JP5647661B2 - Swing intermeshing planetary gear unit - Google Patents

Swing intermeshing planetary gear unit Download PDF

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JP5647661B2
JP5647661B2 JP2012254137A JP2012254137A JP5647661B2 JP 5647661 B2 JP5647661 B2 JP 5647661B2 JP 2012254137 A JP2012254137 A JP 2012254137A JP 2012254137 A JP2012254137 A JP 2012254137A JP 5647661 B2 JP5647661 B2 JP 5647661B2
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gear
shaft
external gear
eccentric body
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JP2013032854A (en
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洋 鶴身
洋 鶴身
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Sumitomo Heavy Industries Ltd
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Description

本発明は、揺動内接噛合型遊星歯車装置に関する。 The present invention relates to a swinging intermeshing planetary gear device.

揺動内接噛合型遊星歯車装置は、外歯歯車と該外歯歯車と僅少の歯数差を有する内歯歯車とを有し、該外歯歯車と内歯歯車の一方が他方に対して揺動することにより入力軸の回転を減速し、出力軸より減速出力を取り出すもので、大トルクの伝達が可能であり且つ大減速比が得られるという利点があるので、種々の減速機分野で使用されている。 The swinging internal meshing planetary gear device has an external gear and an internal gear having a slight difference in the number of teeth from the external gear, and one of the external gear and the internal gear is in relation to the other. By swinging, the rotation of the input shaft is decelerated and the deceleration output is taken out from the output shaft. This has the advantage that a large torque can be transmitted and a large reduction ratio can be obtained. It is used.

例えば、外歯歯車の周りで該外歯歯車と僅少の歯数差を有する内歯歯車を揺動回転させることにより、入力軸の回転を減速して出力部材から取り出す内歯揺動型の内接噛合遊星歯車装置が、特許文献１に開示されている。 For example, by rotating the internal gear having a slight difference in the number of teeth from the external gear around the external gear, the rotation of the input shaft can be decelerated and taken out from the output member. A meshing planetary gear device is disclosed in Patent Document 1.

図３、図４を用いて同歯車装置の一例を説明する。 An example of the gear device will be described with reference to FIGS.

図において、１はケーシングであり、互いにボルトやピン等の締結部材（図示略）を締結孔２に挿入することにより結合される第１支持ブロック１Ａと第２支持ブロック１Ｂとを有する。５は入力軸で、入力軸５の端部にはピニオン６が設けられ、ピニオン６は、入力軸５の周りに等角度に配設された複数の伝動歯車７と噛合している。 In the figure, reference numeral 1 denotes a casing, which has a first support block 1A and a second support block 1B that are coupled to each other by inserting fastening members (not shown) such as bolts and pins into the fastening holes 2. Reference numeral 5 denotes an input shaft. A pinion 6 is provided at an end of the input shaft 5, and the pinion 6 meshes with a plurality of transmission gears 7 arranged at an equal angle around the input shaft 5.

ケーシング１には、３本の偏心体軸１０が、円周方向に等角度間隔（１２０度間隔）で設けられている。この偏心体軸１０は、軸方向両端を軸受８、９によって回転自在に支持され且つ軸方向中間部に偏心体１０Ａ、１０Ｂを有する。前記伝動歯車７は各偏心体軸１０の端部に結合されており、入力軸５の回転を受けて該伝動歯車７が回転することにより、各偏心体軸１０が回転するようになっている。 The casing 1 is provided with three eccentric body shafts 10 at equal angular intervals (120 degree intervals) in the circumferential direction. The eccentric body shaft 10 is rotatably supported by bearings 8 and 9 at both ends in the axial direction, and has eccentric bodies 10A and 10B at an intermediate portion in the axial direction. The transmission gear 7 is coupled to the end of each eccentric body shaft 10, and each eccentric body shaft 10 is rotated by the rotation of the transmission gear 7 in response to the rotation of the input shaft 5. .

各偏心体軸１０は、ケーシング１内に収容された２枚の内歯揺動体１２Ａ、１２Ｂの偏心体孔１１Ａ、１１Ｂをそれぞれ貫通しており、各偏心体軸１０の軸方向に隣接した２段の偏心体１０Ａ、１０Ｂの外周と、内歯揺動体１２Ａ、１２Ｂの貫通孔の内周との間にはころ１４Ａ、１４Ｂが設けられている。 Each eccentric body shaft 10 passes through the eccentric body holes 11A and 11B of the two internal teeth rocking bodies 12A and 12B housed in the casing 1, and is adjacent to each other in the axial direction of each eccentric body shaft 10. Rollers 14A and 14B are provided between the outer peripheries of the stepped eccentric bodies 10A and 10B and the inner peripheries of the through-holes of the internal gear rockers 12A and 12B.

