Transmission device and drive device

Abstract

The invention provides a transmission device and a driving device. The transmission device includes: an input shaft connected to a drive source; the other input shaft is directly connected with the input shaft; a deceleration unit including an output unit that decelerates and outputs the rotation of the input shaft; and another deceleration section including another output section that decelerates and outputs rotation of the other input shaft. The other output section is disposed coaxially with the one output section.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to a transmission device and a drive device. BACKGROUND

[0002] A transmission device including two reduction portions is disclosed in Patent Literature 1. The two reduction portions receive a rotational input from one drive source. The two reduction portions each include an output portion. In the transmission device described in Patent Literature 1, the rotational input from the single drive source is reduced and output from the two output portions. That is, it is possible to output rotation at a desired rotational speed from the two output portions while using only the single drive source (motor or the like). In addition, the two reduction portions are coaxially arranged. Therefore, according to the transmission device described in Patent Literature 1, a design that saves space can be expected.

[0003] However, in the transmission device disclosed in Patent Literature 1, one input shaft that inputs rotation to one reduction portion is indirectly linked to another input shaft that inputs rotation to another reduction portion via a differential device. The differential device is located between the two reduction portions in the axial direction. Therefore, the size of the transmission device disclosed in Patent Literature 1 cannot be sufficiently downsized in the axial direction.

[0004] Patent Literature: Japanese Patent Application Publication No. 2022-158790 SUMMARY

[0005] The present disclosure was completed in consideration of the above points, and aims to downsize the axial dimension for a transmission device that reduces rotation input from a single drive source using two reduction portions and outputs from two output portions.

[0006] The present disclosure relates to the following <1> to <12>.

[0007] <1>

[0008] A transmission device in which,

[0009] The transmission device includes:

[0010] one input shaft linked to a drive source;

[0011] another input shaft directly linked to the one input shaft;

[0012] one reduction portion including one output portion that reduces and outputs rotation of the one input shaft; and

[0013] another reduction portion including another output portion that reduces and outputs rotation of the another input shaft, the another output portion being arranged coaxially with the one output portion.

[0014] <2>

[0015] The transmission device according to <1>, wherein

[0016] The transmission device has a connecting member that is located between the one reduction portion and the other reduction portion in the axial direction and is connected to the one output portion or the other output portion.

[0017] <3>

[0018] The transmission device according to <1> or <2>, wherein

[0019] The one input shaft and the other input shaft are connected between the one reduction portion and the other reduction portion in the axial direction.

[0020] <4>

[0021] The transmission device according to any one of <1> to <3>, wherein

[0022] One of the one input shaft and the other input shaft includes a cylindrical portion into which the other is inserted.

[0023] <5>

[0024] The transmission device according to any one of <1> to <4>, wherein

[0025] The transmission device comprises:

[0026] a connecting member that is located between the one reduction portion and the other reduction portion in the axial direction and is connected to at least one of the one reduction portion and the other reduction portion; and

[0027] a bearing that is held to the connecting member and supports one of the one input shaft and the other input shaft.

[0028] <6>

[0029] The transmission device according to <5>, wherein

[0030] The one input shaft includes a tooth that engages with the one reduction portion,

[0031] The other input shaft includes a tooth that engages with the other reduction portion,

[0032] The bearing supports the one input shaft or the other input shaft at a position in the axial direction between the tooth of the one input shaft and the tooth of the other input shaft.

[0033] <7>

[0034] The transmission device according to <5> or <6>, wherein

[0035] one of the one input shaft and the other input shaft includes a cylindrical portion into which the other is inserted,

[0036] the bearing supports the cylindrical portion.

[0037] <8>

[0038] The transmission device according to any one of <1> to <7>, wherein

[0039] the one reduction portion includes a housing and a gear carrier relatively rotatable with respect to the housing,

[0040] the one output portion is constituted by one of the housing and the gear carrier of the one reduction portion,

[0041] the other reduction portion includes a housing and a gear carrier relatively rotatable with respect to the housing,

[0042] the other output portion is constituted by one of the housing and the gear carrier of the other reduction portion,

[0043] the transmission device has a link member linking the housing of the one reduction portion and the housing of the other reduction portion, or linking the gear carrier of the one reduction portion and the gear carrier of the other reduction portion.

[0044] <9>

[0045] The transmission device according to any one of <1> to <8>, wherein

[0046] the one reduction portion includes a housing and a gear carrier relatively rotatable with respect to the housing,

[0047] the one output portion is constituted by one of the housing and the gear carrier of the one reduction portion,

[0048] the other reduction portion includes a housing and a gear carrier relatively rotatable with respect to the housing,

[0049] the other output portion is constituted by one of the housing and the gear carrier of the other reduction portion,

[0050] the transmission device has a link member linking the housing of the one reduction portion and the gear carrier of the other reduction portion, or linking the gear carrier of the one reduction portion and the housing of the other reduction portion.

[0051] <10>

[0052] The transmission device according to any one of <1> to <9>, wherein

[0053] The reduction ratio of the one reduction portion is different from the reduction ratio of the other reduction portion.

[0054] <11>

[0055] The transmission device according to any one of <1> to <10>, wherein

[0056] The reduction portion includes:

[0057] a housing including internal teeth;

[0058] a gear carrier relatively rotatable with respect to the housing;

[0059] a shaft member rotatably supported by the gear carrier; and

[0060] an external gear supported to the shaft member, eccentrically oscillated with rotation of the shaft member, including external teeth engaged with the internal teeth.

[0061] <12>

[0062] A drive device, wherein

[0063] The drive device includes:

[0064] the transmission device according to any one of <1> to <11>; and

[0065] the drive source includes a drive shaft directly linked to the one input shaft.

[0066] According to the present disclosure, in a transmission device in which rotation input from a single drive source is respectively reduced by two reduction portions and output from two output portions, it is possible to downsize the axial dimension. BRIEF DESCRIPTION OF DRAWINGS

[0067] Figure 1 is a longitudinal sectional view showing a specific example of a transmission device, for explaining an embodiment.

[0068] Figure 2 is a longitudinal sectional view showing another specific example of a transmission device.

[0069] Figure 3 is a longitudinal sectional view showing still another specific example of a transmission device.

[0070] Figure 4 is a longitudinal sectional view showing still another specific example of a transmission device.

[0071] Figure 5 is a longitudinal sectional view showing Figures 1-4 is a sectional view showing an example of a reduction portion included in the transmission device shown in is a longitudinal sectional view showing

[0072] Figure 6 is a cross-sectional view along the VI-VI line of Figure 5

[0073] Figure 7 is a front view schematically showing a driving device and a transmission device.

[0074] BRIEF DESCRIPTION OF DRAWINGS

[0075] D1, axial direction; 6, driving source; 8, driving shaft; 10, transmission device; 15, connecting member; 17, bearing; 18, cylindrical portion; 20, one input shaft, first input shaft; 21, first input tooth; 25, one reduction portion, first reduction portion; 26, one output portion, first output portion; 30, another input shaft, second input shaft; 31, second input tooth; 35, another reduction portion, second reduction portion; 36, another output portion, second output portion; 40, housing; 40A, first housing; 40B, second housing; 50, gear carrier; 50A, first gear carrier; 50B, second gear carrier. DETAILED DESCRIPTION

[0076] Hereinafter, the present embodiment will be described with reference to specific examples shown in the drawings. Figures 1-7 is a front view schematically showing a driving device and a transmission device.

[0077] As shown in Figure 7 As schematically shown, the driving device 5 includes the driving source 6 and the transmission device 10. The driving source 6 inputs rotation to the transmission device 10. The transmission device 10 includes the first input shaft 20, the second input shaft 30, the first reduction portion (first speed reducer) 25, and the second reduction portion (second speed reducer) 35. The first input shaft 20 is coupled to the driving source 6. The second input shaft 30 is coupled to the first input shaft 20.

[0078] The first reduction portion 25 receives input of rotation from the first input shaft 20. The first reduction portion 25 reduces rotation from the first input shaft 20 and outputs it. The first reduction portion 25 includes the first output portion 26 that outputs rotation.

[0079] The second reduction portion 35 receives input of rotation from the second input shaft 30. The second reduction portion 35 reduces rotation from the second input shaft 30 and outputs it. The second reduction portion 35 includes the second output portion 36 that outputs rotation.

[0080] ​In this embodiment, the drive unit 5 and transmission unit 10 reduce the rotation input from a single drive source 6 using a first reduction unit 25 and a second reduction unit 35, and output the rotation from a first output unit 26 and a second output unit 36. As an example, this drive unit 5 and transmission unit 10 can be applied to industrial robots. Figure 7 As shown, the first output unit 26 can hold the first held member 26X. The first held member 26X is driven by the first output unit 26. The second output unit 36 ​​can hold the second held member 36X. The second held member 36X is driven by the second output unit 36. The first held member 26X and the second held member 36X are not particularly limited. As an example, the first held member 26X and the second held member 36X can be a workpiece, a processing tool, or a handling tool.

[0081] In this embodiment, improvements have been made to reduce the axial dimension of the transmission device 10, which reduces the rotation input from a single drive source 6 using two reduction units 25 and 35 respectively and outputs it from two output units 26 and 36. Hereinafter, the drive device 5 and the transmission device 10 will be described in more detail with reference to the accompanying drawings, which show a more specific structure.

[0082] Furthermore, the first input axis 20 is also referred to as "an input axis". The first input axis 20 can be equivalent to one input axis in the claims. The second input axis 30 is also referred to as "another input axis". The second input axis 30 can be equivalent to another input axis in the claims.

[0083] The first deceleration part 25 is also referred to as "a deceleration part". The first deceleration part 25 can be equivalent to one deceleration part in the claim. The second deceleration part 35 is also referred to as "another deceleration part". The second deceleration part 35 can be equivalent to another deceleration part in the claim.

[0084] The first output 26 is also referred to as "an output". The first output 26 can be equivalent to one output in the claim. The second output 36 is also referred to as "another output". The second output 36 can be equivalent to another output in the claim.

