JP6762516B2 - Combined speed change module - Google Patents

Description

The present invention relates to a composite speed change module including a plurality of power transmission mechanisms and a drive source.

A traction drive is used as a transmission that reduces or accelerates rotation driven by a drive source such as a motor. A traction drive is a type of friction transmission device that transmits power through an oil film formed between two surfaces having smooth surfaces. As an example, Patent Document 1 describes a transmission having a housing, an input shaft rotatably supported by the housing, and an output shaft rotatably supported on the coaxial line with the input shaft by the housing. (Micro traction drive) is disclosed.

In this transmission, the input shaft includes an inner ring, and the inner ring is formed with an angle groove as an inner ring raceway surface. An outer ring is fixed to the housing, and an angle groove is formed on the outer ring as an outer ring raceway surface. A plurality of rolling bodies (rotating bodies) are arranged between the inner ring raceway surface and the outer ring raceway surface. Further, a cage for holding each rolling element is provided integrally with the output shaft.

In this transmission, a rotational driving force is transmitted from the input shaft to the inner ring, and the rolling element revolves around the axis of the input shaft while rotating according to the rotational force of the inner ring. The rotational driving force due to the revolution of the rolling element is transmitted to the output shaft via the cage.

In the traction drive, it is necessary to apply a preload to the rolling elements so that the rolling elements roll according to the rotation of the inner ring. Therefore, a pressing ring capable of pressing the outer ring is arranged between the housing and the outer ring. The pressing ring has a plurality of inclined surfaces on the outer ring side. A pressing rotating body (pressing ball) is fitted between the pressing ring and the outer ring.

The transmission can adjust the preload on the rolling element by the outer ring raceway surface and the inner ring raceway surface by moving the outer ring to the input shaft side via the pressing rotating body by rotating the pressing ring. Yes (see paragraphs 0018 to 0022 and FIG. 1 of the same document).

Further, Patent Document 2 discloses a transmission (micro traction drive) capable of applying a preload to an inner ring raceway surface, an outer ring raceway surface and a rolling element by using a spring. In this transmission, an inner ring is provided on the tip side of the input shaft support bearing (angle bearing), and the inner ring and the inner ring of the input shaft support bearing are connected by a spring (second spring) and arranged coaxially with the inner ring. A part of the outer ring and the housing is connected by a spring (first spring). The inner ring and the outer ring are formed with an inner ring raceway surface and an outer ring raceway surface formed by an angle groove.

In this transmission, a normal force (preload) is applied to the contact surface between the rolling element (ball) and each raceway surface by the urging force of these springs (see paragraphs 0054 to 0066 and FIG. 4 of the same document). ).

Japanese Patent No. 3617645 Japanese Patent No. 3659925

By the way, a drive source such as an electric motor is connected to the input shaft of the transmission. In recent years, in response to a demand for miniaturization of various machines incorporating a transmission, it is strongly desired to integrate (modularize) the transmission and the drive source and further reduce the size of the transmission module.

The present invention has been made in view of the above circumstances, and it is a technical subject to reduce the size of a transmission module in which a transmission and a drive source are integrated and to obtain a large gear ratio.

The present invention is for solving the above-mentioned problems, and is an input shaft, a drive source for applying a rotational driving force to the input shaft, and an output shaft for outputting the rotational driving force input to the input shaft. A first transmission mechanism that converts the rotational driving force of the input shaft at a predetermined gear ratio, and a rotational driving force transmitted from the first transmission mechanism at a predetermined gear ratio and transmitted to the output shaft. A composite speed change module including a second transmission mechanism, a first transmission mechanism, and a casing accommodating the second transmission mechanism. The first transmission mechanism is provided on the input shaft and has a raceway surface. The inner ring having the inner ring, the outer ring having the raceway surface, and a plurality of rolling elements arranged so as to roll between the raceway surface of the inner ring and the raceway surface of the outer ring are engaged with the rolling element. The second transmission mechanism includes an intermediate shaft that transmits the rotational driving force to the second transmission mechanism by rotating the engine, and the second transmission mechanism includes a solar member provided on the intermediate shaft and a planetary member that engages with the solar member. An annular member that engages with the planetary member, and a carrier that transmits the rotational driving force to the output shaft by engaging with the planetary member and rotating, and the driving source is a stator. A rotor for rotating the input shaft, a stator and a housing for accommodating the rotor are provided, and the input shaft is housed in the housing , and the input shaft, the intermediate shaft, and the second transmission are provided. a mechanism, said output shaft is characterized that you have arranged coaxially.

According to such a configuration, the composite speed change module can be miniaturized as much as possible by accommodating the input shaft for transmitting the rotational driving force to the first transmission mechanism in the housing of the drive source. Further, in the present invention, by using the second transmission mechanism including the planetary mechanism in addition to the first transmission mechanism, the composite transmission module obtains a larger gear ratio.

In this case, it is desirable that one end of the input shaft is supported by the casing and the other end is supported by the drive source. As a result, the input shaft can be reliably supported in a predetermined posture.

In the compound transmission module, it is desirable that the rotor is arranged coaxially with the stator and overlaps with the stator in the axial direction. As a result, the size of the compound transmission module in the axial direction can be reduced.

In the compound speed change module, the intermediate shaft has a power transmission unit that transmits the rotational driving force of the input shaft to the intermediate shaft by engaging with the rolling element and rotating. It is desirable that the transmission unit is a cage that holds the rolling element. According to this, the rolling elements are suitably held at predetermined intervals by the cage, and the cage rotates according to the rolling of the rolling elements, so that the rotational driving force can be reliably transmitted to the intermediate shaft.

