JP6228588B2 - Deceleration device and geared motor, electronic device and robot provided with the same - Google Patents

Description

  The present invention relates to a reduction gear, a geared motor, an electronic apparatus, and a robot including the same.

  As a geared motor with a large reduction ratio, a planetary gear mechanism having a sun gear fixed to the drive shaft of the motor, and a mysterious planet having an output shaft attached to the planetary gear mechanism and decelerating and extracting the rotation of the motor drive shaft A geared motor including a gear mechanism is disclosed (Patent Document 1).

  The geared motor described in Patent Document 1 is provided with a mysterious planetary gear mechanism unit in addition to the planetary gear mechanism unit, and the number of gears increases. Therefore, when an excessive external force is applied to the output shaft, the gears and the like are easily damaged.

  On the other hand, a reduction gear provided with a torque limiter on the output shaft of a mysterious planetary gear mechanism in order to prevent damage to gears or the like has been disclosed (Patent Document 2). The reduction gear described in Patent Literature 2 includes a clutch mechanism (torque limiter) that causes the output shaft to idle when a torque of a predetermined value or more is applied to the tip portion of the output shaft.

JP 2010-255833 A JP 2006-349013 A

  In Patent Document 2, since the torque limiter is provided at the tip of the output shaft, the speed reducer is large. In addition, a device including a reduction gear requires a space for providing a torque limiter in addition to the motor and the mysterious planetary gear mechanism, and it is difficult to downsize the device including the reduction gear.

  The present invention has been made in view of the above circumstances, and provides a reduction device that can obtain a large reduction ratio and that is small and can prevent damage to gears, etc., and a geared motor, an electronic apparatus, and a robot including the reduction device. With the goal.

(1) In order to achieve the above object, a reduction gear according to the first aspect of the present invention is provided.
A reduction gear comprising a wonder planetary gear part and a planetary gear part,
The mysterious planetary gear part is
A first sun gear;
A plurality of first planetary gears meshing with the first sun gear;
A first fixed internal gear that meshes with the plurality of first planetary gears and that rotatably holds the plurality of first planetary gears and revolves around the first sun gear;
A movable internal gear meshing with the plurality of first planetary gears and having a first output portion,
The planetary gear portion is
A second sun gear provided at the first output portion of the movable internal gear;
A plurality of second planetary gears meshing with the second sun gear;
A second fixed internal gear that meshes with the plurality of second planetary gears and that rotatably holds the plurality of second planetary gears and revolves around the second sun gear;
A carrier that supports the plurality of second planetary gears and has a second output portion;
The second fixed internal gear is provided with a rotation restricting portion for restricting the rotation of the first fixed internal gear around the rotation axis of the first sun gear,
The rotation restricting portion is added to the second output portion of the carrier, and when the magnitude of an external force that rotates the carrier about the rotation axis of the carrier is equal to or less than a predetermined threshold value, the first fixed internal gear The rotation of the first fixed internal gear is allowed when the magnitude of the external force exceeds the predetermined threshold value.

(2) In (1) above,
One of the first fixed internal gear and the rotation restricting portion includes an elastic portion having an engaging portion for engaging the other,
The other of the first fixed internal gear and the rotation restricting portion may have an engaged portion that is engaged with the engaging portion.

  According to the above (1) and (2), since the second fixed internal gear is provided with a rotation restricting portion that restricts or allows the rotation of the first fixed internal gear according to the magnitude of the external force, the speed reducer can be miniaturized. Further, it is possible to prevent the gears constituting the reduction gear from being damaged.

(3) In (2) above,
The first fixed internal gear includes the arm-shaped elastic portion on an outer peripheral surface;
The arm-shaped elastic part has the convex engaging part protruding toward the second fixed internal gear,
The rotation restricting portion may include the concave engaged portion at an end facing the arm-shaped elastic portion.
As a result, the rotation of the first fixed internal gear can be restricted or permitted by the engagement between the concave engaged portion of the rotation restricting portion and the convex engaging portion of the first fixed internal gear, so the reduction gear can be reduced in size. It is possible to prevent the gears and the like constituting the reduction gear from being damaged with a simple configuration.

(4) In (3) above,
The arm-shaped elastic portion may have the convex engagement portion at an end portion and extend in a circumferential direction of the outer peripheral surface of the first fixed internal gear.
With this configuration, the arm-shaped elastic portion of the first fixed internal gear bends, thereby releasing the engagement between the convex engaging portion of the arm-shaped elastic portion and the concave engaged portion of the rotation restricting portion. Since the rotation of the first fixed internal gear is allowed, the load applied to the teeth of the first fixed internal gear can be reduced.

(5) In (4) above,
The first fixed internal gear may include at least two arm-shaped elastic portions extending in directions opposite to each other.
With this configuration, when the first fixed internal gear rotates, the convex engagement portion of the one arm-shaped elastic portion is the concave engagement of the rotation restricting portion positioned in the direction in which the arm-shaped elastic portion extends. The convex engaging portion of the other arm-shaped elastic portion engages with the joint portion, and engages with the concave engaged portion of the rotation restricting portion located in the direction opposite to the direction in which the arm-shaped elastic portion extends. Therefore, it can operate uniformly regardless of the direction in which the carrier rotates.

(6) In the above (3) to (5),
A plurality of concave engaged portions are provided over the entire circumference of the end of the rotation restricting portion, and the number of the concave engaged portions is greater than the number of the convex engaging portions. At best.
With this configuration, when the engagement between the convex engaging portion of the first fixed internal gear and the concave engaged portion of the rotation restricting portion is released and the first fixed internal gear rotates, the convex engagement portion is released. Since the moving distance until the joint portion engages with the next concave engaged portion is shortened, the time for returning from the state in which the rotation of the first fixed internal gear is allowed to the restricted state can be shortened. .

(7) In (2) above,
The first fixed internal gear has the engaged portion that is concave on the outer peripheral surface;
The rotation restricting portion includes the elastic portion that surrounds an outer peripheral surface of the first fixed internal gear and biases the first fixed internal gear radially inward;
The elastic portion may have the engaging portion that is convex on the inner peripheral surface.

(8) In (2) above,
The first fixed internal gear has the concave engaged portion on the outer peripheral surface,
The rotation restricting portion includes the elastic portion that extends along the rotation axis of the carrier and biases the first fixed internal gear inward in the radial direction.
The elastic portion may have the engaging portion that is convex at the end.

  According to the above (7) and (8), the rotation of the first fixed internal gear can be restricted or permitted by the engagement between the concave engaged portion of the first fixed internal gear and the convex engagement portion of the rotation restricting portion. Therefore, the reduction gear can be reduced in size, and damage to the gears and the like constituting the reduction gear can be prevented with a simple configuration.

(9) In the above (7) and (8),
A plurality of the concave engaged portions are provided over the entire circumference of the outer peripheral surface of the first fixed internal gear, and the number of the plurality of concave engaged portions is the number of the convex engaging portions. Better than.
With this configuration, when the engagement between the concave engaged portion of the first fixed internal gear and the convex engagement portion of the rotation restricting portion is released, and the first fixed internal gear rotates, the concave engaged portion Since the moving distance until the joint portion is engaged with the next convex engaging portion is shortened, the time for returning from the state in which the rotation of the first fixed internal gear is permitted to the regulated state is shortened. it can.

(10) In the above (1) to (9),
A housing that houses the mysterious planetary gear portion and the planetary gear portion;
The second fixed internal gear may be fixed to the housing.

(11) In the above (10),
A part of the second fixed internal gear may be exposed from the housing.
With this configuration, the speed reducer can be fixed in the second fixed internal gear.

(12) In the above (1) to (11),
The second fixed internal gear and the rotation restricting portion may be integrally formed.

  (13) A geared motor according to a second aspect of the present invention includes a motor and the speed reducer described above.

  (14) An electronic device according to a third aspect of the present invention includes the above geared motor.

(15) In the above (14),
A main body to which the second fixed internal gear is fixed;
And a rotation unit that rotates relative to the main body by rotation of the second output unit.
With this configuration, the second fixed internal gear provided with the rotation restricting portion is fixed to the main body portion. Therefore, when an excessive external force is applied to the rotating portion, the load on the rotating portion and the motor can be reduced.

  (16) A robot according to a fourth aspect of the present invention includes the above geared motor.

  According to the present invention, when the magnitude of the external force that is applied to the second output portion of the carrier and rotates the carrier exceeds a predetermined threshold value, the rotation restricting portion allows the rotation of the first fixed internal gear, and the reduction device Can be prevented from being damaged. In addition, since the rotation restricting portion is provided in the second fixed internal gear, the reduction gear can be reduced in size. Since the speed is reduced by the mysterious planetary gear part and the planetary gear part, a large reduction ratio can be obtained.

