Classifications

• • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
  • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
  • F16H—GEARING
  • F16H1/00—Toothed gearings for conveying rotary motion
  • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
  • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear

Definitions

• the present invention relates to a planetary gear reducer, particularly a hypocycloid reducer.
• a planetary gear reducer can obtain a high-speed reduction ratio in one stage, and is small and lightweight, but since it has a large number of parts, the structure is complex and there are concerns about rigidity (Patent Document 1).
• Patent Document 2 there is a reduction gear that employs a 2K-H type planetary gear mechanism (Patent Document 2).
• the planetary gear mechanism disclosed in Patent Document 2 uses two sets of internal gears and external gears that mesh with the internal gears, has high rigidity with a small number of used gears, and can significantly reduce speed with one stage.
• the present invention has been made with this in mind, and provides a speed reducer that is highly rigid and can suppress the generation of vibration and noise.
• a fixed sun comprising an input shaft having a pair of a first eccentric part and a second eccentric part, and an external gear provided coaxially with the input shaft.
• It has a driven sun gear made of an external gear that outputs a deceleration output, and an internal gear that meshes with the driven sun gear, and has a gear ratio different from that of the first planetary gear, and has a gear ratio different from that of the first planetary gear.
• a second planetary gear capable of receiving core input; and a connecting member disposed between the first planetary gear and the second planetary gear, the connecting member having a central axis at one end and a connecting member disposed between the first planetary gear and the second planetary gear.
• the center axis of the other end is offset from the central axis, the end is rotatably supported by the first planetary gear, and the other end is rotatable by the second planetary gear.
• the planetary gear reducer is configured to be supported such that the first planetary gear and the second planetary gear move integrally, and to restrict the rotation of the second planetary gear.
• the first planetary gear and the second planetary gear rotate in opposite phases by the connecting member, and act as counterweights to each other. This makes it possible to suppress the generation of vibration and noise. Furthermore, the reduction gear with the above structure has a small number of parts and can maintain high rigidity.
• the second planetary gear is configured such that the eccentricity of the internal gear of the second planetary gear has the same phase and the same amount of eccentricity as the second eccentric portion.
• the second planetary gear is provided in a phase opposite to that of the planetary gear, and the second planetary gear is configured to receive rotation of the second eccentric portion via the connection member.
• the connecting member is provided at the second eccentric portion, and the one end portion is disposed inside the first planetary gear in the circumferential direction and is rotatably supported, and the connecting member is rotatably supported by the first planetary gear.
• the other end portion is disposed on the circumferentially outer side of the second planetary gear and is rotatably supported.
• the internal gear of the first planetary gear and the internal gear of the second planetary gear are configured based on a trochoid curve, and the first planetary gear, the fixed sun gear, and the The second planetary gear and the driven sun gear are configured such that the difference in the number of teeth is an integer of 2 or more, and the meshing ratio is 2 or more. According to this aspect, not only quietness but also meshing ratio can be ensured.
• the present invention provides a reduction gear that has high rigidity and can suppress the generation of vibration and noise.
• FIG. 1 is a perspective view (partially cutaway view) of a speed reducer according to the configuration of the present disclosure.
• FIG. 2 is a cross-sectional view of a speed reducer according to the configuration of the present disclosure. It is a front exploded perspective view of the same reduction gear. It is a rear exploded perspective view of the same reduction gear. It is a skeleton diagram showing the configuration of the same reduction gear.
• FIG. 6(A) is a front view of the fixed sun gear.
• FIG. 6(B) is a side view of the fixed sun gear.
• FIG. 6(C) is a sectional view of the fixed sun gear.
• the input axis is shown.
• FIG. 7(A) is a front view of the input shaft.
• FIG. 7(A) is a front view of the input shaft.
• FIG. 7(B) is a side view of the input shaft.
• FIG. 7(C) is a rear view of the input shaft.
• Figure 8 shows a driven sun gear.
• FIG. 8(A) is a front view of the driven sun gear.
• FIG. 8(B) is a side view of the driven sun gear.
• FIG. 8(C) is a sectional view of the driven sun gear.
• the first planetary gear is shown.
• FIG. 9(A) is a front view of the first planetary gear.