The composite speed change module according to the present invention further includes a preload mechanism that applies preload to the first transmission mechanism, in which the preload mechanism contacts the diameter of the rolling element with the rolling element in contact with the raceway surface of the inner ring. It is desirable that the contact point is made larger than the distance between the contact point and the contact point where the rolling element comes into contact with the raceway surface of the outer ring.

According to this, by setting the diameter of the rolling element to be larger than the distance between the above contact points, when the rolling element is arranged between the inner ring and the outer ring, the inner ring, the outer ring and the rolling element are subjected to the axial direction. A stress is generated in the direction orthogonal to the above, and this can be suitably applied as a preload. As a result, the rotational driving force input to the input shaft can be reliably transmitted to the output shaft via the first transmission mechanism and the second transmission mechanism. As described above, in the present invention, since the preload can be applied by using only the bearing structure including the inner ring, the outer ring and the rolling element without using a separate preload mechanism, the composite speed change module can be further miniaturized.

In the composite speed change module according to the present invention, the output shaft is provided between the output shaft and the second transmission mechanism, and the rotational driving force transmitted from the second transmission mechanism is converted at a predetermined gear ratio to output the output. A configuration may be adopted that further includes a third transmission mechanism that transmits to the shaft. By adding the third transmission mechanism in this way, an even larger gear ratio can be realized.

In this case, the third transmission mechanism is fixed to the carrier of the second transmission mechanism and has an inner ring having a raceway surface, an outer ring having a raceway surface, the raceway surface of the inner ring, and the raceway of the outer ring. Includes a plurality of rolling elements arranged so as to roll between the surfaces, and a power transmission unit that transmits the rotational driving force to the output shaft by engaging with the rolling elements and rotating. , the power transmission unit is retained vessel that holds the rolling elements, and it is desirable that the configured integrally with the output shaft. According to this, the rotary driving force can be reliably transmitted from the third transmission mechanism to the output shaft by rotating the cage in response to the rolling of the rolling element.

Further, in the composite speed change module according to the present invention, the first transmission mechanism is provided between the first transmission mechanism and the second transmission mechanism, and the rotational driving force of the first transmission mechanism is converted at a predetermined gear ratio to obtain the first transmission mechanism. the third transmission mechanism you transferred to second transmission mechanism may be employed, further comprising configure. By adding the third transmission mechanism in this way, an even larger gear ratio can be realized.

In this case, the third transmission mechanism is an inner ring fixed to the intermediate shaft of the first transmission mechanism and having a raceway surface, an outer ring having a raceway surface, and the raceway surface of the inner ring and the outer ring of the outer ring. A plurality of rolling elements arranged to roll with the raceway surface and the rotational driving force of the first transmission mechanism are transferred to the second transmission mechanism by engaging with the rolling elements and rotating. It is desirable to include an intermediate shaft to transmit. According to this, the third transmission mechanism can reliably transmit the rotational driving force due to the rolling of the rolling element to the second transmission mechanism by the intermediate shaft thereof.

Further, the composite speed change module according to the present invention includes a preload mechanism that applies preload to the third transmission mechanism, and the preload mechanism sets the diameter of the rolling element in the third transmission mechanism in the third transmission mechanism. It may be configured by setting the distance between the contact point where the rolling element comes into contact with the raceway surface of the inner ring and the contact point where the rolling element contacts the raceway surface of the outer ring. According to this, by setting the diameter of the rolling element to be larger than the distance between the above-mentioned contact points, when the rolling element is arranged between the inner ring and the outer ring, the inner ring, the outer ring, and the rolling element have axes. A stress in a direction orthogonal to the direction is generated, and this can be suitably applied as a preload.

According to the present invention, it is possible to reduce the size of a transmission module in which a transmission and a drive source are integrated and to obtain a large gear ratio.

It is sectional drawing of the composite speed change module which concerns on 1st Embodiment. It is a perspective view which includes the cross section of the main part of a compound speed change module. It is a perspective view which shows the 1st transmission mechanism. It is an exploded perspective view which shows the 1st transmission mechanism. It is a figure which shows the inner ring, the outer ring and the rolling element in the 1st transmission mechanism. It is a perspective view which shows the 2nd transmission mechanism. It is an exploded perspective view which shows the 2nd transmission mechanism. It is a perspective view which shows the 3rd transmission mechanism. It is an exploded perspective view which shows the 3rd transmission mechanism. It is a figure which shows the inner ring, the outer ring and the rolling element in the 3rd transmission mechanism. It is sectional drawing of the composite speed change module which concerns on 2nd Embodiment. It is sectional drawing of the composite speed change module which concerns on 3rd Embodiment.

Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings.

1 to 10 show a first embodiment of the composite speed change module according to the present invention. As shown in FIG. 1, the composite speed change module 1 converts the input shaft 2, the output shaft 3 that outputs the rotational driving force input to the input shaft 2, and the rotational driving force of the input shaft 2 at a predetermined gear ratio. The first transmission mechanism 4 and the second transmission mechanism 5 that converts the rotational driving force transmitted from the first transmission mechanism 4 at a predetermined gear ratio, and the rotational driving force transmitted from the second transmission mechanism 5 are predetermined. It mainly includes a third transmission mechanism 6 that converts the gear ratio, a casing 7 that houses the transmission mechanisms 4 to 6, and a drive source 8 that applies a rotational driving force to the input shaft 2.

As shown in FIGS. 1 and 2, one end of the input shaft 2 is supported by the casing 7 and the other end is supported by the drive source 8. The input shaft 2 is formed to have a first shaft portion 2a formed to have the smallest diameter, a second shaft portion 2b formed to have a diameter larger than that of the first shaft portion 2a, and a diameter larger than that of the second shaft portion 2b. It has a third shaft portion 2c.