It is a disassembled perspective view of the geared motor which concerns on Embodiment 1 of this invention. It is sectional drawing in the cross section containing the rotating shaft of the geared motor which concerns on Embodiment 1 of this invention. It is sectional drawing which looked at the geared motor shown in FIG. 2 at the AA line. It is a perspective view which shows the geared motor which decomposed | disassembled the housing which concerns on Embodiment 1 of this invention. It is sectional drawing which looked at the geared motor shown in FIG. 2 at the BB line. It is a schematic diagram which shows engagement with the convex part of the arm part which concerns on Embodiment 1 of this invention, and the recessed part of a rotation control part. It is a schematic diagram which shows the cancellation | release of engagement with the convex part of the arm part which concerns on Embodiment 1 of this invention, and the recessed part of a rotation control part, and the bending of an arm part. It is a disassembled perspective view of the geared motor which concerns on Embodiment 2 of this invention. It is sectional drawing in the cross section containing the rotating shaft of the geared motor which concerns on Embodiment 2 of this invention. It is sectional drawing which looked at the geared motor shown in FIG. 9 by the CC line. It is a disassembled perspective view of the geared motor which concerns on Embodiment 3 of this invention. It is sectional drawing in the cross section containing the rotating shaft of the geared motor which concerns on Embodiment 3 of this invention. It is sectional drawing which looked at the geared motor shown in FIG. 12 at the DD line. It is a schematic diagram which shows the tablet type terminal which concerns on Embodiment 4 of this invention.

(Embodiment 1)
A geared motor 10 according to the present embodiment will be described with reference to FIGS.
As shown in FIG. 1, the geared motor 10 includes a motor 50 and a reduction gear 100 connected to the motor 50.

  The reduction gear device 100 includes a mysterious planetary gear unit 110, a planetary gear unit 140, and a housing 180 that houses the mysterious planetary gear unit 110 and the planetary gear unit 140. The reduction gear 100 has a two-stage configuration of a mysterious planetary gear unit 110 and a planetary gear unit 140, and decelerates the rotation of the output shaft 52 of the motor 50 and transmits it to the outside.

(motor)
The motor 50 is a drive source for the geared motor 10 and has an output shaft 52 that rotates about the rotation shaft J1. The motor 50 is a stepping motor, for example.

As shown in FIG. 1, a motor case (not shown) that is an exterior of the motor 50 has a bottomed cylindrical shape, and a rotation axis JI is a central axis on a bottom surface 54 from which an output shaft 52 of the motor 50 extends. A cylindrical protrusion 56 is formed. The protrusion 56 of the motor case is inserted into an opening 118 of the first carrier 116 described later.
A flange 58 projecting radially outward is provided at an end of the motor case on the output shaft 52 side of the motor 50. The flange 58 of the motor case has a notch 59 at a position facing the output shaft 52 of the motor 50. An extension 186 of the housing 180 described later is fitted into the notch 59 of the flange 58, and the housing 180 is fixed to the motor 50.

(Mysterious planetary gear)
The mysterious planetary gear unit 110 decelerates the rotation of the output shaft 52 of the motor 50 and transmits it to the planetary gear unit 140.
As shown in FIG. 1, the mysterious planetary gear unit 110 includes a first sun gear 112, three first planetary gears 114, a first carrier 116, a first fixed internal gear 120, and a movable internal gear 130. Prepare. The first sun gear 112, the first planetary gear 114, the first carrier 116, the first fixed internal gear 120, and the movable internal gear 130 are made of, for example, resin or metal.

  The first sun gear 112 of the mysterious planetary gear unit 110 is attached to the output shaft 52 of the motor 50 and rotates around the rotation axis J1. Moreover, the 1st sun gear 112 meshes with each of the 1st planetary gears 114 of the mysterious planetary gear part 110, as shown in FIG. 2, FIG.

As shown in FIGS. 2 and 3, the first planetary gear 114 of the mysterious planetary gear unit 110 meshes with the first sun gear 112 and the first fixed internal gear 120 of the mysterious planetary gear unit 110, respectively. Further, the first planetary gears 114 are arranged at equal intervals around the first sun gear 112 of the mysterious planetary gear unit 110 and are held by the first fixed internal gear 120 of the mysterious planetary gear unit 110.
The first planetary gear 114 revolves around the first sun gear 112 while rotating by the rotation of the first sun gear 112 of the mysterious planetary gear unit 110.

As shown in FIG. 1, the first carrier 116 of the mysterious planetary gear unit 110 has an annular shape, and includes three shaft portions 117 that support the first planetary gears 114 of the mysterious planetary gear unit 110. The shaft portions 117 of the first carrier 116 are arranged at equal intervals. In addition, the first carrier 116 is disposed on the bottom surface 54 of the motor case so as to be rotatable about the rotation axis J <b> 1 with the protrusion 56 of the motor case being inserted into the opening 118.
Accordingly, each of the first planetary gears 114 of the mysterious planetary gear unit 110 rotates about each of the shaft portions 117 of the first carrier 116 and rotates with the rotation axis J1 of the first carrier 116 as a mysterious planetary gear. The part 110 revolves around the first sun gear 112.

As shown in FIG. 1, the first fixed internal gear 120 of the mysterious planetary gear portion 110 has a bottomed cylindrical shape with one bottom surface open, and has an arm portion 122 extending in the circumferential direction on the outer peripheral surface 121. Further, the first fixed internal gear 120 of the mysterious planetary gear unit 110 has an opening 123 on the bottom surface.
The first fixed internal gear 120 is disposed on the bottom surface 54 of the motor case so as to be rotatable about the rotation axis J <b> 1 in a state where the first carrier 116 of the mysterious planetary gear unit 110 is inserted into the opening 123. The rotation around the rotation axis J1 of the first fixed internal gear 120 is restricted or allowed by a rotation restricting portion 160 of the second fixed internal gear 150 described later.
The restriction or allowance of the rotation of the first fixed internal gear 120 by the rotation restricting portion 160 of the second fixed internal gear 150 will be described later.

  Further, as shown in FIGS. 2 and 3, the first fixed internal gear 120 meshes with each of the first planetary gears 114 of the mysterious planetary gear unit 110 disposed in the cylinder, and rotates the first planetary gear 114. A free and mysterious planetary gear portion 110 is held around the first sun gear 112 so as to be freely revolved.

  As shown in FIG. 1, the arm portion 122 of the first fixed internal gear 120 is connected to the outer peripheral surface 121 via a connecting portion 124 that extends radially outward from the outer peripheral surface 121, and extends in the circumferential direction of the outer peripheral surface 121. Extend. In the present embodiment, five connection portions 124 are provided at equal intervals along the outer peripheral surface 121, and two arm portions 122 extending in opposite directions are provided on each connection portion 124. The arm portion 122 of the first fixed internal gear 120 is not in contact with the bottom surface 54 of the motor case when the first fixed internal gear 120 is disposed on the bottom surface 54 of the motor case.

Further, as shown in FIG. 1, each of the arm portions 122 of the first fixed internal gear 120 has a mountain-shaped convex portion 125 that protrudes toward a second fixed internal gear 150, which will be described later, on the side opposite to the connection portion 124. At the end. As shown in FIG. 4, the convex portion 125 of the arm portion 122 of the first fixed internal gear 120 engages with a concave portion 164 of a rotation restricting portion 160 described later.
The engagement between the convex portion 125 of the arm portion 122 of the first fixed internal gear 120 and the concave portion 164 of the rotation restricting portion 160 will be described later.

As shown in FIG. 1, the movable internal gear 130 of the mysterious planetary gear unit 110 has a first output unit 132. The movable internal gear 130 meshes with each of the first planetary gears 114 of the mysterious planetary gear unit 110 as shown in FIGS. 2 and 3, and by revolving around the first sun gear 112 of the first planetary gear 114, It rotates around the rotation axis J1. Note that the first output portion 132 of the movable internal gear 130 also rotates about the rotation axis J1.
The number of teeth of the movable internal gear 130 and the first fixed internal gear 120 of the mysterious planetary gear unit 110 are different. The reduction ratio in the mysterious planetary gear unit 110 is set by the difference in the number of teeth of the movable internal gear 130 and the first fixed internal gear 120 in the mysterious planetary gear unit 110.

(Planetary gear)
The planetary gear unit 140 decelerates and transmits the rotation of the first output unit 132 of the movable internal gear 130 that is the output shaft of the mysterious planetary gear unit 110 to the outside.
As shown in FIG. 1, the planetary gear unit 140 includes a second sun gear 142, three second planetary gears 144, a second carrier 146, a second fixed internal gear 150, and a bearing 170. The second sun gear 142, the second planetary gear 144, the second carrier 146, the second fixed internal gear 150, and the bearing 170 are made of, for example, resin or metal.

  The second sun gear 142 of the planetary gear unit 140 is attached to the first output unit 132 of the movable internal gear 130 and rotates about the rotation axis J1. Further, as shown in FIGS. 2 and 5, the second sun gear 142 meshes with each of the second planetary gears 144 of the planetary gear unit 140.

