JPH11315892A - Coriolis motion gear device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a speed change gear which can obtain a reduction gear ratio for a wide range, and also high in efficiency. SOLUTION: When the rotational movement of an input shaft 1 is to be transmitted to a first output shaft 21 or a second output shaft 22, the speed reduction operation is carried out in two steps by means of a first and a second gear A1 and A2 , and a third and a fourth gear A3 and A4 . When the first output shaft is kept irrotational by operating the first clutch 71 of a clutch means 7, a first bevel gear A1 is turned out to be a fixed gear. The second output shaft 22 in which a fourth bevel gear A4 is fixed, is selected as an actually rotating shaft. When the second output shaft 22 is kept irrotational with respect to a housing 6 with a second clutch 72 actuated, the fourth bevel gear A4 is turned out to be a fixed gear. The first output shaft 21 in which the first bevel gear A1 is fixed, is selected as an actually rotating output shaft. Besides, when a directly connected clutch 70 is actuated, the first output shaft 21 can be driven at the revolutions identical to the revolutions of the input shaft 1.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a multi-stage speed reducer using a Coriolis motion gear device.

[0002]

2. Description of the Related Art Conventionally, a reduction gear equipped with a planetary gear train has a structure in which an input shaft and an output shaft can be made concentric, and a fixed sun gear (or a planetary arm) is appropriately braked so that the output shaft is shifted from the input shaft to the output shaft. When transmitting power to a vehicle, it has features such as being able to produce both an intermittent (i.e., a clutch action) and a shift action, and is widely used in automatic transmissions of automobiles and the like.

[0003]

However, the conventional reduction gear having the planetary gear train has the following problems. For one thing, in the so-called single planetary gear set,
The limit is to obtain a reduction ratio of 1/6, and to obtain a reduction ratio higher than that, it is necessary to use a so-called compound planetary gear train. However, a compound planetary gear train requires high processing accuracy and assembly accuracy of parts, and an increase in the number of parts is inevitable with respect to a single planetary gear device.
Larger size, increased weight, increased cost, etc. Moreover, in the case of a general planetary gear train using an involute gear, backlash is indispensable,
This backlash exerts an adverse effect on an actuator that requires precise positioning, which hinders an improvement in positioning accuracy. Further, considering the transmission efficiency, the efficiency is η = 0.8 in the conventional single planetary gear train, and in the case of the double planetary gear train, the efficiency η = 0.8 × 0.
8 = 0.64.

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and has as its object to reduce the size, weight, and cost of a reduction gear with a wide range of reduction ratio and high efficiency. Is to get

[0005]

According to a first aspect of the present invention, there is provided a Coriolis motion gear device for solving the above problems.
The first gear tooth number n _1, to match the respective axis of the fourth gear and the input shaft of the number of teeth n ₄ is disposed, integrally third gear of the second gear and the number of teeth n ₃ of the number of teeth n ₂ , The second gear meshes with the first gear, the third gear meshes with the fourth gear, and is pivotally supported by the inclined portion of the input shaft. Each of the pitch circles of the first and second gears The center point of a common sphere passing through
The axis of the input shaft is arranged on the X-axis of the XY coordinate system having the origin at the point where the center point of the common spherical surface passing through each pitch circle of the fourth gear coincides with the origin, and the first and second gears A Coriolis motion gear device in which a meshing point and a meshing point of the fourth and third gears are placed in the same quadrant or different quadrants of the XY coordinates, wherein each of the first gear and the fourth gear is a separate output shaft. And a clutch means for selecting one output shaft and holding it in a non-rotating state with respect to the housing of the gear device.

According to this configuration, the rotational motion of the input shaft is generated.
When transmitted to the force shaft, the first and second gears A₁ , A_Two When,
Third and fourth gears A_Three , A_Four Has a two-stage deceleration action
I do. Also, the first gear,
Either the output shaft to which the fourth gear is fixed is
If the gear is held against rotation, it will
The output shaft functions as a selected output shaft, and the first
-Number of teeth n of the fourth gear ₁ ~ N_Four With the number of rotations according to the setting of
Rotate. Moreover, the number of teeth n of each of the first to fourth gears₁ ~
n_Four Depending on the setting of the input shaft,
The rotation speed of the output shaft of the first gear and the rotation of the fourth gear
Output shaft speed can be set to a different value.
You.

