WO2022064726A1 - Cycloidal speed reducer and electrical device - Google Patents

Abstract

A high reduction ratio is achieved, and the thickness of an entire structure can be made smaller. A cycloidal speed reducer according to one aspect of the present disclosure comprises a motor and a reduction component, the motor and the reduction component being positioned in an axial direction, and the reduction component including a first gear positioned on one axial side of a first motor housing separated from the motor, and a second gear that meshes with the first gear. The motor includes two bearings positioned on the radially outer side of a rotating shaft, and the two bearings are aligned along the axial direction in the center of a stator. The first gear and the second gear of the reduction component each include two gears positioned adjacent to each other in the axial direction. Therefore, a high reduction ratio is achieved, and the thickness of the entire structure in the axial and radial directions can be made smaller.

Description

Cycloid reducer and electrical equipment

The present disclosure relates to cycloid speed reducers and electrical equipment. This application claims priority based on Japanese Patent Application No. 2020-159871 filed in Japan on September 24, 2020, the contents of which are incorporated herein by reference.

Conventionally, there is a technology that combines a motor and a speed reducer. A common combination of motor and reducer is such that the reducer is directly connected to the motor. Actuators, which combine motors and reducers, are a key component of robot applications. In order to obtain a large torque output, the reducer needs to have a high reduction ratio so as to convert the high speed low torque output of the motor into the low speed high torque output. It was

Usually, a speed reducer having a high reduction ratio uses a multi-stage planetary gear device that is long in the axial direction, so that the device becomes large. For example, in Patent Document 1 below, a speed reducer having a multi-stage planetary gear device is proposed. According to this device, a high reduction ratio can be obtained. Further, for example, in the following Patent Document 2-4, a cycloid reducer having a two-stage planetary gear device is proposed, and a significantly higher reduction ratio can be obtained by using the two-stage gear device. .. Further, for example, in Patent Document 5 below, a configuration is proposed in which the motor has a space in the center and the speed reducer is designed to be mounted in the space. In such a technique, the device as a whole is designed to be axially thin.

U.S. Pat. No. 8829750 Korean Published Patent No. 20150012043 U.S. Pat. No. 3,998112 Korean Patent No. 10024246 China Published Patent No. 10128864

However, in the technique of combining the cycloid speed reducer having the two-stage planetary gear device of Patent Document 2-4 and the motor, a high reduction ratio can be obtained, but there is a problem that the device as a whole becomes large in the axial direction. There is. On the other hand, in Patent Document 5, the outer diameter of the motor is increased in order to incorporate the speed reducer in the space of the motor. It was

The present invention has been made in view of the above circumstances, and an object of the present invention is to realize a high reduction ratio (high output torque) and to make the thickness of the entire structure smaller.

The cycloid speed reducer according to one aspect of the present disclosure includes a first rotation shaft and a second rotation shaft that rotate about the central axis, and a first rotor arranged radially outside the first rotation shaft. A second rotor arranged radially outside the second rotation shaft, a stator arranged between the first rotor and the second rotor, and a stator housing covering the stator. A first motor housing arranged on one side in the axial direction away from the stator of the first rotor, and a second motor housing arranged on the other side in the axial direction away from the stator of the second rotor. , A deceleration component having a first gear disposed axially on one side of the stator housing away from the motor, and a second gear that meshes with the first gear. The motor comprises two bearings arranged radially outside the rotating shaft, the two bearings are axially aligned on the center side of the stator, and the deceleration component is the first gear. The first gear and the second gear each include two gears arranged side by side in the axial direction. The motor includes a fixing ring arranged radially outside the rotating shaft on the center side of the stator in the radial direction, and the two bearings are arranged between the rotating shaft and the fixing ring. Is preferable. The deceleration component is a fixed portion arranged between a second rotation axis centered on a second axis extending parallel to the center axis at a position away from the center axis, and between the rotation axis and the second rotation axis. And, it is preferable to provide. The motor comprises at least two connecting members for connecting the first rotor and the second rotor to the rotary shaft, the rotary shaft having a hole penetrating in the axial direction in the hole. Is preferably provided with the two connecting members facing each other. It was

According to another embodiment of the present disclosure, the axis of rotation comprises an eccentric portion centered on a second axis extending parallel to the central axis at a position away from the central axis. Of the two bearings, one bearing is located axially on the center side of the stator, and the other bearing is located on the other side of the second rotor axially away from the stator. The motor includes at least one fixing pin for fixing the first rotor and the second rotor to the rotating shaft, and the rotating shaft has at least one concave portion radially outwardly. Is provided with the fixing pin. It was

