JPS6350578B2 - - Google Patents

Description

[Detailed description of the invention]

The present invention relates to a planetary gear system. For example, a planetary gear system has two central gears as sun gears having internal teeth with different numbers of teeth and forming a virtual tooth row with each other, and external teeth that mesh with the central gear and are driven by a cam plate. It has one planetary gear which is guided and driven. This type of planetary gear device is described in German Patent Specification No.
It is known from No. 929771. In the known planetary gear arrangement, the teeth of up to two planetary gears mesh with an imaginary tooth row. In planetary gearing, the usual involute tooth profile causes the meshing teeth to rotate relative to each other so that force transmission occurs only in the line of contact. In contrast, in the present invention, a) a larger torque can be transmitted even with devices of the same size, or b) if the transmitted torque is of the same order,
The size of the device can be reduced. In such a case, almost all of the teeth of the planetary gear mesh with the imaginary tooth grooves, that is, the tooth grooves, and engage in surface, ie, flat, abutment. In view of the state of the art, in which a wide variety of planetary gear systems are known, the applicant has proposed that they be of relatively simple construction, i.e. easily and relatively inexpensively manufactured, and that are particularly sophisticated in manufacture. The object of the present invention is to provide a planetary gear device that does not require high precision. A further object of the present invention is to provide a planetary gear system that can operate reliably in various fields of application, such as large and small gear reduction ratios, high and low rotational speeds, and large and small torques. do. The object, according to the invention, includes at least one pair of toothed sun gears, a planetary gear base and a zigzag-folded plate arranged to form a gap along the teeth of the pair of sun gears. a body, disposed in the gap on the circumferential surface of the planetary gear base separately from the base so as to be movable in the circumferential direction of the base, and having teeth meshing with the teeth of the sun gear; a planetary gear having a tooth member forming a toothed member; and a cam disc rotatable about an axis and operatively connected to the planetary gear base so as to guide and drive the planetary gear base, the pair of toothed suns being rotatable about an axis. The gears are approximately equal in pitch circle diameter, have different numbers of teeth, and mutually form a virtual tooth row, and each of the teeth of the pair of sun gears has a substantially triangular cross-sectional shape. , one of the virtual tooth rows has a tooth groove,
The tip of each tooth of the tooth member of the planetary gear is positioned on a closed virtual tooth row curve defined by the end of each tooth groove so that the tooth member of the planetary gear meshes with the virtual tooth row. and a rotation axis of the cam disk is arranged at the center of gravity of this virtual tooth bottom curve so as to change the meshing state of the tooth member of the planetary gear with the virtual tooth row by rotation of the cam disk, The teeth of the planetary gear teeth engage flatly on the flanks of an imaginary toothing, the pitch of the imaginary toothing is equal to the pitch of the planetary gear teeth, and each tooth of the toothing is , forming a space with a substantially triangular cross-sectional shape between it and the base,
This is achieved by a planetary gear arrangement characterized in that the tooth members abut against the base at each tooth groove. Therefore, in the present invention, it is possible to prevent torque from being transmitted to the planetary gear base, and in some cases, all the teeth of the planetary gear are virtual except for the teeth that are assumed to be the difference in the number of teeth of the central gear. Force transmission can be maintained by making surface contact with the tooth groove. Furthermore, the planetary gear arrangement according to the invention has the following advantages over known arrangements. : 1 The planetary gear system according to the invention is able to transmit significantly higher torques compared to known devices with the same dimensions and the same weight. 2. The resultant force of the forces acting on the individual teeth of the planetary gear tooth member is aligned perpendicular to the circumferential direction of the planetary gear. In this way, the following is achieved. a) the individual teeth of the planetary gear tooth members are independent of each other, b) the planetary gear base is not subject to appreciable stresses due to torque or bending loads, and c) is supported by the cam disc and has a virtual tooth row. The base and tooth members of the planetary gear can be formed to be deformable or elastic without having to be maintained in a meshing shape; therefore, in the present invention, the virtual tooth row has the shape of the base and the tooth member of the planetary gear. and, if the planet gear base and tooth members are flexible, the virtual tooth row defines or stamps the shape of the planet gear base and tooth members. 3. The planetary gear system according to the invention is not reversible but self-locking. Previously known devices were not reversible due to automatic detents and had high tooth friction and bearing friction, resulting in low efficiency; however, the device of the present invention has low efficiency. Based on kinematic principles (4th
(see figure legend) is reversible and at the same time has high efficiency. 4. The planetary gear system according to the invention comprises, on the one hand, a central gear with internal (or external) teeth and, on the other hand, as a separately arranged tooth member so as to be movable in the circumferential direction along the planetary gear base. Operates at a uniform rotational speed (no angular acceleration) with no play between the flanks of the teeth. 5 Planetary gearing is a single-stage structure suitable for gear reduction ratios between about 10 and 300. 6. The individual parts of the planetary gear arrangement according to the invention are mutually centered, ie "self-centering". 7 All these advantages are achieved by the planetary gear system of the invention which is of simple construction and can be easily manufactured. To achieve the above objects and to provide the above advantages, the present invention provides four structures or main embodiments based on the same kinematic principles. A. Two central gears having internal teeth with different numbers of internal teeth forming a virtual tooth row with each other, and external teeth as tooth members that mesh with the central gear and are guided and driven by a cam disk. and a planetary gear having a planetary gear base disposed so as to be movable in the circumferential direction along the tooth member, wherein substantially all of the teeth of the central gear and the planetary gears are It has a triangular cross section and a flank as a flat tooth surface, and the end of the tooth slot of each virtual tooth row is located on a closed curve (“virtual root curve”) whose center of gravity is located at the rotation axis of the cam disk. and each tooth tip of the planetary gear is positioned such that the external teeth of the planetary gear are in flat contact with the flanks of at least one row of imaginary tooth rows on both sides, and the pitch of the imaginary tooth row is the same as the tooth row of the planet gear. As a result, in extreme cases, all the teeth mesh to transmit force, except for the teeth corresponding to the difference in the number of teeth of the central gear. B In the structure of German Patent Specification No. 929771,
A cam disk is disposed within the cam disk, with planet gears surrounding the cam disk and a central gear surrounding the planet gears. However, in a second embodiment of the invention, a device is provided in which the cam disk driving the planetary gears is located on the outside and the planetary gears surround a central gearwheel which has external teeth instead of internal teeth.
German Patent Specification No. 929771 has two central gears having different numbers of teeth and forming an imaginary tooth row with each other, teeth meshing with the central gears, and a cam plate. This results in a planetary gear device that is guided and driven and has one planetary gear made of a planetary gear base and a tooth member arranged so as to be able to move separately in the circumferential direction of the base. This device is characterized as follows in order to achieve the purpose of the present invention. That is, a planetary gear with internal teeth as a tooth member surrounds a central gear with external teeth and is guided and driven from the outside by a cam disk, so that all the teeth have a substantially triangular cross section and a flat tooth surface. The end of the tooth groove of each virtual tooth row and each tooth tip of the planetary gear are located on a closed curve (“virtual root curve”) whose center of gravity is located on the rotation axis of the cam disc. However, as a result of the external teeth of the planetary gear contacting the flanks of at least one imaginary tooth row on both sides, and the pitch of the imaginary tooth row being equal to the pitch of the tooth row of the planetary gear, the extreme In this case, all the teeth are in mesh to transmit force, except for the teeth corresponding to the difference in the number of teeth of the central gear. C The spirit of the present invention described only with respect to two central gears in A) above is also applicable to any number of central gears. A central gear having internal teeth of different tooth lines forming a virtual tooth row with each other, and one planetary gear having external teeth meshing with the central gear and guided and driven by a cam plate. This type of planetary gear system is characterized according to the invention as follows. That is, two or more central gears are arranged one after the other on the same axis, and all the teeth have a substantially triangular cross section and a flank as a flat tooth surface,
The ends of the tooth slots of each virtual tooth row and the tips of each tooth of the planetary gear are located on a closed curve (“virtual root curve”) whose center of gravity is located on the rotation axis of the cam disc, and As a result of the teeth abutting face-to-face, ie flat, on both sides with the flanks of at least one imaginary tooth row and the pitch of the imaginary tooth row being equal to the pitch of the tooth row of the planetary gear, in the extreme case the central gear All teeth mesh to transmit force, except for teeth corresponding to the difference in the number of teeth. D. Finally, the spirit of the invention described in B) above only for a central gear with two external teeth is also
It is also applicable to any number of central gears surrounded by planetary gears with internal teeth and with external teeth. This type of gear has a central gear with different numbers of teeth forming a virtual tooth row with each other and one planetary gear with teeth meshing with the central gear and guided and driven by a cam disc. The planetary gear system is characterized according to the invention as follows. That is, two or more central gears are arranged one after the other on the same axis, a planetary gear having internal teeth surrounds a central gear having external teeth, and is guided and driven from the outside by a cam disc, The teeth have a substantially triangular cross-section and a flat tooth flank, and the individual virtual tooth rows are arranged on a closed curve (“virtual root curve”) with the center of gravity on the axis of rotation of the cam disc. The end of the tooth slot and each tooth tip of the planetary gear are positioned such that the internal teeth of the planetary gear are in planar or flat contact with the flanks of at least one row of imaginary tooth rows on both sides, and the pitch of the imaginary tooth row is such that is equal to the pitch of the tooth row of the planetary gear, and as a result, in extreme cases, all teeth mesh to transmit force, except for teeth corresponding to the difference in the number of teeth of the central gear. The term "center of gravity of an imaginary root curve" here means the point on one plane at which the portion surrounded by the imaginary root curve should be supported to maintain balance. The number of teeth on a planetary gear is not important to the magnitude of the gear's reduction ratio. In either case, this size is approximately equal to the number of tooth grooves in the virtual dentition used. At least 1 tooth on each side of the planetary gear
Due to the necessity of having to abut the flanks of the imaginary toothing of the row, the teeth of the planetary gear are provided at every other pitch for the imaginary toothing, or a small number of teeth are provided to transmit relatively small torques. The number of teeth on the planetary gear is usually between the number of teeth on the central gear, except in cases where the number of teeth is sufficient. In the above, there are descriptions of "virtual dentition,""at least one row of virtual dentition," and "virtual dentition to be used." In this regard, a toothing consisting of a series of teeth of X central gears with different numbers of teeth forms at least X virtual toothing by superimposing the X central gears, and It should be noted that the number of virtual tooth rows also depends on the difference ΔZ in the number of teeth on the central gear. For example, in the case of two central gears with ΔZ=2, two rows of virtual teeth are obtained. This virtual tooth row consists of the tooth flank (flank) of one central gear and the tooth flank (flank) of the other central gear.
This is the dentition formed by the virtual tooth groove defined between . In principle, it does not matter which of the various virtual tooth rows the teeth of the planetary gear mesh with. Depending on which of the two virtual tooth rows is used, the rotation direction of the other central gear differs with respect to one fixed central gear. The virtual dentition described below refers to the virtual dentition used among the virtual dentition to be formed. The choice is completely free. Depending on the structure of the cam disk (single eccentricity or double eccentricity) it is also possible to use several virtual tooth rows simultaneously. If a planetary gear system has, for example, three central gears with different numbers of teeth, and one of the central gears is fixed, two different rotational speeds can be extracted from the other two central gears. obtain. However, if two central gears have the same number of teeth and a third central gear with a different number of teeth is placed between these two central gears with the same number of teeth, then The two central gears with . The angle and spacing of the flanks of the imaginary tooth grooves vary around the periphery of the imaginary dentition. In a device with two central gears, α _v : 1/2 the angle of the flank angle of the tooth groove of the virtual tooth row used, α: 1/2 the angle of the flank of the tooth of the planetary gear angle, (α _v − α)m: 1/2 of the angular difference at position m between the angle of the flank of the virtual tooth row used on the one hand and the flank angle of the planetary gear on the other hand angle, Z ₁ : Number of teeth of the first central gear, Z ₂ : Number of teeth of the second central gear, m: Number of teeth (ordinal number) when counting from the position where α _v − α = Δ = 0 ( (See Figure 3) Tmax _v : Maximum pitch of virtual tooth row (distance between tooth grooves) Tmin _v : Minimum pitch (distance of tooth grooves) of virtual tooth row When expressed as (α _v − α)m=360 The formula ゜・(1/Z ₁ −1/Z ₂ )・m (1) Tmin _v /Tmax _v = 1/tan (90°−α)/Z ₁ +Z ₂ (2) is applied. The tooth row of the planetary gear has a predetermined flank angle 2α
and a predetermined pitch (tooth spacing) T, which is, for example, the average value of Tmax _v and Tmin _v . The deviation or variation of the tooth flank angle of the virtual tooth row with respect to the tooth flank angle of the planetary gear and the virtual tooth row (varies between Tmax _v and Tmin _v )
It is estimated from equations (1) and (2) that the deviation of the pitch from the (constant) pitch of the planetary gear increases as the difference between the number of teeth Z ₁ and Z ₂ of the central gear increases. For this reason, it is reasonable that the difference in the number of teeth of the central gear is between 1 and 6. A larger difference in the number of teeth would lead to biases that cannot be overcome by reasonable technical means. An advantageous value for the difference in the number of teeth is ΔZ=2. At intermediate and large gear reduction ratios (e.g. 30 and above), the imaginary tooth root curve (corresponding to the curve defined by a series of tooth tips on a planetary gear) is, from a practical point of view, approximately a circle; The center of gravity is eccentrically located with respect to the central axis of the central gear by the height of the teeth of the planetary gear, that is, the distance of about 1/2 of the tooth thickness. If two virtual tooth rows are used, the virtual root curve consists of two mutually separated semicircles. The characteristic that the teeth of the planetary gears abut on both sides in a planar or planar manner with the flanks of the imaginary tooth row used can be achieved in various ways: (within tolerance). By appropriate selection of the flank angles and diameters of the teeth of the central gear and the planetary gears, large reduction ratios of the gears can be sufficiently achieved with a constant pitch or spacing. or b. For irregular pitches or intervals of the virtual tooth row, the teeth of the planetary gear are arranged and/or elastically formed so as to be movable in the circumferential direction and/or radial direction. The latter does not imply that the planetary gear itself is formed elastically. When the reduction ratio of the gear is large, such as 40 or more, and when the difference in the number of teeth ΔZ of the central gear is small, the plurality of root circles that connect the ends of the tooth slots of the central gear coincide with each other. However, if the reduction ratio of the gear is small, such as 40 or less, and the difference in the number of teeth of the central gear ΔZ (greater than 2)
When is large, the total number of teeth on the central gear is
Too large difference Tmax _v in common tip circle
−Tmin _v . In this case, in order to actually keep the pitch of the virtual dentition constant,
It is advantageous to arrange the height of the tooth row of the central gear in such a way that it is divided in half at the level of a circle, that is to say that the central gear has different diameters.
