WO2016175188A1

WO2016175188A1 - Planetary roller drive-type inscribed planetary gear reduction device

Info

Publication number: WO2016175188A1
Application number: PCT/JP2016/062988
Authority: WO
Inventors: 晶一長谷川; 大貴佐藤; 春夫北條
Original assignee: 国立大学法人東京工業大学
Priority date: 2015-04-30
Filing date: 2016-04-26
Publication date: 2016-11-03
Also published as: CN107850188B; JP2016211614A; JP6463212B2; CN107850188A

Abstract

[Problem] To provide a small-sized, lightweight, and inexpensive inscribed planetary gear reduction device that has lower levels of vibration and noise than in the prior art. [Solution] This inscribed planetary gear reduction device is configured from: a planetary roller (300) that turns while in contact with the outer peripheral surface of an input shaft (C); a planetary gear (400) having an outer ring (430) that turns with the outer periphery of the planetary roller (300) inscribed thereon; a frame member (500) having a fixed outer gear (533) capable of meshing with an inner gear (433) formed in the outside surface of the outer ring (430) and allowing the planetary gear (400) to move in planetary motion along the inner periphery; and an output shaft (600) capable of extracting and outputting only the revolution component from the motion of the planetary gear (400).

Description

Planetary roller drive type inscribed planetary gear reduction device

The present invention uses a planetary roller in place of the eccentric body to transmit power from an eccentric body connected to the input shaft of the inscribed planetary gear speed reducer to the planetary gear. The planetary gear can be used as a pressurizing mechanism for the planetary roller while facilitating power transmission from the planetary roller, and the inscribed planetary gear reduction device and the planetary roller are integrated in a small size and The present invention relates to a quiet, planetary roller drive type inscribed planetary gear reduction device.

Conventionally, in a mechanical device in which driving force is transmitted through the rotation of the main shaft of a driving source such as a motor, a speed reducer, a transmission, etc. are connected to the power from the driving source to meet the characteristics of the mechanical device. Thus, it is common to adjust the rotational speed and torque of the main shaft from the drive source.

Among such mechanical devices, for example, a communication robot using a relatively small pan head that operates to follow a target for the purpose of voice recording or image recognition, or a stuffed toy that can be held by hand. Or, a radio control model or the like requires a quiet, low-vibration actuator that is smaller and lighter, and a reduction gear used for these needs to be low-vibration, low-noise, small and lightweight. Has been.

However, spur gears and planetary gears used for such small motor speed reducers for relatively small actuators have the disadvantage of high noise, and when using worm wheels instead of these, The noise is small, but the size is large.

Also, a planetary gear speed reducer equipped with a planetary gear mechanism may be used as a speed reducer used for a small motor as described above. As the planetary gear speed reducer, for example, as shown in FIG. 14 (A), an internal gear S, a planetary gear P, and a drive shaft C are used, and an output is extracted from the output shaft O. As one of the speed reducers equipped with such a planetary gear mechanism, there is, for example, a cycloid speed reducer (such as “Cyclo Speed Reducer (registered trademark)”).

Japanese Patent No. 2739071 JP-A-6-341501 JP 2007-24072 A

As shown in FIG. 14B, the cycloid reduction gear is driven by an eccentric body E connected to a drive shaft C from a motor serving as a drive source (not shown), and the peripheral body driven by the eccentric body E. A curved plate P having an external gear, a frame member S ′ having an external pin Sp functioning as a fixed internal gear that circumscribes the curved plate P, and an internal pin Op inserted through the curved plate P. The output shaft O is the main component.

The eccentric body E is a cam provided eccentrically with respect to the drive shaft C, and a part of the cam circumscribes an eccentric in-vivo contact PH provided at the center of the curved plate P, and The curved plate P is revolved within the frame of the fixed internal gear constituted by the outer pin Sp by rotating around the axis of the drive shaft C inside the eccentric body-inscribed portion PH by the drive shaft C. Only the rotation component of the curved plate P by the inner pin Op provided on the output shaft O through the inner pin inscribed portions Ph arranged at equal intervals from the center of the curved plate P. Is extracted to the transmission shaft Os to reduce the rotational speed from the drive shaft and adjust the torque. As an example of such a reduction gear, Japanese Patent No. 2739071 (Patent Document 1) is disclosed.

In the cycloid reducer used in this way, as described above, an eccentric body such as a cam is directly driven by a motor by a driving force of a small motor or the like, thereby driving a curved plate.

However, in the conventional cycloid reducer as described above, since the curved plate is directly driven by the eccentric body, when the driving force of the small motor or the like is small, the curved plate is difficult to start, When the rotational speed of such an eccentric body is increased, there is a problem that vibration and noise increase.

Therefore, in order to solve such a problem, for example, a planetary roller reduction device disclosed in Japanese Patent Laid-Open No. 6-341501 (Patent Document 2) is disclosed.

In the technique disclosed in Patent Document 2, a sun roller having a common input shaft and shaft center is used instead of the eccentric body. Therefore, there is a possibility that the problem of starting can be solved by using a mechanism in which a plurality of planetary rollers are arranged around the sun roller, and a planetary gear mechanism around the sun roller by using the planetary roller. There is a possibility that the problem of noise can be solved rather than the case where the antenna is provided.

