JPH10110793A - Series of geared motor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To use internal tooth gears completely in common and to practically provide compacting ability, in a the same subseries (frame number) as a wide range of an various kinds of speed change ratios are ensured, in a series of gear modes employing internal engagement planetary gear structure. SOLUTION: In the gear shifting part Mga of each geared motor belonging to subseries A, all internal tooth gears Ina are used in common and three kinds (m-kind) of types Mga1-Mga3 different in a difference between the numbers of teeth of internal and external tooth gears Ina and Exa from each other are prepared. Further, four kinds (n-kind) of auxiliary gear shifting parts Sga1-Sga4 of parallel axis gear structure different in a change gear ratio from each other are prepared in a manner to couple to each gear shifting part Mga. This constitution prepares 3×4 (m×n) kinds of change gear ratio variation while an internal tooth gears In are used in common. Subseries B, C...J having similar constitution and different in a combination size are prepared and one series is constituted.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a series of geared motors, and more particularly, to a series of geared motors constituted by a plurality of geared motors provided with a transmission portion having an internally meshing planetary gear structure.

[0002]

2. Description of the Related Art Conventionally, a first shaft, an external gear mounted eccentrically with respect to the first shaft via an eccentric body provided on the first shaft, and the external gear There is widely known an internally meshing planetary gear structure having an internal gear internally meshed with a second shaft connected to the external gear via means for transmitting only the rotation component of the external gear. Have been.

FIGS. 19 and 20 show specific examples of this structure.
Shown in In this example, the first shaft is used as an input shaft, the second shaft is used as an output shaft, and the internal gear is fixed to apply the above structure as a “reduction gear”.

The input shaft 1 has a predetermined phase difference (18 in this example).
The two eccentric bodies 3, 3 having an eccentric amount e at 0 °) are fitted. The two eccentric bodies 3, 3 are integrated. Two external gears Ex, Ex are mounted on the eccentric bodies 3, 3 via bearings 4, 4, respectively. A plurality of inner roller holes 6 are provided in the external gears Ex and Ex, and an inner pin 7 and an inner roller 8 are fitted therein.

The reason why the number of external gears Ex is two (double row) is mainly to increase transmission capacity, maintain strength, and maintain rotational balance.

[0006] On the outer periphery of the external gears Ex, Ex, external teeth 9 such as a trochoid tooth shape and an arc tooth shape are provided. The external teeth 9 are in internal mesh with an internal gear In fixed to the casing 12. Specifically, the internal teeth of the internal gear In have a structure in which the outer pin 11 is loosely fitted in the outer pin hole 13 and is easily rotated.

The inner pin 7 penetrating the external gears Ex, Ex is fixed or fitted to the flange portion 14 of the output shaft 2.

When the input shaft 1 makes one rotation, the eccentric bodies 3, 3 become 1
Rotate. By one rotation of the eccentric bodies 3, 3, the external gears Ex, Ex also try to oscillate around the input shaft 1, but the rotation is restricted by the internal gear In,
The external gears Ex and Ex almost only swing while being in contact with the internal gear In.

For example, if the number of teeth of the external gears Ex and Ex is N and the number of teeth of the internal gear In is N + 1, the difference in the number of teeth is 1. Therefore, each time the input shaft 1 rotates, the external gears Ex and Ex become the internal gear I fixed to the casing 12.
n is shifted by one tooth (rotates).
This means that one rotation of the input shaft 1 has been reduced to -1 / N rotation (minus reverse rotation) of the external gear.

The rotation of the external gears Ex, Ex is absorbed by the gap between the inner roller hole 6 and the inner pin 7, and only the rotation component is transmitted to the output shaft 2 via the inner pin 7. You.

As a result, a very high speed reduction ratio of -1 / N is achieved with only one stage. For this reason, it is widely used as a speed change structure especially in a field where a demand for small size and light weight is high.

As a typical example of the use, there is a "geared motor" in which a motor is connected to the first shaft so as to be small and capable of obtaining a large output torque by itself. In this type of geared motor, product variations with various speed ratios and various fitting dimensions (capacities) are usually prepared as one “series” in consideration of user's convenience.

