TWI577906B - Gear transmission - Google Patents

Description

齒輪傳動裝置 Gear transmission

本申請案是基於在2011年11月10日申請的日本國專利申請案申請號第2011-246285號而主張優先權。該申請案的所有內容將在本說明書中參考並加以引用。本發明是有關於一種具有軸向間隙馬達(axial gap motor)的齒輪傳動裝置。 The present application claims priority based on Japanese Patent Application No. 2011-246285 filed on Nov. 10, 2011. All contents of this application are incorporated by reference in the present specification. The present invention relates to a gear transmission having an axial gap motor.

已知有一種齒輪傳動裝置(以下稱作偏心搖動型的齒輪傳動裝置)，其外齒輪和內齒輪一邊嚙合一邊偏心轉動。此種齒輪傳動裝置稱為擺線(cycloid)減速機。此種齒輪傳動裝置的一例已揭露於國際公開WO2009/081793號。在以下的說明中，會將國際公開WO2009/081793號稱為專利文獻1。在專利文獻1的齒輪傳動裝置中，偏心體固定於曲柄軸(crank shaft)上。外齒輪和偏心體卡合並偏心轉動。在曲柄軸上安裝有徑向間隙馬達(radial gap motor)的轉子(rotor)。 There is known a gear transmission (hereinafter referred to as an eccentric rocking type gear transmission) in which an external gear and an internal gear are eccentrically rotated while meshing. Such a gear transmission is called a cycloid reducer. An example of such a gear transmission has been disclosed in International Publication No. WO 2009/081793. In the following description, the international publication WO2009/081793 will be referred to as Patent Document 1. In the gear transmission of Patent Document 1, the eccentric body is fixed to a crank shaft. The external gear and the eccentric body card are combined with the eccentric rotation. A rotor of a radial gap motor is mounted on the crankshaft.

為了使齒輪傳動裝置的全長薄化，較佳的是利用薄型馬達。因此，為實現薄型的齒輪傳動裝置，較佳的是利用軸向間隙馬達。 In order to make the overall length of the gear transmission thin, it is preferable to use a thin motor. Therefore, in order to realize a thin gear transmission, it is preferable to use an axial gap motor.

軸向間隙馬達，轉子和定子(stator)在軸方向上彼此面對。因此，在軸向間隙馬達上，轉子和定子的間隙寬度容易產生變化。在軸向間隙馬達驅動中時，若間隙寬度發 生變化，則產生的扭矩也會變化。本說明書提供一種新構造的齒輪傳動裝置，此齒輪傳動裝置在偏心搖動型的齒輪傳動裝置利用特有的構造，使得轉子和定子的間隙寬度保持固定。 The axial gap motor, the rotor and the stator face each other in the axial direction. Therefore, on the axial gap motor, the gap width between the rotor and the stator is easily changed. When the axial gap motor is driven, if the gap width is When the change occurs, the generated torque will also change. The present specification provides a newly constructed gear transmission that utilizes a unique configuration in an eccentric rocking type of gear transmission such that the gap width of the rotor and the stator remains fixed.

本說明書所揭露的齒輪傳動裝置具有外殼、載體(carrier)、曲柄軸、外齒輪以及軸向間隙馬達。內齒輪形成於外殼的內周。載體和內齒輪同軸地由外殼支撐。曲柄軸藉由一對軸承由載體支撐。又，曲柄軸具有偏心體。外齒輪和偏心體卡合，並一邊和內齒輪嚙合一邊偏心轉動。軸向間隙馬達的轉子安裝於曲柄軸。在此齒輪傳動裝置，軸向間隙馬達定位於支撐曲柄軸的一對軸承之間。 The gear transmission disclosed in the present specification has a housing, a carrier, a crankshaft, an external gear, and an axial gap motor. The internal gear is formed on the inner circumference of the outer casing. The carrier and the internal gear are coaxially supported by the outer casing. The crankshaft is supported by the carrier by a pair of bearings. Also, the crankshaft has an eccentric body. The outer gear and the eccentric body are engaged and eccentrically rotated while meshing with the inner gear. The rotor of the axial gap motor is mounted to the crankshaft. In this gear transmission, the axial gap motor is positioned between a pair of bearings that support the crankshaft.

曲柄軸在轉動過程中會振動。然而，在一對軸承之間，即便是在曲柄軸的轉動中，曲柄軸的振動也被嚴格抑制。另一方面，在一對軸承的外側，由於曲柄軸被懸臂支撐，因此可能伴隨轉動產生軸擺動。若將軸向間隙馬達的轉子在一對軸承之間固定於曲柄軸，轉子的振動會被抑制。由於可將轉子維持在固定位置，因此可將轉子和定子的間隙維持固定。此結果便是可將軸向間隙馬達的輸出扭矩維持固定。 The crankshaft vibrates during rotation. However, between the pair of bearings, even in the rotation of the crankshaft, the vibration of the crankshaft is strictly suppressed. On the other hand, on the outer side of the pair of bearings, since the crankshaft is supported by the cantilever, the shaft swing may occur accompanying the rotation. If the rotor of the axial gap motor is fixed to the crankshaft between a pair of bearings, the vibration of the rotor is suppressed. Since the rotor can be maintained in a fixed position, the gap between the rotor and the stator can be maintained constant. The result is that the output torque of the axial gap motor can be kept constant.

本說明書所揭露的技術可實現一種齒輪傳動裝置，此齒輪傳動裝置在具有軸向間隙馬達的齒輪傳動裝置之上，使得驅動曲柄軸的軸向間隙馬達輸出穩定的扭矩。 The technology disclosed in the present specification can realize a gear transmission that is above a gear transmission having an axial gap motor such that an axial gap motor that drives the crankshaft outputs a stable torque.

以下，記述了揭露於本說明書的數個技術特徵。又，記述於下的事項各自單獨具有技術有用性。 Hereinafter, several technical features disclosed in the present specification are described. Further, each of the items described below has technical usefulness alone.

2個軸向間隙馬達可以彼此面對的方式配置。此時，雙方的軸向間隙馬達的轉子可定位於支撐曲柄軸的一對軸承之間。2個軸向間隙馬達所產生的吸引力彼此抵銷。由於2個軸向間隙馬達所產生吸引力的平衡良好，因此轉子和定子的間隙可更加不易產生變化。 The two axial gap motors can be configured to face each other. At this time, the rotors of the axial gap motors of both sides can be positioned between a pair of bearings supporting the crankshaft. The attractive forces generated by the two axial gap motors cancel each other out. Since the balance of the attractive forces generated by the two axial gap motors is good, the gap between the rotor and the stator can be made more difficult to change.

