JP7049648B2 - Decelerator - Google Patents

Description

Application of Article 30, Paragraph 2 of the Patent Law Japan Society of Mechanical Engineers 2017 Annual Meeting, September 5, 2017 Japan Society of Mechanical Engineers, Japan Society of Mechanical Engineers 2017 Annual Meeting Proceedings (DVD), 2017 September 2nd

The present invention relates to a speed reducer that decelerates and transmits rotational power, and more particularly to a speed reducer that can be made thinner.

In the joint drive device that drives the joints of a robot, a motor is used as a power generator, but in general, the rotation speed of the motor becomes faster than necessary with respect to the rotation speed suitable for driving the joints. There may be. Therefore, in a joint drive device or the like, a speed reducer that decelerates and transmits rotational power is usually used. However, as the speed reducer becomes larger, the joint drive device and the like also become larger, so that the speed reducer used for robots and the like is required to be thinner. Conventionally, a planetary gear reducer has been used as a speed reducer capable of being made thinner in this way, but it has been difficult for the planetary gear reducer to sufficiently increase the reduction ratio.

Therefore, various speed reducers have been developed that can be made thinner and have a sufficiently high reduction ratio. For example, Patent Document 1 is composed of an internal gear using a columnar outer pin as a tooth profile and a curved plate having an outer circumference functioning as a planetary gear formed in an epitrocoid parallel curve, and swings the curved plate eccentrically. An internal planetary gear mechanism that decelerates by letting it decelerate, and a constant-velocity internal gear mechanism that inserts a cylindrical inner pin into a circular inner pin hole formed in a curved plate and takes out only the decelerated rotation of the curved plate. A cycloid reducer that combines the two mechanisms of is described. Since such a cycloid reducer can reduce the difference in the number of teeth between the internal gear and the planetary gear, it is possible to increase the reduction ratio.

However, the curved plate used for deceleration in the cycloid reducer is configured to swing eccentrically. Therefore, when transmitting power in the cycloid reducer, vibration is generated by the eccentric swing of the curved plate. When vibration is generated in this way, the position accuracy may be lowered or noise may be generated.

Japanese Unexamined Patent Publication No. 2016-2016 Japanese Unexamined Patent Publication No. 2009-195002

As described above, in a speed reducer that can be made thinner, it is difficult to sufficiently increase the reduction ratio and sufficiently reduce the vibration generated during power transmission. It should be noted that this problem is not limited to the speed reducer used for robots and the like, but is common to all speed reducers used in various fields.

The present invention has been made to solve the above-mentioned conventional problems, and is a technique for sufficiently increasing the reduction ratio and sufficiently reducing the vibration generated during power transmission in a reduction gear that can be made thinner. The purpose is to provide.

In order to achieve at least a part of the above object, the present invention can be realized as the following form or application example.
The speed reducer as the first embodiment of the present invention is a speed reducer that decelerates and outputs the input power, and rotates around a stator and an input shaft fixedly arranged with respect to the stator. Each of the K (K is an integer of 2 or more) rotation shafts fixedly arranged with respect to the stator by meshing with the input gear to which power is input and the input gear. K transmission gears configured to rotate around the center, and K transmission pins attached to each of the K transmission gears and having a cylindrical outer surface extending from the transmission gears to the opposite side of the stator. A rotor having a recess formed to accommodate the K transmission pins is provided, and each of the K transmission pins is attached at a position away from the rotation axis of the transmission gear, and the recess is formed. , The distance from the slip circle trochoid curve having a slip ratio of M (M is an integer of 2 or more) about the input axis is equal to the outer radius of the transmission pin, and the transmission pin contact with the plurality of transmission pins. It is characterized in that it is a groove having a surface and having a width equal to the outer diameter of the transmission pin. Claim 1 after amendment
According to the speed reducer as the first embodiment, in the direction of the input shaft, a stator, an input gear and a transmission gear, and a transmission pin and a rotor, which can be reduced in thickness, are arranged in this order. Therefore, the reducer can be made sufficiently thin. Further, the rotation of the rotor is decelerated by the slip ratio of the slip circle trochoid curve with respect to the rotation of the transmission pin with respect to the rotation axis. Therefore, the reduction ratio can be sufficiently increased by appropriately setting the slip ratio. Further, in this application example, since the weight symmetry with respect to the input axis and the rotation axis, which are the central axes of rotation, is high as a whole, it is possible to suppress the generation of vibration when the rotational power is decelerated and transmitted. Can be done. Then, by making the recess into a groove whose width is equal to the outer diameter of the transmission pin, if stress from the transmission pin is applied to either of the two transmission pin contact surfaces which are the inner surfaces of the groove, power is applied from the transmission pin to the rotor. Since it is transmitted, the power transmission from the transmission pin to the rotor can be made more stable.
The speed reducer as the second aspect of the present invention is a speed reducer that decelerates and outputs the input power, and rotates around a stator and an input shaft fixedly arranged with respect to the stator. By meshing with the input gear to which power is input and the input gear, K (K is an integer of 2 or more) rotates around each of the rotation shafts, and the rotation shaft of the rotation shaft is said to rotate. Two transmission gears whose revolution with respect to the input shaft is regulated by the stator and two transmission gears are attached to each of the K transmission gears, and a plurality of cylindrical outer surfaces extending from the transmission gears to the opposite side of the stator. A transmission pin and a rotor having a concave rotor recess for accommodating the plurality of transmission pins are provided, and each of the plurality of transmission pins is attached at a position away from the rotation axis of the transmission gear. In the rotor recess, the distance from the slip circle trochoid curve having a slip ratio of M (M is an integer of 2 or more) about the input axis is equal to the outer radius of the transmission pin, and the plurality of transmissions are transmitted. It is characterized by having a transmission pin contact surface with which the pins come into contact.
According to the speed reducer as the second embodiment, in the direction of the input shaft, the stator, the input gear and the transmission gear, and the transmission pin and the rotor, which can be reduced in thickness, are arranged in this order. Therefore, the reducer can be made sufficiently thin. Further, the rotation of the rotor is decelerated by the slip ratio of the slip circle trochoid curve with respect to the rotation of the transmission pin with respect to the rotation axis. Therefore, the reduction ratio can be sufficiently increased by appropriately setting the slip ratio. Further, in this application example, since the weight symmetry with respect to the input axis and the rotation axis, which are the central axes of rotation, is high as a whole, it is possible to suppress the generation of vibration when the rotational power is decelerated and transmitted. Can be done. By providing two transmission pins for each of the transmission gears, it is possible to further suppress fluctuations in the output torque and further reduce backlash.
The speed reducer as the third aspect of the present invention is a speed reducer that decelerates and outputs the input power, and rotates about a stator and an input shaft fixedly arranged with respect to the stator. By meshing with the input gear to which power is input and the input gear, K (K is an integer of 2 or more) rotates around each of the rotation shafts, and the rotation shaft of the rotation shaft is said to rotate. A plurality of transmission pins having a cylindrical outer surface extending from the transmission gear to the opposite side of the stator, which are attached to each of the K transmission gears whose revolution with respect to the input shaft is regulated by the stator and the K transmission gears. A plurality of regulation pins having a cylindrical outer surface extending from the transmission gear to the stator side and a concave rotor recess for accommodating the plurality of transmission pins, which are attached to each of the K transmission gears, are formed. The rotor is provided, and each of the plurality of transmission pins and the plurality of regulation pins is attached at a position away from the rotation axis of the transmission gear, and the rotor recess is centered on the input shaft. The distance from the slip circle trochoid curve having a slip ratio of M (M is an integer of 2 or more) is equal to the outer radius of the transmission pin, and has a transmission pin contact surface with which the plurality of transmission pins are in contact. The stator accommodates the plurality of regulation pins, and the distance from the slip circle trochoid curve having a slip ratio of N (N is an integer of 2 or more different from M) about the input axis is the regulation pin. It is characterized in that a concave stator recess equal to the outer radius and having a regulating pin contact surface with which the plurality of regulating pins are in contact is formed.
According to the speed reducer as the third embodiment, in the direction of the input shaft, a stator, an input gear and a transmission gear, and a transmission pin and a rotor, which can be reduced in thickness, are arranged in this order. Therefore, the reducer can be made sufficiently thin. Further, the rotation of the rotor is decelerated by the slip ratio of the slip circle trochoid curve with respect to the rotation of the transmission pin with respect to the rotation axis. Therefore, the reduction ratio can be sufficiently increased by appropriately setting the slip ratio. Further, in this application example, since the weight symmetry with respect to the input axis and the rotation axis, which are the central axes of rotation, is high as a whole, it is possible to suppress the generation of vibration when the rotational power is decelerated and transmitted. Can be done. Then, the revolution direction of the rotation shaft of the transmission gear with respect to the input shaft can be set in the direction opposite to the rotation direction of the rotor to slow down the rotation of the rotor, so that the reduction ratio of the speed reducer can be further increased.

[Application Example 1]
A speed reducer that decelerates and outputs the input power, and includes a stator and an input gear that is configured to rotate around an input shaft that is fixedly arranged with respect to the stator and that receives power. By meshing with the input gear, K pieces (K is an integer of 2 or more) rotate around each of the rotation shafts, and the rotation of the rotation shaft with respect to the input shaft is regulated by the stator. A plurality of transmission pins having a cylindrical outer surface extending from the transmission gear to the opposite side of the stator, and a concave shape in which the plurality of transmission pins are accommodated, which are attached to each of the transmission gears and the K transmission gears. A rotor having a rotor recess formed therein is provided, and each of the plurality of transmission pins is attached at a position away from the rotation axis of the transmission gear, and the rotor recess is centered on the input shaft. Deceleration where the distance from the slip circle trochoid curve having a slip ratio of M (M is an integer of 2 or more) is equal to the outer radius of the transmission pin and has a transmission pin contact surface with which the plurality of transmission pins are in contact. Machine.

According to this application example, in the direction of the input shaft, the stator, the input gear and the transmission gear, and the transmission pin and the rotor are arranged in this order, so that the speed reducer can be reduced. Can be thin enough. Further, the rotation of the rotor is decelerated by the slip ratio of the slip circle trochoid curve with respect to the rotation of the transmission pin with respect to the rotation axis. Therefore, the reduction ratio can be sufficiently increased by appropriately setting the slip ratio. Further, in this application example, since the weight symmetry with respect to the input axis and the rotation axis, which are the central axes of rotation, is high as a whole, it is possible to suppress the generation of vibration when the rotational power is decelerated and transmitted. Can be done.

[Application example 2]
The speed reducer according to Application Example 1, wherein the rotor recess is a groove whose width is equal to the outer diameter of the transmission pin.

By making the rotor recess a groove whose width is equal to the outer diameter of the transmission pin, if stress from the transmission pin is applied to either of the two transmission pin contact surfaces that are the inner surface of the groove, power is transmitted from the transmission pin to the rotor. Will be done. Therefore, the power transmission from the transmission pin to the rotor can be made more stable.

[Application example 3]
The speed reducer according to Application Example 1 or 2, wherein the K and the M are relatively prime.

