Transfer Agency

Abstract

A transmission mechanism capable of reducing motion transmission errors between an input shaft side and an output shaft side. The transmission mechanism (101) comprises a cam (102); a plurality of pins (105) arranged along a side surface (103) of the cam (102); a guide plate (107a, 107b) provided with a plurality of guide holes (109a, 109b); and a gear (106a, 106b) capable of engaging with each pin (105). As the cam (102) rotates, each pin (105) is guided by the corresponding guide hole (109a, 109b) and moves along the cam (102) and the gear (106a, 106b). As a result, the guide plate or the gear rotates relative to the cam, dividing the plurality of pins (105) into a plurality of groups (110a-110f). The pins (105) in each group (110a-110f) are connected in series, but are not connected to the pins (105) in other groups (110a-110f).

Description

Technical Field

[0001] The present invention relates to a transmission mechanism capable of reducing a motion transmission error between an input shaft side and an output shaft side. Background Art

[0002] Patent document 1 discloses a speed reduction mechanism including an elliptical cam, a roller connecting rod connected to the outer periphery of the elliptical cam via rollers, a guide plate coaxial with the elliptical cam, and an internal tooth plate. In this speed reduction mechanism, the elliptical cam is used as an input shaft, and the guide plate or the internal tooth plate is used as an output shaft. The guide plate arranges guide holes corresponding to the pins for the rollers of the roller connecting rod in a circular shape, and the internal tooth plate forms internal teeth having a larger number of teeth than the number of pin roots of the roller connecting rod in a circular shape. The roller connecting rod is constituted as a roller connecting rod chain of connecting rod plates equipped with connecting pins. The pins of the roller connecting rod are guided by both the guide holes and the internal teeth in accordance with the rotation of the elliptical cam, and move forward and backward relative to the tooth grooves of the internal teeth, so that the guide plate or the internal tooth plate rotates relatively.

[0003] Patent document 2 discloses a reduction gear device, which includes a first cam having an annular groove formed on the surface; a plurality of stepped pins arranged in the annular groove and rolling freely in the annular groove; a second cam having a plurality of circular holes arranged to limit the movement of each stepped pin; and a third cam having teeth that mesh with the stepped pins and converts the rotational motion of the first cam into a rotational motion of a specified reduction ratio.

[0004] [Prior technical literature]

[0005] [Patent Literature]

[0006] [Patent Document 1] Japanese Patent Application Publication No. 2004-251374

[0007] [Patent Document 2] Japanese Patent Application Publication No. 2009-281422 Summary of the invention

[0008] Problems to be solved by the invention

[0009] The reduction mechanism of Patent Document 1 is a structure in which the roller connecting rod is connected to the outer periphery of the elliptical cam via the roller, and the connecting rod plate is used to connect the pins for the rollers. There is a problem that the polygonal motion of the connecting rod plate from the short diameter portion to the long diameter portion of the elliptical cam generates a speed difference on each pin, and this speed difference interferes with each other, causing motion transmission errors between the input shaft side and the output shaft side. The reduction device of Patent Document 2 is a structure in which the stepped pin is surrounded by an annular groove, and there is a problem that the stepped pin is easily worn due to contact with the annular groove, and a long service life cannot be expected.

[0010] Therefore, an object of the present invention is to solve the above-mentioned problems and to provide a transmission mechanism capable of reducing the motion transmission error between the input shaft side and the output shaft side.

[0011] Means to solve the problem

[0012] According to one aspect of the present invention, a transmission mechanism comprises a first shaft, a plurality of pins, a second shaft, a guide plate and a gear, wherein the first shaft is rotatable about a first rotation axis and comprises a cam fixed to the first shaft concentrically with the first shaft, wherein a side surface of the cam has a positive curvature when viewed from the first rotation axis; the plurality of pins are arranged along the side surface of the cam; the second shaft is rotatable about the second rotation axis; the guide plate is concentric with the second shaft, a plurality of guide holes are provided on the guide plate along the rotation direction of the second shaft, and each pin is received in a corresponding guide hole; the gear is concentric with the second shaft and can engage with each pin, and the transmission mechanism is characterized in that, in association with the rotation of one of the first shaft and the second shaft, each pin is guided by the corresponding guide hole and moves along the cam and the gear, thereby causing the other of the first shaft and the second shaft to rotate relative to the first shaft, and the plurality of pins are divided into a plurality of groups, wherein the pins in one group are connected in a series but are not connected to the pins in other groups.

