JP5506882B2 - Differential rotation transmission device - Google Patents

Differential rotation transmission device Download PDF

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JP5506882B2
JP5506882B2 JP2012205812A JP2012205812A JP5506882B2 JP 5506882 B2 JP5506882 B2 JP 5506882B2 JP 2012205812 A JP2012205812 A JP 2012205812A JP 2012205812 A JP2012205812 A JP 2012205812A JP 5506882 B2 JP5506882 B2 JP 5506882B2
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planetary gear
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口 淳 山
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山口 淳
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この発明は、回転力の伝達技術に関連するものであり、特に、デファレンシャルギアなどとして効率的に回転駆動力を分配・伝達可能な差動回転伝達装置を製造、提供する分野は勿論のこと、その輸送、保管、組み立ておよび設置に必要となる設備、器具類を提供、販売する分野から、それら資材や機械装置、部品類に必要となる素材、例えば、木材、石材、各種繊維類、プラスチック、各種金属材料等を提供する分野、それらに組み込まれる電子部品やそれらを集積した制御関連機器の分野、各種計測器の分野、当該設備、器具を動かす動力機械の分野、そのエネルギーとなる電力やエネルギー源である電気、オイルの分野といった一般的に産業機械と総称されている分野、更には、それら設備、器具類を試験、研究したり、それらの展示、販売、輸出入に係わる分野、将又、それらの使用の結果やそれを造るための設備、器具類の運転に伴って発生するゴミ屑の回収、運搬等に係わる分野、それらゴミ屑を効率的に再利用するリサイクル分野などの外、現時点で想定できない新たな分野までと、関連しない技術分野はない程である。     The present invention relates to a rotational force transmission technique, and particularly, in the field of manufacturing and providing a differential rotational transmission device capable of efficiently distributing and transmitting rotational driving force as a differential gear, etc. From the field of providing and selling equipment and equipment necessary for its transportation, storage, assembly and installation, materials necessary for those materials, machinery and parts, such as wood, stone, various fibers, plastics, Fields that provide various metal materials, etc., electronic components incorporated in them, control-related equipment that integrates them, fields of various measuring instruments, fields of power machines that move the equipment and instruments, electric power and energy Fields generally referred to as industrial machinery, such as the electrical and oil fields that are the source, as well as testing and researching those facilities and equipment, and exhibiting them Fields related to sales, imports and exports, generals, results of their use, facilities for making them, fields related to the collection and transportation of waste generated by the operation of equipment, and efficient use of such waste In addition to the recycle fields that are reused, there are no technical fields that are not related to new fields that cannot be envisaged at this time.

（着目点）
左右に車輪を有する４輪自動車などによるコーナリング走行中に、左右輪の内輪差を吸収し、原動機からのトルクを左右輪に均等に分配・伝達可能とするものにオープンデフや多板クラッチ式ＬＳＤ（ｌｉｍｉｔｅｄ ｓｌｉｐ ｄｉｆｆｅｒｅｎｔｉａｌ）、ヘリカルＬＳＤ、ビスカスＬＳＤ、アクティブＬＳＤなど様々な差動装置が開発、実用化されているが、オープンデフは、内輪が空転した場合に、回転力が内輪に逃げてしまい、外輪に駆動力を伝えることができなくなるという欠点があり、多板クラッチ式ＬＳＤは、専用オイルおよびオーバーホールが不可欠で、駆動力の伝達中にトルクプレートがスリップして発熱量が大きくなるという問題があり、ヘリカルＬＳＤの場合は、ギアが相互に摩擦して回転するために発熱量が大きく、スラスト方向に大きな力が発生してしまうものであり、また、ビスカスＬＳＤは、ビスカスカップリングに流体を利用するため駆動力の伝達ロスが大きく、そして、アクティブＬＳＤは、各種センサー、油圧アクチュエーター、コンピューターなどが不可欠で非常に高価なものになってしまうなど、夫々に課題を抱えている。 (Points of interest)
Open diff or multi-plate clutch type LSD that absorbs the difference between the inner wheels of the left and right wheels and distributes and transmits the torque from the prime mover evenly to the left and right wheels during cornering by a four-wheeled vehicle with wheels on the left and right Various differential devices such as (limited slip differential), helical LSD, viscous LSD, and active LSD have been developed and put into practical use. However, when the inner ring is idle, the rotational force escapes to the inner ring, There is a drawback that it is impossible to transmit the driving force to the outer ring. In the multi-plate clutch type LSD, dedicated oil and overhaul are indispensable, and the torque plate slips during transmission of the driving force, resulting in a large amount of heat generation. Yes, in the case of helical LSD, the gears rub against each other and rotate to generate a large amount of heat. A large force is generated in the thrust direction, and the viscous LSD uses a fluid for viscous coupling, so the transmission loss of the driving force is large, and the active LSD includes various sensors, hydraulic actuators, computers. Etc. are indispensable and very expensive, each has its own problems.

（従来の技術）
こうした状況を反映し、その打開策となるような提案も、これまでに散見されない訳ではない。
例えば、下記の特許文献１（１）および（２）に提案されているものに代表されるように、デフケースに左右車輪夫々に接続する一対のサイドギアを配し、それらサイドギアに夫々別に噛合するピニオンギアを設け、複数の歯車やビスカスカップリングを組み合わせるなどして左右何れの車輪が空転しても各サイドギアに発生する差動制限力を均等に保つようにしてなるものや、同特許文献１（３）ないし（５）に見られるような、ボールカムを組み込んだものや、ボールカムに油圧機構を組み合わせてなるものなどとしてデファレンシャルギアを小型化し、大出力に対応可能なものとしたり、静粛性を高めたりしたものなどが散見される。 (Conventional technology)
Proposals that reflect this situation and serve as a breakthrough are not unheard of.
For example, as typified by those proposed in Patent Documents 1 (1) and (2) below, a pinion is provided with a pair of side gears connected to the left and right wheels in the differential case, and meshed separately with the side gears. By providing a gear and combining a plurality of gears and viscous couplings, the differential limiting force generated in each side gear can be kept uniform even if any of the left and right wheels idles. 3) to (5), as shown in (5), which incorporates a ball cam, or a combination of a ball cam and a hydraulic mechanism. Something is missing.

しかし、前記した特許文献１（１）および（２）に示されているような複数のギアを組み合わせてなるものは、個々の歯車の加工に高精度を要すると共に、歯の欠けや摩耗を防止できるよう高い耐久性が求められるから、各部品が勢い高価なものとなってしまう上、部品点数が多く構造が複雑なため製造および組立の工数が嵩み、効率的な生産やメンテナンスが難しく不経済であるという欠点があり、また、同特許文献１（３）ないし（５）のもののようにボールカムを組み込んでなるものは、各ボールカムが点接触によって回転力を伝達するから、各ボールカムに高い真球度と耐久強度とを要するものとなり、また、油圧回路を組み込んでなるものでは、定期的なオイル交換などのメンテナンスを要するものとなることもあって経済的に不利であるという問題を解決し得ていない。     However, the combination of a plurality of gears as shown in Patent Documents 1 (1) and (2) requires high precision in processing of each gear and prevents tooth chipping and wear. Since high durability is required, each part becomes momentary and expensive, and the number of parts is complicated and the structure is complicated. There is a disadvantage that it is economical, and those in which ball cams are incorporated, such as those in Patent Documents 1 (3) to (5), are high in each ball cam because each ball cam transmits a rotational force by point contact. Sphericality and endurance strength are required, and those with a built-in hydraulic circuit may require maintenance such as periodic oil changes, which is not economical. Not obtained to solve the problem is.

このような様々な課題の解決と、更なる改善の可能性を痛感した本願出願人は、長期に亘って研究と実験とを重ねた末に、特許文献１（６）に示す、筒状入力軸内配置とした出力軸周壁の軸心回りに均衡する複数箇所夫々に、出力軸軸心に直交する平面上の断面形が、該筒状入力軸内壁面との間に、出力軸軸心回り方向の両端がわで所定直径未満、出力軸軸心回り方向の中央付近で所定直径を超える弧形状とし、且つ、出力軸軸心を直径方向に通る平面上の断面形が、該筒状入力軸内壁面との間に、矩形状をなす弧条溝を形成し、出力軸各弧条溝と筒状入力軸内壁面との間に、前記所定直径とした円柱形状の遊星ギアを出力軸軸心に平行な姿勢となるよう遊嵌状に装着してなる差動回転伝達装置の開発に成功し、従来型のものに比較して部品点数の大幅な削減および製造工程の改善のみに留まらず、回転動力分配機能の効率化を達成可能としているが、この技術によって従前までの課題の全てを解決できたと云えるものではなく、例えば、回転する筒状入力軸の円筒内周壁面と、出力軸外周壁弧条溝の曲率の小さいがわの曲面壁との間に遊星ギアを挟み込み状とし、その円筒壁面同士の摩擦力によって回転力を伝達するものとしてあるが、筒状入力軸の回転入力が微弱であったり、回転速度が極めて遅かったりすると、確実な摩擦力を得るのが難しく、スリップしてしまうことが懸念されるものであり、正確且つ効率的な回転動力の分配機能を更に高めると共に、部品の簡素化を達成可能とする新たな差動回転伝達装置の開発を進めてきた。
（１）特開平８−６１４６４号公報 （２）特開平８−２８６５５号公報 （３）特開平１１−１０８１５４号公報 （４）特開２００１−１２５０７号公報 （５）特開２００３−４２１８８号公報 （６）特開２０１２−１４１０２５号公報 The applicant of the present application who felt the solution of such various problems and the possibility of further improvement, after repeating research and experiment over a long period of time, disclosed in Patent Document 1 (6) The cross-sectional shape on the plane orthogonal to the output shaft axis is located between the inner wall surface of the cylindrical input shaft at each of a plurality of locations balanced around the axis of the output shaft peripheral wall arranged in the shaft. A circular cross-section on the plane passing through the output shaft axis in the diametrical direction with both ends in the rotation direction having an arc shape that is less than a predetermined diameter at the edge and exceeding the predetermined diameter in the vicinity of the center in the rotation direction around the output shaft axis. A rectangular arc groove is formed between the inner wall surface of the input shaft and a cylindrical planetary gear having the predetermined diameter is output between each arc groove of the output shaft and the inner wall surface of the cylindrical input shaft. Succeeded in developing a differential rotation transmission device that is mounted in a loose fit so that it is parallel to the axis of the shaft. Although it is possible not only to greatly reduce the number and improve the manufacturing process, but also to achieve the efficiency of the rotational power distribution function, this technology has not solved all the previous problems, for example, A planetary gear is sandwiched between the cylindrical inner peripheral wall surface of the rotating cylindrical input shaft and the curved wall surface of the output shaft outer peripheral wall arc groove with a small curvature, and the rotational force is generated by the frictional force between the cylindrical wall surfaces. However, if the rotational input of the cylindrical input shaft is weak or the rotational speed is extremely slow, it is difficult to obtain a reliable frictional force and there is a concern that it will slip. In addition, the development of a new differential rotation transmission device has been promoted that further enhances the function of accurately and efficiently distributing the rotational power, and can achieve simplification of parts.
(1) JP-A-8-61464 (2) JP-A-8-28655 (3) JP-A-11-108154 (4) JP-A-2001-12507 (5) JP-A-2003-42188 (6) JP 2012-141025 A

（問題意識）
上述したとおり、従前までに提案のある各種デファレンシャルギアなどは、何れも部品点数が多く、構造が複雑で差動装置の故障原因を増加させてしまい、また、こうした欠点を解消し得たものであっても、オイル交換などのメンテナンスが不可欠となり、経済性の点で課題を残すものであり、永年、様々な利用者に対して柔軟に対応し、効率的に回転駆動力を分配可能であって、しかも耐久性に秀れたデファレンシャルギアの開発、提供に携わってきている中、それらから得られた様々な知見、およびユーザーからの情報などに基づき、さらに、部品点数を削減して構造の簡素化を達成し、耐久性に秀れるのは勿論のこと、製造工程上からも、その回転動力分配機能を正確且つ効率的に実現可能とするための構成につき、更なる改善の可能性を痛感するに至ったものである。 (Awareness of problems)
As described above, the various differential gears that have been proposed so far have a large number of parts, have a complicated structure, increase the cause of failure of the differential, and have been able to eliminate these disadvantages. Even in such a case, maintenance such as oil change becomes indispensable, leaving problems in terms of economic efficiency. For many years, it has been possible to respond flexibly to various users and efficiently distribute rotational driving force. In addition, while being engaged in the development and provision of differential gears with excellent durability, based on various knowledge obtained from them and information from users, the number of parts has been further reduced. It is possible to make further improvements to the configuration to achieve the rotational power distribution function accurately and efficiently from the manufacturing process as well as achieving simplification and excellent durability. Which has led to the keenly aware.

（発明の目的）
そこで、この発明は、部品点数を削減すると共に回転力の分配性能および伝達効率を格段に高めることができる上、小型・軽量化して製造、組み立て効率にも秀れた新たな回転力伝達技術の開発はできないものかとの判断から、逸速くその開発、研究に着手し、長期に渡る試行錯誤と幾多の試作、実験とを繰り返してきた結果、今回、遂に新規な構造の差動回転伝達装置を実現化することに成功したものであり、以下では、図面に示すこの発明を代表する実施例と共に、その構成を詳述することとする。 (Object of invention)
Therefore, the present invention can reduce the number of parts and can significantly increase the distribution performance and transmission efficiency of the rotational force, and can be used for a new rotational force transmission technology that is excellent in manufacturing and assembly efficiency by reducing the size and weight. Judging from the fact that development is impossible, we started development and research very quickly, and as a result of repeating trial and error over many years and many trial manufactures and experiments, this time finally the differential rotation transmission device with a new structure In the following, the configuration will be described in detail together with an embodiment representative of the present invention shown in the drawings.

（発明の構成）
図面に示すこの発明を代表する実施例からも明確に理解されるように、この発明の差動回転伝達装置は、基本的に次のような構成から成り立っている。
即ち、太陽軸の外周に同心状の太陽歯車を一体化し、同太陽歯車周囲の均衡する複数箇所夫々に遊星歯車を噛合し、それら太陽歯車および遊星歯車群の各両端を２枚のキャリア板間に軸着して遊星歯車系とすると共に、縦列状に組み合わせた複数の遊星歯車系を軸心方向に収容可能な内径に設定した収容室内周壁の周回り方向適所夫々に、それら遊星歯車群各遊星歯車の公転移動および自転を所定位置に同期規制可能な規制内歯群を求心方向に突設した筒状外周軸を設け、同筒状外周軸内に、複数の遊星歯車系を縦列・同心状に収容するよう組み合わせてなるものとした構成を要旨とする差動回転伝達装置である。 (Structure of the invention)
As will be clearly understood from the embodiments representing the present invention shown in the drawings, the differential rotation transmission device of the present invention basically comprises the following configuration.
That is, concentric sun gears are integrated on the outer periphery of the sun shaft, planetary gears are meshed with each of a plurality of balanced locations around the sun gears, and both ends of the sun gears and the planetary gear group are arranged between two carrier plates. A plurality of planetary gear systems combined in tandem are set to an inner diameter that can be accommodated in the axial direction, and each planetary gear group is arranged in a suitable position in the circumferential direction of the inner wall of the accommodation chamber. Provided with a cylindrical outer shaft that protrudes in the centripetal direction with a set of internal teeth that can control the revolving and rotation of planetary gears at a predetermined position. Multiple planetary gear systems are arranged in tandem and concentric with the cylindrical outer shaft. It is the differential rotation transmission apparatus which makes the summary the structure which was combined so that it might accommodate in shape.

この基本的な構成からなる差動回転伝達装置は、その表現を変えて示すならば、太陽軸の外周に同心状の太陽歯車を一体化し、同太陽歯車周囲の均衡する複数箇所夫々に遊星歯車を噛合し、それら太陽歯車および遊星歯車群の各両端を２枚のキャリア板間に軸着して遊星歯車系とすると共に、縦列状に組み合わせた複数の遊星歯車系を軸心方向に収容可能な内径に設定した収容室内周壁の周回り方向適所夫々に、それら遊星歯車群各遊星歯車の公転移動および自転を所定位置に同期規制可能な規制内歯群を求心方向に突設した筒状外周軸を設け、同筒状外周軸内に、複数の遊星歯車系を縦列・同心状に収容するよう組み合わせ、各太陽軸および外周軸の連繋動作にて、１系統の回転入力を２系統の回転出力に自動的に振り分け可能、および／または、２系統の回転入力を１系統の回転出力に自動的に統合可能なものとした構成からなる差動回転伝達装置となる。     In the differential rotation transmission device having this basic configuration, if expressed in a different manner, a concentric sun gear is integrated on the outer periphery of the sun shaft, and planetary gears are provided at a plurality of balanced positions around the sun gear. , And both ends of the sun gear and planetary gear group are pivotally attached between two carrier plates to form a planetary gear system, and a plurality of planetary gear systems combined in tandem can be accommodated in the axial direction. A cylindrical outer periphery that protrudes in the centripetal direction with a set of restriction internal teeth that can synchronously regulate the revolving movement and rotation of the planetary gears of each planetary gear group at a predetermined position, respectively, at appropriate positions in the circumferential direction of the inner circumferential wall set to a specific inner diameter A shaft is provided, and a plurality of planetary gear systems are combined in a tandem / concentric manner in the cylindrical outer peripheral shaft, and one system rotation input is rotated by two systems by connecting each sun shaft and outer peripheral shaft. Can automatically sort to output, and / or Others, a differential rotation transmitting device comprising rotating two inputs from the configuration assumed that automatically be integrated into the rotational output of one system.

