JP2024076609A

JP2024076609A - Decelerator

Info

Publication number: JP2024076609A
Application number: JP2022188239A
Authority: JP
Inventors: 瑛嗣笹岡; 博幸田中; 公寛石榑; 魁二宮
Original assignee: Aisin Seiki Co Ltd; Aisin Corp
Current assignee: Aisin Corp
Priority date: 2022-11-25
Filing date: 2022-11-25
Publication date: 2024-06-06

Abstract

【課題】部品数を少なく抑え、簡素な構成とすることが可能であると共に、配置の自由度を高め易い減速機を提供する。【解決手段】減速機１００は、遊星歯車機構１０と、第１の連結対象Ｔ１に連結される第１連結部２０と、第２の連結対象Ｔ２に連結される第２連結部３０と、駆動源Ｄに連結される駆動連結部４０と、を備え、第１リングギヤ１１と第２リングギヤ１２とキャリヤ３とは、第１軸心Ｘ１回りに相対回転自在であり、第１リングギヤ１１と第２リングギヤ１２とは歯数が異なり、遊星ギヤ２は、第１リングギヤ１１に噛み合う第１ギヤ部２１と、第２リングギヤ１２に噛み合う第２ギヤ部２２と、を備え、第１ギヤ部２１と第２ギヤ部２２とは、第２軸心回りに一体的に回転するように連結され、駆動連結部４０は、キャリヤ３と一体的に回転し、遊星ギヤ２の公転軌跡に対して径方向内側Ｒ１においてキャリヤ３を軸方向Ｌに貫通する軸状に形成されている。【選択図】図１A reducer is provided that can reduce the number of parts, has a simple configuration, and is easy to arrange with a high degree of freedom. [Solution] The reducer 100 comprises a planetary gear mechanism 10, a first connecting portion 20 connected to a first connecting object T1, a second connecting portion 30 connected to a second connecting object T2, and a drive connecting portion 40 connected to a drive source D, wherein the first ring gear 11, the second ring gear 12, and the carrier 3 are freely rotatable relative to each other around a first axis X1, the first ring gear 11 and the second ring gear 12 have a different number of teeth, the planetary gear 2 comprises a first gear portion 21 that meshes with the first ring gear 11 and a second gear portion 22 that meshes with the second ring gear 12, the first gear portion 21 and the second gear portion 22 are connected to rotate integrally around the second axis, and the drive connecting portion 40 rotates integrally with the carrier 3 and is formed in the shape of a shaft that penetrates the carrier 3 in the axial direction L at a radially inner side R1 with respect to the orbital trajectory of the planetary gear 2. [Selected Figure] Figure 1

Description

本発明は、遊星歯車機構と、第１の連結対象に連結される第１連結部と、第２の連結対象に連結される第２連結部と、駆動源に連結される駆動連結部と、を備えた減速機に関する。 The present invention relates to a reducer including a planetary gear mechanism, a first connecting part that is connected to a first connecting object, a second connecting part that is connected to a second connecting object, and a drive connecting part that is connected to a drive source.

このような減速機の一例が、下記の特許文献１に開示されている。以下、背景技術の説明では、特許文献１における符号を括弧内に引用する。 An example of such a reducer is disclosed in the following Patent Document 1. In the following explanation of the background art, the reference symbols in Patent Document 1 are quoted in parentheses.

特許文献１の減速機では、遊星歯車機構（１）は、サンギヤ（２０）と、互いに歯数が異なる第１リングギヤ（３０）及び第２リングギヤ（４０）と、サンギヤ（２０）に噛み合うと共に、第１リングギヤ（３０）及び第２リングギヤ（４０）に噛み合う遊星ギヤ（５０）と、当該遊星ギヤ（５０）を支持するキャリヤ（６０）と、を備えている。 In the reducer of Patent Document 1, the planetary gear mechanism (1) includes a sun gear (20), a first ring gear (30) and a second ring gear (40) that have different numbers of teeth, a planetary gear (50) that meshes with the sun gear (20) and also with the first ring gear (30) and the second ring gear (40), and a carrier (60) that supports the planetary gear (50).

第１の連結対象（１０）に連結される第１連結部は、第１リングギヤ（３０）と一体的に回転するように設けられている。第２の連結対象（４１）に連結される第２連結部は、第２リングギヤ（４０）と一体的に回転するように設けられている。駆動源に連結される駆動連結部（２）は、サンギヤ（２０）と一体的に回転するように設けられている。こうして、特許文献１の減速機は、駆動源の回転を減速して、第１の連結対象（１０）と第２の連結対象（４１）とに伝達するように構成されている。 The first connection part connected to the first connection object (10) is provided to rotate integrally with the first ring gear (30). The second connection part connected to the second connection object (41) is provided to rotate integrally with the second ring gear (40). The drive connection part (2) connected to the drive source is provided to rotate integrally with the sun gear (20). In this way, the reducer of Patent Document 1 is configured to reduce the rotation of the drive source and transmit it to the first connection object (10) and the second connection object (41).

特開２０１９－５２７２６号公報JP 2019-52726 A

上記の通り、特許文献１の減速機は、比較的多くのギヤを備えている。そのため、減速機の部品数の増加、及び減速機の構成の複雑化を招いていた。 As described above, the reducer in Patent Document 1 has a relatively large number of gears. This leads to an increase in the number of parts in the reducer and a complicated configuration of the reducer.

また、特許文献１の減速機は、駆動源が減速機に対して軸方向の一方側（例えば、特許文献１の図１における左側）から駆動連結部（２）に連結されることを想定した構成となっている。そのため、駆動源を減速機に対して軸方向の他方側（例えば、特許文献１の図１における右側）から駆動連結部（２）に連結させようとする場合、駆動連結部（２）と一体的に回転するサンギヤ（２０）の形状を変更させる必要がある。このように、特許文献１の減速機は、配置の自由度が低かった。 The reducer in Patent Document 1 is configured on the assumption that the drive source will be connected to the drive coupling part (2) from one axial side of the reducer (e.g., the left side in FIG. 1 of Patent Document 1). Therefore, when attempting to connect the drive source to the drive coupling part (2) from the other axial side of the reducer (e.g., the right side in FIG. 1 of Patent Document 1), it is necessary to change the shape of the sun gear (20) that rotates integrally with the drive coupling part (2). In this way, the reducer in Patent Document 1 had low freedom of arrangement.

そこで、部品数を少なく抑え、簡素な構成とすることが可能であると共に、配置の自由度を高め易い減速機の実現が望まれる。 Therefore, it is desirable to realize a reducer that can be simplified in configuration by keeping the number of parts to a minimum, while also allowing for greater freedom in placement.

上記に鑑みた、減速機の特徴構成は、
内歯車である第１リングギヤ及び第２リングギヤ、外歯車である遊星ギヤ、並びに前記遊星ギヤを支持するキャリヤを備えた遊星歯車機構と、
前記第１リングギヤと一体的に回転するように設けられ、第１の連結対象に連結される第１連結部と、
前記第２リングギヤと一体的に回転するように設けられ、第２の連結対象に連結される第２連結部と、
駆動源に連結される駆動連結部と、を備えた減速機であって、
互いに同軸上に配置された前記第１リングギヤと前記第２リングギヤと前記キャリヤとの軸心である第１軸心に平行な方向を軸方向とし、前記第１軸心に直交する方向を径方向として、
前記第１リングギヤと前記第２リングギヤと前記キャリヤとは、前記第１軸心回りに相対回転自在であり、
前記第１リングギヤと前記第２リングギヤとは歯数が異なり、
前記遊星ギヤは、前記第１リングギヤに噛み合う第１ギヤ部と、前記第２リングギヤに噛み合う第２ギヤ部と、を備え、
前記第１ギヤ部と前記第２ギヤ部とは、前記第１軸心と平行な別軸である第２軸心回りに一体的に回転するように連結され、
前記駆動連結部は、前記キャリヤと一体的に回転するように設けられていると共に、前記遊星ギヤの公転軌跡に対して前記径方向の内側において前記キャリヤを前記軸方向に貫通する軸状に形成されている点にある。 In view of the above, the characteristics and configuration of the reducer are as follows:
a planetary gear mechanism including a first ring gear and a second ring gear which are internal gears, a planetary gear which is an external gear, and a carrier which supports the planetary gears;
a first connecting portion provided to rotate integrally with the first ring gear and connected to a first connected object;
a second connecting portion provided to rotate integrally with the second ring gear and connected to a second connected object;
A reducer including a drive coupling portion coupled to a drive source,
A direction parallel to a first axis, which is an axis of the first ring gear, the second ring gear, and the carrier, which are arranged coaxially with each other, is defined as an axial direction, and a direction perpendicular to the first axis is defined as a radial direction,
the first ring gear, the second ring gear, and the carrier are relatively rotatable about the first axis;
The first ring gear and the second ring gear have different numbers of teeth,
the planetary gear includes a first gear portion that meshes with the first ring gear and a second gear portion that meshes with the second ring gear,
The first gear portion and the second gear portion are connected to each other so as to rotate integrally around a second axis that is a separate axis parallel to the first axis,
The drive connection portion is arranged to rotate integrally with the carrier, and is formed in the shape of a shaft that penetrates the carrier in the axial direction on the radially inner side with respect to the orbital trajectory of the planetary gear.

この特徴構成によれば、遊星歯車機構にサンギヤを設けることなく、駆動源の回転を減速して第１の連結対象と第２の連結対象とに伝達することができる。したがって、減速機の部品数を少なく抑え、減速機を簡素な構成とすることができる。
また、本特徴構成によれば、キャリヤと一体的に回転する駆動連結部が、遊星ギヤの公転軌跡に対して径方向の内側においてキャリヤを軸方向に貫通する軸状に形成されている。そのため、減速機に対して軸方向の一方側と他方側とのいずれの側からでも、駆動源を容易に駆動連結部に連結することができる。したがって、減速機の配置の自由度を高め易い。 According to this characteristic configuration, the rotation of the drive source can be reduced and transmitted to the first and second connected objects without providing a sun gear in the planetary gear mechanism, and therefore the number of parts of the reducer can be reduced and the reducer can have a simple configuration.
According to this characteristic configuration, the drive coupling portion that rotates integrally with the carrier is formed in the shape of a shaft that penetrates the carrier in the axial direction on the radially inner side of the revolution path of the planetary gear. Therefore, the drive source can be easily coupled to the drive coupling portion from either one or the other axial side of the reducer. This makes it easy to increase the degree of freedom in arranging the reducer.

実施形態に係る減速機の軸方向に沿う断面図FIG. 2 is a cross-sectional view taken along an axial direction of the reduction gear according to the embodiment; 図１におけるＩＩ－ＩＩ断面図Cross-sectional view taken along line II-II in FIG.

以下では、実施形態に係る減速機１００について、図面を参照して説明する。図１に示すように、減速機１００は、遊星歯車機構１０を備えている。 The following describes a reduction gear 100 according to an embodiment with reference to the drawings. As shown in FIG. 1, the reduction gear 100 includes a planetary gear mechanism 10.