In this way, even when the gear reduction ratio is small,
The difference Tmax _v −Tmin _v is reduced to within limits of finishing tolerances, and the individual teeth of the planetary gear are arranged so as to deviate from the virtual tooth row. For intermediate and large gear reduction ratios (e.g. 30 or more), the virtual root curve may be a circle or other closed curve path or
trend line), whose tangents constantly change their direction from one point to another of the continuous curve. However, the gear reduction ratio is about 10~
It has been found that in the case of between 30 and small, the virtual tooth root curve cannot be approximated accurately enough by a "smooth" or "bendless" curve of this kind. As will be explained separately below, the hypothetical tooth root curve rather consists of circular segments, which are connected to each other by straight lines tangent to the segments or whose direction is on a continuous curve. They converge to each other at irregularly changing points of intersection (points of inflection). A special problem arises when the gear reduction ratio is between 10 and 30, which can be adjusted or tolerated by simple means such as material elasticity when the reduction ratio is relatively large. within the range of difference. These special problems that arise when the gear reduction ratio is between 10 and 30 are explained below: During the rotational movement of the cam disc, half of the teeth of the planetary gear move radially outward. However, the other half of the planet gear teeth move radially inward. If the teeth of the planetary gear must always rest completely and reliably on the flanks of the imaginary tooth row, then a the teeth moving outward in the radial direction coincide and have the same velocity +v, b the radial direction The teeth moving inward must have the same velocity -v, in unison. The radial movement of the teeth must therefore take place with a constant velocity (+v and -v), ie without acceleration. Furthermore, in the range where the reduction ratio of the gear is smaller, by simple means (such as the elasticity of the material or making the teeth of the planetary gear freely movable, as will be explained later),
The more it is not ensured that the teeth of the planetary gear bear the desired flat abutment with the flanks of the imaginary tooth row,
The flank angles (see equation 1) and spacing or divisions (see equation 2) of the tooth grooves of the virtual dentition are variable. Finally, when the gear reduction ratio is smaller, the virtual tooth root curve deviates from the ideal "smooth" curve as described above, and the tangential direction changes continuously around the circumference, which is a problem. becomes. This type of deviation can also occur, for example, if the tooth flank of the central gear is not flat. This deviation of the virtual tooth row from the planet gear tooth row in pitch or spacing and flank angle, as well as the deviation of the virtual root curve from the ideal shape, causes the teeth of the planet gear to Accurate and flat abutment on the flanks of the tooth row is prevented. For larger gear reduction ratios, the deviation is within finishing tolerances and material flexibility and can therefore be ignored in practice. It is a particular object to make the spirit of the invention applicable also to smaller reduction ratios of the gears, without preventing the teeth of the planetary gears from lying flat on the flanks of the imaginary toothing. This object is achieved in the present invention as follows. That is, the cam disc has a contour that is mathematically similar to a virtual tooth root curve, and the contour is rounded at positions where the direction of the tangent changes irregularly, and A planetary gear, its tooth members, a planetary gear base, and a support part (for example, a roller, etc.) as a support means for transmitting the force are arranged between the tooth root curve and the contour of the cam disk,
The teeth of the planetary gear are circumferentially and/or radially movable independently of each other and/or elastically deformable, and the flank angle is variable to match the flank angle of the imaginary tooth row. obtain. At a position where the direction of the tangent to the imaginary tooth root curve changes irregularly, the contour of the cam disc is rounded, so that the teeth at that position of the planetary gear at exactly this position are in the imaginary tooth row. Can't be pushed inside. Since this particular tooth is subjected to the highest acceleration from +v to -v, the influence of disturbing the smooth movement process due to its separation from the virtual tooth row is eliminated. This separation is also achieved by the variable diameter of the central gear, as described above. As shown in equation (2), the periodic change in pitch of the virtual tooth row over the circumference means that the teeth of the planetary gear can move independently of each other in the circumferential direction and/or radial direction. and/or adjusted by being elastically deformable. At this time the difference
Tmax _v −Tmin _v is a criterion for the circumferential mobility required for the teeth of the planetary gear. The periodic variation of the virtual tooth flank angle is adjusted by the variable flank angle of the planetary gear teeth. Teeth moving within the rounded position are reversed in their radial movement. At this time, in order to prevent the teeth from interfering with rotational movement, the gear with the largest number of teeth among the central gears with internal teeth has the smallest root circle, and the gear with the largest number of teeth among the central gears with external teeth has the smallest tooth root circle. Advantageously has the largest root circle. This allows the teeth of the planetary gear located within the range of rounded positions to be held only by the flanks or flanks of the central gear with the greatest number of teeth, thus reducing the torque transmission between the central gears. do not encourage In order to bring the teeth of the planetary gear into reliable and flat contact with the flanks of the imaginary tooth row, it is sufficient that the teeth are movable or rotatable and the flank angle is variable. According to another feature of the invention, the teeth of the planetary gear are further variable in height and spring-loaded in the direction of the imaginary root curve. In the case of two or more central gears with internal teeth, the imaginary tooth row is located outside the planet gears, so that the teeth of the planet gears are spring-loaded outwards. If teeth of variable height are used, the flanks of the teeth of the central gear do not necessarily have to be flat, as described in points A) to D) above. Equation 2 has already been cited as a preferable value for the difference in the number of teeth ΔZ between both central gears. In order to achieve a small gear reduction ratio, a tooth difference ΔZ=4 offers favorable construction possibilities. In principle, if the number of teeth is doubled with a difference in the number of teeth ΔZ=4, the same reduction ratio as when the difference in the number of teeth is ΔZ=2 can be obtained. If the diameter of the device is the same, a gear with half the tooth height can be obtained. The hypothetical tooth root curve consists of an arc around the center of a circle, and if the flank of the central gear is flat, it can be calculated by an equation of the following type: r _v = r·[1 −sin(Δ)/2tanα _v ]−Δs (4) In this formula, r _v : (at position m) of the tooth groove of the virtual dentition
Distance between the end and the center axis 60 of the central gear, r: Radius of the dedendum circle of the central gear with respect to the center axis 60, Δ: Calculated according to equation (1) and equation α _v − α = Δ (3). In addition, the angle difference (circumferential spacing) between the tips of the tooth grooves of the central gear at position m, 2α _v : The angle of the flank of the tooth grooves of the virtual tooth row at position m, Δs, according to equation (1). : Distance from the dedendum circle 56 to the line that linearly connects the ends of the tooth slots of the pair of central gears designated as (Δ) (detail 52- in Fig. 3A)
(See 54) If the number of teeth of both central gears is different and ΔZ=4,
Four circular centers M1, M2, M3 and M4 are obtained, the center of gravity of which is located at the center point of both central gears.
If the number of teeth of both central gears is different and ΔZ=2, then the formula
According to (4), the three circle centers M1, M2 and M3 are obtained, and two cases have to be distinguished. a The teeth of the planetary gear mesh with only one row of imaginary teeth (Figures 1 and 12). The common center of gravity of the three circular centers M1, M2 and M3 is eccentrically located with respect to the central axis of both central gears. b The teeth of the planetary gear mesh with both virtual tooth rows (first
6), then less than half of the teeth of each planetary gear mesh with one or the other imaginary tooth row. Centers of four circles (M1 and M of one virtual tooth row
3. The common center of gravity of the other virtual tooth rows M1 and M3) is located on the central axis of both central gears. If the common center of gravity of the circles is located on the central axis of the central gear (for example, ΔZ = 2 or ΔZ = 4 when using two rows of virtual teeth in the case of (b) above),
The cam disk consists of two mutually adjustable halves with circular contours, each half extending no further than a semicircle, the centers of which are close to each other. The pair of center points M1−
It is located at the center of gravity of one of M2 or M3-M4, which is further away from each contour. Because the cam disk is composed of two parts,
The individual parts can be manufactured with relatively low precision.
This is because by adjusting the parts, any inaccuracies that may occur can be compensated for during installation. Furthermore, it is also possible to adapt the teeth of the planetary gear to a certain extent to the virtual toothing by adjustment, and readjustment is also possible in the event of wear phenomena. The virtual tooth root curve of the virtual tooth row, which can be calculated by equation (4), is realized when the reduction ratio of the device is larger, but depending on the finishing tolerances and the flexibility of the material. Within the corrected range, it actually matches a simpler curve such as a circle. In the range of smaller reduction ratios described herein, the use of a two-part cam disc allows for a more accurate curve shape in equation (4). The invention also provides that the teeth of the planetary gear are independent of each other and movable in the circumferential direction, the flank angle of the teeth is variable, or the teeth are movable in the radial direction by spring action, or It also relates to particularly advantageous possibilities, such as advantageously configuring the details of the planetary gear base and the bearing belt arranged between the planetary gear base and the force-transmitting bearing. The planetary gear tooth member can be manufactured very simply by bending a metal sheet in a zigzag pattern. The zigzag bent metal sheet and the planetary gear base are easily installed around the cam disk. Since there is no need to transmit force in the circumferential direction of the zigzag-shaped thin metal plate, welding at the contact position is unnecessary. In the case of most slow-acting regulating gearing,
It is sufficient that the zigzag metal sheet, the planet gear base and the plate, which together form the planet gear tooth member, are placed directly on the cam disk. The relative movement that occurs in the adjusting gear system between the cam disc, the zigzag-shaped metal sheet forming the planetary gear tooth member, and the planetary gear base produces a very small frictional force that does not interfere with this relative movement. . In devices operating at higher speeds, on the other hand, the zigzag-shaped sheet metal is preferably placed on a ring which is mounted on the cam disk and includes rollers or balls. Of particular importance is the construction in which not one but at least two metal sheets bent in a zigzag pattern are used, which are arranged one above the other to form the teeth of the planetary gear. This is because a tooth row with a high degree of elasticity and strength is obtained in this way. The advantages of this type of "multi-layered" zigzag metal sheet can be compared to the advantages of a multi-strand wire rope over a steel bar with a similar cross-section. The cam disk is attached within the planetary gear via a roller or the like that transmits force, and the planetary gear itself is attached within an imaginary tooth row. In order to prevent overlapping bearings, it is preferable that the cam disc and the drive shaft are connected only by force restraint rather than by shape restraint.
This means that no retention other than a bearing within the planetary gear is required. The invention has the following attendant advantageous features. That is, at least two coaxial cam discs are arranged on a common drive shaft, each cam disc carrying one planetary gear;
at least three central gears having internal teeth are connectable to the driven shaft via an engageable clutch, the teeth of the first central gear facing the drive shaft being opposite to the drive shaft; The teeth of the third central gear facing the driven shaft mesh with the teeth of the second planet gear facing the driven shaft, and the teeth of the third central gear facing the driven shaft mesh with the teeth of the second planetary gear facing the driven shaft. The central gear has two rows of teeth, one of which is a planetary gear tooth adjacent to the drive shaft, and the other tooth row is a planetary gear tooth facing the driven shaft. mesh. A full range of reduction ratios can be achieved by engaging and disengaging the various clutches. The invention also has the possibility of implementing various structural details of the control gearing, such as the number of teeth of the various central gears, and reverse actuation. Other advantages of the planetary gear arrangement according to the invention will become clearer from the following description of an exemplary embodiment with reference to the drawings. FIG. 1 shows the basic configuration of the planetary gear device, and FIGS. 3 to 15 explain the operation of the planetary gear device of the present invention. 19, 27, 31, and 34 to 36 show specific examples of the planetary gear device of the present invention. 28 to 30 and 32 to 33 each show reference examples of tooth members of planetary gears. As shown in FIGS. 1 and 32, the planetary gear system consists of two central gears 42 with internal teeth.
and 44. Central gear 4 with internal teeth
2 is located behind the central gear 44 with internal teeth. For this purpose, the flank of the central gear 42 is partially covered by the teeth of the front central gear 44, which is indicated by dashed lines in FIG. In the upper right quadrant of FIG. 1, only the teeth 46 of the internally toothed central gear 44 are shown. As is clear from FIG. 1, the central gears 42 and 44 are arranged in such a way that the zigzag lines formed by the flanks of the respective tooth rows of the central gears 42 and 44, which have internal teeth, form two imaginary tooth rows. Polymerized. The "used" row of the two virtual tooth rows is highlighted by the external teeth 48 of the planetary gear 50 (stippled) engaging or meshing therein. It will be seen that, particularly in the left-hand part of FIG. 1, a second virtual dentition occurs, which is not used in the example of the device with the basic configuration shown in FIG. The second virtual dentition corresponds to the first imaginary dentition, but is offset by a certain angle. A second virtual dentition may be used in place of the first imaginary dentition used in the example of the device having the basic configuration shown in FIG. In that case, only the direction of rotation changes. In the following only reference will be made to the virtual dentition used. All gear teeth have triangular cross sections and substantially flat flanks. The ends 52 and 54 of the tooth grooves of the central gears 42 and 44 with internal teeth lie on a root circle 56 having a center 58, which center is the center of both central gears 42 and 44 with internal teeth. The intersection of the common central axis 60 of the plane of FIG. 1 with the plane of FIG. On the other hand, the end portion 62 of the tooth groove of the virtual tooth row has a substantially circular shape, and is expressed as a "virtual root circle, or outer end root circle," or very generally, " The root curve 6 is called the “virtual tooth root curve, that is, the outer end tooth root curve.”
