WO2023238400A1 - Planetary gear reducer - Google Patents

Planetary gear reducer Download PDF

Info

Publication number
WO2023238400A1
WO2023238400A1 PCT/JP2022/023515 JP2022023515W WO2023238400A1 WO 2023238400 A1 WO2023238400 A1 WO 2023238400A1 JP 2022023515 W JP2022023515 W JP 2022023515W WO 2023238400 A1 WO2023238400 A1 WO 2023238400A1
Authority
WO
WIPO (PCT)
Prior art keywords
gear
planetary gear
sun gear
input shaft
planetary
Prior art date
Application number
PCT/JP2022/023515
Other languages
French (fr)
Japanese (ja)
Inventor
美千広 亀田
貴俊 木森
Original Assignee
株式会社Nittan
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 株式会社Nittan filed Critical 株式会社Nittan
Priority to PCT/JP2022/023515 priority Critical patent/WO2023238400A1/en
Publication of WO2023238400A1 publication Critical patent/WO2023238400A1/en

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear

Definitions

  • the present invention relates to a planetary gear reducer, particularly a 2K-H type hypocycloid reducer.
  • a cycloid reducer can obtain a large reduction ratio in one stage, and is small and lightweight, but it has many parts, has a complicated structure, and has concerns about rigidity (Patent Document 1).
  • Patent Document 2 there is a reduction gear that employs a 2K-H type planetary gear mechanism (Patent Document 2).
  • the planetary gear mechanism disclosed in Patent Document 2 uses two sets of internal gears and external gears that mesh with the internal gears, has high rigidity with a small number of used gears, and can significantly reduce speed with one stage.
  • the present invention has been made with this in mind, and provides a speed reducer that has a small number of parts, has high rigidity, and is short in the axial direction.
  • a reducer includes an input shaft having an eccentric portion, a fixed sun gear including an external gear provided coaxially with the input shaft, and the fixed sun gear a first planetary gear provided on the eccentric portion of the input shaft; and an external gear disposed coaxially with the rotation axis of the input shaft and outputting a deceleration output.
  • a second planetary gear having an internal gear meshing with the driven sun gear and provided on the eccentric portion of the input shaft, the first planetary gear and the second planetary gear The gears are integrally formed in the axial direction with different gear ratios and in the same phase to form a planetary gear train.
  • the speed reducer is a 2K-H type hypocycloid speed reducer, has no small driving parts such as pins, has a small number of parts, is arranged side by side in the axial direction, and has high rigidity. Since the driven sun gear that takes out the deceleration output is configured with an external gear, it is configured to be short in the axial direction.
  • the planetary gear train includes a support section provided between the first planet gear and the second planet gear that are arranged in line in the axial direction, and the support section
  • the support part is rotatably supported by the support part, and the support part is comprised of an inner peripheral part that forms the circumferentially inner side of the support part, and an outer peripheral part that forms the circumferential outer side of the support part, and the inner peripheral part and the outer circumferential portion are provided offset in the axial direction, and the first planetary gear is arranged substantially coaxially with the inner circumferential portion.
  • the planetary gear train can be configured to be short in the axial direction.
  • the support portion can be disposed close to the fixed sun gear, and the reducer itself can be configured to be short in the axial direction.
  • the internal gear of the first planetary gear and the internal gear of the second planetary gear are configured based on a trochoid curve
  • the first planetary gear, the fixed sun gear, and the second planetary gear are configured based on a trochoid curve.
  • the difference in the number of teeth between the planetary gear and the driven sun gear is an integer of 2 or more, and the meshing ratio is 2 or more. According to this aspect, it is possible to increase the rigidity of the speed reducer and also ensure quietness.
  • the present invention provides a reduction gear that has a small number of parts, has high rigidity, and is short in the axial direction.
  • FIG. 1 is a perspective view (partially cutaway view) of a speed reducer according to the configuration of the present disclosure.
  • FIG. 2 is a cross-sectional view of a speed reducer according to the configuration of the present disclosure. It is a rear exploded perspective view of the same reduction gear. Bearings are omitted. It is a front exploded perspective view of the same reduction gear. Bearings are omitted. It is a skeleton diagram showing the configuration of the same reduction gear. Fixed sun gear shown.
  • FIG. 6(A) is a front view of the fixed sun gear.
  • FIG. 6(B) is a side view of the fixed sun gear.
  • FIG. 6(C) is a sectional view of the fixed sun gear. The input axis is shown.
  • FIG. 6(A) is a front view of the fixed sun gear.
  • FIG. 6(B) is a side view of the fixed sun gear.
  • FIG. 6(C) is a sectional view of the fixed sun gear. The input axis
  • FIG. 7(A) is a side view of the input shaft.
  • FIG. 7(B) is a rear view of the input shaft.
  • Figure 8 shows a driven sun gear.
  • FIG. 8(A) is a front view of the driven sun gear.
  • FIG. 8(B) is a side view of the driven sun gear.
  • FIG. 8(C) is a sectional view of the driven sun gear.
  • a planetary gear train is shown.
  • FIG. 9(A) is a front perspective view of the planetary gear train. Mainly shows the second planetary gear.
  • FIG. 9(B) is a side view of the planetary gear train.
  • FIG. 9(C) is a cross-sectional view of the planetary gear train.
  • FIG. 9(D) is a rear perspective view of the planetary gear train.
  • 3 is a sectional view taken along line AA in FIG. 2.
  • FIG. 3 is a sectional view taken along line BB in FIG.
  • FIG. 1 is a perspective view (partially cutaway view) of a speed reducer W1 according to the configuration of the present disclosure.
  • FIG. 2 is a sectional view of the speed reducer W1.
  • FIG. 3 is a front exploded perspective view of the speed reducer W1.
  • FIG. 4 is a rear exploded perspective view of the speed reducer W1.
  • FIG. 5 is a skeleton diagram showing the configuration of the reducer W1. In FIGS. 3 and 4, only the main parts are shown, and bearings and the like are omitted.
  • the reducer W1 is a 2K-H type hypocycloid reducer having a planetary gear mechanism.
  • the speed reducer W1 mainly includes an input shaft 10, a fixed sun gear 20, a planetary gear train 30, a driven sun gear 40, and a housing 50.
  • the reducer W1 is mounted on the wheel drive section of the vehicle and interposed between the motor M and the wheel hub H.
  • the speed reducer W1 has an input shaft 10 and a driven sun gear 40 as an output shaft, and the rotation of the input shaft 10 is decelerated and output from the driven sun gear 40.
  • the input shaft 10 is fitted into the motor M, and as the motor M rotates, the input shaft 10 rotates.
  • the driven sun gear 40 is connected to a wheel hub H to which wheels (not shown) are connected, and the rotation of the driven sun gear 40 is transmitted to the wheels through the wheel hub H.
  • the rotation of the motor M is decelerated by a speed reducer W1 and transmitted to the wheels, so that the wheels rotate. Either a configuration in which the input shaft 10 is directly driven as a rotating shaft on the motor M side, or a configuration in which the input shaft 10 is connected to and driven by the rotating shaft of the motor M may be used.
  • the driven sun gear 40 is not only directly connected to the wheel hub H to transmit driving force, but also has a transmission shaft connected to the driven sun gear 40 and is connected to the wheel hub H via the transmission shaft.
  • the structure may be such that the wheels are driven by the wheels.
  • the fixed sun gear 20 includes a housing cover portion 21 and a fixed sun gear body 22.
  • the housing cover part 21 and the housing 50 constitute the housing of the reducer W1.
  • the housing 50 includes a cylindrical portion 51 having a substantially cylindrical shape and an end surface 52 that closes one end of the cylindrical portion 51.
  • a substantially disk-shaped housing cover portion 21 is attached with bolts (not shown) so as to close an opening (an end opposite to the end surface 52) of the cylindrical portion 51.
  • Each component is held in the substantially cylindrical internal space defined thereby.
  • a part of the input shaft 10 is inserted through the central through hole 23 provided at the center of the housing cover part 21 and is rotatably held.
  • a part of the driven sun gear 40 provided coaxially with the input shaft 10 is inserted into the central through hole 54 provided in the end surface 52 of the housing 50 and is rotatably held therein.
  • FIG. 6 shows a fixed sun gear.
  • FIG. 6(A) is a front view of the fixed sun gear.
  • FIG. 6(B) is a side view of the fixed sun gear.
  • FIG. 6(C) is a sectional view of the fixed sun gear.
  • the fixed sun gear 20 consists of the housing cover part 21 and the fixed sun gear main body 22.
  • the fixed sun gear 20 includes a substantially disc-shaped housing cover part 21 and a ring-shaped fixed sun gear main body 22 having a smaller diameter than the housing cover part 21, which are arranged side by side in the axial direction with their axes aligned. The two are integrally formed.
  • the fixed sun gear main body 22 is provided on the side of the housing cover section 21 facing the housing 50. When the housing cover part 21 is fastened to the housing 50, the fixed sun gear body 22 is disposed inside the housing.
  • a plurality of screw holes 29 are provided at equal intervals on the side edge of the housing cover portion 21 on the same circumference.
  • a bolt (not shown) is inserted into the screw hole 29 and fastened to the opening of the housing 50, thereby fixing the fixed sun gear 20.
  • the fixed sun gear main body 22 is an external gear in which an external gear is formed on a ring-shaped outer peripheral surface.
  • the fixed sun gear main body 22 is a trochoid gear that uses a trochoid curve in its shape, and is a helical gear with tooth traces cut diagonally with respect to the axis.
  • each gear has a meshing ratio of 2 or more to ensure a high meshing ratio and quietness.
  • the helical gear is not essential, and a spur gear or a convex gear may be used.
  • FIG. 7 shows the input shaft 10.
  • FIG. 7(A) is a side view of the input shaft 10.
  • FIG. 7(B) is a rear view of the input shaft 10.
  • the input shaft 10 has a connecting shaft portion 11, an eccentric portion 12, a flange portion 13, and a support shaft portion 14, each of which is formed into a substantially cylindrical shape, and these are arranged in order in the axial direction. It is formed in one piece.
  • the connecting shaft portion 11 constitutes one end of the input shaft 10, and the tip of the connecting shaft portion 11 protrudes from the central through hole 23 of the housing cover portion 21, and is inserted into and fixed to the motor M. Further, the base end side of the connecting shaft portion 11 is supported by the central through hole 23 via the bearing BR1, so that the input shaft 10 is rotatably supported by the fixed sun gear 20.
  • the eccentric portion 12 is provided eccentrically by an eccentric amount e with respect to the central axis X, which is the rotation axis of the input shaft 10.
  • the eccentric portion 12 rotates about the rotation center X1 of the eccentric portion 12 while being eccentric from the central axis X by an eccentric amount e due to the rotation of the input shaft 10.
  • the flange portion 13 is provided thinly and with an enlarged diameter between the eccentric portion 12 and the support shaft portion 14, and guides the arrangement of the bearings of the eccentric portion 12 and the support shaft portion 14, and also serves as a guide when the input shaft 10 rotates. , which acts as a spacer to prevent interference and friction between parts.
  • the support shaft portion 14 constitutes the other end of the input shaft 10 and is connected to the driven sun gear 40 and the rotation axis in a circular recess 48 provided at the center of one end (rear side) of the driven sun gear 40. are aligned and engaged via bearing BR3 (see Fig. 2). Thereby, the input shaft 10 and the driven sun gear 40 are connected so that their rotation axes coincide with each other and can rotate relative to each other.
  • FIG. 8 shows the driven sun gear 40.