• FIG. 9(B) is a side view of the first planetary gear.
• FIG. 9(C) is a sectional view of the first planetary gear.
• FIG. 9(D) is a rear view of the first planetary gear.
• a connecting member is shown.
• FIG. 10(A) is a front view of the connecting member.
• FIG. 10(B) is a side view of the connecting member.
• FIG. 10(C) is a cross-sectional view of the connecting member.
• FIG. 10(D) is a rear view of the connecting member.
• the second planetary gear is shown.
• FIG. 11(A) is a side view of the second planetary gear.
• FIG. 11(B) is a sectional view of the second planetary gear.
• FIG. 11(C) is a rear view of the second planetary gear.
• 3 is a sectional view taken along line AA in FIG. 2.
• 3 is a sectional view taken along line BB in FIG. 2.
• FIG. 3 Mainly shows the first planetary gear and the first shaft of the connecting member.
• 3 is a sectional view taken along line CC in FIG. 2.
• FIG. 1 is a perspective view (partially cutaway view) of a speed reducer W1 according to the configuration of the present disclosure.
• FIG. 2 is a sectional view of the speed reducer W1.
• FIG. 3 is a front exploded perspective view of the speed reducer W1.
• FIG. 4 is a rear exploded perspective view of the speed reducer W1.
• FIG. 5 is a skeleton diagram showing the configuration of the reducer W1.
• the direction is shown with the output shaft side as the front (FR) and the input shaft side as the rear (RE), with the input shaft and output shaft (driven sun gear) arranged in parallel in the axial direction of the reducer W1 as a reference.
• FR front
• RE input shaft side
• FIG. 5 is a skeleton diagram showing the configuration of the reducer W1.
• the direction is shown with the output shaft side as the front (FR) and the input shaft side as the rear (RE), with the input shaft and output shaft (driven sun gear) arranged in parallel in the axial direction of
• the reducer W1 is a 2K-H type hypocycloid reducer having a planetary gear mechanism.
• the speed reducer W1 mainly includes an input shaft 10, a fixed sun gear 20, a first planetary gear 30, a driven sun gear 40, a housing 50, a connecting member 60, and a second planetary gear 70.
• the reducer W1 is mounted on the wheel drive section of the vehicle and interposed between the motor M and the wheel hub H.
• the speed reducer W1 has an input shaft 10 and a driven sun gear 40 as an output shaft, and the rotation of the input shaft 10 is decelerated and output from the driven sun gear 40.
• the input shaft 10 is fitted into the motor M, and as the motor M rotates, the input shaft 10 rotates.
• the driven sun gear 40 is connected to a wheel hub H to which wheels (not shown) are connected, and the rotation of the driven sun gear 40 is transmitted to the wheels through the wheel hub H.
• the rotation of the motor M is decelerated by a speed reducer W1 and transmitted to the wheels, so that the wheels rotate. Either a configuration in which the input shaft 10 is directly driven as a rotating shaft on the motor M side, or a configuration in which the input shaft 10 is connected to and driven by the rotating shaft of the motor M may be used.
• the driven sun gear 40 is not only directly connected to the wheel hub H to transmit driving force, but also has a transmission shaft connected to the driven sun gear 40 and is connected to the wheel hub H via the transmission shaft.
• the structure may be such that the wheels are driven by the wheels.
• the fixed sun gear 20 includes a housing cover portion 21 and a fixed sun gear body 22.
• the housing cover part 21 and the housing 50 constitute the housing of the reducer W1.
• the housing 50 includes a cylindrical portion 51 having a substantially cylindrical shape and an end surface 52 that closes one end of the cylindrical portion 51.
• a substantially disk-shaped housing cover portion 21 is attached with bolts (not shown) so as to close an opening (an end opposite to the end surface 52) of the cylindrical portion 51.
• Each component is held in the substantially cylindrical internal space defined thereby.
• a part of the input shaft 10 is inserted through the bearing hole 28 provided at the center of the housing cover part 21 and is rotatably held.
• a portion of the driven sun gear 40 provided coaxially with the input shaft 10 is inserted into the bearing hole 58 provided in the end surface 52 of the housing 50 and is rotatably held therein.
