KR101654501B1 - Planetary reduction gear - Google Patents

Abstract

The planetary gear reducer of the present invention includes a gear box body forming an outer shape; A cylindrical internal gear which is rotatable in the gearbox main body and includes a first internal gear and a second internal gear; An input shaft having a first sun gear for rotating the first internal gear via a first planetary gear unit and a second sun gear connected to the second internal gear via a second planetary gear unit; An output connection body to which the rotation axis of the second planetary gear unit is coupled; And an output shaft coupled to the output connection body.

Description

[0001] Planetary reduction gear [

The present invention relates to a planetary gear reducer, and more particularly, to a planetary gear reducer capable of achieving a high reduction ratio without increasing the size of the apparatus and increasing the number of components, and also achieving various reduction ratios.

The motor is generally used to drive the device. However, the speed provided by the motor is too fast, and the torque provided by the motor is too small to properly drive the device.

Thus, there is provided a speed reducer between the motor and the apparatus in order to solve the shortage of speed and torque provided by the motor, which may include various tiers each including a pinion engaged with a larger gear have.

However, the general decelerator as described above involves a complicated structure, and generates strong vibration and large noise. In order to simplify the structure and reduce vibration and noise, a planetary gear reducer is used.

(Patent Document 1) KR2006-0008147 A

Korean Patent Laid-Open Publication No. 2006-0008147 discloses that the patent includes a deceleration head, and the deceleration head includes a sun gear, a planetary gear, a carrier, and a stationary member. The carrier has a structure in which the output shaft and the fixing rods are integrally formed.

However, in this prior patent, a larger number of gears and a larger number of parts are used in order to increase the reduction ratio, and the increase in the number of parts results in an increase in friction, which significantly reduces the efficiency of power transmission and increases the volume of the reducer, There is a problem that it increases greatly. This problem poses a problem in that the manufacturing cost of the planetary gear reducer as a whole is greatly increased.

The present invention proposes a planetary gear reducer capable of greatly improving the reduction ratio of existing reduction gears and achieving a high reduction ratio.

In order to solve the problem that the existing reduction gears use a plurality of gears to achieve a higher reduction ratio, or to increase the weight and volume and increase the manufacturing cost by assembling the second and third redundant gears, It is possible to implement various reduction gear ratios by changing the number of teeth of the gears and to control the forward or reverse rotation of the output shaft.

In addition, the present invention proposes a planetary gear reducer that can be utilized as a high speed accelerator by changing the arrangement of the speed reducer.

The present invention also provides a planetary gear reducer capable of increasing the efficiency of the speed reducer by reducing friction due to a large number of gears or redundant arrangements in order to achieve a high reduction ratio because a small number of gears are constituted to realize a high reduction ratio. I would like to propose.

In addition, the present invention proposes a planetary gear reducer capable of realizing a sufficient reduction ratio even in a small size in the case of a structure in which a large reduction in the output shaft is not required and a high reduction ratio is required.

The planetary gear reducer of the present invention includes a gear box body forming an outer shape; A cylindrical internal gear which is rotatable in the gearbox main body and includes a first internal gear and a second internal gear; An input shaft having a first sun gear for rotating the first internal gear via a first planetary gear unit and a second sun gear connected to the second internal gear via a second planetary gear unit; An output connection body to which the rotation axis of the second planetary gear unit is coupled; And an output shaft coupled to the output connection body.

The rotation axis of the first planetary gear unit is connected to the gear box main body, and the cylindrical internal gear is configured to rotate in the gear box main body in a direction opposite to the rotation direction of the input shaft.

The output connecting body is configured to be rotatable on the inside of the cylindrical internal gear or on one side of the cylindrical internal gear, and the output connecting body is configured to be rotatable about the input shaft by the rotation and revolution of the second planetary gear unit, And the body and the output shaft rotate.

The cylindrical internal tooth difference body is constituted by a first internal gear body having the first internal tooth difference formed therein and a second internal tooth body having the second internal tooth difference formed therein, and the first internal tooth body and the second internal tooth body are integrally formed And is fixedly coupled or fixed by an internal gear bolt.