In a Coriolis motion gear device according to a second aspect of the present invention, a plurality of gears having different numbers of teeth are provided concentrically on the rotating body as the third gear, and the number of teeth is set as the fourth gear. Are arranged concentrically, each of the plurality of fourth gears is fixed to a separate concentric output shaft, and one output shaft is selected to be non-rotating with respect to the housing of the gear device. And a clutch means for holding the clutch.

According to this configuration, by selecting one of the output shafts and holding it in the housing in a non-rotating manner,
Various reduction ratios obtained from the gear pair of the third gear and the fourth gear are selected. It is also possible to simultaneously rotate a plurality of output shafts at different rotation speeds.

Further, the Coriolis motion gear device according to a third aspect of the present invention is characterized in that it comprises a clutch means for holding the non-rotation between the output shaft to which the first gear is fixed and the input shaft. I do.

According to this configuration, when the first gear is held non-rotatably between the output shaft to which the first gear is fixed and the input shaft,
The relative rotation between the input shaft and the rotating body can be stopped. Then, the Coriolis motion of the rotating body does not occur, and the mesh point of the gear pair of the first and second gears and the gear pair of the third and fourth gears are fixed. Therefore, the selected output shaft can be rotated at the same rotation speed as the input shaft.

[0011]

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

First, a Coriolis motion gear device forming a part of the configuration of the present invention will be described below with reference to FIGS. 1, 2 and 3. As shown in FIG. 1, the Coriolis motion gear device includes first to fourth gears A as four gears having different numbers of teeth.
It has a ₁ ~A _4. Each gear is a bevel gear. Among them, the first gear A ₁ is integrally fixed to the housing 6,
This is a fixed gear that does not rotate. The second gear A ₂ and the third gear A ₃ are formed on a rotating body 3 that is supported by the input shaft 1. The fourth gear A ₄ is provided on the output shaft 2,
It is rotatably supported by the housing 6. Then, the first gear A ₁ and the second gear A ₂ , and the third gear A ₃ and the fourth gear A ₃
Gear A ₄ Togaotto people are engaged.

The rotating body 3 is supported by an inclined portion 1a which forms a predetermined angle with respect to the axis of the input shaft 1. The input shaft 1 itself is also rotatably supported by the housing 6. When the input shaft 1 rotates, the inclined portion 1a makes a motion of shaking the head, and the rotating body 3 supported by the tilted portion 1a makes a shaking motion like a frame just before stopping. This movement of the rotating body 3 is called Coriolis movement. Then, the rotating body 3 makes a Coriolis motion, thereby meshing the second gear A ₂ with the first gear A ₁ and the third gear A ₃ with the fourth gear A ₄ (FIG. 2A ), (B)). Then
The second gear A ₂ has one cycle of Coriolis motion (1 of the input shaft 1).
Rotation) per rotates relative amount corresponding first gear A ₁ which corresponds to the difference in the number of teeth between the first gear A _1. That is, the first gear A
_1, between the second gear A _2, 1 stage speed reduction is performed.

Here, the number of teeth of the first gear A ₁ is set to 100,
The number of gear A ₂ Consider the case of a 101. When the input shaft 1 rotates forward once, the second gear A ₂ is moved relative to the first gear A ₁ .
Rotates forward by 1/100. Also, the number of teeth of the first gear A ₁ is
Assuming that 100 and the number of teeth of the second gear A ₂ are 99, the first gear A ₁
On the other hand, the second gear A ₂ rotates reversely by 1/100. Movement of the second gear A ₂ is transmitted directly to the third gear A _3, also between the third gear A ₃ and the fourth gear A _4, performs the same engagement. Therefore, even between the third gear A ₃ and the fourth gear A ₄ ,
One-step deceleration is performed. That is, when the rotational motion of the input shaft 1 is transmitted to the output shaft 2, the first and second gears A ₁ ,
And A _2, in the third, and the fourth gear A _3, A _4, will undergo a reduction effect of the two stages.

The reduction ratio of the Coriolis motion gear device is R
Assuming that (the rotation speed of the output shaft 2 when the input shaft 1 makes one rotation), R = 1− (n ₄ × n ₂ ) / (n ₃ × n ₁ ) (i) where n ₁ : first gear a ₁ number of teeth n _2: the second gear a ₂ of the number of teeth n _3: the third gear a ₃ number of teeth n _4: can be obtained in the number of teeth of the fourth gear a _4. Here, n ₁ = 1000, n ₂ = 10
01, n ₃ = 1000, n ₄ = 999, reduction ratio R = 1/10
It becomes 0,000 (forward rotation). As described above, the Coriolis motion gear device can obtain a large reduction ratio with only four gears. In addition, the efficiency η ≧ 0.9 can be achieved.

