear 9 with the input / output bearing 11 of the same type. Fixed to the housing 3, the mechanism of this embodiment has a structure in which the input / output shaft 1 and the input / output shaft 2 are hollowed out to provide a cavity to reduce the weight, and the through shaft 15 is driven through the hollow portion to take out the output, but the bottom of a practical vehicle. Since the blanket shell is small, the mechanism of this embodiment assumes an electric motor 14 having a diameter of about 40 mm and a total length (total width) of about 90 mm and about 50 W. When an electric motor 14 of about 100 W is used, the total length (total width) is about 110 mm. I assume that this is In this proposal, we assume an electric motor 14 that can be stored in a diameter of φ40 mm, and because we are trying to store it in the bottom blanket shell of a practical vehicle, if it is expanded to a diameter of φ60 mm, it will be a hollow shaft, and a commercially available hollow crankshaft can be used. By integrating the prime mover and the drive unit in correspondence with (through shaft 15), the through shaft 15 is installed in the hollow part that is lightweight and compact, can withstand high loads, and has high quietness. As for the mechanism to utilize, the through shaft 15 is built in the bottom blanket shell of the bicycle with electric assist, and it is also used as the crankshaft to simplify the structure and hollow it out to realize a compact accelerator with a simple structure and apply it. An accelerator / decelerator with a structure that can be housed in the frame of a bicycle and can be realized without the need for a large external mechanism.

In the seventh embodiment of FIG. 7, the through shaft 15 is provided in the hollow cavity having the same structure as that of the sixth embodiment of the previous section, and a linear motion mechanism (rotational linear motion conversion) is connected to the input / output shaft 2. By doing so, a mechanism that operates by incorporating a rod that moves linearly inside the housing, for example, when using a ball screw, obtain low speed and high torque with a single screw or select high speed and low torque with a triple screw, large rotation Since it is equipped with a mechanism that receives anti-torque with respect to torque, it receives thrust stress due to linear motion, and provides a smooth linear motion mechanism (rotational linear motion conversion) for high loads due to low vibration and quiet operation in the present invention. Equipped with a mechanism to perform linear motion, the front and rear are supported by a large radial bearing and the thrust load is received by sandwiching the thrust bearing, and the radial bearing is released from the thrust load and the ball screw is used in the linear motion operation. It is a mechanism that features a built-in linear motion mechanism (rotational linear motion conversion) such as trapezoidal screws, and can be selected and constructed according to the application such as operating speed and importance of load capacity. An accelerator / decelerator with a simple structure that has a quiet and strong structure with a mechanism (rotational linear motion conversion).

In the eighth embodiment of FIG. 8, the structure is the same as that of the sixth embodiment of the previous section, and instead of fixing the internal gear 6 to the outer peripheral portion of the housing 3, both side surfaces of the housing 3 are fixed and the outer peripheral portion is rotated. With a structure that connects with a shaft 15, an internal gear 8 is used as an input / output shaft 2, and an acceleration / deceleration mechanism that supports the input / output bearing 12 and the outer peripheral portion of the housing 3 via a through shaft 15 in order to connect and fix both side surfaces. , An electric motor 14 is built in and directly connected to the input / output shaft 1 and fixed to the inclined shaft 5. The inner ring rail 10 is caused to swing via the free bearing 4, and the free gear 7 of the connected external gear is supported and scaled. In the implementation plan to generate a differential in the internal gear 6 that meshes with the free gear 7, the internal gear 8 and the internal gear 9 are fixed to the side surfaces of the input / output shaft 2 and the housing 3 via the electric motor 14 and the through shaft 15. The inner housing is configured, and the outer peripheral portion of the housing 3 is connected to the internal gear 6 via the three input / output bearings 12 to rotate the outer peripheral portion by the differential generated so that the outer peripheral portion and the rim of the wheel are formed. It can be configured as an electric wheelchair by connecting with spokes and fixing the shaft using the sixth embodiment as a hub and simultaneously electrically assisting it. When applied to the hubs of both wheels of a wheelchair, it can be configured as an electric wheelchair, but due to the miniaturization and weight reduction of the mechanism. A drive mechanism that enhances availability and portability by adding an electric assist function to a foldable, portable lightweight gear. In this mode, the mechanism body has a diameter of φ50 mm and a total length (total width) of about 80 mm and about 50 W. Assuming the electric motor 14, the two wheels of the wheelchair are fixed by attaching the mechanism body to both sides of the frame of the foldable wheelchair, and the wheels are equipped with batteries, a power supply, and an operating device so that the electric assist works as appropriate. Electronically controllable accelerator / speed reducer with integrated electric gear for wheelchairs.

