JP6411743B2 - Differential reducer - Google Patents

Description

The present invention relates to a differential speed reducer.

  The speed reducer is used for the purpose of decelerating and transmitting the rotation input from the drive source, and has a configuration combining a spur gear and a planetary gear. Generally, a reduction gear having a spur gear or a planetary gear can obtain a reduction ratio of 10 or less. When a larger reduction ratio is required, a reduction gear having a spur gear or a planetary gear is used in combination in multiple stages. However, since a large number of gears are required when the speed reducers are arranged in multiple stages, the larger the speed reduction ratio, the more complicated and large the device configuration and the higher the cost.

  Harmonic Drive (registered trademark) is known as a mechanism capable of obtaining a reduction ratio of 30 or more. In this reducer, a flexible flex spline is attached to the outside of an elliptical wave generator connected to the input shaft via a bearing, and a circular spline fixed to the casing is arranged further outside the flex spline. It has a configuration. The outer teeth of the flexspline mesh with the inner teeth of the circular spline at two locations on both ends of the long shaft. And the meshing position move sequentially. When the wave generator rotates 180 degrees, the flexspline moves in the opposite direction by one tooth. Therefore, in this reduction device, each time the wave generator is rotated once, the flexspline moves in the opposite direction by the number of teeth of two, thereby reducing the rotation on the input side.

  However, with Harmonic Drive (registered trademark), it is difficult to manufacture and control special gears, so a differential reducer in which two sets of planetary gears with slightly different speed ratios are eccentrically connected to the input shaft. Has been proposed. For example, the differential speed reducer 101 schematically shown in FIG. 7 uses two sets of planetary gears 103 and 104 on the f side and the r side. When the input shaft 102 is rotated, the f-side planetary gear 103 circumscribing the sun shaft 102A eccentrically connected to the input shaft 102 revolves around the sun shaft 102A while rotating. Since the sun shaft 102 </ b> A is eccentric with respect to the input shaft 102, the f-side planetary gear 103 performs eccentric rotation with respect to the input shaft 102. In accordance with this, the r-side planetary gear 104 rotates, and the rotation is transmitted to the output shaft 105 to reduce the speed.

JP 2008-164086 A URL http://www.hds.co.jp/principle/index.htm “Harmonic Drive (registered trademark) principle” “Design of planetary gear and differential gear device”, Nikkan Kogyo Shimbun, P69-85.

Here, the number of teeth of the f-side planetary gear 103 of the differential reduction gear 101 shown in FIG. 7 is Zfe, the number of teeth of the internal gear 107 meshing with the planetary gear 103 is Zf, and the number of teeth of the r-side planetary gear 104 is Zre. Assuming that the number of teeth Zr of the internal gear 108 that meshes with the planetary gear 104, the reduction ratio ε of the differential reduction gear 101 can be expressed by the following equation.
Reduction ratio ε = input shaft speed n1 / output shaft speed n2 = 1 / (1-Zr · Zre / Zfe · Zr)
If the number of teeth is selected so that “Zr · Zre / Zfe · Zr” in this equation approaches 1, a high reduction ratio can be realized. Actually, when the fractions of the internal gear and the planetary gear are close, a problem of involute interference occurs. Therefore, the planetary gear is required to be smaller than the internal gear and have a difference in the number of teeth of 3 or more. That is, there are limitations such as the difference in the number of teeth ΔZd = Zf−Zfe = Zr−Zre, ΔZd = 3, and the reduction ratio is considered to be about 300. Further, in this differential reduction gear, a balance weight is required to revolve the planetary gear while decentering the planetary gear, so that the device configuration is complicated and it is difficult to reduce the weight.
This invention is made in view of such a situation, and it aims at providing the reduction gear which can respond to a high deceleration with few gears, and does not use a special gear.

Is supported by a planet carrier having a sun shaft connected to the input shaft, a pair of first planetary gear circumscribing the stationary gear, wherein is rotatably supported to the planet carrier, the output gear arranged on the sun shaft coaxially A pair of second planetary gears circumscribing the first planetary gear, an idler gear circumscribing the first planetary gear and the second planetary gear and coaxially arranged on the sun axis, and a rotation shaft of the output gear An output shaft, and the rotation axis of the first planetary gear is arranged one by one at a symmetrical position around the sun axis, and the rotation axis of the second planetary gear is centered on the sun axis Are arranged one by one at a position shifted by 90 ° in the rotational direction from the rotational axis of the first planetary gear, and the output shaft is on the same axis as the input shaft via the sun shaft. providing a differential speed reducer, characterized in that drawn in the opposite direction It is.

  By transmitting the rotation of the two planetary gears via the idler gear, a high reduction ratio can be realized with a small number of gears without using a special gear.