• FIG. 6 shows a fixed sun gear 20.
• FIG. 6(A) is a front view of the fixed sun gear 20.
• FIG. 6(B) is a side view of the fixed sun gear 20.
• FIG. 6(C) is a sectional view of the fixed sun gear 20.
• the fixed sun gear 20 consists of the housing cover part 21 and the fixed sun gear main body 22.
• the fixed sun gear 20 includes a substantially disc-shaped housing cover part 21 and a ring-shaped fixed sun gear main body 22 having a smaller diameter than the housing cover part 21, which are arranged side by side in the axial direction with their axes aligned. It is formed by integrally forming both.
• the fixed sun gear main body 22 is provided on the side of the housing cover section 21 facing the housing 50. When the housing cover part 21 is fastened to the housing 50, the fixed sun gear body 22 is disposed inside the housing.
• a plurality of screw holes 29 are provided at equal intervals on the side edge of the housing cover portion 21 on the same circumference.
• a bolt (not shown) is inserted into the screw hole 29 and fastened to the opening of the housing 50, thereby fixing the fixed sun gear 20.
• the fixed sun gear main body 22 is an external gear in which an external gear G1 is formed on a ring-shaped outer peripheral surface.
• the fixed sun gear body 22 is a trochoid gear that utilizes a trochoid curve in its gear shape, and is a spur gear with tooth traces cut parallel to the axis.
• each gear has a meshing ratio of 2 or more to ensure a high meshing ratio and quietness.
• spur gears are not essential, and helical gears or helical gears may be used to increase the meshing ratio.
• FIG. 7 shows the input shaft 10.
• FIG. 7(A) is a front view of the input shaft 10.
• FIG. 7(B) is a side view of the input shaft 10.
• FIG. 7(C) is a rear view of the input shaft 10.
• the input shaft 10 has a connecting shaft portion 11, a first eccentric portion 12, a spacer portion 13, a second eccentric portion 14, and a support shaft portion 15, each of which is formed into a substantially cylindrical shape. , these are arranged in order in the axial direction and formed integrally.
• connection shaft portion 11 constitutes one end of the input shaft 10.
• the distal end side of the connecting shaft portion 11 protrudes from the bearing hole 28 of the housing cover portion 21, and is inserted into and fixed to the motor M.
• the base end side of the connecting shaft portion 11 is supported by the bearing hole 28 of the fixed sun gear 20 via the bearing BR1, so that the input shaft 10 is rotatably supported by the fixed sun gear 20.
• the first eccentric portion 12 is provided eccentrically by an input shaft eccentric amount e1 with respect to the central axis X, which is the rotation axis of the input shaft 10.
• the first eccentric portion 12 rotates about the first eccentric center X1 while being eccentric from the central axis X by the input shaft eccentricity e1 due to the rotation of the input shaft 10.
• the spacer part 13 is provided thinly and with an enlarged diameter between the first eccentric part 12 and the second eccentric part 14, and guides the arrangement of the bearings of the first eccentric part 12 and the second eccentric part 14, and It serves as a spacer to prevent interference and friction between parts when the shaft 10 rotates.
• the second eccentric part 14 is eccentric with respect to the central axis X by an input shaft eccentricity e1, and is provided in a phase that is 180 degrees different from the first eccentric part 12.
• the second eccentric part 14 is eccentric from the center axis X by the input shaft eccentricity e1 due to the rotation of the input shaft 10, and is centered around the second eccentric center X2, which is the rotation center of the second eccentric part 14. Rotate as .
• the amount of eccentricity of the first eccentric part 12 and the amount of eccentricity of the second eccentric part 14 are equal, and the first eccentric part 12 and the second eccentric part 14 are provided in opposite phases, and the first eccentric part 12 and the second eccentric part 14 are provided in opposite phases.
• the core portion 12 and the second eccentric portion 14 are provided as a pair on the input shaft 10 .
• the support shaft portion 15 constitutes the other end of the input shaft 10. It is engaged with a circular recess 48 provided at the center of one end (rear side) of the driven sun gear 40 via a bearing BR2, aligning the axis of rotation with the driven sun gear 40 (see FIG. 2). . Thereby, the input shaft 10 and the driven sun gear 40 are connected so that their rotation axes coincide with each other and can rotate relative to each other.