The second planetary gear 144 of the planetary gear unit 140 meshes with the second sun gear 142 and the second fixed internal gear 150 of the planetary gear unit 140, as shown in FIGS. The second planetary gears 144 are arranged at equal intervals around the second sun gear 142 of the planetary gear unit 140 and are held by the second fixed internal gear 150 of the planetary gear unit 140.
The second planetary gear 144 revolves around the second sun gear 142 while rotating by the rotation of the second sun gear 142 of the planetary gear unit 140.

  As shown in FIG. 1, the second carrier 146 of the planetary gear unit 140 has a disk shape and includes three shaft portions 147 and a second output portion 148. The second carrier 146 rotates around the rotation axis J <b> 1 by the revolution of the second planetary gear 144 around the second sun gear 142.

Each of the shaft portions 147 of the second carrier 146 is provided on one circular surface of the second carrier 146 and supports each of the second planetary gears 144 of the planetary gear portion 140. That is, each of the second planetary gears 144 of the planetary gear unit 140 rotates around each of the shaft portions 147 of the second carrier 146.
The second output portion 148 of the second carrier 146 is provided on the other circular surface of the second carrier 146 and rotates around the rotation axis J1. The second output unit 148 of the second carrier 146 serves as the output shaft of the reduction gear 100. The reduction ratio in the planetary gear unit 140 is set by the number of teeth of the second sun gear 142 and the second fixed internal gear 150 in the planetary gear unit 140.

As shown in FIGS. 1 and 2, the second fixed internal gear 150 of the planetary gear unit 140 includes a cylindrical portion 151 having a bottomed cylindrical shape with one bottom surface open, and a quadrangular shape whose outer shape is chamfered. And a mounting portion 155 having a bottomed cylindrical shape with an open bottom surface.
An opening 153 is formed at the center of the bottom surface 152 of the cylindrical portion 151, and an attachment portion 155 is formed at the peripheral edge of the opening 153. An opening 157 is also formed at the center of the bottom surface 156 of the attachment portion 155. The outer width of the mounting portion 155 of the second fixed internal gear 150 is smaller than the outer diameter of the cylindrical portion 151 of the second fixed internal gear 150.

The cylindrical portion 151 of the second fixed internal gear 150 includes two concave portions 158, a plurality of internal teeth 159, and a rotation restricting portion 160.
Each of the concave portions 158 of the cylindrical portion 151 is formed on the outer peripheral surface of the cylindrical portion 151 with the rotation axis J1 interposed therebetween. Each of the concave portions 158 of the cylindrical portion 151 is engaged with each of cut and bent portions 188 of the housing 180 described later.
Each of the concave portions 158 of the cylindrical portion 151 engages with each of the cut and bent portions 188 of the housing 180, whereby the second fixed internal gear 150 is fixed to the housing 180. As shown in FIG. 4, the second fixed internal gear 150 is inserted through the opening 157 of the attachment portion 155 into the second output portion 148 of the second carrier 146, and the concave portion 164 of the rotation restricting portion 160 is the first fixed internal gear. It is fixed to the housing 180 in a state of being engaged with the convex portion 125 of the 120 arm portion 122.

  The internal teeth 159 of the cylindrical portion 151 are provided on the bottom surface 152 side of the cylindrical portion 151 and mesh with each of the second planetary gears 144 of the planetary gear portion 140. That is, the second fixed internal gear 150 meshes with each of the second planetary gears 144 of the planetary gear unit 140 as shown in FIGS.

  The rotation restricting portion 160 of the cylindrical portion 151 is provided at an end opposite to the bottom surface 152 of the cylindrical portion 151, and restricts or restricts rotation about the rotation axis J1 of the first fixed internal gear 120 of the mysterious planetary gear portion 110. Allow.

As shown in FIG. 1, the rotation restricting portion 160 of the cylindrical portion 151 has a plurality of concave portions 164 on the end surface 162. As shown in FIGS. 2 and 4, the concave portion 164 of the rotation restricting portion 160 engages with the convex portion 125 of the arm portion 122 of the first fixed internal gear 120.
In the present embodiment, the recess 164 of the rotation restricting portion 160 is formed in a trapezoidal cross section along the circumferential direction of the annular end surface 162, and the first fixed internal gear 120 extends over the entire circumference of the end surface 162. More than the number of convex portions 125 of the arm portion 122 is formed. Further, as shown in FIG. 6, the concave portion 164 of the rotation restricting portion 160 has a trapezoidal base with a length L1 shorter than a width L2 in the circumferential direction of the convex portion 125 of the arm portion 122 of the first fixed internal gear 120. Is formed. Therefore, the inclined surface 126 of the convex portion 125 is in contact with the corner portion 166 between the concave portion 164 and the flat portion 165 in the end surface 162 of the rotation restricting portion 160.

Here, regarding the engagement between the concave portion 164 of the rotation restricting portion 160 and the convex portion 125 of the arm portion 122 of the first fixed internal gear 120 and the restriction or allowance of the rotation of the first fixed internal gear 120 by the rotation restricting portion 160, explain.
The second fixed internal gear 150 is fixed to the housing 180 with the concave portion 164 of the rotation restricting portion 160 engaged with the convex portion 125 of the arm portion 122 of the first fixed internal gear 120. In this state, when an external force that rotates the second carrier 146 about the rotation axis J1 is applied to the second output unit 148 of the second carrier 146, the planetary gear unit 140 and the movable internal gear 130 of the strange planetary gear unit 110 are applied. And the first planetary gear 114, a force for rotating the first fixed internal gear 120 about the rotation axis J1 is also applied to the first fixed internal gear 120.
Hereinafter, an external force that is applied to the second output unit 148 of the second carrier 146 and rotates the second carrier 146 around the rotation axis J <b> 1 is referred to as an external force that rotates the second carrier 146. In addition, a force that is applied to the first fixed internal gear 120 and rotates the first fixed internal gear 120 about the rotation axis J1 via the planetary gear unit 140, the movable internal gear 130, and the first planetary gear 114 is the first. A force for rotating the fixed internal gear 120 is used. The same applies to other embodiments.

In the present embodiment, when the magnitude of the external force that rotates the second carrier 146 exceeds a predetermined threshold value, the first fixed internal gear 120 rotates the rotation axis J1 by the force that rotates the first fixed internal gear 120. The convex portion 125 of the arm portion 122 rides on the flat surface portion 165 between the concave portion 164 and the concave portion 164 while rotating to the center from the concave portion 164 on the end surface 162 of the rotation restricting portion 160.
The second fixed internal gear 150 provided with the rotation restricting portion 160 is fixed to the housing 180, and the arm portion 122 of the first fixed internal gear 120 is in a state where the first fixed internal gear 120 is disposed on the bottom surface 54 of the motor case. Therefore, when the convex portion 125 of the arm portion 122 rides on the flat portion 165 of the rotation restricting portion 160, the convex portion 125 becomes a concave portion 164 in the end surface 162 of the rotation restricting portion 160 because it does not contact the bottom surface 54 of the motor case. The arm portion 122 is bent in the direction of the motor 50 by the elasticity of the arm portion 122. As shown in FIG. 7, when the convex portion 125 of the arm portion 122 of the first fixed internal gear 120 rides on the flat portion 165 of the rotation restricting portion 160, the concave portion 164 of the rotation restricting portion 160 and the first fixed internal gear 120. The engagement of the arm portion 122 with the convex portion 125 is released.
Thereby, the 1st fixed internal gear 120 rotates centering on the rotating shaft J1.

On the other hand, when the magnitude of the external force that rotates the second carrier 146 is equal to or less than a predetermined threshold value, the arm portion 122 of the first fixed internal gear 120 has the convex portion 125 of the arm portion 122 and the rotation restricting portion 160. Until riding on the flat portion 165, the engagement between the concave portion 164 of the rotation restricting portion 160 and the convex portion 125 of the arm portion 122 of the first fixed internal gear 120 is maintained without bending.
Thereby, the rotation around the rotation axis J1 of the first fixed internal gear 120 is restricted.

  The amount by which the arm portion 122 of the first fixed internal gear 120 bends, that is, the threshold value of the magnitude of the external force that rotates the second carrier 146 is, for example, the rigidity and elasticity of the arm portion 122 of the first fixed internal gear 120. It can be set according to the shape of the concave portion 164 and the convex portion 125.

  As described above, when the magnitude of the external force that rotates the second carrier 146 is equal to or less than the predetermined threshold value, the rotation of the first fixed internal gear 120 around the rotation axis J1 is restricted. Since the rotation of the first fixed internal gear 120 around the rotation axis J1 is restricted, the first planetary gear 114 of the mysterious planetary gear unit 110 is similar to the case where the external force that rotates the second carrier 146 is not applied. It is possible to revolve around the first sun gear 112 while rotating by the rotation of the first sun gear 112 of the mysterious planetary gear unit 110.

