TW201420923A - Eccentrically oscillating gear device - Google Patents
Eccentrically oscillating gear device Download PDFInfo
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- TW201420923A TW201420923A TW102136220A TW102136220A TW201420923A TW 201420923 A TW201420923 A TW 201420923A TW 102136220 A TW102136220 A TW 102136220A TW 102136220 A TW102136220 A TW 102136220A TW 201420923 A TW201420923 A TW 201420923A
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- outer cylinder
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- 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
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- 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
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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,如下述專利文獻1所揭示,已知有在二個對方側構件間以特定之減速比使轉數減速之偏心擺動型齒輪裝置。該偏心擺動型齒輪裝置係包含固定於一對方構件之外筒、及配置於外筒內且固定於另一對方構件之齒輪架。齒輪架具有一體地形成有軸部之基板部、及端板部。於基板部與端板部之間,夾持著安裝於曲軸之偏心部之擺動齒輪,且在該狀態下,軸部與端板部由螺釘相互地緊固。而且,若擺動齒輪一面嚙合於外筒之內齒一面擺動旋轉,則齒輪架與外筒相對地旋轉。 Conventionally, as disclosed in Patent Document 1 below, an eccentric oscillating type gear device that decelerates the number of revolutions between two opposing members at a specific reduction ratio is known. The eccentric oscillating gear device includes a carrier that is fixed to a counterpart member and a carrier that is disposed in the outer cylinder and that is fixed to the other partner member. The carrier has a base portion in which a shaft portion is integrally formed, and an end plate portion. A swing gear attached to the eccentric portion of the crankshaft is interposed between the substrate portion and the end plate portion, and in this state, the shaft portion and the end plate portion are fastened to each other by screws. Further, when the swing gear meshes with the inner teeth of the outer cylinder and rotates, the carrier rotates relative to the outer cylinder.
構成齒輪架之基板部、軸部、端板部一般而言均包含鐵系材料,又,螺釘亦情況相同。形成於軸部之緊固孔之螺紋、或螺釘之螺紋中,存在加工誤差,故而,在將螺釘緊固時,並非螺牙之所有部分已嚙合。即,存在因螺紋之間距略微地不均,而成為僅一部分螺紋嚙合之狀態之情形。於該情形時,存在當齒輪架受到衝擊時等,導致螺釘之緊固鬆動之類的問題。 The substrate portion, the shaft portion, and the end plate portion constituting the carrier generally include an iron-based material, and the screws are also the same. The thread formed in the fastening hole of the shaft portion or the thread of the screw has a machining error. Therefore, when the screw is tightened, not all the portions of the screw are engaged. That is, there is a case where the distance between the threads is slightly uneven, and only a part of the threads are engaged. In this case, there is a problem that the tightening of the screw is caused when the carrier is subjected to an impact or the like.
[專利文獻1]日本專利特開2006-77980號公報 [Patent Document 1] Japanese Patent Laid-Open Publication No. 2006-77980
本發明之目的在於防止設置於齒輪架之螺釘鬆動。 It is an object of the present invention to prevent the screw provided to the carrier from loosening.
符合本發明之一態樣之偏心擺動型齒輪裝置係一種於第1構件與第2構件之間以特定之轉數比轉換轉數從而傳遞驅動力之齒輪裝置。偏心擺動型齒輪裝置係包含偏心部;擺動齒輪,其具有供上述偏心部***之插穿孔,並且具有齒部;外筒,其係以可安裝於上述第1構件及上述第2構件中之一者之方式構成,且具有與上述擺動齒輪之上述齒部嚙合之內齒;及齒輪架,其係以可安裝於上述第1構件及上述第2構件中之另一者之方式構成。上述齒輪架包含:形成有緊固孔之基部、形成有插穿孔之端板部、及插穿至上述插穿孔且緊固於上述緊固孔中之螺釘。上述螺釘係包含鐵系材料。上述基部係包含縱彈性模數比鐵系材料之縱彈性模數低之材料。上述齒輪架及上述外筒係藉由伴隨上述偏心部之旋轉,上述擺動齒輪一面嚙合於上述內齒一面進行擺動而彼此相對地旋轉。 An eccentric oscillating type gear device according to an aspect of the present invention is a gear device that transmits a driving force between a first member and a second member by converting a number of revolutions at a specific number of revolutions. The eccentric oscillating gear device includes an eccentric portion; the oscillating gear has an insertion hole for inserting the eccentric portion, and has a tooth portion; and an outer cylinder that is attachable to one of the first member and the second member And configured to have internal teeth that mesh with the tooth portions of the swing gear; and a carrier that is configured to be attachable to the other of the first member and the second member. The carrier includes a base portion formed with a fastening hole, an end plate portion formed with a through hole, and a screw inserted into the insertion hole and fastened in the fastening hole. The above screw system contains an iron-based material. The base portion includes a material having a longitudinal elastic modulus lower than that of the iron-based material. The carrier and the outer cylinder are rotated by the eccentric portion, and the oscillating gear is oscillated while being engaged with the internal teeth.