That is, as shown in FIG. 21, this type of geared motor series is composed of a set of subseries A, B, C,...

In the sub-series (frame number) A, the gear ratio is R
1 includes a geared motor Ga1, a geared motor Ga2 having a speed ratio R2, a geared motor Ga3 having a speed ratio R3... And a geared motor Gak having a speed ratio Rk (prepared as product variations). Here, the gear ratio R1 is the lowest gear ratio, and R2, R3.
.. And Rk is the highest gear ratio. A high gear ratio means that the denominator X is large when expressed in the form of 1 / X.

The geared motors Ga1 to Gak belonging to the subseries A have the same dimension La (synonymous with the capacity Ca) with respect to the other machine.
Accordingly, the geared motors Ga1 to Ga1 to
Gak is interchangeable in mounting.

The geared motor Gb1 having a speed ratio R1 and the geared motor Gb2 having a speed ratio R2...
k is prepared. The geared motors Gb1 to Gbk belonging to the sub-series B are different from the geared motors Ga1 to Gak belonging to the sub-series A in the capacity Cb (the coupling dimension Lb with respect to the counterpart machine). Therefore, when mounting, the geared motor Ga belonging to the sub-series A
1 to Gak and the geared motor Rb belonging to the subseries B
Although there is no compatibility between 1 to Gbk, the geared motors Gb1 to Gbk belonging to the sub-series B are compatible with each other in terms of mounting.

In this manner, the subseries (frame numbers) having different fitting dimensions with respect to the other machine are assembled by A, B,... J, and a total of (k × J) kinds of geared motors Ga1
Gak, Gb1 to Gbk,... Gj1 to Gjk constitute one "geared motor series".

In this description, for the sake of simplicity, each sub-series A, B,... J is provided with the same number of gear ratios (k kinds of gear ratios). As described above, the number (type) of the prepared gear ratios may be changed (increased or decreased) between the sub-series in which “amount” appears and the sub-series in which the “amount” does not appear.

The user can use the geared motors Ga1 to Gak, Gb1 to Gbk,.
• Any capacity from Gj1 to Gjk (subseries)
Select a geared motor with any transmission ratio, order this,
Alternatively, they may be purchased and used alone or as a component of another machine (eg, a logistics machine).

When a manufacturer intends to provide a series of various types of geared motors, it is necessary to prepare various sizes and speed ratio variations in the configuration described with reference to FIGS. Basically, it is necessary to prepare an internal gear and an external gear for each speed ratio in each subseries (size).

For example, the gear ratio is 1/6 to 1/119.
In a particular subseries that has
Approximately 15 types of speed ratios are prepared (k = 15) (to make the arrangement (setting) of the speed ratios practically convenient intervals).
In addition, sub-series (frame numbers) in which about 15 types of gear ratios are prepared as described above generally have to prepare 5 to 6 types, and in some cases, about 10 or more types (J).
= 5-15). Therefore, a huge number of types of internal gears and external gears are required for the entire series.

The internal gear and the external gear have special tooth shapes, and are the parts which require the most manufacturing cost and time in a geared motor employing this kind of internally meshing planetary gear structure. In particular, since the internal gear generally serves as a part of the casing of the geared motor, its size,
Very heavy in weight. Therefore, having to prepare many types of these places an extremely large burden on the manufacturer in terms of "inventory cost". As a result, this burden is also applied to the user as “product price”.

Conventionally, there has been known an improved geared motor of the series as shown in FIG. 22 in order to improve this kind of problem as much as possible.

In the geared motor according to this improved series, a sub-transmission portion Sg having a parallel shaft gear structure is connected to a stage preceding a transmission portion (main transmission portion) Mg having an internal meshing planetary gear structure as a main, and a transmission ratio of the transmission portion. Variations can be achieved.

This configuration is similar to that of the auxiliary transmission portion S provided at the preceding stage.
Since g is composed of an involute gear, there is an advantage that many types of subtransmission portions Sg can be easily manufactured at low cost with one type of tool. Therefore, the main transmission portion Mg of the internal meshing planetary gear structure is made one kind, and the total speed ratio is adjusted by variously changing the number of teeth of the pinion Sgp and the number of gears Sgg of the subtransmission portion Sg of the parallel shaft gear structure. In order to realize geared motors having various speed ratios, a configuration has been adopted.

