TW201405033A - Eccentric oscillating gear device - Google Patents
Eccentric oscillating gear device Download PDFInfo
- Publication number
- TW201405033A TW201405033A TW102122648A TW102122648A TW201405033A TW 201405033 A TW201405033 A TW 201405033A TW 102122648 A TW102122648 A TW 102122648A TW 102122648 A TW102122648 A TW 102122648A TW 201405033 A TW201405033 A TW 201405033A
- Authority
- TW
- Taiwan
- Prior art keywords
- eccentric
- gear
- tubular portion
- oscillating
- swing
- Prior art date
Links
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
- F16H2001/323—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear comprising eccentric crankshafts driving or driven by a gearing
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
Description
本發明係關於一種偏心擺動型齒輪裝置。 The present invention relates to an eccentric oscillating gear device.
先前，如開示於下述專利文獻1所示，眾所周知有在兩個對手構件間，以既定減速比將轉速減速之偏心擺動型齒輪裝置。此偏心擺動型齒輪裝置具有：外筒，被固定在一者之對手構件；以及承載件，被配置在外筒內，同時被固定在另一者之對手構件。承載件藉被安裝在曲柄軸的偏心部上之擺動齒輪的擺動旋轉，相對於外筒而言相對性旋轉。 Heretofore, as disclosed in Patent Document 1 listed below, an eccentric oscillating type gear device that decelerates the rotational speed at a predetermined reduction ratio between two opponent members is known. The eccentric oscillating gear device has an outer cylinder that is fixed to one of the opponent members, and a carrier that is disposed in the outer cylinder while being fixed to the opponent member of the other. The carrier rotates relative to the outer cylinder by the swinging rotation of the swing gear mounted on the eccentric portion of the crankshaft.
近年來，因為機械手臂使用環境之變化，有機械手臂的運轉率提高之傾向，伴隨於此，減速機被要求需高速化。偏心擺動型齒輪裝置於使用時，承載件內之溫度比外筒之溫度還要高。因此，在使用時，擺動齒輪會熱膨脹。藉擺動齒輪之熱膨脹，擺動齒輪的外齒與外筒的內齒間的間隙變窄。伴隨於此，擺動齒輪齒面的面壓變高，結果，產生擺動齒輪的使用壽命降低之問題。 In recent years, there has been a tendency for the operating rate of the robot arm to increase due to changes in the use environment of the robot arm, and accordingly, the speed reducer is required to be speeded up. When the eccentric oscillating gear device is in use, the temperature in the carrier is higher than the temperature of the outer cylinder. Therefore, the swing gear thermally expands during use. By the thermal expansion of the oscillating gear, the gap between the outer teeth of the oscillating gear and the internal teeth of the outer cylinder is narrowed. Along with this, the surface pressure of the tooth surface of the oscillating gear becomes high, and as a result, the problem that the service life of the oscillating gear is lowered is caused.
【專利文獻1】日本特開2006-77980號公報 [Patent Document 1] Japanese Patent Laid-Open Publication No. 2006-77980
本發明之目的在於藉抑制擺動齒輪齒面的面壓變高，抑制擺動齒輪使用壽命之變短。 SUMMARY OF THE INVENTION An object of the present invention is to suppress a decrease in the service life of a swing gear by suppressing a high surface pressure of the tooth surface of the swing gear.
為達成上述目的，遵照本發明一局面之偏心擺動型齒輪裝置，係在第1構件與第2構件之間，以既定轉速比轉換轉速，以傳遞驅動力，其特徵在於其具有：偏心部；擺動齒輪，具有***有前述偏心部之***孔，同時具有齒部；第1筒部，其構成係可安裝在前述第1構件及前述第2構件之一者；以及第2筒部，其構成係可安裝在前述第1構件及前述第2構件之另一者；前述第1筒部係以線膨脹係數比前述擺動齒輪的材質還要大之材質構成，前述第1筒部具有與前述擺動齒輪的前述齒部相咬合之內齒，前述第2筒部係在保持有前述擺動齒輪之狀態下，被配置在前述第1筒部的徑向內側，前述第1筒部與前述第2筒部，藉伴隨著前述偏心部旋轉之前述擺動齒輪的擺動，可彼此相對同心狀地旋轉。 In order to achieve the above object, an eccentric oscillating gear device according to one aspect of the present invention converts a rotational speed between a first member and a second member at a predetermined rotational speed ratio to transmit a driving force, which is characterized in that it has an eccentric portion; The swing gear has an insertion hole into which the eccentric portion is inserted, and has a tooth portion; the first tubular portion is configured to be attachable to one of the first member and the second member; and the second tubular portion is configured The first tubular portion may be attached to the other of the first member and the second member; the first tubular portion is made of a material having a linear expansion coefficient larger than a material of the swing gear, and the first tubular portion has the aforementioned swing The second cylindrical portion of the gear that is engaged with the tooth portion, the second tubular portion is disposed radially inward of the first tubular portion while the second swinging gear is held, and the first tubular portion and the second tubular portion The portion is rotatable relative to each other in a concentric manner by the swing of the swing gear that rotates with the eccentric portion.