4, located close to the top. Virtual outer end root circle 64
The center 66 of is the intersection of the axis of rotation 68 and the plane of FIG. The center 66 is offset from the center 58 of the dedendum circle 56. When the planetary gear 50 rotates,
The center 66 (rotation axis 68) is the center 58 (center axis 6
Draw a circle around 0). In FIG. 1, the external teeth 48 of the planetary gear 50 are further engaged in the "tooth grooves" of the imaginary tooth row, and this engagement is as follows.
It will be seen that this is done in such a way that the tips of the external teeth 48 of the planetary gear 50 protrude into the ends 62 of the tooth grooves of the imaginary tooth row. Planetary gear 5
The height or tooth height of the zero external teeth 48 is approximately twice the distance between the centers 58 and 66. A cam disk 70 is arranged within the planetary gear 50. A plurality of rollers 72 are provided between the cam disk 70 and the planetary gear 50 to facilitate relative rotation of the planetary gear 50 with respect to the cam disk 70. . Rear central gear 4 in the device shown in FIG.
2 has 78 teeth, which are designated by the reference number 74. On the other hand, the front central gear 4
4 has slightly more teeth, namely 80 teeth, which is indicated by the reference number 46. The externally toothed planetary gear 50 has 79 teeth. The width of these teeth 48 (perpendicular to the plane of the drawing) is the same as the teeth 74, 4 of both central gears 42 and 44, where these teeth 48 have internal teeth, as seen in FIGS. 6 and 7.
The size is such that it meshes with 6. In FIG. 32, the central gear 42 with internal teeth is fixed. In this case, the cam disc 7 is driven by the drive shaft 76.
Only 0 is driven. Central gear 44 with internal teeth
is connected to the driven shaft 78. The rotation of the cam disc 70 about the central axis 60 results in the rotation of the planetary gear 50, the outer teeth 48 of which are then connected to the central gear 4 with fixed inner teeth.
is supported or engaged within the teeth 74 of No. 2. From the number of teeth 78 and 80 of the central gears 42 and 44, regardless of the number of teeth of the planetary gear 50, from the formula i = Z ₂ /Z ₁ - Z ₂ , (a) Reduction ratio 39 (i.e. drive shaft 76 39 revolutions makes one revolution of the driven shaft 78) or (b) If the other central gear is fixed, a gear reduction ratio of 40 is obtained in the opposite direction of rotation. FIG. 2 shows a device with a tooth difference of 2.
The two central gears 82 and 84 having external teeth are surrounded by a planetary gear 90 consisting of a planetary gear base 132 and internal teeth 88 as tooth members arranged on the base 132. The gear 90 itself is also surrounded by a hollow cylindrical cam disc 86. At this time, the central gear 82 is arranged behind the central gear 84. central gear 82 with external teeth;
The tooth rows 84 form two virtual tooth rows by overlapping the central gears 82 and 84. The internal teeth 88 of the planetary gear 90 mesh with one of these rows. In the left part of FIG. 2, the internal toothing 88 of the planetary gear is formed by a zigzag-shaped metal sheet, which is illustrated in a perspective view in FIG. In contrast, a further exemplary embodiment of an internal toothing 88 is shown in the right-hand part of FIG. In planetary gears, of course, only one embodiment of internal gearing is utilized. When the hollow cylindrical cam disc 86 rotates,
Internal teeth 88 are inserted into the imaginary tooth row, thus causing central gears 82 and 84 to rotate relative to each other. As illustrated in FIG. As shown in the figure, it will be seen that the device is constructed and operates in exactly the same way as a device that surrounds a single planetary gear 50 with external teeth and includes central gears 42, 44 with internal teeth. Dew. For this reason, in the description and description of the planetary gear arrangement according to the invention, only one arrangement will be used in the following, which comprises a central gear with internal teeth and at least one planetary gear with external teeth according to FIG. do. It will be clear that the following explanations and descriptions also apply to a planetary gear arrangement constructed correspondingly to FIG. FIG. 3 is a partial radial cross-sectional view showing one quarter of the device. The device is constructed essentially in the same way as the device according to FIG. 1, and thus comprises two central gears 42 and 44 with internal gearing. The central gear 42 with internal teeth is partially covered by the central gear 44 and is therefore partially illustrated by dashed zigzag lines. The central gear 44 is uncovered and is therefore illustrated by a solid zigzag line. Both tooth rows of the internally toothed central gears 42 and 44 form two virtual tooth rows. The external teeth 48 of the planetary gear mesh with the tooth grooves of the virtual tooth row. The tooth grooves of the virtual dentition used are α=α _v
(see equation 1), starting from the position m=0,
It is represented by the ordinal number m. Individual rigid teeth 48 with a flank angle 2α are pushed into the tooth slots. Frank angle 2α _v of the tooth groove in the virtual dentition
It will be seen that is greater than 2α. If one tooth 48 of this kind is inserted into each tooth groove, the difference will be reduced as m becomes smaller, and m
It will be seen that when = 0, it completely disappears. Flank angle 2α instead of rigid tooth 48
The use of elastically variable teeth allows maximum adaptation of the planetary gear toothing to the virtual toothing. Compatible teeth of this type are illustrated in FIGS. 2, 18, 30 and 33. The angular difference (Δ)m in the circumference between the virtual tooth groove and the teeth of the planetary gear at position m is expressed by the formula
(1) and is equal to half the angular deviation of the flank at the same position m: (Δ) _n = (α _v −α) _{n v} −=α _v −α (3) is It is the angle from the position to the perpendicular bisector of one tooth of the planetary gear, and _v is the angle from the position of m=0 to the perpendicular bisector of the corresponding tooth of the imaginary tooth row. Virtual tooth root curve 64 of the used virtual dentition
is a circle segment with the circle center M4 located within the upper right quarter circle. In the 1/4 circle (not shown) on the right side of the device, this virtual root curve is the upper left 1/4 circle.
It is a circular segment with the same radius around the center M1 of the circle located on the circle. In the lower half of the device (not shown), the center of the corresponding circle is M2
and M3 (see explanation of FIG. 13). The centers of the circles M1, M2, M3 and M4 have the same spacing to the center of gravity of the profile of the planet gear and the center of gravity of the profile of the cam disc, both centers of gravity simultaneously intersecting the center of gravity of both central gears 42, 44. central axis 60
and the plane of the drawing. Virtual tooth root curve 6
The distance from the center of gravity at the position m of each point of 4 is expressed by the following formula. r _v = r・[1−sin(Δ)/2tanα _v ]−Δs (4) r _v : (position m
r: radius of the tooth root circle (root circle) 56 of the central gear related to the center of gravity, Δ: distance of the tooth groove of the central gear calculated according to formulas (1) and (3) Angular difference (distance in circumferential direction) between end portions 52 and 54 at position m, 2α _v : Angle of tooth flank of virtual tooth row at position m (see Figure 3 when m = 4) , Δs: Distance from the dedendum circle 56 to the straight line connecting the ends 52 and 54 of the tooth groove of the central gear described by (Δ) (see “Details 52-54” in Fig. 3A). Radius r4 (distance from M4 to the end 62 of the tooth groove) of the circle segment of the root curve 64 associated with the circle center M4 (in FIG. 3, or M1 or M2 or M3) Also, the angle β _v including the semi-longitudinal r _v and The following relationship applies. The virtual tooth root curve can be calculated using either of the equations (5) and (4). β _v is also the angle between the tangent to the root circle 56 on the one hand and the imaginary root curve 64 on the other hand at each relevant position m. Therefore β _v
is also referred to as the "entrance angle" or "exit angle" at which the virtual tooth row enters and exits the tooth row of the central gear. The contour 96 of the cam disc 70 is mathematically similar to the imaginary tooth root curve 64. That is, the contour 9
6 to the virtual tooth bottom curve 64 is constant. The center M4 of the circle is dependent on the left contour line 9
6/4 is the right contour line 9 where the center of the circle is M1
6/1 at an inflection point 98. circular contour line 9
When 6/4 and 96/1 intersect at the inflection point, an intersection of the contour lines occurs at that position, and the direction of the tangent to the contour 96 changes irregularly at this intersection. At this point of intersection, the contour is rounded, so that the tooth 48 of the planetary gear at this position is not pushed into the tooth groove of the imaginary tooth row, but is free to move in the radial direction. Preferably, the rounded portion 100 shown in dotted lines extends over several imaginary tooth grooves. FIG. 4, which shows a detail of FIG. 3, schematically illustrates the kinematic principle on which the device according to the invention operates. The teeth 48 of the planetary gear contact on the one hand the flanks of the teeth 46 of the front central gear 44 and the corresponding flanks of the teeth 74 of the rear central gear 42 on the other hand. Both tooth rows form an imaginary tooth row with each other, the ends 62 of the tooth grooves of the tooth rows are connected to the teeth 48
If the tip of the tooth is not conventionally flattened or rounded, it will match the tip of the tooth. Teeth 46 and 74 exert a force on tooth 48, indicated by arrows 102 and 104. This force is divided into circumferential force components 106 and 108 and a radial force component 110, respectively. The circumferential forces 106 and 108 cancel each other out, so that no force is exerted on the tooth 48 in the circumferential direction. This results, on the one hand, in a self-braking action and, on the other hand, as a result of the planetary gears not having to transmit any forces in the circumferential direction and can therefore be designed thinly, elastically and continuously, or as a central gear. It may be provided with teeth that are movable in the circumferential direction without impairing torque transmission and durability. The tooth 48 is acted upon only by a radial force 110 which presses it against the planetary gear. The radial component force is transmitted to the cam disk 70 via rollers 72, etc., and is offset by the opposing force in the direction of arrow 114. Since the planetary gear receives similar forces on its periphery from all teeth 48 and therefore from all radial directions, these forces cancel, so that the drive shaft of the cam disc 70 is not subjected to bending action and the configuration The parts (central gear, planetary gear) are centered with respect to each other. FIG. 5 schematically illustrates the detail of FIG. 3 in the range of positions m=4 and m=5. The teeth 46 of the front central gear cover a portion of the criss-crossed teeth 74 of the rear central gear. In both imaginary tooth grooves (m=4 and m=5) the two schematically illustrated teeth 48 of the planetary gear mesh. It will be seen in the first place that a precise meshing and a precise abutment of the flanks are only possible if both teeth 48 are rotatable independently of each other and their heights are variable. . Both teeth 48 of the planetary gear are shown on the one hand in a solid line position and on the other hand in a dash-dotted line position. In the position indicated by the dash-dotted line, the tooth 48 is pushed into the tooth groove of the imaginary tooth row to an extent that corresponds approximately to the positions m=0 and m=1 in FIG. The spacing between the teeth 48 at the solid line position is pitch T, while at the dashed line position it is represented by T _v . Maximum pitch for the minimum pitch Tmin _v of the virtual dentition
The ratio Tmax _v is given by equation (2) above and is also a measure of the required circumferential mobility of the planetary gear teeth 48. When moving from the solid line position to the dash-dotted line position, tooth 48 slides on the flanks of teeth 46 and 74, forcing them apart like a wedge. In contrast, in conventional planetary gear systems, the teeth of the planet gear slide only on a single tooth flank of the central gear. FIG. 6 is a schematic perspective view showing the state in which the teeth 48 of the planetary gear mesh with the central gear. The teeth mesh with the flanks 116 and 118 of the central gear teeth 46 and 74 as indicated by the flanks. FIG. 7 is a plan view of the tooth of FIG. 6. The areas of tooth flanks 116 and 118 that abut flat against tooth 48 are indicated by small crosses. FIGS. 8 to 15 are explanatory diagrams showing the deviation of the virtual tooth root curve from a "smooth" shape and the necessity of rounding at the inflection position. In Figures 8, 9, and 12 to 15,
The root circle 56 of the central gear is occupied by points 0, 1, 2, 3, 4, 5 and 6, which are distributed at the same angle. Only one common root circle 56 is shown for the two central gears with internal teeth for clarity of illustration. The possibility of two separate root circles 561 and 562 for two central gears with internal teeth is illustrated in FIGS. 30 and 33. The center 58 of the dedendum circle 56 is the central axis 6 of the central gear
Located above 0. In Fig. 8, a continuous curve 64 having an inner circle shape is further shown.
