JP5403276B2 - Transmission using non-circular gear element pairs - Google Patents

Description

  The present invention relates to a transmission using a non-circular gear element pair, and more particularly to a transmission that switches a reduction ratio using a non-circular gear element pair.

  In this specification, the “reduction ratio” is represented by the drive side rotational speed / driven side rotational speed (or the input side rotational speed / output side rotational speed), and the driven side rotational speed rather than the drive side rotational speed. When is smaller (so-called deceleration), the value is larger than 1. The “reduction ratio” is expressed using the same definition when the driven side rotational speed is larger than the driving side rotational speed (so-called speed increase). In this case, the “reduction ratio” is a value smaller than 1. When the drive side rotational speed and the driven side rotational speed are the same, the reduction ratio is 1. That is, for example, when the driving side rotating member and the driven side rotating member are directly coupled, the reduction ratio between the driving side rotating member and the driven side rotating member is 1. The “reduction ratio” is also applicable to the relationship between two parts of one rotating member. For example, the “reduction ratio” between one part and another part of one rotating member. Think of it as 1. The reduction ratio does not take a negative value. The “rotational speed” may be replaced with “rotational angular speed”.

  At present, many transmissions capable of changing the reduction ratio in multiple stages, such as an automatic transmission of an automobile, have already been developed and established.

  Currently, most robots are driven by an electric motor equipped with a reduction gear having a constant reduction ratio. This electric motor has a characteristic of generating a large torque during low-speed rotation and generating a low torque during high-speed rotation, but its corresponding range is narrow. Also, when the reduction ratio is constant, this reduction ratio is usually selected so as to be able to work even at the maximum load, so the speed is limited even at no load and work efficiency is reduced. There was a problem. Therefore, in order to drive the motor efficiently in a wide speed range, a transmission that changes the reduction ratio as necessary is necessary.

  In a robot, it is required to change the reduction ratio in a load state, and it is necessary to continue to support the load even in the process of changing the reduction ratio. Furthermore, since it is necessary to perform work with high accuracy, accurate rotation angle transmission is required even when the reduction ratio is changed. In addition, it is required to change the reduction ratio without stopping the rotation.

  On the other hand, transmissions are already used in automobiles and bicycles, but there is a problem in efficiently transmitting power when changing the reduction ratio.

  Normally, gear pairs with different reduction ratios cannot be meshed and rotated at the same time, so the reduction ratio cannot be changed while supporting the load without stopping the rotation. Also, in a transmission such as a normal automobile, the rotational speed of the gear to be fastened is different from that of the shaft before changing the reduction ratio. A large slip occurs between them, it is difficult to accurately transmit the rotation angle, and power transmission efficiency is also poor.

  Against this background, by using a non-circular gear element pair (non-circular gear pair), it is possible to change the reduction ratio while supporting the load without stopping the rotation, and accurately transmit the rotation angle. And the transmission which can transmit motive power efficiently is proposed.

  For example, as schematically shown in the configuration diagram of FIG. 8, the transmission 110 includes a first gear pair 116 and a second gear pair 116 between the input shaft 112 and the output shaft 114 via gear pair clutches 140 and 142. 117, and a non-circular gear pair 118 is disposed via a non-circular gear pair clutch 144. In the first and second gear pairs 116 and 117, the gears 120 and 122 arranged on the input shaft 112 side and the gears 130 and 132 arranged on the output shaft 114 side mesh with each other. The non-circular gear pair 118 meshes with an input-side non-circular gear 124 arranged on the input shaft 112 side and an output-side non-circular gear 134 arranged on the output shaft 114 side.

When the first gear pair 116 is connected between the input shaft 112 and the output shaft 114 by turning on the clutch 140, the reduction ratio between the input shaft 112 and the output shaft 114 determined by the first gear pair 116 is the R _1. When the second gear pair 117 is connected between the input shaft 112 and the output shaft 114 by turning on the clutch 142, the reduction ratio between the input shaft 112 and the output shaft 114 determined by the second gear pair 117 is the R _2.

The non-circular gear pair 118 includes a meshing section having a reduction ratio equal to the reduction ratio R ₁ when the first gear pair 116 is connected between the input shaft 112 and the output shaft 114, and the second gear pair 117. There and an interval meshing the speed reduction ratio R ₂ equal reduction ratio when concatenated. When the gear pairs 116 and 117 connected between the input shaft 112 and the output shaft 114 are switched, the non-circular gear pair 118 is transiently connected between the input shaft 112 and the output shaft 114. (For example, refer to Patent Document 1).

International Publication No. 2008/062718

  In order for the non-circular gear pair 118 to keep meshing, if n is a natural number of 1 or more, the output side gear 134 needs to rotate n times or 1 / n times when the input side gear 124 rotates once. When the input side gear 124 rotates once and the output side gear 134 rotates n times, the reduction ratio of the non-circular gear pair 118 is 1 / n on average, and transiently, a reduction ratio larger than 1 / n and 1 The reduction ratio is smaller than / n. When the input side gear 124 rotates once and the output side gear 134 rotates 1 / n, the reduction ratio of the non-circular gear pair 118 is n on average, and is transiently larger than n and smaller than n. Reduced ratio.

For example, when R ₁ = 1.2 and R ₂ = 0.8, the reduction ratio of the non-circular gear pair 118 varies between 1.2 and 0.8 as shown in FIG. To be 1.

However, there are cases where only the speed increase or the speed reduction is required as the specification of the transmission. That is, the reduction ratio of each gear pair may be less than 1 or may be greater than 1. For example, when R ₁ = 1.5 and R ₂ = 1.2 (in the case of only deceleration), the average reduction ratio of the non-circular gear pair 118 is 1, for example, as shown in FIG. Thus, it is necessary to provide a meshing section where the reduction ratio is extremely smaller than 1 (for example, a section where the reduction ratio is 0.3). When the average reduction ratio of the non-circular gear pair 118 is 2, it is necessary to provide a meshing section where the reduction ratio is larger than 2 (for example, a section where the reduction ratio is 2.8).