一方、ケーシング１内の中心部には、出力軸２０の端部に一体化された外歯歯車２１が配されており、外歯歯車２１の外歯２３に、内歯揺動体１２Ａ、１２Ｂのピンからなる内歯１３が噛合している。外歯歯車２１の外歯２３と内歯揺動体１２Ａ、１２Ｂの内歯１３の歯数差は僅少（例えば１〜４程度）に設定されている。 On the other hand, an external gear 21 integrated with the end of the output shaft 20 is disposed at the center of the casing 1, and the external teeth 23 of the external gear 21 are connected to the internal gear rockers 12 </ b> A and 12 </ b> B. Internal teeth 13 made of pins are engaged. The difference in the number of teeth between the external teeth 23 of the external gear 21 and the internal teeth 13 of the internal gear rockers 12A and 12B is set to be small (for example, about 1 to 4).

この歯車装置は次のように動作する。 This gear device operates as follows.

入力軸５の回転は、ピニオン６を介して伝動歯車７に与えられ、伝動歯車７によって偏心体軸１０が回転させられる。偏心体軸１０の回転により偏心体１０Ａ、１０Ｂが回転すると、該偏心体１０Ａ、１０Ｂの回転によって内歯揺動体１２Ａ、１２Ｂが揺動回転する。この場合、内歯揺動体１２Ａ、１２Ｂの１回の揺動回転によって、該内歯揺動体１２Ａ、１２Ｂと噛合する外歯歯車２１はその歯数差だけ位相がずれるので、その位相差に相当する自転成分が外歯歯車２１の（減速）回転となり、出力軸２０から減速出力が取り出される。 The rotation of the input shaft 5 is given to the transmission gear 7 through the pinion 6, and the eccentric body shaft 10 is rotated by the transmission gear 7. When the eccentric bodies 10A and 10B are rotated by the rotation of the eccentric body shaft 10, the internal tooth rocking bodies 12A and 12B are rocked and rotated by the rotation of the eccentric bodies 10A and 10B. In this case, the phase of the external gear 21 meshing with the internal tooth rocking bodies 12A, 12B is shifted by the difference in the number of teeth by one rocking rotation of the internal tooth rocking bodies 12A, 12B. The rotation component to be rotated is the (deceleration) rotation of the external gear 21, and the deceleration output is taken out from the output shaft 20.

なお、この種の揺動内接噛合型遊星歯車装置としては、このような内歯歯車を揺動させる内歯揺動型のほかに、外歯歯車の方を揺動させる外歯揺動型の遊星歯車装置も知られており、広く利用されている。 In addition, as this kind of swinging internal meshing type planetary gear device, in addition to the internal tooth swinging type that swings such an internal gear, an externally swinging type that swings the external gear. Are also known and widely used.

外歯歯車を揺動させるタイプの場合、外歯歯車を揺動回転させるための偏心体を入力軸の外周に（該入力軸と同軸に）設けるようにしたタイプと、複数の偏心体軸を外歯歯車を貫通して備え、入力軸の回転を該複数の偏心体軸に振り分けて伝達することにより全偏心体軸を同位相で回転させるタイプとがある（例えば技術文献２等多数）。 In the case of the type that swings the external gear, a type in which an eccentric body for swinging and rotating the external gear is provided on the outer periphery of the input shaft (coaxially with the input shaft), and a plurality of eccentric shafts There is a type in which all the eccentric body shafts are rotated in the same phase by passing through external gears and transmitting the rotation of the input shaft to the plurality of eccentric body shafts (see, for example, Technical Document 2).

