JP2006329431A - Speed reducer - Google Patents

Speed reducer Download PDF

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JP2006329431A
JP2006329431A JP2006220838A JP2006220838A JP2006329431A JP 2006329431 A JP2006329431 A JP 2006329431A JP 2006220838 A JP2006220838 A JP 2006220838A JP 2006220838 A JP2006220838 A JP 2006220838A JP 2006329431 A JP2006329431 A JP 2006329431A
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hollow
hollow camshaft
cam shaft
speed reducer
camshaft
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JP4895273B2 (en
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Toshio Yoshikawa
敏夫 吉川
Kouyuu Ou
宏猷 王
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Nabtesco Corp
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Abstract

<P>PROBLEM TO BE SOLVED: To provide a speed reducer in which the inside diameter of a hollow camshaft can be increased without increasing the size. <P>SOLUTION: An output pin 9 can be maintained in rigidity even by narrowing the diameter because both the ends are supported by bearings 10, 11, 15 and 16. Thereby, since a free space can be obtained around the hollow camshaft 1, the diameter of the hollow camshaft 1 can be increased without increasing the size of the speed reducing gear. Since two toothed discs 5 and 6 are provided, when three, for example, toothed discs are provided, a sleeve which is necessary to be fitted in the hollow camshaft 1, can be eliminated. Thereby, without increasing the size of the speed reduction gear, the inside diameter of the hollow camshaft 1 can be increased. In addition, needle bearings 3 and 4 to rotatably and alternately support the hollow camshaft 1 and toothed discs 5 and 6 are lower in the radial height than that of a ball bearing, for example, the inside diameter of the hollow camshaft 1 can be increased without increasing the size of the speed reducing gear. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

本発明は、減速機に関し、特にロボット等を駆動するために用いられる減速比の大きい減速機に関する。   The present invention relates to a reduction gear, and more particularly to a reduction gear with a large reduction ratio used for driving a robot or the like.

産業用ロボットにおいては、たとえば片持ちのアームを動作させるため、高トルクの動力源が必要となっている。一方、通常動力源として用いられるモータ等は、高回転低トルクの出力特性を有するため、ロボットを駆動させるには、その回転力をそのまま用いるのは不適切であり、比較的大きな減速比で減速させる必要がある。そこで、モータとロボットの間の動力伝達経路中に、減速機を介在させるようにしている。   In an industrial robot, for example, in order to operate a cantilever arm, a high torque power source is required. On the other hand, motors or the like that are normally used as a power source have output characteristics of high rotation and low torque, so it is inappropriate to use the rotational force as it is to drive the robot. It is necessary to let Therefore, a speed reducer is interposed in the power transmission path between the motor and the robot.

減速機として良く知られているのは、たとえば多段式の歯車減速機であるが、高い減速比を得るためには、何段もの歯車対を組み合わせねばならず、構成全体が大がかりとなりかつ重量も増大するという不具合がある。   For example, a multi-stage gear reducer is well known as a reducer, but in order to obtain a high reduction ratio, it is necessary to combine many stages of gear pairs, which makes the whole structure large and heavy. There is a problem of increasing.

そこで、偏心運動をする歯付き円盤を用いて、大きな減速比で動力を伝達可能な減速機が開発されている。かかる減速機によれば、軽量かつコンパクトでありながら、モータ等からの動力を低回転高トルクの出力に変換可能となっている。   Therefore, a reduction gear that can transmit power with a large reduction ratio using a toothed disk that moves eccentrically has been developed. According to such a reduction gear, it is possible to convert power from a motor or the like into an output of low rotation and high torque while being lightweight and compact.

ところで、ロボット用の減速機においては、偏心円盤を駆動するカム軸を中空として、その内部にロボット制御用等の配線を通すことによって、スペースの有効活用を図ろうとする設計思想がある。   By the way, in a reduction gear for a robot, there is a design philosophy to make effective use of space by hollowing a cam shaft for driving an eccentric disk and passing a wiring for controlling a robot or the like inside the cam shaft.

