CN104913007A - Decelerator and actuator - Google Patents

Abstract

The present invention provides a speed reducer and an actuator, wherein the speed reducer has a single-stage structure and a two-stage structure, and only a member that transmits the rotation of the intermediate gear is different. The speed reducer includes a fixed internal gear (21) and an intermediate gear (22) meshing with the fixed internal gear and revolving and rotating. The transmission has a single-stage deceleration output shaft portion (41) or a two-stage deceleration output shaft portion (24) for outputting rotational driving force to the outside. The intermediate gear includes: an external gear (23) meshing with the fixed internal gear; a rotating internal gear (26) that can be coaxially arranged with the external gear and transmits the rotation and revolution of the intermediate gear; and a gear that transmits the rotation of the intermediate gear Transfer section (38). The single-stage reduction output shaft portion has a transmitted portion (42) that cooperates with the transmission portion to transmit the rotation of the intermediate gear from the transmission portion. The output shaft portion of the two-stage reduction has an output external gear (25) which engages with the rotating internal gear and transmits the rotating force.

Description

Reducer and Actuator

technical field

The present invention relates to a reducer and an actuator with a hypocycloidal gear mechanism.

Background technique

Conventionally, in a general-purpose small actuator including a motor and a speed reducer, it has been proposed to use a hypocycloid gear mechanism for the speed reducer (see Patent Document 1).

As the hypocycloid gear mechanism, as shown in Patent Document 1, a hypocycloid gear mechanism having two stages and a hypocycloid gear mechanism having only a single stage are known.

Next, a hypocycloid gear mechanism having two stages and a single stage will be briefly described using FIG. 4 and FIG. 5 , respectively.

As shown in Figure 4, a speed reducer with a two-stage hypocycloid gear mechanism includes: a fixed gear 1, which is an internal gear and fixed on the housing of the actuator or the speed reducer, etc.; The eccentric shaft 2 provided eccentrically to the driving shaft of the drive shaft is freely rotatably supported; and the output gear 5 as an internal gear (the outer peripheral surface side without teeth is shown in the figure), which is integrated with the output side shaft portion 4 that outputs the rotational driving force to the outside rotate. In addition, the intermediate gear 3 is integrally coaxially provided with a spur gear (external gear) that meshes with the fixed gear 1, that is, the first gear portion 6, and a spur gear that meshes with the output gear 5, that is, the second gear portion 7. The second gear unit 7 rotates integrally.

The intermediate gear 3 revolves inside the fixed gear 1 by the eccentric shaft 2 provided on the drive shaft, and at this time, the intermediate gear 3 rotates by itself by the first gear portion 6 meshing with the fixed gear 1 . The second gear portion 7 of the revolving and self-rotating intermediate gear 3 meshes with the output gear 5 , and the revolving and self-rotating intermediate gear 3 causes the output gear 5 to integrally rotate with the output side shaft 4 . Thus, the speed is reduced by the fixed gear 1 and the first gear portion 6 , and the speed is reduced by the second gear portion and the output gear 5 . In addition, the drive shaft is arranged coaxially with the output gear 5 (output-side shaft portion 4 ).

In addition, as shown in Figure 5, the speed reducer with a single-stage hypocycloid gear mechanism is provided with: a fixed gear 11, which is an internal gear and fixed on the casing of the actuator or the speed reducer; an intermediate gear 13, which is opposite An eccentric shaft 12 provided eccentrically to the drive shaft of the motor is rotatably supported;

The intermediate gear 13 meshes with the fixed gear 11 through the eccentric shaft 12 provided on the drive shaft, and rotates while revolving inside the fixed gear 11 . In addition, the engaging part 15 is driven to rotate in a state of being engaged with the intermediate gear 13, and revolves relative to the intermediate gear 13. The engaging part 15 rotates coaxially with the drive shaft and the output side shaft part 14, and the intermediate gear 13 and the engaging part 15 During mating, the eccentric portion is absorbed by the revolution of the intermediate gear 13 and only the rotation is transmitted. For example, as shown in FIG. 5 , a plurality of columnar protrusions 16 are provided inside the teeth of the intermediate gear 13 so as to line up in the circumferential direction. The cylindrical protrusions 16 are parallel to the axis of the drive shaft (output-side shaft 14 ), and are arranged at equal intervals on the circumference of the intermediate gear 13 at a predetermined radial position.

