JP2022088151A - Planetary reduction gear - Google Patents

Planetary reduction gear Download PDF

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JP2022088151A
JP2022088151A JP2020200439A JP2020200439A JP2022088151A JP 2022088151 A JP2022088151 A JP 2022088151A JP 2020200439 A JP2020200439 A JP 2020200439A JP 2020200439 A JP2020200439 A JP 2020200439A JP 2022088151 A JP2022088151 A JP 2022088151A
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planetary
gear
peripheral side
planetary gear
contact surface
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明男 吉元
Akio Yoshimoto
学 宮山
Manabu Miyayama
一男 石塚
Kazuo Ishizuka
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Riken Corp
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Riken Corp
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Priority to PCT/JP2021/040306 priority patent/WO2022118594A1/en
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    • 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
    • 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
    • F16H57/00—General details of gearing
    • F16H57/04—Features relating to lubrication or cooling or heating

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
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  • General Details Of Gearings (AREA)

Abstract

To provide a planetary reduction gear capable of enhancing the efficiency by reducing the friction force of the side face of a planetary gear which is rotated in a carrier plate, on a thrust contact face.SOLUTION: A planetary reduction gear includes a sun gear, an internal gear, a planetary gear meshing with the sun gear and the internal gear, and a carrier plate holding the planetary gear. On the inner periphery side of the abutment face, an annular protruded part is provided.SELECTED DRAWING: Figure 2

Description

本発明は、遊星減速機に関する。 The present invention relates to a planetary reducer.

遊星減速機は、入力軸の回転を、遊星歯車減速機構を介して出力軸へ減速して伝達するものである。具体的には、遊星減速機は、駆動源から回転伝達される入力軸と、出力軸との間に、内歯歯車内で公転運動する遊星歯車を設けて遊星歯車を保持するキャリアプレートを出力側に、遊星歯車の中心に位置する太陽歯車を入力側に設けてなる遊星歯車減速機構を有する（例えば、特許文献１～３）。 The planetary reducer decelerates and transmits the rotation of the input shaft to the output shaft via the planetary gear reduction mechanism. Specifically, the planetary gear reducer outputs a carrier plate that holds the planetary gear by providing a planetary gear that revolves in the internal gear between the input shaft that is rotationally transmitted from the drive source and the output shaft. It has a planetary gear reduction mechanism provided on the input side with a sun gear located at the center of the planetary gear on the side (for example, Patent Documents 1 to 3).

特開２００８－２６１３９８号公報Japanese Unexamined Patent Publication No. 2008-261398 特開２０１７－２０１１９４号公報Japanese Unexamined Patent Publication No. 2017-201194 特開２０１９－０６５８９９号公報Japanese Unexamined Patent Publication No. 2019-605899

近年、遊星減速機においては軽量化、コンパクト化が求められ、それらを追求するあまり、遊星減速機全体の剛性が低下し、遊星歯車の支軸や歯面の歪み等により遊星歯車にスラスト力が発生して軸線方向の片側へと押し付けられる現象が発生する場合があった。スラスト当接面ではスラスト力は比較的小さいものの潤滑不足による摩擦力の増大が生じ、また、遊星歯車側面のほぼ全体で当接することから潤滑剤の剪断抵抗が増大し、遊星減速機の効率が低下する原因となっていた。 In recent years, there has been a demand for weight reduction and compactness in planetary speed reducers, and in pursuit of these, the rigidity of the entire planetary speed reducer has decreased, and the thrust force has been applied to the planetary gears due to distortion of the support shafts and tooth surfaces of the planetary gears. In some cases, it occurred and was pressed to one side in the axial direction. Although the thrust force is relatively small on the thrust contact surface, the frictional force increases due to insufficient lubrication, and since the contact occurs almost on the entire side surface of the planetary gear, the shear resistance of the lubricant increases and the efficiency of the planetary reducer increases. It was the cause of the decline.

そこで、本発明は、キャリアプレート内で回転する遊星歯車の側面のスラスト接触面での摩擦力を低減することにより、遊星減速機の効率を高めることのできる、遊星減速機を提供することを目的とする。 Therefore, an object of the present invention is to provide a planetary speed reducer capable of increasing the efficiency of the planetary speed reducer by reducing the frictional force on the thrust contact surface of the side surface of the planetary gear rotating in the carrier plate. And.

本発明の要旨構成は、以下の通りである。
（１）太陽歯車と、内歯歯車と、前記太陽歯車及び前記内歯歯車に噛合する、遊星歯車と、前記遊星歯車を保持するキャリアプレートと、を備えた遊星減速機であって、
前記遊星歯車の少なくとも一方の側面の、前記キャリアプレートとの当接面の内周側に、環状の突起部を設けたことを特徴とする、遊星減速機。 The gist structure of the present invention is as follows.
(1) A planetary speed reducer including a sun gear, an internal gear, a planetary gear that meshes with the sun gear and the internal gear, and a carrier plate that holds the planetary gear.
A planetary speed reducer provided with an annular protrusion on the inner peripheral side of the contact surface with the carrier plate on at least one side surface of the planetary gear.

（２）前記突起部の前記キャリアプレートとの当接面に、前記突起部の前記当接面の半径方向の内周側から外周側へ連通する１つ以上の溝が形成されている、上記（１）に記載の遊星減速機。 (2) The above-mentioned one or more grooves communicating from the inner peripheral side to the outer peripheral side in the radial direction of the contact surface of the protrusion are formed on the contact surface of the protrusion with the carrier plate. The planetary reducer according to (1).

（３）太陽歯車と、内歯歯車と、前記太陽歯車及び前記内歯歯車に噛合する、遊星歯車と、前記遊星歯車を保持するキャリアプレートと、を備えた遊星減速機であって、
前記遊星歯車の両側に位置する前記キャリアプレートのうち少なくとも一方の前記キャリアプレートの側面の、前記遊星歯車との当接面の内周側に、環状の突起部を設けたことを特徴とする、遊星減速機。 (3) A planetary speed reducer including a sun gear, an internal gear, a planetary gear that meshes with the sun gear and the internal gear, and a carrier plate that holds the planetary gear.
An annular protrusion is provided on the inner peripheral side of the contact surface with the planetary gear on the side surface of at least one of the carrier plates located on both sides of the planetary gear. Planetary reducer.

（４）前記突起部の前記遊星歯車との当接面に、前記突起部の前記当接面の半径方向の内周側から外周側へ連通する１つ以上の溝が形成されている、上記（３）に記載の遊星減速機。 (4) The above-mentioned one or more grooves communicating from the inner peripheral side to the outer peripheral side in the radial direction of the contact surface of the protrusion are formed on the contact surface of the protrusion with the planetary gear. The planetary speed reducer according to (3).

（５）前記環状の突起部は、
前記側面の前記内周側に１つのみ設けられ、又は、
前記側面の前記内周側に、複数の前記遊星歯車に対応する複数の前記環状の突起部が前記環状の突起部と同じ高さを有する円環部により連結されることによって一体に設けられている、上記（３）又は（４）に記載の遊星減速機。 (5) The annular protrusion is
Only one is provided on the inner peripheral side of the side surface, or
A plurality of the annular protrusions corresponding to the plurality of planetary gears are integrally provided on the inner peripheral side of the side surface by being connected by an annular portion having the same height as the annular protrusion. The planetary speed reducer according to (3) or (4) above.

（６）太陽歯車と、内歯歯車と、前記太陽歯車及び前記内歯歯車に噛合する、遊星歯車と、前記遊星歯車を保持するキャリアプレートと、を備えた遊星減速機であって、
前記遊星歯車と、前記遊星歯車の両側に位置する前記キャリアプレートのうち少なくとも一方の前記キャリアプレートとの間に板状部材が配置され、
前記板状部材は、前記遊星歯車との当接面の内周側に、環状の突起部が設けられていることを特徴とする、遊星減速機。 (6) A planetary speed reducer including a sun gear, an internal gear, a planetary gear that meshes with the sun gear and the internal gear, and a carrier plate that holds the planetary gear.
A plate-shaped member is arranged between the planetary gear and at least one of the carrier plates located on both sides of the planetary gear.
The plate-shaped member is a planetary speed reducer, characterized in that an annular protrusion is provided on the inner peripheral side of a contact surface with the planetary gear.