On the other hand, when the magnitude of the external force that rotates the second carrier 146 exceeds a predetermined threshold value, the first fixed internal gear 120 rotates about the rotation axis J1. Since the first fixed internal gear 120 rotates around the rotation axis J1 by the external force that rotates the second carrier 146, the external force that rotates the second carrier 146 is transmitted to the first sun gear 112 of the strange planetary gear unit 110. First, the load caused by the external force that rotates the second carrier 146 in the meshing portion of the gears (the first sun gear 112, the first planetary gear 114, etc.) constituting the reduction gear 100 is reduced.
Thereby, damage of the gear etc. which comprise the reduction gear apparatus 100 can be prevented. In addition, since the rotation restricting portion 160 is provided in the second fixed internal gear 150, the speed reduction device 100 can be reduced in size.
The operation of the reduction gear 100 will be described later.

As shown in FIG. 2, the attachment portion 155 of the second fixed internal gear 150 is inserted through an opening 184 of the housing 180 described later and exposed from the housing 180. Further, the second output portion 148 of the second carrier 146 is inserted through the opening 157 of the attachment portion 155.
The attachment portion 155 is fixed to an electronic device including the geared motor 10, for example.

As shown in FIG. 1, the bearing 170 of the planetary gear unit 140 is cylindrical and has an opening 172.
As shown in FIG. 2, the bearing 170 is disposed at the bottom of the mounting portion 155 of the second fixed internal gear 150 in a state where the opening 172 is inserted into the second output portion 148 of the second carrier 146. Housed in the fixed internal gear 150.
The bearing 170 supports the second output part 148 of the second carrier 146.

(housing)
The housing 180 houses the mysterious planetary gear unit 110 and the planetary gear unit 140. As shown in FIG. 1, the housing 180 has a bottomed cylindrical shape with one bottom surface opened, and is made of, for example, metal.
The housing 180 has an opening 184 formed in the bottom surface 182, two extending portions 186, and two cut and bent portions 188.

  The opening 184 of the housing 180 is similar to the outer shape of the mounting portion 155 of the second fixed internal gear 150 and is larger than the outer shape of the mounting portion 155 of the second fixed internal gear 150 and is formed on the bottom surface 182. The attachment portion 155 of the second fixed internal gear 150 is inserted through the opening 184 of the housing 180.

  The extension portion 186 of the housing 180 is formed at the end opposite to the bottom surface 182 and is opposed to each other across the rotation axis J1 and extends to the motor 50 side. The extension part 186 of the housing 180 is fitted with the notch part 59 of the flange 58 of the motor 50.

  The cut and bent portions 188 of the housing 180 are formed on the outer peripheral surface of the housing 180, face each other with the rotation axis J1 interposed therebetween, and are cut and raised inward in the radial direction.

As shown in FIG. 2, the housing 180 houses the mysterious planetary gear unit 110 and the planetary gear unit 140 in a state where the opening 184 is inserted through the mounting unit 155 of the second fixed internal gear 150. In this case, the extending portion 186 of the housing 180 is fitted to the notch 59 of the flange 58 of the motor 50, and the housing 180 is fixed to the motor 50.
Further, the cut and bent portion 188 of the housing 180 is engaged with the concave portion 158 of the second fixed internal gear 150, and the housing 180 fixes the second fixed internal gear 150. Therefore, the second fixed internal gear 150 of the planetary gear unit 140 is fixed to the motor 50 via the housing 180.

(Decelerator operation)
Next, the operation of the reduction gear 100 will be described.
When the external force for rotating the second carrier 146 is not applied to the speed reduction device 100, the speed reduction device 100 decelerates the rotation of the output shaft 52 of the motor 50 and transmits the rotation from the second output portion 148 of the second carrier 146 to the outside. . In the reduction gear 100, the mysterious planetary gear unit 110 decelerates the rotation of the output shaft 52 of the motor 50 and the planetary gear unit 140 further decelerates, so that a large reduction ratio can be obtained.

When the magnitude of the external force that rotates the second carrier 146 is equal to or less than a predetermined threshold value, the rotation restricting unit 160 restricts the rotation of the first fixed internal gear 120 around the rotation axis J1. The first planetary gear 114 of the planetary gear unit 110 can revolve around the first sun gear 112 while rotating by the rotation of the first sun gear 112 of the mysterious planetary gear unit 110.
Therefore, when the direction of the external force that rotates the second carrier 146 is the same direction as the rotation direction of the output shaft 52 of the motor 50, as in the case where the external force that rotates the second carrier 146 is not applied, The second output unit 148 rotates in the same direction as the rotation direction of the output shaft 52 of the motor 50. When the direction of the external force that rotates the second carrier 146 is opposite to the rotation direction of the output shaft 52 of the motor 50, for example, the second output unit 148 of the second carrier 146 rotates the second carrier 146. The motor 50 rotates in the same direction as the rotation direction of the output shaft 52 against the external force.

When the magnitude of the external force that rotates the second carrier 146 exceeds a predetermined threshold value and the direction of the external force that rotates the second carrier 146 is opposite to the rotation direction of the output shaft 52 of the motor 50, Due to the force that rotates the first fixed internal gear 120 in the direction opposite to the rotation direction of the output shaft 52, the first fixed internal gear 120 rotates around the rotation axis J1 in the rotation direction of the output shaft 52 of the motor 50, that is, the first sun. The gear 112 rotates in the direction opposite to the rotation direction.
In this case, the rotation direction of the first planetary gear 114 due to the rotation of the first sun gear 112 and the rotation direction of the first fixed internal gear 120 are the same direction. Thus, in a state where the first sun gear 112 is rotated by the motor 50, the first planetary gear 114 is rotated by the rotation of the first sun gear 112, and the first fixed internal gear 120 is Since the rotation of the gear 120 rotates in the same direction as the rotation direction of the first planetary gear 114, the external force that rotates the second carrier 146 is not transmitted to the first sun gear 112.
Therefore, the load at the meshing portion of the gear constituting the reduction gear 100 is reduced, and damage to the gear and the like constituting the reduction gear 100 can be prevented.

When the magnitude of the external force that rotates the second carrier 146 exceeds a predetermined threshold value and the direction of the external force that rotates the second carrier 146 is the same as the rotation direction of the output shaft 52 of the motor 50, The first fixed internal gear 120 rotates in the same direction as the rotation direction of the first sun gear 112 by the force that rotates the first fixed internal gear 120 in the same direction as the rotation direction of the output shaft 52.
Thereby, in a state where the first sun gear 112 is rotated by the motor 50, the first planetary gear 114 revolves in the same direction as the rotation direction of the first sun gear 112, and the first fixed internal gear 120 is the first fixed gear. Since the rotation force of the internal gear 120 rotates in the same direction as the rotation direction of the first sun gear 112, the external force that rotates the second carrier 146 is not transmitted to the first sun gear 112.
Therefore, the load at the meshing portion of the gear constituting the reduction gear 100 is reduced, and damage to the gear and the like constituting the reduction gear 100 can be prevented.

  Note that when the first sun gear 112 is not rotated by the motor 50 (the motor 50 is not rotating) and the magnitude of the external force that rotates the second carrier 146 exceeds a predetermined threshold value. Even if it exists, since the 1st planetary gear 114 revolves around the 1st sun gear 112 and the 1st fixed internal gear 120 rotates, the external force which rotates the 2nd carrier 146 is not transmitted to the 1st sun gear 112. Therefore, the load at the meshing portion of the gear constituting the reduction gear 100 is reduced, and damage to the gear and the like constituting the reduction gear 100 can be prevented.

As described above, the reduction gear 100 can obtain a large reduction ratio.
Further, in the reduction gear 100, when the magnitude of the external force that rotates the second carrier 146 exceeds a predetermined threshold value, the first fixed internal gear 120 rotates regardless of the direction of the external force that rotates the second carrier 146. Thus, the load on the meshing portion of the gear constituting the reduction gear 100 can be reduced. Thereby, damage of the gear etc. which comprise the reduction gear apparatus 100 can be prevented.
Furthermore, since the rotation restricting portion 160 is provided in the second fixed internal gear 150, the speed reduction device 100 can be reduced in size. There is no need to provide a torque limiter at the second output portion 148 of the second carrier 146, and the geared motor 10, the electronic device including the geared motor 10 or the speed reducer 100, and the like can be reduced in size.

  In the speed reduction device 100, the external force that rotates the second carrier 146 is transmitted to the first fixed internal gear 120 via the planetary gear unit 140, so the force that rotates the first fixed internal gear 120 is the planetary gear unit 140. And the load applied to the first fixed internal gear 120 can be reduced.

  Further, in the speed reducer 100, the arm portion 122 provided on the outer peripheral surface 121 of the first fixed internal gear 120 bends, whereby the convex portion 125 provided on the arm portion 122 and the concave portion 164 of the rotation restricting portion 160. The engagement is released and the rotation of the first fixed internal gear is allowed. Since the arm portion 122 provided on the outer peripheral surface 121 of the first fixed internal gear 120 bends, the deformation of the outer peripheral surface 121 of the first fixed internal gear 120 is suppressed, and the load applied to the internal teeth of the first fixed internal gear 120. Can be reduced. Furthermore, since the first fixed internal gear 120 has a plurality of arm portions 122, the load applied to the arm portions 122 can be distributed.

