WO2017126346A1 - Gear change device - Google Patents

Abstract

A first gear change mechanism is provided with a first input member, a first transmission member, a first reaction force member, and a first holding member, and a second gear change mechanism is provided with a second input member, a second transmission member, a second reaction force member, and a second holding member. Torque transmitted to an input shaft is input to the first input member of the first gear change mechanism and torque is output from the first holding member via the first transmission member. Torque transmitted to the input shaft is input to the second input member of the second gear change mechanism and the output from the first holding member of the first gear change mechanism is input to the second holding member via the second transmission member. The difference of the second input member and the second holding member outputs torque to an output shaft via the second reaction force member.

Description

Transmission

The present invention relates to a transmission, and more particularly, to a motor transmission that shifts (increases or decreases) a motor output.

Conventionally, various motor transmission devices (motor transmissions) have been proposed (Patent Documents 1 to 3). Patent Literature 1 and Patent Literature 2 relate to a microtraction drive. In these cases, the speed reducer has an input shaft and an output shaft arranged on the same axis. Moreover, the thing of patent document 3 provides the clutch between the sun gear and the input shaft.

In Patent Document 1, a radial type bearing is used, and a rotating body positioned between the inner peripheral surface of the outer ring and the outer peripheral surface of the inner ring is provided by applying an axial force by a spring element between the outer ring and the casing. The output shaft is described as a cage that presses and engages with a rotating body.

Patent Document 2 includes two unit reduction gears each having an output shaft that is a cage that presses a rotating body positioned between the inner peripheral surface of the outer ring and the outer peripheral surface of the inner ring in the axial direction and engages with the rotating body. The output of the first reduction gear is used as the input of the second reduction gear.

In Patent Document 3, a clutch is provided between the sun gear and the input shaft to adjust the speed ratio in order to freely adjust the speed ratio while suppressing vibration and obtaining a large reduction ratio.

In addition, the transmission is provided with a microtraction drive coaxially with an intermediate shaft arranged in parallel with the input shaft, and applies a preload to the microtraction drive by the resultant force of the preload means and the pressing force from the input shaft. Some of them enable transmission (Patent Document 4). In the transmission described in Patent Document 4, the distance between the axes can be set shorter than that of one gear pair.

Generally, gears that are easy to design are often used for motor transmissions (reduction gears, speed-up gears), and a structure in which the central axes of the input shaft and the output shaft are aligned to make the whole compact. Liked. However, transmissions using gears may generate vibrations and abnormal noise due to the meshing of the gears.In particular, the configuration using a combination of a plurality of planetary gears to obtain a high gear ratio has many meshing teeth. There is the above problem. Further, the meshing of the gears requires smooth movement of the gears, and clearance (backlash) is required for lubrication, error absorption and thermal expansion absorption, and the overall backlash increases as a plurality of gears are used.

There are countermeasures aimed at suppressing vibrations and reducing the amount of play, and as one of the mechanisms, a transmission system using traction force as described in Patent Document 1 and Patent Document 2 is common. The traction type transmission needs to apply a preload to the contact portion in advance, and it is necessary to set a large preload in order to enable a high torque output. However, the larger the preload, the higher the surface pressure, which is disadvantageous in terms of strength and durability.

Japanese Patent No. 3659925 Japanese Patent No. 3692330 JP 2006-200600 A JP 2014-152800 A

In Patent Document 1, it is difficult to obtain a large reduction ratio because it is a one-stage reduction gear. Moreover, in the thing of this patent document 1, as above-mentioned, although a radial type bearing is used and an axial force is given by the spring element between an outer ring | wheel and a casing, in such a case, radial type Since the bearing cannot receive a large axial force, the magnitude of the output torque is limited.

Patent Document 2 has the same problem as Patent Document 1, and also has two unit reducers and uses the output of the first reducer as the input of the second reducer. There is a problem that the size of.

In Patent Document 3, in order to enable shifting, either the input shaft and the first clutch of the first sun gear, or the input shaft and the second clutch of the second sun gear are set to “disengaged”, and the connecting member is fixed / released. By doing so, it is possible to change the transmission path of torque and switch the reduction ratio in two stages according to the application and scene. These structures are disadvantageous in terms of cost because complicated operation or control is required because the clutch and the connecting member are switched.

In Patent Document 4, a certain degree of speed change is possible while shortening the distance between the two axes. However, in this structure, there is a limit to the size of the speed ratio that can be set, and the larger the speed ratio, the larger the device.

Therefore, the present invention provides a transmission that facilitates the design of a high reduction ratio, enables a compact design, and is advantageous in terms of cost.

A first transmission of the present invention is disposed between an input shaft connected to a drive source, an output shaft disposed on the same axis as the input shaft, and the input shaft and the output shaft. And a first transmission mechanism including a first input member, a first transmission member, a first reaction member, and a first holding member, The second speed change mechanism includes a second input member, a second transmission member, a second reaction force member, and a second holding member, and the torque transmitted to the input shaft is a first input member of the first speed change mechanism. Torque is output from the first holding member via the first transmission member, and the torque transmitted to the input shaft is input to the second input member of the second speed change mechanism, so that the first speed change is performed. The output from the first holding member of the mechanism is input to the second holding member via the second transmission member, and the second input member and the second holding member The difference between the holding member through the second reaction member and outputs a torque to the output shaft.

A second transmission of the present invention is disposed between an input shaft connected to a drive source, an output shaft disposed on the same axis as the input shaft, and the input shaft and the output shaft. And a first transmission mechanism including a first input member, a first transmission member, a first reaction member, and a first holding member, The second speed change mechanism includes a second input member, a second transmission member, a second reaction force member, and a second holding member, and the torque transmitted to the input shaft is a first input member of the first speed change mechanism. Torque is output from the first reaction member via the first transmission member, and the torque transmitted to the input shaft is input to the second input member of the second transmission mechanism, The output from the first reaction member of the speed change mechanism is input to the second reaction member via the second transmission member, and the second input member and the second reaction member The difference between the reaction force member through the second holding member and outputs a torque to the output shaft.

According to the first transmission device and the second transmission device of the present invention, the torque transmitted to the input shaft is input to the input members of both the first transmission mechanism and the second transmission mechanism. The first transmission member is transmitted from the first input member of the first speed change mechanism, and the first reaction member or the first transmission member holding the first transmission member from the opposite side of the first input member is held. When the one holding member is fixed, the first holding member or the first reaction force member becomes the output of the first transmission mechanism. Torque is transmitted from the input shaft to a second input member (at this time, the first input member and the second input member are integrally or integrally coupled), and the output of the first transmission mechanism is transmitted to the second transmission mechanism. By inputting into the 2 holding member or the second reaction force member, the second holding member or the second reaction force member becomes an output. At this time, a differential action is generated by the two inputs, and a high reduction ratio can be obtained.

It is preferable that the first speed change mechanism is a traction drive type having a thrust bearing structure using a rolling element as a first transmission member, and further, it is preferable that the rolling element of the first speed change mechanism is a hard sphere. Further, the second transmission mechanism is preferably a traction drive type having a thrust bearing structure using a rolling element as a second transmission member, and further, the rolling element of the second transmission mechanism is preferably a rigid sphere.

The rolling element of the first speed change mechanism and the rolling element of the second speed change mechanism may have the same shape. The rolling elements of the first transmission mechanism and the second transmission mechanism can be set so that the diameters of the contact points are different from each other across the rolling element.

In the present invention, a high reduction ratio can be obtained, and a transmission with a desired reduction ratio can be stably supplied.

If the rolling member is used as the transmission member, the first input member and the first reaction force member of the first speed change mechanism are provided with a first rolling surface corresponding to the first rolling member. A second rolling surface corresponding to the second rolling element is formed on the second input member and the second reaction force member of the mechanism. At least one of the first transmission mechanism and the second transmission mechanism has a thrust bearing structure, and the pitch circle diameter of the transfer surface (first or second) is set to the input member (first or second) and the reaction force member (first Alternatively, a larger gear ratio can be obtained by setting different values in the second).

The following effects can be obtained by making at least one of the traction drive type first transmission mechanism or the second transmission mechanism a thrust bearing structure. Designing a high reduction ratio becomes easy. Because of the traction drive type, vibration is small and backlash is small. By using a thrust bearing structure, a preload with a large load can be applied, which is advantageous in terms of strength and durability. Due to the thrust structure, a compact design can be achieved in the axial direction.

It is sectional drawing of the 1st transmission of this invention. It is a front view of the transmission of FIG. It is explanatory drawing which shows the contact point of each rolling element of the 1st transmission mechanism of a said 1st transmission, and a 2nd transmission mechanism. It is an expanded sectional view which shows the contact point of a rolling element and shows a 1st rolling element and a fitting groove. It is an expanded sectional view which shows the contact point of a rolling element and shows a 2nd rolling element and a fitting groove. It is sectional drawing of the 2nd transmission of this invention. It is explanatory drawing which shows the contact point of each rolling element of the 1st transmission mechanism of a said 2nd transmission, and a 2nd transmission mechanism. It is sectional drawing of the 3rd transmission of this invention. It is explanatory drawing which shows the contact point of each rolling element of the 1st transmission mechanism of a said 3rd transmission, and a 2nd transmission mechanism. It is sectional drawing of the 4th transmission of this invention. It is explanatory drawing which shows the contact point of each rolling element of the 1st transmission mechanism of a said 4th transmission, and a 2nd transmission mechanism. It is sectional drawing of the 5th transmission of this invention. It is explanatory drawing which shows the contact point of each rolling element of the 1st transmission mechanism of a said 5th transmission, and a 2nd transmission mechanism. It is a side view of the 6th transmission of this invention. FIG. 14 is a sectional view taken along line AA in FIG. 13. FIG. 15 is a sectional view taken along line BB in FIG. 14. It is CC sectional view taken on the line of FIG. FIG. 14 is an explanatory diagram of a first transmission mechanism, showing a contact point of the transmission shown in FIG. 13. FIG. 14 is an explanatory diagram of a second speed change mechanism, showing contact points of the speed change device shown in FIG. 13. It is a relationship explanatory drawing of the diameter of a contact point. It is sectional drawing of a 7th transmission. FIG. 20 is an explanatory diagram of a relationship between diameters of contact points of the transmission shown in FIG. 19. A torque transmission means is shown, and is a simplified diagram using a pulley and a belt. It is a simplified diagram showing a torque transmission means and using a sprocket and a chain.

