JP3904734B2

JP3904734B2 - transmission

Info

Publication number: JP3904734B2
Application number: JP21901698A
Authority: JP
Inventors: 洋野村; 啓二亀井
Original assignee: Fujitsu Ltd
Current assignee: Fujitsu Ltd
Priority date: 1998-08-03
Filing date: 1998-08-03
Publication date: 2007-04-11
Anticipated expiration: 2018-08-03
Also published as: JP2000055146A

Description

【０００１】
【発明の属する技術分野】
本発明は変速機に関するものである。
回転出力を持つアクチュエータは近年の種々の要求に応じて最高速度や最高トルクを増大させることが要求されている。また、消費エネルギーを最小化するためには、アクチュエータの使用効率を高めることが重要であり、アクチュエータの回転速度と出力回転速度の比を調整することが要求されている。
【０００２】
【従来の技術】
変速機の従来例を図１４に示す。前記変速機は楕円柱形状のコア部７を備えたウエーブジェネレータ８を有し、該ウエーブジェネレータ８のコア部７にはボールべリング１０が外嵌される。ボール９を介して内輪１０ａに対して相対移動自在なボール９ベアリングの外輪１０ｂは弾性変形可能であり、外輪１０ｂの回転を禁止した状態でコア部７を回転させるとコア部７の外周形状に追随して弾性変形する。ボールベアリング１０の外輪１０ｂには外周壁面に所定ピッチで歯を刻んだ薄肉筒状のフレクスプライン１１が外嵌され、さらに、フレクスプライン１１はサーキュラスプライン１２の内周壁面に内接するように配置される。フレクスプライン１１は外輪１０ｂの変形に追随して弾性変形可能であり、外周壁面の歯はサーキュラスプライン１２の内周壁面に刻んだ歯に長軸部近傍でのみ噛み合う。
【０００３】
フレクスプライン１１の歯数をサーキュラスプライン１２の歯数より少なくしておいてサーキュラスプライン１２を固定し、ウエーブジェネレータ８のコア部７を図１４に示すように時計方向に回転させると、サーキュラスプライン１２は歯数差分だけ逆方向、すなわち、反時計方向に回転し、この回転を出力として取り出すことができる。なお、図１４においてＰ１、Ｐ２、Ｐ３はサーキュラスプライン１２、フレクスプライン１１、およびウエーブジェネレータ８上の定点を示す。
【０００４】
かかる方式の変速機においては、速比は歯数差と、入出力軸６、および固定部の選択方法により与えることが可能であり、例えば、上述した例においては、フレクスプライン１１の歯数をＺｆ、サーキュラスプライン１２の歯数をＺｃとすると、減速比ｉは、
ｉ＝（Ｚｆ-Ｚｃ）／Ｚｆ
で与えられる。
【０００５】
【発明が解決しようとする課題】
しかし、上述した従来例には以下の欠点がある。すなわち、上記機構を減速装置、あるいは入出力関係を逆転させた増速装置、さらには、これらを組み合わせて差動装置として使用する場合の速比は歯数差により予め決定されるために、融通性に劣る。
【０００６】
本発明は、以上の欠点を解消すべくなされたもので、速比を無段階に変更可能な変速機の提供を目的とする。
【０００７】
【課題を解決するための手段】
本発明によれば上記目的は、
閉曲線断面形状を有する内周壁を有して軸６回りに回転可能な第１回転部１と、
いずれの方向も楕円の長軸となるように弾性変形可能で、長軸対応部において前記第１回転部１の内周壁を押し付け、互いに周方向の拘束をし合う第２回転部２と、
第２回転部２に対して周方向に対しては自由に回転し、径方向に対して押し付ける方向の拘束を行って第２回転部２を押し付け方向を長軸とする楕円形状に変形させる第３回転部３とを有し、
前記第１回転部１の内周壁の周囲長と第２回転部２の外周壁の外周長との差を可変にした変速機であって、
前記第３回転部３は、軸６方向に外周長を一定に保持して離心率が連続的に変化する楕円錐形状に形成されるとともに、
第２回転部２は第３回転部３に対して相対回転自在に外嵌され、
かつ、第１回転部１の内壁は前記第２回転部２の長軸を直径寸法とする円錐形状に形成され、
第２回転部２は軸６方向に相対移動操作可能である変速機を提供することにより達成される。
【０００８】
第３回転部３は第２回転部２に対し、周方向には自由に回転し、径方向に対しては押し付ける方向の拘束を行う。第２回転部２は第３回転部３の押し付け方向に追随して弾性変形可能であり、その内周においては第３回転部３と半径方向に対して押し付けあい、外側において第１回転部１と周方向の拘束をし合う。第１回転部１は第２回転部２との接触部分で押し付けられることにより周方向に対して相対位置を拘束する。
【０００９】
第１回転部１、第２回転部２、第３回転部３のそれぞれは、機構中での構成方法により、減速機、あるいは増速機における入力部、出力部、固定部にすることができ、例えば、第１回転部１の回転を拘束して第３回転部３を回転させると、第２回転部２は第３回転部３の１回転毎に、第１回転部１との周囲長の差に相当するだけ第１回転部１に対して相対回転する。この結果、本使用状態において、第１回転部１への回転入力を｜Ｌ１-Ｌ２｜／Ｌ２に減速して第２回転部２から取り出すことができる（ただし、Ｌ１、Ｌ２は第１回転部１と第２回転部２の周囲長を示す。）。
【００１０】
本発明において、Ｌ１-Ｌ２、すなわち、第１回転部１と第２回転部２の外周長の差が可変であり、無段階に速比を変更することができる。
【００１１】
本発明において第２回転部２は第３回転部３を巻回するように外嵌され、第３回転部３の回転に伴って第３回転部と相似形を維持するように弾性変形する。第３回転部３は楕円錐形状に形成され、第２回転部２を長軸方向が変わるように弾性変形させることにより、第２回転部２の長軸対応部を第１回転部１の内壁に接触させる。周囲長が一定の第２回転部２を軸６方向に移動させると対応する第１回転部１の直径寸法は変化するために、第２回転部２と第１回転部１との周囲長差を変更できる。
