JPH0763243A - Diffrential type internal meshing planetary gear structure - Google Patents

Diffrential type internal meshing planetary gear structure

Info

Publication number
JPH0763243A
JPH0763243A JP21242493A JP21242493A JPH0763243A JP H0763243 A JPH0763243 A JP H0763243A JP 21242493 A JP21242493 A JP 21242493A JP 21242493 A JP21242493 A JP 21242493A JP H0763243 A JPH0763243 A JP H0763243A
Authority
JP
Japan
Prior art keywords
external gear
gear
rotation
casing
internal
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP21242493A
Other languages
Japanese (ja)
Inventor
Sueo Fukaya
末男 深谷
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sumitomo Heavy Industries Ltd
Original Assignee
Sumitomo Heavy Industries Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sumitomo Heavy Industries Ltd filed Critical Sumitomo Heavy Industries Ltd
Priority to JP21242493A priority Critical patent/JPH0763243A/en
Priority to CN94115796A priority patent/CN1043678C/en
Priority to FR9410322A priority patent/FR2709339B1/en
Publication of JPH0763243A publication Critical patent/JPH0763243A/en
Pending legal-status Critical Current

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • 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
    • F16H2001/2881—Toothed gearings for conveying rotary motion with gears having orbital motion comprising two axially spaced central gears, i.e. ring or sun gear, engaged by at least one common orbital gear wherein one of the central gears is forming the output

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)

Abstract

PURPOSE:To achieve miniatuarization, weight reduction, low cost, low noise, low vibration on the assumption that a high reduction gear ratio is obtained by internally meshing both external gears with an integrated internal gear, respectively, and rotatably supporting this internal gear by means of a casing. CONSTITUTION:Since a first external gear 110 and a second external gear 112 are ocsillating (eccentrically) rotated in the opposite direction into the center of an input shaft 102, respectively, active unbalance caused by individual oscillating-rotation is offset. Moreover, since there is not provided with a crank- like inner pin, there is few number of parts, and also there is no concern of generation of inconvenience of this part. As for the reduction gear ratio, when the rotational speed of the input shaft 102 is N1, and when the rotational speed of the output shaft 104 is taken as N2, the formula; N2={1-(S2.P1)/(S1.P2)}N1 holds. And when the value of N. is positive, the rotation in the same direction as that of the input rotation is output, while, when the value is negative, the rotation in the reverse direction to the input rotation is output.

Description

【発明の詳細な説明】Detailed Description of the Invention

【０００１】[0001]

【産業上の利用分野】本発明は、内接噛合遊星歯車構
造、特に差動作用（和動作用を含む概念：以外同じ）を
利用した内接噛合遊星歯車構造に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an internally meshing planetary gear structure, and more particularly to an internally meshing planetary gear structure utilizing a differential action (a concept including sum operation is the same except for the above).

【０００２】[0002]

【従来の技術】従来、例えば特開平３−２７２３４８等
において、図７に示されるような、内接噛合遊星歯車構
造を採用した減速機が提案されている。2. Description of the Related Art Conventionally, for example, in Japanese Unexamined Patent Publication No. 3-272348, there has been proposed a speed reducer adopting an internally meshing planetary gear structure as shown in FIG.

【０００３】この減速機では、全ての部材がプラスチッ
クにより構成され、入力軸１の回転が出力軸８（ピニオ
ンギヤ９）の減速回転として取り出されるようになって
いる。In this speed reducer, all the members are made of plastic, and the rotation of the input shaft 1 is taken out as the decelerated rotation of the output shaft 8 (pinion gear 9).

【０００４】入力軸１には偏心体２が一体に形成されて
おり、この偏心体２に外歯歯車３が回転自在に支持され
ている。An eccentric body 2 is integrally formed with the input shaft 1, and an external gear 3 is rotatably supported on the eccentric body 2.

【０００５】外歯歯車３は、その外周にトロコイド歯形
からなる外歯３a を一体に備え、又入力軸１と同軸の円
周上に円柱形状の内ピン３b が複数一体に突出形成され
ている。The external gear 3 is integrally provided with external teeth 3a having a trochoidal tooth shape on the outer periphery thereof, and a plurality of cylindrical inner pins 3b are integrally formed on the circumference coaxial with the input shaft 1 so as to project therefrom. .

【０００６】内歯歯車４には前記外歯歯車３の外歯３a
と内接噛合する円弧歯形４a が一体に形成されている。
この内歯歯車４は、メインケーシングを兼用しており、
従ってこの減速機では固定された状態とされている。The external gear 3a of the external gear 3 is included in the internal gear 4.
The circular arc tooth profile 4a that meshes with the inner side is integrally formed.
This internal gear 4 also serves as the main casing,
Therefore, the speed reducer is in a fixed state.

【０００７】出力軸８の端部には円盤状のフランジ部８
d が一体に形成されている。このフランジ部８d には、
前記内ピン３b が遊嵌される内ピン孔８a が形成されて
いる。A disk-shaped flange portion 8 is provided at the end of the output shaft 8.
d is integrally formed. This flange part 8d has
An inner pin hole 8a is formed in which the inner pin 3b is loosely fitted.

【０００８】出力軸８は支持カバー７の支持部７a によ
って支持され、又、入力軸１は出力軸８の端部に形成さ
れた軸受孔８c に回転自在に軸支されている。又、出力
軸８の反対側の軸端部にはピニオンギヤ９が該出力軸８
に対して回転固定及び抜け固定に組付けられている。The output shaft 8 is supported by the support portion 7a of the support cover 7, and the input shaft 1 is rotatably supported in a bearing hole 8c formed at the end of the output shaft 8. Further, a pinion gear 9 is provided on the opposite shaft end of the output shaft 8 from the output shaft 8.
It is assembled to the rotation fixing and the pull-out fixing.

【０００９】次に、この減速機の作用を簡単に説明す
る。入力軸１が１回転すると、偏心体２が１回転する。
この偏心体２の１回転により、外歯歯車３は入力軸１の
周りで揺動回転を行おうとするが、内歯歯車４によって
その自転が拘束されるため、該外歯歯車３はこの内歯歯
車４に内接しながらほとんど揺動のみを行うことにな
る。Next, the operation of this speed reducer will be briefly described. When the input shaft 1 makes one revolution, the eccentric body 2 makes one revolution.
The external gear 3 tries to oscillate around the input shaft 1 by one rotation of the eccentric body 2. However, since the rotation of the external gear 3 is restricted by the internal gear 4, the external gear 3 is rotated by the internal gear 4. Almost only swinging is performed while inscribed in the tooth gear 4.

【００１０】今、例えば外歯歯車３の歯数をＮ、内歯歯
車４の歯数をＮ＋１とした場合、その歯数差は１であ
る。そのため、入力軸１の１回転毎に外歯歯車３は（固
定状態とされた）内歯歯車４に対して１歯分だけずれる
（自転する）ことになる。これは入力軸１の回転が外歯
歯車３の−１／Ｎの回転（マイナスは逆回転を示す）に
減速されたことを意味する。Now, for example, when the number of teeth of the external gear 3 is N and the number of teeth of the internal gear 4 is N + 1, the difference in the number of teeth is 1. Therefore, each time the input shaft 1 rotates once, the external gear 3 is displaced (rotated) by one tooth with respect to the (fixed) internal gear 4. This means that the rotation of the input shaft 1 is reduced to -1 / N rotation of the external gear 3 (minus indicates reverse rotation).

【００１１】この外歯歯車３の回転は内ピン３b 及び内
ピン孔８a の隙間によってその揺動成分が吸収され、自
転成分のみが該内ピン３a を介して出力軸８へと伝達さ
れる。この結果、結局減速比−１／Ｎの減速が達成され
る。The rotation component of the external gear 3 is absorbed by the swinging component of the inner pin 3b and the inner pin hole 8a, and only the rotation component is transmitted to the output shaft 8 through the inner pin 3a. As a result, a reduction ratio of -1 / N is eventually achieved.