Hereinafter, embodiments of the present invention will be described with reference to FIGS. 1 to 21B. 1 and 2 show a first transmission according to the present invention. The transmission is disposed between an input shaft 1 connected to a drive source, an output shaft 2 disposed on the same axis as the input shaft 1, and the input shaft 1 and the output shaft 2. The first and second speed change mechanisms 3 and 4 are provided. The drive source is a drive motor M. Therefore, the input shaft 1 can be constituted by the output shaft of the drive motor M.

The first speed change mechanism 3 includes a first input member 5, a first holding member 6, a first transmission member 7, and a first reaction force member 8, and the second speed change mechanism 4 includes a second input member 9. A second holding member 10, a second transmission member 11, and a second reaction force member 12.

The first input member 5 and the second input member 9 are constituted by an input member component 13 composed of one part. That is, the input member component 13 includes a main body portion 13a made of a cylindrical body, and a disc-shaped outer flange portion 13b that extends from the outer diameter surface to the outer diameter direction of the main body portion 13a. In this case, the outer flange portion 13b is located on the motor side with respect to the axial center portion of the main body portion 13a, and the main body portion 13a includes a first cylinder portion 15 on the motor side and a second cylinder portion 16 on the counter-motor side. Is formed.

A fitting groove 33 into which the first rolling element 7 </ b> A is fitted is formed on the side opposite to the motor of the outer flange portion 13 b of the input member component 13, and the outer diameter of the second cylindrical portion 16 of the input member component 13. A fitting groove 34 into which the second rolling element 11A is fitted is formed on the surface 16a. Therefore, the first input member 5 is configured by the outer flange portion 13 b of the input member component 13, and the second input member 9 is configured by the second cylinder portion 16 of the input member component 13.

Further, a frame 18 is fixed to the casing 17 of the motor M via a bolt member 19. The frame 18 includes a large-diameter cylindrical portion 18a and a motor-side bottom wall portion 18b of the cylindrical portion 18a. The bottom wall portion 18b is made of a disk-shaped body provided with a center hole, and has a thick portion 20 on the inner diameter side and a thin portion 21 on the outer diameter side. A concave portion 22 is provided in the central portion of the end surface 17a on the input shaft protruding side of the casing 17 of the motor M, and the thick portion 20 of the frame 18 is fitted into the concave portion 22.

The bearing 23 is fitted in the bottom wall portion 18b. The bearing 23 includes an inner ring 23a having a raceway surface formed on an outer diameter surface, an outer ring 23b having a raceway surface formed on an inner diameter surface, and a rolling element (not shown) that is freely rollable between the inner ring 23a and the outer ring 23b. Ball) 23c. For this reason, the inner ring 23a of the bearing 23 is fitted on the first tube portion 15 of the main body 13a of the input member component 13, and the outer ring 23b of the bearing 23 is fitted on the bottom wall portion 18b. A fitting notch 24 is provided on the inner diameter surface of the bottom wall portion 18 b, and the outer ring 23 b of the bearing 23 is fitted into the fitting notch 24.

And the opening of the frame 18 is closed by the lid member 25. That is, a through hole 26 is provided in the lid member 25, and a bolt insertion hole 27 is provided at a position corresponding to the through hole 26 of the lid member 25 in the cylindrical portion 18 a of the frame 18 of the casing 17. . Then, the bolt member 19 is inserted into the through hole 26 and the bolt insertion hole 27 and screwed into the screw hole 28 of the casing 17. For this reason, the frame 18 and the lid member 25 constitute a case 29 that houses the first transmission mechanism 3 and the second transmission mechanism 4.

The 1st holding member 6 and the 2nd holding member 10 are comprised by the holding member component 30 which consists of one component. The holding member component 30 includes a disk part 30a having a center hole and a short cylinder part 30b protruding from the inner diameter part of the disk part 30a to the side opposite to the motor. In the disk portion 30a, a plurality of fitting holes 31 into which the first rolling elements (hard balls) 7A constituting the first transmission member 7 are fitted are arranged at a predetermined pitch along the circumferential direction. In addition, a plurality of fitting holes 32 in which the second rolling elements (hard spheres) 11A constituting the second transmission member 11 are fitted are arranged in the short cylindrical portion 30b at a predetermined pitch along the circumferential direction. For this reason, the first holding member 6 is constituted by the disk portion 30 a of the holding member component 30, and the second holding member 10 is constituted by the short cylinder portion 30 b of the holding member component 30.

The first reaction force member 8 has a ring-shaped main body portion 8a, and the main body portion 8a is engaged with the lid member 25 via an engagement structure S (for example, an uneven fitting structure). For this reason, the first reaction force member 8 is fixed to the case 29 and is stationary without rotating. A fitting groove 35 into which the first rolling element 7A is fitted is formed on the motor side end surface of the main body portion 8a of the first reaction force member 8.

The second reaction force member 12 and the output shaft 2 are constituted by an output shaft component 36 composed of one part. The output shaft component 36 includes a short tube portion 36a and a shaft portion 36c protruding from the side wall 36b of the short tube portion 36a. A fitting groove 37 into which the second rolling element 11A is fitted is formed on the inner diameter surface of the short cylindrical portion 36a. Further, a cutout portion 39 into which the inner ring 38a of the bearing 38 is fitted is provided on the outer diameter surface of the short cylindrical portion 36a. The bearing 38 is a roller that is rotatably arranged between an inner ring 38a having a raceway surface formed on the outer diameter surface, an outer ring 38b having a raceway surface formed on the inner diameter surface, and the inner ring 38a and the outer ring 38b. It consists of a moving body (ball) 38c. A cutout portion 40 into which the outer ring 38 b of the bearing 38 is fitted is provided on the inner diameter surface of the lid member 25 of the case 29.

For this reason, by screwing (tightening) the bolt member 19, the end surface on the side opposite to the motor of the inner ring 23 a of the bearing 23 is in pressure contact with the stepped portion 15 a of the first cylindrical portion 15, and the motor of the outer ring 23 b of the bearing 23. The side end surface is in pressure contact with the stepped portion 20a on the inner diameter surface of the frame 18, the motor side end surface of the inner ring of the bearing 38 is in pressure contact with the stepped portion 39a, and the stepped portion 40a on the inner diameter surface of the lid member 25 of the case 29. The end surface on the side opposite to the motor of the outer ring 38b of the bearing 38 is in pressure contact.

Further, when the bolt member 19 is tightened, preload is generated in both the first transmission mechanism 3 and the second transmission mechanism 4. In this case, as shown in FIG. 3, P1 is a contact point between the first input member 5 and the first rolling element 7A, P2 is a contact point between the first reaction force member 8 and the first rolling element 7A, and P3 Is a contact point between the second input member 9 and the second rolling element 11A, and P4 is a contact point between the second reaction force member 12 and the second rolling element 11A.

Specifically, as shown in FIG. 4A, the center of curvature O1 of the fitting groove 33 of the first input member 5 is shifted with respect to the center of the first rolling element 7A, and the fitting of the first reaction force member 8 is performed. The center of curvature O2 of the groove 35 is shifted from the center of the first rolling element 7A. In this case, the curvature center O1 and the curvature center O2 are shifted in directions opposite to the center of the rolling element 7A. θ1 represents the contact angle of the first rolling element 7A. 4B, the center of curvature O3 of the fitting groove 34 of the second input member 9 is shifted from the center of the second rolling element 11A, and the fitting groove 37 of the second reaction force member 12 is The curvature center O4 is shifted from the center of the second rolling element 11A. θ2 represents the contact angle of the second rolling element 7A.

In the transmission configured as shown in FIGS. 1 to 4B, the first transmission mechanism 3 constitutes a traction drive transmission having a thrust bearing structure, and the output torque of the driving motor M is the first transmission mechanism. 3 to the first input member 5. At this time, since the first reaction member 8 is fixed to the case 29, the first rolling element 7 </ b> A sandwiched between the first input member 5 and the first reaction member 8 is decelerated more than the first input member 5. Revolves at a specified speed. For this reason, the first holding member 6 that holds the first rolling element 7 </ b> A rotates at a speed reduced by the first input member 5.

Moreover, since the 1st input member 5 and the 2nd input member 9 are integral structures, and the 1st holding member 6 and the 2nd holding member 10 are integral structures, the 2nd transmission mechanism 4 of a traction drive transmission is Of the three elements of the second input member 9, the second reaction force member 12, and the second holding member 10, two elements (the second input member 9 and the second holding member 10) serve as inputs. The difference of the second holding member 10 is output to the second reaction force member 12 which is the remaining element. The differential mechanism is a mechanism that outputs the difference or sum of two or more movements as one movement, and is used in planetary gears and differential mechanisms.

The diameter of the contact point P1 between the first input member 5 and the first rolling element 7A of the first transmission mechanism 3 is D1, the diameter of the contact point P2 between the first reaction force member 8 and the first rolling element 7A is D2, and the second Assuming that the diameter of the contact point P3 between the second input member 9 and the second rolling element 11A of the speed change mechanism 4 is D3 and the diameter of the contact point P4 between the second reaction member 12 and the second rolling element 11A is D4, It is output from the force member 12 at a reduction ratio i expressed by the following equation (1).

Therefore, a desired reduction ratio can be set by variously changing each value of the diameter D1, the diameter D2, the diameter D3, and the diameter D4. As can be seen from the equation (1), a high reduction ratio can be achieved by setting (designing) D2 / D1≈D4 / D3.

5, the first holding member 6 is fixed to the case 29. In the transmission shown in FIG. That is, the first holding member 6 includes a flat ring body 6A, and a fitting hole 31 into which the first rolling element 7A is fitted is provided in the flat ring body 6A. The first input member 5 and the second input member 9 are the same as the first input member 5 and the second input member 9 of the transmission shown in FIG.