The ninth embodiment shown in FIG. 9 has almost the same structure as that of the third embodiment of the previous section, but has a smaller hollow diameter as in the second embodiment, and the input / output shaft 2 is fixed to the outside and is attached to the outer periphery of the housing 3. It is a mechanism that gives input rotation and outputs the accelerated rotation to the input / output shaft 2. If a large torque but only low rotation can be obtained and high rotation is desired, the input / output shaft 2 is fixed or conversely, the outer circumference of the housing 3 The large torque applied from the other side is transmitted to the free gear 7 as a difference between the internal gear 6 and the internal gear 8, and is directly connected to the input / output shaft 1 connected via the free bearing 4. By generating high rotation on the inner ring gear 10 fixed to the inclined shaft 5, the high rotation generated by connecting to the input / output shaft 1 is taken out. For example, when driving a generator, the outer circumference of the input / output shaft 2 or the housing 3 In addition, by connecting a propeller of wind power generation, it is possible to obtain several tens to 100 times the number of rotations by a one-stage acceleration / deceleration mechanism, which is faster than when the acceleration / deceleration mechanism is used in deceleration operation. When used in operation, a large torque is required even as a result of speed-up operation, and high strength is required for the mechanism, so it is necessary to examine the components and increase the structural strength, strengthening the mechanism more than deceleration, parts It is necessary to design with a margin so that bending and deformation do not occur in the gear, and the internal gear 6 and the internal gear 8 support the input / output shaft 2 and the housing 3 that receive a large torque differential via the input / output bearing 12. The free gear 7 that meshes with the internal gear 7 is connected to the inner ring rail 10 by the free bearing 4, and the input / output bearing 11 supported by the internal gear 6 and the internal gear 8 fixes the inclined shaft 5 formed on the input / output shaft 1 of the output shaft on both sides. The input / output shaft 2 receives the differential generated in the free gear 7 by fixing the input / output shaft 2 or the outer peripheral portion of the housing 3 as necessary, and outputs the differential to the input / output shaft 1 via the bearing. An acceleration / deceleration mechanism having an output structure of 2 or an outer peripheral input speed increase mechanism.

The block diagram shown in FIG. 10 is a crank mechanism that shows the basic concept as a reference, and is adopted for a steam engine or a reciprocating engine. The rotation is regulated by engaging the internal gears 6, and the free gear 7 that meshes with the internal gear 6 and the internal gear 8 that meshes on the opposite side of the free gear 7 are differentiated by providing a difference in the number of teeth, and the circumference generated in the internal gear 8 is generated. An acceleration / deceleration mechanism that causes a difference in the connected input / output shaft 2 to perform a deceleration operation.

The block diagram shown in FIG. 11 is a mechanism in which the crank mechanism used as a reference diagram is changed to a swing mechanism. The above block diagram is changed, and the crank mechanism is changed to an inclined shaft mechanism with a structure using a circumferential difference based on eccentricity. Although it is a mechanism, the center of the inclined shaft is centered, so that the input of the input / output shaft 1 meshes with the free gear 7. There is no difference in the number of teeth between the internal gear 6 and the internal gear 8, the peripheral difference disappears, and the internal gear 8 is connected. An acceleration / deceleration mechanism in which the output shaft does not rotate because no differential is generated because the input / output shaft 2 does not have a circumferential difference.

The block diagram in Fig. 12 is a mechanism in which the balance was devised to solve the problem with the swing mechanism in the reference figure. Due to the defect in Fig. 11, the mechanism was changed to the tilt axis mechanism, but the center of the tilt axis was centered. Since there is no difference in the number of teeth between the internal gear 6 and the internal gear 8, the center of the inclined shaft is shifted from the center and the free gear 7 in which the input of the input / output shaft 1 is engaged is eccentric to secure the difference in the number of teeth. An acceleration / deceleration mechanism that solves the problem that the output shaft does not rotate due to a difference in the number of teeth between the gear 6 and the internal gear 8.

The cross-sectional view shown in FIG. 13 is a cross-sectional view of a mechanism expressing the concept of the block diagram 2 as a concrete mechanism. Similar to FIG. 12, the free gear 7 is eccentric to form the internal gear 6 and the internal gear 8. By causing a difference in the number of teeth and causing a circumferential difference between the two, a delay is generated in the input / output shaft 2 connected to the internal gear 8 with respect to the internal gear 6 that meshes the input of the input / output shaft 1 with the free gear 7. An acceleration / deceleration mechanism that reverses and decelerates the rotation of the input / output shaft 1 with respect to the relatively stopped internal gear 6 to output.

It is a mechanism common to the present invention newly devised with respect to JP-A-48-24155 with reference to the block diagram shown in FIG. 14, and has a structure using a circumferential difference based on an eccentricity as in the block diagram shown in FIG. Although the crank mechanism has been changed to an inclined shaft, the free gear 7 is eccentric by arranging the dentition of the free gear 7 that meshes with the internal gear 6 while keeping the center of the inclined shaft in the center. A swing is applied to balance the two gears of the free gear 7, and a circumferential difference is generated due to the difference in the number of teeth between the internal gear 6 and the internal gear 8. The internal gear 6 is used as the central gear and the two gears of the free gear 7 are used. The internal gear 9 is provided point-symmetrically with the internal gear 8 that meshes at two points of symmetry, and the counter torque from the input / output shaft 2 is received at the two points of symmetry of the internal gear 6, and at the same time, the internal gear 8 and the internal gear 9 are balanced. An acceleration / deceleration mechanism that copes with a problem in which the internal gear 8 and the internal gear 9 mesh with the free gear 7 by receiving a load and causing a swing to sandwich the internal gear 6.

In the embodiment of the present invention to which the third embodiment shown in FIG. 3 is applied, the opening diameter of the hollow portion is widened to set a high degree of freedom of the internal gear 6, the outer periphery of the housing 3 is fixed, and the casing is provided by the input / output bearing 12. An internal gear 6 fixed to the body 3 is sandwiched between the internal gear 8 and the internal gear 9, and an input / output bearing 12 is provided inside both internal gears to form an inclined shaft 5 on the input / output shaft 1. A compact and lightweight mechanism that has a large hollow diameter and has a large hollow diameter by supporting both sides of the 10 and causing a swing on the inclined shaft 5 to weigh the free gear 7 connected via the free bearing 4 and mesh with the three internal gears. A hollow general-purpose acceleration / deceleration mechanism that enables a one-stage structure with a relatively large acceleration / reduction ratio.