  • FIG. 8(A) is a front view of the driven sun gear 40.
  • FIG. 8(B) is a side view of the driven sun gear 40.
  • FIG. 8(C) is a sectional view of the driven sun gear 40.
  • the driven sun gear 40 is integrally formed by a cylindrical output shaft portion 41 and a substantially disc-shaped driven sun gear main body 42 whose diameter is larger than the output shaft portion 41, which are arranged with their central axes aligned in the axial direction. Become.
  • the driven sun gear 40 is arranged with the driven sun gear main body 42 side facing the input shaft 10 side.
  • the output shaft portion 41 is inserted into a central through hole 54 formed at the center of the end surface 52 of the housing 50, and is rotatably held via the collar C with its tip protruding outside the housing 50.
  • the end surface 52 of the housing 50 has a protrusion 53 formed by extending the peripheral wall of the central through hole 54 from the surface of the end surface 52 so as to extend the central through hole 54 .
  • the output shaft portion 41 is disposed in the central through hole 54 extended by the protruding portion 53, so that the driven sun gear 40 is stably and rotatably held in the housing 50.
  • the collar C is used for the bearing of the output shaft portion 41 as a bearing for a location where shear load is applied and requires rigidity, a bearing may be used for the bearing.
  • a wheel hub H is connected to an output shaft portion 41 protruding from the housing 50, and the rotation input from the input shaft 10 is decelerated and output from the driven sun gear 40, causing the wheel connected to the wheel hub H to rotate.
  • the driven sun gear body 42 is disposed within the housing.
  • a circular recess 48 for connecting to the input shaft 10 is formed in the center of the end face of the driven sun gear body 42 .
  • the support shaft portion 14 of the input shaft 10 is fitted into the circular recess 48 and connected to each other so as to be rotatable around the central axis X.
  • the driven sun gear main body 42 is an external gear in which an external gear is formed on a ring-shaped outer peripheral surface.
  • the driven sun gear 40 rotates (rotates) about the central axis X due to the rotational input received by the driven sun gear main body 42.
  • FIG. 9(A) is a front perspective view of the planetary gear train 30.
  • the second planetary gear 33 is mainly shown.
  • FIG. 9(B) is a side view of the planetary gear train 30.
  • FIG. 9(C) is a longitudinal cross-sectional view of the planetary gear train 30.
  • FIG. 9(D) is a rear perspective view of the planetary gear train 30.
  • the first planetary gear 31 is mainly shown.
  • the planetary gear train 30 is formed by integrally forming a first planetary gear 31, a support portion 32, and a second planetary gear 33 arranged in the axial direction.
  • the first planetary gear 31 is an internal gear that has a substantially ring shape and is provided with an internal gear on its inner peripheral surface that meshes with the fixed sun gear main body 22 of the fixed sun gear 20.
  • the number of teeth of the first planetary gear 31 is two or more more than the number of teeth of the fixed sun gear 20.
  • the support portion 32 is configured in a substantially disk shape, is provided on the eccentric portion 12 of the input shaft 10 via a bearing BR2, and receives eccentric input when the input shaft 10 rotates.
  • the second planetary gear 33 is an internal gear that has a substantially ring shape and is provided with an internal gear on its inner peripheral surface that meshes with the driven sun gear main body 42 of the driven sun gear 40.
  • the number of teeth of the second planetary gear 33 is two or more more than the number of teeth of the driven sun gear 40 and is different from the number of teeth of the first planetary gear 31. That is, the first planetary gear 31 and the second planetary gear 33 are configured to have different gear ratios.
  • the first planetary gear 31 is arranged on the fixed sun gear 20 side (backward) of the support part 32, and the second planetary gear 33 is arranged on the driven sun gear 40 side (front) on the opposite side from the fixed sun gear.
  • the supporting portion 32 is sandwiched between the two planetary gears 31 and 33.
  • Two planetary gears are provided to protrude in the axial direction from both end surfaces of the substantially disk-shaped support portion 32 .
  • the gear surfaces (ring-shaped inner peripheral surfaces) of the first planetary gear 31 and the second planetary gear 33 are arranged in the same direction as the eccentric direction of the eccentric portion 12 with respect to the central axis X by the same eccentric amount e. It is installed eccentrically. That is, the first planetary gear 31 and the second planetary gear 33 are provided eccentrically and in the same phase.
  • the shape of the planetary gear train 30, particularly the support portion 32, is set so that the speed reducer W1 is formed short in the axial direction.
  • the support portion 32 is composed of an inner circumferential portion 32a that constitutes the circumferential inner side of the substantially disk-shaped support portion 32, and an outer circumferential portion 32b that constitutes the circumferential outer side of the support portion 32.
  • the inner peripheral part 32a plays the role of being supported by the eccentric part 12, and the outer peripheral part 32b plays the role of connecting to the two planetary gears.
  • the outer peripheral part 32b is axially shifted from the inner peripheral part 32a and is integrally formed with the inner peripheral part 32a. Specifically, since the outer circumferential portion 32b is configured to be offset in the axial direction from the inner circumferential portion 32a in the direction (forward) of the second planetary gear 33, the second planetary gear 33
  • a substantially ring-shaped space SP1 is formed between the inner circumferential portion 32a and the first planetary gear 31, which are arranged apart from each other in the circumferential direction, and the fixed sun gear main body 22 is placed in this space SP1. That is, the first planetary gear 31, the fixed sun gear main body 22, and the inner peripheral portion 32a are located at approximately the same position in the axial direction.
  • the housing cover portion 21 from which the fixed sun gear main body 22 protrudes is adjacent to the inner peripheral portion 32a.
  • a housing cover portion 21, which is a housing, and a planetary gear train 30 having an inner peripheral portion 32a disposed within the housing are arranged close to each other. That is, the gap in the axial direction between the housing and the mechanical part disposed within the housing is reduced.
  • the shape of the support portion 32 allows the planetary gear train 30 to be shortened in the axial direction, and the above structure also makes it possible to shorten the space in the axial direction within the housing, making it possible to shorten the speed reducer W1 in the axial direction. can.
  • FIG. 10 is a cross-sectional view taken along line AA in FIG. 2. Mainly, the fixed sun gear main body 22 and the first planetary gear 31 are shown.
  • FIG. 11 is a sectional view taken along line BB in FIG. Mainly, the second planetary gear 33 and the driven sun gear main body 42 are shown.
  • the reducer W1 is a hypocycloid type reducer having a 2K-H type planetary gear mechanism.
  • the reducer W1 includes an input shaft 10 having an eccentric portion 12, a fixed sun gear 20 consisting of an external gear coaxially provided with the input shaft 10, and a first planetary gear having an internal gear meshing with the fixed sun gear 20. 31, a driven sun gear 40 having an external gear that outputs a deceleration output, and a second planetary gear 33 having an internal gear meshing with the driven sun gear 40.
  • the first planetary gear 31 and the second planetary gear 33 are integrally formed to form a planetary gear train 30.
  • the first planetary gear 31 and the second planetary gear 33 are eccentrically formed in the same phase and provided in the eccentric portion 12.
  • the eccentric portion 12 When the rotational input of the motor M is transmitted to the input shaft 10, the eccentric portion 12 performs an eccentric rotational movement. This eccentric rotational motion is transmitted to the first planetary gear 31 via the bearing BR2.
  • the first planetary gear 31 When the fixed sun gear body 22 fixed to the housing 50 and the first planetary gear 31 mesh with each other, the first planetary gear 31 is decelerated by the gear ratio of the first planetary gear 31 and the fixed sun gear body 22, and the first planetary gear 31 is The planetary gear 31 rotates relative to the fixed sun gear main body 22 by the amount of meshing of the gears while revolving around the stationary sun gear main body 22 due to the eccentric rotation movement of the eccentric portion 12.
  • the second planetary gear 33 formed integrally with the first planetary gear 31 meshes with the driven sun gear main body 42 in conjunction with the revolution movement of the first planetary gear 31, so that the second planetary gear 33 and the driven sun gear The speed is further reduced by the gear ratio with respect to the main body 42 and output.
  • the second planetary gear 33 rotates while being reduced in speed by the gear ratio of the first planetary gear 31 and the fixed sun gear main body 22 relative to the input shaft 10 by the rotation of the first planetary gear 31, and the driven sun gear
  • the main body 42 is further decelerated relative to the rotational speed of the second planetary gear 33 by the gear ratio of the driven sun gear main body 42 and the second planetary gear, and is output.
  • the first planetary gear 31 and the second planetary gear 33 are eccentrically formed in the same phase and provided in the eccentric portion 12 .
  • the reduction ratio based on the number of teeth Z1 of the fixed sun gear body 22 and the number of teeth Z2 of the first planetary gear 31 is the first reduction ratio R1, the number of teeth Z3 of the second planetary gear 33 and the number of teeth of the driven sun gear body 42. If the reduction ratio based on Z4 is the second reduction ratio R2, since they are provided in the same phase, the difference between the first reduction ratio R1 and the second reduction ratio R2 becomes the total reduction ratio i of the reduction gear W1. . Therefore, a very large reduction ratio can be obtained.
  • both the first planetary gear 31 and the second planetary gear 33 are internal gears, and by providing both gears with different gear ratios, a large reduction ratio of the reduction gear W1 is realized.
  • the two sets of gears of the reducer W1 each have a difference in the number of teeth of 2 or more.
  • the difference in the number of teeth is 1, a larger reduction ratio can be obtained, but the amount of eccentricity must be reduced, and there is a problem that a high load is applied to the bearing provided in the eccentric part.
  • the speed reducer W1 has a small number of parts, each part is approximately the same size, and is arranged side by side in the axial direction, and has high rigidity. Furthermore, a large reduction ratio can be obtained without increasing it in the circumferential direction.
  • the driven sun gear 40 that takes out the deceleration output is configured with an externally toothed gear, it can be configured to be shorter in the axial direction compared to a case where it is configured with an internally toothed gear.
  • the internal gear is provided so as to protrude in the axial direction from the disk-shaped base, but the external gear does not require a base and can be provided as is on the outer peripheral surface of the disk. When the face widths are the same, the internal gear can be configured to be shorter in the axial direction.
  • the driven sun gear main body 42 is formed of an external gear, thereby shortening the structure inside the housing in the axial direction.
  • the shape of the planetary gear train 30 is also configured to be short in the axial direction within the housing, and the reduction gear W1 is configured to be short in the axial direction as a whole. Therefore, the speed reducer W1 is configured compactly in both the radial direction and the axial direction, and can obtain a large speed reduction ratio.
  • W1 Reducer
  • 10 Input shaft
  • 12 Eccentric part
  • 20 Fixed sun gear
  • 30 Planetary gear train
  • 31 First planetary gear
  • 32 Support part
  • 32a Inner peripheral part
  • 32b Outer peripheral part
  • 33 Second planetary gear
  • 40 Driven sun gear

