JP6910197B2 - Inscribed planetary gear - Google Patents

Inscribed planetary gear Download PDF

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JP6910197B2
JP6910197B2 JP2017093869A JP2017093869A JP6910197B2 JP 6910197 B2 JP6910197 B2 JP 6910197B2 JP 2017093869 A JP2017093869 A JP 2017093869A JP 2017093869 A JP2017093869 A JP 2017093869A JP 6910197 B2 JP6910197 B2 JP 6910197B2
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gear
internal
planetary gear
central axis
casing
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JP2018189200A (en
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中村　公昭
公昭 中村
正雄 永野
正雄 永野
孝冶 上田
孝冶 上田
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Honda Motor Co Ltd
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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 internal planetary gear device, an internal gear having internal teeth on the inner peripheral portion, a connecting mechanism for connecting the internal gear to a base member by allowing eccentric swing, and its own center. It is rotatably supported around the axis, has an external gear that has a smaller number of external 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 deceleration 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Japanese Unexamined Patent Publication No. 2017-25979

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-mentioned internal planetary gear device, in particular, in the rear internal planetary gear device in the multi-stage internal planetary gear device, the crankshaft is on the input side in order to eccentrically rotate the internal gear from the output side of the front stage. It is necessary to provide a crank mechanism such as. Therefore, the shaft length of the inscribed planetary gear device becomes long, 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。 An object to be solved by the present invention is to reduce the length and 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。 The inscribed planetary gear device according to one embodiment of the present invention has a base member (12) and a circular eccentric recess (24) eccentric with respect to the center of rotation, and can rotate to the base member (12). Coaxially with the rotation input member (18) supported by the outer peripheral portion (18A), the outer peripheral portion (28A) rotatably received around the central axis (C2) of the eccentric recess (24), and the outer peripheral portion (28A). The base member (12) so that the internal gear (28) having an inner peripheral portion (28B) having the formed internal teeth (30) and the internal gear (28) can be relatively non-rotatable and swingable. It has a holding mechanism (40) for holding the gear, and an outer tooth (38) having a smaller number of gears than the internal tooth (30) on the outer peripheral portion (34A), which is rotatably provided around its own central axis (C3). It has an external gear (34) that meshes 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 such as a crankshaft, so that the length of the short shaft and the weight of the inscribed planetary gear device can be reduced.

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 inscribed 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, the length of the inscribed planetary gear device can be further shortened.

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 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。 The inscribed planetary gear device according to one embodiment of the present invention includes a base member (60), a first internal gear (52) having a first internal tooth (54) on the inner peripheral portion, and the first internal gear (52). A first holding mechanism (56) for holding the internal gear (52) of No. 1 on the base member (60) so as to be relatively non-rotatable and swingable, and rotatably provided around its own central axis (C4). The outer peripheral portion (62A) has a first external tooth (63) having a smaller number of teeth than the first internal tooth (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) eccentric with respect to the eccentric recess (64), and an outer peripheral portion rotatably received around the central axis (C5) of the eccentric recess (64). A second internal gear (68) having an inner peripheral portion (68B) having a second internal tooth (70) formed coaxially with the 68A) and the outer peripheral portion (68A), and the second internal gear (68). A second holding mechanism (72) that holds the internal gear (68) to the base member (60) so as to be relatively non-rotatable and swingable, and a second holding mechanism (72) that is rotatably provided around its own central axis (C6). A second external tooth having a second external tooth (80) having a smaller number of teeth than the second internal tooth (70) on the outer peripheral portion (76A) and meshing with the second internal gear (68). It has a gear (76).

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 such as a crankshaft, so that the length of the short shaft and the weight of the inscribed planetary gear device can be reduced.

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 inscribed planetary gear device, preferably, the first external gear (62), the second internal gear (68), and the second external gear (76) are arranged in the same plane. Has been done.

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, the length of the inscribed planetary gear device can be further shortened.

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 length of the short axis 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-section perspective view of the first embodiment 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。 Hereinafter, the first embodiment of the inscribed planetary gear device according to the present invention will be described with reference to FIGS. 1 and 2.

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 of the first embodiment has a casing 12 formed by assembling two cylindrical case components 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 rotatably supports the rotation input members 18 in the gear chamber 14 by bearings 16 and 17, that is, around the central axis C1. The rotation input member 18 is connected to the rotation output member 22 of the electric motor 20 provided in the gear chamber 14, and is rotationally driven by the electric motor 20 around its own central axis C1.