特許第２６０７９３７号公報Japanese Patent No. 2607937 特許第２５６１２２７号公報Japanese Patent No. 2561227

しかしながら、これら従来公知の歯車装置では、入力軸が出力軸と同軸に配置されていたため、該入力軸に駆動源（例えばモータ）が接続された場合に、軸方向の長さが長くなり、また、元々歯車装置自体が半径方向にかなりの寸法を有していることから、結局、半径方向及び軸方向の双方において大きな占有空間（収容空間）を必要としていた。そのため、用途や設置状況によっては、相手機械（被駆動機械）への据付が困難になることがあり、また、ギヤドモータ等の形で在庫として保管したり、運搬したりする場合に、一個当たりの専有体積が大きくなるという問題もあった。 However, in these conventionally known gear devices, since the input shaft is arranged coaxially with the output shaft, when a drive source (for example, a motor) is connected to the input shaft, the axial length becomes long. Since the gear device itself has a considerable size in the radial direction, a large occupied space (accommodating space) is required in both the radial direction and the axial direction. For this reason, depending on the application and installation conditions, it may be difficult to install the machine on the other machine (driven machine), and when storing or transporting it in the form of a geared motor, etc. There was also a problem that the exclusive volume became large.

本発明は、このような従来の問題を解消するためになされたものであって、駆動源を接続した状態においても大きな占有空間を必要とせず、特に、軸方向の長さを短縮できる揺動内接噛合型遊星歯車装置を提供することその課題としている。 The present invention has been made in order to solve such a conventional problem, and does not require a large occupied space even when a drive source is connected, and in particular, a swing that can reduce the axial length. An object of the present invention is to provide an intermeshing planetary gear device.

本発明は、外歯歯車と、該外歯歯車と僅少の歯数差を有する内歯歯車と、前記外歯歯車または内歯歯車の一方を他方に対して揺動回転させるための偏心体軸と、を備える揺動内接噛合型遊星歯車装置において、出力軸と平行に、前記出力軸の中心からオフセットして配置された中間軸と、該中間軸と入力軸とを直交連結する直交歯車と、前記中間軸に設けられ、前記揺動回転する歯車側へ動力を伝達する中間軸歯車と、を有し、前記中間軸の軸方向において、前記直交歯車と外歯歯車との間に、前記中間軸歯車が配置され、複数の前記偏心体軸に組み込まれた偏心体軸駆動用歯車と、前記複数の偏心体軸駆動用歯車と噛合する伝動外歯歯車と、を備え、前記入力軸からの動力が、前記中間軸歯車を介して前記伝動外歯歯車へ伝達され、前記入力軸は、前記直交歯車と噛合う直交ピニオンを有し、軸受によって回転自在に支持され、モータの出力軸が挿入される挿入口を有することによって、上記課題を解決したものである。
The present invention relates to an external gear, an internal gear having a slight difference in the number of teeth from the external gear, and an eccentric body shaft for swinging and rotating one of the external gear and the internal gear with respect to the other. An intermediate shaft arranged in parallel with the output shaft and offset from the center of the output shaft, and an orthogonal gear that orthogonally connects the intermediate shaft and the input shaft. And an intermediate shaft gear that is provided on the intermediate shaft and transmits power to the swinging and rotating gear side, and in the axial direction of the intermediate shaft, between the orthogonal gear and the external gear, The intermediate shaft gear is disposed, and includes an eccentric body shaft driving gear incorporated in the plurality of eccentric body shafts, and a transmission external gear that meshes with the plurality of eccentric body shaft driving gears, and the input shaft power from is transmitted to the transmission external gear via the intermediate shaft gear, the entering Axis has the orthogonal gear meshed with orthogonal pinion is rotatably supported by a bearing, by having an insertion port for the output shaft of the motor is inserted, is obtained by solving the above problems.

本発明に係る構成によれば、駆動源を含めた装置全体の軸方向長を短縮できる。また、駆動源を一体化したときの占有空間に無駄が少ないため、在庫、あるいは運搬時の一個当たりの専有体積を減少させることもできる。 According to the configuration of the present invention, the axial length of the entire apparatus including the drive source can be shortened. In addition, since the occupied space when the drive sources are integrated is less wasteful, it is possible to reduce the exclusive volume per inventory or during transportation.

なお、本発明は、後述するように、内歯揺動型及び外歯揺動型のいずれの内接噛合遊星歯車装置にも適用可能である。 As will be described later, the present invention can be applied to any internally meshed planetary gear device of an internal gear swing type and an external gear swing type.

また、本発明は、出力軸が当該揺動内接噛合方遊星歯車装置全体を軸方向に貫通するホローシャフトとされている構成を採用するのが好ましい。これにより、大径で且つ防護パイプ等の付設を要しないホローシャフト構造を実現することができる。 Further, the present invention preferably employs a configuration in which the output shaft is a hollow shaft that penetrates the entire swinging in meshing planetary gear device in the axial direction. Thereby, it is possible to realize a hollow shaft structure that has a large diameter and does not require a protective pipe or the like.

