WO2014046050A1 - Transmission device - Google Patents

Transmission device Download PDF

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Publication number
WO2014046050A1
WO2014046050A1 PCT/JP2013/074871 JP2013074871W WO2014046050A1 WO 2014046050 A1 WO2014046050 A1 WO 2014046050A1 JP 2013074871 W JP2013074871 W JP 2013074871W WO 2014046050 A1 WO2014046050 A1 WO 2014046050A1
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WO
WIPO (PCT)
Prior art keywords
gear
teeth
external
axis
transmission
Prior art date
Application number
PCT/JP2013/074871
Other languages
French (fr)
Japanese (ja)
Inventor
大輔 松井
佑介 片岡
Original Assignee
ナブテスコ株式会社
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 ナブテスコ株式会社 filed Critical ナブテスコ株式会社
Priority to CN201390000766.9U priority Critical patent/CN204610710U/en
Publication of WO2014046050A1 publication Critical patent/WO2014046050A1/en

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H3/00—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion
    • F16H3/44—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion using gears having orbital motion
    • F16H3/72—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion using gears having orbital motion with a secondary drive, e.g. regulating motor, in order to vary speed continuously
    • 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
    • F16H2001/324—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 comprising two axially spaced, rigidly interconnected, orbital gears
    • 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
    • F16H2001/325—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 comprising a carrier with pins guiding at least one orbital gear with circular holes

Definitions

  • reference numeral 107 indicates a case
  • 105 indicates internal teeth.
  • the internal teeth 105 are fixed to the case 107, and the case 107 is also an internal gear.
  • Reference numeral 103 indicates an external gear. A part of the external teeth formed on the outer periphery of the external gear 103 and a part of the internal teeth 105 mesh with each other. The number of teeth of the external gear 103 and the number of teeth of the internal teeth 105 are different.
  • the crankshaft 101 a passes through the center 103 e of the external gear 103.
  • the crankshaft 101a is connected to the input shaft 101.
  • the crankshaft 101a is separated from the input shaft 101 by a distance D.
  • the internal teeth 105 are formed on a circumference around the input shaft 101.
  • the external teeth of the external gear 103 are formed on a circumference centering on 103e.
  • the center of the circumference along which the inner teeth or the outer teeth are along is referred to as the geometric center.
  • Reference numeral 109 is an output shaft, and the tip is branched.
  • the branched tip 109 c is inserted into the through hole 103 c of the external gear 103, and the branched tip 109 d is inserted into the through hole 103 d of the external gear 103.
  • the gear ratio can be adjusted by adjusting the difference between the number of teeth of the external gear 103 and the number of teeth of the internal teeth 105.
  • FIG. 2 exemplifies a transmission that uses two external gears 103 and 104.
  • the crankshaft 101 a that penetrates the external gear 103 and the crankshaft 101 b that penetrates the external gear 104 are offset in opposite directions around the input shaft 101.
  • the branched tip 109 c of the output shaft 109 is inserted into the through hole 103 c of the external gear 103 and the through hole 104 c of the external gear 104, and the branched tip 109 d is the through hole 103 d of the external gear 103 and the external gear 104.
  • the through hole 104d is inserted.
  • Reference numeral 106 is an internal tooth fixed to the case 107.
  • the same reference numerals as those in FIG. 1 indicate the same members as those in FIG.
  • Patent Document 1 Japanese Utility Model Laid-Open No. 4-111947 proposes a transmission that achieves a larger gear ratio.
  • two external gears 103 and 104 are used to revolve in the same manner as in the apparatus of FIG.
  • a part of the external gear 103 meshes with a part of the internal tooth 105, and when the external gear 103 revolves, the external gear 103 rotates.
  • the crank pin 114 is inserted between the external gear 103 and the external gear 104, and when the external gear 103 rotates, the external gear 104 rotates.
  • the external gear 104 rotates while revolving.
  • the crank pin 114 is a torque transmission member that transmits the rotation of the external gear 103 to the external gear 104 while allowing relative displacement between the external gear 103 and the external gear 104.
  • a part of the external gear 104 meshes with a part of the internal tooth 106.
  • the inner teeth 106 are fixed to the output shaft 109 via the inner case 110. When the external gear 104 moves in a planetary motion, the internal teeth 106 rotate and the output shaft 109 rotates.
  • Patent Document 2 discloses the transmission shown in FIG. This transmission also revolves using the two external gears 103 and 104 in the same manner as in FIGS.
  • Pins 107 c and 107 d extend from the case 107.
  • the pin 107 c is inserted into the through hole 103 c of the external gear 103.
  • the pin 107 d is inserted into the through hole 103 d of the external gear 103.
  • the external gear 103 cannot rotate.
  • the external gear 103 revolves without rotating, the internal teeth 105 rotate.
  • the inner teeth 105 are supported by the inner case 116 so as to be rotatable with respect to the case 107.
  • the inner teeth 106 When the inner teeth 105 rotate, the inner teeth 106 also rotate.
  • the external gear 104 revolves in a state where a part of the external gear 104 and a part of the internal tooth 106 are engaged, the external gear 104 rotates. That is, the external gear 104 moves in a planetary motion.
  • the revolutions of the external gear 104 and the output shaft 109 are related to the revolutions of the external gear 104 and the revolutions of the internal teeth 106.
  • Patent Documents 1 and 2 use a set of an external gear 103 and an internal tooth 105 and a set of an external gear 104 and an internal tooth 106.
  • the transmissions of Patent Documents 1 and 2 achieve a large reduction ratio by using a combination of two sets of transmission elements.
  • the transmissions of Patent Documents 1 and 2 have the following important problems. 3 and 4, it is necessary that the external gear 103 and the external gear 104 can move independently. That is, the external gear 103 and the external gear 104 cannot be fixed. In other words, the external gear 103 and the external gear 104 cannot be integrated. If the external gear 103 and the external gear 104 are accommodated in the case of the transmission so that both can independently revolve, the structure of the transmission becomes complicated. There is a need for a simple and clean transmission.
  • the transmission disclosed in this specification includes at least first to third gears.
  • an internal tooth 105 is formed on the first gear 107 (which may also serve as a case).
  • At least external teeth 103 f are formed on the second gear 103.
  • a part of the inner teeth 105 of the first gear 107 and a part of the outer teeth 103 f of the second gear 103 are engaged with each other.
  • a difference in the number of teeth is provided between the number of teeth of the first gear 107 and the number of teeth of the second gear 103 engaged therewith. Therefore, when the second gear 103 revolves, the second gear 103 rotates.
  • FIG. 5 the structure which revolves the 2nd gearwheel 103 using the crankshaft 101a is illustrated.
  • the mechanism for revolving the second gear 103 is not limited to the crank mechanism, and any revolution mechanism can be used.
  • internal teeth 103g are formed on the second gear 103, and external teeth are formed on the third gear 118.
  • a part of the inner teeth 103g of the second gear 103 and a part of the outer teeth of the third gear 118 mesh with each other.
  • external teeth 103 h are formed on the second gear 103
  • internal teeth 120 h are formed on the third gear 120
  • a part of the external teeth 103 h of the second gear 103 and the third A relationship in which a part of the inner teeth 120h of the gear 120 is engaged may be used.
  • a difference in the number of teeth is provided between the number of teeth of the third gear 120 and the number of teeth of the second gear 103 engaged therewith.
  • the internal gear 103g may be formed on the second gear 103 and the external gear may be formed on the third gear 118, or the external gear may be formed on the second gear 103.
  • 103 h may be formed, and the internal gear 120 h may be formed on the third gear 120. That is, in the transmission disclosed in this specification, one of the second gear and the third gear has external teeth, and the other of the second gear and the third gear has internal teeth.
  • external teeth 103f and internal teeth 103g are formed on the second gear 103 as shown in FIG. 5, or external teeth 103f and external teeth 103h are second as shown in FIG. A gear 103 is formed. It is sufficient that the second gear 103 can move as a whole. Therefore, in the second gear 103, the external teeth 103f and the internal teeth 103g do not need to move independently, and the external teeth 103f and the external teeth 103h do not need to move independently. Comparing FIGS. 5 and 6 with FIGS. 3 and 4, it is clear that the transmission disclosed herein is simplified in construction. Further, the transmission disclosed in this specification does not require the crank pin 114 required in FIG. 3, the pins 107c and 107d required in FIG.
  • the transmission disclosed in the present specification revolves with respect to the first gear 105 fixed to the case 107, the third gears 118 and 120 supported so as to be able to rotate with respect to the case 107, and the case 107.
  • the transmission includes the second gear 103 that meshes with a part of the first gear 105 and a part of the third gears 118 and 120.
  • the number of teeth is different from the number of teeth. Therefore, a large gear ratio can be provided between the revolution number of the second gear 103 and the rotation number of the third gears 118 and 120.
  • the number of rotations of the third gears 118 and 120 can be made zero by selecting the difference in the number of teeth.
  • reduction ratio rotational speed of input shaft / rotational speed of output shaft
  • the denominator can be zero. That is, a theoretically infinite reduction ratio can be obtained, and the upper limit of the realizable reduction ratio can be eliminated.
  • the 1st example of the conventional transmission is illustrated.
  • the 2nd example of the conventional transmission is illustrated.
  • the 3rd example of the conventional transmission is illustrated.
  • the 4th example of the conventional transmission is illustrated.
  • An example of the transmission described in this specification is illustrated.
  • the other example of the transmission described in this specification is illustrated.
  • the top view of the transmission of 1st Example is shown. Sectional drawing of the transmission of 1st Example is shown.
  • the top view of the transmission of 2nd Example is shown. Sectional drawing of the transmission of 2nd Example is shown.
  • the symmetry axis of the first gear (the axis passing through the geometric center) and the rotation axis of the third gear are arranged on the first axis A.
  • the rotation axis of the second gear is disposed on a second axis B extending in parallel with the first axis A at a position separated from the first axis A by a distance D.
  • the eccentric oscillator may be a crankshaft extending in parallel with the input shaft at a position offset from the input shaft, or may be an eccentric cam having a circumference centered at a position offset from the input shaft. Any circumferential surface having a center at a position offset from the axis of the input shaft may be used as long as the center revolves.
  • the third gear 120 has internal teeth 120h. A part of the outer teeth 103h of the second gear 103 and a part of the inner teeth 120h of the third gear 120 are engaged with each other.
  • the first gear 105 and the internal gear 120h of the third gear 120 are arranged at different positions in the direction along the rotation axis of the third gear 120.
  • the number of teeth of the external teeth 103f of the second gear 103 meshing with the first gear is different from the number of teeth of the external teeth 103h of the second gear 103 meshing with the internal teeth 120h of the third gear 120.
  • the second gear 103 has a ring shape in which outer teeth 103f and inner teeth 103g are formed. External teeth are formed on the third gear 118, and a part of the internal teeth 103 g of the second gear 103 and a part of the external teeth of the third gear 118 are engaged with each other.
  • the second gear 103 can freely rotate with respect to the case 107. That is, there is no relationship between the second gear 103 and the case 107 that restricts the rotation of the second gear 103. Further, there is no relation between the second gear 103 and the input shaft 101 that restricts the rotation of the second gear 103. Further, there is no relationship between the second gear 103 and the output shaft 109 that restricts the rotation of the second gear 103. Therefore, the number of necessary parts is small and the structure is simple.
  • the second gear may be constituted by a single member, or may be constituted by fixing a plurality of members.
  • the first gear is fixed to the case, and the third gear is fixed to the output shaft.
  • the second gear has an external tooth that meshes with the first gear, an external tooth or internal tooth that meshes with the third gear, and an opening that receives the eccentric rocking body (revolution body), and these are arranged coaxially. ing.
  • the second gear is capable of rotating with respect to the eccentric rocking body (revolution body). The rotation of the second gear is not restricted by the case, is not restricted by the input shaft, and is not restricted by the output shaft.
  • the rotation direction of the output shaft can be selected by adjusting the number of teeth.
  • (First embodiment) 7 and 8 show an embodiment corresponding to FIG.
  • Reference numeral 2 denotes a motor, which is fixed to the case 20 of the transmission 30.
  • Reference numeral 6 denotes a motor rotation shaft, which rotates around the first axis A.
  • Reference numeral 8 is a member that serves both as an input shaft and an eccentric rocking body (revolution body).
  • the cylindrical portion 8a is coaxial with the first axis A, the eccentric cam 8b, and the cylindrical portion is coaxial with the first axis A. 8c.
  • the cylindrical portion 8a is supported by an output shaft (autorotated body) 24, which will be described later, by a bearing 12 so as to be capable of rotating, and the cylindrical portion 8c is supported by the bearing 4 so as to be capable of rotating.
  • a key groove 6 a is formed in the motor rotating shaft 6.
  • the input shaft 8 is formed with a ridge 8d inserted into the key groove 6a.
  • the motor rotation shaft 6 rotates around the axis A
  • the input shaft 8 rotates around the first axis A.