【００１２】
さらに、請求項２に係る発明において、外周長の差を可変にするための他の手段が提案される。すなわち、請求項２に係る発明は、
閉曲線断面形状を有する内周壁を有して軸６回りに回転可能な第１回転部１と、
いずれの方向も楕円の長軸となるように弾性変形可能で、長軸対応部において前記第１回転部１の内周壁を押し付け、互いに周方向の拘束をし合う第２回転部２と、
第２回転部２に対して周方向に対しては自由に回転し、径方向に対して押し付ける方向の拘束を行って第２回転部２を押し付け方向を長軸とする楕円形状に変形させる第３回転部３とを有し、
前記第１回転部１の内周壁の周囲長と第２回転部２の外周壁の外周長との差を可変にした変速機であって、
前記第３回転部３は第２回転部２の内周壁を転動する一対の回転体４を間隔可変に保持して形成されるとともに、
第１回転部１の内壁は前記第２回転部２の回転体４による支持部対応部間を直径寸法とする円錐形状に形成され、
第１回転部１と第２回転部２は軸６方向に相対移動操作可能である変速機である。
【００１３】
第３回転部３は第２回転部２の内周壁を転動する一対の回転体４を有し、所定長を有する第２回転部２は内方から２点で支持されることによりほぼ楕円形状に変形する。第１回転部１は第２回転体４の回転体４による支持部に対応する部位間の寸法、すなわち、長軸寸法に一致しており、回転体４間を変更しながら第１回転部１、および第２回転部２を軸６方向に移動させると、対応する第１回転部１の直径寸法は変化するために、第２回転部２と第１回転部１との周囲長差を変更できる。
【００１４】
請求項３に係る発明は、
前記第２回転部２を第１回転部１に圧接させる与圧付与機構５を備える請求項１または２記載の変速機である。本発明において、与圧付与機構５は第２回転部２の外周を第１回転部１の内周に押し付けることにより、スリップの発生を防止するために、所望の速比を得ることができる。
【００１５】
【発明の実施の形態】
図１に変速機の主要部を示す。図中８は第３回転部３を構成する軸６回りに回転可能なウエーブジェネレータであり、軸６に直交する面での断面形状が楕円形で、かつ、切断面が軸６の長手方向に沿って前端面（図における左端）から後方に移動するに従って外周長を一定に保持しながら長短軸比が漸次小さくなって真円に近くなる楕円錐形状に形成される（図２参照）。
【００１６】
上記ウエーブジェネレータ８の外周には複数のベアリングボール９を介してフレクスプライン１１が外嵌され、第２回転部２を構成する。フレクスプライン１１は可撓性を有する材料により有底筒形状に形成され、前端に内方に向けて突設されるボール保持片１１ａ、１１ａ間にボール９、９・・を保持して該ボール９の軸６長手方向への移動を禁止する。
【００１７】
第１回転部１を構成するサーキュラスプライン１２は後端面から前方に行くに従って漸次直径が小さくなる截頭円錐形状の中空部を有し、第２回転部２はボール９が第３回転部３の外周壁面に沿い、フレクスプライン１１の長軸が第１回転部１の内周壁を押し付ける状態で第１回転部１と第３回転部３の間に介装される。
【００１８】
第２回転部２は軸６方向に移動可能であり、図２（ｂ）に示すように、第２回転部２を第１回転部１、および第３回転部３の後端部近傍に位置させた状態では、図２（ａ）に示すように、第２回転部２の長軸長、および第２回転部２の長軸に接触する第１回転部１の内周径は最大となり、第１回転部１の内周長と第２回転部２の外周長との差が最大となる。反対に、図２（ｆ）に示すように、第２回転部２を第１回転部１、および第３回転部３の前端部近傍に位置させると、第２回転部２の長軸長、および第２回転部２の長軸に接触する第１回転部１の内周径は最小となり（図２（ｅ）参照）、第１回転部１の内周長と第２回転部２の外周長との差が最小となり、図２（ｃ）、（ｄ）に示すその中間位置では周長差は最大値と最小値の中間値をとる。
【００１９】
図３に第２回転部２を第１回転部１、および第３回転部３の後端部近傍に位置させた状態で第１回転部１の回転を禁止し、第３回転部３を時計回りに回転させた場合の第２回転部２の動作を示す。なお、理解を容易にするために、図３（ａ）に示す回転開始時における第１回転部１、第２回転部２、および第３回転部３の対応位置をＰ１、Ｐ２、Ｐ３点で示す。第３回転部３は第２回転部２に対して相対回転しながら第２回転部２を変形させ、該第２回転部２の長軸位置を第３回転部３の長軸位置に合致させる。長軸対応部において第１回転部１の内周壁に接触可能な第２回転部２は第３回転部３により長軸対応部の位置を移動させられることにより、第１回転部１の内周壁をなぞるようにして軸６回りに回転する。第１回転部１の内周は真円であり、第２回転部２の外周は楕円であるために、第１回転部１の内周の周囲長は第２回転部２の外周長に比して長く、第３回転部３の時計回りの回転によって、第１回転部１により回転を拘束された第２回転部２は図３（ｂ）、（ｃ）、（ｄ）の順に反時計回りに回転し、第３回転部３が１回転した図３（ｅ）の状態においては経路長差に相当するだけ第２回転部２は第１回転部１、および第３回転部３に対して角度θだけ相対回転する。
【００２０】
一方、図２（ｅ）、（ｆ）に示すように、第２回転部２を第１回転部１、および第３回転部３の前端部近傍に位置させた状態においては、第２回転部２は真円に近く、経路長差は小さいために図４に示すように、第３回転部３の１回転に対する第２回転部２の相対回転角度θ’は小さくなる。この状態が減速比最大の状態で、第２回転部２後端方に適宜移動させることにより、上述した減速比最小の状態まで減速比を連続的に変化させることができる。
【００２１】
図５に変速機の全体構成を示す。変速機は出力部となるフレクスプライン１１のガイド部１１ｂが外嵌されるハウジング１３を有する。フレクスプライン１１のガイド部１１ｂとハウジング１３との摺接境界にはボールベアリング１４が介装されて相対回転を許容するとともに、フレクスプライン１１の曲げ剛性を高める。
【００２２】
入力部となるウエーブジェネレータ８は上述した外周形状を有して有底筒状に形成され、底部壁面に入力動力であるモータ１５が連結される。モータ１５のロータ１５ａとウエーブジェネレータ８との間にはリニアスライダ１６が介装され、ロータ１５ａの回転力をウエーブジェネレータ８に伝達し、かつ、ロータ１５ａとウエーブジェネレータ８との間の軸６方向への相対移動が許容される。なお、図５において１５ｂはモータ１５のステータを、１５ｃはベアリングを示す。