In the embodiment of the invention to which the fourth embodiment shown in FIG. 4 is applied, the input / output shaft 2 is separated, the shapes of the internal gear 8 and the internal gear 9 are aligned, and the dynamic balance between the two is achieved. The internal gear 8 and the internal gear 9 are sandwiched between the internal gear 6 fixed to the housing 3 by the input / output bearing 12 by fixing the outer circumference of the housing 3 to improve versatility and maintainability by easily removing and replacing the internal gear 9. The input / output bearing 12 is provided inside both internal gears to support both sides of the inclined shaft 5 formed on the input / output shaft 1 and the fixed inner ring rail 10, and the inclined shaft 5 causes a swing to generate a free bearing. The free gear 7 connected via 4 is weighed and meshed with the three internal gears, and the large hollow diameter and the small and lightweight mechanism are the same, and a relatively large acceleration / reduction ratio can be achieved in one stage. General-purpose acceleration / deceleration mechanism.

In the embodiment of the invention to which the fifth embodiment shown in FIG. 5 is applied, the degree of freedom of the hollow portion and the internal gear 6 is set high, the outer periphery of the housing 3 is rotated, and the input / output shaft 2 is provided inside the input / output shaft 1 for input / output. The shaft 2 is fixed to the housing 3 and torque is taken out from the outer peripheral portion of the housing 3. The internal gear 8 has a hollow fixing shaft built-in and fixed, and the internal gear 9 is also fixed in the same manner. With a structure that can be integrated with 3 and allow various structural parts, wires, cables, etc. to pass through the internal space, a small electric motor is connected to the input / output shaft 1, and the equipped electric motor is fixed to the side surface of the internal gear 9. The input rotation given by is decelerated by the acceleration / deceleration mechanism and output to the outer circumference, and by rotating the outer circumference connected to the internal gear 6, the robot arm is not limited to the use of the accelerator / decelerator with a built-in motor with a simple support mechanism at both ends. By using it for such purposes, it can be applied to the twisting mechanism of the upper arm and lower limbs and the mechanism that requires a large strength, and the hollow structure inside the through shaft 15 can fix the outer wall of the hollow part to the housing 3. Compact, lightweight and compact acceleration / deceleration mechanism.

The embodiment of the invention to which the sixth embodiment shown in FIG. 6 is applied aims to be stored in the bottom blanket shell of a practical vehicle, and although the size has been reduced, the mechanism of the conventional electrically assisted bicycle is the bottom blanket shell. Even if you think about the mechanism alone except for the power supply, control device and electric motor, the mechanism is too big to fit in the bottom blanket shell, a special frame is essential and it does not fit in the frame of a practical vehicle, and the weight including the mechanism is the whole It is a heavy mechanism of 6 to 7 kg, and of course it is heavy, so the electric machine to be used also needs an output of about 250 W, but of course the power supply part also needs to be large, that is, in the frame of a practical vehicle due to the addition of the electric assist mechanism Since the weight and size will increase because it does not fit in the bicycle, a special frame is essential to deal with it, and the increase in weight makes the movement of human power heavier, but there is a legal limit on the amount of assist, and children can be loaded. A feeling of lightness is required except when the weight and the dedicated frame are allowed from the beginning in a so-called mamachari or the like. In the sixth embodiment of the present invention, the acceleration / deceleration mechanism having a one-stage configuration and the normal drive unit are shared. Although it is driven in combination, the housing 3 is housed inside the bottom bracket shell of the light bicycle frame of a bicycle with a volume of about φ40L80mm, and an electric motor 14 with an output of about 50 to 100W is used to reduce the mechanism weight from 0.6 to 0. A crank that uses an acceleration / deceleration device with an acceleration / deceleration ratio of about 1/80 (30 to 120) by rotating the motor shaft at a maximum of 6,000 rpm / min, reducing the size to 7 kg and halving the power supply capacity. If the drive sprocket and driven sprocket are rotated at 75 rpm and the drive wheel is rotated at 150 rpm, the speed is about 20 km / h and the speed is increased by 4 times at 300 rpm. It is about 40 km and has a built-in small high-speed electric motor and is driven by a combination of a high-efficiency and simple structure accelerator / reducer. It is also used as a through shaft 15 and a crank shaft to be incorporated into a small bottom blanket shell of a practical vehicle with a bicycle frame. By integrating with the mechanism, it is possible to output according to the pedaling force applied to the crank shaft without the need for a separate drive mechanism.In the sixth embodiment of this mechanism, the drive system is shared and the weight is increased in addition to the power supply and control device. Since it does not require a special drive mechanism, belt drive can be selected to share the crank shaft and drive sprocket and use it as the original mechanism of the bicycle. The crank shaft is equipped with a drive pulley, and the hub of the driving wheel is equipped with a driven pulley and internal speed change. By equipping the machine In combination with the improvement of transmission efficiency (25⇒40%), a compact, lightweight, low-power electric motor with an output of about 50 to 100 W is used, the acceleration / reduction ratio is optimized, and it is compact and used up to a relatively high rotation speed. Electric assist acceleration / deceleration mechanism with built-in frame that saves power.