  • the eccentric cam 8b has a circular outer peripheral surface.
  • the center of the eccentric cam 8b is on the second axis B.
  • the second axis B is offset from the first axis A by a distance D. That is, the distance c from the B axis to the outer peripheral surface of the eccentric cam 8b is constant regardless of the direction.
  • the distance from the A axis to the outer peripheral surface of the eccentric cam 8b changes as shown by “a” or “b” depending on the direction.
  • the disc portion 16c of the second gear 16 is positioned around the eccentric cam 8b.
  • An opening 16f is formed at the center of the disc portion 16c, and the bearing 10 is interposed between the center opening 16f and the eccentric cam 8b.
  • the second gear 16 is rotationally symmetric about the geometric central axis B.
  • a ring-shaped gear 16b having external teeth and internal teeth is fixed to the disc portion 16c by bolts 16d.
  • a pericycloidal tooth profile is formed on the outer peripheral surface 16a of the ring gear 16b.
  • a pericycloid tooth profile is also formed on the inner peripheral surface 16e of the ring gear 16b.
  • the tooth profile formed on the outer peripheral surface of the ring-shaped gear 16b may be referred to as an external tooth 16a, and the tooth profile formed on the inner peripheral surface may be referred to as an internal tooth 16e.
  • the ring gear 16b can be referred to as a second gear body.
  • the second gear 16 is accommodated in the case 20.
  • the case 20 includes a bottom plate 20f, a first gear main body 20d, and an upper plate 20a, and is integrated with bolts 20e, 20b and the like.
  • Reference numeral 27 is an O-ring that seals the inside of the case from the atmosphere.
  • the hole 20g is an attachment hole for fixing the transmission 30 to a robot or the like.
  • the inner peripheral surface 20c of the first gear main body 20d is a circumferential surface centered on the axis A.
  • a groove 20h having a semicircular cross section is formed at a predetermined interval on the inner peripheral surface 20c.
  • a pin 18 is inserted into each groove 20h. The pin 18 can rotate in the semicircular groove 20h.
  • the outer peripheral surface 16a of the ring gear 16b is close to the inner peripheral surface 20c of the first gear body 20d. Therefore, the pin 18 does not jump out of the groove 20h.
  • An internal tooth 19 is formed by the pin 18 and the inner peripheral surface 20c of the first gear body 20d.
  • the case 20 can be said to be a first gear having inner teeth 19 formed on the inner peripheral surface.
  • the case 20 is also a first gear and an internal gear. Since the entities are together, a common reference number 20 is used for the case, the first gear, and the internal gear. For other members, common reference numbers are used even for members having the same entity, even if different names are used in terms of function.
  • a part of the inner teeth 19 formed on the first gear 20 and a part of the outer teeth 16a formed on the outer peripheral surface of the ring-shaped gear 16b mesh with each other.
  • the center axis B of the outer teeth 16 a of the ring gear 16 b is eccentric to the right side with respect to the center axis A of the inner teeth 19. Therefore, the inner teeth 19 and the outer teeth 16a are engaged with each other on the right side of FIG. On the left side of FIG. 7, the inner teeth 19 and the outer teeth 16 are in contact but not engaged.
  • a part of the inner teeth 19 and a part of the outer teeth 16a mesh with each other, and a part of the inner teeth 19 and a part of the outer teeth 16a do not mesh with each other.
  • the term “mesh” in this specification means that they are meshed in appearance.
  • the term “mesh” is different from the region where torque is transmitted between the inner and outer teeth.
  • the number of teeth of the internal teeth 19 formed on the first gear 20 and the number of teeth of the external teeth 16 a formed on the second gear 16 do not match. In the present embodiment, the former is 30 and the latter is 29.
  • a rotating body 24 that serves both as a third gear and an output shaft is accommodated inside the ring gear 16b.
  • the rotating body 24 includes a third gear main body 24b and an output shaft portion 24c, and is integrated with a bolt 24a.
  • the rotating body 24 is supported on the case 20 by bearings 26 and 28 so as to be able to rotate.
  • the rotation axis of the rotation body 24 (which serves as the third gear and the output shaft) is equal to the A axis.
  • the hole 24d is an attachment hole for fixing an object (not shown) to the rotating body 24 that also serves as an output shaft.
  • an object not shown
  • the transmission 30 can reduce the rotational speed of the motor 2 and rotate the distal end side of the arm.
  • Reference numeral 25 is an oil seal that stops the lubricating oil trapped in the case from leaking out of the case.
  • the rotation axis of the rotation body 24 (which serves as the third gear and the output shaft) is equal to the first axis A.
  • a groove 24 f having a semicircular cross section is formed at a predetermined interval on the outer peripheral surface 24 e centering on the first axis A.
  • a pin 22 is inserted into each groove 24f.
  • the pin 22 can rotate in the groove 24f.
  • the inner peripheral surface 16e of the ring gear 16b is close to the outer peripheral surface 24e of the third gear body 24b. Therefore, the pin 22 does not jump out of the groove 24f.
  • External teeth 23 are formed by the entire outer peripheral surface 24e of the pin 22 and the third gear body 24b.
  • a pericycloidal tooth profile is formed on the inner peripheral surface 16e of the ring gear 16b.
  • a part of the outer teeth 23 of the third gear body 24b and a part of the inner teeth 16e formed on the inner peripheral surface of the ring-shaped gear 16b mesh with each other.
  • the center axis B of the inner teeth 16e of the ring gear 16b is eccentric to the right side with respect to the center axis A of the outer teeth 23. Therefore, the inner teeth 16e and the outer teeth 23 are deeply engaged with each other on the left side of FIG. On the right side of FIG. 7, the inner teeth 16e and the outer teeth 23 are in contact with each other but are not engaged with each other.
  • the number of teeth of the external teeth 23 of the third gear body 24b does not match the number of teeth of the internal teeth 16e of the ring gear 16b.
  • the former is 20 and the latter is 19.
  • the third gear 24 rotates.
  • the rotation number of the second gear 16 affects the rotation number of the third gear 24.
  • the transmission 30 can obtain a large transmission ratio.
  • the rotation direction of the third gear 24 generated by the revolution of the second gear 16 and the rotation direction of the second gear 16 can be matched.
  • the number of teeth is selected so that the sign of the rotation speed of the third gear 24 matches the sign of the rotation speed of the input shaft 8.
  • the sign of the rotation speed of the third gear 24 and the sign of the rotation speed of the input shaft 8 can be made different. That is, the rotation direction of the motor 2 and the rotation direction of the output shaft portion 24c can be aligned, or can be opposite.
  • the rotational force is transmitted to the third gear main body 24b integrated with the output shaft portion 24c.
  • the transmission 30 does not need the branching tips 109c and 109d shown in FIGS. 1, 2 and 4 in order to transmit the rotational force to the output shaft.
  • the problem that the strength of the branch tips 109c and 109d is insufficient must be dealt with. This hinders downsizing of the transmission.
  • the structure itself in which the branch tips 109c and 109d are required also prevents miniaturization. Further, the presence of the branch tips 109c and 109d increases the manufacturing cost.
  • the rotational force is transmitted to the third gear body 24b that rotates around the rotation axis (A axis) of the output shaft portion 24c. Therefore, the transmission 30 does not require the branch tips 109c and 109d, which is suitable for downsizing the transmission.
  • the internal teeth 19 of the first gear 20 and the external teeth 16a of the second gear 16 meshing therewith, and the external teeth 23 of the third gear 24 and the internal teeth 16e of the second gear 16 meshing therewith are coplanar. Can be put inside. The thickness of the transmission 30 in the direction along the rotation axis A can be reduced.
  • the second gear 16 is composed of a plurality of members. Since the second gear itself may move as a unit, it may be constituted by a single member.
  • (Second embodiment) 9 and 10 show an embodiment corresponding to FIG.
  • Reference numeral 42 denotes a motor, which is fixed to the case 60 of the transmission 70.
  • Reference numeral 46 denotes a motor rotation shaft, which rotates around the axis A. External teeth 46 a are formed on the motor rotation shaft 46.
  • Reference numeral 44 is a spur gear. The spur gear 44 rotates around a rotation shaft 47b fixed by a bolt 47a.
  • Reference numeral 48 is an eccentric oscillator.
  • the eccentric oscillating body 48 includes an eccentric oscillating body main body 48b and an upper plate 48c, and is integrated by a bolt 48d. Inner teeth are formed on the inner peripheral surface 48 e of the upper plate 48 c and mesh with the outer teeth of the spur gear 44.
  • the eccentric rocking body 48 also rotates around the axis A.
  • the inner periphery of the eccentric oscillator main body 48b is a circle centered on the axis A, and is supported by bearings 49a and 49b.
  • the bearings 49a and 49b are arranged at positions centered on the axis A.
  • the outer peripheral surface 48a of the eccentric oscillator body 48b is circular, but its center is on the B axis.
  • the B axis is offset from the A axis by a distance D. That is, the distance c from the B axis to the outer peripheral surface 48a is constant regardless of the direction.
  • the distance from the A axis to the outer peripheral surface 48a changes as indicated by “a” or “b” depending on the direction.
  • a second gear 56 is positioned around the eccentric rocking body 48b.
  • the second gear 56 includes an upper part 56d and a lower part 56f.
  • the upper part 56d and the lower part 56f are fixed by a bolt 56e.
  • the inner peripheral surface 56c of the second gear 56 is circular.
  • the second gear 56 is supported by the bearings 50a and 50b so as to be rotatable around the outer peripheral surface 48a of the eccentric oscillator main body 48b.
  • the second gear 56 rotates around the axis B.
  • the upper outer peripheral surface 56a and the lower outer peripheral surface 56b of the second gear 56 are also centered on the axis B.
  • the eccentric rocker 48 When the motor rotation shaft 46 rotates around the axis A, the eccentric rocker 48 also rotates around the axis A.
  • the central axis B of the outer peripheral surface 48a of the eccentric oscillator main body 48b revolves around the axis A.
  • the geometric center axis (spinning axis) B of the second gear 56 also revolves around the axis A.
  • a pericycloidal tooth profile is formed on the upper outer peripheral surface 56a of the second gear 56, and a pericycloidal tooth profile is also formed on the lower outer peripheral surface 56b of the second gear 56.
  • the tooth profile formed on the upper outer peripheral surface may be referred to as an external tooth 56a, and the tooth profile formed on the lower outer peripheral surface may be referred to as an external tooth 56b.
  • the case 60 includes a bottom plate 60f, a cylindrical portion 60c, and an upper plate 60a, and is integrated with bolts 60e, 60b and the like.
  • the hole 60g is an attachment hole for fixing the transmission 70 to a robot or the like.
  • the inner peripheral surface of the cylindrical portion 60c is a circumferential surface centering on the axis A.
  • a groove 60h having a semicircular cross section is formed at a predetermined interval on the inner peripheral surface of the cylindrical portion 60c.
  • a pin 58 is inserted into each groove 60h. The pin 58 can rotate within the semicircular groove 60h. As shown in FIG.
  • the lower outer peripheral surface 56b of the second gear 16 is close to the inner peripheral surface of the cylindrical portion 60c, and the pin 58 does not jump out of the groove 60h.
  • Internal teeth 59 are formed by the pins 58 and the inner peripheral surface of the cylindrical portion 60c.
  • the case 60 can be said to be a first gear having inner teeth 59 formed on the inner peripheral surface.
  • a part of the inner teeth 59 formed on the first gear 60 and a part of the outer teeth 56 b formed on the outer peripheral surface of the second gear 56 are meshed with each other.
  • the center axis B of the outer teeth 56 b of the second gear 56 is eccentric to the left with respect to the center axis A of the inner teeth 59. Therefore, the inner teeth 59 and the outer teeth 56b are deeply engaged on the left side of FIG.
  • the inner teeth 59 and the outer teeth 56b are in contact with each other, but are not engaged with each other.
  • the number of teeth of the internal teeth 59 formed on the first gear 60 and the number of teeth of the external teeth 56b formed on the second gear 56 do not match.
  • the former is 71 and the latter is 70.
  • Rotating body 64 that serves both as the third gear and the output shaft is disposed outside the upper outer peripheral surface 56a of the second gear 56.
  • the rotation body 64 is obtained by integrating a third gear body 64b and an upper plate 64d with bolts 64c.
  • the rotating body 64 is supported on the case 60 by bearings 66 and 68 so as to be able to rotate.
  • the rotation axis of the rotation body 64 (which serves as the third gear and the output shaft) is equal to the A axis.
  • the hole 64e is a mounting hole for fixing an object (not shown) to the rotating body 64 that also serves as an output shaft.
  • the transmission 70 can reduce the rotational speed of the motor 42 and rotate the distal end side of the arm.
  • the rotation axis of the rotation body 64 (which serves both as the third gear and the output shaft) is equal to the A axis.
