JP2001099263A - Drive device having oscillation internal engaging planetary gear structure and transmission - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce the generation of vibration and noise. SOLUTION: A drive device comprises an oscillatory internally engaging planetary gear structure type reduction gear unit 102 formed such that a first and second axes 111 and 112 are situated on a central axis L and external tooth gears 115a and 115b are oscillatorily engaged with the outer periphery of the first shaft and an internal tooth gear 120 is provided to be internally engaged with an external tooth gear concentrically with the first shaft and a second shaft is coupled to the external tooth gear through a means to take out the rotation component of the external tooth gear; and a motor unit 103. A simple planetary roller mechanism 202 to transmit a rotation power through friction of a roller is located between the reduction gear unit and the motor unit. A mounting reference surface 261 to be vertical to the rotation directions of the rotary axes of a sun roller, a planetary roller, and a ring roller is formed at a casing to contain a simple planetary roller mechanism 202. A fixing means is provided to energize the ring roller to the mounting reference surface 261 and fix a ring roller 213 at a casing.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a drive device such as a geared motor having a rocking internally meshing planetary gear structure as a speed change mechanism.

[0002]

2. Description of the Related Art Conventionally, an internal gear and an external gear that meshes internally with the internal gear are provided, and the center of the internal gear is a swinging gear inside the periphery of the external gear. BACKGROUND ART An intermesh gear (a gear corresponding to the international classification F16H1 / 32) is widely known.

FIG. 7 shows an example of a geared motor provided with a conventional rocking internally meshing planetary gear device of this type described in Japanese Patent Application Laid-Open No. 5-231482 as a speed reducer unit. The geared motor 1 includes a reduction gear unit (oscillating internal meshing planetary gear unit) 2 and a motor unit 3
And are integrated with each other.

[0004] The casing 51 of the reduction gear unit 2 comprises a central casing 52 arranged at the center in the axial direction, a joint casing 53 on the motor unit 3 side, and a front casing 54 on the opposite side of the motor unit 3. The casing 55 of the motor unit 3 includes a cylindrical casing 56 containing a stator and the like, and a joint casing 53 on the side of the reduction gear unit 2.
And a rear cover 57 opposite to the reduction gear unit 2. In this case, the joint casing 53 also serves as a part of the casings 51 and 55 of the units 2 and 3,
The two units 2 and 3 are integrally connected via the joint casing 53.

[0005] The reduction gear unit 2 includes a first shaft 11 serving as an input shaft and a second shaft 12 serving as an output shaft on a center axis L of the unit. The first shaft 11 is disposed at one end of the reduction gear unit 2 in the axial direction, and the second shaft 12 is disposed at the other end of the reduction gear unit 2 in the axial direction.

On the outer periphery of the first shaft 11, two eccentric bodies 13a and 13b are fitted adjacent to each other in the axial direction with a predetermined phase difference (in this example, 180 °), and these eccentric bodies 13a and 13b are fitted.
13b is configured to rotate integrally with the first shaft 11. The centers of the eccentric bodies 13a and 13b are
It is eccentric by a predetermined amount of eccentricity with respect to one shaft center. A bearing 1 is provided on the outer periphery of each of the eccentric bodies 13a and 13b.
External gears 15a and 15b are fitted via 4a and 14b. The double-row external gears 15a and 15b fitted to these eccentric bodies 13a and 13b have inner pin holes 16 respectively.
The inner pins 17 are loosely fitted in the inner pin holes 16a and 16b.

The reason why the number of external gears is two (double row) is as follows.
This is mainly to increase transmission capacity, maintain strength, and maintain rotational balance.

On the outer periphery of the external gears 15a and 15b, trochoidal or arcuate external teeth are provided, and these external teeth are in mesh with an internal gear 20 provided concentrically with the first shaft 11. are doing. The internal gear 20 is formed integrally with the inner periphery of the central casing 52, and each internal tooth is formed by the outer pin 21 held on the inner periphery of the central casing 52.

As a result, the speed reducer unit 2 is composed of the internal gear 20 and the external gear 15 internally meshed with the internal gear 20.
a, 15b, and the feature that the center of the internal gear 20 is inside the outer circumference of the external gears 15a, 15b (the feature defined in the international classification F16H1 / 32).

A pair of carriers 23 and 24 are arranged on both sides of the two external gears 15a and 15b. The two carriers 23 and 24 are rotatably supported by bearings 31 and 32 fitted on the inner periphery of the joint casing 53 and the inner periphery of the front casing 54, respectively, and a plurality of carriers penetrating the external gears 15a and 15b. The pins (connecting pins) 25 and the spacer 26 are integrally connected.

Both ends of the inner pin 17 loosely fitted in the inner pin holes 16a, 16b of the external gears 15a, 15b are slidably connected to carriers 23, 24 on both sides. As a result, only the rotation components of the external gears 15a and 15b are transmitted through the inner pins 17 to the carriers 2 on both sides.
3, and 24.

The carrier 23 on the side of the motor unit 3 has a ring shape having a central hole 23a, and one end of the first shaft 11 faces the central hole 23a so as to be connected to the motor shaft 61.

The carrier 24 on the opposite side is formed integrally with the base of the second shaft 12, and the other end of the first shaft 11 is inserted into a recess 24a formed in the carrier 24.
The first shaft 11 is provided in the center hole 2 of one carrier 23.
3a and the other carrier 2
4 is rotatably supported by a bearing 34 fitted on the inner periphery of the bearing 4.

The motor shaft 61 of the motor unit 3 is supported by a bearing 62 whose rear end is fitted to a rear cover 57.
The front end is supported by a bearing 63 fitted to the joint casing 53, and is arranged coaxially with the central axis L of the reduction gear unit 2.

The front end of the motor shaft 61 projecting outside the front end bearing 63 is inserted into the reduction gear unit 2 and has a central hole 23a of the carrier 23 of the reduction gear unit 2.
Inside, one end of the first shaft 11 and the coupling 70
Are connected by

In this case, splines are formed on the inner periphery of the coupling 70 and the outer periphery of the two shafts 11 and 61, and the two shafts 11 and 61 are spline-connected via the coupling 70. Here, the first shaft 11 and the motor shaft 61 are floating-coupled to each other by a spline while allowing relative play in the radial direction.

Next, the operation will be described.

In the geared motor 1 having such a configuration, when the first shaft 11 connected to the motor shaft 61 makes one rotation, the eccentric bodies 13a and 13b make one rotation. This eccentric body 1
By one rotation of 3a, 13b, the external gears 15a, 15b
Attempts to rotate around the first shaft 11, but its free rotation is restricted by the internal gear 20, so that the external gears 15a and 15b are almost inscribed in the internal gear 20 while Only swinging is performed (a characteristic of this type of deceleration structure).

If, for example, the number of teeth of the external gears 15a and 15b is N and the number of teeth of the internal gear 20 is N + 1, the difference N between the numbers of teeth is 1. Therefore, each time the first shaft 11 rotates, the external gears 15a and 15b are shifted (rotated) by one tooth with respect to the fixed internal gear 20. This is because one rotation of the first shaft 11 is equal to -1 of the external gears 15a and 15b.
/ N rotation.

The rotation of the external gears 15a and 15b is absorbed by the gap between the inner pin holes 16a and 16b and the inner pin 17, and only the rotation component is transferred to the carriers 23 and 24 via the inner pin 17. It is said that the second axis 12
Is transmitted to.

As a result, deceleration at a reduction ratio of -1 / N (minus represents reverse rotation) is achieved.

Next, another conventional example will be described.

FIGS. 8 and 9 show Japanese Patent Application Laid-Open No. 10-299841.
1 shows an example of a conventional geared motor described in a gazette. The oscillating internal meshing planetary gear structure used in the geared motor 500 is of a so-called distribution shaft type.