• FIG. 8 shows the driven sun gear 40.
• FIG. 8(A) is a front view of the driven sun gear 40.
• FIG. 8(B) is a side view of the driven sun gear 40.
• FIG. 8(C) is a sectional view of the driven sun gear 40.
• the driven sun gear 40 is integrally formed by a cylindrical output shaft portion 41 and a substantially disc-shaped driven sun gear main body 42 whose diameter is larger than the output shaft portion 41, which are arranged with their central axes aligned in the axial direction. Become.
• the driven sun gear 40 is arranged with the driven sun gear main body 42 side facing the input shaft 10 side.
• the output shaft portion 41 is inserted into a bearing hole 58 formed at the center of the end surface 52 of the housing 50, and is rotatably held via the collar C1 with its tip protruding outside the housing 50.
• the end surface 52 of the housing 50 has a protrusion 53 formed by extending the peripheral wall of the bearing hole 58 from the surface of the end surface 52 so as to extend the bearing hole 58 .
• the output shaft portion 41 is disposed in a bearing hole 58 extended by the protruding portion 53, so that the driven sun gear 40 is stably and rotatably held in the housing 50.
• the collar C1 is used for the bearing of the output shaft portion 41 as a bearing for a location where shear load is applied and requires rigidity, a bearing may be used for the bearing.
• a wheel hub H is connected to an output shaft portion 41 protruding from the housing 50, and the rotation input from the input shaft 10 is decelerated and output from the driven sun gear 40, causing the wheel connected to the wheel hub H to rotate.
• a keyway is formed in the inner hole 43 of the cylindrical output shaft portion 41, and the wheel hub H is fitted into and connected to the outer peripheral surface of the output shaft portion 41 and the inner hole 43.
• the driven sun gear body 42 is disposed within the housing.
• a circular recess 48 for connecting to the input shaft 10 is formed in the center of the end face of the driven sun gear body 42 .
• the support shaft portion 15 of the input shaft 10 is fitted into the circular recess 48 via a bearing BR6, and are connected to each other so as to be rotatable around the central axis X.
• the driven sun gear main body 42 is an external gear in which an external gear G3 is formed on the outer peripheral surface of a substantially disk shape.
• the driven sun gear 40 rotates (rotates) about the central axis X due to the rotational input received by the driven sun gear main body 42.
• FIG. 9(A) is a front view of the first planetary gear 30.
• FIG. 9(B) is a side view of the first planetary gear 30.
• FIG. 9(C) is a longitudinal sectional view of the first planetary gear 30.
• FIG. 9(D) is a rear view of the first planetary gear 30. See also the perspective views of the first planetary gear 30 shown in FIGS. 3 and 4.
• the first planetary gear 30 has a flat, substantially cylindrical outer shape with an axial length shorter than a circumferential length.
• a bearing hole 38 is formed in the center of the substantially cylindrical first planetary gear 30 so as to pass through it in the axial direction, and the first eccentric part 12 of the input shaft 10 is inserted into this through the bearing BR2. Ru.
• the first planetary gear 30 is provided in the first eccentric section 12 , and when the input shaft 10 rotates, the first planetary gear 30 receives an eccentric input from the first eccentric section 12 .
• the input shaft side (backward) of the first planetary gear 30 constitutes a first planetary gear body 35.
• An internal gear G2 that meshes with the fixed sun gear main body 22 is provided on the inner peripheral side of the rear circular recess 31 provided at the center of the rear end surface of the first planetary gear 30.
• the number of teeth of the first planetary gear body 35 is two or more more than the number of teeth of the fixed sun gear 20.
• the output shaft side (front) of the first planetary gear 30 constitutes a holding portion 39.
• a front circular recess 32 provided on the end face of the holding portion 39, which is the front end face of the first planetary gear 30, is provided in communication with the bearing hole 38.
• the front circular concave portion 32 is provided eccentrically from the bearing hole 38 and has a diameter greatly expanded from the bearing hole 38 .
• One end of the connecting member 60 is rotatably supported in the front circular recess 32 inside the holding portion 39 .