[0085] Figure 1 This illustrates a specific example of the drive unit 5 and the transmission unit 10. As described above, the transmission unit 10 includes a first input shaft 20, a second input shaft 30, a first reduction gear 25, and a second reduction gear 35. The drive unit 5 includes a drive source 6 that inputs rotation to the transmission unit 10.

[0086] There are no particular limitations on drive source 6. For example, drive source 6 could be a motor. There are no particular limitations on the motor. The motor could be a servo motor. The motor could also be a brushless motor. Figure 1As shown, the drive source 6 may include a drive source body 7 and a drive shaft 8. The drive shaft 8 is held in the drive source body 7 in a manner that allows it to rotate relative to the drive source body 7. In the illustrated example, the drive shaft 8 is an elongated shaft-shaped component. The drive shaft 8 is capable of rotating around its central axis. The drive source 6 outputs the rotation of the drive shaft 8. The rotation of the drive shaft 8 is input to the transmission device 10.

[0087] The first input shaft 20 is connected to the drive source 6. The first input shaft 20 is also connected to the drive shaft 8. As shown, the first input shaft 20 can be directly connected to the drive shaft 8. The first input shaft 20 is connected to the drive shaft 8 in a manner that prevents it from rotating relative to the drive shaft 8 with respect to its axis of rotation. The first input shaft 20 rotates synchronously with the drive shaft 8 by being fixed to it. That is, the first input shaft 20 rotates at the same speed and in the same direction as the drive shaft 8. In the illustrated example, the first input shaft 20 is an elongated shaft-shaped component. The first input shaft 20 is capable of rotating around its central axis.

[0088] The second input shaft 30 is connected to the first input shaft 20. In this embodiment, the second input shaft 30 can be directly connected to the first input shaft 20. The second input shaft 30 is connected to the first input shaft 20 in a manner that prevents it from rotating relative to the first input shaft 20 with respect to the axis of rotation of the first input shaft 20. The second input shaft 30 rotates synchronously with the first input shaft 20 by being fixed to the first input shaft 20. That is, the second input shaft 30 rotates at the same rotational speed as the first input shaft 20 in the same direction. In the illustrated example, the second input shaft 30 is an elongated shaft-shaped component. The second input shaft 30 is capable of rotating around its central axis. In the illustrated example, the central axis of the first input shaft 20 and the central axis of the second input shaft 30 are collinear.

[0089] The first input shaft 20 and the second input shaft 30 can be connected between the first reduction section 25 and the second reduction section 35 along the axial direction D1. Figure 1 In the example shown, the entire length of the connection between the first input shaft 20 and the second input shaft 30 lies between the first deceleration section 25 and the second deceleration section 35 along the axial direction D1. However, unlike the illustrated example, it is also possible that at least a portion of the connection between the first input shaft 20 and the second input shaft 30 lies between the first deceleration section 25 and the second deceleration section 35 along the axial direction D1. When at least a portion of the connection lies between the first deceleration section 25 and the second deceleration section 35 along the axial direction D1, it is also stated that the first input shaft 20 and the second input shaft 30 are connected between the first deceleration section 25 and the second deceleration section 35 along the axial direction D1.

[0090] The connection of the first input shaft 20 and the second input shaft 30 is not particularly limited. Various methods and various members can be used to connect the first input shaft 20 and the second input shaft 30. The first input shaft 20 and the second input shaft 30 can be connected by press-fitting. The first input shaft 20 and the second input shaft 30 can also be connected using a coupling member 16 (refer to the coupling member 16 described later) or the like. The first input shaft 20 and the second input shaft 30 can also be spline-coupled. The first input shaft 20 and the second input shaft 30 can also be joined using an adhesive or the like. The first input shaft 20 and the second input shaft 30 can also be fusion-bonded by ultrasonic joining, welding, or the like. Figure 3 and Figure 4 ) can be used to connect the first input shaft 20 and the second input shaft 30. The first input shaft 20 and the second input shaft 30 can also be spline-coupled. The first input shaft 20 and the second input shaft 30 can also be joined using an adhesive or the like. The first input shaft 20 and the second input shaft 30 can also be fusion-bonded by ultrasonic joining, welding, or the like.

[0091] As shown in Figure 1 , one of the first input shaft 20 and the second input shaft 30 can include a cylindrical portion 18 into which the other is inserted. According to the connection using the cylindrical portion 18, it is possible to ensure that the connection portion of the first input shaft 20 and the second input shaft 30 is long in the axial direction D1, thereby stably and firmly connecting the first input shaft 20 and the second input shaft 30. Also, it is possible to avoid an increase in the total length of the first input shaft 20 and the second input shaft 30 in the axial direction D1.

[0092] In addition, by adopting the connection structure including the cylindrical portion 18, it is possible to make the outer diameter of the first input shaft 20 different from the outer diameter of the second input shaft 30. As a result, it is possible to set the number of teeth of the first input teeth 21 provided to the first input shaft 20 and the number of teeth of the second input teeth 31 provided to the second input shaft 30 with a higher degree of freedom. Thus, it is possible to adjust the output from the first output portion 26 and the output from the second output portion 36 to a desired rotational speed.

[0093] Further, the first input teeth 21 are teeth that mesh with the first reduction portion 25. In the illustrated example, the first input teeth 21 are configured as external teeth. By the first input teeth 21 meshing with the first reduction portion 25, rotation of the first input shaft 20 is transmitted to the first reduction portion 25. Likewise, the second input teeth 31 are teeth that mesh with the second reduction portion 35. In the illustrated example, the second input teeth 31 are configured as external teeth. By the second input teeth 31 meshing with the second reduction portion 35, rotation of the second input shaft 30 is transmitted to the second reduction portion 35.

[0094] Also, teeth can be provided to a portion of the outer surface of the cylindrical portion 18 in the axial direction D1, and the remaining portion of the outer surface of the cylindrical portion 18 can be a cylindrical outer peripheral surface 18a. The cylindrical outer peripheral surface 18a functions as a supported surface that is supported by the bearing 17.

[0095] As shown in Figure 1As shown, the bearing 17 can support the first input shaft 20 or the second input shaft 30 at a position between the first input tooth 21 and the second input tooth 31 in the axial direction Dl. In the example shown, the cylindrical outer peripheral surface 18a is located between the first input tooth 21 and the second input tooth 31 in the axial direction Dl. According to this structure, the first input shaft 20 or the second input shaft 30 can be supported by the bearing 17 in the vicinity of the meshing portion of the first input shaft 20 and the first reduction portion 25 based on the first input tooth 21. Meanwhile, the first input shaft 20 or the second input shaft 30 can be supported by the bearing 17 in the vicinity of the meshing portion of the second input shaft 30 and the second reduction portion 35 based on the second input tooth 31. Thus, the first input shaft 20 and the second input shaft 30 can be stably supported by the bearing 17.

[0096] In Figure 1 In the example shown, the second input shaft 30 includes the cylindrical portion 18. The first input shaft 20 is inserted into the cylindrical portion 18 that constitutes the second input shaft 30 at an end portion in the axial direction Dl. The outer surface of the first input shaft 20 is spline-coupled to the inner surface of the cylindrical portion 18.

[0097] As described above, the first reduction portion 25 includes the first output portion 26. The first reduction portion 25 reduces the rotation transmitted from the first input shaft 20 and outputs it from the first output portion 26. Likewise, the second reduction portion 35 includes the second output portion 36. The second reduction portion 35 reduces the rotation transmitted from the second input shaft 30 and outputs it from the second output portion 36.

[0098] The second output portion 36 is coaxially arranged with the first output portion 26. Coaxial means that the rotational axis of the second output portion 36 and the rotational axis of the first output portion 26 are arranged on one straight line. The rotational axis of the first output portion 26 and the rotational axis of the second output portion 36 are referred to as a main rotational axis MRA using reference numeral RA. The axial direction Dl is a direction parallel to the main rotational axis MRA. The radial direction D2 is a direction orthogonal to the main rotational axis MRA. The circumferential direction D3 is a direction along a circumference centered on the main rotational axis MRA. The inner side in the radial direction D2 means the side closer to the main rotational axis MRA in the radial direction D2. The outer side in the radial direction D2 means the side farther from the main rotational axis MRA in the radial direction D2.

[0099] In the example shown, the first input shaft 20 and the second input shaft 30 are coaxially arranged. The first input shaft 20 is coaxially arranged with the first reduction portion 25. The second input shaft 30 is coaxially arranged with the second reduction portion 35.

[0100] As Figure 1As shown, the first reduction unit 25 can include a first housing 40A and a first gear carrier 50A that is relatively rotatable with respect to the first housing 40A. The first output unit 26 is constituted by the first housing 40A or the first gear carrier 50A. Likewise, the second reduction unit 35 can include a second housing 40B and a second gear carrier 50B that is relatively rotatable with respect to the second housing 40B. The second output unit 36 is constituted by the second housing 40B or the second gear carrier 50B.

[0101] The first reduction unit 25 and the second reduction unit 35 are not particularly limited. The first reduction unit 25 and the second reduction unit 35 can adopt various structures, mechanisms that can reduce and transmit rotation.

[0102] Here, a specific example of the reduction unit 25, 35 will be described with reference to Figure 5 and Figure 6 The description of the "reduction unit 25, 35" using the reference sign "25, 35" applies to both the first reduction unit 25 and the second reduction unit 35. The description of the "housing 40" using the reference sign "40" applies to both the first housing 40A and the second housing 40B. The description of the "gear carrier 50" using the reference sign "50" applies to both the first gear carrier 50A and the second gear carrier 50B.

[0103] Figure 5 and Figure 6 The reduction unit 25, 35 shown in the drawing includes, in addition to the housing 40 and the gear carrier 50, a shaft member 70 and an external gear 60. The shaft member 70 is supported by the gear carrier 50 so as to be rotatable. The external gear 60 is penetrated by the shaft member 70. The external gear 60 is supported on the shaft member 70. The external gear 60 eccentrically swings with rotation of the shaft member 70. The housing 40 includes an internal tooth 45. The external gear 60 includes an external tooth 65. The external tooth 65 of the eccentrically swinging external gear 60 engages with the internal tooth 45 of the housing 40, and the gear carrier 50 that supports the external gear 60 is relatively rotated with the housing 40 by the shaft member 70. When the gear carrier 50 is fixed so as to be stationary, the housing 40 rotates as the output unit 26, 36. When the housing 40 is fixed so as to be stationary, the gear carrier 50 rotates as the output unit 26, 36.