1‧‧‧偏心擺動型齒輪裝置 1‧‧‧Eccentric swing gear device
2‧‧‧外筒 2‧‧‧Outer tube
3‧‧‧內齒插銷 3‧‧‧ internal tooth latch
4‧‧‧承載件 4‧‧‧ Carrier
6‧‧‧主軸承 6‧‧‧ main bearing
10‧‧‧曲柄軸 10‧‧‧ crankshaft
10a‧‧‧第1偏心部 10a‧‧‧1st eccentric
10b‧‧‧第2偏心部 10b‧‧‧2nd eccentric
12a‧‧‧第1曲柄軸承 12a‧‧‧1st crank bearing
12b‧‧‧第2曲柄軸承 12b‧‧‧2nd crank bearing
12c‧‧‧軸本體 12c‧‧‧axis body
14‧‧‧第1擺動齒輪 14‧‧‧1st swing gear
14a‧‧‧外齒 14a‧‧‧ external teeth
16‧‧‧第2擺動齒輪 16‧‧‧2nd swing gear
16a‧‧‧外齒 16a‧‧‧ external teeth
第1圖係表示本發明實施形態之偏心擺動型齒輪裝置的構成之剖面圖。 Fig. 1 is a cross-sectional view showing the configuration of an eccentric oscillating gear device according to an embodiment of the present invention.
第2圖係表示第1圖II-II線之剖面圖。 Fig. 2 is a cross-sectional view taken along line II-II of Fig. 1.
以下，參照圖面詳細說明本發明實施形態之偏心擺動型齒輪裝置。本實施形態之偏心擺動型齒輪裝置(以下，稱做齒輪裝置)1，係做為減速機而適用在例如機械手臂的旋 轉胴體或腕關節等的回旋部、各種工作母機的回旋部等。此齒輪裝置1係被使用在例如80rpm~200rpm。 Hereinafter, an eccentric oscillating type gear device according to an embodiment of the present invention will be described in detail with reference to the drawings. The eccentric oscillating gear device (hereinafter referred to as a gear device) 1 of the present embodiment is used as a speed reducer and is applied to, for example, a rotation of a robot arm. A turning part such as a body or a wrist joint, a turning part of various working machines, and the like. This gear device 1 is used, for example, at 80 rpm to 200 rpm.
在本實施形態之齒輪裝置1中，當藉輸入軸8之旋轉而曲柄軸10旋轉時，擺動齒輪14，16與曲柄軸10的偏心部10a，10b連動，而擺動齒輪14，16擺動旋轉，所以，藉擺動齒輪14，16的旋轉而旋轉外筒2或承載件4，藉此，可獲得自輸入旋轉減速後之輸出旋轉。 In the gear device 1 of the present embodiment, when the crankshaft 10 is rotated by the rotation of the input shaft 8, the swing gears 14, 16 are interlocked with the eccentric portions 10a, 10b of the crankshaft 10, and the swing gears 14, 16 are swung and rotated. Therefore, the outer cylinder 2 or the carrier 4 is rotated by the rotation of the swing gears 14, 16, whereby the output rotation after the input rotation deceleration can be obtained.
如第1圖及第2圖所示，齒輪裝置1具有：外筒2，做為第1筒部之一例；承載件4，做為第2筒部之一例；輸入軸8；複數個(例如三個)曲柄軸10；第1擺動齒輪14；第2擺動齒輪16；以及複數個(例如三個)傳動齒輪20。 As shown in FIGS. 1 and 2, the gear device 1 includes an outer cylinder 2 as an example of a first tubular portion, a carrier 4 as an example of a second tubular portion, an input shaft 8 and a plurality of (for example, Three) crankshaft 10; first oscillating gear 14; second oscillating gear 16; and a plurality of (for example, three) transmission gears 20.
外筒2係構成齒輪裝置1的外表面者，略呈圓筒狀。在外筒2的內周面，形成有多數個插銷凹槽2b。各插銷凹槽2b係被配置使得在外筒2的軸向延伸，同時在直交軸向之剖面中，具有半圓形之剖面形狀。這些插銷凹槽2b係在外筒2的內周面，於圓周方向上等間隔並列。 The outer cylinder 2 constitutes the outer surface of the gear unit 1, and has a substantially cylindrical shape. On the inner circumferential surface of the outer cylinder 2, a plurality of pin grooves 2b are formed. Each of the latch recesses 2b is configured to extend in the axial direction of the outer cylinder 2 while having a semicircular cross-sectional shape in a cross section in the orthogonal axial direction. These pin recesses 2b are attached to the inner peripheral surface of the outer cylinder 2, and are juxtaposed at equal intervals in the circumferential direction.
外筒2具有多數個內齒插銷3。各內齒插銷3分別被安裝在插銷凹槽2b。具體說來，各內齒插銷3分別被嵌入對應之插銷凹槽2b，以在外筒2軸向延伸之姿勢被配置。藉此，多數個內齒插銷3係沿著外筒2圓周方向等間隔並列。在這些內齒插銷3處，咬合有第1擺動齒輪14的第1外齒14a及第2擺動齒輪16的第2外齒16a。 The outer cylinder 2 has a plurality of internal tooth pins 3. Each of the internal tooth pins 3 is mounted to the pin recess 2b, respectively. Specifically, the internal tooth pins 3 are respectively fitted into the corresponding pin grooves 2b to be disposed in a posture in which the outer tube 2 extends in the axial direction. Thereby, the plurality of internal tooth pins 3 are juxtaposed at equal intervals in the circumferential direction of the outer cylinder 2. At the internal tooth pins 3, the first external teeth 14a of the first oscillating gear 14 and the second external teeth 16a of the second oscillating gear 16 are engaged.
承載件4係在被配置成與外筒2同軸之狀態下，被收容在外筒2內。承載件4相對於外筒2而言，繞相同軸體 相對旋轉。具體說來，承載件4係被配置於外筒2的徑向內側，在此狀態下，藉在軸向彼此分離設置之一對主軸承6，相對於外筒2而言，可相對旋轉地被支撐。 The carrier 4 is housed in the outer cylinder 2 in a state of being disposed coaxially with the outer cylinder 2. The carrier 4 is around the same shaft body with respect to the outer cylinder 2 Relative rotation. Specifically, the carrier 4 is disposed on the radially inner side of the outer cylinder 2, and in this state, one pair of the main bearings 6 are disposed apart from each other in the axial direction, and relatively rotatable relative to the outer cylinder 2 Be supported.