However, in general, the conventional planetary roller mechanism as disclosed in Patent Document 2 requires a pressurizing mechanism, and the pressurizing mechanism is complicated. Therefore, a small motor or the like is used as a drive source. It has become difficult to apply to the reducer that does.

That is, in the planetary roller mechanism, since the planetary roller is brought into contact with the sun roller or the like in advance and the tangential force is transmitted by friction, the rollers are rotated with each other. Is an essential component.

For example, the invention described in Patent Document 2 is configured so that a pressure contact force for friction drive transmission is generated by elastic deformation of the inner roller 28 having two groove-shaped cross sections.

More specifically, referring to FIG. 1 and the description of the 14th to 15th paragraphs of the above-mentioned patent document 2, the inner roller 28 of the above-mentioned patent document 2 has a bearing 26 between the casing 11 and the cover 25. It is provided in contact with the end face so as to be clamped together with the bearing stand 27 to be supported. The roller 28 is mounted by attaching the cover 25 to the casing 11 with the fastening bolt 24, and the inner roller 28 sandwiched between the cover 25 and the casing 11 is pushed in the axial direction. The width of the roller 28 is elastically pressed and its inner peripheral surface reduces its radius while forming a crowning deformation. As a result, a roller pressing force corresponding to the crowning deformation is generated at the contact point with the planetary roller 21, and it becomes possible to transmit the driving force by friction, and the power is transferred from the input shaft 12 side to the output shaft 13 side. It is to be transmitted.

For this reason, in the technique disclosed in Patent Document 2, the mechanism for generating and adjusting the pressure contact force is complicated as described above, and the number of parts is accordingly increased and the cost is increased. Adjustment is also required.

Therefore, it is difficult to use the configuration described in Patent Document 2 for a reduction gear that uses a relatively small motor as a drive source. There has been a problem in realizing a reduction gear that can be used in a reduction gear for a small motor having a diameter of about 10 to 20 mm and is quiet, small, and low in cost with a reduction ratio of about 50 to 200.

Accordingly, the present invention is intended to solve the above-described problems, and relates to a reduction gear (speed reduction device) using the above inscribed planetary gear, and is smaller, lighter, and lower in vibration and noise than in the past. It is an object of the present invention to provide an inscribed planetary gear reduction device with low cost.

In order to solve the above problems, the present invention is provided such that an input shaft connected to a driving source and rotating around an axis, and an outer peripheral surface of the input shaft and a part of the rotating surface are in contact with each other. A planetary roller having a rotating shaft parallel to the axis of the input shaft and facing the same direction, a disk-shaped transmission plate formed perpendicular to the input shaft, and an outer edge of the transmission plate from the drive source An outer ring formed parallel to the input shaft on the side, and the transmission plate has a plurality of through holes formed at equal intervals so as to surround the center of the transmission plate, Part of the rotating surface of the planetary roller is inscribed on the inner surface, and meshes with a planetary gear having an inner gear formed on the outer surface of the outer ring and an inner gear formed on the outer surface of the outer ring of the planetary gear. A frame member having an external gear, and a plurality of through holes formed on the transmission plate of the planetary gear. An output shaft comprising a transmission plate in which a plurality of pins that are partially inscribed in each of the holes and a transmission shaft that is erected on a side opposite to the side on which the pins of the transmission plate are erected, The planetary roller drive type inscribed planetary gear speed reduction device is provided.

Further, the solution to the above problem is that the rotating surface of the planetary roller is made of an elastic body, or a part of the outer gear of the frame member facing the inner gear is a shaft of the drive source. By being formed by a rotatable pin having a rotation axis parallel to the center, or by forming the tooth profile of the internal gear on the outer surface of the planetary gear by either an involute tooth profile or a cycloid tooth profile. Can be achieved more effectively.

In the present invention configured as described above, since the eccentric body required for the conventional inscribed planetary gear reduction device is configured as a planetary roller, both quietness and miniaturization are achieved, and the number of parts is further reduced. It is also possible to decrease.

In addition, when the pressurizing mechanism to the planetary roller was hindering the miniaturization, it was discovered that the radial force generated by the planetary gear configured as described above works as the pressurizing mechanism, so the pressurizing mechanism was omitted. It is possible to achieve further miniaturization.

In other words, the planetary roller mechanism requires a preload according to the output torque, but this mechanism acts on the planetary roller according to the output torque, so when the input / output torque is small, the preload is small and large. The preload also increases. For this reason, when the input / output torque is small, the loss caused by the deformation of the planetary roller due to the preload is small, and when the input / output torque is large, the preload is large and a large torque can be transmitted. The magnitude of the preload per output torque can be adjusted by the design of the planetary gear.

Therefore, according to the present invention, it is possible to provide an inscribed planetary gear reduction device that is smaller, lighter, and lower in cost, lower in vibration and lower in noise than in the past.