かかる設計思想に基づけば、中空カム軸の内径は大きければ大きい程良いこととなる。
ところが、減速機全体の大きさは制限されていることから、中空カム軸の内径を増大させるためには、減速機内部に設けられた部品の形状や配置を注意深く検討する必要がある。 Based on this design concept, the larger the inner diameter of the hollow cam shaft, the better.
However, since the size of the entire speed reducer is limited, in order to increase the inner diameter of the hollow camshaft, it is necessary to carefully consider the shape and arrangement of components provided inside the speed reducer.

本発明は、かかる従来技術の問題点に鑑み、減速機のサイズを増大させることなく、中空カム軸の内径を増大させることのできる減速機を提供することを目的とする。   An object of the present invention is to provide a speed reducer that can increase the inner diameter of a hollow camshaft without increasing the size of the speed reducer.

上述の目的を達成すべく、請求項１に記載の本発明の減速機は、
一端面および他端面を有するハウジングと、
一端部、他端部及び偏心円筒部を備え、前記ハウジングに対し一対の軸受を介して回転自在に支持されたカム軸と、
前記カム軸の回転に応じて偏心円筒部により当接駆動され、前記カム軸の軸線周りに公転運動する歯付き円盤と、
前記歯付き円盤に備えられた外歯に噛合する内歯を有する内歯体と、
前記ハウジングに対して固定され、前記カム軸の周囲に延在し、前記歯付き円盤を公転運動可能に支持する複数のピン部とを有した減速機において、
前記ピン部は、両端をハウジングにより支持されており、
前記カム軸の中心部を中空にすると共に、
前記中空のカム軸と前記歯付き円盤とは、ニードル軸受により互いに回転自在に支持されており、
前記ニードル軸受の転動体は前記中空カム軸と直接接触しており、
前記中空のカム軸一端部の外周に、前記ハウジングの一端面より軸方向内側まで延在するスプライン部を形成していることを特徴とする。
また、請求項２記載の本発明の減速機は、中空のカム軸一端部のスプラインに係合する円筒歯車を備えたことを特徴とする。
さらに、請求項３記載の本発明の減速機は、中空のカム軸一端部のスプラインの外径は、一対の軸受のうち一端部側の軸受の内径以下であることを特徴とする。 In order to achieve the above-described object, the speed reducer according to the first aspect of the present invention provides:
A housing having one end surface and the other end surface ;
A camshaft comprising one end, the other end and an eccentric cylindrical portion, and rotatably supported with respect to the housing via a pair of bearings ;
Wherein the abutment driven by the eccentric cylindrical portion in accordance with the rotation of the camshaft, a toothed disc to revolve around the axis of the cam shaft,
An internal tooth body having internal teeth that mesh with external teeth provided in the toothed disk;
In the speed reducer having a plurality of pin portions fixed to the housing, extending around the cam shaft , and supporting the toothed disk so as to be capable of revolving,
The pin portion is supported by the housing at both ends,
While making the central part of the cam shaft hollow,
Said hollow cam shaft and the toothed disc, is rotatably supported to each other by a needle bearing,
The rolling element of the needle bearing is in direct contact with the hollow camshaft ,
A spline portion extending from the one end surface of the housing to the inside in the axial direction is formed on the outer periphery of the one end portion of the hollow cam shaft .
According to a second aspect of the present invention, there is provided a reduction gear comprising a cylindrical gear that engages with a spline at one end of a hollow camshaft.
Furthermore, the reduction gear of the present invention according to claim 3 is characterized in that the outer diameter of the spline at one end of the hollow camshaft is equal to or smaller than the inner diameter of the bearing on one end of the pair of bearings.