Further, when the second gear A ₂ and the third gear A ₃ engage with the first gear A ₁ and the fourth gear A ₄ while performing the Coriolis movement, sliding occurs on each meshing surface. In order to prevent image sticking due to noise, vibration and heat generated by the sliding, as shown in FIGS. 1 and 3, the teeth of each gear are provided with a roller 4 and an inscribed surface 5 with the roller. I have. Specifically, as shown in FIG. 3, the first gear A ₁ (fourth gear A ₁ )
The roller 4 is floatingly supported on the inscribed surface 5 with the roller formed on the gear A ₄ ) to form a semi-cylindrical convex tooth. Also, the second
The gear A ₂ (third gear A ₃ ) is also formed with an inscribed surface 5 with the rollers, and has semicircular groove-shaped concave teeth. When the rotating body 3 makes a Coriolis motion in the direction shown by the arrow B, the second gear A ₂
The (third gear A ₃ ) moves in the direction shown by the arrow C and engages each concave tooth with the convex tooth. Then, the sliding generated between the concave teeth and the convex teeth is absorbed by the rotation of the rollers 4.
(The above is partially excerpted from NIKKEI MECHANICAL 1996.10.28 no.492 Paragraph 12 to Paragraph 13.) Therefore, it is not only unnecessary to set the backlash, but also to apply a preload between the gears to precisely engage It can be performed.

As described above, when the difference between the number of teeth of the first gear A ₁ and the number of teeth of the second gear A ₂ is 1, when the Coriolis motion advances by one cycle, the first gear A ₁ and the second gear A 2 Between gear A ₂
The meshing teeth are shifted by one. When the number of teeth is two, if the Coriolis motion advances by one cycle, the first gear A ₁ and the second gear A ₁
Between the gear A ₂ , _two meshing teeth are shifted. Similarly, if the difference in the number of teeth is n, the meshing teeth are shifted by n. The same applies to the relationship between the _third and fourth gears A ₃ and A ₄ .

Next, a method of obtaining the tooth profile of the Coriolis motion gear device shown in FIG. 1 will be described below. Here, FIG. 4 is a development view showing a method of obtaining the tooth profile of each bevel gear of the Coriolis motion gear device shown in FIG. 1, and FIG. 5 is an enlarged view of a main part thereof. Each bevel gear A ₁ , A ₂ , A ₃ , A ₄ is schematically shown by a pitch cone.

Here, the first bevel gear A ₁ , the second bevel gear A
₂ common spherical surface Cir1 passing through each pitch circle and the third bevel gear A
_3, consider a common spherical Cir2 through each pitch circle of the fourth bevel gear A _4. Then, the center points of the common spherical surfaces are made to coincide with each other, and the coincident point is set as a point O. Further, consider XY coordinates with the point O as the origin. Input axis 1 (FIG. 1) on the X axis of the XY coordinates
Is arranged. Further, the first and second bevel gears A ₁ and A ₂
Point engagement of the C _1, third, the engagement point of the fourth bevel gear A _3, A ₄ and C _2. Then, the engagement points C ₁ and C ₂
In the first and third quadrants or in the second and fourth quadrants.

The axis direction of the input shaft 1 and the inclined portion 1a
(FIG. 1) and the first gear A₁ Back cone and pi
Angle between the center of the₁ , The second bevel gear A_Two 
Angle between the spine of the back cone and the center line of the pitch cone is θ_Two Toss
Then, θ₁ + Θ_Two = Θ. Note that θ₁ , Θ_Two Nozomi
It is also possible to make one of the angles zero, in which case
, The bevel gear whose angle is zero is the crown gear. same
Thus, the third and fourth bevel gears A_Three , A_Four Back cone and each pi
The angle formed by the center of the notch cone is the third bevel gear A _Three Is θ
_Three , 4th bevel gear A_Four Is θ_Four And θ_Three + Θ_Four = Θ.