曲柄軸也可和載體同軸地配置，亦可配置於偏離載體軸線的位置。若曲柄軸和載體是同軸配置，則可將扭矩傳送至外齒輪的中央部份。扭矩可均一地傳送至外齒輪。 The crankshaft can also be arranged coaxially with the carrier or at a position offset from the axis of the carrier. If the crankshaft and carrier are coaxial, the torque can be transmitted to the central portion of the external gear. The torque can be uniformly transmitted to the external gear.

當曲柄軸和載體同軸配置時，在此曲柄軸上可形成有和載體軸線是同心的貫通孔。並且，在此貫通孔內亦可固定有軸向間隙馬達的轉子。有效地利用曲柄軸的貫通孔，便可實現一種具有小型(compact)馬達的齒輪傳動裝置。 When the crankshaft and the carrier are disposed coaxially, a through hole concentric with the carrier axis may be formed on the crankshaft. Further, a rotor of the axial gap motor may be fixed to the through hole. By effectively utilizing the through hole of the crankshaft, a gear transmission having a compact motor can be realized.

當曲柄軸和載體同軸配置時，可具有隨著外齒輪的偏心轉動而轉動的多個被驅動曲柄軸。此時，多個被驅動曲柄軸是在偏離載體軸線的位置與外齒輪卡合。又，此時各個被驅動曲柄軸亦可等間隔地配置於載體軸線的周圍。藉由具有被驅動曲柄軸，可抑制外齒輪的反衝，並使外齒輪平順轉動。 When the crankshaft and the carrier are coaxially disposed, there may be a plurality of driven crankshafts that rotate as the eccentric rotation of the external gear rotates. At this time, the plurality of driven crankshafts are engaged with the external gear at a position offset from the carrier axis. Further, at this time, each of the driven crankshafts may be disposed at equal intervals around the carrier axis. By having the driven crankshaft, the backlash of the external gear can be suppressed and the external gear can be smoothly rotated.

曲柄軸可具有多個偏心體。此時，每一個偏心體的偏心方向亦可有所不同。進而，每一個偏心體的中心亦可是在和曲柄軸的軸線同心圓上等間隔地定位。若多個偏心體的偏心方向不同，則多個外齒輪的偏心方向便不相同。每 一個外齒輪和內齒輪嚙合的位置，皆在齒輪傳動裝置的圓周方向上平衡地分散。此結果便是可使齒輪傳動裝置的驅動平衡良好。 The crankshaft can have a plurality of eccentric bodies. At this time, the eccentric direction of each eccentric body may also be different. Further, the center of each of the eccentric bodies may be positioned at equal intervals on the concentric circle of the axis of the crankshaft. If the eccentric directions of the plurality of eccentric bodies are different, the eccentric directions of the plurality of external gears are different. each The position at which the external gear and the internal gear mesh are distributed in a balanced manner in the circumferential direction of the gear transmission. This result is a good balance of the drive of the gear transmission.

偏心體可定位於支撐曲柄軸的一對軸承之間。由於抑制了偏心體的反衝，因此可使和偏心體卡合的外齒輪更加平順轉動。 The eccentric body can be positioned between a pair of bearings that support the crankshaft. Since the backlash of the eccentric body is suppressed, the external gear that is engaged with the eccentric body can be smoothly rotated.

(實施例) (Example)

(第1實施例) (First embodiment)

繪示於圖1的齒輪傳動裝置100是一種偏心搖動型的減速裝置，此減速裝置的外齒輪24一邊和內齒輪32嚙合一邊偏心轉動。在齒輪傳動裝置100中，對應著外齒輪24的齒數與內齒輪32的齒數之差，載體8相對外殼6轉動。內齒輪32是由外殼6以及配置於外殼6內周的多個內齒銷(pin)34所構成。又，此類型的齒輪傳動裝置，可稱為擺線(cycloid)減速機。 The gear transmission 100 shown in Fig. 1 is an eccentric rocking type reduction gear, and the external gear 24 of the reduction gear is eccentrically rotated while meshing with the internal gear 32. In the gear transmission 100, the carrier 8 rotates relative to the outer casing 6 corresponding to the difference between the number of teeth of the outer gear 24 and the number of teeth of the internal gear 32. The internal gear 32 is composed of a casing 6 and a plurality of internal pin pins 34 disposed on the inner circumference of the casing 6. Also, this type of gear transmission can be referred to as a cycloid reducer.

齒輪傳動裝置100包括外殼6、載體8、曲柄軸12、外齒輪24以及軸向間隙馬達18、48。載體8具有第1平板8a以及第2平板8c。在第1平板8a以及第2平板8c之間有間隙存在。柱狀部8b從第1平板8a向第2平板8c延伸。柱狀部8b和第二平板8c被固定著。柱狀部8b通過外齒輪24的貫通孔52。外齒輪24配置於第1平板8a以及第2平板8c之間的間隙。載體8藉由一對軸承4由外殼6所支撐。軸承4是斜角(angular)滾珠軸承。載體8和內齒輪32是同軸。載體8藉由一對斜角滾珠軸承4而限制 往軸向方向以及徑向方向的移動。軸線40相當於載體8的軸線。軸線40也相當於內齒輪32(外殼6)的軸線。又，形成於載體8的溝槽，相當於斜角滾珠軸承4的軸承內圈(inner race)。 Gear transmission 100 includes a housing 6, a carrier 8, a crankshaft 12, an external gear 24, and axial gap motors 18,48. The carrier 8 has a first flat plate 8a and a second flat plate 8c. A gap exists between the first flat plate 8a and the second flat plate 8c. The columnar portion 8b extends from the first flat plate 8a toward the second flat plate 8c. The columnar portion 8b and the second flat plate 8c are fixed. The columnar portion 8b passes through the through hole 52 of the external gear 24. The external gear 24 is disposed in a gap between the first flat plate 8a and the second flat plate 8c. The carrier 8 is supported by the outer casing 6 by a pair of bearings 4. The bearing 4 is an angular ball bearing. The carrier 8 and the internal gear 32 are coaxial. Carrier 8 is limited by a pair of bevel ball bearings 4 Movement in the axial direction as well as in the radial direction. The axis 40 corresponds to the axis of the carrier 8. The axis 40 also corresponds to the axis of the internal gear 32 (outer casing 6). Further, the groove formed in the carrier 8 corresponds to the inner race of the bevel ball bearing 4.