  That is, if n is a natural number of 1 or more, the average reduction ratio of the non-circular gear pair can be n or 1 / n. Therefore, for example, when the reduction ratios of each pair of gear pairs arranged between the input shaft and the output shaft are all n and n + 1 or less, the average of the reduction ratios of the non-circular gear pairs is n (or n + 1). In order to achieve this, it is necessary to provide a meshing section having a reduction ratio smaller than n (or a meshing section larger than n + 1). That is, it is necessary to provide a meshing section where the reduction ratio is out of the desired reduction ratio range (1.2 to 1.5 in the example of FIG. 7).

  If the non-circular gear pair includes a meshing section with a reduction ratio that is out of the desired reduction ratio range, the reduction ratio of the non-circular gear pair may not change smoothly or may be undesirably large or small. A reduction ratio state occurs, and smooth shifting becomes difficult. In addition, the configuration of the non-circular gear pair is complicated.

  In view of such circumstances, the present invention can smoothly change the reduction ratio of the non-circular gear pair for various combinations of reduction ratios, and can change the reduction ratio while supporting the load without stopping rotation. An object of the present invention is to provide a transmission capable of accurately transmitting a rotation angle and transmitting power efficiently.

  In order to solve the above problems, the present invention provides a transmission configured as follows.

The transmission includes: (a) a first set of input members and output members that are rotatably supported; and (b) at least two sets of gears respectively disposed between the first set of input members and output members. And (c) at least two sets of gear element pair clutches that releasably connect at least two sets of gear element pairs between the first set of input members and output members, and (d). A second set of input and output members rotatably supported; and (e) at least one set of non-circular gear element pairs disposed between said second set of input and output members; and (f). At least one non-circular gear element pair clutch releasably connecting at least one non-circular gear element pair between the second set of input member and output member; and (g) the first set. And the second set of input members, the first set A first reduction with a constant reduction ratio when rotation is transmitted between the input member and the second set of input members and rotation is transmitted from the first set of input members to the second set of input members. An input-side speed increase / decrease device which is a ratio; and (h) the first set of output members and the second set of output members, and the first set of output members and the second set of output members And an output side speed increasing / decreasing device that has a constant reduction ratio when the rotation is transmitted from the second set of output members to the first set of output members. When the reduction ratio is defined as a value obtained by dividing the rotational speed on the driving side or the input side by the rotational speed on the driven side or the output side, (i) the first reduction ratio is R _in , and the second reduction ratio is When R _out , R _in × R _out ≠ 1, and (ii) among the reduction ratios of the gear element pairs in each group, the minimum value is R _L , the maximum value is R _H , and m is a natural number or an inverse of a natural number. Then, for at least one m, R _L <m × R _in × R _out <R _H is satisfied, and (iii) the non-circular gear element pair has a reduction ratio R _i of each pair of the gear element pairs. Correspondingly, an average includes a first set of meshing sections in which the reduction ratio is R _i / (R _in × R _out ) and a second set of meshing sections connecting the first set of meshing sections. Then, the reduction ratio becomes m.

  In the above configuration, only one gear element pair is connected between the first set of input members and the output member by the gear element pair clutch, and the non-circular gear element pair is first connected by the non-gear element pair clutch. If it is controlled not to be connected between the two sets of input members and the output member, the first set of input members is connected via a gear element pair connected between the first set of input members and the output member. Rotation is transmitted to the first set of output members.

  When switching the reduction ratio of the transmission, in a state where a certain gear element pair is connected between the first set of input members and the output member, in the first set of meshing sections corresponding to the gear element pair. After the non-circular gear element pair is engaged, the non-circular gear element pair is connected between the second set of the input member and the output member by the non-gear element pair clutch, and then the gear element pair is connected to the gear element. Release with anti-clutch. The reduction ratio is changed by the second set of meshing sections of the non-circular gear element pair in a state where no gear element pair is connected between the first set of input member and output member. Then, at the timing when the non-circular gear element pair meshes in the first set meshing section corresponding to the other gear element pair, the other gear element pair is connected to the first set of input member and output member by the gear element pair clutch. After the connection between them, the connection between the second set of the input member and the output member is released by the non-gear element pair clutch for the non-circular gear element pair.

  As described above, when the control is performed so that the gear element pair or the non-circular gear element pair is always connected between the first set of input members and the output member or between the second set of input members and the output member. The reduction ratio can be changed while supporting the load without stopping the rotation, the rotation angle can be accurately transmitted, and the power can be transmitted efficiently.

  If comprised in this way, when the reduction ratio of the gear element pair arrange | positioned between a 1st set input member and an output member is all n or more and n + 1 or less, for example, 1 / n or less and 1 / ( For a combination of various reduction ratios, such as when n + 1) or more, the reduction ratio of the non-circular gear element pair can be easily set to be a natural number or a reciprocal of the natural number on average. In addition, since the meshing section where the reduction ratio deviates from the range of the desired reduction ratio can be reduced or does not need to be provided, the reduction ratio of the non-circular gear element pair can be smoothly changed with respect to various combinations of reduction ratios. can do.

  In the present invention, the “gear element” means an element having a wide tooth and includes not only a gear but also a sprocket, a pulley, and the like. The “gear element pair” is not limited to the case where the teeth of the gear element are directly meshed with each other, but includes a case where the gear elements are meshed and interlocked indirectly via an intermediate gear, a toothed belt, a chain, or the like.

  The present invention also provides a transmission configured as follows.

