JP2000205351A - Coriolis motion gear device - Google Patents

Abstract

(57) [Summary] [PROBLEMS] To increase the degree of freedom in setting dimensions of components of a Coriolis motion gear device. SOLUTION: A portion corresponding to an outer ring of a bearing 8 for pivotally supporting a rotating body 3 with respect to an inclined portion 1a of an input shaft 1 is configured as a part 3a of the rotating body 3. The inner ring 8a, the ball 8b, and the spacer 8c, which are the other parts of the bearing 8, have the same structure as a separate bearing. By forming the outer ring of the bearing 8 as a part 3a of the rotating body 3, the input shaft 1
The number of components interposed between the inclined portion 1a and the rotating body 3 can be reduced. The degree of freedom in setting the dimensions of the second gear A ₂ , the third gear A ₃ , the input shaft 1, and the inclined portion 1 a formed on the rotating body 3 is increased by the amount of the outer ring as a single unit eliminated.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

[0001] The present invention relates to an improvement and application of a Coriolis motion gear device.

[0002]

2. Description of the Related Art The inventor of the present invention has invented a transmission which does not require a backlash setting and can obtain a large reduction ratio, and discloses the details in Japanese Patent Publication No. 7-56324. This transmission is referred to as a Coriolis motion gear device in the following description because the gears used therein make a so-called Coriolis motion.

FIG. 7 shows a cross section of a main part of a Coriolis motion gear device by the present inventor. The Coriolis motion gear device includes a first to fourth gears A between an input shaft 1 and an output shaft 2.
Linked by ₁ to A _4, and performs deceleration by the gears. The first to fourth gears are bevel gears. The first gear A ₁ is integrally fixed to the housing 6. Further, the second gear A ₂ and the third gear A ₃ are one rotating body 3.
, And the rotating body 3 is supported by the inclined portion 1 a of the input shaft 1. When the rotating body 3 is tilted and supported in this manner, Coriolis motion can be generated in the rotating body 3 as the input shaft 1 rotates. In addition, the rollers 4 and the inscribed surface 5 with the rollers are used for the teeth of each gear, and the sliding that occurs when the teeth mesh with each other is absorbed by the rotation of the rollers 4. Therefore, even if the setting of the backlash is eliminated and the preload is intentionally applied to the teeth, it is possible to avoid heat generation due to the engagement between the teeth. According to this method, when the rotational motion of the input shaft 1 is transmitted to the output shaft 2, the first and second gears A ₁ , A
₂ and the third and fourth gears A ₃ and A ₄ are subjected to a two-stage deceleration action. Therefore, if the above-mentioned Coriolis motion gear device is used, for example, for a reduction gear of an actuator, a small-sized, high-precision, high-output actuator can be obtained.

[0004]

In the above-mentioned Coriolis motion gear device, it is necessary to provide the rotating body 3 rotatably with respect to the inclined portion 1a of the input shaft 1. Conventionally, it is necessary to satisfy the requirements of reducing frictional resistance and improving durability.
A ball bearing, a roller bearing, and a cross roller bearing (the cross roller bearing is disclosed in the specification of Japanese Patent Application No. 8-358651 by the present inventor) are used as the bearings of the rotating body 3 with respect to a. That is, the rotating body 3 needs a space for disposing these bearings. This impairs the degree of freedom in setting the dimensions of the second gear A ₂ and the third gear A ₃ formed on the rotating body 3, the input shaft 1, and the inclined portion 1 a, and sometimes narrows the applicable range of the Coriolis motion gear. There were things.

The present invention has been made in view of the above problems, and an object of the present invention is to increase the degree of freedom in setting the dimensions of the components of a Coriolis motion gear device and to expand the applicable range of the Coriolis motion gear device.

[0006]

Means according to claim 1 of the present invention to solve the above problems SUMMARY OF THE INVENTION comprises a first gear tooth number n ₁ which is fixed to the housing, the number of teeth attached to the output shaft a fourth gear n _4, to match the respective axis of the input shaft is disposed, a rotating body provided integrally with the third gear of the second gear and the number of teeth n ₃ of the number of teeth n _2, a second The gear meshes with the first gear,
A third gear that is supported by an inclined portion of the input shaft so as to mesh with a fourth gear, a center point of a common spherical surface passing through each pitch circle of the first and second gears, and the third and fourth gears; X whose origin is a point where the center point of the common spherical surface passing through each pitch circle of
The axis of the input shaft is arranged on the X axis of the Y coordinate, and the mesh point of the first and second gears and the mesh point of the fourth and third gears are set in the same quadrant or different quadrants of the XY coordinate. A Coriolis motion gear device, wherein a bearing is interposed between at least one of the gears and the input shaft,
At least one of an outer ring and an inner ring of the bearing is formed integrally with each of the gears or the input shaft.

According to the above construction, the outer ring of the bearing is formed integrally with the respective gears (also referred to as "integral formation" in the present description), or the inner ring of the bearing is formed integrally with the input shaft. The number of components interposed between the input shaft and each gear is reduced. In addition, machining, heat treatment, and the like of the integrally formed portion are performed in one step.