本発明によれば、駆動源を接続した状態においても大きな占有空間を必要とせず、特に、軸方向の長さを短縮できる。 According to the present invention, a large occupied space is not required even when the drive source is connected, and the axial length can be particularly shortened.

本発明の実施形態の例に係る内歯揺動型内接噛合遊星歯車装置の側断面を示した図The figure which showed the side cross section of the internal gear rocking | fluctuation type internal meshing planetary gear apparatus which concerns on the example of embodiment of this invention. （Ａ）は図１の右側面図、（Ｂ）は別の角度からモータを取付ける例を示す（Ａ）相当の側面図(A) is a right side view of FIG. 1, (B) is a side view corresponding to (A) showing an example of mounting a motor from another angle. 従来の内歯揺動型内接噛合遊星歯車装置の側断面を示した図The figure which showed the side cross section of the conventional internal-tooth rocking | fluctuation type internal mesh planetary gear apparatus 図３におけるIV−IV線に沿う断面を示した図The figure which showed the cross section which follows the IV-IV line in FIG.

以下、本発明の実施形態の例を図面に基づいて説明する。 Embodiments of the present invention will be described below with reference to the drawings.

図１は、本発明の実施形態の例に係る揺動内接噛合型の遊星歯車装置１００を示した図である。 FIG. 1 is a view showing a swinging intermeshing planetary gear device 100 according to an example of an embodiment of the present invention.

この遊星歯車装置１００は、本体ケーシング１０２、入力軸１０４、直交歯車セット１０６、後に詳述する中間軸１０８、伝動外歯歯車１１０、偏心体軸駆動用の歯車１１２、該偏心体軸駆動用の歯車１１２によって駆動される３本の偏心体軸１１４（１１４Ａ〜１１４Ｃ）、２つの内歯揺動体（内歯歯車）１１６Ａ、１１６Ｂ、及び出力軸としての機能を兼用する外歯歯車１１８によって主に構成されている。 The planetary gear device 100 includes a main body casing 102, an input shaft 104, an orthogonal gear set 106, an intermediate shaft 108, a transmission external gear 110, a gear 112 for driving an eccentric body shaft, and a gear 112 for driving the eccentric body shaft. The three eccentric shafts 114 (114A to 114C) driven by the gear 112, two internal gear rockers (internal gears) 116A and 116B, and the external gear 118 that also functions as an output shaft are mainly used. It is configured.

即ち、この遊星歯車装置１００は、内歯揺動体１１６Ａ、１１６Ｂを揺動回転させるための複数の偏心体軸１１４を内歯揺動体１１６Ａ、１１６Ｂを貫通して３本備え、入力軸１０４の回転を該複数の偏心体軸１１４Ａ〜１１４Ｃに振り分けて伝達することにより全偏心体軸１１４Ａ〜１１４Ｃを同位相で回転させるものである。 That is, the planetary gear device 100 includes a plurality of eccentric body shafts 114 penetrating the internal gear rockers 116A and 116B for rocking and rotating the internal gear rockers 116A and 116B. Are distributed to the plurality of eccentric body shafts 114A to 114C and transmitted to rotate all the eccentric body shafts 114A to 114C in the same phase.

減速機構自体の基本構成は図３、図４を用いて既に説明した従来例と同様である。該従来例と大きく異なるのは入力軸１０４から偏心体軸１１４Ａ〜１１４Ｃまでの動力伝達構造及び歯車装置全体のケーシング構造である。そのため、以下この点について詳細に説明する。 The basic structure of the speed reduction mechanism itself is the same as that of the conventional example already described with reference to FIGS. The major difference from the conventional example is the power transmission structure from the input shaft 104 to the eccentric body shafts 114A to 114C and the casing structure of the entire gear device. Therefore, this point will be described in detail below.

前記本体ケーシング１０２は、図１において左右に配置された、２つの第１、第２ケーシング１０２Ａ、１０２Ｂによって構成されている。この第１、第２ケーシング１０２Ａ、１０２Ｂには、図２に示されるように、これらを貫通するように複数のボルト孔１０２Ａ１、１０２Ｂ１がそれぞれ形成されている。該第１、第２ケーシング１０２Ａ、１０２Ｂは、互いにボルト１０３によって結合可能な構造となっている。なお、図２の（Ａ）は図１の右側面図であり、（Ｂ）は（Ａ）とは別の角度からモータＭを取付ける例をそれぞれ示している。 The main casing 102 includes two first and second casings 102A and 102B arranged on the left and right in FIG. As shown in FIG. 2, the first and second casings 102A and 102B are formed with a plurality of bolt holes 102A1 and 102B1, respectively, so as to penetrate them. The first and second casings 102 </ b> A and 102 </ b> B have a structure that can be coupled to each other by a bolt 103. 2A is a right side view of FIG. 1, and FIG. 2B shows an example in which the motor M is mounted from an angle different from FIG.