The number of teeth of each of the first to fourth bevel gears is n
₁ , N_Two , N_Three , N_Four And n₁ , N_TwoThe value of n_Three , N_Four 
Are different from each other. Here, the first to fourth umbrellas
Gear A ₁ ~ A_Four Apex O of each pitch cone₁ , O_Two , O
_Three , O_Four From the vertex D of each spine ₁ , D_Two , D_Three , D_Four 
Distance D to₁ O₁ , D_Two O_Two , D_Three O_Three , D_Four O_Four 
Is a cylindrical gear ER having a pitch circle radius₁ , ER_Two , ER
_Three , ER_Four think of. And formed on this pitch circle
Assuming an involute tooth profile or any tooth profile
This is the first to fourth bevel gears A₁ ~ A_Four Equivalent cylindrical gear
You. Here, the equivalent number of teeth of the equivalent cylindrical gear is Z₁ , Z_Two ,
Z_Three , Z_Four Then, Z₁ = N₁ / Sinθ₁ …… (ii) Z_Two = N_Two / Sinθ_Two …… (iii) Z_Three = N_Three / Sinθ_Three …… (iv) Z_Four = N_Four / Sinθ_Four ... (V).

In the equivalent cylindrical gear having the relationship obtained by the above formulas (ii) and (iii), an involute tooth profile or an arbitrary tooth profile is created by forming a contour tooth of the first bevel gear A ₁ with a cutter (FIG. Incidentally, if creating an equal height teeth, becomes also inevitably Toha thick tooth), further, to transfer the tooth-shaped to the second bevel gear a _2. The third and fourth bevel gears A ₃ and A ₄ are formed in the same manner. Furthermore, instead of the tooth profile of the above-mentioned contour tooth,
When the inscribed surface 5 with the rollers is formed, a tooth profile similar to that shown in FIG. 1 can be obtained. FIG. 1 shows a case where a roller 4 and an inscribed surface 5 with the roller are used as the tooth profile. The rollers used here include both cylindrical rollers and needle rollers.

As described above, the Coriolis motion gear device shown in FIG. 1 uses the meshing point C of the first and second bevel gears A ₁ and A _2.
1 and the meshing point of the third and fourth bevel gears A ₃ and A ₄ with C ₂
Are placed in the first and third quadrants or in the second and fourth quadrants, that is, when they are placed in different quadrants, the meshing points C ₁ and C ₂ are the same as each other. It is also possible to place it in the quadrant.

FIG. 6 is a cross-sectional view of a main part of the gear device as a modification of the Coriolis motion gear device shown in FIG. 1 when the meshing points C ₁ and C ₂ are placed in the same quadrant. I have. Note that FIG. 6 shows only parts different from the Coriolis motion gear device shown in FIG. The same or corresponding parts as those in the embodiment shown in FIG. 1 are denoted by the same reference numerals, and detailed description thereof will be omitted.

As shown in FIG. 6, the first bevel gear A ₁ is fixed to a part of the housing (indicated by reference numeral 6). The fourth bevel gear A ₄ is attached to the output shaft 2. The second and third bevel gears A ₂ and A ₃ provided on the rotating body 3 are provided on the same axial direction surface of the rotating body 3 (the left side surface of the rotating body 3 in FIG. 6). The input shaft 1 has the output shaft 2 hollow and the input shaft 1 penetrates the interior thereof. The input shaft 1 is also hollow, and the inside of the hollow is configured as a through passage 1b.

FIG. 7 is a developed view of the Coriolis motion gear device shown in FIG. FIG. 7 corresponds to FIG. 5 showing a development view of the Coriolis motion gear device shown in FIG. The method of obtaining the tooth profile of the Coriolis motion gear device shown in FIG. 6 is the same as that of the Coriolis motion gear device shown in FIG. 1, and is an overall view of a development view corresponding to FIG. Is omitted. As is clear from FIG. 7, the Coriolis motion gear device of FIG. 6 includes a meshing point C1 of the _first and second bevel gears A ₁ and A ₂ and a third and fourth bevel gear A.
Both the meshing points C ₂ of A ₃ and A ₄ are in the second quadrant (or third quadrant) of the XY coordinates, that is, in the same quadrant.

The Coriolis motion gear device shown in FIG.
Placing the fourth to fourth bevel gears on the same axial surface of the rotating body 3 makes it possible to reduce the axial size of the gear device with respect to the Coriolis motion gear device shown in FIG. Also,
It is easy to arrange the output shaft 2 so as to extend in the same direction as the input shaft 1. Therefore, there is an advantage that the applicable range of the Coriolis gear device capable of obtaining a large reduction ratio with only four gears can be expanded. Also, both the Coriolis motion gear device shown in FIGS. 1 and 6 can be configured as a helical gear. The present inventor discloses the details of the application to the helical gear in Japanese Patent Application No. 9-65410.