When the number K of the rotation axis and the slip magnification M of the slip circle trochoid curve that defines the shape of the rotor recess are not relatively prime, depending on the positional relationship between the slip circle trochoid curve and the transmission pin, when the rotor starts to rotate. There is a risk that the rotation direction of will not be uniquely determined. According to this application example, the possibility that such a problem occurs can be reduced.

[Application example 4]
The speed reducer according to any one of Application Examples 1 to 3, wherein the K rotation shafts are fixedly arranged with respect to the stator.

According to this application example, the speed reducer can be configured by rotatably attaching the input gear and the transmission gear to the stator, so that the speed reducer can be manufactured more easily.

[Application Example 5]
The speed reducer according to any one of Application Examples 1 to 3, further comprising a plurality of regulation pins having a cylindrical outer surface attached to each of the K transmission gears and extending from the transmission gears to the stator side. Each of the plurality of regulation pins is attached at a position away from the rotation axis of the transmission gear, and the stator is formed with a concave stator recess in which the plurality of regulation pins are accommodated. In the stator recess, the distance from the slip circle trochoid curve having a slip ratio of N (N is an integer of 2 or more different from M) about the input axis is equal to the outer radius of the regulation pin, and the plurality of the stator recesses are equal to the outer radius of the regulation pin. A reducer that has a regulatory pin contact surface to which the regulatory pins of the gear contact.

According to this application example, the revolution direction of the rotation shaft of the transmission gear with respect to the input shaft can be set to be opposite to the rotation direction of the rotor. Therefore, the rotation of the rotor can be made slower, and the reduction ratio of the reducer can be further increased.

[Application example 6]
The speed reducer according to the application example 5, further comprising a carrier that rotatably holds the input gear and the K transmission gears, and the input gear is arranged on the stator side of the carrier. It is composed of an input side input gear and an output side input gear arranged on the rotor side of the carrier and having the same number of teeth as the input side input gear, and each of the K transmission gears is the carrier. A speed reducer composed of an input-side transmission gear arranged on the stator side of the above and an output-side transmission gear arranged on the rotor side of the carrier and having the same number of teeth as the input-side transmission gear.

According to this application example, it becomes easy to increase the contact area between the input gear and the transmission gear. Therefore, it becomes easy to improve the transmission of torque from the input gear to the transmission gear.

[Application 7]
The speed reducer according to Application Example 5 or 6, wherein the stator recess is a groove having a width equal to the outer diameter of the regulation pin.

By making the stator recess a groove whose width is equal to the outer diameter of the regulation pin, the regulation pin is regulated by the two regulation pin contact surfaces that are the inner surfaces of the groove, so that the transmission gear can be more stably connected to the input shaft. The rotation axis can be revolved.

[Application Example 8]
The speed reducer according to any one of Application Examples 5 to 7, wherein the K and the N are relatively prime.

When the number K of the rotation axis and the slip ratio N of the sliding circle trochoid curve that defines the shape of the stator recess are not relatively prime, the rotation of the transmission gear with respect to the input shaft depends on the positional relationship between the sliding circle trochoid curve and the regulation pin. There is a risk that the revolution direction of the axis will not be uniquely determined. According to this application example, the possibility that such a problem occurs can be reduced.

[Application 9]
The number of teeth of each of the K transmission gears is a multiple of the K when the K is an odd number, and a multiple of 1/2 of the K when the K is an even number. Application Examples 1 to 8 The reducer described in any of.

According to this application example, in all of the K transmission gears, the relationship between the tooth position and the position where the transmission pin is attached can be made the same. Therefore, since K transmission gears can be prepared using transmission gears having the same shape, a speed reducer can be manufactured more easily.

[Application Example 10]
The speed reducer according to any one of Application Examples 1 to 9, wherein the number of teeth of each of the K transmission gears is the same as the number of teeth of the input gear.

According to this application example, since the tooth profile of the input gear and the tooth profile of the transmission gear can be made the same, the input gear and the transmission gear can be designed more easily.

[Application Example 11]
A speed reducer that decelerates and outputs the input power, and includes a stator and an input gear that is configured to rotate around an input shaft that is fixedly arranged with respect to the stator and that receives power. , K transmissions configured to rotate around each of the K rotation axes (K is an integer of 2 or more) fixedly arranged with respect to the stator by meshing with the input gear. A gear and a recess for accommodating the K transmission pins, which are attached to each of the K transmission gears and have a cylindrical outer surface extending from the transmission gear to the opposite side of the stator, are formed. Each of the K transmission pins is mounted at a position away from the rotation axis of the transmission gear, and the recess is from a sliding epitrocoid curve centered on the input axis. A speed reducer having a distance equal to the outer radius of the transmission pin and having an inner surface of a slip epitrocoid outer parallel curve shape located outward of the slip epitrocoid curve.

According to this application example, in the direction of the input shaft, the stator, the input gear and the transmission gear, and the transmission pin and the rotor are arranged in this order, so that the speed reducer can be reduced. Can be thin enough. Further, the rotation of the rotor is decelerated by the slip ratio of the slip epitrochoid curve with respect to the rotation of the transmission pin with respect to the rotation axis. Therefore, the reduction ratio can be sufficiently increased by appropriately setting the slip ratio. Further, in this application example, since the weight symmetry with respect to the input axis and the rotation axis, which are the central axes of rotation, is high as a whole, it is possible to suppress the generation of vibration when the rotational power is decelerated and transmitted. Can be done.

The present invention can be realized in various aspects. For example, it can be realized in the form of a speed reducer, a drive mechanism using the speed reducer, a drive device in which the speed reducer and a power generator such as a motor are combined, and the like.

The exploded perspective view which shows the structure of the reduction gear as the 1st Embodiment of this invention. Explanatory drawing explaining the shape of the groove formed in a rotor and the positional relationship between a groove and a transmission pin. Explanatory drawing explaining the concrete shape of a slip epitrochoid curve. Explanatory drawing explaining the concrete shape of a slip epitrochoid curve. Explanatory drawing which shows the state of operation of the speed reducer of 1st Embodiment. Explanatory drawing which shows the state of operation of the speed reducer of 1st Embodiment. The exploded perspective view which shows the structure of the reduction gear as the 2nd Embodiment of this invention. Explanatory drawing which shows the state of operation of the speed reducer of 2nd Embodiment. Explanatory drawing which shows the state of operation of the speed reducer of 2nd Embodiment. Explanatory drawing which shows the deformation example of the groove formed in a rotor. Explanatory drawing which shows the deformation example of the groove formed in a rotor.

Hereinafter, embodiments for carrying out the present invention will be described in the following order.
A. First Embodiment:
A1. Reducer configuration:
A2. Groove shape and positional relationship with transmission pin:
A3. Specific shape of slip epitrochoid curve:
A4. Reducer operation:
B. Second embodiment:
B1. Reducer configuration:
B2. Reducer operation:
C. Deformation example of groove shape:
D. Modification example:

A. First Embodiment:
A1. Reducer configuration:
FIG. 1 is an exploded perspective view showing the configuration of the speed reducer 100 as the first embodiment of the present invention. The speed reducer 100 is input to the speed reducer 100 and rotates about a central axis C1 of the speed reducer 100 (hereinafter, unless otherwise specified, the central axis C1 of the speed reducer 100 is simply referred to as a "central axis C1"). The power is decelerated and the power that rotates around the central axis C1 is output.

As shown in FIG. 1, the speed reducer 100 includes a stator 110, an input shaft 120, an input gear 130, four transmission gears 140, and four transmission pins 150 attached to each of the four transmission gears 140. , A rotor 160 and an output shaft 170. The speed reducer 100 includes four transmission gears 140 and four transmission pins 150, but the individual configurations and functions of the four transmission gears 140 and the four transmission pins 150 are the same. .. Therefore, unless otherwise required, a plurality of components such as the transmission gear 140 and the transmission pin 150 are not individually distinguished.

Further, in the speed reducer 100 of the first embodiment, the power (rotational power) that rotates about the central axis C1 is input from the stator 110 side and output from the rotor 160 side. Therefore, the direction in which the stator 110 is viewed from the rotor 160 is also referred to as an "input side", and the direction in which the rotor 160 is viewed from the stator 110 is also referred to as an "output side".

As can be seen from FIG. 1, in the speed reducer 100, the stator 110, the input gear 130 and the transmission gear 140, and the transmission pin 150 and the rotor 160 are arranged in this order in the direction of the central axis C1 as the main components. To. Since the thickness of the stator 110, the input gear 130, the transmission gear 140, the transmission pin 150, and the rotor 160 can be reduced, the speed reducer 100 of the first embodiment can be reduced in thickness.

The stator 110 is a plate-shaped member orthogonal to the central axis C1, and has a circular through hole 119 centered on the central axis C1 and four circular through holes 118 centered on the central axis C2 of the transmission gear 140. Is provided. The input shaft 120 is a columnar member centered on the central axis C1 and is arranged so as to project toward the input side through the through hole 119 of the stator 110. The rotational power is input to the speed reducer 100 from a portion of the input shaft 120 protruding toward the input side.

The input gear 130 is a gear on which 20 teeth 132 are formed, and is provided with a shaft fitting hole 139 into which the input shaft 120 is fitted. The input shaft 120 fitted in the shaft fitting hole 139 is fixed to the through hole 119 provided in the center of the stator 110 via a bearing (not shown). As a result, the input gear 130 rotates about the central shaft C1 in response to the rotation of the input shaft 120, that is, the rotational power input to the speed reducer 100. As is clear from the above description, the central shaft C1 is a rotary shaft of rotational power input to the speed reducer 100. Therefore, the central axis C1 can also be referred to as an "input axis".

The transmission gear 140 is a gear in which teeth 142 that mesh with the teeth 132 of the input gear 130 are formed, and the number of teeth 142 (the number of teeth) is 20 which is the same as that of the input gear 130. The transmission gear 140 is provided with a circular shaft fitting hole 149 centered on the central shaft C2, and a cylindrical holding shaft 144 is fitted in the shaft fitting hole 149.

Like the input shaft 120, the holding shaft 144 is fixed to the through hole 118 provided in the stator 110 via a bearing (not shown). As a result, the transmission gear 140 can rotate around its central axis C2. Then, the transmission gear 140 rotates in the opposite direction to the input gear 130 at a constant speed by meshing with the input gear 130. The rotation of the transmission gear 140 corresponds to the rotation of the planetary gear. Therefore, the rotation of the transmission gear 140 can also be referred to as "rotation", and the central axis C2, which is the rotation axis of the transmission gear 140, can also be referred to as "rotation axis".

As can be seen from this, the input gear 130 and the transmission gear 140 correspond to the sun gear and the planetary gear in the planetary gear mechanism, respectively, and the stator 110 corresponds to the carrier holding the sun gear and the planetary gear, respectively. The stator 110 has a function of stopping the revolution of the transmission gear 140 (rotational shaft C2) with respect to the input gear 130 (input shaft C1), that is, a function of restricting the revolution of the rotation shaft C2 with respect to the input shaft C1. It can also be called.

The transmission gear 140 is provided with a shaft fitting hole 149 into which the holding shaft 144 is fitted and a pin mounting hole 148 into which the transmission pin 150 is mounted. As shown in FIG. 1, the pin mounting hole 148 is provided at a position deviated from the rotation axis C2.