  • semicircular grooves 64f are formed at predetermined intervals on the inner peripheral surface 64a centering on the A axis.
  • a pin 62 is inserted into each groove 64f.
  • the pin 62 can rotate in the groove 64f.
  • the upper outer peripheral surface 56a of the second gear 56 is close to the inner peripheral surface 64a of the rotating body 64 that also serves as the third gear. Therefore, the pin 62 does not jump out of the groove 64f.
  • Internal teeth 63 are formed by the entire inner peripheral surface 64 a of the pin 62 and the rotating body 64.
  • a pericycloidal tooth profile is formed on the outer peripheral surface 56 a of the second gear 56.
  • the center axis B of the outer teeth 56 a of the second gear 56 is eccentric to the left with respect to the center axis A of the inner teeth 63.
  • the inner teeth 63 and the outer teeth 56a are deeply engaged with each other on the left side of FIG.
  • the inner teeth 63 and the outer teeth 56a are in contact with each other, but are not engaged.
  • the number of teeth of the external teeth 56a of the second gear 56 does not match the number of teeth of the internal teeth 63 of the rotating body 64 that is also the third gear.
  • the former is 70 and the latter is 69.
  • the third gear 64 rotates.
  • the rotation speed of the third gear 64 “the rotation speed of the third gear 64 caused by the revolution of the second gear 56” ⁇ “the rotation speed of the second gear 56”. Therefore, the rotation speed of the third gear 64 is extremely slow.
  • the transmission 70 can obtain a large transmission ratio.
  • the rotational force is transmitted to the rotating body 64 that also serves as the output shaft and the third gear.
  • the branching tips 109c and 109d shown in FIGS. 1, 2 and 4 are not required.
  • the rotational force is transmitted to the rotating body 64 that also serves as the output shaft and the third gear, so that the branching tips 109c and 109d are not required. Therefore, the transmission of the embodiment is suitable for downsizing.
  • the case (first gear) is fixed (immobilized) and the output (rotation) is taken out from the output shaft (third gear).
  • the output shaft (third gear) is fixed and the case is fixed.
  • the output (rotation) may be extracted from the (first gear).

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Abstract

A transmission device utilizes a first gear, a second gear, and a third gear. The first gear is provided with internal teeth, and the second gear is provided with external teeth. A difference in the number of teeth is provided between the first gear and the second gear. When the second gear revolves while some of the teeth of the second gear mesh with some of the teeth of the first gear, the second gear rotates. If the third gear is externally toothed, the second gear is internally toothed, and if the third gear is internally toothed, the second gear is externally toothed. A difference in the number of teeth is provided between the third gear and the second gear. When the second gear rotates while revolving, the third gear rotates.

Description

変速装置Transmission
　本出願は、２０１２年９月２１日に出願された日本国特許出願第２０１２－２０７７９２号に基づく優先権を主張する。その出願の全ての内容は、この明細書中に参照により援用されている。本明細書では、内歯の一部と外歯の一部が噛み合っており、内歯と外歯の間に歯数差が設けられており、歯車の公転運動が歯車の自転運動を引き起こす現象を利用して変速する装置を開示する。 This application claims priority based on Japanese Patent Application No. 2012-207792 filed on September 21, 2012. The entire contents of that application are incorporated herein by reference. In this specification, a part of the inner teeth and a part of the outer teeth mesh with each other, a difference in the number of teeth is provided between the inner teeth and the outer teeth, and the revolution movement of the gear causes the rotation of the gear. Disclosed is a device for shifting gears.
　図１に示す変速装置が知られている。図１において、参照番号１０７はケースを示し、１０５は内歯を示している。内歯１０５はケース１０７に固定されており、ケース１０７は内歯歯車でもある。参照番号１０３は、外歯歯車を示している。外歯歯車１０３の外周に形成されている外歯の一部と内歯１０５の一部とが噛み合っている。外歯歯車１０３の歯数と内歯１０５の歯数は相違している。クランク軸１０１ａが、外歯歯車１０３の中心１０３ｅを貫通している。クランク軸１０１ａは、入力軸１０１に接続されている。クランク軸１０１ａは、入力軸１０１から距離Ｄだけ離れている。内歯１０５は、入力軸１０１を中心とする円周上に形成されている。外歯歯車１０３の外歯は、１０３ｅを中心とする円周上に形成されている。本明細書では、内歯または外歯が沿っている円周の中心を、幾何的中心という。 The transmission shown in FIG. 1 is known. In FIG. 1, reference numeral 107 indicates a case, and 105 indicates internal teeth. The internal teeth 105 are fixed to the case 107, and the case 107 is also an internal gear. Reference numeral 103 indicates an external gear. A part of the external teeth formed on the outer periphery of the external gear 103 and a part of the internal teeth 105 mesh with each other. The number of teeth of the external gear 103 and the number of teeth of the internal teeth 105 are different. The crankshaft 101 a passes through the center 103 e of the external gear 103. The crankshaft 101a is connected to the input shaft 101. The crankshaft 101a is separated from the input shaft 101 by a distance D. The internal teeth 105 are formed on a circumference around the input shaft 101. The external teeth of the external gear 103 are formed on a circumference centering on 103e. In this specification, the center of the circumference along which the inner teeth or the outer teeth are along is referred to as the geometric center.
　外歯歯車１０３には貫通孔１０３ｃ，１０３ｄが形成されている。参照番号１０９は出力軸であり、先端が分岐している。分岐した先端１０９ｃは外歯歯車１０３の貫通孔１０３ｃに挿入されており、分岐した先端１０９ｄは外歯歯車１０３の貫通孔１０３ｄに挿入されている。入力軸１０１が軸Ａの周りに回転すると、外歯歯車１０３の幾何的中心１０３ｅは軸Ａの周りを公転する。内歯１０５に対して外歯歯車１０３が公転すると、外歯歯車１０３は自転する。外歯歯車１０３は、公転しながら自転する。公転しながら自転する運動を、本明細書では遊星運動という。外歯歯車１０３が遊星運動すると、出力軸１０９が自転する。分岐した先端１０９ｃ，１０９ｄと、貫通孔１０３ｃ，１０３ｄは、遊星運動する外歯歯車１０３の自転を出力軸１０９に伝達するトルク伝達部材である。外歯歯車１０３の歯数と内歯１０５の歯数差を調整することで変速比を調整することができる。 In the external gear 103, through holes 103c and 103d are formed. Reference numeral 109 is an output shaft, and the tip is branched. The branched tip 109 c is inserted into the through hole 103 c of the external gear 103, and the branched tip 109 d is inserted into the through hole 103 d of the external gear 103. When the input shaft 101 rotates around the axis A, the geometric center 103e of the external gear 103 revolves around the axis A. When the external gear 103 revolves with respect to the internal teeth 105, the external gear 103 rotates. The external gear 103 rotates while revolving. The movement that rotates while revolving is called planetary movement in this specification. When the external gear 103 moves in a planetary motion, the output shaft 109 rotates. The branched tips 109 c and 109 d and the through holes 103 c and 103 d are torque transmission members that transmit the rotation of the external gear 103 that performs planetary motion to the output shaft 109. The gear ratio can be adjusted by adjusting the difference between the number of teeth of the external gear 103 and the number of teeth of the internal teeth 105.
　図２は、２枚の外歯歯車１０３，１０４を利用する変速装置を例示している。外歯歯車１０３を貫通するクランク軸１０１ａと、外歯歯車１０４を貫通するクランク軸１０１ｂは、入力軸１０１を中心に反対方向にオフセットされている。出力軸１０９の分岐した先端１０９ｃは外歯歯車１０３の貫通孔１０３ｃと外歯歯車１０４の貫通孔１０４ｃに挿入されており、分岐した先端１０９ｄは外歯歯車１０３の貫通孔１０３ｄと外歯歯車１０４の貫通孔１０４ｄに挿入されている。参照番号１０６は、ケース１０７に固定されている内歯である。図１と同一の参照番号は、図１と同等の部材であることを示している。 FIG. 2 exemplifies a transmission that uses two external gears 103 and 104. The crankshaft 101 a that penetrates the external gear 103 and the crankshaft 101 b that penetrates the external gear 104 are offset in opposite directions around the input shaft 101. The branched tip 109 c of the output shaft 109 is inserted into the through hole 103 c of the external gear 103 and the through hole 104 c of the external gear 104, and the branched tip 109 d is the through hole 103 d of the external gear 103 and the external gear 104. The through hole 104d is inserted. Reference numeral 106 is an internal tooth fixed to the case 107. The same reference numerals as those in FIG. 1 indicate the same members as those in FIG.
　図１、図２に例示する変速装置は、大きな変速比を得るのに適しているが、それでも限界がある。実開平４－１１１９４７号公報（以下、特許文献１と称す）は、より大きな変速比を実現する変速装置を提案している。特許文献１の装置では、図３に例示するように、２枚の外歯歯車１０３，１０４を利用し、図２の装置と同様に公転させる。外歯歯車１０３の一部は内歯１０５の一部に噛み合っており、外歯歯車１０３が公転すると外歯歯車１０３は自転する。クランクピン１１４が外歯歯車１０３と外歯歯車１０４の間に挿入されており、外歯歯車１０３が自転すると外歯歯車１０４が自転する。外歯歯車１０４は、公転しながら自転する。クランクピン１１４は、外歯歯車１０３と外歯歯車１０４の相対的変位を許容しながら、外歯歯車１０３の自転を外歯歯車１０４に伝達するトルク伝達部材である。外歯歯車１０４の一部は内歯１０６の一部に噛み合っている。内歯１０６は内ケース１１０を介して出力軸１０９に固定されている。外歯歯車１０４が遊星運動すると、内歯１０６が自転し、出力軸１０９が自転する。 1 and 2 are suitable for obtaining a large gear ratio, but still have limitations. Japanese Utility Model Laid-Open No. 4-111947 (hereinafter referred to as Patent Document 1) proposes a transmission that achieves a larger gear ratio. In the apparatus of Patent Document 1, as illustrated in FIG. 3, two external gears 103 and 104 are used to revolve in the same manner as in the apparatus of FIG. A part of the external gear 103 meshes with a part of the internal tooth 105, and when the external gear 103 revolves, the external gear 103 rotates. The crank pin 114 is inserted between the external gear 103 and the external gear 104, and when the external gear 103 rotates, the external gear 104 rotates. The external gear 104 rotates while revolving. The crank pin 114 is a torque transmission member that transmits the rotation of the external gear 103 to the external gear 104 while allowing relative displacement between the external gear 103 and the external gear 104. A part of the external gear 104 meshes with a part of the internal tooth 106. The inner teeth 106 are fixed to the output shaft 109 via the inner case 110. When the external gear 104 moves in a planetary motion, the internal teeth 106 rotate and the output shaft 109 rotates.
　特開平７－６３２４３号公報（以下、特許文献２と称す）は、図４の変速装置を開示している。この変速装置も、２枚の外歯歯車１０３，１０４を利用し、図２、図３と同様に公転させる。ケース１０７からピン１０７ｃ，１０７ｄが延びている。ピン１０７ｃは、外歯歯車１０３の貫通孔１０３ｃに挿入されている。ピン１０７ｄは、外歯歯車１０３の貫通孔１０３ｄに挿入されている。外歯歯車１０３は自転できない。外歯歯車１０３が自転せずに公転すると、内歯１０５が自転する。内歯１０５は、内ケース１１６によってケース１０７に対して自転可能に支持されている。内歯１０５が自転すると、内歯１０６も自転する。外歯歯車１０４の一部と内歯１０６の一部が噛み合っている状態で外歯歯車１０４が公転すると、外歯歯車１０４は自転する。すなわち、外歯歯車１０４は遊星運動する。外歯歯車１０４と出力軸１０９の自転数には、外歯歯車１０４の公転数と内歯１０６の自転数が関与する。 Japanese Patent Laid-Open No. 7-63243 (hereinafter referred to as Patent Document 2) discloses the transmission shown in FIG. This transmission also revolves using the two external gears 103 and 104 in the same manner as in FIGS. Pins 107 c and 107 d extend from the case 107. The pin 107 c is inserted into the through hole 103 c of the external gear 103. The pin 107 d is inserted into the through hole 103 d of the external gear 103. The external gear 103 cannot rotate. When the external gear 103 revolves without rotating, the internal teeth 105 rotate. The inner teeth 105 are supported by the inner case 116 so as to be rotatable with respect to the case 107. When the inner teeth 105 rotate, the inner teeth 106 also rotate. When the external gear 104 revolves in a state where a part of the external gear 104 and a part of the internal tooth 106 are engaged, the external gear 104 rotates. That is, the external gear 104 moves in a planetary motion. The revolutions of the external gear 104 and the output shaft 109 are related to the revolutions of the external gear 104 and the revolutions of the internal teeth 106.
