WO2019198437A1 - Taumel mechanism - Google Patents

Abstract

A taumel mechanism 100 comprising a first gear 10 having internal teeth 11 and a first rotation stopper 13, and a second gear 20 having external teeth 21 and a second rotation stopper 23, wherein the difference between the number of the internal teeth 11 and the external teeth 21 is not a divisor of the difference of the number of the internal teeth 11. By means of such a configuration the relative range of rotation of the first gear 10 and the second gear 20 can be expanded by means of a simpler configuration, for example.

Description

Taumel mechanism

The present invention relates to a Taumel mechanism.

Conventionally, a Taumel having a first gear having internal teeth, a second gear having external teeth meshing with the internal teeth, and a stopper structure that defines a relative rotation range of the first gear and the second gear. The mechanism is known.

JP 2009-165647 A

In this type of Taumel mechanism, it would be beneficial if a stopper structure capable of setting the relative rotation range of the first gear and the second gear wider with a simpler configuration could be obtained.

Thus, one of the objects of the present invention is to obtain a taumel mechanism having a stopper structure that can set a relative rotation range of the first gear and the second gear wider with a simpler configuration, for example. That is.

The taumel mechanism of the present invention includes, for example, a first gear having an inner tooth and a first rolling stopper, an outer tooth that meshes with the inner tooth, and the first rolling stopper to contact the inner tooth and the outer tooth. A second gear having a second rolling stopper that stops rolling relative to the teeth, and the difference in the number of teeth between the internal teeth and the external teeth is not a divisor of the number of teeth of the internal teeth .

In the Taumel mechanism, for example, the difference in the number of teeth is a divisor of the number n times the number of teeth of the internal teeth (n is an integer of 2 or more).

In the Taumel mechanism, for example, the difference in the number of teeth is a divisor that is twice the number of teeth of the internal teeth.

In the above Taumel mechanism, for example, the first rolling stopper is positioned at one of two points that are different from each other by 360 ° relative to the center of the internal tooth and that are separated from each other. It is provided at a position where it comes into contact with the second rolling stopper.

In the taumel mechanism, for example, the first rolling stopper is positioned to be shifted in the axial direction with respect to the inner teeth, and the second rolling stopper is positioned to be shifted in the axial direction with respect to the outer teeth. The

In the above Taumel mechanism, for example, one of the first rolling stopper and the second rolling stopper is circumferentially separated from each other and is in contact with the other of the first rolling stopper and the second rolling stopper, respectively. A first abutment portion and a second abutment portion that contact each other, wherein the first gear and the second gear are in contact with the first abutment portion and the other, and the second abutment portion And a position where the other is in contact with the other.

According to the above Taumel mechanism, for example, a configuration in which the relative rotation range of the first gear and the second gear is approximately 360 ° or more can be realized with a simpler configuration.