According to another embodiment of the present disclosure, one of the two bearings is located axially away from the stator of the first rotor and the other bearing is of the second rotor. It is located on the other side in the axial direction away from the stator. The motor includes a second fixing pin for fixing the first rotor and the second rotor to the rotating shaft, and the second fixing pin is axially oriented with the first rotor. It extends from the outermost surface facing one side to the outermost surface facing the other side in the axial direction of the second rotor, and the rotating shaft extends along a direction intersecting the radial direction of the stator on the radial outer side. A second recess is provided, and the second fixing pin is provided in the second recess. It was

It is preferable that the first gear is a ring gear and the second gear is a cycloid gear. It was

The motor is preferably an axial magnetic flux motor. It was

It is possible to provide an electric device provided with a cycloid speed reducing device according to one aspect of the present disclosure.

The cycloid deceleration device according to one aspect of the present disclosure includes a motor and a deceleration component, the motor and the deceleration component are arranged in the axial direction, and the deceleration component is arranged on one side of the first motor housing away from the motor. It comprises a first gear that has been geared and a second gear that meshes with the first gear, the motor has two bearings located radially outward of the axis of rotation, and the two bearings are on the center side of the stator. The first gear and the second gear of the deceleration component are aligned in the axial direction in the above, and each of the first gear and the second gear of the reduction gear includes two gears arranged adjacent to each other in the axial direction, so that a high reduction ratio is realized and the shaft is formed. The thickness of the entire structure in the directional and radial directions can be made smaller.

It is a perspective sectional view which shows the structure of the 1st Embodiment of a cycloid reduction apparatus. It is sectional drawing which shows the structure of 1st Embodiment. It is sectional drawing which shows the state which separated the motor and the deceleration component of 1st Embodiment. It is a partially enlarged sectional view of the motor of 1st Embodiment. FIG. 3 is a cross-sectional view taken along the line AA of FIG. FIG. 3 is a cross-sectional view taken along the line BB of FIG. It is sectional drawing which shows the structure of the modification of 1st Embodiment. It is sectional drawing which shows the structure of 2nd Embodiment. It is sectional drawing which shows the state which separated the motor and the deceleration component of 2nd Embodiment. It is a partially enlarged sectional view of the motor of the 2nd Embodiment. It is sectional drawing which shows the structure of 3rd Embodiment. It is sectional drawing which shows the state which separated the motor and the deceleration component of 3rd Embodiment. It is a partially enlarged sectional view on the motor side of the 2nd Embodiment.

An embodiment of a speed reducer will be described as an example of the present disclosure with reference to FIGS. 1 to 12. In the following, for convenience of explanation, the radial direction centered on the central axis of the first rotation axis and the second rotation axis of the motor is referred to as "radial direction", and the direction around the central axis is referred to as "circumferential direction". , The extending direction of the central axis and the direction parallel to it are referred to as "axial direction". Further, the direction in which the motor points the deceleration component in the axial direction is referred to as "forward", and the direction opposite to "forward" is referred to as "rear". It was

[First Embodiment] As shown in FIG. 1, the cycloid deceleration device 10 according to the present disclosure is the first example of the cycloid deceleration device, and includes a motor 100 and a deceleration component 200. In the illustrated example, the connecting member 260 constitutes the cycloid deceleration device 10 by integrating the motor 100 and the deceleration component 200 in the axial direction. It was

As shown in FIGS. 2 and 3, the motor 100 includes a rotary shaft 130 that rotates about the central axis C indicated by the alternate long and short dash line, and a first rotor 121 and a first rotor 121 that are arranged radially outside the rotary shaft 130, respectively. The rotor 120 of 2, the stator 110 arranged between the first rotor 121 and the second rotor 120, the stator cover 111 covering the stator 110, and the axial direction away from the stator 110 of the first rotor 121. It includes a first motor housing 114 arranged on the side and a second motor housing 113 arranged on the other side of the second rotor 120 in the axial direction away from the stator 110. The motor 100 includes two rotors and may be referred to herein as a double rotor motor. It was