【００２３】
ウエーブジェネレータ８を包囲するように配置されるサーキュラスプライン１２はハウジング１３に連結されて回転運動が禁止され、ハウジング１３との間に介装されるリニアスライダ１７により軸６方向への移動が許容される。サーキュラスプライン１２はリニアアクチュエータ１８により軸６方向に駆動可能であり、サーキュラスプライン１２の駆動力は深溝玉軸受、あるいはアンギュラ組み合わせ玉軸受等の軸受１９を介してウエーブジェネレータ８に伝達され、両者は同期して軸６方向に移動する。さらに、上記軸受１９は与圧付与機構５としても機能する。すなわち、軸受１９はウエーブジェネレータ８が矢印Ａ方向に、サーキュラスプライン１２が矢印Ｂ方向にずれて、軸６に直交する面における間隙が狭くなる方向の内力が発生するように介装されており、該間隙に挿入されるベアリング９、およびフレクスプライン１１に径方向への与圧を付加する。
【００２４】
図５における第１回転部１、第２回転部２、および第３回転部３の位置関係は図２（ａ）、（ｂ）および図３に対応しており、この状態で第３回転部３の回転速度に対する第２回転部２の減速比は最小となる。この状態からリニアアクチュエータ１８を駆動すると、図６に示すように、サーキュラスプライン１２、およびウエーブジェネレータ８は後方に移動し、フレクスプライン１１はボール９、およびボール保持片１１ａがサーキュラスプライン１２とウエーブジェネレータ８に沿うように弾性変形する。この図６は図２（ｅ）、（ｆ）、および図４に示す減速比最大時の位置関係を示すもので、リニアアクチュエータ１８の駆動距離を適宜選択することにより、最小と最大との中間の減速比を選択できる。
【００２５】
図７に本発明の第２の実施の形態の主要部を示す。なお、以下の説明において、上述した実施の形態と実質的に同一の構成要素は図中に同一符号を付して説明を省略する。この実施の形態において、第１回転部１を構成するサーキュラスプライン１２は上述した実施の形態と同様に後方に行くに従って直径が小さくなる截頭円錐形状の中空部を有し、第２回転部２を構成するフレクスプライン１１はどの方向も楕円の長軸となれるように弾性変形可能な筒部を有する。このフレクスプライン１１は第１回転部１の最小径部における周囲長よりも短い周囲長に形成される。
【００２６】
第３回転部３は図８に示すように、一端にローラ等の回転体４を回転自在に枢支したローラ支持体２０をガイド体２１の上下孔部２１ａ、２１ｂに進退自在に嵌合して形成される。ローラ支持体２０と上下孔部２１ａ、２１ｂとの間には圧縮スプリング２２が介装され、ローラ支持体２０を飛び出し方向に付勢する。この第３回転部３をフレクスプライン１１の筒部内に挿入すると、圧縮スプリング２２により外方に付勢される回転体４がフレクスプライン１１を押し付け、該フレクスプライン１１は押し付け対応部位を長軸とする楕円に変形し、長軸対応部においてサーキュラスプライン１２の内周を押し付ける。
【００２７】
例えばサーキュラスプライン１２を固定して第３回転部３を回転させると、フレクスプライン１１は長軸位置を移動させるようにして変形し、該長軸対応位置においてサーキュラスプライン１２を押し付けて周方向に拘束し合って反時計方向に少しずつ回転する。
【００２８】
第２回転部２が図９（ａ）、（ｂ）に示すようにサーキュラスプライン１２の後端にある場合には、第３回転部３の回転により第２回転部２は図１０（ａ）〜（ｄ）を経て図１０（ｅ）の状態になり、第３回転部３の回転方向と逆方向、すなわち、この例では反時計方向にθだけ回転する。同様に第２回転部２が図９（ｅ）、（ｆ）に示すようにサーキュラスプライン１２の前端にある場合には、第３回転部３の回転により第２回転部２は図１１（ａ）〜（ｄ）を経て図１１（ｅ）の状態になり、第３回転部３の回転方向と逆方向、すなわち、この例では反時計方向にθ’だけ回転する。図１０の状態にある場合は図１１に示す状態に比してフレクスプライン１１の外周長とサーキュラスプライン１２の周囲長との差が大きなために、第３回転部３の回転角θは図１１に示す状態のサーキュラスプライン１２の回転角θ’より大きくなり、減速比は小さくなる。
【００２９】
図１２に上記主要部を組み込んだ全体構成図を示す。この実施の形態においてモータ１５のロータ１５ａは直接ガイド体２１に連結され、第３回転部３はフレクスプライン１１の定断面位置内で回転する。図１２は図９（ａ）、（ｂ）、および図１０に示す減速比最小状態に対応しており、この状態から図１３に示すように、リニアアクチュエータ１８によりサーキュラスプライン１２をリニアスライダ１６に沿って軸６方向に移動させると、回転体４はフレクスプライン１１を介してサーキュラスプライン１２の内周壁から反力を受け、ローラ支持体２０は圧縮スプリング２２の反力に抗して沈み込んで回転体４間の間隔が狭くなる。この状態でフレクスプライン１１は回転体４により内方から押し付けられ、回転体４への接触部位を長軸とする楕円に変形しており、圧縮スプリング２２はフレクスプライン１１内方から径方向にフレクスプライン１１を押し付けてサーキュラスプライン１２に圧接させる与圧付与機構５として機能する。
【００３０】
したがってこの実施の形態において、リニアアクチュエータ１８を動作させることにより、図１２に示す最小減速状態から、図１３に示す最大減速状態の間の任意の減速比を選択することができる。
【００３１】
なお、上記第１、第２の実施の形態においては、第１回転部１を固定部に、第２回転部２を出力部に、第３回転部３を入力部にした場合を示したが、第１回転部１を出力部、あるいは入力部にし、第２回転部２を固定部、あるいは入力部にすることができる。
【００３２】
【発明の効果】
以上の説明から明らかなように、本発明によれば、減速、あるいは増速比を無段階に変更することができる。
【図面の簡単な説明】
【図１】本発明を示す図で、（ａ）は（ｂ）の１Ａ-１Ａ線断面図、（ｂ）は（ａ）の側面図である。