（７）前記突起部の前記遊星歯車との当接面に、前記突起部の前記当接面の半径方向の内周側から外周側へ連通する１つ以上の溝が形成されている、上記（６）に記載の遊星減速機。 (7) The above-mentioned one or more grooves communicating from the inner peripheral side to the outer peripheral side in the radial direction of the contact surface of the protrusion are formed on the contact surface of the protrusion with the planetary gear. The planetary speed reducer according to (6).

（８）前記板状部材は、
前記側面の前記内周側に１つのみ設けられ、又は、
前記側面の前記内周側に、複数の前記遊星歯車に対応する複数の前記環状の突起部が前記環状の突起部と同じ高さを有する円環部により連結されることによって一体に設けられている、上記（６）又は（７）に記載の遊星減速機。 (8) The plate-shaped member is
Only one is provided on the inner peripheral side of the side surface, or
A plurality of the annular protrusions corresponding to the plurality of planetary gears are integrally provided on the inner peripheral side of the side surface by being connected by an annular portion having the same height as the annular protrusion. The planetary speed reducer according to (6) or (7) above.

（９）前記遊星減速機は、保持器を有する針状コロ軸受けを有し、
前記遊星歯車の支軸内で、且つ、前記保持器の側面に、前記環状の突起部を配置した、上記（１）に記載の遊星減速機。 (9) The planetary reducer has a needle-shaped roller bearing having a cage, and has a needle-shaped roller bearing.
The planetary speed reducer according to (1) above, wherein the annular protrusion is arranged in the support shaft of the planetary gear and on the side surface of the cage.

（１０）前記環状の突起部の、前記キャリアプレートとの当接面及び前記保持器の側面との当接面に、前記突起部の前記当接面の半径方向の内周側から外周側へ連通する１つ以上の溝が形成されている、上記（９）に記載の遊星減速機。 (10) From the inner peripheral side to the outer peripheral side in the radial direction of the contact surface of the protrusion on the contact surface with the carrier plate and the side surface of the cage of the annular protrusion. The planetary speed reducer according to (9) above, wherein one or more grooves communicating with each other are formed.

本発明によれば、キャリアプレート内で回転する遊星歯車の側面のスラスト接触面での摩擦力を低減することにより、遊星減速機の効率を高めることのできる、遊星減速機を提供することができる。 According to the present invention, it is possible to provide a planetary speed reducer capable of increasing the efficiency of the planetary speed reducer by reducing the frictional force on the thrust contact surface of the side surface of the planetary gear rotating in the carrier plate. ..

本発明の第１の実施形態にかかる遊星減速機の断面図である。It is sectional drawing of the planetary reducer which concerns on 1st Embodiment of this invention. 図１のＣ部の拡大図である。It is an enlarged view of the part C of FIG. 突起部の当接面に溝を配置した一例を示す平面図及びＡ－Ａ断面図である。It is a plan view and AA sectional view which shows an example which arranged the groove on the contact surface of a protrusion. 突起部の当接面の溝を配置した他の例を示す平面図及びＢ－Ｂ断面図である。It is a plan view and BB sectional view which shows the other example which arranged the groove of the contact surface of a protrusion. 溝の形状及び配置の一例を示す平面図である。It is a top view which shows an example of the shape and arrangement of a groove. 溝の形状及び配置の他の例を示す平面図である。It is a top view which shows the other example of the shape and arrangement of a groove. 本発明の第２の実施形態にかかる遊星減速機の要部を示す断面図である。It is sectional drawing which shows the main part of the planetary reducer which concerns on the 2nd Embodiment of this invention. 図５のＣ－Ｃ断面図であるFIG. 5 is a sectional view taken along the line CC of FIG. 本発明の第３の実施形態にかかる遊星減速機の要部を示す斜視図である。It is a perspective view which shows the main part of the planetary reducer which concerns on 3rd Embodiment of this invention. 本発明の第４の実施形態にかかる遊星減速機の要部を示す斜視図である。It is a perspective view which shows the main part of the planetary reducer which concerns on 4th Embodiment of this invention. 図８の環状突起部材のみを示す斜視図である。It is a perspective view which shows only the annular protrusion member of FIG.

以下、本発明の実施形態について図面を参照して詳細に説明する。 Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

（第１の実施形態）
図１は、本発明の第１の実施形態にかかる遊星減速機の断面図である。図１に示すように、この遊星減速機１は、この例で二段の減速機ユニットで構成されている。入力軸６側の前段の減速機ユニットは、太陽歯車２と、内歯歯車３と、太陽歯車２及び内歯歯車３に噛合する、遊星歯車４と、遊星歯車４を保持するキャリアプレート５と、を備えている。また、出力軸７側の後段の減速機ユニットは、内歯歯車３と、内歯歯車３に噛合する遊星歯車４と、遊星歯車４を保持するキャリアプレート５と、を備えている。なお、本発明の遊星減速機は、二段の構成に限定されるものではなく、一段又は三段以上であっても良い。 (First Embodiment)
FIG. 1 is a cross-sectional view of a planetary reducer according to a first embodiment of the present invention. As shown in FIG. 1, the planetary reducer 1 is composed of a two-stage speed reducer unit in this example. The speed reducer unit in the front stage on the input shaft 6 side includes a sun gear 2, an internal gear 3, a planetary gear 4 that meshes with the sun gear 2 and the internal gear 3, and a carrier plate 5 that holds the planetary gear 4. , Is equipped. Further, the reduction gear unit in the rear stage on the output shaft 7 side includes an internal gear 3, a planetary gear 4 that meshes with the internal gear 3, and a carrier plate 5 that holds the planetary gear 4. The planetary speed reducer of the present invention is not limited to the two-stage configuration, and may be one-stage or three-stage or more.

前段の減速機ユニットでは、例えばモータにより入力軸６が回転して太陽歯車２に回転が入力されると、太陽歯車２の回転は、太陽歯車２と噛合している遊星歯車４に伝達される。遊星歯車４は、遊星支持軸８と一体のキャリアプレート５によって保持されているため、減速機保持ケース２４に固定される内歯歯車３の歯面に沿って自転運動しながら公転運動を行い、この公転運動がキャリアプレート５の遊星支持軸８（図２参照）から減速して後段の太陽歯車２へ出力される。 In the speed reducer unit in the previous stage, for example, when the input shaft 6 is rotated by a motor and the rotation is input to the sun gear 2, the rotation of the sun gear 2 is transmitted to the planetary gear 4 meshing with the sun gear 2. .. Since the planetary gear 4 is held by the carrier plate 5 integrated with the planetary support shaft 8, the planetary gear 4 revolves while rotating along the tooth surface of the internal gear 3 fixed to the speed reducer holding case 24. This revolving motion decelerates from the planetary support shaft 8 (see FIG. 2) of the carrier plate 5 and is output to the sun gear 2 in the subsequent stage.

後段の減速機ユニットでは、前段で減速された太陽歯車２からの入力により遊星歯車４に伝達される。遊星歯車４は、遊星支持軸８と一体のキャリアプレート５によって保持されているため、減速機保持ケース２４に固定される内歯歯車３の歯面に沿って自転運動しながら公転運動を行い、この公転運動が出力軸７から、さらに減速して出力される。 In the speed reducer unit in the rear stage, the input from the sun gear 2 decelerated in the front stage is transmitted to the planetary gear 4. Since the planetary gear 4 is held by the carrier plate 5 integrated with the planetary support shaft 8, it revolves while rotating along the tooth surface of the internal gear 3 fixed to the speed reducer holding case 24. This revolution motion is further decelerated and output from the output shaft 7.