The stator cover 111 is a ring-shaped member that covers the radial outside of the stator 110. The stator cover 111 includes a hole into which the connecting member 260 is inserted. The first motor housing 114 is located on the front side of the stator 110 and the second motor housing 113 is located on the rear side of the stator 110 with the stator 110 as a boundary. The first motor housing 114 includes a hole into which the connecting member 260 is inserted. Since the first motor housing 114 is arranged between the motor 100 and the deceleration component 200, for example, oil leakage from the deceleration component 200 to the motor 100 can be prevented. It was

The first rotor 121 and the second rotor 122 shown in the present embodiment are, for example, disk-shaped disc rotors. The first rotor 121 is located in front of the stator 110 and between the stator 110 and the first motor housing 114. Further, the second rotor 120 is located behind the stator 110 and between the stator 110 and the second motor housing 113. It was

In the present embodiment, the motor 100 and the deceleration component 200 are arranged in the axial direction, and the deceleration component 200 is provided on the front side of the motor 100. For example, the deceleration component 200 is on the front side of the first motor housing 114. Is located in. It was

The motor 100 includes two bearings 140 arranged radially outside the rotating shaft 130 and a fixing ring 112 arranged radially outside the rotating shaft 130 on the center side of the stator 110 in the radial direction. It was

As shown in FIG. 4, the fixing ring 112 has an open central portion. That is, the fixing ring 112 penetrates in the axial direction. The rotation shaft 130 is passed through the opening portion of the fixing ring 112 in a state where the fixing ring 112 is fitted in the central portion of the stator 110 shown in FIG. Then, as will be described later, the rotary shaft 130 is connected to the second rotary shaft 230 of the deceleration component 200. It was

In this embodiment, the two bearings 140 are axially aligned on the center side of the stator 110. Further, the two bearings 140 are arranged between the rotating shaft 130 and the fixing ring 112. Thereby, the rotating shaft 130 is rotatably supported by two bearings 140 arranged inside the fixing ring 112. It was

The first rotor 121 shown in the present embodiment has a support portion 121a extending in the axial direction, a connection portion 121b connected to one side in the axial direction of the rotating shaft 130, and an axial direction between the support portion 121a and the connection portion 121b. It is provided with a through hole 121c that penetrates the through hole 121c. The support portion 121a extends in the axial direction and supports the bearing 244 of the speed reduction component 200 described later. The second rotor 120 includes a connecting portion 120a connected to the other side in the axial direction of the rotating shaft 130, and a recess 121b. It was

The rotating shaft 130 includes a hole 131 extending in the axial direction and a flat seat portion 132 on one side in the axial direction. The hole 131 is, for example, a female screw hole having a female screw. The flat seat portion 132 is a planar portion extending in the radial direction. The hole 131 is provided with a pair of connecting members 141 facing each other for connecting the first rotor 121 and the second rotor 120 to the rotating shaft 130. The connecting member 141 is, for example, a bolt. The connecting member 141 is not limited to the bolt, and may be other than the bolt. The rotating shaft 130 may have a hollow structure. As a result, the weight of the rotating shaft 130 can be reduced.

In the first embodiment, the first rotor 121 and the second rotor 120 can be attached to the rotary shaft 130 by the two connecting members 141, the washer 142, and the fixing pin 143. Specifically, the connecting portion 121b of the first rotor 121 is positioned at the flat seat portion 132 of the rotating shaft 130, and the fixing pin 143 is inserted into the through hole 121c. Subsequently, the connecting member 141 is inserted into the hole 131 and screwed together until the screw head of the connecting member 141 abuts on the connecting portion 121b from one side in the axial direction to the other side in the axial direction. On the other hand, the connecting portion 120a of the second rotor 120 is positioned at the end on the other side in the axial direction of the rotating shaft 130, and the washer 142 is positioned at the recess 120b. Subsequently, the connecting member 141 is inserted into the hole 131 and screwed together until the screw head of the connecting member 141 abuts on the connecting portion 120a from the other side in the axial direction to the one side in the axial direction. As a result, the first rotor 121 and the second rotor 120 can be stably fixed to the rotating shaft 130. In this way, the rotary shaft 130 is connected to the motor 100 which is a drive source. When the motor 100 is driven, the rotating shaft 130 rotates at the first rotation speed about the central axis C by the power supplied from the motor 100. In this embodiment, the rotating shaft 130 serves as an input shaft. It was

The motor 100 shown in this embodiment is preferably an axial magnetic flux motor (Axial flux motor). Since the motor 100 has a structure short in the axial direction, the overall structure of the cycloid deceleration device 10 can be made smaller by integrating the motor 100 and the deceleration component 200. It was