The first shaft portion 2a is formed at one end of the input shaft 2. The first shaft portion 2a is rotatably supported inside the drive source 8. The second shaft portion 2b is arranged inside the drive source 8 and supports a part of the drive source 8. The third shaft portion 2c is rotatably supported in the casing 7 by the first transmission mechanism 4. At the end of the third shaft portion 2c, a locking portion 2d that has a larger diameter than that of the third shaft portion 2c and that locks the input shaft 2 is formed. Further, a protrusion 2e is formed at the center of the end surface (axis center) of the third shaft portion 2c in the axial direction. The protrusion 2e is formed in a hemispherical shape having a spherical surface.

As shown in FIGS. 1 and 2, the output shaft 3 is rotatably supported inside the casing 7. The output shaft 3 is arranged coaxially with the input shaft 2 so as to face the third shaft portion 2c of the input shaft 2. A recess 3a with which a part of the second transmission mechanism 5 is engaged is formed at the center of one end surface of the output shaft 3 in the axial direction.

The first transmission mechanism 4 constitutes a traction drive with a bearing structure (for example, a deep groove ball bearing) that rotatably supports the input shaft 2. Specifically, as shown in FIGS. 1 to 4, the first transmission mechanism 4 includes an inner ring 9 fixed to the input shaft 2, an outer ring 10 coaxially arranged outside the inner ring 9, and an inner ring. A plurality of rolling elements 11 provided so as to roll between the 9 and the outer ring 10 and an intermediate shaft 13 including a cage 12 for holding the rolling elements 11 are provided.

The inner ring 9 is formed in an annular shape and is fitted and fixed to the third shaft portion 2c of the input shaft 2. The locking portion 2d of the input shaft 2 is in contact with the inner ring 9, and the locking portion 2c locks the input shaft 2 so that the input shaft 2 does not come off. The inner ring 9 has a concave raceway surface 9a on which the rolling element 11 can roll. The raceway surface 9a is formed in an arc shape in a cross-sectional view. Here, when the rolling element 11 is arranged between the inner ring 9 and the outer ring 10, a point on the raceway surface 9a of the inner ring 9 where the rolling element 11 can come into contact is set as a contact point CP1 (inner ring side contact point) (FIG. 5). The contact point CP1 is located at the deepest position of the concave raceway surface 9a, and is located on the center line X with respect to the raceway surface 9a.

The outer ring 10 is an annular body having an inner diameter larger than the outer diameter of the inner ring 9. The outer ring 10 is non-rotatably fixed inside the casing 7. The outer ring 10 has a concave raceway surface 10a on which the rolling element 11 can roll. The raceway surface 10a is formed in an arc shape in a cross-sectional view. Here, when the rolling element 11 is arranged between the inner ring 9 and the outer ring 10, the point on the raceway surface 10a where the rolling element 11 can come into contact is set as the contact point CP2 (outer ring side contact point) (see FIG. 5). .. The contact point CP2 is located at the deepest position of the concave raceway surface 10a, and is located on the center line X with respect to the raceway surface 10a.

In the present embodiment, the rolling element 11 is composed of balls (spheres), but is not limited to this, and may be composed of cylindrical rollers. As shown in FIG. 5, the diameter D1 of the rolling element 11 is the radius of the contact point CP1 on the raceway surface 9a of the inner ring 9 and the contact point CP2 on the raceway surface 10a of the outer ring 10 when the rolling element 11 is not incorporated. It is set to be larger than the distance L1 in the direction. This distance L1 is the minimum radius of the inner ring 9 on the raceway surface 9a (the radius of the raceway surface 9a at the position of the contact point CP1) and the maximum radius of the outer ring 10 on the raceway surface 10a (the radius of the raceway surface 10a at the position of the contact point CP2). ) Corresponds to the difference. By setting the distance between the contact points CP1 and CP2 in this way, when the rolling element 11 is incorporated between the inner ring 9 and the outer ring 10, the bearing internal gap (radial gap) in the bearing structure becomes negative. A stress in a direction orthogonal to the axial direction can be generated in the inner ring 9, the outer ring 10, and the rolling element 11, and this can be applied as a preload. In this way, the preload mechanism 14 that applies preload to the first transmission mechanism 4 is configured depending on the relationship between the dimensions of the inner ring 9, the outer ring 10, and the rolling element 11.

The intermediate shaft 13 is located between the input shaft 2 and the output shaft 3 and is arranged coaxially with the intermediate shaft 13. The intermediate shaft 13 has a large diameter portion 13a at one end and a small diameter portion 13b at the other end. The large diameter portion 13a functions as a power transmission unit that engages with the rolling element 11 of the first transmission mechanism 4 and transmits the rotational driving force to the second transmission mechanism 5. The large diameter portion 13a integrally has a cage 12 for holding the rolling element 11. The cage 12 is formed with a notch 12a for holding the rolling element 11. Further, as shown in FIGS. 1 and 2, the large diameter portion 13a is supported by a bearing 15 held inside the casing 7.

The large diameter portion 13a has a recess 13c on its axial end surface to which the protrusion 2e of the input shaft 2 engages. The recess 13c is formed in the central portion (axial center portion) of the end surface of the large diameter portion 13a. As shown in FIG. 1, the protrusion 2e of the input shaft 2 is in contact (point contact) with the bottom surface of the recess 13c.

The small diameter portion 13b of the intermediate shaft 13 supports a part of the second transmission mechanism 5. A protrusion 13e is formed at the center (axis center) of the end face in the axial direction of the small diameter portion 13b. The protrusion 13e is formed in a hemispherical shape having a spherical surface.