It is the perspective view which showed the main components which concern on embodiment of this invention. It is a sectional side view in the state where the main components concerning the embodiment of the present invention were combined. (A) is a top view of the planetary roller unit, (B) is a side view including a partial one-side cross section of the planetary roller, and (C) is a left side of the above figure (B) for another configuration example of the planetary roller. It is sectional drawing at the time of inserting the input shaft C about the part equivalent to a half side, (D) is sectional drawing shown similarly to the said figure (C) about another structural example of a planetary roller. FIG. 7E is a top view showing another configuration example of the counterweight, and FIG. 5F is a top view showing another configuration example of the planetary roller unit. (A) is a top view of the planetary gear, and (B) is a side sectional view taken along line AA of (A). (A) is a top view of the frame member, (B) is a side view thereof, and (C) is a top view showing another configuration example of the external gear of the frame member. (A) is a top view of the output shaft, (B) is a side view thereof, (C) is a bottom view thereof, and (D) is a perspective view thereof. (A) is a cross-sectional view of the cross section taken along the line AA shown in FIG. 2 from the top surface side, and (B) is a cross-sectional view of the cross section of the line BB shown in FIG. is there. It is the figure which showed the example at the time of changing the diameter of the conduction plate of a planetary gear, and the tooth profile of an internal gear similarly to the said FIG. It is a perspective view which shows the outline of the further different structural example of the planetary gear of this invention, an output shaft, and a frame member. It is a sectional side view which shows the state which combined the component shown in the said FIG. FIG. 10 is a diagram showing a planetary gear in the configuration example shown in FIG. 9, wherein (A) is a perspective view, (B) is a top view, (C) is a side view, and (D) is an AA in FIG. It is sectional drawing in a line. It is a figure which shows the frame member in the structural example shown in the said FIG. 9, (A) is a perspective view, (B) is a top view, (C) is a side view. FIG. 10 is a diagram showing an output shaft in the configuration example shown in FIG. 9, wherein (A) is a perspective view, (B) is a top view, (C) is a side view, and (D) is AA in FIG. It is sectional drawing in a line. (A) is a mechanism figure of the conventional planetary gear mechanism, (B) is a perspective view of the conventional cycloid reduction mechanism.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the above drawings, members having the same or similar structure or function may be given the same or similar numbers, and some of the common members and elements are not shown or described. There are cases. In addition, the display of the constituent elements and the ratio of the sizes between the constituent elements may be different from the actual ones.

FIG. 1 is a perspective view showing main components according to an embodiment of the present invention. In the above embodiment of the present invention, these components are combined as shown in the side cross section in FIG. 2 and function as a speed reducer.

As shown in FIG. 1 and FIG. 2, in the above embodiment of the present invention, the input shaft C connected to the drive source PU and rotating around the axis is in contact with the side surface of the input shaft C. The planetary roller 300 that rotates, the planetary roller 300 that is driven by rotating on the inner surface of the outer ring 430, and the planetary gear 400 that has an inner gear 433 formed on the outer surface of the outer ring 430, and the planetary gear 400 Only the rotation component is extracted from the rotation of the frame member 500 having the external gear 533 formed so that the internal gear 433 is inscribed inside, and the planetary gear 400 performed inside the frame member 500. The output shaft 600 for output is a main component.

Among the above components, the planetary roller 300 is configured as a part of the planetary roller unit 350 in this embodiment, and the planetary roller unit 350 is generally shown in a top view in FIG. It has a form based on a substantially circular plate as shown in a side view in FIG. Note that FIG. 3B also shows a side cross section (portion where hatching is displayed) of a part of the planetary roller 300 as viewed from the AA direction in FIG.

The planetary roller unit 350 includes a base material 351 made of a disk-shaped engineering plastic or the like, and a planetary roller 300 and a counterweight 353 arranged on the plate surface of the base material 351. A through hole 355 through which the input shaft C from the drive source PU passes through the plate surface of the base 351 vertically is provided at the center of the base 351. The planetary roller 300 and the counterweight 353 are The through hole 355 is arranged such that its center of gravity is substantially the position of the contrast when viewed from above. Here, the diameter of the disk-shaped base material 351 is smaller than the diameter of a circle formed by the inner surface of the outer ring 430 of the planetary gear 400 described later.

The planetary roller 300 has a generally cylindrical shape with a central axis 310 standing on the plate surface of the base material 351 as a main axis, and is rotatable around the central axis 310. Are formed from a ring body 330 made of a metal material such as duralumin, and a contact band 340 made of an elastic body such as an elastomer such as urethane rubber provided around the ring body 330. The central axis 310 is located at a position away from the center of the plate surface of the base material 351, and is input to the through hole 355 at the center of the base material 351 in a direction perpendicular to the plate surface of the base material 351. When the shaft C is inserted, the rotating surface of the planetary roller 300 that is parallel to the direction of the axis of the input shaft C and faces the same direction is the outer edge of the contact band 340. Are partly in contact with the outer peripheral surface of the input shaft C so that the rotation of the input shaft C can be transmitted. Further, in the present invention, as described later, since it is desirable to allow the planetary roller 300 to have play, the main shaft of the central shaft 310 has the erected portion from the base material 351 as a fulcrum. It is desirable to have a certain degree of elasticity in the vertical direction from the main axis toward the upper end.

The counterweight 353 is erected on the same surface of the base 351 as the planetary roller 300, and surrounds the half side surface of the input shaft C at the string portion with the through hole 355 as the center. It is formed in a semicircular shape so as not to cause interference such as contact with the planetary gear 400 described later, and is basically made of the same material as the base material 351.

The planetary roller unit 350 configured as described above passes the input shaft C through the through-hole 355, and a contact band 340 constituting a part of the outer surface of the inserted input shaft C and the rotation surface of the planetary roller 300. Are configured so that a part of them touch each other. Therefore, when the input shaft C rotates around the axis, the planetary roller 300 rotates while the center of the center axis of the planetary roller 300 revolves around the input shaft C via the contact band 340. Will do. Accordingly, the planetary gear 400 is powered by bringing the side surface opposite to the input shaft C of the contact band 340 constituting the rotating surface of the planetary roller 300 into contact with the inner side surface of the outer ring 430 of the planetary gear 400 described later. Can be transmitted.