1 is entered. The curve represents the virtual tooth root curve under the assumption that the virtual tooth root curve is exactly circular (although this does not have to be strictly true). Figure 10 starts from point 0 and points 1, 2, 3, 4, 5
and the dedendum circle 56 and (circular) continuous curve 6 in 6
41. The distance follows a sinusoid. Mathematically, the contour of the cam disk 70 or 86 of a planetary gear train must be formed to resemble a virtual tooth root curve, so that when the angular velocity of the rotating cam disk is constant, the radius of the individual tooth The directional speeds are different. However, if we ignore the teeth at points 0 and 6, that is, if we assume that the teeth at those positions are not in mesh with the imaginary tooth row, then the continuous curve between points 1 and 5 in Figure 10 will actually is represented by a straight line. The distance or spacing between the root circle 56 and the (circular) continuous curve 641 varies in the range between points 1 and 5 and is therefore approximately proportional to the circumferential angle. If the angular velocity of the rotating cam disk is constant, then the radial velocity of the individual teeth will be practically constant, which is desirable. FIG. 9 shows 2 around centers 122 and 124.
It shows two inner circles. The circle is a straight line 126 on the left and right
The length of the straight line is from the center 1
equal to the distance between 22 and 124. The upper and lower halves of the circle each form a closed curve 64 with both straight lines 126.
1, and therefore the tangents on the curve always change direction. If the reduction ratio of the gear is relatively large, a cam disk similar to the continuous curve 641 of the virtual root curve can be actually used with a difference in the number of teeth of 4. FIG. 11 is an explanatory diagram that is related to FIG. 9 in the same way that FIG. 10 is related to FIG. 8. For relatively small reduction ratios in the range between i=10 and i=30, the continuous curve 641 shown in FIGS. 8 and 9 is replaced by the continuous curve 641 shown in FIGS. 12 and 13. It must be. The curve is obtained from equation (4). In Figures 12 and 13 the center 58 is the intersection of the central axes of both central gears and the plane of the drawing. Based on formula (4), when the difference in the number of teeth of the central gear is 2, the centers M1 and M of the three circles shown in FIG.
2 and M3 are obtained. Circle center M2 is the center of a circle segment that extends slightly above the lower half of continuous curve 641. The center M1 of the circle located within the upper right quarter circle is the center of the circle segment located substantially within the upper left quarter circle of continuous curve 641. On the other hand, the center M3 of the circle located within the upper left quarter circle is the center of the circle segment located within the upper right quarter circle. center of circle M1 and M3
Both circular segments subordinate to the upper inflection point 98
, and transitions without an inflection point to the lower circular segment dependent on the circle center M2. The continuous curve is the 14th
It is shown in broken lines in the figure, with a (circular) continuous curve 641 shown as a solid line in FIG. Deviations that can play a role when the selected reduction ratio is about 6 and even larger reduction ratios up to about 30 are observed.
It is within this scope that the modification according to the invention plays an important role. Therefore, in most cases it is sufficient to form the cam disc of the planetary gear with a circular contour, since the continuous curve of the imaginary tooth root curve is very close to a circle. Inflection point 98 is the point in FIG. 3 where rounded portion 100 is provided (see FIG. 3). The continuous curve 641 according to FIG. 12 is roughly pear-shaped, with the lower part being slightly thicker than the upper part. FIG. 13 illustrates a continuous curve 641 that occurs when the tooth number difference is 4. In the upper left quarter circle, the continuous curve 641 is a circle segment with a circle center M4, which is located in the upper right quarter circle.
In the upper right quarter circle, the continuous curve 641 is a circular segment around the center M1 of the circle located within the upper left quarter circle. In the lower right 1/4 circle, the continuous curve 641 is
It is a circle segment where the center M2 of the circle is within the lower left 1/4 circle, and the continuous curve 641 in the lower left 1/4 circle is
This is a circle segment where the center M3 of the circle is located in the lower right 1/4 circle. The segments dependent on circle centers M3 and M2 intersect at a downward inflection point 98. Segments dependent on circle centers M1 and M4 intersect at an upper inflection point 98. The segments subordinate to the centers M4 and M3 of the circles are connected by short straight sections 130 having a length equal to the distance between the centers M4 and M3 of the circles. The segments dependent on the centers M1 and M2 of the circle are likewise connected to each other by short straight sections 130 of length equal to the distance between the centers M1 and M2 of the circle. FIG. 15 is similar to FIG. 14 and is a simplified continuous curve 6 of the virtual tooth tip curve according to FIG.
41/9 (solid line) and the complex continuous curve 641/13 (dashed line) according to FIG. 13. It is observed that the deviation increases as the tooth number difference increases. “Pear-shaped” continuous curve of virtual tooth tip curve 641
This results in the device shown in FIG. 1 in which the axis of rotation 68 of the planetary gear is eccentric with respect to the central axis 60 of the central gear. The eccentricity results in the drive shaft being loaded by bending moments. In order to prevent this bending load, it is preferable to select the configuration shown in FIG. 16. Continuous curve 6 of the virtual tooth tip curve shown in FIG.
From 41 we use the upper section which is dependent on the centers M1 and M3 of the circle. It is offset by 180° with respect to the first virtual dentition and is dependent from the unillustrated root curve of the other imaginary dentition to the center of the unillustrated circle of the second imaginary dentition. and use the curved sections shown. In this way, we obtain the centers of the four circles as shown in Figure 13,
Therefore, a continuous curve made up of four circular arcs is obtained. By using both virtual dentitions, it is possible to use the cam disc shown in FIGS. 34 and 35 according to FIG. 16. The difference in the number of teeth of the central gear in the device schematically illustrated in FIG. 16 is ΔZ=2. cam disc 70
supports a zigzag shaped thin metal plate as a planetary gear tooth member. FIG. 17 schematically shows the relative relationships among the four main members of the present invention, namely, two central gears 42 and 44 having internal teeth, a planetary gear 50 having external teeth, and a cam disk 70. In Table 1, which member 70,
42 or 44 is driven, which member 42, 44,
50 or 70 are fixed and which members 42, 44
or 50 can be connected to the driven shaft.

【table】

Table 1 shows that, for example, when driving one central gear, only the other central gear can be connected to the driven shaft. Due to the above-mentioned automatic restraint, it is impossible to transmit torque from the planetary gear 50 to the planetary gear base 132, so when driving one central gear, it is necessary to use both the planetary gear 50 and the cam disc 70. Cannot be connected to driven shaft. The direction of rotation is indicated by an arrow in the "Drive" column. In the "reduction ratio" column, the reduction ratio and the direction of rotation of the driven shaft, which is also indicated by an arrow, are entered. If the arrow is in the same direction as the arrow in the "Drive" column, it will be driven in the same direction of rotation, and if the arrow in the "Reduction ratio" column is opposite to the arrow in the "Drive" column, it will be driven in the opposite rotation direction. be followed. The calculation of the gear reduction ratio described in the "Reduction ratio" column was based on the following number of teeth: (Central gear 42) Z ₄₂ = 80 (Central gear 44) Z ₄₄ = 78 (Planetary gear 50) Z ₅₀ = 79 Figure 18 is a diagram similar to the left half of Figure 2.
FIG. 19 shows a portion of a metal thin plate bent in a zigzag shape that constitutes a tooth row of a planetary gear tooth member. The serrations of the metal thin plates individually protrude upwardly when the thin metal plates bent in a zigzag shape are placed around the cam disk 70.
The teeth 48 (Fig. 8, right) are formed. Teeth 48 thus mesh with an imaginary tooth row such as teeth 88 in FIG. It is possible to arrange a zigzag bent metal sheet directly on the cam disc 70 in the adjusting drive gearing. This is because in these devices the friction caused by the relative rotational movement of the parts can be ignored. If the rotational movement is faster, it is preferable to choose the arrangement shown in the left half of FIG. 18. The zigzag metal sheet is placed on the ring 132 as a planetary gear base and forms the planetary gear 50 together with the ring. That is, each tooth 48 of the planetary gear tooth member forms a space with the ring 132 that is substantially triangular in cross-section, and the tooth member abuts the ring 132 at each tooth groove. . The ring 132 supports the rollers 72 as an anti-friction bearing means so that when the ring performs relative movement with respect to the cam disc 70, friction is minimal.
It is placed on the cam disk 70 via the cam disk 70. The zigzag bent metal sheet according to FIGS. 18 and 19 has the same advantages as the elastic and flexible planetary gear shown in the right half of FIG. When the pitch of the virtual dentition is irregular, the zigzag-shaped thin metal plate not only has the advantage of being easy and inexpensive to manufacture, but also has the advantage of adjusting the irregular pitch of the imaginary dentition. We also provide Possibilities of movably arranging the tooth members on the planetary gear base are No. 20, 21, 22, 23, 24, 25.
and is illustrated in FIG. 26 for reference. In FIG. 21 (side view, partially in section) and FIG. 22 (top view), the planetary gear 50 has side guides 134 and 136 (in the form of rings or the like); are the protrusions 138 and 1 of the teeth 48
40 coated. The teeth 48, which are shown perspectively in FIG. 20, are thus movable in the circumferential direction of the planetary gear base 132 of the planetary gear 50. FIG. 23 shows a portion of the planetary gear 50. The gear base 132 has a bore 142 extending axially through the gear base. The bores 142 open alternately toward the inside or outside of the planetary gear base 132 on its periphery. This type of planetary gear base 132 is within a certain limit (approximately 5%
etc.), it can vary its dimensions in the circumferential direction and thus be adapted to the cam disk. tooth 4
8 consists of two flank portions 168 articulated at the tip 154. Planetary gear base 132
A pair of double S-shaped spring plates 144 are inserted into bores 142 that are open to the outside, respectively, and the plates are divided into upper and lower parts.
Configure a glyph spring. The lower part of the spring has a bore 142
can be swung within a small angle. The upper portion supports a tooth 48 whose flank portion 168 has a circular recess 146 on the inside. The upper radius of the spring plate 144 is fitted into the recess so that the teeth 48 can swing on the spring plate 144. more teeth 4
The concave portion has a catch portion to prevent the portion 8 from coming off. The tips 154 of the teeth 48 are rounded. A tooth held in this way has many degrees of freedom in the plane of the drawing. (1) Due to the rotation of the spring plate 144 in the planetary gear and the rotation of the teeth 48 on the spring plate 144,
The change in angle between the tooth bisecting line 148 and the planetary gear (spring plate 144 of the left tooth in FIG.
Oscillating double arrow 15 written inside
angle change in the zero direction). (2) Since the upper part of the spring plate 144 that meshes with the teeth is flexible, the angle of the flanks of the teeth
2α and height can be changed at the same time. If it is desired to make the change in height h dependent on the change in flank angle 2α, this can be adjusted by providing appropriate dimensions. The illustrated structure in FIG. 23 is therefore suitable for adapting the toothing of the planetary gear to an imaginary toothing consisting of the toothing of the central gear with internal (or external) teeth. FIG. 24 shows a small portion of a planetary gear 50, the teeth 48 of which are separated by a line 1 that bisects the teeth.
It has a slit 178 over a range of 48, and is held swingably. The planetary gear base 132 of the planetary gear 50 has a concave cylindrical surface as a pivot bearing base 152 for the teeth 48 . The center of the radius of curvature of the concave cylindrical surface is the center of the radius of curvature of the tooth 48 (ignoring rounding)
If it is the same as the tip 155 (the intersection of the tooth flanks), the height of the tooth will not change even if the tooth swings in each case in the direction of the double arrow 150. However, if the center of the radius of curvature of the concave cylindrical surface is placed outside the tip 155,
The respective rocking of the teeth 48 changes the height. By suitably selecting the curvature of the concave surface, the desired relationship of tooth height change and rocking in the direction of the double arrow 150 can be achieved. Furthermore, there is of course a correlation between tooth height and flank angle as in FIG. The planetary gear base 132 of the planetary gear 50 shown in FIG. 25 has a semi-cylindrical recess 143. A cylindrical spring 156, which is open at position 158, is inserted into the recess. On the spring 156 are mounted teeth 48 similar to those on the spring plate 144 of FIG.
8 are connected to each other at the top. This type of construction is less expensive than the complex two-part spring of FIG. This construction also has the disadvantage that the teeth, like that of FIG. 23, can become dislodged from their retained positions. This point is the “tooth clasp” shown in Figure 26.
160. The clasp extends around the entire circumference of the planetary gear, next to the tooth of the central gear, and attaches to tooth 48 of the planetary gear.
connect each other. In the tooth member of the planetary gear device of the present invention, the second
The left side of the figure and Figures 18 and 19 show that the teeth of the planetary gear can consist of metal sheets bent in a zigzag manner. This already achieves a certain degree of flank angle variability, a certain degree of tooth height variability and a certain degree of circumferential mobility. A disadvantage of this type of simple zigzag metal sheet is that the teeth are not individually and completely independently movable in the circumferential direction. The teeth of the tooth member of the planetary gear are arranged at every other pitch in the virtual tooth row (assuming the interval between each tooth in the tooth row is n, the teeth 4 are placed only at positions 2n, 4n, 6n, ...).