Landscapes

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

Abstract

Provided is a reducer that is rigid with a small number of parts and is configured to be short in the axial direction. Provided is a reducer (W1), comprising: an input shaft (10) having an eccentric portion (12); a fixed sun gear (20) formed from an external gear that is coaxial with the input shaft (10); a first planetary gear (31) having an internal gear meshing with the fixed sun gear (20) and provided on the eccentric portion (12) of the input shaft (10); a driven sun gear (40) disposed on the same axis as the axis of rotation of the input shaft (10) and formed from an external gear that outputs a reduction output; and a second planetary gear (33) having an internal gear meshing with the driven sun gear (40) and provided on the eccentric portion (12) of the input shaft (10), wherein the first planetary gear (31) and the second planetary gear (33) are formed integrally in the axial direction and configure a planetary gear train (30). By configuring a pair of planetary gears of a 2KH type hypocycloid reducer from internal gears, the shaft length can be shortened and a large reduction ratio can be achieved.

Description

遊星歯車減速機planetary gear reducer
　本願発明は、遊星歯車減速機、特に２Ｋ－Ｈ型ハイポサイクロイド減速機に関する。 The present invention relates to a planetary gear reducer, particularly a 2K-H type hypocycloid reducer.
　サイクロイド減速機は、一段にて大減速比を得られ、小型かつ軽量であるが、部品点数が多く、構造が複雑で剛性に不安がある（特許文献１）。 A cycloid reducer can obtain a large reduction ratio in one stage, and is small and lightweight, but it has many parts, has a complicated structure, and has concerns about rigidity (Patent Document 1).
　一方、減速機として、２Ｋ－Ｈ型遊星歯車機構を採用したものがある（特許文献２）。特許文献２の遊星歯車機構は、内歯歯車と、それに噛み合う外歯歯車との組み合わせを二組用い、少ない使用歯車個数で剛性が高く、しかも一段で大幅に減速することができる。 On the other hand, there is a reduction gear that employs a 2K-H type planetary gear mechanism (Patent Document 2). The planetary gear mechanism disclosed in Patent Document 2 uses two sets of internal gears and external gears that mesh with the internal gears, has high rigidity with a small number of used gears, and can significantly reduce speed with one stage.
特開２０１２－９７９０３号JP2012-97903 特開２０１７－１０６５９６号JP2017-106596
　しかし、特許文献２の減速機では、入力軸の歯車に噛み合う第１遊星歯車と、出力軸に噛み合う第２遊星歯車に、ともに外歯歯車を用いて大減速比を実現しているが、反面、出力軸の歯車に噛み合う第２遊星歯車に小径の外歯歯車を用いているため、必要トルクを確保のために第２遊星歯車が軸方向に長くなってしまう。さらに、出力軸に設けられる歯車が内歯歯車であるため、内歯歯車を軸方向に連続して内歯歯車を回動可能に支持する支持部材が必要であるため、より軸方向に長くなるという問題があった。 However, in the reducer of Patent Document 2, a large reduction ratio is achieved by using external gears for both the first planetary gear that meshes with the gear on the input shaft and the second planetary gear that meshes with the output shaft. Since a small-diameter external gear is used as the second planetary gear that meshes with the gear of the output shaft, the second planetary gear becomes long in the axial direction in order to ensure the necessary torque. Furthermore, since the gear provided on the output shaft is an internal gear, a support member that supports the internal gear continuously in the axial direction so as to be rotatable is required, resulting in a longer length in the axial direction. There was a problem.
　本発明は、これを顧みてなされたものであり、少ない部品点数で剛性が高く、かつ軸方向に短く構成される減速機を提供する。 The present invention has been made with this in mind, and provides a speed reducer that has a small number of parts, has high rigidity, and is short in the axial direction.
　上記問題を解決するために、本開示の構成に係る減速機は、偏芯部を有する入力軸と、前記入力軸と同軸上に設けられる外歯歯車からなる固定太陽歯車と、前記固定太陽歯車と噛み合う内歯歯車を有し、前記入力軸の前記偏芯部に設けられた第１遊星歯車と、前記入力軸の回転軸と同軸上に配置されて、減速出力を出力する外歯歯車からなる従動太陽歯車と、前記従動太陽歯車と噛み合う内歯歯車を有し、前記入力軸の前記偏芯部に設けられた第２遊星歯車と、を備え、前記第１遊星歯車および前記第２遊星歯車は、異なるギヤ比で同位相に軸方向に一体に形成されて、遊星歯車列を構成するようにした。 In order to solve the above problem, a reducer according to the configuration of the present disclosure includes an input shaft having an eccentric portion, a fixed sun gear including an external gear provided coaxially with the input shaft, and the fixed sun gear a first planetary gear provided on the eccentric portion of the input shaft; and an external gear disposed coaxially with the rotation axis of the input shaft and outputting a deceleration output. a second planetary gear having an internal gear meshing with the driven sun gear and provided on the eccentric portion of the input shaft, the first planetary gear and the second planetary gear The gears are integrally formed in the axial direction with different gear ratios and in the same phase to form a planetary gear train.
　この態様によれば、減速機は２Ｋ－Ｈ型のハイポサイクロイド減速機として、ピンなどの小さな駆動部品もなく、部品点数が少なく、軸方向に並んで設けられており、剛性が高い。減速出力を取り出す従動太陽歯車が外歯歯車で構成されることから、軸方向に短く構成される。 According to this aspect, the speed reducer is a 2K-H type hypocycloid speed reducer, has no small driving parts such as pins, has a small number of parts, is arranged side by side in the axial direction, and has high rigidity. Since the driven sun gear that takes out the deceleration output is configured with an external gear, it is configured to be short in the axial direction.
　また、ある態様では、前記遊星歯車列は、軸方向に並んで設けられる前記第１遊星歯車と前記第２遊星歯車との間に設けられる支持部を有して、前記支持部で前記偏芯部に回動可能に支持され、前記支持部は、前記支持部の周方向内側を構成する内周部と、前記支持部の周方向外側を構成する外周部と、から成り、前記内周部と前記外周部とは、軸方向にオフセットして設けられ、前記内周部と略同軸上に、前記第１遊星歯車が配置されるように構成した。この態様によれば、遊星歯車列を軸方向に短く構成できる。また支持部を固定太陽歯車に近接して配置でき、減速機自体を軸方向に短く構成できる。 Further, in one aspect, the planetary gear train includes a support section provided between the first planet gear and the second planet gear that are arranged in line in the axial direction, and the support section The support part is rotatably supported by the support part, and the support part is comprised of an inner peripheral part that forms the circumferentially inner side of the support part, and an outer peripheral part that forms the circumferential outer side of the support part, and the inner peripheral part and the outer circumferential portion are provided offset in the axial direction, and the first planetary gear is arranged substantially coaxially with the inner circumferential portion. According to this aspect, the planetary gear train can be configured to be short in the axial direction. Further, the support portion can be disposed close to the fixed sun gear, and the reducer itself can be configured to be short in the axial direction.
　また、ある態様では、前記第１遊星歯車の内歯歯車および前記第２遊星歯車の内歯歯車は、トロコイド曲線を基準に構成され、前記第１遊星歯車と前記固定太陽歯車、および前記第２遊星歯車と前記従動太陽歯車は、歯数差を２以上の整数、かつ、噛み合い率を２以上とするものとした。この態様によれば、減速機の剛性を高く構成しつつ、静音性も確保できる。 Further, in one aspect, the internal gear of the first planetary gear and the internal gear of the second planetary gear are configured based on a trochoid curve, and the first planetary gear, the fixed sun gear, and the second planetary gear are configured based on a trochoid curve. The difference in the number of teeth between the planetary gear and the driven sun gear is an integer of 2 or more, and the meshing ratio is 2 or more. According to this aspect, it is possible to increase the rigidity of the speed reducer and also ensure quietness.
　以上の説明から明らかなように、少ない部品点数で剛性が高く、かつ軸方向に短く構成される減速機を提供する。 As is clear from the above description, the present invention provides a reduction gear that has a small number of parts, has high rigidity, and is short in the axial direction.
本開示の構成に係る減速機の斜視図（一部破断図）である。FIG. 1 is a perspective view (partially cutaway view) of a speed reducer according to the configuration of the present disclosure. 本開示の構成に係る減速機の断面図である。FIG. 2 is a cross-sectional view of a speed reducer according to the configuration of the present disclosure. 同減速機の後方分解斜視図である。軸受けは省略する。It is a rear exploded perspective view of the same reduction gear. Bearings are omitted. 同減速機の前方分解斜視図である。軸受けは省略する。It is a front exploded perspective view of the same reduction gear. Bearings are omitted. 同減速機の構成を示すスケルトン図である。It is a skeleton diagram showing the configuration of the same reduction gear. 固定太陽歯車を示す。図６（Ａ）が固定太陽歯車の正面図である。図６（Ｂ）が固定太陽歯車の側面図である。図６（Ｃ）が固定太陽歯車の断面図である。Fixed sun gear shown. FIG. 6(A) is a front view of the fixed sun gear. FIG. 6(B) is a side view of the fixed sun gear. FIG. 6(C) is a sectional view of the fixed sun gear. 入力軸を示す。図７（Ａ）は入力軸の側面図である。図７（Ｂ）は入力軸の背面図である。The input axis is shown. FIG. 7(A) is a side view of the input shaft. FIG. 7(B) is a rear view of the input shaft. 図８は従動太陽歯車を示す。図８（Ａ）は従動太陽歯車の正面図である。図８（Ｂ）は従動太陽歯車の側面図である。図８（Ｃ）は従動太陽歯車の断面図である。Figure 8 shows a driven sun gear. FIG. 8(A) is a front view of the driven sun gear. FIG. 8(B) is a side view of the driven sun gear. FIG. 8(C) is a sectional view of the driven sun gear. 遊星歯車列を示す。図９（Ａ）は遊星歯車列の前方斜視図である。主として第２遊星歯車を示す。図９（Ｂ）は遊星歯車列の側面図である。図９（Ｃ）は遊星歯車列の断面図である。図９（Ｄ）は、遊星歯車列の背面斜視図である。主として第１遊星歯車を示す。A planetary gear train is shown. FIG. 9(A) is a front perspective view of the planetary gear train. Mainly shows the second planetary gear. FIG. 9(B) is a side view of the planetary gear train. FIG. 9(C) is a cross-sectional view of the planetary gear train. FIG. 9(D) is a rear perspective view of the planetary gear train. Mainly shows the first planetary gear. 図２のＡ－Ａ線に沿った断面図である。3 is a sectional view taken along line AA in FIG. 2. FIG. 図２のＢ－Ｂ線に沿った断面図である。3 is a sectional view taken along line BB in FIG. 2. FIG.
　以下、本発明の具体的な実施形態を、図面を参照しながら説明する。実施形態は、発明を限定するものではなく例示であって、実施形態に記述されるすべての特徴やその組み合わせは、必ずしも発明の本質的なものであるとは限らない。また、以下の実施形態および変形例の説明において、同一の構成には同一の符号を付し、重複する説明は適宜省略する。 Hereinafter, specific embodiments of the present invention will be described with reference to the drawings. The embodiments are illustrative rather than limiting the invention, and all features and combinations thereof described in the embodiments are not necessarily essential to the invention. In addition, in the following description of the embodiment and modified examples, the same configurations are denoted by the same reference numerals, and overlapping description will be omitted as appropriate.
　（第１の実施形態）