前段及び後段の減速機ユニットにおいて、減速比は、太陽歯車２と、内歯歯車３、ならびに遊星歯車４の歯数を選定することにより適宜調整することができる。 In the reduction gear units of the front stage and the rear stage, the reduction ratio can be appropriately adjusted by selecting the number of teeth of the sun gear 2, the internal gear 3, and the planetary gear 4.

ここで、上記のような構成の遊星減速機では、遊星減速機の遊星歯車４が動力伝達時にキャリア軸８や各歯面の変形等で姿勢が保てず、軸線方向のスラスト力が発生し軸線方向（図１における図示の左右）のいずれかに移動する可能性がある。この移動により、遊星歯車４の側面は、この移動を規制するキャリアプレート５に当接して摺動することとなる。なお、一般的に遊星歯車が平歯車の場合、スラスト力は小さいものとされているが、実際には、動力伝達時に姿勢が保てないことで歯車が傾き、片当たりし易い。また、スラスト軸受け構造の場合、遊星歯車４の外周側から摺動している当接面及び遊星支持軸８側へ潤滑剤（例えばグリス）を供給することは、キャリアプレート５の側面での遠心力を活用するだけでは難しく、スラスト力が小さいにも関わらず潤滑不足となる場合があり、遊星歯車４の側面での摩擦抵抗が大きいことが問題となる。また、この側面の摩擦力に関しては、遊星歯車４の側面のほぼ全面で摺動する場合には、潤滑剤の流体摩擦抵抗（例えばグリスの剪断抵抗）も大きくなるという問題もあり、これらのことが遊星減速機の効率を低下させる原因となっていたことが判明した。 Here, in the planetary reducer having the above configuration, the planetary gear 4 of the planetary reducer cannot maintain its posture due to deformation of the carrier shaft 8 and each tooth surface during power transmission, and a thrust force in the axial direction is generated. There is a possibility of moving in any of the axial directions (left and right in the figure in FIG. 1). Due to this movement, the side surface of the planetary gear 4 comes into contact with the carrier plate 5 that restricts this movement and slides. In general, when the planetary gear is a spur gear, the thrust force is considered to be small, but in reality, the gear tilts due to the inability to maintain the attitude during power transmission, and it is easy for the gear to hit one side. Further, in the case of the thrust bearing structure, supplying the lubricant (for example, grease) to the contact surface sliding from the outer peripheral side of the planetary gear 4 and the planetary support shaft 8 side is centrifugal on the side surface of the carrier plate 5. It is difficult to utilize only the force, and lubrication may be insufficient even though the thrust force is small, and the problem is that the frictional resistance on the side surface of the planetary gear 4 is large. Further, regarding the frictional force on this side surface, there is also a problem that the fluid frictional resistance of the lubricant (for example, the shear resistance of grease) becomes large when sliding on almost the entire side surface of the planetary gear 4. Was found to have caused the efficiency of the planetary reducer to decrease.

図２は、図１のＣ部の拡大図である。上記のような問題に対し、図２に示すように、第１の実施形態の遊星減速機１では、スラスト当接面９、１０に関する遊星歯車４の形状に関し、遊星歯車４（図示例では、前段及び後段の両方の減速機ユニットの遊星歯車４）の少なくとも一方（図示例では両方）の側面の、キャリアプレート５との当接面の内周側（突起部がないと仮定した場合に遊星歯車４の側面が、キャリアプレート５と当接し得る面である当接面を内周側と外周側とに２等分した際の内周側）に、環状（環状の軸方向は遊星支持軸８の軸線方向である）の突起部４ａが設けられている。これにより、遊星歯車４は、突起部４ａのみがキャリアプレート５と当接し、その他の部分はキャリアプレート５と当接しないように構成されている。 FIG. 2 is an enlarged view of a portion C in FIG. In response to the above problems, as shown in FIG. 2, in the planetary speed reducer 1 of the first embodiment, regarding the shape of the planetary gear 4 with respect to the thrust contact surfaces 9 and 10, the planetary gear 4 (in the illustrated example, in the illustrated example, Planets on the inner peripheral side (assuming no protrusions) of the contact surface with the carrier plate 5 on the side surface of at least one (both in the illustrated example) of the planetary gears 4) of both the front and rear speed reducer units. The side surface of the gear 4 is annular (the annular axial direction is the planetary support shaft) in an annular shape (the inner peripheral side when the contact surface, which is a surface that can abut with the carrier plate 5, is divided into two equal parts, the inner peripheral side and the outer peripheral side). A protrusion 4a (which is in the axial direction of 8) is provided. As a result, the planetary gear 4 is configured so that only the protrusion 4a abuts on the carrier plate 5 and the other portions do not abut on the carrier plate 5.

この構成によれば、遊星減速機１の動力伝達時、図示左右のキャリアプレート５ａ、５ｂ間に挟まれ適度なクリアランスで回転運動を行う遊星歯車４が、スラスト力を受け相対的にキャリアプレート５の側面に接触し摺動する部位において、遊星歯車４の側面（当接面）のうち摺動速度の遅い内周側に設けられた環状の突起部４ａと、受け側であるキャリアプレート５とを必要最小限の面積で局所的に当接させることができる。このように、遊星歯車４がスラスト力を受けて軸線方向（図示左右のいずれか）に移動する場合の、この移動の規制手段であるキャリアプレート５との接触構造において、遊星歯車４の少なくとも一方（本例では両方）の側面の内周側に、環状の突起部４ａを設け、キャリアプレート５側に局所的に当接させる構造とすることにより、遊星歯車４とキャリアプレート５との必要最小限の摺動面積を確保できるようにして、上述の流体摩擦、剪断抵抗を低減することができ、遊星減速機の効率を高めることができる。なお、通常、遊星歯車４の側面については、キャリアプレート５ａ、５ｂ側とで、ほぼ全面で回転摺動するため、その全面を研磨し、仕上げる工程が一般的であるが、本実施形態のように、当接面を局所突起で構成したことにより、仕上げでの加工面積が少なくて済み、加工時間の短縮と共に加工精度の向上等の効果も得られる。 According to this configuration, when the power of the planetary speed reducer 1 is transmitted, the planetary gear 4 sandwiched between the left and right carrier plates 5a and 5b shown in the figure and performing a rotational motion with an appropriate clearance receives a thrust force and is relatively the carrier plate 5. An annular protrusion 4a provided on the inner peripheral side of the side surface (contact surface) of the planetary gear 4 having a slow sliding speed and a carrier plate 5 on the receiving side at a portion that contacts and slides on the side surface of the planetary gear 4. Can be locally contacted with the minimum required area. In this way, when the planetary gear 4 receives a thrust force and moves in the axial direction (either left or right in the figure), at least one of the planetary gears 4 has a contact structure with the carrier plate 5 which is a means for regulating this movement. An annular protrusion 4a is provided on the inner peripheral side of the side surface (both in this example) so that the planetary gear 4 and the carrier plate 5 are in contact with each other locally. By making it possible to secure a limited sliding area, the above-mentioned fluid friction and shear resistance can be reduced, and the efficiency of the planetary speed reducer can be improved. Normally, the side surface of the planetary gear 4 is rotationally slid on almost the entire surface of the carrier plate 5a and 5b, so that the entire surface is generally polished and finished, as in the present embodiment. In addition, since the contact surface is composed of local protrusions, the machining area for finishing can be reduced, and the machining time can be shortened and the machining accuracy can be improved.