[0013] According to a specific example of the present invention, in the transmission mechanism, the curvature of the side surface of the cam obtained by rotating the first shaft once has two or more local values, and the plurality of pins are divided into a plurality of groups based on the number of the local values.

[0014] According to a specific example of the present invention, in the transmission mechanism, the plurality of pins are divided into a plurality of groups by an integer multiple of 2 or more of the number of the local maximum value.

[0015] According to a specific example of the present invention, in the transmission mechanism, the plurality of pins are divided into a plurality of groups by an integer greater than or equal to 2.

[0016] According to a specific example of the present invention, in the transmission mechanism, the pins of the one group are connected in a series such that two adjacent pins are connected by a chain.

[0017] According to a specific example of the present invention, in the transmission mechanism, either one of the guide plate and the gear is fixed to the second shaft.

[0018] According to a specific example of the present invention, in the transmission mechanism, the gear is an internal gear, and the plurality of pins are arranged on the outer side of the cam.

[0019] According to a specific example of the present invention, in the transmission mechanism, the number of teeth of the gear is the sum of the number of the plurality of pins and the number of the local maximum values.

[0020] According to a specific example of the present invention, in the transmission mechanism, the gear is an externally toothed gear, and the plurality of pins are arranged on the inner side of the cam.

[0021] According to a specific example of the present invention, in the transmission mechanism, the number of the plurality of pins is the sum of the number of teeth of the gear and the number of the local maximum values.

[0022] Effects of the Invention

[0023] According to the present invention, by dividing a plurality of pins arranged along the side of the cam into a plurality of groups and connecting the pins into a series only in each group, the influence of the speed difference between the pins can be eliminated only in each group, and the motion transmission error between the input shaft side and the output shaft side generated by the plurality of pins as a whole can be reduced.

[0024] Furthermore, other objects, features, and advantages of the present invention will become apparent from the following description of the embodiments of the present invention taken in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1A It is an exploded perspective view of a transmission mechanism as one embodiment of the present invention.

[0026] Figure 1B yes Figure 1A A top view of the transmission mechanism.

[0027] Figure 1C yes Figure 1A The transmission mechanism of Figure 1B Cross-sectional view of the CC line.

[0028] Figure 1D yes Figure 1A The transmission mechanism of Figure 1C Cross-sectional view of line DD.

[0029] Figure 1E yes Figure 1A The transmission mechanism of Figure 1C A cross-sectional view of line EE.

[0030] Figure 1F Yes means Figure 1A A three-dimensional view of a cross-section of a portion of a transmission mechanism.

[0031] Figure 2A It is an exploded perspective view of a transmission mechanism as another embodiment of the present invention.

[0032] Figure 2B yes Figure 2A A top view of the transmission mechanism.

[0033] Figure 2C yes Figure 2A The transmission mechanism of Figure 2B Cross-sectional view of the CC line.

[0034] Figure 2D yes Figure 2A The transmission mechanism of Figure 2C Cross-sectional view of line DD.

[0035] Figure 2E yes Figure 2A The transmission mechanism of Figure 2C A cross-sectional view of line EE.

[0036] Figure 2F Yes means Figure 2A A three-dimensional view of a cross-section of a portion of a transmission mechanism.

[0037] Figure 3A It is an exploded perspective view of a transmission mechanism as another embodiment of the present invention.

[0038] Figure 3B yes Figure 3A A top view of the transmission mechanism.

[0039] Figure 3C yes Figure 3A The transmission mechanism of Figure 3B Cross-sectional view of the CC line.

[0040] Figure 3D yes Figure 3A The transmission mechanism of Figure 3C Cross-sectional view of line DD.

[0041] Figure 3E yes Figure 3A The transmission mechanism of Figure 3C A cross-sectional view of line EE.

[0042] Figure 4A It is an exploded perspective view of a transmission mechanism as another embodiment of the present invention.

[0043] Figure 4B yes Figure 4A A top view of the transmission mechanism.