より具体的には、第１太陽軸の外周に同心状の第１太陽歯車を一体化し、同第１太陽歯車周囲の均衡する複数箇所夫々に第１遊星歯車を噛合し、それら第１太陽歯車および第１遊星歯車群の各両端を一端キャリア板、第１傾動キャリア板間に軸着して第１遊星歯車系とし、第２太陽軸の外周に同心状の第２太陽歯車を一体化し、同第２太陽歯車周囲の均衡する複数箇所夫々に第２遊星歯車を噛合し、それら第２太陽歯車および第２遊星歯車群の各両端を第２傾動キャリア板、端末キャリア板間に軸着して第２遊星歯車系とすると共に、当該第１遊星歯車系第１傾動キャリア板に対し、傾動範囲規制機構を介して当該第２遊星歯車系第２傾動キャリア板を接合して縦列遊星機構とした上、該縦列遊星機構第１遊星歯車系および第２遊星歯車系を軸心方向に収容可能な内径に設定した収容室内周壁の周回り方向の適所夫々に、当該第１遊星歯車群各第１遊星歯車の公転移動範囲および自転を所定範囲に同期規制可能な第１規制内歯群、および第２遊星歯車群の各第２遊星歯車の公転移動範囲および自転を所定範囲に同期規制可能な第２規制内歯群を求心方向に突設した筒状外周軸を設け、同筒状外周軸内に、当該縦列遊星機構第１遊星歯車系および第２遊星歯車系を縦列・同心状に収容するよう組み合わせ、第１太陽軸、第２太陽軸および外周軸の連繋動作にて、１系統の回転入力を２系統の回転出力に自動的に振り分け可能、および／または、２系統の回転入力を１系統の回転出力に自動的に統合可能なものとした構成からなる差動回転伝達装置となる。     More specifically, a concentric first sun gear is integrated with the outer periphery of the first sun shaft, the first planetary gear is meshed with each of a plurality of balanced locations around the first sun gear, and the first sun gear is engaged. And each end of the first planetary gear group is axially attached between one end carrier plate and the first tilting carrier plate to form a first planetary gear system, and a concentric second sun gear is integrated on the outer periphery of the second sun shaft, The second planetary gear is meshed with each of a plurality of balanced locations around the second sun gear, and both ends of the second sun gear and the second planetary gear group are axially attached between the second tilting carrier plate and the terminal carrier plate. A second planetary gear system, and the second planetary gear system second tilting carrier plate is joined to the first planetary gear system first tilting carrier plate via a tilting range regulating mechanism. In addition, the first planetary gear system and the second planetary gear system of the cascade planetary mechanism A first restriction capable of synchronously restricting the revolution movement range and rotation of each first planetary gear of each first planetary gear group within a predetermined range at appropriate positions in the circumferential direction of the inner circumferential wall of the accommodation chamber set to an inner diameter that can be accommodated in the center direction. Provided is a cylindrical outer peripheral shaft projecting in a centripetal direction with a second regulating internal tooth group capable of synchronously regulating the revolution movement range and rotation of each second planetary gear of the inner tooth group and the second planetary gear group within a predetermined range; Combined to accommodate the first planetary gear system and the second planetary gear system in parallel and concentrically in the cylindrical outer peripheral shaft, the first planetary shaft, the second solar shaft and the outer peripheral shaft are connected. Differentially consisting of a configuration in which one rotation input can be automatically distributed to two rotation outputs and / or two rotation inputs can be automatically integrated into one rotation output It becomes a rotation transmission device.

これを換言すると、第１太陽軸の外周に同心状の第１太陽歯車を一体化し、同第１太陽歯車周囲の均衡する複数箇所夫々に第１遊星歯車を噛合し、それら第１太陽歯車および第１遊星歯車群の各両端を一端キャリア板、第１傾動キャリア板間に軸着して第１遊星歯車系とし、第２太陽軸の外周に同心状の第２太陽歯車を一体化し、同第２太陽歯車周囲の均衡する複数箇所夫々に第２遊星歯車を噛合し、それら第２太陽歯車および第２遊星歯車群の各両端を第２傾動キャリア板、端末キャリア板間に軸着して第２遊星歯車系とすると共に、当該第１遊星歯車系第１傾動キャリア板に対し、第１・第２太陽軸軸心回り方向の所定円弧長範囲内にて傾動自在とするよう案内および規制可能な傾動範囲規制機構を介して当該第２遊星歯車系第２傾動キャリア板を接合して縦列遊星機構とした上、該縦列遊星機構第１遊星歯車系および第２遊星歯車系を軸心方向に収容可能な内径に設定した収容室内周壁の周回り方向の適所夫々に、当該第１遊星歯車群各第１遊星歯車の公転移動範囲および自転を所定範囲に同期規制可能な第１規制内歯群、および第２遊星歯車群の各第２遊星歯車の公転移動範囲および自転を所定範囲に同期規制可能な第２規制内歯群を求心方向に突設した筒状外周軸を設け、同筒状外周軸内に、当該縦列遊星機構第１遊星歯車系および第２遊星歯車系を縦列・同心状に収容し、同第１太陽軸外端および／または第２太陽軸外端を、該筒状外周軸から外部に露出させて軸着するよう組み合わせてなるものとした構成からなる差動回転伝達装置となる。     In other words, a concentric first sun gear is integrated on the outer periphery of the first sun shaft, the first planetary gear is meshed with each of a plurality of balanced areas around the first sun gear, and the first sun gear and Each end of the first planetary gear group is axially attached between one end carrier plate and the first tilting carrier plate to form a first planetary gear system, and a concentric second sun gear is integrated on the outer periphery of the second sun shaft. The second planetary gear is meshed with each of a plurality of balanced locations around the second sun gear, and both ends of the second sun gear and the second planetary gear group are axially attached between the second tilting carrier plate and the terminal carrier plate. The second planetary gear system is guided and regulated so as to be tiltable with respect to the first planetary gear system first tilting carrier plate within a predetermined arc length range around the first and second sun axes. The second planetary gear system second tilt key via a possible tilt range regulating mechanism In addition to joining the rear plates to form a parallel planetary mechanism, each of the appropriate positions in the circumferential direction of the inner circumferential wall of the accommodation chamber in which the first planetary gear system and the second planetary gear system of the parallel planetary mechanism are set to have an inner diameter that can be accommodated in the axial direction. In addition, the revolving movement range of each first planetary gear of each first planetary gear group and the first restricting internal tooth group capable of synchronously regulating the rotation to a predetermined range, and the revolving movement range of each second planetary gear of the second planetary gear group. And a cylindrical outer peripheral shaft in which a second restriction internal tooth group capable of synchronously controlling rotation within a predetermined range is provided in the centripetal direction, and the first planetary gear system and the second planetary gear system of the cascade planetary mechanism are provided in the cylindrical outer shaft. The planetary gear system is accommodated in tandem and concentrically, and the first sun shaft outer end and / or the second sun shaft outer end are combined so that they are exposed to the outside from the cylindrical outer peripheral shaft. The differential rotation transmission device having the above-described configuration is obtained.

以上のとおり、この発明の差動回転伝達装置によれば、従前までのものとは違い、上記したとおりの固有の特徴ある構成から、従来型のデファレンシャルギアなどの作動回転力用伝達装置に比較して、部品点数を大幅に削減すると共に部品構成を簡素化・小型化・軽量化し、耐久強度を格段に高めると共に、組立作業性を高めて製造、組み立て効率に秀れたものとすることができ、しかも、太陽歯車の周囲に均衡するよう分散配置した複数個の遊星歯車夫々に、筒状外周軸の各規制内歯が同期して係合するものとしてあるから、入出力を太陽軸の周囲から均質に入出力可能とし、入出力の損失を最小限度に留めて回転力の分配および伝達を格段に高い効率にて実現化でき、回転力の差動伝達による部品間の滑りや、それに伴う発熱を解消して、よりダイレクトに入出力できるものとし、メンテナンス性にも秀れ、製造段階から保守・点検・整備に至る様々な場面で経済的に有利なものとすることができるという秀れた効果を発揮するものとなる。     As described above, according to the differential rotation transmission device of the present invention, unlike the conventional ones, it is compared with a transmission device for operating rotational force such as a conventional differential gear from a characteristic configuration as described above. As a result, the number of parts can be greatly reduced and the structure of the parts can be simplified, miniaturized and reduced in weight, and the durability can be greatly improved. In addition, since each regulation internal tooth of the cylindrical outer peripheral shaft is synchronously engaged with each of a plurality of planetary gears dispersedly arranged so as to be balanced around the sun gear, input / output is performed on the sun shaft. Uniform input / output is possible from the surroundings, and the distribution and transmission of rotational force can be realized with extremely high efficiency while minimizing input / output loss. Eliminate the fever that accompanies It can be input / output more directly, has excellent maintainability, and exhibits an excellent effect that it can be economically advantageous in various situations from the manufacturing stage to maintenance / inspection / maintenance. It becomes.

加えて、１個の筒状外周軸の収容室内に、第１遊星歯車系および第２遊星歯車系を直列状に組み合わせてなる縦列遊星機構を収容してなるものとしてあるから、筒状外周軸収容室内に縦列遊星機構を組み込む作業、および、保守・点検の際に縦列遊星機構を取り出す作業が容易になり、しかも当該縦列遊星機構が、第１遊星歯車系と第２遊星歯車系との間に傾動範囲規制機構を介在させてなるものとしてあるから、筒状外周軸、第１遊星歯車系および第２遊星歯車系間の入出力および回転力分配の、自動切り替え速度、正確さ、および確実さなどの性能を格段に高めたものとすることができ、一段と信頼性に秀れた差動回転伝達装置を提供することができるという効果を得ることができる。     In addition, a cylindrical planetary shaft is formed by accommodating a tandem planetary mechanism in which the first planetary gear system and the second planetary gear system are combined in series in the accommodation chamber of one cylindrical outer shaft. The work of incorporating the parallel planetary mechanism into the housing chamber and the work of taking out the parallel planetary mechanism during maintenance / inspection are facilitated, and the parallel planetary mechanism is located between the first planetary gear system and the second planetary gear system. Since the tilt range restricting mechanism is interposed between the first and second planetary gear systems, the automatic switching speed, accuracy, and reliability of the input / output and the rotational force distribution between the first planetary gear system and the second planetary gear system. The performance such as the above can be remarkably improved, and an effect that a differential rotation transmission device with much higher reliability can be provided can be obtained.

そして、太陽歯車の歯数が、それに噛合する遊星歯車群の各遊星歯車個数の整数倍に設定してなるものは、複数個の遊星歯車を太陽歯車の周囲に互いに均衡する配置にて、同一の姿勢で噛合するよう同期させて正確に配設することが可能となり、各遊星歯車が太陽歯車の周囲に均衡した入出力を実現化し、振動が少なく静粛な回転が得られ、より効率に秀れた差動回転伝達装置とすることができる。     The number of teeth of the sun gear set to an integer multiple of the number of planet gears of the planetary gear group meshing with it is the same in the arrangement in which a plurality of planet gears are balanced with each other around the sun gear. It is possible to arrange them accurately in synchronism with each other so that each planetary gear realizes balanced input / output around the sun gear, and it can achieve quiet rotation with less vibration and more efficient. The differential rotation transmission device can be provided.

また、第１遊星歯車系第１傾動キャリア板と第２遊星歯車系第２傾動キャリア板との間に、同第１・第２太陽軸軸心回り方向の所定円弧長範囲内にて傾動自在とするよう案内および規制可能な傾動範囲規制機構を介在させてなる、この発明の差動回転伝達装置は、筒状外周軸収容室に直列状に収容するようにした縦列遊星機構第１遊星歯車系および第２遊星歯車系、相互の連携を最も円滑且つ効率的なものとすることができ、特に、第１傾動キャリア板および第２傾動キャリア板の互いの対峙面壁の何れか一方の、周回り方向に均衡する複数箇所夫々に、同一円弧長とした円弧案内部を凹設し、同対峙面壁の何れか他方に、各円弧案内部内の同一箇所に対応し、遊嵌可能となる位置夫々に凸部を突設してなるものは、互いに接合する第１傾動キャリア板および第２傾動キャリア板の厚み寸法内に、当該傾動範囲規制機構を納めることが可能となり、差動回転伝達装置全体の小型・軽量化に有効な上、傾動範囲規制機構の作動に伴う振動やブレを最小限に留めて、より静粛且つ円滑な動作を実現化可能なものとすることができる。     Further, the first planetary gear system first tilt carrier plate and the second planetary gear system second tilt carrier plate can be tilted within a predetermined arc length range around the first and second sun axes. The differential rotation transmission device of the present invention, which is provided with a tilt range regulating mechanism that can be guided and regulated as described above, is a cascade planetary mechanism first planetary gear that is accommodated in series in a cylindrical outer shaft housing chamber. System and the second planetary gear system, the mutual cooperation between them can be made the smoothest and most efficient, and in particular, the circumference of either one of the opposing wall surfaces of the first tilting carrier plate and the second tilting carrier plate The arc guide portions having the same arc length are recessed in each of the plurality of locations balanced in the rotation direction, and the positions corresponding to the same locations in the respective arc guide portions on the other side of the opposite surface wall are allowed to be freely fitted. Projections with protrusions on the first tilt that join together The tilting range regulating mechanism can be accommodated within the thickness dimension of the carrier plate and the second tilting carrier plate, which is effective for reducing the size and weight of the entire differential rotation transmission device, and accompanying the operation of the tilting range regulating mechanism. It is possible to realize a quieter and smoother operation while minimizing vibration and vibration.

さらに、縦列遊星機構第１太陽軸と第２太陽軸との内端間に、スリーブを介在させて第１傾動キャリア板および第２傾動キャリア板に軸着するようにしてなるものは、第１太陽軸および第２太陽軸の内端同士を同一軸心上に保持すると共に、双方の軸を独立回転自在とするよう軸支可能とし、双方の偏心を確実に防止可能とするものとなり、より静粛且つ安定した効率的な回転動作を実現可能とすることができるものとなる。     Further, the first planetary mechanism having the first tilting carrier plate and the second tilting carrier plate mounted on the first tilting carrier plate with the sleeve interposed between the inner ends of the first sun axis and the second sun axis, The inner ends of the sun axis and the second sun axis are held on the same axis, and both axes can be supported so that they can rotate independently, and both eccentricity can be reliably prevented. A quiet and stable efficient rotation operation can be realized.

筒状外周軸規制内歯群が、遊星歯車の１個毎につき、１個の正転規制内歯と１個の逆転規制内歯を設けてなるものは、各正転規制内歯が、各遊星歯車の時計回り公転を所定位置にて正確に規制するものとなり、また、各逆転規制内歯が、各遊星歯車の反時計回り公転を所定位置にて正確に規制するものとなるから、誤作動を生じることなく、高精度且つ高効率の差動回転動作を達成し得るものとすることができる。     The cylindrical outer peripheral shaft restriction internal teeth group is provided with one forward rotation restriction inner tooth and one reverse rotation restriction inner tooth for each planetary gear. Since the clockwise revolution of the planetary gear is accurately regulated at a predetermined position, and each reverse rotation regulating internal tooth accurately regulates the counterclockwise revolution of each planetary gear at a predetermined position. A high-precision and high-efficiency differential rotation operation can be achieved without causing an operation.

加えて、筒状外周軸規制内歯群中の公転方向背面同士が互いに近接する正転規制内歯と逆転規制内歯とを一体化してなるものは、遊星歯車の均衡する配置を保持したまま、それらの配設密度を高めることが可能となり、遊星歯車の増設によって太陽歯車周囲からの入出力の分散化をさらに進め、応力の集中を大幅に解消可能とすることができる上、正転規制内歯と逆転規制内歯との一体化により、噛合方向の肉厚を増大して耐久強度を格段に高めたものとすることができるという秀れた効果を奏することになる。     In addition, the reverse rotation inner teeth and the reverse rotation restriction inner teeth in which the rear surfaces in the revolution direction in the cylindrical outer peripheral axis restriction inner teeth group are close to each other are maintained in a balanced arrangement of the planetary gears. It becomes possible to increase the arrangement density of them, further increase the dispersion of input and output from the periphery of the sun gear by adding planetary gears, it is possible to greatly eliminate stress concentration, and forward rotation regulation By integrating the internal teeth and the reverse rotation-restricted internal teeth, an excellent effect is achieved that the thickness in the meshing direction can be increased and the durability can be significantly increased.