Further, in the Coriolis motion gear device according to a second aspect of the present invention, an outer ring of a bearing that supports the rotating body with respect to the inclined portion of the input shaft, and the rotating body are integrally formed. That is, by forming an outer ring of a bearing that supports the rotating body with respect to the inclined portion of the input shaft as a part of the rotating body, the outer ring is interposed between the inclined portion of the input shaft and the rotating body. Reduce the number of parts.

Further, in the Coriolis motion gear device according to a third aspect of the present invention, the inner ring of a bearing that supports the rotating body with respect to the inclined portion of the input shaft and the inclined portion of the input shaft are integrally formed. It is characterized by having done. That is, by forming an inner ring of a bearing that supports the rotating body with respect to the inclined portion of the input shaft as a part of the inclined portion, the number of components interposed between the input shaft and the rotating body is reduced. Reduce.

In a Coriolis motion gear device according to a fourth aspect of the present invention, a four-point contact ball bearing is used as the bearing. Four-point contact ball bearings are more advantageous than double-row angular contact ball bearings, for example, in the number of parts and cost.

Further, in the Coriolis motion gear device according to claim 5 of the present invention, the output shaft drives an outer housing that covers the housing. Therefore, by disposing the Coriolis motion gear device according to the present invention on the rotation shaft of the driving member, the driving member and the Coriolis motion gear device can be integrated.

Further, in the Coriolis motion gear device according to claim 6 of the present invention, the input shaft is a hollow shaft. Therefore, through the Coriolis motion gear device,
Other members can be arranged.

In a Coriolis motion gear device according to a seventh aspect of the present invention, a motor for driving the input shaft is built in the housing.
Therefore, a Coriolis motion gear device having a function as an actuator can be provided.

[0014] In addition, the Coriolis motion gear device according to claim 8 of the present invention is used as an in-wheel motor for an automobile. By utilizing the fact that the Coriolis motion gear device can obtain a large reduction ratio, a small and light motor is used to reduce the unsprung weight of the vehicle.

Further, the Coriolis motion gear device according to claim 9 of the present invention is used as an in-wheel motor for a motorcycle. Utilizing the fact that the Coriolis motion gear device can obtain a large reduction ratio, a small and lightweight motor is used, and application to an electric scooter, a bicycle with an electric auxiliary power, and the like is aimed at.

Furthermore, the Coriolis motion gear device according to claim 10 of the present invention is used as a drive pulley for a conveyor. In this case, by utilizing the fact that a large reduction ratio can be obtained while the Coriolis motion gear device is small, an increase in the outer diameter of the drive pulley is suppressed, and a drive pulley capable of low-speed and high-torque operation is configured. Also,
By arranging the power source motor and the reduction gear all in the drive pulley, the occupied volume for installing the conveyor device is kept small.

[0017]

Embodiments of the present invention will be described below with reference to the accompanying drawings.

First, a Coriolis motion gear device forming a part of the structure of the present invention will be described below with reference to FIGS. 7, 8 and 9. As shown in FIG. 7, the Coriolis motion gear device includes first to fourth gears A as four gears having different numbers of teeth.
It has a ₁ ~A _4. Each gear is a bevel gear. Among them, the first gear A ₁ is integrally fixed to the housing 6,
This is a fixed gear that does not rotate. The second gear A ₂ and the third gear A ₃ are formed on a rotating body 3 that is supported by the input shaft 1. The fourth gear A ₄ is provided on the output shaft 2,
It is rotatably supported by the housing 6. Then, the first gear A ₁ and the second gear A ₂ , and the third gear A ₃ and the fourth gear A ₃
Gear A ₄ Togaotto people are engaged.

The rotating body 3 is supported by an inclined portion 1a that forms a predetermined angle with respect to the axis of the input shaft 1. The input shaft 1 itself is also rotatably supported by the housing 6. When the input shaft 1 rotates, the inclined portion 1a makes a motion of swinging the head, and the rotating body 3 supported by the tilted portion 1a makes a swing motion as if it were a frame just before stopping. This movement of the rotating body 3 is called Coriolis movement. Then, the rotating body 3 engages the second gear A ₂ with the first gear A ₁ and the third gear A ₃ with the fourth gear A ₄ by performing a Coriolis motion (FIG. 8A ), (B)). Then
The second gear A ₂ has one cycle of Coriolis motion (1 of the input shaft 1).
Rotation) per rotates relative amount corresponding first gear A ₁ which corresponds to the difference in the number of teeth between the first gear A _1. That is, the first gear A
_1, between the second gear A _2, 1 stage speed reduction is performed.

Here, the number of teeth of the first gear A ₁ is set to 100,
The number of gear A ₂ Consider the case of a 101. When the input shaft 1 rotates forward once, the second gear A ₂ is moved relative to the first gear A ₁ .
Rotates forward by 1/100. Also, the number of teeth of the first gear A ₁ is
Assuming that 100 and the number of teeth of the second gear A ₂ are 99, the first gear A ₁
On the other hand, the second gear A ₂ rotates reversely by 1/100. Movement of the second gear A ₂ is transmitted directly to the third gear A _3, also between the third gear A ₃ and the fourth gear A _4, performs the same engagement. Therefore, even between the third gear A ₃ and the fourth gear A ₄ ,
One-step deceleration is performed. That is, when the rotational motion of the input shaft 1 is transmitted to the output shaft 2, the first and second gears A ₁ ,
And A _2, in the third, and the fourth gear A _3, A _4, will undergo a reduction effect of the two stages.