FIG. 1 is a schematic and exemplary view of the taumel mechanism of the first embodiment viewed from the axial direction. FIG. 2 is a schematic and exemplary view seen from the axial direction of the taumel mechanism of the first embodiment, and the meshing position of the inner teeth and the outer teeth is moved in the counterclockwise direction with respect to FIG. It is a figure which shows a state. FIG. 3 is a schematic and exemplary diagram viewed from the axial direction of the taumel mechanism of the first embodiment, and the meshing position of the inner teeth and the outer teeth is moved in the counterclockwise direction with respect to FIG. It is a figure which shows a state. FIG. 4 is a schematic and exemplary view seen from the axial direction of the taumel mechanism of the first embodiment. The meshing position of the inner teeth and the outer teeth moves counterclockwise with respect to FIG. It is a figure which shows the state which returned to the substantially the same position as FIG. FIG. 5 is a schematic and exemplary view of the taumel mechanism according to the first embodiment viewed from the axial direction. The first rolling stopper and the second rolling stopper are in contact with each other, and the first gear and the first gear It is a figure which shows the state by which the relative rolling with two gears was stopped. 6 is a cross-sectional view taken along the line VI-VI in FIG. FIG. 7 shows the second rolling stopper relative to the center of the first gear when the first gear of the Taumel mechanism of the first embodiment is fixed and the outer teeth are rolled relative to the inner teeth. It is a typical and exemplary figure which shows the locus | trajectory of the 2nd rolling stopper during about 1 round rotation in general. FIG. 8 shows the second rolling stopper relative to the center of the first gear when the first gear of the Taumel mechanism of the first embodiment is fixed and the outer teeth are rolled relative to the inner teeth. It is a typical and exemplary figure which shows the locus | trajectory of the 2nd rolling stopper during about 2 round rotations. FIG. 9 shows the second rolling in the case where the first gear is fixed and the outer teeth are rolled relative to the inner teeth in the comparative example in which the difference in the number of teeth is a divisor of the number of inner teeth. It is a typical example which shows the locus | trajectory of a stopper. FIG. 10 is a schematic and exemplary diagram viewed from the axial direction of the taumel mechanism of the second embodiment. 11 is a cross-sectional view taken along the line XI-XI in FIG. FIG. 12 is a schematic and illustrative view showing the locus of the second rolling stopper when the first gear of the Taumel mechanism of the second embodiment is fixed and the external teeth roll relative to the internal teeth. It is a simple figure. FIG. 13 is a schematic and exemplary diagram viewed from the axial direction of the taumel mechanism of the third embodiment. FIG. 14 is a schematic and illustrative view showing the locus of the second rolling stopper when the first gear of the Taumel mechanism of the third embodiment is fixed and the outer teeth are rolled relative to the inner teeth. It is a simple figure.

Hereinafter, exemplary embodiments of the present invention will be disclosed. The configuration of the embodiment shown below, and the operation and result (effect) brought about by the configuration are examples. The present invention can be realized by configurations other than those disclosed in the following embodiments. According to the present invention, it is possible to obtain at least one of various effects (including derivative effects) obtained by the configuration. In the present specification, ordinal numbers are given for convenience in order to distinguish parts, parts, positions, directions, etc., and do not indicate priority or order.

In the following, the relative rotation range of the first gear and the second gear refers to the relative rotation range of the second gear with respect to the first gear, or the relative rotation range of the first gear with respect to the second gear. Means.

[First Embodiment]
[Basic structure of Taumel mechanism]
1 to 4 are views of the taumel mechanism 100 of the present embodiment as viewed from the axial direction. As shown in FIG. 1, the taumel mechanism 100 includes a first gear 10 and a second gear 20.

The first gear 10 has a plurality of internal teeth 11 arranged at a constant pitch (interval, period) in the circumferential direction of the center C1. The plurality of inner teeth 11 protrudes radially inward, for example, on the inner periphery of the ring portion 12.

The second gear 20 has a plurality of external teeth 21 arranged at a constant pitch (interval, period) in the circumferential direction of the center C2. For example, the plurality of external teeth 21 protrude outward in the radial direction on the outer periphery of the disk portion 22.

FIGS. 1 to 4 are diagrams showing changes in the meshing state of the inner teeth 11 and the outer teeth 21 in the Taumel mechanism 100. FIG. The inner teeth 11 and the outer teeth 21 mesh with each other, and the number of teeth of the outer teeth 21 is smaller than the number of teeth of the inner teeth 11.

As shown in FIGS. 1 to 4, the outer teeth 21 roll relatively along the inner circumference of the inner teeth 11. In other words, the inner teeth 11 roll relatively along the outer periphery of the outer teeth 21. 1 to 4, the meshing position Pm between the inner teeth 11 and the outer teeth 21 is approximately one turn along the inner teeth 11 in the counterclockwise direction in the order of FIGS. 1, 2, 3, and 4. The state is shown.