This internal meshing planetary gear structure comprises a first shaft 502 connected to an external motor shaft 501,
A plurality of distribution shafts 503 arranged on a circumference concentric with the first shaft 502 and rotating in conjunction with the first shaft 502; an eccentric body 504 provided on each of the plurality of distribution shafts 503; The first shaft 50
An external gear 505 rotatable eccentrically with respect to the first shaft 502 and the external gear 50
5 is provided with an internal gear 506 that meshes internally while rotating eccentrically with respect to the first shaft 502, and a second shaft 507 connected to the plurality of distribution shafts 503. In this internally meshing planetary gear structure, the eccentric body 504 is
3, 524, and the sorting shaft 503 is rotatably supported by carriers 523, 524. Then, a sun roller 511 is provided on the first shaft 502, and a plurality of distribution rollers 512 each circumscribing the sun roller 511 are provided on each of the plurality of distribution shafts 503 by spline coupling. On the outside, a pressure contact ring 513 is provided which has an inner diameter slightly smaller than the sum of the diameter of the sun roller 511 and twice the diameter of the distribution roller 512 and in which the distribution roller 512 is inscribed. The pressure contact ring 513 in this case is merely for generating a pressure contact force between the sun roller 511 and the distribution roller 512, and has a function different from that of the ring of the simple planet.

The gear structure of this type shown in FIGS. 17, 18 and the like has a structure in which the external gear has the external gear, contrary to the type in which the external gear swings with respect to the internal gear as described above. There is a type that swings and rotates with respect to a gear.

[0026]

By the way, an internally meshing planetary gear structure in which an external gear (or an internal gear) as shown in FIGS. The adopted reduction gear unit has a simple and compact structure, has high rigidity, and has the advantage that a high reduction ratio can be obtained. However, the external gear (or the internal gear) meshes with the mating gear while swinging. Therefore, there is a problem that noise is apt to increase.

In particular, since the unit is actually used in combination with another external unit, there is a problem that the units resonate with each other and a phenomenon that noise is further increased occurs.

For example, when a geared motor is configured in combination with a motor as described above, the vibration generated on the side of the reduction gear unit vibrates the motor coupled thereto, and is accompanied by the vibration generated by the motor itself. Cause complex resonance. Further, the vibration returns to the original reduction gear unit, causing more complicated resonance, which may rarely generate loud noise in the entire geared motor.

In this regard, in the case of the geared motor 1 shown in FIG. 17, the motor shaft 61 and the first shaft 11 are floating-coupled via a spline-type coupling 70 so that the vibration of the motor unit 3 itself and the reduction gear unit 2
The transmission of their own vibrations is prevented to prevent the two from resonating.

However, the mutual coupling of vibrations cannot be largely suppressed only by the floating coupling via the coupling 70, so that a sufficient noise reduction effect cannot be obtained.

Also, in the case of the geared motor employing the in-sharing planetary gear structure of the distribution shaft type shown in FIG. 18, the noise reduction effect as expected was not obtained when actually operated. The following can be considered as the reason.

That is, in the distribution type structure, since vibration and bending are generated in the distribution shaft 503 due to the swinging motion of the external gear 505, the distribution shaft 503 is inevitably subjected to the load from the external gear 505. There is a high possibility of receiving and vibrating or deforming (deflecting). in spite of,
In this geared motor, since the distribution roller 512 that is in pressure contact with the sun roller 511 exists on the distribution shaft 503, the vibration and deformation of the distribution shaft 503 are directly transmitted from the distribution roller 512 to the sun roller 511, and the friction roller is The function of preventing vibration transmission due to its use is not functioning well. In other words, the cause is that the roller 512 suitable for high-speed, low-torque power transmission is directly disposed on the distribution shaft 503 that is directly affected by the deformation accompanying the load transmission of the internal meshing planetary gear structure. Conceivable.

In any case (regardless of the cause), in the prior art described above, even if a friction roller is incorporated, the noise reduction effect has not been achieved until the common sense of the geared motor is changed.

The present invention has been made based on the above findings, and has a swinging internally meshing planetary gear structure capable of greatly reducing the level of vibration and noise and having a simple overall configuration and assembly. It is an object of the present invention to provide a drive device provided with

[0035]

According to a first aspect of the present invention, there is provided a driving device having an internal gear, and an external gear inscribed in the internal gear, wherein the center of the internal gear is the external gear. A drive device comprising: an oscillating internal meshing planetary gear unit inside the periphery of, and an external unit that is connected to the oscillating internal meshing planetary gear unit so that power can be input or removed. A friction transmission unit that transmits rotational power between the oscillating internal meshing planetary gear unit and the external unit by friction of a plurality of friction rollers that are in contact with each other between the oscillating internal meshing planetary gear unit and the external unit. The friction transmission unit is interposed, and the friction roller is a friction roller, a sun roller, a plurality of planetary rollers that are held by a carrier and are in rolling contact with the outer periphery of the sun roller, and the plurality of planetary rollers are inscribed. And a ring roller whose rotation is suppressed, and a simple planetary roller mechanism including a friction roller, and a casing accommodating the friction unit, wherein the sun roller, the planetary roller, and the ring roller are perpendicular to the rotation axis direction. The above-mentioned object is achieved by forming a mounting reference surface, and by providing a fixing means for fixing the ring roller to the casing by urging the ring roller against the mounting reference surface.

The most important requirement for this drive is 3
One is that a friction transmission unit is interposed between the oscillating internal meshing planetary gear unit and the external unit, and the other is that a simple planetary roller mechanism is adopted as the friction transmission unit. And the other is to form a mounting reference surface perpendicular to the rotation axis direction of the sun roller, the planetary roller and the ring roller on the casing containing the friction unit, and to attach the ring roller to the mounting reference surface. The fixing means is provided for fixing the ring roller to the casing by urging the ring roller.

As is clear from the following description and experimental results, the above two requirements bring the original effect of the present invention (beyond conventional common sense) only when they are combined. That is, a beneficial effect cannot be obtained by only one of them.

The details will be described below.

In this drive device, first, since a friction transmission unit composed of a simple planetary roller mechanism is interposed between the oscillating internal meshing planetary gear unit and the external unit, the oscillating internal meshing planetary gear is originally provided. By reducing the input rotation speed of the unit, the vibration generated in the oscillating internal meshing planetary gear unit can be reduced, and in addition,
Vibrations (especially rotational vibrations and axial vibrations) transmitted between the units on both sides of the friction transmission unit can be absorbed by the contact surfaces of the friction rollers of the friction transmission unit.

As a result, it is possible to avoid a complicated resonance phenomenon caused by the transmission of vibration between the oscillating internal meshing planetary gear unit and the external unit, and to reduce the level of noise generated in the entire driving device. be able to.

That is, one third unit (friction transmission unit), which may be called a bypass circuit for intentionally preventing vibration transmission, is interposed between the rocking internal meshing planetary gear unit and the external unit. Thereby, the transmission of vibration from the oscillating internal meshing planetary gear unit to the external unit, and the transmission of vibration from the external unit to the oscillating internal meshing planetary gear unit can both be effectively suppressed. Noise can be reduced.

What is important here is that a simple planetary roller mechanism is used as the friction transmission unit.

That is, the simple planetary roller mechanism used here as the friction transmission unit has a power transmission structure peculiar to the simple planetary roller mechanism particularly involving the rotation and revolution of the planetary roller, so that the friction between the contact surfaces of the (plural) rollers is improved. Since the rotational power is transmitted by the contact surfaces and the portions that support the planetary rollers with the carrier, the mutual transmission between the units (the oscillating internal meshing planetary gear unit and the external unit) on both sides of the friction transmission unit is attempted. It is possible to absorb vibration (particularly, vibration in the rotational direction and vibration in the axial direction).

