Transfer Agency

Abstract

A transmission mechanism is suitable for miniaturization and reducing motion transmission errors. 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 pair of gears (106a, 106b) arranged in a manner of sandwiching the cam (102); each pin (105) contacts only one of the pair of gears (106a, 106b), and each pin (105) is guided by the corresponding guide hole (109a, 109b) and moves along the cam (102) and the corresponding gear (106a, 106b) as the cam (102) rotates, thereby causing the guide plate (107a, 107b) or the pair of gears (106a, 106b) to rotate relative to the cam (102).

Description

Technical Field

[0001] The present invention relates to a transmission mechanism which is suitable for miniaturization and can reduce motion transmission error. Background Art

[0002] Patent document 1 discloses a speed reduction mechanism, which includes an elliptical cam, a roller connecting rod connected to the outer periphery of the elliptical cam via a roller, a guide plate coaxial with the elliptical cam, and a pair of internal tooth plates corresponding to both ends of each pin of the roller connecting rod. In this speed reduction mechanism, the elliptical cam is used as an input shaft, and the guide plate or a pair of internal tooth plates is used as an output shaft. The guide plate arranges guide holes corresponding to each pin for the roller of the roller connecting rod in a circular shape, and the pair of internal tooth plates forms internal teeth having a larger number of teeth than the number of pin roots of the roller connecting rod in a circular shape. Each pin of the roller connecting rod is guided through both the guide holes and the internal teeth in conjunction with the rotation of the elliptical cam, and moves forward and backward relative to the tooth groove of the internal teeth, so that the guide plate or the pair of internal tooth plates rotates relatively.

[0003] Patent document 2 discloses a reduction gear device comprising a first cam having an annular groove formed on its 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 meshing with the stepped pins and converting 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 structured as follows: the pin protrudes to both sides of the input shaft side and the output shaft side of the elliptical cam that receives the rotation of the input shaft, contacts one internal tooth plate on the input shaft side, and contacts the guide plate and the other internal tooth plate on the output shaft side, and there is the following problem: if there is a shape error or a phase error during assembly between the pair of internal tooth plates existing on both sides of the input shaft side and the output shaft side, the pin contacting the pair of internal tooth plates at both ends tilts, and thus tilts, causing motion transmission error between the input shaft side and the output shaft side. The reduction gear of Patent Document 2 is structured in which the stepped pin is arranged to be surrounded by an annular groove, and there is the following problem: 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 provide a transmission mechanism which is suitable for miniaturization and can reduce motion transmission errors.

[0011] Means to solve the problem

[0012] According to one aspect of the present invention, a transmission mechanism includes a first shaft, a plurality of pins, a second shaft, a guide plate and a pair of gears, wherein the first shaft is rotatable around a first rotation axis, the first shaft includes a cam fixed to 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 surface of the cam; the second shaft is rotatable around 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 accommodated in a corresponding guide hole; the pair of gears are concentric with the second shaft and are arranged in a manner of sandwiching the cam, and the transmission mechanism is characterized in that each pin contacts only one of the pair of gears, and each pin is guided by the corresponding guide hole and moves along the cam and the corresponding gear in association with the rotation of one of the first shaft and the second shaft, 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.

[0013] According to a specific example of the present invention, in the transmission mechanism, each pin contacts only one of the pair of gears that is different from at least one of two adjacent pins.

[0014] According to a specific example of the present invention, each pin is connected to at least one of two adjacent pins by a chain.

[0015] According to a specific example of the present invention, in the transmission mechanism, the guide plates are a pair of guide plates arranged so as to sandwich the cam, and each pin is received in a corresponding guide hole of any one of the pair of guide plates.

[0016] According to a specific example of the present invention, in the transmission mechanism, each pin is accommodated in a corresponding guide hole of any one of the pair of guide plates that is different from at least one of two adjacent pins.

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

[0018] According to a specific example of the present invention, in the transmission mechanism, each of the pair of gears is an internally toothed gear, and the plurality of pins are arranged outside the cam.

[0019] According to a specific example of the present invention, in a transmission mechanism, when each gear is an internal gear, the curvature of the side surface of the cam obtained by rotating one circle along the rotation direction of the first axis has more than two maximum values, and the number of each tooth portion of the pair of gears is the sum of the number of the plurality of pins and the number of the maximum values.

[0020] According to a specific example of the present invention, in the transmission mechanism, each of the pair of gears is an external 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 a transmission mechanism, when each gear is an external gear, the curvature of the side surface of the cam obtained by rotating one circle along the rotation direction of the first axis has more than two maximum values, and the number of the multiple pins is the sum of the number of each tooth portion of the pair of gears and the number of the maximum values.