In the above embodiment, the planetary roller unit 350 is composed of the plate surface of the disk-shaped base material 351 and the planetary roller 300 and the counterweight 353 arranged on the plate surface. However, the planetary roller unit 350 is not limited to the above-described configuration, and any configuration is possible as long as the planetary roller 300 can be rotated in contact with the outer surface of the input shaft C. However, the present invention is not limited to those based on the disk shape as described above.

Further, the planetary roller 300 basically includes the central shaft 310, the ring body 330, and the contact zone 340 as described above. However, the configuration of the planetary roller 300 is not limited thereto, and power can be transmitted from the input shaft C. The shaft center of the central shaft 310 has a certain degree of elasticity with a contact portion with the base material 351 as a fulcrum. If so, there is no particular limitation. Therefore, for example, as shown in FIG. 3C, the ring body 330 and the contact band 340 are integrally formed from an elastic part 370 such as an elastomer made of rubber or the like, or the center shaft 310 and the ring In place of the body 330, another configuration is adopted in consideration of the frictional force and force transmission efficiency of the planetary roller, such as providing a contact band support ring 390 as shown in FIG. Is also possible.

In addition, the counterweight 353 is intended to suppress vibration by adjusting the mass balance around the input shaft C when the planetary roller 300 is rotated in contact with the outer surface of the input shaft C. Is. Therefore, if the above purpose is achieved, the configuration is not limited to the above form. For example, as shown in the top view in FIG. Except for the formed portion, it is configured as an annular ring surrounding the periphery of the through hole 355, and the common center of gravity of the counterweight 353 and the planetary rotor 300 is near the center of the through hole 355 in a top view. You may comprise as follows.

However, since the present invention is assumed to be used exclusively as a speed reducer using a small drive source, when the planetary roller 300 can be reduced in weight using a small electric motor or the like as the drive source, In some cases, the counterweight 353 is not necessarily provided.

Therefore, for example, as shown in the top view in FIG. 3 (F), the base shaft 351 of the planetary roller unit 350 has a substantially fan shape without providing the counterweight 353, and the input shaft The planetary roller 300 may be held around C.

In addition, the input shaft C that makes the side surface contact the planetary roller 300 is generally made of metal. Therefore, in order to improve the power transmission efficiency of the contact portion with the planetary roller 300, the portion where the input shaft C is in contact with the planetary roller 300 is subjected to surface treatment such as coating or the portion of the input shaft C. It is also possible to increase the frictional force from the input shaft C to the planetary roller 300 by attaching a thin film made of an elastic body around the shaft.

Next, among the above-described components of the present invention, the planetary gear 400 includes a top view in FIG. 4 (A) and a side sectional view as seen from the direction AA in FIG. 4 (A). As a whole, one side is sealed with a transmission plate 410, which is a circular flat plate, and an outer ring 430 having an internal gear 433 on the outer side is provided so as to surround the periphery. It is comprised by the annular | circular shape sealed with the said flat plate, and metal materials, such as duralumin, are used for the material. In addition, the side not sealed with the transmission plate 410 among the above-described annular components is arranged so as to come to the input shaft C side (drive source PU side) when combined with other components. Established.

And, the outer diameter of the circular flat plate constituting the transmission plate 410 is formed in consideration of the size of the circumference formed by the external gear 533 formed on the frame member 500 described later. This is because when the diameter of the transmission plate 410 of the planetary gear 400 is made too large so that the eccentricity with respect to the center of the circumference formed by the external gear 533 formed on the frame member 500 is reduced, the planetary gear 400 is used. This is because the planetary motion of can not be. Therefore, the diameter of the circular flat plate that constitutes the transmission plate 410 is such that the planetary gear 400 sequentially moves in planetary motion while meshing with the external gear 533 formed on the frame member 500 by the movement of the planetary roller 300. Is adjusted to the possible range.

In addition, a circular central through hole 415 (not essential) is provided at the center of the transmission plate 410 when viewed from the top surface that vertically penetrates the plate surface of the transmission plate 410, and further surrounds the periphery thereof. Similarly, a plurality of circular inner pin inscribed portions 413 that are circular as viewed from above are provided on the circumference of the transmission plate 410 so as to vertically pass through the plate surface at equal intervals.

Here, the inner pin inscribed portion 413 is an inner pin provided on an output shaft 600 (to be described later) when the planetary gear 400 performs a planetary motion (rotation) within a frame of an outer gear 533 of the frame 500 (to be described later). The object is to circulate the inner peripheral surface of the inner pin inscribed portion 413, which is the circular through hole, while contacting a part of the pin 610. Therefore, the size of the circle constituting the inner pin inscribed portion 413 is determined in consideration of the rotation area of the planetary gear 400 in the frame 500, the size of the inner pin 610, and the like.

Also, the inner surface of the outer ring 430 is formed as a smooth surface having an appropriate friction coefficient so that the outer peripheral surface of the planetary roller 300 can be contacted and rotated to transmit power. The diameter of the circle formed by the inner surface of the outer ring 430 is a radius of the input shaft C so that the planetary roller 300 can be rotated along the inner surface while considering the outer diameter of the transmission plate 410. It is formed to be slightly larger than the size Rr in which Rc and the diameter of the planetary roller 300 are combined.

