TWI577906B - Gear transmission - Google Patents

Gear transmission Download PDF

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Publication number
TWI577906B
TWI577906B TW101141459A TW101141459A TWI577906B TW I577906 B TWI577906 B TW I577906B TW 101141459 A TW101141459 A TW 101141459A TW 101141459 A TW101141459 A TW 101141459A TW I577906 B TWI577906 B TW I577906B
Authority
TW
Taiwan
Prior art keywords
crankshaft
eccentric
gear
carrier
gear transmission
Prior art date
Application number
TW101141459A
Other languages
Chinese (zh)
Other versions
TW201326606A (en
Inventor
Takahito Azuma
Hiroki Mizuhashi
Original Assignee
Nabtesco Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority to JP2011246285A priority Critical patent/JP6029273B2/en
Application filed by Nabtesco Corp filed Critical Nabtesco Corp
Publication of TW201326606A publication Critical patent/TW201326606A/en
Application granted granted Critical
Publication of TWI577906B publication Critical patent/TWI577906B/en

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Classifications

    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H1/00Toothed gearings for conveying rotary motion
    • F16H1/28Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02KDYNAMO-ELECTRIC MACHINES
    • H02K7/00Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • H02K7/116Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H1/00Toothed gearings for conveying rotary motion
    • F16H1/28Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F16H2001/323Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear comprising eccentric crankshafts driving or driven by a gearing