The second transmission mechanism 5 includes a solar member 16 provided in the middle of the intermediate shaft 13 of the first transmission mechanism 4, a planetary member 17 that engages with the solar member 16, and an annular member 18 that engages with the planetary member 17. And a carrier 19 connected to the planetary member 17.

In the present embodiment, the sun member 16 is a sun gear, and the planet member 17 is three planetary gears that mesh with the sun gear 16. Further, the annular member 18 is an internal gear that meshes with the planetary gear 17. That is, the second transmission mechanism 5 in this embodiment is configured by a planetary gear mechanism. Hereinafter, the common code 16 is used for the sun member and the sun gear, and the common code 17 is used for the planet member and the planetary gear. Further, the common reference numeral 18 is used for the annular member and the internal gear.

The second transmission mechanism 5 is not limited to the planetary gear mechanism, and may be configured by, for example, a planetary roller mechanism (traction drive). In this case, the sun member 16, the planet member 17, and the annular member 18 are ring rollers to which the sun roller, the planet roller, and the planet roller are transposed, respectively.

As shown in FIGS. 1 and 2, the sun gear 16 is fixed to the small diameter portion 13b of the intermediate shaft 13. The planetary gear 17 is rotatably supported by an annular support member 20. The support member 20 is provided with a plurality of support shafts 21 capable of supporting the planetary gear 17. As shown in FIG. 1, the support shaft 21 rotatably supports the planetary gear 17 via the bearing 22. As shown in FIGS. 6 and 7, a total of six support shafts 21 are provided on the support member 20, three of which support shafts 21 support three planetary gears 17, and the remaining three. The support shaft 21 of the book does not support the planetary gear 17. However, the number of support shafts 21 varies depending on the design of the planetary gears 17 (or planetary rollers), and the number is not limited and may be any number.

The annular member (internal gear) 18 is non-rotatably fixed to the casing 7. As shown in FIGS. 6 and 7, the annular member (internal gear) 18 has a plurality of through holes 18a formed at intervals in the circumferential direction. The annular member (internal gear) 18 is fixed to the casing 7 via the through hole 18a, as will be described later.

The carrier 19 is located between the intermediate shaft 13 of the first transmission mechanism 4 and the output shaft 3, and is arranged coaxially with the intermediate shaft 13. The carrier 19 has a boss portion 19a and a flange portion 19b. The boss portion 19a is configured to support a part of the third transmission mechanism 6. A protrusion 19c is formed at one end of the boss portion 19a in the axial direction, and a recess 19d is formed at the other end.

The protrusion 19c is formed in a hemispherical shape having a spherical surface. The protrusion 19c is inserted into the recess 3a of the output shaft 3 and is in contact with the bottom surface thereof (point contact). The recess 19d is formed in the central portion (axial center portion) of the end surface at the other end of the boss portion 19a. A bearing 23 (slide bearing) is attached to the recess 19d. The bearing 23 supports the small diameter portion 13b of the intermediate shaft 13 in the first transmission mechanism 4. The protrusion 13e of the intermediate shaft 13 is in contact (point contact) with the bottom surface of the recess 19d. Further, the contact between the protrusions 13e and 19c may be supported by a general bearing.

As shown in FIGS. 1 and 7, the flange portion 19b of the carrier 19 has a plurality of through holes 19e formed at intervals in the circumferential direction thereof. The carrier 19 is connected to the planetary gear 17 by inserting the support shaft 21 into the through hole 19e.

The third transmission mechanism 6 constitutes a traction drive with a bearing structure (for example, a cylindrical roller bearing) that rotatably supports the carrier 19. As shown in FIGS. 1, 2, 8 and 9, the third transmission mechanism 6 includes an inner ring 24, an outer ring 25, a plurality of rolling elements 26, and a cage 27 formed on the output shaft 3. Be prepared.

The inner ring 24 is formed in an annular shape and is fixed to the boss portion 19a of the carrier 19. The inner ring 24 has a concave raceway surface 24a on which the rolling element 26 can roll. The raceway surface 24a is formed to be linear in cross-sectional view. The raceway surface 24a has a contact point CP1 with which the rolling elements 26 can come into contact. The raceway surface 24a can make line contact with the rolling element 26, but the contact point CP1 is an arbitrary point at the line contact portion.

The outer ring 25 is formed in an annular shape and is fixed to the inside of the casing 7. The outer ring 25 has a concave raceway surface 25a on which the rolling element 26 can roll. The raceway surface 24a is formed to be linear in cross-sectional view. The raceway surface 25a has a contact point CP2 with which the rolling elements 26 can come into contact. The raceway surface 25a can make line contact with the rolling element 26, but the contact point CP2 is an arbitrary point at the line contact portion.

The rolling element 26 is composed of a cylindrical roller, but is not limited to this, and may be composed of a ball (sphere). As shown in FIG. 10, the diameter D2 of the rolling element 26 is a contact point CP1 on the raceway surface 24a of the inner ring 24 and a contact point CP2 on the raceway surface 25a of the outer ring 25 in a state where the rolling element 26 is not incorporated. It is set larger than the distance L2 in the radial direction. This distance L2 corresponds to the difference between the radius of the raceway surface 9a of the inner ring 9 and the radius of the raceway surface 10a of the outer ring 10.

As a result, when the rolling element 26 is incorporated between the inner ring 24 and the outer ring 25, the bearing internal gap in this bearing structure becomes negative. Therefore, when the rolling element 26 is incorporated between the inner ring 24 and the outer ring 25, stress in the direction orthogonal to the axial direction can be generated in the inner ring 24, the outer ring 25, and the rolling element 26, and this can be applied as a preload. In this way, the preload mechanism 28 that applies preload to the third transmission mechanism 6 is configured depending on the relationship between the dimensions of the inner ring 24, the outer ring 25, and the rolling element 26.