請求項１の減速機によれば、ピン部は、両端をハウジングにより支持されているので、径を細くしても剛性を維持することができ、それにより中空カム軸の周囲に空きスペースを確保できるため、減速機のサイズを増大させることなく、中空カム軸の径を増大させることが可能となる。また、中空カム軸と歯付き円盤とを互いに回転自在に支持するニードル軸受は中空カム軸と直接接触しているので、半径方向の高さが低くなり、それにより減速機のサイズを増大させることなく、中空カム軸の内径を増大させることが可能となる。更に、中空のカム軸一端部の外周に、ハウジングの一端面より軸方向内側まで延在するスプライン部を形成しているので、容易に中空カム軸への入力部材を中空カム軸とともに一体的に回転できるよう取り付けることができ、且つ、当該入力部材をハウジングの一端面に接近して配置できて、入力部材に作用するラジアル荷重に起因する中空カム軸への曲げモーメントが小さくなって中空カム軸の放射方向肉厚を薄くでき、中空径を大きくとれる。
請求項２の減速機によれば、中空カム軸へのスラスト力の発生を抑制し中空カム軸の放射方向肉厚を薄くでき、中空径を大きくとれる。
請求項３の減速機によれば、中空のカム軸一端部のスプラインの外径が、一対の軸受のうち一端部側の軸受の内径以下であるので、中空のカム軸一端部のスプラインが邪魔をすることなく、一端部側の軸受を本体へ組み込むことができる。 According to the speed reducer of the first aspect, since both ends of the pin portion are supported by the housing, the rigidity can be maintained even if the diameter is reduced, thereby ensuring a free space around the hollow camshaft. Therefore, the diameter of the hollow camshaft can be increased without increasing the size of the reduction gear. Further, since the needle bearing for supporting the hollow cam shaft and the toothed disc to one another rotatably it is in direct contact with the hollow camshaft, the radial height is lowered, thereby increasing the size of the reduction gear It is possible to increase the inner diameter of the hollow camshaft. Furthermore, since a spline portion extending from the one end surface of the housing to the inside in the axial direction is formed on the outer periphery of one end portion of the hollow cam shaft, the input member to the hollow cam shaft can be easily integrated with the hollow cam shaft. The hollow camshaft can be mounted so that it can rotate and the input member can be disposed close to one end surface of the housing, and the bending moment to the hollow camshaft caused by the radial load acting on the input member is reduced. The radial thickness can be reduced and the hollow diameter can be increased.
According to the speed reducer of the second aspect, the generation of thrust force on the hollow cam shaft can be suppressed, the radial thickness of the hollow cam shaft can be reduced, and the hollow diameter can be increased.
According to the speed reducer of the third aspect, since the outer diameter of the spline at one end of the hollow cam shaft is equal to or smaller than the inner diameter of the bearing on one end portion of the pair of bearings, the spline at one end of the hollow cam shaft is obstructive. The bearing on the one end side can be incorporated into the main body without doing.

以下、本発明による第１の実施の形態を、図面を参照して説明する。図１は、たとえばロボット駆動用の減速機の軸線方向断面図である。図１において、かかる減速機は、中央に中空カム軸１を配置している。中空カム軸１の図中左端外周には、雄スプライン部１ａが形成されており、かかる雄スプライン部１ａに対向して雌スプライン部２ａを形成したギヤ２が、両スプライン部１ａ、２ａを係合させるようにして、中空カム軸１に取り付けられている。尚、ギヤ２を介して中空カム軸１には駆動源からの動力が伝達されるようになっている。また、図２に示すようにギヤ２は円筒歯車である。 Hereinafter, a first embodiment according to the present invention will be described with reference to the drawings. FIG. 1 is a cross-sectional view in the axial direction of a speed reducer for driving a robot, for example. In FIG. 1, the reduction gear has a hollow camshaft 1 disposed at the center. A male spline portion 1a is formed on the outer periphery of the left end of the hollow camshaft 1 in the figure, and a gear 2 having a female spline portion 2a facing the male spline portion 1a engages both the spline portions 1a and 2a. It is attached to the hollow camshaft 1 so as to be combined. The power from the drive source is transmitted to the hollow camshaft 1 via the gear 2. As shown in FIG. 2, the gear 2 is a cylindrical gear.

中空カム軸１の中央外周には、中空カム軸１の軸線に対して偏心した円筒部である２つの偏心部１ｂ、１ｃが形成され、その両側には一端部１ｅ、他端部１ｆを備えている。又、偏心部１ｂ、１ｃの偏心の位相は、互いに１８０度ずれている。偏心部１ｂ、１ｃの周囲には、ニードル軸受３、４が配置されている。ニードル軸受３、４は、その半径方向外方に配置された歯付き円盤５，６を、中空カム軸１に対して回転自在に支持している。尚、ニードル軸受とは、転動体として円筒状もしくは円錐状のコロ又はローラを用いた軸受をいうものとする。本実施の形態においては、円筒コロを用いている。 Two eccentric portions 1b and 1c, which are cylindrical portions that are eccentric with respect to the axis of the hollow cam shaft 1, are formed on the outer periphery of the center of the hollow cam shaft 1, and one end 1e and the other end 1f are provided on both sides thereof. ing. Further , the eccentric phases of the eccentric portions 1b and 1c are shifted from each other by 180 degrees. Needle bearings 3 and 4 are disposed around the eccentric portions 1b and 1c. The needle bearings 3, 4 support the toothed disks 5, 6 disposed radially outward of the needle bearings 3, 4 so as to be rotatable with respect to the hollow cam shaft 1. The needle bearing means a bearing using a cylindrical or conical roller or roller as a rolling element. In this embodiment, a cylindrical roller is used.

