JP2018189200A - Inscribed type planetary gear device - Google Patents

Inscribed type planetary gear device Download PDF

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JP2018189200A
JP2018189200A JP2017093869A JP2017093869A JP2018189200A JP 2018189200 A JP2018189200 A JP 2018189200A JP 2017093869 A JP2017093869 A JP 2017093869A JP 2017093869 A JP2017093869 A JP 2017093869A JP 2018189200 A JP2018189200 A JP 2018189200A
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internal
gear
teeth
external
peripheral portion
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JP6910197B2 (en
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中村　公昭
Kimiaki Nakamura
公昭 中村
正雄 永野
Masao Nagano
正雄 永野
孝冶 上田
Koji Ueda
孝冶 上田
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Honda Motor Co Ltd
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Honda Motor Co Ltd
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Abstract

PROBLEM TO BE SOLVED: To achieve extension of a minor shaft and reduction in weight of an inscribed type planetary gear device.MEANS FOR SOLVING THE PROBLEM: An inscribed type planetary gear device includes: a rotation input member 22 having a circular eccentric hole 24 which is eccentric with respect to a rotation center, and rotatably supported in a housing 12; an internal gear 28 having an outer peripheral part 28A received rotatably around a central axis C2 and an inner peripheral part 28B including an internal tooth 30 formed coaxially at the outer peripheral part 28A, at the eccentric hole 24; a holding mechanism 40 for holding the internal gear 28 in the housing 12 in a relatively non-rotatable manner and a swingable manner; and an external gear 34 provided rotatably around a central axis C3 of itself, and engaged with the internal gear 28 by having an external tooth 38 whose number of teeth is smaller than that of the internal tooth 30 of an outer peripheral part 34A.SELECTED DRAWING: Figure 2

Description

本発明は、内接式遊星歯車装置に関し、特に、内歯歯車が偏心揺動するハイポサイクロイド型の内接式遊星歯車装置に関する。   The present invention relates to an inscribed planetary gear device, and more particularly to a hypocycloid type inscribed planetary gear device in which an internal gear swings eccentrically.

ハイポサイクロイド型の内接式遊星歯車装置として、内周部に内歯を有する内歯歯車と、前記内歯歯車を、偏心揺動を許容してベース部材に連結する連結機構と、自身の中心軸線周りに回転可能に支持され、外周部に前記内歯より少ない歯数の外歯を有して前記内歯歯車に噛合する外歯歯車とを有し、内歯歯車が入力側に接続され、外歯歯車が出力側に接続された減速用の内接式遊星歯車が知られている（例えば、特許文献１）。   As a hypocycloid type inscribed planetary gear device, an internal gear having internal teeth on an inner peripheral portion, a coupling mechanism for allowing the internal gear to be connected to a base member while allowing eccentric oscillation, and a center of itself An external gear that is supported rotatably around an axis, has external teeth with a smaller number of teeth than the internal teeth on the outer periphery, and meshes with the internal gear, and the internal gear is connected to the input side. An internal planetary gear for reduction in which an external gear is connected to the output side is known (for example, Patent Document 1).

特開２０１７−２５９７９号公報JP 2017-259599 A

上述の内接式遊星歯車装置では、特に、多段の内接式遊星歯車装置における後段の内接式遊星歯車装置では、前段の出力側から内歯歯車を偏心回転させるために入力側にクランク軸等によるクランク機構を設ける必要がある。このため、内接式遊星歯車装置の軸長が長くなり、重量も増加する。   In the above-described inscribed planetary gear device, in particular, in the latter-stage inscribed planetary gear device in the multistage inscribed planetary gear device, the crankshaft on the input side is used to eccentrically rotate the internal gear from the output side of the preceding stage. Therefore, it is necessary to provide a crank mechanism. For this reason, the axial length of the inscribed planetary gear device becomes longer and the weight also increases.

本発明が解決しようとする課題は、内接式遊星歯車装置の短軸長化および軽量化を図ることである。   The problem to be solved by the present invention is to shorten the shaft length and reduce the weight of the inscribed planetary gear device.