  The arm portion 122 of the first fixed internal gear 120 extends from the connection portion 124 in directions opposite to each other on the outer periphery. In this case, regardless of the direction of the external force that rotates the second carrier 146, the convex portion 125 of the one arm portion 122 of the rotating first fixed internal gear 120 is positioned in the direction in which the arm portion 122 extends. The convex part 125 of the other arm part 122 engages with the concave part 164 of the rotation restricting part 160 located in the direction opposite to the direction in which the arm part 122 extends. Thereby, the speed reducer 100 can operate | move uniformly irrespective of the direction of the external force which rotates the 2nd carrier 146. FIG. Also, as shown in FIG. 4, the convex portions 125 of the two arm portions 122 extending in the opposite directions from the adjacent connecting portions 124 in the first fixed internal gear 120 are respectively connected to the adjacent concave portions 164 of the rotation restricting portion 160. Is engaged. Thereby, the speed reducer 100 can operate more uniformly.

  Furthermore, since the number of the concave portions 164 of the rotation restricting portion 160 is larger than the number of the convex portions 125 of the arm portions 122 of the first fixed internal gear 120 on the annular end surface 162, the first fixed internal gear 120 rotates. Furthermore, the moving distance until the convex part 125 engages with the next concave part 164 is shortened. Accordingly, it is possible to shorten the time for returning from the state in which the rotation of the first fixed internal gear 120 is permitted to the restricted state, that is, the time during which the speed reduction device 100 does not function as the speed reduction device.

(Embodiment 2)
A geared motor 20 according to the present embodiment will be described with reference to FIGS.
In the first embodiment, the rotation restricting portion 160 of the second fixed internal gear 150 is engaged with the concave portion 164 of the rotation restricting portion 160 and the convex portion 125 of the arm portion 122 of the first fixed internal gear 120. Although the rotation of the fixed internal gear 120 is restricted or permitted, the engagement between the first fixed internal gear 120 and the rotation restricting portion 160 of the second fixed internal gear 150 is not limited to this.

In the present embodiment, as shown in FIG. 8, the geared motor 20 includes a speed reduction device 200 including a strange planetary gear portion 210 and a planetary gear portion 240 instead of the speed reduction device 100 of the geared motor 10. The mysterious planetary gear unit 210 includes a first fixed internal gear 220 having a recess 222 on the outer peripheral surface 221 instead of the first fixed internal gear 120 of the mysterious planetary gear unit 110. The planetary gear portion 240 is connected to the second fixed internal gear 250 and the second fixed internal gear 250 in place of the second fixed internal gear 150 of the planetary gear portion 140, and is connected to the internal portion of the elastic portion 261 provided at the end. And a rotation restricting portion 260 having a convex portion 264 on the peripheral surface 262.
Other configurations are the same as those in the first embodiment.

As shown in FIG. 8, the first fixed internal gear 220 of the mysterious planetary gear unit 210 has a bottomed cylindrical shape with one bottom surface open, and a plurality of recesses 222 formed on the outer peripheral surface 221 and a bottom surface. And an opening 223 formed. The first fixed internal gear 220 is made of, for example, resin or metal.
As shown in FIG. 10, the concave portion 222 of the first fixed internal gear 220 is formed over the entire outer peripheral surface 221 of the first fixed internal gear 220, and the convex portion 264 of the elastic portion 261 of the rotation restricting portion 260. Engage. Further, the recess 222 of the first fixed internal gear 220 has a circular cross section in a plane perpendicular to the rotation axis J1. Note that the number of the concave portions 222 of the first fixed internal gear 220 is larger than the number of the convex portions 264 of the elastic portion 261 of the rotation restricting portion 260.

The first fixed internal gear 220 is disposed on the bottom surface 54 of the motor case so as to be rotatable about the rotation axis J <b> 1 in a state where the first carrier 116 of the mysterious planetary gear unit 210 is inserted into the opening 223. The rotation of the first fixed internal gear 220 around the rotation axis J <b> 1 is restricted or allowed by the rotation restriction unit 260.
The engagement between the concave portion 222 of the first fixed internal gear 220 and the convex portion 264 of the elastic portion 261 of the rotation restricting portion 260 and the restriction or allowance of the rotation of the first fixed internal gear 220 by the rotation restricting portion 260 will be described later. .

  Further, as shown in FIGS. 9 and 10, the first fixed internal gear 220 meshes with each of the first planetary gears 114 of the mysterious planetary gear unit 210 disposed in the cylinder, and rotates the first planetary gear 114. A free and mysterious planetary gear portion 210 is held around the first sun gear 112 so as to revolve freely.

As shown in FIG. 8, the second fixed internal gear 250 of the planetary gear portion 240 has an inner gear portion 251 having a bottomed cylindrical shape with one bottom surface opened, and a rectangular shape whose outer shape is chamfered, and one bottom surface. And a mounting portion 255 having a bottomed cylindrical shape.
An opening 253 is formed at the center of the bottom surface 252 of the internal gear portion 251, and a mounting portion 255 is formed at the peripheral edge of the opening 253. An opening 257 is also formed at the center of the bottom surface 256 of the attachment portion 255. The width of the outer shape of the attachment portion 255 of the second fixed internal gear 250 is smaller than the outer diameter of the internal gear portion 251 of the second fixed internal gear 250.
The second fixed internal gear 250 is made of, for example, resin or metal.

The internal gear portion 251 of the second fixed internal gear 250 has two concave portions 258, a plurality of internal teeth 259, and four extending portions 292.
Each of the recesses 258 of the internal gear portion 251 is formed on the outer peripheral surface of the internal gear portion 251 with the rotation axis J1 interposed therebetween. Each of the recesses 258 of the internal gear portion 251 engages with each of the cut and bent portions 188 of the housing 180 as shown in FIG. Each of the recesses 258 of the internal gear portion 251 engages with each of the cut and bent portions 188 of the housing 180, whereby the second fixed internal gear 250 is fixed to the housing 180.

  The internal teeth 259 of the internal gear portion 251 are provided on the inner peripheral surface of the internal gear portion 251 and mesh with each of the second planetary gears 144 of the planetary gear portion 240. That is, as shown in FIG. 9, the second fixed internal gear 250 meshes with each of the second planetary gears 144 of the planetary gear unit 240.

  The extension portions 292 of the internal gear portion 251 are formed at equal intervals along the circumferential direction at the end opposite to the bottom surface 252 and extend toward the motor 50 side. The extension part 292 of the internal gear part 251 fits into a notch part 268 of the rotation restricting part 260 described later, and connects the second fixed internal gear 250 and the rotation restricting part 260.

  The configuration of the attachment portion 255 of the second fixed internal gear 250 is the same as that of the attachment portion 155 of the second fixed internal gear 150 in the first embodiment.

The rotation restricting portion 260 of the planetary gear portion 240 has a cylindrical shape and is made of a material having a low elastic modulus such as synthetic rubber.
As shown in FIG. 8, the rotation restricting portion 260 of the planetary gear portion 240 includes an elastic portion 261 and a notch portion 268. The elastic part 261 is provided at the end of the rotation restricting part 260 on the motor 50 side, and the notch 268 is provided at the end opposite to the motor 50 side.
The rotation restricting portion 260 restricts or allows the rotation of the first fixed internal gear 220 of the mysterious planetary gear portion 210 around the rotation axis J1.

  The elastic part 261 of the rotation restricting part 260 has a convex part 264 and a groove part 267 as shown in FIGS. The elastic portion 261 of the rotation restricting portion 260 surrounds the outer peripheral surface 221 of the first fixed internal gear 220 and biases the first fixed internal gear 220 radially inward by elastic force.

As shown in FIGS. 8 and 10, the convex portion 264 of the elastic portion 261 is formed in an arc shape in a cross section perpendicular to the rotation axis J <b> 1, and is formed on the inner peripheral surface 262 at the end portion on the motor 50 side. Six are formed at equal intervals over the circumference. Further, the convex portion 264 of the elastic portion 261 is formed so that the width of the arc in the cross section is wider than the width of the arc in the cross section of the recess 222 of the first fixed internal gear 220.
The convex part 264 of the elastic part 261 engages with the concave part 222 of the first fixed internal gear 220 as shown in FIG. Since the convex portions 264 formed at equal intervals over the entire circumference on the inner circumferential surface 262 of the elastic portion 261 engage with the concave portions 222 formed on the outer circumferential surface 221 of the first fixed internal gear 220, rotation restriction The portion 260 evenly biases and holds the first fixed internal gear 220 in the cylinder of the elastic portion 261.

  The groove part 267 of the elastic part 261 is formed larger than the convex part 264 of the elastic part 261 at a position facing the convex part 264 of the outer peripheral surface 265 of the elastic part 261. Thereby, when the convex part 264 of the elastic part 261 is pressed outward in the radial direction, the groove part 267 of the elastic part 261 is bent outward in the radial direction, and the convex part 264 easily moves outward in the radial direction. It becomes possible.