Description

Gear transmission
The present application claims priority based on Japanese Patent Application No. 2011-246285 filed on Nov. 10, 2011. All contents of this application are incorporated by reference in the present specification. The present invention relates to a gear transmission having an axial gap motor.
There is known a gear transmission (hereinafter referred to as an eccentric rocking type gear transmission) in which an external gear and an internal gear are eccentrically rotated while meshing. Such a gear transmission is called a cycloid reducer. An example of such a gear transmission has been disclosed in International Publication No. WO 2009/081793. In the following description, the international publication WO2009/081793 will be referred to as Patent Document 1. In the gear transmission of Patent Document 1, the eccentric body is fixed to a crank shaft. The external gear and the eccentric body card are combined with the eccentric rotation. A rotor of a radial gap motor is mounted on the crankshaft.
In order to make the overall length of the gear transmission thin, it is preferable to use a thin motor. Therefore, in order to realize a thin gear transmission, it is preferable to use an axial gap motor.
The axial gap motor, the rotor and the stator face each other in the axial direction. Therefore, on the axial gap motor, the gap width between the rotor and the stator is easily changed. When the axial gap motor is driven, if the gap width is When the change occurs, the generated torque will also change. The present specification provides a newly constructed gear transmission that utilizes a unique configuration in an eccentric rocking type of gear transmission such that the gap width of the rotor and the stator remains fixed.
The gear transmission disclosed in the present specification has a housing, a carrier, a crankshaft, an external gear, and an axial gap motor. The internal gear is formed on the inner circumference of the outer casing. The carrier and the internal gear are coaxially supported by the outer casing. The crankshaft is supported by the carrier by a pair of bearings. Also, the crankshaft has an eccentric body. The outer gear and the eccentric body are engaged and eccentrically rotated while meshing with the inner gear. The rotor of the axial gap motor is mounted to the crankshaft. In this gear transmission, the axial gap motor is positioned between a pair of bearings that support the crankshaft.
The crankshaft vibrates during rotation. However, between the pair of bearings, even in the rotation of the crankshaft, the vibration of the crankshaft is strictly suppressed. On the other hand, on the outer side of the pair of bearings, since the crankshaft is supported by the cantilever, the shaft swing may occur accompanying the rotation. If the rotor of the axial gap motor is fixed to the crankshaft between a pair of bearings, the vibration of the rotor is suppressed. Since the rotor can be maintained in a fixed position, the gap between the rotor and the stator can be maintained constant. The result is that the output torque of the axial gap motor can be kept constant.
The technology disclosed in the present specification can realize a gear transmission that is above a gear transmission having an axial gap motor such that an axial gap motor that drives the crankshaft outputs a stable torque.
Hereinafter, several technical features disclosed in the present specification are described. Further, each of the items described below has technical usefulness alone.
The two axial gap motors can be configured to face each other. At this time, the rotors of the axial gap motors of both sides can be positioned between a pair of bearings supporting the crankshaft. The attractive forces generated by the two axial gap motors cancel each other out. Since the balance of the attractive forces generated by the two axial gap motors is good, the gap between the rotor and the stator can be made more difficult to change.
The crankshaft can also be arranged coaxially with the carrier or at a position offset from the axis of the carrier. If the crankshaft and carrier are coaxial, the torque can be transmitted to the central portion of the external gear. The torque can be uniformly transmitted to the external gear.
When the crankshaft and the carrier are disposed coaxially, a through hole concentric with the carrier axis may be formed on the crankshaft. Further, a rotor of the axial gap motor may be fixed to the through hole. By effectively utilizing the through hole of the crankshaft, a gear transmission having a compact motor can be realized.
When the crankshaft and the carrier are coaxially disposed, there may be a plurality of driven crankshafts that rotate as the eccentric rotation of the external gear rotates. At this time, the plurality of driven crankshafts are engaged with the external gear at a position offset from the carrier axis. Further, at this time, each of the driven crankshafts may be disposed at equal intervals around the carrier axis. By having the driven crankshaft, the backlash of the external gear can be suppressed and the external gear can be smoothly rotated.