承載件4具有：基部，具備基板部4a及複數個(例如三個)轉軸部4c；以及端板部4b。 The carrier 4 has a base portion, and includes a substrate portion 4a, a plurality of (for example, three) rotating shaft portions 4c, and an end plate portion 4b.
基板部4a係在外筒2內，被配置於軸向的一端部附近。在基板部4a的徑向中央部，設有圓形的穿孔4d。在穿孔4d的周圍，複數個(例如三個)曲柄軸安裝孔4e(以下，單稱「安裝孔4e」)係等間隔設於圓周方向上。 The board portion 4a is disposed in the outer tube 2 and is disposed in the vicinity of one end portion in the axial direction. A circular through hole 4d is provided in a central portion in the radial direction of the substrate portion 4a. Around the perforation 4d, a plurality of (for example, three) crankshaft mounting holes 4e (hereinafter, simply referred to as "mounting holes 4e") are provided at equal intervals in the circumferential direction.
端板部4b係相對於基板部4a而言，在軸向間隔設置，同時在外筒2內，被配置於軸向的另一端部附近。在端板部4b的徑向中央部設有穿孔4f。在穿孔4f的周圍，設有複數個(例如三個)曲柄軸安裝孔4g(以下，單稱「安裝孔4g」)。各安裝孔4g分別設於與基板部4a的安裝孔4e相對應之位置。在外筒2內，形成有關閉空間，前述關閉空間由端板部4b及基板部4a的彼此相向之兩者內面與外筒2的內周面圍成。 The end plate portion 4b is disposed at an interval in the axial direction with respect to the substrate portion 4a, and is disposed in the vicinity of the other end portion in the axial direction in the outer tube 2. A through hole 4f is provided in a radial central portion of the end plate portion 4b. A plurality of (for example, three) crankshaft mounting holes 4g (hereinafter, simply referred to as "mounting holes 4g") are provided around the perforations 4f. Each of the mounting holes 4g is provided at a position corresponding to the mounting hole 4e of the substrate portion 4a. A closed space is formed in the outer cylinder 2, and the closed space is surrounded by the inner surfaces of the end plate portion 4b and the substrate portion 4a facing each other and the inner circumferential surface of the outer cylinder 2.
複數個轉軸部4c係與基板部4a一體設置，自基板部4a的一主面(內側面)，往端板部4b側直線性延伸。此三個轉軸部4c係在圓周方向上，被等間隔配置(參照第2圖)。各轉軸部4c係藉螺栓4h被鎖固在端板部4b上(參照第1圖)。藉此，基板部4a、轉軸部4c及端板部4b被一體化。 The plurality of shaft portions 4c are integrally provided with the substrate portion 4a, and extend linearly from one main surface (inner side surface) of the substrate portion 4a toward the end plate portion 4b side. The three rotating shaft portions 4c are arranged at equal intervals in the circumferential direction (see Fig. 2). Each of the rotating shaft portions 4c is locked to the end plate portion 4b by a bolt 4h (see Fig. 1). Thereby, the board portion 4a, the shaft portion 4c, and the end plate portion 4b are integrated.
輸入軸8係發揮做為省略圖示之驅動馬達的驅動力被輸入之輸入部之功能。輸入軸8被***端板部4b的穿孔4f及基板部4a的穿孔4d。輸入軸8係被配置，使得其軸心與 外筒2及承載件4的軸心一致，藉驅動馬達的驅動力而繞軸旋轉。在輸入軸8尖端部的外周面，設有輸入齒輪8a。 The input shaft 8 functions as an input unit to which a driving force of a drive motor (not shown) is input. The input shaft 8 is inserted into the through hole 4f of the end plate portion 4b and the through hole 4d of the substrate portion 4a. The input shaft 8 is configured such that its axis is The outer cylinder 2 and the carrier 4 have the same axis, and are rotated about the shaft by the driving force of the drive motor. An input gear 8a is provided on the outer peripheral surface of the tip end portion of the input shaft 8.
複數個曲柄軸10在外筒2內，等間隔被配置於輸入軸8的周圍(參照第2圖)。各曲柄軸10藉一對曲柄軸承12a，12b，相對於承載件4而言，可繞軸旋轉地被支撐(參照第1圖)。具體說來，在自各曲柄軸10軸向的一端，僅既定長度之軸向內側部分，安裝有第1曲柄軸承12a。第1曲柄軸承12a組裝在基板部4a的安裝孔4e。另外，在各曲柄軸10軸向的另一端部，安裝有第2曲柄軸承12b。第2曲柄軸承12b被組裝在端板部4b的安裝孔4g。藉此，曲柄軸10可旋轉地被基板部4a及端板部4b支撐。 The plurality of crankshafts 10 are disposed in the outer cylinder 2 at equal intervals around the input shaft 8 (see Fig. 2). Each of the crankshafts 10 is supported by a pair of crank bearings 12a, 12b so as to be rotatable about the carrier 4 (see Fig. 1). Specifically, the first crank bearing 12a is attached to the axially inner portion of the predetermined length from one end in the axial direction of each of the crankshafts 10. The first crank bearing 12a is assembled to the mounting hole 4e of the substrate portion 4a. Further, a second crank bearing 12b is attached to the other end portion of each of the crankshafts 10 in the axial direction. The second crank bearing 12b is assembled to the mounting hole 4g of the end plate portion 4b. Thereby, the crankshaft 10 is rotatably supported by the substrate portion 4a and the end plate portion 4b.