　特許文献１と２に記載の変速装置は、外歯歯車１０３と内歯１０５の組と、外歯歯車１０４と内歯１０６の組を利用している。特許文献１と２の変速装置は、２組の変速要素を組み合わせて用いることによって、大きな減速比を実現している。しかしながら、特許文献１と２の変速装置は下記の重要な問題を残している。図３の構造でも図４の構造でも、外歯歯車１０３と外歯歯車１０４が独立して運動できることが必要である。すなわち、外歯歯車１０３と外歯歯車１０４を固定することができない。換言すると、外歯歯車１０３と外歯歯車１０４を一体化することができない。外歯歯車１０３と外歯歯車１０４を、両者が独立して公転できるように変速装置のケース内に収容すると、変速装置の構造が複雑になる。単純ですっきりした構造の変速装置が必要とされている。 The transmissions described in Patent Documents 1 and 2 use a set of an external gear 103 and an internal tooth 105 and a set of an external gear 104 and an internal tooth 106. The transmissions of Patent Documents 1 and 2 achieve a large reduction ratio by using a combination of two sets of transmission elements. However, the transmissions of Patent Documents 1 and 2 have the following important problems. 3 and 4, it is necessary that the external gear 103 and the external gear 104 can move independently. That is, the external gear 103 and the external gear 104 cannot be fixed. In other words, the external gear 103 and the external gear 104 cannot be integrated. If the external gear 103 and the external gear 104 are accommodated in the case of the transmission so that both can independently revolve, the structure of the transmission becomes complicated. There is a need for a simple and clean transmission.
　本明細書で開示する変速装置は、少なくとも第１～第３歯車を備えている。例えば、図５に例示するように、第１歯車（ケースを兼用していてもよい）１０７には内歯１０５が形成されている。第２歯車１０３には少なくとも外歯１０３ｆが形成されている。第１歯車１０７の内歯１０５の一部と第２歯車１０３の外歯１０３ｆの一部が噛み合っている。第１歯車１０７の歯数とそれに噛み合っている第２歯車１０３の歯数の間に歯数差が設けられている。そのために、第２歯車１０３が公転すると第２歯車１０３は自転する。図５では、クランク軸１０１ａを利用して第２歯車１０３を公転させる構造を例示している。しかしながら、第２歯車１０３を公転させる機構は、クランク機構に限定されず、任意の公転機構を利用することができる。 The transmission disclosed in this specification includes at least first to third gears. For example, as illustrated in FIG. 5, an internal tooth 105 is formed on the first gear 107 (which may also serve as a case). At least external teeth 103 f are formed on the second gear 103. A part of the inner teeth 105 of the first gear 107 and a part of the outer teeth 103 f of the second gear 103 are engaged with each other. A difference in the number of teeth is provided between the number of teeth of the first gear 107 and the number of teeth of the second gear 103 engaged therewith. Therefore, when the second gear 103 revolves, the second gear 103 rotates. In FIG. 5, the structure which revolves the 2nd gearwheel 103 using the crankshaft 101a is illustrated. However, the mechanism for revolving the second gear 103 is not limited to the crank mechanism, and any revolution mechanism can be used.
　図５に例示する場合、第２歯車１０３に内歯１０３ｇが形成されており、第３歯車１１８に外歯が形成されている。第２歯車１０３の内歯１０３ｇの一部と、第３歯車１１８の外歯の一部が噛み合っている。第３歯車１１８の歯数とそれに噛み合っている第２歯車の歯数の間に歯数差が設けられている。第２歯車１０３が遊星運動すると、第３歯車１１８が自転し、第３歯車１１８に固定されている出力軸１０９が自転する。 5, internal teeth 103g are formed on the second gear 103, and external teeth are formed on the third gear 118. A part of the inner teeth 103g of the second gear 103 and a part of the outer teeth of the third gear 118 mesh with each other. There is a difference in the number of teeth between the number of teeth of the third gear 118 and the number of teeth of the second gear meshing therewith. When the second gear 103 moves in a planetary motion, the third gear 118 rotates, and the output shaft 109 fixed to the third gear 118 rotates.
　図６に例示するように、第２歯車１０３に外歯１０３ｈが形成されており、第３歯車１２０に内歯１２０ｈが形成されており、第２歯車１０３の外歯１０３ｈの一部と第３歯車１２０の内歯１２０ｈの一部が噛み合っている関係でもよい。第３歯車１２０の歯数とそれに噛み合っている第２歯車１０３の歯数の間に歯数差が設けられている。第２歯車１０３が遊星運動すると、第３歯車１２０が自転し、第３歯車１２０に固定されている出力軸１０９が自転する。 As illustrated in FIG. 6, external teeth 103 h are formed on the second gear 103, internal teeth 120 h are formed on the third gear 120, a part of the external teeth 103 h of the second gear 103 and the third A relationship in which a part of the inner teeth 120h of the gear 120 is engaged may be used. A difference in the number of teeth is provided between the number of teeth of the third gear 120 and the number of teeth of the second gear 103 engaged therewith. When the second gear 103 moves in a planetary motion, the third gear 120 rotates, and the output shaft 109 fixed to the third gear 120 rotates.
　上記したように、本明細書で開示する変速装置では、第２歯車１０３に内歯１０３ｇが形成されて第３歯車１１８に外歯が形成されていてもよいし、第２歯車１０３に外歯１０３ｈが形成されて第３歯車１２０に内歯１２０ｈが形成されていてもよい。すなわち、本明細書で開示する変速装置は、第２歯車と第３歯車の一方には外歯が形成されており、第２歯車と第３歯車の他方には内歯が形成されている。 As described above, in the transmission disclosed in this specification, the internal gear 103g may be formed on the second gear 103 and the external gear may be formed on the third gear 118, or the external gear may be formed on the second gear 103. 103 h may be formed, and the internal gear 120 h may be formed on the third gear 120. That is, in the transmission disclosed in this specification, one of the second gear and the third gear has external teeth, and the other of the second gear and the third gear has internal teeth.
　本明細書で記載する変速装置では、図５のように外歯１０３ｆと内歯１０３ｇが第２歯車１０３に形成されているか、あるいは、図６のように外歯１０３ｆと外歯１０３ｈが第２歯車１０３に形成されている。第２歯車１０３は、全体が一体として運動できれば足りる。そのため、第２歯車１０３は、外歯１０３ｆと内歯１０３ｇが独立して運動する必要もなければ、外歯１０３ｆと外歯１０３ｈが独立して運動する必要もない。図５及び６と、図３及び４とを比較すると、明らかに、本明細書で開示する変速装置は構造が単純化されている。また、本明細書で開示する変速装置は、図３では必要とされるクランクピン１１４や、図４では必要とされるピン１０７ｃ，１０７ｄ等は不必要である。 In the transmission described in this specification, external teeth 103f and internal teeth 103g are formed on the second gear 103 as shown in FIG. 5, or external teeth 103f and external teeth 103h are second as shown in FIG. A gear 103 is formed. It is sufficient that the second gear 103 can move as a whole. Therefore, in the second gear 103, the external teeth 103f and the internal teeth 103g do not need to move independently, and the external teeth 103f and the external teeth 103h do not need to move independently. Comparing FIGS. 5 and 6 with FIGS. 3 and 4, it is clear that the transmission disclosed herein is simplified in construction. Further, the transmission disclosed in this specification does not require the crank pin 114 required in FIG. 3, the pins 107c and 107d required in FIG.
　本明細書で開示する変速装置は、ケース１０７に固定されている第１歯車１０５と、ケース１０７に対して自転可能に支持されている第３歯車１１８，１２０と、ケース１０７に対して公転するとともに第１歯車１０５の一部と第３歯車１１８，１２０の一部に噛み合っている第２歯車１０３を備えた変速装置ということもできる。第１歯車１０５の歯数とそれに噛み合っている第２歯車１０３の歯数との間に歯数差が設けられており、第３歯車１１８，１２０の歯数とそれに噛み合っている第２歯車１０３の歯数との間に歯数差が設けられている。そのため、第２歯車１０３の公転数と第３歯車１１８，１２０の自転数の間に大きな変速比を付与することができる。 The transmission disclosed in the present specification revolves with respect to the first gear 105 fixed to the case 107, the third gears 118 and 120 supported so as to be able to rotate with respect to the case 107, and the case 107. In addition, it can be said that the transmission includes the second gear 103 that meshes with a part of the first gear 105 and a part of the third gears 118 and 120. There is a difference in the number of teeth between the number of teeth of the first gear 105 and the number of teeth of the second gear 103 engaged therewith, and the number of teeth of the third gears 118 and 120 and the second gear 103 engaged therewith. The number of teeth is different from the number of teeth. Therefore, a large gear ratio can be provided between the revolution number of the second gear 103 and the rotation number of the third gears 118 and 120.
　なお、歯数差を選択することによって、第３歯車１１８，１２０の自転数をゼロにすることもできる。「減速比＝入力軸の回転速度／出力軸の回転速度」と定義した場合、分母をゼロにすることもできる。すなわち、理論上は無限大の減速比を得ることができ、実現可能な減速比の上限をなくすことができる。逆に、歯数差を選択することによって小さな減速比に調整することもできる。上記の変速装置によると、実現可能な減速比の範囲を広く確保することができる。 Note that the number of rotations of the third gears 118 and 120 can be made zero by selecting the difference in the number of teeth. When it is defined as “reduction ratio = rotational speed of input shaft / rotational speed of output shaft”, the denominator can be zero. That is, a theoretically infinite reduction ratio can be obtained, and the upper limit of the realizable reduction ratio can be eliminated. Conversely, it is possible to adjust to a small reduction ratio by selecting the difference in the number of teeth. According to the above transmission, a wide range of possible reduction ratios can be ensured.
従来の変速装置の第１例を例示する。The 1st example of the conventional transmission is illustrated. 従来の変速装置の第２例を例示する。The 2nd example of the conventional transmission is illustrated. 従来の変速装置の第３例を例示する。The 3rd example of the conventional transmission is illustrated. 従来の変速装置の第４例を例示する。The 4th example of the conventional transmission is illustrated. 本明細書で記載する変速装置の一例を例示する。An example of the transmission described in this specification is illustrated. 本明細書で記載する変速装置の他の例を例示する。The other example of the transmission described in this specification is illustrated. 第１実施例の変速装置の平面図を示す。The top view of the transmission of 1st Example is shown. 第１実施例の変速装置の断面図を示す。Sectional drawing of the transmission of 1st Example is shown. 第２実施例の変速装置の平面図を示す。The top view of the transmission of 2nd Example is shown. 第２実施例の変速装置の断面図を示す。Sectional drawing of the transmission of 2nd Example is shown.
　以下、本明細書で開示する実施例の技術的特徴の幾つかを記す。なお、以下に記す事項は、各々単独で技術的な有用性を有している。 Hereinafter, some of the technical features of the embodiments disclosed in this specification will be described. The items described below have technical usefulness independently.
　（特徴１）第１歯車の内歯の幾何的中心と、第３歯車の内歯または外歯の幾何的中心と、出力軸の軸心と、第２歯車の公転中心と、が同軸上にある。 (Feature 1) The geometric center of the internal teeth of the first gear, the geometric center of the internal or external teeth of the third gear, the axis of the output shaft, and the revolution center of the second gear are coaxial. is there.
　（特徴２）図５と図６に例示されているように、第１歯車の対称軸（幾何的中心を通る軸）と第３歯車の自転軸が、第１軸Ａ上に配置されている。第２歯車の自転軸が、第１軸Ａから距離Ｄを隔てた位置で、第１軸Ａと平行に延びる第２軸Ｂ上に配置されている。 (Feature 2) As illustrated in FIGS. 5 and 6, the symmetry axis of the first gear (the axis passing through the geometric center) and the rotation axis of the third gear are arranged on the first axis A. . The rotation axis of the second gear is disposed on a second axis B extending in parallel with the first axis A at a position separated from the first axis A by a distance D.
　（特徴３）第３歯車の自転軸１０９に沿って延びている入力軸１０１と、入力軸１０１の周りを公転する偏心揺動体１０１ａが付加されている。偏心揺動体１０１ａが入力軸１０１の周りに公転すると、第２歯車１０３が公転する（第２歯車の自転軸Ｂが、入力軸Ａの周りを回転する）。偏心揺動体は、入力軸からオフセットされた位置を入力軸と平行に延びるクランク軸でもよいし、入力軸からオフセットされた位置に中心を持つ円周を備えている偏心カムでもよい。入力軸の軸心からオフセットされた位置に中心を持つ円周面を備えており、その中心が公転するものであればよい。 (Feature 3) An input shaft 101 extending along the rotation axis 109 of the third gear and an eccentric rocking body 101a that revolves around the input shaft 101 are added. When the eccentric rocker 101a revolves around the input shaft 101, the second gear 103 revolves (the rotation shaft B of the second gear rotates around the input shaft A). The eccentric oscillator may be a crankshaft extending in parallel with the input shaft at a position offset from the input shaft, or may be an eccentric cam having a circumference centered at a position offset from the input shaft. Any circumferential surface having a center at a position offset from the axis of the input shaft may be used as long as the center revolves.