That is, an improved series composed of a two-stage type geared motor having the main transmission section and the sub transmission section is as follows.
Utilizing the property of the auxiliary transmission portion Sg that a gear having a different number of teeth can be cut with a single tool as long as the module fits together (exchangeable tooth profile), a number of gear ratios are obtained in the auxiliary transmission portion Sg to form a series. The series was composed by the technical idea of doing.

[0027]

However, the method of obtaining many kinds of speed ratios by using the sub-transmission portion Sg has two major disadvantages.

The first problem is that many kinds of speed ratios are obtained by the subtransmission unit Sg. Therefore, the input shaft (output shaft of the motor) and the output shaft (input shaft of the main transmission unit) of the subtransmission unit Sg are not connected. Cannot be concentric, and as a result,
That is, the center of the motor and the main transmission portion is largely displaced. This is a disadvantage that is unacceptable for a geared motor that has a strong demand for compactness. or,
Even when the geared motor is stored in "stock" in a case, if the center of the transmission and the motor are displaced, the space occupied by one case becomes very large, increasing the stock cost.

If attention is paid only to "maintaining the shaft center coaxially while having a sub-transmission portion having a parallel shaft gear structure", for example, US Pat.
4 discloses an "inner meshing planetary gear structure".

In this internally meshing planetary gear structure, the rotation of the base shaft 25 is controlled by three gears Sgg via one pinion Sgp.
, And three shafts (three first shafts) 1 are synchronously rotated in the same direction, and the external gear Ex is passed through three eccentric bodies 3 arranged on the three shafts 1. It is designed to swing and rotate.

However, this structure is certainly "concentric"
Despite the advantage, the number of parts was large and the structure was too complicated, and it was not adopted as a basic structure for constructing a "series" in which "inventory cost" was the most important key point. At least, there has been no series of "geared motors" adopting this configuration as far as the applicants know.

On the other hand, the second disadvantage of the method of obtaining many kinds of speed ratios by the subtransmission portion Sg is that the speed ratio obtained by the subtransmission portion Sg is (a combination of a single-stage spur gear). There was a restriction). Specifically, the gear ratio obtained in the sub-transmission portion Sg is up to about 1/6 to 1/7, which is at most 1/3 to 1-7 in view of the balance of the entire geared motor.
This corresponds to about 1/4. Therefore, there is a problem that the total gear ratio obtained by the combination with the sub-transmission portion Sg can be at most about 3 to 4 times the "ratio between the lowest gear ratio and the highest gear ratio".

For example, when the gear ratio of the internally meshing planetary gear structure is 1/35, the sub-transmission portion Sg is changed from 1/1 to 1
The total speed ratio up to / 4 is (1/35) × (1 /
1) = 1/35 to (1/35) × (1/4) = 1/1
Only 40 were obtained.

Therefore, in order to obtain a wider speed ratio range by this improved series (series based on the structure of FIG. 22), the main transmission section M of the internally meshing planetary gear structure is required.
g is provided with several types of gear ratios, or the auxiliary transmission portion Sg is provided with only one pair of pinion Sgp and gear Sg.
Instead of using g, two pairs (two in this case, three in total) must be adopted.

However, obtaining several speed ratios in the main transmission portion Mg means that (at least conventionally) inevitably requires preparing several types of internal gears and external gears. Was meant. The reason is that the smaller the difference between the internal gear and the external gear is, that is, the maximum gear ratio can be obtained when it is 1,
In order to most efficiently obtain the advantage of adopting the internally meshing planetary gear structure, that is, the advantage of obtaining a large gear ratio with only one gear portion, the difference in the number of teeth should be "1". Is thought to have been dominated by the idea.

On the other hand, the fact that the sub-transmission portion Sg itself has two stages means that the device becomes larger, the weight increases, and the operating noise increases.

In particular, for a geared motor, there is an extremely high demand for reduction in size and weight of the user, and the use of two-stage (three-stage in total) sub-transmissions is based on the concept of "internal connection for the purpose of reduction in size and weight. It has a main transmission portion having a meshing planetary gear structure ".