The reduction ratio according to the ratio of the number of teeth of the first sun gear and the first internal gear to the number of teeth of the second sun gear and the number of teeth of the second internal gear is defined as a second reduction ratio, The design of the output shaft for forward rotation or reverse rotation with respect to the rotation direction of the input shaft is determined according to the relationship between the first reduction ratio and the second reduction ratio.

According to the planetary gear reducer of the present invention, it is possible to greatly improve the reduction ratio of the existing reduction gear, to achieve a high reduction ratio, and to change the number of teeth of the gear while using the same structure and the same number of gears, So that it is possible to control the forward rotation or the reverse rotation.

Also, since the present invention can be utilized as a high-speed speed reducer through changing the arrangement of the speed reducer and a small number of gears are formed in order to realize a high reduction ratio, a large number of gears or a redundant arrangement And the efficiency of the speed reducer can be increased.

1 to 7 are views showing the configuration of a planetary gear reducer according to a first embodiment of the present invention.
8 is a view showing a case where the planetary gear unit constituting the planetary gear reducer of the present invention is composed of three planetary gears.
9 and 10 are views showing the configuration of a planetary gear reducer according to a second embodiment of the present invention.
11 and 12 are views showing the configuration of a planetary gear reducer according to a third embodiment of the present invention.
13 is a view showing a shape of a cylindrical internal gear according to a third embodiment of the present invention.
FIGS. 14 and 15 are views showing the configuration of a planetary gear reducer according to a fourth embodiment of the present invention.

Hereinafter, the present embodiment will be described in detail with reference to the accompanying drawings. It should be understood, however, that the scope of the inventive concept of the present embodiment can be determined from the matters disclosed in the present embodiment, and the spirit of the present invention possessed by the present embodiment is not limited to the embodiments in which addition, Variations.

The suffix "part" used in the description relating to the present invention is to be given or mixed with consideration only for ease of specification, and does not have a meaning or role that is different from itself.

1 to 7 are views showing the configuration of a planetary gear reducer according to a first embodiment of the present invention.

1 and 2 are sectional views of a planetary gear reducer according to a first embodiment of the present invention. A planetary gear reducer according to a first embodiment will be described with reference to Figs. 1 and 2. Fig.

Although the first, second, third and fourth embodiments as well as the first and second embodiments of the present invention are illustrated in detail and the first and second planetary gear units are shown as being arranged in pairs (two) It is natural that the first planetary gear unit and the second planetary gear unit may be composed of three or more. For example, as shown in Fig. 8, the planetary gear unit may be composed of three planetary gears.

1 and 2, the planetary gear reducer 100 of the present invention includes an input shaft 101, an output shaft 109, and a gear (not shown) formed between the input shaft 101 and the output shaft 109 and forming an external shape. And a box body 110.

A cylindrical internal gear (200) is provided in the gear box body (110) to rotate counterclockwise to the rotation of the input shaft (101).

The cylindrical internal gear 200 includes a first internal gear 210 and a second internal gear 220. The input shaft 101 is connected to the first sun gear 102 and the second sun gear 103 .

In detail, the gear box body 110 is formed with a cylindrical internal gear 200 which is rotated in the reverse direction in accordance with the rotation of the input shaft 101, and the cylindrical internal gear 200 has a different number of gear teeth And includes a first internal gear 210 and a second internal gear 220.

The construction of the cylindrical internal gear 200 will be described with reference to Figs. 3 and 4. Fig.

The cylindrical internal gear 200 includes a first internal gear body 201 and a second internal gear body 202 smaller in size than the first internal gear body 201, A first internal gear 210 having a first number of teeth is formed in the second internal gear body 201 and a second internal gear 220 having a second number of teeth is formed in the second internal gear body 202.

The first internal gear body 201 and the second internal gear body 202 may be integrally formed. When the second tooth number is configured to be smaller than the first tooth number as shown in the figure, The internal gear body 202 may be formed to have a smaller size than the first internal gear body 201.