1st reaction force member 8 and 2nd reaction force member 12 are comprised by reaction force member component 45 which is one component. The reaction member component 45 includes a disk part 45a having a central hole and a short cylinder part 45b protruding from the inner diameter part of the disk part 45a to the counter-motor side. A fitting groove 35 into which the first rolling element 7A is fitted is formed on the motor side end face of the disk part 45a, and a fitting groove 37 into which the second rolling element 11A is fitted is formed on the inner diameter face of the short cylinder part 45b. Has been. For this reason, the first reaction force member 8 is constituted by the disc portion 45 a of the reaction force member component 45, and the second reaction force member 12 is constituted by the short cylinder portion 45 b of the reaction force member component 45.

The second holding member 10 and the output shaft 2 are configured by an output shaft component 46 that is a single component. The output shaft component 46 includes a short tube portion 46a and a shaft portion 46c protruding from the side wall 46b of the short tube portion 46a. A fitting hole 32 into which the second rolling element 11A is fitted is formed in the short cylindrical portion 46a. For this reason, the second holding member 10 is configured by the short cylindrical portion 46 a of the output shaft component 46, and the output shaft 2 is configured by the shaft portion 46 c of the output shaft component 46.

A bearing 47 is interposed between the reaction member component 45 and the lid member 25 of the case 29, and a bearing 48 is interposed between the shaft portion 46 c of the output shaft component 46 and the lid member 25 of the case 29. The bearings 47 and 48 include inner rings 47a and 48a having raceway surfaces formed on the outer diameter surface, outer rings 47b and 48b having raceway surfaces formed on the inner diameter surface, inner rings 47a and 48a, and outer rings 47b and 48b, respectively. It consists of rolling elements (balls) 47c and 48c that are arranged so as to be able to roll between them.

That is, the lid member 25 of the case 29 includes a short cylindrical portion 25a and an inner flange portion 25b, and the bearing 47 is interposed between the short cylindrical portion 25a and the short cylindrical portion 45b of the reaction force member component 45, A bearing 48 is interposed between the inner flange portion 25 b and the shaft portion 46 c of the output shaft component 46.

The notch 50 is formed on the outer diameter surface of the short cylindrical portion 45 b of the reaction member component 45, and the notch 51 is formed on the inner diameter surface of the short cylindrical portion 25 a of the lid member 25 of the case 29. The inner ring 47a of the bearing 47 is fitted into the notch 50 of the short cylinder part 45b of the reaction member component 45, and the outer ring 47b of the bearing 47 is fitted to the notch 51 of the short cylinder part 25a of the lid member 25 of the case 29. It is mated.

Further, the shaft portion 46 c has a large diameter portion 52 and a small diameter portion 53, a notch portion 54 is provided on the outer diameter surface of the large diameter portion 52, and the inner diameter surface of the inner flange portion 25 b of the lid member 25 of the case 29. A notch 55 is provided in the upper surface. The inner ring 48a of the bearing 48 is fitted into the cutout portion 54 of the large diameter portion 52 of the shaft portion 46c, and the outer ring 48b of the bearing 48 is fitted into the cutout portion 55 of the inner flange portion 25b of the lid member 25.

For this reason, in the tightened state of the bolt member 19, the motor side end surface of the inner ring 47a of the bearing 47 is in pressure contact with the stepped portion 50a of the outer diameter surface of the short cylindrical portion 45b of the reaction force member component 45, and the lid member 25 The end surface on the side opposite to the motor of the outer ring 47b of the bearing 47 is in pressure contact with the stepped portion 51a on the inner diameter surface of the short cylindrical portion 25a. Further, the motor side end surface of the inner ring 48a of the bearing 48 is in pressure contact with the stepped portion 54a of the large diameter portion 52 of the shaft portion 46c, and the outer ring of the bearing 48 is contacted with the stepped portion 55a of the inner diameter surface of the inner flange 25b of the lid member 25. The end surface on the side opposite to the motor 48b is in pressure contact. Further, the end surface on the side opposite to the motor of the inner ring 23 a of the bearing 23 is in pressure contact with the stepped portion 15 a of the first cylinder portion 15, and the stepped portion 20 a of the inner ring surface of the frame 18 is the end surface on the motor side of the outer ring 23 b of the bearing 23. Pressure contact.

For this reason, when the bolt member 19 is tightened, preload is generated in both the first transmission mechanism 3 and the second transmission mechanism 4. Also in this case, the center of curvature O1 of the fitting groove 33 of the first input member 5 is shifted with respect to the center of the first rolling element 7A, and the center of curvature O2 of the fitting groove 33 of the first reaction member 8 is the first. It is shifted with respect to the center of one rolling element 7A. Further, the center of curvature O3 of the fitting groove 34 of the second input member 9 is shifted with respect to the center of the second rolling element 11A, and the center of curvature O4 of the fitting groove 37 of the second reaction force member 12 is second-rolled. It is shifted with respect to the center of the moving body 11A. Therefore, as shown in FIG. 6, P1 is a contact point between the first input member 5 and the first rolling element 7A, P2 is a contact point between the first reaction force member 8 and the first rolling element 7A, and P3 Is a contact point between the second input member 9 and the second rolling element 11A, and P4 is a contact point between the second reaction force member 12 and the second rolling element 11A.

In the transmission shown in FIGS. 5 and 6, the first transmission mechanism 3 constitutes a traction drive transmission having a thrust bearing structure. The first transmission member 7 </ b> A is input from the first input member 5. Since the first holding member 6 to be held is fixed to the case 29, the first rolling element 7A sandwiched between the first input member 5 and the first reaction force member 8 is restricted in revolving motion and can only rotate. And is output to the first reaction force member 8.

Further, since the first input member 5 and the second input member 9 have an integral structure, and the first reaction force member 8 and the second reaction force member 12 have an integral structure, the second transmission mechanism 4 of the traction drive transmission. The second input member 9, the second reaction force member 12, and the second holding member 10 are input from two elements (second input member 9 and second reaction force member 12). The difference between the member 9 and the second reaction force member 12 is output to the second holding member 10 which is the remaining element.

The diameter of the contact point P1 between the first input member 5 and the first rolling element 7A is D1, the diameter of the contact point P2 between the first reaction member 8 and the first rolling element 7A is D2, and the second input member 9 and the second When the diameter of the contact point P3 of the rolling element 11A is D3 and the diameter of the contact point P4 of the second reaction force member 12 and the second rolling element 11A is D4, the reduction ratio shown in the following equation 2 from the second reaction force member 12 i is output.

Also in this case, a desired reduction ratio can be set by variously changing each value of the diameter D1, the diameter D2, the diameter D3, and the diameter D4. As can be seen from Equation 2, if the ratio is set (designed) to D2 / D1≈D4 / D3, a high reduction ratio can be achieved.

In the transmission shown in FIG. 7, the first input member 5 and the second input member 9 are constituted by an input member component 60 that is one part. The input member component 60 includes a short cylindrical portion 60a and an outer flange portion 60b extending in the outer diameter direction at the end of the short cylindrical portion 60a on the side opposite to the motor. A fitting groove 33 in which the first rolling element 7A is fitted is formed on the outer diameter surface of the short cylindrical part 60a, and a fitting groove in which the second rolling element 11A is fitted on the non-motor side end face of the outer flange part 60b. 34 is formed. For this reason, the first input member 5 is configured by the short cylindrical portion 60 a of the input member component 60, and the second input member 9 is configured by the outer flange portion 60 b of the input member component 60.

The first holding member 6 and the second holding member 10 are integrated. That is, the first holding member 6 includes a short cylindrical portion 61a and an outer flange portion 61b extending in the outer diameter direction from the end on the side opposite to the motor of the short cylindrical portion 61a. The short cylindrical portion 62a has a diameter larger than that of the short cylindrical portion 61a, and an inner flange portion 62b extending from the end on the non-motor side of the short cylindrical portion 62a toward the inner diameter side. The first holding member 6 and the second holding member 10 are integrated by a fixing tool 63 such as a bolt member. A fitting hole 31 into which the first rolling element 7A is fitted is provided in the short cylindrical portion 61a of the first holding member 6, and a fitting in which the second rolling element 11A is fitted into the inner flange portion 62b of the second holding member 10. A hole 32 is provided.

The first reaction member 8 includes a short cylindrical portion 8a and an outer flange portion 8b extending from the motor side end of the short cylindrical portion 8a to the outer diameter side. The outer flange portion 8b is a bolt member or the like. It is fixed to the casing 17 of the motor M via a fixing tool 64. In this case, the short cylindrical portion 8 a protrudes from the end surface 17 a of the casing 17, and the first holding member 6 is short between the short cylindrical portion 60 a of the input member component 60 and the short cylindrical portion 8 a of the first reaction force member 8. The cylindrical portion 61a is interposed. The short cylindrical portion 8a is provided with a fitting groove 35 into which the first rolling element 7A is fitted.

The second reaction force member 12 and the output shaft 2 are integrated. In this case, the 2nd reaction force member 12 consists of a disk-shaped body, and the fitting groove | channel 37 with which 11 A of 2nd rolling elements are fitted is provided in the motor side end surface. For this reason, the inner flange portion 62 b of the second holding member 10 is interposed between the second input member 9 and the second reaction force member 12.

The case 29 in this case is composed of a cylindrical body 65 and a lid member 25, and the lid member 25 is composed of a disc body in which a central hole is formed. The bolt member 19 is inserted into the through hole 26 of the lid member 25 and the bolt insertion hole 27 of the cylindrical body 65, and the bolt member 19 is screwed into the screw hole 28 of the casing 17 of the motor M.

Further, a bearing 66 is interposed between the lid member 25 of the case 29 and the output shaft 2. The bearing 66 includes an inner ring 66a having a raceway surface formed on an outer diameter surface, an outer ring 66b having a raceway surface formed on an inner diameter surface, and a rolling element (not shown) that is freely rollable between the inner ring 66a and the outer ring 66b. Ball) 66c. That is, the inner ring 66 a of the bearing 66 is fitted on the output shaft 2, and the outer ring 66 b of the bearing 66 is fitted on the notch 67 provided on the inner diameter surface of the lid member 25. In the tightened state of the bolt member 19, the end surface on the motor side of the inner ring 66 a of the bearing 66 is in pressure contact with the stepped portion 68 at the base portion of the output shaft 2, and the end surface on the counter motor side of the outer ring 66 b of the bearing 66 is the inner diameter of the lid member 25. It press-contacts with the stepped part 67a of the notch 67 of a surface.