ここで、遊星減速機が複数段の減速機ユニットから構成されている場合、各段の減速機ユニットにおいて、遊星歯車の少なくとも一方の側面の、キャリアプレートとの当接面の内周側に、環状の突起部が設けられていることが好ましい。各段の減速機ユニットにおいて上記の効果を得ることができるからである。また、遊星歯車の両方の側面の、キャリアプレートとの当接面の内周側に、環状の突起部が設けられていることが好ましい。両方の側面で上記の効果を得ることができるからである。また、上記当接面の内周側においてのみ、環状の突起部とキャリアプレートとが当接し得ることが好ましい。遊星歯車とキャリアプレートとの摺動面積を小さくすることができ、また、内周側の摺動速度が相対的に遅いため、潤滑油の粘性抵抗を少なくでき、効率をより向上させ得るからである。環状の突起部とキャリアプレートとの当接面の面積は、スラスト力に応じて適宜調整することができる。突起部は、突起部の剛性を確保する観点からは、突起の高さよりも突起の幅が大きいことが好ましい。 Here, when the planetary speed reducer is composed of a plurality of stages of speed reducer units, in the speed reducer unit of each stage, at least one side surface of the planetary gear is on the inner peripheral side of the contact surface with the carrier plate. It is preferable that an annular protrusion is provided. This is because the above effect can be obtained in the speed reducer unit of each stage. Further, it is preferable that an annular protrusion is provided on the inner peripheral side of the contact surface with the carrier plate on both side surfaces of the planetary gear. This is because the above effects can be obtained in both aspects. Further, it is preferable that the annular protrusion and the carrier plate can come into contact with each other only on the inner peripheral side of the contact surface. This is because the sliding area between the planetary gear and the carrier plate can be reduced, and the sliding speed on the inner peripheral side is relatively slow, so that the viscous resistance of the lubricating oil can be reduced and the efficiency can be further improved. be. The area of the contact surface between the annular protrusion and the carrier plate can be appropriately adjusted according to the thrust force. From the viewpoint of ensuring the rigidity of the protrusion, the protrusion is preferably wider than the height of the protrusion.

突起部４ａは、金属製であることが好ましい。図３Ａは、当接面の一例を示す平面図及びＡ－Ａ断面図である。図３Ｂは、当接面の他の例を示す平面図及びＢ－Ｂ断面図である。図３Ａに示す例では、金属製（図示の斜線部分が金属部分）の遊星歯車４に突起部４ａを設けている。また、図３Ｂに示す例では、樹脂製（図示の網掛け部分が樹脂部部分）の遊星歯車４を加工して金属製の部材（図示の斜線部分）を嵌め込み、又は樹脂部材と一体成型された当該金属製の部材を加工して突起部４ａを形成している。 The protrusion 4a is preferably made of metal. FIG. 3A is a plan view and a sectional view taken along the line AA showing an example of the contact surface. FIG. 3B is a plan view and a sectional view taken along the line BB showing another example of the contact surface. In the example shown in FIG. 3A, the protrusion 4a is provided on the planetary gear 4 made of metal (the shaded portion in the figure is a metal portion). Further, in the example shown in FIG. 3B, the planetary gear 4 made of resin (the shaded portion in the figure is the resin portion) is processed to fit a metal member (hatched portion in the figure), or is integrally molded with the resin member. The metal member is processed to form the protrusion 4a.

図２に示すように、この遊星減速機１は、２つの潤滑剤溜め部１１、１２を有している。潤滑剤溜め部１１、１２は、潤滑剤（例えばグリス）を溜めておくためのポケット構造のものである。図２に示す例では、一方の潤滑剤溜め部１１はキャリアプレート５の内周側に位置し、他方の潤滑剤溜め部１２は入力軸６側に位置している。潤滑剤溜め部１１、１２に溜められた潤滑剤は、キャリアプレート５の回転による遠心力により、遊星歯車４と左右のキャリアプレート５との当接面へと流れ込むが、キャリアプレート５の遠心作用のみでは潤滑剤がうまく当接面へと流れ込まず、潤滑剤を十分に供給することができない場合もあった。 As shown in FIG. 2, the planetary reducer 1 has two lubricant reservoirs 11 and 12. The lubricant storage portions 11 and 12 have a pocket structure for storing a lubricant (for example, grease). In the example shown in FIG. 2, one lubricant reservoir 11 is located on the inner peripheral side of the carrier plate 5, and the other lubricant reservoir 12 is located on the input shaft 6 side. The lubricant stored in the lubricant reservoirs 11 and 12 flows into the contact surface between the planetary gear 4 and the left and right carrier plates 5 due to the centrifugal force due to the rotation of the carrier plate 5, but the centrifugal action of the carrier plate 5 In some cases, the lubricant did not flow well into the contact surface with only the lubricant, and the lubricant could not be sufficiently supplied.

これに対し、第１の実施形態では、遊星歯車４の突起部４ａのキャリアプレート５との当接面に、該当接面の半径方向の内周側から外周側へ連通する１つ以上の溝４ｂが形成されている。これにより、潤滑剤溜め部１１、１２が、溝４ｂと連通することができるため、潤滑剤溜め部１１、１２に溜められた潤滑剤が、キャリアプレート５の回転に伴う遠心作用により、溝４ｂへ流れて、遊星歯車４と左右のキャリアプレート５との当接面へとスムーズに流れ込むことができる。従って、当該当接面での潤滑不足を解消して摩擦抵抗を低減し、遊星減速機の効率をさらに高めることができる。特に、各部の変形等による遊星歯車４の片当たりが生じる場合や、潤滑剤の粘度の高い条件の場合でも潤滑剤の膜（油膜）を確実に形成することができる。また、上記の溝４ｂは、突起部４ａの当接面の半径方向に延在しているため、膜（油膜）の楔効果により膜圧力（油膜圧力）が発生し、少ない溝面積でも遊星歯車４とキャリアプレート５とを互いに直接接触させることなく回転摺動させることができる。 On the other hand, in the first embodiment, one or more grooves communicating the contact surface of the protrusion 4a of the planetary gear 4 with the carrier plate 5 from the inner peripheral side to the outer peripheral side in the radial direction of the contact surface. 4b is formed. As a result, the lubricant reservoirs 11 and 12 can communicate with the groove 4b, so that the lubricant stored in the lubricant reservoirs 11 and 12 is centrifugally acted upon by the rotation of the carrier plate 5 to cause the groove 4b. It can smoothly flow into the contact surface between the planetary gear 4 and the left and right carrier plates 5. Therefore, it is possible to eliminate the insufficient lubrication at the contact surface, reduce the frictional resistance, and further improve the efficiency of the planetary reducer. In particular, the lubricant film (oil film) can be reliably formed even when one-sided contact of the planetary gear 4 occurs due to deformation of each part or when the lubricant has a high viscosity. Further, since the groove 4b extends in the radial direction of the contact surface of the protrusion 4a, the film pressure (oil film pressure) is generated by the wedge effect of the film (oil film), and the planetary gear has a small groove area. 4 and the carrier plate 5 can be rotationally slid without being in direct contact with each other.