1‧‧‧偏心擺動型齒輪裝置 1‧‧‧Eccentric swing gear device
2‧‧‧外筒 2‧‧‧Outer tube
2a‧‧‧插穿孔 2a‧‧‧ inserted perforation
2b‧‧‧銷槽 2b‧‧‧ pin slot
3‧‧‧內齒銷 3‧‧‧ internal gear
4‧‧‧齒輪架 4‧‧‧Gear rack
4a‧‧‧基板部 4a‧‧‧Substrate Department
4c‧‧‧軸部 4c‧‧‧Axis
4d‧‧‧貫通孔 4d‧‧‧through hole
4e‧‧‧安裝孔 4e‧‧‧ mounting holes
4f‧‧‧緊固孔 4f‧‧‧ fastening holes
4g‧‧‧緊固孔 4g‧‧‧ fastening holes
5‧‧‧基部 5‧‧‧ base
6‧‧‧一對主軸承 6‧‧‧A pair of main bearings
7‧‧‧端板部 7‧‧‧End Plate Department
7a‧‧‧貫通孔 7a‧‧‧through hole
7b‧‧‧曲軸安裝孔 7b‧‧‧ crankshaft mounting holes
7c‧‧‧螺釘插穿孔 7c‧‧‧screw insertion
8‧‧‧輸入軸 8‧‧‧ input shaft
8a‧‧‧輸入齒輪 8a‧‧‧ input gear
9‧‧‧螺釘 9‧‧‧ screws
10‧‧‧曲軸 10‧‧‧ crankshaft
10a‧‧‧第1偏心部 10a‧‧‧1st eccentric
10b‧‧‧第2偏心部 10b‧‧‧2nd eccentric
10c‧‧‧軸本體 10c‧‧‧ axis body
10d‧‧‧被嵌合部 10d‧‧‧Fitting Department
12a‧‧‧第1曲柄軸承 12a‧‧‧1st crank bearing
12b‧‧‧第2曲柄軸承 12b‧‧‧2nd crank bearing
14‧‧‧第1擺動齒輪 14‧‧‧1st swing gear
14a‧‧‧第1外齒 14a‧‧‧1st external tooth
14b‧‧‧中央部貫通孔 14b‧‧‧Central through hole
14c‧‧‧第1偏心部插穿孔 14c‧‧‧1st eccentric insertion punch
14d‧‧‧軸部插穿孔 14d‧‧‧Axis insertion and perforation
16‧‧‧第2擺動齒輪 16‧‧‧2nd swing gear
16a‧‧‧第2外齒 16a‧‧‧2nd external tooth
16b‧‧‧中央部貫通孔 16b‧‧‧Central through hole
16c‧‧‧第2偏心部插穿孔 16c‧‧‧Second eccentric insertion piercing
16d‧‧‧軸部插穿孔 16d‧‧‧Axis insertion piercing
18a‧‧‧第1滾子軸承 18a‧‧‧1st roller bearing
18b‧‧‧第2滾子軸承 18b‧‧‧2nd roller bearing
20‧‧‧傳遞齒輪 20‧‧‧Transmission gear
20a‧‧‧外齒 20a‧‧‧ external teeth
圖1係表示本發明之實施形態之偏心擺動型齒輪裝置之構成之剖面圖。 Fig. 1 is a cross-sectional view showing the configuration of an eccentric oscillating gear device according to an embodiment of the present invention.
圖2係圖1之II-II線中之剖面圖。 Figure 2 is a cross-sectional view taken along line II-II of Figure 1.
以下,對本發明之實施形態之偏心擺動型齒輪裝置,參照圖式,詳細地進行說明。本實施形態之偏心擺動型齒輪裝置(以下,稱為齒輪裝置)1係作為減速機適用於例如機械手之迴轉體或腕關節等之迴轉部、及各種工具機之迴轉部等。 Hereinafter, the eccentric oscillating gear device according to the 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 applied as a reduction gear to, for example, a revolving unit such as a revolver or a wrist joint of a robot, and a revolving portion of various machine tools.
本實施形態之齒輪裝置1係構成為藉由使輸入軸8旋轉之而使曲軸10旋轉,從而與曲軸10之偏心部10a、10b聯動地使擺動齒輪14、16擺動旋轉,藉此,自輸入旋轉獲得經減速之輸出旋轉。藉此,例如在機械手之基底(一對方構件)與迴轉體(另一對方構件)之間,可產生相 對旋轉。例如基底係以第1構件例示,例如迴轉體係以第2構件例示。 The gear device 1 of the present embodiment is configured such that the crankshaft 10 is rotated by rotating the input shaft 8, and the swing gears 14 and 16 are oscillated and rotated in conjunction with the eccentric portions 10a and 10b of the crankshaft 10, whereby the input is self-input. Rotation produces a decelerated output rotation. Thereby, for example, between the base of the robot (a counterpart member) and the body of revolution (the other partner member), a phase can be generated. Right to rotate. For example, the base member is exemplified by the first member, and for example, the swing system is exemplified by the second member.