The center C1 of the inner tooth 11 and the center C2 of the outer tooth 21 are eccentric from each other. In other words, the center C1 of the inner tooth 11 and the center C2 of the outer tooth 21 are separated from each other. Therefore, according to the relative rolling of the inner teeth 11 and the outer teeth 21, the center C2 rotates relatively around the center C1, in other words, the center C1 relatively moves around the center C2. Rotate. In the case of FIGS. 1 to 4, the center C2 relatively rotates in the counterclockwise direction around the center C1 in the order of FIG. 1, FIG. 2, FIG. 3, and FIG. In other words, the center C1 rotates relatively around the center C2 in the clockwise direction.

Therefore, by configuring a mechanism for rotating the center C2 relatively around the center C1 by rotation from a drive source such as a motor (not shown), in other words, a mechanism for rotating the center C1 relatively around the center C2. The inner teeth 11 and the outer teeth 21 can be relatively rolled.

Here, when FIG. 1 is compared with FIG. 4, while the center C <b> 2 rotates relatively one turn around the center C <b> 1, in other words, the meshing position Pm between the inner tooth 11 and the outer tooth 21 is changed to the inner tooth 11. Since there is a difference between the number of teeth of the inner teeth 11 and the number of teeth of the outer teeth 21 during one round along the inner teeth 11 (first gear 10) and the outer teeth 21 (second gear 20). It can be seen that a relative rotational angle deviation occurs. This deviation angle is 360 ° × (the number of teeth difference) / (the number of teeth of the internal teeth) as the center angle of the center C1. Utilizing such characteristics, for example, the rotating member 30 that eccentrically rotates one of the inner teeth 11 and the outer teeth 21 is used as an input member, and the rotating member 30 and the one are configured to be relatively rotatable, By permitting the one slide relative to the fixing member such as a housing and restricting the one rotation relative to the fixing member and outputting the other rotation using the other as an output member (for example, Japanese Patent Application No. 2016-224524) The taumel mechanism 100 can be configured as a speed reduction mechanism. The gear ratio in this case is (number of teeth of the internal teeth) / (number of teeth difference). In the present embodiment, as an example, the number of internal teeth 11 is 41, the number of external teeth 21 is 39, and the difference in the number of teeth is 2. In this case, the gear ratio is 20.5.

FIG. 5 is a view as seen from the axial direction of the Taumel mechanism 100, in which the first rolling stopper 13 and the second rolling stopper 23 are in contact with each other, and the relative relationship between the first gear 10 and the second gear 20 is illustrated. This shows the state where the rolling is stopped. As shown in FIG. 5, in this embodiment, the first gear 10 has the first rolling stopper 13, and the second gear 20 has the second rolling stopper 23 that contacts the first rolling stopper 13. is doing. The first rolling stopper 13 and the second rolling stopper 23 are configured such that the relative rolling between the first gear 10 and the second gear 20 stops when they abut against each other.

As shown in FIG. 5, the first rolling stopper 13 is positioned radially outward from the inner end surface 11 a (inner peripheral surface) of the inner teeth 11, and the second rolling stopper 23 is located outside the outer teeth 21. It is located radially inward from the end surface 21a (outer peripheral surface).

FIG. 6 is a sectional view taken along line VI-VI in FIG. As shown in FIG. 6, the first rolling stopper 13 is positioned in the axial direction with respect to the inner teeth 11, and the second rolling stopper 23 is positioned in the axial direction with respect to the outer teeth 21. Has been.

[Rolling stopper trajectory]
FIG. 7 is a diagram showing the trajectory T of the second rolling stopper 23 of FIG. 5 when the first gear 10 is fixed and the external teeth 21 are rolled relative to the internal teeth 11. FIG. 7 shows a trajectory T of the second rolling stopper 23 while the second rolling stopper 23 relatively rotates around the center C1 from the point P0 in the clockwise direction over substantially one round. Here, “if the first gear 10 is fixed and the outer teeth 21 roll relative to the inner teeth 11” means that the first rolling stopper 13 and the second rolling stopper 23 In order to consider the relative position and the movement state, the first gear 10 is temporarily fixed and the second gear 20 is configured to be movable for the sake of convenience. The specifications such as the output configuration, the support configuration, and the movable configuration are not limited. In other words, if the Taumel mechanism has the same number of internal teeth and external teeth as the Taumel mechanism 100 as the locus T in FIG. In the case of rolling, the second rolling is similar to the trajectory T in FIG. 7 (similar) regardless of the specifications such as the shape, size, input / output configuration, support configuration and movable configuration of the Taumel mechanism. The trajectory of the moving stopper is obtained.