FIG. 1 is a diagram for explaining an example of the principle of a differential reduction gear according to an embodiment of the present invention. FIG. 2 is a diagram for explaining an example of a reduction ratio calculation method in the principle of the differential reduction gear according to the embodiment of the present invention. FIG. 3 is a diagram for explaining an example of selection of the number of teeth of each gear in the principle of the differential reduction gear according to the embodiment of the present invention. FIG. 4 is a diagram illustrating an example of the configuration of the differential reduction gear according to the embodiment of the present invention as viewed from the output side. FIG. 5 is a perspective view showing an example of a cross section taken along line AA of FIG. 4 in the differential reduction gear according to the embodiment of the present invention. FIG. 6 is a diagram showing an example of a cross section taken along line BB in FIG. 4 in the differential reduction gear according to the embodiment of the present invention. FIG. 7 is a diagram illustrating an example of a conventional differential reducer.

The objects and advantages of the invention will be realized and attained by means of the elements and combinations particularly pointed out in the appended claims.
The foregoing general description and the following detailed description are exemplary and explanatory only and are not intended to limit the invention.

First, the principle of the differential reduction gear will be described with reference to FIG.
In the differential reduction gear 1, a planet carrier 3, an output gear 4, an idler gear 5, and a stationary gear 6 are coaxially arranged in order from the input side on a sun shaft 2 that is an input shaft.
A plurality of planetary gears 10 and 11 are rotatably supported on the planet carrier 3. The first planetary gear 10 has a rotation shaft 10c fixed to the planet carrier 3, and a first gear 10a and a second gear 10b are rotatably supported on the rotation shaft 10c. The first gear 10 a and the second gear 10 b are manufactured integrally, can rotate around the rotation shaft 10 c, and can revolve around the sun shaft 2 according to the rotation of the planet carrier 3. The first gear 10 a is meshed with the stationary gear 6. The second gear 10 b is meshed with the idler gear 5. For this reason, the first planetary gear 10 can rotate both in revolution and in rotation while circumscribing the stationary gear 6 and the idler gear 5. The first planetary gear 10 is also provided on the opposite side (not shown) for weight balance.

  The second planetary gear 11 has a rotation shaft 11c fixed to the planet carrier 3, and a third gear 11a and a fourth gear 11b are rotatably supported on the rotation shaft 11c. The third gear 11a and the fourth gear 11b are manufactured integrally, can rotate around the rotation shaft 11c, and can revolve around the sun shaft 2 as the planet carrier 3 rotates. The third gear 11 a is meshed with the idler gear 5. The fourth gear 11 b is meshed with the output gear 4. For this reason, the second planetary gear 11 can rotate both in revolution and in rotation while circumscribing the idler gear 5 and the output gear 4. The second planetary gear 11 is also provided on the opposite side (not shown) for weight balance.

  When using this differential speed reducer 1, the sun shaft 2 is rotated to rotate the planet carrier 3 around the sun shaft 2. When the planet carrier 3 rotates, the first planetary gear 10 revolves around the sun axis 2. At this time, since the first gear 10a of the first planetary gear 10 circumscribes the stationary gear 6 and the stationary gear 6 is stationary, the first gear 10a is accompanied by the revolution of the first planetary gear. Rotates outward while contacting the outer periphery of the stationary gear 6. Here, since the second gear 10b is coupled to the first gear 10a, the second gear 10b rotates around the idler gear 5 at the same rotational speed as the first gear 10a. By rotating the planet carrier 3 in this way, the rotation of the sun shaft 2 is transmitted to the idler gear 5 via the first planetary gear 10.

  Further, the idler gear 5 is also meshed with the third gear 11 a of the second planetary gear 11. Since the second planetary gear 11 is revolved around the sun axis 2 by the planet carrier 3, the third gear 11a of the second planetary gear 11 is replaced with the idler gear 5 instead of maintaining a relatively stationary state. Around the idler gear 5, the third gear 11a rotates around the rotating shaft 11c. As a result, the fourth gear 11b coupled to the third gear 11a rotates at the same rotational speed as the third gear 11a, and rotates the output gear 4. When the sun shaft 2 is rotated by the above transmission, the output gear 4 is rotated via the two planetary gears 10 and 11.

Next, a method for calculating the reduction ratio of the differential reduction gear 1 will be described.
Since it is difficult to directly calculate the reduction ratio when the planetary gears 10 and 11 are used, as shown in FIG. 2, (A) the output when the stationary gear 6 is rotated without rotating the input shaft, and ( B) Calculate the output when the entire rotation is made, and calculate the reduction ratio by calculating the total output. Za is the number of teeth of the stationary gear 6, Zb is the number of teeth of the first gear 10a, and Zc is the number of teeth of the second gear 10b. Furthermore, Zd is the number of teeth of the third gear 11a, Ze is the number of teeth of the fourth gear 11b, and Zf is the number of teeth of the output gear 4. Zi is the number of teeth of the idler gear 5.