そして、遊星歯車群が、太陽歯車周囲の均衡する複数箇所夫々にあって噛合可能な、時計回り公転規制専用の正転規制用遊星歯車と、それらと同数個が太陽歯車周囲および各正転規制用遊星歯車に均衡する複数箇所にあって、同太陽歯車に噛合可能な、反時計回り公転規制専用の逆転規制用遊星歯車とからなり、筒状外周軸規制内歯群が、各正転規制用遊星歯車の時計回り公転を所定範囲に規制可能な正転規制内歯と、各逆転規制用遊星歯車の反時計回り公転を所定範囲に規制可能な逆転規制内歯とから構成されるようにしたものは、各遊星歯車を正転規制専用のものと、逆転規制専用のものとに分けて均衡するよう設置しているから、全ての遊星歯車を正・逆転規制用のものとしたものに比較して、特に、太陽歯車の歯数が遊星歯車個数の整数倍とならず、太陽歯車の周囲に各遊星歯車を正確に均衡するよう配置できない場合などに、太陽歯車周囲の正・逆転方向毎の入出力位置を異なるものとし、より安定且つ円滑な回転を得るものとすることができる。     Further, the planetary gear group can be meshed with each other at a plurality of balanced locations around the sun gear, and the planetary gears for forward rotation that are exclusively used for clockwise revolution control, and the same number of the planet gears around the sun gear and each forward rotation control. It consists of a planetary gear for reverse rotation control, which is dedicated to counterclockwise revolution control and can be meshed with the sun gear at multiple locations that balance the planetary gear. It is composed of a forward rotation restricting internal tooth capable of restricting the clockwise revolution of the planetary gear to a predetermined range and a reverse rotation restricting internal tooth capable of restricting the counterclockwise revolution of each reverse restriction planetary gear to the predetermined range. Since each planetary gear is divided into one dedicated for forward rotation regulation and one dedicated for reverse rotation regulation so that they are balanced, all planetary gears are designed for forward / reverse regulation. In comparison, in particular, the number of teeth of the sun gear is the number of planetary gears. When the planetary gears cannot be arranged so as to be accurately balanced around the sun gear, the input / output positions for the forward and reverse directions around the sun gear are different, and the rotation is more stable and smooth. Can be obtained.

上記したとおりの構成からなるこの発明の実施に際し、その最良もしくは望ましい形態について説明を加えることにする。
遊星歯車系は、筒状外周軸に回転力を入力すると、太陽軸を時計回りか、または反時計回りかの何れか回転抵抗が生ずる方向に向けて従動回転するよう自動的に回転方向を切り換え、出力可能とする機能を担うものとなり、さらにまた、入出力関係を逆転させた場合には、太陽軸に入力した回転力を、筒状外周軸の時計回りか、または反時計回りかの何れか回転抵抗が生ずる方向に従動回転するよう自動的に回転方向を切り換え、出力可能とする機能を担うもとなり、太陽軸の外周に同心状の太陽歯車を一体化し、同太陽歯車周囲の均衡する複数箇所夫々に遊星歯車を噛合し、それら太陽歯車および遊星歯車群の各両端を２枚のキャリア板間に軸着してなるものとしなければならず、後述する実施例に示すように、複数の遊星歯車系を１コの筒状外周軸に対して縦列配置状に組み込み縦列遊星機構を設けたものとすることができる。 In implementing the present invention having the above-described configuration, the best or desirable mode will be described.
The planetary gear system automatically switches the rotational direction so that when the rotational force is input to the cylindrical outer peripheral shaft, the sun shaft is driven to rotate in the direction in which the rotational resistance is generated, either clockwise or counterclockwise. If the input / output relationship is reversed, the rotational force input to the sun axis is either clockwise or counterclockwise on the cylindrical outer peripheral shaft. It also has the function of automatically switching the rotation direction so that it rotates following the direction in which the rotation resistance is generated and enabling output, and concentric sun gears are integrated on the outer periphery of the sun shaft to balance the sun gears The planetary gears are meshed with each other at a plurality of locations, and both ends of the sun gear and the planetary gear group must be axially attached between the two carrier plates. One planetary gear system Can be made in which a built-in tandem planetary mechanism in tandem arrangement shape with respect Jogaishu axis.

縦列遊星機構は、筒状外周軸および複数の遊星歯車系が、１系統の回転入力を２系統の回転出力に自動的に振り分け可能、および／または、２系統の回転入力を１系統の回転出力に自動的に統合可能とする機能の一部を分担し、遊星歯車系の複数を縦列状に配し、相互間に傾動範囲規制機構を介在させてなるものとしなければならず、後述する実施例に示すように、第１太陽軸の外周に同心状の第１太陽歯車を一体化し、同第１太陽歯車周囲の均衡する複数箇所夫々に第１遊星歯車を噛合し、それら第１太陽歯車および第１遊星歯車群の各両端を一端キャリア板、第１傾動キャリア板間に軸着して第１遊星歯車系とし、第２太陽軸の外周に同心状の第２太陽歯車を一体化し、同第２太陽歯車周囲の均衡する複数箇所夫々に第２遊星歯車を噛合し、それら第２太陽歯車および第２遊星歯車群の各両端を第２傾動キャリア板、端末キャリア板間に軸着して第２遊星歯車系とすると共に、当該第１遊星歯車系第１傾動キャリア板に対し、傾動範囲規制機構を介して当該第２遊星歯車系第２傾動キャリア板を接合してなるものとすることができる。     In the tandem planetary mechanism, a cylindrical outer shaft and a plurality of planetary gear systems can automatically distribute one rotation input to two rotation outputs and / or two rotation inputs to one rotation output. Part of the functions that can be automatically integrated into each other, a plurality of planetary gear systems must be arranged in tandem, and a tilting range restricting mechanism must be interposed between them. As shown in the example, a concentric first sun gear is integrated on the outer periphery of the first sun shaft, and the first planetary gear is meshed with each of a plurality of balanced areas around the first sun gear. And each end of the first planetary gear group is axially attached between one end carrier plate and the first tilting carrier plate to form a first planetary gear system, and a concentric second sun gear is integrated on the outer periphery of the second sun shaft, The second planetary gear is meshed with each of a plurality of balanced locations around the second sun gear. The both ends of the second sun gear and the second planetary gear group are pivotally attached between the second tilting carrier plate and the terminal carrier plate to form a second planetary gear system, and the first planetary gear system first tilting carrier. The second planetary gear system second tilt carrier plate can be joined to the plate via a tilt range restriction mechanism.

太陽軸は、入力軸および／または出力軸となる機能を担い、その外周に同心状の太陽歯車を一体化し、同太陽歯車周囲の均衡する複数箇所夫々に遊星歯車を噛合し、それら太陽歯車および遊星歯車群の各両端を２枚のキャリア板間に軸着して遊星歯車系となるものとし、各遊星歯車と筒状外周軸の規制内歯群とを介して、該筒状外周軸の回転入出力を伝達可能なものとしなければならず、同太陽歯車周囲の均衡する位置に各遊星歯車を配するには、太陽歯車の歯数は、遊星歯車の個数の整数倍に設定したものとするのが良く、各キャリア板の軸着部分には、夫々適宜軸受けを介在させたものとするのが望ましく、各遊星歯車の歯数は、自・公転差動に支障を来さない範囲にて適宜設定可能であり、太陽軸軸端は、その目的に応じて筒状外周軸の外部に露出し、または、隠蔽状に組み込まれたものとすることが可能であり、さらに、車軸、車輪、減速機、増速機、変速機、クラッチ機構などを接続可能なものとすることができる。     The sun shaft functions as an input shaft and / or an output shaft, and concentric sun gears are integrated on the outer periphery of the sun shaft, and planetary gears are meshed with a plurality of balanced portions around the sun gear. Each end of the planetary gear group is pivotally mounted between two carrier plates to form a planetary gear system, and the cylindrical outer peripheral shaft is connected to each planetary gear via a restriction inner tooth group of the cylindrical outer peripheral shaft. Rotational input / output must be able to be transmitted, and in order to place each planetary gear in a balanced position around the sun gear, the number of teeth of the sun gear is set to an integral multiple of the number of planetary gears. It is desirable that bearings are appropriately interposed at the shaft mounting portions of the carrier plates, and the number of teeth of each planetary gear is within a range that does not hinder the self-revolution differential. The end of the sun shaft is a cylindrical outer shaft depending on its purpose. It can be exposed to the outside or incorporated in a concealed form, and can be connected to an axle, wheels, speed reducer, speed increaser, transmission, clutch mechanism, etc. it can.

遊星歯車群は、太陽軸または筒状外周軸の何れか一方からの入力を、太陽軸または筒状外周軸の何れか他方に効率的に分配・伝達可能とする機能の一部を分担し、各遊星歯車の歯数や、筒状外周軸収容室内周壁の規制内歯群の配置および形状などによって、自・公転およびその規制位置などが規制されるものとしなければならず、１個の太陽軸の周囲に配する複数の遊星歯車は、互いに均衡するよう配置すると共に、夫々が太陽歯車の歯に対して各遊星歯車の歯が同一の姿勢に噛合するよう配置、設定してなるものとするのが望ましいが、太陽歯車の歯数が、遊星歯車の個数の整数倍となっていない場合には、正確に均衡する配置とするのが不可能となってしまうから、できるだけ、均衡する配置に近づけるよう設定したものとすべきであり、例えば後述する実施例に示すように、太陽歯車との噛合姿勢に拘らず、各遊星歯車を互いに均衡する配置としたものとすることができる外、第１遊星歯車群が、第１太陽歯車周囲の均衡する複数箇所夫々にあって噛合可能な、時計回り公転規制専用の正転規制用第１遊星歯車と、それらと同数個が第１太陽歯車周囲および各正転規制第１遊星歯車に均衡する複数箇所にあって、同第１太陽歯車に噛合可能な、反時計回り公転規制専用の逆転規制用第１遊星歯車とからなると共に、筒状外周軸第１規制内歯群が、各正転規制用第１遊星歯車の時計回り公転を所定範囲に規制可能な正転規制内歯と、各逆転規制用第１遊星歯車の反時計回り公転を所定範囲に規制可能な逆転規制内歯とからなるものとした上、第２遊星歯車群が、第２太陽歯車周囲の均衡する複数箇所夫々にあって噛合可能な、時計回り公転規制専用の正転規制用第１遊星歯車と、それらと同数個が第２太陽歯車周囲および各正転規制用第１遊星歯車に均衡する複数箇所にあって、同第２太陽歯車に噛合可能な、反時計回り公転規制専用の逆転規制用第１遊星歯車とからなり、筒状外周軸第１規制内歯群が、各正転規制用第１遊星歯車の時計回り公転を所定範囲に規制可能な正転規制内歯と、各逆転規制用第１遊星歯車の反時計回り公転を所定範囲に規制可能な逆転規制内歯とからなるものとすることができる。     The planetary gear group shares a part of the function that allows the input from either the sun shaft or the cylindrical outer shaft to be efficiently distributed and transmitted to either the sun shaft or the cylindrical outer shaft, The number of teeth of each planetary gear and the arrangement and shape of the restricted internal teeth group on the inner peripheral wall of the cylindrical outer peripheral shaft housing must regulate its own revolution and its restricted position. A plurality of planetary gears arranged around the shaft are arranged so as to be balanced with each other, and are arranged and set so that the teeth of each planetary gear mesh with the teeth of the sun gear in the same posture. However, if the number of teeth of the sun gear is not an integral multiple of the number of planetary gears, it will be impossible to make an exact balanced arrangement. Should be set to be close to For example, as shown in the embodiments described later, the planetary gears can be arranged so as to balance each other regardless of the meshing posture with the sun gear, and the first planetary gear group is arranged around the first sun gear. The first planetary gears for forward rotation regulation exclusively for clockwise revolution regulation, which can be meshed with each other at a plurality of balanced locations, and the same number of them are balanced around the first sun gear and each forward rotation regulation first planetary gear And a first planetary gear for reverse rotation control that can be meshed with the first sun gear and is exclusively for counterclockwise revolution control. A forward rotation restricting internal tooth capable of restricting the clockwise revolution of the first planetary gear for restricting rotation within a predetermined range, and a reverse rotation restricting internal tooth capable of restricting the counterclockwise revolution of the first planetary gear for restricting reverse rotation within a predetermined range; And the second planetary gear group has a second sun gear circumference. 1st planetary gears for forward rotation regulation exclusively for clockwise revolution regulation, and the same number of them can be meshed with each other around the second sun gear and in each forward rotation regulation first planetary gear. The first planetary gear for reverse rotation restriction, which is in a plurality of balanced locations and can be meshed with the second sun gear, is used for the counterclockwise revolution restriction. A forward rotation restricting internal tooth capable of restricting the clockwise revolution of the first planetary gear for restricting rotation within a predetermined range, and a reverse rotation restricting internal tooth capable of restricting the counterclockwise revolution of the first planetary gear for restricting reverse rotation within a predetermined range; It can consist of.

遊星キャリア板群は、遊星歯車系の太陽軸、および遊星歯車群の夫々の両端所定位置に、回転自在に軸着可能とする機能を分担し、必要に応じて、縦列状に配列した複数の遊星歯車系同士間に、傾動範囲規制機構や太陽軸間スリーブなどを組み込み可能とする機能を担うものとなり、筒状外周軸収容室内内に、縦列遊星機構の各遊星歯車系を縦列・同心状に収容・組み合わせ可能とするようにした寸法、形状のものとしなければならず、より具体的には、第１太陽歯車第１太陽軸および第１遊星歯車群の各両端を一端キャリア板、第１傾動キャリア板間に軸着して第１遊星歯車系とし、第２太陽歯車第２太陽軸および第２遊星歯車群の各両端を第２傾動キャリア板、端末キャリア板間に軸着して第２遊星歯車系とすると共に、当該第１遊星歯車系第１傾動キャリア板に対し、傾動範囲規制機構を介して当該第２遊星歯車系第２傾動キャリア板を接合して縦列遊星機構となすものとすべきであり、必要に応じて第１・第２太陽軸内端間にスリーブを装着可能なものとすることができる。     The planetary carrier plate group shares the function of being able to be rotatably mounted on the sun shaft of the planetary gear system and the both ends of the planetary gear group at predetermined positions, and if necessary, a plurality of the planetary gear plate groups arranged in tandem. The planetary gear system functions as a tilt range control mechanism and a sun-shaft sleeve that can be incorporated between the planetary gear systems. The size and shape of the first sun gear, the first sun shaft, and the first planetary gear group are arranged at one end on the carrier plate, and on the first planetary gear group. A first planetary gear system is pivotally mounted between one tilt carrier plate, and both ends of the second sun gear second sun shaft and the second planetary gear group are pivoted between the second tilt carrier plate and the terminal carrier plate. The second planetary gear system and the first planetary tooth The second planetary gear system second tilting carrier plate should be joined to the system first tilting carrier plate via the tilting range regulating mechanism to form a parallel planetary mechanism. A sleeve can be mounted between the inner ends of the second sun axes.