　（特徴４）図６に示すように、第３歯車１２０に内歯１２０ｈが形成されている。第２歯車１０３の外歯１０３ｈの一部と第３歯車１２０の内歯１２０ｈの一部が噛み合っている。 (Characteristic 4) As shown in FIG. 6, the third gear 120 has internal teeth 120h. A part of the outer teeth 103h of the second gear 103 and a part of the inner teeth 120h of the third gear 120 are engaged with each other.
　（特徴５）図６に示すように、第１歯車１０５と第３歯車１２０の内歯１２０ｈとが、第３歯車１２０の自転軸に沿う方向において異なる位置に配置されている。 (Feature 5) As shown in FIG. 6, the first gear 105 and the internal gear 120h of the third gear 120 are arranged at different positions in the direction along the rotation axis of the third gear 120.
　（特徴６）第１歯車と噛み合う第２歯車１０３の外歯１０３ｆの歯数と、第３歯車１２０の内歯１２０ｈと噛み合う第２歯車１０３の外歯１０３ｈの歯数とが、異なっている実施例もあれば一致している実施例もある。 (Feature 6) The number of teeth of the external teeth 103f of the second gear 103 meshing with the first gear is different from the number of teeth of the external teeth 103h of the second gear 103 meshing with the internal teeth 120h of the third gear 120. Some examples are consistent with others.
　（特徴７）図５に示すように、第２歯車１０３は、外歯１０３ｆと内歯１０３ｇが形成されているリング状である。第３歯車１１８に外歯が形成されており、第２歯車１０３の内歯１０３ｇの一部と第３歯車１１８の外歯の一部が噛み合っている。 (Characteristic 7) As shown in FIG. 5, the second gear 103 has a ring shape in which outer teeth 103f and inner teeth 103g are formed. External teeth are formed on the third gear 118, and a part of the internal teeth 103 g of the second gear 103 and a part of the external teeth of the third gear 118 are engaged with each other.
　（特徴８）図５，６に示すように、第２歯車１０３は、ケース１０７に対して自由に自転できる。すなわち、第２歯車１０３とケース１０７の間には、第２歯車１０３の自転を拘束する関係がない。また、第２歯車１０３と入力軸１０１の間にも、第２歯車１０３の自転を拘束する関係がない。さらに、第２歯車１０３と出力軸１０９の間にも、第２歯車１０３の自転を拘束する関係がない。そのために、必要部品数が少なく、簡単な構造である。 (Feature 8) As shown in FIGS. 5 and 6, the second gear 103 can freely rotate with respect to the case 107. That is, there is no relationship between the second gear 103 and the case 107 that restricts the rotation of the second gear 103. Further, there is no relation between the second gear 103 and the input shaft 101 that restricts the rotation of the second gear 103. Further, there is no relationship between the second gear 103 and the output shaft 109 that restricts the rotation of the second gear 103. Therefore, the number of necessary parts is small and the structure is simple.
　（特徴９）第２歯車は、一個の部材で構成されていてもよいし、複数個の部材を固定して構成してもよい。 (Feature 9) The second gear may be constituted by a single member, or may be constituted by fixing a plurality of members.
　（特徴１０）第１歯車はケースに固定されており、第３歯車は出力軸に固定されている。第２歯車には、第１歯車と噛み合う外歯と、第３歯車と噛み合う外歯または内歯と、偏心揺動体（公転体)を受け入れる開口が形成されており、それらが同軸上に配置されている。第２歯車は偏心揺動体（公転体）に対して自転自在である。第２歯車の自転は、ケースによっても拘束されないし、入力軸によっても拘束されないし、出力軸によっても拘束されない。 (Feature 10) The first gear is fixed to the case, and the third gear is fixed to the output shaft. The second gear has an external tooth that meshes with the first gear, an external tooth or internal tooth that meshes with the third gear, and an opening that receives the eccentric rocking body (revolution body), and these are arranged coaxially. ing. The second gear is capable of rotating with respect to the eccentric rocking body (revolution body). The rotation of the second gear is not restricted by the case, is not restricted by the input shaft, and is not restricted by the output shaft.
　（特徴１１）第１歯車の歯数＝Ａ、第１歯車に噛み合う第２歯車の歯数＝Ｂ、第３歯車の歯数＝Ｄ、第３歯車に噛み合う第２歯車の歯数＝Ｃ、減速比＝入力軸の回転速度／出力軸の回転速度とすると、減速比＝ＢＤ／｛Ａ（Ｄ－Ｃ）－Ｄ（Ａ－Ｂ）｝＝ＢＤ／（ＢＤ－ＡＣ）である。 (Feature 11) Number of teeth of first gear = A, Number of teeth of second gear meshing with first gear = B, Number of teeth of third gear = D, Number of teeth of second gear meshing with third gear = C, Assuming that the reduction ratio = the rotational speed of the input shaft / the rotational speed of the output shaft, the reduction ratio = BD / {A (DC) −D (AB)} = BD / (BD-AC).
　（特徴１２）「Ａ－Ｂ」と「Ｄ－Ｃ」が同符号に設定されており、大きな減速比を実現する。すなわち、Ａ＞ＢであるとともにＤ＞Ｃであるか、または、Ａ＜ＢであるとともにＤ＜Ｃである。 (Characteristic 12) “AB” and “DC” are set to the same sign to achieve a large reduction ratio. That is, A> B and D> C, or A <B and D <C.
　（特徴１３）「Ａ－Ｂ」と「Ｄ－Ｃ」が異符号に設定されており、小さな減速比を実現する。すなわち、Ａ＞ＢであるとともにＤ＜Ｃであるか、または、Ａ＜ＢであるとともにＤ＞Ｃである。 (Characteristic 13) “AB” and “DC” are set to different signs to achieve a small reduction ratio. That is, A> B and D <C, or A <B and D> C.
　（特徴１４）特徴１１に示した減速比を示す式の分母が正であり、「入力軸の回転方向＝出力軸の回転方向」である。あるいは、前記分母が負であり、「入力軸の回転方向と出力軸の回転方向」が逆である。歯数の調整によって、出力軸の回転方向を選択できる。 (Feature 14) The denominator of the expression indicating the reduction ratio shown in Feature 11 is positive, and “the rotation direction of the input shaft = the rotation direction of the output shaft”. Alternatively, the denominator is negative, and the “rotating direction of the input shaft and the rotating direction of the output shaft” are opposite. The rotation direction of the output shaft can be selected by adjusting the number of teeth.
（第１実施例）
　図７と図８は、図５に対応する実施例を示している。参照番号２はモータであり、変速装置３０のケース２０に固定されている。参照番号６は、モータ回転軸であり、第１軸Ａの周りを自転する。参照番号８は、入力軸と偏心揺動体（公転体）を兼用している部材であり、第１軸Ａと同軸の円筒部８ａと、偏心カム８ｂと、第１軸Ａと同軸の円筒部８ｃを備えている。円筒部８ａは軸受１２によって後述する出力軸（自転体）２４に自転可能に支持されており、円筒部８ｃは軸受４によってケース２０に自転可能に支持されている。モータ回転軸６にはキー溝６ａが形成されている。入力軸８にはキー溝６ａに差し込まれている凸条８ｄが形成されている。モータ回転軸６が軸Ａの周りに自転すると、入力軸８が第１軸Ａの周りに自転する。 (First embodiment)
7 and 8 show an embodiment corresponding to FIG. Reference numeral 2 denotes a motor, which is fixed to the case 20 of the transmission 30. Reference numeral 6 denotes a motor rotation shaft, which rotates around the first axis A. Reference numeral 8 is a member that serves both as an input shaft and an eccentric rocking body (revolution body). The cylindrical portion 8a is coaxial with the first axis A, the eccentric cam 8b, and the cylindrical portion is coaxial with the first axis A. 8c. The cylindrical portion 8a is supported by an output shaft (autorotated body) 24, which will be described later, by a bearing 12 so as to be capable of rotating, and the cylindrical portion 8c is supported by the bearing 4 so as to be capable of rotating. A key groove 6 a is formed in the motor rotating shaft 6. The input shaft 8 is formed with a ridge 8d inserted into the key groove 6a. When the motor rotation shaft 6 rotates around the axis A, the input shaft 8 rotates around the first axis A.
　偏心カム８ｂは、円形の外周面を備えている。偏心カム８ｂの中心は、第２軸Ｂ上にある。第２軸Ｂは、第１軸Ａから距離Ｄだけオフセットされている。すなわち、Ｂ軸から偏心カム８ｂの外周面までの距離ｃは、方位に依らないで一定である。それに対して、Ａ軸から偏心カム８ｂの外周面までの距離は、方位に依って「ａ」あるいは「ｂ」に示すように変化する。 The eccentric cam 8b has a circular outer peripheral surface. The center of the eccentric cam 8b is on the second axis B. The second axis B is offset from the first axis A by a distance D. That is, the distance c from the B axis to the outer peripheral surface of the eccentric cam 8b is constant regardless of the direction. On the other hand, the distance from the A axis to the outer peripheral surface of the eccentric cam 8b changes as shown by “a” or “b” depending on the direction.
　第２歯車１６の円板部１６ｃが、偏心カム８ｂの周囲に位置している。円板部１６ｃの中心には開口１６ｆが形成されており、中心開口１６ｆと偏心カム８ｂの間に軸受１０が介在している。入力軸８が軸Ａの周りに自転すると、偏心カム８ｂの中心軸Ｂは軸Ａの周りを公転し、第２歯車１６の幾何的中心軸（自転軸）Ｂも軸Ａの周りを公転する。 The disc portion 16c of the second gear 16 is positioned around the eccentric cam 8b. An opening 16f is formed at the center of the disc portion 16c, and the bearing 10 is interposed between the center opening 16f and the eccentric cam 8b. When the input shaft 8 rotates around the axis A, the center axis B of the eccentric cam 8b revolves around the axis A, and the geometric center axis (spinning axis) B of the second gear 16 also revolves around the axis A. .
　第２歯車１６は、幾何的中心軸Ｂの周りに回転対称である。外歯と内歯を持っているリング状歯車１６ｂが、ボルト１６ｄによって、円板部１６ｃに固定されている。図７に示されているように、リング状歯車１６ｂの外周面１６ａには、ペリサイクロイドの歯形が形成されている。リング状歯車１６ｂの内周面１６ｅにも、ペリサイクロイドの歯形が形成されている。リング状歯車１６ｂの外周面に形成されている歯形を外歯１６ａといい、内周面に形成されている歯形を内歯１６ｅということがある。リング状歯車１６ｂは、第２歯車本体ということができる。第２歯車１６は、ケース２０内に収容されている。 The second gear 16 is rotationally symmetric about the geometric central axis B. A ring-shaped gear 16b having external teeth and internal teeth is fixed to the disc portion 16c by bolts 16d. As shown in FIG. 7, a pericycloidal tooth profile is formed on the outer peripheral surface 16a of the ring gear 16b. A pericycloid tooth profile is also formed on the inner peripheral surface 16e of the ring gear 16b. The tooth profile formed on the outer peripheral surface of the ring-shaped gear 16b may be referred to as an external tooth 16a, and the tooth profile formed on the inner peripheral surface may be referred to as an internal tooth 16e. The ring gear 16b can be referred to as a second gear body. The second gear 16 is accommodated in the case 20.
　ケース２０は、底板２０ｆと、第１歯車本体２０ｄと、上板２０ａを備えており、ボルト２０ｅ，２０ｂ等で一体化されている。参照番号２７は、Ｏリングであり、ケース内を大気から密閉している。孔２０ｇは、変速装置３０をロボット等に固定するための取り付け孔である。 The case 20 includes a bottom plate 20f, a first gear main body 20d, and an upper plate 20a, and is integrated with bolts 20e, 20b and the like. Reference numeral 27 is an O-ring that seals the inside of the case from the atmosphere. The hole 20g is an attachment hole for fixing the transmission 30 to a robot or the like.