【００１２】出力軸８の回転は該出力軸８の軸端部に固
定されたピニオンギヤ９に伝達され、このピニオンギヤ
９に相手機械のギヤＷを噛合させ、該相手機械に出力を
伝達する。The rotation of the output shaft 8 is transmitted to a pinion gear 9 fixed to the shaft end portion of the output shaft 8. The pinion gear 9 meshes with the gear W of the mating machine to transmit the output to the mating machine.

【００１３】この図７に示した内接噛合遊星歯車構造
は、入力軸１と出力軸８とを同軸とした条件下で比較的
大きな減速比が確保できるが、外歯歯車が偏心回転する
ことから、回転のアンバランスが原因となって運転時に
振動が発生し易いという問題がある。The internally meshing planetary gear structure shown in FIG. 7 can secure a relatively large reduction ratio under the condition that the input shaft 1 and the output shaft 8 are coaxial, but the external gear rotates eccentrically. Therefore, there is a problem that vibration is likely to occur during operation due to unbalance of rotation.

【００１４】そこで、図８に示すように、偏心方向の位
相を１８０°ずらせた一対の外歯歯車３、３を内蔵する
ようにしたものが数多く提案されている。このように一
対の外歯歯車３、３の偏心方向の位相が入力軸１に対し
て１８０°ずれていると、全体として見たときの回転バ
ランスが確保され、運転時の振動をかなり抑制すること
ができる。Therefore, as shown in FIG. 8, many proposals have been made to incorporate a pair of external gears 3, 3 whose phases in the eccentric direction are shifted by 180 °. If the eccentric phase of the pair of external gears 3, 3 deviates by 180 ° with respect to the input shaft 1 as described above, the rotational balance as a whole is secured and vibration during operation is considerably suppressed. be able to.

【００１５】ところで、この図７、あるいは図８に示し
た減速機は、歯車の大きさ（モジュール）の実用性か
ら、減速比を無制限に大きくすることができるわけでは
なく、具体的には（減速機の外径を６０mmとしたとき、
おおよそ）減速比８０前後がその上限となる。By the way, in the speed reducer shown in FIG. 7 or FIG. 8, it is not possible to increase the speed reduction ratio indefinitely from the practicality of the size (module) of the gear. When the outer diameter of the reducer is 60 mm,
The upper limit is approximately a reduction ratio of around 80.

【００１６】これに対し、より高減速比（例えば減速比
数百以上）を成立させ得るものとして、上述したような
内接噛合遊星歯車構造Ａ、Ｂを２段に重ねたもの（図９
参照）、あるいは差動型としたものが提案されている。On the other hand, in order to establish a higher reduction ratio (for example, a reduction ratio of several hundreds or more), the above-described inscribed meshing planetary gear structures A and B are stacked in two stages (FIG. 9).
(See) or a differential type has been proposed.

【００１７】図１０は、実開平４−１１１９４７号公報
に開示された差動型の遊星歯車構造を示している。この
構造は、外歯歯車１１、１２の入力軸１３に対する偏心
方向（クランク部１４の位相差）を１８０°に設定し、
一方の外歯歯車１１をケーシング１５に固定された内歯
歯車１６に噛合させ、もう一方の外歯歯車１２を出力軸
１７と一体化されたディスク１８の周縁部に形成した内
歯歯車１９に噛合させるようにし、更にそれぞれの外歯
歯車１１、１２をクランク状の内ピン２０で連結したも
のである。FIG. 10 shows a differential type planetary gear structure disclosed in Japanese Utility Model Laid-Open No. 4-1111947. In this structure, the eccentric direction (phase difference of the crank portion 14) of the external gears 11 and 12 with respect to the input shaft 13 is set to 180 °,
One external gear 11 is meshed with an internal gear 16 fixed to a casing 15, and the other external gear 12 is used as an internal gear 19 formed on a peripheral portion of a disc 18 integrated with an output shaft 17. The external gears 11 and 12 are connected to each other by a crank-shaped inner pin 20 so as to be meshed with each other.

【００１８】この構造によれば、外歯歯車１１、１２及
び内歯歯車１６、１９の差動により減速比数百以上を得
ることができる。According to this structure, a reduction ratio of several hundreds or more can be obtained by the differential of the external gears 11 and 12 and the internal gears 16 and 19.

【００１９】[0019]

【発明が解決しようとする課題】しかしながら、この従
来技術に係る差動型内接噛合遊星歯車構造にあっては、
以下のような不具合がなお残存していた。However, in the differential type internally meshing planetary gear structure according to this prior art,
The following defects still remained.

【００２０】１）クランク状内ピン２０が別部品として
（開示された本文では３個）必要であり、その分部品点
数が多くなる。1) The crank-shaped inner pin 20 is required as a separate component (three in the disclosed text), and the number of components increases accordingly.

【００２１】２）個々の各クランク状内ピン２０を実際
に組付けたときの組付け誤差を所定値以内に収めないと
円滑な差動を引出すことができなくなって効率が低下し
たり、騒音が大きくなったりする。そのためそれぞれ高
い寸法精度で製造すると共に、高い品質管理が要求さ
れ、コストアップを招く。2) If the assembling error when actually assembling each crank-shaped inner pin 20 is not within a predetermined value, a smooth differential cannot be drawn out, resulting in a decrease in efficiency and noise. Will become larger. Therefore, each is manufactured with high dimensional accuracy, and high quality control is required, resulting in an increase in cost.

【００２２】３）各クランク状内ピン２０は運転時に両
外歯歯車１１、１２からの荷重を偶力として受けると共
に、入力軸クランク部１４の回転と同期した自転回転す
るものであるため、振動を抑制して円滑な差動回転を得
るには、軸受部２１、２２には適切な精度と強度が要求
され、初期の組付性能を長期に亘って維持するためには
相応の対策が必要となる。そのためこの面でもコストア
ップ、あるいは重量増大等を招く。3) Each crank-shaped inner pin 20 receives the load from both external gears 11 and 12 as a couple during operation and also rotates on its own axis in synchronism with the rotation of the input shaft crank portion 14. In order to suppress the torque and obtain smooth differential rotation, the bearings 21 and 22 are required to have appropriate accuracy and strength, and appropriate measures are required to maintain the initial assembly performance for a long period of time. Becomes Therefore, also in this aspect, the cost or weight is increased.

【００２３】本発明は、このような従来の問題に鑑みて
なされたものであって、高減速比を得ることを前提とし
て、可能な限り小型化、軽量化、低価格化、低騒音化、
あるいは低振動化等を達成し得るような差動型内接噛合
遊星歯車構造を提供することをその目的としている。The present invention has been made in view of such conventional problems, and on the premise of obtaining a high reduction gear ratio, it is possible to reduce the size, weight, cost and noise as much as possible.
Alternatively, it is an object of the invention to provide a differential type internally meshing planetary gear structure capable of achieving low vibration and the like.