As described above, the Coriolis motion gear device is:
By determining the tooth profile of the gear based on the corresponding cylindrical gears of each bevel gear A ₁ to A _4, by a small respective bevel gears A ₁ to A ₄ of the pitch circle diameter than said phase equivalent cylindrical gear, the corresponding cylindrical gear meshing teeth The same number of meshing teeth as the number can be obtained. Therefore, the Coriolis motion gear device can transmit a large torque for its size. For example, if the Coriolis motion gear device is used for an actuator that uses an electric motor as a power source, it constitutes a small-sized, high-precision, high-output actuator. be able to.

FIG. 8 schematically shows a Coriolis motion gear device according to the first embodiment of the present invention.
This Coriolis gear device has first to fourth bevel gears A _{1 to} A having the same tooth shape as the Coriolis gear device shown in FIGS.
₄ is provided. In the following description, first to first
The number of teeth of the fourth bevel gears A _{1 to} A ₄ is n _{1 to} n ₄ , similarly to the Coriolis motion gear device shown in FIG. Further, FIG.
The Coriolis motion gear device shown in FIG.
An output shaft 22 is provided, each of which is concentric with the input shaft 1. A first bevel gear A ₁ is fixed to the first output shaft 21, and a fourth bevel gear A ₄ is fixed to the second output shaft 22.

Further, the Coriolis motion gear device shown in FIG. The clutch means 7 includes a first clutch 71 for holding the first output shaft 21 non-rotating with respect to the housing 6, a second clutch 72 for holding the second output shaft 22 non-rotating with respect to the housing 6, It has a direct coupling clutch 70 that holds the first output shaft 21 to the input shaft 1 in a non-rotating manner. Then, the clutch means 7 can select and operate any one of these three clutches.

The operation of the Coriolis motion gear device shown in FIG. 8 will be described below. First, by operating the first clutch 71 and the first output shaft 21 is held in a non-rotatable relative to the housing 6, the first bevel gear A ₁ is fixed wheel. The second output shaft 22 to the fourth bevel gear A ₄ is fixed, is selected as the output shaft actually rotate. Assuming that the reduction ratio of the Coriolis motion gear device at this time is R ₁ (the number of rotations of the output shaft 22 when the input shaft 1 makes one rotation), the same as the reduction ratio R of the Coriolis motion gear device shown in FIG. ₁ = 1− (n ₄ × n ₂ ) / (n ₃ × n ₁ ) (i)

Further, by operating the second clutch 72, the second
When the output shaft 22 is held non-rotating with respect to the housing 6,
Fourth bevel gear A ₄ is fixed wheel. The first output shaft 21 to the first bevel gear A ₁ is fixed, it is selected as the output shaft actually rotate. When the speed reduction ratio of the Coriolis motion gear device in this case the _{R 2, R 2 = 1- (} n 3 × n 1) / (n 4 × n 2) becomes ...... (vi).

Further, when the direct output clutch 21 is operated and the first output shaft 21 is kept non-rotating with respect to the input shaft 1, the input shaft 1
Is directly transmitted to the first output shaft 21. Therefore, the input shaft 1 and the first output shaft 21 rotate at the same rotation speed. By the way, in this state, no relative rotation occurs between the input shaft 1 and the first output shaft 21, so that the first bevel gear A ₁ fixed to the first output shaft 21 and the second 2 bevel gear A
_{The number 2} means that the same teeth rotate without moving the mesh point. Further, Coriolis motion does not occur in the rotating body 3. Therefore, the third member provided on the rotating body 3
Bevel gear A ₃ and fourth bevel gear A fixed to the second output shaft 22
_{The four} teeth also mesh with each other without moving the meshing point. Then, power transmission is performed only by the rotational transmission force in the circumferential direction from the teeth of the third bevel gear A _{3 to} the teeth of the fourth bevel gear A ₄ , and the second output shaft 22 is also connected to the input shaft 1.
It rotates at the same rotation speed as. At this time, the third bevel gear A ₃
And to prevent damage to the teeth caused by an excessive load is applied to the fourth tooth of the bevel gear A _4, and blocked by a clutch device (not shown) the power transmission between the load (not shown) and the second output shaft 22, the second It is desirable to make the rotation of the output shaft 22 free.