【図２】第２回転部の軸方向への移動状態を示す図で、（ａ）はボール接触面に沿って切断した断面図、（ｂ）はその側面図、（ｃ）は減速比が中間状態におけるボール接触面に沿って切断した断面図、（ｄ）はその側面図、（ｅ）は減速比が大の状態におけるボール接触面に沿って切断した断面図、（ｆ）はその側面図である。
【図３】減速比小の時の第２回転部の動作を示す図である。
【図４】減速比大の時の第２回転部の動作を示す図である。
【図５】図１の全体構成図である。
【図６】リニアアクチュエータを駆動した状態を示す図である。
【図７】本発明の第２の実施の形態を示す図で、（ａ）は（ｂ）の７Ａ-７Ａ線断面図、（ｂ）は（ａ）の側面図である。
【図８】第３回転部を示す図である。
【図９】第２回転部の軸方向への移動状態を示す図で、（ａ）はボール接触面に沿って切断した断面図、（ｂ）はその側面図、（ｃ）は減速比が中間状態におけるボール接触面に沿って切断した断面図、（ｄ）はその側面図、（ｅ）は減速比が大の状態におけるボール接触面に沿って切断した断面図、（ｆ）はその側面図である。
【図１０】減速比小の時の第２回転部の動作を示す図である。
【図１１】減速比大の時の第２回転部の動作を示す図である。
【図１２】図７の全体構成図である。
【図１３】リニアアクチュエータを駆動した状態を示す図である。
【図１４】従来例を示す図である。
【符号の説明】
１第１回転部
２第２回転部
３第３回転部
４回転体
５与圧付与機構
６軸[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a transmission .
An actuator having a rotational output is required to increase the maximum speed and the maximum torque in accordance with various demands in recent years. Further, in order to minimize energy consumption, it is important to increase the use efficiency of the actuator, and it is required to adjust the ratio between the rotation speed of the actuator and the output rotation speed.
[0002]
[Prior art]
A conventional example of a transmission is shown in FIG. The transmission has a wave generator 8 having an elliptical cylindrical core portion 7, and a ball belling 10 is fitted on the core portion 7 of the wave generator 8. The outer ring 10b of the ball 9 bearing that is movable relative to the inner ring 10a via the ball 9 can be elastically deformed, and when the core part 7 is rotated in a state in which the rotation of the outer ring 10b is prohibited, the outer shape of the core part 7 is obtained. Follow and elastically deform. The outer ring 10b of the ball bearing 10 is fitted with a thin-walled cylindrical flexspline 11 whose teeth are cut at a predetermined pitch on the outer peripheral wall surface. Further, the flexspline 11 is disposed so as to be inscribed in the inner peripheral wall surface of the circular spline 12. The The flex spline 11 can be elastically deformed following the deformation of the outer ring 10b, and the teeth on the outer peripheral wall mesh with the teeth carved on the inner peripheral wall of the circular spline 12 only in the vicinity of the long shaft portion.
[0003]
When the number of teeth of the flex spline 11 is made smaller than the number of teeth of the circular spline 12 and the circular spline 12 is fixed and the core portion 7 of the wave generator 8 is rotated clockwise as shown in FIG. Rotates in the reverse direction, that is, counterclockwise by the number of teeth difference, and this rotation can be taken out as an output. In FIG. 14, P 1, P 2, and P 3 indicate fixed points on the circular spline 12, the flex spline 11, and the wave generator 8.
