WO2017179623A1 - Réducteur de vitesse - Google Patents

Réducteur de vitesse Download PDF

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Publication number
WO2017179623A1
WO2017179623A1 PCT/JP2017/014994 JP2017014994W WO2017179623A1 WO 2017179623 A1 WO2017179623 A1 WO 2017179623A1 JP 2017014994 W JP2017014994 W JP 2017014994W WO 2017179623 A1 WO2017179623 A1 WO 2017179623A1
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WO
WIPO (PCT)
Prior art keywords
gear
planetary rolling
rolling element
speed reducer
teeth
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2017/014994
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English (en)
Japanese (ja)
Inventor
暉久夫 岡村
井上　仁
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nidec Drive Technology Corp
Original Assignee
Nidec Shimpo Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nidec Shimpo Corp filed Critical Nidec Shimpo Corp
Priority to JP2018512049A priority Critical patent/JP6566595B2/ja
Publication of WO2017179623A1 publication Critical patent/WO2017179623A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H13/00—Gearing for conveying rotary motion with constant gear ratio by friction between rotary members
    • F16H13/06—Gearing for conveying rotary motion with constant gear ratio by friction between rotary members with members having orbital motion
    • F16H13/08—Gearing for conveying rotary motion with constant gear ratio by friction between rotary members with members having orbital motion with balls or with rollers acting in a similar manner
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H13/00—Gearing for conveying rotary motion with constant gear ratio by friction between rotary members
    • F16H13/10—Means for influencing the pressure between the members

Definitions

  • the present invention relates to a reduction gear.
  • a small speed reducer is required to perform detailed work at the tip of the arm.
  • a conventional speed reducer is described in, for example, Japanese Patent Laid-Open No. 60-98247.
  • the planetary roller speed reduction device disclosed in Japanese Patent Application Laid-Open No. 60-98247 has a sun roller, a plurality of planetary rollers, a flexible spline, and a circular spline (see the claims of the publication).
  • the sun roller is connected to the drive shaft.
  • the plurality of planetary rollers are arranged around the sun roller.
  • the flexible spline is stretched around the outer periphery of the planetary roller, and has a large number of meshing teeth on the outer peripheral portion.
  • the circular spline has a plurality of meshing teeth that can mesh with the meshing teeth of the flexible spline.
  • An object of the present invention is to provide a speed reducer that can perform two-stage deceleration, is easy to miniaturize, and is unlikely to cause excessive contact between gear members.
  • An exemplary first invention of the present application is a speed reducer, wherein a first reduction mechanism that converts rotational motion at an input rotational speed into rotational motion at an intermediate rotational speed lower than the input rotational speed, and the intermediate rotational speed
  • a second reduction mechanism that converts a rotational movement into a rotational movement having an output rotational speed lower than the intermediate rotational speed, and the first speed reduction mechanism includes a sun roller that rotates at the input rotational speed around a central axis;
  • the annular support portion disposed radially outside the sun roller, the outer peripheral surface of the sun roller and the inner peripheral surface of the support portion, and while rotating with the rotation of the sun roller,
  • a planetary rolling element that revolves around a central axis at the intermediate rotational speed, and the second reduction mechanism includes a fixed gear having a plurality of teeth arranged in an annular shape around the central axis; Rotating gear with multiple teeth facing the teeth of the fixed gear The number of teeth of the fixed gear and the number of teeth of the rotating gear are different
  • the fixed gear and the rotating gear of the second reduction mechanism are partially meshed using the planetary rolling element of the first reduction mechanism.
  • the number of members of the power transmission unit between the first reduction mechanism and the second reduction mechanism can be reduced. Therefore, a two-stage deceleration can be performed and a small reduction gear can be realized.
  • the planetary rolling element comes into contact with the sun roller and the support portion, thereby stabilizing the position of the planetary rolling element. Therefore, the gear members are unlikely to hit each other too strongly.
  • FIG. 1 is a longitudinal sectional view of a reduction gear according to the first embodiment.
  • FIG. 2 is a cross-sectional view of the speed reducer according to the first embodiment.
  • FIG. 3 is a partial longitudinal sectional view of the reduction gear according to the first embodiment.
  • FIG. 4 is a cross-sectional view of the external teeth and internal teeth according to the first embodiment.
  • FIG. 5 is a longitudinal sectional view of a reduction gear according to the second embodiment.
  • FIG. 6 is a cross-sectional view of the speed reducer according to the second embodiment.
  • FIG. 7 is a longitudinal sectional view of a reduction gear according to a modification.
  • FIG. 8 is a longitudinal sectional view of a reduction gear according to a modification.
  • FIG. 9 is a longitudinal sectional view of a reduction gear according to a modification.
  • FIG. 10 is a cross-sectional view of a speed reducer according to a modification.
  • FIG. 11 is a longitudinal sectional view of a reduction gear according to the third embodiment.
  • FIG. 12 is a cross-sectional view of a reduction gear according to the third embodiment.
  • FIG. 13 is a plan view of a crown tooth according to the third embodiment.
  • FIG. 14 is a plan view of a fixed gear according to the third embodiment.
  • FIG. 15 is a longitudinal sectional view of a reduction gear according to the fourth embodiment.
  • FIG. 16 is a cross-sectional view of a reduction gear according to the fourth embodiment.
  • FIG. 17 is a longitudinal sectional view of a reduction gear with an electric motor according to a modification.
  • FIG. 18 is a longitudinal sectional view of a member including a swinging external gear and an output shaft according to a modification.
  • the direction parallel to the central axis of the sun roller is “axial direction”
  • the direction orthogonal to the central axis is “radial direction”
  • the direction along the arc centered on the central axis is “circumferential direction”.
  • the above “parallel direction” includes a substantially parallel direction.
  • the above-mentioned “orthogonal direction” includes a substantially orthogonal direction.
  • the output shaft side that is one side in the axial direction is referred to as “output side”
  • the input shaft side that is the other side in the axial direction is referred to as “input side”.
  • FIG. 1 is a longitudinal sectional view of a reduction gear 1A according to the first embodiment of the present invention.
  • FIG. 2 is a cross-sectional view of the speed reducer 1A at the XX position in FIG.
  • FIG. 1 shows a longitudinal section at the position VV in FIG.
  • the speed reducer 1A is a mechanism that converts a rotational motion obtained from an external motor into a rotational motion having an output rotational speed lower than the input rotational speed.
  • the reduction gear 1A is incorporated in, for example, a joint portion of an arm in a human cooperation robot or a small work robot.
  • the reduction gear of the present invention may be used for other devices such as an assist suit, a wheelchair, and an automatic guided vehicle.
  • the speed reducer 1A of the present embodiment includes an input shaft 10A, a planetary mechanism 20A, a wave gear mechanism 30A, a casing 40A, an output shaft 50A, a lid 60A, and an elastic member 70A.
  • the input shaft 10A is a columnar member extending along the central axis 9A.
  • the input shaft 10A is supported rotatably with respect to the lid 60A.
  • the input side end of the input shaft 10A is connected to an external motor directly or via another power transmission mechanism. When the motor is driven, the input shaft 10A rotates at the input rotation speed about the central shaft 9A.
  • the output side end of the input shaft 10A is located inside the casing 40A.
  • the output side end of the input shaft 10A may be connected to the output shaft 50A via a bearing.
  • the planetary mechanism 20A is a mechanism (first reduction mechanism) that converts a rotational motion at an input rotational speed into a rotational motion at an intermediate rotational speed that is lower than the input rotational speed.
  • the planetary mechanism 20A of the present embodiment includes a fixed sun roller 21A, a movable sun roller 22A, a plurality of planetary rolling elements 23A, and a carrier 24A.
  • the fixed sun roller 21A is an annular member arranged coaxially with the central axis 9A.
  • the fixed sun roller 21A is fixed to the input shaft 10A inside the casing 40A.
  • the fixed sun roller 21A is arranged on the output side from the center of the planetary rolling element 23A.
  • the fixed sun roller 21A has a first contact surface 211A that contacts the plurality of planetary rolling elements 23A.
  • the first contact surface 211A is a part of the outer peripheral surface of the fixed sun roller 21A.
  • the first contact surface 211A is an inclined surface that is inclined with respect to the central axis 9A.
  • the movable sun roller 22A is an annular member arranged coaxially with the central axis 9A.
  • the movable sun roller 22A is supported by the input shaft 10A in the casing 40A and at a position closer to the input side than the fixed sun roller 21A.
  • the movable sun roller 22A is disposed on the input side from the center of the planetary rolling element 23A.
  • the movable sun roller 22A has a third contact surface 221A that contacts the plurality of planetary rolling elements 23A.
  • the third contact surface 221A is a part of the outer peripheral surface of the movable sun roller 22A.
  • the third contact surface 221A is an inclined surface inclined with respect to the central axis 9A. As shown in FIG.
  • the input shaft 10A has a key groove 12A and a key 13A that fits in the key groove 12A.
  • the movable sun roller 22A has a key groove 222A on the inner periphery that extends in the axial direction and into which the key 13A is fitted.
  • the key 13A and the movable sun roller 22A together with the input shaft 10A, rotate at the input rotation speed about the central shaft 9A.