In this case, when the outer teeth 21 roll relative to the inner teeth 11 (along the inner circumference of the inner teeth 11) in the counterclockwise direction, as shown in FIG. 7, the second rolling stopper 23 rotates relatively around the center C1 in the clockwise direction. Accordingly, the second rolling stopper 23 provided on the second gear 20 having the external teeth 21 is periodically reciprocated around the center C1 in the clockwise direction while reciprocating within the distance d in the radial direction. Draw a trajectory T that rotates. The locus T is a locus close to one inner trochoid. Here, the distance d in the radial direction is substantially the same as the distance d (see FIG. 5) between the center C1 and the center C2. In FIG. 7, the point Po is the position farthest from the center C1 in the trajectory T, and the point Pi is the position closest to the center C1 in the trajectory T.

7 is a position where the second rolling stopper 23 as shown in FIG. 5 is in contact with the first rolling stopper 13. In other words, the first rolling stopper 13 is located at the point P0. More specifically, the first rolling stopper 13 is located at a position in contact with the second rolling stopper 23 located at the point P0. Further, in the initial state of rolling in consideration here, the second rolling stopper 23 is positioned at the point P0. Further, a point P1 in FIG. 7 indicates that the second rolling stopper 23 in the case where the second rolling stopper 23 relatively rotates about the center C1 around the center C1 (approximately 360 °) from the state of FIG. Position.

As apparent from FIG. 7, the points P1 and P0 are separated from each other. In the present embodiment, the point P1 is separated from the point P0 in the radial direction. Therefore, before and after the point P1, that is, the second rolling stopper 23 that has rolled about the center C1 about the center C1 from the point P0 in the clockwise direction relatively bypasses the first rolling stopper 13 in the radial direction. While moving relatively in the circumferential direction.

FIG. 8 shows a locus T of the second rolling stopper 23 while the second rolling stopper 23 relatively rotates around the center C1 around the center C1 from the point P0 in the clockwise direction over substantially two rounds. Is shown.

8, the broken line section of the trajectory T is the same trajectory of the first round as shown in FIG. 7, and the solid line section of the trajectory T is the trajectory of the second round in FIG. Further, in FIG. 8, the point P <b> 2 is the second point when the second rolling stopper 23 (second gear 20) is rotated approximately twice around the center C <b> 1 in the clockwise direction from the state of FIG. 5. This is the position of the rolling stopper 23.

As apparent from FIG. 8, the point P2 is a position close to (slightly shifted from) the point P0. Therefore, the second rolling stopper 23 contacts the first rolling stopper 13 also at the point P2. That is, the second rolling stopper 23 contacts the first rolling stopper 13 in the state at the point P0 and the state at the point P2. As described above, the point P1 is separated from the point P0 (point P2) in the radial direction.

Therefore, in the taumel mechanism 100 of the present embodiment, the relative rotation range of the second gear 20 with respect to the first gear 10 is approximately two rounds by the contact between the first rolling stopper 13 and the second rolling stopper 23. (Approximately 720 °). That is, the second rolling stopper 23 is clockwise and counterclockwise around the center C1 in the relative rotation range of approximately two rounds (approximately 720 °) between the first gear 10 and the second gear 20. Can be rotated relatively. The first rolling stopper 13 functions as a stopper when the relative rotation angle of the second rolling stopper 23 is 0 °, and also functions as a stopper when the relative rotation angle of the second rolling stopper 23 is approximately 720 °. .