如圖1及2所示,齒輪裝置1係包括外筒2、齒輪架4、輸入軸8、複數個(例如3個)曲軸10、第1擺動齒輪14、第2擺動齒輪16、及複數個(例如3個)傳遞齒輪20。 As shown in FIGS. 1 and 2, the gear device 1 includes an outer cylinder 2, a carrier 4, an input shaft 8, a plurality of (for example, three) crankshafts 10, a first oscillating gear 14, a 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之外表面者,且具有大致圓筒形狀。於外筒2之內周面,形成有多個銷槽2b。各銷槽2b係以在外筒2之軸方向上延伸之方式配置,且於與軸方向正交之剖面上,具有半圓形之剖面形狀。該等銷槽2b係在周向上等間隔地排列於外筒2之內周面。 The outer cylinder 2 constitutes the outer surface of the gear unit 1, and has a substantially cylindrical shape. A plurality of pin grooves 2b are formed in the inner circumferential surface of the outer cylinder 2. Each of the pin grooves 2b is disposed to extend in the axial direction of the outer cylinder 2, and has a semicircular cross-sectional shape in a cross section orthogonal to the axial direction. These pin grooves 2b are arranged on the inner circumferential surface of the outer cylinder 2 at equal intervals in the circumferential direction.
外筒2具有多個內齒銷3。各內齒銷3係分別安裝於銷槽2b。具體而言,各內齒銷3係分別嵌入於對應之銷槽2b,且以在外筒2之軸方向上延伸之姿勢配置。藉此,多個內齒銷3沿外筒2之周向,等間隔地排列。於該等內齒銷3中,第1擺動齒輪14之第1外齒14a及第2擺動齒輪16之第2外齒16a嚙合。 The outer cylinder 2 has a plurality of inner tooth pins 3. Each of the internal tooth pins 3 is attached to the pin groove 2b. Specifically, each of the internal tooth pins 3 is fitted into the corresponding pin groove 2b, and is disposed in a posture extending in the axial direction of the outer tube 2. Thereby, the plurality of internal tooth pins 3 are arranged at equal intervals along the circumferential direction of the outer cylinder 2. In 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 mesh.
於外筒2,設置有凸緣部,且該凸緣部形成有用以將例如用於固定於機械手之基底之緊固具(螺釘)插穿之插穿孔2a。 The outer cylinder 2 is provided with a flange portion, and the flange portion forms an insertion hole 2a for inserting, for example, a fastening tool (screw) for fixing to the base of the robot.
齒輪架4係在與外筒2配置於同軸上之狀態下,收容於外筒2內。齒輪架4係對於外筒2圍繞相同之軸進行相對旋轉。具體而言,齒輪架4係配置於外筒2之直徑方向內側,且於該狀態下,由軸方向上相互隔開地設置之一對主軸承6以對於外筒2可相對旋轉之方式支持。 The carrier 4 is housed in the outer cylinder 2 in a state in which it is disposed coaxially with the outer cylinder 2. The carrier 4 is relatively rotated about the same axis for the outer cylinder 2. Specifically, the carrier 4 is disposed on the inner side in the diameter direction of the outer cylinder 2, and in this state, one of the pair of main bearings 6 is provided to be relatively rotatable with respect to the outer cylinder 2 so as to be spaced apart from each other in the axial direction. .
齒輪架4係包括具有基板部4a與複數個(例如3個)軸部4c之基部5、及端板部7。 The carrier 4 includes a base portion 5 having a substrate portion 4a and a plurality of (for example, three) shaft portions 4c, and an end plate portion 7.
基板部4a係於外筒2內配置在軸方向之一端部附近。於該基板部4a之直徑方向中央部設置有圓形之貫通孔4d。於貫通孔4d之周圍,沿周向等間隔地設置有複數個(例如3個)曲軸安裝孔4e(以下,簡稱為安裝孔4e)。 The substrate portion 4a is disposed in the vicinity of one end portion in the axial direction in the outer tube 2. A circular through hole 4d is provided in a central portion of the substrate portion 4a in the diameter direction. 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 around the through holes 4d.
於基板部4a,形成有用以將省略圖式之緊固具(螺釘)緊固之緊固 孔4g,該緊固具(螺釘)係用於將齒輪架4固定於例如機械手之迴轉體。 In the substrate portion 4a, a fastening for fastening the fastening tool (screw) of the drawings is formed. A hole 4g for fixing the carrier 4 to, for example, a rotary body of a robot.
端板部7係在軸方向上相對基板部4a隔開地設置,且於外筒2內,配置於軸方向之另一端部附近。於端板部7之直徑方向中央部設置有貫通孔7a。於貫通孔7a之周圍,將複數個(例如3個)曲軸安裝孔7b(以下,簡稱為安裝孔7b)設置於與基板部4a之複數個安裝孔4e對應之位置。在外筒2內,形成有由端板部7及基板部4a之相互対向之兩者之內面、及外筒2之內周面包圍之閉合空間。 The end plate portion 7 is provided to be spaced apart from the substrate portion 4a in the axial direction, and is disposed in the outer tube 2 in the vicinity of the other end portion in the axial direction. A through hole 7a is provided in a central portion of the end plate portion 7 in the diameter direction. A plurality of (for example, three) crankshaft mounting holes 7b (hereinafter, simply referred to as mounting holes 7b) are provided around the through holes 7a at positions corresponding to the plurality of mounting holes 4e of the substrate portion 4a. In the outer cylinder 2, a closed space surrounded by the inner surfaces of the end plate portion 7 and the substrate portion 4a facing each other and the inner circumferential surface of the outer cylinder 2 is formed.