この本体ケーシング１０２には、前記入力軸１０４が図１において縦向き、即ち外歯歯車（出力軸）１１８と直交する方向に配置され、軸受１２０、１２２により回転自在に支持されている。入力軸１０４の一端側（図の上側）には、ハイポイドピニオン（直交ピニオン）１０４Ａが形成されており、他端にはモータＭの出力軸（図示略）が挿入される挿入口１０４Ｂが形成されている。 In the main body casing 102, the input shaft 104 is arranged vertically in FIG. 1, that is, in a direction orthogonal to the external gear (output shaft) 118, and is rotatably supported by bearings 120 and 122. A hypoid pinion (orthogonal pinion) 104A is formed on one end side (upper side in the figure) of the input shaft 104, and an insertion port 104B into which an output shaft (not shown) of the motor M is inserted is formed on the other end. ing.

本体ケーシング１０２には、入力軸１０４のほかに、内歯揺動体１１６Ａ、１１６Ｂよりも半径方向外側位置に、外歯歯車（出力軸）１１８と平行に前記中間軸１０８が配置され、テーパーローラベアリング１２４、１２４によって回転自在に支持されている。中間軸１０８には前記ハイポイドピニオン１０４Ａと噛合して直交歯車セット１０６を構成するハイポイドギヤ（直交ギヤ）１２８が組み込まれており、さらに、中間ピニオン１３０が組み込まれている。 In the main body casing 102, in addition to the input shaft 104, the intermediate shaft 108 is arranged in parallel to the external gear (output shaft) 118 at a position radially outward from the internal gear rockers 116A and 116B, and a tapered roller bearing. 124 and 124 are rotatably supported. The intermediate shaft 108 incorporates a hypoid gear (orthogonal gear) 128 that meshes with the hypoid pinion 104A to form the orthogonal gear set 106, and further incorporates an intermediate pinion 130.

一方、外歯歯車（出力軸）１１８の外周には、軸受１３２を介してリング状の前記伝動外歯歯車１１０が該外歯歯車１１８と同軸に配置されている。この伝動外歯歯車１１０には、前記中間ピニオン１３０及び３本の偏心体軸１１４にそれぞれ組み込まれた偏心体軸駆動用の歯車１１２が同時に噛合している。即ち、伝動外歯歯車１１０は、前記中間ピニオン１３０を介して中間軸１０８と連結されると共に、偏心体軸駆動用の歯車１１２を介して全偏心体軸１１４のそれぞれとも連結されていることになる。 On the other hand, on the outer periphery of the external gear (output shaft) 118, the ring-shaped transmission external gear 110 is arranged coaxially with the external gear 118 via a bearing 132. The transmission external gear 110 meshes with the intermediate pinion 130 and the eccentric body shaft driving gear 112 respectively incorporated in the three eccentric body shafts 114 at the same time. That is, the transmission external gear 110 is connected to the intermediate shaft 108 via the intermediate pinion 130 and also connected to each of the eccentric shafts 114 via the eccentric shaft drive gear 112. Become.