On the other hand, an internal gear 433 is formed on the outer surface of the outer ring 430 along the circumferential direction of the outer ring 430. The tooth profile is not particularly limited as long as it can mesh with an external gear 533 of the frame 500 described later. Therefore, it may be an involute tooth profile or a cycloid tooth profile, or a tooth profile belonging to these systems but having an adjusted dislocation coefficient or any other tooth profile, or a combination thereof.

That is, in the present invention, in the planetary gear 400 configured as described above, the side surface of the rotation surface of the planetary roller 300 described above is inscribed in the inner surface of the outer ring 430 that configures the planetary gear 400, and further, the outer ring An inner gear 433 formed on the outer surface of the outer ring 430 and an outer gear 533 of the frame 500 described later mesh with each other on the outer surface side of the portion inscribed with the planetary roller 300. Therefore, if the power transmission from the planetary roller 300 to the planetary gear 400 is performed in this way, the form of the internal gear 433 formed on the planetary gear 400 and the external gear 533 of the frame 500 is not particularly limited. Not provided.

Therefore, for example, by using an involute tooth profile for the internal gear 433, the inner surface of the planetary gear 400 is pressed against the planetary roller 300, so that the internal gear 433 of the planetary gear 400 is moved to the outer gear 533 of the frame 500. In the case where the meshing part is moved in the external gear 533 sequentially with the rotation of the planetary roller 300, but in a broad sense, it is inscribed in a broad sense. It is possible to construct a planetary gear mechanism. Even when the involute tooth profile is used as described above, for example, as disclosed in Japanese Patent Application Laid-Open No. 2007-24072 (Patent Document 3), the dislocation coefficient and the like are adjusted as appropriate, and the internal gear 433 It is also possible to obtain a large reduction ratio by setting the difference in the number of teeth from the external gear 533 to 1.

Further, for example, using a cycloid tooth profile for the internal gear 433, the inner surface of the planetary gear 400 is pressed against the planetary roller 300, so that the internal gear 433 of the planetary gear 400 is one of the external gears 533 of the frame 500. When the planetary gear 400 sequentially rotates in the outer gear 533 by the rotation of the planetary roller 300, the cycloid is brought into contact with the other portion while meshing only with the portion. A deceleration mechanism can be configured.

Further, for example, assuming that the internal gear 433 has a tooth profile obtained by slightly cutting the convex portion of the tooth tip due to the epitrochoid parallel curve, the radius r of the epitrochoid parallel curve is set to r ′ = rk (1-cos) according to the angle θ. (Nθ)), where k is a coefficient for adjusting the amount to be cut, n is the number of teeth, and θ is an angle. In this case, the tooth pattern of the external gear 533 is composed of a similar curve that meshes with the above curve, and the number of teeth of the external gear 533 is n + 1 so that a large speed reduction is achieved while suppressing the interference of the tooth tips. It is also possible to obtain a ratio.

However, in a small speed reducer in which the present invention is used, the frame body 500 and the planetary gear 400 are also formed in a relatively small size, and the slipperiness of an elastomer such as plastic made of these materials is often good. The tooth profile is determined in consideration of the characteristics of equipment and materials used.

Next, among the above-described components of the present invention, the frame member 500 has a large through hole at the center as a whole as shown in a top view in FIG. 5 (A) and a side view in FIG. 5 (B). 530 and the small through-hole 550 adjacent to it are formed in the shape of a flat plate, and the material thereof is formed of engineering plastic or the like, similar to the base material 351 constituting the planetary roller unit 350.

An outer gear 533 is formed on the inner peripheral surface of the large through-hole 530 in the central portion, and the planetary gear 400 moves while rotating in a substantially circumference formed by the outer gear 533. It has become. The two small through holes 550 provided adjacent to the large through hole 530 are for inserting screws (not shown) for fixing the frame member 500 to the drive source PU. Therefore, in the present embodiment, as illustrated in FIG. 1, each component of the present embodiment is accommodated between a later-described fixing plate 700 and the driving source PU, and the through-hole 550 is accommodated in the fixing plate 700. The components of the present invention can be functionally accommodated by inserting the screws in the direction of the drive source PU from the upper surface of the through-hole 750 provided in the same manner as above and screwing the screws to the drive source PU. Is possible.

Further, the external gear 533 formed on the inner peripheral surface of the large through hole 530 is formed so as to mesh with the internal gear 433 formed on the outer ring 430 of the planetary gear 400. The tooth profile of the external gear 533 is not particularly limited for the same reason as described above with respect to the internal gear 433, and therefore may be an involute tooth profile, a cycloid tooth profile, or another tooth profile. The number of teeth of the external gear 533 is at least one more than that of the internal gear 433 formed on the outer ring 430 of the planetary gear 400. As will be described later, the number of teeth of the planetary roller 300 and the input shaft C is increased. By considering the aperture ratio and the like together, it is possible to obtain a reduction ratio according to the difference.