傾動範囲規制機構は、縦列・同心状に隣り合って配列するよう対をなした縦列遊星機構遊星歯車系同士間、および各遊星歯車系と筒状外周軸との間に、何れかの軸入力を、それ以外の軸に、夫々外部から加わる回転抵抗に応じて適宜分配した作動回転力を伝達可能とし、一方の遊星歯車系の回転抵抗が無くなると、他方の遊星歯車系のみに筒状外周軸からの回転力を伝達し、その逆に、他方の遊星歯車系の回転抵抗が無くなると、他方の遊星歯車系のみに筒状外周軸からの回転力を伝達可能にするという機能を担い、第１遊星歯車系第１傾動キャリア板と第２遊星歯車系第２傾動キャリア板との間にあって、同第１傾動キャリア板と第２傾動キャリア板とを互いに、第１・第２太陽軸軸心回り方向の所定円弧長範囲内にて傾動自在とするよう案内および規制可能なものとしなければならず、後述する実施例に示すように、第１傾動キャリア板および第２傾動キャリア板の互いの対峙面壁の何れか一方に、縦列遊星機構第１太陽軸・第２太陽軸の軸着部より遠心がわであり、且つ、縦列遊星機構第１遊星歯車群・第２遊星歯車群の各軸着部よりも求心がわとなる半径位置の、周回り方向に均衡する複数箇所夫々に、同一円弧長とした円弧案内部を凹設し、同対峙面壁の何れか他方に、各円弧案内部の同一箇所に対応し、遊嵌可能となる位置に夫々凸部を突設してなるものとすることができ、円弧案内部は、円弧形状の溝、貫通孔、凸状かまたは凹状のレールなどの何れかとし、凸部をそれら何れかに摺動自在に嵌合可能なものとすることができる外、の縦列状に配した第１太陽軸と第２太陽軸との間に、双方を回転自在に連結し、且つ、第１傾動キャリア板および第２傾動キャリア板に軸着可能とするスリーブを有するものとすることができる。     The tilting range restriction mechanism is either a column or concentric array of adjacent planetary gear mechanisms that are arranged adjacent to each other, or between any planetary gear system and the cylindrical outer shaft. Can be transmitted to the other shafts appropriately according to the rotational resistance applied from the outside, respectively, and when the rotational resistance of one planetary gear system disappears, only the other planetary gear system has a cylindrical outer periphery. Transmitting the rotational force from the shaft, and conversely, when the rotational resistance of the other planetary gear system disappears, bears the function of allowing the rotational force from the cylindrical outer peripheral shaft to be transmitted only to the other planetary gear system, Between the first planetary gear system first tilting carrier plate and the second planetary gear system second tilting carrier plate, the first tilting carrier plate and the second tilting carrier plate are mutually connected to the first and second sun shaft axes. To be tiltable within a predetermined arc length range around the center As shown in the embodiments described later, the first planetary mechanism first sun shaft is placed on one of the opposing walls of the first tilting carrier plate and the second tilting carrier plate, as shown in the embodiments described later.・ Circulation around the radial position where the centrifugal center is from the pivot part of the second sun axis and the centripetal point is greater than the pivot part of the first planetary gear group / second planetary gear group of the parallel planetary mechanism A plurality of arc guide portions having the same arc length are recessed in each of a plurality of locations balanced in the direction, and corresponding to the same location of each arc guide portion on the other side of the opposite side wall, respectively, at positions where free fitting is possible. A convex portion can be formed by projecting, and the circular arc guide portion is any one of an arc-shaped groove, a through hole, a convex or concave rail, and the convex portion is slid into any of them. The first sun axis and the first arranged in a tandem outside can be fitted freely Between the sun shaft, and rotatably connected to both, and may be assumed to have a sleeve that allows pivotally attached to the first tilting carrier plate and the second tilting carrier plate.

筒状外周軸は、複数の遊星歯車系を組み込み可能とし、外周軸から入力した回転駆動力を、各遊星歯車系の太陽軸に分配・伝達可能とし、および／または、何れか１個か、または何れか複数個かの何れかの太陽軸から入力した回転駆動力を、１つの回転駆動力に統合して出力可能とする機能を担い、縦列状に組み合わせた複数の遊星歯車系を軸心方向に収容可能な内径に設定した収容室内周壁の周回り方向適所夫々に、それら遊星歯車群各遊星歯車の公転移動および自転を所定位置に同期規制可能な規制内歯群を求心方向に突設してなるものとしなければならず、複数の遊星歯車系を組み込み可能、且つ、規制内歯群を一体化可能なものとすれば、円筒状のものに限定されず、例えば、筒枠状の骨格体からなるものなどとすることが可能であり、後述する実施例に示すように、第１遊星歯車系と第２遊星歯車系とからなる縦列遊星機構を組み込むものの場合には、該縦列遊星機構を軸心方向に収容可能な内径に設定した収容室内周壁の周回り方向の適所夫々に、当該第１遊星歯車群各第１遊星歯車の公転移動範囲および自転を所定範囲に同期規制可能な第１規制内歯群、および第２遊星歯車群の各第２遊星歯車の公転移動範囲および自転を所定範囲に同期規制可能な第２規制内歯群を求心方向に突設してなるものとすることができる。     The cylindrical outer peripheral shaft can incorporate a plurality of planetary gear systems, and can distribute and transmit the rotational driving force input from the outer peripheral shaft to the sun shaft of each planetary gear system, and / or any one of them, Or, it has the function to integrate the rotational driving force input from any one of the plurality of sun shafts into one rotational driving force and output it, and the center of the plurality of planetary gear systems combined in tandem Controlled internal teeth that can regulate the revolving movement and rotation of each planetary gear in a predetermined position are provided in the centripetal direction at appropriate locations in the circumferential direction of the inner wall of the storage chamber set to the inner diameter that can be stored in the direction. If it is possible to incorporate a plurality of planetary gear systems and to be able to integrate the restriction internal teeth group, it is not limited to a cylindrical shape, for example, a cylindrical frame shape It can be composed of a skeleton body, etc. As shown in the embodiments described later, in the case of incorporating a cascade planetary mechanism composed of a first planetary gear system and a second planetary gear system, the cascade planetary mechanism is set to an inner diameter that can be accommodated in the axial direction. A first restriction internal gear group and a second planetary gear group capable of synchronously regulating the revolution movement range and rotation of each first planetary gear of each of the first planetary gear groups within a predetermined range at appropriate positions in the circumferential direction of the circumferential wall of the accommodation chamber. The revolving movement range and rotation of each of the second planetary gears can be provided by projecting in the centripetal direction a second restriction internal tooth group capable of synchronously regulating the rotation within a predetermined range.

筒状外周軸の規制内歯群は、各規制内歯が、対応する遊星歯車群各遊星歯車の公転移動および自転を所定位置に同期規制可能とし、各遊星歯車が各規制内歯に噛合すると、太陽軸と外周軸とが、当該噛合方向に一体的に回転するよう自動的に制御可能とする機能を分担するものであり、各遊星歯車を同期するよう規制可能な周回り配置とし、各遊星歯車の歯形に沿って接合して規制するよう、遊星歯車歯形の雌型の外郭形状のものとすべきであり、後述する実施例に示すように、第１遊星歯車系と第２遊星歯車系とからなる縦列遊星機構を組み込むものの場合には、第１遊星歯車群第１遊星歯車の１個毎に設ける各第１規制内歯が、該第１遊星歯車の時計回り公転を規制可能な正転規制内歯、および、該正転規制内歯との間に、該第１遊星歯車の自・公転可能範囲を確保する所定円弧状距離を隔てて対峙し、同第１遊星歯車の反時計回り公転を規制可能な逆転規制内歯からなり、且つ、第２規制内歯群の第２遊星歯車群第２遊星歯車の１個毎に設ける各第２規制内歯が、第２遊星歯車の時計回り公転を規制可能な正転規制内歯、および、該正転規制内歯との間に、第２遊星歯車の自・公転可能範囲を確保する所定円弧状距離を隔てて対峙し、同第２遊星歯車の反時計回り公転を規制可能な逆転規制内歯からなるものとすることができる。     The restriction internal tooth group of the cylindrical outer peripheral shaft is such that each restriction internal tooth can synchronously restrict the revolving movement and rotation of each planetary gear corresponding to the planetary gear group to a predetermined position, and each planetary gear meshes with each restriction internal tooth. The sun shaft and the outer shaft share the function of being automatically controllable so as to rotate integrally in the meshing direction. It should be a female outer shape of the planetary gear tooth profile so as to be joined and regulated along the tooth profile of the planetary gear, and as shown in the embodiments described later, the first planetary gear system and the second planetary gear In the case of incorporating a tandem planetary mechanism comprising a system, each first restriction internal tooth provided for each first planetary gear in the first planetary gear group can regulate the clockwise revolution of the first planetary gear. The first planetary tooth between the forward rotation restricting internal tooth and the forward rotation restricting internal tooth The first planetary gears are opposed to each other with a predetermined arcuate distance, and the first planetary gears are capable of regulating the counterclockwise revolution of the first planetary gear. Each of the second restriction internal teeth provided for each second planetary gear of the two planetary gear group includes a forward rotation restriction internal tooth capable of restricting the clockwise revolution of the second planetary gear, and the forward rotation restriction internal tooth. In the meantime, the second planetary gear shall consist of a reverse rotation control internal tooth that can be opposed to each other with a predetermined arcuate distance ensuring a self-revolution range of the second planetary gear and can regulate the counterclockwise revolution of the second planetary gear. Can do.

また、後述する実施例に示すように、筒状外周軸第１規制内歯群の、第１遊星歯車群第１遊星歯車の１個毎に設ける各第１規制内歯が、該第１遊星歯車の時計回り公転を規制可能な正転規制内歯、および、該正転規制内歯との間に、該第１遊星歯車の自・公転可能範囲を確保する所定円弧状距離を隔てて対峙し、同第１遊星歯車の反時計回り公転を規制可能な逆転規制内歯からなり、当該第１規制内歯群中の公転方向背面同士が互いに近接する正転規制内歯と逆転規制内歯とを一体化したものとし、且つ、第２規制内歯群の第２遊星歯車群第２遊星歯車の１個毎に設ける各第２規制内歯が、第２遊星歯車の時計回り公転を規制可能な正転規制内歯、および、該正転規制内歯との間に、第２遊星歯車の自・公転可能範囲を確保する所定円弧状距離を隔てて対峙し、同第２遊星歯車の反時計回り公転を規制可能な逆転規制内歯からなり、当該第２遊星歯車群中の公転方向背面同士が互いに近接する正転規制内歯と逆転規制内歯とを一体化してなるものとすることが可能である。     Moreover, as shown in the Example mentioned later, each 1st control internal tooth provided for every 1st planetary gear group 1st planetary gear of a cylindrical outer peripheral shaft 1st control internal tooth group is this 1st planetary gear. A forward rotation restricting internal tooth capable of restricting clockwise revolution of the gear, and a predetermined arcuate distance that secures a self-revolution possible range of the first planetary gear between the forward rotation restricting internal tooth And a forward-restricted internal tooth and a reverse-restricted internal tooth that are made of reverse-restricted internal teeth that can restrict the counterclockwise revolution of the first planetary gear, and whose back surfaces in the revolution direction in the first restricted internal tooth group are close to each other. And the second planetary gear group of the second regulation internal tooth group, each second regulation internal tooth provided for each second planetary gear regulates the clockwise revolution of the second planetary gear. Possible forward rotation restricting internal teeth, and a predetermined arcuate distance that secures a self-revolveable range of the second planetary gear between the forward rotation restricting internal teeth And reverse rotation control internal teeth that can control the counterclockwise revolution of the second planetary gear, and the back surfaces of the second planetary gear group in the revolving direction are close to each other. It is possible to integrate the regulated internal teeth.

さらにまた、後述する実施例に示すように、第１遊星歯車群が、第１太陽歯車周囲の均衡する複数箇所夫々にあって噛合可能な、時計回り公転規制専用の正転規制用第１遊星歯車と、それらと同数個が第１太陽歯車周囲および各正転規制用第１遊星歯車に均衡する複数箇所にあって、同第１太陽歯車に噛合可能な、反時計回り公転規制専用の逆転規制用第１遊星歯車とからなると共に、第２遊星歯車群が、第２太陽歯車周囲の均衡する複数箇所夫々にあって噛合可能な、時計回り公転規制専用の正転規制用第２遊星歯車と、それらと同数個が第２太陽歯車周囲および各正転規制用第２遊星歯車に均衡する複数箇所にあって、同第２太陽歯車に噛合可能な、反時計回り公転規制専用の逆転規制用第２遊星歯車とからなるものとした上、筒状外周軸第１規制内歯群が、各正転規制用第１遊星歯車の時計回り公転を所定範囲に規制可能な正転規制内歯と、各逆転規制用第１遊星歯車の反時計回り公転を所定範囲に規制可能な逆転規制内歯とからなるものとし、且つ、筒状外周軸第２規制内歯群が、各正転規制用第２遊星歯車の時計回り公転を所定範囲に規制可能な正転規制内歯と、各逆転規制用第２遊星歯車の反時計回り公転を所定範囲に規制可能な逆転規制内歯とからなるものとすることができる。
以下では、図面に示すこの発明を代表する実施例と共に、その構造について詳述することとする。 Furthermore, as shown in the embodiments described later, the first planetary gear for forward rotation regulation exclusively for clockwise revolution regulation, in which the first planetary gear group is meshed at each of a plurality of balanced locations around the first sun gear. Gears and the same number of them are located around the first sun gear and at a plurality of positions that balance with the first planetary gears for forward rotation restriction, and can be meshed with the first sun gear, and can be meshed with the first sun gear. A second planetary gear for forward rotation regulation exclusively for clockwise revolution regulation, which is composed of a first planetary gear for regulation and the second planetary gear group can mesh with each other at a plurality of balanced positions around the second sun gear. And the same number of them as those around the second sun gear and around the second planetary gear for forward rotation restriction, which can be meshed with the second sun gear, and can be meshed with the second sun gear. It consists of a second planetary gear for use and has a cylindrical outer periphery The first restriction internal teeth group is configured to regulate the forward rotation restriction internal teeth capable of restricting the clockwise revolution of each forward rotation restricting first planetary gear within a predetermined range and the counterclockwise revolution of each reverse rotation restriction first planetary gear. The second outer peripheral tooth group of the cylindrical outer peripheral shaft that can be regulated within a range, and the second outer peripheral group of cylindrical outer peripheral shafts that are capable of regulating the clockwise revolution of each second planetary gear for forward rotation regulation within a predetermined range. The rotation restriction inner teeth and the rotation restriction inner teeth capable of restricting the counterclockwise revolution of each second rotation restriction second planetary gear within a predetermined range can be used.
In the following, the structure of the present invention will be described in detail together with an embodiment representative of the present invention shown in the drawings.

図面は、この発明の差動回転伝達装置の技術的思想を具現化した代表的な幾つかの実施例を示すものである。
分解した差動回転伝達装置を示す斜視図である。 一端または末端キャリア板を示す斜視図である。 第１傾動キャリア板を示す斜視図である。 第２傾動キャリア板を示す斜視図である。 組合せた第１および第２傾動キャリア板を示す斜視図である。 傾動範囲規制機構の動作を示す正面図である。 縦列遊星機構を示す斜視図である。 差動回転伝達装置を断面化して示す正面図である。 傾動範囲規制機構が差動する差動回転伝達装置を断面化して示す正面図である。 傾動範囲規制機構が差動する差動回転伝達装置を断面化して示す正面図である。 遊星歯車を増設した差動回転伝達装置を断面化して示す正面図である。 太陽歯車歯数を遊星歯車の整数倍としない差動回転伝達装置を断面化して示す正面図である。 正転規制用および逆転規制用遊星歯車を有する差動回転伝達装置を断面化して示す正面図である。 正転規制用遊星歯車が働く差動回転伝達装置を断面化して示す正面図である。 The drawings show some typical embodiments embodying the technical idea of the differential rotation transmission device of the present invention.
It is a perspective view which shows the decomposed | disassembled differential rotation transmission apparatus. FIG. 6 is a perspective view showing one end or a terminal carrier plate. It is a perspective view which shows a 1st tilting carrier board. It is a perspective view which shows a 2nd tilting carrier board. It is a perspective view which shows the combined 1st and 2nd tilting carrier board. It is a front view which shows operation | movement of a tilting range control mechanism. It is a perspective view which shows a parallel planetary mechanism. It is a front view showing a differential rotation transmission device in section. It is a front view which cuts and shows the differential rotation transmission device which a tilt range control mechanism differentials. It is a front view which cuts and shows the differential rotation transmission device which a tilt range control mechanism differentials. It is a front view which shows the differential rotation transmission device which extended the planetary gear in cross section. It is a front view which cut and shows the differential rotation transmission device which does not make the sun gear tooth number the integral multiple of a planetary gear. FIG. 3 is a front view showing a cross section of a differential rotation transmission device having forward rotation limiting and reverse rotation limiting planetary gears. It is a front view showing a differential rotation transmission device in which a forward rotation restricting planetary gear works.

図１ないし図１０に示す事例は、太陽軸２０（３０）の外周に同心状の太陽歯車２１（３１）を一体化し、同太陽歯車２１（３１）周囲の均衡する複数箇所夫々に遊星歯車２３，２３，２３（３３，３３，３３）を噛合し、それら太陽歯車２１（３１）および遊星歯車群２２（３２）の各両端を２枚のキャリア板４０，４１（４２，４３）間に軸着して遊星歯車系２（３）とすると共に、縦列状に組み合わせた複数の遊星歯車系２，３を軸心方向に収容可能な内径に設定した収容室６０内周壁６１の周回り方向適所夫々に、それら遊星歯車群２２，３２各遊星歯車２３，２３，２３（３３，３３，３３）の公転移動および自転を所定位置に同期規制可能な規制内歯群７，８を求心方向に突設した筒状外周軸６を設け、同筒状外周軸６内に、複数の遊星歯車系２，３を縦列・同心状に収容するよう組み合わせてなるものとした、この発明の差動回転伝達装置における代表的な一実施例を示すものである。     In the example shown in FIGS. 1 to 10, a concentric sun gear 21 (31) is integrated with the outer periphery of the sun shaft 20 (30), and the planetary gears 23 are respectively provided at a plurality of balanced positions around the sun gear 21 (31). , 23, 23 (33, 33, 33) and the sun gear 21 (31) and the planetary gear group 22 (32) are pivoted between the two carrier plates 40, 41 (42, 43). The planetary gear system 2 (3) is attached to the inner circumferential wall 61 of the accommodating chamber 60 in the inner circumferential wall 61, which is set to have an inner diameter capable of accommodating a plurality of planetary gear systems 2, 3 combined in a tandem shape in the axial direction. Each of the planetary gear groups 22 and 32 projects the restriction internal tooth groups 7 and 8 capable of synchronously regulating the revolving movement and rotation of the planetary gears 23, 23, and 23 (33, 33, 33) to predetermined positions in the centripetal direction. A cylindrical outer peripheral shaft 6 is provided, and a plurality of cylindrical outer peripheral shafts 6 are provided in the cylindrical outer peripheral shaft 6. The planetary gear system 2 was made by combining to accommodate the tandem-concentric shows one example representative of the differential rotation transmission device of the present invention.