The transmission includes: (a) a first set of input members and output members that are rotatably supported; and (b) at least two sets of gears respectively disposed between the first set of input members and output members. And (c) at least two sets of gear element pair clutches that releasably connect at least two sets of gear element pairs between the first set of input members and output members, and (d). A second set of input and output members rotatably supported; and (e) at least one set of non-circular gear element pairs disposed between said second set of input and output members; and (f). At least one non-circular gear element pair clutch releasably connecting at least one non-circular gear element pair between the second set of input member and output member; and (g) the first set. And the second set of input members, the first set A first reduction with a constant reduction ratio when rotation is transmitted between the input member and the second set of input members and rotation is transmitted from the first set of input members to the second set of input members. And an input side speed increase / decrease device. The first set of output members and the second set of output members are coupled to transmit rotation between the first set of output members and the second set of output members. When the reduction ratio is defined as a value obtained by dividing the rotational speed on the driving side or the input side by the rotational speed on the driven side or the output side, (i) rotation from the second set of output members to the first set of output members the second reduction ratio when transmitting when _{R out} of _{a R out} = 1, when the _{R in} the (ii) the first reduction _ratio, an _{R in} ≠ 1, (iii) each set wherein the minimum value _{R L} of the gear element pair reduction ratio, the maximum value _R H, when the natural number or the reciprocal of a natural number m of, for at least one _{m, R L <m × R} in × R out <R _And (iv) the non-circular gear element pair has a reduction ratio R _i / (R _in × R _out ) corresponding to the reduction ratio R _i of each pair of the gear element pairs. One set of meshing sections and a second set of meshing sections connecting between the first set of meshing sections Inclusive, the average reduction ratio is m.

  In this case, the transmission does not include an output side speed increasing / decreasing device. In this case, the first set of output members and the second set of output members may be integrated.

  The present invention also provides a transmission configured as follows.

The transmission includes: (a) a first set of input members and output members that are rotatably supported; and (b) at least two sets of gears respectively disposed between the first set of input members and output members. And (c) at least two sets of gear element pair clutches that releasably connect at least two sets of gear element pairs between the first set of input members and output members, and (d). A second set of input and output members rotatably supported; and (e) at least one set of non-circular gear element pairs disposed between said second set of input and output members; and (f). At least one non-circular gear element pair clutch releasably connecting at least one non-circular gear element pair between the second set of input member and output member; and (g) the first set. Are coupled to the second set of output members and the first set. Second reduction with a constant reduction ratio when rotation is transmitted between the output member and the second set of output members, and rotation is transmitted from the second set of output members to the first set of output members. And an output side speed increase / decrease device. The first set of input members and the second set of input members are coupled to transmit rotation between the first set of input members and the second set of input members. When the reduction ratio is defined as a value obtained by dividing the rotational speed on the driving side or the input side by the rotational speed on the driven side or the output side, (i) the rotation from the first set of input members to the second set of input members R _in = 1 if R _in is the first reduction ratio when transmitting, and (ii) R _out ≠ 1 if R _out is the second reduction ratio, and (iii) each set wherein the minimum value _{R L} of the gear element pair reduction ratio, the maximum value _R H, when the natural number or the reciprocal of a natural number m of, for at least one _{m, R L <m × R} in × R out <R _And (iv) the non-circular gear element pair has a reduction ratio R _i / (R _in × R _out ) corresponding to the reduction ratio R _i of each pair of the gear element pairs. One set of meshing sections and a second set of meshing sections connecting between the first set of meshing sections Inclusive, the average reduction ratio is m.

  In this case, the transmission does not include an input side speed increase / decrease device. In this case, the first set of input members and the second set of input members may be integrated.

Preferably, the minimum value of the reduction ratio of the non-circular gear element pair is equal to R _L / (R _in × R _out ),
The maximum value is equal to R _H / (R _in × R _out ).

  In this case, it is possible to prevent the non-circular gear element pair from having a meshing section having a reduction ratio that is out of the desired reduction ratio range. Can be prevented from occurring.

  Preferably, m = 1.

  In this case, the non-circular gear element pair has an average reduction ratio of 1, and can be easily manufactured.

  The transmission of the present invention can smoothly change the reduction ratio of the non-circular gear element pair for various combinations of reduction ratios, and can change the reduction ratio while supporting the load without stopping the rotation. The rotation angle can be accurately transmitted, and the power can be transmitted efficiently.

It is a mechanism figure showing the composition of a transmission typically. (Example) 3 is a schematic diagram schematically showing a pitch curve of a non-circular gear pair. (Example) (A) The graph which shows typically the change of the reduction ratio of a non-circular gear pair, (b) It is a table | surface which shows ON and OFF of a clutch. (Example) (A) The graph which shows typically the change of the reduction ratio of a non-circular gear pair, (b) It is a table | surface which shows ON and OFF of a clutch. (Example) It is a figure which shows typically the change of the reduction ratio accompanying rotation of a non-circular gear pair. (Example) It is a figure which shows typically the change of the reduction ratio accompanying rotation of a non-circular gear pair. (Reference example) It is a figure which shows typically the change of the reduction ratio accompanying rotation of a non-circular gear pair. (Reference example) It is a block diagram which shows the structure of a transmission typically. (Conventional example)

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

  As schematically shown in the mechanism diagram of FIG. 1, the transmission 10 includes a first set of input and output members rotatably supported, an input shaft 12 and an output shaft 14, and at least two sets of gear elements. A pair of first and second gear pairs 16, 17; a non-circular gear pair 18 that is a non-circular gear element pair; a clutch 40, 42 that is a clutch for a gear element pair; and a clutch for a non-circular gear element pair A second set of input and output members rotatably supported, an input side intermediate shaft 52 and an output side intermediate shaft 54, an input side speed increasing / decreasing device 60, and an output side speed increasing / decreasing device 70. And.

  Each pair of gears 16, 17, 18 is engaged with a pair of gears 20, 30; 22, 32; 24, 34, and there is no delay in the rotation angle. That is, the rotation angle is accurately transmitted and power is efficiently transmitted.

  One gear (input side gears) 20 and 22 of the first and second gear pairs 16 and 17 is fixed to the input shaft 12, and these gears 20 and 22 rotate integrally with the input shaft 12. .