[0104] Hereinafter, the illustrated specific structures will be described in detail for the housing 40, the gear carrier 50, the external gear 60, and the shaft member 70 in order.

[0105] The internal tooth 45 of the housing 40 is arranged on the circumferential direction D3. In the illustrated example, the reduction unit 25, 35 has two external gears 60A, 60B arranged on the axial direction D1. Each internal tooth 45 extends along the axial direction D1 and engages with the external tooth 65 of the two external gears 60A, 60B.

[0106] The illustrated housing 40 includes a substantially cylindrical housing main body 41 and an inner tooth pin 44 held to an inner surface of the housing main body 41. A plurality of pin grooves arranged on a circumferential direction D3 extending along the axial direction D1 are formed in the housing main body 41, and the pin grooves accommodate and hold the inner tooth pin 44 in a cylindrical shape. Each of the inner tooth pins 44 constitutes an inner tooth 45.

[0107] The gear carrier 50 is held in the housing 40 by a pair of main bearings 47. The gear carrier 50 is rotatable with respect to the housing 40 about a main rotational axis MRA. The illustrated gear carrier 50 has a gear carrier base 51 and a gear carrier plate 52 fixed to each other. The gear carrier base 51 and the gear carrier plate 52 are fixed to each other using a fixing member such as a bolt. The gear carrier base 51 includes a base plate portion 51a in a disc shape and a plurality of column portions 51b protruding from the base plate portion 51a along the axial direction D1. The base plate portion 51a and the plurality of column portions 51b can be integrally formed.

[0108] The plurality of column portions 51b can be provided at equal intervals in the circumferential direction D3 centered on the main rotational axis MRA. In the illustrated specific example, three column portions 51b are provided. The number of column portions 51b can be variously changed without being limited to the illustrated example. As an example, two or four column portions 51b can also be provided.

[0109] The illustrated gear carrier 50 is provided with a central hole 54 and through holes 55. The central hole 54 and the through holes 55 pass through the gear carrier base 51 and the gear carrier plate 52, respectively. The central hole 54 is located on the main rotational axis MRA. A plurality of through holes 55 are provided in the gear carrier 50. The plurality of through holes 55 are provided at equal intervals in the circumferential direction D3 centered on the main rotational axis MRA.

[0110] The shaft member 70 is rotatably held to the gear carrier 50. The illustrated shaft member 70 is inserted into the through hole 55 of the gear carrier 50. A pair of bearings 48 is provided between the gear carrier 50 and the shaft member 70. The bearing 48 can be a tapered roller bearing. The shaft member 70 is rotatable about a rotational axis RA with respect to the gear carrier 50 by the bearing 48. The rotational axis RA is parallel to the axial direction D1.

[0111] The illustrated reduction portions 25, 35 include a plurality of shaft members 70 inserted into the plurality of through holes 55, respectively. The plurality of shaft members 70 are provided at equal intervals in the circumferential direction D3 centered on the rotational axis MRA. In the illustrated specific example, three through holes 55 are provided. In the illustrated example, three shaft members 70 are provided. The number of shaft members 70 and the number of through holes 55 can be variously changed without being limited to the illustrated example. As an example, two shaft members 70 and two through holes 55 can also be provided, and four shaft members 70 and four through holes 55 can also be provided.

[0112] The illustrated shaft member 70 includes a shaft body portion 71 and a pair of eccentric bodies 75 located on the shaft body portion 71. The eccentric bodies 75 are cylindrical portions. The eccentric bodies 75 are expanded in diameter from the shaft body portion 71. The eccentric bodies 75 are eccentric from a rotation axis RA that is the center of rotation of the shaft member 70. The pair of eccentric bodies 75 includes a first eccentric body 75A and a second eccentric body 75B. The first eccentric body 75A and the second eccentric body 75B are eccentric from the rotation axis RA to opposite sides by the same eccentric amount. In other words, in a cross section orthogonal to the axial direction D1, the center of the first eccentric body 75A and the center of the second eccentric body 75B are located at positions that are point-symmetric about a point on the rotation axis RA.

[0113] The shaft body portion 71 has a first bearing support portion 72a that is an insertion portion to be inserted into the gear carrier base 51 and a second bearing support portion 52b that is an insertion portion to be inserted into the gear carrier plate 52. The bearing support portions 72a, 72b support the bearings 48, respectively. The pair of eccentric bodies 75A, 75B is located between the pair of bearing support portions 72a, 72b in the axial direction D1. The illustrated shaft member 70 further includes an input gear 79 fixed to the shaft body portion 71. As shown, the input gear 79 is engaged with the teeth 21, 31 of the input shafts 20, 30. In the illustrated example, the input gear 79, the first bearing support portion 72a, the first eccentric body 75A, the second eccentric body 75B, and the second bearing support portion 52b are arranged in this order in the axial direction D1. Figure 1

[0114] The illustrated reduction portions 25, 35 have a first outer gear 60A and a second outer gear 60B as the outer gears 60. The first outer gear 60A is located on the first eccentric body 75A of the plurality of shaft members 70. The second outer gear 60B is located on the second eccentric body 75B of the plurality of shaft members 70. The first outer gear 60A and the second outer gear 60B are located between the base plate portion 51a of the gear carrier base 51 and the gear carrier plate 52 in the axial direction D1.

[0115] The illustrated outer gear 60 includes a central plate portion 61 that is a circular plate and outer teeth 65 arranged at a peripheral portion of the central plate portion 61. A central hole 62a and a column portion through-hole 62b are provided at the central plate portion 61. The central hole 62a is located on the main rotation axis MRA. The central hole 62a is opposite the central hole 54 in the axial direction D1. In the illustrated example, a plurality of column portion through-holes 62b are provided at equal intervals in a circumferential direction D3 centered on the central hole 62a. The column portions 51b of the gear carrier 50 pass through the column portion through-holes 62b. The number of column portion through-holes 62b can be the same as the number of column portions 51b.

[0116] ​A shaft passing hole 63 is provided in the central plate portion 61. In the illustrated example, a plurality of shaft passing holes 63 are provided at equal intervals in the circumferential direction D3 centered on the central hole 62a. An eccentric body 75 is disposed in the shaft passing hole 63. A bearing 49 is provided between the eccentric body 75 and the outer gear 60. The bearing 49 can be a cylindrical roller bearing. A first outer gear 60A is supported on the first eccentric body 75A of the shaft member 70 via the bearing 49. A second outer gear 60B is supported on the second eccentric body 75B of the shaft member 70 via the bearing 49. The number of shaft passing holes 63 can be the same as the number of shaft members 70.

[0117] Each outer gear 60 is supported on the plurality of eccentric bodies 75. The phases of the eccentric bodies 75 included in the plurality of shaft members 70 are identical. Therefore, by rotating the plurality of shaft members 70, the outer gears 60 are eccentrically swung. In other words, by rotating the plurality of shaft members 70, the outer gears 60 are translationally moved in a circumferential path centered on the main rotational axis MRA. The first outer gear 60A and the second outer gear 60B actuate with a half phase offset.

[0118] Rotation is input to the reduction portion 25, 35 having the above structure from the reduction portion 25, 35. The teeth 21, 31 of the input shaft 20, 30 disposed on the main rotational axis MRA are engaged with the input gear 79 of the plurality of shaft members 70. When the output gear rotates, the shaft member 70 rotates together with the input gear 79, and the outer gear 60 is eccentrically swung. At this time, the outer teeth 65 of the outer gear 60 are engaged with the inner teeth 45 of the housing 40. Due to the difference in the number of teeth between the outer teeth 65 and the inner teeth 45, the gear frame 50 supporting the outer gear 60 by the shaft member 70 and the housing 40 relatively rotate centered on the main rotational axis MRA. In the case where the housing 40 is fixed, the output gear frame 50 rotates. In the case where the gear frame 50 is fixed, the output housing 40 rotates.

[0119] Figure 5 And Figure 6 The reduction portion 25, 35 illustrated is of an eccentric swing type. The reduction portion 25, 35 can also be of a planetary gear type, not limited to the illustrated example. The reduction portion 25, 35 of the planetary gear type includes a gear frame 50 that supports a planetary gear so as to be rotatable, and a housing 50 that has inner teeth that engage with the planetary gear. In the reduction portion 25, 35 of the planetary gear type, rotation is transmitted from the input shaft 20, 30 that constitutes a sun gear to the planetary gear.

[0120] As Figure 1As shown, the transmission device 10 may also include a connecting member 15. The connecting member 15 is located between the first deceleration section 25 and the second deceleration section 35 in the axial direction D1. "Located between the first deceleration section 25 and the second deceleration section 35 in the axial direction D1" does not only mean that the connecting member 15 as a whole is "located between the first deceleration section 25 and the second deceleration section 35 in the axial direction D1", but also means that at least a portion of the connecting member 15 is "located between the first deceleration section 25 and the second deceleration section 35 in the axial direction D1".

[0121] The first deceleration section 25 and the second deceleration section 35 are arranged coaxially. The first deceleration section 25 includes an output section 26, and the second deceleration section 35 includes an output section 36. Therefore, some gap may be generated between the first deceleration section 25 and the second deceleration section 35. With the help of this gap, the connecting member 15 can be arranged while suppressing the increase in size of the transmission device 10 in the axial direction D1.

[0122] The connecting member 15 can be connected to either the first output section 26 or the second output section 36. In this structure, the connecting member 15 operates together with either the first output section 26 or the second output section 36. Alternatively, the connecting member 15 connected to the first output section 26 may replace the first output section 26 in holding the first held member 26X. Alternatively, the connecting member 15 connected to the second output section 36 may replace the second output section 36 in holding the second held member 36X. The connecting member 15 may also function as an extension of the output sections 26 and 36. According to this structure, the held members 26X and 36X can be held in an appropriate position with an appropriate posture.