The embodiment of the invention to which the seventh embodiment shown in FIG. 7 has the same structure as that of the sixth embodiment has a linear motion mechanism (rotation) on the input / output shaft 2 instead of providing the through shaft 15 in the hollow cavity inside. By connecting a linear motion conversion), a mechanism for linear motion inside the housing and a rod for linear motion are built in and operate. For example, when a ball screw is used, a low speed and high torque can be obtained with a single screw, but 3 screws. By using screws, a mechanism that selects high speed while having low torque and receives anti-torque against a large rotational torque, and a mechanism that receives thrust stress due to linear motion (rotational linear motion conversion) has low vibration against high load. When a mechanism similar to that of the sixth embodiment is used, the front and rear are supported by a large radial bearing to receive a thrust load by sandwiching the thrust bearing in order to receive a linear motion by a quiet operation. A housing having a volume of about φ40 L128 mm. The stroke of the mechanism can be changed by housing the mechanical part in the body 3 and using an electric motor 14 with an output of about 50 to 100 W to reduce the mechanical weight to 1.0 to 1.2 kg and using a ball screw. A mechanism that supports the shaft to cope with the rope jumping phenomenon caused by bending and has a mechanism that allows the linear motion mechanism to move between the shafts and that performs a smooth linear motion mechanism is for stable operation. Radial bearings are provided at both ends of the ball screw that drives the shaft to release it from the thrust load, and the ball screw is used with a mechanism that operates linearly. Select according to the application such as trapezoidal screw according to the importance of load capacity. A linear acceleration / deceleration machine with a simple structure that has a quiet and strong structure with a linear motion mechanism (rotational linear motion conversion) that is characterized by a built-in housing.

The embodiment of the invention to which the eighth embodiment shown in FIG. 8 is applied aims at imparting an electric assist function to a lightweight folding wheelchair, and although it has been miniaturized, the mechanism of the conventional electric wheelchair does not fit inside the wheel. The weight of the power supply and mechanism including the electric motor, excluding the power supply, control device and electric motor, is too large to fit in the wheels and the drive unit becomes large, although the total weight is about 10 kg. The electric motor for wheelchairs weighs about 3.5 kg for one wheel and about 7 kg for both wheels. There is no simple assist wheelchair on the market, and a special frame is essential to fix the axle so that the mechanism fits on the wheel of the wheelchair. Naturally, because it is heavy, the electric motor used also needs an output of about 120 W, and of course the power supply unit is also It is necessary to increase the size, that is, due to the addition of the electric assist mechanism, the weight and size will increase because it will not fit in the frame of a practical vehicle, so a dedicated frame is essential to deal with it, and further weight increase will increase human power Although the operation is heavy, there is a legal limit on the amount of assist, and the eighth embodiment shown in FIG. 8 is compact and lightweight, and is driven by sharing a one-stage acceleration / deceleration mechanism and a normal drive unit, but is folded. As a possible simple wheelchair axle, spokes are placed between the rims of the wheels to make it smaller and lighter, and integrated with the wheels. A mechanism that uses an electric motor 14 with an output of about 50 W to reduce the weight to 0.7 to 0.8 kg per unit and realizes miniaturization and halving the power capacity. The built-in bottom blanket of the bicycle frame uses an electric motor 14 with an output of about 50 to 100 W. Although the structure to assist with the electric wheelchair is complicated, a large-diameter hollow structure is provided in the center of both wheels and transmitted to the two shafts on both wheels. In this integrated acceleration / deceleration device, the free gears of the external teeth Acceleration / deceleration operation is performed by engaging and rotating 7 and the internal gear 6 at two points, and the one-stage acceleration / deceleration mechanism exerts an output equivalent to the torque applied to the wheels to drive the wheel, but the motor shaft of the drive unit Uses an accelerator with an acceleration / deceleration ratio of about 1/80 (30 to 120) by rotating the motor shaft at a maximum of 6,000 rpm / minute, and makes the outer circumference a movable hub between the wheel rims. The drive unit is integrated into the wheel hub by connecting the wheels with spokes, and by incorporating this into both wheels of a foldable simple wheelchair, it becomes an electric assist mechanism for the wheelchair that can be retrofitted. The structure is complicated, but the large diameter in the center. The form of the mechanism that can be used by attaching it to both wheels of the electric wheelchair or the front wheel of the bicycle by providing a hollow structure of the above and fixing it with a shaft to detect rotation and synchronize it is legally limited by the control device. By limiting and providing an intermediate assist function between the electric wheelchair and the self-supporting wheelchair with an electric motor integrated, lightweight and compact mechanism, an electric assist mechanism with a large acceleration / reduction ratio is provided and the self-supporting wheelchair is retrofitted with electric assist. It realizes the function, and it is put into practical use by attaching the electric assist function that is most suitable for both wheels of a lightweight wheelchair that is familiar and highly portable. However, in order to add functions to a general-purpose bicycle, it can be easily mounted on an electric assist that is shared with the hub of the front wheel of the bicycle, and is built into the hub of the wheel that realizes a compact drive mechanism separated from the human power mechanism. Electric assist acceleration / deceleration mechanism.