  When the stationary gear 6 is rotated without rotating the input shaft of the case (A), the rotation is “−1” and the input is “0”, and the output is “− (Za · Zc · Ze) / (Zb · Zd · Zf) ". Further, when the entire case (B) is rotated once, the rotation of the stationary gear 6, the rotation on the input side, and the rotation on the output side are all “1”. When (A) and (B) are summed, the rotation of the stationary gear 6 is “0”, that is, the stationary state, and the input is “1”, that is, the rotating state. This state indicates the operation state of the differential reduction gear 1, and its output is “1− (Za · Zc · Ze) / (Zb · Zd · Zf)”. Accordingly, the reduction ratio of the differential reduction gear 1 is input / output = 1 / {1- (Za · Zc · Ze) / (Zb · Zd · Zf)}.

Here, when (Za · Zc · Ze) / (Zb · Zd · Zf) is brought close to 1, high deceleration can be obtained. However, the planetary gears 10 and 11 are in contact with two sun gears (in this case, the idler gear 5 and the stationary gear 6), and the rotation shafts 10c and 11c on which the planetary gears 10 and 11 rotate are parallel to the sun axis 2. In order to become, the following conditions are necessary.
(A) When the modules of the gears 4, 5, 6, 10, and 11 are all the same Za + Zb = Zi + Zc (1)
Zi + Zd = Zf + Ze (2)
(B) When the gears 4, 5, 6, 10, and 11 are different modules When the module of the stationary gear 6 is m1, the first gear 10a is also the same module m1, and the module of the idler gear 5 is m2. The second gear 10b and the third gear 11a are also a module m2, and if the module of the output gear 4 is m3, the fourth gear 11b is also a module m3. Therefore,
m1 (Za + Zb) = m2 (Zi + Zc) (3)
m2 (Zi + Zd) = m3 (Zf + Ze) (4)
The modules of the gears 5, 6, 10, and 11 are all the same, and there are few combinations that simultaneously satisfy the expressions (1) and (2), and the number of teeth that can be realized is small. However, by changing the modules m1, m2, and m3, it becomes possible to simultaneously establish the equations (3) and (4), so the number of teeth options increases.

An example of the number of teeth satisfying these conditions is shown in FIG.
In Example 1 shown in FIG. 3A, by selecting Za = 36, Zb = 31, Zc = 23, Zd = 29, Ze = 38, Zf = 35, Zi = 44,
Equations (1) and (2) are
Za + Zb = Zi + Zc = 67
Zi + Zd = Zf + Ze = 73
And satisfy the condition. The reduction ratio in this case is 1 / {1− (36 · 23 · 38) / (31 · 29 · 35)} = 31465.

Also, in Example 2 shown in FIG. 3B, by selecting Za = 29, Zb = 14, Zc = 17, Zd = 27, Ze = 23, Zf = 30, Zi = 26,
Equations (1) and (2) are
Za + Zb = Zi + Zc = 43
Zi + Zd = Zf + Ze = 53
And satisfy the condition. The reduction ratio in this case is 1 / {1− (29 · 17 · 23) / (14 · 27 · 30)} = 11340.
Thus, this differential reduction gear 1 can be configured with only a spur gear that is easy to make without using an internal gear, and a high reduction ratio can be obtained.

Next, an embodiment of the differential reduction gear will be described with reference to FIGS. 4 is a front view of the differential reduction gear 1 as viewed from the output side, and FIG. 5 is a perspective view showing a cross section taken along the line AA of FIG. FIG. 6 is a cross-sectional view taken along line BB in FIG.
The differential reduction gear 1 surrounds a plurality of gears by a case 20. The case 20 is fixed to another device (not shown) or the like, and the sun shaft 2 is disposed at the center. An input shaft 21 and an output shaft 22 are disposed on the sun shaft 2. The input shaft 21 is rotatably supported by the case 20 with a pair of bearings 30, one end portion protrudes outside the case 20, and the other end portion is connected to the planet carrier 3. One end of the output shaft 22 is rotatably supported by the planet carrier 3 with a bearing 31. The output gear 4 is integrally formed at one end. Further, the output shaft 22 passes through the idler gear 5 and the stationary gear 6 and is drawn out of the case 20. The idler gear 5 is rotatably supported on the output shaft 22 by a pair of bearings 32. The stationary gear 6 is fixed to the case 20 and rotatably supports the output shaft 22 with a pair of bearings 33. The input shaft 21, the planet carrier 3, the output gear 4, the idler gear 5, the stationary gear 6, and the output shaft 22 are arranged coaxially, that is, on the sun shaft 2.