The transmission pin 150 is a columnar member extending in a direction (axial direction) along the central axis C1 and the rotation axis C2. As shown in FIG. 1, the transmission pin 150 is fitted into the pin mounting hole 148 of the transmission gear 140 so as to extend from the transmission gear 140 toward the rotor 160 on the output side. As described above, since the pin mounting hole 148 is provided at a position separated from the rotation shaft C2, the transmission pin 150 is attached to the transmission gear 140 at a position away from the rotation shaft C2. The transmission pin may have a cylindrical shape as its outer surface, and a cylindrical member may be used instead of the cylindrical transmission pin 150, or a rotatable cylindrical member may be attached to the cylindrical core. You may use a cylinder.

The rotor 160 is a substantially disk-shaped member orthogonal to the central axis C1, and is input from a flat plate portion 162, an outer wall portion 164 extending from the outer edge portion of the flat plate portion 162 to the input side, and a central portion of the flat plate portion 162. It has an inner wall portion 166 extending to the side. As shown in FIG. 1, by providing the outer wall portion 164 and the inner wall portion 166, a groove 169 is formed on the input side surface of the rotor 160.

The transmission pin 150 is housed in the groove 169 provided in the rotor 160 in this way. Then, the transmission pin 150 accommodated in the groove 169 moves with the rotation of the transmission gear 140, so that power is transmitted from the transmission gear 140 to the rotor 160, and the rotor 160 rotates about the central axis C1. At this time, the rotor 160 is decelerated and rotated in the opposite direction to the transmission gear 140 (that is, in the same direction as the input gear 130) at a reduction ratio determined by the shape of the groove 169. The shape of the groove 169, the positional relationship between the groove 169 and the transmission pin 150, and the operation of the speed reducer 100 such as the transmission of power from the transmission pin 150 to the rotor 160 will be described later.

The output shaft 170 is a columnar member centered on the central axis C1 and is attached to the output side of the rotor 160. As described above, the rotor 160 is decelerated and rotated in the same direction as the input gear 130 at a reduction ratio determined by the shape of the groove 169. Therefore, the rotational power decelerated at the reduction ratio is output from the output shaft 170.

A2: Groove shape and positional relationship with transmission pin:
FIG. 2 is an explanatory diagram illustrating the shape of the groove 169 formed in the rotor 160 (FIG. 1) and the positional relationship between the groove 169 and the transmission pin 150. FIG. 2A shows the outer wall portion 164 and the inner wall portion 166 of the rotor 160 and the transmission pin 150 as viewed from the output side, and FIG. 2B is shown by dotted lines in FIG. 2A. The area is enlarged and shown.

As described above, by providing the outer wall portion 164 and the inner wall portion 166, a groove 169 is formed in the rotor 160. The groove 169 is formed in a region swept by the transmission pin 150 when the center of the transmission pin 150 moves on the curve ES7 shown by the chain double-dashed line in FIG. Therefore, as shown in FIG. 2B, the groove 169 is formed as a groove whose width is equal to the outer diameter d of the transmission pin 150. The curve ES7 that defines the shape of the groove 169 in this way is a curve called a slip epitrochoid curve, and the specific shape thereof will be described later.

In the example of FIG. 2, in the partial AD where the slip epitrochoid curve ES7 forms a small loop, the region swept by the transmission pin 150 overlaps. Therefore, in the portion (overlapping portion) AD, it is considered that the width of the groove 169 is wider than the outer diameter d of the transmission pin 150. However, this overlapping portion AD is wide because the grooves having a width equal to the outer diameter d of the transmission pin 150 overlap each other. Therefore, the groove 169 should be regarded as having a width equal to the outer diameter d of the transmission pin 150 in the entire region including the overlapping portion AD.

Further, as can be seen from FIG. 2B, the inner surface S164 of the outer wall portion 164 has a distance from the sliding epitrochoid curve ES7 equal to the outer radius d / 2 of the transmission pin 150, and is located outside the sliding epitrochoid curve ES7. It is in the shape of a located curve (called a "sliding epitrochoid outer parallel curve"). Therefore, it can be said that the groove 169, that is, the recess provided in the rotor 160 has an inner surface having a sliding epitrochoid outer parallel curve shape.

Similarly, the outer surface S166 of the inner wall portion 166 has a curve whose distance from the slip epitrochoid curve ES7 is equal to the outer radius d / 2 of the transmission pin 150 and is located inside the slip epitrochoid curve ES7 (“inside the slip epitrochoid”). It has a shape of "parallel curve"). Therefore, it can be said that the groove 169, that is, the recess provided in the rotor 160 has an inner surface having a parallel curve shape in the sliding epitrochoid.

Since the inner surface S164 of the outer wall portion 164 and the outer surface S166 of the inner wall portion 166 are both configured to be in contact with the transmission pin 150, they can also be referred to as a transmission pin contact surface. As described above, the distance between these transmission pin contact surfaces S164 and S166 and the sliding epitrochoid curve ES7 is equal to the outer radius d / 2 of the transmission pin 150.

A3. Specific shape of slip epitrochoid curve:
3 and 4 are explanatory views illustrating the specific shape of the slip epitrochoid curve. FIG. 3 (a) shows a general trochoid curve TT, and FIG. 3 (b) shows a general epitrochoid curve ET. Further, FIG. 4 (a) shows the slip trochoid curve TS2, and FIG. 4 (b) shows the slip epitrochoid curve ES2.

The trochoid curve TT shown in FIG. 3A is a locus drawn by the point P in the moving circle CR when the moving circle CR is rolled along the straight line LN so as not to slip, as shown by the white arrow. It is stipulated. Specifically, the trochoid curve TT uses the radius r of the moving circle CR, the distance a (0 <a≤r) of the point P from the center point of the moving circle CR, and the rotation angle θ of the moving circle CR. , Expressed by the following equation (1).

At this time, when the moving circle CR is rotated by one rotation (θ = 0 to 2π), the moving circle CR advances by 2πr, and a trochoid curve in which one peak and one valley exist in one cycle (x = 0 to 2πr). TT is drawn.

The epitrochoid curve ET shown in FIG. 3 (b) is a point P in the moving circle CR when the moving circle CR is rolled along the outer circumference of the fixed circle CF so as not to slip, as shown by the white arrow. Is defined as the trajectory drawn by. Specifically, the epitrochoid curve ET has the radius r of the moving circle CR and the fixed circle CF, the distance a (0 <a≤r) of the point P from the center point of the moving circle CR, and the center of the fixed circle CF. It is expressed by the following equation (2) using the rotation angle (revolution angle) θ of the moving circle CR around the point (that is, the origin O).

At this time, when the moving circle CR is revolved around the fixed circle CF by one rotation (θ = 0 to 2π), the moving circle CR rotates twice and is the closest point (near) to the center point of the fixed circle CF within one round. A point) and an epitrochoid curve ET in which the farthest point (far point) from the center point of the fixed circle CF exists one by one are drawn. In the epitrochoid curve ET drawn in this way, the straight line LN defining the trochoidal curve TT shown in FIG. 3A is wound around the circumference of the fixed circle CF, and the trochoidal curve TT is deformed according to the deformation of the straight line LN. Corresponds to the state.

As shown in FIG. 3B, when the epitrochoid curve ET is drawn, in a system in which the fixed circle CF is fixed, the moving circle CR is rotated once around the fixed circle CF (θ = 0 to 2π). ) It is revolving. In this case, the moving circle CR rotates once with respect to the circumference of the fixed circle CF corresponding to the straight line LN (FIG. 3A) when the trochoid curve TT is drawn, and from the center point of the moving circle CR. The direction in which the center point of the fixed circle CF is expected makes one rotation. Therefore, in FIG. 3B in which the fixed circle CF is fixed, when the moving circle CR is revolved once around the fixed circle CF, the moving circle CR rotates twice.

However, in the speed reducer 100 of the first embodiment, as shown in FIG. 2, the central axis C1 and the rotation axis C2 are treated as fixed. In this way, when viewed from a system in which the center point of the fixed circle CF corresponding to the central axis C1 and the center point of the moving circle CR corresponding to the rotation axis C2 are fixed, it is fixed every time the moving circle CR makes one rotation. The circle CF and the epitrochoid curve ET make one rotation.

In general, the radii of the moving circle CR and the fixed circle CF that define the epitrochoid curve do not necessarily have to be the same. However, in the present specification and the present invention, the radii of the moving circle CR and the fixed circle CF defining the epitrochoid curve ET and the slip epitrochoid curve ES2 (FIG. 4) are assumed to be the same.

In the sliding trochoid curve TS2 shown in FIG. 4A, the moving circle CR is slid along the straight line LN so that the peripheral speed is twice the traveling speed of the moving circle CR as shown by the white arrow. It is defined as the locus drawn by the point P in the moving circle CR when it is rolled. Specifically, the slip trochoid curve TS2 is a parameter representing the radius r of the moving circle CR, the distance a (0 <a≤r) of the point P from the center point of the moving circle CR, and the rotation angle of the moving circle CR. It is expressed by the following equation (3) using θ.

At this time, when the moving circle CR is rotated twice (θ = 0 to 2π), the moving circle CR advances by 2πr, and a sliding trochoid in which two peaks and two valleys exist in one cycle (x = 0 to 2πr). The curve TS2 is drawn. In other words, when the moving circle CR is rotated by one rotation (θ = 0 to π), the moving circle CR advances by πr. Therefore, the traveling speed of the moving circle CR when the moving circle CR is rotated at a constant rotation speed is reduced to 1/2 of the case where the trochoid curve TT shown in FIG. 3A is drawn.

In the present specification and the present invention, the magnification of the peripheral speed with respect to the traveling speed of the moving circle CR, that is, the number of rotations of the moving circle CR in one cycle (x = 0 to 2πr) is the sliding magnification M (FIG. 4 (FIG. 4). In the example of a), it is called M = 2). Therefore, the sliding trochoid curve TS2 represents the radius r of the moving circle CR, the distance a (0 <a≤r) of the point P from the center point of the moving circle CR, the sliding magnification M, and the rotation angle of the moving circle CR. It is expressed by the following equation (4) using the parameter θ.

The slip epitrochoid curve ES2 shown in FIG. 4B moves when the moving circle CR is slid along the outer circumference of the fixed circle CF with a slip ratio M of 2 as shown by the white arrow. It is defined as the locus drawn by the point P in the circle CR. Specifically, the slip epitrochoid curve ES2 has a radius r of the moving circle CR and the constant circle CF, a distance a (0 <a≤r) of the point P from the center point of the moving circle CR, and a slip magnification M (FIG. 4). In the example of (b), it is expressed by the following equation (5) using M = 2) and the revolution angle θ of the moving circle CR.

At this time, when the moving circle CR is revolved around the fixed circle CF by one rotation (θ = 0 to 2π), the moving circle CR rotates three times (that is, (M + 1) rotations), and the near point and the far point are within one round. A slip epitrochoid curve ES2 having two points (M pieces) is drawn. The slip ratio M is set to an integer of 2 or more so that the epitrochoid curve becomes a closed curve in one round.