Note that the outer gear 533 is not limited to the form in which the inner peripheral surface of the through hole 530 is formed as the involute tooth shape, the cycloid tooth shape, or other tooth shapes as described above, and a top view of a portion corresponding to FIG. As shown, a plurality of rollers (pins) 533R having a rotation axis parallel to the axis of the input shaft C and facing the same direction with respect to the contact portion of the inner surface of the external gear 533 with the planetary gear 400. You may comprise by. And especially when it is set as such a form, when using this invention for a cycloid reduction mechanism, the internal gear 433 formed in the said planetary gear 400 and the external gear 533 formed in the frame member 500 mesh. It is possible to reduce the resistance caused by the interference and tooth tip interference.

In the present invention, by configuring the frame member 500 as described above, the planetary gear 400 is sequentially meshed with the outer gear 533 along the inner side of the outer gear 533 that is formed in a substantially circumferential shape. It is possible to revolve while rotating, thereby facilitating extraction of output from the output shaft 600 described later.

Next, among the above components of the present invention, the output shaft 600 includes a top view in FIG. 6A, a side view in FIG. 6B, a bottom view in FIG. 6C, and a bottom view in FIG. As shown in the perspective view, a disc-shaped transmission plate 610, a plurality of cylindrical inner pins 630 erected from the transmission plate 610, and the inner pins 630 of the transmission plate 610 are erected. The transmission shaft is erected from the center of the opposite side of the plate surface, and the material thereof is formed of engineering plastic or the like, similar to the base material 351 and the frame member 500 constituting the planetary roller unit 350. Has been.

The plurality of inner pins 630 are provided in the same number as the plurality of inner pin inscribed portions 413 provided on the planetary gear 400, and the inner pins 630 are centered on the center of the transmission plate 610. Are provided at equal intervals on the circumference. Further, the inner pin 630 basically has a cylindrical shape, and the length of the cylindrical portion of the cylindrical shape constituting the inner pin 630 is such that the output shaft 600 is connected to the planet as shown in FIG. When combined from above the gear 400, it is formed in such a length that it can be inscribed in the inner pin inscribed portion 413 formed on the planetary gear 400, and its diameter is in the inner pin provided in the planetary gear 400. It is formed to such an extent that it can circulate along the inner periphery of the contact portion 413.

Further, the transmission shaft 650 of the output shaft 600 is erected on the plate surface opposite to the side where the inner pin 630 is provided from the center of the shape of the disk forming the transmission plate 610, The shaft center of the transmission shaft 650 is arranged on an extension line concentric with the shaft center of the input shaft C when the components of the present invention are combined as shown in FIG.

Therefore, in the present invention, the output shaft 600 is configured as described above, so that the rotation and revolution motions of the planetary gear 400 are performed along the inner periphery of the inner pin inscribed portion 413 provided on the planetary gear 400. It is possible to take out only the rotation component by the inner pin 630 rotating around, and as a result, take out the output of the adjusted rotation speed and torque on the same axis as the input shaft C by the transmission shaft 650. Is possible. In the present invention, the output shaft 600 is for the purpose of extracting only the rotation motion from the planetary motion of the planetary gear 400, so that the output shaft 600 is not limited to the above as long as it has the same function. It is also possible.

In the above embodiment of the present invention, the fixing plate 700 and the spacer 790 are provided as described in FIG.

Among them, as described above, the fixing plate 700 functionally accommodates each component of the present invention, and a through hole 730 is provided at the center and another through hole 750 is provided on the outer peripheral side of the through hole 730. It has a flat plate shape as a whole. And the material is comprised from engineering plastics etc. similarly to the said frame member 500 grade | etc.,. Further, as described above, the through-hole 750 is for inserting a screw for accommodating other components between the frame member 500 and the through-hole 730, while the through-hole 730 is used for the output. The transmission shaft 650 of the shaft 600 is configured to be inserted, but the transmission plate 610 of the output shaft 600 is configured not to be inserted.

Further, as shown in FIGS. 1 and 2, the spacer 790 is disposed between the upper surface side of the planetary roller unit 350 having the planetary roller 300 and the planetary gear 400 so that the two components can be smoothly moved. It is formed in a circular flat plate shape having a through hole in the center for assisting proper movement. However, in the above embodiment, the spacer 790 is disposed between the upper surface side of the planetary roller unit 350 and the planetary gear 400 as described above. You may arrange | position in addition between a lower side and drive source PU. However, since the spacer 790 is not necessarily an essential component of the present invention, the spacer 790 is omitted in consideration of the degree and size of the output of the drive source PU or the slipperiness (lubricity) of the engineering plastic used as a material. It is also possible.

In this embodiment, a relatively small electric motor is used as the drive source PU. However, the drive source PU is not limited to this, and depending on the type of mechanical device such as an actuator that uses the speed reducer. Any selection is possible.

Next, the operation of the above embodiment of the present invention will be described.

The present invention provides a planetary roller drive type planetary gear speed reduction device that can realize a reduction in size because the preloading mechanism required for the conventional planetary roller mechanism can be omitted.

In other words, the planetary roller mechanism requires a preload corresponding to the output torque. However, in the mechanism used in the speed reducer, the preload corresponding to the output torque acts on the planetary roller. When the preload decreases and increases, the preload increases. For this reason, when the input / output torque is small, the loss caused by the deformation of the planetary roller due to the preload is small, and when the input / output torque is large, the preload is large and a large torque can be transmitted. The magnitude of the preload per output torque can be adjusted by the design of the planetary gear.