  • the key groove 222A of the movable sun roller 22A is slidable in the axial direction along the key 13A. Therefore, the movable sun roller 22A is slidable in the axial direction with respect to the input shaft 10A.
  • Splines or serrations may be used instead of keys for engaging the input shaft 10A and the movable sun roller 22A.
  • the plurality of planetary rolling elements 23A are members that are arranged around the input shaft 10A and roll according to the rotation of the fixed sun roller 21A and the movable sun roller 22A.
  • the planetary rolling element 23A of the present embodiment is a sphere.
  • the center of the planetary rolling element 23A is located between the fixed sun roller 21A and the movable sun roller 22A in the axial direction.
  • two planetary rolling elements 23A are arranged at equal intervals around the input shaft 10A.
  • Each planetary rolling element 23A has a one-side contact surface that contacts the above-described first contact surface 211A of the fixed sun roller 21A.
  • the one side contact surface faces radially inward and on the output side.
  • Each planetary rolling element 23A has a contact surface on the other side that contacts a second contact surface 621A of an internal ring 62A described later.
  • the other contact surface faces radially outward and the input side.
  • the carrier 24A is a member that holds a plurality of planetary rolling elements 23A.
  • the carrier 24A extends in a cylindrical shape in the axial direction around the central axis 9A.
  • the carrier 24A can rotate around the central axis 9A at a different rotational speed from the input shaft 10A.
  • the carrier 24A has a plurality of circular holes 241A penetrating in the radial direction.
  • the plurality of planetary rolling elements 23A are accommodated in the circular holes 241A of the carrier 24A, respectively. Accordingly, the plurality of planetary rolling elements 23A are supported so as to be revolved and capable of rotating around the central axis 9A while being maintained in a state of being separated from each other in the circumferential direction.
  • the wave gear mechanism 30A is a mechanism (second reduction mechanism) that converts a rotational motion at an intermediate rotational speed into a rotational motion at an output rotational speed lower than the intermediate rotational speed.
  • the wave gear mechanism 30A of the present embodiment includes a flexible external gear 31A (rotating gear) and a fixed internal gear 32A (fixed gear).
  • the flexible external gear 31A is an annular portion having a disc portion 311A and a cylindrical portion 312A.
  • the disk portion 311A extends substantially perpendicular to the central axis 9A on the output side of the plurality of planetary rolling elements 23A.
  • the cylindrical portion 312A extends in a cylindrical shape from the outer peripheral portion of the disc portion 311A toward the input side. Of the disc part 311A and the cylindrical part 312A, at least the cylindrical part 312A has flexibility.
  • the cylindrical portion 312A is located on the radially outer side of the carrier 24A and the plurality of planetary rolling elements 23A.
  • a plurality of external teeth 313A are provided at a constant pitch on the outer peripheral surface of the cylindrical portion 312A.
  • the plurality of external teeth 313A face a plurality of internal teeth 321A described later.
  • a part of the inner peripheral surface of the cylindrical portion 312A is in contact with the plurality of planetary rolling elements 23A.
  • the shape of the cylindrical portion 312 ⁇ / b> A becomes a non-perfect circle when viewed in the axial direction.
  • the shape of the cylindrical portion 312A is substantially elliptical when viewed in the axial direction.
  • the cylindrical portion 312A is a flexible arm portion that connects the plurality of external teeth 313A and the output shaft 50A.
  • the fixed internal gear 32A is an annular portion surrounding the periphery of the cylindrical portion 312A of the flexible external gear 31A.
  • the fixed internal gear 32A is arranged coaxially with the central shaft 9A.
  • a plurality of internal teeth 321A are provided at a constant pitch on the inner peripheral surface of the fixed internal gear 32A.
  • the cylindrical portion 312A of the flexible external gear 31A has the largest diameter on the radially outer side of the planetary rolling element 23A. Therefore, on the radially outer side of the planetary rolling element 23A, the external teeth 313A of the flexible external gear 31A and the internal teeth 321A of the fixed internal gear 32A mesh with each other.
  • the external teeth 313A of the flexible external gear 31A and the internal teeth 321A of the fixed internal gear 32A do not mesh with each other.
  • the external teeth 313A of the flexible external gear 31A and the internal teeth 321A of the fixed internal gear 32A do not mesh with each other at a position 90 ° away from the planetary rolling element 23A with respect to the central axis 9A.
  • the plurality of external teeth 313A and the plurality of internal teeth 321A partially mesh with each other.
  • the casing 40A has an end wall portion 41A and a peripheral wall portion 42A.
  • the end wall portion 41A extends substantially perpendicular to the central axis 9A on the output side of the flexible external gear 31A.
  • the peripheral wall portion 42A extends in a cylindrical shape from the outer peripheral portion of the end wall portion 41A toward the input side.
  • the peripheral wall portion 42A is located on the radially outer side of the cylindrical portion 312A of the flexible external gear 31A.
  • a fixed internal gear 32A is provided on the inner peripheral portion of the peripheral wall portion 42A.
  • the peripheral wall portion 42A and the fixed internal gear 32A may be separate members.
  • the output shaft 50A is a cylindrical member arranged coaxially with the central shaft 9A.
  • the output shaft 50A is inserted into a circular hole provided in the center of the end wall portion 41A.
  • the output shaft 50A is rotatably supported with respect to the casing 40A.
  • the output shaft 50A is connected to the flexible external gear 31A. Therefore, when the flexible external gear 31A rotates, the output shaft 50A also rotates about the central axis 9A together with the flexible external gear 31A.
  • the flexible external gear 31A and the output shaft 50A are a single member. However, the flexible external gear 31A and the output shaft 50A may be separate members.
  • the lid 60A is a member that closes the opening at the end of the input side of the casing 40A.
  • the lid 60A has a plate-like portion 61A and an internal ring 62A.
  • the plate-like portion 61A extends perpendicular to the central axis 9A on the input side with respect to the plurality of planetary rolling elements 23A.
  • the input shaft 10A is inserted into a circular hole provided in the center of the plate-like portion 61A. Accordingly, the input shaft 10A is rotatably supported with respect to the lid 60A.
  • the internal ring 62A is an annular portion extending from the plate-like portion 61A toward the output side.
  • the internal ring 62A is located radially inward of the peripheral wall portion 42A and radially outward of the fixed sun roller 21A and the movable sun roller 22A. Further, the internal ring 62A is located radially outward from the center of the planetary rolling element 23A.
  • the internal ring 62A has a second contact surface 621A that contacts the plurality of planetary rolling elements 23A.
  • the second contact surface 621A is a part of the inner peripheral surface of the internal ring 62A.
  • the internal ring 62A serves as a support portion having an inner peripheral surface that contacts the planetary rolling element 23A.
  • the second contact surface 621A is an inclined surface inclined with respect to the central axis 9A.
  • the second contact surface 621A is in contact with the surface of the plurality of planetary rolling elements 23A that faces the radially outer side and the input side.
  • an internal ring 62A is provided as a part of the lid 60A.
  • the internal ring 62A and the lid 60A may be separate members.
  • the elastic member 70A is a member that can expand and contract in the axial direction.
  • a disc spring or a coil spring is used as the elastic member 70A.
  • the elastic member 70A is disposed between the movable sun roller 22A and the plate-like portion 61A in a state compressed more than the natural length. For this reason, the elastic member 70A pressurizes the movable sun roller 22A toward the output side. Then, a normal force toward the planetary rolling element 23A is generated on the third contact surface 221A of the movable sun roller 22A.
  • the planetary rolling element 23A comes into contact with the first contact surface 211A of the fixed sun roller 21A, the second contact surface 621A of the internal ring 62A, and the third contact surface 221A of the movable sun roller 22A. Thereby, the position of the planetary rolling element 23A is stabilized. Moreover, the slip of the planetary rolling element 23A can be suppressed, and power transmission via the planetary rolling element 23A can be performed more reliably.
  • the fixed sun roller 21A and the movable sun roller 22A rotate around the center axis 9A together with the input shaft 10A.
  • the planetary rolling element 23A revolves around the input shaft 10A while rotating by the frictional force between the planetary rolling element 23A and the fixed sun roller 21A, the movable sun roller 22A, and the internal ring 62A.
  • the revolution speed of the planetary rolling element 23A at this time is an intermediate revolution speed lower than the input revolution speed.
  • the shape of the cylindrical portion 312A of the flexible external gear 31A changes accordingly. That is, when viewed in the axial direction, the cylindrical portion 312A has a substantially elliptic shape, but the long axis of the ellipse rotates following the revolution of the planetary rolling element 23A.
  • the plurality of external teeth 313A provided on the outer peripheral surface of the cylindrical portion 312A only the external teeth 313A positioned at both ends of the long axis mesh with the internal teeth 321A of the fixed internal gear 32A. That is, the flexible external gear 31A and the fixed internal gear 32A partially mesh with each other by the pressure received from the planetary rolling element 23A.