遊星歯車機構１０は、内歯車である第１リングギヤ１１及び第２リングギヤ１２と、外歯車である遊星ギヤ２と、当該遊星ギヤ２を支持するキャリヤ３と、を備えている。第１リングギヤ１１と第２リングギヤ１２とキャリヤ３とは、互いに同軸上に配置されている。第１リングギヤ１１と第２リングギヤ１２とキャリヤ３とは、それらの軸心である第１軸心Ｘ１回りに相対回転自在である。 The planetary gear mechanism 10 comprises a first ring gear 11 and a second ring gear 12 which are internal gears, a planetary gear 2 which is an external gear, and a carrier 3 which supports the planetary gear 2. The first ring gear 11, the second ring gear 12, and the carrier 3 are arranged coaxially with each other. The first ring gear 11, the second ring gear 12, and the carrier 3 are relatively rotatable about the first axis X1 which is their axis.

以下の説明では、第１軸心Ｘ１に平行な方向を「軸方向Ｌ」とする。そして、軸方向Ｌの一方側を「軸方向第１側Ｌ１」とし、軸方向Ｌの他方側を「軸方向第２側Ｌ２」とする。また、第１軸心Ｘ１に直交する方向を「径方向Ｒ」とする。そして、径方向Ｒにおいて、第１軸心Ｘ１側を「径方向内側Ｒ１」とし、その反対側を「径方向外側Ｒ２」とする。 In the following description, the direction parallel to the first axis X1 is referred to as the "axial direction L". One side of the axial direction L is referred to as the "first axial side L1", and the other side of the axial direction L is referred to as the "second axial side L2". The direction perpendicular to the first axis X1 is referred to as the "radial direction R". In the radial direction R, the side of the first axis X1 is referred to as the "radial inner side R1", and the opposite side is referred to as the "radial outer side R2".

第１リングギヤ１１と第２リングギヤ１２とは歯数が異なっている。第１リングギヤ１１と第２リングギヤ１２とは、軸方向Ｌに並んで配置されている。本実施形態では、第２リングギヤ１２が第１リングギヤ１１に対して軸方向第２側Ｌ２に配置されている。 The first ring gear 11 and the second ring gear 12 have different numbers of teeth. The first ring gear 11 and the second ring gear 12 are arranged side by side in the axial direction L. In this embodiment, the second ring gear 12 is arranged on the second axial side L2 relative to the first ring gear 11.

遊星ギヤ２は、第１リングギヤ１１に噛み合う第１ギヤ部２１と、第２リングギヤ１２に噛み合う第２ギヤ部２２と、を備えている。第１ギヤ部２１と第２ギヤ部２２とは、一体的に回転するように互いに連結されている。第１ギヤ部２１と第２ギヤ部２２とは、第１軸心Ｘ１と平行な別軸である第２軸心Ｘ２回りに回転（自転）する。更に、第１ギヤ部２１と第２ギヤ部２２とは、キャリヤ３の回転に伴って、第１軸心Ｘ１を中心として回転（公転）する。第１ギヤ部２１と第２ギヤ部２２とは歯数が同じであっても良いが、本実施形態では、第１ギヤ部２１と第２ギヤ部２２とは歯数が異なっている。 The planetary gear 2 includes a first gear portion 21 that meshes with the first ring gear 11, and a second gear portion 22 that meshes with the second ring gear 12. The first gear portion 21 and the second gear portion 22 are connected to each other so as to rotate integrally. The first gear portion 21 and the second gear portion 22 rotate (spin) around a second axis X2 that is a separate axis parallel to the first axis X1. Furthermore, the first gear portion 21 and the second gear portion 22 rotate (revolve) around the first axis X1 as the carrier 3 rotates. The first gear portion 21 and the second gear portion 22 may have the same number of teeth, but in this embodiment, the first gear portion 21 and the second gear portion 22 have different numbers of teeth.

第１ギヤ部２１及び第２ギヤ部２２は、第２軸心Ｘ２上に配置された遊星軸４に支持されている。遊星軸４は、軸方向Ｌに延在する軸部材である。本実施形態では、遊星軸４は、第１ギヤ部２１及び第２ギヤ部２２を軸方向Ｌに貫通するように配置されている。そして、遊星軸４は、第１ギヤ部２１から軸方向第１側Ｌ１に突出すると共に、第２ギヤ部２２から軸方向第２側Ｌ２に突出するように配置されている。 The first gear portion 21 and the second gear portion 22 are supported by a planetary shaft 4 arranged on the second axis X2. The planetary shaft 4 is a shaft member extending in the axial direction L. In this embodiment, the planetary shaft 4 is arranged so as to penetrate the first gear portion 21 and the second gear portion 22 in the axial direction L. The planetary shaft 4 is arranged so as to protrude from the first gear portion 21 to the first axial side L1 and to protrude from the second gear portion 22 to the second axial side L2.

本実施形態では、第１ギヤ部２１は、当該第１ギヤ部２１と遊星軸４との径方向Ｒの間に配置された第１ピニオン軸受４１を介して、遊星軸４に対して相対回転自在に配置されている。そして、第２ギヤ部２２は、当該第２ギヤ部２２と遊星軸４との径方向Ｒの間に配置された第２ピニオン軸受４２を介して、遊星軸４に対して相対回転自在に配置されている。 In this embodiment, the first gear portion 21 is arranged to be rotatable relative to the planetary shaft 4 via a first pinion bearing 41 arranged between the first gear portion 21 and the planetary shaft 4 in the radial direction R. The second gear portion 22 is arranged to be rotatable relative to the planetary shaft 4 via a second pinion bearing 42 arranged between the second gear portion 22 and the planetary shaft 4 in the radial direction R.

キャリヤ３は、遊星軸４を支持する軸支持部３１を備えている。軸支持部３１は、遊星軸４が挿入される軸挿入部３２と、遊星軸４における軸挿入部３２に挿入された部分を径方向外側Ｒ２に押圧する弾性部材３３と、を備えている。本実施形態の遊星歯車機構１０では、弾性部材３３により遊星軸４が径方向外側Ｒ２に押圧されるため、遊星軸４により支持された第１ギヤ部２１及び第２ギヤ部２２が、第１リングギヤ１１及び第２リングギヤ１２に向けて付勢された状態となっている。これにより、第１リングギヤ１１及び第２リングギヤ１２と遊星ギヤ２との噛み合い部分におけるバックラッシを低減することが可能となっている。 The carrier 3 has a shaft support portion 31 that supports the planetary shaft 4. The shaft support portion 31 has a shaft insertion portion 32 into which the planetary shaft 4 is inserted, and an elastic member 33 that presses the portion of the planetary shaft 4 inserted into the shaft insertion portion 32 radially outward R2. In the planetary gear mechanism 10 of this embodiment, the planetary shaft 4 is pressed radially outward R2 by the elastic member 33, so that the first gear portion 21 and the second gear portion 22 supported by the planetary shaft 4 are biased toward the first ring gear 11 and the second ring gear 12. This makes it possible to reduce backlash at the meshing portion between the first ring gear 11 and the second ring gear 12 and the planetary gear 2.

本実施形態では、軸支持部３１は、一対の径方向延在部３４を更に備えている。一対の径方向延在部３４のそれぞれは、径方向Ｒに延在するように形成されている。一対の径方向延在部３４のそれぞれは、当該径方向延在部３４の内周面が遊星ギヤ２の公転軌跡よりも径方向内側Ｒ１に位置するように形成されている。径方向延在部３４は、遊星ギヤ２の第１ギヤ部２１及び第２ギヤ部２２に対して、軸方向Ｌの両側のそれぞれに配置されている。以下では、説明の便宜上、一対の径方向延在部３４のうち、第１ギヤ部２１及び第２ギヤ部２２に対して軸方向第１側Ｌ１に配置されたものを「第１径方向延在部３４Ａ」とし、第１ギヤ部２１及び第２ギヤ部２２に対して軸方向第２側Ｌ２に配置されたものを「第２径方向延在部３４Ｂ」とする場合がある。 In this embodiment, the shaft support portion 31 further includes a pair of radially extending portions 34. Each of the pair of radially extending portions 34 is formed to extend in the radial direction R. Each of the pair of radially extending portions 34 is formed so that the inner peripheral surface of the radially extending portion 34 is located radially inward R1 from the revolution trajectory of the planetary gear 2. The radially extending portions 34 are disposed on both sides of the first gear portion 21 and the second gear portion 22 of the planetary gear 2 in the axial direction L. In the following, for convenience of explanation, the pair of radially extending portions 34 that are disposed on the first axial side L1 with respect to the first gear portion 21 and the second gear portion 22 may be referred to as the "first radially extending portion 34A", and the one that is disposed on the second axial side L2 with respect to the first gear portion 21 and the second gear portion 22 may be referred to as the "second radially extending portion 34B".

本実施形態では、一対の径方向延在部３４のそれぞれに、軸挿入部３２が形成されている。以下では、説明の便宜上、第１径方向延在部３４Ａに形成された軸挿入部３２を「第１軸挿入部３２Ａ」とし、第２径方向延在部３４Ｂに形成された軸挿入部３２を「第２軸挿入部３２Ｂ」とする場合がある。 In this embodiment, a shaft insertion portion 32 is formed in each of the pair of radially extending portions 34. In the following, for ease of explanation, the shaft insertion portion 32 formed in the first radially extending portion 34A may be referred to as the "first shaft insertion portion 32A," and the shaft insertion portion 32 formed in the second radially extending portion 34B may be referred to as the "second shaft insertion portion 32B."

本実施形態では、軸挿入部３２は、径方向延在部３４を軸方向Ｌに貫通する貫通孔である。より詳細には、第１径方向延在部３４Ａに、当該第１径方向延在部３４Ａを軸方向Ｌに貫通する貫通孔としての第１軸挿入部３２Ａが形成されていると共に、第２径方向延在部３４Ｂに、当該第２径方向延在部３４Ｂを軸方向Ｌに貫通する貫通孔としての第２軸挿入部３２Ｂが形成されている。そして、遊星軸４の軸方向第１側Ｌ１の端部が第１軸挿入部３２Ａに挿入され、遊星軸４の軸方向第２側Ｌ２の端部が第２軸挿入部３２Ｂに挿入されている。 In this embodiment, the shaft insertion portion 32 is a through hole that penetrates the radial extension portion 34 in the axial direction L. More specifically, the first radial extension portion 34A is formed with a first shaft insertion portion 32A as a through hole that penetrates the first radial extension portion 34A in the axial direction L, and the second radial extension portion 34B is formed with a second shaft insertion portion 32B as a through hole that penetrates the second radial extension portion 34B in the axial direction L. The end of the planetary shaft 4 on the first axial side L1 is inserted into the first shaft insertion portion 32A, and the end of the planetary shaft 4 on the second axial side L2 is inserted into the second shaft insertion portion 32B.