各曲柄軸10具有：軸本體12c；以及偏心部10a，10b，被一體形成在軸本體12c上。第1偏心部10a與第2偏心部10b，在被兩曲柄軸承12a，12b支撐之部分間，被配置成在軸向並列。第1偏心部10a與第2偏心部10b分別具有圓柱形狀，其皆在相對於軸本體12c的軸心而言偏心之狀態下，自軸本體12c突出到徑向外側。第1偏心部10a與第2偏心部10b，分別自軸心以既定偏心量偏心，被配置成彼此具有既定角度之相位差。 Each of the crankshafts 10 has a shaft body 12c and eccentric portions 10a, 10b integrally formed on the shaft body 12c. The first eccentric portion 10a and the second eccentric portion 10b are arranged side by side in the axial direction between the portions supported by the two crank bearings 12a and 12b. Each of the first eccentric portion 10a and the second eccentric portion 10b has a cylindrical shape, and both of them protrude from the shaft body 12c to the radially outer side in a state of being eccentric with respect to the axial center of the shaft body 12c. Each of the first eccentric portion 10a and the second eccentric portion 10b is eccentric from the axial center by a predetermined eccentric amount, and is arranged to have a phase difference of a predetermined angle from each other.
在曲柄軸10的一端部，亦即，在被安裝在基板部4a的安裝孔4e內之部分的軸向外側部位，設有安裝有傳動齒輪20之被嵌合部10c。 A fitting portion 10c to which the transmission gear 20 is attached is provided at one end portion of the crank shaft 10, that is, at an axially outer portion of a portion of the mounting portion 4e to be mounted in the mounting portion 4e of the board portion 4a.
第1擺動齒輪14被配設在外筒2內的前述關閉空間，同時透過第1滾子軸承18a，被安裝在各曲柄軸10的第1 偏心部10a。第1擺動齒輪14當各曲柄軸10旋轉而第1偏心部10a偏心旋轉時，與該偏心部10a的偏心旋轉連動，而一邊咬合在內齒插銷3一邊擺動旋轉。 The first oscillating gear 14 is disposed in the closed space in the outer cylinder 2, and is transmitted through the first roller bearing 18a to be attached to the first of the crankshafts 10 The eccentric portion 10a. When the crankshaft 10 rotates and the first eccentric portion 10a rotates eccentrically, the first oscillating gear 14 rotates in conjunction with the eccentric rotation of the eccentric portion 10a while engaging the internal toothed pin 3.
第1擺動齒輪14具有比外筒2的內徑小些許之尺寸。第1擺動齒輪14具有第1外齒14a、中央部穿孔14b、複數個(例如三個)第1偏心部***孔14c、及複數個(例如三個)轉軸部***孔14d。第1外齒14a橫貫擺動齒輪14的圓周方向全體，具有滑順連續之波浪形狀。 The first oscillating gear 14 has a size smaller than the inner diameter of the outer cylinder 2. The first oscillating gear 14 has a first outer tooth 14a, a central portion through hole 14b, a plurality of (for example, three) first eccentric portion insertion holes 14c, and a plurality of (for example, three) shaft portion insertion holes 14d. The first outer teeth 14a traverse the entire circumferential direction of the swing gear 14, and have a smooth and continuous wave shape.
中央部穿孔14b設於第1擺動齒輪14的徑向中央部。輸入軸8在具有遊隙之狀態下，貫穿中央部穿孔14b。 The center portion through hole 14b is provided in the radial center portion of the first swing gear 14. The input shaft 8 penetrates the center portion through hole 14b in a state of having a play.
複數個第1偏心部***孔14c係在第1擺動齒輪14中，於圓周方向等間隔地設於中央部穿孔14b的周圍。在各第1偏心部***孔14c，於中介有第1滾子軸承18a之狀態下，分別貫穿有各曲柄軸10的第1偏心部10a。 The plurality of first eccentric portion insertion holes 14c are provided in the first oscillating gear 14, and are provided around the center portion through hole 14b at equal intervals in the circumferential direction. In each of the first eccentric portion insertion holes 14c, the first eccentric portion 10a of each crank shaft 10 is inserted through the first roller bearing 18a.
複數個轉軸部***孔14d係在第1擺動齒輪14中，於圓周方向等間隔設於中央部穿孔14b的周圍。各轉軸部***孔14d係在圓周方向中，分別配設於鄰接之第1偏心部***孔14c間之位置。對應之轉軸部4c在具有遊隙之狀態下，貫穿各轉軸部***孔14d。 A plurality of the shaft portion insertion holes 14d are provided in the first swing gear 14, and are provided around the center portion through hole 14b at equal intervals in the circumferential direction. Each of the rotation shaft portion insertion holes 14d is disposed in the circumferential direction, and is disposed at a position between the adjacent first eccentric portion insertion holes 14c. The corresponding rotating shaft portion 4c penetrates the respective rotating shaft portion insertion holes 14d in a state of having a play.
第2擺動齒輪16係被配設於外筒2內的前述關閉空間，同時透過第2滾子軸承18b，安裝在各曲柄軸10的第2偏心部10b。第1擺動齒輪14與第2擺動齒輪16，對應第1偏心部10a與第2偏心部10b的配置，在軸向並列設置。第2擺動齒輪16當各曲柄軸10旋轉而第2偏心部10b偏心旋轉 時，其與此偏心旋轉連動，以一邊咬合在內齒插銷3一邊擺動旋轉。 The second oscillating gear 16 is disposed in the closed space in the outer cylinder 2, and is transmitted through the second roller bearing 18b to be attached to the second eccentric portion 10b of each of the crankshafts 10. The first oscillating gear 14 and the second oscillating gear 16 are arranged side by side in the axial direction in accordance with the arrangement of the first eccentric portion 10a and the second eccentric portion 10b. The second swing gear 16 rotates while the crankshaft 10 rotates and the second eccentric portion 10b rotates eccentrically At this time, in conjunction with the eccentric rotation, the inner tooth pin 3 is oscillated and rotated while being engaged.