[0044] Figure 4C yes Figure 4A The transmission mechanism of Figure 4B Cross-sectional view of the CC line.

[0045] Figure 4D yes Figure 4A The transmission mechanism of Figure 4C Cross-sectional view of line DD.

[0046] Figure 4E yes Figure 4A The transmission mechanism of Figure 4CA cross-sectional view of line EE.

[0047] Figure 5A This is a perspective view of one embodiment of a pin in the transmission mechanism of the present invention.

[0048] Figure 5B yes Figure 5A Cross-sectional view of the pin.

[0049] Figure 5C yes Figure 5A Top view of the pin. DETAILED DESCRIPTION

[0050] Modes for carrying out the invention

[0051] Hereinafter, embodiments of the present invention will be described with reference to the drawings, but the present invention is not limited to these embodiments.

[0052] Reference Figure 1A to Figure 5C , various embodiments of the transmission mechanism 101 are described. The transmission mechanism 101 includes a first shaft (not shown) that can rotate around a first rotation axis 104; and a second shaft (not shown) that can rotate around a second rotation axis 108. The first rotation axis 104 and the second rotation axis 108 may also be on the same line. The first shaft may also be an input shaft, and the second shaft may also be an output shaft. In addition, the second shaft may also be an input shaft, and the first shaft may also be an output shaft. The first shaft includes a cam 102 that is fixed to the first shaft concentrically with the first shaft. The transmission mechanism 101 also includes a plurality of pins 105 arranged along a side surface 103 of the cam 102; a guide plate that is concentric with the second shaft and has a plurality of guide holes along the rotation direction of the second shaft; and a gear that is concentric with the second shaft and can engage with each pin 105. Each pin 105 is received in any corresponding guide hole among the plurality of guide holes provided on the guide plate.

[0053] The side surface 103 of the cam 102 has a positive curvature when viewed from the first rotation axis 104. That is, in a cross section of the side surface 103 of the cam 102 in a plane perpendicular to the first rotation axis 104, if the normal vector of the side surface 103 of the cam 102 is directed toward the first rotation axis 104 as a positive curvature, the curvature of the side surface 103 of the cam 102 is generally positive in the cross section. Figure 1A to Figure 1F and Figure 3A to Figure 3E As shown in FIG. 1 , when the gear that can engage with each pin 105 is an internal gear, the cam 102 may also have a side surface 103 formed by a main body having a convex side surface when viewed from the first rotation axis 104. Figure 2A to Figure 2F and Figure 4A to Figure 4EAs shown, when the gear that can be engaged with each pin 105 is an external gear, the cam 102 may also have a side surface 103 formed by a through hole of a column having a convex side surface when viewed from the first rotation axis 104. For example, the side surface 103 of the cam 102 may also have a shape of a side surface of a substantially regular polygonal cylinder such as an elliptical cylinder, a substantially regular triangle cylinder, a substantially regular quadrilateral cylinder, a substantially regular pentagon cylinder, etc., with the first rotation axis 104 as the center.

[0054] Each pin 105 is guided by the corresponding guide hole along with the rotation of one of the first shaft and the second shaft, and moves along the cam 102 and the gear, thereby causing the other of the first shaft and the second shaft to rotate relative to one of the first shaft and the second shaft. For example, if the first shaft or the second shaft serving as the input shaft rotates, each pin 105 is guided by the guide hole in which the pin is accommodated, and moves along the cam 102 and the gear. As a result of the movement of each pin 105, the second shaft or the first shaft serving as the output shaft rotates relative to the first shaft or the second shaft serving as the input shaft. In addition, each guide hole is formed in a shape such that when the first shaft or the second shaft serving as the input shaft rotates, each pin 105 moves a specified amount in the corresponding guide hole. For example, each guide hole may also be formed in a substantially elliptical shape with the major axis facing the direction of the second rotation axis 108.