The friction roller is used even in the above-mentioned sorting shaft type shown in FIG. However, in the case of the distribution shaft type, there is no simple planetary roller mechanism, and the distribution roller 512 itself sandwiched between the sun roller 511 and the pressure contact ring 513 has a structure in which the vibration of the distribution shaft 503 can be easily picked up. Has become. For this reason, with the vibration or deformation of the distribution shaft 503, the position of the distribution roller 512 shifts or the distribution roller 512 vibrates, and correct (without speed fluctuation) power transmission with the sun roller 511 cannot be performed. As a result, the vibration of the distribution roller 512 itself has an effect on the overall vibration and noise before the vibration absorbing function on the friction contact surface is achieved.

That is, since this device was not originally based on the idea of avoiding resonance,
3 is transmitted directly from the distribution roller 512 to the sun roller 511, and the structure does not achieve the object of the present invention of avoiding resonance by preventing vibration transmission.

Therefore, even if the friction roller is incorporated, the noise reduction effect has not been achieved until the common sense of the gear motor is renewed, and as a result, it is considered that the effect of the friction roller is of such a degree. Was interrupted there and was not examined further.

On the other hand, in the case of the present invention in which a simple planetary roller mechanism is employed for the friction transmission unit, the power is not directly transmitted by the rotation of the distribution roller itself.
Since the power is transmitted by the relative movement of the sun roller on the inner peripheral side, the ring roller on the outer peripheral side, and the planetary roller sandwiched between the sun roller and the outer peripheral side, the oscillating inner contact meshes like the above-mentioned distribution roller. It is not necessary to directly receive unnecessary deformation or vibration from the planetary gear unit.

Therefore, while being sandwiched between the sun roller and the ring roller, the planetary roller simply rolls into contact with the sun roller and the ring roller with the pressure required for frictional transmission.
Pressure fluctuations on the friction contact surface are small, and as a result, vibration transmission via the friction transmission unit is suppressed. In addition, as described above, the frictional contact surface effectively performs the vibration absorbing function, so that mutual vibration transmission between the units is prevented, and a great effect on noise reduction is achieved.

Next, a mounting reference surface which is perpendicular to the rotation axis direction of the sun roller, the planetary roller and the ring roller is formed on a casing for housing the friction unit, which is one of the other requirements. The advantage provided by the fixing means for urging the ring roller against the mounting reference surface and fixing the ring roller to the casing will be described.

As shown in FIG. 6, in general, the following combinations are possible for the fixed / input / output relationship of each element of the simple planetary roller mechanism. That is: 1) When the sun roller is used as the input element, the ring roller is used as the fixed element and the planet carrier is used as the output element, or the ring roller is used as the output element and the planet carrier is used as the fixed element; When a planet carrier is used as an input element, there are a case where a ring roller is used as a fixed element and a sun roller is used as an output element, and a case where a ring roller is used as an output element and a sun roller is used as a fixed element; In the case of the element, there are a case where the planetary carrier is a fixed element and the sun roller is an output element, and a case where the planetary carrier is an output element and the sun roller is a fixed element.

In the present invention, the ring roller of the simple planetary roller mechanism is used as a fixed element, and one of the carrier and the sun roller that support a plurality of planetary rollers is used as an input element and the other is used as an output element. Attention was paid to the configurations corresponding to A and C in FIG. 6, and an assembling utilizing a structure of forming an attachment reference surface was adopted.

When the input / output element is determined, the above configuration is focused on. When the ring roller arranged on the outer periphery is used as the fixing element, the largest ring roller can be fixed to the casing. This is because both the simple planetary roller mechanism and the casing can have a simple structure, and further noise reduction can be achieved.

Next, the structure for forming the mounting reference surface is adopted as follows.

In the process of devising the driving device according to the present invention, as a method of fixing the ring roller to the casing,
A general assembling means has been used in which a cylindrical housing portion having an inner diameter slightly smaller than the outer diameter of the ring roller is formed in the casing, and the ring roller is "press-fitted" into the housing portion and fixed. However, as a result of a test, it was found that the method of fixing the ring roller by the "press-fitting" had some problems. The reason is presumed to be as follows.

(1) From the viewpoint of compactness, it is necessary to make the ring roller as thin as possible. In such a case, if the method of fixing the ring roller by press fitting is used, the ring roller becomes It may be deformed radially inward. This radially inward deformation causes fluctuations in the contact pressure (linear pressure) of both the contact surface between the planetary roller and the ring roller and the contact surface between the planetary roller and the sun roller. As a result, the contact pressure value after the actual assembling is changed from the contact pressure (linear pressure) value planned before assembling the ring roller into the casing, and the contact pressure value becomes higher or lower particularly in the circumferential direction. The planetary rollers do not rotate smoothly.

(2) When strong pressure is applied to the ring roller from the outside in the radial direction by the high-rigidity casing, most of the radial vibration transmitted to the planetary roller (via the sun roller or the carrier) is reduced by the sun roller. Or, it was transmitted to the other party through the carrier as it is.

That is, the ring roller in the press-fitted state is hardly allowed to be slightly bent (distorted) in the radial direction. Therefore, in a drive device in which the ring roller is press-fitted and fixed (in the process of devising), much of the radial vibration energy received by the planetary roller via the carrier is transmitted “directly” to the sun roller, and conversely, Much of the radial vibration energy received by the planetary rollers via the rollers was transmitted "directly" to the carrier, and in particular, a so-called "radial vibration energy transmission structure" was formed in the simple planetary roller mechanism.

(3) The vibration transmitted to the ring roller is transmitted to the casing in a state where the casing is easily vibrated.

That is, in the fixing by press-fitting, the vibration transmitted to the ring roller directly vibrates the cylindrical surface of the substantially cylindrical casing in the radial direction (thickness direction). Therefore, the casing is likely to resonate, and this is transmitted to the casing of the external unit or the internal meshing planetary gear unit, and induces resonance of the entire drive device.

Accordingly, the present invention stops press-fitting and fixing, and suppresses assembling deformation of the ring roller by press-fitting as much as possible to maintain uniformity and stability of tangential pressure, while allowing vibration of the ring roller itself to some extent. The energy is absorbed here, and the vibration is reliably received by a mounting reference surface (highly rigid in the radial direction) formed in the thickness direction of the casing (or a surface similar to this: described later),
This vibration is prevented from being directly transmitted in the thickness direction of the casing.

That is, according to the present invention, the ring roller is fixed to the casing in a state where pressure is not applied in the radial direction, that is, in a state where the ring roller is urged to the mounting reference plane perpendicular to the axial direction, and the planetary roller is smoothly rotated. In addition to realizing proper rotation, the ring roller bends in the radial direction so that the ring roller itself has a radial vibration absorbing function, and the vibration of the ring roller is minimized from being transmitted to the casing. Thus, further noise reduction is achieved.

Although such a method of fixing the ring roller is very advantageous in terms of noise suppression as described above, it does not only reduce noise but also eliminates the need for press-fitting the ring roller. The efficiency of assembly work is increased.

Further, the ring roller may be configured such that the axis of the ring roller can be adjusted within the reference mounting plane. This makes it possible to easily adjust the axis of the ring roller so that it coincides with the axis of each power transmission shaft of the oscillating internal meshing gear unit and the external unit to which the friction transmission unit is connected. As a result, quick and easy assembly can be achieved. That is, when the ring roller was press-fitted and assembled, the axial center (alignment) could not be adjusted unless the swinging internal meshing gear unit and the external unit were moved. If is not subjected to radial pressure and can have a space that can move in the radial direction,
Since the adjustment of the shaft center can be easily performed, the assembly efficiency is dramatically improved.