第2擺動齒輪16具有比外筒2的內徑小些許的尺寸，其成為與第1擺動齒輪14相同之構造。亦即，第2擺動齒輪16具有第2外齒16a、中央部穿孔16b、複數個(例如三個)第2偏心部***孔16c、及複數個(例如三個)轉軸部***孔16d。這些具有與第1擺動齒輪14的第1外齒14a、中央部穿孔14b、複數個第1偏心部***孔14c、及複數個轉軸部***孔14d相同之構造。在各第2偏心部***孔16c，於中介有第2滾子軸承18b之狀態下，貫穿有曲柄軸10的第2偏心部10b。 The second oscillating gear 16 has a size smaller than the inner diameter of the outer cylinder 2, and has the same structure as that of the first oscillating gear 14. In other words, the second oscillating gear 16 has a second external tooth 16a, a central portion through hole 16b, a plurality of (for example, three) second eccentric portion insertion holes 16c, and a plurality of (for example, three) shaft portion insertion holes 16d. These have the same structure as the first outer teeth 14a of the first oscillating gear 14, the center portion through hole 14b, the plurality of first eccentric portion insertion holes 14c, and the plurality of shaft portion insertion holes 14d. In each of the second eccentric portion insertion holes 16c, the second eccentric portion 10b of the crankshaft 10 is inserted in a state in which the second roller bearing 18b is interposed.
各傳動齒輪20係使輸入齒輪8a的旋轉，傳動到曲柄軸10者。各傳動齒輪20分別外嵌在被嵌合部10c，被嵌合部10c設於與各傳動齒輪20對應之曲柄軸10的軸本體12c中之一端部。各傳動齒輪20係與曲柄軸10的旋轉軸繞同軸地，與曲柄軸10一體旋轉。各傳動齒輪20具有與輸入齒輪8a相咬合之外齒20a。 Each of the transmission gears 20 transmits the rotation of the input gear 8a to the crankshaft 10. Each of the transmission gears 20 is externally fitted to the fitted portion 10c, and the fitted portion 10c is provided at one end of the shaft body 12c of the crankshaft 10 corresponding to each of the transmission gears 20. Each of the transmission gears 20 is coaxial with the rotation shaft of the crankshaft 10 and rotates integrally with the crankshaft 10. Each of the transmission gears 20 has a tooth 20a that engages with the input gear 8a.
在此，說明構成外筒2及擺動齒輪14，16之材料。 Here, the materials constituting the outer cylinder 2 and the oscillating gears 14, 16 will be described.
外筒2係以線膨脹係數比第1擺動齒輪14及第2擺動齒輪16的材質還要大之材質構成。具體說來，外筒2係以鋁合金製成，構成外筒2之材料的線膨脹係數係20.0~23.5μ/K。相對於此，擺動齒輪14，16係以鐵系材料構成。例如擺動齒輪14，16係可以以碳含量0.7~1.0%之鋼(高碳鋼)製成，或者，以碳含量0.2%以下之鋼(低碳鋼)製成。在此 情形下，構成擺動齒輪14，16之材料的線膨脹係數係10.8~11.0μ/K，或者，11.6~11.7μ/K。而且，當淬火硬化這些鐵系材料時，在碳含量0.2%以下之情形下，線膨脹係數成為13.6μ/K，又，在碳含量0.7~1.0%之情形下，線膨脹係數成為12.0~12.5μ/K。而且，關於內齒插銷3也係以與擺動齒輪14，16相同之材料形成。 The outer cylinder 2 is made of a material having a linear expansion coefficient larger than that of the first swing gear 14 and the second swing gear 16 . Specifically, the outer cylinder 2 is made of an aluminum alloy, and the material constituting the outer cylinder 2 has a coefficient of linear expansion of 20.0 to 23.5 μ/K. On the other hand, the swing gears 14 and 16 are made of an iron-based material. For example, the oscillating gears 14, 16 may be made of steel (high carbon steel) having a carbon content of 0.7 to 1.0%, or steel (low carbon steel) having a carbon content of 0.2% or less. here In the case, the material constituting the oscillating gears 14, 16 has a linear expansion coefficient of 10.8 to 11.0 μ/K or 11.6 to 11.7 μ/K. Further, when quenching and hardening these iron-based materials, the linear expansion coefficient becomes 13.6 μ/K in the case of a carbon content of 0.2% or less, and the linear expansion coefficient becomes 12.0 to 12.5 in the case of a carbon content of 0.7 to 1.0%. μ/K. Further, the internal tooth pins 3 are also formed of the same material as the swing gears 14, 16.