曲柄軸12和載體8是以同軸線的方式配置。亦即，曲柄軸12的軸線與載體8的軸線相等。曲柄軸12藉由一對軸承50由載體8所支撐。軸承50是深溝槽滾珠軸承。亦即，曲柄軸12是藉由一對深溝槽滾珠軸承50而限制往軸向方向以及徑向方向的移動。曲柄軸12具有2個偏心體22。 The crankshaft 12 and the carrier 8 are arranged in a coaxial manner. That is, the axis of the crankshaft 12 is equal to the axis of the carrier 8. The crankshaft 12 is supported by the carrier 8 by a pair of bearings 50. Bearing 50 is a deep groove ball bearing. That is, the crankshaft 12 is restricted from moving in the axial direction and the radial direction by a pair of deep groove ball bearings 50. The crankshaft 12 has two eccentric bodies 22.

2個偏心體22是在軸線40的方向上定位於一對深溝槽滾珠軸承50之間。又，各個偏心體22是相對於軸線40以對稱方式偏心。各個偏心體22透過圓筒滾子軸承23與對應的外齒輪24卡合。2個外齒輪24在軸線40的方向上定位於一對深溝槽滾珠軸承50之間。曲柄軸12具有貫通孔12a(參閱圖2)。軸向間隙馬18、48則安裝於貫通孔12a內。編碼器(encoder)20安裝於曲柄軸12。稍後將針對編碼器20和軸向間隙馬18、48詳細敘述。 The two eccentric bodies 22 are positioned between the pair of deep groove ball bearings 50 in the direction of the axis 40. Again, each of the eccentric bodies 22 is eccentric in a symmetrical manner with respect to the axis 40. Each of the eccentric bodies 22 is engaged with the corresponding external gear 24 through the cylindrical roller bearing 23. The two outer gears 24 are positioned between the pair of deep groove ball bearings 50 in the direction of the axis 40. The crankshaft 12 has a through hole 12a (see Fig. 2). The axial gap horses 18, 48 are mounted in the through holes 12a. An encoder 20 is mounted to the crankshaft 12. The encoder 20 and the axial clearance horses 18, 48 will be described in detail later.

被驅動曲柄軸26配置於從軸線40偏離的位置。被驅動曲柄軸26和曲柄軸12是平行延伸，因此，被驅動曲柄軸26的軸線36與曲柄軸12的軸線40平行。被驅動曲柄軸26藉由一對圓錐滾子軸承38而由載體8所支撐。被驅動曲柄軸26具有2個被驅動偏心體35。被驅動偏心體35在軸線36的方向上定位於一對圓錐滾子軸承38之間。又， 每一個被驅動偏心體35是相對於軸線36以對稱方式偏心。每一個被驅動偏心體35皆和對應的外齒輪24卡合。在被驅動曲柄軸26的端部的其中一邊上安裝有制動器(brake)28。又，在被驅動曲柄軸26上並未安裝有馬達。 The driven crankshaft 26 is disposed at a position deviated from the axis 40. The driven crankshaft 26 and the crankshaft 12 extend in parallel such that the axis 36 of the driven crankshaft 26 is parallel to the axis 40 of the crankshaft 12. The driven crankshaft 26 is supported by the carrier 8 by a pair of tapered roller bearings 38. The driven crankshaft 26 has two driven eccentric bodies 35. The driven eccentric body 35 is positioned between the pair of tapered roller bearings 38 in the direction of the axis 36. also, Each of the driven eccentric bodies 35 is eccentric in a symmetrical manner with respect to the axis 36. Each of the driven eccentric bodies 35 is engaged with a corresponding external gear 24. A brake 28 is attached to one of the ends of the end of the driven crankshaft 26. Further, a motor is not attached to the driven crankshaft 26.

若曲柄軸12轉動，則偏心體22會繞著軸線40的周圍偏心轉動。伴隨偏心體22的偏心轉動，外齒輪24和內齒輪32一邊嚙合，一邊繞著軸線40的周圍偏心轉動。外齒輪24的齒數和內齒輪32的齒數(內齒銷34的數目)並不相同。因此，若外齒輪24偏心轉動，對應外齒輪24和內齒輪32的齒數差，載體8會相對於內齒輪32(外殼6)轉動。又，被驅動曲柄軸26並非直接傳送馬達的扭矩。被驅動曲柄軸26伴隨著外齒輪24的偏心轉動而轉動。被驅動曲柄軸26抑制外齒輪24的反衝，並輔助外齒輪24平順地偏心轉動。 If the crankshaft 12 rotates, the eccentric body 22 will eccentrically rotate about the circumference of the axis 40. With the eccentric rotation of the eccentric body 22, the external gear 24 and the internal gear 32 mesh with each other while being eccentrically rotated around the circumference of the axis 40. The number of teeth of the outer gear 24 and the number of teeth of the inner gear 32 (the number of the inner tooth pins 34) are not the same. Therefore, if the external gear 24 is eccentrically rotated, the carrier 8 is rotated relative to the internal gear 32 (the outer casing 6) in accordance with the difference in the number of teeth of the external gear 24 and the internal gear 32. Further, the driven crankshaft 26 does not directly transmit the torque of the motor. The driven crank shaft 26 rotates in accordance with the eccentric rotation of the external gear 24. The driven crankshaft 26 suppresses the kickback of the external gear 24 and assists the external gear 24 to smoothly rotate eccentrically.