The operation and effect obtained from the first embodiment of the present invention having the above configuration are as follows. In the Coriolis motion gear device according to the first embodiment of the present invention, when the rotational motion of the input shaft 1 is transmitted to the first output shaft 21 or the second output shaft 22, the first and second gears A _{1 are used.} , A ₂ and the third and fourth
The gears A ₃ and A ₄ exhibit a two-stage deceleration action. Further, it is possible to select a reduction ratio over a wider range, which is impossible with a reduction gear having a conventional planetary gear train. Moreover, the number of parts is smaller than that of the conventional double planetary gear train (there are only four gears), and the trouble of adjusting the accuracy of each part is also reduced, so that the parts cost, the processing cost and the like can be reduced. In addition, high efficiency (η ≧ 0.9
) Is also easy to obtain. Further, the clutch means 7
When the first clutch 71 is operated, a reduction ratio R ₁ is obtained,
Operating the second clutch 72, the speed reduction ratio R ₂ is obtained. When the direct coupling clutch 70 is operated, the first output shaft 21
Can be driven at the same rotational speed as the input shaft 1. In addition, by appropriately controlling the operation timing of each of the clutches 70, 71, and 72, as in the case of the conventional reduction gear having a planetary gear train, the intermittent power (that is, the clutch action) and
Both effects of shifting can be produced.

Next, a Coriolis motion gear device according to a second embodiment of the present invention will be described. Here, the first
The same or corresponding portions as those of the Coriolis motion gear device according to the embodiment are denoted by the same reference numerals, and detailed description thereof will be omitted.

FIG. 9 shows a Coriolis motion gear device according to the second embodiment. FIG. 10 is a development view of the Coriolis motion gear device shown in FIG. In the present embodiment, bevel gears A ₃ and B ₃ having different numbers of teeth are provided concentrically on the rotating body 3 as equivalent to the third bevel gear in the first embodiment. Also, the first
A bevel gear A ₄ and a bevel gear B ₄ having different numbers of teeth are provided concentrically with respect to the input shaft 1 as equivalent to the fourth bevel gear in the embodiment. The engagement point C ₂ of bevel gears A _3, A _4, as shown in FIG. 9 is placed first, second bevel gear A _1, A ₂ of the engagement point C ₁ in the same quadrant (second quadrant) , The mesh point C ₃ of the bevel gears B ₃ and B ₄ is
Are located in the quadrant where the engagement point C ₁ different (fourth quadrant).

The vertices of the pitch cones of the bevel gears B ₃ and B ₄ are aligned on the origin O of the XY coordinates. In this case, the bevel gears B ₃ and B ₄ have the same pitch circle diameter,
The number of teeth n _B4 number of teeth n _B3 and bevel gear B ₄ of the bevel gear B ₃ are the same. For this reason, the gear pair composed of the bevel gears B ₃ and B ₄ does not produce a speed reduction action.

As shown in FIG. 9, the bevel gear B ₄ is
A third extending in a direction opposite to the first output shaft 21 and the second output shaft 22;
It is fixed to the output shaft 23. Further, clutch means 8 is provided. The clutch means 8 includes a third clutch 83 for holding the third output shaft 23 in a non-rotating manner with respect to the housing 6. In addition, it is desirable that each of the output shafts 21, 22, and 23 has a clutch device (not shown) for interrupting power transmission with a load (not shown).

Here, the Coriolis moving teeth shown in FIGS.
The operation of the car device will be described. First, actuate the first clutch 71
Then, the first output shaft 21 is non-rotated with respect to the housing 6.
When held, the first bevel gear A₁ Becomes a fixed gear. Soshi
And the fourth bevel gear A_Four Is the same as the fixed second output shaft 22
4th bevel gear B_Four Are fixed to the two outputs of the third output shaft 23.
The force axis is selected as the actual rotating output shaft. This and
And the reduction ratio R obtained from the second output shaft 22₁ And the third output
Reduction ratio R obtained from shaft 23_Three Is R₁ = 1− (n_Four × n_Two ) / (N_Three × n₁ ) …… (i) R_Three = 1− (n_B4× n_Two ) / (N_B3× n₁ ) = 1−n_Two / N₁ …… (vii) The output shafts 22 and 23 are connected to a load (not shown).
When equipped with a clutch device to cut off force transmission
Is determined by the presence or absence of operation of the clutch device. ₁ ,
R_Three Can be obtained as an output,
It can also be obtained as output.