As shown in FIGS. 8 and 9, the cage 27 is integrally formed with the output shaft 3. The cage 27 has a notch 27a that holds the rolling element 26. By engaging the rolling elements 26 with the notch 27a, the cage 27 holds the plurality of rolling elements 26 at equal intervals, and also applies the rotational driving force due to the rolling (rotation and revolution) of the rolling elements 26. It also functions as a power transmission unit that transmits to the output shaft 3.

As shown in FIG. 1, the casing 7 mainly includes a first component member 29 that supports the input shaft 2 and a second component member 30 that supports the output shaft 3.

As shown in FIG. 1, the first component member 29 has a boss portion 29a and a flange portion 29b. The boss portion 29a holds the outer ring 10 of the first transmission mechanism 4 and the bearing 15 that supports the intermediate shaft 13 on the inner diameter surface thereof. The flange portion 29b has a first through hole 29c for connecting the first constituent member 29 to the annular member 18 and the second constituent member 30, and a second through hole for connecting the first constituent member 29 to the drive source 8. It has 29d.

As shown in FIG. 1, the second component 30 has a boss portion 30a and a flange portion 30b. An annular lid 31 is fixed to the end surface of the boss portion 30a. Further, the boss portion 30a holds the outer ring 25 of the third transmission mechanism 6 and the bearing 32 that supports the output shaft 3 on the inner diameter surface thereof. The flange portion 30b has screw holes 30c formed through the flange portion 30b at equal intervals along the circumferential direction thereof.

The first constituent member 29 and the second constituent member 30 are connected as follows. That is, the flange portions 29b and 30b are opposed to each other, and the annular member 18 is interposed between the flange portions 29b and 30b. At this time, the first through hole 29c of the flange portion 29b of the first constituent member 29, the through hole 18a of the annular member 18, and the screw hole 30c of the flange portion 30b of the second constituent member 30 are matched with each other. Further, a fixing member 33 such as a bolt is inserted into these holes 18a, 29c and 30c. By fastening the fixing member 33, the casing 7 is formed by integrally connecting the annular member 18 with the annular member 18 sandwiched between the first constituent member 29 and the second constituent member 30. In the present embodiment, the outer diameter surface of the annular member 18 is configured to be flush with the outer surface of each of the flange portions 29b and 30b, but the present invention is not limited to this, and for example, the flange portion 30b of the second component 30b. The annular member 18 may be fixed to the flange portion 30b while covering the entire outer diameter surface of the annular member 18.

In the present embodiment, the electric motor is exemplified as the drive source 8, but the present invention is not limited to this. Further, the drive source 8 is exemplified by a radial gap type, but the drive source 8 is not limited to this, and may be an axial gap type. Further, in the present embodiment, the inner rotor type drive source 8 is illustrated, but the present invention is not limited to this, and an outer rotor type may be used.

As shown in FIG. 1, the drive source 8 has a stator 37, a rotor 38, and a housing 39 that houses the stator 37 and the rotor 38.

The stator 37 is formed in an annular shape and is fixed to the inner diameter surface of the housing 39. The stator 37 includes a stator core 42 having a yoke 40 and teeth 41. The stator core 42 may be configured, for example, by laminating electromagnetic steel plates in the axial direction, but is not limited to this configuration. An electromagnetic coil 43 is mounted on the teeth 41. Specifically, a bobbin (not shown) for insulation is attached to the tooth 41, and the electromagnetic coil 43 is wound around the tooth 41 via the bobbin.

As shown in FIG. 1, the rotor 38 is arranged inside the stator 37. The rotor 38 is arranged coaxially with the stator 37. Further, the rotor 38 is arranged so that the entire rotor 38 overlaps with the stator 37 in the axial direction, and is arranged concentrically. The rotor 38 has a rotor core 44 and a permanent magnet 45 provided on the outer periphery of the rotor core 44. The rotor core 44 may be configured, for example, by laminating electromagnetic steel plates in the axial direction, but is not limited to this configuration. The rotor core 44 is fitted on the rotor inner 46 as a hollow rotating shaft, for example. The rotor core 44 is fixed to the rotor inner 46 so as to rotate integrally with the rotor inner 46. An input shaft 2 is inserted through the inner circumference of the rotor inner 46. The input shaft 2 is fixed to the rotor inner 46 so as to rotate integrally with the rotor inner 46. As a result, the input shaft 2 is arranged coaxially with the rotor 38 and is arranged so as to overlap the rotor 38 in the axial direction. In FIG. 1, the rotor 38 is arranged on a concentric circle inside the stator 37, but if they overlap in the radial direction in the axial direction, the stator 37 is arranged inside the rotor 38. There may be.

The drive source 8 causes the rotor 38 to generate rotational torque due to the electromagnetic force acting between the teeth 41 and the rotor core 44 when the electromagnetic coil 43 of the stator 37 is energized. The drive source 8 rotates the input shaft 2 fixed to the rotor inner 46 by this rotational torque.

The housing 39 is formed in a cylindrical shape (for example, a cylindrical shape), one end in the axial direction is closed, and the other end is open. The housing 39 is integrally connected to the first component 29 of the casing 7. The housing 39 has a screw hole 39a for fixing the housing 39 to the first component 29 of the casing 7. The screw holes 39a are formed at the other end (end face) of the housing 39 in the axial direction. In the housing 39, the screw holes 39a and the second through holes 29d of the first constituent member 29 are matched with each other, and fixing members 47 such as bolts are inserted and fastened into these holes 29d and 37a to form the first constituent member 29. Is fixed to. An input shaft 2 and a bearing 48 that supports the input shaft 2 are provided in the housing 39. The bearing 48 supports the first shaft portion 2a of the input shaft 2.