Next, the configuration of the deceleration component 200 will be described in detail. As shown in FIGS. 1 to 3, the reduction gear 200 includes two first gears 210 and 220 and two first gears 210 and 220 arranged on one side in the axial direction away from the motor 100 of the first motor housing 114. Two second gears 220 and 221 that mesh with the gears 210 and 220, bearings 240 and 241 arranged radially inside the first gear 210, a gear cover 250, a gear cover 250 and a first gear 220. A bearing 242 arranged between the two, a second rotating shaft 230 centered on a second axis E extending in parallel with the central axis C at a position away from the central axis C, and a rotating shaft 130 and a second rotating shaft 230. A fixed portion 243 arranged between and is provided. It was

The gear cover 250 is a ring-shaped member that covers at least a part of the speed reduction component 200 from the radial outside. In the illustrated example, the gear cover 250 covers the first gear 220 and the second gear 221 in the second stage. The gear cover 250 has a hole in the portion facing the stator cover 111 into which the connecting member 260 is inserted. It was

The two first gears 210 and 220 are arranged adjacent to each other in the axial direction. The first gear 210 in the first stage has a hole that penetrates in the axial direction and into which the connecting member 260 is inserted. The first gear 210 is fixed to the stator cover 111, the first motor housing 114, and the gear cover 250 by the connecting member 260. The first gear 220 of the second stage is arranged between the first motor housing 114 and the gear cover 250. The first gear 220 functions as an output shaft that outputs a decelerated driving force. The first gear 220 is supported by the gear cover 250 by the bearing 242. It was

The two second gears 211 and 221 are arranged adjacent to each other in the axial direction. The second gear 211 of the first stage is supported by the eccentric shaft 230 by the bearing 240. The second gear 221 of the second stage is arranged between the second gear 221 of the first stage and the first gear 220 of the second stage. The two second gears 211 and 221 are integrally configured with the second gear 221 by, for example, a connecting member 261. The two integrated second gears 211 and 221 are rotatably supported by a bearing 240 attached to the eccentric shaft 230. Since the reduction gear component 200 shown in the present embodiment is configured as a two-stage cycloid gear reducer, a higher reduction ratio can be obtained as compared with the one-stage cycloid gear reduction gear. The connecting member 261 is, for example, a bolt. The number of connecting members 261 is not particularly limited, and may be, for example, six or twelve. It was

The second rotation shaft 230 is a portion that rotates together with the rotation shaft 130 at the same rotation speed as the rotation shaft 130. In the present embodiment, the rotary shaft 130 and the second rotary shaft 230 are separate members, but may be a single member. As shown in FIG. 2, the second rotation axis 230 is a cylindrical member centered on the second axis E extending in parallel with the central axis C at a position deviating from the central axis C. Therefore, the distance from the central axis C to the outer peripheral surface of the second rotating shaft 230 differs depending on the position in the circumferential direction. As described above, the second rotating shaft 230 shown in the present embodiment can be said to be an axis eccentric by a predetermined amount in the axial direction. It was

The second rotating shaft 230 supports the first gear 220 via the bearing 241. As shown in the figure, the second rotating shaft 230 may have a hollow structure penetrating in the axial direction. As a result, the weight of the second rotating shaft 230 can be reduced. Since the rotary shaft 130 of the motor 100 and the second rotary shaft 230 of the reduction component 200 are connected via the fixed portion 243, the driving force on the motor 100 side can be transmitted to the second rotary shaft 230. That is, when the rotating shaft 130 rotates about the central axis C, the position of the second rotating shaft 230 rotates about the central axis C. In this way, the second rotary shaft 230 is integrated with the rotary shaft 130 and also functions as an input shaft for inputting the driving force from the motor 100 to the deceleration component 200. The configuration of the second rotating shaft 230 is not limited to that shown in the present embodiment. It was

In this embodiment, the first gears 210 and 220 are, for example, ring gears. The second gear 220, 221 is, for example, a cycloid gear. Here, FIG. 5A shows the cycloid gear structure of the first stage. The second gear 211 has a smooth curved plate, and has a plurality of arcuate external teeth 211a on the outer peripheral side thereof. The first gear 210 has a plurality of arcuate internal teeth 210a in the radial direction in order to mesh with the plurality of external teeth 211a of the second gear 211. Further, FIG. 5B shows the cycloid gear structure of the second stage. The second gear 221 also has a smooth curved plate, and has a plurality of arcuate external teeth 221a on the outer peripheral side thereof. The first gear 220 has a plurality of arcuate internal teeth 220a in the radial direction in order to mesh with the plurality of external teeth 221a of the second gear 221. It was