• FIG. 10(A) is a front view of the connecting member 60.
• FIG. 10(B) is a side view of the connecting member 60.
• FIG. 10(C) is a longitudinal cross-sectional view of the connecting member 60.
• FIG. 10(D) is a rear view of the connecting member 60.
• the thin ink thick line indicates the central axis of the connecting member 60.
• the connecting member 60 is integrally formed by two large and small circular plates arranged in the axial direction and offset from each other with respect to the central axis of the disk-shaped outer shape.
• the connecting member 60 connects the first shaft body 61, which is a circular plate with a small diameter, to the first planetary gear 30, and connects the second shaft body, which is a circular plate with a large diameter, between the first planetary gear 30 and the second planetary gear 70.
• the shaft body 62 is disposed with the shaft body 62 facing the second planetary gear 70.
• a circular through hole is formed as a bearing hole 68, which is eccentric from the center of the disk-shaped outer shape of the first shaft body 61 and extends in the axial direction.
• the center line of the bearing hole 68 is defined as the center of the connecting member X4.
• the second shaft body 62 of the connecting member 60 is formed with a circular fitting recess 65 that is recessed in the axial direction from the end surface.
• the fitting recess 65 communicates with the bearing hole 68 and is provided eccentrically from the bearing hole 68 .
• the first connection axis a1 is provided apart from the connection member center X4 by a first offset amount d1.
• the second connecting shaft a2 is spaced apart from the connecting member center X4 by a second offset amount d2
• the first shaft body 61 is provided in a phase opposite to that of the first shaft body 61 by 180 degrees.
• the connecting member 60 has a first shaft 61 rotatably supported by the first planetary gear 30 while being supported by the second eccentric part 14 through a bearing hole 68, and a second shaft 62 rotatably supported by the second planetary gear. 70 and is rotatably supported and arranged.
• the first shaft body 61 enters inside the front circular recess 32 of the first planetary gear 30, and its outer peripheral surface is supported via the bearing BR4.
• a disk-shaped second planetary gear 70 is rotatably fitted inside the fitting recess 65 of the second shaft body 62 via a bearing BR5.
• the first planetary gear 30 and the first shaft body 61 and the second planetary gear 70 and the second shaft body 62 are supported so as to be able to rotate relative to each other.
• the first shaft 61 is arranged inside the first planetary gear 30 in the circumferential direction and is rotatably supported, and the second shaft 62 is arranged outside the second planetary gear 70 in the circumferential direction and is rotatably supported. Supported by
• the rotation center of the first shaft body 61 is the first connection shaft a1
• the rotation center of the second shaft body 62 is the second connection shaft a2.
• the first connection axis a1 and the second connection axis a2 are configured to be parallel and offset.
• FIG. 11(A) is a side view of the second planetary gear 70.
• FIG. 11(B) is a sectional view of the second planetary gear 70.
• FIG. 11(C) is a rear view of the second planetary gear 70.
• the second planetary gear 70 has a substantially disk-shaped outer shape, and is fitted into an internal gear G4 that meshes with the driven sun gear main body 42 of the driven sun gear 40 on the inner circumferential surface of a through hole 71 that is provided to penetrate in the axial direction.
• This is an internal gear equipped with a
• the number of teeth of the second planetary gear 70 is two or more more than the number of teeth of the driven sun gear 40 and is different from the number of teeth of the first planetary gear 30. That is, the first planetary gear 30 and the second planetary gear 70 are configured to have different gear ratios.
• the through hole 71 of the second planetary gear 70 is provided eccentrically from the center of the approximately disk-shaped outer shape.
• the second planetary gear 70 is rotatably disposed with its outer peripheral surface supported inside the fitting recess 65 of the connecting member 60 via the bearing BR5.
• a flange portion 74 is provided at the opening of the second planetary gear 70 so that it can be stably arranged.
• the second planetary gear 70 is an internal gear, and the driven sun gear body 42 is disposed in the through hole 71 so as to mesh with the driven sun gear body 42 of the external gear.
• the second shaft body 62 is arranged on the outer periphery of the second planetary gear 70, and the driven sun gear main body 42 is arranged on the inner periphery of the second planetary gear 70.