複數個軸部4c係與基板部4a一體地設置,且自基板部4a之一主面(內側面)朝向端板部7側直線地延伸。該複數個軸部4c係於周向上等間隔地配設(參照圖2)。各軸部4c係藉由螺釘9而緊固於端板部7(參照圖1)。即,於端板部7上形成有螺釘插穿孔7c,且於軸部4c(基部4),以自其前端面沿軸方向延伸之方式形成有緊固孔4f。而且,於端板部7之螺釘插穿孔7c,自與基部4相反側***有螺釘9。該螺釘9係螺合於軸部4c之緊固孔4f。藉此,將基板部4a、軸部4c及端板部7一體化。 The plurality of shaft portions 4c are integrally provided with the substrate portion 4a, and linearly extend from one main surface (inner side surface) of the substrate portion 4a toward the end plate portion 7 side. The plurality of shaft portions 4c are disposed at equal intervals in the circumferential direction (see FIG. 2). Each of the shaft portions 4c is fastened to the end plate portion 7 by a screw 9 (see Fig. 1). In other words, the end plate portion 7 is formed with a screw insertion hole 7c, and the shaft portion 4c (base portion 4) is formed with a fastening hole 4f so as to extend in the axial direction from the front end surface thereof. Further, a screw 9 is inserted into the screw insertion hole 7c of the end plate portion 7 from the side opposite to the base portion 4. The screw 9 is screwed to the fastening hole 4f of the shaft portion 4c. Thereby, the substrate portion 4a, the shaft portion 4c, and the end plate portion 7 are integrated.
輸入軸8係作為輸入省略圖示之驅動馬達之驅動力之輸入部發揮功能者。輸入軸8係***至端板部7之貫通孔7a及基板部4a之貫通孔4d。輸入軸8係以其軸心與外筒2及齒輪架4之軸心一致之方式配置,且繞軸旋轉。於輸入軸8之前端部之外周面設置有輸入齒輪8a。 The input shaft 8 functions as an input unit that inputs a driving force of a drive motor (not shown). The input shaft 8 is inserted into the through hole 7a of the end plate portion 7 and the through hole 4d of the substrate portion 4a. The input shaft 8 is disposed such that its axis coincides with the axis of the outer cylinder 2 and the carrier 4, and rotates around the shaft. An input gear 8a is provided on the outer peripheral surface of the front end of the input shaft 8.
複數個曲軸10係於外筒2內,等間隔地配置在輸入軸8之周圍(參照圖2)。各曲軸10係由一對曲柄軸承12a、12b可相對齒輪架4繞軸旋轉地支持(參照圖1)。具體而言,自各曲軸10之軸方向之一端相隔特定長度地將第1曲柄軸承12a安裝於軸方向內側之部分,且將該第1曲柄軸承12a安裝在基板部4a之安裝孔4e。另一方面,於各曲軸10之軸方向之另一端部,安裝第2曲柄軸承12b,且將該第2曲柄軸承12b安裝在端板部7之安裝孔7b。藉此,曲軸10可旋轉地支持於基板部4a及端 板部7。 A plurality of crankshafts 10 are arranged in the outer cylinder 2, and are arranged 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 and 12b so as to be rotatable about the carrier 4 (see Fig. 1). Specifically, the first crank bearing 12a is attached to the inner side in the axial direction with a predetermined length from one end of the crankshaft 10 in the axial direction, and the first crank bearing 12a is attached to the mounting hole 4e of the substrate portion 4a. On the other hand, the second crank bearing 12b is attached to the other end portion of the crankshaft 10 in the axial direction, and the second crank bearing 12b is attached to the mounting hole 7b of the end plate portion 7. Thereby, the crankshaft 10 is rotatably supported by the substrate portion 4a and the end Plate section 7.
各曲軸10係包含軸本體10c、及一體地形成於該軸本體10c之偏心部10a、10b。第1偏心部10a與第2偏心部10b係沿軸方向排列地配置於由兩曲柄軸承12a、12b支持之部分之間。第1偏心部10a與第2偏心部10b分別具有圓柱形狀,且均以相對軸本體10c之軸心偏心之狀態自軸本體10c伸出至直徑方向外側。第1偏心部10a與第2偏心部10b係分別自軸心以特定之偏心量偏心,且相互以具有特定角度之相位差之方式配置。 Each of the crankshafts 10 includes a shaft body 10c and eccentric portions 10a and 10b integrally formed in the shaft body 10c. The first eccentric portion 10a and the second eccentric portion 10b are arranged in the axial direction so as to be arranged 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 is extended from the shaft main body 10c to the outer side in the radial direction in a state of being eccentric with respect to the axial center of the shaft main body 10c. The first eccentric portion 10a and the second eccentric portion 10b are respectively eccentric from the axial center by a specific eccentric amount, and are disposed so as to have a phase difference of a specific angle.