本発明の一つの実施形態による内接式遊星歯車装置は、ベース部材（１２）と、回転中心に対して偏心した円形の偏心凹部（２４）を有し、前記ベース部材（１２）に回転可能に支持された回転入力部材（１８）と、前記偏心凹部（２４）に、その中心軸線（Ｃ２）周りに回転可能に受容された外周部（２８Ａ）及び当該外周部（２８Ａ）に同軸的に形成された内歯（３０）を備えた内周部（２８Ｂ）を有する内歯歯車（２８）と、前記内歯歯車（２８）を相対回転不能に且つ揺動可能に前記ベース部材（１２）に保持する保持機構（４０）と、自身の中心軸線（Ｃ３）周りに回転可能に設けられ、外周部（３４Ａ）に前記内歯（３０）より少ない歯数の外歯（３８）を有して前記内歯歯車（２８）に噛合する外歯歯車（３４）とを有する。   An inscribed planetary gear device according to an embodiment of the present invention has a base member (12) and a circular eccentric recess (24) that is eccentric with respect to the center of rotation, and is rotatable on the base member (12). The rotation input member (18) supported by the outer circumferential portion (28A) rotatably received around the central axis (C2) and the outer circumferential portion (28A) coaxially with the eccentric recess (24). An internal gear (28) having an inner peripheral portion (28B) provided with formed internal teeth (30), and the base member (12) so that the internal gear (28) cannot be rotated relative to the internal gear (28). A holding mechanism (40) that holds the outer teeth (38) and an outer tooth (38) that is rotatably provided about its own central axis (C3) and has a smaller number of teeth than the inner teeth (30) on the outer peripheral portion (34A) And an external gear (34) meshing with the internal gear (28).

この構成によれば、クランク軸等によるクランク機構を設ける必要がないから、内接式遊星歯車装置の短軸長化および軽量化が図られる。   According to this configuration, it is not necessary to provide a crank mechanism with a crankshaft or the like, so that the short shaft length and weight of the inscribed planetary gear device can be achieved.

上記内接式遊星歯車装置において、好ましくは、前記回転入力部材（１８）と前記内歯歯車（２８）と前記外歯歯車（３４）とが同一平面に配置されている。   In the internal planetary gear device, preferably, the rotation input member (18), the internal gear (28), and the external gear (34) are arranged on the same plane.

この構成によれば、内接式遊星歯車装置の更なる短軸長化が図られる。   According to this configuration, it is possible to further shorten the axial length of the inscribed planetary gear device.

上記内接式遊星歯車装置において、好ましくは、前記回転入力部材（１８）の中心軸線（Ｃ１）と前記外歯歯車（３４）の中心軸線（Ｃ３）とが同一軸線上に配置される。   In the above inscribed planetary gear device, preferably, the central axis (C1) of the rotation input member (18) and the central axis (C3) of the external gear (34) are arranged on the same axis.

この構成によれば、内接式遊星歯車装置の構造が簡単になる。   According to this configuration, the structure of the inscribed planetary gear device is simplified.

本発明の一つの実施形態による内接式遊星歯車装置は、ベース部材（６０）と、内周部に第１の内歯（５４）を有する第１の内歯歯車（５２）と、前記第１の内歯歯車（５２）を相対回転不能に且つ揺動可能に前記ベース部材（６０）に保持する第１の保持機構（５６）と、自身の中心軸線（Ｃ４）周りに回転可能に設けられ、外周部（６２Ａ）に前記第１の内歯（５４）より少ない歯数の第１の外歯（６３）を有して前記第１の内歯歯車（５２）に噛合し且つ回転中心に対して偏心した円形の偏心凹部（６４）を有する第１の外歯歯車（６２）と、前記偏心凹部（６４）に、その中心軸線（Ｃ５）周りに回転可能に受容された外周部（６８Ａ）及び当該外周部（６８Ａ）に同軸的に形成された第２の内歯（７０）を備えた内周部（６８Ｂ）を有する第２の内歯歯車（６８）と、前記第２の内歯歯車（６８）を相対回転不能に且つ揺動可能に前記ベース部材（６０）に保持する第２の保持機構（７２）と、自身の中心軸線（Ｃ６）周りに回転可能に設けられ、外周部（７６Ａ）に前記第２の内歯（７０）より少ない歯数の第２の外歯（８０）を有して前記第２の内歯歯車（６８）に噛合する第２の外歯歯車（７６）とを有する。   An internal planetary gear device according to an embodiment of the present invention includes a base member (60), a first internal gear (52) having a first internal tooth (54) on an inner peripheral portion, and the first gear. A first holding mechanism (56) for holding one internal gear (52) on the base member (60) so as not to be relatively rotatable and swingable, and to be rotatable around its own central axis (C4). The outer peripheral portion (62A) has the first external teeth (63) having a smaller number of teeth than the first internal teeth (54) and meshes with the first internal gear (52) and has a center of rotation. A first external gear (62) having a circular eccentric recess (64) that is eccentric with respect to the outer peripheral portion (rotation received around the central axis (C5) in the eccentric recess (64) ( 68A) and an inner peripheral portion (68B) having a second inner tooth (70) formed coaxially with the outer peripheral portion (68A). A second internal gear (68) having the second internal gear (68), and a second holding mechanism (72) for holding the second internal gear (68) on the base member (60) so as not to rotate relative to the base member (60). The second outer teeth (80) are provided so as to be rotatable around their own central axis (C6) and have a smaller number of teeth than the second inner teeth (70) on the outer peripheral portion (76A). And a second external gear (76) meshing with the two internal gears (68).