[0022] Effects of the Invention

[0023] According to the present invention, since each pin contacts only one of the pair of gears, it is possible to reduce the motion transmission error between the input shaft side and the output shaft side caused by the shape error and the assembly error.

[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 Bottom view of the transmission mechanism.

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

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

[0030] Figure 1F yes Figure 1A The transmission mechanism of Figure 1D Cross-sectional view of the FF line.

[0031] Figure 1G yes Figure 1A The transmission mechanism of Figure 1D Cross-sectional view of the GG line.

[0032] Figure 1H Yes means Figure 1A A three-dimensional view of a cross-section of a portion of a transmission mechanism.

[0033] Figure 2A It is an exploded perspective view of a transmission mechanism as another embodiment of the present invention.

[0034] Figure 2B yes Figure 2A A top view of the transmission mechanism.

[0035] Figure 2C yes Figure 2A Bottom view of the transmission mechanism.

[0036] Figure 2D yes Figure 2A The transmission mechanism of Figure 2B Cross-sectional view of line DD.

[0037] Figure 2E yes Figure 2A The transmission mechanism of Figure 2D A cross-sectional view of line EE.

[0038] Figure 2F yes Figure 2A The transmission mechanism of Figure 2D Cross-sectional view of the FF line.

[0039] Figure 2G yes Figure 2A The transmission mechanism of Figure 2D Cross-sectional view of the GG line.

[0040] Figure 2H Yes means Figure 2A A three-dimensional view of a cross-section of a portion of a transmission mechanism.

[0041] Figure 3A It is an exploded perspective view of a transmission mechanism as another embodiment of the present invention.

[0042] Figure 3B yes Figure 3A A top view of the transmission mechanism.

[0043] Figure 3C yes Figure 3A Bottom view of the transmission mechanism.

[0044] Figure 3D yes Figure 3A The transmission mechanism of Figure 3B Cross-sectional view of line DD.

[0045] Figure 3E yes Figure 3A The transmission mechanism of Figure 3D A cross-sectional view of line EE.

[0046] Figure 3F yes Figure 3A The transmission mechanism of Figure 3D Cross-sectional view of the FF line.

[0047] Figure 3G yes Figure 3A The transmission mechanism of Figure 3D Cross-sectional view of the GG line.

[0048] Figure 4A It is an exploded perspective view of a transmission mechanism as another embodiment of the present invention.

[0049] Figure 4B yes Figure 4A A top view of the transmission mechanism.

[0050] Figure 4C yes Figure 4A Bottom view of the transmission mechanism.

[0051] Figure 4D yes Figure 4A The transmission mechanism of Figure 4B Cross-sectional view of line DD.

[0052] Figure 4E yes Figure 4A The transmission mechanism of Figure 4D A cross-sectional view of line EE.

[0053] Figure 4F yes Figure 4A The transmission mechanism of Figure 4D Cross-sectional view of the FF line.

[0054] Figure 4G yes Figure 4A The transmission mechanism of Figure 4D Cross-sectional view of the GG line.

[0055] Figure 5A This is a perspective view of one embodiment of a pin in the transmission mechanism of the present invention.

[0056] Figure 5B yes Figure 5A Cross-sectional view of the pin.

[0057] Figure 5C yes Figure 5A Top view of the pin. DETAILED DESCRIPTION

[0058] Modes for carrying out the invention

[0059] Hereinafter, embodiments of the present invention will be described with reference to the drawings, but the present invention is not limited to these embodiments.

[0060] 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 provided along the rotation direction of the second shaft; and a pair of gears that are concentric with the second shaft. Each pin 105 is received in any corresponding guide hole among the plurality of guide holes provided on the guide plate. A pair of gears is composed of a first gear 106a and a second gear 106b. The first gear 106a is concentric with the second shaft and has a plurality of teeth along the rotation direction of the second shaft. The second gear 106b 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 as to sandwich the cam 102 therebetween. In addition, the first gear 106a and the second gear 106b are arranged so as to make the positions of the teeth of the first gear 106a and the teeth of the second gear 106b substantially coincide and make the phases of the teeth substantially coincide when the transmission mechanism 101 is viewed from above.

[0061] 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 1H and Figure 3A to Figure 3G As shown, in the case where the pair of gears are internal gears, the cam 102 may also have a side surface 103 formed by a column having a convex side surface when viewed from the first rotation axis 104. Figure 2A to Figure 2H and Figure 4A to Figure 4GAs shown, when the pair of gears are external gears, the cam 102 may 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 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.