  Four notches 268 of the rotation restricting portion 260 are formed at equal intervals on the end opposite to the motor 50 side, and are fitted to the extending portion 292 of the second fixed internal gear 250. Thereby, the rotation restricting portion 260 is connected to the second fixed internal gear 250. Therefore, the rotation restricting portion 260 is fixed to the housing 180 via the second fixed internal gear 250.

  Further, as shown in FIG. 10, the rotation restricting portion 260 is accommodated in the housing 180 with the outer peripheral surface 265 excluding the groove portion 267 of the elastic portion 261 contacting the inner peripheral surface 183 of the housing 180.

  Here, regarding the engagement between the convex portion 264 of the elastic portion 261 of the rotation restricting portion 260 and the concave portion 222 of the first fixed internal gear 220, and the restriction or allowance of the rotation of the first fixed internal gear 220 by the rotation restricting portion 260, explain.

In the present embodiment, the convex portion 264 of the elastic portion 261 of the rotation restricting portion 260 is engaged with the concave portion 222 of the first fixed internal gear 220, and the rotation restricting portion 260 is connected to the second fixed internal gear 250.
When the magnitude of the external force for rotating the second carrier 146 exceeds a predetermined threshold, the first fixed internal gear 220 is rotated about the rotation axis J1 by the force for rotating the first fixed internal gear 220, The curved surface portion 224 between the concave portion 222 and the concave portion 222 on the outer peripheral surface 221 of the first fixed internal gear 220 rides on the convex portion 264 of the elastic portion 261 of the rotation restricting portion 260.
Since the second fixed internal gear 250 to which the rotation restricting portion 260 is connected is fixed to the housing 180, the curved surface portion 224 of the first fixed internal gear 220 rides on the convex portion 264 of the elastic portion 261 of the rotation restricting portion 260. Then, the convex part 264 of the elastic part 261 of the rotation restricting part 260 is pressed outward in the radial direction, the groove part 267 of the elastic part 261 of the rotation restricting part 260 bends outward in the radial direction, and the convex part 264 has a diameter. Move outward in the direction. When the curved surface portion 224 of the first fixed internal gear 220 rides on the convex portion 264 of the elastic portion 261 of the rotation restricting portion 260, the convex portion 264 of the elastic portion 261 of the rotation restricting portion 260 and the concave portion 222 of the first fixed internal gear 220. The engagement with is released.
As a result, the first fixed internal gear 220 rotates around the rotation axis J1.

On the other hand, when the magnitude of the external force that rotates the second carrier 146 is equal to or less than a predetermined threshold value, the groove portion 267 of the elastic portion 261 of the rotation restricting portion 260 is not rotated by the curved portion 224 of the first fixed internal gear 220. Until it rides on the convex portion 264 of the elastic portion 261 of the portion 260, it does not bend outward in the radial direction, and the engagement between the convex portion 264 of the elastic portion 261 of the rotation restricting portion 260 and the concave portion 222 of the first fixed internal gear 220. Will be maintained.
Thereby, the rotation around the rotation axis J1 of the first fixed internal gear 220 is restricted.
The amount by which the groove portion 267 of the elastic portion 261 of the rotation restricting portion 260 bends outward in the radial direction, that is, the threshold value of the magnitude of the external force that rotates the second carrier 146 constitutes the rotation restricting portion 260, for example. It can be set according to the elastic modulus of the material and the shape of the convex portion 264 and the concave portion 222.

As described above, also in the present embodiment, as in the first embodiment, when the magnitude of the external force that rotates the second carrier 146 is equal to or smaller than a predetermined threshold value, the rotation of the first fixed internal gear 220 is performed. The rotation around the axis J1 is restricted.
When the magnitude of the external force that rotates the second carrier 146 exceeds a predetermined threshold value, the first fixed internal gear 220 rotates about the rotation axis J1, and the external force that rotates the second carrier 146 is a strange planet. It is not transmitted to the first sun gear 112 of the gear unit 210. Thereby, the load by the external force which rotates the 2nd carrier 146 in the meshing part of the gearwheel which comprises the reduction gear 200 is reduced, and damage to the gear etc. which comprise the reduction gear 200 can be prevented. Furthermore, since the rotation restricting portion 260 is connected to the second fixed internal gear 250, the speed reduction device 200 can be reduced in size.

Also in the present embodiment, as in the first embodiment, when the magnitude of the external force that rotates the second carrier 146 exceeds a predetermined threshold, the first fixed internal gear 220 rotates about the rotation axis J1. To do.
Therefore, when an external force that rotates the second carrier 146 is applied, the speed reduction device 200 according to the present embodiment operates in the same manner as the speed reduction device 100, and does not depend on the direction of the external force that rotates the second carrier 146. Damage to gears and the like constituting the apparatus 200 can be prevented.

As described above, when the magnitude of the external force that rotates the second carrier 146 exceeds a predetermined threshold value, the speed reduction device 200 does not depend on the direction of the external force that rotates the second carrier 146 and does not depend on the first fixed internal gear. 220 is rotated, and damage to gears and the like constituting the speed reduction device 200 can be prevented.
In addition, since the rotation restricting portion 260 is connected to the second fixed internal gear 250, the speed reduction device 200 can be reduced in size. Furthermore, it is not necessary to provide a torque limiter at the second output portion 148 of the second carrier 146, and the geared motor 20, the electronic device including the geared motor 20 or the speed reducer 200, and the like can be reduced in size.

  In the speed reduction device 200, the external force that rotates the second carrier 146 is transmitted to the first fixed internal gear 220 via the planetary gear unit 240, and thus the force that rotates the first fixed internal gear 220 is the planetary gear unit 240. And the load applied to the first fixed internal gear 220 can be reduced.

Since the concave portion 222 that engages with the convex portion 264 of the elastic portion 261 of the rotation restricting portion 260 is formed on the outer peripheral surface 221 of the first fixed internal gear 220, the first fixed internal gear 220 can be configured more simply.
Further, since the number of the concave portions 222 of the first fixed internal gear 220 is larger than the number of the convex portions 264 of the elastic portion 261 of the rotation restricting portion 260, when the first fixed internal gear 220 rotates, the concave portion 222 The moving distance until it is engaged with the convex portion 264 is shortened. Thereby, the time for returning from the state in which the rotation of the first fixed internal gear 220 is permitted to the restricted state, that is, the time during which the speed reduction device 200 does not function as the speed reduction device, can be shortened.

(Embodiment 3)
A geared motor 30 according to the present embodiment will be described with reference to FIGS.
In the second embodiment, the convex portion 264 formed on the inner peripheral surface 262 of the elastic portion 261 of the rotation restricting portion 260 engages with the concave portion 222 of the first fixed internal gear 220, and the elastic portion 261 of the rotation restricting portion 260. Holds the first fixed internal gear 220 in the cylinder, but the configuration of the rotation restricting portion 260 is not limited to this.

In the present embodiment, as shown in FIG. 11, the geared motor 30 includes a speed reduction device 300 including a strange planetary gear portion 210 and a planetary gear portion 340 instead of the speed reduction device 200 of the geared motor 20. Further, the planetary gear unit 340 is connected to the second fixed internal gear 350 and the second fixed internal gear 350 in place of the second fixed internal gear 250 and the rotation restricting unit 260 of the planetary gear unit 240 and protrudes to the elastic portion 362. A rotation restricting portion 360 having a portion 364.
Other configurations are the same as those of the second embodiment.

As shown in FIG. 11, the second fixed internal gear 350 of the planetary gear unit 340 includes two extended portions 392 instead of the four extended portions 292 of the second fixed internal gear 250 of the planetary gear portion 240. The point is different from the second fixed internal gear 250 of the planetary gear unit 240. Other configurations are the same as those of the second fixed internal gear 250 of the planetary gear unit 240.
The extension part 392 of the second fixed internal gear 350 is formed at the end opposite to the bottom face 252 and faces each other across the rotation axis J1 and extends to the motor 50 side. The extension portion 392 of the second fixed internal gear 350 is fitted with a notch 368 of the rotation restricting portion 360 described later, and connects the second fixed internal gear 350 and the rotation restricting portion 360.

As shown in FIG. 11, the rotation restricting portion 360 of the planetary gear portion 340 includes a cylindrical portion 361 and six elastic portions 362 extending from the cylindrical portion 361 along the rotation axis J1, and the mysterious planetary gear portion. The rotation about the rotation axis J1 of the first fixed internal gear 220 of 210 is restricted or allowed.
The rotation restricting part 360 is made of metal, for example.

The cylindrical portion 361 of the rotation restricting portion 360 has a cylindrical shape and has two notches 368 at the end opposite to the motor 50 side.
The cutout portion 368 of the cylindrical portion 361 is formed at a position facing each other across the rotation axis J1. The cutout portion 368 of the cylindrical portion 361 is engaged with the extended portion 392 of the second fixed internal gear 350, and the rotation restricting portion 360 is connected to the second fixed internal gear 350. Therefore, the rotation restricting portion 360 is fixed to the housing 180 via the second fixed internal gear 350.