The crankshaft can have a plurality of eccentric bodies. At this time, the eccentric direction of each eccentric body may also be different. Further, the center of each of the eccentric bodies may be positioned at equal intervals on the concentric circle of the axis of the crankshaft. If the eccentric directions of the plurality of eccentric bodies are different, the eccentric directions of the plurality of external gears are different. each The position at which the external gear and the internal gear mesh are distributed in a balanced manner in the circumferential direction of the gear transmission. This result is a good balance of the drive of the gear transmission.
The eccentric body can be positioned between a pair of bearings that support the crankshaft. Since the backlash of the eccentric body is suppressed, the external gear that is engaged with the eccentric body can be smoothly rotated.
(Example)
(First embodiment)
The gear transmission 100 shown in Fig. 1 is an eccentric rocking type reduction gear, and the external gear 24 of the reduction gear is eccentrically rotated while meshing with the internal gear 32. In the gear transmission 100, the carrier 8 rotates relative to the outer casing 6 corresponding to the difference between the number of teeth of the outer gear 24 and the number of teeth of the internal gear 32. The internal gear 32 is composed of a casing 6 and a plurality of internal pin pins 34 disposed on the inner circumference of the casing 6. Also, this type of gear transmission can be referred to as a cycloid reducer.
Gear transmission 100 includes a housing 6, a carrier 8, a crankshaft 12, an external gear 24, and axial gap motors 18,48. The carrier 8 has a first flat plate 8a and a second flat plate 8c. A gap exists between the first flat plate 8a and the second flat plate 8c. The columnar portion 8b extends from the first flat plate 8a toward the second flat plate 8c. The columnar portion 8b and the second flat plate 8c are fixed. The columnar portion 8b passes through the through hole 52 of the external gear 24. The external gear 24 is disposed in a gap between the first flat plate 8a and the second flat plate 8c. The carrier 8 is supported by the outer casing 6 by a pair of bearings 4. The bearing 4 is an angular ball bearing. The carrier 8 and the internal gear 32 are coaxial. Carrier 8 is limited by a pair of bevel ball bearings 4 Movement in the axial direction as well as in the radial direction. The axis 40 corresponds to the axis of the carrier 8. The axis 40 also corresponds to the axis of the internal gear 32 (outer casing 6). Further, the groove formed in the carrier 8 corresponds to the inner race of the bevel ball bearing 4.
The crankshaft 12 and the carrier 8 are arranged in a coaxial manner. That is, the axis of the crankshaft 12 is equal to the axis of the carrier 8. The crankshaft 12 is supported by the carrier 8 by a pair of bearings 50. Bearing 50 is a deep groove ball bearing. That is, the crankshaft 12 is restricted from moving in the axial direction and the radial direction by a pair of deep groove ball bearings 50. The crankshaft 12 has two eccentric bodies 22.
The two eccentric bodies 22 are positioned between the pair of deep groove ball bearings 50 in the direction of the axis 40. Again, each of the eccentric bodies 22 is eccentric in a symmetrical manner with respect to the axis 40. Each of the eccentric bodies 22 is engaged with the corresponding external gear 24 through the cylindrical roller bearing 23. The two outer gears 24 are positioned between the pair of deep groove ball bearings 50 in the direction of the axis 40. The crankshaft 12 has a through hole 12a (see Fig. 2). The axial gap horses 18, 48 are mounted in the through holes 12a. An encoder 20 is mounted to the crankshaft 12. The encoder 20 and the axial clearance horses 18, 48 will be described in detail later.
The driven crankshaft 26 is disposed at a position deviated from the axis 40. The driven crankshaft 26 and the crankshaft 12 extend in parallel such that the axis 36 of the driven crankshaft 26 is parallel to the axis 40 of the crankshaft 12. The driven crankshaft 26 is supported by the carrier 8 by a pair of tapered roller bearings 38. The driven crankshaft 26 has two driven eccentric bodies 35. The driven eccentric body 35 is positioned between the pair of tapered roller bearings 38 in the direction of the axis 36. also, Each of the driven eccentric bodies 35 is eccentric in a symmetrical manner with respect to the axis 36. Each of the driven eccentric bodies 35 is engaged with a corresponding external gear 24. A brake 28 is attached to one of the ends of the end of the driven crankshaft 26. Further, a motor is not attached to the driven crankshaft 26.
If the crankshaft 12 rotates, the eccentric body 22 will eccentrically rotate about the circumference of the axis 40. With the eccentric rotation of the eccentric body 22, the external gear 24 and the internal gear 32 mesh with each other while being eccentrically rotated around the circumference of the axis 40. The number of teeth of the outer gear 24 and the number of teeth of the inner gear 32 (the number of the inner tooth pins 34) are not the same. Therefore, if the external gear 24 is eccentrically rotated, the carrier 8 is rotated relative to the internal gear 32 (the outer casing 6) in accordance with the difference in the number of teeth of the external gear 24 and the internal gear 32. Further, the driven crankshaft 26 does not directly transmit the torque of the motor. The driven crank shaft 26 rotates in accordance with the eccentric rotation of the external gear 24. The driven crankshaft 26 suppresses the kickback of the external gear 24 and assists the external gear 24 to smoothly rotate eccentrically.