如上所述，在本實施形態之齒輪裝置1中，構成擺動齒輪14，16之材料的線膨脹係數，比構成外筒2之材料的線膨脹係數還要小。因此，在使用齒輪裝置1時，當外筒2、承載件4及擺動齒輪14，16升溫後，外筒2之膨脹比擺動齒輪14，16還要大。因此，外筒2的內齒插銷3與擺動齒輪14，16的外齒14a，16a間之間隙，亦即，外筒2的內周面與擺動齒輪14，16間之間隙，不會比使用前之狀態還要窄。因此，即使擺動齒輪14，16升溫而膨脹，也能抑制擺動齒輪14，16的齒面面壓變高，能抑制擺動齒輪14，16的使用壽命變短。 As described above, in the gear device 1 of the present embodiment, the linear expansion coefficient of the material constituting the oscillating gears 14, 16 is smaller than the linear expansion coefficient of the material constituting the outer cylinder 2. Therefore, when the gear unit 1 is used, when the outer cylinder 2, the carrier 4, and the swing gears 14, 16 are heated, the expansion of the outer cylinder 2 is larger than that of the swing gears 14, 16. Therefore, the gap between the internal toothed pin 3 of the outer cylinder 2 and the external teeth 14a, 16a of the oscillating gears 14, 16, that is, the gap between the inner circumferential surface of the outer cylinder 2 and the oscillating gears 14, 16 is no longer used. The state before it is even narrower. Therefore, even if the swing gears 14 and 16 are heated and expanded, the tooth surface pressure of the swing gears 14 and 16 can be suppressed from becoming high, and the service life of the swing gears 14 and 16 can be suppressed from becoming short.
又，在本實施形態中，外筒2係鋁合金製成，擺動齒輪14，16係以鐵系材料構成，所以，可使構成外筒2之材料的線膨脹係數，與構成擺動齒輪14，16之材料的線膨脹係數之差值取較大。因此，即使在擺動齒輪14，16的溫度與外筒2的溫度之溫度差變大之使用環境中，也能抑制擺動齒輪14，16的齒面面壓變高。藉此，更能確實抑制擺動齒輪14，16的使用壽命變短。 Further, in the present embodiment, the outer cylinder 2 is made of an aluminum alloy, and the oscillating gears 14 and 16 are made of an iron-based material. Therefore, the linear expansion coefficient of the material constituting the outer cylinder 2 can be made to constitute the oscillating gear 14, The difference in linear expansion coefficient of the material of 16 is larger. Therefore, even in an environment where the temperature difference between the temperature of the swing gears 14, 16 and the temperature of the outer cylinder 2 becomes large, the tooth surface pressure of the swing gears 14, 16 can be suppressed from becoming high. Thereby, it is possible to surely suppress the life of the swing gears 14, 16 from becoming shorter.
而且，本發明並不侷限於此，在不脫逸其旨趣之範圍內，可做種種變更及改良等。例如在上述實施形態中，雖 然係設有兩個擺動齒輪14，16之構成，但是，本發明並不侷限於此。其構成也可以例如設有一個擺動齒輪，或者，設有三個以上之擺動齒輪。 Further, the present invention is not limited thereto, and various changes and improvements can be made without departing from the scope of the invention. For example, in the above embodiment, However, the configuration of the two oscillating gears 14, 16 is provided, but the present invention is not limited thereto. The configuration may be, for example, one swing gear or three or more swing gears.
在上述實施形態中，雖然輸入軸8配設於承載件4的中央部，複數個曲柄軸10配設於輸入軸8的周圍，但是，本發明並不侷限於此。也可以例如係曲柄軸10被配設於承載件4的中央部之中心曲柄式。在此情形下，只要設置使得輸入軸8咬合在被安裝在曲柄軸10上之傳動齒輪20，輸入軸8可被配設於任何位置。 In the above embodiment, the input shaft 8 is disposed at the center of the carrier 4, and the plurality of crankshafts 10 are disposed around the input shaft 8, but the present invention is not limited thereto. For example, the crankshaft 10 may be disposed in a central crank type of the central portion of the carrier 4. In this case, the input shaft 8 can be disposed at any position as long as the input shaft 8 is engaged to engage the transmission gear 20 mounted on the crankshaft 10.
在上述實施形態中，雖然例示外筒2係以鋁合金製成之情形，但是，外筒2並不侷限於以鋁合金製成。例如也可以外筒2及擺動齒輪14，16皆以鐵系材料構成。但是，在此情形下，外筒2也必須以線膨脹係數比擺動齒輪14，16的材料還要大之材料構成。例如如果使外筒2以碳含量0.2%以下之鋼製成(低碳鋼製)，而且被淬火硬化時，線膨脹係數成為13.6μ/K。在此情形下，擺動齒輪14，16可以碳含量0.7~1.0%以下之鋼製成(高碳鋼製)。在此情形下，使構成擺動齒輪14，16之材料淬火硬化後之線膨脹係數，成為12.3~12.4μ/K。在此情形下，內齒插銷3也可以以與擺動齒輪14，16相同之材料形成。 In the above embodiment, the case where the outer cylinder 2 is made of an aluminum alloy is exemplified, but the outer cylinder 2 is not limited to being made of an aluminum alloy. For example, the outer cylinder 2 and the swing gears 14, 16 may be made of an iron-based material. However, in this case, the outer cylinder 2 must also be constructed of a material having a linear expansion coefficient larger than that of the swing gears 14, 16. For example, when the outer cylinder 2 is made of steel having a carbon content of 0.2% or less (made of low carbon steel) and hardened by quenching, the coefficient of linear expansion becomes 13.6 μ/K. In this case, the oscillating gears 14, 16 can be made of steel having a carbon content of 0.7 to 1.0% or less (made of high carbon steel). In this case, the linear expansion coefficient of the material constituting the oscillating gears 14, 16 is quenched and hardened to be 12.3 to 12.4 μ/K. In this case, the internal tooth pins 3 can also be formed of the same material as the swing gears 14, 16.
在此，概說上述實施形態。 Here, the above embodiment will be described.
