WO2014046050A1 - Dispositif de transmission - Google Patents

Dispositif de transmission 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
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English (en)
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/zh
Publication of WO2014046050A1 publication Critical patent/WO2014046050A1/fr

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

Dispositif de transmission utilisant un premier engrenage, un deuxième engrenage et un troisième engrenage. Le premier engrenage est pourvu de dents internes, et le deuxième engrenage est pourvu de dents externes. Le nombre de dents du premier engrenage est différent de celui du deuxième engrenage. Lorsque le deuxième engrenage tourne pendant que certaines des dents du deuxième engrenage s'emboîtent avec certaines des dents du premier engrenage, le deuxième engrenage tourne. Si le troisième engrenage possède des dents externes, le deuxième engrenage possède des dents internes, et si le troisième engrenage possède des dents internes, le deuxième engrenage possède des dents externes. Le nombre de dents du troisième engrenage est différent de celui du deuxième engrenage. Lorsque le deuxième engrenage tourne, le troisième engrenage tourne.
PCT/JP2013/074871 2012-09-21 2013-09-13 Dispositif de transmission WO2014046050A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201390000766.9U CN204610710U (zh) 2012-09-21 2013-09-13 变速装置

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2012207792A JP2014062589A (ja) 2012-09-21 2012-09-21 変速装置
JP2012-207792 2012-09-21

Publications (1)

Publication Number Publication Date
WO2014046050A1 true WO2014046050A1 (fr) 2014-03-27

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JP (1) JP2014062589A (fr)
CN (1) CN204610710U (fr)
TW (1) TW201420922A (fr)
WO (1) WO2014046050A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6300847B2 (ja) * 2016-03-08 2018-03-28 本田技研工業株式会社 車両用動力伝達装置
WO2023238400A1 (fr) * 2022-06-10 2023-12-14 株式会社Nittan Démultiplicateur à engrenage planétaire

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS4212453Y1 (fr) * 1964-07-06 1967-07-13
JPS63145842A (ja) * 1986-12-05 1988-06-17 Muneharu Morozumi 減速機構
JP2000081098A (ja) * 1998-09-04 2000-03-21 Seibu Electric & Mach Co Ltd 歯車減速機

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS4212453Y1 (fr) * 1964-07-06 1967-07-13
JPS63145842A (ja) * 1986-12-05 1988-06-17 Muneharu Morozumi 減速機構
JP2000081098A (ja) * 1998-09-04 2000-03-21 Seibu Electric & Mach Co Ltd 歯車減速機

Also Published As

Publication number Publication date
CN204610710U (zh) 2015-09-02
TW201420922A (zh) 2014-06-01
JP2014062589A (ja) 2014-04-10

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