The reduction ratio of the Coriolis motion gear device is R
Assuming that (the rotation speed of the output shaft 2 when the input shaft 1 makes one rotation), R = 1− (n ₄ × n ₂ ) / (n ₃ × n ₁ ) (i) where n ₁ : first gear a ₁ number of teeth n _2: the second gear a ₂ of the number of teeth n _3: the third gear a ₃ number of teeth n _4: can be obtained in the number of teeth of the fourth gear a _4. Here, n ₁ = 999, n ₂ = 10
00, when _{n 3 = 1001, n 4 =} 1000, the reduction ratio R = 1/1
One million (positive rotation). As described above, the Coriolis motion gear device can obtain a large reduction ratio with only four gears. In addition, the efficiency η ≧ 0.9 can be achieved.

Further, when the second gear A ₂ and the third gear A ₃ engage with the first gear A ₁ and the fourth gear A ₄ while performing the Coriolis motion, sliding occurs on each meshing surface. In order to prevent image sticking due to noise, vibration and heat generated by the sliding, as shown in FIGS. 7 and 9, the teeth of each gear are provided with a roller 4 and an inscribed surface 5 with the roller. I have. Specifically, as shown in FIG. 9, the first gear A ₁ (the fourth gear
The roller 4 is floatingly supported on the inscribed surface 5 with the roller formed on the gear A ₄ ) to form a semi-cylindrical convex tooth. Also, the second
The gear A ₂ (third gear A ₃ ) is also formed with an inscribed surface 5 with the rollers, and has semicircular groove-shaped concave teeth. When the rotating body 3 makes a Coriolis motion in the direction shown by the arrow B, the second gear A ₂
The (third gear A ₃ ) moves in the direction shown by the arrow C and engages each concave tooth with the convex tooth. Then, the sliding generated between the concave teeth and the convex teeth is absorbed by the rotation of the rollers 4.
(The above is partly excerpted from NIKKEI MECHANICAL 1996.10.28 no.492, paragraphs 12 to 13.) Therefore, not only is it unnecessary to set the backlash, but also by applying a preload between the gears to precisely engage It can be performed.

As described above, when the difference between the number of teeth of the first gear A ₁ and the number of teeth of the second gear A ₂ is 1, when the Coriolis motion advances by one cycle, the first gear A ₁ and the second gear A 2 Between gear A ₂
The meshing teeth are shifted by one. When the number of teeth is two, if the Coriolis motion advances by one cycle, the first gear A ₁ and the second gear A ₁
Between the gear A ₂ , _two meshing teeth are shifted. Similarly, if the difference in the number of teeth is n, the meshing teeth are shifted by n. The same applies to the relationship between the _third and fourth gears A ₃ and A ₄ .

Next, a method for obtaining the tooth profile of the Coriolis motion gear device shown in FIG. 7 will be described below. Here, FIG. 10 is a developed view showing a method of obtaining the tooth profile of each bevel gear of the Coriolis motion gear device shown in FIG. 7, and FIG. 11 is an enlarged view of a main part thereof. Each bevel gear A ₁ , A ₂ , A ₃ , A ₄ is schematically shown by a pitch cone.

Here, the first bevel gear A ₁ and the second bevel gear A
₂ common spherical surface Cir1 passing through each pitch circle and the third bevel gear A
_3, consider a common spherical Cir2 through each pitch circle of the fourth bevel gear A _4. Then, the center points of the common spherical surfaces are made to coincide with each other, and the coincident point is set as a point O. Further, consider XY coordinates with the point O as the origin. Input axis 1 on the X axis of this XY coordinate (FIG. 7)
Is arranged. Further, the first and second bevel gears A ₁ and A ₂
Point engagement of the C _1, third, the engagement point of the fourth bevel gear A _3, A ₄ and C _2. Then, the engagement points C ₁ and C ₂
In the first and third quadrants or in the second and fourth quadrants.

The direction of the axis of the input shaft 1 and the inclined portion 1a
(FIG. 7) and the first gear A₁ Back cone and pi
Angle between the center of the₁ , The second bevel gear A_Two 
Angle between the spine of the back cone and the center line of the pitch cone is θ_Two Toss
Then, θ₁ + Θ_Two = Θ. Note that θ₁ , Θ_Two Nozomi
It is also possible to make one of the angles zero, in which case
, The bevel gear whose angle is zero is the crown gear. same
Thus, the third and fourth bevel gears A_Three , A_Four Back cone and each pi
The angle formed by the center of the notch cone is the third bevel gear A _Three Is θ
_Three , 4th bevel gear A_Four Is θ_Four And θ_Three + Θ_Four = Θ.