それら各図からも明確に把握できるとおり、この発明の差動回転伝達装置は、円筒形短軸型の第１太陽軸２０の外周に、１８枚の歯からなる第１太陽歯車２１を同心状に一体化し、該第１太陽歯車２１周囲の均衡する複数箇所となる１２０°置き毎夫々の位置に、３枚の歯を有する合計３個の第１遊星歯車２３，２３，２３（２２）を噛合し、それら第１太陽歯車２１および第１遊星歯車群２２（２３，２３，２３）の各両端を遊星キャリア板群４の一端キャリア板４０、および、中央にスリーブ４４を配した第１傾動キャリア板４１間に軸着してなる第１遊星歯車系２を有すると共に、当該第１遊星歯車系２とキャリア板４０，４１を除き略同様の組合せからなるものであって、円筒形短軸型の第２太陽軸３０の外周に、１８枚の歯からなる第２太陽歯車３１を同心状の一体化し、同第２太陽歯車３１周囲の均衡する複数箇所となる１２０°置き毎夫々に、３枚の歯を有する合計３個の第２遊星歯車３３，３３，３３（３２）を噛合し、それら第２太陽歯車３１および第２遊星歯車群３２（３３，３３，３３）の各両端を遊星キャリア板群４の、中央に前記スリーブ４４を配した第２傾動キャリア板４２、および、端末キャリア板４３間に軸着して第２遊星歯車系３とし、当該第１遊星歯車系２における第１太陽歯車２１（第２遊星歯車系３第２太陽歯車３１）の歯数は、第１遊星歯車群２２における第１遊星歯車２３，２３，２３（第２遊星歯車群３２の各第２遊星歯車３３，３３，３３）の合計個数３個の整数倍である１８枚としてある。     As can be clearly understood from these drawings, the differential rotation transmission device of the present invention has a first sun gear 21 composed of 18 teeth concentrically on the outer periphery of a cylindrical short shaft type first sun shaft 20. And a total of three first planetary gears 23, 23, 23 (22) having three teeth at respective positions at 120 ° intervals that form a plurality of balanced locations around the first sun gear 21. Engagement, the first sun gear 21 and the first planetary gear group 22 (23, 23, 23) at each end thereof is a first tilting carrier plate 40 of the planetary carrier plate group 4, and a first tilt with a sleeve 44 disposed in the center. The first planetary gear system 2 is pivotally mounted between the carrier plates 41, and is composed of substantially the same combination except for the first planetary gear system 2 and the carrier plates 40 and 41, and has a cylindrical short shaft. The outer periphery of the second sun shaft 30 of the mold is composed of 18 teeth. The second sun gear 31 is concentrically integrated and a total of three second planetary gears 33, 33 each having three teeth are provided at every 120 ° intervals that are balanced around the second sun gear 31. , 33 (32), and the second sun gear 31 and the second planetary gear group 32 (33, 33, 33) are connected to the ends of the planet carrier plate group 4 at the ends of the planetary carrier plate group 4. The second planetary gear system 3 is pivotally attached between the tilting carrier plate 42 and the terminal carrier plate 43, and the first sun gear 21 (second planetary gear system 3 second sun gear 31 in the first planetary gear system 2 is concerned. ) Is an integer multiple of the total number of the first planetary gears 23, 23, 23 (the second planetary gears 33, 33, 33 of the second planetary gear group 32) in the first planetary gear group 22. There are 18 sheets.

図１ないし図７に示すように、当該第１遊星歯車系２の第１傾動キャリア板４１に対し、第１太陽軸２０・第２太陽軸３０軸心回り方向の所定円弧長範囲α内にて傾動自在とするよう案内および規制可能な傾動範囲規制機構５を介在させると共に、対峙する第１太陽軸２０・第２太陽軸３０内端同士を前記スリーブ４４に同心・直列状に軸着するよう、当該第２遊星歯車系３における第２傾動キャリア板４２を接合して縦列遊星機構１とした上、該縦列遊星機構１における第１遊星歯車系２および第２遊星歯車系３を軸心方向に収容可能な内径に設定した収容室６０内周壁６１の周回り方向の適所夫々に、当該第１遊星歯車群２２における各第１遊星歯車２３，２３，２３の公転移動範囲および自転を所定範囲に同期規制可能な第１規制内歯群７０、および第２遊星歯車群３２の各第２遊星歯車３３，３３，３３の公転移動範囲および自転を所定範囲に同期規制可能な第２規制内歯群８０を求心方向に突設した筒状外周軸６を設け、同筒状外周軸６内に、当該縦列遊星機構１の第１遊星歯車系２および第２遊星歯車系３を縦列・同心状に収容し、同第１太陽軸２０外端および／または第２太陽軸３０外端を、夫々該筒状外周軸６から外部に露出させて軸着するよう組み合わせてなるものとした。     As shown in FIGS. 1 to 7, the first tilting carrier plate 41 of the first planetary gear system 2 is within a predetermined arc length range α in the direction around the first sun axis 20 and the second sun axis 30. The tilting range regulating mechanism 5 that can be guided and regulated so as to be tiltable is interposed, and the inner ends of the first sun shaft 20 and the second sun shaft 30 facing each other are coaxially and serially attached to the sleeve 44. As described above, the second planetary gear system 3 is joined with the second tilting carrier plate 42 to form the cascade planetary mechanism 1, and the first planetary gear system 2 and the second planetary gear system 3 in the cascade planetary mechanism 1 are axially centered. The revolving movement range and rotation of the first planetary gears 23, 23, 23 in the first planetary gear group 22 are respectively determined at appropriate positions in the circumferential direction of the inner circumferential wall 61 of the accommodation chamber 60 set to an inner diameter that can be accommodated in the direction. 1st regulation internal tooth that can be regulated synchronously with the range 70, and the second planetary gear group 32, the second planetary gears 33, 33, and the second planetary gears 33, 33, 33 in a cylindrical shape in which a revolving movement range and a second restriction internal tooth group 80 capable of synchronously restricting the rotation to a predetermined range protrude in the centripetal direction An outer peripheral shaft 6 is provided, and the first planetary gear system 2 and the second planetary gear system 3 of the cascade planetary mechanism 1 are accommodated in the columnar and concentric manner in the cylindrical outer peripheral shaft 6. The end and / or the outer end of the second sun shaft 30 are combined so as to be exposed from the cylindrical outer peripheral shaft 6 and attached to the outside.

図２ないし図６に示すように、当該傾動範囲規制機構５は、遊星キャリア板群４における第１傾動キャリア板４１の第２傾動キャリア板４２に対峙する面壁の、縦列遊星機構１における第１太陽軸２０（第２太陽軸３０）の軸着部より遠心がわであり、且つ、縦列遊星機構１における第１遊星歯車群２２（第２遊星歯車群３２）の各軸着部よりも求心がわとなる半径位置の、周回り方向に均衡する１２０°置き毎の３箇所夫々に、同一円弧長αとした円弧案内部５０，５０，５０を貫通状に凹設する一方、第２傾動キャリア板４２の該第１傾動キャリア板４１に対峙する対峙面壁の、縦列遊星機構１における第２太陽軸３０（第１太陽軸２０）の軸着部より遠心がわであり、且つ、縦列遊星機構１における第２遊星歯車群３２（第１遊星歯車群２２）の各軸着部よりも求心がわとなる半径位置の、前記円弧案内部５０，５０，５０の各同一位置に一致するよう、周回り方向に均衡する１２０°置き毎の３箇所夫々に、第１傾動キャリア板４１各円弧案内部５０，５０，５０の同一位置に、夫々遊嵌可能な端柱形の凸部５１，５１，５１を立設し、傾動キャリア板４１および第２傾動キャリア板４２を重ね合わせ接合した場合に、各円弧案内部５０，５０，５０の同一位置に、各凸部５１，５１，５１が、摺動自在に組合せ可能なものとしてある。     As shown in FIG. 2 to FIG. 6, the tilt range regulating mechanism 5 includes a first wall in the cascade planetary mechanism 1 on a face wall of the first tilted carrier plate 41 in the planetary carrier plate group 4 that faces the second tilted carrier plate 42. Centrifugal drift is caused from the axially attached portion of the sun axis 20 (second solar axis 30), and the centripetal point is greater than the axially attached portions of the first planetary gear group 22 (second planetary gear group 32) in the cascade planetary mechanism 1. Arc guide portions 50, 50, 50 having the same arc length α are recessed in a penetrating manner at each of the three positions at 120 ° intervals that are balanced in the circumferential direction at the radial position that becomes the gap, while the second tilting Centrifugal drift is caused by the axially attached portion of the second solar axis 30 (first solar axis 20) in the parallel planetary mechanism 1 on the opposite surface wall of the carrier plate 42 facing the first tilting carrier plate 41, and the parallel planets Second planetary gear group 32 in mechanism 1 (first planetary gear group 22), each of the three positions at 120 ° intervals that are balanced in the circumferential direction so as to coincide with the same positions of the circular arc guide portions 50, 50, 50 at the radial positions where the centripetals are located more than the respective shaft-attached portions. The first tilting carrier plate 41 is provided with end column-shaped convex portions 51, 51, 51 that can be loosely fitted at the same positions of the respective arc guide portions 50, 50, 50, and the tilting carrier plate 41 and the second tilting carrier plate 41, respectively. When the tilting carrier plate 42 is overlapped and joined, the convex portions 51, 51, 51 can be slidably combined at the same position of the arc guide portions 50, 50, 50.

図８ないし図１０に示したもののように、筒状外周軸６の第１規制内歯群７（第２規制内歯群８）は、第１遊星歯車群２２（第２遊星歯車群３２）における第１遊星歯車２３，２３，２３（第２遊星歯車３３，３３，３３）の１個毎に設ける各第１規制内歯７０，７０，……（各第２規制内歯８０，８０，８０）が、各第１遊星歯車２３，２３，２３（第２遊星歯車３３，３３，３３）の時計回り公転を規制可能な正転規制内歯７１，７１，７１（正転規制内歯８１，８１，８１）、および、それら正転規制内歯７１，７１，７１（正転規制内歯８１，８１，８１）との間に、各第１遊星歯車２３，２３，２３（第２遊星歯車３３，３３，３３）の自・公転可能範囲を確保する所定円弧状距離を隔てて対峙し、各第１遊星歯車２３，２３，２３（第２遊星歯車３３，３３，３３）の反時計回り公転を規制可能な逆転規制内歯７２，７２，７２（逆転規制内歯８２，８２，８２）からなるものとしてある。     As shown in FIGS. 8 to 10, the first restriction internal tooth group 7 (second restriction internal tooth group 8) of the cylindrical outer peripheral shaft 6 is the first planetary gear group 22 (second planetary gear group 32). In each of the first planetary gears 23, 23, 23 (second planetary gears 33, 33, 33), the first restriction internal teeth 70, 70,... (Each second restriction internal tooth 80, 80, 80), forward rotation restricting internal teeth 71, 71, 71 (forward rotation restricting internal teeth 81) capable of restricting the clockwise revolution of the first planetary gears 23, 23, 23 (second planetary gears 33, 33, 33). , 81, 81) and the forward rotation restricting inner teeth 71, 71, 71 (forward rotation restricting inner teeth 81, 81, 81), the first planetary gears 23, 23, 23 (second planets). The first planetary gears 23, 23, 2 are opposed to each other with a predetermined arc-shaped distance ensuring a self-revolution range of the gears 33, 33, 33). There as consisting (second planetary gear 33,33,33) counterclockwise revolving possible regulatory reversal restricting the teeth 72,72,72 (reverse regulating the teeth 82, 82, 82).

図１に示してあるように、筒状外周軸６は、収容室６０の一方端に、縦列遊星機構１を装着および取り出し可能とする一端開口６２を設けると共に、同一端開口６２の外周には、環状のフランジ部６３を一体化し、該一端開口６２とは反対がわとなる他方を有底端６４とした上、該有底端６４の中央に、第２遊星歯車系３における第２太陽軸３０用の軸受け、および、露出口（何れも図示せず）を開口する一方、当該一端開口６２フランジ部６３には、円板状の蓋状体６５を図示しないボルト・ナット構造などによって施蓋および取り外し可能に装着するものとし、同蓋状体６５の中央には、第１遊星歯車系２第１太陽軸２０用の軸受け（図示せず）、および、露出口６６を開口し、当該外周軸６の両端がわ夫々から、第１遊星歯車系２における第１太陽軸２０、および、第２遊星歯車系３における第２太陽軸３０の外端を外部に露出し、外部からの回転入力、および、外部への回転出力が可能なものとしてある。     As shown in FIG. 1, the cylindrical outer peripheral shaft 6 is provided with one end opening 62 that allows the parallel planetary mechanism 1 to be mounted and removed at one end of the storage chamber 60, and on the outer periphery of the same end opening 62. The annular flange portion 63 is integrated, the other end opposite to the one end opening 62 is set as a bottomed end 64, and the second sun in the second planetary gear system 3 is formed at the center of the bottomed end 64. While a bearing for the shaft 30 and an exposure port (both not shown) are opened, a disk-like lid-like body 65 is applied to the one end opening 62 flange portion 63 by a bolt / nut structure not shown. A lid and a detachable attachment are provided. In the center of the lid-like body 65, a bearing (not shown) for the first planetary gear system 2 and the first sun shaft 20 and an exposure port 66 are opened. Both ends of the outer peripheral shaft 6 are connected to the first planetary gear system 2 from each side. That the first sun shaft 20, and the outer end of the second sun shaft 30 in the second planetary gear system 3 is exposed to the outside, the rotation input from the outside, and is as rotatable output to the outside.

（実施例１の作用・効果）
以上のとおりの構成からなるこの発明の差動回転伝達装置は、図１および図７に示すように、第１傾動キャリア板４１と第２傾動キャリア板４２との間に傾動範囲規制機構５を設け、直列状配置に組み合わせた第１遊星歯車系２および第２遊星歯車系３からなる縦列遊星機構１を、筒状外周軸６の一端開口６２より収容室６０内に収容し、蓋状体６５によって施蓋状に一体化するように組み立てることができるから、組立作業が容易且つ迅速に行えるものとなり、完成後に自動車用のデファレンシャルギアとして利用する場合には、例えば、筒状外周軸６に、図示しないエンジン出力軸を、変速機およびギアやベルトなどの伝達機構を介して接続し、第１遊星歯車系２の第１太陽軸２０を車両の左右駆動輪中の何れか一方のドライブシャフトに接続し、第２遊星歯車系３における第２太陽軸３０を車両の左右駆動輪中の何れか他方のドライブシャフトに接続するよう組み込むことが可能である。
以下に、自動車用のデファレンシャルギアとして利用した場合の、当該差動回転伝達装置の動作について示すこととする。 (Operation / Effect of Example 1)
As shown in FIGS. 1 and 7, the differential rotation transmission device of the present invention having the configuration as described above includes a tilt range regulating mechanism 5 between a first tilt carrier plate 41 and a second tilt carrier plate. The tandem planetary mechanism 1 comprising the first planetary gear system 2 and the second planetary gear system 3 provided and combined in a series arrangement is accommodated in the accommodation chamber 60 from the one end opening 62 of the cylindrical outer peripheral shaft 6, and a lid-like body 65 can be assembled so as to be integrated into a lid shape, so that the assembling work can be performed easily and quickly. When used as a differential gear for an automobile after completion, for example, on the cylindrical outer peripheral shaft 6 An engine output shaft (not shown) is connected via a transmission and a transmission mechanism such as a gear and a belt, and the first sun shaft 20 of the first planetary gear system 2 is connected to one of the left and right drive wheels of the vehicle. Connect, it is possible to a second sun shaft 30 in the second planetary gear system 3 incorporates to connect to the other one of the drive shafts of the left and right drive annulus of the vehicle.
Hereinafter, the operation of the differential rotation transmission device when used as a differential gear for an automobile will be described.