In the tightened state of the bolt member 19, preload is generated in both the first transmission mechanism 3 and the second transmission mechanism 4. Also in this case, the center of curvature O1 of the fitting groove 33 of the first input member 5 is shifted with respect to the center of the first rolling element 7A, and the center of curvature O2 of the fitting groove 33 of the first reaction member 8 is the first. It is shifted with respect to the center of one rolling element 7A. Further, the center of curvature O3 of the fitting groove 34 of the second input member 9 is shifted with respect to the center of the second rolling element 11A, and the center of curvature O4 of the fitting groove 37 of the second reaction force member 12 is second-rolled. It is shifted with respect to the center of the moving body 11A. Therefore, as shown in FIG. 8, P1 becomes a contact point between the first input member 5 and the first rolling element 7A, P2 becomes a contact point between the first reaction force member 8 and the first rolling element 7A, and P3 Is a contact point between the second input member 9 and the second rolling element 11A, and P4 is a contact point between the second reaction force member 12 and the second rolling element 11A.

In the transmission shown in FIGS. 7 and 8, since the first input member 5 of the first transmission mechanism, which is a traction drive transmission, is input and the first reaction member 8 is fixed to the casing 17, the first input is performed. The first rolling element 7 </ b> A sandwiched between the member 5 and the first reaction force member 8 revolves at a speed slower than that of the first input member 5. As a result, the first holding member 6 that holds the first rolling element 7 </ b> A rotates at a speed reduced by the first input member 5.

The second speed change mechanism 4 is a traction drive transmission having a thrust bearing structure, and the first input member 5 and the second input member 9 are integrated, and the first holding member 6 and the second holding member 10 are integrated. The second traction drive transmission has two elements (second input member 9 and second holding member 10) among the three elements of the second input member 9, the second reaction force member 12, and the second holding member 10. ) Is input, and the difference between the second input member 9 and the second holding member 10 is output to the second reaction force member 12 which is the remaining element.

The diameter of the contact point P1 between the first input member 5 and the first rolling element 7A of the first transmission mechanism 3 is D1, the diameter of the contact point P2 between the first reaction force member 8 and the first rolling element 7A is D2, and the second When the diameter of the contact point P3 between the second input member 9 of the speed change mechanism 4 and the second rolling element 11A is D3, and the diameter of the contact point P4 between the second reaction force member 12 and the second rolling element 11A is D4, It is output from the reaction force member 12 at the reduction ratio i shown in the following equation (3).

Also in this case, a desired reduction ratio can be set by variously changing each value of the diameter D1, the diameter D2, the diameter D3, and the diameter D4. As can be seen from the equation (3), a high reduction ratio can be achieved by setting (designing) D2 / D1≈D4 / D3.

In the transmission shown in FIG. 9, the first input member 5 and the second input member 9 are configured by an input member component 70 that is a single component. The input member component 70 includes a short cylindrical portion 70a and an outer flange portion 70b that extends from the non-motor side end of the short cylindrical portion 70a to the outer diameter side. A fitting groove 33 for fitting the first rolling element 7A is provided on the outer diameter side of the outer flange portion 70b on the side opposite to the motor, and the second rolling element is provided on the inner diameter side of the fitting groove 33. A fitting groove 34 into which 11A is fitted is provided. Therefore, the first input member 5 is configured on the outer peripheral side of the outer flange portion 70b of the input member component 70, and the second input member 9 is configured on the inner peripheral side of the outer flange portion 70b of the input member component 70. is doing.

Further, the first holding member 6 and the second holding member 10 are constituted by a holding member component 71 which is one part. The holding member component 71 is formed of a disc body having a center hole 71a. The fitting hole 31 into which the first rolling element 7A is fitted is provided on the outer diameter side, and the holding member component 71 is located on the inner diameter side of the fitting hole 31. A fitting hole 32 into which the two rolling elements 11A are fitted is provided. For this reason, the first holding member 6 is configured on the outer peripheral side of the holding member component 71, and the second holding member 10 is configured on the inner peripheral side of the holding member component 71.

As in the case 29 of the transmission shown in FIG. 1, the transmission case 29 includes a frame 18 and a lid member 25, and a bearing 23 is fitted in the bottom wall portion 18 b of the frame 18. . Therefore, the inner ring 23a of the bearing 23 is fitted into the notch 72 formed on the outer diameter surface of the short cylindrical portion 70a of the input member component 70, and the outer ring 23b of the bearing 23 is fitted to the inner diameter of the bottom wall portion 18b. The surface is fitted into a notch 73.

At this time, the bolt member 19 is inserted into the through hole 26 of the lid member 25 and the bolt insertion hole 27 of the cylindrical portion 18 a of the frame 18, and the bolt member 19 is screwed into the screw hole 28 of the casing 17 of the motor M. . In this state, the non-motor side end surface of the inner ring 23a of the bearing 23 is in pressure contact with the stepped portion 72a of the short cylindrical portion 70a, and the motor side end surface of the outer ring 23b of the bearing 23 is in contact with the bottom wall portion 18b of the frame 18. Press contact with the stepped portion 73a.

The first reaction force member 8 is formed of a ring-shaped body and is engaged with the lid member 25 via an engagement structure S (for example, an uneven fitting structure or the like). That is, the first reaction member 8 is fixed to the case 29. A fitting groove 35 into which the first rolling element 7A is fitted is formed on the motor-side end surface of the first reaction member 8.

The second reaction force member 12 and the output shaft 2 are configured by an output shaft component 75 that is a single component. That is, the output shaft component 75 includes a disk-shaped second reaction force member 12 and the output shaft 2 protruding from the central portion of the end surface on the counter motor side of the second reaction force member 12. The output shaft 2 includes a large diameter portion 76 on the second reaction force member 12 side and a main body shaft portion 77 projecting from the large diameter portion 76. A fitting groove 37 into which the second rolling element 11A is fitted is provided on the motor-side end surface of the second reaction force member 12.

The bearing 66 is interposed between the lid member 25 of the case 29 and the output shaft 2. The bearing 66 includes an inner ring 66a having a raceway surface formed on an outer diameter surface, an outer ring 66b having a raceway surface formed on an inner diameter surface, and a rolling element (not shown) that is freely rollable between the inner ring 66a and the outer ring 66b. Ball) 66c. That is, the inner ring 66 a of the bearing 66 is fitted into the cutout part 78 of the large diameter part 76 of the output shaft 2, and the outer ring 66 b of the bearing 66 is fitted into the cutout part 67 provided on the inner diameter surface of the lid member 25. In this case, when the bolt member 19 is tightened, the end surface on the motor side of the inner ring 66a of the bearing 66 is in pressure contact with the stepped portion 78a of the large diameter portion 76 of the output shaft 2, and the end surface on the non-motor side of the outer ring 66b of the bearing 66 is The lid member 25 is in pressure contact with the stepped portion 67 a of the notch 67 on the inner diameter surface of the lid member 25.

In the tightened state of the bolt member 19, preload is generated in both the first transmission mechanism 3 and the second transmission mechanism 4. Also in this case, the center of curvature O1 of the fitting groove 33 of the first input member 5 is shifted with respect to the center of the first rolling element 7A, and the center of curvature O2 of the fitting groove 33 of the first reaction member 8 is the first. It is shifted with respect to the center of one rolling element 7A. Further, the center of curvature O3 of the fitting groove 34 of the second input member 9 is shifted with respect to the center of the second rolling element 11A, and the center of curvature O4 of the fitting groove 37 of the second reaction force member 12 is second-rolled. It is shifted with respect to the center of the moving body 11A. For this reason, as shown in FIG. 10, P1 becomes a contact point between the first input member 5 and the first rolling element 7A, P2 becomes a contact point between the first reaction force member 8 and the first rolling element 7A, and P3 Is a contact point between the second input member 9 and the second rolling element 11A, and P4 is a contact point between the second reaction force member 12 and the second rolling element 11A.

9 and 10 also, the output torque of the drive motor M is input to the first input member 5 of the first speed change mechanism 3. In the first speed change mechanism 3 having the thrust bearing structure, the first input member 5 is inputted and the first reaction force member 8 is fixed to the case 29. Therefore, the first transmission member 3 is sandwiched between the first input member 5 and the first reaction force member 8. The first rolling element 7 </ b> A revolves at a speed that is decelerated from the first input member 5. As a result, the first holding member 6 that holds the first rolling element 7 </ b> A rotates at a speed reduced by the first input member 5.

Similarly to the first traction drive transmission (first transmission mechanism 3), the second traction drive transmission (second transmission mechanism 4) also has a thrust bearing structure, and includes a first input member 5 and a second input member 9. Since the first holding member 6 and the second holding member 10 have an integrated structure, the second traction drive transmission 4 includes the second input member 9, the second reaction force member 12, and the second holding member. Two of the three elements of the member 10 (second input member 9 and second holding member 10) are input, and the difference between the second input member 9 and the second holding member 10 is the second element which is the remaining element. Output to the reaction force member 12.

As shown in FIG. 10, the diameter of the contact point P1 between the first input member 5 and the first rolling element 7A of the first transmission mechanism 3 is D1, and the contact point P2 between the first reaction force member 8 and the first rolling element 7A is The diameter of the contact point P3 between the second input member 9 of the second transmission mechanism 4 and the second rolling element 11A is D3, and the diameter of the contact point P4 between the second reaction force member 12 and the second rolling element 11A is D2. Assuming D4, the second reaction force member 12 outputs the reduction ratio i shown in the following equation 4.

Also in this case, a desired reduction ratio can be set by variously changing each value of the diameter D1, the diameter D2, the diameter D3, and the diameter D4. As can be seen from the equation (4), if D2 / D1≈D4 / D3 is set (designed), a high reduction ratio can be achieved.