  On the output shaft 14, the other gears (output side gears) 30 and 32 of the first and second gear pairs 16 and 17 are supported in a relatively rotatable state. The output side gears 30 and 32 are selectively coupled to the output shaft 14 by the clutches 40 and 42. That is, when the clutches 40 and 42 are ON, the corresponding output side gears 30 and 32 are coupled to the output shaft 14, and the coupled output side gears 30 and 32 and the output shaft 14 are integrated. Rotate. When the clutches 40 and 42 are OFF, the output side gears 30 and 32 can rotate relative to the output shaft 14 while restraining the movement of the output shaft 14 in the axial direction. Therefore, the rotation of the input shaft 12 is transmitted to the output shaft 14 via the gear pairs 16 and 17 connected between the input shaft 12 and the output shaft 14 when the clutches 40 and 42 are turned on.

  One gear (input side gear) 24 of the non-circular gear pair 18 is fixed to the input side intermediate shaft 52, and the gear 24 rotates integrally with the input side intermediate shaft 52.

  On the output side intermediate shaft 54, the other gear (output side gear) 34 of the non-circular gear pair 18 is supported in a relatively rotatable state. The output side gear 34 is selectively coupled to the output side intermediate shaft 54 by a clutch 44. That is, when the clutch 44 is ON, the output side gear 34 is coupled to the output side intermediate shaft 54, and the coupled output side gear 34 and the output side intermediate shaft 54 rotate together. When the clutch 44 is OFF, the output gear 34 can rotate relative to the output intermediate shaft 54 while restraining the movement of the output intermediate shaft 54 in the axial direction. Therefore, when the clutch 44 is ON, the rotation of the input-side intermediate shaft 52 is output via the non-circular gear pair 18 connected between the input-side intermediate shaft 52 and the output-side intermediate shaft 54. It is transmitted to the intermediate shaft 54.

The input side speed increasing / decreasing device 60 is coupled to the input shaft 12 and the input side intermediate shaft 52, transmits rotation between the input shaft 12 and the input side intermediate shaft 52, and is transmitted from the input shaft 12 to the input side intermediate shaft 52. The first reduction ratio R _in is a constant reduction ratio when the rotation is transmitted. The output side speed increasing / decreasing device 70 is coupled to the output shaft 14 and the output side intermediate shaft 54, transmits rotation between the output shaft 14 and the output side intermediate shaft 54, and is output from the output side intermediate shaft 54 to the output shaft 14. This is the second reduction ratio _Rout in which the reduction ratio in the case of transmitting the rotation is constant.

  When the clutches 40, 42, and 44 are ON, if there is no slip or the like at the clutches 40, 42, and 44, the output shafts 14 or The rotation angle can be accurately transmitted to the output intermediate shaft 54, and the power can be efficiently transmitted.

  As the clutches 40, 42, 44, it is preferable to use meshing clutches such as dog clutches, jaw clutches, and tooth-shaped clutches. In friction clutches such as disc clutches and drum clutches, slipping may occur, whereas in meshing clutches, mechanical structures such as protrusions and holes formed on the drive side and driven side mesh and friction occurs. This is because slipping unlike the clutch does not occur, and therefore, when the meshing clutch is used, the rotation angle can be transmitted very accurately and the power can be transmitted very efficiently. The clutches 40, 42, and 44 are not limited to meshing clutches such as dog clutches, and friction clutches other than the meshing clutches may be used.

  Although not shown, the clutches 40, 42 and 44 are driven by an actuator, and the operation of the actuator is controlled by a control device. The phase of the non-circular gear pair 18 is detected by a sensor (not shown), and the detection signal is input to the control device. The control device controls ON / OFF of the clutches 40, 42, and 44 so that the reduction ratio can be switched without stopping the rotation, the rotation angle can be accurately transmitted, and the power can be efficiently transmitted.

Each gear pair 16, 17, 18 is selectively connected between the input shaft 12 or the input side intermediate shaft 52 and the output shaft 14 or the output side intermediate shaft 54 by turning on the clutches 40, 42, 44. When the first gear pair 16 is connected between the input shaft 12 and the output shaft 14 by turning on the clutch 40, the reduction ratio between the input shaft 12 and the output shaft 14 determined by the first gear pair 16 is set. Let R ₁ . When the second gear pair 17 is connected between the input shaft 12 and the output shaft 14 by turning on the clutch 42, the reduction ratio between the input shaft 12 and the output shaft 14 determined by the second gear pair 17 is set. and R _2.

  Three or more gear pairs are arranged between the input shaft 12 and the output shaft 14, and each gear pair is selectively connected between the input shaft 12 and the output shaft 14 by a clutch. May be.

When each gear pair is connected between the input shaft 12 and the output shaft 14, the reduction ratio between the input shaft 12 and the output shaft 14 determined by the i-th gear pair is R _i, and all sets Of the reduction ratios R _i for the gear pairs, the maximum value is R _H and the minimum value is R _L. In the example of FIG. 1, one of R ₁ and R ₂ is R _H and the other is R _L.

The reduction ratio R _in of the input side speed increasing / decreasing device 60 is (the rotational speed of the input shaft 12) / (the rotational speed of the input side intermediate shaft 52). The reduction ratio R _out of the output side speed increasing / decreasing device 70 is (the rotational speed of the output side intermediate shaft 54) / (the rotational speed of the output shaft 14). Reduction ratio R _X between the input-side intermediate shaft 52 and the output-side intermediate shaft 54 which is determined by the non-circular gear pair 18 is a (rotational speed of the input side gear 24) / (rotational speed of the output side gear 34). Reduction ratio R _X is varied by rotation of the non-circular gear.