　図１は、本開示の構成に係る減速機Ｗ１の斜視図（部分破断図）である。図２は、減速機Ｗ１の断面図である。図３は、減速機Ｗ１の前方分解斜視図である。図４は減速機Ｗ１の後方分解斜視図である。図５は減速機Ｗ１の構成を示すスケルトン図である。図３および図４においては、主部品だけ示し、軸受けなどは省略している。なお、各図においては、減速機Ｗ１の軸方向に並置される入力軸・出力軸（従動太陽歯車）を基準として、出力軸側を前方（ＦＲ）、入力軸側を後方（ＲＥ）として方向を説明する。 (First embodiment)
FIG. 1 is a perspective view (partially cutaway view) of a speed reducer W1 according to the configuration of the present disclosure. FIG. 2 is a sectional view of the speed reducer W1. FIG. 3 is a front exploded perspective view of the speed reducer W1. FIG. 4 is a rear exploded perspective view of the speed reducer W1. FIG. 5 is a skeleton diagram showing the configuration of the reducer W1. In FIGS. 3 and 4, only the main parts are shown, and bearings and the like are omitted. In addition, in each figure, the direction is shown with the output shaft side as the front (FR) and the input shaft side as the rear (RE), with the input shaft and output shaft (driven sun gear) arranged in parallel in the axial direction of the reducer W1 as a reference. Explain.
　図１～図５に示すように、減速機Ｗ１は、遊星歯車機構を有する、２Ｋ－Ｈ型ハイポサイクロイド減速機である。減速機Ｗ１は、主として、入力軸１０、固定太陽歯車２０、遊星歯車列３０、従動太陽歯車４０、ハウジング５０を備える。 As shown in FIGS. 1 to 5, the reducer W1 is a 2K-H type hypocycloid reducer having a planetary gear mechanism. The speed reducer W1 mainly includes an input shaft 10, a fixed sun gear 20, a planetary gear train 30, a driven sun gear 40, and a housing 50.
　図２に示すように、減速機Ｗ１は、車両の車輪駆動部に搭載され、モータＭと、車輪ハブＨの間に介装される。減速機Ｗ１は、インプットシャフトの入力軸１０と、アウトプットシャフトとして従動太陽歯車４０を有し、入力軸１０の回転が減速されて従動太陽歯車４０から出力される。 As shown in FIG. 2, the reducer W1 is mounted on the wheel drive section of the vehicle and interposed between the motor M and the wheel hub H. The speed reducer W1 has an input shaft 10 and a driven sun gear 40 as an output shaft, and the rotation of the input shaft 10 is decelerated and output from the driven sun gear 40.
　入力軸１０はモータＭに挿嵌されており、モータＭが回転することにより、入力軸１０は回転するようになっている。従動太陽歯車４０は、図示しない車輪が連結された車輪ハブＨに接続されており、従動太陽歯車４０の回転は、車輪ハブＨを通して車輪に伝達される。モータＭの回転は、減速機Ｗ１により減速して車輪に伝達され、車輪が回転する構成となっている。入力軸１０がモータＭ側の回転軸として直接駆動される構成、または入力軸１０がモータＭの回転軸に接続されて駆動される構成の、どちらであってもよい。同様に、従動太陽歯車４０が車輪ハブＨに直接連結されて駆動力を伝達する構成のみならず、従動太陽歯車４０に連結される伝達軸を設けて、伝達軸を介して車輪ハブＨに接続されて車輪を駆動する構成であってもよい。 The input shaft 10 is fitted into the motor M, and as the motor M rotates, the input shaft 10 rotates. The driven sun gear 40 is connected to a wheel hub H to which wheels (not shown) are connected, and the rotation of the driven sun gear 40 is transmitted to the wheels through the wheel hub H. The rotation of the motor M is decelerated by a speed reducer W1 and transmitted to the wheels, so that the wheels rotate. Either a configuration in which the input shaft 10 is directly driven as a rotating shaft on the motor M side, or a configuration in which the input shaft 10 is connected to and driven by the rotating shaft of the motor M may be used. Similarly, the driven sun gear 40 is not only directly connected to the wheel hub H to transmit driving force, but also has a transmission shaft connected to the driven sun gear 40 and is connected to the wheel hub H via the transmission shaft. The structure may be such that the wheels are driven by the wheels.
（ハウジング）
　固定太陽歯車２０は、ハウジングカバー部２１と、固定太陽歯車本体２２からなる。ハウジングカバー部２１は、ハウジング５０と共に、減速機Ｗ１のハウジングを構成する。 (housing)
The fixed sun gear 20 includes a housing cover portion 21 and a fixed sun gear body 22. The housing cover part 21 and the housing 50 constitute the housing of the reducer W1.
　ハウジング５０は、略円筒状に構成される円筒部５１と、円筒部５１の一方の端部を閉塞する端面５２から構成される。円筒部５１の開口部（端面５２とは逆の端部）を閉塞するように、略円板状のハウジングカバー部２１がボルト（不図示）で取付けられる。これにより画成された略円柱状の内部空間に各部品が保持される。 The housing 50 includes a cylindrical portion 51 having a substantially cylindrical shape and an end surface 52 that closes one end of the cylindrical portion 51. A substantially disk-shaped housing cover portion 21 is attached with bolts (not shown) so as to close an opening (an end opposite to the end surface 52) of the cylindrical portion 51. Each component is held in the substantially cylindrical internal space defined thereby.
　ハウジングカバー部２１の中央に設けられた中央貫通孔２３には、入力軸１０の一部が挿通して、回動可能に保持される。ハウジング５０の端面５２に設けられた中央貫通孔５４には、入力軸１０と同軸上に設けられる従動太陽歯車４０の一部が挿通して回動可能に保持される。 A part of the input shaft 10 is inserted through the central through hole 23 provided at the center of the housing cover part 21 and is rotatably held. A part of the driven sun gear 40 provided coaxially with the input shaft 10 is inserted into the central through hole 54 provided in the end surface 52 of the housing 50 and is rotatably held therein.
（固定太陽歯車）
　固定太陽歯車２０の構成について、図６と共に説明する。図６は、固定太陽歯車を示す。図６（Ａ）が固定太陽歯車の正面図である。図６（Ｂ）固定太陽歯車の側面図である。図６（Ｃ）が固定太陽歯車の断面図である。 (Fixed sun gear)
The configuration of the fixed sun gear 20 will be explained with reference to FIG. 6. Figure 6 shows a fixed sun gear. FIG. 6(A) is a front view of the fixed sun gear. FIG. 6(B) is a side view of the fixed sun gear. FIG. 6(C) is a sectional view of the fixed sun gear.
　前述の通り、固定太陽歯車２０は、ハウジングカバー部２１と、固定太陽歯車本体２２から成る。固定太陽歯車２０は、略円板状のハウジングカバー部２１と、ハウジングカバー部２１より小径なリング形状の固定太陽歯車本体２２とを、軸心を合致させて軸方向に並んで配置させて、両者を一体に形成されて成る。固定太陽歯車本体２２は、ハウジングカバー部２１のハウジング５０との対向面側に設けられている。ハウジングカバー部２１がハウジング５０に締結されると、固定太陽歯車本体２２がハウジング内部に配置される。 As mentioned above, the fixed sun gear 20 consists of the housing cover part 21 and the fixed sun gear main body 22. The fixed sun gear 20 includes a substantially disc-shaped housing cover part 21 and a ring-shaped fixed sun gear main body 22 having a smaller diameter than the housing cover part 21, which are arranged side by side in the axial direction with their axes aligned. The two are integrally formed. The fixed sun gear main body 22 is provided on the side of the housing cover section 21 facing the housing 50. When the housing cover part 21 is fastened to the housing 50, the fixed sun gear body 22 is disposed inside the housing.
　ハウジングカバー部２１の側縁部には、同一円周状に、複数のネジ穴２９が等間隔に設けられている。このネジ穴２９に不図示のボルトが挿通し、ハウジング５０の開口部に締結することで、固定太陽歯車２０が固定される。 A plurality of screw holes 29 are provided at equal intervals on the side edge of the housing cover portion 21 on the same circumference. A bolt (not shown) is inserted into the screw hole 29 and fastened to the opening of the housing 50, thereby fixing the fixed sun gear 20.
　固定太陽歯車本体２２は、リング状の外周面に外歯車が形成された外歯歯車である。固定太陽歯車本体２２は、歯車の形状にトロコイド曲線を利用したトロコイド歯車であり、歯筋が軸線に対して斜めに切られた斜歯歯車である。 The fixed sun gear main body 22 is an external gear in which an external gear is formed on a ring-shaped outer peripheral surface. The fixed sun gear main body 22 is a trochoid gear that uses a trochoid curve in its shape, and is a helical gear with tooth traces cut diagonally with respect to the axis.
　固定太陽歯車本体２２のみならず、減速機Ｗ１の歯車には全て、斜歯歯車および、トロコイド歯車を用いている。斜歯歯車は平歯車よりも高い噛み合い率を確保することができる。トロコイド歯車は、インボリュート歯車よりも噛み合い率が良く、滑り率も小さい。本実施形態においては、各歯車の噛み合い率２以上を確保して、高い噛み合い率と共に静音性を確保した。なお斜歯歯車は必須ではなく、平歯車や山歯歯車であってもよい。 Not only the fixed sun gear body 22 but also all the gears of the reducer W1 use helical gears and trochoid gears. Helical gears can ensure a higher meshing ratio than spur gears. Trochoid gears have a better meshing ratio and lower slip ratio than involute gears. In this embodiment, each gear has a meshing ratio of 2 or more to ensure a high meshing ratio and quietness. Note that the helical gear is not essential, and a spur gear or a convex gear may be used.
（入力軸）
　入力軸１０の構成について、図７と共に説明する。図７は入力軸１０を示す。図７（Ａ）は入力軸１０の側面図である。図７（Ｂ）は入力軸１０の背面図である。 (input shaft)
The configuration of the input shaft 10 will be explained with reference to FIG. FIG. 7 shows the input shaft 10. FIG. 7(A) is a side view of the input shaft 10. FIG. 7(B) is a rear view of the input shaft 10.
　図７に示すように、入力軸１０は、それぞれ略円柱に構成される、接続軸部１１、偏芯部１２、フランジ部１３、支持軸部１４を有し、これらが軸方向に順に並んで一体に形成されて成る。 As shown in FIG. 7, the input shaft 10 has a connecting shaft portion 11, an eccentric portion 12, a flange portion 13, and a support shaft portion 14, each of which is formed into a substantially cylindrical shape, and these are arranged in order in the axial direction. It is formed in one piece.
　接続軸部１１は、入力軸１０の一方の端部を構成し、接続軸部１１の先端が、ハウジングカバー部２１の中央貫通孔２３から突出して、モータＭに挿嵌され固定される。また接続軸部１１の基端側が、ベアリングＢＲ１を介して中央貫通孔２３に支持されることで、入力軸１０が固定太陽歯車２０に回動可能に支持される。 The connecting shaft portion 11 constitutes one end of the input shaft 10, and the tip of the connecting shaft portion 11 protrudes from the central through hole 23 of the housing cover portion 21, and is inserted into and fixed to the motor M. Further, the base end side of the connecting shaft portion 11 is supported by the central through hole 23 via the bearing BR1, so that the input shaft 10 is rotatably supported by the fixed sun gear 20.
　偏芯部１２は、入力軸１０の回転軸心である中心軸Ｘに対して、偏芯量ｅだけ偏芯して設けられている。偏芯部１２は、入力軸１０の回転により、中心軸Ｘから偏芯量ｅだけ偏芯しながら、偏芯部１２の回転中心Ｘ１を中心として回転する。 The eccentric portion 12 is provided eccentrically by an eccentric amount e with respect to the central axis X, which is the rotation axis of the input shaft 10. The eccentric portion 12 rotates about the rotation center X1 of the eccentric portion 12 while being eccentric from the central axis X by an eccentric amount e due to the rotation of the input shaft 10.
　フランジ部１３は、偏芯部１２と支持軸部１４の間に薄く拡径に設けられ、偏芯部１２および支持軸部１４のベアリングの配置を案内し、また入力軸１０が回転した際の、部品同士の干渉や摩擦を防ぐスペーサの役割を果たす。 The flange portion 13 is provided thinly and with an enlarged diameter between the eccentric portion 12 and the support shaft portion 14, and guides the arrangement of the bearings of the eccentric portion 12 and the support shaft portion 14, and also serves as a guide when the input shaft 10 rotates. , which acts as a spacer to prevent interference and friction between parts.
　支持軸部１４は、入力軸１０の他方の端部を構成し、従動太陽歯車４０の一方の端部（後方側）の中心に設けられた円形凹部４８に、従動太陽歯車４０と回転軸心を一致させて、ベアリングＢＲ３を介して係合する（図２参照）。これにより、入力軸１０と従動太陽歯車４０は回転軸心を一致させて、互いに相対的な回動が可能に連結される。 The support shaft portion 14 constitutes the other end of the input shaft 10 and is connected to the driven sun gear 40 and the rotation axis in a circular recess 48 provided at the center of one end (rear side) of the driven sun gear 40. are aligned and engaged via bearing BR3 (see Fig. 2). Thereby, the input shaft 10 and the driven sun gear 40 are connected so that their rotation axes coincide with each other and can rotate relative to each other.