In the transmission shown in FIG. 11, the first input member 5 and the second input member 9 are configured by an input member component 80 which is a single component. The input member component 80 is composed of a short cylindrical portion 80a and an outer flange portion 80b extending from the opposite end of the short cylindrical portion 80a to the outer diameter side. A fitting groove 33 into which the first rolling element 7A is fitted is provided on the outer diameter side of the outer flange portion 80b on the side opposite to the motor, and the second rolling element is provided on the inner diameter side of the fitting groove 33. A fitting groove 34 into which 11A is fitted is provided. For this reason, like the transmission shown in FIG. 9, the first input member 5 is configured on the outer peripheral side of the outer flange portion 80 b of the input member component 80, and the inner peripheral side of the outer flange portion 80 b of the input member component 80. The 2nd input member 9 is comprised.

As in the case 29 of the transmission shown in FIG. 1, the transmission case 29 includes a frame 18 and a lid member 25, and a bearing 23 is fitted in the bottom wall portion 18 b of the frame 18. . Therefore, the inner ring 23a of the bearing 23 is fitted into the notch 82 formed on the outer diameter surface of the short cylindrical portion 80a of the input member component 80, and the outer ring 23b of the bearing 23 is fitted to the inner diameter of the bottom wall portion 18b. The surface is fitted into the notch 83.

At this time, the bolt member 19 is inserted into the through hole 26 of the lid member 25 and the bolt insertion hole 27 of the cylindrical portion 18 a of the frame 18, and the bolt member 19 is screwed into the screw hole 28 of the casing 17 of the motor M. . In this state, the non-motor side end surface of the inner ring 23a of the bearing 23 is in pressure contact with the stepped portion 82a of the short cylindrical portion 80a, and the motor side end surface of the outer ring 23b of the bearing 23 is in contact with the bottom wall portion 18b of the frame 18. Press contact with the stepped portion 83a.

The first holding member 6 is a flat ring body and is fixed to the case 29. A fitting hole 31 into which the first rolling element 7A is fitted is provided. Moreover, the 2nd holding member 10 and the output shaft 2 are comprised by the output-shaft component 90 which is one component. The output shaft component 90 includes a disk-shaped second holding member 10 and an output shaft 2 protruding from the central portion of the end surface on the side opposite to the motor of the second holding member 10. The output shaft 2 includes a large diameter portion 91 on the second holding member 10 side, and a main body shaft portion 92 projecting from the large diameter portion 91. The second holding member 10 is provided with a fitting hole 32 into which the second rolling element 11A is fitted.

The bearing 93 is interposed between the lid member 25 of the case 29 and the output shaft 2. The bearing 93 includes an inner ring 93a having a raceway surface formed on an outer diameter surface, an outer ring 93b having a raceway surface formed on an inner diameter surface, and a rolling element (not shown) that is freely rollable between the inner ring 93a and the outer ring 93b. Ball) 93c. That is, the inner ring 93 a of the bearing 93 is fitted into the cutout portion 94 of the large-diameter portion 91 of the output shaft 2, and the outer ring 93 b of the bearing 93 is fitted into the cutout portion 95 provided on the inner diameter surface of the lid member 25. When the bolt member 19 is tightened, the end surface on the motor side of the inner ring 93a of the bearing 93 is in pressure contact with the stepped portion 94a of the large diameter portion 91 of the output shaft 2, and the end surface on the counter motor side of the outer ring 93b of the bearing 93 is the lid member. It is press-contacted with the step part 95a of the notch part 95 of 25 inner diameter surfaces.

1st reaction force member 8 and 2nd reaction force member 12 are constituted by reaction force member constituent 96 which is one part. That is, the reaction member component 96 includes a flat plate 97 having a center hole, and a fitting groove 35 into which the first rolling element 7A is fitted is provided on the outer diameter side of the motor side end surface of the flat plate 97. A fitting groove 37 into which the second rolling element 11A is fitted is provided on the inner diameter side. For this reason. The outer peripheral side of the flat body 97 of the reaction force member component 96 constitutes the first reaction force member 8, and the inner peripheral side of the flat body 97 of the reaction force member component 96 constitutes the second reaction force member 12. A thrust needle roller bearing 98 is interposed between the input member component 96 and the lid member 25.

For this reason, when the bolt member 19 is tightened, preload is generated in both the first transmission mechanism 3 and the second transmission mechanism 4. Also in this case, the center of curvature O1 of the fitting groove 33 of the first input member 5 is shifted with respect to the center of the first rolling element 7A, and the center of curvature O2 of the fitting groove 33 of the first reaction member 8 is the first. It is shifted with respect to the center of one rolling element 7A. Further, the center of curvature O3 of the fitting groove 34 of the second input member 9 is shifted with respect to the center of the second rolling element 11A, and the center of curvature O4 of the fitting groove 37 of the second reaction force member 12 is second-rolled. It is shifted with respect to the center of the moving body 11A. Therefore, as shown in FIG. 12, P1 is a contact point between the first input member 5 and the first rolling element 7A, P2 is a contact point between the first reaction force member 8 and the first rolling element 7A, and P3 Is a contact point between the second input member 9 and the second rolling element 11A, and P4 is a contact point between the second reaction force member 12 and the second rolling element 11A.

11 and 12, the output torque of the drive motor M is input to the first input member 5 of the first transmission mechanism 3. The first transmission mechanism 3 is a traction drive transmission having a thrust bearing structure, and the first holding member 6 that holds the first rolling element 7A is fixed to the case 29. The first rolling element 7 </ b> A sandwiched between the 1 reaction force members 8 is restricted in revolving motion, and can only rotate, and is output to the first reaction force member 8.

The second speed change mechanism 4 is also a traction drive speed change with a thrust bearing structure, like the first speed change mechanism 3. The first input member 5 and the second input member 9 have an integral structure, and the first reaction force member 8 and the second reaction force member 12 have an integral structure. For this reason, the second speed change mechanism 4 includes two elements (second input member 9 and second reaction force member 12) among the three elements of the second input member 9, the second reaction force member 12, and the second holding member 10. The element becomes an input, and the difference between the second input member 9 and the second reaction force member 12 is output to the second holding member 10 which is the remaining element.

The diameter of the contact point P1 between the first input member 5 and the first rolling element 7A of the first transmission mechanism 3 is D1, the diameter of the contact point P2 between the first reaction force member 8 and the first rolling element 7A is D2, and the second When the diameter of the contact point P3 between the second input member 9 of the speed change mechanism 4 and the second rolling element 11A is D3, and the diameter of the contact point P4 between the second reaction force member 12 and the second rolling element 11A is D4, It is output from the reaction force member 12 at a reduction ratio i expressed by the following equation (5).

Also in this case, a desired reduction ratio can be set by variously changing each value of the diameter D1, the diameter D2, the diameter D3, and the diameter D4. As can be seen from Equation 5, if D2 / D1≈D4 / D3 is set (designed), a high reduction ratio can be achieved.

In the transmission of the present invention, the torque transmitted to the input shaft 1 is input to the input members 5 of both the first transmission mechanism 3 and the second transmission mechanism 4. The first reaction member 8 or the first transmission member that is transmitted from the first input member 5 of the first transmission mechanism 3 to the first transmission member 7 and sandwiches the first transmission member 7 from the opposite side of the first input member 5. 7 is fixed, the first holding member 6 or the first reaction force member 8 becomes the output of the first transmission mechanism 3. Torque is transmitted to the second speed change mechanism 4 from the input shaft 1 to the second input member 9 (the first input member 5 and the second input member 9 are integrally or integrally coupled at this time), and the first speed change is performed. By inputting the output of the mechanism 3 to the second holding member 10 or the second reaction force member 12, the second holding member 10 or the second reaction force member 12 becomes an output. At this time, a differential action is generated by the two inputs, a high reduction ratio can be obtained, and a transmission having a desired reduction ratio can be stably supplied.

If the rolling elements 7A and 11A are used as the transmission member 7, the first input member 5 and the first reaction force member 8 of the first transmission mechanism 3 are fitted with a first rolling surface (fit) corresponding to the first rolling element 7A. Similarly, the second input member 9 and the second reaction force member 12 of the second speed change mechanism 4 are formed with a second rolling surface (fitting groove 34) corresponding to the second rolling element 11A. ) Is formed. At least one of the first transmission mechanism 3 and the second transmission mechanism 4 has a thrust bearing structure, and the pitch circle diameter of the transfer surface (first or second) is set to the input member (first or second) and the reaction force member ( By setting differently in the first or second), a larger gear ratio can be obtained.

The following effects can be obtained by making at least one of the traction drive type first transmission mechanism 3 or the second transmission mechanism 4 a thrust bearing structure. Designing a high reduction ratio becomes easy. Because of the traction drive type, vibration is small and backlash is small. By using a thrust bearing structure, a preload with a large load can be applied, which is advantageous in terms of strength and durability. Due to the thrust structure, a compact design can be achieved in the axial direction.

Next, FIGS. 13 to 16 show a sixth transmission. The transmission includes an input shaft 101 connected to a drive source on a first axis L1, an output shaft 102 disposed on a second axis L2 different from the input shaft 101, and the input shaft 101 and the output shaft. The first and second speed change mechanisms 103 and 104 are provided between the first and second speed change mechanisms 102 and 102. The drive source is a drive motor (not shown). For this reason, the input shaft 101 is connected to the output shaft of the drive motor.

The first transmission mechanism 103 includes a first input member 105, a first holding member 106, a first transmission member 107, and a first reaction force member 108, and the second transmission mechanism 104 includes a second input member 109. And a second holding member 110, a second transmission member 111, and a second reaction force member 112. In this embodiment, the 1st transmission member 107 and the 2nd transmission member 111 consist of rolling elements 107A and 111A which consist of a rigid sphere.

The input shaft 101 and the first input member 105 are configured by an input member component 113 made up of one part. The input member component 113 includes a solid shaft portion 113a that constitutes the input shaft 101, and a disk portion 113b that extends outward from the inner end portion of the solid shaft portion 113a. The transmission includes a pair of side walls 115A and 115B, and the side wall 115A has a first portion 116 on the lower side and a second portion 117 on the upper side. For this reason, the solid shaft portion 113a constituting the input shaft 101 is pivotally supported by the first portion 116 of the one side wall 115A via the bearing 120.