Further, by adopting the simple planetary roller mechanism, the input portion and the output portion of the friction transmission unit can be arranged coaxially. Therefore, for example, the connecting portion between the sun roller and the external unit, the carrier and the carrier can swing. The connecting portion of the dynamic internal meshing gear unit can be arranged on the same axis.

This coaxiality means that, in particular, the shaft affected by the load of the external gear described above can be structured such that only one shaft is provided at the center of the unit (unlike the distribution shaft type). This is advantageous in that the rigidity of the entire unit can be increased simply by increasing the rigidity of the unit. Also, the vibration from the external gear is concentrated on one high-speed shaft, and the connection with the friction transmission unit can be completed only by connecting this high-speed shaft and one end of the friction transmission unit. is there.

That is, while having a simple and compact structure, the rigidity can be increased, so that a large torque can be transmitted. This is an advantageous structure in terms of noise reduction. .

In order to further take advantage of the coaxiality, a sun roller side insertion hole into which the power transmission shaft of the external unit can be inserted is provided in the sun roller. By forming a carrier-side shaft insertion hole into which the power transmission shaft of the oscillating internal meshing planetary gear unit can be inserted, the friction transmission unit is
The power transmission shaft may have a shaft joint structure that can relatively rotate.

In this manner, the coaxiality of the input and output relations of the simple planetary roller structure is widely known at present.
The drive shaft of the external unit and the input / output shaft of the oscillating internal meshing planetary gear unit are arranged on one central axis, and the geared motor having a configuration in which the coupling is connected by a normal coupling is simple. This is very advantageous in that the present invention can be applied.

For example, in the conventional geared motor 1 as shown in FIG. 7, a general coupling (between the motor shaft 61 of the motor unit 3 and the first shaft 11 of the oscillating internal meshing planetary gear unit 2) is used. Shaft coupling).
The geared motor having such a structure is not limited to the one shown in FIG. 7, and most of the conventional driving devices including the oscillating internal meshing planetary gear unit and the external unit have a similar structure. Under such circumstances, according to the friction transmission unit having the “shaft coupling structure” in which the shaft insertion hole is formed in the carrier and the sun roller as in the present invention, the friction transmission unit is replaced with a normal coupling. Thus, the drive device of the present invention can be easily realized with a very small design change. Further, even in the realization, the simple planetary roller mechanism can be configured to be compact in the axial direction, so that the entire driving device does not become long in the axial direction.

Further, by adopting such a simple planetary roller mechanism, a predetermined reduction ratio can be obtained in this stage, and the simple planetary roller mechanism in the front stage and the oscillating internal meshing planetary gear in the rear stage can be obtained. By combining with the unit, a high reduction ratio can be easily realized. Unlike the gears, the simple planetary roller mechanism makes it easy to set the reduction ratio finely. If multiple reduction ratios are set and multiple types are prepared, a geared motor series that supports multiple stages of reduction ratios It is also possible to easily provide a geared motor having a specific reduction ratio according to a specific application.

In particular, when the friction transmission unit has the "shaft coupling structure" as described above, the use of the reference mounting surface, combined with the time required for replacing a normal coupling, is almost the same. Therefore, the drive unit can be replaced with a friction transmission unit having another reduction ratio, so that this drive device can flexibly respond to a request for a wide range of reduction ratios. In addition, since it is only necessary to replace the friction unit as compared with replacing the entire geared motor, the cost at that time is reduced.

In the case of the simple planetary roller mechanism, since the planetary roller can be supported by a carrier separated from the oscillating internal meshing planetary gear unit side, even if vibration or vibration occurs on the oscillating internal meshing planetary gear unit side, Even if the deformation occurs, its influence hardly reaches the roller contact surface of the simple planetary roller mechanism. Therefore, a reliable and stable torque transmission is performed, so that a problem hardly occurs.

The drive unit according to the present invention includes a case where the external unit is connected to one of the high-speed shaft side and the low-speed shaft side of the swinging internal meshing structure, and a case where the external unit is connected to both. However, the largest vibration occurs on the high-speed shaft side, so that the present invention is particularly effective when an external unit is connected to the high-speed shaft side.

The external unit includes a machine to be driven in addition to a drive source such as a motor. As a method of connecting the units, for example, there are the following cases.

When the oscillating internal meshing planetary gear unit is used as a speed reducer, a motor as a drive source is connected to the high-speed shaft side, and a machine to be driven is connected to the low-speed shaft side. This is the general use of a geared motor. Also, when using the oscillating internal meshing planetary gear unit as a gearbox,
A drive source is connected to the low-speed shaft side, and a driven machine is connected to the high-speed shaft side. Then, the present invention is applied between units that may cause resonance.

That is, when there is a possibility of resonance between the drive source and the oscillating internal meshing planetary gear unit connected to each other, the friction transmission unit is interposed between the driving source and the oscillating internal meshing planetary gear unit. If there is a possibility of resonance between the driven machine and the oscillating internal meshing planetary gear unit, a friction transmission unit is interposed between the driven machine and the oscillating internal meshing planetary gear unit. By doing so, the overall vibration and noise can be reduced.

Since the friction transmission unit transmits power by friction of the friction rollers, a desired gear ratio can be obtained in this unit by appropriately changing the diameters of the friction rollers in contact with each other. . However, since it is friction transmission, it is not suitable for large torque transmission. For example, it is preferable to use it as a front-stage reduction mechanism when decelerating with an oscillating internally meshing planetary gear unit. Can be set higher.

In the case of the friction transmission unit having the "shaft coupling structure" described above, at least one of the planetary roller-side shaft insertion hole and the carrier-side shaft insertion hole floats with respect to the power transmission shaft inserted therein. It is preferable to have a coupling structure (claim 4).

In this case, since the shaft connecting portion between the friction transmission unit and the oscillating internal meshing planetary gear unit or the external unit has a floating connection structure, each unit is connected to the friction roller. Can be prevented from being applied via the connecting portion due to the rocking of the roller, and the fluctuation of the contact pressure between the friction rollers can be suppressed. Therefore, there is no variation in the transmission torque in the friction transmission unit, and stable and reliable torque transmission is possible. In particular, as already described, since the ring roller of the friction transmission unit is fixed to the casing based on the reference mounting surface, the ring roller itself is simply fitted to the shaft as shown in FIGS. Unlike the normal coupling which holds its own position (conversely supported by the shaft), it can maintain its own position independently of the power transmission shaft. As a result, since the clearance between each power transmission shaft and each shaft insertion hole can be constantly maintained, vibration and noise can be more reliably cut off. Further, when the friction transmission unit has an adjustable axis, the clearance can be set accurately from the beginning, and the noise and vibration can be further suppressed by the combination with the clearance.

As a specific method of fixing the ring roller to the casing, a bolt hole is formed in the ring roller so as to penetrate in the direction of the rotation axis. The ring roller can be fixed to the reference mounting surface by a fixing bolt that penetrates a bolt hole and is screwed with a tap hole formed in the mounting reference surface, and the bolt hole is fixed to the fixing bolt. On the other hand, the diameter of the ring roller may be adjusted slightly within the mounting reference plane within a range in which the fixing bolt loosely fits into the bolt hole as a slightly larger diameter.

In this way, the ring roller can be securely fixed by the most general method using a bolt, and in particular, the production cost does not increase. Further, since the axial position of the ring roller can be adjusted by a simpler method, the cost can be reduced and the assembling work can be facilitated.

Further, in the present invention described above,
The carrier of the simple planetary roller mechanism is provided with a pin that penetrates a center hole formed at the center of rotation of each planetary roller and keeps the mutual position of the planetary rollers constant. A configuration may be adopted in which a substantially cylindrical inner roller that can slide and rotate with respect to both peripheral surfaces is inserted into a gap between the peripheral surfaces.