The axial gap motors 18, 48 will be described in detail with reference to Figs. 1 and 2 . In the following description, the axial gap motor 18 will be referred to as a first axial gap motor 18, and the axial gap motor 48 will be referred to as a second axial gap motor 48. The first axial gap motor 18 has a first rotor 16 and a first stator 14 . A gap 60 exists between the first rotor 16 and the first stator 14. The first rotor 16 has a rotor disk 17 and a first permanent magnet 15 . The first permanent magnet 15 is fixed to the surface of one of the rotor disks 17. The rotor disk 17 is pressed into the inner wall of the through hole 12a of the crankshaft 12. Therefore, in the through hole 12a of the crankshaft 12, the first rotor 16 can also be shown as being attached to the crankshaft 12. Further, the through hole 12a is formed concentrically with the axis 40 of the carrier 8. also, The rotor disk 17 has an extension 17a which extends from the surface of one of the rotor disks 17 along the axis 40.
The first stator 14 has a first stator core 13 and a first winding wire 11. The first stator 14 is disposed in the through hole 12a. Therefore, it can be said that the first axial gap motor 18 is disposed in the through hole 12a of the crankshaft 12. The first winding wire 11 is wound around the first stator core 13 . The first stator core 13 is formed of a powder magnetic core. The first stator core 13 is fixed to the first stator disk 21. The first stator disk 21 is fixed to the carrier 8 (first plate 8a). Therefore, it can be said that the first stator 14 is fixed to the carrier 8. The through hole 13a is formed in the first stator core 13. The extension portion 17a of the rotor disk 17 passes through the through hole 13a. The encoder 20 is attached to the end of the extension 17. That is, in the direction of the axis 40, the encoder 20 is fixed to the extension portion 17a of the rotor disk 17 outside the first stator disk 21. By the encoder 20, the angle of rotation of the crankshaft 12 can be detected.
Further, the first permanent magnet 15 has a permanent magnet having an N pole facing outward and a permanent magnet having an S pole facing outward. In the rotor disk 17, a permanent magnet whose N pole faces outward and a permanent magnet whose S pole faces outward are fixed to each other in the circumferential direction. In the first stator 14, a winding in which a U-phase current flows, a winding in which a V-phase current flows, and a winding in which a W-phase current flows are arranged in order in the circumferential direction.
The structure of the second axial gap motor 48 is substantially the same as that of the first axial gap motor 18. The description of the second axial gap motor 48 and the first axial gap motor 18 will be omitted, and will be briefly described below.
The second axial gap motor 48 has a second rotor 46 and a second stator 44. A gap 62 exists between the second rotor 46 and the second stator 44. 2nd turn The sub-section 46 has a rotor disk 17 and a second permanent magnet 45. The second rotor 46 and the first rotor 16 are integrated. That is, the first rotor 16 and the second rotor 46 use the common rotor disk 17. More specifically, the first permanent magnet 15 is fixed to the surface of one surface of the rotor disk 17, and the second permanent magnet 45 is fixed to the surface of the other surface of the rotor disk 17.
The second stator 44 has a second stator core 43 and a second winding 41. The second stator core 43 is fixed to the second stator disk 39. The second stator disk 39 is fixed to the carrier 8 (second plate 8c). The second stator 44 can also be shown as being fixed to the carrier 8. Further, the second axial gap motor 48 may be disposed in the through hole 12a of the crankshaft 12. Further, the phases of the first axial gap motor 18 and the second axial gap motor 48 are equal.
The features of the gear transmission 100 will be described. As described above, the crankshaft 12 is supported by the carrier 8 by a pair of deep groove ball bearings 50. In the range 72 that is sandwiched by a pair of deep groove ball bearings 50, the crankshaft 12 is supported by the two deep groove ball bearings 50. That is, in the range 72, even if the crankshaft 12 is in rotation, the movement (vibration) of the crankshaft 12 in the axial direction and the radial direction is strictly restricted. On the other hand, on the outer side of the range 72, if the crankshaft 12 rotates, the crankshaft 12 is likely to vibrate.
In the gear transmission 100, the rotors 16, 46 are mounted to the crankshaft 12 in the range 72. Since the positions of the rotors 16 and 46 do not change, the gap 60 between the first rotor 16 and the first stator 14 and the gap 62 between the second rotor 46 and the second stator 44 are maintained and fixed. Since the output torque of the axial gap motors 18, 48 can be fixedly maintained, the output torque of the gear transmission 100 can be fixedly maintained.