• the second planetary gear 70 is disposed so as to be sandwiched between the connecting member 60 and the driven sun gear 40 in the circumferential direction. At this time, the eccentric direction of the second planetary gear 70 is arranged to be in opposite phase to that of the first planetary gear 30.
• the function of the connecting member 60 will be explained with reference to FIG. 2.
• the eccentric directions of each component of the speed reducer W1 are configured so that they are all arranged on a straight line, although there are positive and negative differences (directions) with respect to the central axis X as a reference.
• the eccentric direction of each component is the vertical direction, and the eccentric direction will be referred to as the vertical direction with reference to the central axis X in the description using FIG.
• the thin ink thick line in FIG. 2 indicates the central axis of the connecting member 60.
• the input shaft 10 has a first eccentric part 12 and a second eccentric part 14 as a pair of eccentric parts.
• the first eccentric portion 12 is provided eccentrically upward by an input shaft eccentricity e1 with respect to the central axis X, which is the rotation axis of the input shaft 10.
• the second eccentric portion 14 is provided eccentrically downward by the input shaft eccentricity e1 with respect to the central axis X, which is the rotation axis of the input shaft 10.
• the first planetary gear 30 Since the first planetary gear 30 is provided in the first eccentric part 12, the first planetary gear 30 is eccentrically moved upward by the input shaft eccentricity e1 from the central axis It rotates around the first eccentric center X1, which is the rotation center of No. 12.
• the connecting member 60 is provided in the second eccentric portion 14, the connecting member 60 is eccentric downward from the central axis X by the input shaft eccentric amount e1, and rotates around the second eccentric center X2. Rotate.
• the connecting member 60 rotates in opposite phase to the first planetary gear 30.
• the first shaft body 61 which is one (rear) end of the connecting member 60, is provided eccentrically to the first planetary gear 30 and engages with the front circular recess 32.
• the first connecting shaft a1 is arranged above the first eccentric center X1.
• the second planetary gear center X5 of the second planetary gear 70 coincides with the second eccentric center X2.
• the second planetary gear 70 receives eccentric rotation of the second eccentric center X2 via the connecting member 60.
• the central axis of the connecting member 60 is formed in the shape of a crank, and although the outer shape of the connecting member 60 is approximately disk-shaped, the connecting member 60 functions as a crankshaft.
• the central axis of the first shaft body 61 of the connection member 60 is the first connection shaft a1
• the first connection axis is the rotation axis (first eccentric center X1) of the first planetary gear 30 that is connected to the first shaft body 61. Since the axes a1 do not match but differ, rotation of the first planetary gear 30 is restricted.
• the central axis of the second shaft body of the connecting member 60 is the second connecting shaft a2
• the connecting member 60 rotates eccentrically around the second eccentric center X2, but only rotates on its own axis and does not revolve.
• the second planetary gear 70 which receives a rotational input via the connecting member 60, is restricted from rotating and performs only a revolution.
• the first planetary gear 30 rotates on its own axis by the fixed sun gear 20
• the second planetary gear 70 rotates in conjunction with it.
• the connecting member 60 causes the first planetary gear 30 and the second planetary gear 70 to move integrally, and restricts the rotation of the first planetary gear 30 and the second planetary gear 70.
• the connecting member 60 is disposed between the first planetary gear 30 and the second planetary gear 70, has both ends supported by the first planetary gear 30 and the second planetary gear 70, and connects the first planetary gear 30 and the second planetary gear 70.
• the planetary gears 70 are integrally connected. Since the second planetary gear 70 is provided in an opposite phase to the first planetary gear 30, the first planetary gear 30 and the second planetary gear 70 function as counterweights that rotate in opposite phases to each other. This makes it possible to suppress the generation of vibration and noise.
• the total gear ratio as a reducer is equal to the gear ratio of the first planetary gear. Since this is the sum of the gear ratios of the second planetary gears, a large reduction ratio cannot be obtained.
• the total reduction ratio i of the reducer W1 is the gear ratio of the first planetary gear 30 and the second planetary gear. This results in a difference in gear ratio of 70, and a large reduction ratio can be achieved.