[0123] exist Figure 1 In the example shown, the connecting member 15 is connected to the first housing 40A, which serves as the first output section 26 of the first deceleration section 25. However, it is not limited to this. Figure 1 In the example shown, the connecting component 15 can also be connected to the second output part 36 of the second deceleration part 35.

[0124] The connecting member 15 can also be connected to at least one of the first reduction gear 25 and the second reduction gear 35 and retain the bearing 17. In the illustrated example, the connecting member 15 includes an inner flange 15a projecting inward toward the radial direction D2 (see reference). Figure 1 The inner flange 15a is located between the two reduction gears 25 and 35 in the axial direction D1. The bearing 17 is held in the inner flange 15a.

[0125] The bearing 17 can support at least one of the first input shaft 20 and the second input shaft 30. According to this configuration, at least one of the first input shaft 20 and the second input shaft 30 is supported by the bearing 17 of the link member 15 linked to at least one of the first reduction portion 25 and the second reduction portion 35 so as to be rotatable. The first input shaft 20 and the second input shaft 30 are stably supported by the bearing 17, and the relative positions of the first input shaft 20 and the second input shaft 30 to the first reduction portion 25 and the second reduction portion 35 can be stably maintained.

[0126] In Figure 1 the illustrated example, the link member 15 is linked to both the first reduction portion 25 and the second reduction portion 35. However, the configuration is not limited to Figure 1 the illustrated example. The link member 15 can be linked to only the first reduction portion 25. The link member 15 can be linked to only the second reduction portion 35.

[0127] In Figure 1 the illustrated example, the link member 15 supports the second input shaft 30. However, the configuration is not limited to Figure 1 the illustrated example. The link member 15 can support the first input shaft 20.

[0128] As described above, the first reduction portion 25 includes the first housing 40A and the first gear carrier 50A that are relatively rotatable about the main rotational axis MRA. The first output portion 26 is constituted by one of the first housing 40A and the first gear carrier 50A. The rotation of the other of the first housing 40A and the first gear carrier 50A that does not constitute the first output portion 26 is fixed. The other of the first housing 40A and the first gear carrier 50A that does not constitute the first output portion 26 can be fixed to the drive source main body 7 of the drive source 6, or can be fixed to the setting base portion to which the transmission 10 is fixed.

[0129] The second reduction portion 35 includes the second housing 40B and the second gear carrier 50B that are relatively rotatable about the main rotational axis MRA. The second output portion 36 is constituted by one of the second housing 40B and the second gear carrier 50B. The rotation of the other of the second housing 40B and the second gear carrier 50B that does not constitute the second output portion 36 is fixed. The other of the second housing 40B and the second gear carrier 50B that does not constitute the second output portion 36 can be fixed to the drive source main body 7 of the drive source 6, or can be fixed to the setting base portion to which the transmission 10 is fixed.

[0130] In this example, the transmission 10 can include the link member 15 linking the first housing 40A and the second housing 40B. The transmission 10 can also include the link member 15 linking the first gear carrier 50A and the second gear carrier 50B.

[0131] The connecting member 15 that links the pair of housings 40A, 40B or the pair of gear carriers 50A, 50B can be linked to the first output portion 26 of the first reduction portion 25. In this example, the second output portion 36 of the second reduction portion 35 is constituted by the one of the second housing 40B and the second gear carrier 50B that is not linked to the connecting member 15. That is, it can be that one of the second housing 40B and the second gear carrier 50B is linked to the first reduction portion 25 with the connecting member 15, and the other of the second housing 40B and the second gear carrier 50B constitutes the second output portion 36.

[0132] The connecting member 15 that links the pair of housings 40A, 40B or the pair of gear carriers 50A, 50B can also be linked to the second output portion 36 of the second reduction portion 35. In this example, the first output portion 26 of the first reduction portion 25 is constituted by the one of the first housing 40A and the first gear carrier 50A that is not linked to the connecting member 15. That is, it can also be that one of the first housing 40A and the first gear carrier 50A is linked to the second reduction portion 35 with the connecting member 15, and the other of the first housing 40A and the first gear carrier 50A constitutes the first output portion 26.

[0133] The connecting member 15 that links the pair of housings 40A, 40B or the pair of gear carriers 50A, 50B can also be linked to the second output portion 36 of the second reduction portion 35. In this example, the first output portion 26 of the first reduction portion 25 is constituted by the one of the first housing 40A and the first gear carrier 50A that is not linked to the connecting member 15. That is, it can also be that one of the first housing 40A and the first gear carrier 50A is linked to the second reduction portion 35 with the connecting member 15, and the other of the first housing 40A and the first gear carrier 50A constitutes the first output portion 26.

[0134] The transmission device 10 can also include a connecting member 15 that links the first housing 40A and the second gear carrier 50B. The transmission device 10 can also include a connecting member 15 that links the first gear carrier 50A and the second housing 40B.

[0135] The connecting member 15, which connects the first housing 40A and the second gear carrier 50B, or the first gear carrier 50A and the second housing 40B, can be connected to the first output portion 26 of the first reduction gear 25. In this example, the second output portion 36 of the second reduction gear 35 is constituted by the one of the second housing 40B and the second gear carrier 50B that is not connected to the connecting member 15. That is, one of the second housing 40B and the second gear carrier 50B can be connected to the first reduction gear 25 by the connecting member 15, and the other of the second housing 40B and the second gear carrier 50B constitutes the second output portion 36.

[0136] The connecting member 15, which connects the first housing 40A and the second gear carrier 50B, or the first gear carrier 50A and the second housing 40B, can also be connected to the second output portion 36 of the second reduction section 35. In this example, the first output portion 26 of the first reduction section 25 is constituted by the one of the first housing 40A and the first gear carrier 50A that is not connected to the connecting member 15. That is, it is also possible that one of the first housing 40A and the first gear carrier 50A is connected to the second reduction section 35 by the connecting member 15, and the other of the first housing 40A and the first gear carrier 50A constitutes the first output portion 26.

[0137] The connecting member 15, which connects the first housing 40A and the second gear carrier 50B, or the first gear carrier 50A and the second housing 40B, may not be connected to the first output section 26 or the second output section 36. In this example, the first output section 26 of the first reduction section 25 is formed by the one of the first housing 40A and the first gear carrier 50A that is not connected to the connecting member 15. In this example, the second output section 36 of the second reduction section 35 is formed by the one of the second housing 40B and the second gear carrier 50B that is not connected to the connecting member 15. That is, one of the first housing 40A and the first gear carrier 50A can be connected to the second reduction section 35 by means of the connecting structure 15, the other of the first housing 40A and the first gear carrier 50A constitutes the first output section 26, one of the second housing 40B and the second gear carrier 50B can be connected to the first reduction section 25 by means of the connecting structure 15, and the other of the second housing 40B and the second gear carrier 50B constitutes the second output section 36.

[0138] The connecting component 15 can also be omitted. The connecting component 15, which is not connected to either the first output section 26 or the second output section 36, can also be omitted.

[0139] exist Figure 1 In the example shown, connecting member 15 connects the first housing 40A and the second housing 40B. Figure 1In the illustrated example, the first housing 40A constitutes the first output portion 26. The first gear carrier 50A is rotationally restricted as a fixed portion. The first gear carrier 50A is linked to the drive source body 7. The second housing 40B is linked to the second housing 40B via the link member 15. The second gear carrier 50B constitutes the second output portion 36.

[0140] The link member 15 can also not link the first reduction portion 25 and the second reduction portion 35. The link member 15 can also link only either of the first reduction portion 25 and the second reduction portion 35. As an example, as mentioned later Figure 3 As illustrated, the link member 15 can also link only either of the first reduction portion 25 and the second reduction portion 35. In this example, in a case where the link member 15 is linked to the output portions 26, 36, the link member 15 can hold either the first held member 26X or the second held member 36X.

[0141] The reduction ratio of the first reduction portion 25 can be appropriately set. By adjusting the reduction ratio of the first reduction portion 25, the rotational speed of the first output portion 26 can be appropriately set. The reduction ratio of the second reduction portion 35 can be appropriately set. By adjusting the reduction ratio of the second reduction portion 35, the rotational speed of the second output portion 36 can be appropriately set. By adjusting the reduction ratio of the first reduction portion 25 and the reduction ratio of the second reduction portion 35, the ratio of the rotational speed of the first output portion 26 to the rotational speed of the second output portion 36 can be appropriately set. For example, the rotational speed of the first output portion 26 can be set to be higher than the rotational speed of the second output portion 36. The rotational speed of the first output portion 26 can be set to be lower than the rotational speed of the second output portion 36. Figure 1 In the illustrated example, by adjusting the reduction ratio of the first reduction portion 25 and the reduction ratio of the second reduction portion 35, the direction of rotation can be made the same between the first output portion 26 and the second output portion 36, or it can be made opposite.

[0142] The reduction ratio of the first reduction portion 25 and the reduction ratio of the second reduction portion 35 can be the same. The reduction ratio of the first reduction portion 25 and the reduction ratio of the second reduction portion 35 can be different.

[0143] Next, the operation of the drive device 5 and the transmission device 10 of the present embodiment will be described.

[0144] The drive shaft 8 of the drive source 6 rotates about the main rotational axis MRA. The drive shaft 8 is coaxially linked to the first input shaft 20. The first input shaft 20 is coaxially linked to the second input shaft 30. The first input shaft 20 and the second input shaft 30 rotate in synchronization with the drive shaft 8.

[0145] In the illustrated example, the first input shaft 20 is directly connected to the drive source 6. The second input shaft 30 is coaxially configured with the first input shaft 20. Therefore, the axial dimension D1 of the combination of the two input shafts 20 and 30 can be miniaturized, and consequently, the two reduction gears 25 and 35 can be arranged close together along the axial dimension D1. As a result, the transmission device 10 can be miniaturized along the axial dimension D1. Furthermore, since the two reduction gears 25 and 35 are arranged close together along the axial dimension D1, the rigidity of the transmission device 10 is increased, and the load borne by the reduction gears 25 and 35 and the input shafts 20 and 30 can be reduced. From this perspective, the reduction gears 25 and 35 and the input shafts 20 and 30 can also be miniaturized and made lighter.