The composite transmission module 1 is a drive source by accommodating the first transmission mechanism 4 to the third transmission mechanism 6 constituting the transmission in the casing 7 to form a unit, and accommodating the stator 37 and the rotor 38 in the housing 39. 8 is unitized. By unitizing the transmission and the drive source 8 in this way and connecting the casing 7 and the housing 39 with the fixing member 47 as described above, the transmission module 1 can be easily assembled.

In the speed change module 1, a part of the casing 7 accommodating the first transmission mechanism 4, that is, the boss portion 29a of the first component member 29 is arranged inside the housing 39. Along with this, a part of the first transmission mechanism 4 housed in the boss portion 29a, that is, the inner ring 9, the outer ring 10, the rolling element 11, and the notch portion 12a of the cage 12 are also arranged inside the housing 39. .. Specifically, as shown in FIG. 1, these elements 9 to 11, 12a, 29a are located closer to the housing 39 than the boundary line B with the casing 7 drawn with respect to the axial end portion of the housing 39. Be placed. In this way, by accommodating a part of the first transmission mechanism 4 and a part of the casing 7 in the housing 39 of the drive source 8, the size of the composite speed change module 1 in the axial direction can be reduced.

Hereinafter, the operation mode of the composite speed change module 1 (reducer) having the above configuration will be described.

The rotor 38 rotates by supplying electric power to the stator 37 of the drive source 8. Rotational driving force is applied to the input shaft 2 by the rotation of the rotor 38. Due to the rotation of the input shaft 2, the inner ring 9 of the first transmission mechanism 4 rotates together with the input shaft 2. Then, the rolling element 11 in contact with the raceway surface 9a of the inner ring 9 revolves around the input shaft 2 (third shaft portion 2c) while rotating along with the rotation of the inner ring 9. When the rolling element 11 revolves in this way, the notch portion 12a of the cage 12 provided on the intermediate shaft 13 is driven by the rolling element 11. As the cage 12 rotates in response to the rolling of the rolling element 11, the intermediate shaft 13 rotates in the same direction as the input shaft 2 at a speed lower than the rotation speed of the input shaft 2 due to a constant reduction ratio.

When the intermediate shaft 13 rotates, the sun gear 16 fixed to the intermediate shaft 13 rotates accordingly. When the sun gear 16 rotates, the planetary gear 17 revolves around the sun gear 16 while rotating between the sun gear 16 and the annular member 18. Due to the revolution of the planetary gear 17, the carrier 19 is driven by its support shaft 21. As a result, the carrier 19 rotates in the same direction as the input shaft 2 at a constant reduction ratio at a speed lower than the rotation speed of the intermediate shaft 13.

Further, the inner ring 24 of the third transmission mechanism 6 fixed to the carrier 19 rotates together with the carrier 19, and the rolling element 26 of the third transmission mechanism 6 revolves around the boss portion 19a of the carrier 19 while rotating accordingly. To do. The orbit of the rolling element 26 drives the cage 27 of the output shaft 3. Due to the rotation of the cage 27, the output shaft 3 rotates in the same direction as the input shaft 2 at a constant reduction ratio at a speed lower than the rotation speed of the carrier 19.

According to the present embodiment described above, the axial dimension of the composite transmission module 1 can be reduced by accommodating the input shaft 2 in the housing 38 of the drive source 8. Further, by arranging the input shaft 2 and the rotor 38 of the drive source 8 coaxially and overlapping them in the axial direction, the axial dimension of the composite speed change module 1 can be reduced. As a result, the compound speed change module 1 can be made as small as possible.

The diameter D1 of the rolling element 11 in the first transmission mechanism 4 is set to be larger than the distance L1 between the contact points CP1 and CP2 in the inner ring 9 and the outer ring 10, and the diameter D2 of the rolling element 26 in the third transmission mechanism is set to the inner ring 24 and the outer ring. By setting the distance between the contact points CP1 and CP2 at 25 to be larger than the distance L2 and arranging the rolling elements 11 and 26 between the inner rings 9 and 24 and the outer rings 10 and 25, each transmission mechanism 4 and A suitable preload can be applied to 6. Due to this preload, the rolling element 26 is less likely to slip.

Further, by applying a preload to the first transmission mechanism 4 and the third transmission mechanism 6 only by the bearing structure, the preload mechanisms 14 and 28 are simplified and the composite speed change module 1 is further reduced in size without using a separate mechanism. Can be changed. Further, since the composite speed change module 1 is composed of a plurality of transmission mechanisms 4 to 6, a larger speed change ratio (reduction ratio) can be realized.

FIG. 11 shows a second embodiment of the composite speed change module according to the present invention. In the above first embodiment, the composite speed change module 1 is configured by the first transmission mechanism 4 to the third transmission mechanism 6, but in the present embodiment, the third transmission mechanism 6 is omitted.

Similar to the first embodiment, the composite speed change module 1 according to the present embodiment is a first transmission mechanism composed of an input shaft 2, an output shaft 3, an inner ring 9, an outer ring 10, a rolling element 11, and an intermediate shaft 13. A second transmission mechanism 5 composed of a sun gear 16, a planetary gear 17, an annular member 18, and a carrier 19, a casing 7, a drive source 8, and preload mechanisms 14 and 28 are provided.

The input shaft 2 has a first shaft portion 2a to a third shaft portion 2c, a locking portion 2d, and a protrusion 2e, as in the first embodiment. The output shaft 3 has a recess 3a as in the first embodiment, but is different from the first embodiment in that a bearing 34 is provided in the recess 3a.