From the above, the series configuration in which the auxiliary transmission portion Sg is connected to obtain a speed ratio variation can be obtained as long as several types of internal gears and external gears are not prepared with the conventional concept series. The geared motor has been adopted as an extremely special-purpose (small-scale) mini series due to problems such as a narrower range of speed ratios and loss of compactness. Has never been adopted as a method of serialization.

Although a series of geared motors using the intermeshed planetary gear structure has a history of several decades since it was put on the market in earnest, there are still (always) many types in the entire series. The fact was that internal gears and external gears were prepared.

The present invention has been made in view of such a problem of the conventional series of geared motors (using the internally meshing planetary gear structure), and is intended to reduce the width of the speed ratio obtained in the same subseries. While keeping the same large size as before, the most expensive internal gear in the same subseries is completely shared, and all gear ratios (within the same subseries) can be achieved with only one type of internal gear. And each geared motor provides a very compact series, thereby reducing the manufacturing cost of the whole series and the manufacturing time, and further reducing the inventory cost of the whole series. It is an object of the present invention to provide a series of geared motors that can be reduced.

[0041]

SUMMARY OF THE INVENTION The present invention relates to a speed change of an internally meshing planetary gear structure having a motor, an external gear which oscillates and rotates while being in contact with the internal gear via an internal gear and an eccentric body. And a series of geared motors comprising a plurality of geared motors comprising: a plurality of geared motors each having a different speed ratio from a low speed ratio to a high speed ratio, but having the same coupling dimensions to a partner machine. In the series of geared motors, which consist of a set of belonging subseries, the transmission section of each geared motor belonging to the same subseries has all the internal gears in common and the transmission section of each geared motor belonging to the same subseries. Is
There are m types of gears designed so that the difference between the number of teeth of the internal gear and the number of teeth of the external gear are different from each other. For each of the m types of transmission units of each geared motor belonging to the same sub-series, And n kinds of parallel shaft gear structure sub-transmission parts designed so that the gear ratios are different from each other are provided so as to be interposed, and m kinds of internally meshing planetary gear structure transmission parts having different tooth numbers are provided. And the auxiliary transmission portion having the n types of parallel shaft gear structure, m
Xn kinds of geared motors with speed ratio variations are prepared, and the sub-transmission portion of the parallel shaft gear structure is composed of a pinion provided on the shaft of the motor and a plurality of gears provided on the outer periphery of the pinion. The transmission unit having the internally meshing planetary gear structure is configured to swing and rotate the external gear through a plurality of eccentric bodies provided on axes of a plurality of gears of the auxiliary transmission unit. This solves the above problem.

[0042]

Embodiments of the present invention will be described below in detail with reference to the drawings.

As is apparent from the above description, a feature of the present invention is how to serialize this kind of geared motor having various sizes (capacities) and various speed ratios. . However, among the features of the present invention, the configuration of each geared motor constituting the series is inevitably involved. Therefore, first, the configuration of the geared motor constituting this series is shown in FIGS.
This will be briefly described with reference to FIG. This configuration is basically the same as in FIGS. 23 and 24 described above. However, some changes have been made to further streamline the "geared motor series".

A motor M is provided in the center of the casing 12.
The distal end of a base shaft (motor shaft) 25 driven to rotate by o is inserted. A pinion Sgp is provided on the base shaft 25, and three gears Sgg are meshed with the pinion Sgp to form a width change portion Sg.

The rotation of the three gears Sgg causes the three shafts (three first shafts) 1 to rotate synchronously in the same direction. On the three shafts 1, two (six in total) eccentric bodies 3 are attached.

On the other hand, the two external gears Ex
It has three eccentric body holes 27 and is fitted to the eccentric body 3 via the bearing 29. The two external gears Ex are sandwiched between a first support block 31 formed integrally with the output shaft 2 and a second support block 35 rotatably supported on the casing 12 via a bearing 33. It is arranged in such a way. The first and second support blocks 31, 35 are connected via a carrier pin 37. This carrier pin 37
Pass through a carrier pin hole 39 formed in the external gear Ex. The two external gears Ex are in internal mesh with the internal gear In, respectively. Internal gear In is casing 1
Also serves as part of 2.