[0146] The first input tooth 21 of the first input shaft 20 meshes with the input gear 79 of the first reduction section 25. The rotation of the first input shaft 20 is transmitted to the shaft member 70. Through the rotation of the shaft member 70, the external gear 60 oscillates eccentrically, and the external teeth 65 of the external gear 60 mesh with the internal teeth 45 of the housing 40. Due to the difference in the number of teeth between the external teeth 65 and the internal teeth 45, the first gear carrier 50A of the external gear 60 maintains relative rotation with the first housing 40A. The relative rotational speed between the first gear carrier 50A and the first housing 40A is the value obtained by dividing the rotational speed of the first input shaft 20 by the reduction ratio of the first reduction section 25.

[0147] The second input tooth 31 of the second input shaft 30 meshes with the input gear 79 of the second reduction section 35. Similar to the first reduction section 25, the rotation of the second input shaft 30 causes the second gear carrier 50B to rotate relative to the second housing 40B. The relative rotational speed between the second gear carrier 50B and the second housing 40B is the value obtained by dividing the rotational speed of the second input shaft 30 by the reduction ratio of the second reduction section 35.

[0148] exist Figure 1 In the example shown, the first gear carrier 50A of the first reduction section 25 is fixed and stationary to the drive shaft 8 of the drive source 6. The first output section 26 of the first reduction section 25 is the first housing 40A. In the first reduction section 25, the rotational reduction from the first input shaft 20 is output as rotation of the first housing 40A. The rotation of the first housing 40A is in the opposite direction to the rotation of the drive shaft 8.

[0149] exist Figure 1 In the example shown, the second output section 36 of the second reduction section 35 is the second gear carrier 50B. The direction of relative rotation of the second gear carrier 50B with respect to the second housing 40B is the same as the direction of rotation of the first input shaft 20 and the second input shaft 30.

[0150] exist Figure 1In the illustrated example, the link member 15 links the first housing 40A and the second housing 40B. Therefore, the second housing 40B rotates in the direction opposite to the rotation of the first input shaft 20 and the second input shaft 30 in synchronization with the first housing 40A. Therefore, in a case where the rotational speed (rpm) of the relative rotation of the second gear carrier 50B with respect to the second housing 40B in the second reduction portion 35 is greater than the rotational speed (rpm) of the relative rotation of the first housing 40A with respect to the first gear carrier 50A in the first reduction portion 25, the second output portion 36 (the second gear carrier 50B) rotates in the direction opposite to the first output portion 26 (the first housing 40A). In a case where the rotational speed (rpm) of the relative rotation of the second gear carrier 50B with respect to the second housing 40B in the second reduction portion 35 is less than the rotational speed (rpm) of the relative rotation of the first housing 40A with respect to the first gear carrier 50A in the first reduction portion 25, the second output portion 36 (the second gear carrier 50B) rotates in the same direction as the first output portion 26 (the first housing 40A) at a smaller rotational speed. In a case where the rotational speed (rpm) of the relative rotation of the second gear carrier 50B with respect to the second housing 40B in the second reduction portion 35 is the same as the rotational speed (rpm) of the relative rotation of the first housing 40A with respect to the first gear carrier 50A in the first reduction portion 25, the second output portion 36 (the second gear carrier 50B) appears to stop.

[0151] Here, Table 1 indicates Figure 1 The relationship between the input rotational speed (rpm) input from the drive source 6 in the illustrated drive device 5 and transmission device 10, the reduction ratio of the first reduction portion 25, the reduction ratio of the second reduction portion 35, the rotational speed of the first output portion 26, and the rotational speed of the second output portion 36. For the rotational speed (rpm) in Table 1, the rotation in the same direction as the rotation of the drive shaft 8, the first input shaft 20, and the second input shaft 30 is set to a positive value, and the rotation in the opposite direction to the rotation of the drive shaft 8, the first input shaft 20, and the second input shaft 30 is set to a negative value. For the positive and negative of the rotational speed, the same is set below.

[0152] [Table 1]

[0153] Relationship between reduction ratio and rotational speed

[0154]

[0155] In Figure 1In the illustrated drive device 5 and transmission device 10, the first housing 40A is coupled to the second housing 40B with the coupling member 15. The first output portion 26 is constituted by the first housing 40A, and the second output portion 36 is constituted by the second gear carrier 50B. According to this example, by adjusting the reduction ratios of the first reduction portion 25 and the second reduction portion 35, the direction of the output rotation of the first output portion 26 and the second output portion 36 can be selected between the same direction and the opposite direction. The rotational speed (rpm) of the first output portion 26 can be adjusted with the reduction ratio of the first reduction portion 25. The rotational speed (rpm) of the second output portion 36 can be adjusted with the reduction ratio of the first reduction portion 25 and the reduction ratio of the second reduction portion 35. That is, according to the drive device 5 and the transmission device 10, the direction of the output rotation and the rotational speed of the output rotation from the first output portion 26 and the second output portion 36 can be set with a high degree of freedom while using a single drive source 6.

[0156] As shown in Table 1, by making the reduction ratio of the first reduction portion 25 and the reduction ratio of the second reduction portion 35 the same, the rotational speed of the second output portion 36 can be made 0 rpm. That is, the second output portion 36 is stopped. By making the reduction ratio of the first reduction portion 25 twice the reduction ratio of the second reduction portion 35, the first output portion 26 and the second output portion 36 can be made to rotate in the opposite direction at the same rotational speed. By making the reduction ratio of the first reduction portion 25 n times the reduction ratio of the second reduction portion 35, the rotational speed of the second output portion 36 can be made -(n-1) times the rotational speed of the first output portion 26.

[0157] It can also be that, unlike the example described above, in the drive device 5 and the transmission device 10, Figure 1In the drive device 5 and the transmission device 10 shown, the first output portion 26 is constituted by the first gear housing 50A, and the second output portion 36 is constituted by the second housing 40B. The second housing 40B constituting the second output portion 36 is linked to the first housing 40A with the link member 15. The second gear housing 50B of the second reduction portion 35 is fixed to a setting base portion or the like where the drive device 5 is set, and is stationary. According to this example, by adjusting the reduction ratios of the first reduction portion 25 and the second reduction portion 35, the direction of the output rotation of the first output portion 26 and the second output portion 36 can be selected between the same direction and the opposite direction. With the reduction ratios of the first reduction portion 25 and the second reduction portion 35, the rotational speed (rpm) of the first output portion 26 can be adjusted. With the reduction ratio of the second reduction portion 35, the rotational speed (rpm) of the second output portion 36 can be adjusted. According to the drive device 5 and the transmission device 10 of this example, while using a single drive source 6, the direction of the output rotation and the rotational speed of the output rotation from the first output portion 26 and the second output portion 36 can be set with a high degree of freedom. Table 2 shows an example of the relationship between the input rotational speed (rpm) input from the drive source 6, the reduction ratio of the first reduction portion 25, the reduction ratio of the second reduction portion 35, the rotational speed of the first output portion 26, and the rotational speed of the second output portion 36 in this example.

[0158] [Table 2]

[0159] Relationship between reduction ratio and rotational speed

[0160]

[0161] As shown in Table 2, by making the reduction ratio of the first reduction portion 25 the same as the reduction ratio of the second reduction portion 35, the rotational speed of the first output portion 26 can be made 0 rpm. That is, the first output portion 26 stops. By making the reduction ratio of the first reduction portion 25 half the reduction ratio of the second reduction portion 35, the first output portion 26 and the second output portion 36 can be made to rotate in the opposite direction at the same rotational speed. By making the reduction ratio of the second reduction portion 35 n times the reduction ratio of the first reduction portion 25, the rotational speed of the first output portion 26 can be made -(n-1) times the rotational speed of the second output portion 36.

[0162] It can also be that, unlike the example described above, in the drive device 5 and the transmission device 10 shown in FIG. 1, the first output portion 26 is constituted by the second housing 40B, and the second output portion 36 is constituted by the first gear housing 50A. In this case, the second housing 40B constituting the first output portion 26 is linked to the first housing 40A with the link member 15. The first gear housing 50A of the first reduction portion 25 is fixed to a setting base portion or the like where the drive device 5 is set, and is stationary. According to this example, by adjusting the reduction ratios of the first reduction portion 25 and the second reduction portion 35, the direction of the output rotation of the first output portion 26 and the second output portion 36 can be selected between the same direction and the opposite direction. With the reduction ratios of the first reduction portion 25 and the second reduction portion 35, the rotational speed (rpm) of the first output portion 26 can be adjusted. With the reduction ratio of the second reduction portion 35, the rotational speed (rpm) of the second output portion 36 can be adjusted. According to the drive device 5 and the transmission device 10 of this example, while using a single drive source 6, the direction of the output rotation and the rotational speed of the output rotation from the first output portion 26 and the second output portion 36 can be set with a high degree of freedom. Figure 1In the illustrated drive device 5 and transmission device 10, the first output portion 26 is configured by the first gear carrier 50A, and the second output portion 36 is configured by the second gear carrier 50B. The first housing 40A and the second housing 40B are linked by the link member 15. One or more of the first housing 40A, the second housing 40B, and the link member 15 are fixed to a setting base portion or the like where the drive device 5 is set. According to this example, the directions of the output rotations of the first output portion 26 and the second output portion 36 can be made the same regardless of the reduction ratios of the first reduction portion 25 and the second reduction portion 35. The rotational speed (rpm) of the first output portion 26 can be adjusted using the reduction ratio of the first reduction portion 25. The rotational speed (rpm) of the second output portion 36 can be adjusted using the reduction ratio of the second reduction portion 35. According to the drive device 5 and the transmission device 10 of this example, the output rotations from the first output portion 26 and the second output portion 36 can also be set with a high degree of freedom while using a single drive source 6. Table 3 shows an example of the relationship between the input rotational speed (rpm) input from the drive source 6, the reduction ratio of the first reduction portion 25, the reduction ratio of the second reduction portion 35, the rotational speed of the first output portion 26, and the rotational speed of the second output portion 36 in this example.