また、本実施形態では、一対の径方向延在部３４のそれぞれに、貫通孔３５が形成されている。貫通孔３５は、径方向延在部３４の内周面と軸挿入部３２との間を径方向Ｒに貫通するように形成されている。言い換えれば、貫通孔３５は、軸挿入部３２から径方向内側Ｒ１に向けて、径方向延在部３４を径方向Ｒに貫通するように形成されている。以下では、説明の便宜上、第１径方向延在部３４Ａに形成された貫通孔３５を「第１貫通孔３５Ａ」とし、第２径方向延在部３４Ｂに形成された貫通孔３５を「第２貫通孔３５Ｂ」とする場合がある。 In this embodiment, a through hole 35 is formed in each of the pair of radially extending portions 34. The through hole 35 is formed to penetrate between the inner circumferential surface of the radially extending portion 34 and the shaft insertion portion 32 in the radial direction R. In other words, the through hole 35 is formed to penetrate the radially extending portion 34 in the radial direction R from the shaft insertion portion 32 toward the radially inward direction R1. In the following, for convenience of explanation, the through hole 35 formed in the first radially extending portion 34A may be referred to as the "first through hole 35A" and the through hole 35 formed in the second radially extending portion 34B may be referred to as the "second through hole 35B".

貫通孔３５は、軸挿入部３２に連通する第１開口部３５ａと、径方向延在部３４の内周面に連通する第２開口部３５ｂとを含む。第１開口部３５ａは、貫通孔３５における径方向外側Ｒ２を向く開口部である。第２開口部３５ｂは、貫通孔３５における径方向内側Ｒ１を向く開口部である。本実施形態では、第２開口部３５ｂには雌ねじが形成されている。より詳細には、径方向延在部３４における第２開口部３５ｂを形成する内側面に雌ねじが形成されている。 The through hole 35 includes a first opening 35a that communicates with the shaft insertion portion 32 and a second opening 35b that communicates with the inner peripheral surface of the radial extension portion 34. The first opening 35a is an opening that faces the radially outer side R2 of the through hole 35. The second opening 35b is an opening that faces the radially inner side R1 of the through hole 35. In this embodiment, a female thread is formed in the second opening 35b. More specifically, a female thread is formed on the inner surface that forms the second opening 35b in the radial extension portion 34.

弾性部材３３は、貫通孔３５の内部に配置されている。弾性部材３３は、貫通孔３５の内部に配置された状態で、少なくとも径方向Ｒに弾性を有している。弾性部材３３は、貫通孔３５の第１開口部３５ａを通して、遊星軸４を押圧するように配置されている。本実施形態では、弾性部材３３は、圧縮コイルばねである。以下では、説明の便宜上、第１貫通孔３５Ａの内部に配置された弾性部材３３を「第１弾性部材３３Ａ」とし、第２貫通孔３５Ｂの内部に配置された弾性部材３３を「第２弾性部材３３Ｂ」とする場合がある。 The elastic member 33 is disposed inside the through hole 35. When disposed inside the through hole 35, the elastic member 33 has elasticity at least in the radial direction R. The elastic member 33 is disposed so as to press the planetary shaft 4 through the first opening 35a of the through hole 35. In this embodiment, the elastic member 33 is a compression coil spring. For ease of explanation, in the following description, the elastic member 33 disposed inside the first through hole 35A may be referred to as the "first elastic member 33A" and the elastic member 33 disposed inside the second through hole 35B may be referred to as the "second elastic member 33B."

本実施形態では、軸支持部３１は、貫通孔３５の第２開口部３５ｂの雌ねじに螺合する雄ねじが形成された押圧部材３６を更に備えている。押圧部材３６の雄ねじが第２開口部３５ｂの雌ねじに螺合されることで、押圧部材３６により弾性部材３３が径方向Ｒに圧縮される。その結果、弾性部材３３の反発力により、遊星軸４が径方向外側Ｒ２に押圧される。なお、本実施形態では、押圧部材３６は、第２開口部３５ｂの雌ねじに螺合する雄ねじが形成されたボルトである。以下では、説明の便宜上、第１貫通孔３５Ａに配置された押圧部材３６を「第１押圧部材３６Ａ」とし、第２貫通孔３５Ｂに配置された押圧部材３６を「第２押圧部材３６Ｂ」とする場合がある。 In this embodiment, the shaft support portion 31 further includes a pressing member 36 having a male thread formed thereon to be screwed into the female thread of the second opening 35b of the through hole 35. The male thread of the pressing member 36 is screwed into the female thread of the second opening 35b, and the elastic member 33 is compressed in the radial direction R by the pressing member 36. As a result, the planetary shaft 4 is pressed radially outward R2 by the repulsive force of the elastic member 33. In this embodiment, the pressing member 36 is a bolt having a male thread formed thereon to be screwed into the female thread of the second opening 35b. In the following, for convenience of explanation, the pressing member 36 arranged in the first through hole 35A may be referred to as the "first pressing member 36A" and the pressing member 36 arranged in the second through hole 35B may be referred to as the "second pressing member 36B".

また、本実施形態では、遊星軸４における軸挿入部３２に挿入された部分と、弾性部材３３との径方向Ｒの間に、スペーサ３３１が配置されている。そのため、本実施形態では、弾性部材３３は、スペーサ３３１を介して、遊星軸４を径方向外側Ｒ２に押圧している。こうして、本実施形態では、スペーサ３３１の厚み（径方向Ｒの寸法）及び押圧部材３６の雄ねじが形成された部分の長さ（径方向Ｒの寸法）の少なくとも一方の変更により、弾性部材３３の変形量、延いては弾性部材３３の遊星軸４に対する押圧力を調整することが可能となっている。 In addition, in this embodiment, a spacer 331 is disposed between the portion of the planetary shaft 4 inserted into the shaft insertion portion 32 and the elastic member 33 in the radial direction R. Therefore, in this embodiment, the elastic member 33 presses the planetary shaft 4 radially outward R2 via the spacer 331. Thus, in this embodiment, by changing at least one of the thickness (dimension in the radial direction R) of the spacer 331 and the length (dimension in the radial direction R) of the portion where the male thread of the pressing member 36 is formed, it is possible to adjust the deformation amount of the elastic member 33, and therefore the pressing force of the elastic member 33 against the planetary shaft 4.

図２に示すように、本実施形態では、遊星ギヤ２は、第１軸心Ｘ１を周回する方向である周方向Ｃに沿って、互いに間隔を空けて規定数（図示の例では、４つ）設けられている。それに伴い、遊星ギヤ２の第１ギヤ部２１及び第２ギヤ部２２を支持する遊星軸４も、周方向Ｃに沿って、互いに間隔を空けて上記規定数（つまり、遊星ギヤ２と同数）設けられている。また、第１軸挿入部３２Ａ、第２軸挿入部３２Ｂ、第１弾性部材３３Ａ、第２弾性部材３３Ｂ、第１貫通孔３５Ａ、第２貫通孔３５Ｂ、第１押圧部材３６Ａ、及び第２押圧部材３６Ｂのそれぞれも、周方向Ｃに沿って、互いに間隔を空けて上記規定数設けられている。 As shown in FIG. 2, in this embodiment, the planetary gears 2 are provided at intervals along the circumferential direction C, which is the direction around the first axis X1, in a specified number (four in the illustrated example). Accordingly, the planetary shafts 4 supporting the first gear portion 21 and the second gear portion 22 of the planetary gears 2 are also provided at intervals along the circumferential direction C in the specified number (i.e., the same number as the planetary gears 2). In addition, the first shaft insertion portion 32A, the second shaft insertion portion 32B, the first elastic member 33A, the second elastic member 33B, the first through hole 35A, the second through hole 35B, the first pressing member 36A, and the second pressing member 36B are also provided at intervals along the circumferential direction C in the specified number.

図１に示すように、減速機１００は、第１の連結対象Ｔ１に連結される第１連結部２０と、第２の連結対象Ｔ２に連結される第２連結部３０と、駆動源Ｄに連結される駆動連結部４０と、を更に備えている。 As shown in FIG. 1, the reducer 100 further includes a first connecting portion 20 connected to a first connecting object T1, a second connecting portion 30 connected to a second connecting object T2, and a drive connecting portion 40 connected to a drive source D.

本実施形態では、減速機１００は、多関節ロボットの関節部分に設けられる。そのため、本実施形態では、第１の連結対象Ｔ１は、複数のロボットアームの１つである第１のロボットアームであり、第２の連結対象Ｔ２は、第１のロボットアームとは異なる第２のロボットアームである。また、本実施形態では、駆動源Ｄは、軸方向Ｌに延在する駆動軸Ｄａを備えている。本例では、駆動源Ｄは、ステータ及びロータを備えた電動モータである。ステータは、第２の連結対象Ｔ２に固定されている。ロータは、駆動軸Ｄａと一体的に回転するように連結されている。 In this embodiment, the reducer 100 is provided at a joint of a multi-joint robot. Therefore, in this embodiment, the first connection object T1 is a first robot arm that is one of multiple robot arms, and the second connection object T2 is a second robot arm that is different from the first robot arm. Also, in this embodiment, the driving source D has a driving shaft Da that extends in the axial direction L. In this example, the driving source D is an electric motor that has a stator and a rotor. The stator is fixed to the second connection object T2. The rotor is connected to rotate integrally with the driving shaft Da.

第１連結部２０は、第１リングギヤ１１と一体的に回転するように設けられている。本実施形態では、第１連結部２０は、第１リングギヤ１１から径方向外側Ｒ２に突出するように形成されている。そして、第１連結部２０には、第１の連結対象Ｔ１との連結に用いられるボルトが螺合される孔が、軸方向Ｌに沿って形成されている。 The first connecting portion 20 is provided so as to rotate integrally with the first ring gear 11. In this embodiment, the first connecting portion 20 is formed so as to protrude from the first ring gear 11 to the radially outward side R2. The first connecting portion 20 has a hole formed along the axial direction L into which a bolt is screwed for connection to the first connection object T1.

第２連結部３０は、第２リングギヤ１２と一体的に回転するように設けられている。本実施形態では、第２連結部３０は、第２支持部材６２の第２内側支持部６２１と一体的に形成されている。そして、第２連結部３０には、第２の連結対象Ｔ２との連結に用いられるボルトが螺合される孔が、軸方向Ｌに沿って形成されている。 The second connecting portion 30 is provided so as to rotate integrally with the second ring gear 12. In this embodiment, the second connecting portion 30 is formed integrally with the second inner support portion 621 of the second support member 62. The second connecting portion 30 has a hole formed along the axial direction L into which a bolt is screwed for connection to the second connection object T2.