【００２４】[0024]

【課題を解決するための手段】本第１発明は、ケーシン
グと、該ケーシングに対して回転自在に支持された入力
軸及び出力軸と、該入力軸に、互いに１８０°の位相差
を持って軸方向に並べて固定された第１、第２偏心体
と、該第１、第２偏心体の外周にそれぞれ回転自在に設
けられると共に、自身を軸方向に貫通する複数の第１、
第２内ピン孔をそれぞれ有した第１、第２外歯歯車と、
ケーシングに回転自在に支持されると共に、前記第１、
第２外歯歯車とそれぞれ内接噛合し、且つ互いに一体化
された第１、第２内歯歯車と、ケーシングから突出して
第１外歯歯車の前記第１内ピン孔に遊嵌し、第１外歯歯
車の自転を拘束すると共に、前記第１偏心体の回転によ
って生ずる該第１外歯歯車の揺動を許容する第１内ピン
と、前記出力軸から突出して第２外歯歯車の前記第２内
ピン孔に遊嵌し、第２外歯歯車の揺動成分を吸収しなが
ら該第２外歯歯車の自転成分のみを出力軸に伝達する第
２内ピンと、を備えたことにより、上記目的を達成した
ものである。According to the first aspect of the present invention, a casing, an input shaft and an output shaft rotatably supported by the casing, and a phase difference of 180 ° between the input shaft and the input shaft are provided. First and second eccentric bodies fixed side by side in the axial direction, and a plurality of first eccentric bodies rotatably provided on the outer circumferences of the first and second eccentric bodies and penetrating themselves in the axial direction,
First and second external gears each having a second internal pin hole,
While being rotatably supported by the casing, the first,
First and second internal gears that are intermeshingly meshed with the second external gear and integrated with each other, and projecting from the casing and loosely fitted in the first internal pin holes of the first external gear; A first internal pin that restrains the rotation of the first external gear and allows the oscillation of the first external gear caused by the rotation of the first eccentric body; and a second external gear that projects from the output shaft. And a second inner pin that loosely fits into the second inner pin hole and absorbs the swing component of the second outer gear while transmitting only the rotation component of the second outer gear to the output shaft. The above object is achieved.

【００２５】又、本第２発明は、ケーシングと、該ケー
シングに対して回転自在に支持された入力軸及び出力軸
と、該入力軸に、互いに１８０°の位相差を持って軸方
向に並べて固定された第１、第２偏心体と、該第１、第
２偏心体の外周にそれぞれ回転自在に設けられると共
に、軸方向に突出する複数の第１、第２内ピンをそれぞ
れ有した第１、第２外歯歯車と、ケーシングに回転自在
に支持されると共に、前記第１、第２外歯歯車とそれぞ
れ内接噛合し、且つ、互いに一体化された第１、第２内
歯歯車と、ケーシング形成されて第１外歯歯車の前記第
１内ピンと遊びを持って係合し、第１外歯歯車の自転を
拘束すると共に、前記第１偏心体の回転によって生ずる
該第１外歯歯車の揺動を許容する第１内ピン孔と、前記
出力軸に形成されて第２外歯歯車の前記第２内ピンと遊
びを持って係合し、第２外歯歯車の揺動成分を吸収しな
がら該第２外歯歯車の自転成分のみを出力軸に伝達する
第２内ピン孔と、を備えたことにより、同じく上記目的
を達成したものである。In the second invention, the casing, the input shaft and the output shaft rotatably supported by the casing, and the input shaft are arranged in the axial direction with a phase difference of 180 °. A fixed first and second eccentric body, and a first and second eccentric body each having a plurality of first and second inner pins rotatably provided on the outer periphery of the first and second eccentric bodies and projecting in the axial direction. First and second externally toothed gears, which are rotatably supported by a casing, are inwardly meshed with the first and second externally toothed gears, respectively, and are integrated with each other. A casing formed to engage with the first inner pin of the first external gear with play, restrain the rotation of the first external gear, and generate the first external member by rotation of the first eccentric body. A first inner pin hole that allows the tooth gear to swing and a shaft formed on the output shaft A second internal gear which engages with the second internal pin of the two external gear with play and absorbs the swing component of the second external gear while transmitting only the rotation component of the second external gear to the output shaft. By providing the pin hole, the above-mentioned object is also achieved.

【００２６】又、本第３発明は、ケーシングと、該ケー
シングに対して回転自在に支持された入力軸及び出力軸
と、該入力軸に、互いに１８０°の位相差を持って軸方
向に並べて固定された第１、第２偏心体と、第１偏心体
の外周に回転自在に設けられると共に、自身を軸方向に
貫通する複数の第１内ピン孔を有した第１外歯歯車と、
前記第２偏心体の外周に回転自在に設けられると共に、
軸方向に突出する複数の第２内ピンを有した第２外歯歯
車と、ケーシングに回転自在に支持されると共に、前記
第１、第２外歯歯車とそれぞれ内接噛合し、且つ互いに
一体化された第１、第２内歯歯車と、ケーシングから突
出して第１外歯歯車の前記第１内ピン孔に遊嵌し、第１
外歯歯車の自転を拘束すると共に、前記第１偏心体の回
転によって生ずる該第１外歯歯車の揺動を許容する第１
内ピンと、前記出力軸に形成されて第２外歯歯車の前記
第２内ピンと遊びを持って係合し、第２外歯歯車の揺動
成分を吸収しながら該第２外歯歯車の自転成分のみを出
力軸に伝達する第２内ピン孔と、を備えたことにより、
同じく上記目的を達成したものである。In the third aspect of the invention, the casing, the input shaft and the output shaft rotatably supported by the casing, and the input shaft are arranged in the axial direction with a phase difference of 180 °. Fixed first and second eccentric bodies, and a first externally toothed gear rotatably provided on the outer periphery of the first eccentric body and having a plurality of first internal pin holes penetrating itself in the axial direction,
While being rotatably provided on the outer periphery of the second eccentric body,
A second external gear having a plurality of second internal pins protruding in the axial direction, and a second external gear that is rotatably supported by the casing and internally meshes with the first and second external gears and is integral with each other. The first and second internal gears that are made into a single piece, and project from the casing and are loosely fitted in the first internal pin holes of the first external gear,
A first for restraining the rotation of the external gear and allowing the swing of the first external gear caused by the rotation of the first eccentric body.
The inner pin engages with the second inner pin of the second external gear, which is formed on the output shaft, with play, and absorbs the swing component of the second external gear while rotating the second external gear. By having the second inner pin hole that transmits only the component to the output shaft,
Similarly, the above-mentioned object is achieved.

【００２７】又、本第４発明は、ケーシングと、該ケー
シングに対して回転自在に支持された入力軸及び出力軸
と、該入力軸に、互いに１８０°の位相差を持って軸方
向に並べて固定された第１、第２偏心体と、該第１偏心
体の外周に回転自在に設けられると共に、軸方向に突出
する複数の第１内ピンを有した第１外歯歯車と、前記第
２偏心体の外周に回転自在に設けられると共に、自身を
軸方向に貫通する複数の第２内ピン孔を有した第２外歯
歯車と、ケーシングに回転自在に支持されると共に、前
記第１、第２外歯歯車とそれぞれ内接噛合し、且つ互い
に一体化された第１、第２内歯歯車と、ケーシングに形
成されて第１外歯歯車の前記第１内ピンと遊びを持って
係合し、第１外歯歯車の自転を拘束すると共に、前記第
１偏心体の回転によって生ずる該第１外歯歯車の揺動を
許容する第１内ピン孔と、前記出力軸から突出して第２
外歯歯車の前記第２内ピン孔に遊嵌し、第２外歯歯車の
揺動成分を吸収しながら該第２外歯歯車の自転成分のみ
を出力軸に伝達する第２内ピンと、を備えたことによ
り、同じく上記目的を達成したものである。In the fourth invention, the casing, the input shaft and the output shaft rotatably supported by the casing, and the input shaft are arranged in the axial direction with a phase difference of 180 °. A fixed first and second eccentric body, a first external gear provided rotatably on the outer periphery of the first eccentric body, and having a plurality of first inner pins protruding in the axial direction; A second external gear that is rotatably provided on the outer circumference of the eccentric body and has a plurality of second internal pin holes that penetrate the eccentric body in the axial direction; , First and second internal gears respectively internally meshed with the second external gear and integrated with each other, and engaged with the first internal pin of the first external gear formed in the casing with play. The rotation of the first external gear and restrain the rotation of the first eccentric body. A first inner pin hole to allow the swinging of the first external gear caused I, the projects from the output shaft 2
A second inner pin that is loosely fitted in the second inner pin hole of the external gear and that transmits only the rotation component of the second external gear to the output shaft while absorbing the swing component of the second external gear. By providing the same, the above-mentioned object is also achieved.