參閱圖1以及圖2，對軸向間隙馬達18、48進行詳細說明。在以下的說明中，將軸向間隙馬達18稱為第1軸向間隙馬達18，並將軸向間隙馬達48稱為第2軸向間隙馬達48。第1軸向間隙馬達18具有第1轉子16和第1定子14。在第1轉子16和第1定子14之間存在有間隙60。第1轉子16具有轉子盤17和第1永久磁鐵15。第1永久磁鐵15固定於轉子盤17其中一邊的表面上。轉子盤17被壓入曲柄軸12的貫通孔12a的內壁中。因此，在曲柄軸12的貫通孔12a內，第1轉子16亦可表示為是安裝於曲柄軸12。又，貫通孔12a是和載體8的軸線40同心形成。又， 轉子盤17具有延長部17a，而此延長部17a是從轉子盤17其中一邊的表面沿著軸線40延伸。 The axial gap motors 18, 48 will be described in detail with reference to Figs. 1 and 2 . In the following description, the axial gap motor 18 will be referred to as a first axial gap motor 18, and the axial gap motor 48 will be referred to as a second axial gap motor 48. The first axial gap motor 18 has a first rotor 16 and a first stator 14 . A gap 60 exists between the first rotor 16 and the first stator 14. The first rotor 16 has a rotor disk 17 and a first permanent magnet 15 . The first permanent magnet 15 is fixed to the surface of one of the rotor disks 17. The rotor disk 17 is pressed into the inner wall of the through hole 12a of the crankshaft 12. Therefore, in the through hole 12a of the crankshaft 12, the first rotor 16 can also be shown as being attached to the crankshaft 12. Further, the through hole 12a is formed concentrically with the axis 40 of the carrier 8. also, The rotor disk 17 has an extension 17a which extends from the surface of one of the rotor disks 17 along the axis 40.

第1定子14具有第1定子芯13和第1卷線11。第1定子14配置於貫通孔12a內。因此，可表示為第1軸向間隙馬達18是配置於曲柄軸12的貫通孔12a內。第1卷線11捲繞於第1定子芯13。第1定子芯13是由壓粉磁芯所形成。第1定子芯13固定於第1定子盤21。第1定子盤21固定於載體8(第1平板8a)。因此，可表示為第1定子14是固定於載體8。貫通孔13a形成於第1定子芯13。轉子盤17的延長部17a通過貫通孔13a。編碼器20安裝於延長部17的端部。亦即，在軸線40的方向上，編碼器20在第1定子盤21的外側被固定於轉子盤17的延長部17a。藉由編碼器20，可檢測出曲柄軸12的轉動角。 The first stator 14 has a first stator core 13 and a first winding wire 11. The first stator 14 is disposed in the through hole 12a. Therefore, it can be said that the first axial gap motor 18 is disposed in the through hole 12a of the crankshaft 12. The first winding wire 11 is wound around the first stator core 13 . The first stator core 13 is formed of a powder magnetic core. The first stator core 13 is fixed to the first stator disk 21. The first stator disk 21 is fixed to the carrier 8 (first plate 8a). Therefore, it can be said that the first stator 14 is fixed to the carrier 8. The through hole 13a is formed in the first stator core 13. The extension portion 17a of the rotor disk 17 passes through the through hole 13a. The encoder 20 is attached to the end of the extension 17. That is, in the direction of the axis 40, the encoder 20 is fixed to the extension portion 17a of the rotor disk 17 outside the first stator disk 21. By the encoder 20, the angle of rotation of the crankshaft 12 can be detected.

又，雖然圖式省略，在第1永久磁鐵15，具有N極朝向外側的永久磁鐵和S極朝向外側的永久磁鐵。在轉子盤17，N極朝向外側的永久磁鐵和S極朝向外側的永久磁鐵互相固定在圓周方向上。在第1定子14，U相電流流動的卷線、V相電流流動的卷線以及W相電流流動的卷線在圓周方向上依照順序排列。 Further, the first permanent magnet 15 has a permanent magnet having an N pole facing outward and a permanent magnet having an S pole facing outward. In the rotor disk 17, a permanent magnet whose N pole faces outward and a permanent magnet whose S pole faces outward are fixed to each other in the circumferential direction. In the first stator 14, a winding in which a U-phase current flows, a winding in which a V-phase current flows, and a winding in which a W-phase current flows are arranged in order in the circumferential direction.

第2軸向間隙馬達48的構造實質上是與第1軸向間隙馬達18相同。關於第2軸向間隙馬達48，和第1軸向間隙馬達18重複的說明將省略，並做以下簡單說明。 The structure of the second axial gap motor 48 is substantially the same as that of the first axial gap motor 18. The description of the second axial gap motor 48 and the first axial gap motor 18 will be omitted, and will be briefly described below.

第2軸向間隙馬達48具有第2轉子46和第2定子44。在第2轉子46和第2定子44之間存在有間隙62。第2轉 子46具有轉子盤17和第2永久磁鐵45。第2轉子46和第1轉子16是為一體化。亦即，第1轉子16和第2轉子46利用共同的轉子盤17。更詳細而言，在轉子盤17的其中一面的表面上固定有第1永久磁鐵15，而在轉子盤17的另一面的表面上固定有第2永久磁鐵45。 The second axial gap motor 48 has a second rotor 46 and a second stator 44. A gap 62 exists between the second rotor 46 and the second stator 44. 2nd turn The sub-section 46 has a rotor disk 17 and a second permanent magnet 45. The second rotor 46 and the first rotor 16 are integrated. That is, the first rotor 16 and the second rotor 46 use the common rotor disk 17. More specifically, the first permanent magnet 15 is fixed to the surface of one surface of the rotor disk 17, and the second permanent magnet 45 is fixed to the surface of the other surface of the rotor disk 17.

第2定子44具有第2定子芯43和第2卷線41。第2定子芯43固定於第2定子盤39。第2定子盤39固定於載體8(第2平板8c)。第2定子44也可表示為固定於載體8。又，第2軸向間隙馬達48也可表示為配置於曲柄軸12的貫通孔12a內。又，第1軸向間隙馬達18和第2軸向間隙馬達48的相位相等。 The second stator 44 has a second stator core 43 and a second winding 41. The second stator core 43 is fixed to the second stator disk 39. The second stator disk 39 is fixed to the carrier 8 (second plate 8c). The second stator 44 can also be shown as being fixed to the carrier 8. Further, the second axial gap motor 48 may be disposed in the through hole 12a of the crankshaft 12. Further, the phases of the first axial gap motor 18 and the second axial gap motor 48 are equal.