According to the inventor's earnest study, such a phenomenon, that is, the relative detouring phenomenon (jumping phenomenon) between the second rolling stopper 23 and the first rolling stopper 13 at the point P1 as shown in FIG. It has been found that this occurs when the difference in the number of teeth between the inner teeth 11 and the outer teeth 21 is not a divisor of the number of teeth of the inner teeth 11. That is, as shown in FIGS. 1 to 4, when the meshing position Pm of the inner teeth 11 and the outer teeth 21 rotates once along the inner teeth 11, the position of the second rolling stopper 23 in FIG. The point Po moves from the point Po to the adjacent point Po with an arc-shaped trajectory T spaced in the circumferential direction. The circumferential movement of the second rolling stopper 23 per one rotation of the meshing position Pm, that is, one rotation around the center C1, is caused by the difference in the number of teeth between the inner teeth 11 and the outer teeth 21, as shown in FIG. As shown, the central angle θd at the center C1 between the two points Po is 360 ° × (difference in the number of teeth) / (number of teeth of the internal teeth). Therefore, as will be apparent with reference to FIG. 7, when the number of teeth of the internal teeth 11 cannot be divided by the difference in the number of teeth between the internal teeth 11 and the external teeth 21, that is, the difference in the number of teeth is a tooth of the internal teeth 11. If it is not a divisor of the number, the initial point P0 and the point P1 at the time when the second rolling stopper 23 makes one round are shifted in the radial direction. As described above, when moving from the point Po to the adjacent point Po, the second rolling stopper 23 passes through the point Pi. Therefore, the second rolling stopper 23 moves relatively in the circumferential direction while detouring the first rolling stopper 13 in the radial direction at a point P1 that makes one round relatively around the center C1 from the initial point P0. It will be.

On the other hand, when the number of teeth of the inner teeth 11 can be divided by the difference in the number of teeth between the inner teeth 11 and the outer teeth 21, that is, for example, when the difference in the number of teeth is 1, the difference in the number of teeth is the number of teeth of the inner teeth 11. When the second rolling stopper 23 makes one round relatively around the center C1 from the initial point P0, the second rolling stopper 23 returns to substantially the same point P1. FIG. 9 shows a comparative example in which the difference in the number of teeth is a divisor of the number of teeth of the inner teeth 11 when the first gear 10 is fixed and the inner teeth 11 roll relative to the outer teeth 21. FIG. 6 is a view showing a locus Tr of a second rolling stopper 23 similar to FIG. 5. In the comparative example of FIG. 9, the number of teeth of the internal teeth 11 is 42, the number of teeth of the external teeth 21 is 39, and the difference in the number of teeth between the internal teeth 11 and the external teeth 21 is 3. Therefore, the difference in the number of teeth (3) is a divisor of the number of teeth (42) of the internal teeth 11. As will be apparent with reference to FIG. 9, in such a case, as described above, the second rolling stopper 23 makes a relatively one turn around the center C <b> 1 from the initial point P <b> 0, Return to substantially the same point P1. That is, when the difference in the number of teeth is a divisor of the number of teeth of the inner teeth 11, the first gear 10 and the second gear 20 are relatively moved by the contact between the first rolling stopper 13 and the second rolling stopper 23. A typical rotation range is set to approximately one round, that is, approximately 360 °.

In the present embodiment, as described above, the number of teeth of the internal teeth 11 is 41, the number of teeth of the external teeth 21 is 39, and the difference in the number of teeth is 2. Therefore, the difference in the number of teeth (2) is The divisor is a divisor (82) that is twice the number of teeth (41) of the internal teeth 11. Therefore, as described above, the second rolling stopper 23 returns to the point P2, which is in the vicinity of the point P0, at the time when the second rolling stopper 23 makes two relative turns around the center C1 from the initial point P0. From this consideration, when the difference in the number of teeth is a divisor of the number n times the number of teeth of the inner teeth 11 (n is an integer of 2 or more), the second rolling stopper 23 starts from the initial point P0. It will be understood that the point returns to the vicinity of the point P0 at the time of n turns relatively around the center C1. n may be an integer of 3 or more.