(1)在上述實施形態中，構成擺動齒輪之材料的線膨脹係數，比構成第1筒部之材料的線膨脹係數還要小。因此，當偏心擺動型齒輪裝置使用時，第1筒部、第2筒部及擺 動齒輪升溫後，第1筒部的膨脹超過擺動齒輪的膨脹。因此，第1筒部的內齒與擺動齒輪的齒部間之間隙，亦即，第1筒部的內周面與擺動齒輪間之間隙，不會比使用前之狀態還要窄。因此，即使擺動齒輪升溫而膨脹後，能抑制擺動齒輪的齒面面壓變高，能抑制擺動齒輪的使用壽命變短。 (1) In the above embodiment, the linear expansion coefficient of the material constituting the oscillating gear is smaller than the linear expansion coefficient of the material constituting the first tubular portion. Therefore, when the eccentric oscillating type gear device is used, the first tubular portion, the second tubular portion, and the pendulum After the moving gear is heated, the expansion of the first tubular portion exceeds the expansion of the swing gear. Therefore, the gap between the internal teeth of the first tubular portion and the tooth portion of the swing gear, that is, the gap between the inner circumferential surface of the first tubular portion and the swing gear is not narrower than the state before use. Therefore, even if the swing gear is heated and expanded, the tooth surface pressure of the swing gear can be suppressed from becoming high, and the service life of the swing gear can be suppressed from becoming short.
(2)前述第1筒部可以以鋁合金製成，前述擺動齒輪也可以以鐵系材料構成。 (2) The first tubular portion may be made of an aluminum alloy, and the swing gear may be made of an iron-based material.
在此態樣中，可使構成第1筒部之材料的線膨脹係數，與構成擺動齒輪之材料的線膨脹係數之差值取較大。因此，即使在擺動齒輪的溫度與第1筒部的溫度之溫度差變大之使用環境中，也能抑制擺動齒輪的齒面面壓變高，藉此，更能確實抑制擺動齒輪的使用壽命變短。 In this aspect, the difference between the linear expansion coefficient of the material constituting the first cylindrical portion and the linear expansion coefficient of the material constituting the oscillating gear can be made large. Therefore, even in an environment where the temperature difference between the temperature of the swing gear and the temperature of the first tubular portion is increased, the tooth surface pressure of the swing gear can be suppressed from being increased, whereby the service life of the swing gear can be surely suppressed. Shortened.
(3)前述第1筒部可以係碳含量0.2%以下之鐵系材料，前述擺動齒輪也可以以碳含量0.7~1.0%之鐵系材料構成。 (3) The first tubular portion may be an iron-based material having a carbon content of 0.2% or less, and the swing gear may be formed of an iron-based material having a carbon content of 0.7 to 1.0%.
如上所述，當依據上述實施形態時，能抑制擺動齒輪的齒面面壓變高，所以，能抑制擺動齒輪的使用壽命變短。 As described above, according to the above embodiment, the tooth surface pressure of the swing gear can be suppressed from becoming high, so that the service life of the swing gear can be suppressed from becoming short.
1‧‧‧偏心擺動型齒輪裝置 1‧‧‧Eccentric swing gear device
2‧‧‧外筒 2‧‧‧Outer tube
2b‧‧‧插銷凹槽 2b‧‧‧Latch groove
3‧‧‧內齒插銷 3‧‧‧ internal tooth latch
4‧‧‧承載件 4‧‧‧ Carrier
4a‧‧‧基板部 4a‧‧‧Substrate Department
4b‧‧‧端板部 4b‧‧‧End Plate Department
4c‧‧‧轉軸部 4c‧‧‧ shaft part
4d‧‧‧穿孔 4d‧‧‧Perforation
4e‧‧‧曲柄軸安裝孔 4e‧‧‧ crank shaft mounting hole
4f‧‧‧穿孔 4f‧‧‧Perforation
4g‧‧‧曲柄軸安裝孔 4g‧‧‧ crank shaft mounting hole
4h‧‧‧螺栓 4h‧‧‧ bolt
6‧‧‧主軸承 6‧‧‧ main bearing
8‧‧‧輸入軸 8‧‧‧ input shaft
8a‧‧‧輸入齒輪 8a‧‧‧ input gear
10‧‧‧曲柄軸 10‧‧‧ crankshaft
10a‧‧‧偏心部 10a‧‧‧Eccentric
10b‧‧‧偏心部 10b‧‧‧Eccentric
10c‧‧‧被嵌合部 10c‧‧‧Fitting Department
12a‧‧‧曲柄軸承 12a‧‧‧Crank Bearing
12b‧‧‧曲柄軸承 12b‧‧‧Crank Bearing
12c‧‧‧軸本體 12c‧‧‧axis body
14‧‧‧擺動齒輪 14‧‧‧Swing gear
14a‧‧‧第1外齒 14a‧‧‧1st external tooth
14b‧‧‧中央部穿孔 14b‧‧‧Central Perforation
14c‧‧‧第1偏心部***孔 14c‧‧‧1st eccentric insertion hole
14d‧‧‧轉軸部***孔 14d‧‧‧Rotary shaft insertion hole
16‧‧‧擺動齒輪 16‧‧‧Swing gear
16a‧‧‧第2外齒 16a‧‧‧2nd external tooth
16b‧‧‧中央部穿孔 16b‧‧‧Central Perforation
16c‧‧‧第2偏心部***孔 16c‧‧‧2nd eccentric insertion hole
16d‧‧‧轉軸部***孔 16d‧‧‧Rotary shaft insertion hole
18a‧‧‧第1滾子軸承 18a‧‧‧1st roller bearing
18b‧‧‧第2滾子軸承 18b‧‧‧2nd roller bearing
20‧‧‧傳動齒輪 20‧‧‧Transmission gear
20a‧‧‧外齒 20a‧‧‧ external teeth
Claims (3)
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2012149350A JP5988424B2 (en) | 2012-07-03 | 2012-07-03 | Eccentric oscillating gear unit |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| TW201405033A true TW201405033A (en) | 2014-02-01 |
| TWI595174B TWI595174B (en) | 2017-08-11 |
Family
ID=49881609
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| TW102122648A TWI595174B (en) | 2012-07-03 | 2013-06-26 | Eccentric swing gear device |
Country Status (6)
| Country | Link |
|---|---|