8), the structure according to FIG. 27 can be used. The structure likewise consists of bent metal sheets. A portion of the thin plate is bent in a triangular shape toward the tooth 48,
The following portion is bent into an arc 162 that functions as a joint. The height of the arc 162 is so low that it does not mesh with the corresponding tooth groove of the imaginary tooth row, and the next part is bent toward the tooth 48 again, and the further part is bent so as to become the arc 162 again. It's getting old. The tooth member is 1 with respect to the virtual tooth row.
Only every other pitch (or in some cases every second or third pitch) teeth are provided, between which a hinge-like arc 162 is inserted. A bent metal sheet of this type as a tooth train of a planetary gear is extremely cheap to manufacture and satisfies the requirement that the individual teeth 48 must be movable independently in their circumferential direction. It is something. It should be noted that very generally, for large diameters, not all the teeth of the planetary gears need to be provided. For example, the tooth members of a planetary gear are arranged every two pitches in a virtual tooth row (assuming the interval between each tooth in the tooth row is n, then the teeth 48 are placed only at positions 3n, 6n, 9n, etc.).
(if provided) it is sufficient that teeth 48 are provided. As a result, considerable savings in manufacturing can be achieved. FIG. 28 shows a reference example of a portion of a planetary gear consisting of individual guide shoes 164 and tooth members constituting the planetary gear base 132. The guide shoes 164 are interconnected by elastic cylindrical pins 166 such that the guide shoes 164 can be moved slightly relative to each other in the circumferential direction. Each guide shoe 164 is radially outwardly concave;
It has a surface 128 that follows the cross section of a circle, and the surface 1
Teeth 48 are mounted on 28. The concave surface 128 is curved so that the center of the radius of curvature is at the tip of the tooth. Thus, as the tooth 48 moves over the concave surface 128, the position of the tip of the tooth 48 and its height are maintained; only the direction of the tooth 48 with respect to the guide shoe 164 changes. The tooth 48 of FIG. 28 consists of two flank portions 168 as in FIGS. 23-26. FIG. 29 shows a tooth in which both flank parts 168 are hingedly connected by a pin 188 located in the region of the tooth tip. FIG. 30 is a radial cross-sectional view showing, for reference, one quarter of a device similar to FIG. 3. But the 30th
The cam disk 70, the roller 72 serving as a force transmitting bearing, the planet gear base 132 of the planet gear 50, the planet gear teeth 48 and both central gears 42 and 44 are fully illustrated. has been done. In the device shown, the difference in the number of teeth between both central gears is 4 and the reduction ratio is i=15. It will be seen that many teeth are in mesh. Planetary gear base 1 of the planetary gear 50 shown in FIG.
32 has a bore 142 perpendicular to the plane of the drawing, like the planetary gear in FIG. 23, so its length can be changed in the circumferential direction. Furthermore, the planetary gear base 132 of FIG. 30 is separated at a break point 170 to prevent internal stresses from developing due to temperature changes or the like. The open interruption position 170 of the planetary gear base 132 is connected to the elastic dowel lock 17, which is shown in broken lines.
It is loosely connected by 2. The resilient dowel lock 172 is shaped similar to a bicycle chain lock, but is resilient and flexible in the circumferential direction. When introducing force through the roller 72, a bearing band 174, such as a band steel, is inserted between the roller 72 and the planetary gear base 132 of the planetary gear 50. This means that the roller 72 is facing the bore 142.
This is to prevent it from getting stuck inside. The bearing band 17
4 has a slot 176 so that its surroundings (in case of temperature changes, etc.) can be changed without bending or twisting. In the planetary gear system of the present invention, the slot 176 runs diagonally over the bearing band 174 so that the roller 72 extending toward the central axis does not fit therein (see FIG. 31). The individual teeth 48 of the planetary gears are retained as described with respect to FIG. Here, the center of the concave cylindrical surface forming the rotary bearing base 152 is located exactly at the tip 154 of the tooth, so that the height of the tooth (tooth height) is such that the tooth rotates in the rotary bearing base 152. Sometimes it doesn't change. The orientation of the teeth 48 is thus matched to the orientation of the tooth grooves of the imaginary dentition (the "direction" of the teeth and tooth grooves means the direction of the line 148 bisecting the teeth). Additionally, the teeth 48 each have a slit 178 as shown in FIG. In this way, the angle of the flank can be adapted to the angle of the tooth groove of the virtual dentition.
As the flank angle increases, the height of the teeth 48 decreases, but as the teeth are pushed together to slightly reduce the flank angle, the teeth become taller. By providing appropriate dimensions, the relationship between both of these changes can be adjusted as desired. Therefore, FIG. 30 shows the planetary gear 5.
The zero tooth 48 shows the full degree of freedom given to the tooth to best fit the virtual dentition. Furthermore, it is also possible to make the teeth of the central gears 42, 44 slightly rotatable. In this case, the front central gear 44 is provided with an elongated recess 180;
Therefore, the root 182 and the body 186 of the central gear 44 are connected only by a narrow flexible bridge 184. The bridge 184 acts as a connection around which the teeth of the central gear 44 can each rotate slightly. The same measures are taken on the teeth of the rear central gear 42, which are not shown for the sake of clarity of the drawing. Both tooth rows of the central gears 42, 44 are arranged so that each circle bisecting the height of the teeth corresponds to a circle 80. As a result, the root circle or tooth root circle 56 of the central gears 42 and 44 having mutually different numbers of teeth
1 and 562 have different radii. A central gear 44 with a larger number of teeth (smaller pitch) has a smaller root circle 562. Rotation of the cam disk 70 about the central axis 60 forces the planet gear teeth 48 at a constant radial velocity into the imaginary tooth row formed by the central gears 42 and 44. Because the teeth 48 are rotatable in the pivot bearing base 152, and because of the tooth slits 178, the best adaptation to the virtual dentition is achieved. The elasticity of the base 132 of the planetary gear 50 and the tooth member 48 is also involved in adjusting the different pitches of the virtual tooth row. The internal contour of the planetary gear base 132 of the planetary gear 50 has an inflection point 98 . In the corresponding position (see FIG. 3) the cam disc 70 has a rounded portion 100 and therefore does not correspond exactly in shape to the internal contour of the planetary gear. The radiused portion 100 prevents the roller 72 from rotating away from the end of the tooth. Otherwise, the support of the corresponding tooth will be uncertain. The rear central gear 42 has the largest root circle 561. The end of the tooth groove, which is marked in broken lines, therefore reaches further outwards (as far as the root circle 561) than the end of the tooth groove, which is shown in solid lines, on the front central gear 44. The end of the tooth groove of the central gear 44 reaches only as far as the small dedendum circle 562. As the planetary gear 50 rotates in the direction of arrow 112 (opposite to the direction of clockwise rotation), it passes back and forth through positions 190 (teeth not shown), 192, 194, etc. The tooth that penetrates the deepest is at position 192 and does not mesh with the flank of the rear central gear 42. From the position 192 to the position 194, the end of the tooth groove of the rear central gear 42, indicated by the broken line, moves by a value of Δ with respect to the end of the tooth groove of the front central gear 44, indicated by the solid line. do. At position 194, planet gear tooth 48 abuts the left flank of both central gears 42 and 44 with its right flank, and at position 190, the left flank of tooth 48 abuts both central gears 42 and 44. It is in contact with the right flank. In a movement carried out in the direction of arrow 112 through these three positions,
The tooth 48 thus transitions from the right flank to the left flank of the rear central gear 42 and reaches intermediate position 1.
At 92, the tooth meshes only with one central gear, namely the front central gear 44, which has a small root circle. This is possible because the rounding portion 100 cooperates with different root circles. As a result, even when the direction of movement of the teeth 48 is reversed, the movement process is not disturbed. The teeth 48 are kept under prestress by the central gear 44 and, upon disengagement, provide spring or elastic energy again to the central gear 42 without substantially any decay. FIG. 31 is a plan view of a portion of a bearing strap 174, which has a slot 176 already described in connection with FIG. FIG. 32 is an axial sectional view of a device having the basic configuration of the device of the present invention, and FIG.
The device is shown in a sectional view along the line - in Figure 2. Figure 33 is the line in Figure 32 -
2 shows another reference example of a cross section taken along the line, and therefore corresponds to FIG. 1. FIG. 33 is an explanatory diagram showing, in actual size, a radial cross section of a device in which the gear reduction ratio is 10. In the general formula structure, this kind of small reduction ratio is a practical limit example within the practical range. Similar to FIG. 30, in the device shown in FIG.
and 562 are different. The virtual tooth bottom curve 64 is eccentric with respect to the center 58 by an eccentricity E. The planetary gear base 132 of the planetary gear 50 has a slot at the interruption position 170 and is covered on the inside with a sliding layer 196 as a bearing means for the cam disk. The teeth 48 are rotatably held within the planetary gear base as in FIG. 30. The teeth can thus fit exactly into the virtual dentition. In this specific example, both central gears 42, 4
It is sufficient that 4 is held in the planetary gear. There is no need to keep one central gear in the other. Advantageously, the cam disk 70 is driven via an elastic coupling. The apparatus shown in Figures 34 and 35 has proven practical. FIG. 34 is an axial bent cross-sectional view taken along the line of FIG. 35. In contrast, FIG. 35 is a radial cross-sectional view along the line of FIG. 34. The cam disk 70, which is shaded in FIG. 35, consists of two halves 703 and 704 and has four connecting bores 198. A joint bolt 200 is fitted into the bore 198,
The other end of the bolt 200 is fitted into a flange 202 of the drive shaft 76 (see FIG. 34). The cam disk 70 supports a bearing band 174 on the needle bearing 72, and the bearing band 174
has a diagonal slot 176 (see FIGS. 30 and 31). The bearing band 174 is surrounded by the planetary gear base 132 of the planetary gear 50, the teeth of which mesh with the tooth slots of an imaginary tooth row formed by both central gears 42 and 44. A left central gear 42 is held in the right central gear 44 via a bearing 204 and is rigidly connected to a driven shaft 78 . Packings 206 and 208 seal the device from the outside (see FIG. 34). The difference in the number of teeth between the central gears 42 and 44, both with internal teeth, is four. For the sake of clarity in FIG. 35, the planetary gears and the aforementioned displaceable teeth are not shown. Only the virtual tooth bottom curve 64 is displayed with a thick dashed line. The root curve is equal to the continuous curve 641 in FIG. Taking into account the rounded part 100 of FIG. 3, the cam disc 70 can also be manufactured from two semicircular halves 703, 704 according to FIG. 35. The spacing between both these semicircular halves is the third
It is adjustable by means of two screws 210, which are shown in plan in FIG. 4 and in longitudinal section in FIG. 35. A fitting hole 212, which is only shown in FIG. 34, is arranged between both screws 210,
A mating pin is inserted into the hole at the top and bottom, respectively, through both halves of the cam disk 70 for precise adjustment of both halves. screw 2
10 allows for precise adjustment of the spacing between the two halves of the cam disc when assembling the device. screw 2
Since the adjustment by 10 achieves the exact adjustment required during assembly, it is not necessary to ensure a high degree of precision during finishing. If either member subsequently wears out, it may be readjusted by screw 210. Both halves of cam disc 70 are oriented toward each other at position 214 by a notch and a spring. A coupling means should be provided between the drive shaft 76 and the cam disk 70 that only forcely constrains and does not constrain shape. For this reason, a resilient coupling ring is provided in which the coupling bolt 200 carries a thick rubber sleeve 216, as shown, which elastically couples the coupling bolt with the coupling bore 198. Other elastic couplings and tooth connections are also conceivable. FIG. 36 is an axial cross-sectional view of a transmission using the planetary gear device of the present invention. A first cam disk 701 is driven via a drive shaft 76 . The cam disk is rigidly connected to a second cam disk 702 which is offset by an angle of 180 degrees. The cam disc 702 is a driven shaft 78
It is supported in a bearing 218 inside. Each cam disk 701 and 702 has a bearing band 174 with a slot through a needle bearing 72 and a planetary gear 501 and 50 with teeth that can be adapted to the respective imaginary toothing according to the embodiment described above.