【００２８】[0028]

【作用】本第１発明においては、２枚ある外歯歯車の一
方（第１外歯歯車）はケーシングから突出した第１内ピ
ンによってその自転が拘束されると共に揺動のみが許容
されるようにした。又、もう一方の外歯歯車（第２外歯
歯車）は出力軸側から突出させた第２内ピンによって該
第２外歯歯車の揺動が吸収されると共にその自転成分の
みが出力軸に伝達し得るようにした。In the first aspect of the present invention, one of the two external gears (the first external gear) is constrained from rotating by the first inner pin protruding from the casing and is allowed to swing only. I chose The other external gear (second external gear) absorbs the swing of the second external gear by the second internal pin protruding from the output shaft side, and only its rotation component is transmitted to the output shaft. I was able to communicate.

【００２９】その上で、両外歯歯車を互い一体化された
内歯歯車にそれぞれ内接噛合させ、この内歯歯車をケー
シングによって回転自在に支持した。この結果、入力軸
の正回転に対し、出力軸は−数十〜∞〜＋数十の減速比
を得ることができるようになった。ここで、「−」は入
力回転に対して逆回転、「＋」は正回転をそれぞれ示し
ている。又、減速比を無限大にとることができるという
のは出力軸回転数を入力軸回転数にも拘らず零とできる
ことを意味している。Then, both external gears were internally meshed with the integrated internal gears, and the internal gears were rotatably supported by the casing. As a result, the output shaft can obtain a reduction ratio of −several tens to ∞ to + several tens with respect to the positive rotation of the input shaft. Here, “−” indicates reverse rotation with respect to input rotation, and “+” indicates forward rotation. In addition, the fact that the reduction ratio can be set to infinity means that the output shaft rotational speed can be zero regardless of the input shaft rotational speed.

【００３０】なお、第２〜第４発明は第１、第２内ピン
と第１、第２内ピン孔とを形成する部材を互いに入れ替
えたもので、第１発明と全く同様の作用が得られる。In the second to fourth inventions, the members forming the first and second inner pins and the first and second inner pin holes are replaced with each other, and the same effect as in the first invention can be obtained. .

【００３１】本発明に係る構成によれば、２枚の外歯歯
車の位相を１８０°ずらして揺動回転させているため、
動的バランスがとれ、運転中の振動発生が抑制できる。According to the structure of the present invention, the two external gears are oscillated and rotated by shifting the phase by 180 °.
Dynamic balance can be achieved and vibration generation during operation can be suppressed.

【００３２】又、クランク状の内ピン等を必要としてい
ないため、製造コストの低減、コンパクト化、あるいは
低騒音化等を容易に実現することができる。Further, since the crank-shaped inner pin or the like is not required, the manufacturing cost can be reduced, the size can be reduced, or the noise can be easily reduced.

【００３３】又、クランク状の内ピン部分が運転による
偶力を受けるという従来の構造を改めたため、従来に比
べ格段に容易に高い剛性を維持することができる。Further, since the conventional structure in which the crank-shaped inner pin portion receives a couple of forces during operation is improved, it is possible to maintain the rigidity much more easily than the conventional structure.

【００３４】[0034]

【実施例】以下、図面に基づいて本発明の実施例を詳細
に説明する。Embodiments of the present invention will now be described in detail with reference to the drawings.

【００３５】図１、図２は、本発明に係る差動型内接噛
合遊星歯車構造をプラスチック製の内接噛合型遊星歯車
減速機に適用したものである。又、図３は図１、図２に
示した減速機をその動力伝達系に着目してスケルトン図
示したものであり、図４は得られる減速比のマトリクス
を示したものである。FIGS. 1 and 2 show a differential internal gearing planetary gear structure according to the present invention applied to a plastic internal gearing planetary gear reducer. Further, FIG. 3 is a skeleton diagram of the speed reducer shown in FIGS. 1 and 2, focusing on the power transmission system thereof, and FIG. 4 is a matrix of obtained reduction ratios.

【００３６】この実施例では、入力軸１０２の回転が出
力軸１０４の減速回転となって取出される。In this embodiment, the rotation of the input shaft 102 is taken out as the decelerated rotation of the output shaft 104.

【００３７】プラスチックからなる入力軸１０２には第
１、第２偏心体１０６、１０８が一体に成形されてお
り、互いの偏心方向（位相）は、１８０°（即ち逆方向
に）ずれている。この第１、第２偏心体１０６、１０８
は、図示の例では入力軸１０２に直接一体的に形成され
ているが、別体で形成し、後で組み付けて一体化するよ
うにしてもよい。The input shaft 102 made of plastic is integrally molded with the first and second eccentric bodies 106 and 108, and their eccentric directions (phases) are deviated by 180 ° (that is, opposite directions). The first and second eccentric bodies 106 and 108
In the illustrated example, is directly formed integrally with the input shaft 102, but it may be formed as a separate body and later assembled to be integrated.

【００３８】第１、第２外歯歯車１１０、１１２もプラ
スチックからなり、第１、第２偏心体１０６、１０８の
外周にそれぞれ回転自在に組込まれている。この第１、
第２外歯歯車１１０、１１２は、その外周にトロコイド
歯形からなる外歯１１０a 、１１２a を有する。又、各
第１、第２外歯歯車１１０、１１２には、それぞれ軸方
向に貫通する複数の第１、第２内ピン孔１１１、１１３
が設けられてる。The first and second external gears 110 and 112 are also made of plastic and are rotatably assembled to the outer circumferences of the first and second eccentric bodies 106 and 108, respectively. This first,
The second external gears 110 and 112 have trochoidal external teeth 110a and 112a on the outer circumference thereof. Further, each of the first and second external gears 110, 112 has a plurality of first and second inner pin holes 111, 113 penetrating in the axial direction.
Is provided.

【００３９】第１、第２外歯歯車１１０、１１２の第
１、第２外歯１１０a 、１１２a はプラスチック製の第
１、第２内歯歯車１１４、１１６の第１、第２内歯（円
弧歯形）１１４a 、１１６a とそれぞれ内接噛合する。
この第１、第２内歯歯車１１４、１１６は、互いに一体
化された状態で（図示の例では初めから一体成形されて
いる）第１ケーシング１１８の内部に形成されたガイド
部１１８b に回転自在に支持されている。The first and second external teeth 110a and 112a of the first and second external gears 110 and 112 are the first and second internal teeth (arcs) of the plastic first and second internal gears 114 and 116, respectively. (Tooth profile) 114a, 116a are intermeshed with each other.
The first and second internal gears 114, 116 are rotatable in a guide portion 118b formed inside a first casing 118 (in the illustrated example, integrally formed from the beginning) while being integrated with each other. Supported by.

【００４０】第１ケーシング１１８にはその内周部に入
力軸１０２を回転自在に支持する孔１０８a と第１、第
２内歯歯車１１４、１１６を回転自在に支持する（前述
した）ガイド部１０８b とが形成され、更に、第１外歯
歯車１１０の第１内ピン孔１１１に挿通される第１内ピ
ン１２２が一体的に突出形成されている。A hole 108a for rotatably supporting the input shaft 102 and a guide portion 108b (described above) for rotatably supporting the first and second internal gears 114 and 116 are provided on the inner periphery of the first casing 118. And a first inner pin 122 that is inserted into the first inner pin hole 111 of the first external gear 110 is integrally formed to project.