Further, by operating the second clutch 72, the second
When the output shaft 22 is held non-rotating with respect to the housing 6,
4th bevel gear A_Four Becomes a fixed gear. And the first bevel gear
A₁Is fixed to the first output shaft 21 and the fourth bevel gear B_Four But solid
The two output shafts of the specified third output shaft 23 actually rotate.
Output shaft. At this time, from the first output shaft 21
Obtained reduction ratio R_Two And the deceleration obtained from the third output shaft 23
Ratio R_Three Is R_Two = 1− (n_Three × n₁ ) / (N_Four × n_Two ) …… (vi) R_Three = 1− (n_B3× n₁ ) / (N_B4× n_Two ) = 1−n₁ / N_Two ... (viii). The output shafts 21 and 23 are connected to a load (not shown).
When equipped with a clutch device to cut off force transmission
Is determined by the presence or absence of operation of the clutch device. _Two ,
R_Three Can be obtained as an output,
It can also be obtained as output.

Further, by operating the third clutch 83,
3 Holds the output shaft 23 non-rotatably with respect to the housing 6.
And the fourth bevel gear B_Four Becomes a fixed gear. And the first umbrella
Gear A ₁ Is fixed to the first output shaft 21 and the fourth bevel gear A_Four 
Are fixed, the two output shafts of the second output shaft 22 are actually
Selected as the output shaft to rotate. At this time, the first and second
Reduction ratio R obtained from output shafts 21 and 22_Two , R₁ Is R_Two = 1− (n_Three × n₁ ) / (N_Four × n_Two ) …… (vi) R₁ = 1− (n_Four × n_Two ) / (N_Three × n₁ ) (I). The output shafts 21 and 22 are connected to a load (not shown).
When equipped with a clutch device to cut off force transmission
Is determined by the presence or absence of operation of the clutch device. _Two ,
R₁ Can be obtained as an output,
It can also be obtained as output.

By operating the direct coupling clutch 70, the first
If the output shaft 21 is held non-rotatably on the input shaft 1, the rotation of the input shaft 1 is directly transmitted to the first output shaft as in the first embodiment.
It is transmitted to 21. Therefore, the input shaft 1 and the first output shaft 21
Rotate at the same rotation speed. At this time, the third bevel gear A
_In order to prevent breakage of the teeth due to excessive load applied to the teeth of the _third and third bevel gears A ₄ and B ₄ , the second output shaft 22 and the third output shaft 23 are connected to a load (not shown). The power transmission is interrupted by a clutch device (not shown),
It is desirable to make the rotation of the third output shaft 23 free.

As described above, in the second embodiment of the present invention, the bevel gears A ₃ and B ₃ having different numbers of teeth are provided concentrically on the rotating body 3 as the third bevel gear, and the fourth bevel gear is formed as the fourth bevel gear. Different numbers of bevel gears A ₄ and B ₄ are arranged concentrically and
₄ and B ₄ are fixed to the second output shaft 22 and the third output shaft 23 which are concentric. By selecting one of the output shafts by the clutch means 7 and 8 and holding the output shaft in a non-rotational manner with respect to the housing 6, more types of reduction ratios can be obtained as compared with the first embodiment. It becomes possible to select. The description of other operations and effects that are the same as those of the first embodiment will be omitted.

It should be noted that the number of gear pairs and the number of output shafts can be further increased based on the concept of the second embodiment of the present invention. FIG. 11 is an exploded view of a Coriolis moving tooth device having five gear pairs. In this case, the second
The engagement point C ₁ of the gear pair A _1, A ₂ into quadrants, gear pair A
_3, A and arranging the engagement point C ₂ of _4, the engagement point C ₃ of the fourth quadrant gear pair B _3, B _4, arranged with engagement point C ₅ gear pair B _7, B _8, the 1 quadrant gear pair B _5, B
It is arranged ₆ meshing point C ₄ of. Although not shown, the rotating body 3 has gears A ₃ and B as a third bevel gear.
_3, B _5, and B ₇ is provided concentrically, A a fourth bevel gear
₂ , B ₄ , B ₆ , B ₈ are arranged concentrically, and bevel gears A ₂ ,
Each of B ₄ , B ₆ , and B ₈ is fixed to first to fourth output shafts arranged concentrically with the input shaft. further,
As in the case of FIG. 9, by providing a clutch means capable of holding one of the output shafts non-rotatably with respect to the housing and holding the first output shaft and the input shaft non-rotatably, Can be selected.