It carries 2. Total number of 3 central gears 421, 422 and 423
are mutually held via two bearings 204. The first central gear 4 facing the drive shaft 76
21 teeth mesh with the teeth of the planetary gear 501 on the first cam disk 701. intermediate central gear 42
2 has two tooth rows, the first tooth row of the central gear 422 is the tooth of the planetary gear 501 on the first cam disc 701, and the second tooth row is the tooth row of the planet gear 501 on the first cam disc 701. It meshes with the teeth of the upper planetary gear 502. Finally, the third
The teeth of the central gear 423 of the second cam disc 702
It meshes with the teeth of the upper planetary gear 502. In total, five engageable and disengageable clutches K1, K2, K3, K4 and K5 are provided. (1) A clutch ring 222 coaxially surrounding the drive shaft 76 may be connected to the housing 220 via the clutch K1. central gear 42
1 surrounds the inner part of the clutch ring 222, and a clutch K2 is provided between the two. (2) The driven shaft 78 has three central gears 421 and 42.
housing 224 surrounding 2 and 423;
is firmly connected. One clutch K each
3, K4 or K5, the housing 224 can each be connected to one central gear. At least two clutches must be engaged if deceleration is to be achieved between drive shaft 76 and driven shaft 78. Two different possibilities for carrying out the reverse rotation are recognized. Central gears 421, 422
and 423 teeth numbers are disclosed in claims 39 (particularly inexpensive solution) and 40 (more expensive but more types of reduction ratios possible than the structure of claim 39). ), and the 41st
(Although it is more expensive than the structure of the above-mentioned 39th and 40th terms, it has the largest number of types of reduction ratios.) Various combinations of connected and unconnected clutches are determined from Table 2 below:

[Table] As described above, in the present invention, the teeth of the planetary gear are not so affected by the force in the circumferential direction, and each tooth of the gear is damaged by bending load, as in a conventional gear device. It is possible to provide a planetary gear device that can reliably solve this problem and reliably transmit a relatively large torque. Furthermore, in the planetary gear device of the present invention, when a cam disk connected to the planetary gear base is rotated to guide and drive the planetary gear base, the tooth member of the planetary gear is rotated through the base. the planetary gear is radially offset and substantially triangular in cross-sectional shape;
That is, the tooth surface of the tooth member in a substantially flat shape can deeply enter or exit the tooth groove of the virtual tooth row formed by the teeth of the pair of sun gears. The member is repeatedly deflected in the radial direction while maintaining surface contact between the tooth surfaces in the meshing state with respect to the virtual tooth row without receiving any force in the circumferential direction via the base. Accordingly, the driving force due to the rotation of the cam disk can be transmitted, that is, the contact area of the tooth surface for transmitting the driving force can be secured as large as possible, and transmission loss is unlikely to occur. is obtained. Some embodiments and reference embodiments of the present invention are listed below. (1) a toothed planetary gear, at least one pair of toothed central gears meshing with the toothed planetary gear, and operatively coupled to the planetary gear for guiding and driving the toothed planetary gear; It consists of a cam disk that can freely rotate around the periphery, and a pair of toothed central gears have approximately equal and different numbers of teeth in the diameter of the pitch circle, mutually forming a virtual tooth row, and a toothed planetary gear and The central gears each have teeth having a substantially triangular cross-sectional shape, each imaginary row of teeth having a tooth groove, and the end of each tooth groove forming a contour on a closed imaginary root curve defined by the tooth groove. Each tooth tip of the planetary gear is positioned at
The center of gravity of this imaginary tooth root curve is located on the axis of rotation of the cam disk, and the teeth of the planetary gear engage flatly on both sides with the flanks of at least one imaginary tooth row, and this one imaginary A planetary gear device characterized in that the pitch of the tooth row of the planetary gear is equal to the pitch of the tooth row of the planetary gear. (2) The planetary gear device according to item (1), wherein the two central gears have internal teeth, and the planetary gear has external teeth. (3) The central gear has external teeth, the planetary gear has internal teeth and surrounds the central gear, and the cam disk is operatively connected to the planetary gear from the outside of the planetary gear. The planetary gear device according to item (1) above, characterized by: (4) The planetary gear device according to item (1), wherein at least one other central gear meshes with the planetary gear. (5) all the central gears are arranged one after the other on the same axis and have external teeth, the planetary gear has internal teeth and surrounds the central gear, and the cam disk is arranged on the outside of the planetary gear. 4. The planetary gear device according to item (4), wherein the planetary gear device is operatively connected to the planetary gear. (6) The planetary gear device according to item (1) above, wherein the number of teeth of the planetary gear is between the number of teeth of the pair of central gears. (7) The device according to item (4) above, wherein the two central gears each have the same number of teeth and are arranged on both sides of one central gear that has a different number of teeth. Planetary gearbox. (8) The planetary gear device according to item (1), wherein a difference in the number of teeth between the pair of central gears is between 1 and 6. (9) The difference in the number of teeth of the central gear is 2, the virtual tooth bottom curve is substantially a single circle, and the center of the circle is located at a distance of 2 from the center axis of the central gear of the planetary gear. The gear is eccentrically arranged by substantially 1/2 of the height of the tooth, and the center of the planetary gear and the center of the circle formed by the end of the tooth slot coincide with each other. The planetary gear device according to item (8) above. (10) The difference in the number of teeth between the pair of central gears is 2, and the circle that bisects the height of the teeth of the central gears is aligned with the common circle to form a virtual tooth row with a predetermined pitch. The planetary gear device according to item (1) above, characterized in that: (11) The cam disk has a contour that is substantially similar in a mathematical sense to the virtual tooth root curve, and is rounded at positions on the contour where the direction of the tangent changes irregularly. and a bearing means and an adjustment means, the bearing means being arranged between said imaginary tooth root curve and said contour for transferring the tooth as well as transmitting a force. The planetary gear according to item (1) above, wherein the adjusting means adjusts the angle of the flank of the planetary gear tooth with respect to the virtual tooth row to correct the uneven pitch of the tooth. gearing. (12) The planetary gear device according to item (11), wherein the supporting means is a plurality of rollers. (13) The planetary gear device according to item (11), wherein the flank angle adjusting means includes means for moving a plurality of teeth of the planetary gear independently of each other in the circumferential direction. (14) The above-mentioned (11), wherein the flank angle adjusting means includes means for moving a plurality of teeth of the planetary gear independently of each other in the radial direction.
The planetary gear device described in . (15) The planetary gear device according to item (11), wherein the flank angle adjusting means includes means for elastically deforming a plurality of teeth of the planetary gear. (16) The pair of central gears have internal teeth, the planetary gears have external teeth, one of the central gears has a greater number of teeth, and a plurality of teeth of the one central gear have a larger number of teeth. The planetary gear device according to item (11), wherein the bottom circle connecting the bottom portions is the smaller of the bottom circles of each of the pair of central gears. (17) The pair of central gears have external teeth, the planetary gear has internal teeth, one of the central gears has a greater number of teeth, and the number of teeth of the one central gear is The planetary gear device according to item (11), wherein the root circle connecting the bottom portions is the larger one of the root circles of each of the pair of central gears. (18) The planetary gear device according to item (11), wherein the height of the teeth of the planetary gear can be changed and is spring-actuated in a direction toward a virtual tooth root curve. (19) The planetary gear device according to item (18), wherein the flanks of the teeth are not flat. (20) The tooth flank of the central gear is flat;
A virtual tooth root curve composed of circular arcs around each center point is expressed by the following type of equation: r _v = r・[1−sin(Δ)/2tanαv]−Δs [where r _v : Distance between the end of one tooth slot of the virtual tooth row (at position m) and the central axis of the central gear, r: Radius of the root circle of the central gear with respect to the central axis of the central gear, Δ: Formula Δ (α _v −α) _n = 360°・(1/Z ₁ −1/Z ₂ )・
m(1) and the angular difference (circumferential spacing) between the ends of the tooth grooves between the pair of central gears at the position m calculated by the formula _v −=α _v −α=Δ (3), α _v is the angle 1/2 of the flank angle of the tooth groove of the virtual tooth row used, α is the angle 1/2 of the flank angle of the tooth of the planetary gear, and (α _v −α) _n is the angle of 1/2 of the difference between the angle of the flank of the hypothetical tooth row used, on the one hand, and the flank angle of the planetary gear at position m, on the other hand, and Z ₁ is the angle of the first is the number of teeth of the central gear, Z ₂ is the number of teeth of the second central gear, m is the ordinal number of the teeth when counting from the position of Δ = 0, and is the number of teeth of the planetary gear from the position of m = 0 is the angular difference from the position of m = 0 to the perpendicular bisector of one tooth of the virtual dentition, _and 2α _v : The angle of the flank of the tooth groove of the virtual tooth row at position m in the above formula (1), Δs: From the root circle to the line connecting the ends of the tooth grooves designated as Δ of the central gear with a straight line. Interval] The planetary gear device according to item (11) above. (21) The center of gravity of the center of said arc is located on the central axis of the central gear, and said cam disc is formed by two mutually adjustable halves having a circular contour, each half having a circular contour; each extends to an extent that does not slightly exceed a semicircular arc having a center located at the center of gravity of the pair of centers of the pair of circular arcs, and the circular arc extends to the extent that the contour of the virtual tooth is more distant from the contour. The planetary gear device according to item (20), wherein the planetary gear device has a bottom curve. (22) Each tooth of the planetary gear is formed from two flank parts which are articulated at the tips of the teeth, and which flank parts are arranged so as to push the two flank parts apart from each other. The planetary gear device according to item (11), wherein the planetary gear device has a spring element therebetween, and the free end of the flank portion is located at a distance from the planetary gear. (23) The planetary gear according to the above (11), wherein bores are formed that extend in the axial direction and are opened alternately on the outside and inside of the planetary gear.
The planetary gear device described in . (24) The planetary gear device according to item (11), wherein the individual teeth are seated on one guide shoe, and the plurality of guide shoes are elastically connected together to the planetary gear. . (25) Item (11) above, characterized in that the planetary gear is formed with an interruption in the continuity of the planetary gear, and the planetary gear has a circumferential elastic metal lock that bridges the interruption. The planetary gear device described in . (26) A roller serving as a force transmission support is provided between the cam disc and the planetary gear,
The planetary gear device according to item (20), wherein a bearing band is inserted between the roller and the planetary gear. (27) The planetary gear device according to item (26), wherein the bearing band is formed with a slot that is inclined with respect to the longitudinal direction of the bearing band. (28) The planetary gear device according to item (11), wherein the tooth root of the central gear is connected to the main body of each central gear only via a narrow flexible bridge. (29) The planetary gear device according to item (11), wherein cooling bores are formed in the teeth of the central gear. (30) The planetary gear is arranged around the cam disk and has a thin metal plate having a zigzag cross section, and the thin plate defines the teeth of the planetary gear (11) above. The planetary gear device described in . (31) The planetary gear device according to item (30), wherein the zigzag-shaped thin metal plate has a plurality of layers. (32) The above (3) characterized in that a ring is mounted on a zigzag-shaped thin metal plate, and an anti-friction bearing means supports the ring on a planetary gear.
The planetary gear device according to item 0). (33) The cam disc is mounted in a cam disc bearing means within the planetary gear, and the planetary gear is mounted in an imaginary tooth row such that the planetary gear is sequentially only forcefully restrained; The planetary gear set according to item (11), wherein the support means is a single means for attaching a cam disk. (34) Each tooth of the planetary gear consists of two flank portions articulated at the tips of the teeth, in a bore formed in said planetary gear and open to the outside of the planetary gear; A pair of double S-shaped spring plates are received, the spring plates having a radially inner portion disposed within an outwardly open bore of the planetary gear and a substantially radially inner portion formed within the flank portion. The planetary gear system according to (23), characterized in that it forms a figure-eight spring having a radially outer portion rotatably received within the circular recess. (35) at least two externally toothed planetary gears, operatively connected to and carrying each planetary gear for guiding and driving each externally toothed planetary gear, on a common drive shaft; at least two coaxial cam disks rotatable about a shaft mounted on the driven shaft; and at least three internally toothed central gears connectable via a clutch engageable to the driven shaft; Teeth of a first central gear facing the shaft mesh with a first planetary gear facing the drive shaft, and teeth of a third central gear facing the driven shaft mesh with the driven shaft. The first planetary gear meshes with the opposing teeth of the second planetary gear, and the intermediate central gear has two rows of teeth, one of which is adjacent to the drive shaft. and a second row of teeth facing the driven shaft.
The teeth of the first internally toothed central gear and one of the tooth rows of the intermediate central gear have approximately equal and different numbers of teeth in the diameter of the pitch circle, and are virtual to each other. The third internally toothed central gear and the other tooth row of the intermediate central gear have approximately equal and different numbers of teeth in the diameter of the pitch circle, and are mutually virtual tooth rows. The planetary gear and the central gear each have teeth having a substantially triangular cross-sectional shape, and each virtual tooth row has a tooth slot,
Each tooth tip of the planetary gear is positioned on a closed virtual root curve defined by the end of each tooth slot, and the center of gravity of each virtual tooth root curve is located on the rotation axis of the corresponding cam disk. and the teeth of each planetary gear engage flatly on both sides the flanks of at least one imaginary tooth row, and the pitch of this one imaginary tooth row is equal to the pitch of the corresponding planetary gear tooth row. A planetary gear device featuring: (36) The device according to item (35), characterized in that the first central gear facing the drive shaft is connectable to the housing of the planetary gear set by a detachable clutch. (37) A clutch ring mounted on the drive shaft between the housing and the first central gear connects the first central gear through a removable clutch and the housing through another removable clutch. The above (36) characterized in that it is connectable.
