TWI683067B - Reducer - Google Patents

Abstract

Translated fromChinese

本發明的減速機包括輸入旋轉體、輸出旋轉體及殼體。輸入旋轉體包含輸入軸、臂部及輥。輸出旋轉體包含活動冠齒輪及輸出軸。殼體包含固定冠齒輪。活動冠齒輪及固定冠齒輪相對於中心軸而垂直或傾斜地展開。又，活動冠齒輪及固定冠齒輪具有彼此相對向的側面齒。輥與活動冠齒輪的圓周方向上的一部分相接觸。活動冠齒輪及固定冠齒輪藉由自輥受到的按壓，而部分地咬合。又，伴隨著輸入旋轉體的旋轉，活動冠齒輪與固定冠齒輪的咬合位置以中心軸為中心，以輸入轉速沿圓周方向發生變化。而且，藉由活動冠齒輪與固定冠齒輪的齒數的差，而使得活動冠齒輪相對於固定冠齒輪以輸出轉速而旋轉。The speed reducer of the present invention includes an input rotating body, an output rotating body and a casing. The input rotating body includes an input shaft, an arm, and a roller. The output rotating body includes a movable crown gear and an output shaft. The housing contains a fixed crown gear. The movable crown gear and the fixed crown gear are spread vertically or obliquely with respect to the central axis. In addition, the movable crown gear and the fixed crown gear have side teeth facing each other. The roller is in contact with a part of the movable crown gear in the circumferential direction. The movable crown gear and the fixed crown gear are partially engaged by the pressure received from the roller. In addition, with the rotation of the input rotating body, the engagement position of the movable crown gear and the fixed crown gear changes around the center axis at the center axis, and the input rotation speed changes in the circumferential direction. Moreover, due to the difference in the number of teeth between the movable crown gear and the fixed crown gear, the movable crown gear rotates at an output speed relative to the fixed crown gear.

Description

Translated fromChinese

減速機Reducer

本發明是有關於一種減速機。The invention relates to a speed reducer.

近年來，與人合作進行作業的小型機器人的開發正在積極地發展。對於此種機器人，要求進行極其細微的動作。因此，裝入至機器人的關節部分的小型而廉價的減速機的需求高漲。關於現有的減速機，例如，已記載於日本專利特開2011-002084號公報中。In recent years, the development of small robots that work in cooperation with people is actively developing. For such a robot, extremely minute movements are required. Therefore, there is an increasing demand for small and inexpensive reducers built into the joints of robots. The conventional speed reducer is described in Japanese Patent Laid-Open No. 2011-002084, for example.

日本專利特開2011-002084號公報的減速機包含環狀剛性齒輪及環狀撓性齒輪。環狀撓性齒輪經由具有柔軟性的軸承，藉由環狀撓性齒輪旋轉機構而呈波形變形。由此，僅環狀撓性齒輪的一部分與環狀剛性齒輪相咬合。The speed reducer of Japanese Patent Laid-Open No. 2011-002084 includes a ring-shaped rigid gear and a ring-shaped flexible gear. The ring-shaped flexible gear is deformed in a waveform by a ring-shaped flexible gear rotating mechanism through a flexible bearing. Thus, only a part of the ring-shaped flexible gear meshes with the ring-shaped rigid gear.

[專利文獻1]日本專利特開2011-002084號公報[Patent Document 1] Japanese Patent Laid-Open No. 2011-002084

如上所述，在日本專利特開2011-002084的構造中，在環狀撓性齒輪與環狀撓性齒輪旋轉機構之間，配置有具有柔軟性的軸承。因此，在日本專利特開2011-002084的構造中，由於昂貴的軸承而使得製造成本增加，並且零件個數增加，從而難以實現減速機的小型化。又，變形的軸承亦可能成為噪音的主要因素。As described above, in the structure of Japanese Patent Laid-Open No. 2011-002084, a flexible bearing is arranged between the ring-shaped flexible gear and the ring-shaped flexible gear rotating mechanism. Therefore, in the structure of Japanese Patent Laid-Open No. 2011-002084, the manufacturing cost is increased due to expensive bearings, and the number of parts is increased, making it difficult to realize the speed reducerMiniaturization. In addition, deformed bearings may also become a major factor in noise.

本發明的目的在於提供一種容易抑制減速機的零件個數，而使減速機小型化的構造。An object of the present invention is to provide a structure in which it is easy to suppress the number of parts of a speed reducer and to reduce the size of the speed reducer.

本發明的例示性的一實施方式是一種減速機，將輸入轉速的旋轉運動轉換成低於所述輸入轉速的輸出轉速的旋轉運動，所述減速機包括：輸入旋轉體，以中心軸為中心，以所述輸入轉速而旋轉；輸出旋轉體，以所述中心軸為中心，以所述輸出轉速而旋轉；以及殼體，對所述輸入旋轉體及所述輸出旋轉體進行支撐；且所述輸入旋轉體包括輸入軸、自所述輸入軸朝向徑向外側延伸的臂部、及以支撐於所述臂部上的旋轉軸為中心而旋轉的輥，所述輸出旋轉體包含：活動冠齒輪(crown gear)，相對於所述中心軸垂直或傾斜地展開，並且具有可撓性，且具有以所述中心軸為中心呈圓環狀排列的多個第1側面齒；以及輸出軸，自所述活動冠齒輪的中央沿所述中心軸延伸；且所述殼體包含固定冠齒輪，所述固定冠齒輪相對於所述中心軸垂直或傾斜地展開，且具有以所述中心軸為中心呈圓環狀排列的多個第2側面齒，所述活動冠齒輪的所述第1側面齒的齒數與所述固定冠齒輪的所述第2側面齒的齒數不同，所述輥與所述活動冠齒輪的圓周方向上的一部分相接觸，藉由自所述輥受到的按壓，而使所述固定冠齒輪與所述活動冠齒輪部分地咬合，伴隨著所述輸入旋轉體的旋轉，所述活動冠齒輪與所述固定冠齒輪的咬合位置以所述中心軸為中心，以所述輸入轉速沿圓周方向發生變化，藉由所述第1側面齒與所述第2側面齒的齒數的差，而使所述活動冠齒輪相對於所述固定冠齒輪以所述輸出轉速而旋轉。An exemplary embodiment of the present invention is a speed reducer that converts a rotational motion at an input speed into a rotational motion at an output speed lower than the input speed. The speed reducer includes: an input rotating body centered on a central axis , Rotating at the input rotational speed; the output rotating body, rotating at the output rotating speed around the central axis; and the casing, supporting the input rotating body and the output rotating body; and The input rotating body includes an input shaft, an arm portion extending radially outward from the input shaft, and a roller rotating around a rotating shaft supported on the arm portion, and the output rotating body includes: a movable crown A crown gear is developed vertically or obliquely with respect to the central axis, and has flexibility, and has a plurality of first side teeth arranged in a ring shape with the central axis as the center; and an output shaft, which is The center of the movable crown gear extends along the central axis; and the housing includes a fixed crown gear that extends perpendicularly or obliquely with respect to the central axis, and has the center axis as the center A plurality of second side teeth arranged in a ring shape, the number of teeth of the first side teeth of the movable crown gear is different from the number of teeth of the second side teeth of the fixed crown gear, the roller and the movable A part of the crown gear in the circumferential direction is in contact, and the fixed crown gear partially engages with the movable crown gear due to the pressure received from the roller, as the input rotating body rotates, the The meshing position of the movable crown gear and the fixed crown gear is centered on the central axis, and the input rotation speed is along the circleThe circumferential direction changes, and the movable crown gear rotates at the output rotation speed relative to the fixed crown gear due to the difference in the number of teeth between the first side teeth and the second side teeth.