That is, the bearing 120 is a roller that is rotatably disposed between an inner ring 120a having a raceway surface formed on the outer diameter surface, an outer ring 120b having a raceway surface formed on the inner diameter surface, and the inner ring 120a and the outer ring 120b. A moving body (ball) 120c. Therefore, the inner ring 120a of the bearing 120 is fitted to the solid shaft portion 113a of the input member component 113, and the outer ring 120b of the bearing 120 is fitted to the through hole at the center of the first portion 116 of the one side wall 115A. The A fitting notch 121 is provided on the inner diameter surface of the first portion 116, and the outer ring 120 b of the bearing 120 is fitted in the fitting notch 121. A retaining ring 122 is attached to the solid shaft portion 113a, and an inner ring 120a is sandwiched between the retaining ring 122 and a stepped portion 123 at the base of the solid shaft portion 113a.

Further, a fitting groove 125 into which the first rolling element 107A is fitted is provided on the end surface of the input member component 113 opposite to the input shaft of the disk portion 113b. For this reason, the first input member 105 is configured by the disk portion 113 b of the input member component 113.

The first holding member 106 includes a short shaft portion 126a disposed on the first axis L1 and a disk body 126b connected to the short shaft portion 126a, and the disk body 126b disposed at a predetermined pitch along the circumferential direction. Is provided with a fitting hole 127. The first rolling element 107 </ b> A is fitted in the fitting hole 127. The short shaft portion 126a is pivotally supported through a bearing 129 in the lower through hole of the other side wall 115B.

That is, the bearing 129 is a roller that is rotatably arranged between an inner ring 129a having a raceway surface on the outer diameter surface, an outer ring 129b having a raceway surface on the inner diameter surface, and the inner ring 129a and the outer ring 129b. A moving body (ball) 129c. For this reason, the inner ring 129a of the bearing 129 is fitted onto the short shaft portion 126a, and the outer ring 129b of the bearing 129 is fitted into the lower through-hole of the other side wall 115B. A cutout portion 130 is formed on the outer diameter surface of the short shaft portion 126a, and the inner ring 129a of the bearing 129 is fitted into the cutout portion 130. In addition, a fitting notch 131 is provided on the inner diameter surface of the through hole in the lower portion of the side wall 115B, and the outer ring 129b of the bearing 129 is fitted in the fitting notch 131.

The first reaction force member 108 is attached (fixed) to the inner surface of the lower side of the other side wall 115B. The first reaction member 108 is formed of a flat plate ring body, and is fitted into a ring-shaped recessed portion 132 provided on the inner surface on the lower side of the other side wall 115B. Further, a fitting groove 133 into which the first rolling element 107A is fitted is provided on the surface of the first reaction force member 108 corresponding to the first holding member.

The second input member 109 includes a short shaft portion 135a and a disk portion 135b extending in the outer diameter direction on the output shaft side of the short shaft portion 135a. The second rolling element 111A is provided on the output shaft side end surface of the disk portion 135b. Is provided with a fitting groove 136. The second input member 109 is pivotally supported by the second portion 117 of the one side wall 115A.

That is, the short shaft portion 135a of the second input member 109 is pivotally supported via the bearing 137 in the through hole of the second portion 117 of the one side wall 115A. The bearing 137 includes an inner ring 137a having a raceway surface formed on an outer diameter surface, an outer ring 137b having a raceway surface formed on an inner diameter surface, and a rolling element (not shown) that is freely rollable between the inner ring 137a and the outer ring 137b. Ball) 137c. For this reason, the inner ring 137a of the bearing 137 is fitted to the short shaft portion 135a, and the outer ring 137b of the bearing 137 is fitted to the through hole of the second portion 117 of the one side wall 115A. A cutout portion 139 is formed on the outer diameter surface of the short shaft portion 135a, and the inner ring 137a of the bearing 137 is fitted into the cutout portion 139. Further, a fitting notch 140 is provided on the inner diameter surface of the through hole of the second portion 117 of the side wall 115 </ b> A, and the outer ring 137 b of the bearing 137 is fitted into the fitting notch 140.

The second holding member 110 includes a short shaft portion 141a and a disk portion 141b extending in an outer diameter direction at an end portion of the short shaft portion 141a on the second input member 109 side, and the disk portion 141b has a circumferential direction. A fitting hole 142 into which the second rolling element 111A is fitted is provided at a predetermined pitch along the same.

Further, the output shaft 102 and the second reaction force member 112 are constituted by an output shaft component 144 made of one part. The output shaft component 144 includes a short tube portion 144a, a shaft portion 144c protruding from the side wall 144b of the short tube portion 144a, and an end portion on the opening side of the short tube portion 144a (the disk portion 141b of the second holding member 110). A disk portion 144d extending in the outer diameter direction on the side end). A fitting groove 145 into which the second rolling element 111A is fitted is provided on the end surface of the second holding member 110 on the disk portion 141b side of the disk portion 144d.

A bearing 146 is disposed between the outer diameter surface of the short shaft portion 141 a of the second holding member 110 and the inner diameter surface of the short tube portion 144 a of the output shaft component 144, and the short tube portion 144 a of the output shaft component 144 is formed. A bearing 147 is disposed between the outer diameter surface of the first through hole and the inner diameter surface of the through hole at the top of the other side wall 115B.

That is, the bearings 146 and 147 include inner rings 146a and 147a having raceway surfaces on the outer diameter surface, outer rings 146b and 147b having raceway surfaces on the inner diameter surface, inner rings 146a and 47b, and outer rings 146b and 147b, respectively. And rolling elements (balls) 146c and 147c that are arranged so as to be freely rotatable.

A notch portion 148 is provided on the outer diameter surface of the short shaft portion 141a, and a notch portion 149 is provided on the inner diameter surface of the short tube portion 144a of the output shaft component 144. The inner ring 146a of the bearing 146 is fitted in the notch 148, and the outer ring 146b of the bearing 146 is fitted in the notch 149.

The notch 150 is provided on the outer diameter surface of the short cylindrical portion 144a of the output shaft component 144, and the notch 151 is provided on the inner diameter surface of the through hole on the other side wall 115B. The inner ring 147a of the bearing 147 is fitted into the notch 150, and the outer ring 147b of the bearing 147 is fitted to the notch 151.

The side walls 115 </ b> A and 115 </ b> B are connected via a bolt member 152. In this case, a through hole 153 is provided on one side wall 115A, and a screw hole 154 is provided on the other side wall 115B. For this reason, the bolt member 152 is inserted into the through hole 153 from the outside of the one side wall 115 </ b> A and is screwed into the other screw hole 154. Therefore, the side walls 115A and 115B constitute a case 155 that houses the first and second transmission mechanisms 103 and 104.

In this way, by tightening the bolt member 152, the inner ring 120 a of the bearing 120 is pressed against the stepped portion 123 at the base portion of the input shaft 101, and the outer ring 120 b of the bearing 120 is stepped on the inner diameter surface of the first portion 116. The inner ring 129a of the bearing 129 is pressed into contact with the stepped portion 130a of the short shaft portion 136a, and the outer ring 129b of the bearing 129 is pressed into contact with the stepped portion 131a of the inner diameter surface of the lower through hole of the side wall 115B. . Further, by tightening the bolt member 152, the inner ring 137a of the bearing 137 is pressed against the stepped portion 139a of the short shaft portion 135a, and the outer ring 137b of the bearing 137 is pressed against the stepped portion 140a of the inner diameter surface of the second portion 117. The inner ring 146a of the bearing 146 is in pressure contact with the stepped portion 148a of the short shaft portion 141a, and the outer ring 146b of the bearing 146 is in pressure contact with the stepped portion 149a on the inner diameter surface of the short cylindrical portion 144a of the output shaft component 144. Further, by tightening the bolt member 152, the inner ring 147a of the bearing 147 comes into pressure contact with the stepped portion 150a of the outer diameter surface of the short cylindrical portion 144a of the output shaft component 144, and the outer ring 147b of the bearing 147 is in contact with the other side wall 115B. Is pressed against the stepped portion 151a of the inner diameter surface of the through hole.

In the tightened state of the bolt member 152, preload is generated in both the first transmission mechanism 103 and the second transmission mechanism 104. In this case, as shown in FIG. 18, P1 is a contact point between the first input member 105 and the first rolling element 107A, P2 is a contact point between the first reaction force member 108 and the first rolling element 107A, and P3 Is a contact point between the second input member 109 and the second rolling element 111A, and P4 is a contact point between the second reaction force member 112 and the second rolling element 111A.

Specifically, as shown in FIG. 17A, the center of curvature O11 of the fitting groove 125 of the first input member 105 is shifted with respect to the center O17 of the first rolling element 107A, and the fitting of the first reaction force member 108 is performed. The center of curvature O12 of the joint groove 133 is shifted from the center O17 of the first rolling element 107A. In this case, the curvature center O11 and the curvature center O12 are shifted in directions opposite to the center O17 of the rolling element 107A. θ11 represents the contact angle of the first rolling element 107A. 17B, the center of curvature O13 of the fitting groove 136 of the second input member 109 is shifted with respect to the center O21 of the second rolling element 111A, and the fitting groove 145 of the second reaction member 112. The center of curvature O14 is shifted with respect to the center O21 of the second rolling element 111A. θ12 represents the contact angle of the second rolling element 107A.

In this transmission, as shown in FIGS. 14 and 18, the rotational driving force of the first input member 105 of the first transmission mechanism 103 and the output from the first holding member 106 of the first transmission mechanism 103 are torque. The signal is input to the second input member 109 and the second holding member 110 of the second transmission mechanism 104 via the transmission means T (T1, T2).

The torque transmission means T is constituted by a gear structure G formed on the outer diameter portion of the member. That is, the concave and convex teeth 160 are provided on the outer peripheral surface of the first input member 105, the concave and convex teeth 161 are provided on the outer peripheral surface of the first holding member 106, and the concave and convex teeth 162 are provided on the outer peripheral surface of the second input member 109. 2 Concave and convex teeth 163 are provided on the outer peripheral surface of the holding member 110. Then, the concave and convex teeth 160 of the first input member 105 and the concave and convex teeth 162 of the second input member 109 are engaged, and the concave and convex teeth 161 of the first holding member 106 and the concave and convex teeth 163 of the second holding member 110 are engaged. .