駆動連結部４０は、キャリヤ３と一体的に回転するように設けられている。駆動連結部４０は、遊星ギヤ２の公転軌跡に対して径方向内側Ｒ１に配置されている。駆動連結部４０は、キャリヤ３を軸方向Ｌに貫通する軸状に形成されている。本実施形態では、駆動連結部４０は、第１軸心Ｘ１を軸心とする筒状に形成されている。図示の例では、駆動連結部４０は、当該駆動連結部４０の内周面と、キャリヤ３における第１径方向延在部３４Ａ及び第２径方向延在部３４Ｂの内周面とが面一となるように、第１径方向延在部３４Ａ及び第２径方向延在部３４Ｂに連結されている。 The drive connection part 40 is arranged to rotate integrally with the carrier 3. The drive connection part 40 is arranged on the radial inner side R1 with respect to the revolution trajectory of the planetary gear 2. The drive connection part 40 is formed in a shaft shape penetrating the carrier 3 in the axial direction L. In this embodiment, the drive connection part 40 is formed in a cylindrical shape with the first axis X1 as its axis. In the illustrated example, the drive connection part 40 is connected to the first radial extension part 34A and the second radial extension part 34B such that the inner circumferential surface of the drive connection part 40 is flush with the inner circumferential surfaces of the first radial extension part 34A and the second radial extension part 34B of the carrier 3.

本実施形態では、駆動連結部４０の内周面における遊星ギヤ２に対して軸方向第１側Ｌ１の領域に、駆動源Ｄの駆動軸Ｄａが係合可能な第１係合部４０ａが設けられている。また、駆動連結部４０の内周面における遊星ギヤ２に対して軸方向第２側Ｌ２の領域に、駆動源Ｄの駆動軸Ｄａが係合可能な第２係合部４０ｂが設けられている。第１係合部４０ａ及び第２係合部４０ｂのそれぞれは、駆動軸Ｄａが周方向Ｃに係合可能に構成される。ここで、「周方向Ｃに係合」とは、周方向Ｃの相対回転が規制されるように係合すること（例えば、周方向Ｃに相対回転不能に係合すること）を意味する。 In this embodiment, a first engagement portion 40a is provided on the inner peripheral surface of the drive connecting portion 40 in an area on the first axial side L1 relative to the planetary gear 2, with which the drive shaft Da of the drive source D can engage. Also, a second engagement portion 40b is provided on the inner peripheral surface of the drive connecting portion 40 in an area on the second axial side L2 relative to the planetary gear 2, with which the drive shaft Da of the drive source D can engage. Each of the first engagement portion 40a and the second engagement portion 40b is configured so that the drive shaft Da can engage in the circumferential direction C. Here, "engage in the circumferential direction C" means engaging in such a way that relative rotation in the circumferential direction C is restricted (for example, engaging in such a way that relative rotation in the circumferential direction C is not possible).

本例では、第１係合部４０ａは、駆動連結部４０の軸方向第１側Ｌ１の端面から軸方向第２側Ｌ２に向けて形成されたキー溝である。そして、第２係合部４０ｂは、駆動連結部４０の軸方向第２側Ｌ２の端面から軸方向第１側Ｌ１に向けて形成されたキー溝である。本例では、駆動源Ｄの駆動軸Ｄａの外周面に、キー溝としての第１係合部４０ａ及び第２係合部４０ｂのいずれにも係合可能なキーＤｂが形成されている。そのため、駆動源Ｄを減速機１００に対して軸方向第１側Ｌ１に配置する場合には、駆動連結部４０に対して径方向内側Ｒ１に軸方向第１側Ｌ１から駆動軸Ｄａを挿入すると共に、駆動軸ＤａのキーＤｂを第１係合部４０ａに係合させることで、駆動軸Ｄａと駆動連結部４０とが一体的に回転するように連結させることができる。また、駆動源Ｄを減速機１００に対して軸方向第２側Ｌ２に配置する場合には、駆動連結部４０に対して径方向内側Ｒ１に、軸方向第２側Ｌ２から駆動軸Ｄａを挿入すると共に、駆動軸ＤａのキーＤｂを第２係合部４０ｂに係合させることで、駆動軸Ｄａと駆動連結部４０とが一体的に回転するように連結させることができる。 In this example, the first engagement portion 40a is a key groove formed from the end face of the axial first side L1 of the drive connection portion 40 toward the axial second side L2. And the second engagement portion 40b is a key groove formed from the end face of the axial second side L2 of the drive connection portion 40 toward the axial first side L1. In this example, a key Db that can engage with both the first engagement portion 40a and the second engagement portion 40b as a key groove is formed on the outer circumferential surface of the drive shaft Da of the drive source D. Therefore, when the drive source D is disposed on the axial first side L1 with respect to the reducer 100, the drive shaft Da is inserted from the axial first side L1 to the radial inner side R1 with respect to the drive connection portion 40, and the key Db of the drive shaft Da is engaged with the first engagement portion 40a, so that the drive shaft Da and the drive connection portion 40 can be connected so as to rotate integrally. In addition, when the drive source D is disposed on the second axial side L2 relative to the reducer 100, the drive shaft Da can be inserted from the second axial side L2 radially inward R1 relative to the drive connection part 40, and the key Db of the drive shaft Da can be engaged with the second engagement part 40b, thereby connecting the drive shaft Da and the drive connection part 40 so that they rotate together.

以上のように、減速機１００は、
内歯車である第１リングギヤ１１及び第２リングギヤ１２、外歯車である遊星ギヤ２、並びに遊星ギヤ２を支持するキャリヤ３を備えた遊星歯車機構１０と、
第１リングギヤ１１と一体的に回転するように設けられ、第１の連結対象Ｔ１に連結される第１連結部２０と、
第２リングギヤ１２と一体的に回転するように設けられ、第２の連結対象Ｔ２に連結される第２連結部３０と、
駆動源Ｄに連結される駆動連結部４０と、を備えた減速機１００であって、
互いに同軸上に配置された第１リングギヤ１１と第２リングギヤ１２とキャリヤ３との軸心である第１軸心Ｘ１に平行な方向を軸方向Ｌとし、第１軸心Ｘ１に直交する方向を径方向Ｒとして、
第１リングギヤ１１と第２リングギヤ１２とキャリヤ３とは、第１軸心Ｘ１回りに相対回転自在であり、
第１リングギヤ１１と第２リングギヤ１２とは歯数が異なり、
遊星ギヤ２は、第１リングギヤ１１に噛み合う第１ギヤ部２１と、第２リングギヤ１２に噛み合う第２ギヤ部２２と、を備え、
第１ギヤ部２１と第２ギヤ部２２とは、第１軸心Ｘ１と平行な別軸である第２軸心Ｘ２回りに一体的に回転するように連結され、
駆動連結部４０は、キャリヤ３と一体的に回転するように設けられていると共に、遊星ギヤ２の公転軌跡に対して径方向内側Ｒ１においてキャリヤ３を軸方向Ｌに貫通する軸状に形成されている。 As described above, the reducer 100 has the following features:
a planetary gear mechanism 10 including a first ring gear 11 and a second ring gear 12 which are internal gears, a planetary gear 2 which is an external gear, and a carrier 3 which supports the planetary gear 2;
a first connecting portion 20 that is provided so as to rotate integrally with the first ring gear 11 and that is connected to a first connected object T1;
a second connecting portion 30 that is provided so as to rotate integrally with the second ring gear 12 and is connected to a second connected object T2;
A reducer 100 including a drive connecting portion 40 connected to a drive source D,
A direction parallel to a first axis X1, which is the axis of the first ring gear 11, the second ring gear 12, and the carrier 3 that are arranged coaxially with each other, is defined as an axial direction L, and a direction perpendicular to the first axis X1 is defined as a radial direction R.
The first ring gear 11, the second ring gear 12, and the carrier 3 are relatively rotatable about a first axis X1.
The first ring gear 11 and the second ring gear 12 have different numbers of teeth.
The planetary gear 2 includes a first gear portion 21 that meshes with the first ring gear 11 and a second gear portion 22 that meshes with the second ring gear 12.
The first gear portion 21 and the second gear portion 22 are connected to each other so as to rotate integrally around a second axis X2 which is a separate axis parallel to the first axis X1.
The drive connecting portion 40 is provided so as to rotate integrally with the carrier 3, and is formed in a shaft shape penetrating the carrier 3 in the axial direction L on the radially inner side R1 with respect to the revolution locus of the planetary gear 2.

この構成によれば、遊星歯車機構１０にサンギヤを設けることなく、駆動源Ｄの回転を減速して第１の連結対象Ｔ１と第２の連結対象Ｔ２とに伝達することができる。したがって、減速機１００の部品数を少なく抑え、減速機１００を簡素な構成とすることができる。
また、本構成によれば、キャリヤ３と一体的に回転する駆動連結部４０が、遊星ギヤ２の公転軌跡に対して径方向内側Ｒ１においてキャリヤ３を軸方向Ｌに貫通する軸状に形成されている。そのため、減速機１００に対して軸方向Ｌの一方側と他方側とのいずれの側からでも、駆動源Ｄを容易に駆動連結部４０に連結することができる。したがって、減速機１００の配置の自由度を高め易い。 According to this configuration, the rotation of the drive source D can be decelerated and transmitted to the first connection object T1 and the second connection object T2 without providing a sun gear in the planetary gear mechanism 10. Therefore, the number of parts of the reducer 100 can be reduced, and the reducer 100 can have a simple configuration.
Furthermore, according to this configuration, the drive connecting portion 40, which rotates integrally with the carrier 3, is formed in the shape of a shaft penetrating the carrier 3 in the axial direction L on the radially inner side R1 with respect to the revolution trajectory of the planetary gear 2. Therefore, the drive source D can be easily connected to the drive connecting portion 40 from either one side or the other side of the reducer 100 in the axial direction L. This makes it easy to increase the degree of freedom in the arrangement of the reducer 100.

また、上述したように、本実施形態では、駆動連結部４０は、第１軸心Ｘ１を軸心とする筒状に形成され、
駆動連結部４０の内周面における遊星ギヤ２に対して軸方向第１側Ｌ１の領域に、駆動源Ｄの駆動軸Ｄａが係合可能な第１係合部４０ａが設けられ、
駆動連結部４０の内周面における遊星ギヤ２に対して軸方向第２側Ｌ２の領域に、駆動源Ｄの駆動軸Ｄａが係合可能な第２係合部４０ｂが設けられている。 As described above, in this embodiment, the drive connecting portion 40 is formed in a cylindrical shape with the first axis X1 as its axis.
A first engagement portion 40a is provided in an area of the inner peripheral surface of the drive connecting portion 40 on the first axial side L1 relative to the planetary gear 2, with which the drive shaft Da of the drive source D can be engaged.
A second engagement portion 40b with which the drive shaft Da of the drive source D can be engaged is provided in an area on the inner peripheral surface of the drive connecting portion 40 on the second axial side L2 relative to the planetary gear 2.

この構成によれば、減速機１００に対して軸方向Ｌの一方側と他方側とのいずれの側からでも、駆動源Ｄの駆動軸Ｄａを容易に駆動連結部４０に連結することができる。
また、本構成によれば、筒状の駆動連結部４０の内周面に、駆動源Ｄの駆動軸Ｄａが係合可能な第１係合部４０ａ及び第２係合部４０ｂが設けられている。したがって、第１係合部４０ａ及び第２係合部４０ｂが駆動連結部４０の外周面や軸端部に設けられた構成に比べて、減速機１００の軸方向Ｌの寸法を小さく抑え易い。 According to this configuration, the drive shaft Da of the drive source D can be easily connected to the drive connecting portion 40 from either one side or the other side in the axial direction L of the reducer 100.
Furthermore, according to this configuration, the first engaging portion 40a and the second engaging portion 40b with which the drive shaft Da of the drive source D can engage are provided on the inner peripheral surface of the cylindrical drive connecting portion 40. Therefore, compared to a configuration in which the first engaging portion 40a and the second engaging portion 40b are provided on the outer peripheral surface or the shaft end of the drive connecting portion 40, it is easier to keep the dimension of the reducer 100 in the axial direction L small.