More specifically, in the present invention, as shown in FIGS. 1 and 2 and the like, the planetary roller 300 that rotates in contact with the outer peripheral surface of the input shaft C and the outer periphery of the planetary roller 300 are described. A planetary gear 400 having an outer ring 430 rotating with a part of the surface inscribed therein, and an inner gear 433 formed on the outer surface of the outer ring 430 of the planetary gear 400 mesh with the planetary gear 400 along the inner circumference. Frame member 500 having an external gear 533 capable of performing planetary motion, and an output shaft 600 that can output only the rotational component extracted from the planetary motion of the planetary gear 400.

Therefore, in the present invention, the power transmitted as the rotation of the input shaft C from the drive source PU is provided inside the frame member 500 from the planetary roller 300 via the inner surface of the outer ring 430 of the planetary gear 400. The inner pin 630 provided on the output shaft 600 is converted into the planetary movement of the planetary gear 400 within the frame of the outer gear 533 and provided on the inner periphery of the inner pin inscribed portion 413 provided on the planetary gear 400. By rotating only the rotation component from the planetary motion of the planetary gear 400 by inscribed and rotating around the transmission shaft 650 center of the output shaft 600, and rotating the transmission shaft 650 of the output shaft 600, the above-mentioned It can be taken out from the output shaft 600 as decelerated rotational power.

In the configuration of the present invention as described above, the planetary roller 300, the planetary gear 400, and the frame member 500 are in contact with each other as shown in FIG. The outer ring 430 is formed on the outer surface of the outer ring 430 on the outer surface side of the portion where the outer ring 430 is pressed and in contact with the planetary roller 300. The internal gear 433 and the external gear 533 formed inside the frame body 500 are meshed with each other. Here, FIG. 7A is a cross-sectional view of the portion taken along the line AA in the side cross-sectional view shown in FIG. 2, and FIG. FIG. 3 is a cross-sectional view of a portion taken along line BB in the side cross-sectional view shown in FIG. In FIG. 7B, in order to facilitate understanding of the present invention, only the planetary gear 400 and the input shaft C are hatched, and the other parts are not shown.

As shown in FIG. 7A, in the planetary roller drive type inscribed planetary gear speed reduction device of the present invention, the radial force (arrow A in the figure) generated in the planetary gear 400 is used as a preload. The inner surface of the outer ring 430 of the planetary gear 400 is used as the outer roller of the planetary roller mechanism. With this configuration, the planetary roller 300 presses the planetary gear 400 against the external gear 533 formed inside the frame member 500 as shown in FIG. Accordingly, a radial force (arrow A in FIG. 7A) is generated, and this force is applied to the planetary roller 300 as indicated by arrow B in FIG. 7B. Then, by providing play to the center shaft 310 of the planetary roller 300, this force (arrow B in the figure) is also applied to the input shaft C functioning as a sun roller, and the preload required for the planetary roller mechanism constituting the present invention. To work as.

Of the reduction ratios according to the present invention, the reduction ratio by the planetary roller is such that the radius of the input shaft C is Rc and the rotation of the planetary roller 300 from the axis of the input shaft C is as shown in FIG. When the distance to the portion where the side surface of the planetary gear 400 contacts the inner surface of the outer ring 430 of the planetary gear 400 (where the contact portion does not slip) is Rp (= Rr described above), a general planetary gear equation [(Rp / Rc) +1] based on the above.

The reduction ratio between the planetary gear 400 and the frame member 500 is such that the number of teeth of the internal gear 433 formed on the outer ring 430 of the planetary gear 400 is Zc, as shown in FIG. Assuming that the number of teeth of 533 is Zd, it is as follows.

That is, when the internal gear 433 of the planetary gear 400 meshes with the external gear 533 of the frame member 500 and revolves around the external gear 533 once, the number of teeth Zd of the external gear 533 is engaged, and the original gears are engaged. Since returning to the state, at the original position, teeth shifted by Zd-Zc are engaged with each other, so the rotation is [(Zd-Zc) / Zc] for one revolution. Therefore, the reduction ratio between the planetary gear 400 and the frame member 500 is changed from [1: [(Zd−Zc) / Zc]] to [Zc / (Zd−Zc)].

From the above, the reduction ratio n according to the present invention is n = [(Rp / Rc) +1] × [Zc by (reduction ratio by the planetary roller) × (reduction ratio by the planetary gear 400 and the frame member 500). / (Zd-Zc)] is obtained.

In the embodiment of the present invention, a small electric motor is used. For example, the above numerical values are Rc = 0.75 mm, Rp = 3.95 mm, Zc = 19, and Zd = 20. In use, a reduction ratio n of approximately 119 is obtained.

As described above, according to the present invention, it is possible to provide an inscribed planetary gear reduction device that is smaller, lighter, and lower in cost, lower in vibration and lower in noise than in the past.

The above embodiment of the present invention shows an example of the configuration example of the present invention, and the present invention is not limited to the above example, and is within the scope equivalent to the basic components of the present invention. Naturally, modifications that can be implemented by a trader are also included in the present invention.

Therefore, for example, as shown in FIG. 7 described above, the internal gear 433 formed on the planetary gear 400 and the external gear 533 formed on the frame 500 are partially engaged with each other, but are not in contact with each other. Unlike the case where the planetary gear 400 sequentially performs planetary motion in the frame 500, the planetary gear 800 is formed with an epitrochoid curve or the like as shown in FIGS. 8 (A) and 8 (B). A cycloid type of which the planetary gear 800 performs planetary motion in the frame 500 while the internal gear 833 and the external gear 533 formed in the frame 500 are partially engaged with each other and in contact with other portions. It may constitute a reduction gear.