In the transmission configured as described above, torque output from a drive motor (not shown) or the like is input to the input shaft 101 of the first axis L1 and is shifted from the first input member 105 integral with the input shaft 101. Input into the aircraft. That is, the first transmission mechanism 103 is a traction drive transmission having a thrust bearing structure. Further, since the first reaction force member 108 is rotationally fixed to the case 155, the first rolling member 107A sandwiched between the first input member 105 and the first reaction force member 108 is decelerated more than the first input member 105. Revolves at high speed. For this reason, the first holding member 106 that holds the first rolling element 107 </ b> A rotates at a speed reduced by the first input member 105.

In addition, concave and convex teeth 160 and 161 are formed on the outer diameter portions of the first input member 105 and the first holding member 106, and a second traction drive transmission (first gear) having a thrust bearing structure disposed on the second axis L2. 2, the concave / convex teeth paired with the concave / convex teeth 160, 161 of the outer diameter portions of the first input member 105 and the first holding member 106, on the outer diameter portions of the second input member 109 and the second holding member 110. 162, 163 are formed. Therefore, the first input member 105 and the second input member 109 mesh with the concave and convex teeth 160 and 162, and the first holding member 106 and the second holding member 110 mesh with the concave and convex teeth 161 and 163, respectively, and torque is transmitted. .

At this time, in the second traction drive transmission (second speed change mechanism 104), two of the three elements (second input member 109, second input member 109, second reaction force member 112, second holding member 110). 2), the difference of the second holding member 110 of the second input member 109 is output to the second reaction force member 112 which is the remaining element.

As shown in FIG. 18, the diameter of the contact point P11 between the first input member 105 and the first rolling element 107A of the first speed change mechanism 103 is D11, and the contact point P12 between the first reaction force member 108 and the first rolling element 107A. The diameter of the contact point P13 between the second input member 109 of the second speed change mechanism 104 and the second rolling element 111A is D13, and the diameter of the contact point P14 between the second reaction force member 112 and the second rolling element 111A is D12. The diameter is D14. Also. The outer diameter of the first input member 105 is Z1, the outer diameter of the second input member 109 is Z2, the outer diameter of the first holding member 106 is Z3, and the second holding member 110 If the number of teeth of the outer diameter is Z4, it is output to the output shaft 102 that is integral with the second reaction force member 112 at the reduction ratio i shown in the following equation (6).

Therefore, a desired reduction ratio can be set without changing the first axis L1 and the second axis L2 by designing the diameter D11 and the diameter D12 or the diameter D13 and the diameter D14 with a dimensional difference. That is, a predetermined reduction ratio can be selected. By adopting the thrust bearing structure, a high reduction ratio can be achieved by giving a slight dimensional difference to each of D11 and D12 and D13 and D14. Therefore, D11 = D12, D11> D12, D11 <D12, or D13 = D14, D13> D14, D13 <D14.

The first holding member 106 is uniformly provided with holes equal to or larger than the diameter of the first rolling element 107A, and the second holding member 110 is equally provided with holes equal to or larger than the diameter of the second rolling element 111A. Can be placed. Moreover, in the said embodiment, although the 1st rolling element 107A and the 2nd rolling element 111A are shown by the diameter of the same magnitude | size, you may change the diameter of a rolling element according to a use application. If all the rolling elements have the same diameter, the assembly is good.

In the transmission shown in FIG. 19, the first holding member 106 is formed of a disc body. A plurality of fitting holes 127 into which the first rolling elements 107A are fitted are provided at a predetermined pitch along the circumferential direction. The first reaction force member 108 includes a reaction force member component 170 including a short shaft portion 170a and a disk portion 170b extending in the outer diameter direction from the counter input shaft side of the short shaft portion 170a. Is done. For this reason, a fitting groove 133 into which the first rolling element 107A is fitted is provided on the surface of the disk portion 170b of the reaction force member component 170 corresponding to the first holding member.

Also, the short shaft portion 170a of the reaction member component 170 is pivotally supported through a bearing 129 in the lower through hole of the other side wall 115B. That is, the bearing 129 is a roller that is rotatably arranged between an inner ring 129a having a raceway surface on the outer diameter surface, an outer ring 129b having a raceway surface on the inner diameter surface, and the inner ring 129a and the outer ring 129b. A moving body (ball) 129c. For this reason, the inner ring 129a of the bearing 129 is externally fitted to the short shaft portion 170a, and the outer ring 129b of the bearing 129 is internally fitted to the lower through hole of the other side wall 115B. A cutout portion 169 is formed on the outer diameter surface of the short shaft portion 170a, and the inner ring 129a of the bearing 129 is fitted into the cutout portion 169. In addition, a fitting notch 131 is provided on the inner diameter surface of the through hole in the lower portion of the side wall 115B, and the outer ring 129b of the bearing 129 is fitted in the fitting notch 131.

The second holding member 110 and the output shaft 102 are configured by an output shaft component 171 composed of one part. The output shaft component 171 includes a shaft portion 171a and a disk portion 171b extending in the outer diameter direction from the second reaction force member side of the shaft portion 171a. A plurality of fitting holes 142 are provided at a pitch along the circumferential direction in the disk portion 171b, and the second rolling elements 111A are fitted into the fitting holes 142.

Further, the second reaction force member 112 includes a short cylindrical portion 172a and an outer flange portion extending in an outer diameter direction from an inner side end (the disk portion 171b side of the output shaft component 171) of the short cylindrical portion 172a. It is comprised by the reaction force member structural component 172 which consists of 172b. Therefore, a fitting groove 145 into which the second rolling element 111A is fitted is formed on the inner end surface of the outer flange portion 172b (the surface corresponding to the disk portion 171b of the output shaft component 171).

A bearing 175 is interposed between the shaft portion 171a of the output shaft component 171 and the short tube portion 172a of the reaction force member component 172, and the upper portion of the short tube portion 172a of the reaction force member component 172 and the other side wall 115B passes through. A bearing 176 is interposed between the holes.

The bearings 175 and 176 include inner rings 175a and 76a having raceway surfaces on the outer diameter surface, outer rings 175b and 176b having raceway surfaces formed on the inner diameter surface, inner rings 175a and 176a, and outer rings 175b and 176b, respectively. And rolling elements (balls) 175c and 176c which are arranged so as to be freely rotatable.

The inner ring 175a of the bearing 175 is externally fitted to the short shaft portion 170a, and the outer ring 175b of the bearing 175 is fitted to the notch 177 on the inner diameter surface of the short cylindrical portion 172a of the reaction force member component 172. Further, the inner ring 176a of the bearing 176 is fitted into the notch 178 on the outer diameter surface of the short cylindrical portion 172a of the reaction member component 172, and the outer ring 176b of the bearing 176 is notched on the inner diameter surface of the upper through hole of the side wall 115B. 179.

Since the other members have the same configuration as that of the transmission shown in FIG. 13 described above, these members are denoted by the same reference numerals in FIG.

In this way, by tightening the bolt member 152, the inner ring 120 a of the bearing 120 is pressed against the stepped portion 123 at the base portion of the input shaft 101, and the outer ring 120 b of the bearing 120 is stepped on the inner diameter surface of the first portion 116. The inner ring 129a of the bearing 129 is in pressure contact with the stepped portion 169a of the short shaft portion 170a, and the outer ring 129b of the bearing 129 is in pressure contact with the stepped portion 131a of the inner diameter surface of the lower through hole of the side wall 115B. . Further, by tightening the bolt member 152, the inner ring 137a of the bearing 137 is pressed against the stepped portion 139a of the short shaft portion 135a, and the outer ring 137b of the bearing 137 is pressed against the stepped portion 140a of the inner diameter surface of the second portion 117. The inner ring 175a of the bearing 175 is in pressure contact with the stepped portion 174 of the shaft portion 171a, and the outer ring 175b of the bearing 175 is in pressure contact with the stepped portion 177a on the inner diameter surface of the short cylinder portion 172a of the reaction force member component 172. Further, by tightening the bolt member 152, the inner ring 176a of the bearing 176 is brought into pressure contact with the stepped portion 178a on the outer diameter surface of the short cylindrical portion 172a of the reaction member component 172, and the outer ring 176b of the bearing 176 is in contact with the other side wall. Press contact with the stepped portion 179a on the inner diameter surface of the through hole 115B.

In the tightened state of the bolt member 152, preload is generated in both the first transmission mechanism 103 and the second transmission mechanism 104. Also in this case, as shown in FIG. 20, P1 becomes a contact point between the first input member 105 and the first rolling element 107A, P2 becomes a contact point between the first reaction force member 108 and the first rolling element 107A, P3 is a contact point between the second input member 109 and the second rolling element 111A, and P4 is a contact point between the second reaction force member 112 and the second rolling element 111A.

Also in this case, as shown in FIG. 17A, the center of curvature O11 of the fitting groove 125 of the first input member 105 is shifted from the center O17 of the first rolling element 107A, and the fitting of the first reaction force member 108 is performed. The curvature center O12 of the groove 133 is shifted with respect to the center O17 of the first rolling element 107A. In this case, the curvature center O11 and the curvature center O12 are shifted in directions opposite to the center O17 of the rolling element 107A. θ11 represents the contact angle of the first rolling element 107A. 17B, the center of curvature O13 of the fitting groove 136 of the second input member 109 is shifted with respect to the center O21 of the second rolling element 111A, and the fitting groove 145 of the second reaction member 112. The center of curvature O14 is shifted with respect to the center O21 of the second rolling element 111A. θ12 represents the contact angle of the second rolling element 107A.

In this transmission, the rotational driving force of the first input member 105 of the first transmission mechanism 103 and the output from the first reaction member 108 of the first transmission mechanism 103 are used as torque transmission means T (T1, T3). Via the second input member 109 and the second reaction force member 112 of the second speed change mechanism 104.

The torque transmission means T is constituted by a gear structure G formed on the outer diameter portion of the member. That is, the concave and convex teeth 160 are provided on the outer peripheral surface of the first input member 105, the concave and convex teeth 165 are provided on the outer peripheral surface of the first reaction force member 108, and the concave and convex teeth 162 are provided on the outer peripheral surface of the second input member 109. Concave and convex teeth 166 are provided on the outer peripheral surface of the second reaction force member 112. Then, the concave and convex teeth 160 of the first input member 105 and the concave and convex teeth 162 of the second input member 109 are engaged with each other, and the concave and convex teeth 165 of the first reaction force member 108 and the concave and convex teeth 166 of the second reaction force member 112 are engaged. Engage.