Three shafts 1, eccentric body 3, external gear E
x, the internal gear In, the output shaft 2 and the like constitute a main transmission section Mg.

Next, the operation of this structure will be described.

When the main shaft (motor shaft) 25 rotates, the gear Sgg rotates at the same speed through the pinion Sgp at a reduced speed, and the three shafts (three first shafts) 1 are the same in the opposite direction to the main shaft 25. Spin at speed. Each of the three shafts 1 is provided with an eccentric body 3. When the eccentric bodies 3 rotate in the same direction and at the same speed, the external gear Ex is eccentric to the base shaft 25 via the bearing 29. Perform rocking rotation. Since the internal gear In also serves as a part of the casing 12 and is in a fixed state, the external gear Ex swings and rotates while being in contact with the internal gear In. In the illustrated example, the number of teeth of the external gear Ex is 58, the number of teeth of the internal gear In is 60, and the difference in the number of teeth is 2. Therefore, the shaft 1 is 1
Each time the external gear Ex rotates, the external gear Ex becomes 2 times relative to the internal gear In.
It will shift (rotate) by the amount of the teeth.

This “shift”, that is, the rotation of the external gear Ex is transmitted to the first and second support blocks 31 and 35 via the three shafts 1. The rotation component of the external gear Ex transmitted to each of the support blocks 31 and 35 is
Since 35 is integrated via the carrier pin 37, it is taken out from the output shaft 2 integrated with the first support block 31 as a resultant force.

As a result, when the three shafts 1 make one revolution, the output shaft 2 makes-/ 58 revolutions.

As a result, the speed is reduced by the ratio of the pinion Sgp to the gear Sgg in the subtransmission Sg, and the main transmission Mg
In (2), this is further reduced by 2/58 (when the difference in the number of teeth is 2). In addition, since the rotation direction is reversed at the sub transmission portion Sg and further reversed at the main transmission portion Mg, the rotation in the same direction as the base shaft 25 which is the output shaft of the motor Mo is output as a result.

Here, when the difference between the number of teeth of the internal gear In and the number of teeth of the external gear Ex is X, the "shift" of the external gear Ex, that is, the rotation of the external gear Ex is caused when the three shafts 1 make one rotation. Since it is X times that in the case of the number difference 1, the resulting reduction ratio is X / N. Therefore, even if the internal gear In is common, only the number of the external gears Ex (m types) is prepared by the number of types of the difference in the number of teeth.
Thus, the type of the main transmission portion Mg is obtained.

Accordingly, by preparing n types of combinations of the pinion Sgp and the gear Sgg in the auxiliary transmission portion Sg, a geared motor having m × n types of speed ratio variations can be obtained as a result.

Since this is a major feature of the series according to the present invention, it will be described in detail below.

The series of the geared motor according to the present invention includes:
The basic configuration of being composed of a set of subseries is the same as the conventional configuration. That is, as shown in FIG. 21, the series according to this embodiment also includes subseries A, B, and C.
.. Are composed of a set of J.

Geared motor Ga belonging to subseries A
1, Ga2... Gak have the same capacity Ca,
That is, the connection dimension La with respect to the counterpart machine is the same, and the gear ratios are set to Ra1, Ra2,...

Similarly, the geared motors Gb1, Gb2,.
b are the same, that is, the fitting dimension Lb with the other machine is the same, and the speed ratios are set to Rb1, Rb2,.

Exactly the same configuration is adopted for the sub series C and thereafter.

Hereinafter, the configuration of the sub-series A will be described in detail with reference to FIGS.

In FIG. 1 to FIG.
= 3, n = 4, and k = m × n = 12.

The twelve geared motors Ga (Ga1, Ga2,... Ga12) belonging to the subseries A have an internal gear Ina and an external gear Exa as their main transmission portions Mga.
(Exa1, Exa2, Exa3) are three types (m = 3) of types (M = 3) set so that the difference in the number of teeth is different from each other.
ga1, Mga2, and Mga3) are prepared.