図２は、図１の減速機をII-II線で切断して矢印方向に見た図である。以下に説明する歯付き円盤５，６は同一形状を有しているため、図２に示された歯付き円盤６のみを詳細に説明する。図２において明らかなように、歯付き円盤６は、中央に大開口６ａを有しており、かかる大開口６ａは、中空カム軸１の偏心部１ｃに対して、ニードル軸受４に備えられた多数のコロ４ａ（転動体）を介して支持されている。即ち、ニードル軸受の転動体は中空のカム軸と直接接触している。 FIG. 2 is a view of the speed reducer in FIG. 1 taken along line II-II and viewed in the direction of the arrow. Since the toothed disks 5 and 6 described below have the same shape, only the toothed disk 6 shown in FIG. 2 will be described in detail. As apparent from FIG. 2, the toothed disk 6 has a large opening 6 a in the center, and the large opening 6 a is provided in the needle bearing 4 with respect to the eccentric portion 1 c of the hollow camshaft 1. It is supported via a large number of rollers 4a (rolling elements) . That is, the rolling element of the needle bearing is in direct contact with the hollow camshaft.

更に、歯付き円盤６は、大開口６ａの周囲に、１３個の周囲開口６ｂを等間隔に形成しており、またその外周に、ペリサイクロイド曲線から構成された波状の外歯６ｃを形成している。一方、歯付き円盤６の半径方向外方には、円管状の出力部７が配置されている。出力部７は、歯付き円盤６の外歯６ｃに対向して、その内周に、ピン７ａを等間隔に埋設配置している。図２から明らかなように、外歯６ａの歯数はピン７ａの数より１つだけ少なくなっている。尚、歯付き円盤５と出力部７との関係も同様であるが、上述したように歯付き円盤５，６の偏心の位相は１８０度ずれている。   Further, the toothed disk 6 has 13 peripheral openings 6b formed at equal intervals around the large opening 6a, and a wavy external tooth 6c composed of a pericycloidal curve is formed on the outer periphery thereof. ing. On the other hand, a tubular output portion 7 is arranged on the outer side in the radial direction of the toothed disk 6. The output part 7 is opposed to the external teeth 6 c of the toothed disk 6, and pins 7 a are embedded at equal intervals on the inner periphery thereof. As is apparent from FIG. 2, the number of external teeth 6a is one less than the number of pins 7a. The relationship between the toothed disk 5 and the output unit 7 is the same, but the eccentric phases of the toothed disks 5 and 6 are shifted by 180 degrees as described above.

図１の右方において、中空カム軸１の周囲にかつ出力部７の内方に配置されたハウジング８は、テーパコロ軸受１０を介して中空カム軸１を回転自在に支持し、一方、テーパコロ軸受１１を介して出力部７を回転自在に支持している。   In the right side of FIG. 1, a housing 8 disposed around the hollow cam shaft 1 and inside the output portion 7 rotatably supports the hollow cam shaft 1 via a tapered roller bearing 10, while the tapered roller bearing is provided. The output unit 7 is rotatably supported via 11.

ハウジング８は一端面１４ｂおよび他端面８ｂを有し孔８ａが１３個（図２）形成されており、各孔８ａには出力ピン９が嵌合している。出力ピン９の中央部外周には、ローラ１２が回転自在に嵌合している。出力ピン９の図１中左端には、雌ねじ９ａが形成されている。 The housing 8 has one end face 14b and the other end face 8b, and 13 holes 8a (FIG. 2) are formed. An output pin 9 is fitted in each hole 8a. A roller 12 is rotatably fitted on the outer periphery of the center portion of the output pin 9. A female screw 9a is formed at the left end of the output pin 9 in FIG.