The number of teeth of each of the first to fourth bevel gears is n
₁ , N_Two , N_Three , N_Four And n₁ , N_TwoThe value of n_Three , N_Four 
Are different from each other. Here, the first to fourth umbrellas
Gear A ₁ ~ A_Four Apex O of each pitch cone₁ , O_Two , O
_Three , O_Four From the vertex D of each spine ₁ , D_Two , D_Three , D_Four 
Distance D to₁ O₁ , D_Two O_Two , D_Three O_Three , D_Four O_Four 
Is a cylindrical gear ER having a pitch circle radius₁ , ER_Two , ER
_Three , ER_Four think of. And formed on this pitch circle
Assuming an involute tooth profile or any tooth profile
This is the first to fourth bevel gears A₁ ~ A_Four Equivalent cylindrical gear
You. Here, the equivalent number of teeth of the equivalent cylindrical gear is Z₁ , Z_Two ,
Z_Three , Z_Four Then, Z₁ = N₁ / Sinθ₁ …… (ii) Z_Two = N_Two / Sinθ_Two …… (iii) Z_Three = N_Three / Sinθ_Three …… (iv) Z_Four = N_Four / Sinθ_Four ... (V).

In the equivalent cylindrical gear having the relationship obtained by the above formulas (ii) and (iii), an involute tooth profile or an arbitrary tooth profile is created by using a cutter to create a tooth profile having the same tooth height as the first bevel gear A ₁ ( Incidentally, if creating an equal height teeth, becomes also inevitably Toha thick tooth), further, to transfer the tooth-shaped to the second bevel gear a _2. The third and fourth bevel gears A ₃ and A ₄ are formed in the same manner. Furthermore, instead of the tooth profile of the above-mentioned contour tooth,
When the inscribed surface 5 with the rollers is formed, a tooth profile similar to that shown in FIG. 7 can be obtained. FIG. 7 shows a case where the roller 4 and the inscribed surface 5 with the roller are used as the tooth profile. The rollers used here include both cylindrical rollers and needle rollers.

As described above, the Coriolis motion gear device shown in FIG. 7 uses the meshing point C of the first and second bevel gears A ₁ and A _2.
1 and the meshing point of the third and fourth bevel gears A ₃ and A ₄ with C ₂
Are placed in the first and third quadrants or in the second and fourth quadrants, that is, when they are placed in different quadrants, the meshing points C ₁ and C ₂ are the same as each other. It is also possible to place it in the quadrant.

FIG. 12 is a sectional view of a main part of the gear train when the meshing points C ₁ and C ₂ are placed in the same quadrant as a modification of the Coriolis motion gear train shown in FIG. I have. Note that FIG. 12 shows only parts different from the Coriolis motion gear device shown in FIG. The same or corresponding parts as those in the embodiment shown in FIG. 7 are denoted by the same reference numerals, and detailed description thereof will be omitted.

As shown in FIG. 12, the first bevel gear A ₁ is fixed to a portion of the housing (indicated by reference numeral 6). The fourth bevel gear A ₄ is attached to the output shaft 2. The second and third bevel gears A ₂ and A ₃ provided on the rotating body 3 are provided on the same axial direction surface of the rotating body 3 (the left side surface of the rotating body 3 in FIG. 12). The input shaft 1 has the output shaft 2 hollow and the input shaft 1 penetrates the interior thereof. The input shaft 1 is also hollow, and the inside of the hollow is configured as a through passage 1b.

FIG. 13 is a development view of the Coriolis motion gear device shown in FIG. FIG. 13 corresponds to FIG. 11, which shows a development view of the Coriolis motion gear device shown in FIG. 7 into an equivalent cylindrical gear. The method of obtaining the tooth profile of the Coriolis motion gear device shown in FIG. 12 is the same as that of the Coriolis motion gear device shown in FIG. 7, and is an overall view of a development view corresponding to FIG. Is omitted. As is clear from FIG. 13, the Coriolis motion gear device shown in FIG. 12 has a meshing point C1 of the _first and second bevel gears A ₁ and A ₂ and a third and third gears.
Both the fourth bevel gear A _3, engagement point of A ₄ C ₂ is the second quadrant (or the third quadrant) of the XY coordinate, i.e. on the same quadrant.

The Coriolis motion gear device shown in FIG.
By locating the fourth to fourth bevel gears on the same axial surface of the rotating body 3, it becomes possible to reduce the axial dimension of the gear device with respect to the Coriolis motion gear device shown in FIG. Also,
It is easy to arrange the output shaft 2 so as to extend in the same direction as the input shaft 1. Therefore, there is an advantage that the applicable range of the Coriolis motion gear device capable of obtaining a large reduction ratio with only four gears can be expanded. Further, both the Coriolis motion gear devices shown in FIGS. 7 and 12 can be configured as helical gears. The present inventor discloses the details of the application to the helical gear in Japanese Patent Application No. 9-65410.