於曲軸10之一端部、即安裝於基板部4a之安裝孔4e內之部分之軸方向外側之部位,設置有安裝著傳遞齒輪20之被嵌合部10d。 A fitting portion 10d to which the transmission gear 20 is attached is provided at one end portion of the crankshaft 10, that is, a portion of the portion of the mounting portion 4e that is attached to the mounting hole 4e of the substrate portion 4a.
第1擺動齒輪14係配設於外筒2內之上述閉合空間,並且介隔第1滾子軸承18a安裝於各曲軸10之第1偏心部10a。第1擺動齒輪14係若各曲軸10旋轉,從而第1偏心部10a偏心旋轉,則與該偏心旋轉聯動地一面嚙合於內齒銷3一面進行擺動旋轉。 The first oscillating gear 14 is disposed in the closed space in the outer cylinder 2, and is attached to the first eccentric portion 10a of each of the crankshafts 10 via the first roller bearing 18a. When the first eccentric portion 10a is eccentrically rotated, the first oscillating gear 14 rotates in conjunction with the eccentric rotation while engaging the internal tooth pin 3 in conjunction with the eccentric rotation.
第1擺動齒輪14具有相較外筒2之內徑略小之大小。第1擺動齒輪14係包括第1外齒14a、中央部貫通孔14b、複數個(例如3個)第1偏心部插穿孔14c、及複數個(例如3個)軸部插穿孔14d。第1外齒14a具有遍及擺動齒輪14之周向整體地平滑連續之波形狀。 The first oscillating gear 14 has a size slightly smaller than the inner diameter of the outer cylinder 2. The first oscillating gear 14 includes 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 have a wave shape that is smoothly and continuously continuous throughout the circumferential direction of the swing gear 14.
中央部貫通孔14b係設置於第1擺動齒輪14之直徑方向中央部。於中央部貫通孔14b,以具有裕度之狀態插穿有輸入軸8。 The center portion through hole 14b is provided at a central portion in the diameter direction of the first swing gear 14. The input shaft 8 is inserted through the center through hole 14b with a margin.
複數個第1偏心部插穿孔14c係於第1擺動齒輪14,沿周向等間隔地設置在中央部貫通孔14b之周圍。於各第1偏心部插穿孔14c,在介裝第1滾子軸承18a之狀態下,分別插穿有各曲軸10之第1偏心部10a。 The plurality of first eccentric portion insertion holes 14c are attached to the first oscillating gear 14, and are provided at equal intervals in the circumferential direction around the center portion through hole 14b. The first eccentric portion is inserted into the through hole 14c, and the first eccentric portion 10a of each of the crankshafts 10 is inserted into the first roller bearing 18a.
複數個軸部插穿孔14d係於第1擺動齒輪14,圍繞著中央部貫通孔14b沿周向等間隔地設置。各軸部插穿孔14d係於周向上分別配設於相鄰之第1偏心部插穿孔14c間之位置。於各軸部插穿孔14d,以具有 裕度之狀態插穿有對應之軸部4c。 The plurality of shaft insertion holes 14d are attached to the first swing gear 14, and are disposed at equal intervals in the circumferential direction around the center portion through hole 14b. Each of the shaft insertion holes 14d is disposed at a position between the adjacent first eccentric portion insertion holes 14c in the circumferential direction. Inserting a perforation 14d into each shaft portion to have The state of the margin is inserted through the corresponding shaft portion 4c.
第2擺動齒輪16係配設於外筒2內之上述閉合空間,並且介隔第2滾子軸承18b安裝於各曲軸10之第2偏心部10b。第1擺動齒輪14與第2擺動齒輪16係對應著第1偏心部10a與第2偏心部10b之配置在軸方向上排列地設置。第2擺動齒輪16係若各曲軸10旋轉,從而第2偏心部10b偏心旋轉,則與該偏心旋轉聯動地一面嚙合於內齒銷3一面進行擺動旋轉。 The second oscillating gear 16 is disposed in the closed space in the outer cylinder 2, and is attached to the second eccentric portion 10b of each of the crankshafts 10 via the second roller bearing 18b. The first oscillating gear 14 and the second oscillating gear 16 are arranged in the axial direction in accordance with the arrangement of the first eccentric portion 10a and the second eccentric portion 10b. When the second eccentric portion 10b is eccentrically rotated, the second oscillating gear 16 rotates in conjunction with the eccentric rotation while engaging the internal tooth pin 3 in conjunction with the eccentric rotation.