この構成によれば、クランク軸等によるクランク機構を設ける必要がないから、内接式遊星歯車装置の短軸長化および軽量化が図られる。   According to this configuration, it is not necessary to provide a crank mechanism with a crankshaft or the like, so that the short shaft length and weight of the inscribed planetary gear device can be achieved.

上記内接式遊星歯車装置において、好ましくは、前記第１の外歯歯車（６２）と前記第２の内歯歯車（６８）と前記第２の外歯歯車（７６）とが同一平面に配置されている。   In the internal planetary gear device, preferably, the first external gear (62), the second internal gear (68), and the second external gear (76) are arranged on the same plane. Has been.

この構成によれば、内接式遊星歯車装置の更なる短軸長化が図られる。   According to this configuration, it is possible to further shorten the axial length of the inscribed planetary gear device.

本発明による内接式遊星歯車装置によれば、短軸長化および軽量化が図られる。   According to the inscribed planetary gear device according to the present invention, the short shaft length and the weight can be reduced.

本発明による内接式遊星歯車の実施形態１の半断面斜視図Half cross-sectional perspective view of Embodiment 1 of the inscribed planetary gear according to the present invention 実施形態１による内接式遊星歯車のスケルトン図Skeleton diagram of the inscribed planetary gear according to the first embodiment 実施形態２による内接式遊星歯車のスケルトン図Skeleton diagram of the inscribed planetary gear according to the second embodiment

以下に、本発明による内接式遊星歯車装置の実施形態１を、図１及び図２を参照して説明する。   Embodiment 1 of an inscribed planetary gear device according to the present invention will be described below with reference to FIGS.

実施形態１の内接式遊星歯車装置１０は、２個の円筒状のケース構成部材１２Ａ及び１２Ｂの組立体によるケーシング１２を有する。ケーシング１２は、ベース部材をなすものであり、中心軸線Ｃ１を有する円筒状の歯車室１４を画定している。   The inscribed planetary gear device 10 according to the first embodiment includes a casing 12 that is an assembly of two cylindrical case constituent members 12A and 12B. The casing 12 forms a base member and defines a cylindrical gear chamber 14 having a central axis C1.

ケーシング１２は歯車室１４内に軸受１６及び１７によって回転入力部材１８を同心に、つまり中心軸線Ｃ１周りに回転可能に支持している。回転入力部材１８は、歯車室１４に設けられた電動モータ２０の回転出力部材２２に連結され、電動モータ２０によって自身の中心軸線Ｃ１周りに回転駆動される。   The casing 12 supports the rotation input member 18 concentrically in the gear chamber 14 by bearings 16 and 17, that is, rotatably around the central axis C <b> 1. The rotation input member 18 is connected to a rotation output member 22 of an electric motor 20 provided in the gear chamber 14, and is driven to rotate around its own central axis C <b> 1 by the electric motor 20.

回転入力部材１８は、回転中心（中心軸線Ｃ１）に対して偏心量Ｅをもって偏心した円形の偏心孔２４を有し、偏心孔２４に軸受２６によって内歯歯車２８を相対的に回転可能に支持している。内歯歯車２８は、偏心孔２４の中心軸線Ｃ２周りに相対回転可能に受容された外周部２８Ａ及び当該外周部２８Ａに同軸的に形成された内周部２８Ｂを有し、内周部２８Ｂの全周に亘って複数の内歯３０を形成されている。   The rotation input member 18 has a circular eccentric hole 24 that is eccentric with an eccentric amount E with respect to the rotation center (center axis C1), and the internal gear 28 is rotatably supported in the eccentric hole 24 by a bearing 26. doing. The internal gear 28 has an outer peripheral portion 28A that is received so as to be relatively rotatable around the central axis C2 of the eccentric hole 24, and an inner peripheral portion 28B that is formed coaxially with the outer peripheral portion 28A. A plurality of internal teeth 30 are formed over the entire circumference.