In this way, the inner roller rotates while sliding (sliding) on the outer peripheral surface of the pin and the inner peripheral surface of the planetary roller, and can absorb the difference in rotational speed between the pin and the planetary roller. Become. That is, the inner roller inserted between the pin and the planetary roller rotates at a speed between the rotation (revolution) speed of the pin and the rotation speed of the planetary roller 212,
The inner and outer contact surfaces of the inner roller will slide at a lower speed difference than the actual rotational speed difference between the pin 217 and the planetary roller 462 as compared to the case where the pin and the planetary roller are in “direct” contact. . As a result, it is possible to reduce heat generation due to friction, frictional resistance, and the like, and since it is superior in strength as compared with a needle bearing, durability during long-time operation or high-speed rotation is enhanced.

[0084]

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

FIG. 1 is a sectional view of a geared motor shown as an embodiment, FIG. 2 is an enlarged sectional view of a friction transmission unit (friction transmission mechanism) therein, FIG. 3 is a view taken in the direction of arrows III-III in FIG.
4 is a sectional view taken along the line IV-IV in FIG. 1, and FIG. 5 is a view showing another example of the reduction ratio similar to FIG.

In the following description, the same or similar parts as those of the conventional example shown in FIG. 18 are given the same numbers in the last two digits, and a clear description thereof will be omitted.

The geared motor 101 is a speed reducer unit (oscillating internal meshing planetary gear unit, oscillating internal meshing planetary gear mechanism) 102 having a built-in oscillating internal meshing planetary gear structure.
And the motor unit (external unit) 103 are combined and integrated, and between the speed reducer unit 102 and the motor unit 103, the friction between a large number of rollers (friction rollers) in contact with each other causes And a friction transmission unit (friction transmission mechanism) 201 composed of a simple planetary roller mechanism 202 for transmitting rotational power.

The casing 151 of the reduction gear unit 102
Has a central casing 152 arranged at the center in the axial direction,
It comprises a joint casing 153 on the motor unit 103 side and a front casing 154 on the opposite side to the motor unit 103. The casing 155 of the motor unit 103 is
It comprises a cylindrical casing 156 containing a stator and the like, a joint casing 153 on the side of the reduction gear unit 102, and a rear cover 157 on the opposite side of the reduction gear unit 102.

In this case, the joint casing 153 is composed of the casings 151, 1 of the reduction gear unit 2 and the motor unit 3.
55, and the reduction gear unit 102 and the motor unit 103 are connected through the joint casing 153.
Are joined together. And the joint casing 153
, A simple planetary roller mechanism 202 as a friction transmission unit 201 is incorporated.

Here, the simple planetary roller mechanism 202 corresponds to the first-stage speed reducer, and the oscillating internal meshing planetary gear structure as the speed reducer unit 102 corresponds to the second-stage speed reducer.

The speed reducer unit 102 has a first axis 111 serving as an input axis (high-speed axis) on a center axis L of the unit,
A second shaft 112 serving as an output shaft (low-speed shaft).

On the outer periphery of the first shaft 111, two eccentric bodies 113a and 113b are fitted axially adjacent to each other with a predetermined phase difference (in this example, 180 °), and these eccentric bodies 113a and 113b are It is configured to rotate integrally with the first shaft 111. As shown in FIG.
The centers O1 of a and 113b are respectively eccentric with respect to the axis O2 of the first shaft 111 by a predetermined eccentric amount e. External gears 115a, 11b are provided on the outer periphery of the respective eccentric bodies 113a, 113b via bearings 114a, 114b.
5b is fitted.

A plurality of internal pin holes 116a and 116b are provided in the double-row external gears 115a and 115b fitted to the eccentric bodies 113a and 113b, respectively.
An inner pin 117 (see FIG. 4, not shown in FIG. 1) is loosely fitted into these inner pin holes 116a and 116b.

[0094] On the outer periphery of the external gears 115a and 115b, trochoidal or arcuate external teeth are provided. These external teeth are in internal mesh with an internal gear 120 provided concentrically with the first shaft 111. I have. The internal gear 120 is integrally formed on the inner periphery of the central casing 152, and each internal tooth is formed by an outer pin 121 held on the internal periphery of the central casing 152.

The difference in the number of teeth between the external gears 115a and 115b and the internal gear 120 is "4" in the example of FIG. 4 and "1" in the example of FIG.

A pair of carriers 123, 124 are arranged on both sides of the two external gears 115a, 115b. Both carriers 123 and 124 are respectively connected to the joint casing 15.
3 and a plurality of carrier pins (connecting pins) 125 and spacers 126 rotatably supported by bearings 131 and 132 fitted on the inner circumference of the front casing 154 and penetrating the external gears 115a and 115b. They are positioned integrally in the axial direction and joined together.

Further, as shown in FIG.
Both ends of the inner pin 117 loosely fitted into the inner pin holes 116a, 116b of the 15a, 115b are connected to the carriers 123,
124 is slidably coupled to 124. Thus, only the rotation components of the external gears 115a and 115b are transferred to the carriers 123 and 12 on both sides via the inner pin 117.
4.

The carrier 123 on the motor unit 103 side
Is formed in a ring shape having a central hole 123a, and a tip (a spline shaft portion described later) 111a of the first shaft 111 faces the central hole 123a.

The carrier 124 on the opposite side is the second shaft 11
2, the other end 111 b of the first shaft 111 is formed in a recess 124 a formed in the carrier 124.
Is inserted. The first shaft 111 is rotatably supported by a bearing 133 fitted on the inner periphery of the through hole 123 a of one carrier 123 and a bearing 134 fitted on the inner periphery of the other carrier 124. I have.

The motor shaft (drive shaft, rotary shaft) 161 of the motor unit 103 is supported by a bearing 162 whose rear end is fitted to the rear cover 157 and a bearing 163 whose front end is fitted to the joint casing 153. , Reducer unit 2
Are arranged coaxially with the center axis L of

The operation so far is almost the same as that of the conventional geared motor 1 shown in FIG.

The difference is that a simple planetary roller mechanism 202 is incorporated as the friction transmission unit 201 next to the bearing 131 supporting the carrier 123 on the motor unit 103 side.

The simple planetary roller mechanism 202 is assembled in a concave portion 251 formed by deeply hollowing the inner surface of the joint casing 153 on the side of the speed reducer unit 102. Since the inner diameter of the concave portion 251 is set smaller than the inner diameter of the housing portion 253 that houses the bearing 131, the shoulder portion 260 is formed in the joint casing 153 from the inner diameter dimensional difference. This shoulder 2
By bringing the end face of the bearing 131 into contact with the bearing 60, the bearing 13
1 is positioned in the direction of the central axis L.

The simple planetary roller mechanism 202 is shown in FIGS.
As shown in FIG.
4, a plurality (four in this embodiment) of hollow cylindrical planetary rollers 212 that are in contact with the outer periphery of the sun roller 211, and a diameter D1 of the sun roller 211 and a diameter D2 of the planetary roller 212. And a ring roller 213 having an inner diameter D3 slightly smaller than the sum of two times and being incorporated so that the planetary roller 212 is inscribed therein.

In this case, the ring roller 213 is a fixed element of the simple planetary roller mechanism 202, the sun roller 211 is an input element, and the carrier 215 supporting the planetary roller 212 is an output element.

