JPS61270537A - Reduction gear - Google Patents

Abstract

PURPOSE:To achieve high reduction ratio by further reducing the differentially reduced output through differential number of teeth of flexible gear and inner gear. CONSTITUTION:Outer ring 12 rotatable through differential output will cause driving of flexible gear 7 through rolling bearing 5. Since the flexible gear 7 and the inner gear 6 have different number of teeth, the flexible gear 7 will rotate by the difference of the number of teeth against the inner gear 6 thus to transmit the rotation of flexible gear 7 to the output shaft 9. Consequently, the output the speed of while is reduced through differential rolling planetary mechanism of low noise and high reduction ratio can be further reduced of speed through the flexible gear 7 and the inner gear 6 gearing with the flexible section, resulting in considerable reduction ratio.

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field 1] The present invention relates to a reduction gear, and particularly to a reduction gear of a differential type using a rolling planetary mechanism and having a large reduction ratio.

[Background technology] Reduction gears with a fixed reduction ratio and a large value include the 3-type planetary tooth M1 iso structure and the harmonized IJIHP.
There is one that uses a flexure gear known as a harmonic speed changer. However, since these use gears, they have a problem in that they make a lot of noise during operation. Here, as shown in Japanese Patent Application Laid-Open No. 58-152963,
A differential planetary mechanism using rolling planetary elements has low noise, and theoretically, by making the difference in diameter between the large diameter part and the small diameter part of the planetary element as close as possible, the reduction ratio can be made as large as possible. I'll figure it out. However, in reality, if settings are made to obtain a very large reduction ratio, the output torque will be too large compared to the input torque, causing slippage between the planetary element and the outer ring in which it is inscribed. The problem is that the power transmission efficiency deteriorates.
It has α.

[Objective of the Invention] The present invention has been made in view of the above points, and its purpose is to provide low noise and high power transmission efficiency, and to reduce the output of an extremely large reduction ratio to a relatively small one. We are here to provide you with a reducer that can be obtained in your own space.

[Disclosure of the Invention] Accordingly, the present invention provides a plurality of - rolling planetary elements disposed on the outer periphery of the input shaft and having a large diameter portion and a small diameter portion, and a plurality of rolling planetary elements that contact the input shaft in the floating V element. Driven in the deflection direction by a first outer ring in which the large diameter part is inscribed, a second outer ring in which the small diameter part of the planetary element is inscribed, and one outer ring of the two outer rings arranged concentrically with the input shaft. It consists of a flexible gear that meshes with the flexible part of the flexible gear and a gear that has a slightly different number of teeth than the flexible gear, and one of the flexible gear and the gear and the other outer ring are connected to each other in a rotational manner. The differential deceleration output due to the difference in diameter between the large diameter part and the small diameter part of the rolling planetary element is further reduced by the difference in the number of teeth between the flexural gear and the gear. It is designed to slow down the speed.

The present invention will be described in detail below based on the illustrated embodiment.A plurality of planetary rollers 2 are arranged around an input shaft 1 and held at equal intervals by a retainer 20, which is a carrier. Each N, J in contact with the outer peripheral surface of 1
The 'a roller 2 is inscribed in the inner peripheral surfaces of two outer rings 11 and 12 arranged concentrically with the input shaft 1. Here, each planetary roller 2 is provided with a large diameter part 21 and a small diameter part 22, the large diameter part 21 is in rolling contact with the input shaft 1 and the inner peripheral surface of the outer ring 11, and the small diameter g22 is in rolling contact with the inner peripheral surface of the outer ring 12. It rolls into contact with the surface.

The outer ring 11 is fixed to the base 3 fixed to the hounging 10 by spline connection or the like so as not to rotate.The outer ring 12 has a circular inner surface and an elliptical outer surface. A rolling bearing 5, also formed in an oval shape, is mounted on the outer surface. Further, on the outer periphery of this rolling bearing 5, a flexure gear 7 is disposed, which is formed by providing teeth on the outer periphery of the other end of a thin-walled cylindrical body 8 whose one end is connected to the output shaft 9. gear 7
An internal gear 6 formed on the inner peripheral surface of the base plate 3 is located on the outer periphery of the base plate 3 . The flexible gear 7 and the internal gear 6 mesh only in the part where the flexible gear 7 is bent by being pushed by the long diameter part of the elliptical outer ring 12 and the rolling bearing 5, and the flexible gear 7 and the internal gear ]116, the number of teeth is slightly different (in this case, an integral multiple of 2@). In addition, 15 in Fig. 1 is a thrust bearing, 1
6 is a radial bearing, 17 is a thrust spring, and 18 is a stop ring.