1 and 2, a first planetary gear unit 120 is formed between the first sun gear 102 and the first internal gear 210 of the input shaft 101, and the input shaft 101 A second planetary gear unit 130 is formed between the second sun gear 103 and the second internal gear 220 of the planetary gear unit. As described above, in order to facilitate understanding of the present invention, the first planetary gear unit and the second planetary gear unit are each configured such that two planetary gears are arranged in each case. However, for convenience of explanation, only two planetary gears , And each of the first and second planetary gear units may be composed of three or more planetary gears.

The rotation of the first planetary gear unit 120, that is, the first planetary gear rotation shaft 161 is fixed to the gear box body 110 by the pin. Therefore, the first sun gear 102 rotates in engagement with the teeth of the first sun gear 102, The first planetary gear unit 120 does not rotate about the input shaft 101 but rotates at a fixed position. That is, the first planetary gear unit 120 rotates in place, and the number of teeth of the planetary gear units serves to transmit the power between the sun gear and the internal gear and to maintain the pitch.

That is, the first planetary gear unit 120 rotates at a fixed position between the first sun gear 102 of the input shaft 101 and the first internal gear 210.

The first internal gear 210 rotates (reversely rotates) in a direction opposite to the rotation direction of the first sun gear 102. When the first internal gear 210 rotates, the cylindrical internal gear 200 (Reverse rotation). A first bearing 171 and a second bearing 172 are formed between the cylindrical internal gear 200 and the gearbox main body 110 to assist rotation of the cylindrical internal gear 200.

The first bearing 171 helps rotation between the inner circumferential surface of the first internal gear body 201 and the gear box body 110 and the second bearing 172 supports the second internal gear body 202 And helps rotation between the outer peripheral surface and the gear box body 110.

The second sun gear 103 of the input shaft 101 is rotated by the rotation of the first internal gear 210 engaged with the teeth of the first planetary gear unit 120, The second planetary gear unit 130 is rotated. More precisely, the second planetary gear unit 130 revolves around the second sun gear 103 of the input shaft 101.

Since the rotation shaft 162 of the second planetary gear unit 130 is connected to the output connection body 150 and the output connection body 150 is formed integrally with the output shaft 109, The output shaft 109 is rotated while the fisher unit 130 revolves around the input shaft 101.

5 to 7, which show the second sun gear 103, the second planetary gear unit 130, the output connecting body 150, the cylindrical internal gear 200 and the output shaft 109 in detail, respectively, And a detailed description will be given.

5 is a diagram illustrating an output shaft 109 and an output connection body 150 and a second planetary gear unit 130 connected to the output shaft 109 in detail.

The second planetary gear unit 130 disposed between the rotation of the second sun gear 103 of the input shaft 101 and the second internal gear 220 rotating in the direction opposite to the input shaft 101, So that it revolves around the second sun gear 103 along the teeth of the internal gear 220. 5, the second planetary gear unit 130 is rotated about the second sun gear 103 (that is, the input shaft) at the center, and the second planetary gear unit 130 The output shaft 109 is also rotated forward.

The rotation axis 162 of the second planetary gear unit 130 rotates in a state of being fixed to the output connection body 150 and the input shaft 150 rotates in accordance with the second internal gear 220, 101). The output connection body 150 also rotates by the rotation and revolution of the second planetary gear unit 130, so that the output shaft 109 rotates.

A third bearing 173 for facilitating rotation of the output connection body 150 is formed on both sides of the output connection body 150 and a rotary shaft 162 of the second planetary gear unit 130 is connected to the output And is coupled to the connection body 150.

6 shows a configuration in which the second planetary gear rotation shaft 162 as the rotation axis of the second planetary gear unit 130 is coupled to the output connection body 150 by a pin, And a second planetary gear unit 130 and a second planetary gear unit 220 which mesh with the sun gear 103. As shown in FIG.

For example, a sun gear of the input shaft 101 rotating in the forward direction and a sun gear of the second internal gear 220 rotating in the opposite direction are disposed on the end side of the input shaft 101, The second planetary gear unit 130 between the first planetary gear unit 130 and the second planetary gear unit 130 revolves in the forward direction about the input shaft 103 along the teeth of the second internal gear 220.