[0163] [Table 3]

[0164] Table 3 Relationship between reduction ratio and rotational speed

[0165]

[0166] As shown in Table 3, by making the reduction ratio of the first reduction portion 25 the same as the reduction ratio of the second reduction portion 35, the first output portion 26 and the second output portion 36 can be made to rotate in the same direction at the same rotational speed. By making the reduction ratio of the first reduction portion 25 n times the reduction ratio of the second reduction portion 35, the rotational speed of the second output portion 36 can be made n times the rotational speed of the first output portion 26.

[0167] In addition, it can also be that, unlike the example illustrated, Figure 1 as illustrated in Figure 2 the link member 15 links the first gear carrier 50A and the second gear carrier 50B.

[0168] In Figure 2In the illustrated drive device 5 and transmission device 10, the first output portion 26 can be configured by the first gear housing 50A, and the second output portion 36 can be configured by the second housing 40B. The first gear housing 50A configuring the first output portion 26 is linked to the second gear housing 50B with the link member 15. The first housing 40A of the first reduction portion 25 is fixed to a setting base portion or the like where the drive device 5 is set, and is stationary. According to this example, by adjusting the reduction ratios of the first reduction portion 25 and the second reduction portion 35, the direction of the output rotation of the first output portion 26 and the second output portion 36 can be selected between the same direction and the opposite direction. The rotational speed (rpm) of the first output portion 26 can be adjusted with the reduction ratio of the first reduction portion 25. The rotational speed (rpm) of the second output portion 36 can be adjusted with the reduction ratio of the first reduction portion 25 and the reduction ratio of the second reduction portion 35. That is, according to the drive device 5 and the transmission device 10, the direction of the output rotation and the rotational speed of the output rotation from the first output portion 26 and the second output portion 36 can be set with a high degree of freedom while using a single drive source 6. Table 4 shows an example of the relationship between the input rotational speed (rpm) input from the drive source 6, the reduction ratio of the first reduction portion 25, the reduction ratio of the second reduction portion 35, the rotational speed of the first output portion 26, and the rotational speed of the second output portion 36 in this example.

[0169] [Table 4]

[0170] Table 4 Relationship between reduction ratio and rotational speed

[0171]

[0172] As shown in Table 4, by making the reduction ratio of the first reduction portion 25 the same as the reduction ratio of the second reduction portion 35, the rotational speed of the second output portion 36 can be made 0 rpm. That is, the second output portion 36 is stopped. By making the reduction ratio of the first reduction portion 25 twice the reduction ratio of the second reduction portion 35, the first output portion 26 and the second output portion 36 can be made to rotate in the opposite direction at the same rotational speed. By making the reduction ratio of the first reduction portion 25 n times the reduction ratio of the second reduction portion 35, the rotational speed of the second output portion 36 can be made -(n-1) times the rotational speed of the first output portion 26.

[0173] In Figure 2In the drive device 5 and the transmission device 10 shown, the first output portion 26 can be configured by the first housing 40A, and the second output portion 36 can be configured by the second gear carrier 50B. The second gear carrier 50B configuring the second output portion 36 is linked to the first gear carrier 50A with the link member 15. The second housing 40B of the second reduction portion 35 is fixed to a setting base portion or the like where the drive device 5 is set, and is stationary. According to this example, by adjusting the reduction ratios of the first reduction portion 25 and the second reduction portion 35, the direction of the output rotation of the first output portion 26 and the second output portion 36 can be selected between the same direction and the opposite direction. The rotational speed (rpm) of the first output portion 26 can be adjusted with the reduction ratio of the first reduction portion 25 and the reduction ratio of the second reduction portion 35. The rotational speed (rpm) of the second output portion 36 can be adjusted with the reduction ratio of the second reduction portion 35. According to the drive device 5 and the transmission device 10 of this example, while using a single drive source 6, the direction of the output rotation and the rotational speed of the output rotation from the first output portion 26 and the second output portion 36 can be set with a high degree of freedom. Table 5 shows an example of the relationship between the input rotational speed (rpm) input from the drive source 6, the reduction ratio of the first reduction portion 25, the reduction ratio of the second reduction portion 35, the rotational speed of the first output portion 26, and the rotational speed of the second output portion 36 in this example.

[0174] [Table 5]

[0175] Relationship between reduction ratio and rotational speed

[0176]

[0177] As shown in Table 5, by making the reduction ratio of the first reduction portion 25 the same as the reduction ratio of the second reduction portion 35, the rotational speed of the first output portion 26 can be made 0 rpm. That is, the first output portion 26 stops. By making the reduction ratio of the first reduction portion 25 half the reduction ratio of the second reduction portion 35, the first output portion 26 and the second output portion 36 can be made to rotate in the opposite direction at the same rotational speed. By making the reduction ratio of the second reduction portion 35 n times the reduction ratio of the first reduction portion 25, the rotational speed of the first output portion 26 can be made -(n-1) times the rotational speed of the second output portion 36.

[0178] In Figure 2In the drive device 5 and transmission device 10 shown, the first output unit 26 may be composed of a first housing 40A, and the second output unit 36 ​​may be composed of a second housing 40B. The first gear carrier 50A and the second gear carrier 50B are connected by a connecting member 15. One or more of the first gear carrier 50A, the second gear carrier 50B, and the connecting member 15 are fixed to a mounting base on which the drive device 5 is installed and remain stationary. According to this example, regardless of the reduction ratio of the first reduction unit 25 and the second reduction unit 35, the output rotation directions of the first output unit 26 and the second output unit 36 ​​can be made to be the same. The rotational speed (rpm) of the first output unit 26 can be adjusted by using the reduction ratio of the first reduction unit 25. The rotational speed (rpm) of the second output unit 36 ​​can be adjusted by using the reduction ratio of the second reduction unit 35. Based on the drive unit 5 and transmission unit 10 in this example, it is also possible to set the output rotation from the first output unit 26 and the second output unit 36 ​​with a high degree of freedom while using a single drive source 6. Table 6 shows an example of the relationship between the input speed (rpm) input from the drive source 6, the reduction ratio of the first reduction unit 25, the reduction ratio of the second reduction unit 35, the speed of the first output unit 26, and the speed of the second output unit 36 ​​in this example.

[0179] [Table 6]

[0180] Table 6 Relationship between reduction ratio and speed

[0181]

[0182] As shown in Table 6, by making the reduction ratio of the first reduction section 25 the same as that of the second reduction section 35, the first output section 26 and the second output section 36 can rotate in the same direction at the same speed. By making the reduction ratio of the first reduction section 25 n times the reduction ratio of the second reduction section 35, the speed of the second output section 36 can be n times the speed of the first output section 26.

[0183] Moreover, it could also be, with Figure 1 and Figure 2 The examples shown are different, such as Figure 3 As shown, connecting component 15 connects the first gear carrier 50A and the second housing 40B.

[0184] exist Figure 3In the drive device 5 and the transmission device 10 shown, the first output portion 26 can be configured by the first housing 40A, and the second output portion 36 can be configured by the second gear carrier 50B. The first gear carrier 50A and the second housing 40B are linked by the link member 15. One or more of the first gear carrier 50A, the second housing 40B, and the link member 15 are fixed to a setting base portion or the like where the drive device 5 is set. According to this example, the directions of the output rotations of the first output portion 26 and the second output portion 36 can be made opposite to each other regardless of the reduction ratios of the first reduction portion 25 and the second reduction portion 35. The rotational speed (rpm) of the first output portion 26 can be adjusted using the reduction ratio of the first reduction portion 25. The rotational speed (rpm) of the second output portion 36 can be adjusted using the reduction ratio of the second reduction portion 35. According to the drive device 5 and the transmission device 10 of this example, the output rotations from the first output portion 26 and the second output portion 36 can also be set with a high degree of freedom while using a single drive source 6. Table 7 shows an example of the relationship between the input rotational speed (rpm) input from the drive source 6, the reduction ratio of the first reduction portion 25, the reduction ratio of the second reduction portion 35, the rotational speed of the first output portion 26, and the rotational speed of the second output portion 36 in this example.

[0185] [Table 7]

[0186] Relationship between reduction ratio and rotational speed

[0187]

[0188] As shown in Table 7, by making the reduction ratio of the first reduction portion 25 the same as the reduction ratio of the second reduction portion 35, the first output portion 26 and the second output portion 36 can be made to rotate in opposite directions at the same rotational speed. By making the reduction ratio of the first reduction portion 25 n times the reduction ratio of the second reduction portion 35, the rotational speed of the second output portion 36 can be made -n times the rotational speed of the first output portion 26.

[0189] In addition, in the example shown, the link member 15 is linked to the first housing 40A that configures the first output portion 26. The link member 15 is linked to the second gear carrier 50B that configures the second output portion 36. Figure 3

[0190] In the example shown, the link member 15 is linked to the first housing 40A that configures the first output portion 26. The link member 15 is linked to the second gear carrier 50B that configures the second output portion 36. Figure 3 ​In the drive device 5 and the transmission device 10 shown, the first output portion 26 can be configured by a first gear carrier 50A, and the second output portion 36 can be configured by a second gear carrier 50B. The first gear carrier 50A configuring the first output portion 26 is linked to the second housing 40B with the link member 15. The first housing 40A of the first reduction portion 25 is fixed to a setting base portion or the like where the drive device 5 is set, and is stationary. According to this example, the direction of the output rotation of the first output portion 26 and the second output portion 36 can be made the same regardless of the reduction ratios of the first reduction portion 25 and the second reduction portion 35. The rotational speed (rpm) of the first output portion 26 can be adjusted with the reduction ratio of the first reduction portion 25. The rotational speed (rpm) of the second output portion 36 can be adjusted with the reduction ratio of the first reduction portion 25 and the reduction ratio of the second reduction portion 35. According to the drive device 5 and the transmission device 10 of this example, the output rotation from the first output portion 26 and the second output portion 36 can be set with a high degree of freedom while using a single drive source 6. Table 8 shows an example of the relationship between the input rotational speed (rpm) input from the drive source 6, the reduction ratio of the first reduction portion 25, the reduction ratio of the second reduction portion 35, the rotational speed of the first output portion 26, and the rotational speed of the second output portion 36 in this example.