図８に示すように、当該差動回転伝達装置は、エンジンから変速機を経て伝達される回転出力を受けた筒状外周軸６が、同図８中の矢印に示すよう回転し、同収容室６０内周壁６１の第１規制内歯群７における第１規制内歯７０，７０，……正転規制内歯７１，７１，７１夫々に、第１遊星歯車系２における第１遊星歯車群２２の各第１遊星歯車２３，２３，２３が同時に噛み合い、筒状外周軸６の回転力を第１太陽軸２０に伝達・出力するものとなり、同様に、筒状外周軸６の回転により、同収容室６０内周壁６１の第２規制内歯群８の第２規制内歯８０，８０，……正転規制内歯８１，８１，８１夫々に、第２遊星歯車系３における第２遊星歯車群３２の各第２遊星歯車３３，３３，３３が同時に噛み合い、筒状外周軸６の回転力を第２太陽軸３０に伝達・出力するものとなり、この状態では、エンジン出力を左右駆動輪に１／２ずつ平等に分配し、車両は安定して直進走行することが可能である。     As shown in FIG. 8, in the differential rotation transmission device, the cylindrical outer peripheral shaft 6 that receives the rotation output transmitted from the engine via the transmission rotates as indicated by the arrow in FIG. The first restriction internal teeth 70, 70,... In the first restriction internal tooth group 7 of the inner peripheral wall 61 of the chamber 60..., And the first planetary gear group in the first planetary gear system 2 are respectively connected to the forward rotation restriction internal teeth 71, 71, 71. 22 first planetary gears 23, 23, 23 mesh at the same time and transmit and output the rotational force of the cylindrical outer peripheral shaft 6 to the first sun shaft 20. Similarly, by the rotation of the cylindrical outer peripheral shaft 6, The second restriction internal teeth 80, 80, ... of the second restriction internal teeth group 8 of the inner peripheral wall 61 of the accommodation chamber 60 are respectively connected to the forward rotation restriction inner teeth 81, 81, 81 in the second planetary gear system 3. The second planetary gears 33, 33, 33 of the gear group 32 are simultaneously meshed with each other, and the rotational force of the cylindrical outer peripheral shaft 6 is reduced to the second. It shall be transmitted and output to the sun shaft 30, in this state, then evenly distributed by 1/2 the engine output to the left and right drive wheels, the vehicle can be straight running stably.

図５、図６および図９に示すように、走行車両の操舵や片輪にスリップなどが生じ、例えば、第２遊星歯車系３の第２太陽軸３０に接続した図示しない駆動輪の回転抵抗が小さくなると、それに従い第２遊星歯車系３における第２遊星歯車群３２の各第２遊星歯車３３，３３，３３を、筒状外周軸６収容室６０内周壁６１の第２規制内歯群８の第２規制内歯８０，８０，……正転規制内歯８１，８１，８１夫々に向けて押圧する圧力が次第に小さくなり、この圧力の減少によって正転規制内歯８１，８１，８１夫々から各第２遊星歯車３３，３３，３３が解放され、第２傾動キャリア板４２の傾動範囲規制機構５における凸部５１，５１，５１が、第１傾動キャリア板４１の傾動範囲規制機構５における円弧案内部５０に沿って、円弧距離α分（中立位置から距離α／２分）、前進状に摺動・回動し、第２太陽軸３０の回転出力をゼロとし、筒状外周軸６の回転力を１：１の割合にて第１太陽軸２０から出力するものとなり、また、これとは逆に、図５、図６および図１０に示すように、操舵や片輪のスリップなどにより、第１太陽軸２０の抵抗がゼロとなった場合には、第１遊星歯車系２における第１遊星歯車群２２の各第１遊星歯車２３，２３，２３を筒状外周軸６収容室６０内周壁６１の第１規制内歯群７の第１規制内歯７０における正転規制内歯７１，７１，７１夫々に向けて押圧する圧力が次第に小さくなり、この圧力の減少によって正転規制内歯７１，７１，７１夫々から各第１遊星歯車２３，２３，２３が解放され、第２傾動キャリア板４２の傾動範囲規制機構５における凸部５１，５１，５が、第１傾動キャリア板４１における傾動範囲規制機構５の円弧案内部５０に沿って、円弧距離α分（中立位置から距離α／２分）、後退状に摺動・回動し、第１太陽軸２０の回転出力をゼロとし、筒状外周軸６の回転力を１：１の割合にて第２太陽軸３０から出力するものとなるから、第１太陽軸２０および第２太陽軸３０の双方に出力回転抵抗が働き続ける間は、筒状外周軸６からの回転入力を１／２ずつ均等に分配し、第１太陽軸２０および／または第２太陽軸３０の出力回転抵抗がゼロとなった場合には、出力回転抵抗がゼロになったものについて、筒状外周軸６からの回転入力を自動的且つ瞬時にカットし、出力回転抵抗が生じた瞬間に筒状外周軸６からの回転入力を自動的且つ瞬時に接続するよう制御可能なものとしてある。     As shown in FIGS. 5, 6, and 9, the traveling vehicle is steered or slipped on one wheel, for example, the rotational resistance of a driving wheel (not shown) connected to the second sun shaft 30 of the second planetary gear system 3. Accordingly, the second planetary gears 33, 33, 33 of the second planetary gear group 32 in the second planetary gear system 3 are moved accordingly in accordance with the second restriction internal tooth group of the inner peripheral wall 61 of the cylindrical outer peripheral shaft 6 accommodating chamber 60. Eight second restricting internal teeth 80, 80,..., The pressure pressing toward the forward restricting inner teeth 81, 81, 81 is gradually reduced, and the forward restricting restricting internal teeth 81, 81, 81 are reduced by the reduction of the pressure. The second planetary gears 33, 33, 33 are released from each, and the protrusions 51, 51, 51 in the tilt range regulating mechanism 5 of the second tilt carrier plate 42 are tilted range regulating mechanism 5 of the first tilt carrier plate 41. Along the arc guide 50 at the arc distance α (Distance α / 2 minutes from the neutral position), sliding and rotating in a forward direction, the rotational output of the second sun shaft 30 is set to zero, and the rotational force of the cylindrical outer peripheral shaft 6 is set at a ratio of 1: 1. On the contrary, as shown in FIGS. 5, 6, and 10, the resistance of the first sun shaft 20 becomes zero due to steering, one-wheel slip, or the like. In this case, the first planetary gears 23, 23, 23 of the first planetary gear group 22 in the first planetary gear system 2 are connected to the first regulating internal tooth group 7 of the inner peripheral wall 61 of the cylindrical outer peripheral shaft 6 accommodating chamber 60. The pressure that is pressed toward the forward rotation restricting internal teeth 71, 71, 71 in the first restricting internal teeth 70 of the first restricting internal teeth 70 is gradually reduced, and by the decrease in the pressure, the first rotation restricting internal teeth 71, 71, 71 respectively The planetary gears 23, 23, 23 are released, and the tilting range regulating mechanism 5 of the second tilting carrier plate 42 is engaged. The convex portions 51, 51, 5 slide in a receding manner along the arc guide portion 50 of the tilt range restriction mechanism 5 in the first tilt carrier plate 41 for an arc distance α (distance α / 2 min from the neutral position). Since the rotation output of the first sun shaft 20 is zero and the rotational force of the cylindrical outer peripheral shaft 6 is output from the second sun shaft 30 at a ratio of 1: 1, the first sun While the output rotational resistance continues to act on both the shaft 20 and the second sun shaft 30, the rotational input from the cylindrical outer peripheral shaft 6 is evenly distributed by ½, and the first sun shaft 20 and / or the second sun. When the output rotation resistance of the shaft 30 became zero, the rotation input from the cylindrical outer peripheral shaft 6 was automatically and instantaneously cut with respect to the output rotation resistance becoming zero, resulting in output rotation resistance. Can be controlled to automatically and instantaneously connect the rotational input from the cylindrical outer peripheral shaft 6 instantly There as things.

そして、車両の減速に伴いエンジン回転数が下がり、筒状外周軸６の回転速度が、第１遊星歯車系２の第１太陽軸２０および第２遊星歯車系３における第２太陽軸３０の回転速度よりも遅くなると、第１遊星歯車群２２の各第１遊星歯車２３，２３，２３（第２遊星歯車群３２における各第２遊星歯車３３，３３，３３）が、第１規制内歯群７の各正転規制内歯７１，７１，７１（正転規制内歯８１，８１，８１）から離脱し、逆方向に自・公転移動して各逆転規制内歯７２，７２，７２（各逆転規制内歯８２，８２，８２）に嵌合し、第１遊星歯車系２の第１太陽軸２０および第２遊星歯車系３の第２太陽軸３０を、夫々強制的に減速するよう自動的に制御し、所謂エンジンブレーキとしての機能を果たすこととなり、この場合にも、第１太陽軸２０および／または第２太陽軸３０の駆動輪が路面との間でスリップした場合や、操舵による内輪差を生じた場合などに、各第１遊星歯車２３，２３，２３（各第２遊星歯車３３，３３，３３）が、各逆転規制内歯７２，７２，７２（各逆転規制内歯８２，８２，８２）から離脱して駆動力の伝達を自動的に解除するものとなり、デファレンシャルギアとして高い性能を達成可能なものとなる。     As the vehicle decelerates, the engine speed decreases, and the rotational speed of the cylindrical outer peripheral shaft 6 causes the rotation of the first sun shaft 20 of the first planetary gear system 2 and the second sun shaft 30 of the second planetary gear system 3. When it becomes slower than the speed, the first planetary gears 23, 23, 23 of the first planetary gear group 22 (the second planetary gears 33, 33, 33 in the second planetary gear group 32) 7, each forward rotation restricting internal tooth 71, 71, 71 (forward rotation restricting internal tooth 81, 81, 81) is moved in the reverse direction and revolves in the reverse direction, and each reverse rotation restricting internal tooth 72, 72, 72 (each The first sun shaft 20 of the first planetary gear system 2 and the second sun shaft 30 of the second planetary gear system 3 are automatically engaged with the reverse rotation restricting internal teeth 82, 82, 82) to forcibly decelerate, respectively. And so that it functions as a so-called engine brake. When the drive wheels of the positive shaft 20 and / or the second sun shaft 30 slip with the road surface, or when an inner ring difference is caused by steering, the first planetary gears 23, 23, 23 (each second gear) The planetary gears 33, 33, 33) are separated from the respective reverse rotation restricting internal teeth 72, 72, 72 (reverse rotation restricting internal teeth 82, 82, 82) to automatically cancel the transmission of the driving force. High performance can be achieved as a gear.

図１１に示すように、この発明の差動回転伝達装置は、縦列遊星機構１における第１遊星歯車系２（第２遊星歯車系３）の第１遊星歯車２３，２３，……（第２遊星歯車３３，３３，……）を合計６個、均衡する配置にて設けたものとすることができ、さらに、筒状外周軸６における第１規制内歯群７（第２規制内歯群８）の、第１遊星歯車群２２（第２遊星歯車群３２）第１遊星歯車２３，２３，２３（第２遊星歯車３３，３３，３３）の１個毎に設ける各第１規制内歯７０，７０，７０（各第２規制内歯８０，８０，８０）が、各第１遊星歯車２３，２３，２３（第２遊星歯車３３，３３，３３）の時計回り公転を規制可能な正転規制内歯７１，７１，７１（正転規制内歯８１，８１，８１）、および、各正転規制内歯７１，７１，７１（正転規制内歯８１，８１，８１）との間に、各第１遊星歯車２３，２３，２３（第２遊星歯車３３，３３，３３）の自・公転可能範囲を確保する所定円弧状距離を隔てて対峙し、同第１遊星歯車２３，２３，２３（第２遊星歯車３３，３３，３３）の反時計回り公転を規制可能な逆転規制内歯７２，７２，７２（逆転規制内歯８２，８２，８２）からなり、当該第１規制内歯群７（第２規制内歯群８）中の公転方向背面同士が互いに近接する各正転規制内歯７１，７１，７１（正転規制内歯８１，８１，８１）と各逆転規制内歯７２，７２，７２（逆転規制内歯８２，８２，８２）とを一体化してなるものとすることができる。     As shown in FIG. 11, the differential rotation transmission device of the present invention includes first planetary gears 23, 23,... Of the first planetary gear system 2 (second planetary gear system 3) in the cascade planetary mechanism 1. A total of six planetary gears 33, 33,... Can be provided in a balanced arrangement, and further, a first restriction internal tooth group 7 (second restriction internal tooth group) on the cylindrical outer peripheral shaft 6 8), each first restriction internal tooth provided for each of the first planetary gear group 22 (second planetary gear group 32) and the first planetary gears 23, 23, 23 (second planetary gears 33, 33, 33). 70, 70, 70 (each second regulating internal tooth 80, 80, 80) is a positive that can regulate the clockwise revolution of each first planetary gear 23, 23, 23 (second planetary gear 33, 33, 33). Rotation restriction inner teeth 71, 71, 71 (forward rotation restriction inner teeth 81, 81, 81) and forward rotation restriction inner teeth 71, 71, 71 Predetermined arc-shaped distance that secures the self-revolveable range of each first planetary gear 23, 23, 23 (second planetary gears 33, 33, 33) between the normal rotation regulating inner teeth 81, 81, 81) The reverse rotation control internal teeth 72, 72, 72 (reverse rotation control internal teeth) that can counteract the counterclockwise revolution of the first planetary gears 23, 23, 23 (second planetary gears 33, 33, 33) 82, 82, 82), and the respective forward rotation restricting internal teeth 71, 71, 71 (forward rotation) in which the back surfaces in the revolution direction in the first restricted internal tooth group 7 (second restricted internal tooth group 8) are close to each other. The restriction inner teeth 81, 81, 81) and the reverse rotation restriction inner teeth 72, 72, 72 (reverse rotation restriction inner teeth 82, 82, 82) can be integrated.

図１２に示すように、この発明の差動回転伝達装置は、縦列遊星機構１における第１遊星歯車系２（第２遊星歯車系３）の第１太陽歯車２１（第２太陽歯車３１）の歯数を１９枚とし、第１遊星歯車群２２（第２遊星歯車群３２）の第１遊星歯車２３，２３，……（第２遊星歯車３３，３３，……）を合計６個とし、該第１太陽歯車２１（第２太陽歯車３１）の周囲に出来るだけ均衡配置とするよう各第１遊星歯車２３，２３，……（第２遊星歯車３３，３３，……）を配したものとするのが望ましく、さらに、第１遊星歯車系２および第２遊星歯車系３の各第１遊星歯車２３，２３，……の配置と各第２遊星歯車３３，３３，……の配置とを、互いに１８０°ずらすと共に、筒状外周軸６収容室６０内周壁６１の第１規制内歯群７の各第１規制内歯７０，７０，……（正転規制内歯７１，７１，……、逆転規制内歯７２，７２，……）、および、第２規制内歯群８の第２規制内歯８０，８０，……（正転規制内歯８１，８１，……、逆転規制内歯８２，８２，……）も、各、第１遊星歯車群２２（第２遊星歯車群３２）の配置に対応して、互いに１８０°ずらすよう配置（図示していない）してなるものとすることができる。     As shown in FIG. 12, the differential rotation transmission device of the present invention includes a first sun gear 21 (second sun gear 31) of the first planetary gear system 2 (second planetary gear system 3) in the cascade planetary mechanism 1. The number of teeth is 19, and the first planetary gears 23, 23,... (Second planetary gears 33, 33,...) Of the first planetary gear group 22 (second planetary gear group 32) are six in total. Each of the first planetary gears 23, 23,... (Second planetary gears 33, 33,...) Is arranged around the first sun gear 21 (second sun gear 31) as much as possible. Further, the arrangement of the first planetary gears 23, 23,... Of the first planetary gear system 2 and the second planetary gear system 3 and the arrangement of the second planetary gears 33, 33,. Are shifted from each other by 180 °, and each first of the first restriction internal teeth group 7 of the inner peripheral wall 61 of the cylindrical outer peripheral shaft 6 accommodating chamber 60 is changed. Control internal teeth 70, 70,... (Forward rotation control internal teeth 71, 71,..., Reverse rotation control internal teeth 72, 72,...) And second control internal teeth 80 of the second control internal tooth group 8. , 80,... (Forward rotation restricting internal teeth 81, 81,..., Reverse rotation restricting internal teeth 82, 82,...) Are also arranged in the first planetary gear group 22 (second planetary gear group 32). Correspondingly, they may be arranged (not shown) so as to be shifted from each other by 180 °.