7 and 8, as in the present embodiment, when n = 2, that is, when the difference in the number of teeth is a divisor of twice the number of teeth of the internal teeth 11. In the second rolling stopper 23, the point P1 at the time when the second rolling stopper 23 relatively makes one turn around the center C1 from the initial point P0 is the circumferential direction of two points Po adjacent to each other with a gap in the circumferential direction. It will be located at the point Pi which is an intermediate position. In this case, the radial distance between the point P1 and the point P0 is the maximum.

If the first rolling stopper 13 is provided at a point Pc (see FIG. 8) where the trajectory T intersects between the first and second laps, the first rolling is performed on both the first and second laps. Since the stopper 13 and the second rolling stopper 23 come into contact with each other, the relative rotation range between the first gear 10 and the second gear 20 is limited to approximately 360 °. Here, the point Pc where the trajectory T intersects in the first and second laps is two positions where the relative rotation angle of the second rolling stopper 23 with respect to the center C1 of the inner tooth 11 is 360 ° different from each other. Is a point. Therefore, the first rolling stopper 13 is positioned at one of the two points Ps1 and Ps2 at which the relative rotation angle of the second rolling stopper 23 with respect to the center C1 differs from each other by 360 ° and is separated from each other. If it is provided at a position where it abuts against the moving stopper 23, it is possible to avoid the abutting of the first rolling stopper 13 and the second rolling stopper 23 in both the first and second rounds. In FIG. 8, at these two points Ps1 and Ps2, the corresponding radial radii R1 and R2 around the center C1 overlap each other, but the radial outer ends of the radial radii R1 and R2 are separated from each other. . In FIG. 8, such a point is, for example, a point Po or a point Pi. In the present embodiment, the first rolling stopper 13 is located at a point P0 (point P2) in the vicinity of the point Po. However, it is not limited to these. Further, since the rolling of the first gear 10 including the first rolling stopper 13 and the second gear 20 including the second rolling stopper 23 in the taumel mechanism 100 is relative, the second rolling stopper 23 is Provided at a position where the relative rotation angle of the first rolling stopper 13 with respect to the center C2 of the external tooth 21 is 360 ° different from each other and is in contact with the first rolling stopper 13 positioned at one of two points separated from each other. Even if it is the structure comprised, it can avoid that the relative rotation range of the 1st gear 10 and the 2nd gear 20 becomes substantially 360 degrees.

As described above, the taumel mechanism 100 according to the present embodiment includes, for example, the first gear 10 having the inner teeth 11 and the first rolling stopper 13, the outer teeth 21, and the second rolling stopper 23. The tooth number difference between the internal teeth 11 and the external teeth 21 is not a divisor of the tooth number difference of the internal teeth 11. According to such a configuration, for example, the relative rotation range of the first gear 10 and the second gear 20 is set to approximately 360 ° or more by the first rolling stopper 13 and the second rolling stopper 23. can do. Therefore, for example, a configuration in which the relative rotation range of the first gear 10 and the second gear 20 is approximately 360 ° or more can be realized with a relatively simple configuration.

Further, in the Taumel mechanism 100 of the present embodiment, for example, the difference in the number of teeth is a divisor of the number n times the number of teeth of the internal teeth 11 (n is an integer of 2 or more). According to such a configuration, for example, the relative rotation range of the first gear 10 and the second gear 20 is set to approximately 360 ° × n by the first rolling stopper 13 and the second rolling stopper 23. Can be set.

Further, in the Taumel mechanism 100 of the present embodiment, for example, the difference in the number of teeth is a divisor that is twice the number of teeth of the internal teeth 11. According to such a configuration, for example, the first rolling stopper 13 and the second rolling stopper 23 are easily separated from each other in a state in which the first gear 10 and the second gear 20 are relatively rotated one round. . Therefore, for example, it is easy to set the first rolling stopper 13 and the second rolling stopper 23 that are separated from each other in a state where the first gear 10 and the second gear 20 relatively rotate one round.