　図７に示すように、第１歯車本体２０ｄの内周面２０ｃは、軸Ａを中心とする円周面である。内周面２０ｃには、所定間隔で断面が半円状の溝２０ｈが形成されている。各々の溝２０ｈには、ピン１８が挿入されている。ピン１８は半円溝２０ｈ内で自転可能である。リング状歯車１６ｂの外周面１６ａは、第１歯車本体２０ｄの内周面２０ｃに接近している。そのため、ピン１８が溝２０ｈから飛び出ることはない。ピン１８と第１歯車本体２０ｄの内周面２０ｃによって内歯１９が形成されている。ケース２０は、内周面に内歯１９が形成されている第１歯車ということができる。ケース２０は、第１歯車でもあり、内歯歯車でもある。実体が一緒なので、ケース、第１歯車、内歯歯車に対して共通の参照番号２０を用いる。他の部材においても、実体が同じ部材に対して、機能から見て異なる名称を使う場合であっても、共通の参照番号を用いる。 As shown in FIG. 7, the inner peripheral surface 20c of the first gear main body 20d is a circumferential surface centered on the axis A. A groove 20h having a semicircular cross section is formed at a predetermined interval on the inner peripheral surface 20c. A pin 18 is inserted into each groove 20h. The pin 18 can rotate in the semicircular groove 20h. The outer peripheral surface 16a of the ring gear 16b is close to the inner peripheral surface 20c of the first gear body 20d. Therefore, the pin 18 does not jump out of the groove 20h. An internal tooth 19 is formed by the pin 18 and the inner peripheral surface 20c of the first gear body 20d. The case 20 can be said to be a first gear having inner teeth 19 formed on the inner peripheral surface. The case 20 is also a first gear and an internal gear. Since the entities are together, a common reference number 20 is used for the case, the first gear, and the internal gear. For other members, common reference numbers are used even for members having the same entity, even if different names are used in terms of function.
　図７に示すように、第１歯車２０に形成されている内歯１９の一部と、リング状歯車１６ｂの外周面に形成されている外歯１６ａの一部は噛み合っている。図７の場合、内歯１９の中心軸Ａに対して、リング状歯車１６ｂの外歯１６ａの中心軸Ｂが右側に偏心している。そのために、図７の右側では内歯１９と外歯１６ａが深く噛み合っている。図７の左側では、内歯１９と外歯１６が接しているものの、噛み合っていない。内歯１９の一部と外歯１６ａの一部は噛み合っており、内歯１９の一部と外歯１６ａの一部は噛み合っていないということができる。なお本明細書における「噛み合う」という用語は、外見上噛み合っていることを意味する。「噛み合う」という用語と、内歯と外歯の間でトルクが伝達される領域と、は異なっている。第１歯車２０に形成されている内歯１９の歯数と、第２歯車１６に形成されている外歯１６ａの歯数は一致していない。本実施例では、前者が３０であり、後者が２９である。 As shown in FIG. 7, a part of the inner teeth 19 formed on the first gear 20 and a part of the outer teeth 16a formed on the outer peripheral surface of the ring-shaped gear 16b mesh with each other. In the case of FIG. 7, the center axis B of the outer teeth 16 a of the ring gear 16 b is eccentric to the right side with respect to the center axis A of the inner teeth 19. Therefore, the inner teeth 19 and the outer teeth 16a are engaged with each other on the right side of FIG. On the left side of FIG. 7, the inner teeth 19 and the outer teeth 16 are in contact but not engaged. It can be said that a part of the inner teeth 19 and a part of the outer teeth 16a mesh with each other, and a part of the inner teeth 19 and a part of the outer teeth 16a do not mesh with each other. Note that the term “mesh” in this specification means that they are meshed in appearance. The term “mesh” is different from the region where torque is transmitted between the inner and outer teeth. The number of teeth of the internal teeth 19 formed on the first gear 20 and the number of teeth of the external teeth 16 a formed on the second gear 16 do not match. In the present embodiment, the former is 30 and the latter is 29.
　図８に示すように、リング状歯車１６ｂの内側に、第３歯車と出力軸を兼用する自転体２４が収容されている。自転体２４は、第３歯車本体２４ｂと出力軸部２４ｃを備えており、ボルト２４ａで一体化されている。自転体２４は、軸受２６,２８によって、ケース２０に自転可能に支持されている。自転体（第３歯車と出力軸を兼用している）２４の自転軸は、Ａ軸に等しい。 As shown in FIG. 8, a rotating body 24 that serves both as a third gear and an output shaft is accommodated inside the ring gear 16b. The rotating body 24 includes a third gear main body 24b and an output shaft portion 24c, and is integrated with a bolt 24a. The rotating body 24 is supported on the case 20 by bearings 26 and 28 so as to be able to rotate. The rotation axis of the rotation body 24 (which serves as the third gear and the output shaft) is equal to the A axis.
　孔２４ｄは、出力軸を兼用する自転体２４に図示しない物体を固定するための取り付け孔である。例えばケース２０の取り付け孔２０ｇにロボットのアームの基部側を固定し、自転体２４の取り付け孔２４ｄにロボットのアームの先端側を固定しておいてモータ２によって入力軸８を回転させると、アームの基部側に対してアームの先端側が回転する。変速装置３０は、モータ２の回転速度を減速してアームの先端側を回転させることができる。参照番号２５は、オイルシールであり、ケース内に閉じ込められている潤滑油がケース外に漏れ出るのを止めている。 The hole 24d is an attachment hole for fixing an object (not shown) to the rotating body 24 that also serves as an output shaft. For example, if the base side of the robot arm is fixed to the mounting hole 20g of the case 20, the tip side of the robot arm is fixed to the mounting hole 24d of the rotating body 24, and the input shaft 8 is rotated by the motor 2, the arm 2 The distal end side of the arm rotates with respect to the base side. The transmission 30 can reduce the rotational speed of the motor 2 and rotate the distal end side of the arm. Reference numeral 25 is an oil seal that stops the lubricating oil trapped in the case from leaking out of the case.
　自転体（第３歯車と出力軸を兼用している）２４の自転軸は、第１軸Ａに等しい。図７に示すように、第１軸Ａを中心とする外周面２４ｅには、所定間隔で断面半円状の溝２４ｆが形成されている。各々の溝２４ｆには、ピン２２が挿入されている。ピン２２は、溝２４ｆ内で自転可能である。図７に示すように、リング状歯車１６ｂの内周面１６ｅは、第３歯車本体２４ｂの外周面２４ｅに接近している。そのため、ピン２２が溝２４ｆから飛び出ることはない。ピン２２と第３歯車本体２４ｂの外周面２４ｅの全体によって外歯２３が形成されている。 The rotation axis of the rotation body 24 (which serves as the third gear and the output shaft) is equal to the first axis A. As shown in FIG. 7, a groove 24 f having a semicircular cross section is formed at a predetermined interval on the outer peripheral surface 24 e centering on the first axis A. A pin 22 is inserted into each groove 24f. The pin 22 can rotate in the groove 24f. As shown in FIG. 7, the inner peripheral surface 16e of the ring gear 16b is close to the outer peripheral surface 24e of the third gear body 24b. Therefore, the pin 22 does not jump out of the groove 24f. External teeth 23 are formed by the entire outer peripheral surface 24e of the pin 22 and the third gear body 24b.
　図７に示すように、リング状歯車１６ｂの内周面１６ｅには、ペリサイクロイドの歯形が形成されている。第３歯車本体２４ｂの外歯２３の一部と、リング状歯車１６ｂの内周面に形成されている内歯１６ｅの一部は噛み合っている。図７の場合、外歯２３の中心軸Ａに対して、リング状歯車１６ｂの内歯１６ｅの中心軸Ｂが右側に偏心している。そのために、図７の左側では内歯１６ｅと外歯２３が深く噛み合っている。図７の右側では、内歯１６ｅと外歯２３が接しているものの、噛み合ってはいない。第３歯車本体２４ｂの外歯２３の歯数と、リング状歯車１６ｂの内歯１６ｅの歯数は一致していない。本実施例では前者が２０であり、後者が１９である。 As shown in FIG. 7, a pericycloidal tooth profile is formed on the inner peripheral surface 16e of the ring gear 16b. A part of the outer teeth 23 of the third gear body 24b and a part of the inner teeth 16e formed on the inner peripheral surface of the ring-shaped gear 16b mesh with each other. In the case of FIG. 7, the center axis B of the inner teeth 16e of the ring gear 16b is eccentric to the right side with respect to the center axis A of the outer teeth 23. Therefore, the inner teeth 16e and the outer teeth 23 are deeply engaged with each other on the left side of FIG. On the right side of FIG. 7, the inner teeth 16e and the outer teeth 23 are in contact with each other but are not engaged with each other. The number of teeth of the external teeth 23 of the third gear body 24b does not match the number of teeth of the internal teeth 16e of the ring gear 16b. In this embodiment, the former is 20 and the latter is 19.
　変速装置３０の動作を説明する。モータ２が駆動してモータ回転軸６が軸Ａの周りに自転すると、偏心カム８ｂの中心軸Ｂが軸Ａの周りを公転し、それに追従して第２歯車１６が公転する。内歯１９と外歯１６ａの間に歯数差が設けられているので、第２歯車１６が第１歯車２０に対して公転すると、第２歯車１６が自転する。第２歯車１６と偏心カム８ｂの間には軸受１０が挿入されており、第２歯車１６は自転できる。 The operation of the transmission 30 will be described. When the motor 2 is driven and the motor rotation shaft 6 rotates around the axis A, the central axis B of the eccentric cam 8b revolves around the axis A, and the second gear 16 revolves following the rotation. Since there is a difference in the number of teeth between the internal teeth 19 and the external teeth 16a, when the second gear 16 revolves with respect to the first gear 20, the second gear 16 rotates. A bearing 10 is inserted between the second gear 16 and the eccentric cam 8b, and the second gear 16 can rotate.
　内歯１６ｅと外歯２３の間に歯数が設けられているので、第２歯車１６が公転すると、第３歯車２４は自転する。第２歯車１６が自転すると、第２歯車１６の自転数が第３歯車２４の自転数に影響する。本実施例では、第２歯車１６の公転によって生じる第３歯車２４の自転方向と、第２歯車１６の自転方向が逆向きとなっている。すなわち、「第３歯車２４の自転速度」＝「第２歯車１６の公転によって生じる第３歯車２４の自転速度」－「第２歯車１６の自転速度」となっている。そのため、第３歯車２４の自転速度は極めて遅い。変速装置３０は、大きな変速比が得られる。 Since the number of teeth is provided between the inner teeth 16e and the outer teeth 23, when the second gear 16 revolves, the third gear 24 rotates. When the second gear 16 rotates, the rotation number of the second gear 16 affects the rotation number of the third gear 24. In the present embodiment, the rotation direction of the third gear 24 caused by the revolution of the second gear 16 and the rotation direction of the second gear 16 are opposite to each other. That is, “the rotation speed of the third gear 24” = “the rotation speed of the third gear 24 caused by the revolution of the second gear 16” − “the rotation speed of the second gear 16”. Therefore, the rotation speed of the third gear 24 is extremely slow. The transmission 30 can obtain a large transmission ratio.
　なお、歯数を選択することで、第２歯車１６の公転によって生じる第３歯車２４の自転方向と第２歯車１６の自転方向とを一致させることができる。その場合は、「第３歯車２４の自転速度」＝「第２歯車１６の公転による自転速度」＋「第２歯車１６の自転速度」の関係を得ることができる。本実施例では、第３歯車２４の自転速度の符号と入力軸８の自転速度の符号が一致する歯数が選択されている。歯数を選択することで、第３歯車２４の自転速度の符号と入力軸８の自転速度の符号を異ならせることができる。すなわち、モータ２の回転方向と出力軸部２４ｃの回転方向を揃えることもできれば、反対向きにすることもできる。 In addition, by selecting the number of teeth, the rotation direction of the third gear 24 generated by the revolution of the second gear 16 and the rotation direction of the second gear 16 can be matched. In that case, the relationship of “the rotation speed of the third gear 24” = “the rotation speed by the revolution of the second gear 16” + “the rotation speed of the second gear 16” can be obtained. In this embodiment, the number of teeth is selected so that the sign of the rotation speed of the third gear 24 matches the sign of the rotation speed of the input shaft 8. By selecting the number of teeth, the sign of the rotation speed of the third gear 24 and the sign of the rotation speed of the input shaft 8 can be made different. That is, the rotation direction of the motor 2 and the rotation direction of the output shaft portion 24c can be aligned, or can be opposite.
　上記の変速装置３０では、出力軸部２４ｃに一体化されている第３歯車本体２４ｂに回転力が伝達される。変速装置３０は、回転力を出力軸に伝えるために、図１、図２及び図４に示した分岐先端１０９ｃ，１０９ｄを必要としない。分岐先端１０９ｃ，１０９ｄを利用してトルクを伝達する方式の場合、分岐先端１０９ｃ，１０９ｄの強度が不足するという問題に対処しなければならない。そのため、変速装置の小型化が妨げられる。分岐先端１０９ｃ，１０９ｄが必要とされるという構造自体も、小型化を妨げる。さらに、分岐先端１０９ｃ，１０９ｄの存在が、製造コストを押し上げる。本実施例では、出力軸部２４ｃの自転軸（Ａ軸）の周りに自転する第３歯車本体２４ｂに回転力が伝達される。そのため、変速装置３０は、分岐先端１０９ｃ，１０９ｄが必要としないので、変速装置を小型化するのに適している。 In the transmission 30 described above, the rotational force is transmitted to the third gear main body 24b integrated with the output shaft portion 24c. The transmission 30 does not need the branching tips 109c and 109d shown in FIGS. 1, 2 and 4 in order to transmit the rotational force to the output shaft. In the case of a system in which torque is transmitted using the branch tips 109c and 109d, the problem that the strength of the branch tips 109c and 109d is insufficient must be dealt with. This hinders downsizing of the transmission. The structure itself in which the branch tips 109c and 109d are required also prevents miniaturization. Further, the presence of the branch tips 109c and 109d increases the manufacturing cost. In the present embodiment, the rotational force is transmitted to the third gear body 24b that rotates around the rotation axis (A axis) of the output shaft portion 24c. Therefore, the transmission 30 does not require the branch tips 109c and 109d, which is suitable for downsizing the transmission.