  • the position at which the flexible external gear 31A and the fixed internal gear 32A mesh with each other changes in the circumferential direction around the center axis 9A at an intermediate rotational speed. Further, the number of external teeth 313A of the flexible external gear 31A and the number of internal teeth 321A of the fixed internal gear 32A are different from each other. Due to the difference in the number of teeth, each time the planetary rolling element 23A revolves once, the internal teeth 321A at the same position of the fixed internal gear 32A and the external teeth 313A of the flexible external gear 31A meshing with the internal teeth 321A. The position shifts. As a result, the flexible external gear 31A rotates slowly around the central axis 9A. As a result, the output shaft 50A slowly rotates together with the flexible external gear 31A. The rotational speed of the output shaft 50A at this time is an output rotational speed that is lower than the intermediate rotational speed.
  • the speed reducer 1A by using the planetary rolling element 23A of the planetary mechanism 20A, the plurality of external teeth 313A are displaced so that the flexible external gear 31A and the fixed internal gear 32A are partially Mesh with each other. If it does in this way, the number of members of the power transmission part between planetary mechanism 20A and wave gear mechanism 30A can be reduced. Therefore, the planetary mechanism 20A and the wave gear mechanism 30A can perform two-stage deceleration and realize a small reduction gear 1A.
  • FIG. 3 is a partial longitudinal sectional view of the speed reducer 1A at a position where the external teeth 313A of the flexible external gear 31A and the internal teeth 321A of the fixed internal gear 32A mesh (hereinafter referred to as “meshing position”).
  • FIG. 4 is a cross-sectional view of the external teeth 313A and the internal teeth 321A at the meshing position.
  • the planetary rolling element 23A is in contact with the second contact surface 621A of the internal ring 62A. This restricts the movement of the planetary rolling element 23A to the outside in the radial direction.
  • the displacement due to the pressing of the planetary rolling element 23A to the cylindrical portion 312A is limited by the second contact surface 621A. Therefore, as shown in FIG. 4, a circumferential gap 90A (backlash) is ensured between the outer teeth 313A and the inner teeth 321A. That is, one surface in the circumferential direction of the outer teeth 313A is not in contact with the inner teeth 321A. Therefore, the flexible external gear 31A operates smoothly with respect to the fixed internal gear 32A without generating an excessive force between the external teeth 313A and the internal teeth 321A. Further, wear of the flexible external gear 31A and the fixed internal gear 32A is suppressed.
  • the first contact surface 211A, the second contact surface 621A, and the third contact surface 221A are all inclined surfaces facing the center of the planetary rolling element 23A.
  • the planetary rolling element 23A is held on the first contact surface 211A, the second contact surface 621A, and the third contact surface 221A, so that the axial and radial positions are stabilized.
  • the first contact surface 211A, the second contact surface 621A, and the third contact surface 221A are included in the planetary rolling element 23A. They are arranged at an angular interval of less than 180 ° with respect to the center. For this reason, the planetary rolling element 23A is held at a more stable position by the first contact surface 211A, the second contact surface 621A, and the third contact surface 221A.
  • the planetary rolling element 23A includes a contact portion that contacts the fixed sun roller 21A, a contact portion that contacts the movable sun roller 22A, and a contact portion that contacts the internal ring 62A.
  • the portion that is different from the above is in contact with the cylindrical portion 312A of the flexible external gear 31A.
  • the contact portion between the cylindrical portion 312A of the flexible external gear 31A and the planetary rolling element 23A and the second contact surface 621A of the internal ring 62A are disposed at the same radial position. By doing so, slipping is less likely to occur between the flexible external gear 31A and the planetary rolling element 23A and between the internal ring 62A and the planetary rolling element 23A. For this reason, energy loss due to slipping can be suppressed.
  • the planetary rolling element 23A is a sphere. For this reason, it is not necessary to provide a bearing for rotatably supporting the planetary rolling element 23A. Therefore, the reduction gear 1A can be further downsized.
  • the plurality of external teeth 313A of the flexible external gear 31A and the output shaft 50A are connected by a flexible cylindrical portion 312A (arm portion).
  • a flexible cylindrical portion 312A arm portion
  • displacement of the plurality of external teeth 313A with respect to the plurality of internal teeth 321A is allowed, and rotation is transmitted to the disk portion 311A.
  • the number of members of the wave gear mechanism 30A can be reduced.
  • the reduction gear 1A can be further downsized.
  • the flexible external gear 31A and the output shaft 50A are constituted by a single member. If it does in this way, the number of members of reduction gear 1A can be reduced more. Therefore, the reduction gear 1A can be further downsized.
  • FIG. 5 is a longitudinal sectional view of a reduction gear 1B according to the second embodiment.
  • 6 is a cross-sectional view of the speed reducer 1B at the YY position in FIG.
  • FIG. 5 shows a longitudinal section at the WW position in FIG.
  • differences from the first embodiment will be mainly described, and redundant description of parts equivalent to those of the first embodiment will be omitted.
  • the planetary mechanism 20B (first reduction mechanism) of the present embodiment includes a movable sun roller 22B, a plurality of planetary rolling elements 23B, and a carrier 24B.
  • the movable sun roller 22B is an annular member arranged coaxially with the central shaft 9B.
  • the movable sun roller 22B is supported by the input shaft 10B inside the casing 40B.
  • the movable sun roller 22B is disposed on the output side from the axial center of the planetary rolling element 23B.
  • the movable sun roller 22B has a first contact surface 221B that comes into contact with the plurality of planetary rolling elements 23B.
  • the first contact surface 221B is a part of the outer peripheral surface of the movable sun roller 22B.
  • the first contact surface 221B is an inclined surface that is inclined with respect to the central axis 9B. As shown in FIG.
  • the input shaft 10B includes a key groove 12B and a key 13B that fits in the key groove 12B.
  • the movable sun roller 22B has a key groove 222B on the inner periphery that extends in the axial direction and into which the key 13B is fitted.
  • the key groove 222B of the movable sun roller 22B is slidable in the axial direction along the key 13B. Therefore, the movable sun roller 22B is slidable in the axial direction with respect to the input shaft 10B.
  • Splines or serrations may be used instead of keys for engaging the input shaft 10B and the movable sun roller 22B.
  • the plurality of planetary rolling elements 23B are members that are arranged around the input shaft 10B and roll according to the rotation of the movable sun roller 22B.
  • the planetary rolling element 23B of this embodiment is a roller.
  • Each planetary rolling element 23B is supported rotatably about an axis parallel to the central axis 9B.
  • the axial center part of the planetary rolling element 23B is located between the movable sun roller 22B and the internal ring 62B (support part) in the axial direction.
  • two planetary rolling elements 23B are arranged at equal intervals around the input shaft 10B.
  • Each planetary rolling element 23B has a one-side contact surface 81B that contacts the above-described first contact surface 221B of the movable sun roller 22B.
  • One side contact surface 81B faces the output side of planetary rolling element 23B.
  • Each planetary rolling element 23B has the other-side contact surface 82B that contacts the second contact surface 621B of the internal ring 62B. The other side contact surface 82B faces the input side of the planetary rolling element 23B.
  • the carrier 24B is a member that holds a plurality of planetary rolling elements 23B.
  • the carrier 24B can rotate around the central axis 9B at a different rotational speed from the input shaft 10B.
  • the carrier 24B of the present embodiment has a plurality of carrier pins 241B and a pair of ring portions 242B.
  • the carrier pin 241B is inserted in the axial direction into a circular hole provided in the center of the planetary rolling element 23B.
  • Each carrier pin 241B supports the planetary rolling element 23B in a rotatable manner via a sliding bearing 231B.
  • another type of bearing such as a rolling bearing may be used.
  • the ring portion 242B is a circular plate-like member disposed perpendicular to the central axis 9B.
  • the input side and output side ends of the carrier pin 241B are fixed to the ring part 242B, respectively. Accordingly, the plurality of planetary rolling elements 23B are supported so as to be revolved and capable of rotating around the central axis 9B while being maintained in a state of being separated from each other in the circumferential direction.
  • the elastic member 70B is a member that can expand and contract in the axial direction.
  • a disc spring or a coil spring is used as the elastic member 70B.
  • the elastic member 70B is disposed between the stopper member 11B fixed to the input shaft 10B and the movable sun roller 22B in a state compressed more than the natural length. Therefore, the elastic member 70B pressurizes the movable sun roller 22B toward the input side. Then, a normal force toward the planetary rolling element 23B is generated on the first contact surface 221B of the movable sun roller 22B. As a result, the planetary rolling element 23B comes into contact with the first contact surface 221B of the movable sun roller 22B and the second contact surface 621B of the internal ring 62B. Thereby, the position of the planetary rolling element 23B is stabilized. Moreover, the slip of the planetary rolling element 23B can be suppressed, and the power transmission via the planetary rolling element 23B can be performed more reliably.
  • the movable sun roller 22B rotates around the central shaft 9B together with the input shaft 10B. Then, the planetary rolling element 23B revolves around the input shaft 10B while rotating by the frictional force between the planetary rolling element 23B, the movable sun roller 22B, and the internal ring 62B.
  • the revolution speed of the planetary rolling element 23B at this time is an intermediate revolution speed lower than the input revolution speed.
  • the shape of the cylindrical portion 312B of the flexible external gear 31B changes accordingly.
  • the meshing position of the flexible external gear 31B and the fixed internal gear 32B changes in the circumferential direction at an intermediate rotational speed around the central axis 9B.
  • the position of the external teeth 313B of the flexible external gear 31B that meshes with the internal teeth 321B at the same position of the fixed internal gear 32B shifts.