The two second gears 211 and 221 are eccentric with respect to the axes O1 and O2 of the two first gears 210 and 220, respectively, by a predetermined amount, that is, eccentricities e1 and e2. As shown in FIG. 5A, the eccentricity e1 of the first stage is centered on the axial center O1 passing through the center with respect to the outermost peripheral D1 of the first gear 210 and the center with respect to the outermost peripheral d1 of the second gear 211. It is the amount of difference from the axis O2 that passes through. Further, as shown in FIG. 5B, the eccentricity e2 of the second stage is relative to the axial center O1 passing through the center with respect to the outermost circumference D2 of the first gear 220 and the outermost circumference d2 of the second gear 221. It is the amount of difference from the axis O2 passing through the center. However, the eccentricity e1 in the first stage and the eccentricity e2 in the second stage are the same amount, respectively. It was

The two first gears according to the present disclosure, that is, the first gear 210 and the first gear 220 have different diameters. For example, the diameter of the first gear 210 is larger than the diameter of the first gear 220. Further, the diameters of the two second gears according to the present disclosure, that is, the second gear 211 and the second gear 221 are different. For example, the diameter of the second gear 211 is larger than the diameter of the second gear 221. The diameter size and tooth shape of the first gears 210 and 220 and the second gears 211 and 221 are not limited to the above configuration. It was

Here, the number of teeth of the first gear 210 in the first stage is z1, the number of teeth of the second gear 211 is z2, the number of teeth of the first gear 220 in the second stage is z3, and the number of teeth of the second gear 221 is. When the number of teeth is z4, the speed of the gear input from the motor 100 is determined by the following equation. It was

For example, as shown in Table 1 below, the reduction ratio is determined by the number of gear teeth (z1, z2, z3, z4). In the present embodiment, for example, z1 is set to 15, z2 is set to 14, z3 is set to 14, and z4 is set to 13, and the reduction ratio in this case is 196. The number of teeth of the first gears 210 and 220 and the second gears 211 and 221 is not limited to the above configuration, and can be appropriately changed according to the number of teeth corresponding to the desired reduction ratio. It was

In the reduction component 200, the two second gears 211 and 221 are around the axis of the second rotating shaft 230 by the bearing 240 while maintaining the eccentricities e1 and e2 inside the two first gears 210 and 220 in the radial direction. Can be rotated. It was

As described above, the cycloid speed reducer 10 of the first embodiment includes a double rotor motor (motor 100) and a speed reduction component 200 arranged in the axial direction, and the speed reduction component 200 is the motor 100 of the first motor housing 114. A first gear arranged on one side of the axis away from the shaft and a second gear that meshes with the first gear are provided, and the motor 100 has two bearings 140 arranged radially outside the rotating shaft 130. The two bearings 140 are arranged axially on the center side of the stator 110, and the first gear and the second gear of the reduction gear 200 are each arranged adjacent to each other in the axial direction. Since it includes a gear, it is possible to realize compactness in the axial direction and the radial direction, and it is possible to obtain a cycloid reduction device having a small volume and a strong driving ability. It was

[Modification example of the first embodiment] In the cycloid deceleration device 10A shown in FIG. 6, the motor 100 and the deceleration component 200A are connected by the connecting member 260 as in the first embodiment which is a modification of the cycloid deceleration device 10. Together, the cycloid speed reducer 10A is configured. In this cycloid speed reducing device 10A, two bearings 240a are arranged inside the radial direction of the first gear 210 as the structure of the speed reducing component 200A. It was

The second gear 211 of the first stage is supported by the eccentric shaft 230 by two bearings 240a. Similar to the first embodiment, the two second gears 211 and 221 are configured integrally with the second gear 221 by, for example, a connecting member 261. The two integrated second gears 211 and 221 are rotatably supported by two bearings 240a attached to the eccentric shaft 230. Since the reduction gear component 200A is also configured as a two-stage cycloid gear reducer, a higher reduction ratio can be obtained as compared with the one-stage cycloid gear reducer. The cycloid deceleration device 10A has the same configuration as the cycloid deceleration device 10 except that the cycloid deceleration device 10A has a configuration of two bearings 240a. It was

[Second Embodiment] The cycloid deceleration device 10B shown in FIG. 7 is a second embodiment of the cycloid deceleration device. Motor 100A and reduction component 20
It has 0. In the illustrated example, the connecting member 260 constitutes the cycloid deceleration device 10B by integrating the motor 100A and the deceleration component 200 in the axial direction. Hereinafter, a configuration different from that of the first embodiment will be described, and the configuration common to the cycloid speed reducer 10 is designated by a common reference numeral and detailed description thereof will be omitted.