As described above, the Coriolis motion gear device is:
By determining the tooth profile of the gear based on the corresponding cylindrical gears of each bevel gear A ₁ to A _4, by a small respective bevel gears A ₁ to A ₄ of the pitch circle diameter than said phase equivalent cylindrical gear, the corresponding cylindrical gear meshing teeth The same number of meshing teeth as the number can be obtained. Therefore, the Coriolis motion gear device can transmit a large torque for its size. For example, if the Coriolis motion gear device is used for an actuator that uses an electric motor as a power source, it constitutes a small-sized, high-precision, high-output actuator. be able to.

FIG. 1 shows a speed reducer using a Coriolis motion gear device according to an embodiment of the present invention.
The input shaft 1 is driven by a power source such as a hollow motor. In this case, a double-row outward-facing angular contact ball bearing 8 (hereinafter simply referred to as a “bearing”) is used as a bearing for supporting the rotating body 3 on the inclined portion 1 a of the input shaft 1. The portion corresponding to the outer ring of the bearing 8 is configured as a part 3 a of the rotating body 3. Further, one inner ring of the bearing 8 is also configured as a part 1c of the inclined portion of the input shaft 1. The other part of the bearing 8, that is, the other inner ring 8a, ball 8b, spacer 8c, etc., has the same structure as a separate bearing.

In the example shown in FIG. 1, the first gear A ₁ and the outer ring of the bearing 10 that supports the input shaft 1 are integrally formed. Further, the fourth gear A ₄ and the outer ring of the bearing 11 that supports the input shaft 1 are integrally formed. These integrally formed members are:
It is fixed to the housing 6 and the output shaft 2 respectively by bolts or the like (not shown). Further, the output shaft 2 is connected to the housing 6.
The inner ring of the bearing 9 that supports the shaft is also formed integrally with the output shaft 2.

The operation and effect obtained by the embodiment of the present invention are as follows. First, by forming the outer ring of the bearing 8 as a part 3a of the rotating body 3, the input shaft 1
The number of components interposed between the inclined portion 1a and the rotating body 3 can be reduced. Then, the second gear A ₂ formed on the rotating body 3 is reduced by the amount of the outer ring as a single unit,
The third gear A _3, and the input shaft 1, increasing the degree of freedom in dimensioning of the inclined portion 1a. Then, as shown in FIG. 2, for example, each of the input shaft 1 and the output shaft 2 is made hollow,
When b and 2b are provided, it is possible to increase only the diameter of the through-paths 1b and 2b without increasing the diameter of each gear. Therefore, a member having a diameter larger than that of the conventional
b, 2b.

Further, conventionally, since the rotating body 3 and the outer ring of the bearing are separate parts, the grinding of the tooth surface of the gear and the grinding of the outer ring of the bearing are naturally performed as separate steps. However, this step can be performed in the same step. The same can be said for the heat treatment step. Furthermore, bearing 8
By forming the outer ring as a part 3a of the rotating body 3, the problem of variation in assembly accuracy in this part is eliminated, and it becomes possible to easily supply a more accurate Coriolis motion gear device. In addition, by forming a part of the inner ring of the bearing 8 as a part 1c of the inclined portion 1a of the input shaft, the same effect can be obtained.

Further, the first gear A ₁ and the outer ring of the bearing 10 supporting the input shaft 1 are integrally formed, and the fourth gear A ₄ and the outer ring of the bearing 11 supporting the input shaft 1 are integrally formed. Thereby, similarly to the case of the rotating body 3, the degree of freedom of dimension setting can be increased. Further, the outer ring of the first gear A ₁ and the bearing 10, the tooth surface of the fourth gear A ₄ and the outer ring of the bearing 11 can be subjected to a single step such as grinding and heat treatment. Further, in the example of FIG. 1, by forming the inner ring of the bearing 9 that supports the output shaft 2 with respect to the housing 6 integrally with the output shaft 2, the same operation and effect as the bearing 8 can be obtained also in this portion. it can.

As shown in FIGS. 12 and 13, FIG. 3 shows the meshing points of the first and second bevel gears A ₁ and A ₂ and the third and fourth bevel gears A ₃ and A ₄ . Both of the mesh points are shown in FIG.
2 shows a case where the embodiment of the present invention is applied to a Coriolis motion gear device located in the same quadrant of XY coordinates shown in FIG. In this case, the inner ring of the bearing 12 that supports the input shaft 1 and the output shaft 2 coaxially is integrally formed as a part 1 d of the input shaft 1. In the application example shown in FIG. 3, the same operation and effect as the example of FIG. 1 can be obtained.

In the above-described embodiment, the case where the portion corresponding to the outer ring of the bearing 8 is formed as a portion 3a of the rotating body 3 and the portion of the inner ring is formed as a portion 1c of the inclined portion 1a of the input shaft. However, even when the relationship between the inner ring and the outer ring is reversed, the same operation and effect can be obtained. In this case, the bearing 8 is a double-row inward angular contact ball bearing. Further, similar effects can be obtained by using a roller bearing, a cross roller bearing, or the like as the bearing 8 and forming the outer ring thereof integrally with the rotating body 3 or forming the inner ring integrally with the inclined portion 1a of the input shaft 1. Obtainable.