  • the rotational speed of the output shaft 50B at this time is an output rotational speed that is even lower than the intermediate rotational speed.
  • the speed reducer 1B of this embodiment also uses the planetary rolling element 23B of the planetary mechanism 20B to displace the plurality of external teeth 313B, so that the flexible external gear 31B and the fixed internal gear 32B Are partially meshed. If it does in this way, the number of members of the power transmission part between planetary mechanism 20B and wave gear mechanism 30B can be reduced. Therefore, the planetary mechanism 20B and the wave gear mechanism 30B can perform two-stage deceleration and realize a small reduction gear 1B.
  • the planetary rolling element 23B contacts the second contact surface 621B of the internal ring 62B.
  • the movement to the outer side of the radial direction of the planetary rolling element 23B is restrict
  • a circumferential clearance is ensured between the outer teeth 313B and the inner teeth 321B. That is, one surface in the circumferential direction of the external teeth 313B is not in contact with the internal teeth 321B. Therefore, the flexible external gear 31B operates smoothly with respect to the fixed internal gear 32B without generating an excessive force between the external teeth 313B and the internal teeth 321B. Further, wear of the flexible external gear 31B and the fixed internal gear 32B is suppressed.
  • the first contact surface 221B and the second contact surface 621B are both inclined surfaces facing the center of the planetary rolling element 23B.
  • the planetary rolling element 23B is held on the first contact surface 221B and the second contact surface 621B as described above, thereby stabilizing the position in the axial direction and the radial direction. Further, by making the one side contact surface 81B and the other side contact surface 82B of the planetary rolling element 23B parallel to each other, mutual normal forces are offset.
  • the planetary rolling element 23B is a portion different from the one-side contact surface 81B that contacts the movable sun roller 22B and the other-side contact surface 82B that contacts the internal ring 62B. Then, it contacts the cylindrical portion 312B of the flexible external gear 31B. Further, the contact portion between the cylindrical portion 312B of the flexible external gear 31B and the planetary rolling element 23B and the second contact surface 621B of the internal ring 62B are arranged at the same radial position. In this way, slipping is less likely to occur between the flexible external gear 31B and the planetary rolling element 23B and between the internal ring 62B and the planetary rolling element 23B. For this reason, energy loss due to slipping can be suppressed.
  • FIG. 7 is a longitudinal sectional view of a reduction gear 1C according to a modification.
  • the planetary mechanism 20C includes a first fixed sun roller 21C, a second fixed sun roller 22C, a plurality of planetary rolling elements 23C, and a carrier 24C.
  • the planetary rolling element 23C of the present embodiment is a sphere.
  • the first fixed sun roller 21C is fixed to the input shaft 10C on the output side from the center of the planetary rolling element 23C.
  • the second fixed sun roller 22C is fixed to the input shaft 10C on the input side from the center of the planetary rolling element 23C. That is, in the example of FIG. 7, the two sun rollers 21C and 22C are both fixed so as not to move in the axial direction with respect to the input shaft 10C.
  • the plate-like portion 61C of the lid portion 60C and the internal ring 62C are separate members. Relative rotation of the plate-like portion 61C and the internal ring 62C around the central axis 9C is prevented by the fixing pin 63C. Further, the elastic member 70C is disposed between the plate-like portion 61C and the internal ring 62C in a state where the elastic member 70C is compressed more than the natural length. For this reason, the elastic member 70C pressurizes the internal ring 62C toward the output side. Accordingly, a normal force toward the planetary rolling element 23C is generated on the second contact surface 621C of the internal ring 62C.
  • the planetary rolling element 23C contacts the first contact surface 211C of the first fixed sun roller 21C, the second contact surface 621C of the internal ring 62C, and the third contact surface 221C of the second fixed sun roller 22C. .
  • the position of the planetary rolling element 23C is stabilized.
  • the slip of the planetary rolling element 23C can be suppressed, and power transmission via the planetary rolling element 23C can be performed more reliably.
  • the movement of the planetary rolling element 23C to the outside in the radial direction is restricted by the second contact surface 621C of the internal ring 62C. That is, the displacement due to the pressing of the planetary rolling element 23C to the cylindrical portion 312C is limited by the second contact surface 621C.
  • the backlash between the flexible external gear 31C and the fixed internal gear 32C can be secured. Therefore, the flexible external gear 31C can be smoothly moved with respect to the fixed internal gear 32C. Further, wear of the flexible external gear 31C and the fixed internal gear 32C can be suppressed.
  • FIG. 8 is a longitudinal sectional view of a reduction gear 1D according to another modification.
  • the planetary mechanism 20D includes a fixed sun roller 21D, a plurality of planetary rolling elements 23D, and a carrier 24D.
  • the planetary rolling element 23D of this embodiment is a roller.
  • the fixed sun roller 21D is fixed to the input shaft 10D on the output side with respect to the axial center of the planetary rolling element 23D. That is, the fixed sun roller 21D is fixed so as not to move in the axial direction with respect to the input shaft 10D.
  • the plate-like portion 61D of the lid portion 60D and the internal ring 62D are separate members. Relative rotation between the plate-like portion 61D and the internal ring 62D around the central axis 9D is prevented by the fixing pin 63D. Further, the elastic member 70D is disposed between the plate-like portion 61D and the internal ring 62D in a state where the elastic member 70D is compressed more than the natural length. For this reason, the elastic member 70D pressurizes the internal ring 62D toward the output side. Accordingly, a normal force toward the planetary rolling element 23D is generated on the second contact surface 621D of the internal ring 62D.
  • the planetary rolling element 23D comes into contact with the first contact surface 211D of the fixed sun roller 21D and the second contact surface 621D of the internal ring 62D. Thereby, the position of the planetary rolling element 23D is stabilized. Moreover, the slip of the planetary rolling element 23D can be suppressed, and the power transmission via the planetary rolling element 23D can be performed more reliably.
  • the movement of the planetary rolling element 23D to the outside in the radial direction is restricted by the second contact surface 621D of the internal ring 62D. That is, the displacement due to the pressing of the planetary rolling element 23D to the cylindrical portion 312D is limited by the second contact surface 621D.
  • the backlash between flexible external gear 31D and fixed internal gear 32D is securable. Therefore, the flexible external gear 31D can be smoothly moved with respect to the fixed internal gear 32D. Moreover, wear of the flexible external gear 31D and the fixed internal gear 32D can be suppressed.
  • FIG. 9 is a longitudinal sectional view of a reduction gear 1E according to another modification.
  • a material having elasticity is used for the internal ring 62E.
  • the internal ring 62E is brought into contact with the planetary rolling element 23E while being elastically deformed in advance.
  • the normal force toward the planetary rolling element 23E can be generated on the second contact surface 621E using the elasticity of the internal ring 62E itself. Therefore, separately from the internal ring 62E, the position of the planetary rolling element 23D can be stabilized without using an elastic member such as a spring. As a result, the number of parts of the speed reducer 1E can be reduced.
  • FIG. 10 is a cross-sectional view of a reduction gear 1F according to another modification.
  • a flexible ring 25F is interposed between the inner peripheral surface of the cylindrical portion 312F of the flexible external gear 31F and the planetary rolling element 23F.
  • the flexible ring 25F is an annular member having flexibility.
  • the outer peripheral surface of the flexible ring 25F is in contact with the inner peripheral surface of the cylindrical portion 312F.
  • the inner peripheral surface of the flexible ring 25F partially contacts the planetary rolling element 23F.
  • the deformation of the flexible external gear 31F is smaller than in the case where the flexible ring 25F is not provided. Therefore, the concentration of bending stress acting on the flexible external gear 31F can be suppressed. As a result, the fatigue life of the flexible external gear 31F is improved.
  • the inner peripheral surface of the cylindrical portion 312F and the planetary rolling element 23F may indirectly contact via the flexible ring 25F.
  • the planetary mechanism of the speed reducer has two planetary rolling elements.
  • the flexible external gear was deformed into a substantially elliptical shape when viewed in the axial direction. If it does in this way, the part which meshes and the part which does not mesh can be provided between a flexible external gear and a fixed internal gear, without making an external tooth and an internal tooth shallow.
  • the number of planetary rolling elements included in the planetary mechanism may be another number such as three.
  • the plurality of planetary rolling elements are arranged at equal intervals in the circumferential direction. If the plurality of planetary rolling elements are arranged at equal intervals in the circumferential direction, it is possible to suppress the load on the planetary rolling elements from being biased in the circumferential direction. And the normal force which acts on the outer peripheral surface of a sun roller is canceled. Therefore, vibration during driving of the reduction gear is suppressed.
  • the speed reducer can be reduced in weight.
  • the member including the flexible external gear is made of resin, the flexibility of the cylindrical portion can be easily obtained.
  • resin is harder to obtain strength than metal.
  • the flexible external gear and the fixed internal gear can be made of resin to reduce the weight of the reduction gear, and the wear of the flexible external gear and the fixed internal gear can be suppressed. Thereby, weight reduction and long life of a reduction gear can be made compatible.
  • the shape of the details of the reduction gear may be different from the shape shown in each drawing of the present application. Moreover, you may combine suitably each element which appeared in said embodiment and modification in the range which does not produce inconsistency.