【００４１】第２ケーシング１２０には、出力軸１０４
を回転自在に支持する孔１２０a が形成されている。第
１ケーシング１１８及び第２ケーシング１２０は、互い
に同心に嵌合され、一体化されている。In the second casing 120, the output shaft 104
A hole 120a for rotatably supporting is formed. The first casing 118 and the second casing 120 are concentrically fitted and integrated with each other.

【００４２】出力軸１０４もプラスチックからなる。こ
の出力軸１０４には、入力軸１０２を回転自在に支える
センターポート１０４a が設けらており、又、第２外歯
歯車１１２の第２内ピン孔１１３に挿通される第２内ピ
ン１２４が一体的に突出形成されている。この出力軸１
０４は、第２ケーシング１２０に回転自在に軸支されて
いる。The output shaft 104 is also made of plastic. The output shaft 104 is provided with a center port 104a for rotatably supporting the input shaft 102, and a second inner pin 124 inserted into the second inner pin hole 113 of the second external gear 112 is integrated. Are formed so as to protrude. This output shaft 1
04 is rotatably supported by the second casing 120.

【００４３】以下、図３のスケルトン図を参照しながら
この実施例の作用を説明する。The operation of this embodiment will be described below with reference to the skeleton diagram of FIG.

【００４４】図３において、第１外歯歯車１１０と第２
外歯歯車１１２とが入力軸１０２のセンターに対し互い
に正反対方向に揺動（偏心）回転することから、個々の
揺動回転に起因する動的なアンバランスが相殺される。In FIG. 3, the first external gear 110 and the second external gear 110
Since the external gear 112 swings (eccentrically) rotates in the directions opposite to each other with respect to the center of the input shaft 102, the dynamic imbalance caused by each swing rotation is canceled.

【００４５】又、クランク状の内ピンを持たないため、
それだけ部品点数が少ない上に、この部分における不具
合の発生の心配もない。Since it does not have a crank-shaped inner pin,
The number of parts is so small, and there is no concern about the occurrence of defects in this part.

【００４６】減速比については、入力軸１０２の回転速
度をＮ1 、出力軸１０４の回転速度をＮ2 とすると、Ｎ
2 ＝１−｛（Ｓ2 ・Ｐ1 ）／（Ｓ1 ・Ｐ2 ）｝Ｎ1 とな
る。Regarding the reduction ratio, if the rotation speed of the input shaft 102 is N1 and the rotation speed of the output shaft 104 is N2, then N
2 = 1-{(S2.P1) / (S1.P2)} N1.

【００４７】ここで、Ｐ1 、Ｐ2 はそれぞれ第１、第２
外歯歯車１１０、１１２の歯数、Ｓ1 、Ｓ2 はそれぞれ
第１、第２内歯歯車１１４、１１６の歯数を示してい
る。Ｎ2 の値が正であれば入力回転と同方向の回転が出
力され、負の値であれば入力回転と逆方向の回転が出力
される。Here, P1 and P2 are the first and the second, respectively.
The numbers of teeth of the external gears 110 and 112, and S1 and S2 indicate the numbers of teeth of the first and second internal gears 114 and 116, respectively. If the value of N2 is positive, the rotation in the same direction as the input rotation is output, and if the value of N2 is negative, the rotation in the opposite direction to the input rotation is output.

【００４８】上式から明らかなように、第１系と第２系
が同一歯数の組合わせの場合には、減速比は無限大とな
り、出力回転は零となる。As is clear from the above equation, when the first system and the second system have the same number of teeth, the reduction ratio becomes infinite and the output rotation becomes zero.

【００４９】ここで、入力回転が減速されて出力回転と
なる関係を具体的な数を用いて説明する。減速は、各部
分の総合的な動きによって同時になされるものである
が、便宜上部分的に区切って説明する。Here, the relationship in which the input rotation is decelerated to the output rotation will be described using specific numbers. The deceleration is performed at the same time by the overall movement of each part, but for convenience, it will be described by dividing it into parts.

【００５０】今、各々の歯車の歯数をＰ1 ＝２９、Ｐ2
＝３０、Ｓ1 ＝３０、Ｓ2 ＝３１とする。入力軸１０２
が１回転すると、第１ケーシング１１８に形成された第
１内ピン１２２により自転を拘束されている第１外歯歯
車１１０が１回の揺動回転を行う。この結果、第１外歯
歯車１１０と噛合する第１内歯歯車１１４は、（Ｓ1−
Ｐ1 ）／Ｓ1 、即ち１／３０回転だけ入力軸１０２と同
方向に自転する。Now, the number of teeth of each gear is P1 = 29, P2
= 30, S1 = 30, S2 = 31. Input shaft 102
1 makes one rotation, the first external gear 110, whose rotation is restricted by the first inner pin 122 formed in the first casing 118, makes one swing rotation. As a result, the first internal gear 114 that meshes with the first external gear 110 becomes (S1−
P1) / S1, ie, 1/30 rotation, rotates in the same direction as the input shaft 102.

【００５１】一方、第２内歯歯車１１６がもし自転しな
いと仮定すると、入力軸１０２を１回転させると、（第
１系と同様に）第２外歯歯車１１２は−（Ｓ2 −Ｐ2 ）
／Ｐ2 、即ち−１／３０回転だけ入力軸１０２と逆方向
に自転することになる。しかしながら、実際には第２内
歯歯車１１６は第１内歯歯車１１４と一体であるため、
１／３０回転だけ入力軸１０２と同方向に自転する。従
って第２系の各歯車の噛合に対する入力軸１０２の回転
数は１−１／３０回転が実効回転となり、実際の第２外
歯歯車１１２は、−（１／３０）×（１−１／３０）、
即ち−１／３１．０３４８２７７・・・回転だけ入力軸
と逆方向に自転することになる。On the other hand, assuming that the second internal gear 116 does not rotate on its own axis, when the input shaft 102 is rotated once, the second external gear 112 (as in the first system) has a-(S2-P2).
/ P2, i.e., -1/30 rotation, rotates in the direction opposite to the input shaft 102. However, in reality, the second internal gear 116 is integrated with the first internal gear 114,
Only 1/30 rotation rotates in the same direction as the input shaft 102. Therefore, the rotational speed of the input shaft 102 with respect to the meshing of the gears of the second system is 1-1 / 30 rotation, and the actual second external gear 112 is-(1/30) × (1-1 / 1). 30),
That is, -1 / 31.0348277 ... Rotates only in the opposite direction to the input shaft.

【００５２】この結果、最終出力回転数としては、前記
第１内歯歯車１１４と第２外歯歯車１１２の回転数の和
（又は差）となるため、この両者を足したもの、即ち、
１／３０−１／３１．０３４４８２７７・・・＝１／９
００回転が入力軸１０２の１回転に対する出力軸での回
転数となる。これは減速比９００が達成されることにほ
かならない。As a result, the final output rotational speed is the sum (or difference) of the rotational speeds of the first internal gear 114 and the second external gear 112.
1 / 30-1 / 31.034448277 ... = 1/9
00 rotations is the number of rotations on the output shaft for one rotation of the input shaft 102. This is nothing but achieving a reduction ratio of 900.

【００５３】減速比は第１外歯歯車１１０と第２外歯歯
車１１２の歯数の差を小さな値とするほど大きな減速比
が得られる（上記計算例では外歯と内歯の歯数差＝１で
最大減速比となる）。With respect to the reduction ratio, the smaller the difference in the number of teeth between the first external gear 110 and the second external gear 112 is, the larger the reduction ratio is obtained (in the above calculation example, the difference in the number of external teeth and internal teeth is obtained). = 1 is the maximum reduction ratio).