３本の偏心体軸１１４は、同一の円周上で等間隔に配置され（図２参照）、それぞれテーパーローラベアリング１３６、１３６によって両持ち支持されている。各偏心体軸１１４とも内歯揺動体１１６Ａ、１１６Ｂの偏心体孔１１６Ａ１、１１６Ｂ１を軸方向に貫通している。各偏心体軸１１４には偏心体１４０Ａ、１４０Ｂが一体に組み込まれており、３本の偏心体軸１１４が同位相で同時に同方向に回転できように各偏心体軸１１４の偏心体１４０Ａ、１４０Ｂの位相が揃えられている。また、２枚の内歯揺動体１１６Ａ、１１６Ｂはこの偏心体１４０Ａ、１４０Ｂとの摺動により、それぞれ互いに１８０°の位相差を保ちながら揺動回転可能である。なお、図の符号１１９は、当該２枚の内歯揺動体１１６Ａ、１１６Ｂの軸方向の移動規制を行うための差し輪である。 The three eccentric body shafts 114 are arranged at equal intervals on the same circumference (see FIG. 2), and are supported at both ends by tapered roller bearings 136 and 136, respectively. Each of the eccentric body shafts 114 penetrates the eccentric body holes 116A1 and 116B1 of the internal tooth rocking bodies 116A and 116B in the axial direction. Eccentric bodies 140A and 140B are integrally incorporated in each eccentric body shaft 114, and the eccentric bodies 140A and 140B of the eccentric body shafts 114 can be rotated simultaneously in the same direction in the same phase. The phases are aligned. Further, the two internal tooth rocking bodies 116A and 116B can swing and rotate while maintaining a phase difference of 180 ° from each other by sliding with the eccentric bodies 140A and 140B. In addition, the code | symbol 119 of a figure is an insert wheel for performing the movement control of the axial direction of the said 2 internal tooth rocking bodies 116A and 116B.

内歯揺動体１１６Ａ、１１６Ｂには、ホローシャフトタイプの出力軸兼用の外歯歯車１１８が内接している。外歯歯車１１８は配管や配線等を貫通可能な貫通孔１１８Ｄを有する略円筒形状の部材からなり、テーパーローラベアリング１４２、１４２を介してケーシング本体１０２に回転自在に支持されている。 A hollow shaft type external gear 118 also serving as an output shaft is inscribed in the internal gear rockers 116A and 116B. The external gear 118 is formed of a substantially cylindrical member having a through hole 118D that can penetrate piping, wiring, and the like, and is rotatably supported by the casing body 102 via tapered roller bearings 142 and 142.

外歯歯車１１８の外歯は外ピン１１８Ｐが図示せぬ溝に回転自在に組み込まれた構造になっている。外ピン１１８Ｐの数（外歯の歯数）は、内歯揺動体１１６Ａ、１１６Ｂの内歯の歯数より僅かだけ小さい（僅少の歯数差）。この外歯歯車１１８は、本体１１８Ａ、端部部材１１８Ｂ、１１８Ｃの３つの部材からなる。これは、端部部材１１８Ｂ、１１８Ｃの段部１１８Ｂ１、１１８Ｃ１によって前記テーパーローラベアリング１４２、１４２の組込み及びその軸方向の位置決めを可能とするためである。 The external teeth of the external gear 118 have a structure in which an external pin 118P is rotatably incorporated in a groove (not shown). The number of external pins 118P (the number of external teeth) is slightly smaller than the number of internal teeth of the internal tooth rocking bodies 116A and 116B (a slight difference in the number of teeth). The external gear 118 includes three members: a main body 118A and end members 118B and 118C. This is because the tapered roller bearings 142 and 142 can be incorporated and axially positioned by the step portions 118B1 and 118C1 of the end members 118B and 118C.

次にこの遊星歯車装置１００の作用を説明する。 Next, the operation of the planetary gear device 100 will be described.

モータＭの図示せぬモータ軸の回転によって入力軸１０４が回転すると、この回転は、ハイポイドピニオン１０４Ａ及びハイポイドギヤ１２８を介してその回転方向が直交方向に変換されると共に初段の減速が行われ、中間軸１０８に伝達される。中間軸１０８が回転すると、該中間軸１０８に組み込まれた中間ピニオン１３０が回転し、更にこれと噛合している伝動外歯歯車１１０が回転する。 When the input shaft 104 is rotated by the rotation of the motor shaft (not shown) of the motor M, the rotation direction is converted to an orthogonal direction through the hypoid pinion 104A and the hypoid gear 128, and the first stage deceleration is performed. It is transmitted to the shaft 108. When the intermediate shaft 108 rotates, the intermediate pinion 130 incorporated in the intermediate shaft 108 rotates, and further, the transmission external gear 110 engaged therewith rotates.