As shown in FIGS. 7 and 8, the motor 100A has a rotary shaft 150 that rotates about the central axis C indicated by the alternate long and short dash line, and a first rotor 123 and a first rotor 123 that are arranged radially outside the rotary shaft 150, respectively. The rotor 122, the stator 110, the stator cover 111, the first motor housing 114, and the second motor housing 113a are provided. It was

The first rotor 123 and the second rotor 122 are, for example, disk-shaped disc rotors. The first rotor 123 is located in front of the stator 110 and between the stator 110 and the first motor housing 114. Further, the second rotor 122 is located behind the stator 110 and between the stator 110 and the second motor housing 113. It was

The motor 100A of the second embodiment has two bearings 140a arranged radially outside the rotating shaft 150 and a fixing ring 112a arranged radially outside the rotating shaft 150 on the center side of the stator 110 in the radial direction. And at least one fixing pin 144 for fixing the first rotor 123 and the second rotor 122 to the rotating shaft 150. It was

The rotating shaft 150 has an extending portion 151 extending in the axial direction, an eccentric portion 152 centered on a second axis E extending in parallel with the central axis C at a position away from the central axis C, and a radial direction of the extending portion 151. It is provided with at least one recess 153 provided on the outside. It was

As shown in FIG. 9, the recess 153 is a bottomed groove having a predetermined depth. A fixing pin 144 is provided in the recess 153. In the second embodiment, two recesses 153 are provided on the peripheral wall of the extending portion 151. The concave portion 153 on one side in the axial direction faces the end portion 123a on the inner side in the radial direction of the first rotor 123. Further, the recess 153 on the other side in the axial direction faces the end portion 122a on the inner side in the radial direction of the second rotor 122. It was

The eccentric portion 152 is a cylindrical member centered on a second axis E extending in parallel with the central axis C at a position deviating from the central axis C. Therefore, the distance from the central axis C to the outer peripheral surface of the eccentric portion 152 differs depending on the position in the circumferential direction. In the second embodiment, the rotating shaft 150 and the eccentric portion 152 form a single member. The rotary shaft 150 rotatably supports the second gear 211 of the first stage via the bearing 240. As a result, the driving force on the motor 100A side can be transmitted to the deceleration component 200 through the rotating shaft 150. Further, the rotary shaft 150 rotatably supports the first gear 220 of the second stage via the bearing 241. As shown in the figure, the rotating shaft 150 may have a hollow structure penetrating in the axial direction. As a result, the weight of the rotating shaft 150 can be reduced. When the rotation axis 150 rotates about the central axis C, the position of the eccentric portion 152 rotates about the central axis C. In this way, the rotary shaft 150 functions as an input shaft for inputting the driving force from the motor 100A to the deceleration component 200. The configuration of the rotating shaft 150 is not limited to that shown in the present embodiment. It was

In the second embodiment, of the two bearings 140a, one bearing 140a is axially located on the center side of the stator 110, and the other bearing 140a is axially on the other side away from the stator 110 of the second rotor 120. Located in. As shown in FIG. 9, one bearing 140a is arranged between the rotating shaft 150 and the fixing ring 112a. Further, the other bearing 140a is arranged between the rotating shaft 150 and the second motor housing 113a. Thereby, the rotary shaft 150 is rotatably supported by the two bearings 140a as in the first embodiment. It was

Here, secondly, in the second embodiment, the bearings 140a and the fixing pins 144 are alternately arranged in the axial direction. Then, the first rotor 123 and the second rotor 122 can be attached to the rotating shaft 150 by the two fixing pins 144 provided in the two recesses 153. As described above, according to the second embodiment, the configuration of the motor 100A can be simplified and the number of parts can be reduced as the overall configuration of the cycloid speed reducer 10B. It was