根據本發明的例示性的一實施方式，藉由使輥與活動冠齒輪相接觸，可在不另外介插具有柔軟性的軸承的情況下，使活動冠齒輪的圓周方向上的一部分在軸向上變形。因此，容易抑制減速機的零件個數，而使減速機小型化。According to an exemplary embodiment of the present invention, by bringing the roller into contact with the movable crown gear, a part of the movable crown gear in the circumferential direction can be made axially without interposing a flexible bearing Deformed. Therefore, it is easy to suppress the number of parts of the speed reducer and to reduce the size of the speed reducer.

1、1A‧‧‧減速機1. 1A‧‧‧Reducer

9、9A‧‧‧中心軸9, 9A‧‧‧Central axis

10、10A‧‧‧輸入軸10, 10A‧‧‧ input shaft

11、12A‧‧‧軸承11, 12A‧‧‧bearing

20、20A‧‧‧臂部20、20A‧‧‧arm

30、30A‧‧‧輥30、30A‧‧‧Roll

31‧‧‧旋轉軸31‧‧‧rotation axis

32‧‧‧外周面32‧‧‧Perimeter

40、40A‧‧‧活動冠齒輪40、40A‧‧‧Mobile crown gear

41‧‧‧可撓圓板部41‧‧‧Flexible circular plate

42‧‧‧第1側面齒42‧‧‧ 1st side tooth

50、50A‧‧‧輸出軸50, 50A‧‧‧ output shaft

51A‧‧‧螺釘51A‧‧‧Screw

60、60A‧‧‧殼體60、60A‧‧‧case

61‧‧‧輸入側壁部61‧‧‧Input side wall

62‧‧‧輸出側壁部62‧‧‧ Output side wall section

63‧‧‧周壁部63‧‧‧ Zhoubi

70、70A‧‧‧固定冠齒輪70、70A‧‧‧Fixed crown gear

71‧‧‧固定圓板部71‧‧‧Fixed circular plate

72‧‧‧第2側面齒72‧‧‧ 2nd side tooth

80A‧‧‧中空軸80A‧‧‧Hollow shaft

81‧‧‧輸入旋轉體81‧‧‧ input rotating body

82‧‧‧輸出旋轉體82‧‧‧ output rotating body

90A‧‧‧支撐軸90A‧‧‧Support shaft

610‧‧‧輸入孔610‧‧‧Input hole

620‧‧‧輸出孔620‧‧‧Output hole

d1‧‧‧距離d1‧‧‧Distance

d2‧‧‧尺寸d2‧‧‧Size

V1‧‧‧第1虛擬線V1‧‧‧The first virtual line

V2‧‧‧第2虛擬線V2‧‧‧The second virtual line

圖1是減速機的縱剖面圖。Fig. 1 is a longitudinal sectional view of a reduction gear.

圖2是減速機的縱剖面圖。Fig. 2 is a longitudinal sectional view of the reduction gear.

圖3是減速機的橫剖面圖。3 is a cross-sectional view of the reduction gear.

圖4是殼體的橫剖面圖。4 is a cross-sectional view of the housing.

圖5是減速機的局部縱剖面圖。Fig. 5 is a partial longitudinal sectional view of the reduction gear.

圖6是變形例的減速機的縱剖面圖。6 is a longitudinal cross-sectional view of a reduction gear of a modification.

以下，一面參照圖式，一面對本發明的一實施方式進行說明。再者，在本申請案中，分別將與輸入旋轉體及輸出旋轉體的中心軸平行的方向稱為「軸向」，將與中心軸正交的方向稱為「徑向」，將沿以中心軸為中心的圓弧的方向稱為「圓周方向」。其中，所述「平行的方向」亦包含大致平行的方向。又，所述「正交的方向」亦包含大致正交的方向。又，以下，沿軸向分別將輸入旋轉體側稱為「輸入側」，將輸出旋轉體側稱為「輸出側」。Hereinafter, an embodiment of the present invention will be described with reference to the drawings. Furthermore, in this application, the direction parallel to the central axis of the input rotating body and the output rotating body is referred to as "axial direction", and the direction orthogonal to the central axis is referred to as "radial direction". The direction of the arc whose center axis is the center is called the "circumferential direction". among them,The "parallel direction" also includes a substantially parallel direction. In addition, the "orthogonal direction" also includes a substantially orthogonal direction. In addition, hereinafter, the input rotating body side is called an "input side", and the output rotating body side is called an "output side" in the axial direction.

<1.減速機的構成><1. Structure of reducer>

圖1及圖2是本發明的一實施方式的減速機1的縱剖面圖。圖3是減速機1的橫剖面圖。再者，圖1表示自圖3中的A-A位置觀察的減速機1的剖面。圖2表示自圖3中的B-B位置觀察的減速機1的剖面。圖3表示自圖1及圖2中的C-C位置觀察的減速機1的剖面。1 and 2 are longitudinal cross-sectional views of aspeed reducer 1 according to an embodiment of the present invention. FIG. 3 is a cross-sectional view of thereduction gear 1. In addition, FIG. 1 shows a cross section of thereduction gear 1 viewed from the position A-A in FIG. 3. FIG. 2 shows a cross section of thereduction gear 1 viewed from the position B-B in FIG. 3. FIG. 3 shows a cross section of thereduction gear 1 viewed from the C-C position in FIGS. 1 and 2.