　また本実施例によると、第１歯車２０の内歯１９とそれに噛み合う第２歯車１６の外歯１６ａと、第３歯車２４の外歯２３とそれに噛み合う第２歯車１６の内歯１６ｅを同一平面内に置くことができる。変速装置３０の回転軸Ａに沿った方向の厚みを薄くすることができる。本実施例では、第２歯車１６を複数個の部材で構成している。第２歯車自体は、一体として運動すればよいので、１個の部材で構成してもよい。 Further, according to the present embodiment, the internal teeth 19 of the first gear 20 and the external teeth 16a of the second gear 16 meshing therewith, and the external teeth 23 of the third gear 24 and the internal teeth 16e of the second gear 16 meshing therewith are coplanar. Can be put inside. The thickness of the transmission 30 in the direction along the rotation axis A can be reduced. In this embodiment, the second gear 16 is composed of a plurality of members. Since the second gear itself may move as a unit, it may be constituted by a single member.
（第２実施例）
　図９と図１０は、図６に対応する実施例を示している。図７と図８に示した部材と同等な部材には、図７と図８の部材に付した参照番号に４０を加えた参照番号を用いる。参照番号４２はモータであり、変速装置７０のケース６０に固定されている。参照番号４６は、モータ回転軸であり、軸Ａの周りを自転する。モータ回転軸４６には、外歯４６ａが形成されている。参照番号４４は、平歯車である。平歯車４４は、ボルト４７ａで固定されている自転軸４７ｂの周りを自転する。 (Second embodiment)
9 and 10 show an embodiment corresponding to FIG. For members equivalent to those shown in FIGS. 7 and 8, reference numbers obtained by adding 40 to the reference numbers given to the members in FIGS. 7 and 8 are used. Reference numeral 42 denotes a motor, which is fixed to the case 60 of the transmission 70. Reference numeral 46 denotes a motor rotation shaft, which rotates around the axis A. External teeth 46 a are formed on the motor rotation shaft 46. Reference numeral 44 is a spur gear. The spur gear 44 rotates around a rotation shaft 47b fixed by a bolt 47a.
　参照番号４８は、偏心揺動体である。偏心揺動体４８は、偏心揺動体本体４８ｂと上板４８ｃを備えており、ボルト４８ｄで一体化されている。上板４８ｃの内周面４８ｅには内歯が形成されており、平歯車４４の外歯と噛み合っている。モータ回転軸４６が軸Ａの周りに自転すると、偏心揺動体４８も軸Ａの周りに自転する。偏心揺動体本体４８ｂの内周は、軸Ａを中心とする円であり、軸受４９ａ，４９ｂで支持されている。軸受４９ａ、４９ｂは、軸Ａを中心とする位置に配置されている。 Reference numeral 48 is an eccentric oscillator. The eccentric oscillating body 48 includes an eccentric oscillating body main body 48b and an upper plate 48c, and is integrated by a bolt 48d. Inner teeth are formed on the inner peripheral surface 48 e of the upper plate 48 c and mesh with the outer teeth of the spur gear 44. When the motor rotating shaft 46 rotates around the axis A, the eccentric rocking body 48 also rotates around the axis A. The inner periphery of the eccentric oscillator main body 48b is a circle centered on the axis A, and is supported by bearings 49a and 49b. The bearings 49a and 49b are arranged at positions centered on the axis A.
　偏心揺動体本体４８ｂの外周面４８ａは円形であるが、その中心はＢ軸上にある。Ｂ軸は、Ａ軸から距離Ｄだけオフセットされている。すなわち、Ｂ軸から外周面４８ａまでの距離ｃは方位に依らないで一定である。それに対して、Ａ軸から外周面４８ａまでの距離は、方位に依って、「ａ」あるいは「ｂ」に示すように変化する。 The outer peripheral surface 48a of the eccentric oscillator body 48b is circular, but its center is on the B axis. The B axis is offset from the A axis by a distance D. That is, the distance c from the B axis to the outer peripheral surface 48a is constant regardless of the direction. On the other hand, the distance from the A axis to the outer peripheral surface 48a changes as indicated by “a” or “b” depending on the direction.
　偏心揺動体本体４８ｂの周囲に、第２歯車５６が位置している。第２歯車５６は、上部５６ｄと下部５６ｆを備えている。上部５６ｄと下部５６ｆは、ボルト５６ｅで固定されている。第２歯車５６の内周面５６ｃは円形である。第２歯車５６は、軸受５０ａ，５０ｂによって、偏心揺動体本体４８ｂの外周面４８ａの周りに自転可能に支持されている。第２歯車５６は、軸Ｂの周りに自転する。第２歯車５６の上外周面５６ａと下外周面５６ｂも、軸Ｂを中心としている。 A second gear 56 is positioned around the eccentric rocking body 48b. The second gear 56 includes an upper part 56d and a lower part 56f. The upper part 56d and the lower part 56f are fixed by a bolt 56e. The inner peripheral surface 56c of the second gear 56 is circular. The second gear 56 is supported by the bearings 50a and 50b so as to be rotatable around the outer peripheral surface 48a of the eccentric oscillator main body 48b. The second gear 56 rotates around the axis B. The upper outer peripheral surface 56a and the lower outer peripheral surface 56b of the second gear 56 are also centered on the axis B.
　モータ回転軸４６が軸Ａの周りに自転すると、偏心揺動体４８も軸Ａの周りに自転する。偏心揺動体本体４８ｂの外周面４８ａの中心軸Ｂは、軸Ａの周りを公転する。その結果、第２歯車５６の幾何的中心軸（自転軸）Ｂも軸Ａの周りを公転する。 When the motor rotation shaft 46 rotates around the axis A, the eccentric rocker 48 also rotates around the axis A. The central axis B of the outer peripheral surface 48a of the eccentric oscillator main body 48b revolves around the axis A. As a result, the geometric center axis (spinning axis) B of the second gear 56 also revolves around the axis A.
　第２歯車５６の上外周面５６ａにはペリサイクロイドの歯形が形成されており、第２歯車５６の下外周面５６ｂにもペリサイクロイドの歯形が形成されている。上外周面に形成されている歯形を外歯５６ａということがあり、下外周面に形成されている歯形を外歯５６ｂということがある。 A pericycloidal tooth profile is formed on the upper outer peripheral surface 56a of the second gear 56, and a pericycloidal tooth profile is also formed on the lower outer peripheral surface 56b of the second gear 56. The tooth profile formed on the upper outer peripheral surface may be referred to as an external tooth 56a, and the tooth profile formed on the lower outer peripheral surface may be referred to as an external tooth 56b.
　ケース６０は、底板６０ｆと、筒部６０ｃと、上板６０ａを備えており、ボルト６０ｅ，６０ｂ等で一体化されている。孔６０ｇは、変速装置７０をロボット等に固定するための取り付け孔である。筒部６０ｃの内周面は、軸Ａを中心する円周面である。図９に示すように、筒部６０ｃの内周面には、所定間隔で断面が半円状の溝６０ｈが形成されている。各々の溝６０ｈには、ピン５８が挿入されている。ピン５８は、半円溝６０ｈ内で自転可能である。図１０に示すように、第２歯車１６の下外周面５６ｂは、筒部６０ｃの内周面に接近しており、ピン５８が溝６０ｈから飛び出ることはない。ピン５８と筒部６０ｃの内周面によって内歯５９が形成されている。ケース６０は、内周面に内歯５９が形成されている第１歯車ということができる。 The case 60 includes a bottom plate 60f, a cylindrical portion 60c, and an upper plate 60a, and is integrated with bolts 60e, 60b and the like. The hole 60g is an attachment hole for fixing the transmission 70 to a robot or the like. The inner peripheral surface of the cylindrical portion 60c is a circumferential surface centering on the axis A. As shown in FIG. 9, a groove 60h having a semicircular cross section is formed at a predetermined interval on the inner peripheral surface of the cylindrical portion 60c. A pin 58 is inserted into each groove 60h. The pin 58 can rotate within the semicircular groove 60h. As shown in FIG. 10, the lower outer peripheral surface 56b of the second gear 16 is close to the inner peripheral surface of the cylindrical portion 60c, and the pin 58 does not jump out of the groove 60h. Internal teeth 59 are formed by the pins 58 and the inner peripheral surface of the cylindrical portion 60c. The case 60 can be said to be a first gear having inner teeth 59 formed on the inner peripheral surface.
　図１０に示すように、第１歯車６０に形成されている内歯５９の一部と、第２歯車５６の外周面に形成されている外歯５６ｂの一部は噛み合っている。図１０の場合、内歯５９の中心軸Ａに対して、第２歯車５６の外歯５６ｂの中心軸Ｂが左方に偏心している。そのために、図１０の左側では内歯５９と外歯５６ｂが深く噛み合っている。図１０の右側では、内歯５９と外歯５６ｂが接しているものの、噛み合ってはいない。第１歯車６０に形成されている内歯５９の歯数と、第２歯車５６に形成されている外歯５６ｂの歯数は一致していない。本実施例では、前者が７１であり、後者が７０である。 As shown in FIG. 10, a part of the inner teeth 59 formed on the first gear 60 and a part of the outer teeth 56 b formed on the outer peripheral surface of the second gear 56 are meshed with each other. In the case of FIG. 10, the center axis B of the outer teeth 56 b of the second gear 56 is eccentric to the left with respect to the center axis A of the inner teeth 59. Therefore, the inner teeth 59 and the outer teeth 56b are deeply engaged on the left side of FIG. On the right side of FIG. 10, the inner teeth 59 and the outer teeth 56b are in contact with each other, but are not engaged with each other. The number of teeth of the internal teeth 59 formed on the first gear 60 and the number of teeth of the external teeth 56b formed on the second gear 56 do not match. In the present embodiment, the former is 71 and the latter is 70.
　第２歯車５６の上外周面５６ａの外側に、第３歯車と出力軸を兼用する自転体６４が配置されている。自転体６４は、第３歯車本体６４ｂと上板６４ｄをボルト６４ｃで一体化したものである。自転体６４は、軸受６６,６８によって、ケース６０に自転可能に支持されている。自転体（第３歯車と出力軸を兼用している）６４の自転軸は、Ａ軸に等しい。 Rotating body 64 that serves both as the third gear and the output shaft is disposed outside the upper outer peripheral surface 56a of the second gear 56. The rotation body 64 is obtained by integrating a third gear body 64b and an upper plate 64d with bolts 64c. The rotating body 64 is supported on the case 60 by bearings 66 and 68 so as to be able to rotate. The rotation axis of the rotation body 64 (which serves as the third gear and the output shaft) is equal to the A axis.
　孔６４ｅは、出力軸を兼用している自転体６４に図示しない物体を固定するための取り付け孔である。例えばケース６０の取り付け孔６０ｇにロボットのアームの基部側を固定し、自転体６４の取り付け孔６４ｅにロボットのアームの先端側を固定しておいてモータ４２を駆動させると、アームの基部側に対してアームの先端側が回転する。変速装置７０は、モータ４２の回転速度を減速してアームの先端側を回転させることができる。 The hole 64e is a mounting hole for fixing an object (not shown) to the rotating body 64 that also serves as an output shaft. For example, when the base side of the robot arm is fixed to the mounting hole 60g of the case 60 and the tip side of the robot arm is fixed to the mounting hole 64e of the rotating body 64 and the motor 42 is driven, In contrast, the tip side of the arm rotates. The transmission 70 can reduce the rotational speed of the motor 42 and rotate the distal end side of the arm.
　自転体（第３歯車と出力軸を兼用している）６４の自転軸はＡ軸に等しい。図９に示すように、Ａ軸を中心とする内周面６４ａには、所定間隔で半円状の溝６４ｆが形成されている。各々の溝６４ｆには、ピン６２が挿入されている。ピン６２は溝６４ｆ内で自転可能である。図９に示すように、第２歯車５６の上外周面５６ａは、第３歯車を兼用している自転体６４の内周面６４ａに接近している。そのため、ピン６２が溝６４ｆから飛び出ることはない。ピン６２と自転体６４の内周面６４ａの全体によって内歯６３が形成されている。 The rotation axis of the rotation body 64 (which serves both as the third gear and the output shaft) is equal to the A axis. As shown in FIG. 9, semicircular grooves 64f are formed at predetermined intervals on the inner peripheral surface 64a centering on the A axis. A pin 62 is inserted into each groove 64f. The pin 62 can rotate in the groove 64f. As shown in FIG. 9, the upper outer peripheral surface 56a of the second gear 56 is close to the inner peripheral surface 64a of the rotating body 64 that also serves as the third gear. Therefore, the pin 62 does not jump out of the groove 64f. Internal teeth 63 are formed by the entire inner peripheral surface 64 a of the pin 62 and the rotating body 64.