ケーシング１２は歯車室１４内に軸受３２によって外歯歯車３４の軸部３６を自身の中心軸線Ｃ３周りに回転可能に支持している。外歯歯車３４は、外周部３４Ａの全周に亘って外歯３８を有し、内歯歯車２８の揺動運動のもとに内歯歯車２８に噛合している。外歯３８の歯数は内歯３０の歯数より少ない。外歯３８と内歯３０との歯数差は１であってよい。軸部３６は内接式遊星歯車装置１０の回転出力部材をなす。   The casing 12 supports a shaft portion 36 of the external gear 34 by a bearing 32 in the gear chamber 14 so as to be rotatable around its own central axis C3. The external gear 34 has external teeth 38 over the entire circumference of the outer peripheral portion 34 </ b> A, and meshes with the internal gear 28 under the swinging motion of the internal gear 28. The number of external teeth 38 is less than the number of internal teeth 30. The difference in the number of teeth between the external teeth 38 and the internal teeth 30 may be one. The shaft portion 36 forms a rotation output member of the inscribed planetary gear device 10.

回転入力部材１８と内歯歯車２８と外歯歯車３４とは、図１に示されているように、同一平面に配置されている。なお、図２では、回転入力部材１８と内歯歯車２８とは軸線方向に偏倚しているが、これは図示の便宜上のことであり、回転入力部材１８と内歯歯車２８とは同一平面に配置されている。   The rotation input member 18, the internal gear 28, and the external gear 34 are disposed on the same plane as shown in FIG. In FIG. 2, the rotation input member 18 and the internal gear 28 are biased in the axial direction, but this is for convenience of illustration, and the rotation input member 18 and the internal gear 28 are on the same plane. Has been placed.

外歯歯車３４の中心軸線Ｃ３と回転入力部材１８の中心軸線Ｃ１とは同一軸線上に配置することができる。このことにより、内接式遊星歯車装置１０の回転入力部材１８と回転出力部材をなす軸部３６とが同一軸線上に配置される。   The central axis C3 of the external gear 34 and the central axis C1 of the rotation input member 18 can be arranged on the same axis. Thereby, the rotation input member 18 of the inscribed planetary gear device 10 and the shaft portion 36 forming the rotation output member are arranged on the same axis.

内歯歯車２８は保持機構（連結機構）４０によってケーシング１２に相対回転不能に且つ揺動可能に保持（連結）されている。ここで云う相対回転不能は偏心量Ｅを半径とする円形軌跡による内歯歯車２８の揺動を許容するものである。   The internal gear 28 is held (connected) by the holding mechanism (connecting mechanism) 40 so as not to rotate relative to the casing 12 and to be swingable. The impossibility of relative rotation referred to here allows the internal gear 28 to oscillate along a circular locus whose radius is the amount of eccentricity E.

保持機構４０は円柱形状の位相規制ピン４２を含む。位相規制ピン４２は、内歯歯車２８を軸線方向に貫通した貫通孔４４に挿入され、内歯歯車２８の両側に位置するケース構成部材１２Ｂ及び内部ブッシュ部材１２Ｃに形成された円形の有底孔４６に係合する端部を有する。有底孔４６の内径が位相規制ピン４２の外径より偏心量Ｅの２倍大きい。   The holding mechanism 40 includes a cylindrical phase restriction pin 42. The phase regulating pin 42 is inserted into a through-hole 44 penetrating the internal gear 28 in the axial direction, and has a circular bottomed hole formed in the case component member 12B and the internal bush member 12C located on both sides of the internal gear 28. 46 has an end that engages 46. The inner diameter of the bottomed hole 46 is twice as large as the eccentric amount E than the outer diameter of the phase regulating pin 42.

この構造により、保持機構４０は、内歯歯車２８のケーシング１２に対する回転位相を変化させることなく、内歯歯車２８のケーシング１２に対する偏心量Ｅによる偏心揺動を許容して、ケーシング１２と内歯歯車２８とを反力受け止め関係で連結する。   With this structure, the holding mechanism 40 allows the eccentric oscillation by the eccentric amount E of the internal gear 28 with respect to the casing 12 without changing the rotational phase of the internal gear 28 with respect to the casing 12, thereby allowing the casing 12 and the internal teeth to move. The gear 28 is connected in a reaction force receiving relationship.

上述の構成による内接式遊星歯車装置１０は、電動モータ２０によって回転入力部材１８が中心軸線Ｃ１周りに回転駆動されることにより、偏心孔２４において内歯歯車２８がケーシング１２に対して回転位相を変化することなく偏心量Ｅを半径とする円形軌跡をもって偏心揺動する。内歯歯車２８の偏心揺動によって内歯３０と外歯３８との噛合のもとに外歯歯車３４が中心軸線Ｃ３周りに減速回転する。   In the inscribed planetary gear device 10 having the above-described configuration, the rotation input member 18 is rotationally driven around the central axis C1 by the electric motor 20, so that the internal gear 28 rotates relative to the casing 12 in the eccentric hole 24. Without changing the angle, the shaft rocks eccentrically with a circular locus having the radius E as the eccentric amount. Due to the eccentric oscillation of the internal gear 28, the external gear 34 rotates at a reduced speed around the central axis C3 while the internal teeth 30 and the external teeth 38 are engaged.