中空カム軸１の図１中左端近傍の周囲であってかつ出力部７の内方には、リング部１４が配置されている。リング部１４は、円周方向に等間隔に配置された１３個の貫通孔１４ａを有している。貫通孔１４ａに挿通したボルト１３を、出力ピン９の雌ねじに螺合させることにより、リング部１４は出力ピン９に嵌合的に取り付けられるようになっている。従って、出力ピン９とリング部１４は、ハウジング８の一部となって、強固な剛体支持構造を形成することとなる。尚、リング部１４およびハウジング８は、一対のテーパコロ軸受１５を介して中空カム軸１を回転自在に支持し、一方、一対のテーパコロ軸受１６を介して出力部７を回転自在に支持している。中空のカム軸一端部の雄スプライン部２ａの外径は、図２に示すように一対のテーパコロ軸受１５のうち一端部側の軸受１５の内径以下となっている。また、図に示すように中空のカム軸一端部の外周に形成した雄スプライン１ａは、中空のカム軸一端部の先端からハウジングの一端面１４ｂより軸方向内側まで延在している。 A ring portion 14 is disposed around the left end of the hollow cam shaft 1 in FIG. 1 and inside the output portion 7. The ring portion 14 has thirteen through holes 14a arranged at equal intervals in the circumferential direction. The ring portion 14 is fitted to the output pin 9 by fitting the bolt 13 inserted through the through hole 14 a into the female screw of the output pin 9. Therefore, the output pin 9 and the ring portion 14 become a part of the housing 8 and form a strong rigid support structure. The ring portion 14 and the housing 8 rotatably support the hollow cam shaft 1 via a pair of tapered roller bearings 15, while supporting the output portion 7 rotatably via a pair of tapered roller bearings 16. . The outer diameter of the male spline part 2a at one end of the hollow camshaft is equal to or smaller than the inner diameter of the bearing 15 on one end side of the pair of tapered roller bearings 15 as shown in FIG. Further, as shown in the figure, the male spline 1a formed on the outer periphery of one end portion of the hollow cam shaft extends from the end of the one end portion of the hollow cam shaft to the inner side in the axial direction from the one end surface 14b of the housing.

次に、本実施の形態にかかる減速機の動作につき、図１，２を参照して以下に説明する。まず、不図示の動力源から伝達された回転力は、ギヤ２を介して中空カム軸１に伝達され、所定の回転数で中空カム軸１を回転させる。中空カム軸１が回転すると、偏心部１ｂ、１ｃが、中間軸８の軸線に対して公転運動する。かかる公転運動により、ニードル軸受３，４を介して２枚の歯付き円盤５，６が押され、それにより歯付き円盤５，６も、中空カム軸１の軸線に対して公転移動することとなる。   Next, the operation of the speed reducer according to the present embodiment will be described below with reference to FIGS. First, the rotational force transmitted from a power source (not shown) is transmitted to the hollow camshaft 1 through the gear 2 and rotates the hollow camshaft 1 at a predetermined rotational speed. When the hollow cam shaft 1 rotates, the eccentric portions 1 b and 1 c revolve around the axis of the intermediate shaft 8. By this revolving motion, the two toothed disks 5 and 6 are pushed through the needle bearings 3 and 4, whereby the toothed disks 5 and 6 also revolve with respect to the axis of the hollow camshaft 1. Become.

このとき、歯付き円盤５，６の外歯６ｃは、ピン７ａに対して乗り越えるような動作を行うが、それにより出力部７は押されて、ピン７ａの１ピッチ分だけ回転する。外歯６ｃが一つのピン７ａを乗り越えるのは、偏心部１ｂ、１ｃが一公転したときであるから、その減速比は、（１／ピン７ａの数）となり、本実施の形態においては、１：４０という高い減速比が得られることとなる。   At this time, the external teeth 6c of the toothed discs 5 and 6 perform an operation of getting over the pin 7a, but the output unit 7 is pushed and rotated by one pitch of the pin 7a. The external teeth 6c get over the single pin 7a when the eccentric portions 1b and 1c revolve one revolution, and the reduction ratio becomes (the number of 1 / pins 7a). In the present embodiment, 1 : A high reduction ratio of 40 is obtained.