Further, as shown in FIG. 4 (b), when the slip epitrochoid curve ES2 is drawn, the fixed circle CF is fixed as in the case where the epitrochoid curve ET (FIG. 3 (b)) is drawn. In, the moving circle CR is revolved around the fixed circle CF by one rotation (θ = 0 to 2π). Therefore, the moving circle CR rotates three times ((M + 1) rotations) while revolving once around the fixed circle CF. On the other hand, when viewed from a system in which the center point of the fixed circle CF and the center point of the moving circle CR are fixed, the fixed circle CF and the slip epitrochoid curve ES2 are 1 for every two rotations (M rotation) of the moving circle CR. Rotate.

In the speed reducer 100 (FIG. 1) of the first embodiment, the slip ratio M of the slip epitrochoid curve ES7 (FIG. 2) that defines the shape of the groove 169 is 7. As described above, in the speed reducer 100, the transmission pin 150 is accommodated in the groove 169 whose shape is defined by the slide epitrochoid curve ES7 with the slide magnification M set to 7, and the transmission pin 150 is relative to the rotor 160 (groove 169). Position is regulated. Therefore, when the rotor 160 rotates so that the center of the transmission pin 150 slides and draws the epitrochoid curve ES7, the transmission gear 140 and the transmission pin 150 rotate 7 times (M rotations) while the rotor 160 rotates once. Therefore, the reduction ratio when power is transmitted from the transmission pin 150 to the rotor 160 is 7, which is the same as the slip ratio M.

Further, when the above-mentioned method for generating a slip epitrochoid curve is applied to the speed reducer 100, the radius r of the moving circle CR and the constant circle CF is the radius of the reference circle (also referred to as “pitch circle”) of the transmission gear 140, that is. , The radius of the reference circle of the input gear 130 is set, and the distance a of the point P from the center point of the moving circle CR is set to the distance of the center of the transmission pin 150 from the rotation axis C2.

In FIGS. 3 and 4, the distance a of the point P from the center point of the moving circle CR is made shorter than the radius r of the moving circle CR, and the trochoid curve TT, the epitrochoid curve ET, the slip trochoid curve TS2, and , The slip epitrochoid curve ES2 (trochoid curve group) is drawn, but the distance a of the point P from the center point of the moving circle CR may be the same length (a = r) as the radius r of the moving circle CR. .. In this case, the curves generally drawn as described above are called a cycloid curve, an epicycloid curve, a slip cycloid curve, and a slip epicycloid curve (cycloid curve group). However, the cycloid curve group is a specific trochoid curve group in which the distance a of the point P from the center point of the moving circle CR is the same as the radius r of the moving circle CR, and the cycloid curve group is a trochoid curve group. Interpreted to be included.

A4. Reducer operation:
5 and 6 are explanatory views showing the operation of the speed reducer 100 (FIG. 1) of the first embodiment. 5 (a), 5 (b), 6 (a), and 6 (b) show changes over time when power is input to the input shaft 120 to rotate the input gear 130 in this order. Is shown. In FIGS. 5 and 6, among the speed reducers 100, the input gear 130, the transmission gear 140, the transmission pin 150, and the outer wall portion 164 and the inner wall portion 166 constituting the rotor 160 are viewed from the output side. Shows. Further, in the operation of the speed reducer 100 shown in FIGS. 5 and 6, the four transmission pins 150 operate separately. Therefore, when it is necessary to distinguish individual transmission pins 150 in the explanation of the operation of the speed reducer 100, a character for distinguishing individual transmission pins 150 after the reference numeral, such as transmission pin 150 [1], is used. This will be explained with the addition of columns.

When power is input to the input shaft 120 and the input gear 130 is rotated as shown by the white arrows in FIGS. 5 and 6, the transmission gear 140 that meshes with the input gear 130 is opposite to the rotation direction of the input gear 130. Rotate in the direction. With the rotation of the transmission gear 140, the transmission pins 150 attached to the transmission gear 140 rotate about the rotation axis C2, respectively. Therefore, the moving direction of the transmission pin 150 at a specific time point (indicated by a black arrow) is the tangential direction of the rotation of the transmission pin 150 about the rotation axis C2, that is, the center of the transmission pin 150 is viewed from the rotation axis C2. The direction is orthogonal to the direction.

At this time, if the moving direction of the transmission pin 150 is parallel to the tangent line of the sliding epitrochoid curve ES7 at the center of the transmission pin 150 (hereinafter, simply referred to as "tangent line of the sliding epitrochoid curve ES7"), the transmission pin 150 Even if it moves, no stress is applied from the transmission pin 150 to the outer wall portion 164 or the inner wall portion 166. Therefore, when the transmission pin 150 is located at a position where the movement direction of the transmission pin 150 is parallel to the tangent line of the epitrochoid curve ES7, the transmission pin 150 does not contribute to the transmission of power.

However, since the transmission pin 150 rotates about the fixed rotation axis C2, the locus at the center of the transmission pin 150 draws a circle around the rotation axis C2 and does not draw the slip epitrochoid curve ES7. Therefore, the moving direction of the transmission pin 150 is not always parallel to the tangent line of the sliding epitrochoid curve ES7, and there is a deviation between the moving direction of the transmission pin 150 and the direction of the tangent line of the sliding epitrochoid curve ES7. Occurs.

When a deviation occurs between the direction of the tangential line of the slip epitrochoid curve ES7 and the moving direction of the transmission pin 150, the transmission pin 150 is set in the direction in which the movement direction is deviated from the tangential direction (movement deviation direction). If a member that regulates the movement (outer wall portion 164 or inner wall portion 166) is in contact with the member (that is, the rotor 160), stress is applied to the member (that is, the rotor 160) from the transmission pin 150. Then, when stress is applied from the transmission pin 150 to the rotor 160, power is transmitted from the transmission pin 150 to the rotor 160.

As described above, since the relative position of the transmission pin 150 with respect to the rotor 160 (groove 169) is restricted, the center of the transmission pin 150 moves so as to draw a sliding epitrochoid curve ES7 when viewed from the rotor 160. do. When the transmission pin 150 is moved in this state so as to draw a circle about the rotation axis C2, the rotor 160 rotates about the central axis C1 in response to the movement of the transmission pin 150. Since the slip ratio M of the slip epitrochoid curve ES7 is set to 7, the rotation speed of the rotor 160 at this time is 1 / of the rotation speed of the transmission pin 150 and the transmission gear 140 to which the transmission pin 150 is attached. It is decelerated to 7.

In this way, the rotor 160 rotates about the central axis C1 in a state of being decelerated at a reduction ratio 7 in response to the rotation of the transmission pin 150 about the rotation axis C2. Then, the decelerated rotational power is output from the output shaft 170 (FIG. 1) attached to the rotor 160.

FIG. 5A shows an initial state in which the input gear 130 has not been rotated yet. The rotation angles of the input gear 130 and the rotor 160 will be described with the rotation angle in this initial state as 0 °. In the initial state shown in FIG. 5A, the four transmission pins 150 are located in the upward direction of the rotation axis C2 of the transmission gear 140 to which each of the four transmission pins 150 is attached. Therefore, in the initial state, the moving directions of the four transmission pins 150 are all leftward. The upward or left direction means the upward or left direction on the paper surface of FIG. 5A. Similarly, in the following, each of the up, down, left, and right directions is defined as the direction on the paper of the drawing.

In this initial state, of the four transmission pins 150, the first, second and fourth transmission pins 150 [1], 150 [2] and 150 [4] are the outer wall portion 164 and the inner wall portion 166 of the rotor 160. The third transmission pin 150 [3] is in contact with both of the inner wall portion 166.

Although the first transmission pin 150 [1] is in contact with both the outer wall portion 164 and the inner wall portion 166, its movement direction is parallel to the tangent line of the slip epitrochoid curve ES7, which contributes to power transmission. do not. Similarly, although the third transmission pin 150 [3] is in contact with the inner wall portion 166, its movement direction is parallel to the tangent line of the slip epitrochoid curve ES7, so that it does not contribute to power transmission.

On the other hand, the moving direction of the second transmission pin 150 [2] is deviated from the tangent line of the slip epitrochoid curve ES7 to the inner wall portion 166 side. Therefore, stress is applied to the inner wall portion 166 that comes into contact with the transmission pin 150 [2] in the movement deviation direction. Similarly, from the fourth transmission pin 150 [4], stress is applied to the outer wall portion 164 that comes into contact with the moving deviation direction.

In this way, in the initial state, stress is applied from the second transmission pin 150 [2] to the inner wall portion 166, and stress is applied from the fourth transmission pin 150 [4] to the outer wall portion 164, so that the transmission pin 150 Power is transmitted from the rotor to the rotor 160.

FIG. 5B shows a first rotation state in which the input gear 130 is rotated from the initial state (FIG. 5A), the rotation angle of the input gear 130 is 70 °, and the rotation angle of the rotor 160 is 10 °. (Rotation state 1) is shown. At this time, the transmission gear 140 and the transmission pin 150 rotate 70 ° counterclockwise (counterclockwise) as the input gear 130 rotates 70 ° clockwise (clockwise). Therefore, the moving direction of the transmission pin 150 is also rotated by 70 ° counterclockwise around the rotation axis C2.

At this time, although the second transmission pin 150 [2] is in contact with the inner wall portion 166, its movement deviation direction is toward the direction away from the inner wall portion 166, so that it does not contribute to power transmission. Further, since the third transmission pin 150 [3] is not in contact with either the outer wall portion 164 or the inner wall portion 166, it does not contribute to the transmission of power. On the other hand, from the first transmission pin 150 [1], stress is applied to the inner wall portion 166 that is in contact in the movement deviation direction, and from the fourth transmission pin 150 [4], the outer wall portion that is in contact in the movement deviation direction is applied. Stress is applied to 164. Therefore, even in the first rotation state shown in FIG. 5B, the power is transmitted from the transmission pin 150 to the rotor 160.

FIG. 6A shows a second rotation state (rotation state 2) in which the rotation angle of the input gear 130 is 140 ° and the rotation angle of the rotor 160 is 20 °. At this time, the moving direction of the transmission pin 150 is rotated by 140 ° counterclockwise about the rotation axis C2 from the initial state shown in FIG. 5 (a).

In this second rotational state, although the first transmission pin 150 [1] is in contact with the inner wall portion 166, its movement deviation direction is directed toward the direction away from the inner wall portion 166, so that power can be transmitted. Does not contribute. On the other hand, since the second transmission pin 150 [2] and the fourth transmission pin 150 [4] are in contact with the inner wall portion 166 in the respective movement deviation directions, these transmission pins 150 [2] and 150 [ 4] stress is applied to the inner wall portion 166. Further, from the third transmission pin 150 [3], stress is applied to the outer wall portion 164 that comes into contact in the movement deviation direction thereof. Therefore, even in the second rotation state shown in FIG. 6A, the power is transmitted from the transmission pin 150 to the rotor 160.

FIG. 6B shows a third rotation state (rotation state 3) in which the rotation angle of the input gear 130 is 210 ° and the rotation angle of the rotor 160 is 30 °. At this time, the moving direction of the transmission pin 150 is rotated by 210 ° counterclockwise about the rotation axis C2 from the initial state shown in FIG. 5 (a).