（実施例２の作用・効果）
図１１および図１２に示すように、第１遊星歯車２３，２３，……（第２遊星歯車３３，３３，……）を合計６個、均衡するよう配したこの発明の差動回転伝達装置は、第１遊星歯車２３，２３，……（第２遊星歯車３３，３３，……）を合計３個設けたものに比較して、各第１遊星歯車２３，２３，……（第２遊星歯車３３，３３，……）、第１太陽軸２０の第１太陽歯車２１（第２太陽軸３０第２太陽歯車３１）および、筒状外周軸６の第１規制内歯群７における各第１規制内歯７０，７０，……（第２規制内歯群８各第２規制内歯８０，８０，……）に加わる荷重をより均質に分散し、回転駆動力伝達による耐衝撃、耐摩耗強度を約２培に高めたものとすることができ、さらに、当該第１規制内歯群７（第２規制内歯群８）中の公転方向背面同士が互いに近接する各正転規制内歯７１，７１，７１（正転規制内歯８１，８１，８１）と各逆転規制内歯７２，７２，７２（逆転規制内歯８２，８２，８２）とを一体化してあるから、各第１規制内歯７０，７０，……（各第２規制内歯８０，８０，……）の強度を高めると共に、第１規制内歯群７（第２規制内歯群８）の配置密度を低くして、第１遊星歯車２３，２３，……（第２遊星歯車３３，３３，……）の増設を実現化するスペースを確保できる。 (Operation / Effect of Example 2)
As shown in FIGS. 11 and 12, a differential rotation transmission device of the present invention in which a total of six first planetary gears 23, 23,... (Second planetary gears 33, 33,. Compared with a configuration in which a total of three first planetary gears 23, 23,... (Second planetary gears 33, 33,...) Are provided, each first planetary gear 23, 23,. Planet gears 33, 33,..., The first sun gear 21 of the first sun shaft 20 (second sun shaft 30 and the second sun gear 31), and the first restriction internal tooth group 7 of the cylindrical outer shaft 6. The load applied to the first restriction internal teeth 70, 70,... (Second restriction internal teeth group 8 each second restriction internal tooth 80, 80,. The wear resistance strength can be increased to about 2 years, and the revolution in the first restriction internal tooth group 7 (second restriction internal tooth group 8). Forward rotation restricting internal teeth 71, 71, 71 (forward rotation restricting internal teeth 81, 81, 81) and reverse rotation restricting internal teeth 72, 72, 72 (reverse rotation restricting internal teeth 82, 82, 82) whose backs are close to each other. And the first restriction internal teeth 70, 70,... (Second restriction internal teeth 80, 80,...) And the first restriction internal teeth group 7 (first (2) The arrangement density of the regulated internal tooth group 8) can be lowered, and a space for realizing the extension of the first planetary gears 23, 23,... (Second planetary gears 33, 33,...) Can be secured.

図１２に示すように、第１太陽歯車２１（第２太陽歯車３１）の歯数を、第１遊星歯車２３，２３，……（第２遊星歯車３３，３３，……）の合計数の整数倍とせず、第１太陽歯車２１（第２太陽歯車３１）の歯数を１９枚、第１遊星歯車２３，２３，……（第２遊星歯車３３，３３，……）の合計数を６個とした場合にも、各第１遊星歯車２３，２３，……（第２遊星歯車３３，３３，……）の配置を、できる限り均衡するものとしてあるから、各第１遊星歯車２３，２３，……（第２遊星歯車３３，３３，……）と第１太陽歯車２１（第２太陽歯車３１）との間の回転力伝達力が、周回りに略均等に分散し、安定した回転伝達動作を得ることが可能となる。     As shown in FIG. 12, the number of teeth of the first sun gear 21 (second sun gear 31) is set to the total number of first planetary gears 23, 23,... (Second planetary gears 33, 33,...). The number of teeth of the first sun gear 21 (second sun gear 31) is 19 and the total number of first planetary gears 23, 23,... (Second planetary gears 33, 33,. Even in the case of six, the arrangement of the first planetary gears 23, 23,... (Second planetary gears 33, 33,...) Is balanced as much as possible. , 23,... (Second planetary gears 33, 33,...) And the first sun gear 21 (second sun gear 31) are distributed evenly and stably around the circumference. It is possible to obtain a rotation transmission operation.

図１３および図１４に示すように、この発明の差動回転伝達装置は、縦列遊星機構１における第１遊星歯車系２（第２遊星歯車系３）の第１遊星歯車群２２（第２遊星歯車群３２）が、１９枚の歯数に設定した第１太陽歯車２１（第２太陽歯車３１）の周囲に略均衡する合計３箇所夫々に噛合可能に配した、時計回り公転規制専用の正転規制用第１遊星歯車２４，２４，２４（正転規制用第１遊星歯車３４，３４，３４）、および、各正転規制用第１遊星歯車２４，２４，２４（正転規制用第１遊星歯車３４，３４，３４）間の略中央に配し、且つ、該第１太陽歯車２１（第２太陽歯車３１）周囲に略均衡する合計３箇所にあって、当該第１太陽歯車に噛合可能とした、反時計回り公転規制専用の逆転規制用第１遊星歯車２５，２５．２５（逆転規制用第１遊星歯車３５，３５，３５）を設けた上、筒状外周軸６の第１規制内歯群７（第２規制内歯群８）における第１規制内歯７０（第２規制内歯８０）が、各正転規制用第１遊星歯車２４，２４，２４（正転規制用第１遊星歯車３４，３４，３４）の時計回り公転を所定範囲に規制可能な正転規制内歯７１，７１，７１（８１，８１，８１）と、各逆転規制用第１遊星歯車２５，２５．２５（逆転規制用第１遊星歯車３５，３５，３５）の反時計回り公転を所定範囲に規制可能な逆転規制内歯７２，７２，７２（８２，８２，８２）とを一体化してなるものとすることができる。     As shown in FIGS. 13 and 14, the differential rotation transmission device of the present invention includes a first planetary gear group 22 (second planetary gear group) of the first planetary gear system 2 (second planetary gear system 3) in the cascade planetary mechanism 1. The gear group 32) is a positive gear exclusively for clockwise revolution regulation, which is arranged so as to be able to mesh with each of a total of three locations which are substantially balanced around the first sun gear 21 (second sun gear 31) set to 19 teeth. First planetary gears 24, 24, 24 for restricting rotation (first planetary gears 34, 34, 34 for restricting forward rotation) and first planetary gears 24, 24, 24 for restricting forward rotation (first for restricting forward rotation) 1 planetary gears 34, 34, 34) are arranged at approximately the center, and there are a total of three locations that are substantially balanced around the first sun gear 21 (second sun gear 31). First planetary gears 25, 25.25 (for reverse rotation restriction, exclusively for counterclockwise revolution restriction) that can be engaged. The first planetary gears 35, 35, 35) for rolling regulation are provided, and the first regulation internal teeth 70 (second series) in the first regulation internal tooth group 7 (second regulation internal tooth group 8) of the cylindrical outer peripheral shaft 6. The regulation inner teeth 80) are capable of regulating the clockwise revolution of the respective first planetary gears 24, 24, 24 (normal rotation regulation first planetary gears 34, 34, 34) for forward rotation regulation within a predetermined range. Counterclockwise revolutions of the internal teeth 71, 71, 71 (81, 81, 81) and the first planetary gears 25, 25.25 (reverse rotation restricting first planetary gears 35, 35, 35) are predetermined. The reverse rotation restricting internal teeth 72, 72, 72 (82, 82, 82) that can be regulated within the range can be integrated.

（実施例３の作用・効果）
図１３および図１４に示すように、時計回り公転規制専用の正転規制用第１遊星歯車２４，２４，２４（正転規制用第１遊星歯車３４，３４，３４）の合計３個、および、反時計回り公転規制専用の逆転規制用第１遊星歯車２５，２５．２５（逆転規制用第１遊星歯車３５，３５，３５）の合計３個を、夫々周回りに交互且つ略均衡するよう配してなるから、第１太陽軸２０第１太陽歯車２１（第２太陽軸３０第２太陽歯車３１）に加わる衝撃力や摩耗を効果的に分散・軽減することが可能となり、筒状外周軸６の第１規制内歯群７（第２規制内歯群８）における第１規制内歯７０（第２規制内歯８０）の正転規制内歯７１，７１，７１（８１，８１，８１）と、それらに隣接状に配置する逆転規制内歯７２，７２，７２（８２，８２，８２）とを一体化しているから、設置数を３箇所に削減できるものとなり、さらに、第１太陽軸２０第１太陽歯車２１（第２太陽軸３０第２太陽歯車３１）の枚数が、正転規制用第１の遊星歯車２４，２４，２４（正転規制用第１遊星歯車３４，３４，３４）および逆転規制用第１遊星歯車２５，２５．２５（逆転規制用第１遊星歯車３５，３５，３５）の合計数６個の整数倍とはならない１９枚とした場合にも、耐久性に秀れたものとすることができる、 (Operation / Effect of Example 3)
As shown in FIG. 13 and FIG. 14, a total of three forward rotation restricting first planetary gears 24, 24, 24 (forward rotation restricting first planetary gears 34, 34, 34) exclusively for clockwise revolution restriction, and The first planetary gears 25, 25.25 (reverse rotation restricting first planetary gears 35, 35, 35) exclusively for counterclockwise revolution control are alternately and substantially balanced around the circumference, respectively. Therefore, it is possible to effectively disperse and reduce the impact force and wear applied to the first sun shaft 20 and the first sun gear 21 (second sun shaft 30 and second sun gear 31), and the cylindrical outer periphery. Forward rotation restricting internal teeth 71, 71, 71 (81, 81, 81) of the first restricting internal tooth 70 (second restricting internal tooth 80) in the first restricting internal tooth group 7 (second restricting internal tooth group 8) of the shaft 6 81) and reverse rotation restricting internal teeth 72, 72, 72 (82, 82, 82) arranged adjacent to them. Since the number of installations can be reduced to three, the number of first sun shafts 20 and first sun gears 21 (second sun shafts 30 and second sun gears 31) is limited to normal rotation. First planetary gears 24, 24, 24 (first planetary gears 34, 34, 34 for restricting forward rotation) and first planetary gears 25, 25.25 for restricting reverse rotation (first planetary gears 35, 35 for restricting reverse rotation) , 35) Even if the total number is 19 which is not an integer multiple of 6, it can be excellent in durability.

（結 び）
叙述の如く、この発明の差動回転伝達装置は、その新規な構成によって所期の目的を遍く達成可能とするものであり、しかも製造も容易で、従前からのデファレンシャルギア機構技術に比較して大幅に部品点数を削減すると共に、耐久強度を格段に高めることができる上、小型・軽量化して製造、組み立て効率にも秀れ、低廉化して遥かに経済的なものとすることができ、特に、４輪車輌などの左右輪への回転駆動力の分配効率を格段に高めて、回転駆動力の損失を大幅に低減して一段と効率的な走行を実現化するものとなり、従前までは、車輪のスリップによる多少の出力損失は、やむを得ないことと諦めていた自動車業界および自動車部品業界はもとより、車輌の燃料消費量やバッテリー消費量の軽減を希望する一般家庭や輸送業界においても高く評価され、車輌技術以外の各種機械技術分野を含め、広範に渡って利用、普及していくものになると予想される。 (Conclusion)
As described above, the differential rotation transmission device of the present invention can achieve the intended purpose evenly by its novel configuration, and is easy to manufacture, compared with the conventional differential gear mechanism technology. In addition to greatly reducing the number of parts, the durability can be dramatically increased, and the size and weight can be reduced, manufacturing and assembly efficiency can be improved, and the cost can be reduced to a much more economical level. The distribution efficiency of the rotational drive force to the left and right wheels of a four-wheel vehicle, etc. will be greatly increased, and the loss of the rotational drive force will be greatly reduced to realize more efficient driving. Slight output loss due to slippage is not only unavoidable, but also in the home and transportation industries that want to reduce vehicle fuel consumption and battery consumption, as well as the automotive and automotive parts industries. Been highly valued, including the various machines art other than vehicle technology, use over a wide range, it is expected to be that continue to spread.

１ 縦列遊星機構
２ 第１遊星歯車系
２０ 同 第１太陽軸
２１ 同 第１太陽歯車
２２ 同 第１遊星歯車群
２３ 同 第１遊星歯車
２４ 同 正転規制用第１遊星歯車
２５ 同 逆転規制用第１遊星歯車
３ 第２遊星歯車系
３０ 同 第２太陽軸
３１ 同 第２太陽歯車
３２ 同 第２遊星歯車群
３３ 同 第２遊星歯車
３４ 同 正転規制用第１遊星歯車
３５ 同 逆転規制用第１遊星歯車
４ 遊星キャリア板群
４０ 同 一端キャリア板
４１ 同 第１傾動キャリア板
４２ 同 第２傾動キャリア板
４３ 同 端末キャリア板
４４ 同 スリーブ
５ 傾動範囲規制機構
α 所定円弧長範囲
５０ 同 円弧案内部
５１ 同 凸部
６ 筒状外周軸
６０ 同 収容室
６１ 同 収容室内周壁
６２ 同 一端開口
６３ 同 フランジ部
６４ 同 有底端
６５ 同 蓋状体
６６ 同 露出口
７ 第１規制内歯群
７０ 同 第１規制内歯
７１ 同 正転規制内歯
７２ 同 逆転規制内歯
８ 第２規制内歯群
８０ 同 第２規制内歯
８１ 同 正転規制内歯
８２ 同 逆転規制内歯 1 Parallel planetary mechanism 2 First planetary gear system
20 The same first solar axis
21 Same sun gear
22 The first planetary gear group
23 The first planetary gear
24 1st planetary gear for forward rotation restriction
25 The first planetary gear 3 for controlling reverse rotation 3 The second planetary gear system
30 Second solar axis
31 The second sun gear
32 The second planetary gear group
33 Second planetary gear
34 First planetary gear for forward rotation restriction
35 1st planetary gear for reversal restriction 4 Planet carrier plate group
40 Same end carrier plate
41 Same tilting carrier plate
42 Second tilting carrier plate
43 Same terminal carrier board
44 Same sleeve 5 Tilt range regulating mechanism α Predetermined arc length range
50 Same arc guide
51 Same convex part 6 Cylindrical outer peripheral shaft
60 Containment room
61 Same wall in the accommodation room
62 Same end opening
63 Same flange
64 Same bottom end
65 Same lid
66 Exposed port 7 First restriction internal tooth group
70 Same 1st internal teeth
71 Same as forward-regulated internal teeth
72 Same reverse rotation restriction internal tooth 8 Second restriction internal tooth group
80 Same second regulation internal tooth
81 Same as above
82 Same as above

Claims (10)