In the case of the planetary gear reducer having the above-described configuration, the reduction ratio according to the embodiment will be described.

The reduction ratio will be described mainly with reference to Fig. 2 exemplarily showing the number of teeth.

It is assumed that the number of teeth of the first sun gear 102 formed on the input shaft 101 is 14 and that the number of teeth of the second sun gear 103 is ten.

The first internal gear 210 of the cylindrical internal gear 200 for determining the reduction ratio with respect to the input shaft 101 is formed of 90 teeth and the second internal gear 220 is formed of 64 teeth .

When the input shaft 101 is rotated at 1800 rpm, the gear ratio between the first sun gear 102 and the first internal gear 210 connected via the planetary gear unit is 14/90 (first reduction ratio) The internal gear 210 rotates at 280 rpm.

The number of revolutions of the first internal gear 210 is the number of revolutions of the cylindrical internal gear 200 and the second internal gear 220 of the cylindrical internal gear 200 also rotates at 280 rpm.

The rotation axis 162 of the second planetary gear unit 130 connected to the output shaft 109 revolves in the normal rotation about the input shaft 101. The reduction ratio at this time is set such that the input shaft 101 rotates at 1800 rpm And the reduction ratio according to the ratio of the number of teeth between the second sun gear 103 and the second internal gear 220 is 10/64 (second reduction ratio). Therefore, 1800 * 10/64 = 281.25 rpm.

However, since the first and second planetary gear units 120 and 130 and the first and second sun gears 102 and 103 are housed in the cylindrical internal gear 200 and the cylindrical internal gear 200 is housed in the input shaft 101 The rotational speed at which the rotational axis 162 of the second planetary gear unit 130 transmitted to the output shaft 109 revolves around the input shaft 101 is 281.25-280 = 1.25 rpm . That is, when it is judged based on the input shaft 101, since the cylindrical internal gear 200 itself is formed in a reverse rotation structure, the output connecting body 150, which rotates in the cylindrical internal gear 200, The rotation of the internal gear 109 substantially rotates by the number of revolutions minus the reverse rotation number of the cylindrical internal gear 200.

And the rotation shaft 162 of the second planetary gear rotates together with the output connection body 150 so that the input shaft 101 rotates about the center of the input shaft 101, Is greater than the number of revolutions of the cylindrical internal gear (200). That is, since the number of rotations of the output connecting body 150 connected to the rotational axis 162 of the planetary gear in the opposite direction to the rotational direction of the cylindrical internal gear 200 is greater by 1.25 rpm, The output shaft 109 coupled to the input shaft 150 is eventually rotated in the same direction as the input shaft 101.

Accordingly, when the input shaft 101 is rotated around the input shaft 101, the output shaft rotates at 1.25 rpm in the same direction as the input shaft 101 while the input shaft 101 rotates at 1800 rpm. Consequently, the reduction ratio is 1.25 / 1800 = 1/1440 .

With this structure, the number of rotations transmitted to the output shaft 109 can be significantly reduced by the cylindrical internal gear 200 rotating in a direction opposite to the input shaft 101, although a small number of gears are used There is an advantage.

8 is a view showing a case where the planetary gear portion constituting the planetary gear reducer of the present invention, for example, the second planetary gear portion is composed of three planetary gears 131, 132 and 133.

8 shows a case where the second planetary gear unit is composed of three planetary gears, but the first planetary gear unit described above may also be composed of three or more planetary gears.

Hereinafter, also in the case of other embodiments of the present invention, for convenience of explanation, the case where each of the first and second planetary gear units is composed of two planetary gears will be described as an example.

9 and 10 are views showing the configuration of a planetary gear reducer according to a second embodiment of the present invention.

The planetary gear reducer of the second embodiment has the same basic structure as that of the planetary gear reducer of the first embodiment described above but rotates around the input shaft 101 while rotating in the direction opposite to the rotation direction of the input shaft 101 The cylindrical internal gear 200 has a structure in which the first internal gear body 201 and the second internal gear body 202 take the convenience of machining and assembling parts into consideration.