（従動太陽歯車）
　従動太陽歯車４０の構成について、図８と共に説明する。図８は従動太陽歯車４０を示す。図８（Ａ）は従動太陽歯車４０の正面図である。図８（Ｂ）は従動太陽歯車４０の側面図である。図８（Ｃ）は従動太陽歯車４０の断面図である。 (driven sun gear)
The configuration of the driven sun gear 40 will be explained with reference to FIG. 8. FIG. 8 shows the driven sun gear 40. FIG. 8(A) is a front view of the driven sun gear 40. FIG. 8(B) is a side view of the driven sun gear 40. FIG. 8(C) is a sectional view of the driven sun gear 40.
　従動太陽歯車４０は、円筒状の出力軸部４１と、出力軸部４１より拡径の略円板状の従動太陽歯車本体４２が軸方向に中心軸を合わせて配置されて一体に形成されて成る。従動太陽歯車４０は、従動太陽歯車本体４２側を入力軸１０側に向けて配置される。 The driven sun gear 40 is integrally formed by a cylindrical output shaft portion 41 and a substantially disc-shaped driven sun gear main body 42 whose diameter is larger than the output shaft portion 41, which are arranged with their central axes aligned in the axial direction. Become. The driven sun gear 40 is arranged with the driven sun gear main body 42 side facing the input shaft 10 side.
　出力軸部４１は、ハウジング５０の端面５２の中央に形成された中央貫通孔５４に挿通し、先端をハウジング５０の外へ突出させて、カラーＣを介して回動可能に保持される。ハウジング５０の端面５２は、中央貫通孔５４を延長するように、中央貫通孔５４の周壁が端面５２の表面から延出して形成される突出部５３を有する。出力軸部４１は、突出部５３により延長される中央貫通孔５４に配置されることで、従動太陽歯車４０はハウジング５０に安定して回動可能に保持される。なお、せん断荷重の掛かる剛性の必要な箇所の軸受けとして、出力軸部４１の軸受けにカラーＣを用いたが、軸受けにベアリングを用いてもよい。 The output shaft portion 41 is inserted into a central through hole 54 formed at the center of the end surface 52 of the housing 50, and is rotatably held via the collar C with its tip protruding outside the housing 50. The end surface 52 of the housing 50 has a protrusion 53 formed by extending the peripheral wall of the central through hole 54 from the surface of the end surface 52 so as to extend the central through hole 54 . The output shaft portion 41 is disposed in the central through hole 54 extended by the protruding portion 53, so that the driven sun gear 40 is stably and rotatably held in the housing 50. Note that although the collar C is used for the bearing of the output shaft portion 41 as a bearing for a location where shear load is applied and requires rigidity, a bearing may be used for the bearing.
　ハウジング５０から突出した出力軸部４１に車輪ハブＨが連結され、入力軸１０から入力された回転は、従動太陽歯車４０から減速出力され、車輪ハブＨに連結された車輪を回転させる。 A wheel hub H is connected to an output shaft portion 41 protruding from the housing 50, and the rotation input from the input shaft 10 is decelerated and output from the driven sun gear 40, causing the wheel connected to the wheel hub H to rotate.
　従動太陽歯車本体４２はハウジング内に配置される。従動太陽歯車本体４２の端面中央には、入力軸１０と連結するための円形凹部４８が形成されている。円形凹部４８に入力軸１０の支持軸部１４が嵌め込まれ、互いに中心軸Ｘ回りに回動可能に連結される。 The driven sun gear body 42 is disposed within the housing. A circular recess 48 for connecting to the input shaft 10 is formed in the center of the end face of the driven sun gear body 42 . The support shaft portion 14 of the input shaft 10 is fitted into the circular recess 48 and connected to each other so as to be rotatable around the central axis X.
　従動太陽歯車本体４２は、リング状の外周面に外歯車が形成された外歯歯車である。従動太陽歯車本体４２が受けた回転入力により、従動太陽歯車４０は中心軸Ｘを中心として回動（自転）する。 The driven sun gear main body 42 is an external gear in which an external gear is formed on a ring-shaped outer peripheral surface. The driven sun gear 40 rotates (rotates) about the central axis X due to the rotational input received by the driven sun gear main body 42.
（遊星歯車列）
　遊星歯車列３０の構成について、図９と共に説明する。図９（Ａ）は遊星歯車列３０の前方斜視図である。主として第２遊星歯車３３を示す。図９（Ｂ）は遊星歯車列３０の側面図である。図９（Ｃ）は遊星歯車列３０の縦断面図である。図９（Ｄ）は、遊星歯車列３０の背面斜視図である。主として第１遊星歯車３１を示す。 (Planetary gear train)
The configuration of the planetary gear train 30 will be explained with reference to FIG. 9. FIG. 9(A) is a front perspective view of the planetary gear train 30. The second planetary gear 33 is mainly shown. FIG. 9(B) is a side view of the planetary gear train 30. FIG. 9(C) is a longitudinal cross-sectional view of the planetary gear train 30. FIG. 9(D) is a rear perspective view of the planetary gear train 30. The first planetary gear 31 is mainly shown.
　遊星歯車列３０は、第１遊星歯車３１、支持部３２、第２遊星歯車３３が軸方向に並んで一体に形成されて成る。 The planetary gear train 30 is formed by integrally forming a first planetary gear 31, a support portion 32, and a second planetary gear 33 arranged in the axial direction.
　第１遊星歯車３１は、略リング形状に構成され、内周面に、固定太陽歯車２０の固定太陽歯車本体２２と噛み合う内歯車が設けられた内歯歯車である。第１遊星歯車３１の歯数は、固定太陽歯車２０の歯数よりも２以上多く構成される。 The first planetary gear 31 is an internal gear that has a substantially ring shape and is provided with an internal gear on its inner peripheral surface that meshes with the fixed sun gear main body 22 of the fixed sun gear 20. The number of teeth of the first planetary gear 31 is two or more more than the number of teeth of the fixed sun gear 20.
　支持部３２は、略円板状に構成され、入力軸１０の偏芯部１２にベアリングＢＲ２を介して設けられ、入力軸１０が回転すると、偏芯入力を受け付ける。 The support portion 32 is configured in a substantially disk shape, is provided on the eccentric portion 12 of the input shaft 10 via a bearing BR2, and receives eccentric input when the input shaft 10 rotates.
　第２遊星歯車３３は、略リング形状に構成され、内周面に、従動太陽歯車４０の従動太陽歯車本体４２と噛み合う内歯車が設けられた内歯歯車である。第２遊星歯車３３の歯数は、従動太陽歯車４０の歯数よりも２以上多く、かつ第１遊星歯車３１の歯数とは異ならしめて設けられている。即ち、第１遊星歯車３１と第２遊星歯車３３は、異なるギヤ比となるように構成されている。 The second planetary gear 33 is an internal gear that has a substantially ring shape and is provided with an internal gear on its inner peripheral surface that meshes with the driven sun gear main body 42 of the driven sun gear 40. The number of teeth of the second planetary gear 33 is two or more more than the number of teeth of the driven sun gear 40 and is different from the number of teeth of the first planetary gear 31. That is, the first planetary gear 31 and the second planetary gear 33 are configured to have different gear ratios.
　第１遊星歯車３１は、支持部３２の固定太陽歯車２０側（後方）に配置され、第２遊星歯車３３は、固定太陽歯車とは逆側の従動太陽歯車４０側（前方）に配置され、二つの遊星歯車３１，３３で支持部３２を挟んだ配置となる。略円板形状の支持部３２の両端面から、二つの遊星歯車が軸方向に突出して設けられている。 The first planetary gear 31 is arranged on the fixed sun gear 20 side (backward) of the support part 32, and the second planetary gear 33 is arranged on the driven sun gear 40 side (front) on the opposite side from the fixed sun gear. The supporting portion 32 is sandwiched between the two planetary gears 31 and 33. Two planetary gears are provided to protrude in the axial direction from both end surfaces of the substantially disk-shaped support portion 32 .
　第１遊星歯車３１と第２遊星歯車３３の歯車面（リング形状の内周面）は、中心軸Ｘに対して、偏芯部１２の偏芯方向と同方向に、同じ偏芯量ｅだけ偏芯して設けられる。即ち、第１遊星歯車３１と第２遊星歯車３３は、同位相に偏芯して設けられる。 The gear surfaces (ring-shaped inner peripheral surfaces) of the first planetary gear 31 and the second planetary gear 33 are arranged in the same direction as the eccentric direction of the eccentric portion 12 with respect to the central axis X by the same eccentric amount e. It is installed eccentrically. That is, the first planetary gear 31 and the second planetary gear 33 are provided eccentrically and in the same phase.
　遊星歯車列３０、特に支持部３２は、減速機Ｗ１が軸方向に短く形成するために、形状が設定されている。 The shape of the planetary gear train 30, particularly the support portion 32, is set so that the speed reducer W1 is formed short in the axial direction.
　支持部３２は、略円板形状の支持部３２の周方向の内側を構成する内周部３２ａと、支持部３２の周方向の外側を構成する外周部３２ｂからなる。 The support portion 32 is composed of an inner circumferential portion 32a that constitutes the circumferential inner side of the substantially disk-shaped support portion 32, and an outer circumferential portion 32b that constitutes the circumferential outer side of the support portion 32.
　内周部３２ａは、偏芯部１２に支持される役割を果たし、外周部３２ｂは二つの遊星歯車に接続する役割を果たす。 The inner peripheral part 32a plays the role of being supported by the eccentric part 12, and the outer peripheral part 32b plays the role of connecting to the two planetary gears.
　外周部３２ｂは、内周部３２ａとは軸方向にズレて内周部３２ａと一体形成されている。詳しくは、外周部３２ｂは、内周部３２ａとは第２遊星歯車３３の方向（前方）へ軸方向にオフセットされて構成されていることから、外周部３２ｂの外縁部から第２遊星歯車３３が設けられている方向とは逆の方向（後方）へ突出して設けられる第１遊星歯車３１は、内周部３２ａとは周方向には離間して、軸方向には略同位置に配置される。周方向に離れて配置される内周部３２ａと第１遊星歯車３１の間には略リング状の空間ＳＰ１が形成され、この空間ＳＰ１に、固定太陽歯車本体２２が入り込んで配置される。即ち、第１遊星歯車３１、固定太陽歯車本体２２、および内周部３２ａが、軸方向には略同位置となる。 The outer peripheral part 32b is axially shifted from the inner peripheral part 32a and is integrally formed with the inner peripheral part 32a. Specifically, since the outer circumferential portion 32b is configured to be offset in the axial direction from the inner circumferential portion 32a in the direction (forward) of the second planetary gear 33, the second planetary gear 33 The first planetary gear 31, which is provided so as to protrude in the opposite direction (rearward) to the direction in which the first planetary gear 31 is provided, is spaced apart from the inner circumferential portion 32a in the circumferential direction and is arranged at approximately the same position in the axial direction. Ru. A substantially ring-shaped space SP1 is formed between the inner circumferential portion 32a and the first planetary gear 31, which are arranged apart from each other in the circumferential direction, and the fixed sun gear main body 22 is placed in this space SP1. That is, the first planetary gear 31, the fixed sun gear main body 22, and the inner peripheral portion 32a are located at approximately the same position in the axial direction.
　このため、固定太陽歯車本体２２が突出するハウジングカバー部２１は、内周部３２ａと隣り合う。ハウジングであるハウジングカバー部２１と、ハウジング内に配置される内周部３２ａを有する遊星歯車列３０とが、近接して配置される。即ち、ハウジングとハウジング内に配置される機構部分との軸方向の隙が短縮される。 Therefore, the housing cover portion 21 from which the fixed sun gear main body 22 protrudes is adjacent to the inner peripheral portion 32a. A housing cover portion 21, which is a housing, and a planetary gear train 30 having an inner peripheral portion 32a disposed within the housing are arranged close to each other. That is, the gap in the axial direction between the housing and the mechanical part disposed within the housing is reduced.