對齒輪傳動裝置100的特徵進行說明。如上所述，曲柄軸12藉由一對深溝槽滾珠軸承50而由載體8支撐。在一對深溝槽滾珠軸承50所包夾的範圍72中，曲柄軸12由這兩個深溝槽滾珠軸承50所支撐。亦即，在範圍72中，即使曲柄軸12是在轉動中，曲柄軸12的軸向方向和徑向方向的移動(振動)仍被嚴格限制。另一方面，在範圍72的外側，若曲柄軸12轉動，則曲柄軸12容易產生振動。 The features of the gear transmission 100 will be described. As described above, the crankshaft 12 is supported by the carrier 8 by a pair of deep groove ball bearings 50. In the range 72 that is sandwiched by a pair of deep groove ball bearings 50, the crankshaft 12 is supported by the two deep groove ball bearings 50. That is, in the range 72, even if the crankshaft 12 is in rotation, the movement (vibration) of the crankshaft 12 in the axial direction and the radial direction is strictly restricted. On the other hand, on the outer side of the range 72, if the crankshaft 12 rotates, the crankshaft 12 is likely to vibrate.

在齒輪傳動裝置100中，轉子16、46是在範圍72內安裝於曲柄軸12上。由於轉子16、46的位置不會變化，因此第1轉子16和第1定子14的間隙60，以及第2轉子46和第2定子44的間隙62是維持固定。由於可固定地維持軸向間隙馬達18、48的輸出扭矩，因此可固定地維持齒輪傳動裝置100的輸出扭矩。 In the gear transmission 100, the rotors 16, 46 are mounted to the crankshaft 12 in the range 72. Since the positions of the rotors 16 and 46 do not change, the gap 60 between the first rotor 16 and the first stator 14 and the gap 62 between the second rotor 46 and the second stator 44 are maintained and fixed. Since the output torque of the axial gap motors 18, 48 can be fixedly maintained, the output torque of the gear transmission 100 can be fixedly maintained.

對齒輪傳動裝置100的其他特徵進行說明。第1軸向間隙馬達18和第2軸向間隙馬達48是以彼此面對的方式配置。更詳細而言，第1轉子16和第2轉子46是在第1定子14和第2定子44之間安裝於曲柄軸12。在軸向間隙馬達來的場合，轉子和定子之間吸引力會作用。藉由2個軸向間隙馬達18、48以彼此面對的方式配置，2個軸向間隙馬達18、48的吸引力互相反向地作用於曲柄軸12。在軸線40的方向上，施加於曲柄軸12的外力會互相抵消。此結果便是施加於曲柄軸12的外力平衡變得良好，並使曲柄軸12平順轉動。 Other features of the gear transmission 100 will be described. The first axial gap motor 18 and the second axial gap motor 48 are disposed to face each other. More specifically, the first rotor 16 and the second rotor 46 are attached to the crankshaft 12 between the first stator 14 and the second stator 44. In the case of an axial gap motor, the attractive force between the rotor and the stator acts. By the two axial gap motors 18, 48 being disposed facing each other, the attractive forces of the two axial gap motors 18, 48 act against the crankshaft 12 in opposite directions. In the direction of the axis 40, the external forces applied to the crankshaft 12 cancel each other out. As a result, the external force balance applied to the crankshaft 12 becomes good, and the crankshaft 12 is smoothly rotated.

如上所述，軸向間隙馬達18、48配置於曲柄軸12的貫通孔12a內。在軸向間隙馬達的場合，慣性力會隨著外徑大小而變大。若軸向間隙馬達的慣性力變大，例如在停止齒輪傳動裝置的驅動的場合，停止動作將產生遲緩。藉由將軸向間隙馬達18、48配置於曲柄軸12的貫通孔12a內，可以慣性力小的馬達來驅動齒輪傳動裝置100。又，藉由將2個軸向間隙馬達配置於貫通孔12a內，可使具有馬達的齒輪傳動裝置的整體尺寸小型化。特別是，在軸方向上可縮短具有馬達的齒輪傳動裝置的長度。 As described above, the axial gap motors 18 and 48 are disposed in the through hole 12a of the crankshaft 12. In the case of an axial gap motor, the inertial force increases with the outer diameter. If the inertial force of the axial gap motor becomes large, for example, when the driving of the gear transmission is stopped, the stop operation will be delayed. By arranging the axial gap motors 18 and 48 in the through hole 12a of the crankshaft 12, the gear transmission 100 can be driven by a motor having a small inertial force. Further, by arranging the two axial gap motors in the through hole 12a, the overall size of the gear transmission having the motor can be reduced. In particular, the length of the gear transmission with the motor can be shortened in the axial direction.

如上所述，2個偏心體22，各自相對於軸線40以對稱方式偏心。外齒輪24的偏心方向為對稱，且在驅動齒輪傳動裝置100時可妥善維持平衡。又，偏心體22和曲柄軸12的關係亦可表示如下。曲柄軸12具有2個偏心體22。各個偏心體22的偏心方向不同。各個偏心體22的中心以 偏離曲柄軸12的軸線40的周圍180度而定位的方式，使得偏心體22固定於曲柄軸12。 As described above, the two eccentric bodies 22 are each eccentric with respect to the axis 40 in a symmetrical manner. The eccentric direction of the outer gear 24 is symmetrical, and the balance can be properly maintained when the gear transmission 100 is driven. Further, the relationship between the eccentric body 22 and the crankshaft 12 can also be expressed as follows. The crankshaft 12 has two eccentric bodies 22. The eccentric directions of the respective eccentric bodies 22 are different. The center of each eccentric body 22 is The eccentric body 22 is fixed to the crankshaft 12 in such a manner as to be positioned 180 degrees away from the circumference of the axis 40 of the crankshaft 12.

2個油封70配置於曲柄軸12和載體8之間(參閱圖2)。油封70各自配置於一對深溝槽滾珠軸承50的外側。換言之，一對深溝槽滾珠軸承50是配置於2個油封70之間。藉由油封70，可防止潤滑劑從曲柄軸12的外側(外齒輪24、內齒輪32等存在的空間)移動至曲柄軸12的內側(軸向間隙馬達18、48以及編碼器20存在的空間)。 Two oil seals 70 are disposed between the crankshaft 12 and the carrier 8 (see Fig. 2). The oil seals 70 are each disposed outside the pair of deep groove ball bearings 50. In other words, the pair of deep groove ball bearings 50 are disposed between the two oil seals 70. By the oil seal 70, it is possible to prevent the lubricant from moving from the outside of the crankshaft 12 (the space in which the external gear 24, the internal gear 32, and the like exists) to the inside of the crankshaft 12 (the axial gap motors 18, 48 and the space in which the encoder 20 exists) ).