図４Ａは、溝の形状及び配置の一例を示す平面図である。図４Ｂは、溝の形状及び配置の他の例を示す平面図である。図４Ａ、図４Ｂに示す例では、複数の溝４ｂが遊星歯車４の突起部４ａのキャリアプレート５との当接面に、該当接面の半径方向の内周側から外周側へ連通するように設けられている。図４Ａに示す例では、溝の断面形状を略Ｖ字としており、図４Ｂに示す例では、溝の断面形状を略矩形としているが、これらの形状に限らず、Ｕ字状、半円状等、様々な断面形状とすることができる。また、溝４ｂの溝面積（の総和）を調整することで、潤滑剤の流入量やキャリアプレート５との当接面積を調整することができる。図４Ａ、図４Ｂに示す例では、円周方向に３０°の等間隔で１２個の溝４ｂが配置されているが、溝の本数は１つ以上あれば良く、また、配置も特には限定されないが、構成上は各遊星歯車数に応じて、各１個の溝を設けることが、バランスが良く好ましい。 FIG. 4A is a plan view showing an example of the shape and arrangement of the grooves. FIG. 4B is a plan view showing another example of the shape and arrangement of the grooves. In the example shown in FIGS. 4A and 4B, the plurality of grooves 4b communicate with the contact surface of the protrusion 4a of the planetary gear 4 with the carrier plate 5 from the inner peripheral side to the outer peripheral side in the radial direction of the corresponding contact surface. It is provided in. In the example shown in FIG. 4A, the cross-sectional shape of the groove is substantially V-shaped, and in the example shown in FIG. 4B, the cross-sectional shape of the groove is substantially rectangular. It can have various cross-sectional shapes such as. Further, by adjusting the groove area (total) of the grooves 4b, the inflow amount of the lubricant and the contact area with the carrier plate 5 can be adjusted. In the examples shown in FIGS. 4A and 4B, 12 grooves 4b are arranged at equal intervals of 30 ° in the circumferential direction, but the number of grooves may be one or more, and the arrangement is particularly limited. However, in terms of configuration, it is preferable to provide one groove for each planetary gear in a good balance.

（第２の実施形態）
図５は、本発明の第２の実施形態にかかる遊星減速機の要部を示す断面図である。図６は、図５のＣ－Ｃ断面図である。第２の実施形態にかかる遊星減速機の基本構成は、第１の実施形態にかかる遊星減速機と同様であるが、第２の実施形態にかかる遊星減速機は、遊星歯車４の両側に位置するキャリアプレート５ａ、５ｂのうち少なくとも一方（図示例では両方）のキャリアプレート５ａ、５ｂの側面の、遊星歯車４との当接面の内周側（突起部がないと仮定した場合にキャリアプレート５の側面が、遊星歯車４と当接し得る面である当接面を内周側と外周側とに２等分した際の内周側）に、環状（環状の軸方向は遊星支持軸８の軸線方向である）の突起部５ｃ（図６に示す例では１つの側面に３個）を設けている点において、第１の実施形態にかかる遊星減速機とは異なっている（遊星歯車には突起部を設けていない）。これにより、キャリアプレート５は、突起部５ｃのみが遊星歯車４の側面と当接し、その他の部分は遊星歯車４の側面と当接しないように構成されている。 (Second embodiment)
FIG. 5 is a cross-sectional view showing a main part of the planetary reducer according to the second embodiment of the present invention. FIG. 6 is a sectional view taken along the line CC of FIG. The basic configuration of the planetary speed reducer according to the second embodiment is the same as that of the planetary speed reducer according to the first embodiment, but the planetary speed reducers according to the second embodiment are located on both sides of the planetary gear 4. Carrier plates on the inner peripheral side (assuming that there are no protrusions) on the inner peripheral side of the contact surface with the planetary gear 4 on the side surface of at least one of the carrier plates 5a and 5b (both in the illustrated example). The side surface of 5 is annular (the annular axial direction is the planetary support shaft 8) in an annular shape (the inner peripheral side when the contact surface, which is a surface that can abut with the planetary gear 4, is divided into two equal parts, the inner peripheral side and the outer peripheral side). It differs from the planetary gear reducer according to the first embodiment in that protrusions 5c (three on one side surface in the example shown in FIG. 6) are provided (in the axial direction of the). Does not have a protrusion). As a result, the carrier plate 5 is configured so that only the protrusion 5c abuts on the side surface of the planetary gear 4 and the other portions do not abut on the side surface of the planetary gear 4.

この構成によっても、摺動速度の遅い内周側に設けられた環状の突起部５ｃと、遊星歯車４の側面とを必要最小限の面積で局所的に当接させることができるため、流体摩擦、剪断抵抗を低減することができ、遊星減速機の効率を高めることができる。また、必要最小限の当接面である効果として、突起部の当接面のみを最終研磨で仕上げる構造となるため、熱処理での変形等を簡単に修正することができ、加工精度の確保と加工時間を短縮できる効果も得られる。 Even with this configuration, the annular protrusion 5c provided on the inner peripheral side where the sliding speed is slow and the side surface of the planetary gear 4 can be locally brought into contact with each other in the minimum required area, so that fluid friction can occur. , Shear resistance can be reduced and the efficiency of the planetary reducer can be increased. In addition, as an effect of the minimum necessary contact surface, since only the contact surface of the protrusion is finished by final polishing, deformation due to heat treatment can be easily corrected, and processing accuracy is ensured. The effect of shortening the processing time can also be obtained.

第２の実施形態においても、遊星減速機が複数段の減速機ユニットから構成されている場合、各段の減速機ユニットにおいて、遊星歯車の両側に位置するキャリアプレートのうち少なくとも一方のキャリアプレートの側面の、遊星歯車との当接面の内周側に、環状の突起部を設けることが好ましい。各段の減速機ユニットにおいて上記の効果を得ることができるからである。また、遊星歯車の両側に位置するキャリアプレートのうち両方のキャリアプレートの側面の、遊星歯車との当接面の内周側に、環状の突起部を設けることが好ましい。両方の当接面で上記の効果を得ることができるからである。また、上記当接面の内周側においてのみ、環状の突起部と遊星歯車の側面とが当接し得ることが好ましい。遊星歯車とキャリアプレートとの摺動面積を小さくすることができ、また、内周側の摺動速度が相対的に遅いため、効率をより向上させ得るからである。環状の突起部と遊星歯車の側面との当接面の面積は、要求される特性等に応じて適宜調整することができる。突起部は、突起部の剛性を確保する観点からは、突起の高さよりも突起の幅が大きいことが好ましい。 Also in the second embodiment, when the planetary speed reducer is composed of a plurality of stages of speed reducer units, in the speed reducer unit of each stage, at least one of the carrier plates located on both sides of the planetary gears is used. It is preferable to provide an annular protrusion on the inner peripheral side of the contact surface with the planetary gear on the side surface. This is because the above effect can be obtained in the speed reducer unit of each stage. Further, it is preferable to provide an annular protrusion on the inner peripheral side of the contact surface with the planetary gear on the side surface of both carrier plates among the carrier plates located on both sides of the planetary gear. This is because the above effect can be obtained on both contact surfaces. Further, it is preferable that the annular protrusion and the side surface of the planetary gear can come into contact with each other only on the inner peripheral side of the contact surface. This is because the sliding area between the planetary gear and the carrier plate can be reduced, and the sliding speed on the inner peripheral side is relatively slow, so that the efficiency can be further improved. The area of the contact surface between the annular protrusion and the side surface of the planetary gear can be appropriately adjusted according to the required characteristics and the like. From the viewpoint of ensuring the rigidity of the protrusion, the protrusion is preferably wider than the height of the protrusion.