内接式遊星歯車装置１０では、クランク軸等によるクランク機構を設ける必要がないから、内接式遊星歯車装置１０の短軸長化および軽量化が可能になる。更に、回転入力部材１８と内歯歯車２８と外歯歯車３４とが同一平面に配置されていることにより、内接式遊星歯車装置１０の軸長を更に短くでき、内接式遊星歯車装置１０の小型化が図られる。   In the inscribed planetary gear device 10, it is not necessary to provide a crank mechanism with a crankshaft or the like, so that the inscribed planetary gear device 10 can be shortened in length and reduced in weight. Further, since the rotation input member 18, the internal gear 28, and the external gear 34 are arranged on the same plane, the axial length of the inscribed planetary gear device 10 can be further shortened, and the inscribed planetary gear device 10 can be reduced. Can be reduced in size.

外歯歯車３４の中心軸線Ｃ３と回転入力部材１８の中心軸線Ｃ１とが同一軸線上に配置されていることにより、これらを支持するケーシング１２の構造が簡単になる。   Since the central axis C3 of the external gear 34 and the central axis C1 of the rotation input member 18 are arranged on the same axis, the structure of the casing 12 that supports them is simplified.

次に、本発明による内接式遊星歯車装置の実施形態２を、図３を参照して説明する。   Next, Embodiment 2 of the inscribed planetary gear device according to the present invention will be described with reference to FIG.

実施形態２の内接式遊星歯車装置５０は、２段式の内接式遊星歯車装置であり、前段の入力部材として第１の内歯歯車５２を有する。第１の内歯歯車５２は内周部の全周に亘って第１の内歯５４を有する。   The inscribed planetary gear device 50 according to the second embodiment is a two-stage inscribed planetary gear device, and includes a first internal gear 52 as an input member in the previous stage. The first internal gear 52 has first internal teeth 54 over the entire circumference of the inner peripheral portion.

第１の内歯歯車５２は第１の保持機構５６によって相対回転不能に且つ揺動可能にケーシング６０に保持されている。尚、ここで云う相対回転不能も、第１の内歯歯車５２の偏心量を半径とする円形軌跡による第１の内歯歯車５２の揺動を許容するものである。   The first internal gear 52 is held in the casing 60 by the first holding mechanism 56 so as not to rotate relative to the casing 60 and to be swingable. Note that the impossibility of relative rotation here also allows the first internal gear 52 to oscillate along a circular locus whose radius is the amount of eccentricity of the first internal gear 52.

第１の保持機構５６は、実施形態１の保持機構４０と同様の構成であり、位相規制ピン５８を含み、第１の内歯歯車５２のケーシング６０に対する回転位相を変化させることなく、第１の内歯歯車５２のケーシング（ベース部材）６０に対する偏心揺動を許容して、ケーシング６０と第１の内歯歯車５とを反力受け止め関係で連結する。   The first holding mechanism 56 has the same configuration as that of the holding mechanism 40 of the first embodiment, includes a phase restriction pin 58, and does not change the rotation phase of the first internal gear 52 with respect to the casing 60. The internal gear 52 is allowed to swing eccentrically with respect to the casing (base member) 60, and the casing 60 and the first internal gear 5 are connected in a reaction force receiving relationship.

ケーシング６０は軸受６１によって第１の外歯歯車６２を同心に、つまり中心軸線Ｃ４周り回転可能に支持している。第１の外歯歯車６２は、後段の入力部材であり、外周部６２Ａに第１の外歯６３を有し、第１の内歯歯車５２の揺動運動のもとに第１の内歯歯車５２に噛合している。第１の外歯６３の歯数は第１の内歯５４の歯数より少ない。外歯３８と第１の内歯５４との歯数差は１であってよい。   The casing 60 supports the first external gear 62 concentrically with the bearing 61, that is, rotatably around the central axis C4. The first external gear 62 is a rear-stage input member, has first external teeth 63 on the outer peripheral portion 62 </ b> A, and the first internal gears are driven by the swinging motion of the first internal gear 52. It meshes with the gear 52. The number of teeth of the first outer teeth 63 is smaller than the number of teeth of the first inner teeth 54. The difference in the number of teeth between the external teeth 38 and the first internal teeth 54 may be one.