伝動外歯歯車１１０には同時に偏心体軸駆動用の歯車１１２が噛合しているため、該伝動外歯歯車１１０の回転によりこれらの歯車１１２が回転する。その結果、３本の偏心体軸１１４Ａ〜１１４Ｃが同位相で回転し、これにより２つの内歯揺動体１１６Ａ、１１６Ｂがそれぞれの位相を１８０°に保った状態で外歯歯車１１８の周りを揺動回転する。内歯揺動体１１６Ａ、１１６Ｂは、その自転が拘束されているため、該内歯揺動体１１６Ａ、１１６Ｂの１回の揺動回転によって、該内歯揺動体１１６Ａ、１１６Ｂと噛合する外歯歯車１１８はその歯数差だけ位相がずれ、その位相差に相当する自転成分が外歯歯車１１８の回転となり、出力が外部へ取り出される。 Since the transmission external gear 110 is simultaneously engaged with the gear 112 for driving the eccentric body shaft, the gear 112 is rotated by the rotation of the transmission external gear 110. As a result, the three eccentric body shafts 114A to 114C rotate in the same phase, so that the two internal gear oscillating bodies 116A and 116B swing around the external gear 118 with their respective phases maintained at 180 °. Dynamic rotation. Since the rotation of the internal tooth rocking bodies 116A and 116B is restricted, the external gear 118 that meshes with the internal tooth rocking bodies 116A and 116B by one rocking rotation of the internal tooth rocking bodies 116A and 116B. Is out of phase by the difference in the number of teeth, and the rotation component corresponding to the phase difference is the rotation of the external gear 118, and the output is extracted to the outside.

ここで、本発明の実施形態の例に係る遊星歯車装置１００によれば、内歯揺動体１１６Ａ、１１６Ｂよりも半径方向外側位置に、外歯歯車（出力軸）１１８と平行に前記中間軸１０８を配置し、入力軸１０４の回転を、一度中間軸１０８で受けた後に揺動体側に入力するようにしている。そのため、入力軸（及びモータＭ）１０４を、従来のように歯車装置１００の軸方向サイドにではなく、半径方向サイドに配置することができるようになる。この結果、駆動源を含めた装置全体（ギヤドモータ）の軸方向長さを、ほぼ遊星歯車装置１００自体の軸方向長さ内に収めることができ、該軸方向長さを大幅に短縮できる。また、ギヤドモータとして在庫を保管したり、運搬したりする場合においても無駄な空間が少なく、且つ扱いやすい。 Here, according to the planetary gear device 100 according to the example of the embodiment of the present invention, the intermediate shaft 108 is disposed in a radially outer position than the internal gear rockers 116A and 116B in parallel with the external gear (output shaft) 118. The rotation of the input shaft 104 is once received by the intermediate shaft 108 and then input to the oscillator. Therefore, the input shaft (and the motor M) 104 can be disposed not on the axial side of the gear device 100 as in the prior art but on the radial side. As a result, the axial length of the entire device (geared motor) including the drive source can be accommodated within the axial length of the planetary gear device 100 itself, and the axial length can be greatly reduced. Further, even when stock is stored or transported as a geared motor, there is little wasted space and it is easy to handle.

更に、遊星歯車装置１００の軸方向サイドに入力軸も駆動源も存在しないことから、外歯歯車１１８を、歯車装置１００を貫通する大径のホローシャフトとすることができている。外歯歯車１１８は出力軸を兼ねるものであり、その回転は極めて低速であるため、該外歯歯車１１８の内側に別体の防護パイプ等を付設することなく、ワイヤハーネスや冷却水パイプ等をそのまま配置することができる。 Further, since neither the input shaft nor the drive source exists on the axial side of the planetary gear device 100, the external gear 118 can be a large-diameter hollow shaft that penetrates the gear device 100. Since the external gear 118 also serves as an output shaft, and its rotation is extremely slow, a wire harness, a cooling water pipe, or the like can be provided without attaching a separate protective pipe or the like inside the external gear 118. It can be arranged as it is.

なお、上記実施形態においては、入力軸１０４として、モータ軸の挿入口１０４Ｂを有する構造のものが使用されているが、モータのモータ軸の先端に直接直交ピニオンを形成し、これを入力軸として兼用する構造であってもよい。 In the above embodiment, the input shaft 104 has a structure having a motor shaft insertion port 104B. However, an orthogonal pinion is formed directly at the tip of the motor shaft of the motor, and this is used as the input shaft. The structure may also be used.

また、直交ピニオン及び直交ギヤのセットは、上記実施形態においてはハイポイドピニオン及びハイポイドギヤのセットが利用されていたが、ベベルピニオン及びベベルギヤ等の他の構造に係る直交ピニオン及び直交ギヤのセットを用いても構わない。 Further, in the above embodiment, the set of the orthogonal pinion and the orthogonal gear is the set of the hypoid pinion and the hypoid gear, but the orthogonal pinion and the orthogonal gear set according to another structure such as the bevel pinion and the bevel gear are used. It doesn't matter.