  • FIG. 11 is a longitudinal sectional view of a reduction gear 1G according to the third embodiment.
  • FIG. 12 is a cross-sectional view of the speed reducer 1G at the ZZ position in FIG.
  • the speed reducer 1G is a mechanism that converts a rotational motion obtained from an external motor into a rotational motion having an output rotational speed lower than the input rotational speed.
  • the reduction gear 1G is incorporated in, for example, a joint portion of an arm in a robot that cooperates with a person or a small work robot.
  • the reduction gear of the present invention may be used for other devices such as an assist suit, a wheelchair, and an automatic guided vehicle.
  • the speed reducer 1G of the present embodiment includes an input shaft 10G, a planetary mechanism 20G, a crown gear mechanism 30G, a casing 40G, an output shaft 50G, a lid 60G, and an elastic member 70G.
  • the input shaft 10G is a cylindrical portion extending along the central axis 9G.
  • the input shaft 10G is supported rotatably with respect to the lid 60G.
  • the input side end of the input shaft 10G is connected to an external motor directly or via another power transmission mechanism. When the motor is driven, the input shaft 10G rotates about the central shaft 9G at the input rotational speed.
  • the output side end of the input shaft 10G is located inside the casing 40G. Note that the output side end of the input shaft 10G may be connected to the output shaft 50G via a bearing.
  • the planetary mechanism 20G is a mechanism (first reduction mechanism) that converts rotational motion at an input rotational speed into rotational motion at an intermediate rotational speed that is lower than the input rotational speed.
  • the planetary mechanism 20G of the present embodiment includes a fixed sun roller 21G, a plurality of planetary rolling elements 23G, and a carrier 24G.
  • the fixed sun roller 21G is an annular portion arranged coaxially with the central axis 9G.
  • the input shaft 10G and the fixed sun roller 21G are composed of a single member. However, the input shaft 10G and the fixed sun roller 21G may be fixed as separate members.
  • the fixed sun roller 21G has a contact surface 211G that contacts the plurality of planetary rolling elements 23G.
  • the contact surface 211G is a part of the outer peripheral surface of the fixed sun roller 21G.
  • the contact surface 211G is an inclined surface that is inclined with respect to the central axis 9G.
  • the plurality of planetary rolling elements 23G are members that are arranged around the input shaft 10G and roll according to the rotation of the fixed sun roller 21G.
  • the planetary rolling element 23G of the present embodiment is a sphere. As shown in FIGS. 11 and 12, in this embodiment, two planetary rolling elements 23G are arranged at equal intervals in the circumferential direction around the input shaft 10G.
  • Each planetary rolling element 23G has a one-side contact surface that contacts the casing 40G. The one side contact surface faces the radially outer side and the output side.
  • each planetary rolling element 23G has the other side contact surface which contacts the contact surface 211G mentioned above of the fixed sun roller 21G. The other side contact surface faces radially inward and on the input side.
  • the positions of the two planetary rolling elements 23G in the axial direction are different.
  • the planetary rolling element 23G located on the input side is referred to as a first planetary rolling element 232G.
  • the planetary rolling element 23G located on the output side is referred to as a second planetary rolling element 233G. That is, the second planetary rolling element 233G is located on the output side of the first planetary rolling element 232G.
  • the carrier 24G is a member that holds a plurality of planetary rolling elements 23G.
  • the carrier 24G extends in a cylindrical shape in the axial direction around the central axis 9G.
  • the carrier 24G can rotate around the central axis 9G at a different rotational speed from the input shaft 10G.
  • the carrier 24G has a plurality of recesses 241G penetrating in the radial direction.
  • the plurality of planetary rolling elements 23G are respectively accommodated in the recesses 241G of the carrier 24G.
  • the plurality of planetary rolling elements 23G are supported so as to be revolved and capable of rotating around the central axis 9G while being maintained in a state of being separated from each other in the circumferential direction.
  • the crown gear mechanism 30G is a mechanism (second reduction mechanism) that converts a rotational motion at an intermediate rotational speed into a rotational motion at an output rotational speed lower than the intermediate rotational speed.
  • the crown gear mechanism 30G of the present embodiment includes a crown gear 31G and a fixed gear 32G.
  • the crown gear 31G is a rotating gear that can rotate around the central shaft 9G.
  • FIG. 13 is a plan view seen from the output side of the crown gear 31G.
  • the crown gear 31G has a disc portion 312G and a plurality of rotating teeth 313G.
  • the disc portion 312G is disposed substantially perpendicular to the central axis 9G on the output side of the plurality of planetary rolling elements 23G.
  • the plurality of rotating teeth 313G are provided at a constant pitch in the circumferential direction along the peripheral edge of the output-side surface of the disk portion 312G.
  • Each rotation tooth 313G protrudes toward the output side from the output side surface of the crown gear 31G.
  • the plurality of rotating teeth 313G face the plurality of fixed teeth 321G described later in the axial direction.
  • the disk portion 312G and the plurality of rotating teeth 313G and an output shaft 50G described later are connected via a plurality of arm portions 314G.
  • the plurality of arm portions 314G extend radially with respect to the central axis 9G. That is, each arm 314G extends in the radial direction.
  • the radially outer end of each arm portion 314G is connected to the disc portion 312G.
  • the radially inner end of each arm 314G is connected to the output shaft 50G.
  • Each arm 314G has flexibility. Therefore, the radially outer end of each arm 314G can be displaced in the axial direction with respect to the radially inner end. For this reason, the position in the axial direction of some of the rotating teeth 313G among the plurality of rotating teeth 313G can be changed by the bending of the arm portion 314G.
  • the fixed gear 32G is a flat gear positioned on the output side of the crown gear 31G.
  • FIG. 14 is a plan view seen from the input side of the fixed gear 32G.
  • the fixed gear 32G has a plurality of fixed teeth 321G.
  • the plurality of fixed teeth 321G are arranged in an annular shape around the central axis 9G and at a constant pitch in the circumferential direction.
  • Each fixed tooth 321G protrudes toward the input side from the input side surface of the end wall portion 41G of the casing 40G described later.
  • the second planetary rolling element 233G described above contacts a part of the circumferential surface of the input side surface of the disk portion 312G. Thereby, some rotation teeth 313G of the plurality of rotation teeth 313G are displaced to the output side by the pressure received from the second planetary rolling element 233G. As a result, the rotating tooth 313G and the fixed tooth 321G mesh with each other at the output side position of the second planetary rolling element 233G. At other positions in the circumferential direction, the rotating teeth 313G and the fixed teeth 321G do not mesh with each other. For example, at the output side position of the first planetary rolling element 232G, the rotating tooth 313G and the fixed tooth 321G do not mesh with each other. Thus, the plurality of rotating teeth 313G and the plurality of fixed teeth 321G mesh with each other only in a part in the circumferential direction.
  • the casing 40G has an end wall portion 41G and a peripheral wall portion 42G.
  • the end wall portion 41G extends substantially perpendicular to the central axis 9G on the output side of the crown gear 31G.
  • the peripheral wall portion 42G extends in a cylindrical shape from the outer peripheral portion of the end wall portion 41G toward the input side.
  • the peripheral wall portion 42G is located on the radially outer side of the crown gear 31G, the fixed sun roller 21G, the plurality of planetary rolling elements 23G, and the carrier 24G.
  • a fixed gear 32G is provided on the input side surface of the end wall portion 41G.
  • the end wall portion 41G and the fixed gear 32G may be separate members.
  • An annular first groove 422G and an annular second groove 423G are provided on the inner peripheral surface of the peripheral wall portion 42G.
  • the second groove 423G is located on the output side with respect to the first groove 422G.
  • the first planetary rolling element 232G contacts the concave surface of the first groove 422G.
  • the first planetary rolling element 232G revolves along the first groove 422G.
  • the second planetary rolling element 233G contacts the concave surface of the second groove 423G.
  • the second planetary rolling element 233G revolves along the second groove 423G. That is, in the present embodiment, the peripheral wall portion 42G of the casing 40G serves as an annular support portion that contacts the planetary rolling element 23G.
  • the casing 40G of the present embodiment includes the first groove 422G in which the first planetary rolling element 232G is fitted and the second groove 423G in which the second planetary rolling element 233G is fitted.
  • the position shift of the axial direction of the 1st planetary rolling element 232G and the 2nd planetary rolling element 233G is suppressed.
  • the position where the rotating tooth 313G and the fixed tooth 321G mesh is maintained with high accuracy.
  • the output shaft 50G is a cylindrical member arranged coaxially with the central shaft 9G.
  • the output shaft 50G is inserted into a circular hole provided in the center of the end wall portion 41G. Thereby, the output shaft 50G is rotatably supported with respect to the casing 40G.
  • the output shaft 50G is connected to the crown gear 31G. Therefore, when the crown gear 31G rotates, the output shaft 50G rotates with the center shaft 9G as well as the crown gear 31G.
  • the crown gear 31G and the output shaft 50G are a single member. However, the crown gear 31G and the output shaft 50G may be separate members.
  • the lid 60G is a member that closes the opening at the end of the input side of the casing 40G.
  • the lid 60G extends perpendicular to the central axis 9G on the input side of the plurality of planetary rolling elements 23G.