In this third rotational state, the fourth transmission pin 150 [4] is in contact with the inner wall portion 166, but its movement deviation direction is directed toward the direction away from the inner wall portion 166, so that power can be transmitted. Does not contribute. On the other hand, since the first transmission pin 150 [1] and the third transmission pin 150 [3] are in contact with the inner wall portion 166 in the respective movement deviation directions, these transmission pins 150 [1] and 150 [ 3] stress is applied to the inner wall portion 166. Further, from the second transmission pin 150 [2], stress is applied to the outer wall portion 164 that comes into contact with the moving deviation direction. Therefore, even in the third rotation state shown in FIG. 6B, the power is transmitted from the transmission pin 150 to the rotor 160.

As described above, in the speed reducer 100, regardless of the rotational state of the rotor 160, stress is applied to both the outer wall portion 164 and the inner wall portion 166 from any of the four transmission pins 150, and the transmission pins are applied. Power is transmitted from the 150 to the rotor 160. Therefore, according to the speed reducer 100 (FIG. 1) of the first embodiment, the input rotational power is decelerated, the power is stably transmitted from the transmission pin to the rotor, and the decelerated rotational power is stably transmitted. It is possible to output (that is, reduce the torque fluctuation of the output).

As shown in FIG. 1, in the speed reducer 100 of the first embodiment, the pin mounting holes 148 formed in the transmission gear 140 are asymmetrical with respect to the central axes C1 and C2 which are the centers of rotation. The transmission pin 150 attached to the transmission gear 140 and the groove 169 (or the outer wall portion 164 and the inner wall portion 166 forming the groove 169) formed in the rotor 160. Since the weight of these asymmetrical portions is sufficiently small with respect to the weight of the entire rotating member in the speed reducer 100, the speed reducer 100 has a high weight symmetry with respect to the central axes C1 and C2 of rotation as a whole. There is. Therefore, according to the speed reducer 100 of the first embodiment, it is possible to suppress the generation of vibration when the rotational power is reduced and transmitted.

In the speed reducer 100 of the first embodiment, since the slide ratio M of the slip epitrochoid curve ES7 that defines the shape of the groove 169 is 7, the reduction ratio is 7, but the reduction ratio is required. Accordingly, if the slip ratio M of the slip epitrochoid curve is increased, the reduction ratio can be further increased. Therefore, according to the first embodiment, the reduction ratio of the speed reducer can be sufficiently increased.

Further, in the speed reducer 100 of the first embodiment, the number of teeth of the input gear 130 and the number of teeth of the transmission gear 140 are the same (20 pieces), but the number of teeth of the input gear and the number of teeth of the transmission gear are the same. , Not necessarily the same number. If the number of teeth of the input gear and the number of teeth of the transmission gear are not the same, when power is transmitted from the input gear to the transmission gear, the gear is decelerated or accelerated at a gear ratio determined by the ratio of the number of teeth. .. Therefore, the reduction ratio of the speed reducer as a whole can be set more finely. However, the number of teeth of the input gear and the number of teeth of the transmission gear are different in that the tooth profile of the input gear and the transmission gear can be the same and the input gear and the transmission gear can be designed more easily. The number is preferably the same.

Further, from the viewpoint of increasing the reduction ratio, it is preferable to increase the number of teeth of the transmission gear to be larger than the number of teeth of the input gear, but as will be described later, the number of teeth of the transmission gear is the number of teeth of the input gear. If it is more than, the upper limit of the number of transmission gears will be lower. Therefore, it is preferable to determine the ratio between the number of teeth of the transmission gear and the number of teeth of the input gear in consideration of this point.

If the number of teeth of the input gear and the number of teeth of the transmission gear are not the same, the radius of the reference circle of the transmission gear and the radius of the reference circle of the input gear are different, so the radius of these reference circles is used as it is. Therefore, it is not possible to generate a slip epitrochoid curve as shown in FIG. 4 (b). However, the radius Rs of the reference circle of the input gear and the transmission as the distance a of the radius r of the moving circle CR and the constant circle CF and the point P from the center point of the moving circle CR used to generate the slip epitrochoid curve. Using the radius Rp of the reference circle of the gear and the distance D from the center point of the transmission gear (rotating axis C2) to the center of the transmission pin, the value given by the following equation (6) can be used as described above. It is possible to generate a slip epitrochoid curve as in.

As described above, according to the first embodiment, in a speed reducer that can be made thinner, it is possible to sufficiently increase the reduction ratio and suppress vibration during power transmission. Further, regardless of the rotational state of the rotor 160, stress is applied to both the outer wall portion 164 and the inner wall portion 166 from any of the four transmission pins 150, so that the transmission pins 150 and the rotor 160 There is almost no backlash between them. Therefore, the backlash of the speed reducer 100 can be made equal to or less than the backlash of a general planetary gear reducer.

B. Second embodiment:
B1. Reducer configuration:
FIG. 7 is an exploded perspective view showing the configuration of the speed reducer 200 as the second embodiment of the present invention. Similar to the speed reducer 100 of the first embodiment, the speed reducer 200 also decelerates the power rotating around the central axis C1 and outputs the power rotating around the central axis C1.

As shown in FIG. 7, the speed reducer 200 is attached to each of the stator 210, the input shaft 120a, the input side input gear 220, the four input side transmission gears 230, and the four input side transmission gears 230. Four regulation pins 240, a carrier 110a, an output side input gear 130a, four output side transmission gears 140a, four transmission pins 150a attached to each of the four output side transmission gears 140a, and a rotor 160a. , The output shaft 170a is provided.

The input shaft 120a, carrier 110a, output side input gear 130a, output side transmission gear 140a, transmission pin 150a, rotor 160a, and output shaft 170a of the speed reducer 200 are the speed reducers 100 (FIG. 1) of the first embodiment, respectively. , Input shaft 120, stator 110, input gear 130, transmission gear 140, transmission pin 150, rotor 160 and output shaft 170 have almost the same configuration and function. Therefore, in the following, the description of the parts common to these will be omitted.

As can be seen from FIG. 7, in the speed reducer 200, the stator 210 and the regulation pin 240, the input side input gear 220 and the input side transmission gear 230, the carrier 110a, the output side input gear 130a and the output are the main components of the speed reducer 200. The side transmission gear 140a, the transmission pin 150a, and the rotor 160a are arranged in this order in the direction of the central axis C1. The thickness of the stator 210, the regulation pin 240, the input side input gear 220, the input side transmission gear 230, the carrier 110a, the output side input gear 130a, the output side transmission gear 140a, the transmission pin 150a and the rotor 160a may be reduced. Therefore, the speed reducer 200 of the second embodiment can be made thinner as in the speed reducer 100 of the first embodiment.

The stator 210 is a substantially disk-shaped member orthogonal to the central axis C1, and is output from a flat plate portion 212, an outer wall portion 214 extending from the outer edge portion of the flat plate portion 212 to the output side, and a central portion of the flat plate portion 212. It has an inner wall portion 216 extending to the side. Similar to the rotor 160a, in the stator 210, the groove 219 is formed on the surface on the output side by providing the outer wall portion 214 and the inner wall portion 216. The stator 210 is also provided with a through hole 218 penetrating in the central axis C1 direction at the center thereof, and the input shaft 120a is arranged through the through hole 218. The input shaft 120a is provided with two screw holes 129a on the end surface on the output side thereof.

Both the input side input gear 220 and the output side input gear 130a are gears having 20 teeth, and two through holes 229 and 139a for fixing the input shaft 120a are provided in the vicinity of the center thereof. .. The input side input gear 220 and the output side input gear 130a are fixed to the input shaft 120a by passing a bolt (not shown) through the through holes 229 and 139a from the output side and screwing the bolt into the screw hole 129a of the input shaft 120a. To.

Further, although not shown, a bearing fixed to the through hole 119a of the carrier 110a is arranged between the input side input gear 220 and the output side input gear 130a. By sandwiching this bearing between the input side input gear 220 and the output side input gear 130a, the input side input gear 220 and the output side input gear 130a are held by the carrier 110a in a state where they can rotate about the central shaft C1. Will be done. At this time, the input side input gear 220 and the output side input gear 130a having the same number of teeth rotate in synchronization with each other. Therefore, the input side input gear 220 and the output side input gear 130a can be handled as an integral gear (input gear).

The input side transmission gear 230 is a gear having teeth 232 that mesh with the teeth 222 of the input side input gear 220, and the output side transmission gear 140a has teeth 142a that mesh with the teeth 132a of the output side input gear 130a. It is a gear. The number of teeth of the input side transmission gear 230 and the output side transmission gear 140a is 20 which is the same as that of the input gears 220 and 130a.

Two screw holes 239 are provided near the center of the input side transmission gear 230, and two through holes 149a for fixing the input side transmission gear 230 are provided near the center of the output side transmission gear 140a. Has been done. The input side transmission gear 230 and the output side transmission gear 140a are fixed to each other by passing a bolt (not shown) through the through hole 149a from the output side and screwing the bolt into the screw hole 239 of the input side transmission gear 230. ..

Further, although not shown, a bearing fixed to the through hole 118a of the carrier 110a is arranged between the input side transmission gear 230 and the output side transmission gear 140a, similarly to the input gears 220 and 130a. By sandwiching this bearing between the input side transmission gear 230 and the output side transmission gear 140a, the input side transmission gear 230 and the output side transmission gear 140a are held by the carrier 110a in a state where they can rotate about the rotation axis C3. Will be done. Therefore, the input side transmission gear 230 and the output side transmission gear 140a can be treated as an integral gear (transmission gear) because they have the same number of teeth that rotate in synchronization.

The input side transmission gear 230 and the output side transmission gear 140a are provided with pin mounting holes 238 and 148a at positions separated from the rotation axis C3, respectively. A cylindrical regulation pin 240 is fitted in the pin mounting hole 238 of the input side transmission gear 230 so as to extend from the input side transmission gear 230 toward the input side stator 210. Further, a cylindrical transmission pin 150a is fitted in the pin mounting hole 148a of the output side transmission gear 140a so as to extend from the output side transmission gear 140a toward the output side rotor 160a.

The regulation pin 240 fitted in the pin mounting hole 238 of the input side transmission gear 230 is accommodated in the groove 219 formed in the stator 210. Therefore, the movement of the regulation pin 240 is restricted by the groove 219 of the stator 210. At this time, when the input gears 220 and 130a are rotated, the transmission gears 230 and 140a rotate around the rotation shaft C3, and the carriers 110a and the rotation shafts C3 of the transmission gears 230 and 140a are centered as described later. It rotates about the axis C1 in the direction opposite to the input gears 220 and 130a. Therefore, it can be said that the rotation axis C3 is regulated by the stator 210 so as to revolve around the center axis C1.