Next, an application example of the Coriolis motion gear device according to the embodiment of the present invention will be described with reference to FIGS. The same or corresponding portions as those in the embodiment described with reference to FIGS. 1 to 3 are denoted by the same reference numerals, and detailed description is omitted.

FIG. 4 shows an in-wheel motor for an automobile equipped with a Coriolis motion gear device according to an embodiment of the present invention as a reduction gear. A Coriolis motion gear device having substantially the same configuration as the Coriolis motion gear device described with reference to FIG. 1 is provided inside the housing 6. The input shaft 1 of the Coriolis motion gear device is driven to rotate by a motor 13 provided in the same housing 6. Also,
Output shaft 2 is connected to hub 14. Therefore, the motor 13
The driving force is transmitted to the wheel 15 via the hub 14 after being reduced by the Coriolis motion gear device. As described above, the structure of the Coriolis motion gear device itself is substantially the same as that shown in FIG. 1, and a detailed description thereof will be omitted.

Knuckles 6a and 6b are integrally formed in the housing 6, and the entire in-wheel motor shown is placed under the so-called "unsprung" of the vehicle by a suspension arm or the like (not shown). The hub 14 is rotatably supported on an axle tube 6c formed integrally with the housing 6 via a double row angular contact ball bearing 16, and has the same axle type as the so-called "full floating type". ing. Therefore, the output shaft 2 of the Coriolis motion gear
Receives only the torsional moment due to the driving force, and receives the bending moment due to the load on the wheel 15 in the vertical direction, the front-rear direction, and the vehicle width direction by the axle tube 6c of the housing 6. The portion indicated by reference numeral 17 is an encoder that detects the rotation speed of the motor 13.

As described above, when an in-wheel motor for an automobile is configured using the Coriolis motion gear device according to the embodiment of the present invention, the following operational effects can be obtained. In comparison with a conventional in-wheel motor, since a planetary gear mechanism has been conventionally used for the reduction gear, the reduction ratio obtained thereby was limited to 1/5 to 1/9. For this reason, it was necessary to use a large and heavy high torque type motor as a power source. When the Coriolis motion gear device according to the embodiment of the present invention is used for a reducer of an in-wheel motor, 1 /
It is possible to easily obtain a reduction ratio of about 15 to 1/30. Therefore, it is possible to use a small and light high-speed motor as the motor 13. As described above, the in-wheel motor of FIG. 4 is placed under the spring of an automobile, and reducing the weight of the motor is very effective in reducing the unsprung weight. Therefore, by using the Coriolis motion gear device according to the embodiment of the present invention for the in-wheel motor,
The maneuverability and comfort of the electric vehicle can be improved. In addition, power consumption can be reduced and the traveling distance of the electric vehicle can be extended. The description of other operations and effects similar to those of the Coriolis motion gear shown in FIG. 1 is omitted here.

FIG. 5 shows an application example of the in-wheel motor shown in FIG. In addition, about the structure same as FIG. 4, illustration is partially abbreviate | omitted. Wherein portions of the in-wheel motor shown in FIG. 5, using the four-point contact ball bearing in a bearing 26, 27, 28, and the first to fourth bevel gear A ₁ to A ₄ are formed integrally with these bearings As a result, weight reduction, size reduction, cost reduction, and the like are achieved by reducing the number of parts. Reference numeral 29 denotes a needle roller bearing,
Reference numeral 30 denotes an angular contact ball bearing. Further, the first bevel gear A ₁ which is integrally formed with the bearing 28, by supporting via the preload ring 31, 32 with respect to the housing 6, with respect to the second to fourth bevel gear A ₂ to A ₄ Preload is applied.

FIG. 6 shows a bicycle in-wheel motor provided with a Coriolis motion gear device according to an embodiment of the present invention as a speed reducer. In the case of this application example, the housing 6 includes a disk-shaped portion (provisionally 6L) and a cylindrical portion (provisionally 6R), and each of the 6L and 6R is a bicycle frame 18 or the like. Is supported so that it cannot rotate. A Coriolis motion gear device having substantially the same configuration as the Coriolis motion gear device described with reference to FIG. 2 is provided. One part 6R of the housing 6
Is provided with a motor 13. The motor 13 is a so-called "hollow motor" in which the rotating shaft 13a is a hollow shaft. The input shaft 1 of the Coriolis motion gear device is also a hollow shaft. The axle shaft 19 is inserted through the through-path 13b of the rotating shaft 13a and the through-path 1b of the input shaft 1, and both ends of the axle shaft 19 are fixed to the frame 18 so as not to rotate.

Further, by using a four-point contact ball bearing as the bearing 20 for supporting the rotating body 3, it is possible to reduce the weight and cost by reducing the number of parts, for example, as compared with the case of using a double row angular contact ball bearing. Can be achieved. The second gear A ₂ and the third gear A ₃ are directly formed on the outer ring of the bearing 20.