油封25配置於被驅動曲柄軸26和載體8之間(參照圖1)。油封25在軸線36的方向上定位於圓錐滾子軸承38和制動器28之間。藉由油封25，可防止潤滑劑從外齒輪24等存在的空間移動至制動器28存在的空間。又，外蓋30以覆蓋編碼器20和制動器28的方式固定於載體8。 The oil seal 25 is disposed between the driven crank shaft 26 and the carrier 8 (refer to FIG. 1). The oil seal 25 is positioned between the tapered roller bearing 38 and the brake 28 in the direction of the axis 36. By the oil seal 25, it is possible to prevent the lubricant from moving from the space where the external gear 24 or the like exists to the space in which the brake 28 exists. Further, the outer cover 30 is fixed to the carrier 8 so as to cover the encoder 20 and the brake 28.

2個油封2配置於外殼6和載體8之間。油封2分別配置於一對斜角滾珠軸承4的外側。換言之，一對斜角滾珠軸承4配置於2個油封之間。又，在第2平板8c上形成有孔，而在此孔上則嵌入了蓋子37。藉由上述之油封70、25以及油封2、蓋子37，可防止封入齒輪傳動裝置100內(外齒輪24、內齒輪32等存在的空間)的潤滑劑漏出至外部。 Two oil seals 2 are disposed between the outer casing 6 and the carrier 8. The oil seals 2 are disposed outside the pair of angled ball bearings 4, respectively. In other words, a pair of bevel ball bearings 4 are disposed between the two oil seals. Further, a hole is formed in the second flat plate 8c, and a cover 37 is fitted to the hole. By the oil seals 70 and 25 and the oil seal 2 and the lid 37 described above, it is possible to prevent the lubricant enclosed in the gear transmission 100 (the space in which the external gear 24 and the internal gear 32 are present) from leaking to the outside.

參閱圖1以及圖3，對具有被驅動曲柄軸26的優點進行說明，圖3表示從載體8取下外蓋30之狀態的齒輪傳動裝置100的平面圖。圖3的沿著I-I線的剖面對應到圖1的剖面圖。如圖3所示。齒輪傳動裝置100具有3個被驅 動曲柄軸26。3個被驅動曲柄軸26等間隔配置於軸線40的周圍。又，3個被驅動曲柄軸26的每一者皆安裝有制動器28。 1 and 3, an advantage of having the driven crankshaft 26 will be described. Fig. 3 is a plan view showing the gear transmission 100 in a state in which the outer cover 30 is removed from the carrier 8. The section along the line I-I of Fig. 3 corresponds to the section of Fig. 1. As shown in Figure 3. Gear transmission 100 has three driven The crank shaft 26 is disposed. The three driven crank shafts 26 are disposed at equal intervals around the axis 40. Further, a brake 28 is attached to each of the three driven crankshafts 26.

如上所述，被驅動曲柄軸26並未將馬達的扭矩傳送至外齒輪24。被驅動曲柄軸26抑制了外齒輪24的反衝。換言之，被驅動曲柄軸26保持外齒輪24的姿勢。外齒輪24的偏心轉動可變平順，且可使反衝(back lash)等不易發生。又，藉由將制動器28安裝於被驅動曲柄軸26，使得無需將編碼器20和制動器28兩者安裝至曲柄軸12。 As described above, the driven crankshaft 26 does not transmit the torque of the motor to the external gear 24. The driven crankshaft 26 suppresses the kickback of the external gear 24. In other words, the driven crankshaft 26 maintains the posture of the external gear 24. The eccentric rotation of the outer gear 24 can be made smooth, and back lash or the like can be prevented from occurring. Further, by mounting the brake 28 to the driven crankshaft 26, it is not necessary to mount both the encoder 20 and the brake 28 to the crankshaft 12.

(第2實施例) (Second embodiment)

參閱圖4，對齒輪傳動裝置200進行說明。齒輪傳動裝置200是齒輪傳動裝置100的變形例。關於齒輪傳動裝置200，和齒輪傳動裝置100相同的零件，將藉由標註相同符號或者末兩位相同符號以省略說明。 Referring to Figure 4, the gear transmission 200 will be described. The gear transmission 200 is a modification of the gear transmission 100. Regarding the gear transmission 200, the same components as those of the gear transmission 100 will be denoted by the same reference numerals or the same numerals as the last two digits, and the description will be omitted.

齒輪傳動裝置200具有和軸線40同心的中央貫通孔80。在齒輪傳動裝置200中使用了2個中空軸向間隙馬達218、248。更詳細而言，在第1中空軸向間隙馬達218的第1定子盤221上形成有貫通孔221a，在第1定子214上形成有貫通孔214a，在第1轉子216上則形成有貫通孔216a。又，在第2中空軸向間隙馬達248的第2轉子246上形成有貫通孔246a，在第2定子244上形成有貫通孔244a，在第2定子盤239上則形成有貫通孔239a。在齒輪傳動裝置200上，更在外蓋230上形成有貫通孔230a。 Gear transmission 200 has a central through bore 80 that is concentric with axis 40. Two hollow axial gap motors 218, 248 are used in the gear transmission 200. More specifically, a through hole 221a is formed in the first stator disk 221 of the first hollow axial gap motor 218, a through hole 214a is formed in the first stator 214, and a through hole is formed in the first rotor 216. 216a. Further, a through hole 246a is formed in the second rotor 246 of the second hollow axial gap motor 248, a through hole 244a is formed in the second stator 244, and a through hole 239a is formed in the second stator disk 239. On the gear transmission 200, a through hole 230a is formed in the outer cover 230.

中空軸82固定於貫通孔230a和239a。中空軸82通 過貫通孔221a、214a、216a、244a以及246a。藉由利用中央貫通孔80，可使纜線、軸等在軸線40方向通過齒輪傳動裝置200內部。 The hollow shaft 82 is fixed to the through holes 230a and 239a. Hollow shaft 82 The through holes 221a, 214a, 216a, 244a, and 246a pass through. By using the central through hole 80, the cable, the shaft, and the like can be passed through the inside of the gear transmission 200 in the direction of the axis 40.