The embodiment of the invention to which the ninth embodiment shown in FIG. 9 is applied is a speed-increasing mechanism having a large acceleration / deceleration ratio, which is difficult to realize with a conventional mechanism. The input / output shaft 2 is input and the input / output shaft 1 is 1/50 of the acceleration / reduction ratio. An accelerator / decelerator that accelerates and outputs at about (30 to 120). In the embodiment of the present invention, the input / output shaft 2 is input to the mechanical enemy, or the input / output shaft 2 is fixed and the outer peripheral portion is rotated for input. When the input / output shaft 2 is used as an input, the internal gear 6 is fixed to the housing 3 and the internal gear 8 and the internal gear 9 integrated with the input / output shaft 2 rotate, and the torque generated here is generated by the free gear 7. A differential is generated by meshing with the internal gear 6 and the internal gear 8, and the rotational trajectory is regulated by the weighing of the free gear 7 and meshes with the internal gear 6 and swings to the inner ring rail 10 fixed to the inclined shaft 5 via the free bearing 4. It is a low-vibration, quiet one-stage speed-up operation of a mechanism that generates motion and is speeded up by the inner wheel gear 10 to generate a high-speed output on the input / output shaft 1, and requires a high speed-up ratio such as wind power generation. The speed-increasing / decelerating mechanism is suitable for various applications, and the inside of the speed-increasing / decelerating machine is hollowed out. The inside of the output shaft is hollowed out. It has a mechanism of acceleration / deceleration mechanism, and the inside of the input / output shaft 1 and input / output shaft 2 is hollowed out to become a gear with a coaxial structure having a balance mechanism, which can be applied to wind power generation, and the acceleration / deceleration ratio of the present invention is Since it is relatively high, it is difficult to obtain a low acceleration / reduction ratio with a compact one-stage configuration, but it is not impossible to obtain it. Even with a differential one-stage configuration, the difference in the number of gears (ratio of gears) is changed to increase the circumferential difference. An acceleration / deceleration mechanism capable of increasing / decelerating with a hollow structure capable of differentially depending on the acceleration / deceleration of 1 and obtaining a deceleration of 1:10 if the load in the thrust direction is withstood.

The present invention can be used as a compact speed reducer with a wide range of applications due to its compact, lightweight and highly durable structure, and is used for various power windows and electric power steering (EPS) used in automobiles and the like. It can be used for industrial general-purpose speed reducers such as industrial machines and machine tools with a relatively large reduction ratio, as well as joints and twisting parts of robot arms, but on the other hand, it is built into the bottom blanket shell of the bicycle frame for electrically assisted bicycles. While being as compact as possible, it has been developed into a mechanism that realizes a linear actuator by providing a hollow part inside the motor-integrated mechanism and outputting a through shaft, or by incorporating a linear motion mechanism inside the hollow structure. As an accelerator / reducer with a built-in electric motor 14 that has sufficient strength, it is possible to provide a compact and lightweight drive mechanism that can be used for the drive unit of an electric bicycle or an electric assist function and can be used even after installation, and a hollow portion is provided relatively easily. Since it is possible to do things and has a high acceleration / reduction ratio, it has a wide range of applications as industrial utility, and even in agricultural machinery that used to use a motor as a prime mover, it is electric by utilizing the compact and lightweight acceleration / deceleration mechanism. By making it possible, it can be used without carrying unnecessary heavy objects by using a large torque with almost no vibration and replacing the charged battery, and by reversing the mechanism and using it in speed-up operation, wind power It can also be used for power generation and enables quiet speed-up operation. The allowable number of revolutions assumed by the current mechanism is limited to about 10,000 revolutions per minute, but there should be a possibility in some cases. So, if this enables 10,000 rpm or more, it will be applicable to aircraft engine parts, and the range of applications will expand. If the acceleration / reduction ratio approaches 1:10, it will be used for turbo fan engine fans. It may be possible to cope with the speed reducer to be used.

1 Input / output shaft 2 Input / output shaft 3 Housing 4 Free bearing 5 Tilt shaft 6 Internal gear 7 Free gear 8 Internal gear 9 Internal gear 10 Inner wheel rail 11 Input / output bearing 12 Input / output bearing 13 Electric motor bearing 14 Electric motor 15 Penetration shaft

Claims (8)