第2擺動齒輪16具有比外筒2之內徑略小之大小,從而成為與第1擺動齒輪14相同之構成。即,第2擺動齒輪16係包含第2外齒16a、中央部貫通孔16b、複數個(例如3個)第2偏心部插穿孔16c及複數個(例如3個)軸部插穿孔16d。該等具有與第1擺動齒輪14之第1外齒14a、中央部貫通孔14b、複數個第1偏心部插穿孔14c及複數個軸部插穿孔14d相同之結構。於各第2偏心部插穿孔16c,以介裝有第2滾子軸承18b之狀態插穿有曲軸10之第2偏心部10b。 The second oscillating gear 16 has a size slightly smaller than the inner diameter of the outer cylinder 2, and has the same configuration as that of the first oscillating gear 14. In other words, the second oscillating gear 16 includes the second external teeth 16a, the central portion through hole 16b, a plurality of (for example, three) second eccentric portion insertion through holes 16c, and a plurality of (for example, three) shaft portion insertion through holes 16d. These have the same configuration as the first external teeth 14a of the first oscillating gear 14, the central portion through hole 14b, the plurality of first eccentric portion insertion holes 14c, and the plurality of shaft portion insertion holes 14d. The second eccentric portion 10c is inserted into each of the second eccentric portions, and the second eccentric portion 10b of the crankshaft 10 is inserted through the second roller bearing 18b.
各傳遞齒輪20係將輸入齒輪8a之旋轉傳遞至對應之曲軸10者。各傳遞齒輪20係分別外嵌於對應之曲軸10之軸本體10c中之設於一端部之被嵌合部10d。各傳遞齒輪20係圍繞與曲軸10之旋轉軸相同之軸,與該曲軸10一體地旋轉。各傳遞齒輪20具有與輸入齒輪8a嚙合之外齒20a。 Each of the transmission gears 20 transmits the rotation of the input gear 8a to the corresponding crankshaft 10. Each of the transmission gears 20 is externally fitted to the fitted portion 10d provided at one end of the shaft body 10c of the corresponding crankshaft 10. Each of the transmission gears 20 is rotatable integrally with the crankshaft 10 about the same axis as the rotation axis of the crankshaft 10. Each of the transmission gears 20 has teeth 20a that mesh with the input gear 8a.
此處,對構成齒輪架4及外筒2之素材進行說明。 Here, the materials constituting the carrier 4 and the outer cylinder 2 will be described.
齒輪架4之基部5(即基板部4a及軸部4c)與外筒2係分別包含鋁或鋁合金。又,齒輪架4之端板部7亦包含鋁或鋁合金。另一方面,緊固基部5與端板部7之螺釘9包含不鏽鋼、鉻鉬鋼等鐵系材料。再者,就基部5而言,不僅限於包含鋁或鋁合金,亦可取而代之,包含纖維強化塑膠或鎂合金等縱彈性模數比鐵系材料之縱彈性模數低之材料。 The base portion 5 of the carrier 4 (i.e., the substrate portion 4a and the shaft portion 4c) and the outer cylinder 2 respectively contain aluminum or an aluminum alloy. Further, the end plate portion 7 of the carrier 4 also contains aluminum or an aluminum alloy. On the other hand, the screw 9 for fastening the base portion 5 and the end plate portion 7 includes an iron-based material such as stainless steel or chrome-molybdenum steel. Further, the base portion 5 is not limited to containing aluminum or an aluminum alloy, and may alternatively include a material having a longitudinal elastic modulus such as a fiber-reinforced plastic or a magnesium alloy that is lower than a longitudinal elastic modulus of the iron-based material.
如以上所說明,於本實施形態之齒輪裝置1中,構成齒輪架4且 形成有將螺釘9緊固之緊固孔4f之基部5之軸部4c係鋁製或鋁合金製,且螺釘9包含鐵系材料。因此,相較螺釘9而言,基部5之軸部4c較為柔軟。因而,當將插穿至端板部7之螺釘插穿孔7c中之螺釘9螺合於軸部4c之緊固孔4f時,緊固孔4f之螺紋容易彈性變形。因此,即便存在因加工誤差導致螺紋之間距略微不同之部分,亦可藉由緊固孔4f之螺紋中之觸碰強之部分進行彈性變形,而遍及螺牙之軸方向之整體地使螺牙彼此均等地嚙合。因而,可避免螺釘9之螺紋與緊固孔之螺紋僅於該一部分嚙合之事態,從而在齒輪架4受到衝擊時等,可防止螺釘9鬆動。 As described above, in the gear device 1 of the present embodiment, the carrier 4 is configured and The shaft portion 4c of the base portion 5 in which the fastening hole 4f for fastening the screw 9 is formed is made of aluminum or aluminum alloy, and the screw 9 contains an iron-based material. Therefore, the shaft portion 4c of the base portion 5 is softer than the screw 9. Therefore, when the screw 9 inserted into the screw insertion hole 7c of the end plate portion 7 is screwed to the fastening hole 4f of the shaft portion 4c, the thread of the fastening hole 4f is easily elastically deformed. Therefore, even if there is a slightly different portion between the threads due to the machining error, the portion of the thread of the fastening hole 4f can be elastically deformed, and the thread can be integrally formed in the axial direction of the screw. Engage equally with each other. Therefore, it is possible to prevent the thread of the screw 9 and the thread of the fastening hole from being engaged only by the portion, so that the screw 9 can be prevented from being loosened when the carrier 4 is subjected to an impact or the like.