On the other hand, the engagement portion 15 is formed in a disk shape centered on the axis of the output side shaft portion 14 , and a concave portion 17 into which the convex portion 16 is inserted is provided at the same radial position as the predetermined radial position of the intermediate gear 13 . . In addition, here, the recessed part 17 is a columnar through-hole. In addition, the inner diameter of the concave portion 17 is larger than the outer diameter of the convex portion 16 , and even if the convex portion 16 revolves integrally with the intermediate gear 13 , the engagement portion 15 can be rotated about the axis of the output side shaft portion 14 . That is, the convex portion 16 and the concave portion 17 transmit only the revolution and the autorotation of the intermediate gear 13 to the engaging portion 15 .

In this type of actuator (reducer), although the reduction ratio (gear ratio) is fixed, actuators with different reduction ratios are required depending on usage conditions and the like. Therefore, a plurality of products with different reduction ratios are provided, but when changing the basic reduction ratio, it is necessary to change the design of the diameter or the number of teeth of each gear, and when the reduction ratio is different, there is a high possibility that the gears used are basically completely different .

Therefore, the following scheme has been proposed: by dividing the speed reducer (actuator) having the above-mentioned single-stage or two-stage hypocycloidal gear mechanism into an input shaft part, a speed change mechanism part, and an output shaft part, setting on the input shaft part A plurality of units constituted by a plurality of parts, a plurality of units constituted by a plurality of parts are set on the speed change mechanism part, and two types of units for the above-mentioned single-stage use and two-stage use are set on the output shaft part, thereby being able to Various reduction gears (actuators) having different reduction ratios are manufactured as series products (for example, see Patent Document 2).

prior art literature

Patent Document 1: Patent No. 4303667

Patent Document 2: JP-A-2013-200038

In addition, in the reducer of Patent Document 2 in which units composed of a plurality of parts are combined, a unit having a two-stage internal gear and a unit having a single-stage convex portion (inner pin) exist on the output shaft. Whether to become a speed reducer with a single-stage hypocycloid gear mechanism or a speed reducer with a two-stage hypocycloid gear mechanism requires changing the above-mentioned output shaft unit. In addition, a unit provided with a transmission mechanism portion of a spur gear meshing with a unit having an output shaft portion of an internal gear and a transmission mechanism provided with a pin hole (recess) to engage with a unit having an output shaft portion of an internal pin (convex portion) The units of the parts form different units. Therefore, when changing between single-stage use and two-stage use, it is necessary to use at least different units (members) for the output shaft portion and the transmission mechanism portion. In this case, at least the parts of the output shaft part and the parts of the transmission mechanism part need to be changed separately, and therefore the number of parts required for serialization cannot be reduced.

At least in the process of manufacturing a single-stage hypocycloid reducer and a two-stage hypocycloid variator, it is necessary to change the mutually mating parts for the single stage and the intermeshing parts for the two stages in the output shaft part and the transmission mechanism part respectively. Internal and spur gears.

Contents of the invention

In view of the above-mentioned problems, an object of the present invention is to provide a speed reducer and an actuator, the speed reducer has a fixed internal gear and an intermediate gear meshing with the internal gear and revolving and autorotating, and an actuator that outputs the autorotation of the above-mentioned intermediate gear to the outside Between the single-stage structure and the two-stage structure in which the rotation of the intermediate gear is further decelerated and output to the outside, only the member that transmits the rotation of the intermediate gear is different.