In the taumel mechanism 100 of the present embodiment, the relative rotation angle of the second rolling stopper 23 with respect to the center C1 of the internal tooth 11 is different from each other by 360 ° and one of the two points Ps1 and Ps2 separated from each other (for example, The first rolling stopper 13 is provided at a position in contact with the second rolling stopper 23 located at points P0 and P2 in the vicinity of the point Po). Thereby, for example, it can be avoided that the relative rotation range of the first gear 10 and the second gear 20 is approximately 360 °.

Further, in the taumel mechanism 100 of the present embodiment, the first rolling stopper 13 is positioned so as to be shifted in the axial direction with respect to the inner teeth 11, and the second rolling stopper 23 is positioned in the axial direction with respect to the outer teeth 21. The position is shifted. According to such a configuration, for example, it is possible to prevent the Taumell mechanism 100 having the first rolling stopper 13 and the second rolling stopper 23 from increasing in the radial direction, and the Taumel mechanism 100 is configured to be relatively compact. Can be realized.

[Second Embodiment]
FIG. 10 is a diagram viewed from the axial direction of the taumel mechanism 100A of the present embodiment, FIG. 11 is a side view of the taumel mechanism 100A viewed from the XI direction of FIG. 10, and FIG. FIG. 12 is a diagram showing a trajectory T of the second rolling stopper 23 </ b> A of FIGS. 10 and 11 when the inner teeth 11 roll relative to the outer teeth 21.

In the present embodiment, the number of teeth of the internal teeth 11 and the external teeth 21 is the same as that in the first embodiment. However, in this embodiment, as shown in FIGS. 10 and 11, the positions of the first rolling stopper 13A and the second rolling stopper 23A are different from those of the first embodiment, and accordingly, the first gear 10A. The configuration of the second gear 20A is also different from that of the first embodiment. In the present embodiment, the first rolling stopper 13 </ b> A is positioned radially inward from the inner end surface 11 a (inner peripheral surface) of the inner tooth 11, and the second rolling stopper 23 </ b> A is disposed at the outer end surface 21 a ( It is located radially inward from the outer peripheral surface. As shown in FIG. 12, even when the first rolling stopper 13A and the second rolling stopper 23A are provided in the arrangement shown in FIGS. 10 and 11, the same as in the first embodiment. The trajectory T of the second rolling stopper 23A can be obtained.

In the Taumel mechanism 100A of the present embodiment, the relative rotation angle of the second rolling stopper 23A with respect to the center C1 of the inner tooth 11 is different from each other by 360 ° and one of the two points Ps1 and Ps2 separated from each other (for example, The first rolling stopper 13A is provided at a position in contact with the second rolling stopper 23A located at points P0, P2) as the point Pi. Therefore, for example, it can be avoided that the relative rotation range of the first gear 10A and the second gear 20A is approximately 360 °.

[Third Embodiment]
FIG. 13 is a view of the taumel mechanism 100B of this embodiment as viewed from the axial direction. FIG. 14 is a diagram showing a trajectory T of the second rolling stopper 23 of FIG. 13 when the first gear 10B is fixed and the inner teeth 11 roll relative to the outer teeth 21. In FIG. 14, the broken line section of the trajectory T is the trajectory of the first round, and the solid line section of the trajectory T is the trajectory of the second round.

The present embodiment has the same configuration as that of the first embodiment. However, in this embodiment, as FIG. 13 shows, the 1st rolling stopper 13B has the 1st contact part 13a and the 2nd contact part 13b. The first contact portion 13a is the same as the first rolling stopper 13 of the first embodiment. Further, the second contact portion 13b is positioned away from the first contact portion 13a in the circumferential direction.

In the present embodiment, the first gear 10B and the second gear 20 have a point P0 (angle, see FIG. 14) where the first contact portion 13a and the second rolling stopper 23 are in contact, and the second contact portion. It is comprised so that it may rotate relatively between the point P22 (angle, refer FIG. 14) which 13b and the 2nd rolling stopper 23 contact | abutted. With such a configuration, the first contact portion 13a and the second contact portion 13b are provided so as to come into contact with the second rolling stopper 23 at different positions (angles), and the positions thereof are appropriately set. Thus, the relative rotation range of the first gear 10B and the second gear 20 can be adjusted appropriately.