Other features of the gear transmission 100 will be described. The first axial gap motor 18 and the second axial gap motor 48 are disposed to face each other. More specifically, the first rotor 16 and the second rotor 46 are attached to the crankshaft 12 between the first stator 14 and the second stator 44. In the case of an axial gap motor, the attractive force between the rotor and the stator acts. By the two axial gap motors 18, 48 being disposed facing each other, the attractive forces of the two axial gap motors 18, 48 act against the crankshaft 12 in opposite directions. In the direction of the axis 40, the external forces applied to the crankshaft 12 cancel each other out. As a result, the external force balance applied to the crankshaft 12 becomes good, and the crankshaft 12 is smoothly rotated.
As described above, the axial gap motors 18 and 48 are disposed in the through hole 12a of the crankshaft 12. In the case of an axial gap motor, the inertial force increases with the outer diameter. If the inertial force of the axial gap motor becomes large, for example, when the driving of the gear transmission is stopped, the stop operation will be delayed. By arranging the axial gap motors 18 and 48 in the through hole 12a of the crankshaft 12, the gear transmission 100 can be driven by a motor having a small inertial force. Further, by arranging the two axial gap motors in the through hole 12a, the overall size of the gear transmission having the motor can be reduced. In particular, the length of the gear transmission with the motor can be shortened in the axial direction.
As described above, the two eccentric bodies 22 are each eccentric with respect to the axis 40 in a symmetrical manner. The eccentric direction of the outer gear 24 is symmetrical, and the balance can be properly maintained when the gear transmission 100 is driven. Further, the relationship between the eccentric body 22 and the crankshaft 12 can also be expressed as follows. The crankshaft 12 has two eccentric bodies 22. The eccentric directions of the respective eccentric bodies 22 are different. The center of each eccentric body 22 is The eccentric body 22 is fixed to the crankshaft 12 in such a manner as to be positioned 180 degrees away from the circumference of the axis 40 of the crankshaft 12.
Two oil seals 70 are disposed between the crankshaft 12 and the carrier 8 (see Fig. 2). The oil seals 70 are each disposed outside the pair of deep groove ball bearings 50. In other words, the pair of deep groove ball bearings 50 are disposed between the two oil seals 70. By the oil seal 70, it is possible to prevent the lubricant from moving from the outside of the crankshaft 12 (the space in which the external gear 24, the internal gear 32, and the like exists) to the inside of the crankshaft 12 (the axial gap motors 18, 48 and the space in which the encoder 20 exists) ).
The oil seal 25 is disposed between the driven crank shaft 26 and the carrier 8 (refer to FIG. 1). The oil seal 25 is positioned between the tapered roller bearing 38 and the brake 28 in the direction of the axis 36. By the oil seal 25, it is possible to prevent the lubricant from moving from the space where the external gear 24 or the like exists to the space in which the brake 28 exists. Further, the outer cover 30 is fixed to the carrier 8 so as to cover the encoder 20 and the brake 28.
Two oil seals 2 are disposed between the outer casing 6 and the carrier 8. The oil seals 2 are disposed outside the pair of angled ball bearings 4, respectively. In other words, a pair of bevel ball bearings 4 are disposed between the two oil seals. Further, a hole is formed in the second flat plate 8c, and a cover 37 is fitted to the hole. By the oil seals 70 and 25 and the oil seal 2 and the lid 37 described above, it is possible to prevent the lubricant enclosed in the gear transmission 100 (the space in which the external gear 24 and the internal gear 32 are present) from leaking to the outside.
1 and 3, an advantage of having the driven crankshaft 26 will be described. Fig. 3 is a plan view showing the gear transmission 100 in a state in which the outer cover 30 is removed from the carrier 8. The section along the line I-I of Fig. 3 corresponds to the section of Fig. 1. As shown in Figure 3. Gear transmission 100 has three driven The crank shaft 26 is disposed. The three driven crank shafts 26 are disposed at equal intervals around the axis 40. Further, a brake 28 is attached to each of the three driven crankshafts 26.
As described above, the driven crankshaft 26 does not transmit the torque of the motor to the external gear 24. The driven crankshaft 26 suppresses the kickback of the external gear 24. In other words, the driven crankshaft 26 maintains the posture of the external gear 24. The eccentric rotation of the outer gear 24 can be made smooth, and back lash or the like can be prevented from occurring. Further, by mounting the brake 28 to the driven crankshaft 26, it is not necessary to mount both the encoder 20 and the brake 28 to the crankshaft 12.
(Second embodiment)