【００５４】なお、外歯歯車と内歯歯車との歯数差が
１、即ちＰ＋１＝Ｓの場合において歯車歯数（Ｐ1 、Ｐ
2 ）の組合せと得られる減速比の計算例を図４に示す。
なお、スラッシュの覧は、全て減速比が無限大（∞）と
なり、どのような入力回転を入れても出力回転は零とな
ることを示している。このように各歯車の歯数を僅かに
変えるのみで、同一外径寸法でも種々の減速比が得られ
るのもこの減速機の大きな特徴である。When the difference in the number of teeth between the external gear and the internal gear is 1, that is, P + 1 = S, the number of gear teeth (P1, P
Fig. 4 shows a calculation example of the combination of 2) and the obtained reduction ratio.
Note that all the slashes show that the reduction ratio is infinite (∞) and the output rotation is zero regardless of the input rotation. A major feature of this speed reducer is that various reduction ratios can be obtained with the same outer diameter size by only slightly changing the number of teeth of each gear.

【００５５】次に、図５にＤＣ小形モータを直結した差
動型内接噛合遊星歯車減速機の実施例を示す。Next, FIG. 5 shows an embodiment of a differential type internally meshing planetary gear reducer in which a small DC motor is directly connected.

【００５６】この実施例では、モータ軸（入力軸相当）
２０２の回転が出力軸２０４の減速回転となって取り出
される。ＤＣ小形モータ２００は、第１ケーシング２１
８に、モータ結合ねじ２３２により同芯且つ回転固定に
組付けられている。モータ軸２０２には、プラスチック
からなる第１偏心体２０６及び第２偏心体２０８が圧入
（あるいは公知のＤカット結合）により一体化されてい
る。In this embodiment, the motor shaft (corresponding to the input shaft)
The rotation of 202 is taken out as the decelerated rotation of the output shaft 204. The small DC motor 200 includes the first casing 21.
8 is assembled concentrically and rotationally fixed by a motor coupling screw 232. A first eccentric body 206 and a second eccentric body 208 made of plastic are integrated with the motor shaft 202 by press fitting (or known D-cut coupling).

【００５７】第１、第２偏心体２０６、２０８は、互い
に偏心方向が１８０°（逆方向に）ずれている。第１、
第２偏心体２０６、２０８は図示の例では初めから一体
化されているが、別々に形成された後、一体化されるも
のでもよい。第１、第２ケーシング２１８、２２０は、
その外径がＤＣ小形モータ２００の外径とほぼ同一に設
定され、この結果、ユーザに対し、あたかも単体の超低
速ＤＣ小形モータのような形で納入することができる。
その他の構成は上記第１実施例と同様であるため、図中
で同一又は類似の部分に下２桁が同一の符号を付し、重
複説明を省略する。The eccentric directions of the first and second eccentric bodies 206 and 208 are deviated from each other by 180 ° (in opposite directions). First,
Although the second eccentric bodies 206 and 208 are integrated from the beginning in the illustrated example, they may be formed separately and then integrated. The first and second casings 218 and 220 are
The outer diameter is set to be substantially the same as the outer diameter of the DC small motor 200, and as a result, it can be delivered to the user as if it were a single ultra-low speed DC small motor.
Since other configurations are the same as those of the first embodiment, the same or similar parts are denoted by the same last two digits in the drawings, and duplicated description will be omitted.

【００５８】なお、上記実施例では、減速機の各部材を
プラスチックにて形成するようにしていたが、本発明に
おいては、各部材の素材は必ずしもプラスチックに限定
するものではない。Although each member of the speed reducer is made of plastic in the above embodiment, the material of each member is not necessarily limited to plastic in the present invention.

【００５９】又、上記第１、第２実施例では、第１外歯
歯車１１０、２１０側に第１内ピン孔１１１、２１１
を、第１ケーシング１１８、２１８に第１内ピン１２
２、２２２をそれぞれ設けるようにしていたが、この第
１内ピン１２２、２２２と第１内ピン孔１１１、２１１
は、互いに相手部材側に入れ替わって形成しても上記説
明と全く同様の作用効果が得られる（図６（a ））。In the first and second embodiments, the first inner pin holes 111, 211 are provided on the first external gear 110, 210 side.
To the first casing 118, 218 in the first inner pin 12
2 and 222 are provided respectively, the first inner pin 122 and 222 and the first inner pin hole 111 and 211 are provided.
Even if they are formed so as to be replaced with each other on the mating member side, the same effect as the above description can be obtained (FIG. 6 (a)).

【００６０】同様に、第２内ピン１２４、２２４と第２
内ピン孔１１３、２１３についても互いに相手部材側に
入れ替わって形成しても上記説明と全く同様の作用効果
が得られる（図６（b ））。Similarly, the second inner pins 124, 224 and the second inner pins 124, 224
Even if the inner pin holes 113 and 213 are formed so as to be exchanged with each other on the mating member side, the same effect as the above description can be obtained (FIG. 6 (b)).

【００６１】[0061]

【発明の効果】以上説明したとおり、本発明によれば、
構成が簡単で、且つ少ない部品点数で大減速比を得るこ
とができ、且つ歯車の歯数の組合せにより、同一外径寸
法でも各種の減速比を得ることができるようになるとい
う優れた効果が得られる。As described above, according to the present invention,
The structure is simple, a large reduction ratio can be obtained with a small number of parts, and by combining the number of gear teeth, various reduction ratios can be obtained even with the same outer diameter dimension. can get.

【００６２】又、２枚の外歯歯車の偏心方向が１８０°
ずらされているため、運転時の内部荷重がバランスし、
振動の発生を抑制できる。The eccentric direction of the two external gears is 180 °
Because they are displaced, the internal load during operation is balanced,
The generation of vibration can be suppressed.

【００６３】更に、製造精度、あるいは組付け精度の要
求されるクランク状の内ピンを持たないため、それだけ
コストを低減できると共に、この部分での損傷発生や騒
音発生の心配もなくなり、又、偶力作用に伴うクランク
軸受部の負担増もなくなる。Furthermore, since there is no crank-shaped inner pin required for manufacturing precision or assembling precision, the cost can be reduced accordingly, and there is no fear of damage or noise generation at this portion, and even The load on the crank bearing portion due to the force action is not increased.

【図面の簡単な説明】[Brief description of drawings]

【図１】本発明にかかる差動型内接噛合遊星歯車構造が
適用された減速機の実施例を示す縦断面図FIG. 1 is a vertical cross-sectional view showing an embodiment of a speed reducer to which a differential type internally meshing planetary gear structure according to the present invention is applied.

【図２】図１のII−II線に沿う断面図FIG. 2 is a sectional view taken along line II-II in FIG.

【図３】上記実施例の動力伝達系に着目したスケルトン
図FIG. 3 is a skeleton diagram focusing on the power transmission system of the above embodiment.

【図４】上記実施例において各歯車の歯数を変更したと
きに得られる減速比の例を示す線図FIG. 4 is a diagram showing an example of a reduction ratio obtained when the number of teeth of each gear is changed in the above embodiment.

【図５】本発明に係る差動型内接噛合遊星歯車構造をＤ
Ｃ小形モータの出力部分に適用した実施例を示す断面図FIG. 5 is a differential internal meshing planetary gear structure D according to the present invention.
Sectional drawing which shows the Example applied to the output part of C small motor

【図６】第１内ピンと第１内ピン孔、第２内ピンと第２
内ピン孔をそれぞれ入れ替えて形成した状態を示す部分
拡大図FIG. 6 is a first inner pin and a first inner pin hole, and a second inner pin and a second inner pin.
Partial enlarged view showing the state in which the inner pin holes are replaced

【図７】従来の内接噛合遊星歯車構造が適用された減速
機の例を示す断面図FIG. 7 is a cross-sectional view showing an example of a speed reducer to which a conventional internally meshing planetary gear structure is applied.