また、第２の実施形態において、突起部の遊星歯車との当接面に、突起部の当接面の半径方向の内周側から外周側へ連通する１つ以上の溝５ｄが形成されていることが好ましい。潤滑剤溜め部が、溝と連通することができるため、潤滑剤溜め部に溜められた潤滑剤が、キャリアプレートの回転に伴う遠心作用により、溝に流入し、遊星歯車と左右のキャリアプレートとの当接面へとスムーズに導入することができ、当該当接面での摩擦抵抗を低減して、遊星減速機の効率をさらに高めることができるからである。特に、各部の変形等による遊星歯車の片当たりが生じる場合や、潤滑剤の粘度の高い条件の場合でも潤滑剤の膜（油膜）を確実に形成することができる。また、上記の溝は、突起部の当接面の半径方向に延在しているため、膜（油膜）の楔効果により膜圧力（油膜圧力）が発生し、少ない溝面積でも遊星歯車とキャリアプレートとを互いに直接接触させることなく回転摺動させることができる。
溝の断面形状は、Ｖ字状、矩形状、Ｕ字状、半円状等、様々な形状とすることができる。また、溝の溝面積（の総和）を調整することで、潤滑剤の流入量や遊星歯車との当接面積を調整することができる。溝の本数は１つ以上あれば良く、また、配置も特には限定されないが、構成上は各遊星歯車数に応じて、各１個の溝を設けることが、バランスが良く好ましい。
ここで、環状の突起部５ｃは、上記キャリアプレートの側面の上記内周側に１つのみ設けられることができる。あるいは、図６に示すように、環状の突起部５ｃは、上記キャリアプレートの側面の上記内周側に、複数の遊星歯車４に対応する複数の環状の突起部５ｃが環状の突起部５ｃと同じ高さを有する円環部５ｅにより連結されることによって一体に設けられていることも好ましい。この円環部５ｅによりキャリアプレート５の内周側に配置されている潤滑剤溜め部１２から潤滑剤が放射状に拡散してしまうのを抑制することができ、当接部と遊星支持軸８に連通する溝５ｄへ効果的な潤滑剤の供給を行うことができる。 Further, in the second embodiment, one or more grooves 5d communicating from the inner peripheral side to the outer peripheral side in the radial direction of the contact surface of the protrusion are formed on the contact surface of the protrusion with the planetary gear. It is preferable to have. Since the lubricant reservoir can communicate with the groove, the lubricant accumulated in the lubricant reservoir flows into the groove due to the centrifugal action accompanying the rotation of the carrier plate, and the planetary gears and the left and right carrier plates This is because it can be smoothly introduced into the contact surface of the planetary speed reducer, the frictional resistance at the contact surface can be reduced, and the efficiency of the planetary speed reducer can be further improved. In particular, it is possible to reliably form a lubricant film (oil film) even when one-sided contact of the planetary gear occurs due to deformation of each part or when the lubricant has a high viscosity. Further, since the above groove extends in the radial direction of the contact surface of the protrusion, the film pressure (oil film pressure) is generated by the wedge effect of the film (oil film), and the planetary gear and the carrier are generated even with a small groove area. The plates can be rotated and slid without being in direct contact with each other.
The cross-sectional shape of the groove can be various shapes such as V-shaped, rectangular, U-shaped, and semicircular. Further, by adjusting the groove area (total) of the grooves, the inflow amount of the lubricant and the contact area with the planetary gear can be adjusted. The number of grooves may be one or more, and the arrangement is not particularly limited, but it is preferable to provide one groove for each planetary gear in terms of configuration in a good balance.
Here, only one annular protrusion 5c can be provided on the inner peripheral side of the side surface of the carrier plate. Alternatively, as shown in FIG. 6, the annular protrusion 5c has a plurality of annular protrusions 5c corresponding to the plurality of planetary gears 4 on the inner peripheral side of the side surface of the carrier plate with the annular protrusion 5c. It is also preferable that they are integrally provided by being connected by an annular portion 5e having the same height. The annular portion 5e can prevent the lubricant from diffusing radially from the lubricant reservoir 12 arranged on the inner peripheral side of the carrier plate 5, and can be applied to the contact portion and the planetary support shaft 8. An effective lubricant can be supplied to the communicating groove 5d.

（第３の実施形態）
図７は、本発明の第３の実施形態にかかる遊星減速機の要部を示す斜視図である。図７に示すように、第２の実施形態のように、キャリアプレート側に環状の突起部を設けることに代えて、薄い板状部材（シムプレート）を用いることもできる。すなわち、第３の実施形態は、遊星歯車４と、遊星歯車４の両側に位置するキャリアプレート５のうち少なくとも一方（本例では両方）のキャリアプレート５との間に板状部材１３が配置され、板状部材１３は、遊星歯車４との当接面の内周側に、環状の突起部１３ａが設けられている点で、第２の実施形態と異なっている。 (Third embodiment)
FIG. 7 is a perspective view showing a main part of the planetary reducer according to the third embodiment of the present invention. As shown in FIG. 7, a thin plate-shaped member (sim plate) can be used instead of providing the annular protrusion on the carrier plate side as in the second embodiment. That is, in the third embodiment, the plate-shaped member 13 is arranged between the planetary gear 4 and the carrier plate 5 of at least one (both in this example) of the carrier plates 5 located on both sides of the planetary gear 4. The plate-shaped member 13 is different from the second embodiment in that an annular protrusion 13a is provided on the inner peripheral side of the contact surface with the planetary gear 4.

図７に示すように、１枚の板状部材１３上に、遊星歯車４の個数に応じた複数個（図示例では３個）の環状の突起部１３ａが一体で形成されている。板状部材１３は、複数個の遊星支持軸８で位置決めされ、遊星歯車４の側面とキャリアプレート５との間で挟み込まれて位置する。 As shown in FIG. 7, a plurality of (three in the illustrated example) annular protrusions 13a corresponding to the number of planetary gears 4 are integrally formed on one plate-shaped member 13. The plate-shaped member 13 is positioned by a plurality of planetary support shafts 8 and is sandwiched between the side surface of the planetary gear 4 and the carrier plate 5.

この構成によっても、摺動速度の遅い内周側に設けられた環状の突起部１３ａと、遊星歯車４の側面とを必要最小限の面積で局所的に当接させることができるため、流体摩擦（剪断抵抗）を低減することができ、遊星減速機の効率を高めることができる。また、板状部材１３の１枚で遊星歯車４の個数に応じた環状の突起部１３ａの形成が可能であり、構造が簡素で生産性が高い。 Even with this configuration, the annular protrusion 13a provided on the inner peripheral side where the sliding speed is slow and the side surface of the planetary gear 4 can be locally brought into contact with each other in the minimum required area, so that fluid friction can occur. (Shear resistance) can be reduced and the efficiency of the planetary reducer can be increased. Further, it is possible to form an annular protrusion 13a according to the number of planetary gears 4 with one of the plate-shaped members 13, and the structure is simple and the productivity is high.