On the other hand, when the rotor 160a rotates the input gears 220 and 130a, the rotor 160a has the same direction as the input gears 220 and 130a with respect to the carrier 110a, that is, the direction opposite to the carrier 110a, as in the speed reducer 100 of the first embodiment. Rotate to. As described above, since the rotor 160a rotates in the direction opposite to the rotation axis C3 of the carrier 110a and the transmission gears 230 and 140a, the speed reducer 200 of the second embodiment is larger than the speed reducer 100 of the first embodiment. Power can be transmitted at a reduction ratio.

In the second embodiment, as shown in FIG. 7, the input side input gear 220 and the input side transmission gear 230 are arranged on the input side (stator 210 side) of the carrier 110a, and the output side (rotor 160a) of the carrier 110a is arranged. The output side input gear 130a and the output side transmission gear 140a are arranged on the side). However, as described above, the input side input gear 220 and the output side input gear 130a, and the input side transmission gear 230 and the output side transmission gear 140a rotate in synchronization with each other. Therefore, for either the input side or the output side, it is possible to omit the input gear and use a member (for example, a disk-shaped member) to which the regulation pin 240 or the transmission pin 150a can be attached instead of the transmission gear. be. In this case, since the number of meshing gears is reduced, it is possible to suppress a decrease in power transmission efficiency due to friction.

On the other hand, as shown in the second embodiment, if the input gears 220, 130a and the transmission gears 230, 140a are arranged on both the input side and the output side of the carrier 110a, the input gears 220, 130a and the transmission gears 230, 140a are arranged. The contact area between the input gears 220 and 130a can be widened to improve the transmission of torque from the input gears 220 and 130a to the transmission gears 230 and 140a. Further, by doing so, it is possible to further reduce the backlash as compared with the case where the input gears 220, 130a and the transmission gears 230, 140a are not arranged on both the input side and the output side of the carrier 110a. ..

B2. Reducer operation:
8 and 9 are explanatory views showing the operation of the speed reducer 200 (FIG. 7) of the second embodiment. FIG. 8 shows how the carrier 110a rotates, and FIG. 9 shows how the carrier 110a and the rotor 160a rotate. In FIGS. 8 and 9, the direction from the input side to the output side is indicated by a symbol with a cross in the circle (direction perpendicular to the paper surface from the front to the back of the paper) and a point at the center of the circle. It is represented by the attached symbol (direction perpendicular to the paper surface from the back side to the front side of the paper surface). Regarding the rotation angle of each part, the direction of the arrow surrounding these symbols, that is, clockwise when viewed from the output side, is positive, and counterclockwise when viewed from the output side is negative. Notated as a direction.

8 (a) and 8 (b) show temporal changes when power is input to the input shaft 120a to rotate the input gear 220 in this order. Note that FIG. 8 shows a state in which the input gear 220, the transmission gear 230, the regulation pin 240, and the outer wall portion 214 and the inner wall portion 216 constituting the stator 210 are viewed from the input side in the speed reducer 200. .. Further, in FIG. 8, for convenience, the carrier 110a itself is not shown, and the rotation of the carrier 110a is represented by the rotation (revolution) of the rotation axis C3 of the transmission gear 230.

As described above, by providing the outer wall portion 214 and the inner wall portion 216, a groove 219 is formed in the stator 210. The groove 219 is formed in a region swept by the regulation pin 240 when the center of the regulation pin 240 moves on the slip epitrochoid curve ES9 having a slip ratio N of 9. In this way, when the carrier 110a is fixed and the stator 210 can be rotated by setting the slip magnification N of the slip epitrochoid curve ES9 that defines the shape of the groove 219 to 9, the input gear 220 is rotated once. The stator 210 rotates 1/9 rotation (1 / N rotation) in the same direction as the input gear 220.

When power is input to the input shaft 120a and the input gear 220 is rotated as shown by the white arrow in FIG. 8, the transmission gear 230 that meshes with the input gear 220 rotates in the direction opposite to the rotation direction of the input gear 220. do. With the rotation of the transmission gear 230, the regulation pins 240 attached to the transmission gear 230 rotate about the rotation axis C3, respectively. Then, the regulation pin 240 is regulated by the groove 219 of the stator 210, so that the rotation shaft C3 of the carrier 110a and the transmission gear 230 rotates in the opposite direction to the input gear 220.

In the example of FIG. 8, when the input gear 220 is rotated by 80 ° from the initial state shown in FIG. 8A, as shown in FIG. 8B, the rotation shaft C3 of the carrier 110a and the transmission gear 230 becomes −. Rotate 10 °. Further, the transmission gear 230 rotates by −90 ° with respect to the carrier 110a and by −100 ° with respect to the stator 210.

FIG. 9A shows the input gear 220, the transmission gear 230, the regulation pin 240, and the outer wall portion 214 and the inner wall portion 216 constituting the stator 210 as viewed from the input side, as in FIG. FIG. 9B shows an input gear 130a, a transmission gear 140a, a transmission pin 150a, and a rotor 160a as viewed from the output side. Also in FIG. 9, for convenience, the illustration of the carrier 110a itself is omitted, and the rotation of the carrier 110a is represented by the rotation (revolution) of the rotation shaft C3 of the transmission gears 230 and 140a.

In the example of FIG. 9, the input gears 220 and 130a are rotated by 140 ° from the initial state shown in FIG. 8A. Therefore, as shown in FIG. 9, the rotation shaft C3 of the carrier 110a and the transmission gears 230 and 140a rotates by −17.5 °. Further, the transmission gears 230 and 140a rotate by -157.5 ° with respect to the carrier 110a and 175 ° with respect to the stator 210.

On the other hand, as shown in FIG. 9B, the shape of the groove 169a formed in the rotor 160a is defined by the slip epitrochoid curve ES7 having a slip magnification M of 7. Therefore, when the carrier 110a is used as a reference, the rotation of the rotor 160a is decelerated by the slip ratio M (7) with respect to the rotation of the transmission gear 140a, so that the rotor 160a rotates by 22.5 °. Therefore, the rotation angle of the rotor 160a with respect to the stator 210 is the rotation angle of the carrier 110a (-17.5 °) and the rotation angle of the rotor 160a with respect to the carrier 110a (22.5 °). It becomes 5 ° which added. As can be seen from this, the rotor 160a is decelerated and rotated at the reduction ratio 28 in the same direction as the input gears 220 and 130a.

As described above, in the speed reducer 200 (FIG. 7) of the second embodiment, the carrier 110a is accommodated in the groove 219 provided in the stator 210 by accommodating the regulation pin 240 attached to the input side transmission gear 230 into the input gear. It rotates in the direction opposite to 220 and 130a, that is, the rotation shaft C3 of the transmission gears 230 and 140a revolves in the direction opposite to the input gears 220 and 130a. On the other hand, the rotor 160a rotates in the direction opposite to the transmission gears 230, 140a, that is, in the same direction as the input gears 220, 130a, because the transmission gears 230, 140a rotate around the rotation axis C3. At this time, since the rotation of the rotor 160a with respect to the carrier 110a (rotation axis C3) and the revolution of the rotation axis C3 cancel each other out, the rotation of the rotor 160a with respect to the stator 210 is made slower, and the speed reducer 200 is used. The reduction ratio of can be made larger.

As shown in FIG. 7, even in the speed reducer 200 of the second embodiment, the transmission gears 230 and 140a are formed to be asymmetric with respect to the central axes C1 and C3 which are the centers of rotation. Pin mounting holes 238, 148a, regulation pin 240, transmission pin 150a, and grooves 219, 169a (or outer wall portions 214, 164a and inner wall portions 216) formed in the stator 210 and rotor 160a (or grooves 219, 169a). It is 166a). Since the weight of these asymmetrical portions is sufficiently small with respect to the weight of the entire rotating member in the speed reducer 200, the speed reducer 200 has high weight symmetry with respect to the central axes C1 and C3 of rotation as a whole. There is. Therefore, even with the speed reducer 200 of the second embodiment, it is possible to suppress the generation of vibration when the rotational power is decelerated and transmitted.

Further, in the speed reducer 200 of the second embodiment, the slip ratio M of the slip epitrochoid curve ES7 that defines the shape of the groove 169a of the rotor 160a is set to 7, and the slip epitrochoid curve ES9 that defines the shape of the groove 219 of the stator 210. Since the slip ratio N is set to 9, the reduction ratio is 28. However, if the slip ratios M and N (≠ M) of the slip epitrochoid curve are adjusted according to the required reduction ratio, the reduction ratio Can be adjusted more accurately.

Further, in the speed reducer 200 of the second embodiment, the number of teeth of the input gears 220 and 130a and the number of teeth of the transmission gears 230 and 140a are the same (20 pieces), but the number of teeth of the input gear and the teeth of the transmission gear are the same. The numbers do not necessarily have to be the same. Also in this case, as in the first embodiment, the reduction ratio of the speed reducer as a whole can be set more finely by appropriately adjusting the number of teeth of the input gear and the number of teeth of the transmission gear.

The reduction ratio by such a speed reducer can usually be calculated by using a tabulation method or the like. Specifically, as shown in Table 1 below, the input gear is rotated so as to offset the rotation of the stator when the input gear is rotated once with the carrier fixed and when the entire is glued. The rotation speed of each part of the input gear, the transmission gear, the carrier, the stator, and the rotor is calculated. Next, the rotation speed of each part in the speed reducer is calculated by adding the rotation speeds of each part under these two conditions. In Table 1, M, N, s, and p are the slip ratio of the slip epitrochoid curve that defines the shape of the groove of the rotor, the slip ratio of the slip epitrochoid curve that defines the shape of the groove of the stator, and the input, respectively. It represents the number of teeth of the gear and the number of teeth of the transmission gear.

After calculating the rotation speed of each part in this way, the reduced rotation speed Z of the entire speed reducer can be obtained by dividing the calculated rotation speed of the input gear by the rotation speed of the rotor. The reduction ratio Z thus obtained is expressed by the following equation (7).

As described above, also in the second embodiment, as in the first embodiment, it is possible to sufficiently increase the reduction ratio and suppress the vibration during power transmission in the speed reducer capable of reducing the thickness. .. Further, since the stator 210 and any one of the four regulation pins 240 are in constant contact with each other and the rotor 160a and any one of the four transmission pins 150a are in constant contact with each other, the stator 210 and the regulation pin 240 are always in contact with each other. And, almost no backlash occurs between the rotor 160a and the transmission pin 150a. Therefore, the backlash of the speed reducer 200 can be made equal to or less than the backlash of a general planetary gear reducer. Further, the second embodiment is preferable to the first embodiment in that the reduction ratio of the speed reducer 200 can be easily increased as described above. On the other hand, the first embodiment is preferable to the second embodiment in that the configuration of the speed reducer 100 becomes simpler.

C: Deformation example of groove shape:
10 and 11 are explanatory views showing a modified example of the groove formed in the rotor. Although the examples of FIGS. 10 and 11 show a modification of the groove shape based on the speed reducer 100 exemplified in the first embodiment, the same deformation is possible in the second embodiment. In FIGS. 10 and 11, the input gears 130b, 130c, 130d, 130e, the transmission gears 140b, 140c, 140d, 140e, the transmission pins 150b, 150c, 150d, 150e, and the rotors 160b, 160c, 160d, 160e are used. The appearance of the constituent outer wall portions 164b, 164c, 164d, 164e and the inner wall portions 166b, 166c, 166d, 166e as viewed from the output side is shown. Further, FIGS. 10 and 11 show a modification of the groove formed in the rotor, but when the groove is formed in the stator as in the speed reducer 200 exemplified in the second embodiment, the groove is formed in the stator. It is also possible to make the same deformation for the groove.