The equipment described in section. (38) When the clutch between the first central gear and the driven shaft is released and the clutch between the first central gear, the clutch ring and the housing is engaged, the rotational direction is opposite to the rotational direction of the drive shaft. The rotation of
The device according to item (37), characterized in that it can be selectively removed via the clutch of the central gear and the clutch of the intermediate central gear. (39) the third central gear has a number of teeth equal to the number of teeth in one tooth row of the intermediate central gear;
The other tooth row of the intermediate central gear has a number of teeth equal to the number of teeth of the first central gear, and the number of teeth of the third central gear is not equal to the number of teeth of the first central gear. The planetary gear device according to item (35) above. (40) The number of teeth in one tooth row of the intermediate central gear is equal to the number of teeth in the other tooth row of the intermediate central gear, and the number of teeth of the first and third central gears are different from each other, and The planetary gear device according to item (35), wherein the number of teeth of the two tooth rows of the central gear is different. (41) The planetary gear according to item (35), wherein the numbers of teeth of the first and third central gears are different from each other in the same way as the gears of the two tooth rows of the intermediate central gear. Device. (42) The planetary gear device according to item (35), wherein the maximum diameter of one cam disk is offset with respect to the maximum diameter of the other cam disk. (43) The planetary gear device according to item (42), wherein the degree of offset between the maximum spans of the two cam discs is 180°. (42) Three or more cam discs are mounted on a common drive shaft, the number of central gears is one more than the number of cam discs, and the central gears are arranged between two other central gears. The gear carries two tooth rows, one of the two tooth rows meshes with one planetary gear, and the other tooth row meshes with an adjacent planetary gear. The planetary gear device according to item (35) above. (45) Two central gears each having internal teeth having different numbers of teeth and forming an imaginary tooth row with each other, and one having external teeth that mesh with the central gear, and which is guided and driven by a cam plate. In a planetary gear device comprising three planetary gears, all teeth 46, 48,
74 has a substantially triangular cross section and flat flanks, and the tips 62 of the tooth grooves of each imaginary dentition lie on a closed imaginary tip curve 64, and The center of gravity is located on the rotation axis 68 of the cam plate 70, and the center of gravity is located on the rotation axis 68 of the cam plate 70.
are in flat contact with the flanks of at least one imaginary tooth row on both sides, and the pitch of the imaginary tooth row is formed to be equal to the pitch of the tooth row of the planetary gear 50; in extreme cases, the central gear 42, 1. A planetary gear device characterized in that all teeth except teeth having a difference in number of teeth of 44 mesh with each other to transmit force. (46) Two central gears having different numbers of teeth and forming an imaginary tooth row with each other, and one central gear having teeth that mesh with the central gear and guided and driven by a cam plate. In a planetary gear device equipped with a planetary gear, a planetary gear 90 having internal teeth surrounds central gears 82 and 84 having external teeth, and is guided and driven from the outside by a cam plate 86. Generally speaking, all the teeth have a triangular cross section and a flat flank, and the tips 62 of the tooth grooves of each virtual tooth row are on a closed virtual tooth tip curve 64, and the tooth tip curve is The center of gravity is located on the rotation axis 68 of the cam plate 86, the internal teeth 88 of the planetary gear 90 are in flat contact with the flanks of at least one imaginary tooth row on both sides, and the pitch of the imaginary tooth row is on the planetary gear 90. The pitch of the tooth row is equal to that of the central gear, and in extreme cases, all teeth are configured to mesh to transmit force, except for the teeth corresponding to the difference in the number of teeth of the central gear. Planetary gear system. (47) A central gear having internal teeth with different numbers of teeth that form an imaginary tooth row with each other, and one planet having external teeth that mesh with the central gear, and guided and driven by a cam plate. In a planetary gear system comprising gears, two or more central gears are arranged one after the other on the same axis, and all the teeth have a substantially triangular cross section and a flat flank. , the tips of the tooth slots of each virtual tooth row are on a closed virtual tooth tip curve, the center of gravity of the tooth tip curve is located on the rotation axis of the cam plate, and the external teeth of the planetary gear are on both sides. It is in flat contact with the flank of at least one imaginary tooth row, and the pitch of the imaginary tooth row is equal to the pitch of the tooth row of the planetary gear, and in extreme cases corresponds to the difference in the number of teeth of the central gear. 1. A planetary gear device characterized in that all teeth except teeth that mesh with each other so as to transmit force. (48) A central gear having different numbers of teeth that form an imaginary tooth row with each other, and one planetary gear having teeth that mesh with the central gear and which is guided and driven by a cam plate. In a planetary gear device, two or more central gears are arranged one after another on the same axis, and a planetary gear having internal teeth surrounds a central gear having external teeth, and a cam plate is attached from the outside. is guided and driven by a virtual tooth tip curve in which substantially all teeth have a triangular cross section and a flat flank, and the tips of the tooth grooves of each virtual tooth row are closed. The center of gravity of the tooth tip curve is located on the rotation axis of the cam plate, and the internal teeth of the planetary gear are in flat contact with the flanks of at least one imaginary tooth row on both sides, and The pitch is formed to be equal to the pitch of the tooth row of the planetary gear, and in extreme cases, all teeth are configured to mesh to transmit force, except for teeth corresponding to the difference in the number of teeth of the central gear. A planetary gear device featuring: (49) The device according to any one of items (45) to (48) above, wherein the number of teeth of the planetary gear is between the number of teeth of the central gear. (50) The above (47), (48) or (49) characterized in that two central gears have the same number of teeth and are arranged on both sides of one central gear with a different number of teeth.
The equipment described in section. (51) The above (45), characterized in that the difference in the number of teeth between the central gears 42, 44: 82, 84 is between 1 and 6.
The device according to any one of paragraphs to (50). (52) The difference in the number of teeth between the central gears 42 and 44 is 2,
The virtual tooth tip curve 64 is approximately a circle, and the center 66 of the circle is eccentrically located about half the tooth length of the planetary gear 50 with respect to the central axis 60 of the central gears 42 and 44. The device according to item (51) above, for intermediate and large reduction ratios (for example, reduction ratios of 30 or more). (53) Pitch of virtual tooth row (tooth groove tip 62)
It is characterized in that the circle that bisects the height h of the teeth of the central gears 42 and 44 is equal to 1 yen 80 in order to maintain a constant spacing between the central gears 42 and 44, and the central gears have a different number of teeth by two or more. The apparatus according to item (45) above or a subsequent item for use in small reduction ratios (for example, reduction ratios of 40 or less). (54) The cam plate 70 has a contour 96 that is mathematically similar to the virtual tooth tip curve 64, and roundings 100 are provided on the contour at positions where the direction of the tangent changes indefinitely. The planetary gear 50, its teeth, and a bearing (for example, a roller 72) that transmits the force are arranged between the virtual tooth tip curve 64 and the contour 96, and the uneven pitch (the teeth of the virtual tooth row) is arranged. The teeth of the planetary gear 50 are movable independently of each other in the circumferential direction and/or the radial direction and/or are elastically deformable in order to adjust the distance between the tips 62 of the grooves. Device according to any one of the preceding paragraphs (45) or the following paragraphs, characterized in that it is adapted to the flank angle of the row, in particular for reduction ratios between 10 and 30. (55) The gear with the largest number of teeth among the central gears with internal teeth has the smallest root circle, and the gear with the largest number of teeth among the central gears with external teeth has the largest root circle. The device according to item (54) above. (56) The device according to item (54) or item (55) above, characterized in that the height of the teeth 48 of the planetary gear 50 is variable and is spring-actuated in the direction of an imaginary tooth tip curve. (57) The device according to item (56) above, wherein the flank is not flat. (58) A virtual tooth tip curve 64 that occurs when the tooth flank of the central gear is flat and is composed of circular arcs around center points M1, M2, M3, and M4 is expressed by the following type of equation: r _v = r・[1−sin(Δ)/2tanαv−Δs] [In the formula, r _v : The distance between the tip of the tooth groove (at position m) of the virtual tooth row and the central axis 60 of the central gear. Spacing r: tooth root circle 56 of the central gear with respect to the center 58
Radius Δ: Formula (α _v −α) _n = 360°・(1/Z ₁ −1/Z ₂ )・m(
1) and the angular difference (spacing around the edges) of the tooth slots of the central gear at the position m calculated by the formula α _v − α = Δ (3), 2α _v : at the position m according to the formula (1) The flank angle of the teeth in the virtual tooth row Δs: Distance from the dedendum circle 56 to the straight connecting line between the tips of the tooth slots of the central gear described with respect to Δ (details 52-54 in FIG. 3) ”)] The device according to item (54) or the subsequent item. (59) The cam plate 70 consists of two mutually adjustable half bodies 703 and 704 having circular contours, and the contours of each half body 703 and 704 are as follows.
Pairs of points M1-M2 and/or M3-M4 that are close to each other, each extending to a position slightly shorter than half of the arc whose center lies at the center of gravity of the pair of points located further away from the respective contours. The device according to item (58), characterized in that the center of gravity of the circle center is located on the central axis of the central gear. (60) Each tooth 48 consists of two flank portions 168 which are bendable at the tip 154 and are preferably resiliently connected, with a spring element 144, 156 between them which urges them apart. (preferably grasped from the rear), and the end of the portion is located at a distance from the planetary gear 50. (61) The planetary gear 50 has a bore 142,
The bore extends axially and opens alternately to the outside and inside of the planetary gear 50, with the outwardly opening bore 142 having a pair of compound S-shaped spring plates forming a 8-shaped spring. 144 is inserted, the lower part of the plate being rotatable in the bore 142 and the upper part in the circular recess 146 of the flank part 168, or in any subsequent clause. The device described in. (62) In accordance with paragraph (54) or any subsequent paragraph, characterized in that each individual tooth 48 is located on a sliding shoe 164 and that the sliding shoes are resiliently connected to each other to form a planetary gear 50. The device described. (63) The above (54) characterized in that the planetary gear 50 has an interruption position 170 which is bridged by a circumferentially elastic dowel 172.
Equipment as described in Section 1 or any subsequent Section. (64) A roller 72 is provided as a bearing for transmitting force between the cam plate 70 and the planetary gear 50, and a bearing belt 174 is inserted between the roller 72 and the planetary gear 50. A device according to paragraphs (59) and (61) above or any subsequent paragraph. (65) Bearing belt 174 has diagonal slit 176
The device according to item (64) above, characterized in that it has: (66) According to the above item (54) or any subsequent item, wherein the tooth roots 182 of the central gears 42 and 44 are respectively connected to the main body 186 of the central gear via a narrow flexible bridge 184. The device described. (67) The device according to item (54) or any subsequent item, characterized in that the teeth of the central gear have cooling bores. (68) The planetary gear 50 is arranged around the cam plate 70 and has a metal thin plate, preferably multi-layered and zigzag in cross-section, the serrations of which overlap the teeth 48 of the planetary gear 50. The device according to item (54) above or a subsequent item, characterized in that the device comprises: (69) According to the above item (68), a zigzag-shaped metal thin plate is placed on a ring 132, and the ring is held on the cam plate 70 by a roller 72 or a ball. equipment. (70) The cam plate 70 is held in the planetary gear 50 which is itself held in an imaginary tooth row, and the cam plate 70 does not lock with the drive shaft 76 geometrically but only forcefully. The device according to item (54) or any subsequent item, characterized in that it is not held in place other than in a planetary gear. (71) At least two coaxial cam plates 701 and 702 are arranged on a common drive shaft 76, and each cam plate has one planetary gear 501.
and 502, and at least three central gears 421, 422, 423 having internal teeth.
Couplings K3, K4 and K5 that can be introduced freely
The teeth (number of teeth D) of the first central gear 421 facing the drive shaft 76 are connectable to the driven shaft 78 via the teeth of the first planetary gear 501 facing the drive shaft 76. The teeth (number of teeth A) of the third central gear 423 facing the driven shaft 78 mesh with the teeth of the second planetary gear 502 facing the driven shaft 78, and the intermediate central gear 42
2 supports two rows of teeth, one row (number of teeth C) is connected to the teeth of the planetary gear 501 adjacent to the drive shaft 76, and the other row (number of teeth B) is driven. The device according to item (54) or any subsequent item, characterized in that it meshes with the teeth of the planetary gear 502 facing the shaft 78. (72) Central gear 421 facing drive shaft 76
36. The device according to item (71) above, wherein the device is connectable to the casing 220 by a detachable coupling ring K1 (Fig. 36). (73) Casing 220 and first central gear 421
A clutch ring 222 is provided which is held on the drive shaft 76 between the first central gear 421 via a detachable coupling K2 and the first central gear 421 via another detachable coupling K1. The device according to item (72), characterized in that the device can be connected to the casing 220 by means of the casing 220. (74) The coupling K3 between the first central gear 421 and the driven shaft 78 is loosened, whereas the couplings K2 and K1 between the first central gear 421, the clutch ring 222 and the casing 220 are solid. Therefore, the third central gear 42 rotates in the opposite rotational direction to the rotational direction of the drive shaft 76.
73. The device according to claim 73, characterized in that it can be selectively removed via the coupling K5 from 3 or the coupling K4 from the intermediate central gear 422. (75) The number of teeth A is equal to the number of teeth C, and the number of teeth B is the number of teeth D.
, and the numbers A and B of teeth are different. (76) While the number of teeth B and C are equal, the number of teeth A
and D are different from each other and from the other numbers of teeth, the device according to any one of items (71) to (74) above. (77) The device according to item (71) or a subsequent item, characterized in that the numbers A, B, C, and D of teeth are different. (78) The maximum width of one cam plate 701 is preferably greater than the maximum width of other cam plates 702.
The device according to item (71) or any subsequent item, characterized in that the devices are staggered at an angle of 180°. (79) A central gear in which two or more cam plates are arranged on a common drive shaft, the number of central gears exceeds the number of cam plates by one, and the central gear is located between two other central gears. supports two rows of teeth, one row of the tooth rows meshes with a planetary gear, and the other row meshes with an adjacent planetary gear. Devices similar to devices.

[Brief explanation of drawings]

FIG. 1 shows a diagram of a device having the basic configuration of the device of the present invention shown in FIG. Fig. 2 is a sectional view similar to Fig. 1 in which the difference in the number of teeth between the central gears with external teeth is 2, and Fig. 3 is a sectional view in the radial direction along the central gear with two external teeth. Figure 3A is a radial cross-sectional view of a quarter of the device with a difference of 4.