ところで、本実施の形態においては、歯付き円盤５，６の公転運動の際に、その周囲開口６ｂの内周に当接して力を受ける出力ピン９が、その両端（ハウジング８及びリング部１４）をテーパコロ軸受１０、１１、１５、１６により支持されている。従って、片持ち支持されていた従来技術の出力ピンと比べて、同一の剛性（たわみ量）を確保しても、その外径を小さくすることができる。よって、減速機のサイズを増大させずに、出力ピン９の外径を小さくした分だけ、中空カム軸１の外径及び内径を増大させることが可能となる。中空カム軸１の内径が増大すれば、たとえばロボットの制御用ケーブルを、中空カム軸１の内部を通過させやすくなり、ロボット設計の自由度が向上することとなる。   By the way, in the present embodiment, when the toothed disks 5 and 6 are revolved, the output pin 9 which receives a force by contacting the inner periphery of the peripheral opening 6b is provided at both ends (the housing 8 and the ring portion 14). ) Is supported by tapered roller bearings 10, 11, 15, and 16. Accordingly, the outer diameter can be reduced even if the same rigidity (deflection amount) is ensured as compared with the output pin of the prior art which is cantilevered. Therefore, it is possible to increase the outer diameter and inner diameter of the hollow camshaft 1 by reducing the outer diameter of the output pin 9 without increasing the size of the reduction gear. If the inner diameter of the hollow camshaft 1 is increased, for example, a robot control cable can be easily passed through the hollow camshaft 1 and the degree of freedom in robot design is improved.

更に、本実施の形態によれば、歯付き円盤５，６が２つ設けられている。たとえば従来技術による減速機においては、歯付き円盤を３つ設けたものが開発されている（特開平１−１６９１５４号参照）。ところが、かかる減速機においては、歯付き円盤は１２０度ずつ位相をずらす必要があるため、製造の都合上、３枚の歯付き円盤を駆動する偏心部の少なくとも一つを、スリーブ上に形成して、かかるスリーブを中空カム軸の外周に嵌合させなくてはならない。このようにスリーブを、中空カム軸に嵌合させる構成では、中空カム軸の肉厚を大きくせざるを得ず、結果として内径が小さくなってしまう。これに対し、本実施の形態においては、歯付き円盤５，６が２つ設けられているので、従来技術において必要であったスリーブを排除することができ、それにより減速機のサイズを増大させることなく、中空カム軸１の内径を増大させることが可能となる。   Furthermore, according to the present embodiment, two toothed disks 5 and 6 are provided. For example, as a reduction gear according to the prior art, one having three toothed disks has been developed (see JP-A-1-169154). However, in such a speed reducer, since the toothed disk needs to be shifted in phase by 120 degrees, at least one of the eccentric parts for driving the three toothed disks is formed on the sleeve for the convenience of manufacturing. Therefore, such a sleeve must be fitted to the outer periphery of the hollow camshaft. In the configuration in which the sleeve is fitted to the hollow cam shaft as described above, the thickness of the hollow cam shaft must be increased, and as a result, the inner diameter is decreased. On the other hand, in the present embodiment, since the two toothed disks 5 and 6 are provided, the sleeve necessary in the prior art can be eliminated, thereby increasing the size of the speed reducer. The inner diameter of the hollow camshaft 1 can be increased without this.

加えて、歯付き円盤５，６の外径は、減速機のサイズにより制限されるので、出力ピン９の径が決まっていれば、歯付き円盤５，６の大開口６ａの内径は定まってしまう。従って、大開口６ａの径を増大させることには、大きな制限があると言える。これに対し、本実施の形態によれば、中空カム軸１と歯付き円盤５，６とを互いに回転自在に支持するニードル軸受３，４が、たとえば玉軸受に比べて、半径方向の高さが低くなっているため、歯付き円盤５，６の内径を変えることなく、その高さの差分だけ中空カム軸１の外径及び内径を増大させることが可能となる。中空カム軸１の内径が増大すれば、たとえばロボットの制御用ケーブルを、中空カム軸１の内部を通過させやすくなり、ロボット設計の自由度が向上することとなる。   In addition, since the outer diameter of the toothed disks 5 and 6 is limited by the size of the speed reducer, if the diameter of the output pin 9 is determined, the inner diameter of the large opening 6a of the toothed disks 5 and 6 is determined. End up. Therefore, it can be said that there is a great limitation in increasing the diameter of the large opening 6a. On the other hand, according to the present embodiment, the needle bearings 3 and 4 that support the hollow camshaft 1 and the toothed disks 5 and 6 so as to be rotatable with respect to each other are higher in the radial direction than, for example, a ball bearing. Therefore, the outer diameter and the inner diameter of the hollow camshaft 1 can be increased by the difference in height without changing the inner diameter of the toothed disks 5 and 6. If the inner diameter of the hollow camshaft 1 is increased, for example, a robot control cable can be easily passed through the hollow camshaft 1 and the degree of freedom in robot design is improved.