| JP (1) | JP5988424B2 (en) |
| KR (1) | KR101692647B1 (en) |
| CN (1) | CN104412004B (en) |
| DE (1) | DE112013003373B4 (en) |
| TW (1) | TWI595174B (en) |
| WO (1) | WO2014006833A1 (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6573777B2 (en) * | 2015-04-28 | 2019-09-11 | ナブテスコ株式会社 | External gear, eccentric oscillating gear device, robot, and method of using eccentric oscillating gear device |
| JP6863882B2 (en) | 2017-11-27 | 2021-04-21 | 住友重機械工業株式会社 | Planetary gear device and manufacturing method of planetary gear device |
| JP7115876B2 (en) * | 2018-03-13 | 2022-08-09 | 住友重機械工業株式会社 | Eccentric oscillating reduction gear |
| CN109854685A (en) * | 2019-01-25 | 2019-06-07 | 南京高速齿轮制造有限公司 | Eccentric oscillating-type mechanical reduction gear |
| CN110966357A (en) * | 2019-05-22 | 2020-04-07 | 苏州华震工业机器人减速器有限公司 | Speed reducer for precision control |
| CN110985611A (en) * | 2019-05-22 | 2020-04-10 | 苏州华震工业机器人减速器有限公司 | Hollow speed reducer for precision control |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04331851A (en) * | 1991-05-01 | 1992-11-19 | Sumitomo Heavy Ind Ltd | Manufacture of trochoid group gear shape internal fitting type planetary gear reduction gear |
| JP3557355B2 (en) * | 1998-10-29 | 2004-08-25 | 住友重機械工業株式会社 | Method of manufacturing pin retaining ring for internal gear of internal meshing gear mechanism |
| JP3897924B2 (en) * | 1999-01-25 | 2007-03-28 | ナブテスコ株式会社 | Inner meshing planetary gear unit |
| JP4004256B2 (en) * | 2001-09-13 | 2007-11-07 | ナブテスコ株式会社 | Eccentric rocking speed reducer |
| JP2006077980A (en) | 2004-08-11 | 2006-03-23 | Nabtesco Corp | Reduction gear mounted on revolute joint part of industrial robot |
| JP5221358B2 (en) * | 2006-09-29 | 2013-06-26 | ナブテスコ株式会社 | Reduction gear |
| JP2010071462A (en) * | 2008-08-22 | 2010-04-02 | Ntn Corp | In-wheel motor driving device |
| JP2010249262A (en) * | 2009-04-17 | 2010-11-04 | Nabtesco Corp | Eccentric oscillating gear assembly |
| JP5709373B2 (en) | 2009-12-07 | 2015-04-30 | Ntn株式会社 | In-wheel motor drive device |
-
2012
- 2012-07-03 JP JP2012149350A patent/JP5988424B2/en active Active
-
2013
- 2013-06-19 CN CN201380035096.9A patent/CN104412004B/en active Active
- 2013-06-19 KR KR1020157002513A patent/KR101692647B1/en active IP Right Grant
- 2013-06-19 DE DE112013003373.9T patent/DE112013003373B4/en active Active
- 2013-06-19 WO PCT/JP2013/003827 patent/WO2014006833A1/en active Application Filing
- 2013-06-26 TW TW102122648A patent/TWI595174B/en active
Also Published As
| Publication number | Publication date |
|---|---|
| TWI595174B (en) | 2017-08-11 |
| DE112013003373B4 (en) | 2023-03-09 |
| KR20150027818A (en) | 2015-03-12 |
| CN104412004A (en) | 2015-03-11 |
| KR101692647B1 (en) | 2017-01-03 |
| WO2014006833A1 (en) | 2014-01-09 |
| JP5988424B2 (en) | 2016-09-07 |
| CN104412004B (en) | 2017-12-19 |
| DE112013003373T5 (en) | 2015-03-19 |
| JP2014009808A (en) | 2014-01-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| TWI595174B (en) | Eccentric swing gear device | |
| TWI572795B (en) | Eccentric oscillating gear device | |
| WO2005073595A1 (en) | Eccentrically swinging gear device | |
| JP6181961B2 (en) | Eccentric oscillating gear unit | |
| JP2013096550A (en) | Gear transmission device | |
| JP5297756B2 (en) | Gear transmission | |
| WO2010119631A1 (en) | Eccecntric oscillating gear assembly | |
| WO2015008612A1 (en) | Eccentric rocking-type gear device | |
| TW201804099A (en) | Gear transmission device characterized in that the sliding bearing is applied to the bearing of gear transmission device to stably drive thereof | |
| JP2023184669A (en) | gear unit | |
| WO2014073185A1 (en) | Gear device | |
| JP6184546B2 (en) | Eccentric oscillating gear unit | |
| JP2014005900A (en) | Eccentric rocking gear device | |
| JP6970784B2 (en) | Eccentric swing type gear device | |
| JP4820310B2 (en) | Reduction gear | |
| JP6446101B2 (en) | Eccentric oscillating gear unit | |
| JP6710742B2 (en) | Eccentric oscillating gear device | |
| JP2016153696A (en) | Process of manufacture of gear transmission | |
| JP2014214813A (en) | Eccentric oscillation type gear device | |
| JP2017203550A (en) | Gear transmission device | |
| JP2017202565A (en) | Process of manufacture of gear transmission | |
| JP2009210031A (en) | Gear device |