又,於本實施形態中,外筒2亦為鋁製或鋁合金製,因此,可實現作為齒輪裝置1之輕量化。又,可不易受到磁場之影響。又,可提昇外筒2之傳熱性能,因此,可容易釋放外筒2內部之熱。因而,可抑制擺動齒輪14、16升溫,從而可抑制擺動齒輪14、16之熱膨脹。其結果,可抑制擺動齒輪14、16之齒部14a、16a之面壓上升,故可延長擺動齒輪14、16之使用壽命。 Further, in the present embodiment, since the outer cylinder 2 is also made of aluminum or aluminum alloy, the weight of the gear unit 1 can be reduced. Moreover, it can be less susceptible to magnetic fields. Further, the heat transfer performance of the outer cylinder 2 can be improved, and therefore, the heat inside the outer cylinder 2 can be easily released. Therefore, the temperature rise of the swing gears 14, 16 can be suppressed, and the thermal expansion of the swing gears 14, 16 can be suppressed. As a result, the surface pressure of the tooth portions 14a and 16a of the swing gears 14 and 16 can be suppressed from increasing, so that the service life of the swing gears 14 and 16 can be extended.
再者,本發明並非限於上述實施形態,可在不脫離本發明之精神之範圍內進行各種變更、改良。例如,上述實施形態係設為設置有2個擺動齒輪14、16之構成,但並不限於此。例如,亦可為設置有1個擺動齒輪之構成、或設置有3個以上擺動齒輪之構成。 The present invention is not limited to the above-described embodiments, and various modifications and improvements can be made without departing from the spirit of the invention. For example, the above embodiment is configured such that two swing gears 14 and 16 are provided, but the present invention is not limited thereto. For example, a configuration in which one swing gear is provided or three or more swing gears may be provided.
上述實施形態係將輸入軸8配設於齒輪架4之中央部,且將複數個曲軸10配設於輸入軸8之周圍之構成,但並不限於此。例如,亦可為將曲軸10配設於齒輪架4之直徑方向中央部之中間曲柄式。於該情形時,若設置為輸入軸8可與安裝於曲軸10之傳遞齒輪20嚙合,則輸入軸8可配設於任意之位置。 In the above embodiment, the input shaft 8 is disposed at the center of the carrier 4, and a plurality of the 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 the middle crank type of the center portion of the carrier 4 in the diameter direction. In this case, if the input shaft 8 is provided to be engageable with the transmission gear 20 mounted on the crankshaft 10, the input shaft 8 can be disposed at any position.
此處,對上述實施形態進行概述。 Here, the above embodiment will be outlined.
(1)於本實施形態中,構成齒輪架且形成有將螺釘緊固之緊固孔 之基部係包含縱彈性模數比鐵系材料低之材料,且螺釘包含鐵系材料。因此,相較螺釘,基部較為柔軟。因而,當將插穿至端板部之插穿孔中之螺釘緊固於基部時,緊固孔之螺紋容易彈性變形。因此,即便存在因加工誤差導致螺紋之間距略微不同之部分,亦可藉由緊固孔之螺紋中之觸碰強之部分彈性變形,而遍及螺牙之軸方向之整體地使螺牙彼此均等地嚙合。因而,可避免螺釘之螺紋與緊固孔之螺紋僅於該一部分嚙合之事態,從而在齒輪架受到衝擊時等,可防止螺釘鬆動。 (1) In the present embodiment, the carrier is formed and a fastening hole for fastening the screw is formed. The base includes a material having a lower longitudinal modulus than the iron-based material, and the screw contains an iron-based material. Therefore, the base is softer than the screw. Therefore, when the screw inserted into the insertion hole of the end plate portion is fastened to the base, the thread of the fastening hole is easily elastically deformed. Therefore, even if there is a slightly different portion between the threads due to the machining error, the portion of the thread of the fastening hole can be elastically deformed by the strong portion of the thread of the fastening hole, and the threads can be made equal to each other throughout the axial direction of the thread. Ground engagement. Therefore, it is possible to prevent the thread of the screw and the thread of the fastening hole from being engaged only in the part, thereby preventing the screw from being loosened when the carrier is subjected to an impact or the like.
(2)再者,縱彈性模數比鐵系材料低之材料中,亦可使用例如鋁或鋁合金作為基部之材料。鋁合金為輕量,且市場之獲得性亦較佳。 (2) Further, in the material having a lower longitudinal elastic modulus than the iron-based material, for example, aluminum or an aluminum alloy may be used as the base material. Aluminum alloys are lightweight and market accessibility is also preferred.