[0191] [Table 8]

[0192] Relationship between reduction ratio and rotational speed

[0193]

[0194] As shown in Table 8, by making the reduction ratio of the first reduction portion 25 n times the reduction ratio of the second reduction portion 35, the rotational speed of the second output portion 36 can be made (n + 1) times the rotational speed of the first output portion 26.

[0195] In Figure 3In the drive device 5 and the transmission device 10 shown in the drawing, the first output portion 26 can be configured by the first housing 40A, and the second output portion 36 can be configured by the second housing 40B. The second housing 40B configuring the second output portion 36 is linked to the first gear carrier 50A by the link member 15. The second gear carrier 50B of the second reduction portion 35 is fixed to a setting base portion or the like where the drive device 5 is set, and is stationary. According to this example, the direction of the output rotation of the first output portion 26 and the second output portion 36 can be made the same regardless of the reduction ratio of the first reduction portion 25 and the reduction ratio of the second reduction portion 35. The rotational speed (rpm) of the first output portion 26 can be adjusted by the reduction ratio of the first reduction portion 25 and the reduction ratio of the second reduction portion 35. The rotational speed (rpm) of the second output portion 36 can be adjusted by the reduction ratio of the second reduction portion 35. According to the drive device 5 and the transmission device 10 of this example, the output rotation from the first output portion 26 and the second output portion 36 can be set with a high degree of freedom while using a single drive source 6. Table 9 shows an example of the relationship between the input rotational speed (rpm) input from the drive source 6, the reduction ratio of the first reduction portion 25, the reduction ratio of the second reduction portion 35, the rotational speed of the first output portion 26, and the rotational speed of the second output portion 36 in this example.

[0196] [Table 9]

[0197] Relationship between reduction ratio and rotational speed

[0198]

[0199] As shown in Table 9, by making the reduction ratio of the second reduction portion 35 n times the reduction ratio of the first reduction portion 25, the rotational speed of the first output portion 26 can be made (n+1) times the rotational speed of the second output portion 36.

[0200] Also, unlike the example shown in the drawing, as shown in Figures 1-3 the link member 15 links the first housing 40A and the second gear carrier 50B. Figure 4

[0201] In Figure 4 ​In the drive device 5 and the transmission device 10 shown, the first output portion 26 can be configured by the first gear housing 50A, and the second output portion 36 can be configured by the second housing 40B. The first housing 40A and the second gear housing 50B are linked by the link member 15. One or more of the first housing 40A, the second gear housing 50B, and the link member 15 are fixed to a setting base portion or the like where the drive device 5 is set, and are stationary. According to this example, the directions of the output rotations of the first output portion 26 and the second output portion 36 can be made opposite, regardless of the reduction ratios of the first reduction portion 25 and the second reduction portion 35. The rotational speed (rpm) of the first output portion 26 can be adjusted using the reduction ratio of the first reduction portion 25. The rotational speed (rpm) of the second output portion 36 can be adjusted using the reduction ratio of the second reduction portion 35. According to the drive device 5 and the transmission device 10 of this example, the output rotations from the first output portion 26 and the second output portion 36 can also be set with a high degree of freedom while using a single drive source 6. Table 10 shows an example of the relationship between the input rotational speed (rpm) input from the drive source 6, the reduction ratio of the first reduction portion 25, the reduction ratio of the second reduction portion 35, the rotational speed of the first output portion 26, and the rotational speed of the second output portion 36 in this example.

[0202] [Table 10]

[0203] Table 10 Reduction Ratio and Rotational Speed Relationship

[0204]

[0205] As shown in Table 10, by making the reduction ratio of the first reduction portion 25 the same as the reduction ratio of the second reduction portion 35, the first output portion 26 and the second output portion 36 can be made to rotate in opposite directions at the same rotational speed. By making the reduction ratio of the first reduction portion 25 n times the reduction ratio of the second reduction portion 35, the rotational speed of the second output portion 36 can be made -n times the rotational speed of the first output portion 26.

[0206] Further, in Figure 4 In the example shown, the second housing 40B that configures the second output portion 36 is linked with the link member 15.

[0207] In Figure 4In the drive device 5 and the transmission device 10 shown, the first output portion 26 can be configured by the first housing 40A, and the second output portion 36 can be configured by the second housing 40B. The first housing 40A configuring the first output portion 26 is linked to the second gear carrier 50B with the link member 15. The first gear carrier 50A of the first reduction portion 25 is fixed to a setting base portion or the like where the drive device 5 is set, and is stationary. According to this example, the direction of the output rotation of the first output portion 26 and the second output portion 36 can be made the same regardless of the reduction ratio of the first reduction portion 25 and the reduction ratio of the second reduction portion 35. The rotational speed (rpm) of the first output portion 26 can be adjusted with the reduction ratio of the first reduction portion 25. The rotational speed (rpm) of the second output portion 36 can be adjusted with the reduction ratio of the first reduction portion 25 and the reduction ratio of the second reduction portion 35. According to the drive device 5 and the transmission device 10 of this example, the output rotation from the first output portion 26 and the second output portion 36 can be set with a high degree of freedom while using a single drive source 6. Table 11 shows an example of the relationship between the input rotational speed (rpm) input from the drive source 6, the reduction ratio of the first reduction portion 25, the reduction ratio of the second reduction portion 35, the rotational speed of the first output portion 26, and the rotational speed of the second output portion 36 in this example.

[0208] [Table 11]

[0209] Table 11 Relationship between reduction ratio and rotational speed

[0210]

[0211] As shown in Table 11, by making the reduction ratio of the first reduction portion 25 n times the reduction ratio of the second reduction portion 35, the rotational speed of the second output portion 36 can be made (n + 1) times the rotational speed of the first output portion 26.

[0212] In Figure 4In the drive device 5 and the transmission device 10 shown, the first output portion 26 can be configured by a first gear carrier 50A, and the second output portion 36 can be configured by a second gear carrier 50B. The second gear carrier 50B configuring the second output portion 36 is linked to the first housing 40A by the link member 15. The second housing 40B of the second reduction portion 35 is fixed to a setting base portion or the like where the drive device 5 is set, and is stationary. According to this example, the direction of the output rotation of the first output portion 26 and the second output portion 36 can be made the same regardless of the reduction ratios of the first reduction portion 25 and the second reduction portion 35. The rotational speed (rpm) of the first output portion 26 can be adjusted by the reduction ratios of the first reduction portion 25 and the second reduction portion 35. The rotational speed (rpm) of the second output portion 36 can be adjusted by the reduction ratio of the second reduction portion 35. According to the drive device 5 and the transmission device 10 of this example, the output rotation from the first output portion 26 and the second output portion 36 can be set with a high degree of freedom while using a single drive source 6. Table 12 shows an example of the relationship between the input rotational speed (rpm) input from the drive source 6, the reduction ratio of the first reduction portion 25, the reduction ratio of the second reduction portion 35, the rotational speed of the first output portion 26, and the rotational speed of the second output portion 36 in this example.

[0213] [Table 12]

[0214] Table 12 Relationship between reduction ratio and rotational speed

[0215]

[0216] As shown in Table 12, by making the reduction ratio of the second reduction portion 35 n times the reduction ratio of the first reduction portion 25, the rotational speed of the first output portion 26 can be made (n + 1) times the rotational speed of the second output portion 36.

[0217] As described above, according to the transmission device 10 in which the two reduction portions 25, 35 are arranged opposite and coaxially, by appropriately setting the reduction ratios of the two reduction portions 25, 35, the rotation input from the single drive source 6 can be reduced in speed, and the direction and rotational speed of the rotation output from the first output portion 26 and the direction and rotational speed of the rotation output from the second output portion 36 can be appropriately adjusted.

[0218] In the above-described embodiment, the transmission device 10 includes:

[0219] • one input shaft (first input shaft) 20 linked to the drive source 6;

[0220] • another input shaft (second input shaft) 30 directly linked to the one input shaft 20;

[0221] • a reduction portion (first reduction portion) 25 that includes an output portion (first output portion) 26 that reduces rotation of an input shaft 20 and outputs it; and

[0222] • another reduction portion 35 that includes another output portion (second output portion) 36 that reduces rotation of another input shaft 30 and outputs it, the other output portion 36 being disposed coaxially with the output portion 26.

[0223] According to the present embodiment, the other input shaft (second input shaft) 30 is disposed coaxially with the input portion (first input shaft) 20 and is directly linked to the input portion (first input shaft) 20. Therefore, the size in the axial direction D1 of the combination of the two input shafts 20, 30 can be downsized, and in conjunction therewith, the two reduction portions 25, 35 can be disposed close to each other in the axial direction D1. As a result, the transmission device 10 can be downsized in the axial direction D1. Moreover, since the two reduction portions 25, 35 are disposed close to each other in the axial direction D1, the rigidity of the transmission device 10 is improved, and the load borne by the reduction portions 25, 35 and the input shafts 20, 30 can be reduced. From this point of view, the reduction portions 25, 35 and the input shafts 20, 30 can also be downsized and lightened.

[0224] In the above-described embodiment, the transmission device 10 can include a link member 15 that is disposed between the one reduction portion 25 and the other reduction portion 35 in the axial direction D1 and is linked to the output portion 26 or the other output portion 36. According to this embodiment, the output rotation can be extracted via the link member 15. Thus, the range of applications of the transmission device 10 is expanded, and the degree of freedom in the arrangement of the transmission device 10 is increased. The link member 15 can be disposed using the space between the two reduction portions 25, 35. Therefore, the degree of freedom in the design, arrangement, and application of the transmission device 10 can be increased while suppressing the increase in the size of the transmission device 10.

[0225] In the above-described embodiment, the one input shaft 20 and the other input shaft 30 can be linked between the one reduction portion 25 and the other reduction portion 35 in the axial direction D1. The two input shafts 20, 30 can be linked using the space between the two reduction portions 25, 35. Therefore, the two input shafts 20, 30 can be appropriately and stably linked. The generation of vibration and noise of the transmission device 10 can be reduced, and the life of the transmission device 10 can be extended.