第１の外歯歯車６２は回転中心（中心軸線Ｃ４）に対して偏心量Ｅをもって偏心した円形の偏心孔６４を有し、偏心孔６４に軸受６６によって第２の内歯歯車６８を回転可能に支持している。第２の内歯歯車６８は、偏心孔６４の中心軸線Ｃ５周りに相対回転可能に受容された外周部６８Ａ及び当該外周部６８Ａに同軸的に形成された内周部６８Ｂを有し、内周部６８Ｂの全周に亘って複数の第２の内歯７０を形成されている。   The first external gear 62 has a circular eccentric hole 64 that is eccentric with an eccentric amount E with respect to the rotation center (center axis C4), and the second internal gear 68 can be rotated by the bearing 66 in the eccentric hole 64. I support it. The second internal gear 68 has an outer peripheral portion 68A received so as to be relatively rotatable around the central axis C5 of the eccentric hole 64, and an inner peripheral portion 68B formed coaxially with the outer peripheral portion 68A. A plurality of second internal teeth 70 are formed over the entire circumference of the portion 68B.

第２の内歯歯車６８は第２の保持機構７２によって相対回転不能に且つ揺動可能にケーシング６０に保持されている。尚、ここで云う相対回転不能も、偏心量Ｅを半径とする円形軌跡による第２の内歯歯車６８の揺動を許容するものである。   The second internal gear 68 is held in the casing 60 by the second holding mechanism 72 so as not to be relatively rotatable and to be swingable. Note that the impossibility of relative rotation here also allows the second internal gear 68 to oscillate along a circular locus whose radius is the amount of eccentricity E.

第２の保持機構７２は、実施形態１の保持機構４０と同様の構成であり、位相規制ピン７４を含み、第２の内歯歯車６８のケーシング６０に対する回転位相を変化させることなく、第２の内歯歯車６８のケーシング６０に対する偏心揺動を許容して、ケーシング６０と第２の内歯歯車６８とを反力受け止め関係で連結する。   The second holding mechanism 72 has the same configuration as the holding mechanism 40 of the first embodiment, includes a phase restriction pin 74, and does not change the rotational phase of the second internal gear 68 with respect to the casing 60. The internal gear 68 is allowed to swing eccentrically with respect to the casing 60, and the casing 60 and the second internal gear 68 are connected in a reaction force receiving relationship.

ケーシング６０は軸受７５によって第２の外歯歯車７６の軸部７８を自身の中心軸線Ｃ６周りに回転可能に支持している。第２の外歯歯車７６は、外周部７６Ａの全周に亘って第２の外歯８０を有し、第２の内歯歯車６８の揺動運動のもとに第２の内歯歯車６８に噛合している。第２の外歯８０の歯数は第２の内歯７０の歯数より少ない。第２の外歯８０と第２の内歯７０との歯数差は１であってよい。軸部３６は内接式遊星歯車装置１０の回転出力部材をなす。   The casing 60 supports the shaft portion 78 of the second external gear 76 by a bearing 75 so as to be rotatable around its own central axis C6. The second external gear 76 has second external teeth 80 over the entire circumference of the outer peripheral portion 76 </ b> A, and the second internal gear 68 under the swinging motion of the second internal gear 68. Is engaged. The number of teeth of the second external teeth 80 is less than the number of teeth of the second internal teeth 70. The difference in the number of teeth between the second external teeth 80 and the second internal teeth 70 may be one. The shaft portion 36 forms a rotation output member of the inscribed planetary gear device 10.

図３では、第１の外歯歯車６２と第２の内歯歯車６８とは軸線方向に偏倚しているが、これは図示の便宜上のことであり、第１の外歯歯車６２と第２の内歯歯車６８と第２の外歯歯車７６とは、図１に示されている実施形態１と同様の構成によって同一平面に配置されている。   In FIG. 3, the first external gear 62 and the second internal gear 68 are biased in the axial direction, but this is for convenience of illustration, and the first external gear 62 and the second external gear 62 are the same. The internal gear 68 and the second external gear 76 are arranged in the same plane by the same configuration as that of the first embodiment shown in FIG.