図１に示すように、本実施形態では、減速機１００は、第１軸受５１と、第２軸受５２と、第１支持部材６１と、第２支持部材６２と、第１シール部材７１と、第２シール部材７２と、第３シール部材７３と、を更に備えている。 As shown in FIG. 1, in this embodiment, the reducer 100 further includes a first bearing 51, a second bearing 52, a first support member 61, a second support member 62, a first seal member 71, a second seal member 72, and a third seal member 73.

第１軸受５１は、第１支持部材６１と駆動連結部４０及びキャリヤ３とを相対回転自在に支持する軸受である。第１軸受５１は、第１軸心Ｘ１と同軸上に配置されている。また、第１軸受５１は、遊星ギヤ２に対して軸方向第１側Ｌ１に配置されている。 The first bearing 51 is a bearing that supports the first support member 61, the drive connection part 40, and the carrier 3 so that they can rotate freely relative to each other. The first bearing 51 is arranged coaxially with the first axis X1. The first bearing 51 is also arranged on the first axial side L1 with respect to the planetary gear 2.

第２軸受５２は、第２支持部材６２と駆動連結部４０及びキャリヤ３とを相対回転自在に支持する軸受である。第２軸受５２は、第１軸心Ｘ１と同軸上に配置されている。また、第２軸受５２は、遊星ギヤ２に対して軸方向第２側Ｌ２に配置されている。 The second bearing 52 is a bearing that supports the second support member 62, the drive connection part 40, and the carrier 3 so that they can rotate freely relative to each other. The second bearing 52 is arranged coaxially with the first axis X1. The second bearing 52 is also arranged on the second axial side L2 with respect to the planetary gear 2.

第１支持部材６１は、第１リングギヤ１１を支持する部材である。第１支持部材６１は、第１リングギヤ１１と一体的に回転するように設けられている。第１支持部材６１は、第１内側支持部６１１を備えている。第１内側支持部６１１は、遊星ギヤ２に対して軸方向第１側Ｌ１を通って、第１リングギヤ１１から径方向内側Ｒ１へ向けて延在するように形成されている。本実施形態では、第１内側支持部６１１は、第１リングギヤ１１から、第１軸受５１に対して軸方向第１側Ｌ１を通って、第１軸受５１よりも径方向内側Ｒ１まで延在するように形成されている。図１に示す例では、第１内側支持部６１１は、溶接により第１リングギヤ１１に連結されている。 The first support member 61 is a member that supports the first ring gear 11. The first support member 61 is provided so as to rotate integrally with the first ring gear 11. The first support member 61 has a first inner support portion 611. The first inner support portion 611 is formed so as to extend from the first ring gear 11 toward the radial inner side R1 through the axial first side L1 with respect to the planetary gear 2. In this embodiment, the first inner support portion 611 is formed so as to extend from the first ring gear 11 to the radial inner side R1 of the first bearing 51 through the axial first side L1 with respect to the first bearing 51. In the example shown in FIG. 1, the first inner support portion 611 is connected to the first ring gear 11 by welding.

第２支持部材６２は、第２リングギヤ１２を支持する部材である。第２支持部材６２は、第２リングギヤ１２と一体的に回転するように設けられている。第２支持部材６２は、第２内側支持部６２１を備えている。第２内側支持部６２１は、遊星ギヤ２に対して軸方向第２側Ｌ２を通って、第２リングギヤ１２から径方向内側Ｒ１へ向けて延在するように形成されている。本実施形態では、第２内側支持部６２１は、第２リングギヤ１２から、第２軸受５２に対して軸方向第２側Ｌ２を通って、第２軸受５２よりも径方向内側Ｒ１まで延在するように形成されている。図１に示す例では、第２内側支持部６２１は、溶接により第２リングギヤ１２に連結されている。 The second support member 62 is a member that supports the second ring gear 12. The second support member 62 is provided so as to rotate integrally with the second ring gear 12. The second support member 62 includes a second inner support portion 621. The second inner support portion 621 is formed so as to extend from the second ring gear 12 toward the radially inner side R1 through the axial second side L2 with respect to the planetary gear 2. In this embodiment, the second inner support portion 621 is formed so as to extend from the second ring gear 12 through the axial second side L2 with respect to the second bearing 52 to the radially inner side R1 of the second bearing 52. In the example shown in FIG. 1, the second inner support portion 621 is connected to the second ring gear 12 by welding.

本実施形態では、駆動連結部４０及びキャリヤ３の少なくとも一方は、第１外周面７ａと、第２外周面７ｂと、を備えている。 In this embodiment, at least one of the drive connection portion 40 and the carrier 3 has a first outer peripheral surface 7a and a second outer peripheral surface 7b.

第１外周面７ａは、遊星ギヤ２に対して軸方向第１側Ｌ１において、径方向外側Ｒ２を向くように形成された面である。本実施形態では、第１外周面７ａは、駆動連結部４０に形成されている。図１に示す例では、第１外周面７ａは、駆動連結部４０における第１径方向延在部３４Ａから軸方向第１側Ｌ１に突出した部分の外周面に形成されている。 The first outer peripheral surface 7a is a surface formed on the first axial side L1 relative to the planetary gear 2 so as to face the radially outward R2. In this embodiment, the first outer peripheral surface 7a is formed on the drive connecting portion 40. In the example shown in FIG. 1, the first outer peripheral surface 7a is formed on the outer peripheral surface of a portion of the drive connecting portion 40 that protrudes from the first radial extension portion 34A to the first axial side L1.

第２外周面７ｂは、遊星ギヤ２に対して軸方向第２側Ｌ２において、径方向外側Ｒ２を向くように形成された面である。本実施形態では、第２外周面７ｂは、駆動連結部４０に形成されている。図１に示す例では、第２外周面７ｂは、駆動連結部４０における第２径方向延在部３４Ｂから軸方向第２側Ｌ２に突出した部分の外周面に形成されている。 The second outer peripheral surface 7b is a surface formed on the second axial side L2 relative to the planetary gear 2 so as to face the radially outward R2. In this embodiment, the second outer peripheral surface 7b is formed on the drive connecting portion 40. In the example shown in FIG. 1, the second outer peripheral surface 7b is formed on the outer peripheral surface of a portion of the drive connecting portion 40 that protrudes from the second radially extending portion 34B to the second axial side L2.

本実施形態では、第１内側支持部６１１は、第１内周面７ｃを備えている。第１内周面７ｃは、第１外周面７ａに対して径方向外側Ｒ２から対向するように形成された面である。図１に示す例では、第１内周面７ｃは、第１内側支持部６１１の径方向内側Ｒ１の端部に形成されている。 In this embodiment, the first inner support portion 611 has a first inner peripheral surface 7c. The first inner peripheral surface 7c is a surface formed to face the first outer peripheral surface 7a from the radially outer side R2. In the example shown in FIG. 1, the first inner peripheral surface 7c is formed at the end of the first inner support portion 611 on the radially inner side R1.

本実施形態では、第２内側支持部６２１は、第２内周面７ｄを備えている。第２内周面７ｄは、第２外周面７ｂに対して径方向外側Ｒ２から対向するように形成された面である。図１に示す例では、第２内周面７ｄは、第２内側支持部６２１の径方向内側Ｒ１の端部に形成されている。 In this embodiment, the second inner support portion 621 has a second inner peripheral surface 7d. The second inner peripheral surface 7d is a surface formed to face the second outer peripheral surface 7b from the radially outer side R2. In the example shown in FIG. 1, the second inner peripheral surface 7d is formed at the end of the second inner support portion 621 on the radially inner side R1.

第１シール部材７１は、第１外周面７ａと第１内周面７ｃとの径方向Ｒの間を密封するように設けられている。第２シール部材７２は、第２外周面７ｂと第２内周面７ｄとの径方向Ｒの間を密封するように設けられている。 The first seal member 71 is provided to seal between the first outer peripheral surface 7a and the first inner peripheral surface 7c in the radial direction R. The second seal member 72 is provided to seal between the second outer peripheral surface 7b and the second inner peripheral surface 7d in the radial direction R.

第３シール部材７３は、第１支持部材６１と第２支持部材６２との間を密封するように設けられている。本実施形態では、第１支持部材６１は、外側支持部６１２を備えている。外側支持部６１２は、第２支持部材６２を径方向外側Ｒ２から覆うように形成されている。本実施形態では、第３シール部材７３は、外側支持部６１２と第２支持部材６２の第２内側支持部６２１との径方向Ｒの間に配置されている。 The third seal member 73 is provided to seal between the first support member 61 and the second support member 62. In this embodiment, the first support member 61 has an outer support portion 612. The outer support portion 612 is formed to cover the second support member 62 from the radial outside R2. In this embodiment, the third seal member 73 is disposed between the outer support portion 612 and the second inner support portion 621 of the second support member 62 in the radial direction R.

本実施形態では、駆動連結部４０及びキャリヤ３の少なくとも一方と、第１支持部材６１と、第２支持部材６２とにより囲まれた領域が、第１シール部材７１、第２シール部材７２、及び第３シール部材７３により密閉されている。そのため、本実施形態では、その領域内に、遊星歯車機構１０を潤滑するための潤滑剤を密封可能な構成となっている。 In this embodiment, the area surrounded by at least one of the drive connection portion 40 and the carrier 3, the first support member 61, and the second support member 62 is sealed by the first seal member 71, the second seal member 72, and the third seal member 73. Therefore, in this embodiment, the lubricant for lubricating the planetary gear mechanism 10 can be sealed within that area.