Detailed views of part A shown in the figure, Figures 4 to 7 are explanatory diagrams showing the arrangement of planetary gear teeth between the tooth surfaces of a virtual tooth row, and Figures 8 to 15 are "smooth" An explanatory diagram showing the deviation of the virtual tooth tip curve of the shape and the rounding at the inflection position, FIG. 16 is a planetary gear device of the present invention using two rows of virtual tooth rows and a difference in the number of teeth of 2. FIG. 17 is a partial sectional view in the radial direction of the device, FIG. 17 is a sectional view in the axial direction of a part of the device for explaining the reduction ratio of the gear, and FIGS. Explanatory diagram, No. 20
22 to 22 are reference explanatory diagrams showing the movable arrangement of teeth on a planetary gear, FIGS. 23 to 29 are reference explanatory diagrams showing various structures of teeth on a planetary gear, and FIG. Reference cross-sectional view in the radial direction showing the /4 part,
31 is an explanatory view of a bearing band of a planetary gear device of the present invention having a slot, FIG. 32 is an axial sectional view of the device of FIG. 1, and FIG. 33 is a radial view of a device similar to FIG. 1. 34 is an axial sectional view taken along the line shown in FIG. 35, and FIG. 35 is an axial sectional view taken along the line shown in FIG. 34.
FIG. 36 is an axial sectional view of another embodiment of the planetary gear device according to the present invention. 42, 44, 82, 84, 421, 422, 4
23... Central gear, 46, 48, 74, 88...
Teeth, 50, 90, 501, 502... planetary gear,
70, 86, 701, 702... cam disk,
72... Laura.

Claims (1)

[Claims] 1. At least one pair of toothed sun gears, a planetary gear base arranged to form a gap along the teeth of the pair of sun gears, and a plate bent in a zigzag shape. and in the gap, teeth are formed on the circumferential surface of the planetary gear base, which are arranged separately from the base so as to be movable in the circumferential direction of the base, and mesh with the teeth of the sun gear. a planetary gear having a toothed member; and a cam disc rotatable about an axis and operatively connected to the planetary gear base so as to guide and drive the planetary gear base, the pair of toothed sun gears comprising: The diameters of the pitch circles are approximately equal, and each has a different number of teeth, forming a virtual tooth row, and the cross-sectional shape of each of the teeth of the pair of sun gears is substantially triangular. , one of the virtual tooth rows has a tooth groove,
The tip of each tooth of the tooth member of the planetary gear is positioned on a closed virtual root curve defined by the end of each tooth groove so that the tooth member of the planetary gear meshes with the virtual tooth row. and a rotating shaft of the cam disk is arranged at the center of gravity of this virtual tooth bottom curve so as to change the meshing state of the tooth member of the planetary gear with the virtual tooth row by rotation of the cam disk, The teeth of the planetary gear teeth engage flatly on the flanks of an imaginary toothing, the pitch of the imaginary toothing is equal to the pitch of the planetary gear teeth, and each tooth of the toothing is , forming a space with a substantially triangular cross-sectional shape between it and the base,
A planetary gear device characterized in that the tooth member is in contact with the base at each tooth groove. 2. The sun gear is formed from an internal gear,
The planetary gear device according to claim 1, wherein the tooth members of the planetary gear are arranged on the outer peripheral surface of the planetary gear base. 3. The sun gear is formed from an external gear,
A tooth member of the planetary gear is disposed on an inner periphery of the planetary gear base and surrounds the sun gear,
2. The planetary gear system of claim 1, wherein the cam disk is operatively connected to the planetary gear base from outside the planetary gear base. 4. According to any one of claims 1 to 3, wherein at least one other sun gear in addition to the pair of sun gears meshes with the tooth member of the planetary gear. The planetary gear system described. 5. The planetary gear system according to any one of claims 1 to 4, wherein all the sun gears are arranged coaxially one after the other. 6. The planetary gear device according to any one of claims 1 to 5, wherein the number of teeth of the tooth member of the planetary gear is between the number of teeth of the pair of sun gears. . 7. A patent claim characterized in that two of the three sun gears each have the same number of teeth and are arranged on both sides of another sun gear that has a different number of teeth. The planetary gear device according to any one of the ranges 4 to 6. 8. The planetary gear device according to any one of claims 1 to 6, wherein a difference in the number of teeth between the pair of sun gears is between 1 and 6. 9 The difference in the number of teeth between the pair of sun gears is 2, the virtual tooth root curve is substantially a single circle, and the center of the circle is relative to the central axis of the sun gear,
Substantially 1/2 of the tooth height of the tooth member of the planetary gear
The planetary gear is eccentrically arranged by a dimension of , and the center of the planetary gear and the center of the circle formed by the end of the tooth space coincide with each other. The planetary gear device according to any one of Items 4 and 6 to 8. 10 Consisting of at least one pair of toothed sun gears, a planetary gear base arranged so as to form a gap along the teeth of the pair of sun gears, and a plate-shaped body bent in a zigzag shape, At least one tooth that is disposed on the circumferential surface of the planetary gear base and separate from the base so as to be movable in the circumferential direction of the base, and that forms teeth that mesh with the teeth of the sun gear. a planetary gear having a member; an imaginary tooth root formed by the sun gear, the planetary gear being operatively connected to the planetary gear base so as to guide and drive the planetary gear base and rotatable about an axis; It has a contour that is substantially similar in a mathematical sense to a curve, and is rounded at positions where the direction of the tangent to the contour changes irregularly with respect to an inflection point on the circumference inside the planetary gear. and a cam disc having a cam disc with a cam disk, the pair of toothed sun gears are approximately equal in pitch circle diameter, each having a different number of teeth, and mutually forming the imaginary tooth row. The cross-sectional shape of each of the teeth of each of the pair of sun gears is substantially triangular, one of the virtual tooth rows has a tooth groove, and the tooth member of the planetary gear is meshed with the virtual tooth row. The tip of each tooth of the tooth member of the planetary gear is positioned on a closed virtual root curve defined by the end of each tooth groove, and the cam disk is positioned at the center of gravity of this virtual tooth root curve. A rotating shaft is arranged so as to change the meshing state of the tooth member of the planetary gear with the virtual tooth row by rotation of the cam disk, and the teeth of the tooth member of the planet gear are aligned with the flanks of the virtual tooth row. The pitch of this virtual tooth row is equal to the pitch of the tooth row of the planetary gear, and each tooth of the tooth member has a substantially triangular cross-sectional shape with respect to the base. 1. A planetary gear device characterized in that a space is formed, and the tooth member is in contact with a base at each tooth groove. (11) a bearing means in which the planetary gear is arranged between the virtual tooth root curve and the contour of the cam disk in order to transfer a tooth member at the same time as transmitting force through rotation of the cam disk; Adjusting the angle of the flank of the tooth member of the planetary gear with respect to the virtual tooth row to correct the uneven pitch of the tooth member, the adjustment means being actuated by a spring in a direction toward the virtual tooth bottom curve; The planetary gear device according to claim 10, characterized in that it has: 12. The planetary gear device according to claim 11, wherein the supporting means is a plurality of rollers. 13. The planetary gear device according to claim 11 or 12, wherein the flank angle adjusting means is configured such that teeth of a tooth member of the planetary gear are elastically deformable. 14. The sun gear is formed from an internal gear, the tooth members of the planetary gears are arranged on the outer peripheral surface of the planetary gear base, and one of the sun gears has a larger number of teeth than the other. , wherein the root circle connecting the bottoms of the plurality of teeth of one sun gear is the smaller of the root circles of each of the pair of sun gears. 1st
The planetary gear device according to any one of Item 3. 15. The sun gear is formed from an external gear, the tooth members of the planetary gears are arranged on the inner periphery of the planetary gear base and surround the sun gear, and one of the sun gears is more numerous than the other. A patent claim characterized in that the sun gear has a number of teeth, and the root circle connecting the bottoms of the plurality of teeth of one sun gear is the larger one of the root circles of each of the pair of sun gears. The planetary gear device according to any one of the ranges 10 to 13. 16 A patent claim characterized in that the planetary gear base is formed with an interrupted portion in continuity in the circumferential direction, and the interrupted portion is provided with an elastic metal lock that bridges the interrupted portion. range 10th
16. The planetary gear device according to any one of Items 1 to 15. 17. Any one of claims 11 to 16, characterized in that the support means comprises a roller and a support band inserted between the roller and the tooth member of the planetary gear. The planetary gear device according to item 1. 18. The planetary gear device according to claim 17, wherein the bearing band is formed with a slot that is inclined with respect to the longitudinal direction of the bearing band. 19 Claim 1, characterized in that cooling bores are formed in the teeth of the sun gear.
The planetary gear device according to any one of Items 0 to 18. 20. The planetary gear device according to any one of claims 10 to 19, wherein the tooth member of the planetary gear has a plurality of layers. 21 Claim 1, characterized in that a ring is attached around the tooth member of the planetary gear, and the support means supports the ring.
The planetary gear device according to any one of Items 0 to 20. 22 A planetary gear in which at least two tooth members made of plate-shaped members bent in a zigzag shape are arranged on the outer periphery, and each tooth member is arranged on the outer periphery of the planetary gear in order to guide and drive the planetary gear. at least two coaxial cam discs operatively connected to carry each planetary gear and mounted on a common drive shaft and rotatable about the shaft, and through a clutch engageable to the driven shaft; a first planetary planet comprising at least three sun gears each having teeth formed on its inner periphery, the first sun gear facing the drive shaft having teeth facing the drive shaft; The teeth of the third sun gear meshing with the gear and facing the driven shaft mesh with the teeth of the second planetary gear facing the driven shaft, and the middle sun gear has two rows of teeth. one of the tooth rows meshes with the teeth of the first planetary gear adjacent to the drive shaft, and the other tooth row meshes with the teeth of the second planetary gear facing the driven shaft. The sun gear in which the first tooth member is disposed on the inner periphery and the tooth row of one of the intermediate sun gears have substantially the same number of teeth and different numbers of teeth in the diameter of the pitch circle, and they are virtual teeth. The sun gear on the inner periphery of which the third tooth member is arranged and the other tooth row of the intermediate sun gear have approximately equal and different numbers of teeth in the diameter of the pitch circle, and A virtual tooth row is formed, and the sun gear has teeth having a substantially triangular cross-sectional shape, and one of the virtual tooth rows has a tooth groove. Each tooth tip of the planetary gear is positioned on a closed virtual root curve defined by the end of each tooth groove so that the tooth members of the planetary gear mesh with each other, and the center of gravity of this virtual tooth root curve is The rotating shaft of the corresponding cam disk is arranged to change the meshing state of the tooth member of the planetary gear with the virtual tooth row by rotation of the cam disk, and the teeth of each planetary gear are arranged in a virtual manner on both sides. The pitch of this imaginary tooth row is equal to the pitch of the tooth row of the corresponding planetary gear, and each tooth of the tooth member has a cross-sectional shape between it and the base. A planetary gear device characterized in that a substantially triangular space is formed, and the tooth member abuts the base at each tooth groove. 23. Planetary gear system according to claim 22, characterized in that the first sun gear facing the drive shaft is connectable to the housing of the planetary gear system by a detachable clutch. . 24 A clutch ring mounted on the drive shaft between the housing and the first sun gear connects the first sun gear via a detachable clutch;
24. Planetary gear arrangement according to claim 23, characterized in that it is connectable to the housing via another detachable clutch. 25. When the clutch between the first sun gear and the driven shaft is released and the clutch between the first sun gear, clutch ring and housing is engaged,
Claim 23, characterized in that rotation in the direction of rotation opposite to the direction of rotation of the drive shaft can be selectively taken out via a clutch of the third sun gear and a clutch of the intermediate sun gear. Section or 24
The planetary gear device described in . 26 The third sun gear has a number of teeth equal to the number of teeth of one tooth row of the intermediate sun gear, and the other tooth row of the intermediate sun gear has a number of teeth equal to the number of teeth of the first sun gear. , and the number of teeth of the third sun gear is not equal to the number of teeth of the first sun gear. The planetary gear device according to item 1. 27 The number of teeth of one tooth row of the intermediate sun gear is equal to the number of teeth of the other tooth row of the intermediate sun gear, the number of teeth of the first and third sun gears are different from each other, and Claim 2, characterized in that the number of teeth in the two tooth rows of the sun gear is different.
The planetary gear device according to any one of Items 2 to 26. 28. Claims 22 to 28, characterized in that the numbers of teeth of each of the first and third sun gears are different from each other in the same manner as the gears of the two tooth rows of the intermediate sun gear. The planetary gear device according to any one of Item 27. 29. The planet according to any one of claims 22 to 28, characterized in that the largest diameter portion of one cam disk is offset with respect to the largest diameter portion of the other cam disk. gearing. 30. The planetary gear apparatus according to claim 29, wherein the degree of offset of the maximum diameter portion of each of the two cam disks is 180 degrees. 31 Three or more cam discs are mounted on a common drive shaft, the number of sun gears is one more than the number of cam discs in question, and the sun gear arranged between two sun gears is A patent characterized in that two tooth rows are formed, one of these two tooth rows meshes with one planetary gear, and the other tooth row meshes with an adjacent planetary gear. The planetary gear device according to any one of claims 22 to 30.