[0045]

According to the present invention, the following effects are obtained. First, the Coriolis motion gear device according to claim 1 of the present invention is smaller, lighter, and lower in cost than a conventional reduction gear having a planetary gear train.
In addition, it is possible to obtain a reduction gear ratio over a wider range and to obtain a reduction gear with high efficiency.

According to the Coriolis motion gear device according to the second aspect of the present invention, by selecting one of the output shafts and holding the output shaft in the housing in a non-rotating manner, the third gear and the fourth gear are formed. It is possible to variously select the reduction ratio obtained from the gear pair. In addition, it is possible to simultaneously rotate a plurality of output shafts at different rotation speeds, and it is possible to provide a transmission that requires a multi-stage shift.

Further, according to the Coriolis motion gear device according to the third aspect of the present invention, it is possible to rotate the output shaft at the same rotational speed as the input shaft, thereby further expanding the range of the reduction ratio that the reduction gear can take. be able to.

[Brief description of the drawings]

FIG. 1 is a schematic sectional view of a Coriolis motion gear device.

FIG. 2 is a schematic sectional view showing an operation of the Coriolis motion gear device shown in FIG.

FIG. 3 is a schematic front view showing an operation of the Coriolis motion gear device shown in FIG. 1;

FIG. 4 is a development view of the Coriolis motion gear device shown in FIG. 1 as an equivalent spur gear.

FIG. 5 is an enlarged view of a main part of FIG. 4;

FIG. 6 is a sectional view of a main part showing an application example of the Coriolis motion gear device shown in FIG. 1;

FIG. 7 is a development view of the Coriolis motion gear device shown in FIG. 6 into an equivalent spur gear.

FIG. 8 is a schematic sectional view of the Coriolis motion gear device according to the first embodiment of the present invention.

FIG. 9 is a schematic sectional view of a Coriolis motion gear device according to a second embodiment of the present invention.

FIG. 10 is a development view of the Coriolis motion gear device shown in FIG. 9 into an equivalent spur gear.

FIG. 11 is a developed view showing an application example of the Coriolis motion gear device according to the second embodiment of the present invention.

[Explanation of symbols]

First input shaft 1a inclined portion 3 rotation body 6 housing 7 clutch means 21 first output shaft 22 and the second output shaft 71 first clutch 72 second clutch A ₁ first bevel gear A ₂ second bevel gear A ₃ third bevel gear A ₄ fourth bevel gear

Claims (3)

[Claims] 1. A first gear tooth number n _1, arranged to match the respective axis of the fourth gear and the input shaft of the number of teeth n _4, the number of teeth n ₂ of the second gear and the number of teeth n ₃ A rotator integrally provided with a third gear includes a second gear engaged with the first gear, and a third gear engaged with the fourth gear.
The input shaft is supported by the inclined portion of the input shaft so as to mesh with the gear, and passes through the center point of the common spherical surface passing through the pitch circles of the first and second gears and passing through the pitch circles of the third and fourth gears. The axis of the input shaft is arranged on the X-axis of the XY coordinate having the origin at the point where the center point of the common spherical surface coincides, and the mesh point of the first and second gears and the fourth and third gears What is claimed is: 1. A Coriolis motion gear device in which a meshing point is set in the same quadrant or a different quadrant of the XY coordinates, wherein each of the first gear and the fourth gear is fixed to a separate output shaft, and one output shaft is selected. And a clutch means for holding the housing of the gear device in a non-rotating manner with respect to a housing of the gear device. 2. A plurality of gears having different numbers of teeth are provided concentrically on the rotating body as the third gear, and a plurality of gears having different numbers of teeth are concentrically arranged as the fourth gear. And a clutch means for fixing each of the fourth gears to a separate concentric output shaft and selecting one of the output shafts and holding the output shaft non-rotatably with respect to a housing of the gear device. 2. The Coriolis motion gear device according to claim 1. 3. The Coriolis motion gear device according to claim 1, further comprising a clutch means for holding a non-rotation between an output shaft to which the first gear is fixed and the input shaft.