When the non-circular gear pair 18 is connected between the input-side intermediate shaft 52 and the output-side intermediate shaft 54 by turning on the clutch 44, the input-side speed increaser / decelerator 60, the input-side intermediate shaft 52, and the non-circular shape from the input shaft 12 are connected. The reduction ratio of the system from the gear pair 18, the output side intermediate shaft 54, and the output side speed increasing / decreasing device 70 to the output shaft 14, that is, (the rotational speed of the input shaft 12) / (the rotational speed of the output shaft 14) is R _in × R _X × R _out

Assuming that the reduction ratio in a certain meshing section included in the first meshing section of the non-circular gear pair corresponding to the minimum value _RL of the gear pair reduction ratio is R _L ′, the reduction ratios _RL and _RL ′ Has the following relationship:
R _L = R _in × R _L '× R _out (1)
That is, R _L 'can be expressed as:
R _L '= R _L / (R _in × R _out ) (2)

If the reduction ratio in the other meshing section included in the first meshing section of the non-circular gear pair corresponding to the maximum value _RH of the gear pair reduction ratio is R _H ′, the reduction ratio R _H There is the following relationship with R _H ′.
R _H = R _in × R _H '× R _out (3)
That is, R _H ′ can be expressed as follows:
R _H ′ = R _H / (R _in × R _out ) (4)

The reduction ratio of the non-circular gear pair changes during rotation, but it is necessary to have at least a section where the reduction ratio is in the range from the reduction ratio R _L ′ to the reduction ratio R _H ′.

  In order for the non-circular gear pair 18 to keep meshing, if n is a natural number of 1 or more, the output side gear 34 needs to rotate n times (or 1 / n times) when the input side gear 24 rotates once. Although the reduction ratio of the non-circular gear pair 18 varies, it needs to be 1 / n (or n) on average. The reduction ratio of the non-circular gear pair 18 transiently becomes a value larger than 1 / n (or n) or smaller than 1 / n (or n) during rotation.

If R _L ′ <1 / n (or n) <R _H ′, the meshing section having a reduction ratio (for example, R _L ′) smaller than 1 / n (or n) and 1 / n (or Since an engagement section having a reduction ratio (for example, R _H ′) larger than n) originally exists, it is easy to make the average reduction ratio of the non-circular gear pair 18 1 / n (or n).

If m is a natural number of 1 or more or its inverse,
R _L '<m <R _H ' (5)

Rewriting equation (5),
R _L / (R _in × R _out ) <m <R _H / (R _in × R _out ) (6)
It becomes.

  Therefore, if Expression (6) is satisfied, it is easy to configure the non-circular gear pair 18 so that the average reduction ratio of the non-circular gear pair 18 is m. Further, the reduction ratio of the non-circular gear pair 18 is easily changed smoothly.

That is, the minimum value R _L and the maximum value R _H of the reduction ratio R _i for any combination of the reduction ratios R _i of at least two pairs of gears 16 and 17 connected between the input shaft 12 and the output shaft 14. Is determined, m, R _in , and R _out may be selected so as to satisfy Expression (6).

The non-circular gear pair 18 has a first set of meshing sections in which the reduction ratio is R _i / (R _in × R _out ) corresponding to the reduction ratio R _i of each pair of gear pairs, And a second set of meshing sections that connect the set of meshing sections, and the average reduction ratio is set to m.

The minimum value of the reduction ratio of the non-circular gear pair 18 does not necessarily have to be R _L ′, and the maximum value of the reduction ratio of the non-circular gear pair 18 does not necessarily have to be R _H ′. However, if the minimum value of the reduction ratio of the non-circular gear pair is R _L ′ and the maximum value is R _H ′, the range in which the reduction ratio of the non-circular gear pair 18 changes is from R _L ′ to R _H ′. Become. In this case, it is possible to prevent the occurrence of an unfavorable reduction ratio such as a reduction ratio state smaller than R _L ′ or a reduction ratio state larger than R _H ′. Thereby, the configuration of the non-circular gear pair 18 can be simplified, and the reduction ratio of the non-circular gear pair 18 is easily changed smoothly.

In particular, when n = 1, that is, m = 1, equation (6) is
R _L / (R _in × R _out ) <1 <R _H / (R _in × R _out ) (7)
It becomes.

  If this equation (7) is satisfied, the average reduction ratio of the non-circular gear pair 18 is 1, and the non-circular gear pair 18 can be easily made into a simple configuration.

For example, when R _H = 1.5 and R _L = 1.2, if R _in × R _out = _4/3 is selected so as to satisfy Equation (7), the reduction ratio of the non-circular gear pair 18 is, for example, As shown in FIG. 5, it can be configured to vary between 0.9 and 1.125.

  As can be seen from a comparison between FIG. 5 and FIG. 7, in this case, the change in the reduction ratio of the non-circular gear pair 18 can be made smooth.

  One of the gear pairs 16 and 17 disposed between the input shaft 12 and the output shaft 14 and a non-circular gear pair 18 disposed between the input-side intermediate shaft 52 and the output-side intermediate shaft 54 are provided. At the same time, it is possible to lengthen the section for transmitting the rotation, that is, the first set of meshing sections having the reduction ratios of 0.9 and 1.125. Therefore, it is easy to smoothly switch the gear pairs 16 and 17 connected between the input shaft 12 and the output shaft 14.

The value of R _in × R _out is other than 1. In order to realize this, (a) the input side speed increase / decrease device is different from the output side speed increase / decrease device, or (b) the input side speed increase / decrease device has the same configuration as the output side speed increase / decrease device Or a combination of an additional speed reducer and (c) a method in which the output side speed reducer is configured by a combination of the speed increaser / speed reducer having the same configuration as the input side speed reducer Is used.

One of the first reduction ratio R _in and the second reduction ratio R _out may be 1. In this case, the portions corresponding to the speed increasing / decreasing devices 60 and 70 are such that the input shaft 12 and the input side intermediate shaft 52, the output side intermediate shaft 54 and the output shaft 14 are integrated, coupled, or coupled by coupling. Thus, the rotation may be transmitted without being increased or decreased.