• the connecting member 60 is directly provided on the input shaft 10, is configured to have approximately the same size as other components, and serves as a single component to regulate the rotation of the second planetary gear 70 and as a counterweight, and is also highly rigid. .
• FIG. 12 is a cross-sectional view taken along line AA in FIG. 2. Mainly, the fixed sun gear body 22 and the first planetary gear body 35 are shown.
• FIG. 13 is a cross-sectional view taken along line BB in FIG. Mainly, the first planetary gear 30 and the first shaft body 61 of the connecting member 60 are shown.
• FIG. 14 is a sectional view taken along line CC in FIG. Mainly, the second shaft body 62 of the connecting member 60, the second planetary gear 70, and the driven sun gear body 42 are shown.
• the reducer W1 is a hypocycloid type reducer having a 2K-H type planetary gear mechanism.
• the speed reducer W1 includes an input shaft 10 having a pair of first eccentric portions 12 and a second eccentric portion 14, a fixed sun gear 20 consisting of an external gear provided coaxially with the input shaft 10, and a fixed sun gear 20.
• a first planetary gear 30 having an internal gear that meshes with it, a driven sun gear 40 that has an external gear that outputs a deceleration output, a second planetary gear 70 that has an internal gear that meshes with the driven sun gear 40, and the first planetary gear 30.
• a connecting member 60 disposed between the second planetary gear 70 and the second planetary gear 70.
• the first planetary gear 30 is provided on the first eccentric portion 12 and the connecting member 60 is provided on the second eccentric portion 14.
• the second planetary gear 70 is provided in opposite phase to the first planetary gear 30 , is arranged coaxially with the second eccentric part 14 , and receives rotation of the second eccentric part 14 via the connecting member 60 .
• the connecting member 60 is configured such that a first connecting axis a1, which is the central axis of one end, and a second connecting axis a2, which is the central axis of the other end, are offset.
• the first connecting shaft a1 is rotatably supported by the first planetary gear 30, and the second connecting shaft a2 is rotatably supported by the second planetary gear 70.
• the connecting member 60 moves integrally with the first planetary gear 30 and the second planetary gear 70, and restricts the rotation of the second planetary gear 70.
• the first planetary gear 30 and the first shaft body 61 of the connecting member 60 are relatively eccentric, and with respect to the rotation of the first planetary gear 30, the connecting member 60 also rotates by the amount of rotation of the first planetary gear 30 Although they rotate relative to each other, the second planetary gear 70 and the second shaft body 62 of the connecting member 60 are also relatively eccentric, so the relative positions of the first planetary gear 30 and the second planetary gear 70 are as follows. maintained.
• the first eccentric portion 12 When the rotational input of the motor M is transmitted to the input shaft 10, the first eccentric portion 12 performs an eccentric rotational movement about the first eccentric center X1. This eccentric rotational motion is transmitted to the first planetary gear 30 via the bearing BR2.
• the fixed sun gear main body 22 fixed to the housing 50 and the first planetary gear 30 mesh with each other, so that the first planetary gear 30 is decelerated by the gear ratio of the first planetary gear 30 and the fixed sun gear main body 22, and the first planetary gear 30 is
• the planetary gear 30 rotates relative to the fixed sun gear main body 22 by the amount of meshing of the gears while revolving around the fixed sun gear body 22 due to the eccentric rotation of the first eccentric portion 12.
• the reduced rotation of the first planetary gear 30 is transmitted to a connecting member 60 connected to the first planetary gear 30.
• the connecting member 60 Since the connecting member 60 is provided in the second eccentric portion 14, it eccentrically rotates about the second eccentric center X2 while receiving deceleration input from the first planetary gear 30. At this time, the connecting member 60 only rotates on its own axis by means of offset shafts at both ends.
• the second planetary gear 70 accepts eccentric movement about the second eccentric center X2.
• the second planetary gear 70 connected to the connecting member 60 is transmitted from the connecting member 60 with an eccentric movement that only revolves around the second eccentric center X2.
• the second planetary gear 70 meshes with the driven sun gear main body 42 in conjunction with the transmitted revolution motion, so that the speed is further reduced by the gear ratio of the second planetary gear 70 and the driven sun gear main body 42, and the output is output. .