In order to achieve the above object, the speed reducer of the present invention is characterized in that it comprises: a fixed internal gear fixedly supported; an eccentric shaft provided on a drive shaft rotationally driven by a drive source and eccentric relative to the drive shaft; an intermediate gear , which revolves by engaging the eccentric shaft with the fixed internal gear, and rotates around the eccentric shaft; shaft configuration and output the rotational driving force to the outside,

The intermediate gear includes: an external gear that meshes with the fixed internal gear; a transmission gear that is provided coaxially with the external gear and that transmits the rotation and revolution of the intermediate gear; and a transmission gear that transmits the rotation of the intermediate gear. delivery department,

The single-stage reduction output shaft portion has a transmitted portion that cooperates with the transmission portion and transmits the rotation of the intermediate gear from the transmission portion,

The two-stage reduction output shaft portion is provided with a transmitted gear, and the transmitted gear meshes with the transmission gear and transmits rotational force.

An actuator according to the present invention is characterized by including the above-mentioned speed reducer and a drive shaft, and including a drive source for rotating the drive shaft.

In such a speed reducer and actuator, a single-stage speed reducer is formed in a state having a single-stage speed reduction output shaft portion, and a speed reduction ratio is smaller than that of a two-stage speed reducer. In addition, a two-stage reducer is formed in a state where the reducer has a two-stage reduction output shaft portion, and a reducer having a larger reduction ratio than a single-stage reducer is formed.

Here, the eccentric shaft, the fixed internal gear and the intermediate gear are common common parts in the single-stage reducer and in the two-stage reducer. The difference between the single-stage reducer and the two-stage reducer is: One-stage deceleration output shaft part and two-stage speed change output shaft part. In addition, although radial bearings are required for each of the single-stage speed reducer and the two-stage speed reducer, the above-mentioned radial bearings can be used in common.

In addition, when using an actuator equipped with a reduction gear, it is possible to commonize a motor, a housing, and the like. In addition, when the transmitting part and the transmitted part are composed of inner pins (convex parts) and pin holes (recessed parts), it is preferable to provide pin holes that do not protrude in the axial direction on the side of the intermediate gear, and on the single-stage reduction output shaft part. Set domestic sales. In this case, the inner pin does not protrude from the intermediate gear toward the output side in the axial direction, thereby preventing the inner pin from interfering when the intermediate gear is provided with a two-stage reduction output shaft portion. In addition, although the transmitting gear and the transmitted gear are a combination of an external gear and an internal gear, either of them may be an external gear or an internal gear. In addition, the single-stage deceleration output shaft portion and the double-stage deceleration output shaft portion can have substantially the same outer diameter, and can also have substantially the same axial length. Therefore, a casing of the same size can be used as a reduction gear or an actuator with a reduction gear, and components of the same size can also be used as other accessory parts. In this case, since the appearance is substantially the same, it is easy to manufacture the single-stage reducer and the two-stage reducer into the same series.

The effects of the present invention are as follows.

According to the present invention, the difference in structure between a single-stage speed reducer for single-stage reduction and a two-stage speed reducer for two-stage reduction can be reduced to a difference of approximately one part, and they can be manufactured and sold with approximately the same specifications and dimensions. When both the single-stage speed reducer and the two-stage speed reducer are used, the two types of speed reducers can be easily manufactured and the cost can be reduced. Also, it is easy to manufacture the actuator having the above-mentioned speed reducer, and the cost can be reduced.

In addition, when manufacturing various speed reducers or actuators having different reduction ratios, it is possible to easily use a single-stage speed reducer as a two-stage speed reducer and a two-stage speed reducer as a single-stage speed reducer. That is, the reduction ratio can be easily doubled.

Description of drawings

1 is a view showing a two-stage speed reducer according to a first embodiment of the present invention, (a) is an exploded perspective view, and (b) is an exploded perspective view of main parts viewed from the reverse side of (a).

Fig. 2 is a view showing the same single-stage speed reducer, (a) is an exploded perspective view, and (b) is an exploded perspective view of main parts viewed from the reverse side of (a).

Fig. 3 is a sectional view showing a two-stage actuator with the same two-stage reducer.

Fig. 4 is an exploded perspective view showing a conventional two-stage speed reducer.

Fig. 5 is an exploded perspective view showing a conventional single-stage speed reducer.