  The planet carrier 3 extends in a radial direction orthogonal to the sun axis 2, and the rotation axis 10 c of the first planetary gear 10 and the rotation axis 11 c of the second planetary gear 11 are fixed two by two. The rotating shafts 10c of the first planetary gear 10 are fixed one by one at symmetrical positions around the sun axis 2. The rotating shafts 11c of the second planetary gear 11 are fixed one by one at positions symmetrical with respect to the sun axis 2 and shifted by about 90 ° from the rotating shaft 10c of the first planetary gear 10 in the rotation direction. ing.

  In the first planetary gear 10, a first gear 10a and a second gear 10b are rotatably attached to a rotary shaft 10c via a bearing 35. The first gear 10a and the second gear 10b are integrally formed. The first gear 10 a is meshed with the stationary gear 6. The second gear 10 b is meshed with the idler gear 5.

  In the second planetary gear 11, a third gear 11a and a fourth gear 11b are rotatably attached to a rotary shaft 11c via a bearing 36. The third gear 11a and the fourth gear 11b are integrally formed. The third gear 11 a is meshed with the idler gear 5. The fourth gear 11 b is meshed with the output gear 4.

  In the differential reduction gear 1, when the input shaft 21 is rotated, the planet carrier 3 rotates and the planetary gears 10 and 11 revolve around the sun shaft 2. At this time, since the first gear 10 a of the first planetary gear 10 is circumscribed by the stationary gear 6, the first gear 10 a is rotated by the stationary gear 6. As a result, the first planetary gear 10 rotates, and the second gear 10b integrally connected to the first gear 10a rotates. The rotation of the second gear 10 a is transmitted to the third gear 11 a of the second planetary gear 11 via the idler gear 5. As a result, the second planetary gear 11 rotates while revolving around the sun shaft 2, the fourth gear 11 b integrally connected to the third gear 11 a rotates, and the output gear 4 rotates. When the output gear 4 rotates, the output shaft 22 rotates. In this way, the rotation input to the input shaft 21 of the differential reduction gear 1 is decelerated and transmitted to the output shaft 22. For example, as illustrated in FIG. 3A, when the number of teeth of each of the gears 4 to 6, 10, and 11 is selected, the reduction ratio of the differential reduction gear 1 is 31465. In the example of FIG. 3B, the reduction ratio of the differential reduction gear 1 is 11340.

  As described above, in the differential reduction gear 1, by connecting the two planetary gears 10 and 11 via the idler gear 5, a wide reduction ratio can be achieved up to a high speed reduction with a small number of gears without using a special gear. Can be realized. Thereby, for example, a large force can be extracted from a small amount of power.

  All examples and conditional expressions given here are intended to help the reader understand the inventions and concepts that have contributed to the promotion of technology, and such examples and It is to be construed without being limited to the conditions, and the organization of such examples in the specification is not related to showing the superiority or inferiority of the present invention. While embodiments of the present invention have been described in detail, various changes, substitutions and variations can be made thereto without departing from the spirit and scope of the present invention.

DESCRIPTION OF SYMBOLS 1 Differential reduction gear 2 Sun axis 3 Planetary carrier 4 Output gear 5 Idler gear 6 Static gear 10 1st planetary gear 10a 1st gear 10b 2nd gear 11 2nd planetary gear 11a 3rd gear 11b 4th Gear 21 Input shaft 22 Output shaft

Claims (3)

A pair of first planetary gears pivotally supported on a planet carrier having a sun axis coupled to an input shaft and circumscribing a stationary gear;
Is supported on the planet carrier, and a pair of second planet gear which circumscribes the output gear arranged on the sun shaft coaxially,
An idler gear circumscribing the first planetary gear and the second planetary gear and disposed coaxially with the sun axis;
An output shaft serving as a rotation shaft of the output gear;
Including
The rotation axes of the first planetary gears are arranged one by one at symmetrical positions around the sun axis, and the rotation axes of the second planetary gears are at symmetrical positions around the sun axis, and Arranged one by one at a position shifted by 90 ° in the rotation direction from the rotation axis of the first planetary gear ,
The differential reduction gear according to claim 1, wherein the output shaft is pulled out in the reverse direction on the same axis as the input shaft through the sun shaft . In the first planetary gear, a first gear meshing with the stationary gear and a second gear meshing with the idler gear are arranged coaxially,
2. The differential reduction gear according to claim 1, wherein the second planetary gear includes a third gear that meshes with the idler gear and a fourth gear that meshes with the output gear. . The number of teeth of the first gear is smaller than the number of teeth of the second gear;
The differential reduction gear according to claim 2, wherein the number of teeth of the third gear is larger than the number of teeth of the fourth gear.

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