所述減速機1是將自外部的馬達獲得的輸入轉速的旋轉運動轉換成低於輸入轉速的輸出轉速的旋轉運動的裝置。減速機1例如裝入至與人合作進行作業的小型機器人的關節部分。但是，本發明的減速機亦可用於輔助服(assist suit)、輪椅、無人搬運車等其他設備。Thespeed reducer 1 is a device that converts a rotation motion of an input rotation speed obtained from an external motor into a rotation motion of an output rotation speed lower than the input rotation speed. Thespeed reducer 1 is installed in, for example, a joint part of a small robot that cooperates with a person to perform work. However, the speed reducer of the present invention can also be used in other equipment such as an assistant suit, wheelchair, and unmanned vehicle.

如圖1所示，本實施方式的減速機1包括輸入軸10、2根臂部20、2個輥30、活動冠齒輪40、輸出軸50及殼體60。輸入軸10、2根臂部20及2個輥30構成以中心軸9為中心並以輸入轉速旋轉的輸入旋轉體81。活動冠齒輪40及輸出軸50構成以中心軸9為中心並以輸出轉速旋轉的輸出旋轉體82。As shown in FIG. 1, thespeed reducer 1 of this embodiment includes aninput shaft 10, twoarm portions 20, tworollers 30, amovable crown gear 40, anoutput shaft 50 and ahousing 60. Theinput shaft 10, the twoarm portions 20, and the tworollers 30 constitute aninput rotating body 81 that rotates at the input rotation speed with thecenter shaft 9 as the center. Themovable crown gear 40 and theoutput shaft 50 constitute anoutput rotating body 82 that rotates at the output rotational speed about thecenter shaft 9.

輸入軸10是沿中心軸9延伸的圓柱狀的構件。輸入軸10是插入至殼體60的稍後描述的輸入孔610中。又，輸入軸10經由軸承11可旋轉地支撐於殼體60上。在軸承11中，例如使用滾珠軸承。輸入軸10的輸入側的端部直接或經由其他動力傳遞機構，與外部的馬達連接。若使馬達驅動，則輸入軸10以中心軸9為中心，以輸入轉速而旋轉。輸入軸10的輸出側的端部位於殼體60的內部。再者，輸入軸10的輸出側的端部亦可經由軸承與輸出軸50連接。Theinput shaft 10 is a cylindrical member extending along thecentral axis 9. Theinput shaft 10 is inserted into aninput hole 610 to be described later of thehousing 60. In addition, theinput shaft 10 is rotatably supported on thehousing 60 via thebearing 11. In thebearing 11, for example, useBall bearings. The input-side end of theinput shaft 10 is directly or via another power transmission mechanism connected to an external motor. When the motor is driven, theinput shaft 10 rotates around thecenter shaft 9 at the input rotation speed. The output-side end of theinput shaft 10 is located inside thehousing 60. Furthermore, the output-side end of theinput shaft 10 may be connected to theoutput shaft 50 via a bearing.

2根臂部20是自輸入軸10朝向徑向外側延伸的構件。各臂部20的徑向內側的端部相對於輸入軸10，例如藉由螺固而得到固定。在所述馬達的驅動時，與輸入軸10一同，臂部20亦以中心軸9為中心，以輸入轉速而旋轉。在本實施方式中，沿徑向延伸的棒狀的臂部20是在輸入軸10的周圍以180°間隔而設置。但是，臂部20的形狀、數量及圓周方向上的位置亦可並非如本實施方式。又，臂部20亦可沿圓周方向相連。The twoarm portions 20 are members extending radially outward from theinput shaft 10. The radially inner end of eacharm 20 is fixed to theinput shaft 10 by, for example, screwing. When the motor is driven, together with theinput shaft 10, thearm 20 also rotates at the input rotation speed with thecenter shaft 9 as the center. In the present embodiment, the rod-shapedarm portion 20 extending in the radial direction is provided at 180° intervals around theinput shaft 10. However, the shape, number, and positions in the circumferential direction of thearm portion 20 may not be the same as in this embodiment. In addition, thearm portion 20 may be connected in the circumferential direction.

2個輥30是保持於臂部20的徑向外側的前端的旋轉體。輥30的旋轉軸31是以相對於軸向及徑向傾斜且相對於圓周方向垂直的姿勢，支撐於臂部20上。輥30旋轉自如地安裝在所述旋轉軸31上。輥30具有以旋轉軸31為中心的圓錐狀的外周面32。輥30的外周面32的直徑隨著自輸入軸10朝向徑向外側遠離而擴大。在所述馬達的驅動時，與輸入軸10及臂部20一同，輥30亦以中心軸9為中心並以輸入轉速而旋轉。The tworollers 30 are rotating bodies held at the front end of thearm portion 20 in the radial direction. The rotatingshaft 31 of theroller 30 is supported by thearm 20 in a posture inclined to the axial direction and the radial direction and perpendicular to the circumferential direction. Theroller 30 is rotatably mounted on therotating shaft 31. Theroller 30 has a conical outerperipheral surface 32 centered on therotating shaft 31. The diameter of the outerperipheral surface 32 of theroller 30 increases as it moves away from theinput shaft 10 toward the radially outer side. When the motor is driven, along with theinput shaft 10 and thearm portion 20, theroller 30 also rotates at the input rotation speed with thecenter shaft 9 as the center.

活動冠齒輪40是能夠以中心軸9為中心而旋轉，且具有可撓性的齒輪。活動冠齒輪40位於較2個輥30更靠輸出側的位置。如圖1及圖2所示，活動冠齒輪40包括薄板狀的可撓圓板部41及多個第1側面齒42。可撓圓板部41自輸出軸50的輸入側的端部，朝向徑向外側展開。本實施方式的可撓圓板部41以中心軸9為中心而呈圓錐狀展開。又，可撓圓板部41可沿軸向彈性變形。多個第1側面齒42分別自可撓圓板部41向輸出側(固定冠齒輪70側)沿軸向突出。多個第1側面齒42是以中心軸9為中心呈圓環狀排列。又，多個第1側面齒42沿圓周方向以固定的間隔排列。當可撓圓板部41的圓周方向上的一部分沿軸向彈性變形時，位於所述圓周方向上的一部分的第1側面齒42的位置亦沿軸向移動。Themovable crown gear 40 is a gear that can rotate around thecentral shaft 9 and has flexibility. Themovable crown gear 40 is located closer to the output side than the tworollers 30. As shown in FIGS. 1 and 2, themovable crown gear 40 includes a thin plate-shaped flexiblecircular platePortion 41 and a plurality offirst side teeth 42. The flexiblecircular plate portion 41 expands radially outward from the input-side end of theoutput shaft 50. The flexiblecircular plate portion 41 of the present embodiment is developed in a conical shape with thecentral axis 9 as the center. In addition, the flexiblecircular plate portion 41 can be elastically deformed in the axial direction. The plurality offirst side teeth 42 respectively protrude in the axial direction from the flexiblecircular plate portion 41 toward the output side (fixedcrown gear 70 side). The plurality offirst side teeth 42 are arranged in a ring shape with thecentral axis 9 as the center. In addition, the plurality offirst side teeth 42 are arranged at regular intervals in the circumferential direction. When a part of the flexiblecircular plate portion 41 in the circumferential direction is elastically deformed in the axial direction, the position of thefirst side tooth 42 located in a part of the circumferential direction also moves in the axial direction.