The elastic portion 362 of the rotation restricting portion 360 extends from the end of the cylindrical portion 361 on the motor 50 side along the rotation axis J1 to the motor 50 side, and extends to the end of the cylindrical portion 361 on the motor 50 side along the circumferential direction. Provided at equal intervals. Each of the elastic portions 362 of the rotation restricting portion 360 has a convex portion 364 that engages with the concave portion 222 of the first fixed internal gear 220 at the end portion on the motor 50 side, as shown in FIGS.
When each convex portion 364 engages with the concave portion 222 of the first fixed internal gear 220, the elastic portion 362 of the rotation restricting portion 360 spreads outward in the radial direction, and causes the first fixed internal gear 220 to move radially inward. And the first fixed internal gear 220 is held.

  The convex part 364 of the elastic part 362 has a circular cross section in a plane perpendicular to the rotation axis J1. Further, the convex portion 364 of the elastic portion 362 is formed such that the width of the arc in the cross section is wider than the width of the arc in the cross section of the recess 222 of the first fixed internal gear 220.

  Here, regarding the engagement between the convex portion 364 of the elastic portion 362 of the rotation restricting portion 360 and the concave portion 222 of the first fixed internal gear 220 and the restriction or allowance of the rotation of the first fixed internal gear 220 by the rotation restricting portion 360, explain.

In the present embodiment, the convex portion 364 of the elastic portion 362 of the rotation restricting portion 360 and the concave portion 222 of the first fixed internal gear 220 are engaged, and the rotation restricting portion 360 is connected to the second fixed internal gear 350.
When the magnitude of the external force for rotating the second carrier 146 exceeds a predetermined threshold, the first fixed internal gear 220 is rotated about the rotation axis J1 by the force for rotating the first fixed internal gear 220, The curved surface portion 224 between the concave portion 222 and the concave portion 222 on the outer peripheral surface 221 of the first fixed internal gear 220 rides on the convex portion 364 of the elastic portion 362 of the rotation restricting portion 360.
Since the second fixed internal gear 350 connected to the rotation restricting portion 360 is fixed to the housing 180, the curved surface portion 224 of the first fixed internal gear 220 rides on the convex portion 364 of the elastic portion 362 of the rotation restricting portion 360. Then, the convex portion 364 of the elastic portion 362 is pressed, the elastic portion 362 is bent outward in the radial direction against the urging force, and the convex portion 364 moves outward in the radial direction. When the curved surface portion 224 of the first fixed internal gear 220 rides on the convex portion 364 of the elastic portion 362 of the rotation restricting portion 360, the convex portion 364 of the elastic portion 362 of the rotation restricting portion 360 and the concave portion 222 of the first fixed internal gear 220. The engagement with is released.
As a result, the first fixed internal gear 220 rotates around the rotation axis J1.

On the other hand, when the magnitude of the external force that rotates the second carrier 146 is equal to or less than a predetermined threshold value, the elastic portion 362 of the rotation restricting portion 360 has the curved surface portion 224 of the first fixed internal gear 220 protruded from the elastic portion 362. Until it rides on the portion 364, it does not spread outward in the radial direction against the urging force, and the engagement between the convex portion 364 of the elastic portion 362 of the rotation restricting portion 360 and the concave portion 222 of the first fixed internal gear 220 is maintained. Is done.
Thereby, the rotation around the rotation axis J1 of the first fixed internal gear 220 is restricted.
The amount by which the elastic portion 362 of the rotation restricting portion 360 bends outward in the radial direction against the urging force, that is, the threshold value of the magnitude of the external force that rotates the second carrier 146 is determined by the attachment of the elastic portion 362. It can be set by the force (for example, the elastic modulus and shape of the elastic portion 362), the shapes of the convex portion 364 and the concave portion 222, and the like.

As described above, also in the present embodiment, as in the first and second embodiments, when the magnitude of the external force that rotates the second carrier 146 is equal to or less than a predetermined threshold value, the first fixed internal gear 220 is used. The rotation about the rotation axis J1 is restricted.
When the magnitude of the external force that rotates the second carrier 146 exceeds a predetermined threshold value, the first fixed internal gear 220 rotates about the rotation axis J1, and the external force that rotates the second carrier 146 is a strange planet. It is not transmitted to the first sun gear 112 of the gear unit 210. Thereby, the load by the external force which rotates the 2nd carrier 146 in the meshing part of the gearwheel which comprises the reduction gear 300 is reduced, and damage to the gear etc. which comprise the reduction gear 300 can be prevented. Furthermore, since the rotation restricting portion 360 is connected to the second fixed internal gear 350, the reduction gear device 300 can be reduced in size.

Also in the present embodiment, as in the first and second embodiments, when the magnitude of the external force that rotates the second carrier 146 exceeds a predetermined threshold, the first fixed internal gear 220 is centered on the rotation axis J1. Rotate to.
Therefore, when an external force that rotates the second carrier 146 is applied, the reduction gear 300 according to the present embodiment operates in the same manner as the reduction gears 100 and 200, and does not depend on the direction of the external force that rotates the second carrier 146. In addition, it is possible to prevent the gears constituting the reduction gear 300 from being damaged.

As described above, when the magnitude of the external force that rotates the second carrier 146 exceeds a predetermined threshold value, the speed reduction device 300 does not depend on the direction of the external force that rotates the second carrier 146 and does not depend on the first fixed internal gear. 220 is rotated, and damage to gears and the like constituting the speed reduction device 300 can be prevented.
In addition, since the rotation restricting portion 360 is connected to the second fixed internal gear 350, the speed reduction device 300 can be reduced in size. Furthermore, the geared motor 30, the electronic device including the geared motor 30 or the speed reduction device 300, and the like can be reduced in size.

  In the speed reduction device 300, the external force that rotates the second carrier 146 is transmitted to the first fixed internal gear 220 via the planetary gear unit 340, so that the first fixed internal gear 220 is the same as in the first and second embodiments. It is possible to reduce the load applied to the.

  Since the concave portion 222 that engages with the convex portion 364 of the rotation restricting portion 360 is formed on the outer peripheral surface 221 of the first fixed internal gear 220, the first fixed internal gear 220 can be made simpler as in the second embodiment. Can be configured. Further, since the number of the concave portions 222 of the first fixed internal gear 220 is larger than the number of the convex portions 364 of the rotation restricting portion 360, the state in which the rotation of the first fixed internal gear 220 is permitted is restricted. It is possible to shorten the time for returning to the state, that is, the time during which the speed reduction device 300 does not function as the speed reduction device.

  Further, in the speed reduction device 300, the threshold value of the magnitude of the external force that rotates the second carrier 146 can be set by the biasing force of the elastic portion 362 that extends from the cylindrical portion 361, so that the external force that rotates the second carrier 146 can be set. The size threshold can be easily set.

(Embodiment 4)
With reference to FIG. 14, the tablet-type terminal 40 according to the present embodiment will be described.
The tablet terminal 40 includes the geared motor 10 according to Embodiment 1, a main body 414 having a display 412 and the like, and a stand 416 that rotates with respect to the main body 414 by a hinge mechanism.

The geared motor 10 is provided in the main body 414 of the tablet terminal 40, and the attachment portion 155 of the second fixed internal gear 150 is fixed to the main body 414. Further, the second output unit 148 of the second carrier 146 is connected to the stand 416.
Thereby, the geared motor 10 can rotate the stand 416 with respect to the main body part 414 by the rotation of the output shaft 52 of the motor 50, and can change the inclination of the display 412 of the main body part 414, for example.

Since the reduction gear 100 of the geared motor 10 can prevent damage to gears and the like constituting the reduction gear 100 when the magnitude of the external force that rotates the second carrier 146 exceeds a predetermined threshold, the tablet terminal 40 Even when an excessive external force for rotating the stand 416 (for example, a force for manually rotating the stand 416 by the user) is applied to the stand 416, the geared motor 10 can be prevented from being damaged. Further, it is not necessary to provide a torque limiter on the second output portion 148 of the second carrier 146, and the tablet terminal 40 can be reduced in size.
Furthermore, since the attachment portion 155 of the second fixed internal gear 150 provided with the rotation restricting portion 160 is fixed to the main body portion 414, even when an excessive external force that rotates the stand 416 is applied to the stand 416. The load on the stand 416 and the motor 50 can be reduced.

  As mentioned above, although several embodiment of this invention was described, this invention is not limited to said embodiment, A various change is possible in the range which does not deviate from the summary of this invention.

  For example, in the first embodiment, the first fixed internal gear 120 has a plurality of convex portions 124 and the rotation restricting portion 160 has a plurality of concave portions 164, but the first fixed internal gear 120 has at least one convex portion 124. The rotation restricting portion 160 only needs to have at least one convex portion 124. The same applies to the second embodiment and the third embodiment.