[0055] The gear may also be arranged on one side relative to the cam 102. Figure 1A to Figure 4E As shown, the gear may be a pair of gears consisting of a first gear 106a which is concentric with the second shaft and has a plurality of teeth along the rotation direction of the second shaft; and a second gear 106b which is concentric with the second shaft and has a plurality of teeth along the rotation direction of the second shaft. The first gear 106a and the second gear 106b are arranged so that the cam 102 is sandwiched therebetween. In addition, the first gear 106a and the second gear 106b are arranged so that the positions of the teeth of the first gear 106a and the teeth of the second gear 106b are roughly consistent and the phases of the teeth are roughly consistent when the transmission mechanism 101 is viewed from above. In addition, the following description is based on the premise that the gear is a pair of gears consisting of the first gear 106a and the second gear 106b, but the same is true when the gear is arranged on one side relative to the cam 102.

[0056] The guide plate may also be disposed on one side relative to the cam 102. Figure 1A to Figure 4EAs shown, the guide plate may be a pair of guide plates consisting of a first guide plate 107a which is concentric with the second axis and a second guide plate 107b which is concentric with the second axis. The first guide plate 107a and the second guide plate 107b are arranged so as to sandwich the cam 102. In addition, the first guide plate 107a and the second guide plate 107b may be arranged so as to sandwich the first gear 106a and the second gear 106b, and the first gear 106a and the second gear 106b may be arranged so as to sandwich the first guide plate 107a and the second guide plate 107b. A plurality of first guide holes 109a are provided on the first guide plate 107a along the rotation direction of the second axis, and a plurality of second guide holes 109b are provided on the second guide plate 107b along the rotation direction of the second axis. Each pin 105 is received in the corresponding first guide hole 109a of the first guide plate 107a and the corresponding second guide hole 109b of the second guide plate 107b, and is guided by the corresponding first guide hole 109a and the second guide hole 109b to move along the cam 102, the first gear 106a and the second gear 106b. In addition, the following description is based on the case where the guide plate is a pair of guide plates composed of the first guide plate 107a and the second guide plate 107b, but the same is true when the guide plate is arranged on one side relative to the cam 102.

[0057] The plurality of pins 105 are divided into a plurality of groups. Figure 1D , Figure 2D , Figure 3D and Figure 4D As shown, the plurality of pins 105 may be divided into the first group 110a to the sixth group 110f. The pins 105 in each of the first group 110a to the sixth group 110f are connected in series with the pins 105 of the group to which the pin 105 belongs (for example, the first group 110a), and are not connected with the pins 105 of the group to which the pin 105 does not belong (for example, the second group 110b to the sixth group 110f). In this way, by dividing the plurality of pins 105 arranged along the side surface 103 of the cam 102 into the first group 110a to the sixth group 110f and connecting only the pins 105 in each of the first group 110a to the sixth group 110f in series, the influence of the speed difference between the pins 105 can be terminated only in each of the first group 110a to the sixth group 110f to which the pin 105 belongs, thereby reducing the motion transmission error between the first axis and the second axis generated by the plurality of pins 105 as a whole.

[0058] The curvature of the side surface 103 of the cam 102 obtained by rotating the first axis in a circle from 0 to 360 degrees may have two or more local values. In addition, two or more local values ​​of the curvature may be obtained at equal intervals from 0 to 360 degrees. For example, Figure 1A to Figure 2FAs shown, when the cam 102 is in the shape of a side surface 103 of an elliptical cylinder, in a cross section of the cam 102 which is a plane perpendicular to the first rotation axis 104, two vertices of the major axis of the ellipse which are spaced 180 degrees apart each have a maximum value of curvature, as shown in FIG. Figure 3A to Figure 4E As shown, when the cam 102 is in the shape of a side surface 103 having a substantially regular triangular tube, in the cross section of the plane perpendicular to the first rotation axis 104 of the cam 102, the three vertices of the substantially regular triangle at intervals of 120° each have a maximum value of curvature. In addition, the plurality of pins 105 can also be divided into a plurality of groups based on the number of their maximum values. If one of the first shaft and the second shaft rotates, the tooth portions of the first gear 106a and the second gear 106b engaged with each pin 105 are changed according to the relationship between the side surface 103 of the cam 102 having such a maximum value and the first gear 106a and the second gear 106b, thereby transmitting the rotation of one side to the other side so as to rotate the other side. By dividing the plurality of pins 105 into a plurality of groups based on the number of maximum values, even if a speed difference occurs between a pin 105 between the side of the maximum value and the side of the minimum value in the side 103 of the cam 102, the mutual interference between the pins 105 caused by the speed difference can be terminated only in each of the first group 110a to the sixth group 110f to which the pin 105 belongs, thereby reducing the motion transmission error between the first axis and the second axis generated by the plurality of pins 105 as a whole.