When the input shaft 1 is rotated, the planetary rollers 2 rotate on their own axis and revolve around the input shaft 1, but at this time, the revolution speed is the same as that of the fixed outer ring 11 and the planetary rollers 2 that roll into contact with the outer ring 11. The outer ring 12, which is regulated by the diameter part 21 and inscribed with the small diameter part 22 of the planetary roller 2, has a difference in diameter between the large diameter part 21 and the small diameter part 22 of the planetary roller 2, and =4-outer ring 11. A differential output due to the difference in inner diameter at .12 appears. The outer ring 12 rotates with this differential output.
The flexible gear 117 is driven via the rolling bearing 5, but this is done by bending the two parts of the flexible gear 2 in the radial direction and gradually shifting the part meshing with the internal gear 6 in the circumferential direction. This is the action of letting it go. At this time, the bending gear 7 and the internal gear 1
Since the number of teeth is different from that of 16, the flexible tooth 1117 rotates by the difference in the number of teeth with the internal gear 6 for each rotation of the outer ring 12, and the rotation of the flexible gear 7 is caused by the rotation of the output shaft 9. transmitted to.

The output reduced by the differential rolling planetary mechanism with a low noise and large reduction ratio is further reduced by the difference in the number of teeth between the flexible gear 7 and the internal gear 6 that meshes with the flexible part of the gear.
In addition to being able to obtain an extremely large reduction ratio, the drive of the flexure gear I#7 has already been greatly reduced, so the noise in the flexure gear 7 during operation is low, which poses a problem in terms of noise. There isn't. In addition, although the first stage deceleration is by a rolling planetary mechanism, the final deceleration is by gear meshing, so there is no problem of slippage caused by an excessively large torque difference between the output shaft 9 and the input shaft 1. .

Furthermore, if the diameter of the input shaft 1 is dl, the diameter of the large diameter portion 21 of the planetary roller 2 is d2, the diameter of the small diameter portion 22 is d3, the number of teeth of the flexible teeth 1417 is Zl, and the number of teeth of the internal gear 6 is Z2. , the reduction ratio, which is the ratio between the rotational speed Nin of the input shaft 1 and the rotational speed Nout of the output shaft 9, is as follows.

Furthermore, in this embodiment, among the internal gears 1t6 that mesh with the flexible gear 7, the internal gear 6 is fixed so as not to rotate, but the flexible gear 7 is fixed so as not to rotate. You may. In this case, the final deceleration output can be taken out from the internal gear 6. Furthermore, the bending gear 7 may be a face gear which is flexibly driven in the axial direction by the rotation of the outer ring 12, and a face gear may be used in place of the internal teeth $6.

[Effect of the invention 1 As described above, in the present invention, the differential deceleration output due to the difference in diameter between the large diameter part and the small diameter part of the rolling planetary element is further reduced by the difference in the number of teeth between the flexible tooth η1 and the gear. This is achieved by obtaining a very large reduction ratio, and the noise is low because the first stage reduction is by a rolling planetary element, and the final reduction is achieved by the meshing of gears. Because of this, there is no slippage even if the final output torque becomes extremely large, and in addition, since the outer ring in which the rolling planetary element is inscribed is the driving member of the flexible gear, there are two Although it is a combination of deceleration means, it is compact and exhibits high power transmission efficiency without any transmission loss between the two deceleration means.

[Brief explanation of drawings]

FIG. 1 is a longitudinal cross-sectional view of an embodiment of the present invention, and FIG. 2 is a cross-sectional view of the same, in which 1 is an input shaft, 2 is a planetary roller as a planetary element, 6 is an internal gear as a gear, and 7 is a cross-sectional view of the same embodiment. is a bending gear, 1
1. , 12 indicates an outer ring.

Claims (1)

[Claims] (1) A plurality of rolling planetary elements disposed on the outer periphery of the input shaft and having a large diameter portion and a small diameter portion, and a first planetary element in which the large diameter portion of the planetary element that contacts the input shaft is inscribed.
a second outer ring in which the small diameter portion of the planetary element is inscribed; a flexible gear driven in the bending direction by one of the outer rings arranged concentrically with the input shaft; It consists of a gear that meshes with the flexible portion and has a slightly different number of teeth than the flexible gear, and is characterized in that either one of the flexible gear and the gear and the other outer ring are prevented from rotating. reduction gear.