齒輪傳動裝置200和齒輪傳動裝置100同樣具有3個被驅動曲柄軸226。又，在圖4僅出現1根曲柄軸226，另外2根曲柄軸226則未出現。在齒輪傳動裝置200中，1個被驅動曲柄軸226安裝有編碼器220。另外2個驅動曲柄軸226則安裝有制動器(圖示省略)。 Gear transmission 200 and gear transmission 100 also have three driven crankshafts 226. Further, only one crankshaft 226 appears in Fig. 4, and the other two crankshafts 226 do not appear. In the gear transmission 200, an encoder cylinder 220 is mounted on one of the driven crankshafts 226. The other two drive crankshafts 226 are attached with a brake (not shown).

在上述實施例中，說明了用一對深溝槽滾珠軸承以支撐曲柄軸的型態。作為支撐曲柄軸的軸承，也可使用斜角滾珠軸承、斜角滾子軸承、圓錐滾子軸承等。支撐曲柄軸的軸承，若是負擔軸向方向和徑向方向的荷重的種類就可以。 In the above embodiment, the configuration in which a pair of deep groove ball bearings are used to support the crankshaft has been described. As the bearing for supporting the crankshaft, a bevel ball bearing, a bevel roller bearing, a tapered roller bearing, or the like can also be used. The bearing that supports the crankshaft can be used to bear the load in the axial direction and the radial direction.

在上述實施例中，說明了曲柄軸具有2個偏心體的型態。然而偏心體的數目也可以是1個，亦可以是3個以上。換言之，外齒輪的數目也可以是1個，亦可以是3個以上。又，在曲柄軸具有多個偏心體的場合，較佳的是偏心體的偏心方向分別不同。又，較佳的是各個偏心體的中心以等間隔定位於曲柄軸的軸線周圍的方式，使得偏心體固定於曲柄軸上。又，偏心體的數目(外齒輪的數目)愈多，可使齒輪傳動裝置的平衡提升。 In the above embodiment, the description has been made that the crankshaft has two eccentric bodies. However, the number of eccentric bodies may be one or three or more. In other words, the number of external gears may be one or three or more. Further, when the crankshaft has a plurality of eccentric bodies, it is preferable that the eccentric directions of the eccentric bodies are different. Further, it is preferable that the centers of the respective eccentric bodies are positioned at equal intervals around the axis of the crankshaft such that the eccentric body is fixed to the crankshaft. Moreover, the more the number of eccentric bodies (the number of external gears), the higher the balance of the gear transmission.

在上述實施例中，說明了具有3個被驅動曲柄軸的型態。然而，被驅動曲柄軸的數目也可以是2個，亦可以是4個。或者，齒輪傳動裝置亦可不具有被驅動曲柄軸。齒 輪傳動裝置的直徑，亦即，外齒輪的直徑愈大時，由於外齒輪不易反衝，被驅動曲柄軸的有用性因而增加。 In the above embodiment, the type having three driven crankshafts has been described. However, the number of driven crankshafts may be two or four. Alternatively, the gearing may not have a driven crankshaft. tooth The larger the diameter of the wheel transmission, that is, the larger the diameter of the external gear, the greater the usefulness of the driven crankshaft due to the fact that the external gear is less susceptible to backlash.

以上，雖詳細說明了本發明的具體實施例，但此不過是舉例說明，並非用以限定申請專利範圍。申請專利範圍所記載的技術，包含將上述舉例之具體實施例進行各種變形、變更者。於本說明書或者圖示所說明之技術要素，藉由單獨或者各種組合而發揮技術有用性，並非用以限定申請時請求項的記載組合。又，本說明書或者圖示所舉例之技術同時達成多個目的，並藉由達成其中之一的目的本身而擁有技術有用性。 The specific embodiments of the present invention have been described in detail above, but are not intended to limit the scope of the claims. The technology described in the patent application scope includes various modifications and changes to the specific embodiments described above. The technical elements described in the specification or the drawings are technically useful by themselves or in various combinations, and are not intended to limit the combination of the claims at the time of filing. Moreover, the techniques exemplified in the present specification or the drawings achieve a plurality of purposes at the same time, and possess technical usefulness by achieving the purpose of one of them.

2、25‧‧‧油封 2, 25‧‧‧ oil seal

4、23、38、50‧‧‧軸承 4, 23, 38, 50‧ ‧ bearings

6‧‧‧外殼 6‧‧‧Shell

8、208‧‧‧載體 8, 208‧‧‧ carrier

8a、8c、208a、208c‧‧‧平板 8a, 8c, 208a, 208c‧ ‧ flat

8b、208b‧‧‧柱狀部 8b, 208b‧‧‧ columnar

12、26、226‧‧‧曲柄軸 12, 26, 226‧‧‧ crankshaft

14、44、214、244‧‧‧定子 14, 44, 214, 244 ‧ ‧ stator

16、46、216、246‧‧‧轉子 16, 46, 216, 246‧‧‧ rotor

18、48、218、248‧‧‧軸向間隙馬達 18, 48, 218, 248‧‧‧ axial gap motor

20‧‧‧編碼器 20‧‧‧Encoder

21、39、239‧‧‧定子盤 21, 39, 239‧‧‧ stator disc

22、35、235‧‧‧偏心體 22, 35, 235 ‧ ‧ eccentric body

24‧‧‧外齒輪 24‧‧‧External gear

28‧‧‧制動器 28‧‧‧ brake

30、230‧‧‧外蓋 30, 230‧‧‧ Cover

32‧‧‧內齒輪 32‧‧‧Internal gear

34‧‧‧內齒銷(pin) 34‧‧‧ internal pin (pin)

36、40‧‧‧軸線 36, 40‧‧‧ axis

37‧‧‧蓋子 37‧‧‧ cover

52‧‧‧貫通孔 52‧‧‧through holes

100、200‧‧‧齒輪傳動裝置 100, 200‧‧‧ gear transmission

220‧‧‧編碼器 220‧‧‧Encoder

214a、216a、221a、230a、239a、244a、246a‧‧‧貫通孔 214a, 216a, 221a, 230a, 239a, 244a, 246a‧‧‧ through holes

圖1繪示第1實施例的齒輪傳動裝置的剖面圖。 Fig. 1 is a cross-sectional view showing the gear transmission of the first embodiment.