Specifically, a first internal gear 210 is formed on the first internal gear body 201, and a second internal gear 220 is formed on the second internal gear body 202. The first internal gear body 201 and the second internal gear body 202 are fixed by the internal gear engaging pin 205.

According to the embodiment, it is possible to integrally form the cylindrical internal gear 200 as in the case of the first embodiment, or to connect plural bodies as in the case of the second embodiment.

FIGS. 11 and 12 are views showing the configuration of a planetary gear reducer according to a third embodiment of the present invention, and FIG. 13 is a view showing the shape of a cylindrical internal gear according to a third embodiment of the present invention.

The planetary gear reducer according to the third embodiment is different from the first embodiment in that the shape of the cylindrical internal gear is different. The output shaft is rotated in the reverse direction with respect to the rotation direction of the input shaft through the change of the number of teeth As shown in Fig.

11 and 12, the planetary gear reducer 100 of the third embodiment includes an input shaft 101, an output shaft 109, and a gear box (not shown) formed between the input shaft 101 and the output shaft 109, And includes a main body 110.

That is, since the cylindrical internal gear 200 rotating in the direction opposite to the rotation direction of the input shaft about the input shaft 101 in the gear box main body 110 is constituted, the number of revolutions of the output shaft can be remarkably reduced.

As in the case of the first embodiment, the cylindrical internal gear 200 includes a first internal gear 210 and a second internal gear 220. In the third embodiment, the internal teeth 220 of the first internal gear 210, The number of teeth of the second internal gear 220 is smaller than the number of teeth of the second internal gear 220.

The first sun gear 102 and the second sun gear 103 are coupled to the input shaft 101 and rotate together to rotate the first internal gear 210 and the first sun gear 102 of the cylindrical internal gear 200 And a second planetary gear unit 130 is formed between the second internal gear 220 and the second sun gear 103. The first planetary gear unit 120 is a planetary gear unit.

The configuration of the cylindrical internal gear 200 will be described with reference to Fig.

13, the cylindrical internal gear 200 in the third embodiment includes a first internal gear body 201, a second internal gear body 201 having a larger size than the first internal gear body 201, (202), a first internal gear (210) having a first number of teeth is formed in the first internal gear body (201), and the second internal gear body (202) The second internal gear 220 is formed.

The first internal gear body 201 and the second internal gear body 202 may be formed integrally with each other so that the number of teeth of the first internal gear 210 is larger than the number of teeth of the second internal gear 220 The first internal gear body 201 is formed to have a smaller size than the second internal gear body 202. In this case,

11 and 12, the rotation axis of the first planetary gear unit 120, that is, the first planetary gear rotation shaft 161 is fixed to the gearbox body 110 by the pin, (120) is rotated around the input shaft (101) without rotating.

That is, the first planetary gear unit 120 rotates at a fixed position between the first sun gear 102 of the input shaft 101 and the first internal gear 210.

The rotating force of the first planetary gear unit 120 at the fixed position causes the first internal gear 210 to rotate (reverse rotation) in the direction opposite to the rotation direction of the first sun gear 102 So that the first internal gear 210 is rotated in reverse.

The first internal gear 210 rotates in a reverse direction and the entire cylindrical internal gear 200 rotates (reversely rotates). A second bearing 172 is formed between the cylindrical internal gear 200 and the gear box body 110 to assist rotation of the cylindrical internal gear 200. An output coupling body 150, A third bearing (173) is formed between the cylindrical internal teeth (200).

The second bearing 172 helps rotation between the outer peripheral surface of the first internal gear body 201 and the gearbox main body 110 while the third bearing 173 assists rotation of the output connecting body 150 Thereby helping to rotate within the internal gear 200.

The second sun gear 210 of the input shaft 101 is rotated by the reverse rotation of the first internal gear 210 engaged with the teeth of the first planetary gear unit 120, The second planetary gear unit 130 engaging with the second internal gear 103 reduces the speed at which the second planetary gear unit 130 revolves in the forward direction along the second internal gear 220.