In the first embodiment, the protrusion 13e formed on the small diameter portion 13b of the intermediate shaft 13 is brought into contact with the bottom surface of the recess 19d of the carrier 19 in the second transmission mechanism 5, but in the present embodiment, the intermediate shaft 13 is contacted. The protrusion 13e is not formed. The small diameter portion 13b of the intermediate shaft 13 is supported by a bearing 34 provided in the recess 3a of the output shaft 3. A hole 19e is formed in the carrier 19, and the support shaft 21 of the second transmission mechanism 5 is engaged with the hole 19e.

In the first embodiment, the cage 27 holding the rolling element 26 of the third transmission mechanism 6 is integrally formed with the output shaft 3, but in the present embodiment, the carrier 19 in the second transmission mechanism 5 is formed. It is integrally formed with the output shaft 3. That is, in the first embodiment, the rotational driving force of the second transmission mechanism 5 is indirectly transmitted to the output shaft 3 via the third transmission mechanism 6, but in the present embodiment, the first embodiment has the above configuration. 2 The rotational driving force of the transmission mechanism 5 is directly transmitted to the output shaft 3.

The other configurations in the present embodiment are the same as those in the first embodiment, and the components common to the first embodiment are designated by a common reference numeral.

FIG. 12 shows a third embodiment of the composite speed change module according to the present invention. The composite speed change module 1 according to the present embodiment includes the first transmission mechanism 4 to the third transmission mechanism 6 as in the first embodiment, but the position of the third transmission mechanism 6 is the same as that of the first embodiment. different. In the first embodiment, the third transmission mechanism 6 is provided between the output shaft 3 and the second transmission mechanism 5, but in the present embodiment, the first transmission mechanism 4 and the second transmission mechanism 5 are used. It is provided in between.

Similar to the first embodiment, the first transmission mechanism 4 includes an inner ring 9, an outer ring 10, a rolling element 11, and an intermediate shaft (hereinafter referred to as “first intermediate shaft”) 13 including a cage 12. Preload is applied to the first transmission mechanism 4 by the preload mechanism 14. Further, the second transmission mechanism 4 includes a sun gear 16, a planetary gear 17, an annular member 18, and a carrier 19. The carrier 19 is integrated with the output shaft 3 as in the second embodiment.

The third transmission mechanism 6 includes an inner ring 24, an outer ring 25, and a rolling element 26, as in the first embodiment. Preload is applied to the third transmission mechanism 6 by the preload mechanism 28. The inner ring 24 is fixed to the large diameter portion 13a of the first intermediate shaft 13 in the first transmission mechanism 4. The outer ring 25 is fixed inside the first component 29 in the casing 7.

Further, the third transmission mechanism 6 includes an intermediate shaft (hereinafter referred to as “second intermediate shaft”) 35 that engages with the rolling element 26. The second intermediate shaft 35 is located between the first intermediate shaft 13 and the output shaft 3 and is arranged coaxially with these. The second intermediate shaft 35 has a large diameter portion 35a at one end and a small diameter portion 35b at the other end. The large diameter portion 35a integrally has a cage 27 (power transmission portion) for holding the rolling element 26. The cage 27 is formed with a notch 27a for holding the rolling element 26. A recess 35c with which the protrusion 13e of the first intermediate shaft 13 engages is formed at the axial end of the large diameter portion 35a. The recess 35c is formed in the central portion (axial center portion) of the end surface of the large diameter portion 35a. The protrusion 13e of the first intermediate shaft 13 is in contact (point contact) with the bottom surface of the recess 35c.

The small diameter portion 35b of the second intermediate shaft 35 has a protrusion 35d at one end thereof. The protruding portion 35d is formed at a central portion (axial center portion) on the end surface of the small diameter portion 35b. The protrusion 35d is formed in a hemispherical shape having a spherical surface. The small diameter portion 35b is supported by a bearing 34 fitted in the recess 3a of the output shaft 3. The protrusion 35d of the small diameter portion 35b is in contact (point contact) with the bottom surface of the recess 3a.

The casing 7 in the present embodiment includes the first constituent member 29, the second constituent member 30, the lid 31, and the tubular third constituent member 36 arranged between the first constituent member 29 and the annular member 18. To be equipped with. The third component 36 holds the outer ring 25 of the third transmission mechanism 6 non-rotatably on its inner diameter surface. The third component 36 has a plurality of through holes 36a formed at intervals in the circumferential direction thereof. Each through hole 36a is configured to coincide with the through hole 29c of the first constituent member 29, the through hole 18a of the internal gear 18, and the screw hole 30c of the second constituent member 30. The third component 36 is connected to the first component 29 and the annular member 18 via the through hole 36a and the fixing member 33.

The other configurations in the present embodiment are the same as those in the first embodiment, and the components common to the first embodiment are designated by a common reference numeral.

The present invention is not limited to the configuration of the above embodiment, nor is it limited to the above-mentioned action and effect. The present invention can be modified in various ways without departing from the gist of the present invention.

In the first embodiment described above, an example is shown in which the first transmission mechanism 4 has a bearing structure using deep groove ball bearings and the third transmission mechanism 6 has a bearing structure using cylindrical roller bearings, but the present invention is not limited to this. The first transmission mechanism 4 and the third transmission mechanism 6 may have the same type of bearing structure, or may be composed of bearings other than the bearings exemplified by the transmission mechanisms 4 and 6.