Also, for example, modifications as shown in FIGS. 9 to 13 can be used. Here, FIG. 9 is a perspective view schematically showing different configuration examples of the planetary gear, the output shaft, and the frame member constituting the present invention as described above, and FIG. 10 shows a state in which these are combined. It is a sectional side view. Further, FIG. 9 shows a state in which some components are removed for easy understanding.

The example shown in FIG. 9 is a perspective view in FIG. 11 (A), a top view in FIG. 11 (B), a side view in FIG. 11 (C), and a line AA in FIG. A planetary gear 940 showing a sectional view, a perspective view in FIG. 12A, a top view in FIG. 12B, a frame member 950 as shown in a side view in FIG. 12C, and a perspective view in FIG. (B) is a top view, (C) is a side view, and (D) is a cross-sectional view taken along the line AA of FIG. is there.

In the example shown in FIG. 9, an outer ring 943 having gears with different numbers of teeth in two upper and lower stages composed of an upper stage 943U and a lower stage 943D on the outer surface of the planetary gear 940 shown in FIG. 11, which is a component of the present invention. In accordance with this, the external gear 953 of the frame member 950 shown in FIG. 12 and the output shaft 960 in FIG. 13 are formed. Also in the different configuration example 900 shown here, the basic configuration of the planetary roller 300 of the present invention and the inner side surface of the planetary gear 940 have the same configuration as the above-described embodiment.

In the configuration example 900 shown in FIG. 9, when the planetary roller 300 rotates on the inner surface of the planetary gear 940, the lower stage 943 </ b> D of the outer ring 943 of the planetary gear 940 corresponds to the frame member 950. It meshes with the inside of the external gear 953 formed inside and rotates within the circumference formed by the external gear 953. Then, the portion of the upper stage 943U of the outer ring 943 of the planetary gear 940 also rotates. The side surface of the upper stage 943U is an output shaft separately formed inside the transmission plate 961 constituting the output shaft 960. The gear 963 is engaged with the gear 963, whereby the output shaft 960 can extract the rotation component of the movement of the planetary gear 940 and obtain an output from the transmission shaft 965.

Therefore, in the present invention, for example, even with the above-described configuration, it is possible to provide a low-vibration, low-noise, small, lightweight, and low-cost internal planetary gear reduction device.

300 Planetary roller 310 Central shaft 330 Ring body 340 Contact zone 350 Planetary roller unit 351 Base material 355 Through hole 353 Counterweight 370 Elastic band 390 Contact zone support ring 400 800 940 Planetary gear 410 Transmission plate 413 Inner pin inscribed portion 415 Center through Hole 430 943 Outer ring 433 833 Internal gear 500 950 Frame member 530 550 Through hole 533 953 External gear 600 960 Output shaft 610 Transmission plate 630 Inner pin 650 965 Transmission shaft 700 Fixing plate 730 750 Through hole 790 Spacer 900 Different configuration example 943U Upper gear 943D Lower gear
S internal gear P planetary gear C drive shaft (input shaft)
O Output shaft E Eccentric body S 'Frame member Sp Outer pin P Curved plate PH Eccentric body inscribed portion Ph Inner pin inscribed portion Os Transmission shaft Op Inner pin PU Drive source Rc Radius of input shaft C Rp From axis of input shaft C Radius Zc to contact surface between planetary roller and frame member Number of planetary gears Zd Number of external gears of frame member

Claims

An input shaft connected to a drive source and rotating about an axis;
A planetary roller having a rotation axis parallel to the axis of the input shaft and oriented in the same direction, provided so that an outer peripheral surface of the input shaft and a part of the rotation surface are in contact with each other;
It consists of a disc-shaped transmission plate formed perpendicular to the input shaft and an outer ring formed in parallel to the input shaft from the outer edge of the transmission plate to the drive source side. A plurality of through holes formed at equal intervals so as to surround the center of the transmission plate, a part of the rotating surface of the planetary roller is inscribed inside the outer surface of the outer ring, and an inner surface is formed on the outer surface of the outer ring. A planetary gear formed with gears;
A frame member having an external gear meshing with an internal gear formed on the outer surface of the outer ring of the planetary gear;
A transmission plate in which a plurality of pins that are partially inscribed in each of a plurality of through holes formed in the transmission plate of the planetary gear and a side opposite to the side on which the pins of the transmission plate are erected An output shaft comprising a transmission shaft erected on the
A planetary roller drive type inscribed planetary gear reduction device comprising:
The planetary roller drive type inscribed planetary gear reduction device according to claim 1, wherein the rotating surface of the planetary roller is constituted by an elastic body.
The planetary roller according to claim 1 or 2, wherein a part of the outer gear of the frame member facing the internal gear is formed by a rotatable pin having a rotation axis parallel to the axis of the drive source. Driven inscribed planetary gear speed reducer.
The planetary roller drive type inscribed planetary gear reduction according to any one of claims 1 to 3, wherein a tooth profile of an internal gear formed on an outer surface of the planetary gear is an involute tooth profile or a cycloid tooth profile. apparatus.