[0226] In the above-described embodiment, one of the input shafts 20 and the other input shaft 30 can include the cylindrical portion 18 into which the other is inserted. According to this embodiment, the dimension in the axial direction D1 of the combination of the one input shaft 20 and the other input shaft 30 can be shortened. In addition, by using the combination of the cylindrical portion 18 and the member inserted into the cylindrical portion 18, the design freedom with respect to the outer diameter and the number of teeth of the two input shafts 20, 30 is increased. Thus, the direction and the rotational speed of the rotation output from the two output portions 26, 36 can be set with higher freedom.

[0227] In the above-described embodiment, the transmission 10 can include a link member 15 that is located between the one reduction portion 25 and the other reduction portion 35 in the axial direction D1 and is linked to at least one of the one reduction portion 25 and the other reduction portion 35, and a bearing 17 that is held to the link member 15 and supports one of the input shafts 20 and 30. The two input shafts 20, 30 receive a torque load of the input torque from the drive source (e.g., a motor or the like) 6. The two input shafts 20, 30 are supported by the bearing 17, whereby they can be stably rotated at high speed. In addition, the link member 15 is linked to at least one of the one reduction portion 25 and the other reduction portion 35. Thus, the relative positions of the input shafts 20, 30 with respect to the reduction portions 25, 35 can be stably maintained. Thereby, the generation of vibration and abnormal noise of the transmission 10 can be reduced, and the life of the transmission 10 can be extended.

[0228] In the above-described embodiment example, one input shaft 20 can include teeth 21 engaged with one reduction portion 25, and the other input shaft 30 can include teeth 31 engaged with the other reduction portion 35. The bearing 17 supports one input shaft 20 or the other input shaft 30 at a position between the teeth (first input teeth) 21 of one input shaft 20 and the teeth (second input teeth) 31 of the other input shaft 30 in the axial direction Dl. By appropriately designing the teeth 21, 31 of the two input shafts 20, 30, respectively, it is possible to adjust the rotational speed output from each output portion 26, 36. By using a region between the teeth 21, 31 of the two input shafts 20, 30, which are provided with no teeth 21, 31, it is possible to support one of the two input shafts 20, 30 with the bearing 17. That is, it is possible to stably support the input shafts 20, 30 with the bearing 17 while suppressing the size of the transmission 10. In addition, according to this structure, the first input shaft 20 or the second input shaft 30 can be supported by the bearing 17 near the engagement portion of the first input shaft 20 and the first reduction portion 25 based on the first input teeth 21. Meanwhile, the first input shaft 20 or the second input shaft 30 can be supported by the bearing 17 near the engagement portion of the second input shaft 30 and the second reduction portion 35 based on the second input teeth 31. Thus, it is possible to stably support the first input shaft 20 and the second input shaft 30 with the bearing 17.

[0229] In the above-described embodiment example, one of the input shaft 20 and the other input shaft 30 can include a cylindrical portion 18 into which the other is inserted, and the bearing 17 supports the cylindrical portion 18. By supporting the cylindrical portion 18 with the bearing 17, not only the one input shaft that constitutes the cylindrical portion 18 but also the other input shaft that is inserted into the cylindrical portion 18 is stably supported by the bearing 17. That is, the two input shafts 20, 30 can be more stably supported by the bearing 17.

[0230] In the above-described embodiment example, one reduction portion 25 can include a housing 40A and a gear carrier 50A, and one output portion 26 can be constituted by one of the housing 40A and the gear carrier 50A of one reduction portion 25. The other reduction portion 35 can include a housing 40B and a second gear carrier 50B, and the other second output portion 36 can be constituted by one of the housing 40B and the gear carrier 50B. The transmission 10 can include a connecting member 15 that links the housing 40A of one reduction portion 25 and the housing 40B of the other reduction portion 25, or a connecting member 15 that links the gear carrier 50A of one reduction portion 25 and the gear carrier 50B of the other reduction portion 35. According to this embodiment example, as described below, it is possible to set the output rotation from the two output portions 26, 36 with higher degrees of freedom while using a single drive source 6.

[0231] In this embodiment, in a case where the link member 15 is not linked to the two output portions 26, 36 and is stationary, the rotations in the same direction can be output from the two output portions 26, 36 regardless of the reduction ratios of the reduction portions 25, 35. In a case where the link member 15 is not linked to the two output portions 26, 36 and is stationary, the rotational speeds of the rotations output from the respective output portions can be independently adjusted without being affected by the rotational speeds of the rotations output from the other output portions, by the reduction ratios of the respective reduction portions 25, 35.

[0232] In this embodiment, in a case where the link member 15 is linked to either of the output portions 26, 36, the rotations output from the two output portions 26, 36 can be made in the same direction or in opposite directions by adjusting the reduction ratios of the two reduction portions 25, 35. In a case where the link member 15 is linked to either of the output portions 26, 36, the rotational speeds of the rotations output from the two output portions 26, 36 can be adjusted by the reduction ratios of the two reduction portions 25, 35.

[0233] In the above-described embodiment, one of the reduction portions 25 can include the housing 40A and the gear carrier 50A, and one of the output portions 26 can be constituted by one of the housing 40A and the gear carrier 50A of one of the reduction portions 25. The other of the reduction portions 35 can include the housing 40B and the second gear carrier 50B, and the other of the output portions 36 can be constituted by one of the housing 40B and the gear carrier 50B. The transmission 10 can include the link member 15 linking the housing 40A of one of the reduction portions 25 and the second gear carrier 50B of the other of the reduction portions 25, or the link member 15 linking the gear carrier 50A of one of the reduction portions 25 and the second housing 40B of the other of the reduction portions 35. According to this embodiment, as described below, it is possible to set the output rotations from the two output portions 26, 36 with higher degrees of freedom while using a single drive source 6.

[0234] In this embodiment, in a case where the link member 15 is not linked to the two output portions 26, 36 and is stationary, the rotations in the same direction can be output from the two output portions 26, 36 regardless of the reduction ratios of the reduction portions 25, 35. In a case where the link member 15 is not linked to the two output portions 26, 36 and is stationary, the rotational speeds of the rotations output from the respective output portions can be independently adjusted without being affected by the rotational speeds of the rotations output from the other output portions, by the reduction ratios of the respective reduction portions 25, 35.

[0235] In this specific example, when the connecting member 15 is connected to either of the output units 26 or 36, rotation in the same direction can be output from both output units 26 or 36 regardless of the reduction ratio of the reduction units 25 or 35. When the connecting member 15 is connected to either of the output units 26 or 36, the rotational speed of the rotation output from the two output units 26 or 36 can be adjusted by utilizing the reduction ratio of the two reduction units 25 or 35.

[0236] In one specific example of this embodiment described above, the reduction ratio of one reduction unit 25, 35 may be different from that of the other reduction unit 25, 35. By adjusting the reduction ratio of the two reduction units 25, 35, rotation can be output from each output unit 26, 36 in a desired direction and at a desired speed.

[0237] Although this embodiment has been described with reference to several specific examples, it is not limited to those specific examples. This embodiment can be implemented with various other specific examples, and various omissions, substitutions, changes, and additions can be made without departing from its spirit.

[0238] The structure consisting of multiple objects in the embodiments disclosed in this specification can also be made into one object, or conversely, the structure consisting of one object can be divided into multiple objects. Whether or not it is integrated, it is acceptable as long as it is configured to achieve the purpose of the invention.

Claims

1. A transmission device, wherein the transmission device has: one input shaft connected to a drive source; another input shaft directly connected to the one input shaft; a reduction unit including an output unit that reduces rotation of the one input shaft and outputs it; and another reduction unit including another output unit that reduces rotation of the another input shaft and outputs it, the another output unit being disposed coaxially with the one output unit.

2. The transmission device according to claim 1, wherein the transmission device has a connecting member that is located between the one reduction unit and the another reduction unit in the axial direction and is connected to the one output unit or the another output unit.

3. The transmission device according to claim 1, wherein the one input shaft and the another input shaft are connected between the one reduction unit and the another reduction unit in the axial direction.

4. The transmission device according to claim 3, wherein one of the one input shaft and the another input shaft includes a cylindrical portion into which the other is inserted.

5. The transmission device according to claim 1, wherein the transmission device has: a connecting member that is located between the one reduction unit and the another reduction unit in the axial direction and is connected to at least one of the one reduction unit and the another reduction unit; and a bearing that is held to the connecting member and supports one of the one input shaft and the another input shaft.

6. The transmission device according to claim 5, wherein the one input shaft includes a tooth that engages with the one reduction unit, the another input shaft includes a tooth that engages with the another reduction unit, the bearing supports the one input shaft or the another input shaft at a position between the tooth of the one input shaft and the tooth of the another input shaft in the axial direction.

7. The transmission device according to claim 1, wherein the one reduction unit includes a housing and a gear carrier that is relatively rotatable with respect to the housing, the one output unit is constituted by one of the housing and the gear carrier of the one reduction unit, the another reduction unit includes a housing and a gear carrier that is relatively rotatable with respect to the housing, the another output unit is constituted by one of the housing and the gear carrier of the another reduction unit, the transmission device has a connecting member that connects the housing of the one reduction unit and the housing of the another reduction unit, or that connects the gear carrier of the one reduction unit and the gear carrier of the another reduction unit.

8. The transmission device according to claim 1, wherein the one reduction unit includes a housing and a gear carrier that is relatively rotatable with respect to the housing, the one output unit is constituted by one of the housing and the gear carrier of the one reduction unit, the another reduction unit includes a housing and a gear carrier that is relatively rotatable with respect to the housing, the another output unit is constituted by one of the housing and the gear carrier of the another reduction unit, The transmission device has a connecting member that connects the housing of the one reduction unit and the gear carrier of the other reduction unit, or connects the gear carrier of the one reduction unit and the housing of the other reduction unit.

9. The transmission device according to claim 1, wherein The reduction ratio of the one reduction unit is different from the reduction ratio of the other reduction unit.

10. A drive device, wherein The drive device includes: The transmission device according to any one of claims 1 to 9; and The drive source includes a drive shaft directly connected to the one input shaft.

Images