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 eccentric with an eccentric amount E with respect to the center of rotation (central axis C1), and the internal gear 28 is relatively rotatably supported by the bearing 26 in the eccentric hole 24. is doing. The internal gear 28 has an outer peripheral portion 28A rotatably received around the central axis C2 of the eccentric hole 24 and an inner peripheral portion 28B coaxially formed with the outer peripheral portion 28A, and has an inner peripheral portion 28B of the inner peripheral portion 28B. 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 rotatably supports the shaft portion 36 of the external gear 34 around its own central axis C3 by a bearing 32 in the gear chamber 14. The external gear 34 has external teeth 38 over the entire circumference of the outer peripheral portion 34A, and meshes with the internal gear 28 under the swinging motion of the internal gear 28. The number of outer teeth 38 is less than the number of internal teeth 30. The difference in the number of teeth between the outer teeth 38 and the inner teeth 30 may be 1. 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 rotary input member 18, the internal gear 28, and the external gear 34 are arranged on the same plane as shown in FIG. In FIG. 2, the rotary input member 18 and the internal gear 28 are deviated in the axial direction, but this is for convenience of illustration, and the rotary input member 18 and the internal gear 28 are on the same plane. Have 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. As a result, 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) to the casing 12 by a holding mechanism (connecting mechanism) 40 so as to be relatively non-rotatable and swingable. The relative impossibility of rotation referred to here allows the internal gear 28 to swing due to a circular locus having an eccentricity E as a radius.

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 regulating pin 42. The phase regulating pin 42 is inserted into a through hole 44 that penetrates the internal gear 28 in the axial direction, and is a circular bottomed hole formed in the case component 12B and the internal bush member 12C located on both sides of the internal gear 28. It has an end that engages 46. The inner diameter of the bottomed hole 46 is twice as large as the eccentricity 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 casing 12 and the internal teeth to swing due to the eccentricity E with respect to the casing 12 of the internal gear 28 without changing the rotation phase of the internal gear 28 with respect to the casing 12. 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 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 with respect to the casing 12 in the eccentric hole 24. Eccentric swings with a circular locus having an eccentricity amount E as a radius without changing. Due to the eccentric swing of the internal gear 28, the external gear 34 decelerates and rotates around the central axis C3 under the meshing of the internal teeth 30 and the external teeth 38.

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。 Since it is not necessary to provide a crank mechanism such as a crankshaft in the internal planetary gear device 10, it is possible to shorten the shaft length and reduce the weight of the internal planetary gear device 10. Further, since the rotary 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 further shortened. Can be miniaturized.

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, a second embodiment 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 of the second embodiment is a two-stage inscribed planetary gear device, and has a first internal gear 52 as an input member in the front stage. The first internal tooth gear 52 has a first internal tooth 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 to be relatively non-rotatable and swingable. The relative impossibility of rotation referred to here also allows the first internal gear 52 to swing due to 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 the holding mechanism 40 of the first embodiment, includes a phase regulating pin 58, and is a first holding mechanism 52 without changing the rotational phase of the first internal gear 52 with respect to the casing 60. Allows eccentric swing of the internal gear 52 with respect to the casing (base member) 60, and connects the casing 60 and the first internal gear 5 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 rotatably supports the first external gear 62 by a bearing 61, that is, around the central axis C4. The first external gear 62 is an input member in the rear stage, has a first external tooth 63 on the outer peripheral portion 62A, and has a first internal tooth under the swinging motion of the first internal gear 52. It meshes with the gear 52. The number of teeth of the first external tooth 63 is smaller than the number of teeth of the first internal tooth 54. The difference in the number of teeth between the external tooth 38 and the first internal tooth 54 may be 1.

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 eccentric with an eccentric amount E with respect to the center of rotation (central axis C4), and the second internal gear 68 can be rotated by a bearing 66 in the eccentric hole 64. Supports. The second internal gear 68 has an outer peripheral portion 68A that is received so as to be relatively rotatable around the central axis C5 of the eccentric hole 64 and an inner peripheral portion 68B that is coaxially formed on 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 to be relatively non-rotatable and swingable. The relative impossibility of rotation referred to here also allows the second internal gear 68 to swing due to a circular locus having an eccentricity E as a radius.