在本實施方式中，活動冠齒輪40的可撓圓板部41相對於中心軸9傾斜地展開。但是，可撓圓板部41亦可相對於中心軸9垂直地展開。In the present embodiment, the flexiblecircular plate portion 41 of themovable crown gear 40 is deployed obliquely with respect to thecentral axis 9. However, the flexiblecircular plate portion 41 may also be vertically extended with respect to thecentral axis 9.

輸出軸50自活動冠齒輪40的中央朝輸出側，沿中心軸9延伸。輸出軸50具有圓筒狀的外周面。輸出軸50是插入至殼體60的稍後描述的輸出孔620中。藉此，相對於殼體60，可旋轉地支撐輸出軸50。當活動冠齒輪40以中心軸9為中心而旋轉時，輸出軸50亦以中心軸9為中心而旋轉。在本實施方式中，活動冠齒輪40及輸出軸50成為單一構件。但是，亦可將活動冠齒輪40及輸出軸50作為分開構件來準備，且使其等相互固定。Theoutput shaft 50 extends along thecentral axis 9 from the center of themovable crown gear 40 toward the output side. Theoutput shaft 50 has a cylindrical outer peripheral surface. Theoutput shaft 50 is inserted into a later-describedoutput hole 620 of thehousing 60. With this, theoutput shaft 50 is rotatably supported with respect to thehousing 60. When themovable crown gear 40 rotates around thecentral axis 9, theoutput shaft 50 also rotates around thecentral axis 9. In this embodiment, themovable crown gear 40 and theoutput shaft 50 are a single member. However, themovable crown gear 40 and theoutput shaft 50 may be prepared as separate members and fixed to each other.

殼體60是對輸入旋轉體81及輸出旋轉體82進行支撐的框體。殼體60具有輸入側壁部61、輸出側壁部62及周壁部63。輸入側壁部61在較2根臂部20更靠輸入側的位置，相對於中心軸9大致垂直地展開。在輸入側壁部61的中央，設置有用以穿通輸入軸10的輸入孔610。輸出側壁部62在較活動冠齒輪40更靠輸出側的位置，相對於中心軸9而大致垂直地展開。在輸出側壁部62的中央，設置有用以穿通輸出軸50的輸出孔620。周壁部63在輸入側壁部61的外周部與輸出側壁部62的外周部之間，沿軸向呈圓筒狀延伸。周壁部63位於2根臂部20、2個輥30及活動冠齒輪40的徑向外側。Thehousing 60 is a frame that supports theinput rotating body 81 and theoutput rotating body 82. Thehousing 60 has an inputside wall portion 61, an outputside wall portion 62, and aperipheral wall portion 63. The inputside wall portion 61 is located closer to the input side than the twoarm portions 20, relative to the centerTheshaft 9 is deployed substantially vertically. In the center of the inputside wall portion 61, aninput hole 610 through which theinput shaft 10 passes is provided. The outputside wall portion 62 is positioned substantially perpendicular to thecentral axis 9 at a position closer to the output side than themovable crown gear 40. Anoutput hole 620 through which theoutput shaft 50 passes is provided in the center of the outputside wall portion 62. Theperipheral wall portion 63 extends cylindrically in the axial direction between the outer peripheral portion of the inputside wall portion 61 and the outer peripheral portion of the outputside wall portion 62. Theperipheral wall portion 63 is located radially outward of the twoarm portions 20, the tworollers 30, and themovable crown gear 40.

在本實施方式中，輸出側壁部62及周壁部63是以一個構件構成。而且，相對於由輸出側壁部62及周壁部63構成的杯狀的構件，固定有分開構件的輸入側壁部61。但是，亦可為輸入側壁部61及周壁部63以一個構件構成，輸出側壁部62為分開構件。又，輸入側壁部61、輸出側壁部62及周壁部63亦可均為分開構件。In this embodiment, the outputside wall portion 62 and theperipheral wall portion 63 are constituted by one member. Furthermore, the inputside wall portion 61 of the separating member is fixed to the cup-shaped member composed of the outputside wall portion 62 and theperipheral wall portion 63. However, the inputside wall portion 61 and theperipheral wall portion 63 may be constituted by one member, and the outputside wall portion 62 may be a separate member. Furthermore, the inputside wall portion 61, the outputside wall portion 62, and theperipheral wall portion 63 may all be separate members.

圖4是自圖1及圖2中的C-C位置觀察的殼體60的橫剖面圖。如圖1、圖2及圖4所示，殼體60的輸出側壁部62包含固定冠齒輪70。固定冠齒輪70包含固定圓板部71及多個第2側面齒72。固定圓板部71既可相對於中心軸9垂直地展開，亦可相對於中心軸9傾斜地展開。固定圓板部71的可撓性遠小於可撓圓板部41。因此，固定圓板部71可視為實質上無可撓性的剛體。多個第2側面齒72分別自固定圓板部71向輸入側(活動冠齒輪40側)沿軸向突出。多個第2側面齒72以中心軸9為中心呈圓環狀排列。又，多個第2側面齒72沿圓周方向以固定的間隔排列。FIG. 4 is a cross-sectional view of thehousing 60 viewed from the position C-C in FIGS. 1 and 2. As shown in FIGS. 1, 2 and 4, the outputside wall portion 62 of thehousing 60 includes a fixedcrown gear 70. The fixedcrown gear 70 includes a fixedcircular plate portion 71 and a plurality ofsecond side teeth 72. The fixedcircular plate portion 71 may be deployed perpendicular to thecentral axis 9 or may be deployed obliquely relative to thecentral axis 9. The flexibility of the fixeddisk 71 is much smaller than that of theflexible disk 41. Therefore, the fixedcircular plate portion 71 can be regarded as a rigid body having substantially no flexibility. The plurality ofsecond side teeth 72 protrude in the axial direction from the fixedcircular plate portion 71 toward the input side (themovable crown gear 40 side). The plurality ofsecond side teeth 72 are arranged in a ring shape with thecentral axis 9 as the center. In addition, the plurality ofsecond side teeth 72 are arranged at regular intervals in the circumferential direction.