On the other hand, as described above, for the three types of transmission portions Mga1, Mga2, and Mga3, there are four types (n = 4) of sub-shafts of the parallel shaft gear structure which are set so that the transmission ratios are different from each other. The transmission section Sga (Sga1, Sga2,
.. Sga4) are provided so as to be interposed between the motor Mo.

The axis of each of the sub-transmission portions Sga is completely coincident with the motor Mo and the main transmission Mga. This is one of the major features of this series of geared motors.

In the subseries A, 3 × 4 = 12 kinds of sub-transmission parts Sga having three kinds of internal gear meshing planetary gear structures having different numbers of teeth and a sub-transmission part Sga having four kinds of parallel shaft gear structures. , And Ga12 are prepared. That is,
k = 3 × 4 = 12. This is another major feature of this series of geared motors.

Main transmission section Mga of 12 geared motors Ga1, Ga2,..., Ga12 belonging to subseries A
Has three common internal gears Ina (although three types are prepared).

In order to obtain several kinds of speed ratios in the main transmission section in this type of conventional series, as described above, the difference in the number of teeth between the internal gear and the external gear is all one.
It was considered common sense to set. The reason is that the smaller the difference between the internal gear and the external gear is, that is, the maximum gear ratio can be obtained when it is 1,
In order to most efficiently obtain the advantage of adopting the internally meshing planetary gear structure, that is, the advantage of obtaining a large gear ratio with only one gear portion, the difference in the number of teeth should be "1". Is thought to have been dominated by the idea.

However, in the series according to this embodiment, the conventional common sense is drastically reviewed, and in the subseries A, the difference between the number of teeth of the internal gear Ina and the number of teeth of the external gear Exa is made different. Various kinds (three kinds) of speed ratios Rma1, Rma2, R
ma3 is realized.

An internally meshing planetary gear structure in which the difference in the number of teeth between the internal gear and the external gear is other than 1 is known per se. Assuming that the gear ratio (reduction ratio) obtained by the internal meshing planetary gear structure having a tooth number difference of 1 is 1 / X, the gear number difference is 2 as described above.
.. Of the internally meshing planetary gear structures of 3... Are (basically) 2 / X, 3 / X,. this is,
The angle at which the external gear Ex rotates about the internal gear In twice per rotation of the input shaft (first shaft) is twice or three times, respectively.
It is because it becomes twice.

As is apparent from FIGS. 1 to 3, in this embodiment, three types of large speed ratio ranges are determined on the main speed change section Mga side in this way, and the sub speed change range is set within the (responsible) range. The gear ratio obtained comprehensively by the section Sga is further divided into four. That is, three types of speed ratios Rma1, Rma obtained in the main speed change section Mga.
ma2, Rma3, and four types of speed ratios Rsa1, Rsa2, Rsa3, Rsa obtained by the subtransmission portion Sag.
12 types of total gear ratio Ra
1 to Ra12 are obtained.

[0071]

Embodiment 1 A more specific embodiment is shown in FIG.

FIG. 4 shows an embodiment in which the number of teeth of the internal gear Ina (subseries A) is 60 and m = 4. As is apparent from FIG. 4, if the number of teeth of the external gear is, for example, 59, 58, 56, or 54 at this time, the difference in the number of teeth is 1, 2, 4, and 6 (m = 4).
And the speed change ratios (denominators) of the main speed change unit Mga are 60, 30, 15, and 10, respectively. Therefore, when this is multiplied by the gear ratio on the sub-transmission portion Sga side, these values 60, 3
Based on 0, 15, 10 and between (or 6
(0 or more) can easily be obtained. In addition, this one type of internal gear Ina and four types of external gears Exa (Exa1, Exa2, Exa3, Exa4)
) Are illustrated in FIGS. 5 to 8.

As is clear from the figure, in each case,
The number of teeth of the internal gear Ina is only one of 60, which is common.

[0074]

Embodiment 2 FIG. 9 shows that the number of teeth of the internal gear Ina is 100,
An example where m = 4 is also shown. In this case, four types of external gears Exa (Exa1, Exa2,
Exa3 and Exa4) are 99, 98 and 9 respectively.
When set to 6, or 92, the difference in the number of teeth is 1, 2, 4, and 8, respectively, and the main transmission portions Mga1, Mga2
, Mga3, and Mga4 have a gear ratio of 100, 50, 25, and 12.5, respectively.