以上、本発明を実施の形態を参照して説明してきたが、本発明は上記実施の形態に限定して解釈されるべきではなく、適宜変更／改良が可能であることはもちろんである。たとえば本発明の減速機を、ロボット以外の産業機械（ウインチ等）に用いることも可能である。また、本実施の形態においては、ハウジング８を固定して、出力部７より出力を取り出すようにしているが、出力部７を固定して、ハウジングＢから出力を取り出すようにすることも可能である。   The present invention has been described above with reference to the embodiments. However, the present invention should not be construed as being limited to the above-described embodiments, and can be appropriately changed / improved. For example, the speed reducer of the present invention can be used for industrial machines other than robots (such as winches). In the present embodiment, the housing 8 is fixed and the output is taken out from the output unit 7. However, the output unit 7 can be fixed and the output can be taken out from the housing B. is there.

本発明の減速機によれば、ピン部は、両端を軸受により支持されているので、径を細くしても剛性を維持することができ、それにより中空カム軸の周囲に空きスペースを確保できるため、減速機のサイズを増大させることなく、中空カム軸の径を増大させることが可能となる。更に、歯付き円盤は２つ設けられているので、たとえば歯付き円盤を３つ設けた場合に中空カム軸に嵌合させる必要のあるスリーブを排除することができ、それにより減速機のサイズを増大させることなく、中空カム軸の内径を増大させることが可能となる。加えて、中空カム軸と歯付き円盤とを互いに回転自在に支持するニードル軸受は、たとえば玉軸受に比べて、半径方向の高さが低いため、それにより減速機のサイズを増大させることなく、中空カム軸の内径を増大させることが可能となる。更に、ギヤ２の歯数より少ない歯数の入力歯車をモータに取り付けて、ギヤ２と該入力歯車とを噛み合わせるようにすれば、共振点をシフトさせる効果がある。   According to the speed reducer of the present invention, since both ends of the pin portion are supported by the bearings, the rigidity can be maintained even if the diameter is reduced, so that an empty space can be secured around the hollow camshaft. Therefore, it is possible to increase the diameter of the hollow cam shaft without increasing the size of the reduction gear. Further, since two toothed disks are provided, for example, when three toothed disks are provided, a sleeve that needs to be fitted to the hollow camshaft can be eliminated, thereby reducing the size of the reduction gear. It is possible to increase the inner diameter of the hollow cam shaft without increasing it. In addition, the needle bearing that rotatably supports the hollow camshaft and the toothed disk is lower in radial direction than, for example, a ball bearing, so that without increasing the size of the speed reducer, It becomes possible to increase the inner diameter of the hollow camshaft. Further, if an input gear having a smaller number of teeth than that of the gear 2 is attached to the motor and the gear 2 and the input gear are engaged with each other, there is an effect of shifting the resonance point.

本実施の形態にかかる減速機の軸線方向断面図である。It is sectional drawing of the axial direction of the reduction gear concerning this Embodiment. 図１の減速機をII-II線で切断して矢印方向に見た図である。It is the figure which cut | disconnected the reduction gear of FIG. 1 by the II-II line | wire, and looked at the arrow direction.