In the transmission configured as shown in FIG. 19, torque output from a drive motor (not shown) is input to the input shaft 101 of the first axis L <b> 1 and is integrated with the input shaft 101. Is input into the transmission. That is, this input torque is input to the first input member 105 of the first traction drive transmission (first transmission mechanism 103) having a thrust bearing structure disposed on the first axis L1. In this case, since the first holding member 106 is rotationally fixed to the case 155 (not shown), the first rolling element 107A sandwiched between the first input member 105 and the first reaction force member 108 is restricted in revolving motion. Thus, only the rotation motion is possible, and is output to the first reaction force member 108.

Further, the outer diameter portions of the first input member 105 and the first reaction force member 108 are formed with concave and convex teeth 160 and 165, and further, a second traction drive transmission (thrust bearing structure) disposed on the second axis L2. The second input member 109 and the second reaction force member 112 of the second speed change mechanism 104) are paired with the concave and convex teeth 160 and 165 of the outer diameter portion of the first input member 105 and the first reaction force member 108. Concave and convex teeth 162 and 166 are formed, the first input member 105 and the second input member 109 mesh with the concave and convex teeth 160 and 162, and the first reaction force member 108 and the second reaction force member 112 are concave and convex teeth 165, 165. Engage at 166 and transmit torque at each.

At this time, in the second traction drive transmission (second speed change mechanism 104), two of the three elements (second input member 109, second input member 109, second reaction force member 112, second holding member 110). The element of the second reaction force member 112) is input, and the difference of the second reaction force member 112 of the second input member 109 is output to the second holding member 110 which is the remaining element.

As shown in FIG. 20, the diameter of the contact point P11 between the first input member 105 and the first rolling element 107A is D11, the diameter of the contact point P12 between the first reaction force member 108 and the first rolling element 107A is D12, The diameter of the contact point P13 between the second input member 109 and the second rolling element 111A is D13, and the diameter of the contact point P14 between the second reaction force member 112 and the second rolling element 111A is D14. In addition, the number of teeth on the outer diameter of the first input member 105 is Z1, the number of teeth on the outer diameter of the second input member 109 is Z2, the number of teeth on the outer diameter of the first reaction force member 108 is Z3, and the second When the number of teeth on the outer diameter of the reaction force member 112 is Z4, the reaction force member 112 is output to the output shaft 102 integral with the second holding member 110 at a reduction ratio i expressed by the following equation (7).

Also in this case, a desired reduction ratio can be set without changing the first axis L1 and the second axis L2 by designing the diameter D11 and the diameter D12 or the diameter D13 and the diameter D14 with a dimensional difference. That is, a predetermined reduction ratio can be selected. By adopting the thrust bearing structure, a high reduction ratio can be achieved by giving a slight dimensional difference to each of D11 and D12 and D13 and D14. Therefore, also in this case, D11 = D12, D11> D12, D11 <D12, or D13 = D14, D13> D14, D13 <D14.

In the transmission shown in FIG. 13 and the like, the torque transmitted to the input shaft 101 is input to the first input member 105 of the first transmission mechanism 103, transmitted through the first transmission member 107, and transmitted through the first transmission member 107 to the first. By fixing the first reaction force member 108 sandwiched from the opposite side of the input member 105 or the first holding member 106 holding the first transmission member 107, the first holding member 106 or the first reaction member 106 is fixed. The force member 108 becomes an output of the first transmission mechanism 103. Torque is transmitted to the second transmission mechanism 104 from the first input member 105 of the first transmission mechanism 103 via the torque transmission means T to the second input member 109 at a constant gear ratio. Further, the first holding member 106 and the second holding member 110, or the first reaction force member 108 and the second reaction force member 112 are torque-transmitted at a constant speed ratio via the torque transmission means T. For this reason, the 2nd holding member 110 or the 2nd reaction force member 112 becomes an output. At this time, a differential action is generated by two inputs of the second input member 109 and the second holding member 110, or the second input member 109 and the second reaction force member 112, and a high reduction ratio can be obtained. It is possible to stably supply a transmission with a reduction ratio of.

The following effects can be obtained by making at least one of the traction drive type first transmission mechanism 103 or the second transmission mechanism 104 a thrust bearing structure. Designing a high reduction ratio becomes easy. Because of the traction drive type, vibration is small and backlash is small. By using a thrust bearing structure, a preload with a large load can be applied, which is advantageous in terms of strength and durability. Due to the thrust structure, a compact design can be achieved in the axial direction.

Incidentally, the first input member 105 and the first reaction force member 108 of the first transmission mechanism 103 are formed with first rolling surfaces (fitting grooves 125 and 133) corresponding to the first rolling elements 107A. Similarly, the second input member 109 and the second reaction force member 112 of the second speed change mechanism 104 are formed with second rolling surfaces (fitting grooves 136 and 145) corresponding to the second rolling elements 111A. The first speed change mechanism 103 and the second speed change mechanism 104 have a thrust bearing structure, and the pitch circle diameter of the transfer surface is set to the first input member 105 or the second input member 109 and the first reaction force member 108 or the second reaction force member 112. By setting them differently, a larger gear ratio can be obtained. With the thrust structure, the axial length can be designed compactly. Further, by changing the numerical values of the different pitch circle diameters, it becomes possible to design a predetermined gear ratio without changing the distance between the two axes.

By the way, as a torque transmission means, in addition to the gear mechanism used in the above embodiment, as shown in FIG. 21 (as shown in FIG. 21A, one having pulleys 180 and 181 and a belt 182 wound around this, or FIG. As shown, some have sprockets 183 and 184 and a chain 185 hung around them.

For this reason, the first input member 105 and the second input member 109 are pulleys, and a belt is hung around them, or the first input member 105 and the second input member 109 are sprockets, and a chain is hung on this. The torque transmission means T can be configured by turning. Thus, when a pulley or sprocket is used, the pulley diameter ratio (or sprocket pitch circle diameter ratio) is used in the calculation instead of the gear ratio, and the output rotation direction is the reverse of the gear mechanism.

Incidentally, the values of D1 to D4 shown in FIGS. 3, 4, 6, 8, 10, and 12 can be set as shown in the following Table 1, for example. The unit of Table 1 is mm. Thus, D1 = D2, D1> D2, D1 <D2, or D3 = D4, D3> D4, D3 <D4.

As described above, the embodiment of the present invention has been described. However, the present invention is not limited to the above-described embodiment, and various modifications are possible. In the above-described embodiment, the drive source is a drive motor. For example, the power of the engine is not limited to the driving motor. In addition, as a method for applying preload, the fastening screw (bolt member 19.152) is used in each of the above-described embodiments. However, a method for applying preload, such as a deformation method such as press-fitting, even if an elastic body such as a spring is used. If it is good. The number and size of the rolling elements 7A, 11B, 107A, 111B can be variously changed according to the values D11 to D14 to be set. In the transmission mechanism shown in FIG. 14 and the like, the first and second transmission mechanisms 103 and 104 are sandwiched between the pair of side walls 115A and 115B as the case 155, which is a so-called open type. The case may be used. Thus, when a sealed type case is used, oil lubrication is possible.

This is a motor speed reduction device that changes the speed (acceleration, deceleration) of the motor output, and the drive source may be a drive motor, or may be power such as an engine without being limited to the drive motor.

D1, D2, D3, D4 Diameter P1, P2, P3, P4 Contact point 1 Input shaft 2 Output shaft 3 First transmission mechanism 4 Second transmission mechanism 5 First input member 6 First holding member 7 First transmission member 8 First 1 reaction force member 7A 1st rolling element 9 2nd input member 10 2nd holding member 11 2nd transmission member 12 2nd reaction force member 11A 2nd rolling element

Claims (8)

1. An input shaft connected to the drive source, an output shaft disposed on the same axis as the input shaft, and first and second transmission mechanisms disposed between the input shaft and the output shaft. A transmission equipped with,
   The first transmission mechanism includes a first input member, a first transmission member, a first reaction force member, and a first holding member, and the second transmission mechanism includes a second input member, a second transmission member, and a first transmission member. Two reaction force members and a second holding member;
   Torque transmitted to the input shaft is input to the first input member of the first transmission mechanism, and torque is output from the first holding member via the first transmission member,
   The torque transmitted to the input shaft is input to the second input member of the second transmission mechanism, and the output from the first holding member of the first transmission mechanism is transmitted to the second holding member via the second transmission member. Entered in
   A transmission device that outputs a difference between the second input member and the second holding member to the output shaft via a second reaction member.
2. An input shaft connected to the drive source, an output shaft disposed on the same axis as the input shaft, and first and second transmission mechanisms disposed between the input shaft and the output shaft. A transmission equipped with,
   The first transmission mechanism includes a first input member, a first transmission member, a first reaction force member, and a first holding member, and the second transmission mechanism includes a second input member, a second transmission member, and a first transmission member. Two reaction force members and a second holding member;
   Torque transmitted to the input shaft is input to the first input member of the first transmission mechanism, and torque is output from the first reaction member via the first transmission member,
   The torque transmitted to the input shaft is input to the second input member of the second transmission mechanism, and the output from the first reaction member of the first transmission mechanism is transmitted to the second reaction member via the second transmission member. Input to the force member,
   A transmission device that outputs a difference between a second input member and a second reaction force member to the output shaft via a second holding member.
3. The transmission according to claim 1 or 2, wherein the first transmission mechanism is a traction drive type having a thrust bearing structure using a rolling element as a first transmission member.
4. 4. The transmission according to claim 3, wherein the rolling element of the first transmission mechanism is a hard sphere.
5. 3. The transmission according to claim 1, wherein the second transmission mechanism is a traction drive type having a thrust bearing structure using a rolling element as a second transmission member.
6. The transmission according to claim 5, wherein the rolling element of the second transmission mechanism is a hard sphere.
7. The transmission according to any one of claims 3 to 6, wherein the rolling elements of the first transmission mechanism and the rolling elements of the second transmission mechanism have the same shape.
8. The transmission according to any one of claims 3 to 7, wherein the rolling elements of the first transmission mechanism and the second transmission mechanism have different contact point diameters across the rolling element. .

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