  • the input shaft 10G is inserted into a circular hole provided in the center of the lid 60G. Thereby, the input shaft 10G is rotatably supported with respect to the lid 60G.
  • the elastic member 70G is a member that can expand and contract in the axial direction.
  • a disc spring or a coil spring is used as the elastic member 70G.
  • the elastic member 70G is disposed between the fixed sun roller 21G and the lid portion 60G in a state compressed more than the natural length. For this reason, the elastic member 70G pressurizes the fixed sun roller 21G toward the output side. Then, a normal force toward the planetary rolling element 23G is generated on the contact surface 211G of the fixed sun roller 21G. As a result, the first planetary rolling element 232G contacts the contact surface 211G of the fixed sun roller 21G and the first groove 422G of the peripheral wall portion 42G.
  • the second planetary rolling element 233G contacts the contact surface 211G of the fixed sun roller 21G and the second groove 423G of the peripheral wall portion 42G. Thereby, the position of each planetary rolling element 23G is stabilized. Moreover, the slip of each planetary rolling element 23G is suppressed. Therefore, power transmission via the second planetary rolling element 233G can be performed more reliably.
  • the fixed sun roller 21G rotates around the central axis 9G together with the input shaft 10G.
  • the planetary rolling element 23G rotates around the central axis 9G while rotating due to the frictional force between the planetary rolling element 23G and the fixed sun roller 21G and the frictional force between the planetary rolling element 23G and the casing 40G. Revolve.
  • the revolution speed of the planetary rolling element 23G is an intermediate rotational speed lower than the input rotational speed.
  • the shape of the crown gear 31G changes accordingly. That is, a portion of the plurality of rotating teeth 313G that is displaced toward the output side rotates following the revolution of the second planetary rolling element 233G. Accordingly, a portion of the plurality of rotating teeth 313G that meshes with the fixed teeth 321G of the fixed gear 32G changes in the circumferential direction at an intermediate rotational speed around the central axis 9G.
  • the number of rotating teeth 313G of the crown gear 31G and the number of fixed teeth 321G of the fixed gear 32G are different from each other. Due to the difference in the number of teeth, each time the planetary rolling element 23G revolves once, the position of the rotating tooth 313G of the crown gear 31G that meshes with the fixed tooth 321G of the same position of the fixed gear 32G shifts. As a result, the crown gear 31G rotates slowly around the central axis 9G. As a result, the output shaft 50G rotates slowly together with the crown gear 31G.
  • the rotational speed of the output shaft 50G at this time is an output rotational speed that is lower than the intermediate rotational speed.
  • the second planetary rolling element 233G of the planetary mechanism 20G is used to displace the rotating teeth 313G of the crown gear 31G, thereby partially moving the crown gear 31G and the fixed gear 32G. Bite into. If it does in this way, the number of members of the power transmission part between planetary mechanism 20G and crown gear mechanism 30G can be reduced. Therefore, the planetary mechanism 20G and the crown gear mechanism 30G perform two-stage deceleration, and a small reduction gear 1G can be realized.
  • the second planetary rolling element 233G comes into contact with the second groove 423G of the casing 40G. Therefore, the movement of the planetary rolling element 23G to the output side is limited by the concave surface (contact surface) of the second groove 423G. That is, the displacement by the pressing of the planetary rolling element 23G to the crown gear 31G is limited by the second groove 423G. For this reason, a circumferential clearance (backlash) is ensured between the rotating teeth 313G and the fixed teeth 321G. That is, one surface in the circumferential direction of the rotating tooth 313G is not in contact with the fixed tooth 321G. Therefore, the crown gear 31G operates smoothly with respect to the fixed gear 32G without generating an excessive force between the rotating teeth 313G and the fixed teeth 321G. Further, wear of the crown gear 31G and the fixed gear 32G is suppressed.
  • the planetary rolling element 23G is a sphere. For this reason, it is not necessary to provide a bearing for rotatably supporting the planetary rolling element 23G. Therefore, the reduction gear 1G can be further downsized. Further, as shown in FIG. 11, in this embodiment, the planetary rolling element 23G is a portion different from the contact portion that contacts the outer peripheral surface of the fixed sun roller 21G and the contact portion that contacts the inner peripheral surface of the casing 40G. It contacts the crown gear 31G.
  • the plurality of rotating teeth 313G of the crown gear 31G and the output shaft 50G are connected by a flexible arm portion 314G.
  • the arm portion 314G is bent, displacement of the plurality of rotating teeth 313G with respect to the plurality of fixed teeth 321G is allowed, and rotation is transmitted to the output shaft 50G.
  • the number of members of the crown gear mechanism 30G can be reduced.
  • the reduction gear 1G can be further downsized.
  • the crown gear 31G, the arm portion 314G, and the output shaft 50G are constituted by a single member. If it does in this way, the number of members of reduction gear 1G can be reduced more. Therefore, the reduction gear 1G can be further downsized.
  • FIG. 15 is a longitudinal sectional view of a reduction gear 1H according to the fourth embodiment.
  • FIG. 16 is a cross-sectional view of the speed reducer 1H at the UU position in FIG.
  • the speed reducer 1H is a mechanism that converts a rotational motion obtained from an external motor into a rotational motion having an output rotational speed lower than the input rotational speed.
  • the speed reducer 1H is incorporated in, for example, a joint portion of an arm in a human cooperation robot or a small work robot.
  • the reduction gear of the present invention may be used for other devices such as an assist suit, a wheelchair, and an automatic guided vehicle.
  • the speed reducer 1H of the present embodiment includes an input shaft 10H, a planetary mechanism 20H, a rocking gear mechanism 30H, a casing 40H, an output shaft 50H, a lid 60H, and an elastic member 70H.
  • the input shaft 10H is a cylindrical portion extending along the central axis 9H.
  • the input shaft 10H is supported rotatably with respect to the casing 40H.
  • the input side end of the input shaft 10H is connected to an external motor directly or via another power transmission mechanism. When the motor is driven, the input shaft 10H rotates at the input rotation speed about the central shaft 9H.
  • the output side end of the input shaft 10H is located inside the casing 40H. Note that the output side end of the input shaft 10H may be connected to the output shaft 50H via a bearing.
  • the planetary mechanism 20H is a mechanism (first reduction mechanism) that converts rotational motion at an input rotational speed into rotational motion at an intermediate rotational speed that is lower than the input rotational speed.
  • the planetary mechanism 20H of this embodiment includes a movable sun roller 22H, a plurality of planetary rolling elements 23H, and a carrier 24H.
  • the movable sun roller 22H is an annular member arranged coaxially with the central axis 9H.
  • the movable sun roller 22H is supported by the input shaft 10H inside the casing 40H.
  • the movable sun roller 22H together with the input shaft 10H rotates at the input rotation speed about the central shaft 9H.
  • the movable sun roller 22H is slidable in the axial direction with respect to the input shaft 10H.
  • the movable sun roller 22H has a contact surface 221H that contacts the plurality of planetary rolling elements 23H.
  • the contact surface 221H is a part of the outer peripheral surface of the movable sun roller 22H.
  • the contact surface 221H is an inclined surface that is inclined with respect to the central axis 9H.
  • the input shaft 10H has a key groove 12H and a key 13H that fits in the key groove 12H.
  • the movable sun roller 22H has a key groove 222H that extends in the axial direction and fits the key 13H on the inner periphery.
  • the key groove 222H of the movable sun roller 22H is slidable in the axial direction along the key 13H. Therefore, the movable sun roller 22H is slidable in the axial direction with respect to the input shaft 10H.
  • Splines and serrations may be used instead of keys for the engagement between the input shaft 10H and the movable sun roller 22A.
  • the plurality of planetary rolling elements 23H are members that are arranged around the input shaft 10H and roll according to the rotation of the movable sun roller 22H.
  • the planetary rolling element 23H of the present embodiment is a sphere. As shown in FIGS. 15 and 16, in this embodiment, two planetary rolling elements 23H are arranged at equal intervals in the circumferential direction around the input shaft 10H.
  • Each planetary rolling element 23H has a one-side contact surface that contacts the above-described contact surface 221H of the movable sun roller 22H. The one side contact surface faces radially inward and on the output side.
  • Each planetary rolling element 23H has the other side contact surface which contacts casing 40H. The other contact surface faces radially outward and the input side.
  • the positions of the two planetary rolling elements 23H in the axial direction are different.
  • the planetary rolling element 23H positioned on the input side is referred to as a first planetary rolling element 232H.
  • the planetary rolling element 23H located on the output side is referred to as a second planetary rolling element 233H. That is, the second planetary rolling element 233H is located on the output side of the first planetary rolling element 232H.
  • the carrier 24H is a member that holds a plurality of planetary rolling elements 23H.
  • the carrier 24H extends in a cylindrical shape in the axial direction around the central axis 9H.
  • the carrier 24H can rotate around the central axis 9H at a different rotational speed from the input shaft 10H.
  • the carrier 24H has a plurality of recesses 241H penetrating in the radial direction.
  • the plurality of planetary rolling elements 23H are accommodated in the recesses 241H of the carrier 24H, respectively. Accordingly, the plurality of planetary rolling elements 23H are supported so as to be revolved and capable of rotating around the central axis 9H while being maintained in a state of being separated from each other in the circumferential direction.