[0004]
In such a transmission, the speed ratio can be given by the number of teeth difference, the input / output shaft 6 and the selection method of the fixed portion. For example, in the above-described example, the number of teeth of the flexspline 11 is set. If the number of teeth of Zf and the circular spline 12 is Zc, the reduction ratio i is
i = (Zf−Zc) / Zf
Given in.
[0005]
[Problems to be solved by the invention]
However, the conventional example described above has the following drawbacks. In other words, the speed ratio when the mechanism is used as a speed reducer, a speed increasing device with the input / output relationship reversed, or a combination of these is used as a differential device. Inferior to sex.
[0006]
The present invention has been made to eliminate the above drawbacks, and an object of the present invention is to provide a transmission capable of changing the speed ratio steplessly.
[0007]
[Means for Solving the Problems]
According to the present invention, the object is
A first rotating portion 1 having an inner peripheral wall having a closed curved cross-sectional shape and rotatable about an axis 6;
A second rotating part 2 that can be elastically deformed so as to be the major axis of the ellipse in any direction, presses the inner peripheral wall of the first rotating part 1 at the corresponding part of the long axis, and mutually restrains the circumferential direction;
The second rotating part 2 is freely rotated in the circumferential direction, and the second rotating part 2 is deformed into an elliptical shape whose major axis is the pressing direction by restricting the pressing direction with respect to the radial direction. 3 rotating parts 3
A transmission in which a difference between a peripheral length of an inner peripheral wall of the first rotating portion 1 and an outer peripheral length of an outer peripheral wall of the second rotating portion 2 is variable .
The third rotating part 3 is formed in an elliptical cone shape in which the eccentricity continuously changes while keeping the outer peripheral length constant in the axis 6 direction,
The second rotating part 2 is externally fitted so as to be rotatable relative to the third rotating part 3,
And the inner wall of the 1st rotation part 1 is formed in the cone shape which makes the major axis of the 2nd rotation part 2 a diameter size,
The second rotating unit 2 is achieved by providing a transmission that can be relatively moved in the direction of the axis 6 .
[0008]
The 3rd rotation part 3 rotates freely in the circumferential direction with respect to the 2nd rotation part 2, and restrains the direction of pressing with respect to a radial direction. The second rotating part 2 can be elastically deformed following the pressing direction of the third rotating part 3, presses against the third rotating part 3 in the radial direction on the inner periphery thereof, and the first rotating part 1 on the outer side. And restrain each other in the circumferential direction. The first rotating unit 1 is restrained in a relative position with respect to the circumferential direction by being pressed at a contact portion with the second rotating unit 2.
[0009]
Each of the first rotating unit 1, the second rotating unit 2, and the third rotating unit 3 can be used as a reduction unit or an input unit, an output unit, and a fixed unit in a speed reducer, depending on the configuration method in the mechanism. For example, when the rotation of the first rotation unit 1 is constrained and the third rotation unit 3 is rotated, the second rotation unit 2 has a peripheral length with the first rotation unit 1 every rotation of the third rotation unit 3. The relative rotation with respect to the first rotating unit 1 is performed by an amount corresponding to the difference between the two. As a result, in this use state, the rotational input to the first rotating unit 1 can be decelerated to | L1-L2 | / L2 and taken out from the second rotating unit 2 (however, L1 and L2 are the first rotating unit) 1 and the perimeter of the 2nd rotation part 2 are shown.).
[0010]
In the present invention, L1-L2, that is, the difference between the outer peripheral lengths of the first rotating unit 1 and the second rotating unit 2 is variable, and the speed ratio can be changed steplessly .
[0011]
In the present invention, the second rotating part 2 is fitted so as to wind the third rotating part 3, and elastically deforms so as to maintain a similar shape to the third rotating part as the third rotating part 3 rotates. The third rotating part 3 is formed in an elliptical cone shape, and the second rotating part 2 is elastically deformed so that the major axis direction changes, so that the long axis corresponding part of the second rotating part 2 is the inner wall of the first rotating part 1. Contact. Since the diameter of the corresponding first rotating part 1 changes when the second rotating part 2 having a constant peripheral length is moved in the direction of the axis 6, the difference between the peripheral lengths of the second rotating part 2 and the first rotating part 1 Can be changed.
[0012]
Furthermore, in the invention according to claim 2 , another means for making the difference in outer peripheral length variable is proposed. That is, the invention according to claim 2
A first rotating portion 1 having an inner peripheral wall having a closed curved cross-sectional shape and rotatable about an axis 6;
A second rotating part 2 that can be elastically deformed so as to be the major axis of the ellipse in any direction, presses the inner peripheral wall of the first rotating part 1 at the corresponding part of the long axis, and mutually restrains the circumferential direction;
The second rotating part 2 is freely rotated in the circumferential direction, and the second rotating part 2 is deformed into an elliptical shape whose major axis is the pressing direction by restricting the pressing direction with respect to the radial direction. 3 rotating parts 3
A transmission in which a difference between a peripheral length of an inner peripheral wall of the first rotating portion 1 and an outer peripheral length of an outer peripheral wall of the second rotating portion 2 is variable.
The third rotating part 3 is formed by holding a pair of rotating bodies 4 that roll on the inner peripheral wall of the second rotating part 2 with a variable interval,
The inner wall of the first rotating part 1 is formed in a conical shape having a diameter dimension between the supporting part corresponding parts by the rotating body 4 of the second rotating part 2,
The first rotating unit 1 and the second rotating unit 2 are transmissions that can be relatively moved in the direction of the shaft 6 .