In the figure: 20-single-stage reducer, 21-fixed internal gear, 22-intermediate gear, 23-external gear, 24-single-stage deceleration output shaft, 25-output external gear (transmitted gear), 26-rotation Internal gear (transmission gear), 38-transmission part, 40-two-stage reducer, 41-two-stage reduction output shaft, 42-transmitted part, 50-two-stage actuator, 51-motor (drive source ), 52-drive shaft, 56-eccentric shaft.

Detailed ways

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

As shown in FIGS. 1 to 3 , the actuator having the speed reducer of this embodiment can basically form a two-stage actuator 50 and a single-stage actuator (not shown) by changing one component. One of the above, wherein the two-stage actuator 50 has a two-stage reducer 20 that outputs the rotational drive force of the drive source (shown in FIG. 3 : motor 51 ) through two-stage deceleration, and the single-stage The actuator has a single-stage speed reducer 40 that outputs the rotational driving force of the motor 51 through one-stage deceleration.

First, the two-stage actuator 50 will be described with reference to FIGS. 1 and 3 .

The two-stage actuator 50 is a device provided with a motor 51 and a two-stage reducer 20, and when the rotational driving force of the motor 51 is output, the rotation generated by the rotational driving force is decelerated to increase the torque and output it to the outside. .

In addition, in this embodiment, the motor 51 is a motor included in the category of a so-called small motor, and the two-stage actuator 50 is a general-purpose small actuator.

The motor 51 is, for example, a DC motor, but various motors can be used as long as they are electric motors. The motor 51 has a drive shaft 52 , and by rotating the drive shaft 52 , it outputs a rotational driving force to the two-stage speed reducer 20 .

The two-stage reducer 20 of the two-stage actuator 50 is, for example, a reducer with a double hypocycloid gear mechanism, which is provided with; a fixed internal gear 21, which is fixed on the casing 55 of the two-stage actuator 50 and an intermediate gear 22 having an external gear 23 meshing with a fixed internal gear 21 . In addition, the two-stage speed reducer 20 is provided with a two-stage reduction output shaft portion 24 to output the rotational driving force to the outside after further decelerating it based on the revolution and rotation of the intermediate gear 22 .

In addition to the external gear (spur gear) 23 that meshes with the fixed internal gear 21, the intermediate gear 22 is provided with a rotating internal gear (transmission gear) 26 that is connected to a two-stage deceleration output shaft portion 24 described later. The output external gear (transmitted gear) 25 meshes.

As described above, the output external gear 25 is provided on the output shaft portion 24 of the double reduction gear.

As shown in Figure 3, the fixed internal gear 21 is fixed on the casing 55 of the two-stage actuator 50, and the casing 55 is composed of a motor side casing 53 and a reducer side casing 54, and the fixed internal gear 21 is fixed on the casing 55 in a non-rotatable manner. On the reducer side casing 54. In addition, two anti-rotation recesses 30 are provided on the outer peripheral surface of the fixed internal gear 21 so as to be able to be fitted with unillustrated protrusions on the housing 55 side so as to be non-rotatable. In addition, the fixed internal gear 21 is provided with a through hole 27 through which the drive shaft 52 penetrates, and a radial bearing 28 which rotatably supports the drive shaft 52 is provided in the through hole 27 .

In addition, the fixed internal gear 21 is a substantially disk-shaped member, and a cylindrical recess 29 is provided on the surface opposite to the motor 51, and teeth are provided on the inner peripheral surface of the recess.

The intermediate gear 22 is arranged on the opposite side of the motor 51 to which the internal gear 21 is fixed. On the side of the fixed internal gear 21 of the intermediate gear 22, an external gear 23 that meshes with the teeth in the recess 29 of the fixed internal gear 21 is provided, and on the opposite side there is an external gear 23 that meshes with the output external gear 25 of the two-stage reduction output shaft portion 24. Rotate internal gear 26.

Further, the rotating internal gear 26 has teeth formed on the inner peripheral surface of a cylindrical recess 31 formed on the surface of the intermediate gear 22 on the double-stage reduction output shaft portion 24 side. Furthermore, on the intermediate gear 22, the external gear 23 and the rotating internal gear 26 are provided coaxially and integrally formed.