[Third Embodiment] The cycloid deceleration device 10C shown in FIG. 10 is a third embodiment of the cycloid deceleration device. It includes a motor 100B and a deceleration component 200. In the illustrated example, the connecting member 260 constitutes the cycloid deceleration device 10C by integrating the motor 100B and the deceleration component 200 in the axial direction. Hereinafter, a configuration different from that of the first embodiment will be described, and the configurations common to the cycloid speed reducers 10 and 10B are designated by common reference numerals and detailed description thereof will be omitted. It was

As shown in FIGS. 10 and 11, the motor 100B has a rotary shaft 160 that rotates about the central axis C indicated by the alternate long and short dash line, and a first rotor 125 and a first rotor 125 that are arranged radially outside the rotary shaft 160, respectively. The rotor 124, the stator 110, the stator cover 111, the first motor housing 114a, and the second motor housing 113a are provided. It was

The first rotor 125 and the second rotor 124 are, for example, disk-shaped disc rotors. The first rotor 125 is located in front of the stator 110 and between the stator 110 and the first motor housing 114a. Further, the second rotor 124 is located behind the stator 110 and between the stator 110 and the second motor housing 113a. It was

The motor 100B of the second embodiment has two bearings 140b arranged radially outside the rotating shaft 160 and a fixing ring 112b arranged radially outside the rotating shaft 160 on the center side of the stator 110 in the radial direction. And a second fixing pin 145 for fixing the first rotor 125 and the second rotor 124 to the rotating shaft 160. It was

The rotating shaft 160 has an extending portion 161 extending in the axial direction, an eccentric portion 162 centered on a second axis E extending in parallel with the central axis C at a position away from the central axis C, and a radial direction of the extending portion 161. On the outside, a second recess 163 extending along a direction intersecting the radial direction of the stator 110 is provided. The rotary shaft 160 functions as an input shaft for inputting the driving force from the motor 100B to the deceleration component 200. The rotary shaft 160 is the same as the rotary shaft 150 of the second embodiment except that the second recess 163 is provided. It was

As shown in FIG. 12, the second recess 163 is a bottomed groove having a predetermined depth and is a long groove extending in the axial direction. A fixing pin 145 is provided in the second recess 163. The second fixing pin 145 extends from the outermost surface 125b of the first rotor 125 facing axially one side to the outermost surface 124b of the second rotor 124 facing axially the other side. That is, the axial length of the second fixing pin shown in the third embodiment is equal to the distance between the outermost surface 125b of the first rotor 125 and the outermost surface 124b of the second rotor 124. In the third embodiment, one second recess 163 is provided on the peripheral wall of the extending portion 161. The second recess 163 faces the radially inner end 125a of the first rotor 125 and the radially inner end 124a of the second rotor 124. It was

In the third embodiment, of the two bearings 140b, one bearing 140b is located on one side in the axial direction away from the stator 110 of the first rotor 125, and the other bearing 140b is the stator 110 of the second rotor 124. It is located on the other side in the axial direction away from. As shown in FIG. 12, one bearing 140b is arranged between the rotating shaft 160 and the first motor housing 114a. Further, the other bearing 140b is arranged between the rotating shaft 160 and the second motor housing 113a. Thereby, the rotary shaft 160 is rotatably supported by the two bearings 140b as in the first embodiment. It was

Here, in the third embodiment, one fixing pin 145 is arranged between the two bearings 140a in the axial direction. Then, the first rotor 125 and the second rotor 124 can be attached to the rotating shaft 160 by one fixing pin 145 provided in one second recess 163. As described above, according to the third embodiment, the configuration of the motor 100B can be simplified and the number of parts can be reduced as the overall configuration of the cycloid speed reducer 10C. It was

Further, the present invention is not limited to the description of the first embodiment to the third embodiment, and the motor and the deceleration component may have other structures. It was

As described above, the present invention has been described by combining specific embodiments, but those skilled in the art understand that these descriptions are merely examples and do not limit the scope of protection of the present invention. Should be. Those skilled in the art can make various modifications and amendments to the present invention based on the technical ideas and principles of the present invention, and these modifications and amendments are included within the scope of the present invention.

The cycloid reducer of the present disclosure can be used in all technical fields utilizing a cycloid reducer. In particular, it is a speed reducer for which miniaturization is required, and can be widely used for a cycloid speed reducer in which a motor and a cycloid speed reducer are integrally configured.