　支持部３２の上記形状により、遊星歯車列３０が軸方向に短く構成されるうえ、上記構成により、ハウジング内の軸方向の空間を短くできることから、減速機Ｗ１を軸方向に短く構成することができる。 The shape of the support portion 32 allows the planetary gear train 30 to be shortened in the axial direction, and the above structure also makes it possible to shorten the space in the axial direction within the housing, making it possible to shorten the speed reducer W1 in the axial direction. can.
（減速機Ｗ１の動き）
　上記のように構成される減速機Ｗ１の動きについて、図５のスケルトン図、図１０、および図１１を用いて説明する。図１０は、図２のＡ－Ａ線に沿った断面図である。主として、固定太陽歯車本体２２と第１遊星歯車３１を示す。図１１は図２のＢ－Ｂ線に沿った断面図である。主として、第２遊星歯車３３と従動太陽歯車本体４２を示す。 (Movement of reducer W1)
The movement of the reduction gear W1 configured as described above will be explained using the skeleton diagram of FIG. 5, FIG. 10, and FIG. 11. FIG. 10 is a cross-sectional view taken along line AA in FIG. 2. Mainly, the fixed sun gear main body 22 and the first planetary gear 31 are shown. FIG. 11 is a sectional view taken along line BB in FIG. Mainly, the second planetary gear 33 and the driven sun gear main body 42 are shown.
　図５に示すように、減速機Ｗ１は、２Ｋ－Ｈ型の遊星歯車機構を有する、ハイポサイクロイド型減速機である。減速機Ｗ１は、偏芯部１２を有する入力軸１０、入力軸１０と同軸上に設けられる外歯歯車からなる固定太陽歯車２０と、固定太陽歯車２０と噛み合う内歯歯車を有する第１遊星歯車３１と、減速出力を出力する外歯歯車を有する従動太陽歯車４０と、従動太陽歯車４０と噛み合う内歯歯車を有する第２遊星歯車３３とを備える。そして、第１遊星歯車３１と第２遊星歯車３３が一体に形成され、遊星歯車列３０が構成される。 As shown in FIG. 5, the reducer W1 is a hypocycloid type reducer having a 2K-H type planetary gear mechanism. The reducer W1 includes an input shaft 10 having an eccentric portion 12, a fixed sun gear 20 consisting of an external gear coaxially provided with the input shaft 10, and a first planetary gear having an internal gear meshing with the fixed sun gear 20. 31, a driven sun gear 40 having an external gear that outputs a deceleration output, and a second planetary gear 33 having an internal gear meshing with the driven sun gear 40. The first planetary gear 31 and the second planetary gear 33 are integrally formed to form a planetary gear train 30.
　第１遊星歯車３１と第２遊星歯車３３とは、同位相に偏芯して形成され、偏芯部１２に設けられる。 The first planetary gear 31 and the second planetary gear 33 are eccentrically formed in the same phase and provided in the eccentric portion 12.
　モータＭの回転入力が入力軸１０に伝えられると、偏芯部１２は、偏芯回転運動をする。この偏芯回転運動が、ベアリングＢＲ２を介して第１遊星歯車３１に伝達される。ハウジング５０に固定された固定太陽歯車本体２２と、第１遊星歯車３１とが噛み合うことで、第１遊星歯車３１と固定太陽歯車本体２２のギヤ比分だけ第１遊星歯車３１が減速され、第１遊星歯車３１が固定太陽歯車本体２２に対して、偏芯部１２の偏心回転運動により公転しながらギヤの噛み合い分自転する。さらに第１遊星歯車３１と一体に形成された第２遊星歯車３３が、第１遊星歯車３１の公転運動に連動して従動太陽歯車本体４２と噛み合うことで、第２遊星歯車３３と従動太陽歯車本体４２とのギヤ比分だけ、より減速されて出力される。このとき、第１遊星歯車３１の自転分だけ第２遊星歯車３３は入力軸１０に対して第１遊星歯車３１と固定太陽歯車本体２２のギヤ比分だけ減速されて自転しており、従動太陽歯車本体４２は、従動太陽歯車本体４２と第２遊星歯車のギヤ比分だけ、第２遊星歯車３３の自転速度に対して、さらに減速されて出力される。 When the rotational input of the motor M is transmitted to the input shaft 10, the eccentric portion 12 performs an eccentric rotational movement. This eccentric rotational motion is transmitted to the first planetary gear 31 via the bearing BR2. When the fixed sun gear body 22 fixed to the housing 50 and the first planetary gear 31 mesh with each other, the first planetary gear 31 is decelerated by the gear ratio of the first planetary gear 31 and the fixed sun gear body 22, and the first planetary gear 31 is The planetary gear 31 rotates relative to the fixed sun gear main body 22 by the amount of meshing of the gears while revolving around the stationary sun gear main body 22 due to the eccentric rotation movement of the eccentric portion 12. Further, the second planetary gear 33 formed integrally with the first planetary gear 31 meshes with the driven sun gear main body 42 in conjunction with the revolution movement of the first planetary gear 31, so that the second planetary gear 33 and the driven sun gear The speed is further reduced by the gear ratio with respect to the main body 42 and output. At this time, the second planetary gear 33 rotates while being reduced in speed by the gear ratio of the first planetary gear 31 and the fixed sun gear main body 22 relative to the input shaft 10 by the rotation of the first planetary gear 31, and the driven sun gear The main body 42 is further decelerated relative to the rotational speed of the second planetary gear 33 by the gear ratio of the driven sun gear main body 42 and the second planetary gear, and is output.
（作用効果）
　第１遊星歯車３１と第２遊星歯車３３とは、同位相に偏芯して形成され、偏芯部１２に設けられる。固定太陽歯車本体２２の歯数Ｚ１と、第１遊星歯車３１の歯数Ｚ２とに基づく減速比を第１減速比Ｒ１、第２遊星歯車３３の歯数Ｚ３と従動太陽歯車本体４２の歯数Ｚ４に基づく減速比を第２減速比Ｒ２とすると、同位相に設けられていることから、第１減速比Ｒ１と第２減速比Ｒ２との差が、減速機Ｗ１の総減速比ｉとなる。このため、非常に大きな減速比を得ることができる。例えば、第１遊星歯車を外歯歯車とし、第２遊星歯車を内歯歯車として偏芯部に設けた場合、二組のギヤ比の和が、減速機の総減速比となり、大減速比を得るのは難しい。本実施形態のように、第１遊星歯車３１と第２遊星歯車３３の両方を内歯歯車とし、両歯車を異なるギヤ比で設けることで、減速機Ｗ１の大減速比を実現した。 (effect)
The first planetary gear 31 and the second planetary gear 33 are eccentrically formed in the same phase and provided in the eccentric portion 12 . The reduction ratio based on the number of teeth Z1 of the fixed sun gear body 22 and the number of teeth Z2 of the first planetary gear 31 is the first reduction ratio R1, the number of teeth Z3 of the second planetary gear 33 and the number of teeth of the driven sun gear body 42. If the reduction ratio based on Z4 is the second reduction ratio R2, since they are provided in the same phase, the difference between the first reduction ratio R1 and the second reduction ratio R2 becomes the total reduction ratio i of the reduction gear W1. . Therefore, a very large reduction ratio can be obtained. For example, if the first planetary gear is an external gear and the second planetary gear is an internal gear and is provided on an eccentric part, the sum of the two sets of gear ratios becomes the total reduction ratio of the reducer, and the large reduction ratio is It's hard to get. As in this embodiment, both the first planetary gear 31 and the second planetary gear 33 are internal gears, and by providing both gears with different gear ratios, a large reduction ratio of the reduction gear W1 is realized.
　減速機Ｗ１の２セットの歯車は、それぞれ歯数差を２以上としている。歯数差が１の場合、より大きな減速比を得ることができるが、偏芯量を小さくせざるを得ず、偏芯部に設けられるベアリングに高負荷がかかるという問題がある。歯数差を２以上として、上記構成により減速比を大きく確保するとともに、偏芯量を妥当な範囲とすることができる。 The two sets of gears of the reducer W1 each have a difference in the number of teeth of 2 or more. When the difference in the number of teeth is 1, a larger reduction ratio can be obtained, but the amount of eccentricity must be reduced, and there is a problem that a high load is applied to the bearing provided in the eccentric part. By setting the difference in the number of teeth to 2 or more, the above configuration can ensure a large reduction ratio and keep the amount of eccentricity within a reasonable range.
　本実施形態における歯数の一例と、その総減速比ｉは、以下の通りである。
　固定太陽歯車本体２２の歯数Ｚ１＝５５
　第１遊星歯車３１の歯数Ｚ２＝５３
　第２遊星歯車３３の歯数Ｚ３＝３９
　従動太陽歯車本体４２の歯数Ｚ４＝３７
　ここで、１／ｉ＝１／（３９／（３９－３７））－１／（５５／（５５－５３））
　より、減速機Ｗ１の総減速比ｉ＝６７ An example of the number of teeth and the total reduction ratio i in this embodiment are as follows.
Number of teeth of fixed sun gear body 22 Z1 = 55
Number of teeth of the first planetary gear 31 Z2 = 53
Number of teeth of the second planetary gear 33 Z3 = 39
Number of teeth of driven sun gear body 42 Z4 = 37
Here, 1/i=1/(39/(39-37))-1/(55/(55-53))
Therefore, the total reduction ratio i of reducer W1 = 67
　減速機Ｗ１は部品点数が少なく、各部品が概ね同程度の大きさに構成されて、軸方向に並んで設けられており、剛性が高い。さらに、周方向に大きくせずに、大きな減速比を得ることができる。 The speed reducer W1 has a small number of parts, each part is approximately the same size, and is arranged side by side in the axial direction, and has high rigidity. Furthermore, a large reduction ratio can be obtained without increasing it in the circumferential direction.
　加えて、減速機Ｗ１においては、減速出力を取り出す従動太陽歯車４０が外歯歯車で構成されることから、これが内歯歯車で構成される場合に比べて軸方向に短く構成することができる。内歯歯車は、円板状の基部から軸方向に突出して設けられるが、外歯歯車は基部が不要で、円板状の外周面にそのまま設けることができる。歯幅が同じ場合、内歯歯車の方が軸方向に短く構成することができる。減速機Ｗ１においては、従動太陽歯車本体４２を外歯歯車で構成することで、ハウジング内の構成を軸方向に短くした。前述の通り、遊星歯車列３０の形状も、ハウジング内で軸方向に短くなるように構成されており、減速機Ｗ１は、全体が軸方向に短く構成される。このため、減速機Ｗ１は、径方向と軸方向の両方にコンパクトに構成され、かつ大きな減速比を得ることができる。 In addition, in the reducer W1, since the driven sun gear 40 that takes out the deceleration output is configured with an externally toothed gear, it can be configured to be shorter in the axial direction compared to a case where it is configured with an internally toothed gear. The internal gear is provided so as to protrude in the axial direction from the disk-shaped base, but the external gear does not require a base and can be provided as is on the outer peripheral surface of the disk. When the face widths are the same, the internal gear can be configured to be shorter in the axial direction. In the reducer W1, the driven sun gear main body 42 is formed of an external gear, thereby shortening the structure inside the housing in the axial direction. As described above, the shape of the planetary gear train 30 is also configured to be short in the axial direction within the housing, and the reduction gear W1 is configured to be short in the axial direction as a whole. Therefore, the speed reducer W1 is configured compactly in both the radial direction and the axial direction, and can obtain a large speed reduction ratio.
　以上、本発明の好ましい実施形態について述べたが、上記の実施形態は本発明の一例であり、これらを当業者の知識に基づいて組み合わせることが可能であり、そのような形態も本発明の範囲に含まれる。 The preferred embodiments of the present invention have been described above, but the above embodiments are only examples of the present invention, and these can be combined based on the knowledge of those skilled in the art, and such embodiments also fall within the scope of the present invention. include.
　Ｗ１：減速機、１０：入力軸、１２：偏芯部、２０：固定太陽歯車、３０：遊星歯車列、３１：第１遊星歯車、３２：支持部、３２ａ：内周部、３２ｂ：外周部、３３：第２遊星歯車、４０：従動太陽歯車 W1: Reducer, 10: Input shaft, 12: Eccentric part, 20: Fixed sun gear, 30: Planetary gear train, 31: First planetary gear, 32: Support part, 32a: Inner peripheral part, 32b: Outer peripheral part , 33: Second planetary gear, 40: Driven sun gear