The output shaft 2 is rotatably supported by the housing 6 coaxially with the input shaft 1. Further, an outer housing 21 that covers the housing 6 is provided radially outside the housing 6. The outer housing 21 has a cylindrical shape, and is rotatably supported by the housings 6L and 6R via angular ball bearings 22 and 23. And, by the output shaft 2, the outer housing
21 can be driven. That is, the bicycle in-wheel motor has a so-called “outer rotor geared motor” configuration. A disc-shaped flange 21 is provided on the outer peripheral portion of the outer housing 21.
a is formed and a hole 21b for fixing a rim (not shown)
Are provided. The one-way clutch 24 serves as a power transmission mechanism from the output shaft 2 to the outer housing 21.
Is used. The bearing used for each part can be changed to another type if necessary.For example, if the needle roller bearing denoted by reference numeral 25 is replaced with a four-point contact ball bearing, the input shaft can be changed. The positioning in the axial direction can be performed only by the bearing 25. Further, it can withstand higher-speed rotation.

As described above, when the in-wheel motor for a bicycle is formed using the Coriolis motion gear device according to the embodiment of the present invention, the power mechanisms such as the motor and the reduction gear are housed in the hub supporting the spokes of the wheels. For example, it is possible to reduce the size and weight of the power transmission mechanism of the bicycle with the electric assist power. Further, by using a four-point contact ball bearing as the bearing 20 that supports the rotating body 3, the weight and cost can be reduced by reducing the number of parts, for example, as compared with the case of using a double row angular contact ball bearing. Becomes possible. Further, power consumption can be reduced, and the distance over which auxiliary power can be obtained by one charge can be extended. Therefore, it is possible to promote the spread of the bicycle with the electric assist power. The description of other operations and effects similar to those of the Coriolis motion gear shown in FIG. 2 is omitted here.

The in-wheel motor provided with the outer housing 21 shown in FIG. 6 can be used as an in-wheel motor for an automobile. In this case, the in-wheel motor can be integrated with the center of the wheel. Further, if the present invention is applied to a joint portion of an arm of an industrial robot, it becomes possible to configure an actuator for driving a robot arm.

Further, the outer housing 21 shown in FIG.
Can be used as a drive pulley for a belt conveyor. In this case, when the outer diameter of the drive pulley is increased in response to an increase in the belt thickness due to the extension of the belt, the desired low speed can be obtained by utilizing the fact that the Coriolis motion gear device can obtain a large reduction ratio. An operable belt conveyor can be configured.

The belt conveyor is desirably operated at a low speed in order to suppress the discharge of the load at the end of the conveyor.
Operating the belt conveyor at low speed means that the belt feed speed is suppressed to low speed. However, when the outer diameter of the drive pulley is increased as described above, the circumference of the drive pulley is extended,
Increase in feed amount of belt per rotation (increase in feed speed)
Will come. Therefore, as the outer diameter of the drive pulley increases, a reduction gear capable of obtaining a larger reduction ratio is indispensable. Therefore, if the Coriolis motion gear device is used as a reduction device for a drive pulley, it is possible to obtain a desired reduction ratio while putting the reduction device in the drive pulley. Moreover, as described above, the Coriolis motion gear device has a high efficiency (η ≧ 0.9), so that heat generation is suppressed to a small extent, which makes it suitable for long-time operation.

In the related art, if a motor as a power source and a reduction gear are arranged outside the drive pulley, it is possible to obtain a desired reduction ratio and perform low-speed operation. Further, the problem of heat generation due to the low efficiency of the transmission could be solved by disposing the reduction gear outside the drive pulley. However, in this configuration, the motor and the reduction gear protrude from the belt case, and the occupied volume for installing the conveyor device naturally increases. Therefore, even if the conveyor is housed inside the building, it is difficult to secure an inspection space by narrowing the machine equipment room in the building, and the layout of the transport route is limited. Was something. In addition, since the weight of the conveyor device is increased, the installation cost of the conveyor is also increased. In addition, a conventional drive pulley with a built-in motor including a pair of planetary gears has a low reduction ratio of a transmission, which is not suitable for low-speed operation, and also has a large amount of heat generation due to a low efficiency of the transmission, thereby limiting an operation time. Met.

In this regard, the drive pulley for a belt conveyor according to the embodiment of the present invention can solve all of the above problems. The use as a drive pulley is not limited to a belt conveyor, but can be used for a bucket elevator or the like.

[0056]

According to the present invention, the following effects are obtained. First, according to the Coriolis motion gear device according to claim 1 of the present invention, by reducing the number of components interposed between the input shaft and the respective gears, the dimension setting of the input shaft and the rotating body is reduced. It is possible to increase the degree of freedom. Therefore, the applicable range of the Coriolis motion gear device can be further expanded. Further, the number of assembling steps can be reduced and the assembling accuracy can be improved, so that a highly accurate Coriolis motion gear device can be supplied more stably. Further, since machining, heat treatment, and the like of the integrally formed portion can be performed in one step, it is also possible to reduce the processing cost of the Coriolis motion gear.

According to a Coriolis motion gear device according to a second aspect of the present invention, an outer ring of a bearing that supports the rotating body with respect to the inclined portion of the input shaft is formed as a part of the rotating body. Accordingly, the effect of the Coriolis motion gear according to claim 1 of the present invention can be obtained. Further, the same effect can be obtained by the Coriolis motion gear device according to claim 3 of the present invention.