  • the oscillating gear mechanism 30H is a mechanism (second reduction mechanism) that converts a rotational motion at an intermediate rotational speed into a rotational motion at an output rotational speed lower than the intermediate rotational speed.
  • the swing gear mechanism 30H of the present embodiment includes a swing external gear 31H and a fixed internal gear 32H.
  • the swinging external gear 31H is an annular gear (rotating gear) that can be eccentric with respect to the center shaft 9H. As shown in FIGS. 15 and 16, the swinging external gear 31H has a disc portion 311H and a cylindrical portion 312H.
  • the disc portion 311H extends substantially perpendicular to the central axis 9H on the output side from the plurality of planetary rolling elements 23H.
  • the cylindrical portion 312H extends in a cylindrical shape from the outer peripheral portion of the disc portion 311H toward the input side.
  • the cylindrical portion 312H is located radially outside the center of the planetary rolling element 23H.
  • a plurality of external teeth 313H are provided at a constant pitch on the outer peripheral surface of the cylindrical portion 312H.
  • the plurality of external teeth 313H face a plurality of internal teeth 321H described later.
  • the disk portion 311H, the cylindrical portion 312H, the plurality of external teeth 313H, and an output shaft 50H described later are connected via a plurality of arm portions 314H.
  • the plurality of arm portions 314H extend radially with respect to the central axis 9H. That is, each arm portion 314H extends in the radial direction.
  • the radially outer end of each arm portion 314H is connected to the disc portion 311H.
  • the radially inner end of each arm 314H is connected to the output shaft 50H.
  • Each arm 314H has flexibility. Accordingly, the individual arm portions 314H can expand and contract in the radial direction. For this reason, it becomes possible to decenter the cylindrical part 312H with respect to the central axis 9H by expansion and contraction of the arm part 314H.
  • the fixed internal gear 32H is an annular gear (fixed gear) surrounding the cylindrical portion 312H of the swinging external gear 31H.
  • the fixed internal gear 32H is arranged coaxially with the central shaft 9H.
  • a plurality of internal teeth 321H are provided on the inner peripheral surface of the fixed internal gear 32H at a constant pitch in the circumferential direction.
  • the plurality of internal teeth 321H are arranged in an annular shape around the central axis 9H. Each internal tooth 321H protrudes radially inward from an inner peripheral surface of a peripheral wall portion 42H of a casing 40H described later.
  • the second planetary rolling element 233H described above contacts a part of the inner peripheral surface of the cylindrical portion 312H in the circumferential direction. Thereby, the cylindrical part 312H is displaced in the press direction by the press received from the 2nd planetary rolling element 233H.
  • the external teeth 313H of the swinging external gear 31H and the internal teeth 321H of the fixed internal gear 32H mesh with each other at the radially outer position of the second planetary rolling element 233H.
  • the external teeth 313H and the internal teeth 321H do not mesh with each other.
  • the outer teeth 313H and the inner teeth 321H do not mesh with each other at the same circumferential position as the first planetary rolling element 232H.
  • the plurality of external teeth 313H of the swinging external gear 31H and the plurality of internal teeth 321H of the fixed internal gear 32H mesh with each other only in a part in the circumferential direction.
  • the casing 40H has an end wall portion 41H and a peripheral wall portion 42H.
  • the end wall portion 41H extends substantially perpendicular to the central axis 9H on the input side with respect to the movable sun roller 22H and the plurality of planetary rolling elements 23H.
  • the input shaft 10H is inserted into a circular hole provided in the center of the end wall portion 41H. Thereby, the input shaft 10H is rotatably supported with respect to the casing 40H.
  • the peripheral wall portion 42H extends in a cylindrical shape from the outer peripheral portion of the end wall portion 41H toward the output side.
  • the peripheral wall portion 42H is located on the radially outer side of the movable sun roller 22H, the plurality of planetary rolling elements 23H, the swinging external gear 31H, and the carrier 24H.
  • a fixed internal gear 32H is provided on the inner peripheral surface on the output side of the peripheral wall portion 42H.
  • the peripheral wall portion 42H and the fixed internal gear 32H may be separate members.
  • annular first groove 422H and an annular second groove 423H are provided on the inner peripheral surface of the peripheral wall portion 42H.
  • the second groove 423H is located on the output side with respect to the first groove 422H.
  • the first planetary rolling element 232H contacts the concave surface of the first groove 422H.
  • the first planetary rolling element 232H revolves along the first groove 422H.
  • the second planetary rolling element 233H is in contact with the concave surface of the second groove 423H.
  • the second planetary rolling element 233H revolves along the second groove 423H. That is, in the present embodiment, the peripheral wall portion 42H of the casing 40H serves as an annular support portion that contacts the planetary rolling element 23H.
  • the casing 40H of the present embodiment includes the first groove 422H in which the first planetary rolling element 232H is fitted and the second groove 423H in which the second planetary rolling element 233H is fitted.
  • the position shift of the axial direction of the 1st planetary rolling element 232H and the 2nd planetary rolling element 233H is suppressed.
  • the position where the outer teeth 313H and the inner teeth 321H mesh is maintained with high accuracy.
  • the output shaft 50H is a columnar member arranged coaxially with the central shaft 9H.
  • the output shaft 50H is connected to the swinging external gear 31H. Therefore, when the swinging external gear 31H rotates, the output shaft 50H rotates about the central shaft 9H together with the swinging external gear 31H.
  • the swinging external gear 31H and the output shaft 50H are a single member. However, the swinging external gear 31H and the output shaft 50H may be separate members.
  • the lid portion 60H is a member that closes the opening of the end portion on the output side of the casing 40H.
  • the lid 60H extends perpendicularly to the central shaft 9H on the output side from the plurality of swinging external gears 31H.
  • the output shaft 50H is inserted into a circular hole provided in the center of the lid 60H. Thereby, the output shaft 50H is rotatably supported with respect to the lid 60H.
  • the elastic member 70H is a member that can expand and contract in the axial direction.
  • a disc spring or a coil spring is used as the elastic member 70H.
  • the elastic member 70H is disposed between the end of the input side of the input shaft 10H and the movable sun roller 22H in a compressed state than the natural length. For this reason, the elastic member 70H pressurizes the movable sun roller 22H toward the input side. Then, a normal force toward the planetary rolling element 23H is generated on the contact surface 221H of the movable sun roller 22H. As a result, the first planetary rolling element 232H contacts the contact surface 221H of the movable sun roller 22H and the first groove 422H of the peripheral wall portion 42H.
  • the second planetary rolling element 233H is in contact with the contact surface 211H of the movable sun roller 22H and the second groove 423H of the peripheral wall portion 42H. Thereby, the position of each planetary rolling element 23H is stabilized. Moreover, the slip of each planetary rolling element 23H is suppressed. Therefore, power transmission via the second planetary rolling element 233H can be performed more reliably.
  • the movable sun roller 22H rotates around the central axis 9H together with the input shaft 10H.
  • the planetary rolling element 23H rotates around the central axis 9H while rotating by the frictional force between the planetary rolling element 23H and the movable sun roller 22H and the frictional force between the planetary rolling element 23H and the casing 40H.
  • the revolution speed of the planetary rolling element 23H at this time is an intermediate revolution speed lower than the input revolution speed.
  • the number of external teeth 313H of the swinging external gear 31H and the number of internal teeth 321H of the fixed internal gear 32H are different from each other. Due to the difference in the number of teeth, each time the planetary rolling element 23H revolves once, the position of the external teeth 313H of the swinging external gear 31H that meshes with the internal teeth 321H at the same position of the fixed internal gear 32H shifts. As a result, the swinging external gear 31H rotates slowly around the central axis 9H. As a result, the output shaft 50H rotates slowly together with the swinging external gear 31H. At this time, the rotational speed of the output shaft 50H is an output rotational speed that is lower than the intermediate rotational speed.
  • this reduction gear 1H by using the second planetary rolling element 233H of the planetary mechanism 20H to displace the swinging external gear 31H, the swinging external gear 31H and the fixed internal gear 32H Are partially meshed. If it does in this way, the number of members of the power transmission part between planetary mechanism 20H and rocking gear mechanism 30H can be reduced. Therefore, the planetary mechanism 20H and the oscillating gear mechanism 30H can perform two-stage deceleration and realize a small speed reducer 1H.
  • the second planetary rolling element 233H is in contact with the second groove 423H of the casing 40H. Therefore, the movement of the planetary rolling element 23H to the outside in the radial direction is limited by the concave surface (contact surface) of the second groove 423H. That is, the second groove 423H restricts the pressing of the planetary rolling element 23H to the swinging external gear 31H. For this reason, a circumferential clearance (backlash) is ensured between the outer teeth 313H and the inner teeth 321H. That is, one surface in the circumferential direction of the outer teeth 313H is not in contact with the inner teeth 321H.
  • the oscillating external gear 31H operates smoothly with respect to the fixed internal gear 32H without generating excessive force between the external teeth 313H and the internal teeth 321H. Further, wear of the swinging external gear 31H and the fixed internal gear 32H is suppressed.