圖5是減速機1的局部縱剖面圖。如圖5中以實線所示，所述輥30與活動冠齒輪40的可撓圓板部41的輸入側的面的圓周方向上的一部分相接觸。由此，多個第1側面齒42之中的一部分第1側面齒42藉由自輥30受到的按壓，而向輸出側位移。其結果為，在2個輥30的各自的輸出側的位置上，活動冠齒輪40與固定冠齒輪70相互咬合。如圖5中以兩點鏈線所示，在圓周方向上的其他位置，活動冠齒輪40與固定冠齒輪70不相互咬合。如上所述，多個第1側面齒42與多個第2側面齒72僅在圓周方向上的特定的部分相互咬合。FIG. 5 is a partial longitudinal cross-sectional view of thereduction gear 1. As shown by the solid line in FIG. 5, theroller 30 is in contact with a part of the surface of themovable crown gear 40 on the input side surface of the flexiblecircular plate portion 41 in the circumferential direction. As a result, a part of thefirst side teeth 42 among the plurality offirst side teeth 42 is displaced toward the output side by the pressure received from theroller 30. As a result, themovable crown gear 40 and the fixedcrown gear 70 mesh with each other at the respective output side positions of the tworollers 30. As shown by the two-dot chain line in FIG. 5, at other positions in the circumferential direction, themovable crown gear 40 and the fixedcrown gear 70 do not mesh with each other. As described above, the plurality offirst side teeth 42 and the plurality ofsecond side teeth 72 only mesh with each other at specific portions in the circumferential direction.

在使用減速機1時，輸入軸10以中心軸9為中心，以輸入轉速而旋轉。如此一來，與輸入軸10一同，2根臂部20及2個輥30亦以中心軸9為中心，以輸入轉速旋轉。2個輥30分別藉由與活動冠齒輪40之間的摩擦力，一面以旋轉軸31為中心而自轉，一面圍繞著中心軸9進行公轉。When thereduction gear 1 is used, theinput shaft 10 rotates around thecenter shaft 9 at the input rotation speed. In this way, together with theinput shaft 10, the twoarm portions 20 and the tworollers 30 also rotate at the input rotation speed with thecenter shaft 9 as the center. The tworollers 30 revolve around therotation axis 31 as a center while rotating around therotation axis 31 due to friction with themovable crown gear 40, respectively.

當2個輥30進行公轉時，相應於此，活動冠齒輪40的形狀發生變化。即，多個第1側面齒42之中，向輸出側位移的部分隨著輥30的公轉而旋轉。因此，多個第1側面齒42之中，與固定冠齒輪70的第2側面齒72咬合的部分以中心軸9為中心，以輸入轉速沿圓周方向發生變化。When the tworollers 30 revolve, the shape of themovable crown gear 40 changes accordingly. That is, among the plurality offirst side teeth 42, the portion displaced toward the output side rotates as theroller 30 revolves. Therefore, among the plurality offirst side teeth 42, the portion engaged with thesecond side teeth 72 of the fixedcrown gear 70 is centered on thecenter axis 9 and changes in the circumferential direction at the input rotation speed.

又，活動冠齒輪40的第1側面齒42的齒數與固定冠齒輪70的第2側面齒72的齒數稍有不同。藉由所述齒數的差，輥30每公轉一次，與固定冠齒輪70的相同位置的第2側面齒72咬合的活動冠齒輪40的第1側面齒42的位置便發生偏移。由此，相對於固定冠齒輪70，活動冠齒輪40以中心軸9為中心而緩慢旋轉。其結果為，輸出軸50與活動冠齒輪40一同緩慢旋轉。此時的輸出軸50的轉速成為低於輸入轉速的輸出轉速。In addition, the number of teeth of thefirst side teeth 42 of themovable crown gear 40 is slightly different from the number of teeth of thesecond side teeth 72 of the fixedcrown gear 70. Due to the difference in the number of teeth, theroller 30 bites every second revolution of theroller 30 at the same position as the fixedcrown gear 70The position of thefirst side teeth 42 of the combinedmovable crown gear 40 is shifted. As a result, themovable crown gear 40 rotates slowly about thecenter shaft 9 relative to the fixedcrown gear 70. As a result, theoutput shaft 50 and themovable crown gear 40 rotate slowly. At this time, the rotation speed of theoutput shaft 50 becomes an output rotation speed lower than the input rotation speed.

如以上所述，在所述減速機1中，藉由使輥30與活動冠齒輪40相接觸，而使得活動冠齒輪40的圓周方向上的一部分沿軸向變形。輥30藉由自轉，而可相對於活動冠齒輪40順滑地移動。因此，在輥30與活動冠齒輪40之間，無需另外介插具有柔軟性的軸承。由此，可抑制減速機1的零件個數，並且可使減速機1小型化。As described above, in thereduction gear 1, by bringing theroller 30 into contact with themovable crown gear 40, a part of themovable crown gear 40 in the circumferential direction is deformed in the axial direction. Theroller 30 can move smoothly relative to themovable crown gear 40 by rotation. Therefore, there is no need to additionally insert a flexible bearing between theroller 30 and themovable crown gear 40. Thereby, the number of parts of thereduction gear 1 can be suppressed, and thereduction gear 1 can be miniaturized.

又，在本實施方式中，僅在與輥30相同的圓周方向位置上存在臂部20，在其他圓周方向位置上不存在臂部。因此，不存在下述憂慮，即，活動冠齒輪40之中朝向輸出側的位移量小的部分與臂部20相接觸的憂慮。例如，不存在下述憂慮，即，以中心軸9為中心與輥30相離90°的位置上，活動冠齒輪40與臂部20相接觸的憂慮。由此，可使減速機1更為小型化。又，可抑制減速機1的驅動時的噪音。In addition, in this embodiment, thearm portion 20 exists only at the same circumferential position as theroller 30, and the arm portion does not exist at the other circumferential position. Therefore, there is no anxiety that a portion of themovable crown gear 40 whose displacement amount toward the output side is small comes into contact with thearm 20. For example, there is no worry that themovable crown gear 40 is in contact with thearm 20 at a position 90 degrees away from theroller 30 with thecenter axis 9 as the center. As a result, thereduction gear 1 can be made more compact. In addition, noise during driving of thespeed reducer 1 can be suppressed.