More specifically, the concave portion 2 of the joint casing 153
51, a sun roller 211, a planetary roller 212
An attachment reference surface 261 perpendicular to the rotation axis direction (the direction of the center axis L) of the ring roller 213 is formed, and the ring roller 213 is urged against the attachment reference surface 261 to form a joint casing 153. It is designed to be fixed. Attach ring roller 213 to reference mounting surface 261
In this embodiment, a bolt hole 262 that penetrates the ring roller 213 in the rotation axis direction (the direction of the center axis L) is formed as a means for urging the bolt roller 213.
2, the ring roller 213 is fixed to the mounting reference surface 261 by a fixing bolt 252 that is screwed into a tap hole 263 formed in the mounting reference surface 261.

In the present invention, any means other than the urging means can be used.

The inner diameter of the concave portion 251 is the same as that of the ring roller 21.
3 is set slightly larger than the outer diameter, and the inner diameter of the bolt hole 262 is set larger than the outer diameter of the fixing bolt 252. Therefore, both the ring roller 213 and the fixing bolt 252 are provided with the concave portion 251 and the bolt hole 262.
The fixing bolt 252
Before completely tightening the ring roller 213, the ring roller 213 can be moved within the range where the ring roller 213 is loosely fitted. Accordingly, the axial center position of the ring roller 213 (simple planetary roller mechanism 202) can be adjusted within the mounting reference plane 261.

As shown in FIG. 2, the planetary rollers 212
The carrier 215 for taking out the revolving motion of the shaft 215 includes a flange portion 215A on the ring and a hollow cylindrical output shaft portion 216 protruding from the flange portion 215A toward the reduction gear unit 302.
And four pins 217 whose bases are fitted and fixed to the flange portion 215A and whose distal end protrudes toward the motor unit 103. The cylindrical inner roller 264 slides around the pins 217. It is movably provided.

[0110] Each of the planetary rollers 212 is provided with a central hole 212A formed at the axial center thereof, so that the inner rollers 26 are formed.
4, the pin 217 is rotatably fitted to the outer periphery of each pin 217, and the mutual position of each planetary roller 212 is kept constant. In this state, the outer periphery of each planetary roller 212 is fixed to the inner peripheral surface of the ring roller 213. , And the outer peripheral surface of the sun roller 211. The carrier 215 provided with the pin 217 serves to maintain the interval between the planetary rollers 212,
It serves to take out the revolving component of the planetary roller 212.

The inner roller 264 is rotated while sliding (sliding) on both the outer peripheral surface of the pin 217 and the contact surface with the center hole 212A, and the pin 217 and the planetary roller 212 are rotated.
The rotational speed difference is absorbed. That is, the cylindrical inner roller 264 rotates faster than the rotation (revolution) speed of the pin 217 and rotates slower than the rotation speed of the planetary roller 212, so that the actual rotation speed of the pin 217 and the planetary roller 462 is increased. Each contact surface slides at a speed lower than the difference, so that heat generation due to friction, friction resistance, and the like can be reduced.

Note that ring-shaped spacers 221A and 221B are arranged on both end surfaces of the planetary roller 212.

Further, a carrier-side shaft insertion hole 265 into which the first shaft 111 can be inserted is formed in the output shaft portion 216 of the carrier 215 at the axial center position.
, And rotate integrally with each other in the rotation direction. Specifically, the carrier-side shaft insertion hole 265 has an inner spline structure so that the carrier-side shaft insertion hole 265 engages with the first shaft 111 in the rotational direction (floating connection) while having a constant gap (play) in the radial direction. Has become.

On the other hand, a sun roller side shaft insertion hole 266 into which the motor shaft 161 of the motor unit 103 can be inserted is formed in the sun roller 211 at the axial center position, and is engaged with the motor shaft 161 in the rotation direction. It is designed to rotate together. That is, the sun roller side shaft insertion hole 265 has an inner spline structure, and engages with the motor shaft 161 in the rotational direction (floating connection) while having a constant gap (play) in the radial direction. I have.

Therefore, in the friction transmission unit 201 as a whole, the sun roller 211 has a sun roller side shaft insertion hole 265.
And a carrier-side shaft insertion hole 218 is formed in the carrier 215 to form a so-called shaft coupling structure.

The assembly of the simple planetary roller mechanism 202 is as follows.
For example, it is performed as follows. First, the carrier 215
Each planetary roller 212 is circumscribed around the outer periphery of the sun roller 211 with the planetary rollers 212 mounted on the outer periphery of the pin 217 via a cylindrical inner roller 264. In this state, the ring roller 213 is heated and expanded, and the planetary roller 212 held by the carrier 215 is inserted into the inner periphery of the ring roller 213. And as this cools,
The simple planetary roller mechanism 202 in which the ring roller 213 and the planetary roller 212 are in contact with each other at a predetermined linear pressure and the planetary roller 212 and the sun roller 211 are in contact with each other is completed.

The assembly of the simple planetary roller mechanism 202 to the casing is performed on the mounting reference surface 261 as described above, but in this case, the motor unit 103 is installed in the joint casing 153 first. . Therefore, the motor shaft 1 is inserted into the sun roller side shaft insertion hole 266.
61 and the simple planetary roller mechanism 202
The simple planetary roller mechanism 202 is moved within the mounting reference surface 261 in order to accommodate the sun roller-side shaft insertion hole 265 and the axis of the motor shaft 161. After the adjustment is completed so that a constant circumferential gap (play) is formed between the sun roller side shaft insertion hole 266 and the motor shaft 161, the ring roller 2 is fixed with the fixing bolt 252.
13 is fixed. Thereafter, the speed reducer unit 102 is assembled so that the output shaft 216 of the carrier 215 of the simple planetary roller mechanism 202 is located in the center hole 123A of the carrier 123 of the speed reducer unit 102, and the geared motor 101 is completed.

Next, the operation will be described.

When the motor shaft 161 rotates, the rotation is transmitted to the sun roller 211 of the simple planetary roller mechanism 202, and the planetary roller 212 tries to rotate. Here, since the planetary roller 212 is in contact with the fixed ring roller 213, the planetary roller 212 rotates and revolves along the inner circumference of the ring roller 213, and the orbital motion component is transmitted via the carrier 215 to the reduction gear unit. It is input to the first axis 111 of 102.

Thereafter, similarly to the conventional example, the external gear 115
As a and 115b oscillate while being in contact with the internal gear 120, the rotation component of the oscillating motion of the external gears 115a and 115b is taken out to the second shaft 112 via the carriers 123 and 124.

In the above-described power transmission, the reduction gear unit 102 and the motor unit 103 individually generate unique vibrations. However, the carrier 215, which is a shaft connecting portion of the simple planetary roller mechanism 202 and the units 102 and 103 at both ends, is connected to the gear unit. The connecting portion of the first shaft 111 and the connecting portion of the sun roller 211 and the motor shaft 161 include the first shaft 111 and the motor shaft 1.
Since a spline mechanism (floating connection structure) which allows radial play of the shaft 61 is provided, vibration (especially radial vibration) that is transmitted between the speed reducer unit 102 and the motor unit 103 at both ends at this portion is first. Absorbed.

In particular, since the ring roller 213 of the simple planetary roller mechanism 202 is fixed to the joint casing 153, as shown in FIG. Unlike the normal coupling that holds its own position, each power transmission shaft (motor shaft 161, first shaft 111) and each shaft insertion hole 265, 26
Since the clearance (play) with the wheel 6 can be constantly maintained, vibration and noise can be more reliably cut off and absorbed. Further, since the axial center of the simple planetary roller mechanism 202 is adjustable, the clearance can be set accurately from the beginning, so that noise and vibration can be further suppressed by a combination with this.

Further, since a simple planetary roller mechanism 202 is disposed as a friction transmission unit 201 between the two units 102 and 103, the reduction gear units 10 on both sides are arranged.
2. Vibrations (especially, rotational vibrations and axial vibrations) transmitted between the motor units 103 are caused by the contact surface between the sun roller 211 and the planetary roller 212 of the simple planetary roller mechanism 202, and between the planetary roller 212 and the ring roller. 213
And the contact surface between the planetary roller 212 and the carrier 215, and the units 102, 1
Transmission of vibration between the sections 03 is surely shut off.