圖2繪示由圖1虛線所包圍的部份II的擴大示意圖。 FIG. 2 is an enlarged schematic view of a portion II surrounded by a broken line of FIG. 1. FIG.

圖3繪示在第1實施例的齒輪傳動裝置，從載體取下外蓋時的平面圖。 Fig. 3 is a plan view showing the gear transmission of the first embodiment when the outer cover is removed from the carrier.

圖4繪示第2實施例的齒輪傳動裝置的剖面圖。 Figure 4 is a cross-sectional view showing the gear transmission of the second embodiment.

2、25‧‧‧油封 2, 25‧‧‧ oil seal

4、23、38、50‧‧‧軸承 4, 23, 38, 50‧ ‧ bearings

6‧‧‧外殼 6‧‧‧Shell

8‧‧‧載體 8‧‧‧ Carrier

8a、8c‧‧‧平板 8a, 8c‧‧‧ flat

8b‧‧‧柱狀部 8b‧‧‧ Column

12、26‧‧‧曲柄軸 12, 26‧‧‧ crankshaft

14、44‧‧‧定子 14, 44‧‧‧ Stator

16、46‧‧‧轉子 16, 46‧‧‧ rotor

18、48‧‧‧軸向間隙馬達 18, 48‧‧‧ axial gap motor

20‧‧‧編碼器 20‧‧‧Encoder

21、39‧‧‧定子盤 21, 39‧‧‧ stator disc

22、35‧‧‧偏心體 22, 35‧‧‧ eccentric body

24‧‧‧外齒輪 24‧‧‧External gear

28‧‧‧制動器 28‧‧‧ brake

30‧‧‧外蓋 30‧‧‧ Cover

32‧‧‧內齒輪 32‧‧‧Internal gear

34‧‧‧內齒銷(pin) 34‧‧‧ internal pin (pin)

36、40‧‧‧軸線 36, 40‧‧‧ axis

37‧‧‧蓋子 37‧‧‧ cover

52‧‧‧貫通孔 52‧‧‧through holes

100‧‧‧齒輪傳動裝置 100‧‧‧Gear transmission

Claims (6)

一種齒輪傳動裝置，包括：外殼，在內周形成有內齒輪；載體，和前述內齒輪同軸由前述外殼所支撐；曲柄軸，藉由一對軸承由前述載體所支撐，具有偏心體且形成有貫通孔；外齒輪，和前述偏心體卡合，並且一邊和前述內齒輪嚙合一邊偏心轉動；以及2個軸向間隙馬達，前述軸向間隙馬達的轉子是安裝於前述曲柄軸上，且前述軸向間隙馬達的定子是安裝於前述載體上，2個前述軸向間隙馬達是以彼此面對的方式配置，其中前述轉子具有固定於前述貫通孔的內壁的轉子盤、固定於前述轉子盤的其中一面的表面上的第1永久磁鐵、以及固定於前述轉子盤的且與前述第1永久磁鐵相對的另一面的表面上的第2永久磁鐵，其中前述轉子定位於前述一對軸承之間，以及其中各個前述定子以分別與前述第1永久磁鐵以及前述第2永久磁鐵之間存在間隙且面對的方式固定於前述載體。 A gear transmission device comprising: a casing having an internal gear formed on an inner circumference; a carrier coaxially supported by the outer casing and the inner gear; the crankshaft supported by the carrier by a pair of bearings, having an eccentric body and formed with a through hole; an external gear engaged with the eccentric body and eccentrically rotating while meshing with the internal gear; and two axial gap motors, the rotor of the axial gap motor being mounted on the crankshaft, and the shaft The stator of the gap motor is mounted on the carrier, and the two axial gap motors are disposed to face each other, wherein the rotor has a rotor disk fixed to an inner wall of the through hole, and is fixed to the rotor disk. a first permanent magnet on one surface of the first permanent magnet and a second permanent magnet fixed on a surface of the other surface of the rotor disk that faces the first permanent magnet, wherein the rotor is positioned between the pair of bearings; And each of the stators is fixed to each other with a gap between the first permanent magnet and the second permanent magnet In the aforementioned carrier. 如申請專利範圍第1項所述之齒輪傳動裝置，其中前述曲柄軸和前述載體是同軸配置。 The gear transmission of claim 1, wherein the crankshaft and the carrier are coaxially disposed. 如申請專利範圍第2項所述之齒輪傳動裝置，更包括多個被驅動曲柄軸，前述多個被驅動曲柄軸是在從前述 載體的軸線偏離的位置上和前述外齒輪卡合，並且伴隨著前述外齒輪的偏心轉動而轉動，各個前述被驅動曲柄軸是等間隔配置於前述載體的軸線周圍。 The gear transmission device of claim 2, further comprising a plurality of driven crankshafts, wherein the plurality of driven crankshafts are from the foregoing The position of the carrier is offset from the external gear, and is rotated in accordance with the eccentric rotation of the external gear, and each of the driven crankshafts is disposed at equal intervals around the axis of the carrier. 如申請專利範圍第3項所述之齒輪傳動裝置，其中前述曲柄軸更包括多個偏心體，前述各個偏心體的偏心方向不同，前述各個偏心體的中心是在和前述曲柄軸的軸線同心圓上等間隔定位。 The gear transmission device of claim 3, wherein the crankshaft further comprises a plurality of eccentric bodies, the eccentric bodies of the eccentric bodies are different in direction, and the centers of the eccentric bodies are concentric with the axis of the crankshaft. Positioning at equal intervals. 如申請專利範圍第1項所述之齒輪傳動裝置，其中前述曲柄軸更包括多個偏心體，前述各個偏心體的偏心方向不同，前述各個偏心體的中心是在和前述曲柄軸的軸線同心圓上等間隔定位。 The gear transmission device of claim 1, wherein the crankshaft further comprises a plurality of eccentric bodies, the eccentric bodies of the eccentric bodies are different in direction, and the centers of the eccentric bodies are concentric with the axis of the crankshaft. Positioning at equal intervals. 如申請專利範圍第1項至第5項任一項所述之齒輪傳動裝置，其中前述偏心體定位於前述一對軸承之間。 The gear transmission according to any one of claims 1 to 5, wherein the eccentric body is positioned between the pair of bearings.