As described above, when the difference in the number of teeth is set to a geometric series of 2, such as 1, 2, 4, and 8, the gear ratio Rma obtained in the main transmission section Mga can also be changed in geometric series. Therefore, the total speed ratio Ra obtained by the combination with the speed ratio Rsa of the auxiliary transmission portion Sga can be easily changed in a geometric series. Therefore, it is possible to obtain a series of geared motors that are extremely practical for setting the gear ratio. The internal gear Ina and the external gear Exa according to the second embodiment are specifically shown in FIGS. 10 to 13.

As is clear from the figure, in each case,
The number of teeth of the internal gear Ina is only one of 100, which is common.

[0077]

Third Embodiment On the other hand, FIG. 14 shows an example of a combination with the main transmission portion Mga when the speed ratio of the sub transmission portion Sga is variously changed.

As is apparent from the figure, various gear ratios can be obtained by changing the number of teeth of the pinion Sgap of the auxiliary transmission portion Sga and the number of teeth of the gear Sgag. It can be seen that a very large variety of total gear ratios can be obtained by combining with the section Mga.

In the actual configuration of the series, weight,
Considering the manufacturing cost, ease of manufacturing, noise performance, durability, etc., one of the gear ratios in the overlapping area (for example, the area indicated by α and β) is cut to change from the low gear ratio to the high gear ratio. Should be continuous.

As shown in FIGS. 15 to 17, in this embodiment, rotation of the base shaft 25 is received by three gears Sgg via one pinion Sgp, and three shafts (first shafts).
1 in the same direction, and the three shafts 2
The external gear Ex is configured to swing and rotate via three eccentric bodies 3 respectively arranged on the external gear 03.

Since the base shaft 25 and the output shaft 2 of the main transmission portion Mg can be kept concentric while having the sub transmission portion Sg, the compactness is achieved especially when the product is commercialized as a series of geared motors. This is very advantageous in that the performance can be improved.

As described above, in this configuration, as described above, there was no concept of sharing the internal gear, and although the advantages were recognized, when the geared motor having the configuration was developed as a “series”, the number of individual parts was reduced. In reality, it was not adopted as the base structure of the “series”. However, according to the present invention, since the internal gear can be shared, it can be used as the base structure of the “series”, and the inherent advantages of the structure can be realized by the series geared motor (at any speed ratio and at any speed). Size).

The specific structure of the geared motor constituting the series according to the present invention is not limited to the examples shown in FIGS. For example, the bearing structure may be changed as shown in FIG. Thereby, the rigidity can be further enhanced.

[0084]

As described above, according to the present invention,
While maintaining the same wide and fine (multiple types) gear ratios as before, only one type of internal gear can be used in the same subseries, which is one of the geared motors in the entire series. An excellent effect is obtained that one can be manufactured very easily and in a short time, and the manufacturing cost and inventory cost can be drastically reduced. In addition, there is a great effect that compactness, which is one of the biggest problems as a series geared motor, can be realized.

[Brief description of the drawings]

FIG. 1 is a table showing a configuration example of a subseries A according to an embodiment of a series to which the present invention is applied.

FIG. 2 is an explanatory diagram showing an example of a combination of a main transmission unit and an auxiliary transmission unit that also form a sub-series A;

FIG. 3 is a table showing an example of combinations of speed ratios obtained by a main transmission unit and an auxiliary transmission unit.