さらに、本発明は、外歯歯車が揺動するタイプの揺動内接噛合型遊星歯車装置にも適用可能である。この場合、３本の偏心体軸によって揺動回転させられるのが内歯歯車ではなく外歯歯車となり、キャリヤを介して該外歯歯車の自転成分を取り出すことになる。しかしながら、この場合でも、モータから入力軸〜中間軸〜伝動外歯歯車〜偏心体軸駆動用の歯車〜３本の偏心体軸に至る構成については、上記実施形態にて説明した構造と全く同様の構成とすることができる。 Furthermore, the present invention is also applicable to a swinging intermeshing planetary gear device of a type in which an external gear swings. In this case, it is not an internal gear but an external gear that is swung and rotated by the three eccentric body shafts, and the rotation component of the external gear is taken out via the carrier. However, even in this case, the configuration from the motor to the input shaft, the intermediate shaft, the transmission external gear, the eccentric shaft driving gear, and the three eccentric shafts is exactly the same as the structure described in the above embodiment. It can be set as this structure.

１００…内歯揺動型内接噛合遊星歯車装置
１０２…本体ケーシング
１０２Ａ、１０２Ｂ…第１、第２ケーシング
１０４…入力軸
１０４Ａ…ハイポイドピニオン（直交ピニオン）
１０６…直交歯車セット
１０８…中間軸
１１０…伝動外歯歯車
１１２…偏心体軸歯車
１１６Ａ、１１６Ｂ…内歯揺動体（内歯歯車）
１１８…外歯歯車
１２８…ハイポイドギヤ（直交ギヤ）
DESCRIPTION OF SYMBOLS 100 ... Internal-tooth oscillation type intermeshing planetary gear apparatus 102 ... Main body casing 102A, 102B ... 1st, 2nd casing 104 ... Input shaft 104A ... Hypoid pinion (orthogonal pinion)
106 ... Orthogonal gear set 108 ... Intermediate shaft 110 ... Transmission external gear 112 ... Eccentric shaft gears 116A, 116B ... Internal tooth rocking body (internal gear)
118 ... External gear 128 ... Hypoid gear (orthogonal gear)

Claims (1)

外歯歯車と、該外歯歯車と僅少の歯数差を有する内歯歯車と、前記外歯歯車または内歯歯車の一方を他方に対して揺動回転させるための偏心体軸と、を備える揺動内接噛合型遊星歯車装置において、
出力軸と平行に、前記出力軸の中心からオフセットして配置された中間軸と、
該中間軸と入力軸とを直交連結する直交歯車と、
前記中間軸に設けられ、前記揺動回転する歯車側へ動力を伝達する中間軸歯車と、を有し、
前記中間軸の軸方向において、前記直交歯車と外歯歯車との間に、前記中間軸歯車が配置され、
複数の前記偏心体軸に組み込まれた偏心体軸駆動用歯車と、
前記複数の偏心体軸駆動用歯車と噛合する伝動外歯歯車と、を備え、
前記入力軸からの動力が、前記中間軸歯車を介して前記伝動外歯歯車へ伝達され、
前記入力軸は、前記直交歯車と噛合う直交ピニオンを有し、軸受によって回転自在に支持され、モータの出力軸が挿入される挿入口を有することを特徴とする揺動内接噛合型遊星歯車装置。
An external gear, an internal gear having a slight difference in the number of teeth from the external gear, and an eccentric body shaft for swinging and rotating one of the external gear and the internal gear with respect to the other. In the swinging intermeshing planetary gear device,
An intermediate shaft arranged parallel to the output shaft and offset from the center of the output shaft;
An orthogonal gear that orthogonally connects the intermediate shaft and the input shaft;
An intermediate shaft gear that is provided on the intermediate shaft and transmits power to the rocking and rotating gear side;
In the axial direction of the intermediate shaft, the intermediate shaft gear is disposed between the orthogonal gear and the external gear,
An eccentric body shaft driving gear incorporated in the plurality of eccentric body shafts;
A transmission external gear that meshes with the plurality of eccentric body shaft driving gears,
Power from the input shaft is transmitted to the transmission external gear through the intermediate shaft gear,
The input shaft has an orthogonal pinion that meshes with the orthogonal gear, is rotatably supported by a bearing, and has an insertion port into which an output shaft of a motor is inserted. apparatus.
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