Referring to Figure 4, the gear transmission 200 will be described. The gear transmission 200 is a modification of the gear transmission 100. Regarding the gear transmission 200, the same components as those of the gear transmission 100 will be denoted by the same reference numerals or the same numerals as the last two digits, and the description will be omitted.
Gear transmission 200 has a central through bore 80 that is concentric with axis 40. Two hollow axial gap motors 218, 248 are used in the gear transmission 200. More specifically, a through hole 221a is formed in the first stator disk 221 of the first hollow axial gap motor 218, a through hole 214a is formed in the first stator 214, and a through hole is formed in the first rotor 216. 216a. Further, a through hole 246a is formed in the second rotor 246 of the second hollow axial gap motor 248, a through hole 244a is formed in the second stator 244, and a through hole 239a is formed in the second stator disk 239. On the gear transmission 200, a through hole 230a is formed in the outer cover 230.
The hollow shaft 82 is fixed to the through holes 230a and 239a. Hollow shaft 82 The through holes 221a, 214a, 216a, 244a, and 246a pass through. By using the central through hole 80, the cable, the shaft, and the like can be passed through the inside of the gear transmission 200 in the direction of the axis 40.
Gear transmission 200 and gear transmission 100 also have three driven crankshafts 226. Further, only one crankshaft 226 appears in Fig. 4, and the other two crankshafts 226 do not appear. In the gear transmission 200, an encoder cylinder 220 is mounted on one of the driven crankshafts 226. The other two drive crankshafts 226 are attached with a brake (not shown).
In the above embodiment, the configuration in which a pair of deep groove ball bearings are used to support the crankshaft has been described. As the bearing for supporting the crankshaft, a bevel ball bearing, a bevel roller bearing, a tapered roller bearing, or the like can also be used. The bearing that supports the crankshaft can be used to bear the load in the axial direction and the radial direction.
In the above embodiment, the description has been made that the crankshaft has two eccentric bodies. However, the number of eccentric bodies may be one or three or more. In other words, the number of external gears may be one or three or more. Further, when the crankshaft has a plurality of eccentric bodies, it is preferable that the eccentric directions of the eccentric bodies are different. Further, it is preferable that the centers of the respective eccentric bodies are positioned at equal intervals around the axis of the crankshaft such that the eccentric body is fixed to the crankshaft. Moreover, the more the number of eccentric bodies (the number of external gears), the higher the balance of the gear transmission.
In the above embodiment, the type having three driven crankshafts has been described. However, the number of driven crankshafts may be two or four. Alternatively, the gearing may not have a driven crankshaft. tooth The larger the diameter of the wheel transmission, that is, the larger the diameter of the external gear, the greater the usefulness of the driven crankshaft due to the fact that the external gear is less susceptible to backlash.
The specific embodiments of the present invention have been described in detail above, but are not intended to limit the scope of the claims. The technology described in the patent application scope includes various modifications and changes to the specific embodiments described above. The technical elements described in the specification or the drawings are technically useful by themselves or in various combinations, and are not intended to limit the combination of the claims at the time of filing. Moreover, the techniques exemplified in the present specification or the drawings achieve a plurality of purposes at the same time, and possess technical usefulness by achieving the purpose of one of them.
2, 25‧‧‧ oil seal
4, 23, 38, 50‧ ‧ bearings
6‧‧‧Shell
8, 208‧‧‧ carrier
8a, 8c, 208a, 208c‧ ‧ flat
8b, 208b‧‧‧ columnar
12, 26, 226‧‧‧ crankshaft
14, 44, 214, 244 ‧ ‧ stator
16, 46, 216, 246‧‧‧ rotor
18, 48, 218, 248‧‧‧ axial gap motor
20‧‧‧Encoder
21, 39, 239‧‧‧ stator disc
22, 35, 235 ‧ ‧ eccentric body
24‧‧‧External gear
28‧‧‧ brake
30, 230‧‧‧ Cover
32‧‧‧Internal gear
34‧‧‧ internal pin (pin)
36, 40‧‧‧ axis
37‧‧‧ cover
52‧‧‧through holes
100, 200‧‧‧ gear transmission
220‧‧‧Encoder
214a, 216a, 221a, 230a, 239a, 244a, 246a‧‧‧ through holes
Fig. 1 is a cross-sectional view showing the gear transmission of the first embodiment.
FIG. 2 is an enlarged schematic view of a portion II surrounded by a broken line of FIG. 1. FIG.
Fig. 3 is a plan view showing the gear transmission of the first embodiment when the outer cover is removed from the carrier.
Figure 4 is a cross-sectional view showing the gear transmission of the second embodiment.
2, 25‧‧‧ oil seal
4, 23, 38, 50‧ ‧ bearings
6‧‧‧Shell
8‧‧‧ Carrier
8a, 8c‧‧‧ flat
8b‧‧‧ Column
12, 26‧‧‧ crankshaft
14, 44‧‧‧ Stator
16, 46‧‧‧ rotor
18, 48‧‧‧ axial gap motor
20‧‧‧Encoder
21, 39‧‧‧ stator disc
22, 35‧‧‧ eccentric body
24‧‧‧External gear
28‧‧‧ brake
30‧‧‧ Cover
32‧‧‧Internal gear
34‧‧‧ internal pin (pin)
36, 40‧‧‧ axis
37‧‧‧ cover
52‧‧‧through holes
100‧‧‧Gear transmission