【図８】図７に示した構造において外歯歯車を２枚とし
た例を示すスケルトン図8 is a skeleton diagram showing an example in which two external gears are used in the structure shown in FIG.

【図９】図８の構造を２段重ねとして大減速比を得るよ
うにした構成を示すスケルトン図9 is a skeleton diagram showing a configuration in which the structure of FIG. 8 is stacked in two stages to obtain a large reduction ratio.

【図１０】大減速比を得るために差動型とした内接噛合
遊星歯車構造の例を示すスケルトン図FIG. 10 is a skeleton diagram showing an example of an internally meshing planetary gear structure of a differential type for obtaining a large reduction ratio.

【符号の説明】[Explanation of symbols]

１０２、２０２…入力軸 １０４、２０４…出力軸 １０６、２０６…第１偏心体 １０８、２０８…第２偏心体 １１０、２１０…第１外歯歯車 １１１、２１１…第１内ピン孔 １１２、２１２…第２外歯歯車 １１３、２１３…第２内ピン孔 １１４、２１４…第１内歯歯車 １１６、２１６…第２内歯歯車 １１８、２１８…第１ケーシング １２０、２２０…第２ケーシング １２２、２２２…第１内ピン １２４、２２４…第２内ピン 102, 202 ... Input shafts 104, 204 ... Output shafts 106, 206 ... First eccentric bodies 108, 208 ... Second eccentric bodies 110, 210 ... First external gears 111, 211 ... First inner pin holes 112, 212 ... 2nd external gear 113, 213 ... 2nd internal pin hole 114, 214 ... 1st internal gear 116, 216 ... 2nd internal gear 118, 218 ... 1st casing 120, 220 ... 2nd casing 122, 222 ... First inner pin 124, 224 ... Second inner pin

【手続補正書】[Procedure amendment]

【提出日】平成６年３月２９日[Submission date] March 29, 1994

【手続補正１】[Procedure Amendment 1]

【補正対象書類名】明細書[Document name to be amended] Statement

【補正対象項目名】００４６[Correction target item name] 0046

【補正方法】変更[Correction method] Change

【補正内容】[Correction content]

【００４６】減速比については、入力軸１０２の回転速
度をＮ1 、出力軸１０４の回転速度をＮ2 とすると、Ｎ
2 ＝｛１−（Ｓ2 ・Ｐ1 ）／（Ｓ1 ・Ｐ2 ）｝Ｎ1 とな
る。Regarding the reduction ratio, if the rotation speed of the input shaft 102 is N1 and the rotation speed of the output shaft 104 is N2, then N
2 = {1- (S2.P1) / (S1.P2)} N1.

Claims (4)

【特許請求の範囲】[Claims] 【請求項１】ケーシングと、 該ケーシングに対して回転自在に支持された入力軸及び
出力軸と、 該入力軸に、互いに１８０°の位相差を持って軸方向に
並べて固定された第１、第２偏心体と、 該第１、第２偏心体の外周にそれぞれ回転自在に設けら
れると共に、自身を軸方向に貫通する複数の第１、第２
内ピン孔をそれぞれ有した第１、第２外歯歯車と、 ケーシングに回転自在に支持されると共に、前記第１、
第２外歯歯車とそれぞれ内接噛合し、且つ互いに一体化
された第１、第２内歯歯車と、 ケーシングから突出して第１外歯歯車の前記第１内ピン
孔に遊嵌し、第１外歯歯車の自転を拘束すると共に、前
記第１偏心体の回転によって生ずる該第１外歯歯車の揺
動を許容する第１内ピンと、 前記出力軸から突出して第２外歯歯車の前記第２内ピン
孔に遊嵌し、第２外歯歯車の揺動成分を吸収しながら該
第２外歯歯車の自転成分のみを出力軸に伝達する第２内
ピンと、 を備えたことを特徴とする差動型内接噛合遊星歯車構
造。1. A casing, an input shaft and an output shaft rotatably supported with respect to the casing, and a first fixed to the input shaft side by side in the axial direction with a phase difference of 180 °. A second eccentric body, and a plurality of first and second eccentric bodies rotatably provided on the outer circumferences of the first and second eccentric bodies and axially penetrating themselves.
First and second externally toothed gears each having an inner pin hole, and rotatably supported by the casing, and
First and second internal gears that are internally meshed with the second external gear and integrated with each other, and projecting from the casing and loosely fitted in the first internal pin holes of the first external gear, A first internal pin that restrains the rotation of the first external gear and also allows the first external gear to swing due to the rotation of the first eccentric body; and a second external gear that projects from the output shaft. A second inner pin that is loosely fitted in the second inner pin hole and transmits only the rotation component of the second outer tooth gear to the output shaft while absorbing the swing component of the second outer tooth gear. Differential type internally meshing planetary gear structure. 【請求項２】ケーシングと、 該ケーシングに対して回転自在に支持された入力軸及び
出力軸と、 該入力軸に、互いに１８０°の位相差を持って軸方向に
並べて固定された第１、第２偏心体と、 該第１、第２偏心体の外周にそれぞれ回転自在に設けら
れると共に、軸方向に突出する複数の第１、第２内ピン
をそれぞれ有した第１、第２外歯歯車と、 ケーシングに回転自在に支持されると共に、前記第１、
第２外歯歯車とそれぞれ内接噛合し、且つ、互いに一体
化された第１、第２内歯歯車と、 ケーシング形成されて第１外歯歯車の前記第１内ピンと
遊びを持って係合し、第１外歯歯車の自転を拘束すると
共に、前記第１偏心体の回転によって生ずる該第１外歯
歯車の揺動を許容する第１内ピン孔と、 前記出力軸に形成されて第２外歯歯車の前記第２内ピン
と遊びを持って係合し、第２外歯歯車の揺動成分を吸収
しながら該第２外歯歯車の自転成分のみを出力軸に伝達
する第２内ピン孔と、 を備えたことを特徴とする差動型内接噛合遊星歯車構
造。2. A casing, an input shaft and an output shaft rotatably supported with respect to the casing, and a first fixed to the input shaft side by side in the axial direction with a phase difference of 180 °. A second eccentric body, and first and second external teeth rotatably provided on the outer circumferences of the first and second eccentric bodies and respectively having a plurality of first and second inner pins protruding in the axial direction. The gear is rotatably supported by the casing, and the first,
First and second internal gears that are internally meshed with the second external gear and integrated with each other, and are formed in a casing and engage with the first internal pin of the first external gear with play. A first internal pin hole that restrains the rotation of the first external gear and allows the swing of the first external gear caused by the rotation of the first eccentric body; and a first internal pin hole formed in the output shaft. A second internal gear which engages with the second internal pin of the two external gear with play and absorbs the swing component of the second external gear while transmitting only the rotation component of the second external gear to the output shaft. A differential type internally meshing planetary gear structure characterized by comprising pin holes. 【請求項３】ケーシングと、 該ケーシングに対して回転自在に支持された入力軸及び
出力軸と、 該入力軸に、互いに１８０°の位相差を持って軸方向に
並べて固定された第１、第２偏心体と、 該第１偏心体の外周に回転自在に設けられると共に、自
身を軸方向に貫通する複数の第１内ピン孔を有した第１
外歯歯車と、 前記第２偏心体の外周に回転自在に設けられると共に、
軸方向に突出する複数の第２内ピンを有した第２外歯歯
車と、 ケーシングに回転自在に支持されると共に、前記第１、
第２外歯歯車とそれぞれ内接噛合し、且つ互いに一体化
された第１、第２内歯歯車と、 ケーシングから突出して第１外歯歯車の前記第１内ピン
孔に遊嵌し、第１外歯歯車の自転を拘束すると共に、前
記第１偏心体の回転によって生ずる該第１外歯歯車の揺
動を許容する第１内ピンと、 前記出力軸に形成されて第２外歯歯車の前記第２内ピン
と遊びを持って係合し、第２外歯歯車の揺動成分を吸収
しながら該第２外歯歯車の自転成分のみを出力軸に伝達
する第２内ピン孔と、 を備えたことを特徴とする差動型内接噛合遊星歯車構
造。3. A casing, an input shaft and an output shaft rotatably supported with respect to the casing, and a first fixed to the input shaft aligned in the axial direction with a phase difference of 180 °. A second eccentric body, and a first eccentric body rotatably provided on the outer periphery of the first eccentric body and having a plurality of first inner pin holes penetrating itself in the axial direction.
An external gear, and rotatably provided on the outer periphery of the second eccentric body,
A second external gear having a plurality of second internal pins protruding in the axial direction; rotatably supported by a casing;
First and second internal gears that are internally meshed with the second external gear and integrated with each other, and projecting from the casing and loosely fitted in the first internal pin holes of the first external gear, A first internal pin that restrains the rotation of the first external gear and that allows the first external gear to swing due to the rotation of the first eccentric body; and a second external gear formed on the output shaft. A second inner pin hole that engages with the second inner pin with play and absorbs the swing component of the second outer gear and transmits only the rotation component of the second outer gear to the output shaft; A differential type internally meshing planetary gear structure characterized by being provided. 【請求項４】ケーシングと、 該ケーシングに対して回転自在に支持された入力軸及び
出力軸と、 該入力軸に、互いに１８０°の位相差を持って軸方向に
並べて固定された第１、第２偏心体と、 該第１偏心体の外周に回転自在に設けられると共に、軸
方向に突出する複数の第１内ピンを有した第１外歯歯車
と、 前記第２偏心体の外周に回転自在に設けられると共に、
自身を軸方向に貫通する複数の第２内ピン孔を有した第
２外歯歯車と、 ケーシングに回転自在に支持されると共に、前記第１、
第２外歯歯車とそれぞれ内接噛合し、且つ互いに一体化
された第１、第２内歯歯車と、 ケーシングに形成されて第１外歯歯車の前記第１内ピン
と遊びを持って係合し、第１外歯歯車の自転を拘束する
と共に、前記第１偏心体の回転によって生ずる該第１外
歯歯車の揺動を許容する第１内ピン孔と、 前記出力軸から突出して第２外歯歯車の前記第２内ピン
孔に遊嵌し、第２外歯歯車の揺動成分を吸収しながら該
第２外歯歯車の自転成分のみを出力軸に伝達する第２内
ピンと、 を備えたことを特徴とする差動型内接噛合遊星歯車構
造。4. A casing, an input shaft and an output shaft rotatably supported with respect to the casing, and a first fixed to the input shaft arranged side by side in the axial direction with a phase difference of 180 °. A second eccentric body, a first external gear provided rotatably on the outer periphery of the first eccentric body and having a plurality of first inner pins protruding in the axial direction, and an outer periphery of the second eccentric body. It is provided rotatably,
A second external gear having a plurality of second internal pin holes penetrating itself in the axial direction; and a first external gear that is rotatably supported by the casing and
First and second internal gears that are internally meshed with the second external gear and integrated with each other, and engage with the first internal pin of the first external gear with play, with play. A first internal pin hole that restrains the rotation of the first external gear and allows the swing of the first external gear caused by the rotation of the first eccentric body; A second inner pin that is loosely fitted in the second inner pin hole of the external gear and that transmits only the rotation component of the second external gear to the output shaft while absorbing the swing component of the second external gear; A differential type internally meshing planetary gear structure characterized by being provided.
JP21242493A 1993-08-27 1993-08-27 Diffrential type internal meshing planetary gear structure Pending JPH0763243A (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP21242493A JPH0763243A (en) 1993-08-27 1993-08-27 Diffrential type internal meshing planetary gear structure
CN94115796A CN1043678C (en) 1993-08-27 1994-08-25 Differential type internally meshing planetary gear structure
FR9410322A FR2709339B1 (en) 1993-08-27 1994-08-26 Planetary gear train structure with internal meshing and differential type.