In FIG. 10A, as a first deformation example of the groove shape (groove shape deformation example 1), a groove 169b whose shape is defined by a sliding epitrochoid curve ES9 having a sliding magnification M of 9 is formed on the rotor 160b. It shows the situation. In the speed reducer 100 exemplified in the first embodiment, as described above, the slip magnification M of the slip epitrochoid curve defining the shape of the groove may be any integer of 2 or more. Therefore, as shown in FIG. 10A, it is also possible to use the rotor 160b in which the groove 169b defined by the slip epitrochoid curve ES9 having the slip magnification M of 9 is formed. In this case, the transmission pins 150b [1] and 150b [3] and the transmission pins 150b [2] and 150b [4] have opposite positional relationships with respect to the rotation axis C2 of the transmission gear 140b to which the transmission pins 150b [2] and 150b [4] are attached. There is. In this way, when the shape of the groove is changed, such as when the slip magnification M of the slip epitrochoid curve that defines the shape of the groove is changed, the position of the transmission pin with respect to the rotation axis C2 is appropriately adjusted.

In FIG. 10B, as a second deformation example of the groove shape (groove shape deformation example 2), a groove 169c whose shape is defined by a slip hypotrochoid curve HS9 having a slip magnification M of 9 is formed on the rotor 160c. It shows the situation. The slip hypotrochoid curve is generally defined as a locus drawn by a point in the moving circle when the moving circle is rolled while sliding along the inner circumference of the fixed circle. The closed curve represented by the following equation (8) is called a slip hypotrochoid curve having a slip magnification of M.

In the equation (8), r and a are the radius Rs of the reference circle of the input gear 130c, the radius Rp of the reference circle of the transmission gear 140c, and the transmission from the center point (rotation shaft C2) of the transmission gear 140c. Using the distance D to the center of the pin 150c, the value calculated by the above equation (6) is used.

Even in this case, since the rotor 160c and any one of the four transmission pins 150c are in constant contact with each other, there are four on both the outer wall portion 164c and the inner wall portion 166c regardless of the rotational state of the rotor 160c. Stress is applied from any of the transmission pins 150c, and power is transmitted from the transmission pin 150c to the rotor 160c. Further, in this case, the reduction ratio when power is transmitted from the transmission pin 150c to the rotor 160c is 9, which is the same as the slip ratio M.

As described above, by defining the shape of the groove 169c formed in the rotor 160c by the sliding hypotrochoid curve HS9, the overlapping portion of the region swept by the transmission pin 150c is made smaller than that defined by the sliding epitrochoid curve ES9. can do. Therefore, it is possible to increase the slip ratio M or make the transmission pin thicker. Therefore, by using the groove 169c whose shape is defined by the slip hypotrochoid curve HS9, it becomes easy to increase the reduction ratio or the torque that can be transmitted.

Both the slip epitrochoid curve and the slip hypotrochoid curve are loci drawn by points in the moving circle when the moving circle is rolled while sliding along the outer or inner circumference of the fixed circle. It can also be called a sliding circle trochoid curve. In addition, the locus (sliding epicycloid curve and slip hypocycloid curve) drawn when the distance from the center point of the moving circle of the point drawing the locus is the same as the radius of the moving circle is also included in the sliding circle trochoid curve. Is done.

In FIG. 11A, as a third deformation example of the groove shape (groove shape deformation example 3), a groove 169d whose shape is defined by a double-slip epitrochoid curve DES9 having a slip ratio M of 9 is formed on the rotor 160d. It shows how it was done. Here, the double slip epitrochoid curve DES9 is a state in which the slip epitrochoid curve ES9 [1] corresponding to the state where the rotation angle of the transmission pin 150d is 0 ° and the rotation angle of the transmission pin 150d are 180 °. It is a curve in which the slip epitrochoid curve ES9 [2] corresponding to the above is superimposed. The difference in the rotation angles of the transmission pins 150d corresponding to these two slip epitrochoid curves ES9 [1] and ES9 [2] is called a phase difference.

As shown in FIG. 11 (a), the groove 169d whose shape is defined by the double sliding epitrochoid curve DES9 is located in the groove 169b whose shape is defined by the sliding epitrochoid curve ES9 shown in FIG. 10 (a). It is formed by superimposing grooves 169b rotated at an angle (180 / M °) corresponding to the phase difference. In this case, as can be seen from FIG. 11A, the distance between the outer wall portion 164d and the double-slip epitrochoid curve DES9 and the distance between the inner wall portion 166d and the double-slip epitrochoid curve DES9 are both transmitted. Equal to the outer radius of pin 150d.

When the shape of the groove 169d is defined by the double sliding epitrochoid curve DES9, as shown in FIG. 11A, the transmission gear 140d has the transmission pins 150d [1] to 150d [1] to 150d [1] at the same positions as those in FIG. 10A. 4] and the transmission pins 150d [5] to 150d [8] arranged at positions rotated by the phase difference (180 °) can be attached. In this way, by defining the shape of the groove 169d with the double sliding epitrochoid curve DES9, the number of transmission pins 150d that contribute to the transmission of rotational power can be increased, so that the shape of the groove can be changed to a single epitrochoid. It is possible to further suppress fluctuations in the output torque and further reduce backlash as compared with the case specified by the curve.

Further, in FIG. 11A, as the double slip epitrochoid curve DES9, two slip epitrochoid curves ES9 [1] and ES9 [2] having a phase difference of 180 ° are superimposed. The phase difference between the two overlapping slip epitrochoid curves does not necessarily have to be 180 °. However, in order to suppress fluctuations in the output torque, it is preferable to set the phase difference to 180 °.

Further, in FIG. 11A, the shape of the groove 169d is defined by the double slip epitrochoid curve DES9 in which the two slip epitrochoid curves ES9 [1] and ES9 [2] are overlapped, but the shapes are overlapped. The number of slip epitrochoid curves does not necessarily have to be two. However, when the number of overlapping sliding epitrochoid curves, the thickness of the transmission pin, and the sliding magnification M of the sliding epitrochoid curve increase, the overlapping portions of the grooves (see the overlapping portion AD in FIG. 2) overlap. Therefore, the number of overlapping slip epitrochoid curves is appropriately set in consideration of the thickness of the transmission pin and the slip magnification M of the slip epitrochoid curves.

Regarding the first sliding epitrochoid curve ES9 [1], the inner surface of the outer wall portion 164d does not have a sliding epitrochoid outer parallel curve shape as a whole, but at least the first transmission pin 150d [ In the vicinity of 1], the inner surface of the outer wall portion 164d has a sliding epitrochoid outer parallel curve shape. Therefore, it can be said that the outer wall portion 164d also has an inner surface having a sliding epitrochoid outer parallel curve shape. Similarly, the outer surface of the inner wall portion 166d does not have a sliding epitrochoid inner parallel curve shape as a whole, but at least in the vicinity of the third transmission pin 150d [3], the outer surface of the inner wall portion 166d is formed. It has a parallel curve shape within the sliding epitrochoid. Therefore, it can be said that the inner wall portion 166d also has an outer surface having a parallel curve shape inside the sliding epitrochoid.

Further, as described above, the double slip epitrochoid curve DES9 is a curve obtained by superimposing two slip epitrochoid curves ES9 [1] and ES9 [2]. Therefore, the double slip epitrochoid curve DES9 can also be said to be a kind of slip epitrochoid curve. Therefore, it can be said that the distance between the inner surface of the outer wall portion 164d and the sliding epitrochoid curve and the distance between the outer surface of the inner wall portion 166d and the sliding epitrochoid curve are both equal to the outer radius of the transmission pin 150d. Can be done.

In FIG. 11B, as a fourth deformation example of the groove shape (groove shape deformation example 4), a groove 169e whose shape is defined by a double-slip hypotrochoid curve DHS9 having a slip ratio M of 9 is formed on the rotor 160e. It shows how it was done. In the groove shape modification 4 shown in FIG. 11B, two sliding hypochoid curves ES9 [1] and ES9 [2] are superposed to replace the double sliding epitrochoid curve DES9. It is the same as the groove shape modification example 3 except that the shape of the groove 169e is defined by the double-slip hypotrochoid curve DHS9 in which the trochoidal curves HS9 [1] and HS9 [2] are overlapped. Therefore, although detailed description is omitted here, even in the groove shape modification example 4, the number of transmission pins 150e that contribute to the transmission of rotational power can be increased, so that the groove shape is a single hypotrochoid curve. It is possible to further suppress fluctuations in the output torque and further reduce backlash as compared with the specified case.

As another modification of the groove shape, although not shown, it is also possible to omit either the outer wall portion or the inner wall portion constituting the rotor. Even in this case, since the other part of the rotor has a concave shape with respect to the remaining outer wall part or inner wall part, the rotor having the outer wall part or the inner wall part omitted has a concave concave portion (rotor concave portion). It can also be said that it is formed. Then, in the direction of the central axis C1, the transmission pin is in the recess, so that it can be said that the transmission pin is housed in the recess.

However, as shown in each of the above embodiments and the groove shape modification example 1, when the groove shape is defined by the slip epitrochoid curve, the slip magnification M of the slip epitrochoid curve and the rotation state of the rotor do not matter. It becomes easy to apply stress to the outer wall portion from any of the four transmission pins. Therefore, when either the outer wall portion or the inner wall portion is omitted from the rotor having a groove whose shape is defined by the slip epitrochoid curve, it is preferable to omit the inner wall portion and leave the outer wall portion.

On the other hand, as shown in the groove shape deformation example 3, when the shape of the groove is defined by a double slip epitrochoid curve or the like, the unevenness of the inner surface of the outer wall portion becomes small. Therefore, when either the outer wall portion or the inner wall portion is omitted from the rotor having a groove whose shape is defined by a double-slip epitrochoid curve or the like, it is preferable to omit the outer wall portion and leave the inner wall portion.

Further, as shown in the groove shape deformation example 2, when the groove shape is defined by the slip hypotrochoid curve, regardless of the slip magnification M of the slip hypotrochoid curve and the rotation state of the rotor, the four transmission pins It becomes easy to apply stress to the inner wall portion from any of them. Therefore, when either the outer wall portion or the inner wall portion is omitted from the rotor having a groove whose shape is defined by the slip hypotrochoid curve, it is preferable to omit the outer wall portion and leave the inner wall portion.

On the other hand, as shown in the groove shape deformation example 4, when the shape of the groove is defined by the double slip hypotrochoid curve or the like, the unevenness of the outer surface of the inner wall portion becomes small. Therefore, when either the outer wall portion or the inner wall portion is omitted from the rotor having a groove whose shape is defined by a double-slip hypotrochoid curve or the like, it is preferable to omit the inner wall portion and leave the outer wall portion.

D. Modification example:
The present invention is not limited to each of the above embodiments, and can be carried out in various embodiments without departing from the gist thereof, and for example, the following modifications are also possible.