このように、本実施形態では、減速機１００は、
第１リングギヤ１１と一体的に回転するように設けられ、第１リングギヤ１１を支持する第１支持部材６１と、
第２リングギヤ１２と一体的に回転するように設けられ、第２リングギヤ１２を支持する第２支持部材６２と、を更に備え、
第１支持部材６１は、遊星ギヤ２に対して軸方向第１側Ｌ１を通って、第１リングギヤ１１から径方向内側Ｒ１へ向けて延在する第１内側支持部６１１を備え、
第２支持部材６２は、遊星ギヤ２に対して軸方向第２側Ｌ２を通って、第２リングギヤ１２から径方向内側Ｒ１へ向けて延在する第２内側支持部６２１を備え、
駆動連結部４０及びキャリヤ３の少なくとも一方は、遊星ギヤ２に対して軸方向第１側Ｌ１において径方向外側Ｒ２を向く第１外周面７ａと、遊星ギヤ２に対して軸方向第２側Ｌ２において径方向外側Ｒ２を向く第２外周面７ｂと、を備え、
第１内側支持部６１１は、第１外周面７ａに対して径方向外側Ｒ２から対向するように配置された第１内周面７ｃを備え、
第２内側支持部６２１は、第２外周面７ｂに対して径方向外側Ｒ２から対向するように配置された第２内周面７ｄを備え、
第１外周面７ａと第１内周面７ｃとの径方向Ｒの間を密封するように第１シール部材７１が設けられ、
第２外周面７ｂと第２内周面７ｄとの径方向Ｒの間を密封するように第２シール部材７２が設けられ、
第１支持部材６１と第２支持部材６２との間を密封するように第３シール部材７３が設けられている。 In this manner, in this embodiment, the reducer 100 has:
a first support member 61 that is provided to rotate integrally with the first ring gear 11 and supports the first ring gear 11;
a second support member 62 that is provided to rotate integrally with the second ring gear 12 and supports the second ring gear 12,
The first support member 61 includes a first inner support portion 611 that passes through a first axial side L1 with respect to the planetary gear 2 and extends from the first ring gear 11 toward a radially inner side R1.
The second support member 62 includes a second inner support portion 621 that passes through a second axial side L2 with respect to the planetary gear 2 and extends from the second ring gear 12 toward a radially inner side R1.
At least one of the drive connecting portion 40 and the carrier 3 includes a first outer peripheral surface 7a facing the radially outer side R2 on the axial first side L1 relative to the planetary gear 2, and a second outer peripheral surface 7b facing the radially outer side R2 on the axial second side L2 relative to the planetary gear 2,
The first inner support portion 611 includes a first inner circumferential surface 7 c arranged to face the first outer circumferential surface 7 a from the radially outer side R2,
The second inner support portion 621 includes a second inner circumferential surface 7d disposed so as to face the second outer circumferential surface 7b from the radially outer side R2,
A first seal member 71 is provided to seal between the first outer peripheral surface 7 a and the first inner peripheral surface 7 c in the radial direction R.
A second seal member 72 is provided to seal between the second outer peripheral surface 7 b and the second inner peripheral surface 7 d in the radial direction R.
A third seal member 73 is provided to seal the gap between the first support member 61 and the second support member 62 .

この構成によれば、遊星歯車機構１０を潤滑するための潤滑剤を、駆動連結部４０及びキャリヤ３の少なくとも一方と、第１支持部材６１と、第２支持部材６２とにより囲まれた領域内に密封することができる。つまり、別途ケース等を設けることなく、減速機１００の内部に潤滑剤を保持することができる。したがって、減速機１００の低コスト化及び小型化を図ることができる。 With this configuration, the lubricant for lubricating the planetary gear mechanism 10 can be sealed within an area surrounded by at least one of the drive connection part 40 and the carrier 3, the first support member 61, and the second support member 62. In other words, the lubricant can be held inside the reducer 100 without providing a separate case or the like. This allows the reducer 100 to be made smaller and less expensive.

本実施形態では、第１シール部材７１と第１係合部４０ａとが、径方向Ｒに沿う径方向視で互いに重複するように配置されている。また、第２シール部材７２と第２係合部４０ｂとが、径方向Ｒに沿う径方向視で互いに重複するように配置されている。本例では、第２シール部材７２と第３シール部材７３と第２係合部４０ｂとが、径方向Ｒに沿う径方向視で互いに重複するように配置されている。ここで、２つの要素の配置に関して、「特定方向視で重複する」とは、その視線方向に平行な仮想直線を当該仮想直線と直交する各方向に移動させた場合に、当該仮想直線が２つの要素の双方に交わる領域が少なくとも一部に存在することを指す。 In this embodiment, the first seal member 71 and the first engagement portion 40a are arranged so as to overlap each other when viewed in the radial direction along the radial direction R. Also, the second seal member 72 and the second engagement portion 40b are arranged so as to overlap each other when viewed in the radial direction along the radial direction R. In this example, the second seal member 72, the third seal member 73, and the second engagement portion 40b are arranged so as to overlap each other when viewed in the radial direction along the radial direction R. Here, with regard to the arrangement of two elements, "overlapping when viewed in a specific direction" refers to the existence of at least a portion of an area where a virtual line parallel to the line of sight intersects both of the two elements when the virtual line is moved in each direction perpendicular to the virtual line.

このように、本実施形態では、駆動連結部４０は、第１軸心Ｘ１を軸心とする筒状に形成され、
駆動連結部４０の内周面における遊星ギヤ２に対して軸方向第１側Ｌ１の領域に、駆動源Ｄの駆動軸Ｄａが係合可能な第１係合部４０ａが設けられ、
駆動連結部４０の内周面における遊星ギヤ２に対して軸方向第２側Ｌ２の領域に、駆動源Ｄの駆動軸Ｄａが係合可能な第２係合部４０ｂが設けられ、
第１シール部材７１と第１係合部４０ａとが、径方向Ｒに沿う径方向視で互いに重複するように配置され、
第２シール部材７２と第２係合部４０ｂとが、径方向Ｒに沿う径方向視で互いに重複するように配置されている。 In this manner, in the present embodiment, the drive connecting portion 40 is formed in a cylindrical shape with the first axis X1 as its axis.
A first engagement portion 40a is provided in an area of the inner peripheral surface of the drive connecting portion 40 on the first axial side L1 relative to the planetary gear 2, with which the drive shaft Da of the drive source D can be engaged.
A second engagement portion 40b is provided in an area of the inner peripheral surface of the drive connecting portion 40 on the second axial side L2 relative to the planetary gear 2, with which the drive shaft Da of the drive source D can be engaged.
The first seal member 71 and the first engagement portion 40a are arranged to overlap each other when viewed in the radial direction R,
The second seal member 72 and the second engagement portion 40b are disposed so as to overlap with each other when viewed in the radial direction R.

この構成によれば、径方向視で第１シール部材７１と第１係合部４０ａとが重複しない構成や、径方向視で第２シール部材７２と第２係合部４０ｂとが重複しない構成に比べて、減速機１００の軸方向Ｌの寸法を小さく抑え易い。 This configuration makes it easier to keep the axial dimension L of the reducer 100 small compared to a configuration in which the first seal member 71 and the first engagement portion 40a do not overlap when viewed in the radial direction, or a configuration in which the second seal member 72 and the second engagement portion 40b do not overlap when viewed in the radial direction.

本実施形態では、キャリヤ３は、第３外周面３ａと、第４外周面３ｂと、を備えている。 In this embodiment, the carrier 3 has a third outer peripheral surface 3a and a fourth outer peripheral surface 3b.

第３外周面３ａは、遊星ギヤ２に対して軸方向第１側Ｌ１において、径方向外側Ｒ２を向くように形成された面である。本実施形態では、第３外周面３ａは、第１径方向延在部３４Ａに形成されている。そして、第３外周面３ａは、軸方向Ｌに沿う軸方向視で、遊星軸４と重複するように形成されている。 The third outer peripheral surface 3a is a surface formed on the first axial side L1 relative to the planetary gear 2 so as to face the radially outward R2. In this embodiment, the third outer peripheral surface 3a is formed on the first radially extending portion 34A. The third outer peripheral surface 3a is formed so as to overlap with the planetary shaft 4 when viewed in the axial direction along the axial direction L.

第４外周面３ｂは、遊星ギヤ２に対して軸方向第２側Ｌ２において、径方向外側Ｒ２を向くように形成された面である。本実施形態では、第４外周面３ｂは、第２径方向延在部３４Ｂに形成されている。そして、第４外周面３ｂは、遊星軸４に対して径方向内側Ｒ１に形成されている。図１に示す例では、第４外周面３ｂは、軸方向Ｌに沿う軸方向視で、第１弾性部材３３Ａと重複するように形成されている。 The fourth outer peripheral surface 3b is a surface formed on the second axial side L2 relative to the planetary gear 2 so as to face the radially outward side R2. In this embodiment, the fourth outer peripheral surface 3b is formed on the second radially extending portion 34B. The fourth outer peripheral surface 3b is formed on the radially inward side R1 relative to the planetary shaft 4. In the example shown in FIG. 1, the fourth outer peripheral surface 3b is formed so as to overlap with the first elastic member 33A when viewed in the axial direction along the axial direction L.

本実施形態では、キャリヤ３及び遊星軸４の少なくとも一方は、第１側面４ａと、第２側面４ｂと、を備えている。 In this embodiment, at least one of the carrier 3 and the planetary shaft 4 has a first side 4a and a second side 4b.

第１側面４ａは、遊星ギヤ２に対して軸方向第１側Ｌ１において、軸方向第１側Ｌ１を向くように形成された面である。本実施形態では、第１側面４ａは、遊星軸４に形成されている。図１に示す例では、第１側面４ａは、遊星軸４の軸方向第１側Ｌ１の端面に形成されている。 The first side surface 4a is a surface formed on the first axial side L1 relative to the planetary gear 2 so as to face the first axial side L1. In this embodiment, the first side surface 4a is formed on the planetary shaft 4. In the example shown in FIG. 1, the first side surface 4a is formed on the end face of the first axial side L1 of the planetary shaft 4.

第２側面４ｂは、遊星ギヤ２に対して軸方向第２側Ｌ２において、軸方向第２側Ｌ２を向くように形成された面である。本実施形態では、第２側面４ｂは、第２径方向延在部３４Ｂに形成されている。図１に示す例では、第２側面４ｂは、第２径方向延在部３４Ｂにおける遊星軸４よりも軸方向第２側Ｌ２の部分に形成されている。 The second side surface 4b is a surface formed on the second axial side L2 relative to the planetary gear 2 so as to face the second axial side L2. In this embodiment, the second side surface 4b is formed on the second radial extension portion 34B. In the example shown in FIG. 1, the second side surface 4b is formed on a portion of the second radial extension portion 34B closer to the second axial side L2 than the planetary shaft 4.

本実施形態では、第１支持部材６１の第１内側支持部６１１は、第３内周面６ａと、第３側面６ｂと、を備えている。 In this embodiment, the first inner support portion 611 of the first support member 61 has a third inner circumferential surface 6a and a third side surface 6b.

第３内周面６ａは、第３外周面３ａに対して径方向外側Ｒ２から対向するように形成された面である。本実施形態では、第３内周面６ａは、軸方向Ｌに沿う軸方向視で、遊星軸４と重複するように形成されている。 The third inner peripheral surface 6a is a surface formed to face the third outer peripheral surface 3a from the radially outer side R2. In this embodiment, the third inner peripheral surface 6a is formed to overlap with the planetary shaft 4 when viewed in the axial direction along the axial direction L.

第３側面６ｂは、第１側面４ａに対して軸方向第１側Ｌ１から対向するように形成された面である。本実施形態では、第３側面６ｂは、第３内周面６ａの軸方向第１側Ｌ１の端部から径方向内側Ｒ１に向けて延在するように形成されている。 The third side surface 6b is a surface formed to face the first side surface 4a from the axial first side L1. In this embodiment, the third side surface 6b is formed to extend from the end of the third inner circumferential surface 6a on the axial first side L1 toward the radially inward side R1.