又，在本實施方式中，輥30的姿勢相對於中心軸9傾斜。具體而言，輥30的旋轉軸31在相對於軸向及徑向傾斜且相對於圓周方向正交的方向上延伸。如此一來，輥30的外周面32之中，與活動冠齒輪40接觸的部分的徑向上的周速差與相對於中心軸9的徑向上的周速差相一致。藉此，輥30與活動冠齒輪40之間的滑動得到抑制。其結果為，可降低減速機1中的能量損耗(energy loss)。In addition, in the present embodiment, the posture of theroller 30 is inclined with respect to thecentral axis 9. Specifically, the rotatingshaft 31 of theroller 30 extends in a direction inclined with respect to the axial direction and the radial direction and orthogonal to the circumferential direction. In this way, among the outerperipheral surfaces 32 of theroller 30, the circumferential speed difference in the radial direction of the portion in contact with themovable crown gear 40 coincides with the circumferential speed difference in the radial direction with respect to thecentral shaft 9. By this, theroller 30 and themovable crown gear 40The sliding between is suppressed. As a result, energy loss in thereduction gear 1 can be reduced.

此處，如圖5所示，將使輥30的旋轉軸31朝向徑向內側延長的虛擬線稱為「第1虛擬線V1」。又，將使輥30的外周面32之中與活動冠齒輪40的接觸部朝向徑向內側延長的虛擬線稱為「第2虛擬線V2」。在本實施方式中，第1虛擬線V1與第2虛擬線V2在中心軸9上交叉。如此一來，輥30與活動冠齒輪40之間的滑動得到進一步抑制。其結果為，可進一步降低減速機1中的能量損耗。Here, as shown in FIG. 5, the virtual line extending the rotatingshaft 31 of theroller 30 toward the radially inner side is referred to as “first virtual line V1”. In addition, a virtual line extending the contact portion of the outerperipheral surface 32 of theroller 30 with themovable crown gear 40 radially inward is referred to as a “second virtual line V2”. In the present embodiment, the first virtual line V1 and the second virtual line V2 cross on thecentral axis 9. As a result, the sliding between theroller 30 and themovable crown gear 40 is further suppressed. As a result, the energy loss in thereduction gear 1 can be further reduced.

又，在本實施方式中，2個輥30是在中心軸9的周圍以180°間隔而配置。如上所述，若將多個輥30沿圓周方向等間隔地配置，可抑制減速機1運行時的重心的偏離。再者，減速機1所含的輥30的數量亦可為3個或3個以上。In the present embodiment, the tworollers 30 are arranged around thecentral axis 9 at 180° intervals. As described above, if the plurality ofrollers 30 are arranged at equal intervals in the circumferential direction, it is possible to suppress the deviation of the center of gravity during operation of thereduction gear 1. In addition, the number ofrollers 30 included in thespeed reducer 1 may be 3 or more.

又，如圖5所示，將輥30的外周面32與固定圓板部71的輸入側的面之間的軸向上的距離設為d1。又，將可撓圓板部41及第1側面齒42的軸向上的合計尺寸設為d2。在本實施方式中，距離d1大於尺寸d2。如此一來，可在活動冠齒輪40與固定冠齒輪70咬合的位置上，在第1側面齒42與第2側面齒72之間確保圓周方向上的間隙(齒隙(backlash))。由此，可使多個第1側面齒42與多個第2側面齒72順滑地咬合。其結果為，可進一步抑制減速機1運行時的噪音。As shown in FIG. 5, the distance in the axial direction between the outerperipheral surface 32 of theroller 30 and the input side surface of the fixeddisc portion 71 is defined as d1. In addition, the total size of the flexiblecircular plate portion 41 and thefirst side teeth 42 in the axial direction is d2. In this embodiment, the distance d1 is larger than the dimension d2. In this way, a circumferential gap (backlash) can be secured between thefirst side tooth 42 and thesecond side tooth 72 at the position where themovable crown gear 40 and the fixedcrown gear 70 are engaged. Thus, the plurality offirst side teeth 42 and the plurality ofsecond side teeth 72 can be smoothly engaged. As a result, the noise during the operation of thereduction gear 1 can be further suppressed.

若輥30以旋轉軸31為中心的外徑過小，則第1側面齒42相對於第2側面齒72的咬合齒數變少。因此，第1側面齒42相對於第2側面齒72的咬合變得不穩定。另一方面，若輥30以旋轉軸31為中心的外徑過大，則減速機1的小型化變得困難。因此，輥30較佳為具有適度的外徑。輥30以旋轉軸31為中心的外徑較佳為設為大於或等於活動冠齒輪40以中心軸9為中心的外徑的1/10倍，且小於或等於活動冠齒輪40以中心軸9為中心的外徑的1/2倍以下。If the outer diameter of theroller 30 around the rotatingshaft 31 is too small, the first side teethThe number of meshing teeth of 42 with respect to thesecond side teeth 72 decreases. Therefore, the engagement of thefirst side tooth 42 with thesecond side tooth 72 becomes unstable. On the other hand, if the outer diameter of theroller 30 around the rotatingshaft 31 is too large, it becomes difficult to reduce the size of thereduction gear 1. Therefore, theroller 30 preferably has a moderate outer diameter. The outer diameter of theroller 30 with the rotatingshaft 31 as the center is preferably set to be greater than or equal to 1/10 times the outer diameter of themovable crown gear 40 with thecentral shaft 9 as the center, and less than or equal to themovable crown gear 40 with thecentral shaft 9 The outer diameter of the center is 1/2 times or less.

在構成減速機1的各構件的材料中，例如使用鐵等金屬。但是，亦可將一部分構件或全部構件設為樹脂製。若使用樹脂，則與使用金屬的情況相比，可使減速機1輕量化。例如，亦可將活動冠齒輪40及固定冠齒輪70中的至少一個設為樹脂製。這些冠齒輪(40、70)的側面齒沿軸向突出。因此，藉由使用沿軸向組合的模具的射出成形，可容易地製造冠齒輪(40、70)。特別是只要將活動冠齒輪40設為樹脂製，即容易獲得可撓圓板部41的可撓性。Among the materials constituting each member of thespeed reducer 1, for example, metal such as iron is used. However, some or all members may be made of resin. If resin is used, thereduction gear 1 can be made lighter than when metal is used. For example, at least one of themovable crown gear 40 and the fixedcrown gear 70 may be made of resin. The side teeth of these crown gears (40, 70) protrude in the axial direction. Therefore, by injection molding using a mold combined in the axial direction, the crown gear (40, 70) can be easily manufactured. In particular, if themovable crown gear 40 is made of resin, the flexibility of the flexiblecircular plate portion 41 can be easily obtained.