Claims (6)

  1. A gear transmission device comprising: a casing having an internal gear formed on an inner circumference; a carrier coaxially supported by the outer casing and the inner gear; the crankshaft supported by the carrier by a pair of bearings, having an eccentric body and formed with a through hole; an external gear engaged with the eccentric body and eccentrically rotating while meshing with the internal gear; and two axial gap motors, the rotor of the axial gap motor being mounted on the crankshaft, and the shaft The stator of the gap motor is mounted on the carrier, and the two axial gap motors are disposed to face each other, wherein the rotor has a rotor disk fixed to an inner wall of the through hole, and is fixed to the rotor disk. a first permanent magnet on one surface of the first permanent magnet and a second permanent magnet fixed on a surface of the other surface of the rotor disk that faces the first permanent magnet, wherein the rotor is positioned between the pair of bearings; And each of the stators is fixed to each other with a gap between the first permanent magnet and the second permanent magnet In the aforementioned carrier.
  2. The gear transmission of claim 1, wherein the crankshaft and the carrier are coaxially disposed.
  3. The gear transmission device of claim 2, further comprising a plurality of driven crankshafts, wherein the plurality of driven crankshafts are from the foregoing The position of the carrier is offset from the external gear, and is rotated in accordance with the eccentric rotation of the external gear, and each of the driven crankshafts is disposed at equal intervals around the axis of the carrier.
  4. The gear transmission device of claim 3, wherein the crankshaft further comprises a plurality of eccentric bodies, the eccentric bodies of the eccentric bodies are different in direction, and the centers of the eccentric bodies are concentric with the axis of the crankshaft. Positioning at equal intervals.
  5. The gear transmission device of claim 1, wherein the crankshaft further comprises a plurality of eccentric bodies, the eccentric bodies of the eccentric bodies are different in direction, and the centers of the eccentric bodies are concentric with the axis of the crankshaft. Positioning at equal intervals.
  6. The gear transmission according to any one of claims 1 to 5, wherein the eccentric body is positioned between the pair of bearings.
TW101141459A 2011-11-10 2012-11-08 Gear transmission TWI577906B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2011246285A JP6029273B2 (en) 2011-11-10 2011-11-10 Gear transmission

Publications (2)

Publication Number Publication Date
TW201326606A TW201326606A (en) 2013-07-01
TWI577906B true TWI577906B (en) 2017-04-11

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Family Applications (1)

Application Number Title Priority Date Filing Date
TW101141459A TWI577906B (en) 2011-11-10 2012-11-08 Gear transmission

Country Status (6)

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JP (1) JP6029273B2 (en)
KR (1) KR101972624B1 (en)
CN (1) CN103958929B (en)
DE (1) DE112012004708T5 (en)
TW (1) TWI577906B (en)
WO (1) WO2013069607A1 (en)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6147607B2 (en) * 2013-08-09 2017-06-14 ナブテスコ株式会社 Gear transmission
EP3407469B1 (en) * 2016-01-22 2020-03-04 Yamaha Hatsudoki Kabushiki Kaisha Dynamo-electric machine

Citations (6)

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DE112012004708T5 (en) 2014-07-24

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