本実施形態では、第２支持部材６２の第２内側支持部６２１は、第４内周面６ｃと、第４側面６ｄと、を備えている。 In this embodiment, the second inner support portion 621 of the second support member 62 has a fourth inner circumferential surface 6c and a fourth side surface 6d.

第４内周面６ｃは、第４外周面３ｂに対して径方向外側Ｒ２から対向するように形成された面である。本実施形態では、第４内周面６ｃは、軸方向Ｌに沿う軸方向視で、遊星軸４と重複するように形成されている。 The fourth inner peripheral surface 6c is a surface formed to face the fourth outer peripheral surface 3b from the radially outer side R2. In this embodiment, the fourth inner peripheral surface 6c is formed to overlap with the planet shaft 4 when viewed in the axial direction along the axial direction L.

第４側面６ｄは、第２側面４ｂに対して軸方向第２側Ｌ２から対向するように形成された面である。本実施形態では、第４側面６ｄは、第４内周面６ｃの軸方向第２側Ｌ２の端部から径方向内側Ｒ１に向けて延在するように形成されている。 The fourth side surface 6d is a surface formed to face the second side surface 4b from the second axial side L2. In this embodiment, the fourth side surface 6d is formed to extend from the end of the fourth inner circumferential surface 6c on the second axial side L2 toward the radially inward side R1.

第１軸受５１は、第３外周面３ａと第３内周面６ａとの径方向Ｒの間に挟まれると共に、第１側面４ａと第３側面６ｂとの軸方向Ｌの間に挟まれるように配置されている。本実施形態では、第１軸受５１は、玉軸受である。そして、第１軸受５１は、当該第１軸受５１のインナレースが径方向外側Ｒ２から第３外周面３ａに当接すると共に、軸方向第１側Ｌ１から第１側面４ａに当接し、第１軸受５１のアウタレースが径方向内側Ｒ１から第３内周面６ａに当接すると共に、軸方向第２側Ｌ２から第３側面６ｂに当接するように配置されている。本例では、第１軸受５１のインナレースが、第３外周面３ａに形成された溝部に設けられたスナップリングにより、第３外周面３ａに対する軸方向Ｌの移動が規制されている。そして、第１軸受５１のアウタレースが、第３内周面６ａに形成された溝部に設けられたスナップリングにより、第３内周面６ａに対する軸方向Ｌの移動が規制されている。 The first bearing 51 is arranged so as to be sandwiched between the third outer peripheral surface 3a and the third inner peripheral surface 6a in the radial direction R, and between the first side surface 4a and the third side surface 6b in the axial direction L. In this embodiment, the first bearing 51 is a ball bearing. The first bearing 51 is arranged so that the inner race of the first bearing 51 abuts against the third outer peripheral surface 3a from the radial outside R2 and abuts against the first side surface 4a from the axial first side L1, and the outer race of the first bearing 51 abuts against the third inner peripheral surface 6a from the radial inside R1 and abuts against the third side surface 6b from the axial second side L2. In this example, the inner race of the first bearing 51 is restricted from moving in the axial direction L relative to the third outer peripheral surface 3a by a snap ring provided in a groove formed in the third outer peripheral surface 3a. The outer race of the first bearing 51 is restricted from moving in the axial direction L relative to the third inner circumferential surface 6a by a snap ring provided in a groove formed in the third inner circumferential surface 6a.

第２軸受５２は、第４外周面３ｂと第４内周面６ｃとの径方向Ｒの間に挟まれると共に、第２側面４ｂと第４側面６ｄとの軸方向Ｌの間に挟まれるように配置されている。本実施形態では、第２軸受５２は、玉軸受である。そして、第２軸受５２は、当該第２軸受５２のインナレースが径方向外側Ｒ２から第４外周面３ｂに当接すると共に、軸方向第２側Ｌ２から第２側面４ｂに当接し、第２軸受５２のアウタレースが径方向内側Ｒ１から第４内周面６ｃに当接すると共に、軸方向第１側Ｌ１から第４側面６ｄに当接するように配置されている。本例では、第２軸受５２のインナレースが、第４外周面３ｂに形成された溝部に設けられたスナップリングにより、第４外周面３ｂに対する軸方向Ｌの移動が規制されている。そして、第２軸受５２のアウタレースが、第４内周面６ｃに形成された溝部に設けられたスナップリングにより、第４内周面６ｃに対する軸方向Ｌの移動が規制されている。 The second bearing 52 is arranged so as to be sandwiched between the fourth outer peripheral surface 3b and the fourth inner peripheral surface 6c in the radial direction R, and between the second side surface 4b and the fourth side surface 6d in the axial direction L. In this embodiment, the second bearing 52 is a ball bearing. The second bearing 52 is arranged so that the inner race of the second bearing 52 abuts against the fourth outer peripheral surface 3b from the radial outside R2 and abuts against the second side surface 4b from the axial second side L2, and the outer race of the second bearing 52 abuts against the fourth inner peripheral surface 6c from the radial inside R1 and abuts against the fourth side surface 6d from the axial first side L1. In this example, the inner race of the second bearing 52 is restricted from moving in the axial direction L relative to the fourth outer peripheral surface 3b by a snap ring provided in a groove formed in the fourth outer peripheral surface 3b. The outer race of the second bearing 52 is restricted from moving in the axial direction L relative to the fourth inner circumferential surface 6c by a snap ring provided in a groove formed in the fourth inner circumferential surface 6c.

本実施形態では、第１軸受５１は、径方向Ｒに沿う径方向視で、第１シール部材７１と重複するように配置されている。また、第２軸受５２は、径方向Ｒに沿う径方向視で、第２シール部材７２と重複するように配置されている。 In this embodiment, the first bearing 51 is arranged so as to overlap the first seal member 71 when viewed radially along the radial direction R. Also, the second bearing 52 is arranged so as to overlap the second seal member 72 when viewed radially along the radial direction R.

このように、本実施形態では、減速機１００は、
第１軸心Ｘ１と同軸上に配置され、第１支持部材６１と駆動連結部４０及びキャリヤ３とを相対回転自在に支持する第１軸受５１と、
第１軸心Ｘ１と同軸上に配置され、第２支持部材６２と駆動連結部４０及びキャリヤ３とを相対回転自在に支持する第２軸受５２と、を更に備え、
第１軸受５１は、径方向Ｒに沿う径方向視で第１シール部材７１と重複するように配置され、
第２軸受５２は、径方向Ｒに沿う径方向視で第２シール部材７２と重複するように配置されている。 In this manner, in this embodiment, the reducer 100 has:
a first bearing 51 that is disposed coaxially with the first axis X1 and supports the first support member 61, the drive connecting portion 40, and the carrier 3 so as to be relatively rotatable with respect to each other;
a second bearing 52 that is arranged coaxially with the first axis X1 and supports the second support member 62, the drive connecting portion 40, and the carrier 3 so as to be relatively rotatable with respect to the second support member 62;
The first bearing 51 is disposed so as to overlap with the first seal member 71 when viewed in the radial direction R.
The second bearing 52 is disposed so as to overlap with the second seal member 72 when viewed in the radial direction R.

この構成によれば、径方向視で第１シール部材７１と第１軸受５１とが重複しない構成や、径方向視で第２シール部材７２と第２軸受５２とが重複しない構成に比べて、減速機１００の軸方向Ｌの寸法を小さく抑え易い。 This configuration makes it easier to keep the axial dimension L of the reducer 100 small compared to a configuration in which the first seal member 71 and the first bearing 51 do not overlap when viewed in the radial direction, or a configuration in which the second seal member 72 and the second bearing 52 do not overlap when viewed in the radial direction.

〔その他の実施形態〕
（１）上記の実施形態では、駆動連結部４０が第１軸心Ｘ１を軸心とする筒状に形成された構成を例として説明した。しかし、そのような構成に限定されることなく、例えば、駆動連結部４０が第１軸心Ｘ１を軸心とする円柱状であっても良い。 Other embodiments
(1) In the above embodiment, the drive connecting portion 40 is described as being cylindrical with the first axis X1 as its axis. However, the present invention is not limited to such a configuration, and the drive connecting portion 40 may be cylindrical with the first axis X1 as its axis.

（２）上記の実施形態では、第１係合部４０ａ及び第２係合部４０ｂが、駆動源Ｄの駆動軸Ｄａに形成されたキーＤｂが係合可能なキー溝である構成を例として説明した。しかし、そのような構成に限定されることなく、例えば、第１係合部４０ａ及び第２係合部４０ｂがキーであっても良い。この場合、駆動源Ｄの駆動軸Ｄａにキー溝が形成される。また、第１係合部４０ａ及び第２係合部４０ｂと駆動軸Ｄａとが、スプライン係合により連結される構成としても良い。 (2) In the above embodiment, the first engaging portion 40a and the second engaging portion 40b are key grooves into which the key Db formed on the drive shaft Da of the drive source D can engage. However, the present invention is not limited to such a configuration, and for example, the first engaging portion 40a and the second engaging portion 40b may be keys. In this case, a key groove is formed on the drive shaft Da of the drive source D. Also, the first engaging portion 40a and the second engaging portion 40b may be connected to the drive shaft Da by spline engagement.

（３）上記の実施形態では、第３シール部材７３が外側支持部６１２と第２支持部材６２の第２内側支持部６２１との径方向Ｒの間に配置された構成を例として説明した。しかし、そのような構成に限定されることなく、例えば、第３シール部材７３が外側支持部６１２と第２内側支持部６２１との軸方向Ｌの間に配置された構成としても良い。 (3) In the above embodiment, a configuration in which the third seal member 73 is disposed between the outer support portion 612 and the second inner support portion 621 of the second support member 62 in the radial direction R has been described as an example. However, the present invention is not limited to such a configuration, and for example, the third seal member 73 may be disposed between the outer support portion 612 and the second inner support portion 621 in the axial direction L.

（４）上記の実施形態では、第１ギヤ部２１が第１ピニオン軸受４１を介して遊星軸４に対して相対回転自在に配置されていると共に、第２ギヤ部２２が第２ピニオン軸受４２を介して遊星軸４に対して相対回転自在に配置された構成を例として説明した。しかし、そのような構成に限定されることなく、第１ギヤ部２１及び第２ギヤ部２２が遊星軸４と一体的に回転する構成としても良い。この構成では、遊星軸４は、軸挿入部３２に挿入された所定の軸受を介して、径方向延在部３４に対して回転自在に配置される。そして、その軸受を介して、弾性部材３３が遊星軸４を径方向外側Ｒ２に押圧する。 (4) In the above embodiment, the first gear portion 21 is arranged to be rotatable relative to the planetary shaft 4 via the first pinion bearing 41, and the second gear portion 22 is arranged to be rotatable relative to the planetary shaft 4 via the second pinion bearing 42. However, the present invention is not limited to such a configuration, and the first gear portion 21 and the second gear portion 22 may be arranged to rotate integrally with the planetary shaft 4. In this configuration, the planetary shaft 4 is arranged to be rotatable relative to the radial extension portion 34 via a specified bearing inserted into the shaft insertion portion 32. The elastic member 33 presses the planetary shaft 4 radially outward R2 via the bearing.