[0059] The plurality of pins 105 may also be divided into a plurality of groups by an integer multiple of 2 or more of the number of maximum values ​​of the curvature of the side surface 103 of the cam 102. In addition, the plurality of pins 105 may also be divided into a plurality of groups by an even number. For example, Figure 1A to Figure 2F As shown in FIG. 1 , when the cam 102 is in the shape of a side surface 103 of an elliptical cylinder, since the two vertices of the major axis of the ellipse at intervals of 180° in the cross section of the cam 102 perpendicular to the first rotation axis 104 each have a maximum value of curvature, the plurality of pins 105 may be divided into six groups, such as the first group 110a to the sixth group 110f, by three times the number of the maximum value, that is, six, which is an even number. Figure 3A to Figure 4E As shown, in the case where the cam 102 is in the shape of a side surface 103 having a substantially equilateral triangular tube, since in the cross-section of the plane perpendicular to the first rotation axis 104 of the cam 102, the three vertices of the substantially equilateral triangle at intervals of 120° each have a maximum curvature, the plurality of pins 105 can also be divided into six groups, such as the first group 110a to the sixth group 110f, by 6, which is twice the number of the maximum values, that is, 3, that is, an integer greater than 2.

[0060] The pins 105 in each of the first group 110a to the sixth group 110f may be connected in series, such that two adjacent pins 105 are connected by a chain 110. For example, Figure 1D , Figure 2D , Figure 3D and Figure 4D As shown, in each of the first group 110a to the sixth group 110f, each pin 105 and the adjacent pin 105 are connected by the chain 110 so as to be relatively rotatable. As a result, the pins 105 in each of the first group 110a to the sixth group 110f can move along the cam 102 and the gear in a linked manner. On the other hand, since the pins 105 in each of the first group 110a to the sixth group 110f are not connected to the pins 105 of the group to which the pin 105 does not belong, the influence of the speed difference between the pins 105 can be terminated only in each of the first group 110a to the sixth group 110f to which the pin 105 belongs, thereby reducing the motion transmission error between the first axis and the second axis generated by the plurality of pins 105 as a whole.

[0061] like Figure 5A to Figure 5C As shown, each pin 105 may also include an inner shaft portion 105a and an outer ring portion 105b that rotates around the inner shaft portion 105a. The outer ring portion 105b may rotate around the inner shaft portion 105a in sliding contact or in rolling contact via rollers or the like. Each pin 105 is configured in such a manner that the outer ring portion 105b contacts the side surface 103 of the cam 102 and the outer ring portion 105b of the adjacent pin 105. In the case where the gear is configured on one side relative to the cam 102, one end of the inner shaft portion 105a of each pin 105 can engage with the gear. In the case where the gear is a pair of gears consisting of a first gear 106a and a second gear 106b, both ends of the inner shaft portion 105a of each pin 105 can engage with the first gear 106a and the second gear 106b, respectively. When the guide plate is arranged on one side relative to the cam 102, one end of the inner shaft portion 105a of each pin 105 is received in the corresponding guide hole of the guide plate. When the guide plate is a pair of guide plates consisting of a first guide plate 107a and a second guide plate 107b, both ends of the inner shaft portion 105a of each pin 105 are received in the corresponding first guide hole 109a of the first guide plate 107a and the corresponding second guide hole 109b of the second guide plate 107b. Two adjacent pins 105 may be connected in a manner that the outer ring portions 105b of each pin are sandwiched by two chains 110. In addition, the pin fixing member 111 may be arranged on the inner shaft portion 105a of each pin 105 so that the chain 110 and the outer ring portion 105b do not move relative to the axial direction of the inner shaft portion 105a.

[0062] One of the pair of guide plates consisting of the first guide plate 107a and the second guide plate 107b and the pair of gears consisting of the first gear 106a and the second gear 106b is fixed to the second shaft, and the other of them is fixed to the housing (not shown) of the transmission mechanism 101. That is, any one of the first guide plate 107a and the second guide plate 107b and the first gear 106a and the second gear 106b rotates together with the second shaft.