[0062] Each pin 105 contacts only one of the first gear 106a and the second gear 106b. Each pin 105 protrudes greatly toward one side relative to the cam 102, and can contact only one of the first gear 106a and the second gear 106b. 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 corresponding 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 that accommodates the pin, and moves along the cam 102 and the first gear 106a or the second gear 106b. 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. Since each pin 105 contacts only one of the first gear 106a and the second gear 106b, when the transmission mechanism 101 is viewed from above, even if there is an error in the position, shape, etc. of the tooth portion between the first gear 106a and the second gear 106b, the inclination of each pin 105 relative to the second rotation axis 108 can be suppressed, and the motion transmission error between the input shaft side and the output shaft side caused by the shape error and the assembly error can be reduced. In addition, when the first shaft or the second shaft serving as the input shaft rotates, each guide hole is formed in a shape such that each pin 105 moves a predetermined amount in the corresponding guide hole. For example, each guide hole may be formed in a substantially elliptical shape with the major axis facing the direction of the second rotation axis 108.

[0063] The guide plate may also be arranged on one side relative to the cam 102. Figure 1A to Figure 4GAs shown, the guide plate may be a pair of guide plates consisting of a first guide plate 107a concentric with the second axis and a second guide plate 107b 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 or the corresponding second guide hole 109b of the second guide plate 107b, and is guided by the corresponding first guide hole 109a or the second guide hole 109b to move along the cam 102 and the corresponding gear.

[0064] Each pin 105 may be accommodated in a corresponding guide hole of any one of a pair of guide plates different from at least one of the two adjacent pins 105. For example, when one pin 105 is accommodated in the corresponding first guide hole 109a of the first guide plate 107a, the pin 105 adjacent to the one pin 105 may be accommodated in the corresponding second guide hole 109b of the second guide plate 107b. One pin 105 may be accommodated in the corresponding first guide hole 109a of the first guide plate 107a, and two pins 105 adjacent to the one pin 105 may be accommodated in the respective corresponding second guide holes 109b of the second guide plate 107b, so that each pin 105 is alternately accommodated in the first guide hole 109a or the second guide hole 109b relative to the adjacent pin 105. In addition, the following description assumes that the guide plate is a pair of guide plates consisting of the first guide plate 107 a and the second guide plate 107 b , but the same is true when the guide plate is disposed on one side with respect to the cam 102 .

[0065] Each pin 105 may contact only one of a pair of gears different from at least one of the two adjacent pins 105. For example, when one pin 105 contacts the first gear 106a, the pin 105 adjacent to the one pin 105 may contact the second gear 106b. One pin 105 may contact the first gear 106a, and two pins 105 adjacent to the one pin 105 may contact the second gear 106b, so that each pin 105 contacts the first gear 106a or the second gear 106b alternately with respect to the pin 105 adjacent to it.

[0066] like Figure 5A to Figure 5CAs 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. Only the portion of the inner shaft portion 105a of each pin 105 that protrudes from the outer ring portion 105b contacts the first gear 106a or the second gear 106b. When the guide plate is configured on one side relative to the cam 102, the end of one side 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, only the portion of the inner shaft portion 105a of each pin 105 protruding from the outer ring portion 105b is accommodated in the corresponding first guide hole 109a of the first guide plate 107a or the corresponding second guide hole 109b of the second guide plate 107b.

[0067] Each pin 105 may be connected to at least one of the two adjacent pins 105 by the chain 110. In the case where each pin 105 contacts only one of a pair of gears different from at least one of the two adjacent pins 105, for example, when one pin 105 contacts the first gear 106a, and on the other hand, the pin 105 adjacent to the one pin 105 contacts the second gear 106b, by connecting each pin 105 and the pin 105 adjacent thereto by the chain 110 so as to be relatively rotatable, the two adjacent pins 105 can be linked to move along the cam 102 and their respective corresponding gears. The two adjacent pins 105 may be connected in a manner such that the two chains 110 sandwich their respective outer ring portions 105b. Furthermore, by arranging the pin fixing member 111 at one end of the inner shaft portion 105 a of each pin 105 , the chain 110 and the outer ring portion 105 b may be prevented from moving in the axial direction of the inner shaft portion 105 a .

[0068] 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.

[0069] like Figure 1A to Figure 1H and Figure 3A to Figure 3GAs 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 a guide hole in which the pin is received, and moves between the cam 102 and the corresponding gears of the first gear 106a and the second gear 106b in contact with them so as to rotate the corresponding gears in the direction opposite to the rotation direction of the cam 102. Furthermore, when a 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 hole in which the pin is received, and moves between the cam 102 and the corresponding gears of the first gear 106a and the second gear 106b so as to contact and rotate the corresponding guide plates 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.