• the driven sun gear main body 42 rotates due to the eccentric movement of the second planetary gear 70 that revolves.
• the second planetary gear 70 is rotating at a speed reduced by the gear ratio of the first planetary gear 30 and the fixed sun gear main body 22, and the driven sun gear main body 42 is rotated by the gear ratio of the first planetary gear 30 and the fixed sun gear main body 22.
• the rotation is further decelerated and output by a gear ratio of 70.
• the first planetary gear 30 and the second planetary gear 70 are eccentrically provided in opposite phases via a connecting member 60.
• the reduction ratio based on the number of teeth Z1 of the fixed sun gear body 22 and the number of teeth Z2 of the first planetary gear 30 is the first reduction ratio R1, the number of teeth Z3 of the second planetary gear 70 and the number of teeth of the driven sun gear body 42.
• the reduction ratio based on Z4 is the second reduction ratio R2
• the first reduction ratio R1 and the second reduction ratio R2 The difference between the two is the total reduction ratio i of the reduction gear W1. Therefore, a very large reduction ratio can be obtained.
• the first planetary gear and the second planetary gear tend to vibrate in the same phase.
• the speed reducer W1 is arranged in opposite phase through the connecting member 60, and the total speed reduction ratio i is the difference between the first speed reduction ratio and the second speed reduction ratio.
• the planetary gears serve as counterweights to suppress vibration, and a large reduction ratio can be obtained.
• the two sets of gears of the reducer W1 each have a difference in the number of teeth of 2 or more.
• the difference in the number of teeth is 1, a larger reduction ratio can be obtained, but the amount of eccentricity must be reduced, and there is a problem that a high load is applied to the bearing provided in the eccentric part.
• the driven sun gear 40 that takes out the deceleration output is configured with an externally toothed gear, it can be configured to be shorter in the axial direction compared to a case where it is configured with an internally toothed gear.
• the internal gear is provided so as to protrude in the axial direction from the disk-shaped base, but the external gear does not require a base and can be provided as is on the outer peripheral surface of the disk. When the face widths are the same, the internal gear can be configured to be shorter in the axial direction.
• the driven sun gear main body 42 is formed of an external gear, thereby shortening the structure inside the housing in the axial direction.
• the speed reducer W1 has a small number of parts, each part is approximately the same size, and is arranged side by side in the axial direction, and has high rigidity. Furthermore, a large reduction ratio can be obtained without increasing it in the circumferential direction.
• FIG. 15 is a skeleton diagram of the reducer W2. Components having the same configuration are given the same reference numerals, and description thereof will be omitted.
• the first planetary gear 130 is provided on the first eccentric portion 12 and meshes with the fixed sun gear 20. Other than the connecting portion with the connecting member 160, it is the same as the first planetary gear 30.
• the second planetary gear 170 is an internal gear that meshes with the driven sun gear 40, and is rotatably supported by the second eccentric portion 14.
• the second planetary gear 170 is arranged in opposite phase to the first planetary gear 130.
• the second planetary gear 170 has a configuration in which the connecting member 60 and the second planetary gear 70 are integrated, except that the second planetary gear 170 is not connected to the first planetary gear 30.
• the connecting member 160 is a crankshaft. It is arranged between the first planetary gear 130 and the second planetary gear 170. One end is rotatably supported by the first planetary gear 130, and the other end is rotatably supported by the second planetary gear 170.
• the first planetary gear 130 and the second planetary gear 170 are provided in opposite phases, and each acts as a counterweight. Although the phase is opposite, a large reduction ratio can be constructed.
• the connecting member 160 causes the first planetary gear 130 and the second planetary gear 170 to move integrally, and restricts the rotation of the first planetary gear 130 and the second planetary gear 170.
• W1 reduction gear
• 10 input shaft
• 12 first eccentric part
• 14 second eccentric part
• 20 fixed sun gear
• 30 first planetary gear
• 40 driven sun gear
• 60 connecting member
• 70 Second planetary gear

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• 2022
  • 2022-06-10 JP JP2024526210A patent/JPWO2023238401A1/ja active Pending
  • 2022-06-10 WO PCT/JP2022/023516 patent/WO2023238401A1/ja active Application Filing

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