上述の構成による内接式遊星歯車装置５０は、第１の内歯歯車５２がケーシング６０に対して回転位相を変化することなく偏心揺動することにより、第１の内歯５４と第１の外歯６３との噛合のもとに第１の外歯歯車６２が中心軸線Ｃ４周りに減速回転する。そして、第１の外歯歯車６２が中心軸線Ｃ４周りに回転することにより、偏心孔６４において第２の内歯歯車６８がケーシング６０に対して回転位相を変化することなく偏心量Ｅを半径とする円形軌跡をもって偏心揺動する。第２の内歯歯車６８の偏心揺動によって第２の内歯７０と第２の外歯８０との噛合のもとに第２の外歯歯車７６が中心軸線Ｃ６周りに減速回転する。このようにして２段の減速が行われる。   In the internal planetary gear device 50 having the above-described configuration, the first internal gear 52 and the first internal gear 54 and the first internal gear 52 are eccentrically swung with respect to the casing 60 without changing the rotational phase. The first external gear 62 rotates at a reduced speed around the central axis C4 under meshing with the external teeth 63. Then, when the first external gear 62 rotates around the central axis C4, the eccentric amount E is set as the radius without changing the rotational phase of the second internal gear 68 relative to the casing 60 in the eccentric hole 64. It swings eccentrically with a circular trajectory. Due to the eccentric oscillation of the second internal gear 68, the second external gear 76 rotates at a reduced speed around the central axis C <b> 6 under meshing of the second internal teeth 70 and the second external teeth 80. In this way, two-stage deceleration is performed.

内接式遊星歯車装置５０では、クランク軸等によるクランク機構を設ける必要がないから、内接式遊星歯車装置５０の短軸長化および軽量化が可能になる。更に、第１の外歯歯車６２と第２の内歯歯車６８と第２の外歯歯車７６とが同一平面に配置されていることにより、内接式遊星歯車装置５０の軸長を更に短くでき、内接式遊星歯車装置５０の小型化が図られる。   In the inscribed planetary gear device 50, since it is not necessary to provide a crank mechanism such as a crankshaft, the inscribed planetary gear device 50 can be shortened in length and reduced in weight. Further, since the first external gear 62, the second internal gear 68, and the second external gear 76 are arranged on the same plane, the axial length of the internal planetary gear device 50 is further shortened. Thus, the inscribed planetary gear unit 50 can be reduced in size.

以上、本発明を、その好適な実施形態について説明したが、当業者であれば容易に理解できるように、本発明はこのような実施形態により限定されるものではなく、本発明の趣旨を逸脱しない範囲で適宜変更可能である。例えば、偏心孔２４、６４は、貫通孔であっても、有底孔であってもよい。また、上記実施形態に示した構成要素は必ずしも全てが必須なものではなく、本発明の趣旨を逸脱しない限りにおいて適宜取捨選択することが可能である。   Although the present invention has been described above with reference to preferred embodiments thereof, the present invention is not limited to such embodiments and can be deviated from the spirit of the present invention, as will be readily understood by those skilled in the art. It is possible to change appropriately within the range not to be. For example, the eccentric holes 24 and 64 may be through holes or bottomed holes. In addition, all the components shown in the above embodiment are not necessarily essential, and can be appropriately selected without departing from the gist of the present invention.

１０ ：内接式遊星歯車装置
１２ ：ケーシング（ベース部材）
１２Ａ ：ケース構成部材
１２Ｂ ：ケース構成部材
１４ ：歯車室
１６ ：軸受
１７ ：軸受
１８ ：回転入力部材
２０ ：電動モータ（固定子部分）
２２ ：回転出力部材（回転子部分）
２４ ：偏心孔（偏心凹部）
２６ ：軸受
２８ ：内歯歯車
２８Ａ ：外周部
２８Ｂ ：内周部
３０ ：内歯
３２ ：軸受
３４ ：外歯歯車
３４Ａ ：外周部
３６ ：軸部
３８ ：外歯
４０ ：保持機構
４２ ：位相規制ピン
４４ ：貫通孔
４６ ：有底孔
５０ ：内接式遊星歯車装置
５２ ：第１の内歯歯車
５４ ：第１の内歯
５６ ：第１の保持機構
５８ ：位相規制ピン
６０ ：ケーシング（ベース部材）
６１ ：軸受
６２ ：第１の外歯歯車
６２Ａ ：外周部
６３ ：第１の外歯
６４ ：偏心孔（偏心凹部）
６６ ：軸受
６８ ：第２の内歯歯車
６８Ａ ：外周部
６８Ｂ ：内周部
７０ ：第２の内歯
７２ ：第２の保持機構
７４ ：位相規制ピン
７５ ：軸受
７６ ：第２の外歯歯車
７６Ａ ：外周部
７８ ：軸部
８０ ：第２の外歯 10: Inscribed planetary gear unit 12: Casing (base member)
12A: Case constituent member 12B: Case constituent member 14: Gear chamber 16: Bearing 17: Bearing 18: Rotation input member 20: Electric motor (stator part)
22: Rotation output member (rotor part)
24: Eccentric hole (eccentric recess)
26: Bearing 28: Internal gear 28A: Outer peripheral portion 28B: Inner peripheral portion 30: Internal tooth 32: Bearing 34: External gear 34A: Outer peripheral portion 36: Shaft portion 38: External tooth 40: Holding mechanism 42: Phase regulating pin 44: through hole 46: bottomed hole 50: inscribed planetary gear device 52: first internal gear 54: first internal gear 56: first holding mechanism 58: phase regulating pin 60: casing (base member) )
61: Bearing 62: First external gear 62A: Outer peripheral part 63: First external tooth 64: Eccentric hole (eccentric recess)
66: bearing 68: second internal gear 68A: outer peripheral portion 68B: inner peripheral portion 70: second inner tooth 72: second holding mechanism 74: phase regulating pin 75: bearing 76: second external gear 76A: outer peripheral portion 78: shaft portion 80: second external tooth