[0013]
The 3rd rotation part 3 has a pair of rotary body 4 which rolls the inner peripheral wall of the 2nd rotation part 2, and the 2nd rotation part 2 which has predetermined length is substantially elliptical by being supported by two points from the inside. Deform to shape. The first rotating part 1 matches the dimension between the parts corresponding to the support part of the second rotating body 4 by the rotating body 4, that is, the major axis dimension, and the first rotating part 1 while changing between the rotating bodies 4. When the second rotating part 2 is moved in the direction of the axis 6, the diameter of the corresponding first rotating part 1 is changed, so that the difference in peripheral length between the second rotating part 2 and the first rotating part 1 is changed. it can.
[0014]
The invention according to claim 3
The transmission according to claim 1 or 2, further comprising a pressurizing mechanism (5) that presses the second rotating part (2) against the first rotating part (1). In the present invention, the pressurizing mechanism 5 can obtain a desired speed ratio in order to prevent the occurrence of slip by pressing the outer periphery of the second rotating unit 2 against the inner periphery of the first rotating unit 1.
[0015]
DETAILED DESCRIPTION OF THE INVENTION
FIG. 1 shows the main part of the transmission . In the figure, reference numeral 8 denotes a wave generator that can rotate around the axis 6 constituting the third rotating unit 3. The cross section of the wave generator perpendicular to the axis 6 is elliptical and the cut surface is in the longitudinal direction of the axis 6. As it moves rearward from the front end face (left end in the figure) along the rear side, the long and short axis ratio is gradually reduced while maintaining the outer peripheral length constant (see FIG. 2).
[0016]
A flexspline 11 is fitted on the outer periphery of the wave generator 8 via a plurality of bearing balls 9 to constitute the second rotating unit 2. The flex spline 11 is formed in a bottomed cylindrical shape from a flexible material, and holds the balls 9, 9... Between the ball holding pieces 11a, 11a projecting inward at the front end. 9 is prohibited from moving in the longitudinal direction of the shaft 6.
[0017]
The circular spline 12 constituting the first rotating portion 1 has a frustoconical hollow portion whose diameter gradually decreases from the rear end surface to the front, and the second rotating portion 2 has a ball 9 which is the same as the third rotating portion 3. Along the outer peripheral wall surface, the long axis of the flexspline 11 is interposed between the first rotating part 1 and the third rotating part 3 in a state of pressing the inner peripheral wall of the first rotating part 1.
[0018]
The second rotating unit 2 is movable in the direction of the axis 6, and the second rotating unit 2 is positioned near the rear end portions of the first rotating unit 1 and the third rotating unit 3 as shown in FIG. In this state, as shown in FIG. 2A, the major axis length of the second rotating unit 2 and the inner peripheral diameter of the first rotating unit 1 that contacts the major axis of the second rotating unit 2 are maximized. The difference between the inner peripheral length of the first rotating unit 1 and the outer peripheral length of the second rotating unit 2 is maximized. On the contrary, as shown in FIG. 2 (f), when the second rotating unit 2 is positioned in the vicinity of the front end portions of the first rotating unit 1 and the third rotating unit 3, the major axis length of the second rotating unit 2, The inner peripheral diameter of the first rotating part 1 that contacts the major axis of the second rotating part 2 is minimized (see FIG. 2E), and the inner peripheral length of the first rotating part 1 and the outer periphery of the second rotating part 2 The difference with the length becomes the minimum, and the circumferential length difference takes the intermediate value between the maximum value and the minimum value at the intermediate position shown in FIGS. 2 (c) and 2 (d).
[0019]
In FIG. 3, the rotation of the first rotation unit 1 is prohibited in a state where the second rotation unit 2 is positioned in the vicinity of the rear end portions of the first rotation unit 1 and the third rotation unit 3. Operation | movement of the 2nd rotation part 2 at the time of rotating around is shown. For easy understanding, the corresponding positions of the first rotating unit 1, the second rotating unit 2, and the third rotating unit 3 at the start of rotation shown in FIG. 3A are indicated by points P1, P2, and P3. Show. The third rotating unit 3 deforms the second rotating unit 2 while rotating relative to the second rotating unit 2 so that the major axis position of the second rotating unit 2 matches the major axis position of the third rotating unit 3. . In the long axis corresponding part, the second rotating part 2 that can contact the inner peripheral wall of the first rotating part 1 is moved by the third rotating part 3 so that the position of the long axis corresponding part is moved, whereby the inner peripheral wall of the first rotating part 1 And rotate around the axis 6. Since the inner periphery of the first rotating unit 1 is a perfect circle and the outer periphery of the second rotating unit 2 is an ellipse, the peripheral length of the inner periphery of the first rotating unit 1 is compared with the outer peripheral length of the second rotating unit 2. The second rotating unit 2 whose rotation is restricted by the first rotating unit 1 due to the clockwise rotation of the third rotating unit 3 is counterclockwise in the order of FIGS. 3B, 3C, and 3D. In the state shown in FIG. 3E in which the third rotating unit 3 rotates once and the third rotating unit 3 makes one rotation, the second rotating unit 2 corresponds to the first rotating unit 1 and the third rotating unit 3 by the amount corresponding to the path length difference. And rotate relative to the angle θ.
[0020]
On the other hand, as shown in FIGS. 2 (e) and 2 (f), in the state where the second rotating part 2 is positioned in the vicinity of the front end parts of the first rotating part 1 and the third rotating part 3, the second rotating part Since 2 is close to a perfect circle and the path length difference is small, the relative rotation angle θ ′ of the second rotating part 2 with respect to one rotation of the third rotating part 3 becomes small as shown in FIG. In this state where the reduction ratio is maximum, the reduction ratio can be continuously changed to the minimum reduction ratio state described above by appropriately moving toward the rear end of the second rotating unit 2.