さらに、図７に示すように、突起部１３ａの遊星歯車４との当接面に、突起部１３ａの当接面の半径方向の内周側から外周側へ連通する１つ以上の溝１３ｂが形成されていることが好ましい。潤滑剤溜め部が、溝と連通することができるため、潤滑剤溜め部に溜められた潤滑剤が、キャリアプレートの回転に伴う遠心作用により、溝を流れて、遊星歯車と左右のキャリアプレートとの当接面へとスムーズに流れ込むことができるからである。従って、当該当接面での摩擦抵抗を低減して、遊星減速機の効率をさらに高めることができる。特に、各部の変形等による遊星歯車の片当たりが生じる場合や、潤滑剤の粘度の高い条件の場合でも潤滑剤の膜（油膜）を確実に形成することができる。また、上記の溝は、突起部の当接面の半径方向に延在しているため、膜（油膜）の楔効果により膜圧力（油膜圧力）が発生し、少ない溝面積でも遊星歯車とキャリアプレートとを互いに直接接触させることなく回転摺動させることができる。
溝の断面形状は、Ｖ字状、矩形状、Ｕ字状、半円状等、様々な形状とすることができる。また、溝の溝面積（の総和）を調整することで、潤滑剤の流入量や遊星歯車との当接面積を調整することができる。溝の本数は、各遊星歯車の個数に応じて、内周側の潤滑溜め部側に連通する溝を確保する他に、潤滑溜め部につながらない配置でも、複数個の溝を設置してもよく、また、配置も特には限定されないが、構成上は各遊星歯車数に応じて、各１個の溝を設けることが、バランスが良く好ましい。
ここで、環状の突起部１３ａは、上記キャリアプレートの側面の上記内周側に１つのみ設けられることができる。あるいは、図７に示すように、環状の突起部１３ａは、上記キャリアプレートの側面の上記内周側に、複数の遊星歯車４に対応する複数の環状の突起部１３ａが環状の突起部１３ａと同じ高さを有する円環部１３ｃにより連結されることによって一体に設けられていることも好ましい。この円環部によりキャリアプレート５の内周側に配置されている潤滑剤溜め部から潤滑剤が放射状に拡散してしまうのを抑制することができ、当接部と遊星支持軸８に連通する溝へ効果的な潤滑剤の供給を行うことができる。この複数個の突起部１３ａ及び円環部１３ｃを一体に形成することで構成を簡単化することができる。 Further, as shown in FIG. 7, one or more grooves 13b communicating from the inner peripheral side to the outer peripheral side in the radial direction of the contact surface of the protrusion 13a are formed on the contact surface of the protrusion 13a with the planetary gear 4. It is preferably formed. Since the lubricant reservoir can communicate with the groove, the lubricant accumulated in the lubricant reservoir flows through the groove due to the centrifugal action accompanying the rotation of the carrier plate, and the planetary gear and the left and right carrier plates This is because it can smoothly flow into the contact surface of the. Therefore, the frictional resistance at the contact surface can be reduced, and the efficiency of the planetary reducer can be further improved. In particular, it is possible to reliably form a lubricant film (oil film) even when one-sided contact of the planetary gear occurs due to deformation of each part or when the lubricant has a high viscosity. Further, since the above groove extends in the radial direction of the contact surface of the protrusion, the film pressure (oil film pressure) is generated by the wedge effect of the film (oil film), and the planetary gear and the carrier are generated even with a small groove area. The plates can be rotated and slid without being in direct contact with each other.
The cross-sectional shape of the groove can be various shapes such as V-shaped, rectangular, U-shaped, and semicircular. Further, by adjusting the groove area (total) of the grooves, the inflow amount of the lubricant and the contact area with the planetary gear can be adjusted. As for the number of grooves, depending on the number of planetary gears, in addition to securing grooves that communicate with the lubrication reservoir side on the inner peripheral side, a plurality of grooves may be installed even if they are not connected to the lubrication reservoir side. Further, although the arrangement is not particularly limited, it is preferable to provide one groove for each planetary gear according to the number of planetary gears in a good balance.
Here, only one annular protrusion 13a can be provided on the inner peripheral side of the side surface of the carrier plate. Alternatively, as shown in FIG. 7, the annular protrusion 13a has a plurality of annular protrusions 13a corresponding to the plurality of planetary gears 4 on the inner peripheral side of the side surface of the carrier plate. It is also preferable that they are integrally provided by being connected by an annular portion 13c having the same height. This annular portion can prevent the lubricant from diffusing radially from the lubricant reservoir arranged on the inner peripheral side of the carrier plate 5, and communicates with the contact portion and the planetary support shaft 8. An effective lubricant can be supplied to the groove. The configuration can be simplified by integrally forming the plurality of protrusions 13a and 13c.

板状部材１３は、環状の突起部１３ａのスラスト当接面において、耐摩耗性や低摩擦で有効な高硬度材又は樹脂材等を基材とすることが好ましい。さらに耐摩耗性や高効率を求める場合には、当該当接面へ硬質皮膜を付与する、あるいは、表面処理により動摩擦係数を低減することや微細な凹凸を形成することも好ましい。この場合、板状部材１３単品に対して、これらの処理を行うことができるため、容易に所望の表面性状とすることができる。例えば、ＤＬＣや、イオンプレーティング、各種硬質メッキ、化成処理、二硫化モリブデン等の表面処理や焼き付け処理等を行うことができ、また基材として低摩擦で有効な樹脂材やＰＴＦＥ、ＰＥＥＫ等を選定することもできる。また、基材表面や各表面処理を施行した表面に、ナノレーザー加工や、マイクロピーニング等により、微細溝や微細凹凸面を附加するなど、単品の高機能部品として容易に処理することができる。 The plate-shaped member 13 is preferably made of a high-hardness material, a resin material, or the like effective for wear resistance and low friction on the thrust contact surface of the annular protrusion 13a as a base material. Further, when wear resistance and high efficiency are required, it is also preferable to apply a hard film to the contact surface, reduce the dynamic friction coefficient by surface treatment, or form fine irregularities. In this case, since these treatments can be performed on the plate-shaped member 13 alone, the desired surface texture can be easily obtained. For example, DLC, ion plating, various hard platings, chemical conversion treatments, surface treatments such as molybdenum disulfide and baking treatments can be performed, and resin materials, PTFE, PEEK, etc. that are effective with low friction as a base material can be used. You can also select. Further, the surface of the base material and the surface to which each surface treatment has been performed can be easily treated as a single high-performance component by adding fine grooves or fine uneven surfaces by nanolaser processing, micropeening or the like.

（第４の実施形態）
図８は、本発明の第４の実施形態にかかる遊星減速機の要部を示す斜視図である。図８に示すように、この遊星減速機は、遊星歯車４の支持構成として、遊星支持軸８と遊星歯車４の軸孔内周部との間に保持器を備えたコロ軸受け３０を配置させた事例において、コロの格納された前記保持器の両側面に、遊星歯車４の幅端から、やや突設する環状の突起部を備えた保持部材を設置させたもので、その幅端とキャリアプレート５の側面とを、より内周側で局所的に少ない面積で当接させることができる構成とした。図９は、前記環状突起部材２９単品の拡大斜視図を示し、本環状突起部材２９において、コロが格納された保持器側の側面、及びキャリアプレート５側と当接する側面に、半径方向に内周側から外周側へ連通する溝を各々少なくとも１個以上設置したことを特徴とし、キャリアプート５の内周側に構成された潤滑溜め部から溝２９ｄへつながる通路が確保され、キャリアプレート５の内周側側面の遠心作用によるグリスを確実に、前記環状突起部材２９のスラスト摺動面２９ａ及びその背面の保持器側面２９ｂ、ならびにコロ軸受け部３０に導入することができるため、上述の他の実施形態と同様の理由により、同様の効果が得られる。 (Fourth Embodiment)
FIG. 8 is a perspective view showing a main part of the planetary reducer according to the fourth embodiment of the present invention. As shown in FIG. 8, in this planetary speed reducer, as a support configuration of the planetary gear 4, a roller bearing 30 provided with a cage is arranged between the planetary support shaft 8 and the inner peripheral portion of the shaft hole of the planetary gear 4. In this example, holding members having an annular protrusion slightly protruding from the width end of the planetary gear 4 are installed on both side surfaces of the cage in which the rollers are stored, and the width end and the carrier are installed. The side surface of the plate 5 can be brought into contact with the inner peripheral side locally in a small area. FIG. 9 shows an enlarged perspective view of the annular protrusion member 29 alone, and is inside the side surface of the annular protrusion member 29 on the cage side in which the rollers are stored and the side surface in contact with the carrier plate 5 side in the radial direction. It is characterized by installing at least one groove communicating from the peripheral side to the outer peripheral side, respectively, and a passage connecting the lubrication reservoir formed on the inner peripheral side of the carrier putt 5 to the groove 29d is secured, and the carrier plate 5 is provided with a passage. Since the grease due to the centrifugal action on the inner peripheral side surface can be reliably introduced into the thrust sliding surface 29a of the annular protrusion member 29, the cage side surface 29b on the back surface thereof, and the roller bearing portion 30, other than the above. Similar effects can be obtained for the same reasons as in the embodiments.