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 the phase regulating pin 74, and does not change the rotational phase of the second internal gear 68 with respect to the casing 60. Allows eccentric swing of the internal gear 68 with respect to the casing 60, and connects the casing 60 and the second internal gear 68 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 rotatably supports the shaft portion 78 of the second external gear 76 around its own central axis C6 by a bearing 75. The second external gear 76 has a second external tooth 80 over the entire circumference of the outer peripheral portion 76A, and the second internal gear 68 is subjected to the swinging motion of the second internal gear 68. Is in mesh with. The number of teeth of the second external tooth 80 is smaller than the number of teeth of the second internal tooth 70. The difference in the number of teeth between the second external tooth 80 and the second internal tooth 70 may be 1. 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 deviated in the axial direction, but this is for convenience of illustration, and the first external gear 62 and the second internal gear 62 are provided. The internal gear 68 and the second external gear 76 are arranged on the same plane in the same configuration as in 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 configuration, the first internal gear 52 eccentrically swings with respect to the casing 60 without changing the rotation phase, so that the first internal tooth 54 and the first internal tooth 54 have the first internal tooth gear 52. The first external gear 62 decelerates and rotates around the central axis C4 under mesh with the external teeth 63. Then, as the first external gear 62 rotates around the central axis C4, the eccentric amount E is set as the radius of the second internal gear 68 in the eccentric hole 64 without changing the rotation phase with respect to the casing 60. It swings eccentrically with a circular locus. Due to the eccentric swing of the second internal gear 68, the second external gear 76 decelerates and rotates around the central axis C6 under the meshing of the second internal tooth 70 and the second external tooth 80. In this way, two-step 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。 Since it is not necessary to provide a crank mechanism such as a crankshaft in the internal planetary gear device 50, it is possible to shorten the shaft length and reduce the weight of the internal planetary gear device 50. Further, since the first external gear 62, the second internal gear 68, and the second external gear 76 are arranged in the same plane, the axial length of the inscribed planetary gear device 50 is further shortened. The size of the inscribed planetary gear device 50 can be reduced.

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。 The present invention has been described above with respect to preferred embodiments thereof, but as can be easily understood by those skilled in the art, the present invention is not limited to such embodiments and deviates from the gist of the present invention. It can be changed as appropriate as long as it does not. For example, the eccentric holes 24 and 64 may be through holes or bottomed holes. In addition, not all of the components shown in the above embodiments are indispensable, and they can be appropriately selected as long as they do not deviate 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 device 12: Casing (base member)
12A: Case component 12B: Case component 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 28B: Inner peripheral 30: Internal tooth 32: Bearing 34: External gear 34A: Outer 36: Shaft 38: External tooth 40: Holding mechanism 42: Phase regulation pin 44: Through hole 46: Bottomed hole 50: Intrinsic planetary gear device 52: First internal gear 54: First internal tooth 56: First holding mechanism 58: Phase regulation pin 60: Casing (base member) )
61: Bearing 62: First external tooth gear 62A: Outer peripheral portion 63: First external tooth 64: Eccentric hole (eccentric recess)
66: Bearing 68: Second internal gear 68A: Outer peripheral 68B: Inner peripheral 70: Second internal tooth 72: Second holding mechanism 74: Phase regulation pin 75: Bearing 76: Second external gear 76A: Outer circumference 78: Shaft 80: Second external tooth

Claims (3)

内接式遊星歯車装置であって、
歯車室を画定するケーシングと、
前記歯車室内に位置する部位に回転中心に対して偏心した円形の偏心凹部を有し、前記ケーシングに回転可能に支持された回転入力部材と、
前記歯車室内に設けられ、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、
前記歯車室内に設けられ、前記内歯歯車を相対回転不能に且つ揺動可能に前記ケーシングに保持する保持機構と、
前記歯車室内に、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し、
前記歯車室内に電動モータが設けられ、前記電動モータの回転子をなす回転出力部材が前記回転入力部材の外周に取り付けられており、
前記回転入力部材は前記ケーシングに対して第１軸受により回転可能に支持され、前記内歯歯車は前記回転入力部材に対して第２軸受により回転可能に支持され、前記第１軸受及び前記第２軸受が互いに径方向で見て重なり合っている内接式遊星歯車装置。 It is an inscribed planetary gear device,
The casing that defines the gear chamber and
A rotation input member having a circular eccentric recess eccentric with respect to the center of rotation in a portion located in the gear chamber and rotatably supported by the casing.
An internal gear provided in the gear chamber and having an outer peripheral portion rotatably received around the central axis thereof and an inner peripheral portion having internal teeth coaxially formed on the outer peripheral portion in the eccentric recess. ,
A holding mechanism provided in the gear chamber to hold the internal gear in the casing so as to be non-rotatable and swingable.
In the gear chamber, an external gear that is rotatably provided around its own central axis and has an outer tooth having a smaller number of teeth than the internal tooth and meshes with the internal gear is provided on the outer peripheral portion.
The gear chamber electric motor is provided, the rotary output member which forms the rotor of the electric motor is attached to the outer periphery of the rotary input member,
The rotary input member is rotatably supported by the first bearing with respect to the casing, and the internal gear is rotatably supported by the second bearing with respect to the rotary input member, and the first bearing and the second bearing are rotatably supported. An internal planetary gear device in which bearings overlap each other in the radial direction. 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 inscribed 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 inscribed planetary gear device according to claim 1 or 2, wherein the central axis of the rotation input member and the central axis of the external gear are arranged on the same axis.
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