Therefore, a complicated resonance phenomenon caused by transmission of vibration between the reduction gear unit 102 and the motor unit 103 is avoided, and the geared motor 1
01 is reduced.

That is, since the simple planetary roller mechanism 202 is intentionally interposed as the third unit between the speed reducer unit 102 and the motor unit 103, vibration is transmitted from the speed reducer unit 102 to the motor unit 103, and From the motor unit 103 to the reduction gear unit 1
02 can be effectively suppressed, and as a result, vibration and noise of the entire geared motor 101 can be reduced.

Further, the vibration reduction reduces the motor unit 1
03, the external gears 115a and 115b and the eccentric bodies 113a and 113b of the reduction gear unit 102,
The durability of each component such as the internal gear 120 is also improved.

Further, in the geared motor 101, the ring roller 213 is connected to the joining casing 153 in a state where no radial pressure is applied, that is, in a state where the ring roller 213 is urged against the mounting reference surface 261 perpendicular to the center line direction L. Since the fixing roller is fixed, the contact pressure between the friction rollers is prevented from fluctuating as compared with the fixing by press-fitting or the like, and smooth rotation of the planetary roller 212 and the sun roller 211 is realized. Further, the ring roller 213 allows the vibration of the ring roller 213 to some extent to absorb the energy here,
In addition, the vibration can be reliably received by the attachment reference surface (high in the radial direction) formed in the thickness direction of the joint casing 153, and the vibration can be prevented from being transmitted to the entire casing.

Although the method of fixing the ring roller 213 is very advantageous in terms of noise suppression as described above, it does not only reduce noise but also eliminates the need for press-fitting the ring roller 213. Therefore, the assembly work is facilitated.

The shaft coupling between the simple planetary roller mechanism 202 and the reduction gear unit 102 and the motor unit 103 on both sides of the simple planetary roller mechanism 202 is provided with a floating coupling structure that allows play in the axial direction as described above. Accordingly, it is possible to prevent external forces (including vibrations) from being applied to the planetary roller 212 and the sun roller 211 from the units 102 and 103 on both sides in the radial direction.

Therefore, the planetary roller 212 and the sun roller 2
Fluctuations in the contact pressure between the contact surface 11 and the contact surface between the planetary roller 212 and the ring roller 213 are suppressed, and the transmission torque fluctuation in the simple planetary roller mechanism 202 is suppressed, enabling stable and reliable torque transmission. Become.

Further, since the reduction gear unit 102 used in the geared motor 101 has the first shaft 111 and the second shaft 112 on the center axis L of the unit, the rigidity is reduced while having a simple and compact structure. This has the advantage of being able to increase the transmission and transmitting large torque.

For example, the first shaft 111, which is most affected by the load of the external gears 115a and 115b, can be set to have high rigidity, and the problem of vibration due to bending can be reduced.

Further, unlike the above-mentioned conventional sorting shaft type technology, each planetary roller 212 is supported by a carrier 215 separated from the first shaft 111 where vibration is generated. Even if vibration or deformation occurs in 111, the influence does not reach the roller contact surface of the simple planetary roller mechanism 202. Therefore, in the simple planetary roller mechanism 202, reliable and stable torque transmission is also performed on this surface.

In the geared motor 101, since the newly added simple planetary roller mechanism 202 is incorporated in the joint casing 153 connecting the speed reducer unit 102 and the motor unit 103, the speed reducer units 102 on both sides are provided. And the structure of the motor unit 103 can be improved without much change.

In particular, since the simple planetary roller mechanism 202 has an input portion (sun roller 211) and an output portion (output shaft portion 216 of the carrier 215) on the same axis, the conventional geared motor 1 shown in FIG. A slight modification (such as fixing the 213 to the casing) can make up the geared motor 101 of the embodiment.

More specifically, the simple planetary roller mechanism 20
2, the shaft insertion hole is formed in each of the carrier 215 and the sun roller 211 to form a “shaft joint structure”.
The geared motor 101 can be easily realized (although a slight change of the casing is required) by attaching the first and the first shafts 111 in place of the normal coupling directly connected thereto. In realizing this, since the simple planetary roller mechanism 202 can be configured to be compact in the axial direction, the entire geared motor 101 does not increase in the axial direction.

Further, since the speed can be reduced by the simple planetary roller mechanism 202 itself, the simple planetary roller mechanism 2
A high total reduction ratio can be realized by the geared motor 101 in which the reduction gear unit 102 is combined with the speed reducer unit 102 having a swinging internal meshing planetary gear structure of the latter stage. In addition, unlike the gears, the simple planetary roller mechanism 202 can easily set the reduction ratio finely. Therefore, the geared motor series having a number of stages of reduction ratios and a specific reduction ratio used for a specific application. It is also possible to easily provide a geared motor.

For example, since the reduction ratio of the oscillating internal meshing planetary gear structure type reduction gear unit 102 can be prepared in advance in a geometric progression, the simple planetary roller mechanism 10
Together with the first-stage deceleration of 2, a multi-stage geometric progression total reduction ratio can be realized.

Here, the torque transmission by the friction transmission at the front stage has a small amount of torque transmission that can be ensured. However, the transmission torque to be transmitted during the deceleration at the front stage is originally too large, and is stable in a state where vibration is cut off. There is no problem because it can rotate.

In the above embodiment, the case where the friction transmission unit 201 is interposed between the speed reducer unit 102 and the motor unit 103, which are the oscillating internally meshing planetary gear units, has been described. Even if a friction transmission unit is interposed between the planetary gear unit and any other external unit, the effect of avoiding the same resonance as described above can be expected.

For example, when there is a risk of resonance between the second shaft 112 and an external machine connected to the second shaft 112, the friction transmission unit is connected between the second shaft and the input shaft of the external machine via a floating coupling structure. What is necessary is just to intervene.

When the oscillating internal meshing planetary gear unit is used as a gearbox, the second shaft is the input shaft, the first shaft is the output shaft, the second shaft is the motor unit, and the first shaft is the motor shaft. An external machine is connected, but in this case, a friction transmission unit may be interposed between the units that may cause resonance.

In the above embodiment, in order to ensure the integrity as a geared motor, the reduction gear unit 102
The casing 151 of the motor unit 103 and a part of the casing 155 of the motor unit 103 are also used as a joint casing 153, and the friction transmission unit 2 is provided in the joint casing 153.
A simple planetary roller mechanism 202 as 01 has been incorporated.

However, in order to further reduce the noise, the transmission of vibration between the units along the casing is interrupted by the purpose of the reduction gear unit, the friction transmission unit, and the motor unit. Each casing may be separated.

In this case, by interposing a vibration absorbing means such as rubber between the connecting portions of the casings, it is possible to further prevent the transmission of vibration.

For the purpose of avoiding the transmission of vibrations to the outside through the casing, the ring roller 213 of the simple planetary roller mechanism 202 is connected to the attachment reference surface 26 of the joining casing 153.
It is effective to stop fixing directly to 1 and to interpose a vibration absorbing member between them.

In this case, the reduction gear unit, the friction transmission unit and the motor unit can be completely shut off both in the power transmission path and in the casing. As a result, in particular, since the vibration of the casing can be suppressed, the effect of avoiding resonance not only between the units but also with the mating member can be further enhanced.
When the three casings are separated in this manner, the mounting leg portion of the geared motor to the outside is attached to the casing of the friction transmission unit portion capable of exhibiting the vibration absorbing performance by adopting the simple planetary roller mechanism. By providing
Transmission of vibration to the mating member in the installed state can be further suppressed, and the noise level can be further reduced.