Claims (5)

内接式遊星歯車装置であって、
ベース部材と、
回転中心に対して偏心した円形の偏心凹部を有し、前記ベース部材に回転可能に支持された回転入力部材と、
前記偏心凹部に、その中心軸線周りに回転可能に受容された外周部及び当該外周部に同軸的に形成された内歯を備えた内周部を有する内歯歯車と、
前記内歯歯車を相対回転不能に且つ揺動可能に前記ベース部材に保持する保持機構と、
自身の中心軸線周りに回転可能に設けられ、外周部に前記内歯より少ない歯数の外歯を有して前記内歯歯車に噛合する外歯歯車とを有する内接式遊星歯車装置。 An inscribed planetary gear device,
A base member;
A rotation input member having a circular eccentric recess that is eccentric with respect to the rotation center, and rotatably supported by the base member;
An internal gear having an outer peripheral portion rotatably received around its central axis and an inner peripheral portion provided with inner teeth coaxially formed on the outer peripheral portion in the eccentric concave portion;
A holding mechanism for holding the internal gear on the base member so as not to be relatively rotatable and swingable;
An internal planetary gear device having an external gear that is provided so as to be rotatable about its own central axis and has external teeth having a smaller number of teeth than the internal teeth on its outer peripheral portion and meshes with the internal gear. 前記回転入力部材と前記内歯歯車と前記外歯歯車とが同一平面に配置されている請求項１に記載の内接式遊星歯車装置。   The internal planetary gear device according to claim 1, wherein the rotation input member, the internal gear, and the external gear are arranged on the same plane. 前記回転入力部材の中心軸線と前記外歯歯車の中心軸線とが同一軸線上に配置される請求項１又は２に記載の内接式遊星歯車装置。   The internal planetary gear device according to claim 1 or 2, wherein a central axis of the rotation input member and a central axis of the external gear are arranged on the same axis. ベース部材と、
内周部に第１の内歯を有する第１の内歯歯車と、
前記第１の内歯歯車を相対回転不能に且つ揺動可能に前記ベース部材に保持する第１の保持機構と、
自身の中心軸線周りに回転可能に設けられ、外周部に前記第１の内歯より少ない歯数の第１の外歯を有して前記第１の内歯歯車に噛合し且つ回転中心に対して偏心した円形の偏心凹部を有する第１の外歯歯車と、
前記偏心凹部に、その中心軸線周りに回転可能に受容された外周部及び当該外周部に同軸的に形成された第２の内歯を備えた内周部を有する第２の内歯歯車と、
前記第２の内歯歯車を相対回転不能に且つ揺動可能に前記ベース部材に保持する第２の保持機構と、
自身の中心軸線周りに回転可能に設けられ、外周部に前記第２の内歯より少ない歯数の第２の外歯を有して前記第２の内歯歯車に噛合する第２の外歯歯車とを有する内接式遊星歯車装置。 A base member;
A first internal gear having a first internal tooth on the inner periphery;
A first holding mechanism for holding the first internal gear on the base member so as not to be relatively rotatable and swingable;
It is provided so as to be rotatable around its own central axis, has a first external tooth having a smaller number of teeth than the first internal tooth on the outer peripheral portion, meshes with the first internal gear, and with respect to the rotation center. A first external gear having a circular eccentric recess that is eccentric with
A second internal gear having an outer peripheral portion rotatably received around its central axis and an inner peripheral portion provided with a second internal tooth coaxially formed on the outer peripheral portion in the eccentric recess;
A second holding mechanism for holding the second internal gear on the base member so as not to be relatively rotatable and swingable;
Second external teeth provided around the central axis thereof and having second external teeth having a smaller number of teeth than the second internal teeth on the outer peripheral portion and meshing with the second internal gear An inscribed planetary gear device having a gear. 前記第１の外歯歯車と前記第２の内歯歯車と前記第２の外歯歯車とが同一平面に配置されている請求項４に記載の内接式遊星歯車装置。   The internal planetary gear device according to claim 4, wherein the first external gear, the second internal gear, and the second external gear are arranged on the same plane.
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