FIG. 4 is a table showing an example of a speed change ratio of a main speed change portion obtained when the number of teeth of the internal gear is 60;

FIG. 5 is a diagram specifically illustrating an internal gear and an external gear for obtaining a gear ratio of 1/60 in the table of FIG. 4;

6 is a diagram specifically illustrating an internal gear and an external gear for obtaining a gear ratio of 1/30 in the table of FIG. 4;

FIG. 7 is a diagram specifically showing an internal gear and an external gear for obtaining a gear ratio 1/15 in the table of FIG. 4;

FIG. 8 is a diagram specifically illustrating an internal gear and an external gear for obtaining a gear ratio of 1/10 in the table of FIG. 4;

FIG. 9 is a table showing an example of a gear ratio of a main transmission unit obtained when the number of teeth of an internal gear is set to 100;

10 is a diagram specifically illustrating an internal gear and an external gear for obtaining a gear ratio of 1/100 in the table of FIG. 9;

11 is a diagram specifically illustrating an internal gear and an external gear for obtaining a gear ratio of 1/50 in the table of FIG. 9;

12 is a diagram specifically showing an internal gear and an external gear for obtaining a gear ratio 1/25 in the table of FIG. 9;

FIG. 13 is a diagram specifically illustrating an internal gear and an external gear for obtaining a gear ratio 1 / 12.5 in the graph of FIG. 9;

FIG. 14 is a graph showing an example of (a denominator) of a gear ratio specifically obtained by a combination of a sub transmission section and a main transmission section.

FIG. 15 is a sectional view showing an example of a geared motor structure for constituting a series according to the present invention;

16 is a sectional view taken along the line XVI-XVI of FIG.

17 is an enlarged sectional view taken along the line XVII-XVII in FIG.

FIG. 18 is a sectional view showing another example of the structure of a geared motor for forming a series of geared motors according to the present invention.

FIG. 19 is a sectional view showing a structural example of a conventional geared motor having an internally meshing planetary gear structure.

20 is a sectional view taken along the line XX-XX in FIG.

FIG. 21 is a graph showing a configuration example of a series of geared motors employing a conventional internal meshing planetary gear structure.

FIG. 22 is a sectional view corresponding to FIG. 18 showing an example in which a geared motor belonging to the conventional geared motor series is improved in order to improve the series.

FIG. 23 is a cross-sectional view showing an example of an internally meshing planetary gear structure having a subtransmission portion.

24 is a sectional view taken along the line XXIV-XXIV of FIG. 23;

[Explanation of symbols]

In: Internal gear Ina: Internal gear of subseries A Ex: External gear Exa: External gear of subseries A Mg: Main transmission section Mga: Main transmission section of subseries A Sg: Sub transmission section Sga: Sub .. Rk... Total speed ratios Ra1, Ra2,... Rak... Subseries A total speed ratios Rm1, Rm2, Rm3... Main speed changer ratios Rma1, Rma2,. Rma3: Gear ratio of main transmission section of subseries A Rs1 to Rs4: Gear ratio of subtransmission section Rsa1 to Rsa4: Gear ratio of subtransmission section of subseries A

Claims (2)

[Claims] 1. A plurality of transmission units having a motor and an internal gear planetary gear structure having an external gear that swings and rotates while being in contact with the internal gear via an internal gear and an eccentric body. This is a series of geared motors composed of geared motors.The gear ratio is different from the low speed ratio to the high speed ratio. In the series of geared motors, the transmission section of each geared motor belonging to the same subseries has all the internal gears in common, and the transmission section of each geared motor belonging to the same subseries has an internal gear and an external gear. There are m types of gears designed so that the difference in the number of teeth of the tooth gears is different from each other, and m types of each geared motor belonging to the same subseries And n types of auxiliary transmission parts having a parallel shaft gear structure designed to have different gear ratios between the motor and the motor, and m types having different tooth numbers are provided. The geared motor having m × n kinds of speed ratio variations in the same subseries is prepared by the transmission portion having the internal meshing planetary gear structure and the subtransmission portion having the n kinds of parallel shaft gear structures. The auxiliary transmission portion of the shaft gear structure includes a pinion provided on the shaft of the motor, and a plurality of gears provided on the outer periphery of the pinion, and the transmission portion of the internally meshing planetary gear structure includes the auxiliary transmission portion. A series of geared motors, wherein the external gear is configured to swing and rotate via a plurality of eccentric bodies provided on shafts of a plurality of gears of the unit. 2. The m-types according to claim 1, wherein the difference between the number of teeth of the internal gear and the number of teeth of the external gear are different from each other, such that the difference between the numbers of teeth is a geometric series. A series of geared motors characterized by being designed.