[0070] When the first gear 106a and the second gear 106b constituting a pair of gears are internal gears, the curvature of the side surface 103 of the cam 102 obtained by rotating one circle along the rotation direction of the first axis over 0 to 360 degrees has two or more local values. The two or more local values ​​of the curvature can be obtained at equal intervals over 0 to 360 degrees. For example, when the cam 102 is in the shape of an elliptical cylinder side surface 103, in the cross section of the plane perpendicular to the first rotation axis 104 of the cam 102, the two vertices of the major axis of the ellipse at intervals of 180 degrees each have a local value of curvature, and when the cam 102 is in the shape of a substantially regular triangular cylinder side surface 103, 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 degrees each have a local value of curvature. If one of the first shaft and the second shaft rotates, the teeth of the first gear 106a or 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 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 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 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 .

[0071] like Figure 2A to Figure 2H and Figure 4A to Figure 4G 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 upper 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 hole in which the pin is accommodated, and moves between the cam 102 and the corresponding gears of the first gear 106a and the second gear 106b in contact with them so as to rotate the corresponding gears in the direction opposite to the rotation direction of the cam 102. Furthermore, when a 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 hole in which the pin is received, and moves between the cam 102 and the corresponding gears of the first gear 106a and the second gear 106b so as to contact and rotate the corresponding guide plates 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.

[0072] When the first gear 106a and the second gear 106b constituting a pair of gears are external gears, the curvature of the side surface 103 of the through hole provided on the cam 102 obtained by rotating one circle along the first axis over 0 to 360 degrees has two or more local values. The two or more local values ​​of the curvature can be obtained at equal intervals over 0 to 360 degrees. For example, when the side surface 103 of the through hole of an elliptical column is provided on the cam 102, in the cross section of the plane perpendicular to the first rotation axis 104 of the cam 102, the two vertices of the major axis of the ellipse at intervals of 180 degrees each have a local value of curvature, and when the side surface 103 of the through hole of a substantially regular triangular column is provided on the cam 102, 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 degrees each have a local value of curvature. If one of the first shaft and the second shaft rotates, the tooth portion of the first gear 106a or / and the second gear 106b engaged with each pin 105 is 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 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 .

[0073] 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.

[0074]

Explanation of symbols

[0075] 101: Delivery Agency

[0076] 102: Cam

[0077] 103: Side

[0078] 104: First rotation axis

[0079] 105: Pin

[0080] 105a: Inner shaft

[0081] 105b: Outer ring

[0082] 106a: First gear

[0083] 106b: Second gear

[0084] 107a: First guide plate

[0085] 107b: Second guide plate

[0086] 108: Second rotation axis

[0087] 109a: First guide hole

[0088] 109b: Second guide hole

[0089] 110: Chain

[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 pair of gears, The first shaft can rotate around a first rotation axis, the first shaft 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 pair of gears are concentric with the second shaft and are arranged so as to sandwich the cam. The transmission mechanism is characterized in that Each pin contacts only one of the pair of gears, and 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 and the corresponding 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.

2. The transmission mechanism according to claim 1, characterized in that: Each pin contacts only one of the pair of gears that is different from at least one of the two adjacent pins.

3. The transmission mechanism according to claim 1 or 2, characterized in that: Each pin is connected to at least one of two adjacent pins by a chain.

4. The transmission mechanism according to any one of claims 1 to 3, characterized in that: The guide plates are a pair of guide plates arranged so as to sandwich the cam, and each pin is received in a corresponding guide hole of one of the pair of guide plates.

5. The transmission mechanism according to claim 4, characterized in that: Each pin is received in a corresponding guide hole of one of the pair of guide plates that is different from at least one of two adjacent pins.

6. The transmission mechanism according to any one of claims 1 to 5, characterized in that: The guide plate and any one of the pair of gears are fixed to the second shaft.

7. The transmission mechanism according to any one of claims 1 to 6, characterized in that: Each of the pair of gears 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 curvature of the side surface of the cam obtained by making one rotation along the rotation direction of the first shaft has two or more local values, and the number of teeth of each of the pair of gears is the sum of the number of the plurality of pins and the number of the local values.

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

10. The transmission mechanism according to claim 9, characterized in that: The curvature of the side surface of the cam obtained by rotating one circle along the rotation direction of the first shaft has two or more local values, and the number of the plurality of pins is the sum of the number of teeth of the pair of gears and the number of the local values.

Images