In the first and third embodiments described above, the composite speed change module 1 including the three transmission mechanisms 4 to 6 is illustrated, but the number of transmission mechanisms is not limited thereto. For example, a compound speed change module 1 such as a fourth transmission mechanism having a planetary gear mechanism (or a planet roller mechanism) similar to the second transmission mechanism 5 and a fourth transmission mechanism having a bearing structure similar to the first transmission mechanism 4. May be configured by a further multi-stage transmission mechanism. Further, the third transmission mechanism 6 may be configured by a planetary mechanism.

That is, the composite transmission module 1 according to the present invention has a transmission mechanism (first transmission mechanism 4) including a cage 12 for holding the rolling element 11 on the intermediate shaft 13, and a transmission mechanism including a planetary gear mechanism or a planet roller mechanism. (Second transmission mechanism 5) and at least one may be provided.

1 Combined speed change module 2 Input shaft 3 Output shaft 4 1st transmission mechanism 5 2nd transmission mechanism 6 3rd transmission mechanism 7 Casing 8 Drive source 9 Inner ring of 1st transmission mechanism 9a Track surface of inner ring 10 Outer ring 10a of 1st transmission mechanism Outer ring raceway surface 11 Rolling body of the first transmission mechanism 13 Intermediate shaft of the first transmission mechanism 14 Preload mechanism
16 Sun member 17 Planetary member 18 Circular member 24 Inner ring of the third transmission mechanism 25 Outer ring of the third transmission mechanism 26 Rolling body of the third transmission mechanism 28 Preload mechanism 35 Intermediate shaft of the third transmission mechanism (second intermediate shaft)
37 Stator 38 Rotor 39 Housing

Claims (10)

Input axis and
A drive source that applies a rotational drive force to the input shaft,
An output shaft that outputs the rotational driving force input to the input shaft and
A first transmission mechanism that converts the rotational driving force of the input shaft at a predetermined gear ratio, and
A second transmission mechanism that converts the rotational driving force transmitted from the first transmission mechanism at a predetermined gear ratio and transmits it to the output shaft, a casing accommodating the first transmission mechanism and the second transmission mechanism, and the casing. It is a compound speed change module equipped with
The first transmission mechanism is provided on the input shaft and rolls between an inner ring having a raceway surface, an outer ring having a raceway surface, and the raceway surface of the inner ring and the raceway surface of the outer ring. A plurality of rolling elements to be arranged and an intermediate shaft for transmitting the rotational driving force to the second transmission mechanism by engaging with the rolling elements and rotating are provided.
The second transmission mechanism rotates by engaging with a solar member provided on the intermediate shaft, a planetary member engaging with the solar member, an annular member engaging with the planetary member, and the planetary member. With a carrier that transmits the rotational driving force to the output shaft.
The drive source includes a stator, a rotor that rotates the input shaft, and a housing that houses the stator and the rotor.
The input shaft is housed in the housing .
Composite transmission module with said input shaft, said intermediate shaft, and the second transmission mechanism, and the output shaft, characterized that you have arranged coaxially. The composite speed change module according to claim 1, wherein one end of the input shaft is supported by the casing and the other end of the input shaft is supported by the drive source. The combined speed change module according to claim 1 or 2, wherein the rotor is arranged coaxially with the stator and is arranged so as to overlap the stator in the axial direction. The intermediate shaft has a power transmission unit that transmits the rotational driving force of the input shaft to the intermediate shaft by engaging with the rolling element and rotating, and the power transmission unit is the rolling element. The compound speed change module according to any one of claims 1 to 3, which is a cage for holding the above. A preload mechanism for applying a preload to the first transmission mechanism is further provided.
The preload mechanism makes the diameter of the rolling element larger than the distance between the contact point where the rolling element contacts the raceway surface of the inner ring and the contact point where the rolling element contacts the raceway surface of the outer ring. The compound speed change module according to any one of claims 1 to 4, which is configured by the above. A third transmission mechanism provided between the output shaft and the second transmission mechanism and transmitting the rotational driving force transmitted from the second transmission mechanism to the output shaft by converting the rotational driving force at a predetermined gear ratio. The combined speed change module according to any one of claims 1 to 5, further comprising. The third transmission mechanism is between an inner ring fixed to the carrier of the second transmission mechanism and having a raceway surface, an outer ring having a raceway surface, and the raceway surface of the inner ring and the raceway surface of the outer ring. The power transmission includes a plurality of rolling elements arranged so as to roll in the above, and a power transmission unit that transmits the rotational driving force to the output shaft by engaging with the rolling elements and rotating. parts are combined transmission module according to claim 6 comprising configured integrally with the a hold circuit that holds the rolling elements, and the output shaft. Together provided between the first transmission mechanism and the second transmission mechanism, a third transmit the rotational driving force of the first transmission mechanism and converts at a predetermined speed ratio you transmitted to the second transmission mechanism The compound speed change module according to any one of claims 1 to 5, further comprising a mechanism. The third transmission mechanism includes an inner ring fixed to the intermediate shaft of the first transmission mechanism and having a raceway surface, an outer ring having a raceway surface, and the raceway surface of the inner ring and the raceway surface of the outer ring. A plurality of rolling elements arranged so as to roll between them, and an intermediate shaft that transmits the rotational driving force of the first transmission mechanism to the second transmission mechanism by engaging with the rolling elements and rotating. The composite speed change module according to claim 8, which includes. A preload mechanism for applying a preload to the third transmission mechanism is provided, and the preload mechanism sets the diameter of the rolling element in the third transmission mechanism to the track surface of the inner ring of the rolling element in the third transmission mechanism. The composite speed change module according to claim 7 or 9, wherein the contact point in contact is set to be larger than the distance between the contact point where the rolling element comes into contact with the raceway surface of the outer ring.

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