As described above, by configuring the non-circular gear pair 18 and the speed increasing / decreasing devices 60 and 70 so as to satisfy the expression (6), it becomes easy to smoothly change the reduction ratio of the non-circular gear pair 18. Equation (6), for various combinations of speed reduction ratio R _i of at least two sets of gear pairs 16, 17 disposed between the input shaft 12 and the output shaft 14, for example, all the speed reduction ratio R _i Even when n is not less than n and not more than n + 1, or when it is not more than 1 / n and not less than 1 / (n + 1), m, R _in and R _out can be satisfied by appropriately selecting them.

  FIG. 2 is a schematic diagram schematically showing the pitch curve of the non-circular gear pair 18. As shown in FIG. 2, the gears 24 and 34 forming the pair of the non-circular gear pair 18 are non-circular gears, and the pitch curve of the gears 24 and 34 forming the pair of the non-circular gear pair 18 is the first gear pair. First sections 25 and 35 equal to the arcs of the pitch circles 20p and 30p corresponding to 16, third sections 27 and 37 equal to the arcs of the pitch circles 22p and 32p corresponding to the second gear pair 17, and The first and second sections 25 and 35 and the third sections 27 and 37 are connected to each other. The first and third sections 25, 35; 27, 37 are a first set of meshing sections corresponding to the reduction ratios of the gear pairs 16, 17, respectively. The second and fourth sections 26, 36; 28, 38 are a second set of meshing sections that connect between the first set of meshing sections.

When the gears 24 and 34 forming a pair of the non-circular gear pair 18 rotate in a direction indicated by an arrow in FIG. 2, the sections 25 and 35; 26 and 36; 27 and 37; 28 of the pitch curve of the gears 24 and 34. , 38 mesh with each other. Assuming that the reduction ratio of the first gear pair 16 is _{RH and} the reduction ratio of the second gear pair 17 is _RL , the reduction ratio in the first sections 25 and 35 is the reduction ratio of the first gear pair 16. Corresponding to the ratio R _H , R _H / (R _in × R _out ). The reduction ratio in the third sections 27 and 37 is R _L / (R _in × R _out ) corresponding to the reduction ratio R _L of the second gear pair 17. The reduction ratio in the second and fourth sections 26, 36; 28, 38 varies between R _H / (R _in × R _out ) and R _L / (R _in × R _out ).

In a situation where the non-circular gear pair 18 is connected between the input-side intermediate shaft 52 and the output-side intermediate shaft 54, the non-circular gear pair 18 is connected to the third section 27 as shown in FIG. , 37, the reduction ratio between the input shaft 12 and the output shaft 14 is _RL . As shown in FIG. 2 (b), when meshing in the first sections 25, 35, the input shaft 12 And the output shaft 14 is _RH . When meshing in the second sections 26 and 36 and the fourth sections 28 and 38, the reduction ratio between the input shaft 12 and the output shaft 14 changes between _RL and _RH .

  Next, the operation of the transmission 10 will be described with reference to FIGS. 3 and 4.

3 (a) and 4 (a) is a graph of the reduction ratio _{R X} of the non-circular gear pair 18. The horizontal axis represents the rotation angle of the input side intermediate shaft 52, and the vertical axis represents the reduction ratio between the input side gear 24 and the output side gear 34. In the tables of FIG. 3 (b) and FIG. 4 (b), the ON state of the clutches 40, 42, 44 is indicated by ◯, and the OFF state of the clutches 40, 42, 44 is blank.

It is assumed that the reduction ratio of the first gear pair 16 is _{RH and} the reduction ratio of the second gear pair 17 is _RL . In FIGS. 3 (b) and 3 FIG. 4 (b), the first clutch 40 of the gear pair 16 reduction ratio is _{R H} "clutch _{(R H)",} the second gear pair reduction ratio is _{R L} The 17 clutches 42 are indicated as “clutch (R _L )”, and the clutch 44 of the non-circular gear pair 18 in which the reduction ratio changes is indicated as “clutch (shift)”.

When the clutch 40 of the first gear pair 16 having the reduction ratio _RH is ON and the clutches 42, 44 are OFF, the reduction ratio _RH is constant between the input shaft 12 and the output shaft 14. When the clutch 42 of the second gear pair 17 having the reduction ratio _RL is ON and the clutches 40, 44 are OFF, the reduction ratio _RL between the input shaft 12 and the output shaft 14 is constant. As shown in FIGS. 3A and 4A, the reduction ratio of the non-circular gear pair 18 is reduced by the reduction ratio R _H / () as the input shaft 12 rotates, that is, the input-side intermediate shaft 52 rotates. It changes within a predetermined range including R _in × R _out ) and R _L / (R _in × R _out ). In FIGS. 3A and 4A, curves when the reduction ratio of the non-circular gear pair 18 changes are schematically shown.

When the reduction ratio between the input shaft 12 and the output shaft 14 is changed from _RH to _RL , the clutches 40, 42, and 44 are operated as follows.

As shown in FIG. 3A, when the clutch 40 of the first gear pair 16 having the reduction ratio _RH is ON, the reduction ratio of the non-circular gear pair 18 is calculated from R _L / (R _in × R _out ). passes through the R _H / section 301 changes _{(R in} × _{R out),} Once in a constant reduction ratio _{R H / (R in × R} out) and comprising sections 302, as shown in FIG. 3 (b) In addition to the clutch 40 of the first gear pair 16, the clutch 44 of the non-circular gear pair 18 is turned on. Then, after the clutch 44 of the non-circular gear pair 18 is turned on in the section 302, the reduction ratio of the non-circular gear pair 18 is changed from R _H / (R _in × R _out ) to R _L / (R _in × R. The clutch 40 of the first gear pair 16 is turned off before entering the section 303 that changes to ( _out ).