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP21242493A JPH0763243A (en) 1993-08-27 1993-08-27 Diffrential type internal meshing planetary gear structure

Publications (1)

Publication Number Publication Date
JPH0763243A true JPH0763243A (en) 1995-03-07

Family

ID=16622367

Family Applications (1)

Application Number Title Priority Date Filing Date
JP21242493A Pending JPH0763243A (en) 1993-08-27 1993-08-27 Diffrential type internal meshing planetary gear structure

Country Status (3)

Country Link
JP (1) JPH0763243A (en)
CN (1) CN1043678C (en)
FR (1) FR2709339B1 (en)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100443417B1 (en) * 2001-11-07 2004-08-09 주식회사 슈버 Speed change system using planetary gear assembly
JP2007285354A (en) * 2006-04-13 2007-11-01 Sumitomo Heavy Ind Ltd Rocking internally meshing type speed reducer
CN100410562C (en) * 2005-06-02 2008-08-13 商春荣 Stepless automatic gear shifting in gear drive
JP2012047207A (en) * 2010-08-24 2012-03-08 Sumitomo Heavy Ind Ltd Reduction gear device
CN114215886A (en) * 2018-02-28 2022-03-22 住友重机械工业株式会社 Eccentric oscillating type reduction gear

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DE102016118427A1 (en) 2016-09-29 2018-03-29 Schunk Gmbh & Co. Kg Spann- Und Greiftechnik cycloidal drive
JP6953321B2 (en) * 2018-02-01 2021-10-27 住友重機械工業株式会社 Manufacturing method of eccentric swing type speed reducer and internal gear
KR102118473B1 (en) * 2019-11-13 2020-06-03 장재혁 Differential reducer with high ratio
JP7273782B2 (en) * 2020-08-31 2023-05-15 美的集団股▲フン▼有限公司 Internal meshing planetary gear system, wheel system and vehicle

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Publication number Priority date Publication date Assignee Title
US3160032A (en) * 1961-05-25 1964-12-08 Black Tool Inc Epicyclic speed changing device and gear form therefor
EP0101349A1 (en) * 1982-08-02 1984-02-22 François Durand Planetory gear box with eccentrics
US4640154A (en) * 1983-09-09 1987-02-03 Osborn Merritt A Epicyclic power transmission
CN2034218U (en) * 1988-10-12 1989-03-15 河南省浚县科学技术开发中心 Floating type differential-gear speed reducer

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100443417B1 (en) * 2001-11-07 2004-08-09 주식회사 슈버 Speed change system using planetary gear assembly
CN100410562C (en) * 2005-06-02 2008-08-13 商春荣 Stepless automatic gear shifting in gear drive
JP2007285354A (en) * 2006-04-13 2007-11-01 Sumitomo Heavy Ind Ltd Rocking internally meshing type speed reducer
JP2012047207A (en) * 2010-08-24 2012-03-08 Sumitomo Heavy Ind Ltd Reduction gear device
CN102374263A (en) * 2010-08-24 2012-03-14 住友重机械工业株式会社 Deceleration device
KR101369637B1 (en) * 2010-08-24 2014-03-04 스미도모쥬기가이고교 가부시키가이샤 Reducer
CN114215886A (en) * 2018-02-28 2022-03-22 住友重机械工业株式会社 Eccentric oscillating type reduction gear

Also Published As

Publication number Publication date
CN1104306A (en) 1995-06-28
FR2709339B1 (en) 1996-07-26
FR2709339A1 (en) 1995-03-03
CN1043678C (en) 1999-06-16

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