符号の説明Explanation of symbols

１ 中空カム軸
２ ギヤ
３、４ ニードル軸受
５，６ 歯付き円盤
６ａ 大開口
６ｂ 小開口
６ｃ 外歯
７ 出力部
７ａ ピン
８ ハウジング
９ 出力ピン
１０、１１、１５、１６ テーパコロ軸受
１３ ボルト
１４ リング部 DESCRIPTION OF SYMBOLS 1 Hollow cam shaft 2 Gear 3, 4 Needle bearing 5,6 Toothed disk 6a Large opening 6b Small opening 6c External tooth 7 Output part 7a Pin 8 Housing 9 Output pin 10, 11, 15, 16 Tapered roller bearing 13 Bolt 14 Ring part

Claims (2)

ハウジングと、
偏心円筒部を備え、前記ハウジングに対し回転自在に支持された中空カム軸と、
前記中空カム軸の回転に応じて偏心円筒部により当接駆動され、前記中空カム軸の軸線周りに公転運動する歯付き円盤と、
前記歯付き円盤に備えられた外歯に噛合する内歯を有する内歯体と、
前記ハウジングから前記中空カム軸の周囲に延在し、前記歯付き円盤を公転運動可能に支持する複数のピン部とを有しており、
前記ピン部は、両端をハウジングにより支持されており、前記歯付き円盤は２つ設けられ、
前記中空カム軸と前記歯付き円盤とは、ニードル軸受により互いに回転自在に支持されていることを特徴とする減速機。 A housing;
A hollow camshaft comprising an eccentric cylindrical portion and rotatably supported with respect to the housing;
A toothed disk that is abutted and driven by an eccentric cylindrical portion according to the rotation of the hollow cam shaft and revolves around the axis of the hollow cam shaft;
An internal tooth body having internal teeth that mesh with external teeth provided in the toothed disk;
A plurality of pin portions extending around the hollow cam shaft from the housing and supporting the toothed disk so as to be capable of revolving,
The pin part is supported at both ends by a housing, and the two toothed disks are provided,
The speed reducer, wherein the hollow camshaft and the toothed disk are rotatably supported by a needle bearing. 前記減速機は、ロボットに用いられることを特徴とする請求項１に記載の減速機。

The speed reducer according to claim 1, wherein the speed reducer is used in a robot.

JP2006220838A 2006-08-14 2006-08-14 Decelerator Expired - Lifetime JP4895273B2 (en)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2400183A1 (en) 2010-06-25 2011-12-28 Kamoseiko Kabushiki Kaisha A roller type transmission device
US8460146B2 (en) 2010-06-25 2013-06-11 Kamoseiko Kabushiki Kaisha Roller type transmission device
KR101640000B1 (en) * 2015-11-25 2016-07-15 강형석 Three direction supportable Reducer unit
CN108953501A (en) * 2018-09-19 2018-12-07 杭州星河传动机械研究院有限公司 Multi-eccentric speed reducer

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JPS6248880U (en) * 1985-09-17 1987-03-26
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JPH05248501A (en) * 1991-11-21 1993-09-24 Sa Etab Staubli Speed reducer
JPH074950U (en) * 1993-04-19 1995-01-24 株式会社ハーモニック・ドライブ・システムズ Special planetary gear reducer
JP2000065162A (en) * 1998-08-24 2000-03-03 Teijin Seiki Co Ltd Reduction gear

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Publication number Priority date Publication date Assignee Title
JPS60139973A (en) * 1983-12-27 1985-07-24 Aisin Warner Ltd Lubricating apparatus for extension housing
JPS6248880U (en) * 1985-09-17 1987-03-26
JPH0224229A (en) * 1988-07-13 1990-01-26 Kubota Ltd Lubrication oil supply structure of power transmission mechanism
JPH05248501A (en) * 1991-11-21 1993-09-24 Sa Etab Staubli Speed reducer
JPH074950U (en) * 1993-04-19 1995-01-24 株式会社ハーモニック・ドライブ・システムズ Special planetary gear reducer
JP2000065162A (en) * 1998-08-24 2000-03-03 Teijin Seiki Co Ltd Reduction gear

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2400183A1 (en) 2010-06-25 2011-12-28 Kamoseiko Kabushiki Kaisha A roller type transmission device
US8460146B2 (en) 2010-06-25 2013-06-11 Kamoseiko Kabushiki Kaisha Roller type transmission device
KR101640000B1 (en) * 2015-11-25 2016-07-15 강형석 Three direction supportable Reducer unit
CN108953501A (en) * 2018-09-19 2018-12-07 杭州星河传动机械研究院有限公司 Multi-eccentric speed reducer

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