In a section 303 where the reduction ratio of the non-circular gear pair 18 changes from R _H / (R _in × R _out ) to R _L / (R _in × R _out ), only the clutch 44 of the non-circular gear pair 18 is ON. It is. In the section 303, since the non-circular gear pair 18 is connected between the input side intermediate shaft 52 and the output side intermediate shaft 54, the reduction ratio between the input shaft 12 and the output shaft 14 is changed from _RH to R. Change to _L. During this time, if the clutch 44 is not slipped, the rotation angle can be accurately transmitted from the input shaft 12 to the output shaft 14 and the power can be efficiently transmitted by the meshing of the non-circular gear pair 18.

Passing through a section 303 where the reduction ratio of the non-circular gear pair 18 changes from R _H / (R _in × R _out ) to R _L / (R _in × R _out ), a constant reduction ratio R _L / (R _in When entering the section 304 that is × R _out ), as shown in FIG. 4B, the clutch 42 of the second gear pair 17 having the reduction ratio _RL is turned ON. Then, after the clutch 42 of the second gear pair 17 is turned on in the section 304, and the reduction ratio of the non-circular gear pair 18 is changed from R _L / (R _in × R _out ) to R _H / (R _in × Before entering the section 305 that changes to R _out ), the clutch 44 of the non-circular gear pair 18 is turned off. In this way, after only the second gear pair 17 is connected between the input shaft 12 and the output shaft 14, the reduction ratio between the input shaft 12 and the output shaft 14 becomes _RL constant, By meshing the two gear pairs 17, the rotation angle can be accurately transmitted from the input shaft 12 to the output shaft 14, and the power can be efficiently transmitted.

  Since the clutches 40, 42, and 44 are switched ON / OFF when the driving side and the driven side are at the same speed, a meshing clutch such as a dog clutch can be used as the clutches 40, 42, and 44 without any problem.

The same applies to the case where the reduction ratio between the input shaft 12 and the output shaft 14 is changed from _RL to _RH .

That is, as shown in FIG. 4A, the non-circular gear pair 18 passes through a section 401 where the reduction ratio changes from R _H / (R _in × R _out ) to R _L / (R _in × R _out ). When entering the section 402 where the constant reduction ratio R _L / (R _in × R _out ), as shown in FIG. 4B, in addition to the clutch 42 of the second gear pair 17 having the reduction ratio R _L , The clutch 44 of the non-circular gear pair 18 is turned on. Then, after the clutch 44 of the non-circular gear pair 18 is turned on in the section 402, the reduction ratio of the non-circular gear pair 18 is changed from R _L / (R _in × R _out ) to R _H / (R _in × R. The clutch 42 of the second gear pair 17 is turned OFF before entering the section 403 that changes to ( _out ).

In a section 403 where the reduction ratio of the non-circular gear pair 18 changes from R _L / (R _in × R _out ) to R _H / (R _in × R _out ), only the clutch 44 of the non-circular gear pair 18 is ON. It is. In the section 403, since the non-circular gear pair 18 is connected between the input side intermediate shaft 52 and the output side intermediate shaft 54, the reduction ratio between the input shaft 12 and the output shaft 14 is changed from _RL to R. Change to _H. During this time, if the clutch 44 is not slipped, the rotation angle can be accurately transmitted from the input shaft 12 to the output shaft 14 and the power can be efficiently transmitted by the meshing of the non-circular gear pair 18.

Passing through a section 403 where the reduction ratio of the non-circular gear pair 18 changes from R _L / (R _in × R _out ) to R _H / (R _in × R _out ), a constant reduction ratio R _H / (R _in × Once in _{R out)} and comprising sections 404, as shown in FIG. 4 (b), the oN clutch 40 of the first gear pair 16 with the reduction ratio _{R H.} Then, after the clutch 40 of the first gear pair 16 is turned on in this section 404, and the reduction ratio of the non-circular gear pair 18 is changed from R _H / (R _in × R _out ) to R _L / (R _in Before entering the section 405 that changes to × R _out ), the clutch 44 of the non-circular gear pair 18 is turned off. In this way, after only the first gear pair 16 is connected between the input shaft 12 and the output shaft 14, the reduction ratio _RH between the input shaft 12 and the output shaft 14 is constant, and the first By meshing the one gear pair 16, the rotation angle can be accurately transmitted from the input shaft 12 to the output shaft 14, and power can be efficiently transmitted.

  As described above, the transmission 10 can smoothly change the reduction ratio of the non-circular gear pair for various combinations of reduction ratios, and can reduce the reduction ratio while supporting the load without stopping the rotation. The rotation angle can be accurately transmitted, and the power can be transmitted efficiently.

  The present invention is not limited to the above-described embodiment, and can be implemented with various modifications.

For example, in the transmission of the present invention, regardless of the non-circular gear element pair disposed between the first set of input members and the output member and disposed between the second set of input members and the output member, A pair of gear elements that are releasably coupled between a set of input and output members may be added. In this case, when switching from the reduction ratio of the added gear element pair to another reduction ratio, or when switching from another reduction ratio to the reduction ratio of the added gear element pair, when switching the reduction ratio, A non-circular gear element pair disposed between the input member and the output member is not used, that is, the non-circular gear element pair is not connected between the second set of input member and output member. In this case, the minimum value _RL and the maximum value _RH among the reduction ratios of each pair of gear element pairs in the transmission of the present invention ignore the reduction ratio of the gear element pair added to the transmission of the present invention. Decide.

For example, a first set and a second set of gear element pairs are arranged between a first set of input members and an output member, and a non-circular gear element pair arranged between a second set of input members and an output member is The transmission of the present invention is configured to be connected between the second set of input members and the output member when the reduction ratio is switched between the first set of gear element pairs and the second set of gear element pairs. In addition, the third to fifth gear element pairs arranged between the first set of input members and the output member and releasably connected between the first set of input members and the output member are arranged. In this case, the minimum value _RL and the maximum value _RH among the reduction ratios of each pair of gear element pairs in the transmission of the present invention may be determined from the reduction ratios of the first set and second set of gear element pairs. It is determined independently of the reduction ratio of the third to fifth gear element pairs.