As shown in FIG. 14, in the present embodiment, the point P22 is set corresponding to the second trajectory of the trajectory T of the second rolling stopper 23 indicated by the solid line in FIG. That is, the relative rotation range of the first gear 10B and the second gear 20 is set to 360 ° or more (approximately 645 °).

In the present embodiment, the configuration in which the first rolling stopper 13B includes the first abutting portion 13a and the second abutting portion 13b is illustrated, but the second rolling stopper 23 is the first abutting portion. You may have a contact part and a 2nd contact part.

As mentioned above, although embodiment of this invention was illustrated, the said embodiment is an example and is not intending limiting the range of invention. The present invention can be implemented in various other forms, and various omissions, replacements, combinations, and changes can be made without departing from the spirit of the invention. These various forms and modified forms are included in the scope and gist of the invention, and are also included in the invention described in the claims and the equivalents thereof. In addition, the specifications (structure, type, direction, shape, size, length, width, thickness, height, number, arrangement, position, material, etc.) of each configuration and type are appropriately changed and implemented. can do.

In the above embodiment, when explaining the locus of the rolling stopper, the first gear (inner teeth) is fixed and the second gear (outer teeth) is rolled counterclockwise with respect to the first gear. In this example, the second rolling stopper is illustrated as rotating relative to the first rolling stopper in the clockwise direction. However, for the sake of convenience of explanation, only the above-described configuration has been described. It is not limited to such a configuration. In the Taumel mechanism of the present invention, the first gear and the second gear rotate relatively, the outer teeth and the inner teeth roll relatively, and the first rolling stopper and the second rolling stopper move relative to each other. However, the relative rotation direction and the relative rolling direction are not limited to the above embodiment.

Specs such as the number of teeth of the internal teeth and external teeth, and specifications such as the positions and shapes of the first rolling stopper and the second rolling stopper can be changed as appropriate.

DESCRIPTION OF SYMBOLS 10, 10A, 10B ... 1st gear, 11 ... Internal tooth, 11a ... Inner end surface, 13, 13A, 13B ... 1st rolling stopper, 13a ... 1st contact part, 13b ... 2nd contact part, 20, 20A ... second gear, 21 ... external teeth, 21a ... outer end face, 23, 23A ... second rolling stopper, 30 ... rotating member, 100, 100A, 100B ... taumel mechanism, C1 ... center, Ps1, Ps2 ... two point.

Claims (6)

A first gear having an internal tooth and a first rolling stopper;
A second gear having an outer tooth meshing with the inner tooth and a second rolling stopper that comes into contact with the first rolling stopper and stops relative rolling between the inner tooth and the outer tooth;
With
A taumel mechanism in which a difference in the number of teeth between the internal teeth and the external teeth is not a divisor of the number of teeth of the internal teeth. The taumel mechanism according to claim 1, wherein the difference in the number of teeth is a divisor of the number n times the number of teeth of the internal teeth (n is an integer of 2 or more). The taumel mechanism according to claim 2, wherein the difference in the number of teeth is a divisor of twice the number of teeth of the internal teeth. The first rolling stopper is located at one of two points where the relative rotation angle of the second rolling stopper with respect to the center of the internal teeth differs from each other by 360 ° and is separated from each other. The taumel mechanism according to claim 1, which is provided at a position in contact with the stopper. The first rolling stopper is positioned axially displaced with respect to the internal teeth;
2. The taumel mechanism according to claim 1, wherein the second rolling stopper is positioned so as to be shifted in an axial direction with respect to the external teeth. One of the first rolling stopper and the second rolling stopper is spaced apart from each other in the circumferential direction, and a first abutting portion that abuts the other of the first rolling stopper and the second rolling stopper, respectively. Having a second abutment portion,
The first gear and the second gear are relatively between a position where the first contact portion and the other contact each other and a position where the second contact portion and the other contact each other. The taumel mechanism according to claim 1, wherein the taumel mechanism is configured to rotate in the direction.

Images