10: Cycloid reduction gear, 100: motor, 200: reduction gear, 110: stator, 111: stator housing, 112: fixing ring, 113: second motor housing, 114: first motor housing, 120: second Rotor, 121: 1st rotor, 130: rotating shaft, 131: hole, 140: bearing, 141: connecting member, 142: washer, 143: fixing pin, 144: fixing pin, 145: second fixing pin, 150: Rotating shaft, 151: Extended part, 152: Eccentric part, 153: Recessed part, 160: Rotating shaft, 161: Extended part, 162: Eccentric part, 163: Second concave part, 210: First gear, 211: First 2nd gear, 220: 1st gear, 221: 2nd gear, 230: 2nd rotating shaft, 240: bearing, 250: gear cover, 260: connecting member, 261: connecting member

Claims (12)

1. 
   A first rotation axis and a second rotation axis that rotate around the central axis, and
   
   A first rotor arranged radially outside the first rotation axis, and
   
   A second rotor arranged radially outside the second rotation axis, and
   
   A stator arranged between the first rotor and the second rotor,
   
   A stator housing that covers the stator and
   
   A first motor housing arranged on one side of the first rotor in the axial direction away from the stator, and a first motor housing.
   
   A second motor housing located on the other side of the second rotor in the axial direction away from the stator, and a second motor housing.
   
   With a motor and
   
   A first gear arranged on one side in the axial direction away from the stator housing, and a second gear that meshes with the first gear.
   
   With deceleration parts,
   
   It is a cycloid deceleration device equipped with
   
   The motor is
   
   It has two bearings arranged radially outside the axis of rotation.
   
   The two bearings are aligned axially on the center side of the stator.
   
   The reduction component comprises at least one bearing located radially inside the first gear.
   
   The first gear and the second gear each include two gears arranged side by side in the axial direction.
   
   A cycloid deceleration device characterized by that.
   
2. 
   The motor comprises a fixing ring located radially outward of the rotating shaft on the center side of the stator in the radial direction.
   
   The two bearings are arranged between the rotating shaft 130 and the fixing ring.
   
   The cycloid speed reducer according to claim 1.
   
3. 
   The deceleration component includes a second rotation axis centered on a second axis extending parallel to the center axis at a position away from the center axis.
   
   A fixing portion arranged between the rotating shaft and the second rotating shaft is provided.
   
   The cycloid speed reducer according to claim 1 or 2.
   
4. 
   The motor comprises at least two connecting members for connecting the first rotor and the second rotor to the rotating shaft.
   
   The rotating shaft is provided with a hole penetrating in the axial direction, and the two connecting members are provided in the hole so as to face each other.
   
   The cycloid speed reducer according to any one of claims 1 to 3.
   
5. 
   The axis of rotation includes an eccentric portion centered on a second axis extending parallel to the central axis at a position away from the central axis.
   
   The cycloid speed reducer according to claim 1.
   
6. 
   Of the two bearings, one is axially located on the center side of the stator and the other bearing is axially located on the other side of the second rotor away from the stator.
   
   The cycloid speed reducer according to claim 5.
   
7. 
   The motor comprises at least one fixing pin for fixing the first rotor and the second rotor to the rotating shaft.
   
   The axis of rotation is provided with at least one concave portion on the outer side in the radial direction.
   
   The fixing pin is provided in the recess.
   
   The cycloid speed reducer according to claim 6.
   
8. 
   Of the two bearings, one bearing is located axially on one side of the first rotor away from the stator, and the other bearing is located axially on the other side of the second rotor away from the stator.
   
   The cycloid speed reducer according to claim 5.
   
9. 
   The motor includes a second fixing pin for fixing the first rotor and the second rotor to the rotating shaft.
   
   The second fixing pin extends from the outermost surface of the first rotor facing axially one side to the outermost surface of the second rotor facing axially the other side in the axial direction.
   
   The axis of rotation comprises a second recess extending radially outward along a direction intersecting the radial direction of the stator.
   
   The second fixing pin is provided in the second recess.
   
   The cycloid speed reducer according to claim 8.
   
10. 
    The first gear is a ring gear, which is a ring gear.
    
    The second gear is a cycloid gear,
    
    The cycloid speed reducer according to any one of claims 1 to 9.
    
11. 
    The cycloid speed reducer according to any one of claims 1 to 10, wherein the motor is an axial magnetic flux motor.
    
12. 
    An electric device including the cycloid speed reducer according to any one of claims 1 to 12.

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