[0063] like Figure 1A to Figure 1F and Figure 3A to Figure 3E As shown, the first gear 106a and the second gear 106b constituting a pair of gears may also be internal gears. In this case, the cam 102 may also have a side surface 103 having an elliptical column centered on the first rotation axis 104 (see Figure 1A ) or a roughly equilateral triangular prism (ref. Figure 3A ), a substantially regular quadrangular prism, a substantially regular pentagonal prism, or the like, and a plurality of pins 105 are arranged on the outside along the side surface 103 of the cam 102. For example, when a pair of guide plates consisting of a first guide plate 107a and a second guide plate 107b are fixed to the housing of the transmission mechanism 101, if the cam 102 rotates in conjunction with the rotation of the first shaft as the input shaft, each pin 105 is guided by the guide holes 109a and 109b in which the pin is received, and moves along the cam 102 and the pair of gears so as to rotate the pair of gears in the direction opposite to the rotation direction of the cam 102. Furthermore, when the pair of gears are fixed to the housing of the transmission mechanism 101, if the cam 102 rotates in conjunction with the rotation of the first shaft as the input shaft, each pin 105 is guided by the guide holes 109a and 109b in which the pin is received, and moves along the pair of guide plates between the cam 102 and the pair of gears so as to rotate in the direction opposite to the rotation direction of the cam 102. The same is true when the second shaft as the input shaft rotates.

[0064] If one of the first shaft and the second shaft rotates, the teeth of the first gear 106a and the second gear 106b engaged with each pin 105 are changed according to the relationship between the side surface 103 of the cam 102 having the maximum curvature and the first gear 106a and the second gear 106b as internal gears, thereby transmitting the rotation of one to the other so that the other rotates. If the number of teeth of the first gear 106a and the second gear 106b is N, T , the number of multiple pins is N P , the number of maximum values ​​of curvature is N M , then in N T =N P +N MWhen the first shaft is used as the input shaft, if a pair of guide plates are fixed to the housing of the transmission mechanism 101, the speed ratio is N M / N T If a pair of gears is fixed to the housing of the transmission mechanism 101, the speed ratio is N M / N P In addition, when the second shaft is used as the input shaft, if a pair of guide plates are fixed to the housing of the transmission mechanism 101, the speed ratio is N T / N M If a pair of gears is fixed to the housing of the transmission mechanism 101, the speed ratio is N P / N M .

[0065] like Figure 2A to Figure 2F and Figure 4A to Figure 4E As shown in FIG. 1 , the first gear 106a and the second gear 106b constituting a pair of gears may also be external gears. In this case, the cam 102 may also be provided with a side surface 103 having an elliptical column centered on the first rotation axis 104 (see FIG. 1 ). Figure 2A ) or a roughly equilateral triangular prism (ref. Figure 4A ), a through hole in the side surface 103 of a substantially regular polygonal prism such as a substantially regular quadrangular prism or a substantially regular pentagonal prism, and a plurality of pins 105 are arranged inside along the side surface 103 of the cam 102. For example, when a pair of guide plates consisting of a first guide plate 107a and a second guide plate 107b are fixed to the housing of the transmission mechanism 101, if the cam 102 rotates in conjunction with the rotation of the first shaft as the input shaft, each pin 105 is guided by the guide holes 109a and 109b in which the pin is received, and moves along the cam 102 and a pair of gears so as to rotate the pair of gears in the direction opposite to the rotation direction of the cam 102. Furthermore, when the pair of gears are fixed to the housing of the transmission mechanism 101, if the cam 102 rotates in conjunction with the rotation of the first shaft as the input shaft, each pin 105 is guided by the guide holes 109a and 109b in which the pin is received, and moves along the pair of guide plates between the cam 102 and the pair of gears so as to rotate in the direction opposite to the rotation direction of the cam 102. The same is true when the second shaft as the input shaft rotates.