１：遊星減速機
２：太陽歯車
３：内歯歯車
４：遊星歯車
５：キャリアプレート
６：入力軸
７：出力軸
８：遊星支持軸
９：スラスト当接面
１０：スラスト当接面
１１：潤滑剤溜め部
１２：潤滑剤溜め部
１３：板状部材
１４：固定具
２３：出力軸保持ケース
２４：減速機保持ケース
２５：サークリップ
２６ａ、２６ｂ：出力軸保持ベアリング
２７：太陽歯車位置決め部材
２８ａ、２８ｂ：入力軸保持ベアリング
２９：環状突起部材 1: Planet reducer 2: Sun gear 3: Internal gear 4: Planet gear 5: Carrier plate 6: Input shaft 7: Output shaft 8: Planet support shaft 9: Thrust contact surface 10: Thrust contact surface 11: Lubrication Agent reservoir 12: Lubricant reservoir 13: Plate-shaped member 14: Fixture 23: Output shaft holding case 24: Reducer holding case 25: Circlip 26a, 26b: Output shaft holding bearing 27: Sun gear positioning member 28a, 28b: Input shaft holding bearing 29: An annular protrusion member

Claims (10)

太陽歯車と、
内歯歯車と、
前記太陽歯車及び前記内歯歯車に噛合する、遊星歯車と、
前記遊星歯車を保持するキャリアプレートと、を備えた遊星減速機であって、
前記遊星歯車の少なくとも一方の側面の、前記キャリアプレートとの当接面の内周側に、環状の突起部を設けたことを特徴とする、遊星減速機。 With the sun gear,
With internal gears,
A planetary gear that meshes with the sun gear and the internal gear,
A planetary reducer provided with a carrier plate for holding the planetary gears.
A planetary speed reducer provided with an annular protrusion on the inner peripheral side of the contact surface with the carrier plate on at least one side surface of the planetary gear. 前記突起部の前記キャリアプレートとの当接面に、前記突起部の前記当接面の半径方向の内周側から外周側へ連通する１つ以上の溝が形成されている、請求項１に記載の遊星減速機。 According to claim 1, one or more grooves communicating from the inner peripheral side to the outer peripheral side in the radial direction of the contact surface of the protrusion are formed on the contact surface of the protrusion with the carrier plate. The planetary reducer described. 太陽歯車と、
内歯歯車と、
前記太陽歯車及び前記内歯歯車に噛合する、遊星歯車と、
前記遊星歯車を保持するキャリアプレートと、を備えた遊星減速機であって、
前記遊星歯車の両側に位置する前記キャリアプレートのうち少なくとも一方の前記キャリアプレートの側面の、前記遊星歯車との当接面の内周側に、環状の突起部を設けたことを特徴とする、遊星減速機。 With the sun gear,
With internal gears,
A planetary gear that meshes with the sun gear and the internal gear,
A planetary reducer provided with a carrier plate for holding the planetary gears.
An annular protrusion is provided on the inner peripheral side of the contact surface with the planetary gear on the side surface of at least one of the carrier plates located on both sides of the planetary gear. Planetary reducer. 前記突起部の前記遊星歯車との当接面に、前記突起部の前記当接面の半径方向の内周側から外周側へ連通する１つ以上の溝が形成されている、請求項３に記載の遊星減速機。 According to claim 3, one or more grooves communicating from the inner peripheral side to the outer peripheral side in the radial direction of the contact surface of the protrusion are formed on the contact surface of the protrusion with the planetary gear. The planetary reducer described. 前記環状の突起部は、
前記側面の前記内周側に１つのみ設けられ、又は、
前記側面の前記内周側に、複数の前記遊星歯車に対応する複数の前記環状の突起部が前記環状の突起部と同じ高さを有する円環部により連結されることによって一体に設けられている、請求項３又は４に記載の遊星減速機。 The annular protrusion is
Only one is provided on the inner peripheral side of the side surface, or
A plurality of the annular protrusions corresponding to the plurality of planetary gears are integrally provided on the inner peripheral side of the side surface by being connected by an annular portion having the same height as the annular protrusion. The planetary speed reducer according to claim 3 or 4. 太陽歯車と、
内歯歯車と、
前記太陽歯車及び前記内歯歯車に噛合する、遊星歯車と、
前記遊星歯車を保持するキャリアプレートと、を備えた遊星減速機であって、
前記遊星歯車と、前記遊星歯車の両側に位置する前記キャリアプレートのうち少なくとも一方の前記キャリアプレートとの間に板状部材が配置され、
前記板状部材は、前記遊星歯車との当接面の内周側に、環状の突起部が設けられていることを特徴とする、遊星減速機。 With the sun gear,
With internal gears,
A planetary gear that meshes with the sun gear and the internal gear,
A planetary reducer provided with a carrier plate for holding the planetary gears.
A plate-shaped member is arranged between the planetary gear and at least one of the carrier plates located on both sides of the planetary gear.
The plate-shaped member is a planetary speed reducer, characterized in that an annular protrusion is provided on the inner peripheral side of a contact surface with the planetary gear. 前記突起部の前記遊星歯車との当接面に、前記突起部の前記当接面の半径方向の内周側から外周側へ連通する１つ以上の溝が形成されている、請求項６に記載の遊星減速機。 According to claim 6, the contact surface of the protrusion with the planetary gear is formed with one or more grooves communicating from the inner peripheral side to the outer peripheral side in the radial direction of the contact surface of the protrusion. The planetary reducer described. 前記板状部材は、
前記側面の前記内周側に１つのみ設けられ、又は、
前記側面の前記内周側に、複数の前記遊星歯車に対応する複数の前記環状の突起部が前記環状の突起部と同じ高さを有する円環部により連結されることによって一体に設けられている、請求項６又は７に記載の遊星減速機。 The plate-shaped member is
Only one is provided on the inner peripheral side of the side surface, or
A plurality of the annular protrusions corresponding to the plurality of planetary gears are integrally provided on the inner peripheral side of the side surface by being connected by an annular portion having the same height as the annular protrusion. The planetary speed reducer according to claim 6 or 7. 前記遊星減速機は、保持器を有する針状コロ軸受けを有し、
前記遊星歯車の支軸内で、且つ、前記保持器の側面に、前記環状の突起部を配置した、請求項１に記載の遊星減速機。 The planetary reducer has a needle-shaped roller bearing with a cage.
The planetary speed reducer according to claim 1, wherein the annular protrusion is arranged in the support shaft of the planetary gear and on the side surface of the cage. 前記環状の突起部の、前記キャリアプレートとの当接面及び前記保持器の側面との当接面に、前記突起部の前記当接面の半径方向の内周側から外周側へ連通する１つ以上の溝が形成されている、請求項９に記載の遊星減速機。
The annular protrusion communicates with the contact surface with the carrier plate and the contact surface with the side surface of the cage from the inner peripheral side to the outer peripheral side in the radial direction of the contact surface of the protrusion. The planetary speed reducer according to claim 9, wherein one or more grooves are formed.
JP2020200439A 2020-12-02 2020-12-02 Planetary reduction gear Pending JP2022088151A (en)

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002242997A (en) * 2001-02-14 2002-08-28 Enplas Corp Planetary gear device
JP2013221545A (en) * 2012-04-13 2013-10-28 Nabtesco Corp Cage for cylindrical roller bearing, and gear transmission
DE102016200338A1 (en) * 2016-01-14 2017-07-20 Bayerische Motoren Werke Aktiengesellschaft planetary gear assembly
JP2017201194A (en) * 2016-05-06 2017-11-09 株式会社ジェイテクト Speed reducer
JP2019032061A (en) * 2017-08-09 2019-02-28 ナブテスコ株式会社 Gear support structure

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002242997A (en) * 2001-02-14 2002-08-28 Enplas Corp Planetary gear device
JP2013221545A (en) * 2012-04-13 2013-10-28 Nabtesco Corp Cage for cylindrical roller bearing, and gear transmission
DE102016200338A1 (en) * 2016-01-14 2017-07-20 Bayerische Motoren Werke Aktiengesellschaft planetary gear assembly
JP2017201194A (en) * 2016-05-06 2017-11-09 株式会社ジェイテクト Speed reducer
JP2019032061A (en) * 2017-08-09 2019-02-28 ナブテスコ株式会社 Gear support structure

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