In an accelerator / reducer using a conventional mechanism, the outer teeth of the free gear 7 meshing on the circumference of the free gear 7 and the internal gear 6 have one tooth row, and the gear row of the free gear 7 is provided at the intersection of the input axis and the inclined axis. Since the dentition is provided, the dentition only swings and eccentricity is required for weighing, and the teeth of the free gear 7 are corrected for the intersection of the input axis and the inclined axis in order to generate eccentricity in the dent of the free gear 7. Although the row is eccentric and scaled, the generation of vibration and beating cannot be structurally suppressed, so a mechanism that suppresses the generation of vibration as much as possible is required. In the present invention, the shape of the free gear 7 is changed. Only the axis of the dentition of the external teeth of the free gear 7 is corrected to reduce vibration during swinging, and the dentition of the free gear 7 is made symmetrical in order to reduce vibration and beating with the structure described in the previous section. By doubling and balancing, each dentition meshes with two symmetrical points on the inner circumference of the internal gear 6, so not only one side of the dentition meshes with the internal gear 6, but on both sides of the input / output shaft 1. The inner ring rail 10 supported via the input / output bearing 11 and fixed to the inclined shaft 5 causes a swinging motion, and the free gear 7 and the inner ring rail 10 connected via the free bearing 4 are formed on the input / output shaft 1. Since the number of teeth of the internal gear 6 fixed to the housing 3 and the free gear 7 fixed at the intersection of the inclined shaft 5 is the same, the free gear 7 does not rotate with respect to the internal gear 6, and the input / output shaft 1 By rotation, the dentition of the outer teeth of the free gear 7 is weighed and the input / output shaft 2 is connected to the internal gear 8 to generate a differential. Therefore, the swing of the free gear 7 is weighed in the dentition in which only the axis is corrected. The mechanism that transmits the rotation accelerated / decelerated by differential to the connected input / output shaft 2 is the internal gear 6 fixed and supported by the housing 3 and the housing, which meshes with the internal gear 8 only by generating motion. The internal gear 8 supported by the body 3 via the input / output bearing 12 and the free gear 7 connected to the inclined shaft 5 formed on the input / output shaft 1 have an acceleration / deceleration mechanism in which the inner ring rail 10 is used as an inner ring and the free bearing 4 is a rolling element. And the cage, the free gear 7 has an integrated structure of the outer ring bearing, and is fixed to the housing 3 of the integrated structure acceleration / deceleration mechanism that is configured by processing and combining commercially available bearings as much as possible like the input / output bearing 12. It meshes with the internal gear 6 at two points and meshes with the internal gear 8 connected via the input / output bearing 12, so that it meshes differentially and meshes with the internal gear 6 and the internal gear 8 as an integrated mechanism to construct an acceleration / deceleration mechanism. Acceleration / deceleration mechanism that forms. The speed increaser / reducer of the above mechanism is functionally sufficient and can suppress the occurrence of vibration and beating compared to the conventional similar mechanism, but it requires balancing to engage the speed reduction mechanism part, and the input / output shaft 1 and Since the structure of the input / output shaft 2 has to be asymmetric, inconveniences such as beating and vibration occur. Therefore, in a general mechanism, a new dynamic balancer mechanism is provided to balance the mechanism. However, in the present invention, the mechanisms are duplicated and opposed to each other, and have a high acceleration / reduction ratio and quietness. The components and mechanisms are balanced to improve rigidity and quietness without the need for a mechanism. The position of the dentition is corrected according to the above claim, the dentition of the free gear 7 is doubled, and the two dentitions are balanced and formed for input. With a structure in which the inner ring rail 10 fixed to the inclined shaft 5 of the shaft 1 is constructed in a point-symmetrical manner in rotation and phase, the two dentitions of the free gear 7 are weighed and freely set to two symmetrical points on the inner circumference of the internal gear 6. The two dentitions of the gear 7 are meshed point-symmetrically, and the symmetrical point of the free gear 7 that meshes with the internal gear 6 is also meshed with the internal gear 8 to transmit the differential to the internal gear 8 and connected to the input / output shaft 2. Both of the dentitions of 7 are meshed with the internal gear 6 and the internal gear 8, and a differential is generated in the internal gear 8 by the difference in the number of teeth between the internal gear 6 and the input / output shaft 2 integrated with the internal gear 8 at the time of input / output. An acceleration / deceleration mechanism that eliminates the need for a balancer mechanism that causes the free gear 7 to swing according to the inclined shaft 5 by transmitting the differential by the acceleration / deceleration operation that receives the generated anti-torque. .. The present invention is an acceleration / deceleration machine that obtains a high reduction ratio by operating the input / output shaft 1 as the input shaft and the input / output shaft 2 as the output shaft in a one-stage configuration, and newly sets the gear from the intersection of the input axis and the inclined axis. A structure that corrects only the axis line is devised to suppress the occurrence of vibration due to weighing, and the acceleration / deceleration operation is performed by the tilt axis mechanism. The tilt axis is provided on the input / output shaft 1 so as to intersect the rotation axis of the input / output shaft 1. The inner ring rail 10 is fixed to the inclined shaft 5 formed on the intersection of the center lines of the input / output shaft 1 and the input / output shaft 2 coaxially, and the inner ring gear 10 is press-fitted into the inclined shaft 5 to press the key. In this inclined shaft mechanism that fixes the inner ring rail 10 with a pin or a pin and swings it to balance the dentition, the mechanism that connects the free gear 7 via the free bearing 4 and generates swing is on the outer edge of the free gear 7. In the formed dentition of the external teeth, the dentition of the external teeth formed on the outer edge of the free gear 7 is double-rowed to form a symmetrical shape, so that the position is corrected from the intersection of the center of the inclined axis and the symmetric point of the internal gear 6. At two points, the dentition axis of the free gear 7 is aligned with the dentition axis of the internal gear 6 with the dentition axis as the center of the rotation axis, and the swing generated in the free gear 7 is swung by correcting the position of the axis. By connecting the free gears 7, a balance is generated, and by giving an input rotation to the input / output shaft 1, the internal gears 6 fixed to the housing 3 are made to learn the free gears 7 to suppress the rotation. By engaging the internal gear 8 with the symmetrical point of the free gear 7 meshed with 6 and connecting the input / output shaft 2 and the internal gear 8, the internal gear 6 and the internal gear 8 mesh with each other with the free gear 7 in between. By generating a differential