[0066] If one of the first shaft and the second shaft rotates, the teeth of the first gear 106a and the second gear 106b engaged with each pin 105 are changed according to the relationship between the side surface 103 of the cam 102 having the maximum curvature and the first gear 106a and the second gear 106b as external gears, thereby transmitting the rotation of one to the other so that the other rotates. If the number of the plurality of pins is N P, the number of teeth of the first gear 106a and the second gear 106b is N T , the number of maximum values ​​of curvature is N M , then in N P =N T +N M When the first shaft is used as the input shaft, if a pair of guide plates are fixed to the housing of the transmission mechanism 101, the speed ratio is N M / N T If a pair of gears are fixed to the housing of the transmission mechanism 101, the speed ratio N M / N P In addition, when the second shaft is used as the input shaft, if a pair of guide plates are fixed to the housing of the transmission mechanism 101, the speed ratio is N T / N M If a pair of gears is fixed to the housing of the transmission mechanism 101, the speed ratio is N P / N M .

[0067] The above description is made for specific embodiments, but the present invention is not limited thereto, and various changes and modifications can obviously be made within the scope of the principle of the present invention and the appended claims.

[0068]

Explanation of symbols

[0069] 101: Delivery Agency

[0070] 102: Cam

[0071] 103: Side

[0072] 104: First rotation axis

[0073] 105: Pin

[0074] 105a: Inner shaft

[0075] 105b: Outer ring

[0076] 106a: First gear

[0077] 106b: Second gear

[0078] 107a: First guide plate

[0079] 107b: Second guide plate

[0080] 108: Second rotation axis

[0081] 109a: First guide hole

[0082] 109b: Second guide hole

[0083] 110: Chain

[0084] 110a: Group 1

[0085] 110b: Group 2

[0086] 110c: The third group

[0087] 110d: Group 4

[0088] 110e: Group 5

[0089] 110f: Group 6

[0090] 111: Pin fixing.

Claims

1. A transmission mechanism comprising a first shaft, a plurality of pins, a second shaft, a guide plate and a gear, The first shaft can rotate around a first rotation axis, and has a cam fixed on the first shaft concentrically with the first shaft, and a side surface of the cam has a positive curvature when viewed from the first rotation axis; The plurality of pins are arranged along the side of the cam; The second shaft can rotate around the second rotation axis; The guide plate is concentric with the second shaft, and a plurality of guide holes are provided on the guide plate along the rotation direction of the second shaft, and each pin is received in a corresponding guide hole; The gear is concentric with the second shaft and can engage with each pin. The transmission mechanism is characterized in that As one of the first shaft and the second shaft rotates, each pin is guided by the corresponding guide hole and moves along the cam and the gear, whereby the other of the first shaft and the second shaft rotates relative to the first shaft. The plurality of pins are divided into a plurality of groups, and the pins in one group are connected in series but are not connected to the pins in other groups.

2. The transmission mechanism according to claim 1, characterized in that: The curvature of the side surface of the cam obtained by making one rotation in the rotation direction of the first shaft has two or more local values, and the plurality of pins are divided into a plurality of groups based on the number of the local values.

3. The transmission mechanism according to claim 2, characterized in that: The plurality of pins are divided into a plurality of groups by an integer multiple of 2 or more of the number of the local maximum value.

4. The transmission mechanism according to any one of claims 1 to 3, characterized in that: The plurality of pins are divided into a plurality of groups by an integer greater than or equal to 2.

5. The transmission mechanism according to any one of claims 1 to 4, characterized in that: The pins of the above-mentioned one set are connected in series such that two adjacent pins are connected by a chain.

6. The transmission mechanism according to any one of claims 1 to 5, characterized in that: Fix any one of the guide plate and the gear on the second shaft.

7. The transmission mechanism according to any one of claims 1 to 6, characterized in that: The gear is an internally toothed gear, and the plurality of pins are arranged outside the cam.

8. The transmission mechanism according to claim 7, characterized in that: The number of teeth of the gear is the sum of the number of the plurality of pins and the number of the local maximum values.

9. The transmission mechanism according to any one of claims 1 to 6, characterized in that: The gear is an externally toothed gear, and the plurality of pins are arranged inside the cam.

10. The transmission mechanism according to claim 9, characterized in that: The number of the plurality of pins is the sum of the number of teeth of the gear and the number of the local maximum values.

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