In addition, the intermediate gear 22 is provided with a through-hole 32 through which the eccentric shaft 56 penetrates in the center part. A radial bearing 33 is provided between the outer peripheral surface of the eccentric shaft 56 and the inner peripheral surface of the through hole 32 of the intermediate gear 22 . Via this radial bearing 33 , the intermediate gear 22 freely rotates about the eccentric shaft 56 .

In addition, the intermediate gear 22 is provided with a plurality of recesses 37 arranged in a circumferential direction at a position inside the rotating internal gear 26 and at a position reaching a predetermined radius outside the through hole 32 . For example, eight recesses 37 are arranged in a row in the circumferential direction. The concave portion 37 is a circular hole, and when the single-stage speed reducer 40 is used, it is used to transmit the revolution and the autorotation of the rotating internal gear 26 to the cylindrical convex portion of the transmitted portion 42 of the single-stage reduction output shaft portion 41 (domestic sales) 43. That is, the portion of the intermediate gear 22 where the recessed portion 37 is provided inside the tooth of the external gear 23 forms a transmission portion 38 that transmits the rotation of the intermediate gear 22 to the above-mentioned transmitted portion 42 . In addition, the single-stage speed reducer 40 will be described in detail later.

The drive shaft 52 passes through the eccentric shaft 56 . The eccentric shaft 56 is eccentric with respect to the drive shaft 52 and can rotate integrally with the drive shaft 52 .

The two-stage deceleration output shaft portion 24 is provided with an output external gear 25 meshing with the rotating internal gear 26 of the intermediate gear 22 , and is provided with a fitting hole 35 at the center thereof into which the output shaft 34 is fitted. In the two-stage reduction output shaft portion 24, the output external gear 25 and the output shaft 34 are coaxially provided integrally so as to rotate integrally.

In this two-stage reducer 20 and the two-stage actuator 50 provided with the two-stage reducer 20 , the rotational driving force of the motor 51 is transmitted to the the intermediate gear 22 so that the intermediate gear 22 revolves. As a result, the external gear 23 of the intermediate gear 22 meshing with the fixed internal gear 21 rotates the intermediate gear 22 on its own axis. At this time, the rotation of the drive shaft 52 of the motor 51 is decelerated by the rotation of the intermediate gear 22 . Next, the revolution and rotation of the rotating internal gear 26 of the intermediate gear 22 are transmitted to the output external gear 25 of the double reduction output shaft portion 24 and decelerated. That is, the rotational force generated by the revolution and autorotation of the rotating internal gear 26 as the transmission gear is decelerated when transmitted to the output external gear 25 as the transmitted gear.

Next, the single-stage reduction gear 40 and the single-stage actuator will be described.

The difference between the two-stage reducer 20 and the two-stage actuator 50 and the single-stage reducer 40 and the single-stage actuator basically lies in whether there is a two-stage deceleration output shaft 24 or a single-stage reducer. The stage deceleration output shaft portion 41 and the components of the above-mentioned other actuators are common components in the single-stage reducer 40 and the single-stage actuator, and the two-stage reducer 20 and the two-stage actuator 50 .

That is, the fixed internal gear 21, the intermediate gear 22, the radial bearing 28, the radial bearing 33, the motor 51, the drive shaft 52 and the housing 55 of the two-stage reducer 20 and the two-stage actuator 50 are common parts, The same applies to the single-stage speed reducer 40 and the single-stage actuator.

In the single-stage deceleration output shaft portion 41 , the output shaft 34 fits into the fitting hole 45 of the disc-shaped transmitted portion 42 and has a plurality of convex portions 43 inserted into the transmission portion 38 of the intermediate gear 22 The recess 37. The number of convex portions 43 of the transmitted portion 42 is the same as that of the concave portions 37 arranged at equal intervals in the circumferential direction at predetermined radial positions of the transmitting portion 38 , and at the same predetermined radial position of the transmitted portion 42 as the predetermined radial position of the transmitting portion 38 . The positions are arranged at equal intervals in the circumferential direction so that all the convex portions 43 are inserted into the concave portions 37 .