In this embodiment, the case where the ring roller 213 is directly fixed to the attachment reference surface 261 has been described, but the present invention is not limited to this. The reference mounting surface determines the fixing position of the ring roller, and the present invention includes a case in which the ring roller is biased to the mounting reference surface to perform positioning and is fixed in another portion of the casing. It is. The point is that the positioning is performed not only on the outer periphery of the ring roller (by press fitting, etc.) but on the end face side so that the external force applied in the radial direction of the ring roller is not directly transmitted in the thickness direction of the casing. The attached situation is generally included in the present invention.

In the above embodiment, the sun roller 211 of the simple planetary roller mechanism 202 is used as an input element, the carrier 215 holding the planetary roller 212 is used as an output element, and the ring roller 213 is used as a fixed element. The element and the output element can be reversed. By combining the change of the input / output relationship with the variation of the diameter of each friction roller, it is possible to easily develop a drive device having a very wide variety of reduction ratios and functions, and a series thereof.

That is, the oscillating internal meshing planetary gear unit is
Due to its structure, it is one of the major problems on the part of the manufacturer to keep each part special and keep many kinds of parts at all times because the inventory cost is very high. The friction transmission unit can easily change the gear ratio only by changing the diameter of each friction roller, and by changing the relationship between input and output, secure the gear ratio variation in an extremely large range including speed increase. Can be. Also, since the diameter of each friction roller can be changed steplessly,
The range of application is also wide for finer gear ratio adjustment. Therefore, if a variety of functions are provided in the friction transmission unit, even if the same unit is used for the oscillating internal meshing planetary gear unit or the motor, a wide variety of functions of the entire drive unit can be achieved. This is very useful when such a drive device is developed as a series, because it is possible to ensure the performance.

[0151]

As described above, according to the driving apparatus of the present invention, the friction transmission unit is interposed between the swinging internally meshing planetary gear unit and the external unit, and the friction transmission unit is connected to the simple planetary roller. Because it is composed of a mechanism, it can effectively absorb vibrations that are transmitted between the units on both sides of the friction transmission unit, avoid complicated resonance phenomena occurring between both units, and furthermore, the simple planetary roller mechanism Since the ring roller is urged against the mounting reference plane perpendicular to the rotation axis direction and fixed to the casing, fluctuations in the contact surface pressure between the rollers are suppressed, and smooth rotation of each roller is achieved. Further, when the axial position of the ring roller can be adjusted within the reference mounting plane, the assembling work is facilitated, and vibration and noise can be suppressed by accurate axial position adjustment. Further, when the simple planetary roller mechanism has a shaft coupling structure, the simple planetary roller mechanism can be easily attached in place of the conventional coupling portion, so that the driving device according to the present invention can be easily realized. Becomes possible. Further, when the connecting portion of each unit has a floating connection structure, a radial vibration component generated in the oscillating internal meshing planetary gear unit can be effectively absorbed, so that a further noise reduction effect can be achieved.

[Brief description of the drawings]

FIG. 1 is a sectional view of a geared motor shown as an embodiment of the present invention.

FIG. 2 is a sectional view of a friction transmission unit (simple planetary roller mechanism) in the geared motor.

FIG. 3 is a view taken in the direction of arrows III-III in FIG. 2;

FIG. 4 is a sectional view taken along the line IV-IV in FIG. 1;

FIG. 5 is a view similar to FIG. 4, showing a configuration for obtaining another speed reduction ratio;

FIG. 6: Inputs generally selectable on a simple planetary roller machine
Diagram showing combinations of output and fixed

FIG. 7 is a sectional view of a conventional geared motor.

FIG. 8 is a cross-sectional view of a conventional distributing shaft type swinging internally meshing planetary gear structure.

9 is a schematic cross-sectional view taken along the line IX-IX in FIG.

[Explanation of symbols]

101: Geared motor 102: Reduction gear unit (oscillating internal meshing planetary gear unit) 103: Motor unit (external unit) 111: First shaft 111a: Spline shaft portion 112: Second shaft 113a, 113b: Eccentric bodies 114a, 114b ... Bearing 115a, 115b ... External gear 116a, 116b ... Inner pin hole 117 ... Inner pin 120 ... Internal gear 123, 124 ... Carrier 151 ... Casing of reduction gear unit 153 ... Joint casing 155 ... Casing of motor unit 161 ... Motor Shaft (drive shaft, rotating shaft) 161a: spline shaft 170: coupling 170a: inner spline 201: friction transmission unit 202: simple planetary roller mechanism 211: sun roller 212: planetary roller 213: ring roller 214: spline shaft 2 5 ... Carrier 216 ... output shaft portion 217 ... pin 252 ... fixing bolt 261 ... mounting reference surface 262 ... bolt hole 263 ... tap holes 264 ... inner roller 265 ... carrier-side shaft insertion hole 266 ... sun roller-side shaft insertion hole

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 3J027 FA11 FC12 GB03 GC02 GC13 GC25 GC26 GC29 GD04 GD08 GD12 GE11 GE29 3J051 AA01 BA03 BB08 BC03 BD02 BE04 EA06 EB04 EC04 ED07

Claims (5)

[Claims] 1. An oscillating internally meshing planetary gear unit having an internal gear, and an external gear inscribed in the internal gear, wherein the center of the internal gear is inside the periphery of the external gear. Power is input to the oscillating internal meshing planetary gear unit,
Or an external unit removably connected to the swinging internal meshing planetary gear unit and the external unit, between the internal rotating meshing planetary gear unit and the external unit by friction of a plurality of friction rollers contacting each other. A friction transmission unit that transmits rotational power between the gear unit and the external unit is interposed, and the friction transmission unit is held as a friction roller on a sun roller and on a carrier while being held on a carrier and on the outer periphery of the sun roller. The sun roller is formed by a simple planetary roller mechanism including a plurality of planetary rollers that are in rolling contact with each other, and a ring roller in which the plurality of planetary rollers are inscribed and whose rotation is suppressed, and a casing that accommodates the friction unit is provided. Forming a mounting reference plane perpendicular to the rotation axis direction of the planetary roller and the ring roller; A driving device having a swinging internal meshing planetary gear structure, comprising: fixing means for urging a roller against the mounting reference surface to fix the ring roller to the casing. 2. The drive device according to claim 1, wherein the ring roller is capable of adjusting its axial center position within the mounting reference plane. 3. The oscillating internal meshing planetary gear unit according to claim 1, wherein a sun roller side insertion hole into which the power transmission shaft of the external unit can be inserted is provided in the sun roller, and the oscillating internally meshing planetary gear unit is provided in the carrier. By forming each carrier side shaft insertion hole into which the transmission shaft can be inserted,
A drive device comprising an oscillating internal meshing planetary gear structure, wherein the friction transmission unit has a shaft coupling structure in which the power transmission shafts can relatively rotate. 4. The power transmission shaft according to claim 3, wherein at least one of the planetary roller-side shaft insertion hole and the carrier-side shaft insertion hole has a floating coupling structure with respect to the power transmission shaft inserted therein. A drive device having a swinging internal meshing planetary gear structure. 5. The tap according to claim 1, wherein a bolt hole is formed in the ring roller so as to penetrate in the direction of the rotation axis, and the tap is formed in the mounting reference plane through the bolt hole. The ring roller can be fixed to the mounting reference surface by a fixing bolt screwed into the hole,
The bolt hole is slightly larger in diameter than the fixing bolt, and within a range where the fixing bolt is loosely fitted in the bolt hole, the axial center position of the ring roller is set within the mounting reference plane. A drive device having a swinging internal meshing planetary gear structure, characterized in that it is adjustable.