[0021]
FIG. 5 shows the overall configuration of the transmission . The transmission has a housing 13 in which a guide part 11b of a flexspline 11 serving as an output part is fitted. A ball bearing 14 is interposed at the sliding contact boundary between the guide portion 11 b of the flexspline 11 and the housing 13 to allow relative rotation and increase the flexural rigidity of the flexspline 11.
[0022]
The wave generator 8 serving as an input unit has the above-described outer peripheral shape and is formed in a bottomed cylindrical shape, and a motor 15 as input power is connected to the bottom wall surface. A linear slider 16 is interposed between the rotor 15a of the motor 15 and the wave generator 8 to transmit the rotational force of the rotor 15a to the wave generator 8, and in the direction of the axis 6 between the rotor 15a and the wave generator 8. Relative movement to is allowed. In FIG. 5, 15b represents a stator of the motor 15, and 15c represents a bearing.
[0023]
The circular spline 12 disposed so as to surround the wave generator 8 is connected to the housing 13 to be prevented from rotating, and is allowed to move in the direction of the axis 6 by the linear slider 17 interposed between the housing 13 and the linear spline 12. The The circular spline 12 can be driven in the direction of the axis 6 by a linear actuator 18, and the driving force of the circular spline 12 is transmitted to the wave generator 8 via a bearing 19 such as a deep groove ball bearing or an angular combination ball bearing, and both are synchronized. And move in the direction of the axis 6. Further, the bearing 19 also functions as the pressurizing mechanism 5. That is, the bearing 19 is interposed so that the wave generator 8 is displaced in the direction of the arrow A and the circular spline 12 is displaced in the direction of the arrow B so that an internal force is generated in a direction in which the gap in the plane orthogonal to the shaft 6 is narrowed. A radial pressure is applied to the bearing 9 and the flex spline 11 inserted into the gap.
[0024]
The positional relationship among the first rotating unit 1, the second rotating unit 2, and the third rotating unit 3 in FIG. 5 corresponds to FIGS. 2A, 2B, and 3, and in this state, the third rotating unit. The speed reduction ratio of the second rotating unit 2 with respect to the rotational speed of 3 is minimum. When the linear actuator 18 is driven from this state, as shown in FIG. 6, the circular spline 12 and the wave generator 8 are moved backward, the flexspline 11 is the ball 9, and the ball holding piece 11a is the circular spline 12 and the wave generator. 8 to be elastically deformed. FIG. 6 shows the positional relationship at the time of the maximum reduction ratio shown in FIGS. 2 (e), 2 (f), and FIG. 4. By appropriately selecting the driving distance of the linear actuator 18, the intermediate between the minimum and maximum is shown. The reduction ratio can be selected.
[0025]
FIG. 7 shows a main part of the second embodiment of the present invention. In the following description, components that are substantially the same as those of the above-described embodiment are denoted by the same reference numerals in the drawings, and description thereof is omitted. In this embodiment, the circular spline 12 constituting the first rotating portion 1 has a frustoconical hollow portion whose diameter decreases toward the rear as in the above-described embodiment, and the second rotating portion 2 The flexspline 11 that constitutes has a cylindrical portion that can be elastically deformed so that any direction can be the major axis of the ellipse. The flex spline 11 is formed to have a shorter perimeter than the perimeter of the minimum diameter portion of the first rotating portion 1.
[0026]
As shown in FIG. 8, the third rotating portion 3 has a roller support 20 that rotatably supports a rotating body 4 such as a roller at one end and is fitted into upper and lower hole portions 21 a and 21 b of the guide body 21 so as to be able to advance and retract. Formed. A compression spring 22 is interposed between the roller support 20 and the upper and lower hole portions 21a and 21b, and urges the roller support 20 in the protruding direction. When the third rotating portion 3 is inserted into the cylindrical portion of the flexspline 11, the rotating body 4 urged outward by the compression spring 22 presses the flexspline 11, and the flexspline 11 has a pressing corresponding portion as a major axis. The inner periphery of the circular spline 12 is pressed at the long axis corresponding portion.
[0027]
For example, when the circular spline 12 is fixed and the third rotating portion 3 is rotated, the flex spline 11 is deformed so as to move the long axis position, and the circular spline 12 is pressed at the long axis corresponding position to restrain in the circumferential direction. Rotate little by little counterclockwise.
[0028]
When the second rotating unit 2 is located at the rear end of the circular spline 12 as shown in FIGS. 9A and 9B, the second rotating unit 2 is rotated as shown in FIG. Through (d), the state becomes as shown in FIG. 10 (e), and rotates in the direction opposite to the rotation direction of the third rotating portion 3, that is, in this example, counterclockwise by θ. Similarly, when the second rotating unit 2 is at the front end of the circular spline 12 as shown in FIGS. 9E and 9F, the second rotating unit 2 is rotated as shown in FIG. ) To (d), the state shown in FIG. 11 (e) is reached, and the third rotating part 3 rotates by θ ′ in the direction opposite to the rotating direction, that is, in this example, counterclockwise. In the state shown in FIG. 10, the difference between the outer peripheral length of the flexspline 11 and the peripheral length of the circular spline 12 is larger than that shown in FIG. The rotational angle θ ′ of the circular spline 12 in the state shown in FIG.