Claims (3)

  1. 　偏芯部を有する入力軸と、
    　前記入力軸と同軸上に設けられる外歯歯車からなる固定太陽歯車と、
    　前記固定太陽歯車と噛み合う内歯歯車を有し、前記入力軸の前記偏芯部に設けられた第１遊星歯車と、
    　前記入力軸の回転軸と同軸上に配置されて、減速出力を出力する外歯歯車からなる従動太陽歯車と、
    　前記従動太陽歯車と噛み合う内歯歯車を有し、前記入力軸の前記偏芯部に設けられた第２遊星歯車と、
    　を備え、
    　前記第１遊星歯車および前記第２遊星歯車は、異なるギヤ比で軸方向に一体に形成されて、遊星歯車列を構成する、
    　ことを特徴とする遊星歯車減速機。     an input shaft having an eccentric portion;
    a fixed sun gear consisting of an external gear provided coaxially with the input shaft;
    a first planetary gear having an internal gear meshing with the fixed sun gear and provided on the eccentric portion of the input shaft;
    a driven sun gear consisting of an external gear disposed coaxially with the rotation axis of the input shaft and outputting a deceleration output;
    a second planetary gear having an internal gear meshing with the driven sun gear and provided on the eccentric portion of the input shaft;
    Equipped with
    The first planetary gear and the second planetary gear are integrally formed in the axial direction with different gear ratios to constitute a planetary gear train.
    A planetary gear reducer characterized by:
  2. 　前記遊星歯車列は、軸方向に並んで設けられる前記第１遊星歯車と前記第２遊星歯車との間に設けられる支持部を有して、前記支持部で前記偏芯部に回動可能に支持され、
    　前記支持部は、前記支持部の周方向内側を構成する内周部と、前記支持部の周方向外側を構成する外周部と、から成り、
    　前記内周部と前記外周部とは、軸方向にオフセットして設けられ、
    　前記内周部と略同軸上に、前記第１遊星歯車が配置される、
    　ことを特徴とする請求項１に記載の遊星歯車減速機。     The planetary gear train has a support portion provided between the first planetary gear and the second planetary gear that are arranged side by side in the axial direction, and is rotatable to the eccentric portion by the support portion. supported,
    The support portion includes an inner peripheral portion that constitutes the inner side in the circumferential direction of the support portion, and an outer peripheral portion that constitutes the outer side in the circumferential direction of the support portion,
    The inner peripheral part and the outer peripheral part are provided offset in the axial direction,
    the first planetary gear is disposed approximately coaxially with the inner circumferential portion;
    The planetary gear reducer according to claim 1, characterized in that:
  3. 　前記第１遊星歯車の内歯歯車および前記第２遊星歯車の内歯歯車は、トロコイド曲線を基準に構成され、
    前記第１遊星歯車と前記固定太陽歯車、および前記第２遊星歯車と前記従動太陽歯車は、歯数差を２以上の整数、かつ、噛み合い率を２以上とする、
    　ことを特徴とする請求項１または２に記載の遊星歯車減速機。     The internal gear of the first planetary gear and the internal gear of the second planetary gear are configured based on a trochoid curve,
    The first planetary gear and the fixed sun gear, and the second planetary gear and the driven sun gear, have a difference in the number of teeth of an integer of 2 or more and a meshing ratio of 2 or more.
    The planetary gear reduction gear according to claim 1 or 2, characterized in that:
PCT/JP2022/023515 2022-06-10 2022-06-10 Planetary gear reducer WO2023238400A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/JP2022/023515 WO2023238400A1 (en) 2022-06-10 2022-06-10 Planetary gear reducer