The second planetary gear unit 130 is connected to the output connection body 150 and the output connection body 150 is connected to the output shaft 109. Therefore, The output shaft 109 rotates with the input shaft 101 revolving around the axis.

That is, the second planetary gear unit 130 rotates the second internal gear 220 and the second sun gear 103 along the teeth. As a result, the second planetary gear unit 130 rotates the second sun gear (103).

At this time, the output connection body 150 to which the rotation axis of the second sun gear 103 is connected is also rotated, and the output shaft 109 connected to the output connection body 150 is rotated.

In the case of the third embodiment as well, achievement of the reduction gear ratio 1/1440 will be described with reference to Fig. 12 exemplarily showing the number of teeth.

It is assumed that the number of teeth of the first sun gear 102 formed on the input shaft 101 is 10 and that the number of teeth of the second sun gear 103 is 14. [

The first internal gear 210 of the cylindrical internal gear 200 for determining the reduction ratio with respect to the input shaft 101 is composed of 64 teeth and the second internal gear 220 is formed of 90 teeth .

When the input shaft 101 rotates at 1800 rpm, the reduction gear ratio between the first sun gear 102 and the first internal gear 210, which is internally connected to the first planetary gear unit, is 10/64. Therefore, 210) is reversed at 281.25 rpm.

The number of revolutions of the first internal gear 210 is the number of revolutions of the cylindrical internal gear 200 and the second internal gear 220 of the cylindrical internal gear 200 also rotates at 281.25 rpm.

The rotation shaft 162 of the second planetary gear unit 130 connected to the output shaft 109 revolves around the input shaft 101. The reduction ratio at this time is such that the input shaft 101 rotates at 1800 rpm, The reduction ratio according to the ratio of the number of teeth between the second sun gear 103 and the second internal gear 220 is 14/90. Therefore, 1800 * 14/90 = 280 rpm. And an output connection body 150 to which the output shaft 109 is connected and a rotary shaft 162 of the second planetary gear unit connected to the output connection body 150 to revolve around the input shaft 101 Is smaller than the rotation number of the cylindrical internal gear 200, the output shaft 109 is rotated in the reverse direction with respect to the rotation direction of the input shaft 101.

More specifically, in the present invention, the first and second planetary gear units 120 and 130 and the first and second sun gears 102 and 103 are housed in a cylindrical internal gear 200, Is rotated in a direction opposite to the direction of the input shaft (101).

The number of revolutions of the output shaft 109, that is, the number of revolutions of the rotation axis 162 of the second planetary gear unit 130 connected to the output connection body 150 around the input shaft 101 is 280- 281.25 = -1.25 rpm. That is, when it is judged based on the input shaft 101, since the cylindrical internal gear 200 itself is formed in a reverse rotation structure, the output connecting body 150, which rotates in the cylindrical internal gear 200, (109) substantially rotates by the number of revolutions minus the number of revolutions of the cylindrical internal gear (200).

That is, the cylindrical internal gear 200 rotates in a direction opposite to the rotation direction of the input shaft 101, and the rotation number at which the second planetary gear rotation shaft 162 revolves in the forward direction of the input shaft 101 The output shaft 109 rotates in the reverse direction with respect to the input shaft 101 because the number of rotations of the output shaft 109 is smaller than the number of rotations of the cylindrical internal gear 200.

Accordingly, when the input shaft 101 is rotated around the input shaft 101, the output shaft rotates at 1.25 rpm in the direction opposite to the input shaft 101 while the input shaft 101 rotates at 1800 rpm. Consequently, the reduction ratio is 1.25 / 1800 = 1/1400 do.

With this structure, the number of rotations transmitted to the output shaft 109 can be significantly reduced by the cylindrical internal gear 200 rotating in a direction opposite to the input shaft 101, although a small number of gears are used There is an advantage.

FIGS. 14 and 15 are views showing the configuration of a planetary gear reducer according to a fourth embodiment of the present invention.

The planetary gear reducer of the fourth embodiment has the same basic structure as that of the planetary gear reducer of the third embodiment described above. However, the planetary gear reducer of the fourth embodiment rotates about the input shaft 101 while rotating in the direction opposite to the rotation direction of the input shaft 101 And the cylindrical internal gear 200 is composed of the first internal gear body 201 and the second internal gear body 202.