<2.變形例><2. Modifications>

以上，已對本發明的一實施方式進行說明，但本發明並不限定於所述實施方式。In the above, one embodiment of the present invention has been described, but the present invention is not limited to the above embodiment.

圖6是一變形例的減速機1A的縱剖面圖。在圖6的示例中，在減速機1A的中央，設置有中空軸80A。中空軸80A為圓筒狀的構件，沿中心軸9A而配置。在輸入軸10A的內周面與中空軸80A的外周面之間介插軸承12A。因此，輸入軸10A及中空軸80A能夠以中心軸9A為中心彼此相對旋轉。在軸承12A中，例如使用滑動軸承(plain bearing)。又，中空軸80A藉由螺釘51A而固定在輸出軸50A上。因此，中空軸80A與輸出軸50A一同，以中心軸9A為中心並以輸出轉速而旋轉。6 is a longitudinal sectional view of areduction gear 1A according to a modification. In the example of FIG. 6, in the center of thereduction gear 1A, ahollow shaft 80A is provided. Thehollow shaft 80A is a cylindrical member and is arranged along thecentral axis 9A. A bearing 12A is interposed between the inner peripheral surface of theinput shaft 10A and the outer peripheral surface of thehollow shaft 80A. Therefore, theinput shaft 10A and thehollow shaft 80A can rotate relative to each other about thecenter shaft 9A. In bearing 12A,For example, plain bearings are used. Furthermore, thehollow shaft 80A is fixed to theoutput shaft 50A byscrews 51A. Therefore, thehollow shaft 80A rotates at the output rotation speed with thecenter shaft 9A as the center together with theoutput shaft 50A.

臂部20A、輥30A、活動冠齒輪40A、殼體60A及固定冠齒輪70A的構造與所述實施方式相同。所述減速機1A僅在較輸入軸10A及輸出軸50A更靠徑向外側的位置，進行動力的傳遞。因此，如所述圖6的示例所示，可在輸入軸10A及輸出軸50A的徑向內側，配置中空軸80A。如此一來，可有效利用中空軸80A的徑向內側的空間。例如，可在中空軸80的內側，穿通用以支撐減速機的支撐軸90A。或者，亦可將搭載減速機1A的裝置的電氣配線穿通至中空軸80A的內側。The structures of thearm portion 20A, theroller 30A, themovable crown gear 40A, thehousing 60A, and the fixedcrown gear 70A are the same as the above-described embodiment. Thereduction gear 1A transmits power only at a position radially outward of theinput shaft 10A and theoutput shaft 50A. Therefore, as shown in the example of FIG. 6 described above, thehollow shaft 80A can be arranged radially inside theinput shaft 10A and theoutput shaft 50A. In this way, the space on the radially inner side of thehollow shaft 80A can be effectively used. For example, asupport shaft 90A that supports the reducer may be worn inside the hollow shaft 80. Alternatively, the electrical wiring of the device equipped with thereduction gear 1A may be penetrated to the inside of thehollow shaft 80A.

特別是在圖6的示例中，中空軸80A是固定在輸出軸50A上，而並非固定在輸入軸10A上。如此一來，中空軸80A的轉速成為低於輸入轉速的輸出轉速。因此，可抑制中空軸80A的轉速。藉此，更容易利用中空軸80A的徑向內側的空間。Especially in the example of FIG. 6, thehollow shaft 80A is fixed to theoutput shaft 50A, but not to theinput shaft 10A. As a result, the rotation speed of thehollow shaft 80A becomes an output rotation speed lower than the input rotation speed. Therefore, the rotation speed of thehollow shaft 80A can be suppressed. This makes it easier to use the space inside thehollow shaft 80A in the radial direction.

又，關於減速機的細部的形狀，亦可與本申請案的各圖所示的形狀不同。又，亦可在不產生矛盾的範圍內，將所述實施方式或變形例中所出現的各要素加以適當組合。In addition, the shape of the detail of the speed reducer may be different from the shape shown in the drawings of the present application. In addition, each element appearing in the above-described embodiment or modification may be appropriately combined within a range that does not cause conflicts.

[產業上的可利用性][Industry availability]

本發明可用於減速機。The invention can be used for a reducer.

1‧‧‧減速機1‧‧‧Reducer

9‧‧‧中心軸9‧‧‧Central axis

10‧‧‧輸入軸10‧‧‧ input shaft

11‧‧‧軸承11‧‧‧bearing

20‧‧‧臂部20‧‧‧arm

30‧‧‧輥30‧‧‧roll

31‧‧‧旋轉軸31‧‧‧rotation axis

32‧‧‧外周面32‧‧‧Perimeter

40‧‧‧活動冠齒輪40‧‧‧ Active Crown Gear

41‧‧‧可撓圓板部41‧‧‧Flexible circular plate

42‧‧‧第1側面齒42‧‧‧ 1st side tooth

50‧‧‧輸出軸50‧‧‧ output shaft

60‧‧‧殼體60‧‧‧Housing

61‧‧‧輸入側壁部61‧‧‧Input side wall

62‧‧‧輸出側壁部62‧‧‧ Output side wall section

63‧‧‧周壁部63‧‧‧ Zhoubi

70‧‧‧固定冠齒輪70‧‧‧ Fixed crown gear

71‧‧‧固定圓板部71‧‧‧Fixed circular plate

72‧‧‧第2側面齒72‧‧‧ 2nd side tooth

81‧‧‧輸入旋轉體81‧‧‧ input rotating body

82‧‧‧輸出旋轉體82‧‧‧ output rotating body

610‧‧‧輸入孔610‧‧‧Input hole

620‧‧‧輸出孔620‧‧‧Output hole

Claims (11)