Further, according to the Coriolis motion gear device according to the fourth aspect of the present invention, it is possible to provide a Coriolis motion gear device which can be reduced in size and weight and can be manufactured at low cost. In addition, according to the Coriolis motion gear device according to claim 5 of the present invention, the applicable range of the Coriolis motion gear device can be further expanded. According to the Coriolis motion gear device according to claim 6 of the present invention, the applicable range of the Coriolis motion gear device can be further expanded.

Further, according to the Coriolis motion gear device according to the seventh aspect of the present invention, the Coriolis motion gear device having the function as an actuator is provided, and is small in size.
It is possible to provide a lightweight and low-cost actuator.

According to the Coriolis motion gear device according to the eighth aspect of the present invention, it is possible to improve the operability and comfort of the electric vehicle and to increase the traveling distance. Furthermore, according to the Coriolis motion gear device according to claim 9 of the present invention,
It is possible to reduce the size and weight of a power source for an electric scooter or a bicycle with an electric auxiliary power, and to increase the traveling distance by reducing the power consumption. In addition, according to the Coriolis motion gear device according to claim 10 of the present invention, it is possible to provide a conveyor device capable of obtaining a desired operation speed.

[Brief description of the drawings]

FIG. 1 is a sectional view of a Coriolis motion gear device according to an embodiment of the present invention.

FIG. 2 is a sectional view of a main part of a Coriolis motion gear device showing an application example of FIG. 1;

FIG. 3 is a sectional view of a main part of a Coriolis motion gear device showing a further application example of FIG. 1;

FIG. 4 is a sectional view showing a case where the Coriolis motion gear device according to the embodiment of the present invention is used for an in-wheel motor of an automobile.

FIG. 5 is a sectional view showing an application example of the in-wheel motor shown in FIG.

FIG. 6 is a sectional view showing a case where the Coriolis motion gear device according to the embodiment of the present invention is used for an in-wheel motor of a bicycle.

FIG. 7 is a schematic sectional view of a Coriolis motion gear device.

FIG. 8 is a schematic sectional view showing the operation of the Coriolis motion gear device shown in FIG. 7;

FIG. 9 is a schematic front view showing an operation of the Coriolis motion gear device shown in FIG. 7;

FIG. 10 is a development view of the Coriolis motion gear device shown in FIG. 9 into an equivalent cylindrical gear.

FIG. 11 is an enlarged view of a main part of FIG. 10;

FIG. 12 is a sectional view of a main part showing an application example of the Coriolis motion gear device shown in FIG. 11;

FIG. 13 is a development view of the Coriolis motion gear device shown in FIG. 12 into an equivalent cylindrical gear.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Input shaft 1a Inclined part 1c Inner ring 2 Output shaft 3 Rotating body 3a Outer ring 6 Housing 8 Bearing

Claims (10)

[Claims] A _{first member} having a number of teeth fixed to the housing;
A fourth gear having a number of teeth n ₄ attached to the output shaft;
Match the respective axis of the input shaft is disposed, a second number of teeth n ₂
A rotating body integrally provided with a gear and a third gear having the number of teeth n ₃ is supported by the inclined portion of the input shaft so that the second gear meshes with the first gear and the third gear meshes with the fourth gear. XY having a point at which a center point of a common spherical surface passing through each pitch circle of the first and second gears coincides with a central point of a common spherical surface passing through each pitch circle of the third and fourth gears. The axis of the input shaft is arranged on the X axis of the coordinates, and the mesh points of the first and second gears and the mesh points of the fourth and third gears are placed on the same quadrant or different quadrants of the XY coordinates. A Coriolis motion gear device, wherein a bearing is interposed between at least one of the gears and the input shaft, and at least one of an outer ring and an inner ring of the bearing is integrated with the gear or the input shaft. A Coriolis motion gear device characterized by being formed. 2. The Coriolis motion gear device according to claim 1, wherein an outer ring of a bearing that supports the rotating body with respect to the inclined portion of the input shaft is integrally formed with the rotating body. 3. The Coriolis motion according to claim 1, wherein an inner ring of a bearing that supports the rotating body with respect to the inclined portion of the input shaft and an inclined portion of the input shaft are integrally formed. Gear device. 4. The Coriolis motion gear device according to claim 1, wherein the bearing is a four-point contact ball bearing. 5. The Coriolis motion gear device according to claim 1, wherein the output shaft drives an outer housing that covers the housing. 6. The Coriolis motion gear device according to claim 1, wherein the input shaft is a hollow shaft. 7. The Coriolis motion gear device according to claim 1, wherein a motor for driving the input shaft is built in the housing. 8. The Coriolis motion gear device according to claim 7, wherein the Coriolis motion gear device is used as an in-wheel motor for an automobile. 9. The Coriolis motion gear device according to claim 7, wherein the Coriolis motion gear device is used as an in-wheel motor for a motorcycle. 10. The Coriolis motion gear device according to claim 7, wherein the Coriolis motion gear device is used as a drive pulley for a conveyor.