Specifically, a first internal gear 210 is formed on the first internal gear body 201, and a second internal gear 220 is formed on the second internal gear body 202. The first internal gear body 201 and the second internal gear body 202 are fixed by the internal gear engaging pin 205.

According to the embodiment, it is possible to integrally form the cylindrical internal gear 200 as in the case of the first embodiment, or to connect plural bodies as in the case of the second embodiment.

Further, by changing the number of teeth of the first and second internal gears and the number of teeth of the first and second sun gears, various ratios of reduction ratios can be realized and additional gears for raising the reduction ratio are required No parts are required. It is possible to achieve remarkable effects such as increase in efficiency and cost reduction with a constant number of parts, and it is not necessary to increase the volume of the product in addition to the strength of the structure.

In the above description, the numbers of teeth of the first and second internal gears are different from each other and the sizes of the first and second internal gear bodies are different from each other. However, according to the embodiment, It is also possible to form the second internal gears in the same size. In this case, by changing the number of teeth of the sun gears and the planetary gears, it is possible to realize the required reduction ratio. The scope of the present invention is not limited to the shape and the configuration of the cylindrical internal gear shown in the drawings and the detailed description.

Claims (5)

A gear box body forming an outer shape;
A cylindrical internal gear which is rotatable in the gearbox main body and includes a first internal gear and a second internal gear;
An input shaft having a first sun gear for rotating the first internal gear via a first planetary gear unit and a second sun gear connected to the second internal gear via a second planetary gear unit;
An output connection body to which the rotation axis of the second planetary gear unit is coupled; And
And an output shaft coupled to the output connection body,
The rotation axis of the first planetary gear unit is connected to the gearbox body,
Wherein the cylindrical internal gear is configured to rotate in the gearbox body in a direction opposite to a rotation direction of the input shaft,
Wherein the cylindrical internal tooth difference comprises a first internal tooth formed with the first internal tooth difference and a second internal tooth formed with the second internal tooth difference,
Wherein the first internal gear body and the second internal gear body are formed in different sizes so that the distance between the outer peripheral surface of the first internal gear body and the inner peripheral surface of the gear box body and the distance between the outer peripheral surface of the second internal gear body and the gear The distances between the inner circumferential surfaces of the box body are different from each other,
The bearing for assisting rotation between the cylindrical internal gear and the gearbox main body may be provided between the first internal gear body and the gearbox main body when the first internal gear body is formed to have a smaller size than the second internal gear body. Wherein the second internal gear body is configured between the second internal gear body and the gearbox body when the second internal gear body is configured to have a smaller size than the first internal gear body,
Wherein each of the first internal gear body and the second internal gear body is constituted by a separate member and the first internal gear body and the second internal gear body are coupled and fixed by internal gear body bolts. . delete The method according to claim 1,
Wherein the output connection body is configured to be rotatable inside the cylindrical internal gear or on one side of the cylindrical internal gear,
And the output connecting body and the output shaft rotate by the idle operation of the second planetary gear unit about the input shaft. delete The method of claim 3,
Wherein a reduction ratio according to the ratio of the number of teeth of the first sun gear and the first internal gear is defined as a first reduction ratio and a reduction ratio corresponding to a ratio of the number of teeth of the second sun gear and the second internal gear is defined as a second reduction ratio,
The first internal gear is rotated in a direction opposite to the rotation direction of the input shaft according to the first reduction gear ratio and the second internal gear coupled to the first internal gear is rotated together with the first internal gear,
The rotation axis of the second planetary gear unit connected to the output shaft revolves around the input shaft in the same forward rotation as the rotation direction of the input shaft, the rotation axis of the second planetary gear unit is rotated at the second reduction ratio,
When the first reduction ratio is larger than the second reduction ratio, the output shaft is rotated in the same positive direction as the input shaft with respect to the input shaft, and the second reduction ratio is the first reduction ratio The output shaft is rotated in a direction opposite to the input shaft with respect to the input shaft.

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