10 Transmission 12 Input shaft (first set of input members)
14 Output shaft (first set of output members)
16 First gear pair (gear element pair)
17 Second gear pair (gear element pair)
18 Non-circular gear pair (non-circular gear element pair)
20, 22, 24 Input side gear 30, 32, 34 Output side gear 40 Clutch (gear element pair clutch)
42 Clutch (clutch for gear element pair)
44 Clutch (non-circular gear element pair clutch)
52 Input side intermediate shaft (second set of input members)
54 Output-side intermediate shaft (second set of output members)
60 Input side speed increase / decrease device 70 Output side speed increase / decrease device

Claims (5)

A first set of input and output members rotatably supported;
At least two pairs of gear elements, each disposed between the first set of input members and output members;
At least two sets of gear element pair clutches releasably connecting the at least two sets of gear element pairs between the first set of input members and the output member;
A second set of input and output members rotatably supported;
At least one set of non-circular gear element pairs disposed between the second set of input members and output members;
At least one non-circular gear element pair clutch releasably connecting at least one set of the non-circular gear element pairs between the second set of input members and output members;
The first set of input members and the second set of input members are coupled to each other, transmit rotation between the first set of input members and the second set of input members, and the first set of inputs. An input-side speed increase / decrease device in which a reduction ratio when transmitting rotation from a member to the second set of input members is a constant first reduction ratio;
The first set of output members and the second set of output members are coupled to transmit rotation between the first set of output members and the second set of output members, and the second set of output members. An output side speed increasing / decreasing device in which a reduction ratio when transmitting rotation from a member to the first set of output members is a constant second reduction ratio;
With
When the reduction ratio is defined as the value obtained by dividing the rotational speed on the drive side or input side by the rotational speed on the driven side or output side,
If the first reduction ratio is R _in and the second reduction ratio is R _out , then R _in × R _out ≠ 1,
Of the reduction ratios of the pairs of gear elements in each set, assuming that the minimum value is R _L , the maximum value is R _H , and m is a natural number or a reciprocal of a natural number, R _L <m × R _in × R _out for at least one m. <R _H is satisfied,
The non-circular gear element pair includes a first set of meshing sections having a reduction ratio of R _i / (R _in × R _out ) corresponding to the reduction ratio R _i of each pair of the gear element pairs, A transmission including a second set of meshing sections connecting the first set of meshing sections, and having an average reduction ratio of m. A first set of input and output members rotatably supported;
At least two pairs of gear elements, each disposed between the first set of input members and output members;
At least two sets of gear element pair clutches releasably connecting the at least two sets of gear element pairs between the first set of input members and the output member;
A second set of input and output members rotatably supported;
At least one set of non-circular gear element pairs disposed between the second set of input members and output members;
At least one non-circular gear element pair clutch releasably connecting at least one set of the non-circular gear element pairs between the second set of input members and output members;
The first set of input members and the second set of input members are coupled to each other, transmit rotation between the first set of input members and the second set of input members, and the first set of inputs. An input-side speed increase / decrease device in which a reduction ratio when transmitting rotation from a member to the second set of input members is a constant first reduction ratio;
With
The first set of output members and the second set of output members are coupled to transmit rotation between the first set of output members and the second set of output members;
When the reduction ratio is defined as the value obtained by dividing the rotational speed on the drive side or input side by the rotational speed on the driven side or output side,
When the second reduction ratio in the case of transmitting rotation from the second set of output members to the first set of output members is R _out , R _out = 1.
If the first reduction ratio is R _in , then R _in ≠ 1;
Of the reduction ratios of the pairs of gear elements in each set, assuming that the minimum value is R _L , the maximum value is R _H , and m is a natural number or a reciprocal of a natural number, R _L <m × R _in × R _out for at least one m. <R _H is satisfied,
The non-circular gear element pair includes a first set of meshing sections having a reduction ratio of R _i / (R _in × R _out ) corresponding to the reduction ratio R _i of each pair of the gear element pairs, A transmission including a second set of meshing sections connecting the first set of meshing sections, and having an average reduction ratio of m. A first set of input and output members rotatably supported;
At least two pairs of gear elements, each disposed between the first set of input members and output members;
At least two sets of gear element pair clutches releasably connecting the at least two sets of gear element pairs between the first set of input members and the output member;
A second set of input and output members rotatably supported;
At least one set of non-circular gear element pairs disposed between the second set of input members and output members;
At least one non-circular gear element pair clutch releasably connecting at least one set of the non-circular gear element pairs between the second set of input members and output members;
The first set of output members and the second set of output members are coupled to transmit rotation between the first set of output members and the second set of output members, and the second set of output members. An output side speed increasing / decreasing device in which a reduction ratio when transmitting rotation from a member to the first set of output members is a constant second reduction ratio;
With
The first set of input members and the second set of input members are coupled to transmit rotation between the first set of input members and the second set of input members;
When the reduction ratio is defined as the value obtained by dividing the rotational speed on the drive side or input side by the rotational speed on the driven side or output side,
When the first reduction ratio when transmitting rotation from the first set of input members to the second set of input members is R _in , R _in = 1.
If the second reduction ratio is R _out , then R _out ≠ 1;
Of the reduction ratios of the pairs of gear elements in each set, assuming that the minimum value is R _L , the maximum value is R _H , and m is a natural number or a reciprocal of a natural number, R _L <m × R _in × R _out <R _H is satisfied,
The non-circular gear element pair includes a first set of meshing sections having a reduction ratio of R _i / (R _in × R _out ) corresponding to the reduction ratio R _i of each pair of the gear element pairs, A transmission including a second set of meshing sections connecting the first set of meshing sections, and having an average reduction ratio of m. The reduction ratio of the non-circular gear element pair has a minimum value equal to R _L / (R _in × R _out ) and a maximum value equal to R _H / (R _in × R _out ). The transmission according to any one of 1 to 3.   The transmission according to claim 1, wherein m = 1.

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