in the internal gear 8 at the point of symmetry, a differential is generated in the free gear 7 connected to the input / output shaft 1 on the high rotation side and the internal gear 8 coupled to the input / output shaft 2 on the low rotation side. A quiet and high acceleration / reduction ratio having a mechanism for transmitting and supporting torque that increases by differential with the internal gear 6. In the above mechanism, the dentition of the free gear 7 is set to two, and the two meshing points of the internal gear 6 of the fixed gear are meshed and balanced so that the meshing points are opposed to each other and the shape of the free gear 7 is also symmetrical. It is possible to suppress the occurrence of vibration and beating by setting it to, but since the two gears of the free gear 7 also have a mechanism that meshes with the internal gear 6 and two points of symmetry and at the same time with the internal gear 8, the input / output shaft 2 The generated anti-torque is received by the internal gear 6 that meshes with the two dents of the free gear 7 through the connected internal gear 8. However, the internal gear 8 and the internal gear that are connected to the large anti-torque and twist generated in the input / output shaft 2 by the above mechanism. It is difficult to receive only with 6, and a bearing mechanism is required to receive the increased anti-torque generated during input / output of the input / output shaft 2 by being integrated with the internal gear 8. Therefore, it faces the internal gear 8 and becomes point symmetric. An internal gear 9 meshed in the same manner is newly provided to counter the meshing stress, and the internal gear 6 fixed to the housing 3 is sandwiched between the internal gear 8 supported by the input / output bearing 12, and the internal gear of the bearing mechanism. The mechanisms that make the 9 differential and mesh with the free gear 7 at four locations in total to counter the stress generated in the input / output shaft 2 and generate the differential are the mechanism of the internal gear 8 and the internal gear 9. By fusing and integrating the internal gear 6 and the free gear 7 with two sets of acceleration / deceleration mechanisms, the free gear 7 becomes the internal gear 6 and the internal gear 9 in point symmetry with the internal gear 6 and the internal gear 8. By sharing two sets of meshing mechanisms with the accelerator and decelerator and arranging them so that they are point-symmetrical at the intersection of the coaxial input / output rotation center line and the tilt axis center line, the stress center is concentrated at one point and generated in the mechanism. The internal gear 8 and the internal gear 9 sandwiching the internal gear 6 are distributed to each part, and the internal gear 9 is held by the housing 3 via the input / output bearing 12 facing each other, and the internal gear 8 is arranged in a balanced manner around the free gear 7. A low-vibration accelerator / reducer that operates by connecting the input / output shafts 2. The two tooth rows of the free gear 7 that are integrated by fusing two sets of acceleration / deceleration mechanisms mesh diagonally with two points of symmetry of the internal gear 6, and the two tooth rows of the free gear 7 rotate with the tilt axis. The external gear 8 and the internal gear 9 are opposed to each other at a point orthogonal to the intersection of the shafts to make a differential, and the two symmetrical points of the internal gear 6 and the internal gear 8 and the internal gear 9 are opposed to each other with three internal gears. The outer ring of the input / output bearing 12 is fixed to the housing 3 so that the free gear 7 is shared and meshed with each other, and the inner gear 8 and the inner gear 9 are fixed to the inner ring of the input / output bearing 12 so as to sandwich the inner gear 6. The inner gear 8 and the inner gear 9 were fixed to the outer ring of 11 by sandwiching the inclined shaft 5 of the input / output shaft 1 to the inner ring of the input / output bearing 11, and fixed to the inclined shaft 5 by supporting both ends of the inclined shaft mechanism. By swinging the inner ring rail 10 to balance the stress, the free gears 7 connected via the free bearing 4 are subjected to a balance to mesh with and engage with the respective internal gears arranged opposite to each other. An acceleration / deceleration mechanism that operates via an internal gear 8 and an internal gear 9 that are indirectly supported by the output bearing 12 and the housing 3, and is balanced at the symmetrical points of the dentition of the free gear 7 that meshes with the internal gear 6. A differential is generated by meshing with the internal gear 8 and the internal gear 9, and the free gear 7 having the same number of teeth meshes with the internal gear 6 of the fixed gear at two points of symmetry and meshes with the internal gear 8 at the opposite point. A mechanism that meshes with the internal gear 9 connected to the input / output shaft 2 in a point-symmetrical manner at a point orthogonal to the intersection of the inclined shaft and the rotating shaft, and the external teeth of the free gear 7 learned from the internal gear 6 of the fixed gear. The input / output bearing 12 that supports the internal gear 8 and the internal gear 9 by forming and supporting the internal gear 8 and the internal gear 9 in a symmetrical shape by meshing with each other at two points of the dentition and its symmetric point is also the same type and same diameter input / output bearing 11. By making the parts that make up the movable part the same type and the same diameter as much as possible, the tilted shaft 5 of the input / output shaft 1 is supported to suppress the occurrence of vibration and beating, and the tilt of the input / output shaft 1 on the high rotation side is suppressed. The free gear 7 connected to the inner ring rail 10 fixed to the shaft 5 via the free bearing 4 is swung, and by being learned by the internal gear 6, the two external teeth of the free gear 7 have two dentitions and two points of symmetry. The internal gear 9 also meshes with the internal gear 8 to generate a differential, and the internal gear 9 that forms a pair with the internal gear 8 of the low rotation shaft by a point-targeted mechanism receives the counter torque of the low rotation shaft by the withstand gear of the acceleration / deceleration mechanism and pairs with each other. The internal gear 8 and the internal gear 9 are formed to have almost the same shape and are supported by the housing 3 via the input / output bearing 12, and the input / output shaft 2 integrated with the internal gear 8 is separated into separate parts. An accelerator / reducer operated by an internal gear 8 connected to an input / output shaft 2. The reduction gear known as a metal elastic dynamics reducer requires two teeth structurally opposed to each other due to the displacement of the rotating surface, and the difference in the number of teeth in one rotation is structurally indispensable. In the present invention, it is difficult to construct a wide tooth width structurally. It is not possible to gain strength by the tooth width like the elastic dynamics reducer of, but since it is relatively easy to obtain the tooth height, for example, the metal elastic dynamics reducer has 50 and 48 pieces and 100 pieces and 98 pieces. It is necessary to combine and always make the difference in the number of teeth to 2, and it is possible to have a difference in the number of teeth of 4, but the height of the teeth is smaller than the width of the teeth, which is inappropriate. In contrast to this structure, the structure of the present invention allows for multiple