（５）上記の実施形態では、軸挿入部３２が径方向延在部３４を軸方向Ｌに貫通する貫通孔である構成を例として説明した。しかし、そのような構成に限定されることなく、例えば、軸挿入部３２が径方向延在部３４を軸方向Ｌに貫通するように形成されておらず、軸方向Ｌに窪むように形成された凹部であっても良い。 (5) In the above embodiment, the shaft insertion portion 32 is a through hole that penetrates the radial extension portion 34 in the axial direction L. However, the present invention is not limited to such a configuration, and for example, the shaft insertion portion 32 may not be formed to penetrate the radial extension portion 34 in the axial direction L, but may be a recess that is recessed in the axial direction L.

（６）上記の実施形態では、弾性部材３３が圧縮コイルばねである構成を例として説明した。しかし、そのような構成に限定されることなく、例えば、弾性部材３３が板ばね、皿ばね等の別種のばねであっても良い。また、弾性部材３３が合成ゴム等、ばね以外の弾性体であっても良い。 (6) In the above embodiment, the elastic member 33 is a compression coil spring. However, the present invention is not limited to such a configuration, and the elastic member 33 may be, for example, a different type of spring, such as a leaf spring or a disc spring. The elastic member 33 may also be an elastic body other than a spring, such as synthetic rubber.

（７）上記の実施形態では、貫通孔３５の第２開口部３５ｂに雌ねじが形成され、当該雌ねじに押圧部材３６の雄ねじが螺合する構成を例として説明した。しかし、そのような構成に限定されることなく、例えば、貫通孔３５の第２開口部３５ｂに雌ねじが形成されていないと共に、押圧部材３６に雄ねじが形成されていない構成としても良い。この構成では、例えば、押圧部材３６が第２開口部３５ｂに圧入されていれば良い。 (7) In the above embodiment, a configuration has been described in which a female thread is formed in the second opening 35b of the through hole 35, and the male thread of the pressing member 36 is screwed into the female thread. However, the present invention is not limited to such a configuration, and may be configured, for example, in such a manner that the second opening 35b of the through hole 35 does not have a female thread, and the pressing member 36 does not have a male thread. In this configuration, it is sufficient that the pressing member 36 is pressed into the second opening 35b, for example.

（８）上記の実施形態では、第１側面４ａが遊星軸４に形成され、第２側面４ｂがキャリヤ３の第２径方向延在部３４Ｂに形成された構成を例として説明した。しかし、そのような構成に限定されることなく、例えば、第１側面４ａがキャリヤ３の第１径方向延在部３４Ａに形成されていても良い。また、第２側面４ｂが遊星軸４に形成されていても良い。 (8) In the above embodiment, an example has been described in which the first side surface 4a is formed on the planetary shaft 4, and the second side surface 4b is formed on the second radially extending portion 34B of the carrier 3. However, the present invention is not limited to such a configuration, and for example, the first side surface 4a may be formed on the first radially extending portion 34A of the carrier 3. Also, the second side surface 4b may be formed on the planetary shaft 4.

（９）上記の実施形態では、弾性部材３３により、遊星軸４における軸挿入部３２に挿入された部分を径方向外側Ｒ２に押圧する構成を例として説明した。しかし、そのような構成に限定されることなく、キャリヤ３における他の部分を弾性部材３３により径方向外側Ｒ２に押圧することで、第１ギヤ部２１及び第２ギヤ部２２を第１リングギヤ１１及び第２リングギヤ１２に向けて付勢する構成としても良い。また、キャリヤ３が弾性部材３３を備えない構成としても良い。 (9) In the above embodiment, a configuration has been described as an example in which the elastic member 33 presses the portion of the planetary shaft 4 inserted into the shaft insertion portion 32 radially outward R2. However, the present invention is not limited to such a configuration, and the first gear portion 21 and the second gear portion 22 may be biased toward the first ring gear 11 and the second ring gear 12 by pressing other portions of the carrier 3 radially outward R2 with the elastic member 33. Also, the carrier 3 may be configured not to include the elastic member 33.

（１０）なお、上述した各実施形態で開示された構成は、矛盾が生じない限り、他の実施形態で開示された構成と組み合わせて適用することも可能である。その他の構成に関しても、本明細書において開示された実施形態は全ての点で単なる例示に過ぎない。したがって、本開示の趣旨を逸脱しない範囲内で、適宜、種々の改変を行うことが可能である。 (10) The configurations disclosed in each of the above-described embodiments may be combined with configurations disclosed in other embodiments, provided no contradictions arise. With respect to other configurations, the embodiments disclosed in this specification are merely illustrative in all respects. Therefore, various modifications may be made as appropriate within the scope of the spirit of this disclosure.

本開示に係る技術は、遊星歯車機構と、第１の連結対象に連結される第１連結部と、第２の連結対象に連結される第２連結部と、駆動源に連結される駆動連結部と、を備えた減速機に利用することができる。 The technology disclosed herein can be used in a reducer that includes a planetary gear mechanism, a first connecting part that is connected to a first connecting object, a second connecting part that is connected to a second connecting object, and a drive connecting part that is connected to a drive source.

１００：減速機、１０：遊星歯車機構、２０：第１連結部、３０：第２連結部、４０：駆動連結部、４０ａ：第１係合部、４０ｂ：第２係合部、１１：第１リングギヤ、１２：第２リングギヤ、２：遊星ギヤ、２１：第１ギヤ部、２２：第２ギヤ部、３：キャリヤ、５１：第１軸受、５２：第２軸受、６１：第１支持部材、６１１：第１内側支持部、６２：第２支持部材、６２１：第２内側支持部、７ａ：第１外周面、７ｂ：第２外周面、７ｃ：第１内周面、７ｄ：第２内周面、７１：第１シール部材、７２：第２シール部材、７３：第３シール部材、Ｔ１：第１の連結対象、Ｔ２：第２の連結対象、Ｄ：駆動源、Ｄａ：駆動軸、Ｘ１：第１軸心、Ｘ２：第２軸心、Ｌ：軸方向、Ｌ１：軸方向第１側、Ｌ２：軸方向第２側、Ｒ：径方向、Ｒ１：径方向内側、Ｒ２：径方向外側 100: reducer, 10: planetary gear mechanism, 20: first connecting portion, 30: second connecting portion, 40: drive connecting portion, 40a: first engaging portion, 40b: second engaging portion, 11: first ring gear, 12: second ring gear, 2: planetary gear, 21: first gear portion, 22: second gear portion, 3: carrier, 51: first bearing, 52: second bearing, 61: first support member, 611: first inner support portion, 62: second support member, 621: second inner Side support part, 7a: first outer peripheral surface, 7b: second outer peripheral surface, 7c: first inner peripheral surface, 7d: second inner peripheral surface, 71: first seal member, 72: second seal member, 73: third seal member, T1: first connection object, T2: second connection object, D: drive source, Da: drive shaft, X1: first axis, X2: second axis, L: axial direction, L1: first axial side, L2: second axial side, R: radial direction, R1: radial inner side, R2: radial outer side

Claims

a planetary gear mechanism including a first ring gear and a second ring gear which are internal gears, a planetary gear which is an external gear, and a carrier which supports the planetary gears;
a first connecting portion provided to rotate integrally with the first ring gear and connected to a first connected object;
a second connecting portion provided to rotate integrally with the second ring gear and connected to a second connected object;
A reducer including a drive coupling portion coupled to a drive source,
A direction parallel to a first axis, which is an axis of the first ring gear, the second ring gear, and the carrier, which are arranged coaxially with each other, is defined as an axial direction, and a direction perpendicular to the first axis is defined as a radial direction,
the first ring gear, the second ring gear, and the carrier are relatively rotatable about the first axis;
The first ring gear and the second ring gear have different numbers of teeth,
the planetary gear includes a first gear portion that meshes with the first ring gear and a second gear portion that meshes with the second ring gear,
The first gear portion and the second gear portion are connected to each other so as to rotate integrally around a second axis that is a separate axis parallel to the first axis,
a drive connection portion that is arranged to rotate integrally with the carrier and that is formed in a shaft shape that penetrates the carrier in the axial direction on the radially inner side with respect to the revolution locus of the planetary gear.

One side in the axial direction is defined as an axial first side, and the other side in the axial direction is defined as an axial second side,
The drive connecting portion is formed in a cylindrical shape with the first axis as an axis center,
a first engagement portion with which a drive shaft of the drive source can be engaged is provided in an area on an inner peripheral surface of the drive connection portion on the first axial side with respect to the planetary gear,
The reducer according to claim 1 , further comprising a second engagement portion, with which the drive shaft can be engaged, provided in an area of the inner circumferential surface of the drive connecting portion on the second axial side with respect to the planetary gear.

One side in the axial direction is defined as an axial first side, and the other side in the axial direction is defined as an axial second side,
a first support member that is provided to rotate integrally with the first ring gear and supports the first ring gear;
a second support member that is provided to rotate integrally with the second ring gear and supports the second ring gear,
the first support member includes a first inner support portion extending from the first ring gear toward an inner side in the radial direction, passing through the first axial side with respect to the planetary gear,
the second support member includes a second inner support portion extending from the second ring gear toward an inner side in the radial direction, passing through the second axial side with respect to the planetary gear,
At least one of the drive connecting portion and the carrier includes a first outer circumferential surface facing radially outward on the first axial side with respect to the planetary gear, and a second outer circumferential surface facing radially outward on the second axial side with respect to the planetary gear,
The first inner support portion includes a first inner circumferential surface arranged to face the first outer circumferential surface from the outside in the radial direction,
The second inner support portion includes a second inner circumferential surface disposed so as to face the second outer circumferential surface from the outside in the radial direction,
a first seal member is provided to seal a gap between the first outer circumferential surface and the first inner circumferential surface in the radial direction;
a second seal member is provided to seal between the second outer circumferential surface and the second inner circumferential surface in the radial direction;
The reducer according to claim 1 , further comprising a third seal member provided to seal between the first support member and the second support member.

The drive connecting portion is formed in a cylindrical shape with the first axis as an axis center,
a first engagement portion with which a drive shaft of the drive source can be engaged is provided in an area on an inner peripheral surface of the drive connection portion on the first axial side with respect to the planetary gear,
a second engagement portion with which the drive shaft can be engaged is provided in an area on the inner circumferential surface of the drive connection portion on the second axial side with respect to the planetary gear,
the first seal member and the first engagement portion are arranged to overlap each other as viewed in a radial direction along the radial direction,
The reducer according to claim 3 , wherein the second seal member and the second engagement portion are arranged to overlap each other when viewed in the radial direction.

a first bearing that is arranged coaxially with the first axis and supports the first support member, the driving connection portion, and the carrier so as to be relatively rotatable with respect to each other;
a second bearing arranged coaxially with the first axis and supporting the second support member, the driving connection portion, and the carrier so as to be relatively rotatable with respect to each other;
the first bearing is disposed so as to overlap with the first seal member as viewed in the radial direction,
The reducer according to claim 3 or 4, wherein the second bearing is disposed so as to overlap with the second seal member when viewed in the radial direction.