Translated fromChinese

一種減速機，將輸入轉速的旋轉運動轉換為低於所述輸入轉速的輸出轉速的旋轉運動，所述減速機包括：輸入旋轉體，以中心軸為中心，以所述輸入轉速而旋轉；輸出旋轉體，以所述中心軸為中心，以所述輸出轉速而旋轉；以及殼體，對所述輸入旋轉體及所述輸出旋轉體進行支撐；且所述輸入旋轉體包括：輸入軸；臂部，自所述輸入軸向徑向外側延伸；以及輥，以支撐於所述臂部上的旋轉軸為中心而旋轉，其中所述旋轉軸是以相對於軸向及徑向傾斜且相對於所述中心軸的圓周方向垂直的姿勢，支撐於所述臂部；且所述輸出旋轉體包括：活動冠齒輪，相對於所述中心軸垂直或傾斜地展開，並且具有可撓性，且具有以所述中心軸為中心呈圓環狀排列的多個第1側面齒；以及輸出軸，自所述活動冠齒輪的中央沿所述中心軸延伸；且所述殼體包括：固定冠齒輪，相對於所述中心軸垂直或傾斜地展開，且具有以所述中心軸為中心呈圓環狀排列的多個第2側面齒，所述活動冠齒輪的所述第1側面齒的齒數與所述固定冠齒輪的所述第2側面齒的齒數不同，所述輥與所述活動冠齒輪的圓周方向上的一部分相接觸，藉由自所述輥受到的按壓，而使所述固定冠齒輪與所述活動冠齒輪部分地咬合，伴隨著所述輸入旋轉體的旋轉，所述活動冠齒輪與所述固定冠齒輪的咬合位置以所述中心軸為中心，以所述輸入轉速沿圓周方向發生變化，藉由所述第1側面齒與所述第2側面齒的齒數的差，而使所述活動冠齒輪相對於所述固定冠齒輪以所述輸出轉速而旋轉。A speed reducer that converts a rotary motion of an input speed into a rotary motion of an output speed lower than the input speed, the speed reducer includes: an input rotating body, centered on a central axis, and rotating at the input speed; A rotating body that rotates at the output rotational speed with the central axis as the center; and a housing that supports the input rotating body and the output rotating body; and the input rotating body includes: an input shaft; an arm Part, which extends radially outward from the input axis; and a roller, which rotates around a rotating shaft supported on the arm, wherein the rotating shaft is inclined with respect to the axial and radial directions and with respect to The posture of the central axis in the circumferential direction is supported by the arm; and the output rotating body includes: a movable crown gear, which is spread vertically or obliquely with respect to the central axis, and has flexibility, and has The central axis is a plurality of first side teeth arranged in a ring shape at the center; and an output shaft extending from the center of the movable crown gear along the central axis; and the housing includes: a fixed crown gear, opposite Extending vertically or obliquely on the central axis, and having a plurality of second side teeth arranged in an annular shape with the central axis as a center,The number of teeth of the first side teeth of the movable crown gear is different from the number of teeth of the second side teeth of the fixed crown gear, and the roller is in contact with a portion of the movable crown gear in the circumferential direction by The fixed crown gear partially engages with the movable crown gear due to the pressure received from the roller, and as the input rotating body rotates, the movable crown gear engages with the fixed crown gear Taking the central axis as the center, the input rotation speed changes in the circumferential direction, and the movable crown gear is moved relative to the surface by the difference in the number of teeth between the first side tooth and the second side tooth The fixed crown gear rotates at the output speed.如申請專利範圍第1項所述的減速機，其中所述活動冠齒輪以所述中心軸為中心呈圓錐狀展開。The speed reducer as described in item 1 of the patent application range, wherein the movable crown gear expands in a conical shape with the central axis as the center.如申請專利範圍第1項或第2項所述的減速機，其中所述輥的所述旋轉軸沿與相對於所述中心軸的圓周方向正交的方向延伸。The reduction gear according to item 1 or item 2 of the patent application range, wherein the rotation axis of the roller extends in a direction orthogonal to the circumferential direction with respect to the central axis.如申請專利範圍第3項所述的減速機，其中使所述輥的所述旋轉軸朝向徑向內側延長的第1虛擬線與使所述輥的外周面中與所述活動冠齒輪的接觸部朝向徑向內側延長的第2虛擬線，在所述中心軸上交叉。The reduction gear of claim 3, wherein the first imaginary line extending the rotation axis of the roller radially inward is in contact with the movable crown gear in the outer circumferential surface of the roller The second imaginary line extending toward the radially inner side crosses the central axis.如申請專利範圍第1項或第2項所述的減速機，其中所述輸入旋轉體具有多個所述輥，多個所述輥是在所述中心軸的周圍，沿圓周方向等間隔地配置。The reduction gear according to item 1 or 2 of the patent application scope, wherein the input rotating body has a plurality of the rollers,The plurality of rollers are arranged at equal intervals in the circumferential direction around the central axis.如申請專利範圍第5項所述的減速機，其中所述輸入旋轉體具有2個所述輥，2個所述輥是在所述中心軸的周圍，以180°間隔而配置。The reduction gear according to item 5 of the patent application range, wherein the input rotating body has two of the rollers, and the two of the rollers are arranged at 180° intervals around the central axis.如申請專利範圍第1項或第2項所述的減速機，其中在所述活動冠齒輪與所述固定冠齒輪咬合的位置上，在所述第1側面齒與所述第2側面齒之間，沿圓周方向存在間隙。The reduction gear according to item 1 or item 2 of the patent application range, wherein between the position of the movable crown gear and the fixed crown gear, between the first side tooth and the second side tooth There is a gap in the circumferential direction.如申請專利範圍第1項或第2項所述的減速機，其中所述輥以所述旋轉軸為中心的外徑是大於或等於所述活動冠齒輪以所述中心軸為中心的外徑的1/10倍，且小於或等於所述活動冠齒輪以所述中心軸為中心的外徑的1/2倍。The reduction gear according to item 1 or item 2 of the patent application range, wherein the outer diameter of the roller centered on the rotation axis is greater than or equal to the outer diameter of the movable crown gear centered on the center axis 1/10 times and less than or equal to 1/2 times the outer diameter of the movable crown gear centered on the central axis.如申請專利範圍第1項或第2項所述的減速機，其中所述活動冠齒輪及所述固定冠齒輪中的至少一個為樹脂製。The reducer according to item 1 or 2 of the patent application scope, wherein at least one of the movable crown gear and the fixed crown gear is made of resin.如申請專利範圍第9項所述的減速機，其中至少所述活動冠齒輪為樹脂製。The reducer according to item 9 of the patent application scope, wherein at least the movable crown gear is made of resin.如申請專利範圍第1項或第2項所述的減速機，其中所述輸出旋轉體是包含所述活動冠齒輪及所述輸出軸的單一構件。The reduction gear according to item 1 or 2 of the patent application scope, wherein the output rotating body is a single member including the movable crown gear and the output shaft.

Images