As described above, the concave portion 37 is a circular hole, the convex portion 43 is a column, and the inner diameter of the concave portion 37 is larger than the outer diameter of the convex portion 43. When the intermediate gear 22 having the concave portion 37 revolves while rotating, the convex portion 43 is inserted into the concave portion. 37, the single-stage deceleration output shaft portion 41 that rotates concentrically with the drive shaft 52 rotates at the same rotational speed as the intermediate gear 22 rotates.

Therefore, in the single-stage reducer 40, the reduction ratio is formed up to the intermediate gear 22 of the two-stage reducer 20, and in the two-stage reducer 20, the reduction ratio is formed up to the intermediate gear 22. The reduction ratios of the rotating internal gear 26 of the intermediate gear 22 and the output external gear 25 are further added to the previous reduction ratios.

In this embodiment, in the single-stage reducer 40 and the two-stage reducer 20, not only the concave portion 37 of the transmission portion 38 is provided, but the concave portion is used to reduce the convex portion of the transmitted portion 42 of the single-stage deceleration output shaft portion 41 43 is inserted into the intermediate gear 22 and transmits the rotation of the intermediate gear 22, and a rotating internal gear 26 that is engaged with the output external gear 25 of the two-stage deceleration output shaft portion 24 is also provided.

Therefore, since the intermediate gear 22 includes both the transmission portion 38 having the concave portion 37 and the rotary internal gear 26, either one of the single-stage reduction output shaft portion 41 and the two-stage reduction output shaft portion 24 can transmit the rotational driving force. Therefore, by using either one of the single-stage deceleration output shaft portion 41 and the two-stage deceleration output shaft portion 24 , it is possible to determine whether it is the single-stage type speed reducer 40 or the two-stage type speed reducer 20 .

In addition, although the transmission part 38, the concave part 37 which is a circular hole in the transmission of the rotational driving force of the transmitted part 42, and the convex part 43 which is a cylinder with a smaller diameter than that are used, as long as they are mutually eccentric and can be rotated The transmission part 38 and the transmitted part 42 can transmit the rotation, and it is not necessary to be a round hole or a cylinder, and it can also be a concave part and a convex part of other shapes, as long as it is a part that can cooperate with each other, it can not be a convex part and a convex part. recessed part.

In addition, the concave portion 37 is provided on the transmission portion 38 side of the intermediate gear 22, and the convex portion 43 is provided on the transmitted portion 42 side of the single-stage deceleration output shaft portion 41. A recess is provided on the side. However, it is necessary to arrange the convex portion provided on the side of the transmission portion 38 at a position that does not prevent the meshing of the rotating internal gear 26 and the output external gear 25 .

In addition, a rotating internal gear 26 as an internal gear is provided on the intermediate gear 22, and an output external gear 25 as an external gear is provided on the two-stage deceleration output shaft part 24. It is also possible to use the intermediate gear 22 side as an external gear, and the two-stage The reduction output shaft portion 24 side serves as an internal gear. In either case, the internal gear and the external gear may be meshed between the intermediate gear 22 and the double-stage reduction output shaft portion 24 .

Claims (2)

1. A reducer, characterized in that, It includes: a fixed internal gear fixedly supported; an eccentric shaft provided on a drive shaft rotationally driven by a drive source and eccentric with respect to the drive shaft; an intermediate gear meshing with the fixed internal gear through the eccentric shaft and a single-stage deceleration output shaft portion or a two-stage deceleration output shaft portion that is rotatably arranged coaxially with the drive shaft and outputs a rotational driving force to the outside, The intermediate gear includes: an external gear that meshes with the fixed internal gear; a transmission gear that is provided coaxially with the external gear and that transmits the rotation and revolution of the intermediate gear; and transmits the rotation of the intermediate gear. the transfer department, The single-stage reduction output shaft portion has a transmitted portion that cooperates with the transmission portion and transmits the rotation of the intermediate gear from the transmission portion, The two-stage reduction output shaft portion includes a transmitted gear that meshes with the transmission gear and transmits rotational force. 2. An actuator characterized in that: The reduction gear according to claim 1 and a drive shaft are provided, and a drive source for rotating the drive shaft is provided.