  • the planetary rolling element 23H is a sphere. For this reason, it is not necessary to provide a bearing for rotatably supporting the planetary rolling element 23H. Therefore, the reduction gear 1H can be further downsized. Further, as shown in FIG. 15, in this embodiment, the planetary rolling element 23H is a portion different from the contact portion that contacts the outer peripheral surface of the movable sun roller 22H and the contact portion that contacts the inner peripheral surface of the casing 40H. It contacts the swinging external gear 31H.
  • the plurality of external teeth 313H of the swinging external gear 31H and the output shaft 50H are connected by the flexible arm portion 314H.
  • the arm portion 314H When the arm portion 314H is bent, displacement of the plurality of external teeth 313H with respect to the plurality of internal teeth 321H is allowed, and rotation is transmitted to the output shaft 50H.
  • the number of members of the swing gear mechanism 30H can be reduced.
  • the speed reducer 1H can be further downsized.
  • the swinging external gear 31H, the arm portion 314H, and the output shaft 50H are constituted by a single member. If it does in this way, the number of members of reduction gear 1H can be reduced more. Therefore, the reduction gear 1H can be further downsized.
  • FIG. 17 is a longitudinal sectional view of a reduction gear 100I with an electric motor according to a modification.
  • a reduction gear 100I with an electric motor in FIG. 17 is obtained by adding an electric motor 2I as a power source to a reduction gear 1I equivalent to that in the third embodiment.
  • the input shaft 10I and the sun roller 21I rotate at the input rotation speed around the central shaft 9I by the driving force output from the electric motor 2I. In other words, the input shaft 10I and the sun roller 21I rotate at the same rotational speed as the rotor 201I of the electric motor 2I.
  • the reduction gear 100I with an electric motor of FIG. 17 has a cylindrical hollow shaft 101I.
  • the hollow shaft 101I is arranged coaxially with the central axis 9I.
  • the hollow shaft 101I extends in the axial direction over both the speed reducer 1I and the electric motor 2I.
  • the hollow shaft 101I is fixed directly or indirectly to the casing 40I and the lid 60I.
  • the input shaft 10I and the sun roller 21I are rotatably supported on the outer peripheral surface of the hollow shaft 101I.
  • the output shaft 50I is also rotatably supported on the outer peripheral surface of the hollow shaft 101I.
  • the space inside the hollow shaft 101I can be used as an arrangement space for components and the like.
  • electrical wiring can be passed through the space inside the hollow shaft 101I.
  • FIG. 18 is a longitudinal sectional view of a member including a swinging external gear 31J and an output shaft 50J according to another modification.
  • the disk portion 311J, the cylindrical portion 312J, the plurality of external teeth 313J, and the output shaft 50J are connected via an accordion-shaped arm portion 314J.
  • the arm portion 314J when the arm portion 314J is formed in a bellows shape, the arm portion 314J can be easily expanded and contracted in the radial direction. Accordingly, the cylindrical portion 312J of the swinging external gear 31J can be more easily eccentric with respect to the central shaft 9J.
  • the arm part 314G of the crown gear mechanism 30G of 3rd Embodiment shown in FIG. 11 into a bellows shape similarly to the arm part 314J of FIG.
  • the arm portion of the crown gear mechanism may be similarly accordion-shaped.
  • the planetary mechanism of the speed reducer has two planetary rolling elements.
  • the number of planetary rolling elements included in the planetary mechanism may be another number such as three.
  • the plurality of planetary rolling elements are preferably arranged at equal intervals in the circumferential direction. If the plurality of planetary rolling elements are arranged at equal intervals in the circumferential direction, it is possible to suppress the load on the planetary rolling elements from being biased in the circumferential direction. And the normal force which acts on the outer peripheral surface of a sun roller is canceled. Therefore, vibration during driving of the reduction gear is suppressed.
  • the speed reducer can be reduced in weight.
  • the member including the arm portion is made of resin, the flexibility of the arm portion is easily obtained.
  • resin is harder to obtain strength than metal.
  • the fixed gear and the rotating gear can be made of resin to reduce the weight of the speed reducer, and wear of the fixed gear and the rotating gear can be suppressed. Thereby, weight reduction and long life of a reduction gear can be made compatible.
  • the shape of the details of the reduction gear may be different from the shape shown in each drawing of the present application. Moreover, you may combine suitably each element which appeared in said embodiment and modification in the range which does not produce inconsistency.
  • the present invention can be used for a reduction gear.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)
  • Gears, Cams (AREA)
  • Friction Gearing (AREA)

Abstract

La présente invention concerne un réducteur de vitesse (1A) présentant un premier mécanisme de réduction de vitesse (20A) et un second mécanisme de réduction de vitesse (30A). Le premier mécanisme de réduction de vitesse (20A) présente des rouleaux solaires (21A, 22A), une partie de support (62A) et des corps de roulement planétaires (23A). Le second mécanisme de réduction de vitesse (30A) présente un engrenage fixe (32A) et un engrenage rotatif (31A). L'engrenage fixe (32A) et l'engrenage rotatif (31A) viennent partiellement en prise en raison de la pression reçue à partir des corps de roulement planétaires (23A). Ainsi, le nombre d'éléments dans une unité de transmission de puissance entre le premier mécanisme de réduction de vitesse (20A) et le second mécanisme de réduction de vitesse (30A) peut être réduit. En conséquence, un second étage de réduction de vitesse se produit, et un réducteur de vitesse compact (1A) est obtenu. En outre, les corps de roulement planétaires (23A) entrent en contact avec les rouleaux solaires (21A, 22A) et la partie de support (62A), en stabilisant ainsi la position des corps de roulement planétaires (23A). Par conséquent, un contact excessif entre les éléments d'engrenage ne se produit pas facilement.
PCT/JP2017/014994 2016-04-12 2017-04-12 Réducteur de vitesse Ceased WO2017179623A1 (fr)

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JP2016079243 2016-04-12
JP2016-079243 2016-04-12

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WO2017179623A1 true WO2017179623A1 (fr) 2017-10-19

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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108019472A (zh) * 2018-01-29 2018-05-11 王维 行星减速机
CN110553017A (zh) * 2018-05-31 2019-12-10 日本电产新宝株式会社 带电动机的变速器以及台车驱动单元
CN111406164A (zh) * 2018-11-29 2020-07-10 日本电产新宝株式会社 波动齿轮装置
CN112211960A (zh) * 2020-10-31 2021-01-12 重庆大学 工业机器人齿轮内置式中空型精密减速器
JP2021014868A (ja) * 2019-07-11 2021-02-12 日本電産シンポ株式会社 ローラ式差動減速装置
JP2022103575A (ja) * 2020-12-28 2022-07-08 日本電産シンポ株式会社 モータ付き減速機、減速装置、ロボット、および移動体
US20220290739A1 (en) * 2019-08-26 2022-09-15 Sri International Pure Rolling Cycloid Transmissions with Variable Effective Diameter Rollers and Roller Constraints
JP2023149490A (ja) * 2022-03-31 2023-10-13 住友重機械工業株式会社 摩擦伝動装置

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102418837B1 (ko) * 2021-01-26 2022-07-11 주식회사 에스 피 지 파동 기어 장치

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JPS444063B1 (fr) * 1965-06-28 1966-02-19
JPS63115944A (ja) * 1986-11-05 1988-05-20 Daiko Denshi Kenkyusho:Kk ハ−モニツクドライブ

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JPS444063B1 (fr) * 1965-06-28 1966-02-19
JPS63115944A (ja) * 1986-11-05 1988-05-20 Daiko Denshi Kenkyusho:Kk ハ−モニツクドライブ

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108019472A (zh) * 2018-01-29 2018-05-11 王维 行星减速机
CN110553017A (zh) * 2018-05-31 2019-12-10 日本电产新宝株式会社 带电动机的变速器以及台车驱动单元
CN111406164A (zh) * 2018-11-29 2020-07-10 日本电产新宝株式会社 波动齿轮装置
JP2021014868A (ja) * 2019-07-11 2021-02-12 日本電産シンポ株式会社 ローラ式差動減速装置
JP7274079B2 (ja) 2019-07-11 2023-05-16 ニデックドライブテクノロジー株式会社 ローラ式差動減速装置
US20220290739A1 (en) * 2019-08-26 2022-09-15 Sri International Pure Rolling Cycloid Transmissions with Variable Effective Diameter Rollers and Roller Constraints
US11674564B2 (en) * 2019-08-26 2023-06-13 Sri International Pure rolling cycloid transmissions with variable effective diameter rollers and roller constraints
CN112211960A (zh) * 2020-10-31 2021-01-12 重庆大学 工业机器人齿轮内置式中空型精密减速器
JP2022103575A (ja) * 2020-12-28 2022-07-08 日本電産シンポ株式会社 モータ付き減速機、減速装置、ロボット、および移動体
JP7593550B2 (ja) 2020-12-28 2024-12-03 ニデックドライブテクノロジー株式会社 モータ付き減速機、減速装置、ロボット、および移動体
JP2025014041A (ja) * 2020-12-28 2025-01-28 ニデックドライブテクノロジー株式会社 モータ付き減速機、ロボット、および移動体
JP2023149490A (ja) * 2022-03-31 2023-10-13 住友重機械工業株式会社 摩擦伝動装置

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