太陽軸の外周に同心状の太陽歯車を一体化し、同太陽歯車周囲の均衡する複数箇所夫々に遊星歯車を噛合し、それら太陽歯車および遊星歯車群の各両端を２枚のキャリア板間に軸着して遊星歯車系とすると共に、縦列状に組み合わせた複数の遊星歯車系を軸心方向に収容可能な内径に設定した収容室内周壁の周回り方向適所夫々に、それら遊星歯車群各遊星歯車の公転移動および自転を所定位置に同期規制可能な規制内歯群を求心方向に突設した筒状外周軸を設け、同筒状外周軸内に、複数の遊星歯車系を縦列・同心状に収容するよう組み合わせてなるものとしたことを特徴とする差動回転伝達装置。     A concentric sun gear is integrated on the outer periphery of the sun shaft, the planetary gears are meshed with each other at balanced locations around the sun gear, and both ends of the sun gear and the planetary gear group are pivoted between two carrier plates. A plurality of planetary gear systems combined in a tandem shape are set to have an inner diameter that can be accommodated in the axial direction, and each planetary gear group of the planetary gear group is arranged in a suitable position in the circumferential direction of the housing inner peripheral wall. A cylindrical outer shaft that protrudes in the centripetal direction is provided with restriction internal teeth that can synchronously control the revolving movement and rotation of the motor in a predetermined position, and a plurality of planetary gear systems are arranged in tandem and concentric in the cylindrical outer shaft. A differential rotation transmission device characterized by being combined so as to be accommodated. 太陽軸の外周に同心状の太陽歯車を一体化し、同太陽歯車周囲の均衡する複数箇所夫々に遊星歯車を噛合し、それら太陽歯車および遊星歯車群の各両端を２枚のキャリア板間に軸着して遊星歯車系とすると共に、縦列状に組み合わせた複数の遊星歯車系を軸心方向に収容可能な内径に設定した収容室内周壁の周回り方向適所夫々に、それら遊星歯車群各遊星歯車の公転移動および自転を所定位置に同期規制可能な規制内歯群を求心方向に突設した筒状外周軸を設け、同筒状外周軸内に、複数の遊星歯車系を縦列・同心状に収容するよう組み合わせ、各太陽軸および外周軸の連繋動作にて、１系統の回転入力を２系統の回転出力に自動的に振り分け可能、および／または、２系統の回転入力を１系統の回転出力に自動的に統合可能なものとしてなることを特徴とする差動回転伝達装置。     A concentric sun gear is integrated on the outer periphery of the sun shaft, the planetary gears are meshed with each other at balanced locations around the sun gear, and both ends of the sun gear and the planetary gear group are pivoted between two carrier plates. A plurality of planetary gear systems combined in a tandem shape are set to have an inner diameter that can be accommodated in the axial direction, and each planetary gear group of the planetary gear group is arranged in a suitable position in the circumferential direction of the housing inner peripheral wall. A cylindrical outer shaft that protrudes in the centripetal direction is provided with restriction internal teeth that can synchronously control the revolving movement and rotation of the motor in a predetermined position, and a plurality of planetary gear systems are arranged in tandem and concentric in the cylindrical outer shaft. Combined to accommodate, each sun shaft and outer shaft can be linked to automatically distribute one rotation input to two rotation outputs, and / or two rotation inputs to one rotation output Can be automatically integrated into Differential rotation transmission device according to claim Rukoto. 第１太陽軸の外周に同心状の第１太陽歯車を一体化し、同第１太陽歯車周囲の均衡する複数箇所夫々に第１遊星歯車を噛合し、それら第１太陽歯車および第１遊星歯車群の各両端を一端キャリア板、第１傾動キャリア板間に軸着して第１遊星歯車系とし、第２太陽軸の外周に同心状の第２太陽歯車を一体化し、同第２太陽歯車周囲の均衡する複数箇所夫々に第２遊星歯車を噛合し、それら第２太陽歯車および第２遊星歯車群の各両端を第２傾動キャリア板、端末キャリア板間に軸着して第２遊星歯車系とすると共に、当該第１遊星歯車系第１傾動キャリア板に対し、傾動範囲規制機構を介して当該第２遊星歯車系第２傾動キャリア板を接合して縦列遊星機構とした上、該縦列遊星機構第１遊星歯車系および第２遊星歯車系を軸心方向に収容可能な内径に設定した収容室内周壁の周回り方向の適所夫々に、当該第１遊星歯車群各第１遊星歯車の公転移動範囲および自転を所定範囲に同期規制可能な第１規制内歯群、および第２遊星歯車群の各第２遊星歯車の公転移動範囲および自転を所定範囲に同期規制可能な第２規制内歯群を求心方向に突設した筒状外周軸を設け、同筒状外周軸内に、当該縦列遊星機構第１遊星歯車系および第２遊星歯車系を縦列・同心状に収容するよう組み合わせ、第１太陽軸、第２太陽軸および外周軸の連繋動作にて、１系統の回転入力を２系統の回転出力に自動的に振り分け可能、および／または、２系統の回転入力を１系統の回転出力に自動的に統合可能なものとしてなることを特徴とする差動回転伝達装置。     A concentric first sun gear is integrated with the outer periphery of the first sun shaft, the first planetary gear is meshed with each of a plurality of balanced portions around the first sun gear, and the first sun gear and the first planetary gear group. A first planetary gear system is formed by axially attaching both ends of the first and second tilting carrier plates to one end, and a concentric second sun gear is integrated on the outer periphery of the second sun shaft. The second planetary gear is engaged with the second planetary gear at each of a plurality of balanced positions, and both ends of the second sun gear and the second planetary gear group are axially attached between the second tilting carrier plate and the terminal carrier plate. In addition, the second planetary gear system second tilting carrier plate is joined to the first planetary gear system first tilting carrier plate via a tilting range regulating mechanism to form a column planetary mechanism, The first planetary gear system and the second planetary gear system can be accommodated in the axial direction. A first restriction internal tooth group capable of synchronously restricting the revolution movement range and rotation of each first planetary gear of each of the first planetary gear groups to a predetermined range at appropriate positions in the circumferential direction of the inner circumferential wall of the accommodation chamber set to a certain inner diameter, and A cylindrical outer peripheral shaft provided with a second restriction internal tooth group capable of synchronously restricting the revolution movement range and rotation of each second planetary gear group of the second planetary gear group in a predetermined range is provided in the centripetal direction, and the cylindrical outer peripheral shaft The first planetary gear system and the second planetary gear system are combined so that the first planetary gear system and the second planetary gear system are accommodated in a tandem / concentric manner. A differential rotation transmission device characterized in that a rotation input can be automatically distributed to two rotation outputs and / or two rotation inputs can be automatically integrated into one rotation output. . 第１太陽軸の外周に同心状の第１太陽歯車を一体化し、同第１太陽歯車周囲の均衡する複数箇所夫々に第１遊星歯車を噛合し、それら第１太陽歯車および第１遊星歯車群の各両端を一端キャリア板、第１傾動キャリア板間に軸着して第１遊星歯車系とし、第２太陽軸の外周に同心状の第２太陽歯車を一体化し、同第２太陽歯車周囲の均衡する複数箇所夫々に第２遊星歯車を噛合し、それら第２太陽歯車および第２遊星歯車群の各両端を第２傾動キャリア板、端末キャリア板間に軸着して第２遊星歯車系とすると共に、当該第１遊星歯車系第１傾動キャリア板に対し、第１・第２太陽軸軸心回り方向の所定円弧長範囲内にて傾動自在とするよう案内および規制可能な傾動範囲規制機構を介して当該第２遊星歯車系第２傾動キャリア板を接合して縦列遊星機構とした上、該縦列遊星機構第１遊星歯車系および第２遊星歯車系を軸心方向に収容可能な内径に設定した収容室内周壁の周回り方向の適所夫々に、当該第１遊星歯車群各第１遊星歯車の公転移動範囲および自転を所定範囲に同期規制可能な第１規制内歯群、および第２遊星歯車群の各第２遊星歯車の公転移動範囲および自転を所定範囲に同期規制可能な第２規制内歯群を求心方向に突設した筒状外周軸を設け、同筒状外周軸内に、当該縦列遊星機構第１遊星歯車系および第２遊星歯車系を縦列・同心状に収容し、同第１太陽軸外端および／または第２太陽軸外端を、該筒状外周軸から外部に露出させて軸着するよう組み合わせてなるものとしたことを特徴とする差動回転伝達装置。     A concentric first sun gear is integrated with the outer periphery of the first sun shaft, the first planetary gear is meshed with each of a plurality of balanced portions around the first sun gear, and the first sun gear and the first planetary gear group. A first planetary gear system is formed by axially attaching both ends of the first and second tilting carrier plates to one end, and a concentric second sun gear is integrated on the outer periphery of the second sun shaft. The second planetary gear is engaged with the second planetary gear at each of a plurality of balanced positions, and both ends of the second sun gear and the second planetary gear group are axially attached between the second tilting carrier plate and the terminal carrier plate. And a tilt range restriction capable of guiding and restricting the first planetary gear system first tilt carrier plate so as to be tiltable within a predetermined arc length range around the first and second sun axes. The second planetary gear system second tilting carrier plate is joined via the mechanism In addition to the row planetary mechanism, the first planetary gear mechanism is arranged at appropriate positions in the circumferential direction of the inner circumferential wall of the accommodation chamber in which the first planetary gear system and the second planetary gear system are set to have an inner diameter that can be accommodated in the axial direction. First revolution internal tooth group capable of synchronously regulating the revolution movement range and rotation of each first planetary gear of each gear group within a predetermined range, and the revolution movement range and rotation of each second planetary gear of the second planetary gear group within a predetermined range. A cylindrical outer peripheral shaft is provided with a second restricting internal tooth group that can be synchronously controlled protruding in the centripetal direction, and the first planetary gear system and the second planetary gear system in parallel are arranged in the cylindrical outer peripheral shaft. Concentrically accommodated, the first sun axis outer end and / or the second sun axis outer end are combined so as to be exposed to the outside from the cylindrical outer peripheral shaft and mounted. Differential rotation transmission device. 太陽歯車の歯数が、その遊星歯車群の各遊星歯車個数の整数倍に設定してなるものとした、請求項１ないし４何れか一項記載の差動回転伝達装置。     The differential rotation transmission device according to any one of claims 1 to 4, wherein the number of teeth of the sun gear is set to an integral multiple of the number of planetary gears of the planetary gear group. 傾動範囲規制機構が、第１傾動キャリア板および第２傾動キャリア板の互いの対峙面壁の何れか一方に、縦列遊星機構第１太陽軸・第２太陽軸の軸着部より遠心がわであり、且つ、縦列遊星機構第１遊星歯車群・第２遊星歯車群の各軸着部よりも求心がわとなる半径位置の、周回り方向に均衡する複数箇所夫々に、同一円弧長とした円弧案内部を凹設し、同対峙面壁の何れか他方に、各円弧案内部の同一箇所に対応し、遊嵌可能となる位置に夫々凸部を突設してなるものとした、請求項３ないし５何れか一項記載の差動回転伝達装置。     The tilt range restricting mechanism has a centrifugal drift on either one of the opposing wall surfaces of the first tilt carrier plate and the second tilt carrier plate from the axial attachment portions of the first planetary axis mechanism and the second solar axis. In addition, arcs having the same arc length at each of a plurality of locations that are balanced in the circumferential direction at radial positions where the centripetals are located more than the axially attached portions of the first planetary gear group and the second planetary gear group of the parallel planetary mechanism The guide portion is recessed, and a convex portion is provided on either one of the opposite facing walls, corresponding to the same location of each arc guide portion, at a position where it can be loosely fitted. The differential rotation transmission device according to any one of 5 to 5. 縦列遊星機構が、その縦列状に配した第１太陽軸と第２太陽軸との間に、双方を回転自在に連結し、且つ、第１傾動キャリア板および第２傾動キャリア板に軸着可能とするスリーブを有するものとした、請求項３ないし６何れか一項記載の差動回転伝達装置。     A tandem planetary mechanism is rotatably connected between the first sun axis and the second sun axis arranged in a column, and can be pivotally attached to the first tilt carrier plate and the second tilt carrier plate. The differential rotation transmission device according to claim 3, wherein the differential rotation transmission device has a sleeve. 筒状外周軸第１規制内歯群の、第１遊星歯車群第１遊星歯車の１個毎に設ける各第１規制内歯が、該第１遊星歯車の時計回り公転を規制可能な正転規制内歯、および、該正転規制内歯との間に、該第１遊星歯車の自・公転可能範囲を確保する所定円弧状距離を隔てて対峙し、同第１遊星歯車の反時計回り公転を規制可能な逆転規制内歯からなり、且つ、第２規制内歯群の第２遊星歯車群第２遊星歯車の１個毎に設ける各第２規制内歯が、第２遊星歯車の時計回り公転を規制可能な正転規制内歯、および、該正転規制内歯との間に、第２遊星歯車の自・公転可能範囲を確保する所定円弧状距離を隔てて対峙し、同第２遊星歯車の反時計回り公転を規制可能な逆転規制内歯からなるものとしてなる、請求項３ないし７何れか一項記載の差動回転伝達装置。     Forward rotation capable of regulating the clockwise revolution of the first planetary gear by each first regulating internal tooth provided for each of the first planetary gear group of the first planetary gear group of the cylindrical outer shaft first regulating internal tooth group. The first planetary gear counterclockwise with a predetermined arcuate distance that secures a self-revolving range of the first planetary gear between the regulation inner tooth and the forward regulation inner tooth. Each of the second restriction internal teeth that are formed of reverse rotation restriction internal teeth capable of restricting revolution and are provided for each second planetary gear of the second planetary gear group of the second restriction internal tooth group is a clock of the second planetary gear. A forward rotation restricting internal tooth capable of restricting rotation and revolution, and a predetermined arcuate distance that secures a self-revolveable range of the second planetary gear between the forward rotation restricting internal tooth and facing each other. The differential rotation transmission according to any one of claims 3 to 7, wherein the differential rotation transmission is composed of a reverse rotation regulating internal tooth capable of regulating the counterclockwise revolution of the two planetary gears. Apparatus. 筒状外周軸第１規制内歯群の、第１遊星歯車群第１遊星歯車の１個毎に設ける各第１規制内歯が、該第１遊星歯車の時計回り公転を規制可能な正転規制内歯、および、該正転規制内歯との間に、該第１遊星歯車の自・公転可能範囲を確保する所定円弧状距離を隔てて対峙し、同第１遊星歯車の反時計回り公転を規制可能な逆転規制内歯からなり、当該第１規制内歯群中の公転方向背面同士が互いに近接する正転規制内歯と逆転規制内歯とを一体化したものとし、且つ、第２規制内歯群の第２遊星歯車群第２遊星歯車の１個毎に設ける各第２規制内歯が、第２遊星歯車の時計回り公転を規制可能な正転規制内歯、および、該正転規制内歯との間に、第２遊星歯車の自・公転可能範囲を確保する所定円弧状距離を隔てて対峙し、同第２遊星歯車の反時計回り公転を規制可能な逆転規制内歯からなり、当該第２遊星歯車群中の公転方向背面同士が互いに近接する正転規制内歯と逆転規制内歯とを一体化してなるものとした、請求項３ないし７何れか一項記載の差動回転伝達装置。     Forward rotation capable of regulating the clockwise revolution of the first planetary gear by each first regulating internal tooth provided for each of the first planetary gear group of the first planetary gear group of the cylindrical outer shaft first regulating internal tooth group. The first planetary gear counterclockwise with a predetermined arcuate distance that secures a self-revolving range of the first planetary gear between the regulation inner tooth and the forward regulation inner tooth. It consists of a reverse rotation restriction internal tooth capable of restricting revolution, and is integrated with a normal rotation restriction internal tooth and a reverse rotation restriction internal tooth whose back surfaces in the revolution direction in the first restriction internal tooth group are close to each other, and 2nd planetary gear group of 2 regulation internal teeth group Each 2nd regulation internal tooth provided for every 2nd planetary gear is a normal rotation regulation internal tooth which can regulate clockwise revolution of the 2nd planetary gear, The second planetary gears are opposed to each other with a predetermined arc-shaped distance that secures a self-revolving range of the second planetary gear between the forward rotation restricted inner teeth. It consists of reverse rotation restriction internal teeth capable of restricting clockwise revolution, and is formed by integrating forward rotation restriction internal teeth and reverse rotation restriction internal teeth in which the revolution direction back surfaces in the second planetary gear group are close to each other, The differential rotation transmission device according to any one of claims 3 to 7. 第１遊星歯車群が、第１太陽歯車周囲の均衡する複数箇所夫々にあって噛合可能な、時計回り公転規制専用の正転規制用第１遊星歯車と、それらと同数個が第１太陽歯車周囲および各正転規制用第１遊星歯車に均衡する複数箇所にあって、同第１太陽歯車に噛合可能な、反時計回り公転規制専用の逆転規制用第１遊星歯車とからなると共に、筒状外周軸第１規制内歯群が、各正転規制用第１遊星歯車の時計回り公転を所定範囲に規制可能な正転規制内歯と、各逆転規制用第１遊星歯車の反時計回り公転を所定範囲に規制可能な逆転規制内歯とからなるものとした上、第２遊星歯車群が、第２太陽歯車周囲の均衡する複数箇所夫々にあって噛合可能な、時計回り公転規制専用の正転規制用第２遊星歯車と、それらと同数個が第２太陽歯車周囲および各正転規制用第２遊星歯車に均衡する複数箇所にあって、同第２太陽歯車に噛合可能な、反時計回り公転規制専用の逆転規制用第２遊星歯車とからなり、筒状外周軸第２規制内歯群が、各正転規制用第２遊星歯車の時計回り公転を所定範囲に規制可能な正転規制内歯と、各逆転規制用第２遊星歯車の反時計回り公転を所定範囲に規制可能な逆転規制内歯とからなるものとした、請求項３ないし７何れか一項記載の差動回転伝達装置。     A first planetary gear for forward rotation regulation exclusively for clockwise revolution regulation, which can be engaged with each other at a plurality of balanced positions around the first sun gear, and the same number of the first planetary gear group as the first sun gear. A plurality of first planetary gears for counterclockwise revolution regulation, which are meshed with the first sun gear and are in a plurality of locations balanced with the surrounding and each first planetary gear for regulation of forward rotation, Of the outer peripheral shaft first restriction internal teeth, the forward rotation restriction inner teeth capable of restricting the clockwise revolution of each forward rotation restriction first planetary gear within a predetermined range, and the counterclockwise rotation of each reverse rotation restriction first planetary gear. It is made up of reverse rotation restriction internal teeth that can restrict the revolution to a predetermined range, and the second planetary gear group can be meshed with each other at a plurality of balanced positions around the second sun gear. No. 2 planetary gears for forward rotation regulation and the same number of them as the second sun gear And a second planetary gear for reverse rotation control exclusively for counterclockwise revolution control, which is meshed with the second sun gear and is in a plurality of locations balanced with each forward rotation control second planetary gear. The shaft second restriction internal tooth group performs the forward rotation restriction internal teeth capable of restricting the clockwise revolution of each forward rotation restricting second planetary gear within a predetermined range, and the counterclockwise revolution of each reverse rotation restriction second planetary gear. The differential rotation transmission device according to any one of claims 3 to 7, wherein the differential rotation transmission device includes reverse rotation regulating internal teeth that can be regulated within a predetermined range.
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