differences in the number of teeth at the same time as increasing the tooth height, and realizes a configuration that avoids one tooth difference in the number of teeth per rotation. Since it is possible to take a large tooth height, in the case of the same reduction ratio as above, it is possible to combine 25 sheets and 24 sheets or 50 sheets and 49 sheets, and 23 or 22 sheets can be meshed with 25 sheets. Since it is possible to configure the above, it is possible to mesh 50 sheets and 45 sheets, and it is possible to obtain a low acceleration / reduction ratio of 10: 1 in the case of 1- (45/50). It is possible and structurally strengthened, but it can be realized. In order to reduce the acceleration / reduction ratio and obtain an acceleration / reduction ratio of 6: 1 or 7: 1 like a planetary gear mechanism, not only in the radial direction but also in the radial direction. Since a load is generated in the thrust direction, a mechanism that receives an axial load is required when setting the acceleration / reduction ratio low. The rotation of the input / output shaft 1 causes the free gear 7 to swing and the external teeth to be weighed. The output shaft 1 has an inner ring rail 10 fixed to the inclined shaft 5, and the inner ring rail 10 is fixed to the inclined shaft 5 of the input / output shaft 1 provided with the input / output bearing 11 at both ends and supported by the internal gear 8 and the internal gear 9. An speed reducer with a structure in which a high reduction ratio can be obtained with a small diameter and a large strength is obtained by taking a large tooth spacing and tooth height, and the structure is hard to break. The internal gear 6 faces the internal gear 8 connected to the input / output shaft 2. By providing an internal gear 9 that meshes with the free gear 7 with the free gear 7 in between, the other pair of mechanisms arranged in point symmetry cancels the stress, enhances the load resistance, and receives the anti-torque generated in the mechanism. The internal gear 6 which realized a balanced and strong structure by reducing the number of points and downsizing is fixed to the housing 3 as a fixed gear, the rotation of the input / output shaft 1 is decelerated, and the torque is increased by the differential reduction mechanism to reduce the speed. The anti-torque generated in the differential reduction gear is output to the input / output shaft 2 integrated with the mechanism, and is received by the internal gear 9 via the internal gear 6, the internal gear 8, and the free gear 7 fixed to the housing 3. A differential is generated in the input / output shaft 2 connected to the gear 8 to cancel the anti-torque generated in the internal gear 8 during acceleration / deceleration with the internal gear 9. An accelerator / reducer that transmits torque by rotation generated by a differential similar to the difference in the number of teeth due to displacement of the rotating surface of a metal elastic dynamics reducer. In the structure of the present invention, the mechanism is concentrated on the outer peripheral portion inside the housing 3 by increasing the diameter of the component parts to make the inside a hollow structure, and the diameter of the mechanism is increased and the structure is changed to make the mechanism hollow inside the mechanism. This is an acceleration / deceleration machine that increases the strength of the mechanical part by providing a weight reduction device. As a basic idea of the hollow structure, a hollow part is provided inside the input / output shaft 1 and the input / output shaft 2 to penetrate the shaft. In addition to outputting to both ends, a thrust bearing is provided in the rotating part of the input / output shaft 2 to provide a linear motion mechanism for ball screws and trapezoidal screws to penetrate and output, etc., by fixing the through shaft 15 to the inner side of the housing. It is also possible to have a highly flexible outer peripheral drive structure that rotates the outside of the body and doubles as an axle. The free gear 7 is an outer gear whose inner ring is the outer ring of the inner ring rail 10 and is formed on the outer ring connected to the inner ring rail 10 via the free bearing 4. Then, the inner ring rail 10 fixed to the inclined shaft 5 formed on the input / output shaft 1 is oscillated to be weighed by the two gears of the free gear 7, and the two gears of the outer teeth are housed 3. By meshing with the internal gear 6 fixed to the free gear 7 and further meshing the free gear 7 and the internal gear 8, the free gear 7 swings and meshes with the internal gear 6 fixed to the housing 3 with a number of teeth of 1: 1. It is a non-rotating gear that operates, and a balance is generated in the two tooth rows of the free gear 7 that is meshed with the internal gear 6 sandwiched between them, and a differential is generated by meshing with the internal gear 8, and the other teeth of the free gear 7 are generated. A new acceleration / deceleration mechanism meshed with the row is point-symmetrically configured as an internal gear 9 and meshed with the free gear 7, and the internal gear 8 and the internal gear 9 are fixed to the housing 3 via the input / output bearing 12 to be fixed to the internal gear. When the input / output bearing 11 is supported by 8 and the internal gear 9 and connected to the input / output shaft 2 to be integrated and the input / output shaft 1 is used as the input, the input of the input / output shaft 1 on the high rotation side is decelerated to reduce the value. A structure in which the torque generated by generating a differential in the internal gear 8 on the rotating side is output to the input / output shaft 2 and the counter torque is received by the internal gear 9, and the internal gear 8 is connected with the input / output shaft 2 on the low rotation side as an input. In this case, the speed is increased on the low speed side and output to the input / output shaft 1 on the high speed side, and a mechanism that realizes dynamic equilibrium and a symmetric structure realize a high reduction ratio, a high load, less vibration, and a high quietness. .. Since the structure of the present invention has two input / output shafts and is arranged coaxially, the function can be changed without exchanging the input / output shafts, and the electric motor is directly connected with the input / output shaft 1 as the input shaft to reduce the speed. The output shaft 2 is used as the input shaft for speed-up operation, and during the speed-up operation, the input / output shaft 1 is used as the output shaft to directly connect the generator to become a high-rigidity accelerator / reducer that can be used for wind power generation and the like. Normally, it is used as a speed reducer to increase the torque, but by increasing the anti-torque generated on the output side, the electric motor is regenerated and the anti-torque is reduced, such as low rotation speed. It is possible to generate power by accelerating the input of a large torque, and in the present invention, most of the components of the mechanism are bearing parts, and the speed reducer with a balanced structure that generates less vibration and beating occurs on the low rotation side. A concentric coaxial mechanism suppresses the occurrence of inconvenient phenomena in a mechanism that can receive the rotational force obtained by equilibrium components arranged with large torques facing each other and perform speed-up operation. Therefore, it is ideal, and since the acceleration / deceleration operation is basically performed in one stage, it is a quiet acceleration / deceleration machine that can increase the speed to achieve high quietness with less vibration.

Images