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2022/023515 WO2023238400A1 (en) 2022-06-10 2022-06-10 Planetary gear reducer

Publications (1)

Publication Number Publication Date
WO2023238400A1 true WO2023238400A1 (en) 2023-12-14

Family

ID=89117866

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2022/023515 WO2023238400A1 (en) 2022-06-10 2022-06-10 Planetary gear reducer

Country Status (1)

Country Link
WO (1) WO2023238400A1 (en)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62140249U (en) * 1986-02-28 1987-09-04
EP0429702A1 (en) * 1988-06-10 1991-06-05 Yonggang Prof. Shi High reduction gearing with intwined cycloid in contact
JP2013142459A (en) * 2012-01-12 2013-07-22 Mikuni Corp Hypocycloid device
JP2014062589A (en) * 2012-09-21 2014-04-10 Nabtesco Corp Gearshifter
WO2018135552A1 (en) * 2017-01-20 2018-07-26 国立大学法人横浜国立大学 Planetary gear device
JP2020060243A (en) * 2018-10-10 2020-04-16 株式会社オリジン Transmission device in combination with inscribed planetary gear mechanism

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62140249U (en) * 1986-02-28 1987-09-04
EP0429702A1 (en) * 1988-06-10 1991-06-05 Yonggang Prof. Shi High reduction gearing with intwined cycloid in contact
JP2013142459A (en) * 2012-01-12 2013-07-22 Mikuni Corp Hypocycloid device
JP2014062589A (en) * 2012-09-21 2014-04-10 Nabtesco Corp Gearshifter
WO2018135552A1 (en) * 2017-01-20 2018-07-26 国立大学法人横浜国立大学 Planetary gear device
JP2020060243A (en) * 2018-10-10 2020-04-16 株式会社オリジン Transmission device in combination with inscribed planetary gear mechanism

Similar Documents

Publication Publication Date Title
US5324240A (en) Eccentric gear system
JP5445216B2 (en) Planetary gear mechanism
JP5828321B2 (en) Transmission gear unit
US8137230B2 (en) Reduction gear
US5697868A (en) Planetary speed reduction gear
JP5477044B2 (en) Planetary gear mechanism
JPH08240254A (en) Power transmission device for electric vehicle
JP2018059556A (en) Cycloid speed reducer reduced in backlash
US20190113107A1 (en) Compound planetary gear assembly
US11353090B2 (en) Speed reducer
KR101007069B1 (en) Gear box having double planetary gear system
JP4588586B2 (en) Simple planetary gear mechanism planetary gear unit series
JP2016031081A (en) Differential gear
JP2002235832A (en) Differential gear with reduction gear
WO2023238400A1 (en) Planetary gear reducer
US11460097B2 (en) Complex planetary gear unit
WO2023238401A1 (en) Planetary gear reducer
JP7457489B2 (en) planetary gearbox
JP2005337442A (en) Differential limiting device
JP2019078343A (en) Rotation transmission device by combination of inscribed planetary gear mechanisms
WO2023074806A1 (en) Drive transmission device for vehicle
US11428296B2 (en) Geared speed reducing unit
JP7517360B2 (en) Vehicle drive device and method for manufacturing planetary gear mechanism
JP2743285B2 (en) Planetary gear speed reducer
JP7074628B2 (en) Planetary speed reducer and electric actuator

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 22945898

Country of ref document: EP

Kind code of ref document: A1

DPE1 Request for preliminary examination filed after expiration of 19th month from priority date (pct application filed from 20040101)