Further, in the first embodiment, the convex portion 124 of the first fixed internal gear 120 is formed in a mountain shape, and the concave portion 164 of the rotation restricting portion 160 has a trapezoidal cross section along the circumferential direction of the annular end surface 162. However, the shape, size, and the like of the convex portion 124 and the concave portion 164 may be shapes, sizes, etc. that are engaged with each other and disengaged by the force of rotating the first fixed internal gear 150. Is optional. For example, the recess 164 of the rotation restricting portion 160 may have an arc shape in cross section along the circumferential direction of the annular end surface 162. The length L1 of the base of the trapezoidal shape in the concave portion 164 of the rotation restricting portion 160 may be longer than the width L2 of the convex portion 124 of the first fixed internal gear 120.
The concave portion 222 of the first fixed internal gear 220 and the convex portion 264 of the rotation restricting portion 260, and the concave portion 222 of the first fixed internal gear 220 and the convex portion 364 of the rotation restricting portion 360 in the second and third embodiments are also described. The shape, size, etc. are arbitrary as long as they are engaged with each other and disengaged.

  Further, in the first embodiment, the arm portion 122 of the first fixed internal gear 120 is bent, and in the second and third embodiments, the elastic portions 261 and 362 of the rotation restricting portions 260 and 360 are bent, so that the first fixed The engagement between the internal gears 120, 220 and the rotation restricting portions 160, 260, 360 is released, and the rotation of the first fixed internal gears 120, 220 is allowed. However, the first force is caused by the external force that rotates the second carrier 146. The elastic part provided in one of the fixed internal gears 120, 220 and the rotation restricting parts 160, 260, 360 bends, the engagement is released, and the first fixed internal gears 120, 220 are allowed to rotate. . That is, one of the first fixed internal gears 120 and 220 and the rotation restricting portions 160, 260, and 360 includes an elastic portion having an engaging portion (such as a convex portion) that engages the other, and the other is an engaging portion. What is necessary is just to have the to-be-engaged part (concave part etc.) engaged with.

  In the first to third embodiments, the second fixed internal gears 150, 250, and 350 are fixed to the housing 180, but may be directly fixed to the motor 50. Further, the second fixed internal gears 150, 250, 350 may be fixed to the housing 180 by adhesion, for example. Further, the second fixed internal gears 150, 250, and 350 have outer peripheral surfaces in contact with the inner peripheral surface 183 of the housing 180, and the second fixed internal gears 150, 250, and 350 and the inner peripheral surface 183 of the housing 180. It may be fixed by the frictional force between them.

  In the second embodiment and the third embodiment, the second fixed internal gear 250 and the rotation restricting portion 260, and the second fixed internal gear 350 and the rotation restricting portion 360 are formed as separate bodies, but are integrally formed. Also good.

  In the first to third embodiments, the speed reduction devices 100, 200, and 300 use the second output unit 168 of the second carrier 146 as an output shaft, but the speed reduction devices 100, 200, and 300 are the second carrier 146. The second output unit 168 may be further provided with a gear or the like, and further provided with a gear mechanism (for example, a planetary gear unit). Moreover, although the 1st sun gear 112 is rotating by rotation of the output shaft 52 of the motor 50, you may rotate the 1st sun gear 112 by another gear mechanism.

  In the fourth embodiment, the tablet terminal 40 includes the geared motor 10, but may include the geared motors 20 and 30. The electronic device including the geared motors 10, 20, and 30 is not limited to the tablet terminal 40, and the geared motors 10, 20, and 30 may be included in a smartphone, a laptop computer, a stationary computer, or the like. For example, the geared motors 10, 20, and 30 may be provided in a tablet terminal, a smartphone, a computer, and the like, and rotate these camera units. The geared motors 10, 20, and 30 may be provided in tablet terminals, smartphones, computers, and the like, and may open and close these screen covers.

  The geared motors 10, 20, and 30 may be provided in a robot. For example, by providing the geared motors 10, 20, and 30 in the drive unit that drives the joints of the robot, damage to the joints of the robot due to external forces can be prevented. In addition, by providing geared motors 10, 20, and 30 in the drive unit of a robot or instrument that comes into contact with a user such as a nursing care robot, the drive unit is prevented from being driven with excessive force, and the user in contact with the robot is injured. Can also be prevented.

10, 20, 30: Geared motor 40: Tablet type terminal 50: Motor 52: Output shaft 54, 152, 156, 182, 252, 256: Bottom surface 56: Projection part 58: Flange 59, 268, 368: Notch part 100, 200, 300: Reduction gear 110, 210: Mysterious planetary gear part 112: First sun gear 114: First planetary gear 116: First carrier 117, 147: Shaft part 118, 123, 153, 157, 172, 184, 223 253, 257: Opening portion 120, 220: First fixed internal gear 121, 221, 265: Outer peripheral surface 122: Arm portion 124: Connection portion 125, 264, 364: Convex portion 126: Inclined surface 130: Movable internal gear 132 : First output unit 140, 240, 340: Planetary gear unit 142: Second sun gear 144: Second planetary gear 14 : Second carrier 148: second output part 150, 250, 350: second fixed internal gear 151, 361: cylindrical part 155, 255: attachment part 158, 164, 222, 258: recess 159, 259: internal tooth 160, 260, 360: Rotation restricting portion 162: End surface 165: Flat surface portion 166: Corner portion 170: Bearing 180: Housing 183, 262: Inner peripheral surface 186, 292, 392: Extension portion 188: Cut and bent portion 224: Curved portion 251 : Internal gear part 261, 362: Elastic part 267: Groove part 412: Display 414: Main body part 416: Stand J1: Rotating shaft L1: Length L2: Width

Claims (13)

A reduction gear comprising a wonder planetary gear part and a planetary gear part,
The mysterious planetary gear part is
A first sun gear;
A plurality of first planetary gears meshing with the first sun gear;
A first fixed internal gear that meshes with the plurality of first planetary gears and that rotatably holds the plurality of first planetary gears and revolves around the first sun gear;
A movable internal gear meshing with the plurality of first planetary gears and having a first output portion,
The planetary gear portion is
A second sun gear provided at the first output portion of the movable internal gear;
A plurality of second planetary gears meshing with the second sun gear;
A second fixed internal gear that meshes with the plurality of second planetary gears and that rotatably holds the plurality of second planetary gears and revolves around the second sun gear;
A carrier that supports the plurality of second planetary gears and has a second output portion;
The second fixed internal gear is provided with a rotation restricting portion for restricting the rotation of the first fixed internal gear around the rotation axis of the first sun gear,
The rotation restricting portion is added to the second output portion of the carrier, and when the magnitude of an external force that rotates the carrier about the rotation axis of the carrier is equal to or less than a predetermined threshold value, the first fixed internal gear It said rotation regulate, when the magnitude of the external force exceeds a predetermined threshold, permitting the rotation of the first fixed internal gear,
One of the first fixed internal gear and the rotation restricting portion includes an elastic portion having a convex engaging portion that engages the other,
The other of the first fixed internal gear and the rotation restricting portion has a plurality of concave engaged portions that are engaged with the convex engaging portions over the entire circumference,
The number of the plurality of concave engaged portions is greater than the number of the convex engaging portions,
Reducer. The first fixed internal gear includes the arm-shaped elastic portion on an outer peripheral surface;
The arm-shaped elastic portion has the said convex engagement portion which second projecting toward the fixed internal gear,
The rotation regulating portion has an engaged portion of the plurality of concave end opposite the said arm-shaped resilient portion,
The speed reducer according to claim 1 . The arm-shaped elastic portion has the convex engagement portion at an end portion, and extends in a circumferential direction of the outer peripheral surface of the first fixed internal gear.
The speed reducer according to claim 2 . The first fixed internal gear includes at least two arm-shaped elastic portions extending in opposite directions to each other.
The speed reducer according to claim 3 . The first fixed internal gear has the plurality of concave engaged portions on an outer peripheral surface;
The rotation restricting portion includes the elastic portion that surrounds an outer peripheral surface of the first fixed internal gear and biases the first fixed internal gear radially inward;
Elastic portion has the convex engagement portion on the inner peripheral surface,
The speed reducer according to claim 1 . The first fixed internal gear has the plurality of concave engaged portions on an outer peripheral surface;
The rotation restricting portion includes the elastic portion that extends along the rotation axis of the carrier and biases the first fixed internal gear inward in the radial direction.
Elastic portion has the convex engagement portion at an end portion,
The speed reducer according to claim 1 . A housing that houses the mysterious planetary gear portion and the planetary gear portion;
The second fixed internal gear is fixed to the housing;
The speed reducer according to any one of claims 1 to 6 . A portion of the second fixed internal gear is exposed from the housing;
The speed reducer according to claim 7 . The second fixed internal gear and the rotation restricting portion are integrally formed;
The speed reducer according to any one of claims 1 to 8 . A motor and the reduction gear according to any one of claims 1 to 9 ,
Geared motor. The geared motor according to claim 10 is provided.
Electronics. A main body to which the second fixed internal gear is fixed;
A rotating part that rotates relative to the main body part by rotation of the second output part,
The electronic device according to claim 11 . The geared motor according to claim 10 is provided.
robot.

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