D1. Modification 1: Modification 1:
In each of the above embodiments, the columnar transmission pins 150 and 150a are attached to the transmission gears 140 and 140a by being fitted into the pin mounting holes 148 and 148a, but the transmission pin and the transmission gear are integrally formed. Is also possible. Even in this case, it can be said that the transmission pin is attached to the transmission gear. When the transmission pins 150 and 150a and the transmission gears 140 and 140a are separately formed as in each of the above embodiments, the material of the transmission pins and the like are appropriately selected to prevent wear due to contact with the rotors 160 and 160a. It can be reduced or suppressed from biting into the rotors 160 and 160a. In this respect, it is preferable that the transmission pin and the transmission gear are formed separately. On the other hand, it is preferable that the transmission pin and the transmission gear are integrally formed in that the transmission pin can be attached to the position of the tooth of the transmission gear and the attachment position of the transmission pin can be changed more flexibly. Further, the regulation pin 240 in the second embodiment can be similarly modified.

D2. Modification 2:
In each of the above embodiments, the rotational power is input to the input shafts 120 and 120a, and the rotational power decelerated from the output shafts 170 and 170a is output. However, at least the input shafts 120 and 120a and the output shafts 170 and 170a are output. One can be omitted. When the input shafts 120 and 120a are omitted, for example, gears to which the transmission pins 150 and 150a are not attached are provided at the positions of the transmission gears 140 and 140a, and power is input to the input gears 130 and 130a via the gears. Just do it. Further, the input gear may function as a rotor of the motor, and the input gear may be directly and electromagnetically moved to input power to the input gear. Further, in the speed reducer 200 exemplified in the second embodiment, the input gear 220 and the transmission gear 230 on the input side may be similarly deformed. On the other hand, when the output shafts 170 and 170a are omitted, for example, the rotors 160 and 160a may be directly attached to the drive target.

D3. Modification 3:
In each of the above embodiments, the rotor 160, 160a is composed of the flat plate portion 162, 162a, the outer wall portion 164, 164a extending from the flat plate portion 162, 162a to the input side, and the inner wall portion 166, 166a. If the grooves 169, 169a or the recesses accommodating the transmission pins 150, 150a can be formed, the configuration of the rotor can be appropriately changed. For example, the outer wall portion 164, 164a and the inner wall portion 166, 166a can be fixed by a rod-shaped member so that the positional relationship between the outer wall portion 164, 164a and the inner wall portion 166, 166a can be kept constant. Also in this case, since the groove 169 is formed by the outer wall portions 164 and 164a and the inner wall portions 166 and 166a, the function as a speed reducer can be realized. Further, the stator 210 constituting the speed reducer 200 of the second embodiment can be similarly deformed.

D4. Modification 4:
In each of the above embodiments, the number K of the rotation axes C2 and C3 (that is, the number of the transmission gears 140, 140a, 230) is 4, but K can be any integer of 2 or more. However, depending on the size relationship between the input gear and the transmission gear, the adjacent transmission gears may interfere with each other. Therefore, the upper limit of K is determined by the relationship between the sizes of the input gear and the transmission gear, that is, the number of teeth of the input gear and the transmission gear. When the number of teeth of the input gears 130, 130a, 220 and the transmission gears 140, 140a, 230 are the same as in each of the above embodiments, the upper limit of K is 5.

Further, when the number K of the rotation shaft (that is, the number of transmission gears) and the slip ratios M and N of the slip epitrochoid curve defining the shape of the groove formed in the rotor and the stator are not relatively prime, the transmission pin and the slip. Depending on the positional relationship of the epitrochoid curve, the rotation direction when the rotation of the rotor or carrier starts may not be uniquely determined. Therefore, as in each of the above embodiments, it is preferable to set the number K of the rotation axis and the slip ratios M and N to be relatively prime.

Further, the number of teeth of the transmission gear is preferably a multiple of K when the number K of the transmission gear (that is, the number of rotation shafts) is an odd number, and the number K of the transmission gear is the same as in each of the above embodiments. In the case of an even number, it is preferably a multiple of 1/2 of K. In this way, in all of the K transmission gears, the relationship between the tooth position and the position where the transmission pin or the regulation pin is attached can be made the same. Therefore, since K transmission gears can be prepared using transmission gears having the same shape, a speed reducer can be manufactured more easily.

It should be noted that these deformations shown as the deformation example 4 can be similarly performed even when the deformation example of the groove shape is applied. Even in this case, the preferable numerical relationship between the number K of the rotation axis (that is, the number of transmission gears), the slip ratios M and N of the slip circle trochoid curve, and the number of teeth of the transmission gears is the same as these deformation modes. The same is true.

100, 200 ... Reducer 110, 210 ... Stator 110a ... Carrier 118, 118a, 218 ... Through hole 119, 119a ... Through hole 120, 120a ... Input shaft 129a ... Screw hole 130, 130a, 130b, 130c, 130d, 130e, 220 ... Input gear 132, 132a, 222 ... Tooth 139 ... Shaft fitting hole 139a, 229 ... Through hole 140, 140a, 140b, 140c, 140d, 140e, 230 ... Transmission gear 142, 142a, 232 ... Tooth 144 ... Holding shaft 148 , 148a, 238 ... Pin mounting holes 149 ... Shaft fitting holes 149a ... Through holes 150, 150a, 150b, 150c, 150d, 150e ... Transmission pins 160, 160a, 160b, 160c, 160d, 160e ... Rotors 162, 162a, 212 ... Flat plate portion 164, 164a, 164b, 164c, 164d, 164e, 214 ... Outer wall portion 166, 166a, 166b, 166c, 166d, 166e, 216 ... Inner wall portion 169, 169a, 169b, 169c, 169d, 169e, 219 ... Groove 170 , 170a ... Output shaft 239 ... Screw hole 240 ... Restriction pin C1, C2, C3 ... Central axis CF ... Fixed circle CR ... Dynamic circle DES9 ... Double slip epitrochoid curve DHS9 ... Double slip hypotrochoid curve ES2, ES7, ES9 ... Sliding epitrochoid curve HS9 ... Sliding hypotrochoid curve ET ... Epitrochoid curve LN ... Straight line O ... Origin P ... Point S164 ... Inner surface S166 ... Outer surface TS2 ... Sliding trochoid curve TT ... Trochoid curve

Claims (12)

It is a reducer that decelerates the input power and outputs it.
With the stator,
An input gear that is configured to rotate around an input shaft that is fixedly arranged with respect to the stator and to which power is input.
K transmission gears configured to rotate around each of the K rotation axes (K is an integer of 2 or more) fixedly arranged with respect to the stator by engaging with the input gear. When,
K transmission pins attached to each of the K transmission gears and having a cylindrical outer surface extending from the transmission gear to the opposite side of the stator,
A rotor formed with a recess for accommodating the K transmission pins, and
Equipped with
Each of the K transmission pins is attached at a position away from the rotation axis of the transmission gear.
In the recess , the distance from the sliding circle trochoid curve having a sliding magnification of M (M is an integer of 2 or more) about the input axis is equal to the outer radius of the transmission pin, and the plurality of transmission pins are formed. A groove having a contact surface of the transmission pin to be contacted, having a width equal to the outer diameter of the transmission pin .
Decelerator. It is a reducer that decelerates the input power and outputs it.
With the stator,
An input gear that is configured to rotate around an input shaft that is fixedly arranged with respect to the stator and to which power is input.
By meshing with the input gear, K (K is an integer of 2 or more) rotates around each of the rotation axes, and the revolution of the rotation axis with respect to the input shaft is regulated by the stator. Transmission gears and
Two transmission pins are attached to each of the K transmission gears, and a plurality of transmission pins having a cylindrical outer surface extending from the transmission gear to the opposite side of the stator.
A rotor having a concave rotor recess for accommodating the plurality of transmission pins, and a rotor.
Equipped with
Each of the plurality of transmission pins is attached at a position away from the rotation axis of the transmission gear.
In the rotor recess, the distance from the sliding circle trochoid curve having a sliding magnification of M (M is an integer of 2 or more) about the input axis is equal to the outer radius of the transmission pin, and the plurality of transmission pins are in contact with each other. Has a transmission pin contact surface,
Decelerator. The speed reducer according to claim 2, wherein the rotor recess is a groove whose width is equal to the outer diameter of the transmission pin. The speed reducer according to claim 2 or 3 , wherein the K rotation shafts are fixedly arranged with respect to the stator. The speed reducer according to any one of claims 1 to 4 , wherein the K and the M are relatively prime. It is a reducer that decelerates the input power and outputs it.
With the stator,
An input gear that is configured to rotate around an input shaft that is fixedly arranged with respect to the stator and to which power is input.
By meshing with the input gear, K (K is an integer of 2 or more) rotates around each of the rotation axes, and the revolution of the rotation axis with respect to the input shaft is regulated by the stator. Transmission gears and
A plurality of transmission pins having a cylindrical outer surface that is attached to each of the K transmission gears and extends from the transmission gear to the opposite side of the stator.
A plurality of regulation pins having a cylindrical outer surface that is attached to each of the K transmission gears and extends from the transmission gear toward the stator.
A rotor having a concave rotor recess for accommodating the plurality of transmission pins, and a rotor.
Equipped with
Each of the plurality of transmission pins and the plurality of regulation pins is attached at a position away from the rotation axis of the transmission gear.
In the rotor recess, the distance from the sliding circle trochoid curve having a sliding magnification of M (M is an integer of 2 or more) about the input axis is equal to the outer radius of the transmission pin, and the plurality of transmission pins are in contact with each other. Has a transmission pin contact surface to
The stator accommodates the plurality of regulation pins, and the distance from the slip circle trochoid curve having a slip ratio of N (N is an integer of 2 or more different from M) about the input axis is the regulation pin. A concave stator recess is formed that is equal to the outer radius of and has a regulatory pin contact surface with which the plurality of regulatory pins are in contact.
Decelerator. The speed reducer according to claim 6 , further
A carrier that rotatably holds the input gears and the K transmission gears is provided.
The input gear includes an input side input gear arranged on the stator side of the carrier and an output side input gear arranged on the rotor side of the carrier and having the same number of teeth as the input side input gear. Being done
Each of the K transmission gears is arranged on the rotor side of the carrier and the input side transmission gear arranged on the stator side of the carrier, and has the same number of teeth as the input side transmission gear. Consists of gears,
Decelerator. The speed reducer according to claim 6 or 7, wherein the rotor recess is a groove whose width is equal to the outer diameter of the transmission pin. The speed reducer according to any one of claims 6 to 8, wherein the stator recess is a groove having a width equal to the outer diameter of the regulation pin. The speed reducer according to any one of claims 6 to 9 , wherein the K and the M, and at least one of the K and the N are relatively prime. Claims 1 to 10 wherein the number of teeth of each of the K transmission gears is a multiple of the K when the K is an odd number, and a multiple of 1/2 of the K when the K is an even number. The reducer described in any of. The speed reducer according to any one of claims 1 to 11 , wherein the number of teeth of each of the K transmission gears is the same as the number of teeth of the input gear.

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