　第２歯車５６の外周面５６ａには、ペリサイクロイドの歯形が形成されている。図９、図１０に示すように、第３歯車を兼用している自転体６４の内歯６３の一部と、第２歯車５６の外周面に形成されている外歯５６ａの一部は噛み合っている。図１０の場合、内歯６３の中心軸Ａに対して第２歯車５６の外歯５６ａの中心軸Ｂが左方に偏心している。そのために、図１０の左側では内歯６３と外歯５６ａが深く噛み合っている。図１０の右側では内歯６３と外歯５６ａが接しているものの、噛み合ってはいない。図９に示すように、第２歯車５６の外歯５６ａの歯数と、第３歯車でもある自転体６４の内歯６３の歯数は一致していない。本実施例では、前者は７０であり、後者は６９である。 A pericycloidal tooth profile is formed on the outer peripheral surface 56 a of the second gear 56. As shown in FIGS. 9 and 10, a part of the inner teeth 63 of the rotating body 64 also serving as the third gear and a part of the outer teeth 56 a formed on the outer peripheral surface of the second gear 56 mesh with each other. ing. In the case of FIG. 10, the center axis B of the outer teeth 56 a of the second gear 56 is eccentric to the left with respect to the center axis A of the inner teeth 63. For this reason, the inner teeth 63 and the outer teeth 56a are deeply engaged with each other on the left side of FIG. On the right side of FIG. 10, the inner teeth 63 and the outer teeth 56a are in contact with each other, but are not engaged. As shown in FIG. 9, the number of teeth of the external teeth 56a of the second gear 56 does not match the number of teeth of the internal teeth 63 of the rotating body 64 that is also the third gear. In this embodiment, the former is 70 and the latter is 69.
　変速装置７０の動作を説明する。モータ４２が駆動してモータ回転軸４６が軸Ａの周りに自転すると、平歯車４４を介して偏心揺動体４８が軸Ａの周りを自転し、偏心揺動体本体４８ｂの外周面４８ａの中心軸Ｂは軸Ａの周りを公転する。その結果、第２歯車５６の幾何的中心軸（自転軸）Ｂも軸Ａの周りを公転する。第１歯車６０と第２歯車５６の歯数が相違しているので、第２歯車５６が第１歯車６０に対して公転すると、第２歯車５６が自転する。第２歯車５６と偏心揺動体本体４８ｂの間には軸受５０ａ，５０ｂが挿入されており、第２歯車５６は自転できる。 The operation of the transmission 70 will be described. When the motor 42 is driven and the motor rotation shaft 46 rotates around the axis A, the eccentric oscillator 48 rotates around the axis A via the spur gear 44, and the central axis of the outer peripheral surface 48a of the eccentric oscillator main body 48b. B revolves around axis A. As a result, the geometric center axis (spinning axis) B of the second gear 56 also revolves around the axis A. Since the number of teeth of the first gear 60 and the second gear 56 is different, when the second gear 56 revolves with respect to the first gear 60, the second gear 56 rotates. Bearings 50a and 50b are inserted between the second gear 56 and the eccentric oscillator main body 48b, so that the second gear 56 can rotate.
　第３歯車６４と第２歯車５６の間に歯数差があるので、第２歯車５６が公転すると第３歯車６４が自転する。第２歯車１６が自転すると、第２歯車１６の自転が第３歯車６４の自転数に影響する。本実施例では、「第３歯車６４の自転速度」＝「第２歯車５６の公転によって生じる第３歯車６４の自転速度」－「第２歯車５６の自転速度」となっている。そのため、第３歯車６４の自転速度は極めて遅い。変速装置７０は、大きな変速比が得られる。 Since there is a difference in the number of teeth between the third gear 64 and the second gear 56, when the second gear 56 revolves, the third gear 64 rotates. When the second gear 16 rotates, the rotation of the second gear 16 affects the number of rotations of the third gear 64. In this embodiment, “the rotation speed of the third gear 64” = “the rotation speed of the third gear 64 caused by the revolution of the second gear 56” − “the rotation speed of the second gear 56”. Therefore, the rotation speed of the third gear 64 is extremely slow. The transmission 70 can obtain a large transmission ratio.
　上記の変速装置７０の場合、出力軸と第３歯車を兼用している自転体６４に回転力が伝達される。回転力を出力軸に伝えるために、図１、図２及び図４に示した分岐先端１０９ｃ，１０９ｄを必要としない。分岐先端１０９ｃ，１０９ｄを利用してトルクを伝達する方式の場合、変速装置の小型化が妨げられる。本実施例では、出力軸と第３歯車を兼用している自転体６４に回転力が伝達されるので、分岐先端１０９ｃ，１０９ｄを必要としない。そのため、実施例の変速装置は、小型化することに適している。 In the case of the transmission 70 described above, the rotational force is transmitted to the rotating body 64 that also serves as the output shaft and the third gear. In order to transmit the rotational force to the output shaft, the branching tips 109c and 109d shown in FIGS. 1, 2 and 4 are not required. In the case of a system that transmits torque using the branch tips 109c and 109d, downsizing of the transmission is hindered. In this embodiment, the rotational force is transmitted to the rotating body 64 that also serves as the output shaft and the third gear, so that the branching tips 109c and 109d are not required. Therefore, the transmission of the embodiment is suitable for downsizing.
　上記実施例では、ケース（第１歯車）が固定（不動）されていて、出力軸（第３歯車）から出力（回転）を取り出していたが、出力軸（第３歯車）が固定され、ケース（第１歯車）から出力（回転）を取り出してもよい。 In the above embodiment, the case (first gear) is fixed (immobilized) and the output (rotation) is taken out from the output shaft (third gear). However, the output shaft (third gear) is fixed and the case is fixed. The output (rotation) may be extracted from the (first gear).
　以上、本発明の具体例を詳細に説明したが、これらは例示にすぎず、特許請求の範囲を限定するものではない。特許請求の範囲に記載の技術には、以上に例示した具体例を様々に変形、変更したものが含まれる。本明細書または図面に説明した技術要素は、単独であるいは各種の組み合わせによって技術的有用性を発揮するものであり、出願時の請求項に記載の組み合わせに限定されるものではない。また、本明細書または図面に例示した技術は複数の目的を同時に達成するものであり、そのうちの一つの目的を達成すること自体で技術的有用性を持つものである。 Specific examples of the present invention have been described in detail above, but these are merely examples and do not limit the scope of the claims. The technology described in the claims includes various modifications and changes of the specific examples illustrated above. The technical elements described in this specification or the drawings exhibit technical usefulness alone or in various combinations, and are not limited to the combinations described in the claims at the time of filing. In addition, the technology exemplified in this specification or the drawings achieves a plurality of objects at the same time, and has technical utility by achieving one of the objects.

Claims (9)

  1. 　少なくとも第１歯車，第２歯車及び第３歯車を備えており、
    　第１歯車には内歯が形成されており、
    　第２歯車には少なくとも外歯が形成されており、第１歯車の一部と第２歯車の一部が噛み合っており、第１歯車とそれに噛み合っている第２歯車の歯数の間に歯数差が設けられており、第２歯車が公転すると第２歯車が自転し、
    　第２歯車と第３歯車の一方には外歯が形成されており、第２歯車と第３歯車の他方には内歯が形成されており、第２歯車の一部と第３歯車の一部が噛み合っており、第３歯車とそれに噛み合っている第２歯車の歯数の間に歯数差が設けられており、第２歯車が公転しながら自転すると第３歯車が自転することを特徴とする変速装置。     Comprising at least a first gear, a second gear and a third gear;
    The first gear has internal teeth,
    At least external teeth are formed on the second gear, a part of the first gear and a part of the second gear mesh with each other, and the teeth are between the number of teeth of the first gear and the second gear meshed with the first gear. There is a number difference, when the second gear revolves, the second gear rotates,
    An external tooth is formed on one of the second gear and the third gear, an internal tooth is formed on the other of the second gear and the third gear, and a part of the second gear and one of the third gears are formed. The number of teeth is different between the number of teeth of the third gear and the second gear meshed with the third gear, and the third gear rotates when the second gear rotates while revolving. A transmission.
  2. 　第１歯車の対称軸と第３歯車の自転軸が第１軸上に配置されており、
    　第２歯車の自転軸が、第１軸から距離を隔てた位置を第１軸と平行に延びる第２軸上に配置されていることを特徴とする請求項１に記載の変速装置。     The axis of symmetry of the first gear and the axis of rotation of the third gear are arranged on the first axis,
    The transmission according to claim 1, wherein the rotation shaft of the second gear is disposed on a second shaft extending parallel to the first shaft at a position spaced from the first shaft.
  3. 　第３歯車の自転軸に沿って延びている入力軸と、
    　入力軸の周りを公転する偏心揺動体が付加されており、
    　偏心揺動体が入力軸の周りに公転すると第２歯車が公転することを特徴とする請求項１または２に記載の変速装置。     An input shaft extending along the rotation axis of the third gear;
    An eccentric rocking body that revolves around the input shaft is added,
    The transmission according to claim 1 or 2, wherein the second gear revolves when the eccentric rocker revolves around the input shaft.
  4. 　第３歯車に内歯が形成されており、第２歯車の外歯の一部と第３歯車の内歯の一部が噛み合っていることを特徴とする請求項１から３のいずれかの１項に記載の変速装置。 The internal gear is formed in the 3rd gear, and a part of external tooth of the 2nd gear and a part of internal gear of the 3rd gear are meshing, 1 of any one of Claim 1 to 3 characterized by the above-mentioned. The transmission according to the item.
  5. 　第１歯車と第３歯車が、第３歯車の自転軸に沿う方向において異なる位置に配置されていることを特徴とする請求項４の変速装置。 The transmission according to claim 4, wherein the first gear and the third gear are arranged at different positions in a direction along the rotation axis of the third gear.
  6. 　第１歯車と噛み合う第２歯車の歯数と、第３歯車と噛み合う第２歯車の歯数が異なっていることを特徴とする請求項４または５の変速装置。 6. The transmission according to claim 4 or 5, wherein the number of teeth of the second gear meshing with the first gear is different from the number of teeth of the second gear meshing with the third gear.
  7. 　第２歯車に外歯と内歯が形成されており、
    　第３歯車に外歯が形成されており、
    　第２歯車の内歯の一部と第３歯車の外歯の一部が噛み合っていることを特徴とする請求項１から３のいずれかの１項に記載の変速装置。     External teeth and internal teeth are formed on the second gear,
    External teeth are formed on the third gear,
    4. The transmission according to claim 1, wherein a part of the inner teeth of the second gear and a part of the outer teeth of the third gear are meshed with each other. 5.
  8. 　ケースに固定されている第１歯車と、
    　ケースに対して自転可能に支持されている第３歯車と、
    　ケースに対して公転し、第１歯車の一部と第３歯車の一部に噛み合っている第２歯車を備えており、
    　第１歯車とそれに噛み合っている第２歯車の歯数の間に歯数差が設けられており、
    　第３歯車とそれに噛み合っている第２歯車の歯数の間に歯数差が設けられていることを特徴とする変速装置。     A first gear fixed to the case;
    A third gear supported so as to be able to rotate with respect to the case;
    Revolving with respect to the case, and having a second gear meshing with a part of the first gear and a part of the third gear,
    There is a difference in the number of teeth between the number of teeth of the first gear and the second gear meshing with the first gear,
    A transmission having a tooth number difference between the number of teeth of the third gear and the second gear meshing with the third gear.
  9. 　第２歯車が自由に自転することを特徴とする請求項８に記載の変速装置。 The transmission according to claim 8, wherein the second gear rotates freely.
PCT/JP2013/074871 2012-09-21 2013-09-13 Transmission device WO2014046050A1 (en)

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JP6300847B2 (en) * 2016-03-08 2018-03-28 本田技研工業株式会社 Power transmission device for vehicle
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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS4212453Y1 (en) * 1964-07-06 1967-07-13
JPS63145842A (en) * 1986-12-05 1988-06-17 Muneharu Morozumi Speed reducing mechanism
JP2000081098A (en) * 1998-09-04 2000-03-21 Seibu Electric & Mach Co Ltd Reduction gear

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS4212453Y1 (en) * 1964-07-06 1967-07-13
JPS63145842A (en) * 1986-12-05 1988-06-17 Muneharu Morozumi Speed reducing mechanism
JP2000081098A (en) * 1998-09-04 2000-03-21 Seibu Electric & Mach Co Ltd Reduction gear

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