[0029]
FIG. 12 shows an overall configuration diagram incorporating the main part. In this embodiment, the rotor 15 a of the motor 15 is directly connected to the guide body 21, and the third rotating unit 3 rotates within the constant cross-sectional position of the flexspline 11. FIG. 12 corresponds to the minimum reduction ratio state shown in FIGS. 9A, 9B, and 10 and from this state, the circular spline 12 is moved to the linear slider 16 by the linear actuator 18 as shown in FIG. When moving along the axis 6, the rotating body 4 receives a reaction force from the inner peripheral wall of the circular spline 12 via the flexspline 11, and the roller support 20 sinks against the reaction force of the compression spring 22. The interval between the rotating bodies 4 is narrowed. In this state, the flexspline 11 is pressed from the inside by the rotating body 4 and is deformed into an ellipse having a contact portion with the rotating body 4 as a major axis, and the compression spring 22 flexes radially from the inside of the flexspline 11. It functions as a pressurizing mechanism 5 that presses the spline 11 and presses it against the circular spline 12.
[0030]
Therefore, in this embodiment, by operating the linear actuator 18, an arbitrary reduction ratio between the minimum deceleration state shown in FIG. 12 and the maximum deceleration state shown in FIG. 13 can be selected.
[0031]
In the first and second embodiments, the first rotating unit 1 is used as a fixed unit, the second rotating unit 2 is used as an output unit, and the third rotating unit 3 is used as an input unit. The first rotating unit 1 can be an output unit or an input unit, and the second rotating unit 2 can be a fixed unit or an input unit.
[0032]
【The invention's effect】
As is apparent from the above description, according to the present invention, the deceleration or speed increase ratio can be changed steplessly.
[Brief description of the drawings]
1A and 1B are views showing the present invention, in which FIG. 1A is a cross-sectional view taken along line 1A-1A of FIG. 1B, and FIG. 1B is a side view of FIG.
FIGS. 2A and 2B are views showing a movement state of the second rotating portion in the axial direction, where FIG. 2A is a cross-sectional view cut along the ball contact surface, FIG. 2B is a side view thereof, and FIG. Sectional view cut along the ball contact surface in the intermediate state, (d) is a side view thereof, (e) is a sectional view cut along the ball contact surface in a state where the reduction ratio is large, and (f) is a side view thereof. FIG.
FIG. 3 is a diagram showing an operation of a second rotating unit when the reduction ratio is small.
FIG. 4 is a diagram illustrating an operation of a second rotating unit when the reduction ratio is large.
5 is an overall configuration diagram of FIG. 1. FIG.
FIG. 6 is a diagram showing a state where a linear actuator is driven.
7A and 7B are views showing a second embodiment of the present invention, in which FIG. 7A is a sectional view taken along the line 7A-7A in FIG. 7B, and FIG. 7B is a side view of FIG.
FIG. 8 is a diagram illustrating a third rotating unit.
FIGS. 9A and 9B are diagrams showing a state of movement of the second rotating unit in the axial direction, where FIG. 9A is a cross-sectional view cut along the ball contact surface, FIG. 9B is a side view thereof, and FIG. Sectional view cut along the ball contact surface in the intermediate state, (d) is a side view thereof, (e) is a sectional view cut along the ball contact surface in a state where the reduction ratio is large, and (f) is a side view thereof. FIG.
FIG. 10 is a diagram illustrating the operation of the second rotating unit when the reduction ratio is small.
FIG. 11 is a diagram illustrating the operation of the second rotating unit when the reduction ratio is large.
12 is an overall configuration diagram of FIG. 7;
FIG. 13 is a diagram showing a state where a linear actuator is driven.
FIG. 14 is a diagram showing a conventional example.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 1st rotation part 2 2nd rotation part 3 3rd rotation part 4 Rotating body 5 Pressurization provision mechanism 6 Axis

Claims

A first rotating portion having an inner peripheral wall having a closed curved cross-sectional shape and rotatable about an axis;
A second rotating part that can be elastically deformed so as to be the major axis of the ellipse in any direction, presses the inner peripheral wall of the first rotating part at the major axis corresponding part, and mutually restrains in the circumferential direction;
A third rotation that freely rotates in the circumferential direction with respect to the second rotating part, and constrains the pressing direction against the radial direction to deform the second rotating part into an elliptical shape having the pressing direction as a major axis. And
A transmission in which a difference between a peripheral length of an inner peripheral wall of the first rotating portion and an outer peripheral length of an outer peripheral wall of the second rotating portion is variable ,
The third rotating part is formed in an elliptical cone shape in which the eccentricity continuously changes while keeping the outer peripheral length constant in the axial direction,
The second rotating part is externally fitted so as to be rotatable relative to the third rotating part,
And the inner wall of the 1st rotation part is formed in the cone shape which makes the major axis of the 2nd rotation part the diameter size,
A transmission in which the second rotating part can be relatively moved in the axial direction .

A first rotating portion having an inner peripheral wall having a closed curved cross-sectional shape and rotatable about an axis;
A second rotating part that can be elastically deformed so as to be the major axis of the ellipse in any direction, presses the inner peripheral wall of the first rotating part at the major axis corresponding part, and mutually restrains in the circumferential direction;
A third rotation that freely rotates in the circumferential direction with respect to the second rotating part, and constrains the pressing direction against the radial direction to deform the second rotating part into an elliptical shape having the pressing direction as a major axis. And
A transmission in which a difference between a peripheral length of an inner peripheral wall of the first rotating portion and an outer peripheral length of an outer peripheral wall of the second rotating portion is variable,
The third rotating part is formed by holding a pair of rotating bodies that roll on the inner peripheral wall of the second rotating part with a variable distance,
The inner wall of the first rotating part is formed in a conical shape having a diameter dimension between the support corresponding parts by the rotating body of the second rotating part,
A transmission in which the first rotating part and the second rotating part can be relatively moved in the axial direction .

The transmission according to claim 1, further comprising a pressurizing mechanism that presses the second rotating portion against the first rotating portion .