(3)上述外筒亦可為鋁製或鋁合金製。該態樣下,可進而實現作為偏心擺動型齒輪裝置之輕量化。又,可不易受到磁場之影響。又,可提昇外筒之傳熱性能,因此,可容易釋放外筒內部之熱。因而,可抑制擺動齒輪升溫,從而可抑制擺動齒輪之熱膨脹。其結果,可抑制擺動齒輪之齒部之面壓上升,故可延長擺動齒輪之使用壽命。 (3) The outer cylinder may be made of aluminum or aluminum alloy. In this aspect, the weight reduction of the eccentric oscillating gear device can be further achieved. Moreover, it can be less susceptible to magnetic fields. Further, the heat transfer performance of the outer cylinder can be improved, and therefore, the heat inside the outer cylinder can be easily released. Therefore, the temperature rise of the swing gear can be suppressed, and the thermal expansion of the swing gear can be suppressed. As a result, the increase in the surface pressure of the tooth portion of the swing gear can be suppressed, so that the service life of the swing gear can be extended.
如以上所說明,根據本實施形態,可防止設置於齒輪架之螺釘鬆動。 As described above, according to the present embodiment, it is possible to prevent the screw provided on the carrier from being loosened.
1‧‧‧偏心擺動型齒輪裝置 1‧‧‧Eccentric swing gear device
2‧‧‧外筒 2‧‧‧Outer tube
2a‧‧‧插穿孔 2a‧‧‧ inserted perforation
2b‧‧‧銷槽 2b‧‧‧ pin slot
3‧‧‧內齒銷 3‧‧‧ internal gear
4‧‧‧齒輪架 4‧‧‧Gear rack
4a‧‧‧基板部 4a‧‧‧Substrate Department
4c‧‧‧軸部 4c‧‧‧Axis
4d‧‧‧貫通孔 4d‧‧‧through hole
4e‧‧‧安裝孔 4e‧‧‧ mounting holes
4f‧‧‧緊固孔 4f‧‧‧ fastening holes
4g‧‧‧緊固孔 4g‧‧‧ fastening holes
5‧‧‧基部 5‧‧‧ base
6‧‧‧一對主軸承 6‧‧‧A pair of main bearings
7‧‧‧端板部 7‧‧‧End Plate Department
7a‧‧‧貫通孔 7a‧‧‧through hole
7b‧‧‧曲軸安裝孔 7b‧‧‧ crankshaft mounting holes
7c‧‧‧螺釘插穿孔 7c‧‧‧screw insertion
8‧‧‧輸入軸 8‧‧‧ input shaft
8a‧‧‧輸入齒輪 8a‧‧‧ input gear
9‧‧‧螺釘 9‧‧‧ screws
10‧‧‧曲軸 10‧‧‧ crankshaft
10a‧‧‧第1偏心部 10a‧‧‧1st eccentric
10b‧‧‧第2偏心部 10b‧‧‧2nd eccentric
10c‧‧‧軸本體 10c‧‧‧ axis body
10d‧‧‧被嵌合部 10d‧‧‧Fitting Department
12a‧‧‧第1曲柄軸承 12a‧‧‧1st crank bearing
12b‧‧‧第2曲柄軸承 12b‧‧‧2nd crank bearing
14‧‧‧第1擺動齒輪 14‧‧‧1st swing gear
14a‧‧‧第1外齒 14a‧‧‧1st external tooth
14b‧‧‧中央部貫通孔 14b‧‧‧Central through hole
14c‧‧‧第1偏心部插穿孔 14c‧‧‧1st eccentric insertion punch
14d‧‧‧軸部插穿孔 14d‧‧‧Axis insertion and perforation
16‧‧‧第2擺動齒輪 16‧‧‧2nd swing gear
16a‧‧‧第2外齒 16a‧‧‧2nd external tooth
16b‧‧‧中央部貫通孔 16b‧‧‧Central through hole
16c‧‧‧第2偏心部插穿孔 16c‧‧‧Second eccentric insertion piercing
16d‧‧‧軸部插穿孔 16d‧‧‧Axis insertion piercing
18a‧‧‧第1滾子軸承 18a‧‧‧1st roller bearing
18b‧‧‧第2滾子軸承 18b‧‧‧2nd roller bearing
20a‧‧‧外齒 20a‧‧‧ external teeth
Claims (3)
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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JP2012223830A JP2014077453A (en) | 2012-10-09 | 2012-10-09 | Eccentric oscillation type gear device |
Publications (1)
Publication Number | Publication Date |
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TW201420923A true TW201420923A (en) | 2014-06-01 |
Family
ID=50477112
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
TW102136220A TW201420923A (en) | 2012-10-09 | 2013-10-07 | Eccentrically oscillating gear device |
Country Status (6)
Country | Link |
---|---|
JP (1) | JP2014077453A (en) |
KR (1) | KR20150068372A (en) |
CN (1) | CN104736888A (en) |
DE (1) | DE112013004942T5 (en) |
TW (1) | TW201420923A (en) |
WO (1) | WO2014057628A1 (en) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105351499A (en) * | 2015-08-11 | 2016-02-24 | 华南理工大学 | Rotate vector (RV) reducer with light type aluminum alloy structure |
CN105570437B (en) * | 2016-03-12 | 2019-02-15 | 深圳市领略数控设备有限公司 | A kind of low back clearance robot speed reducer |
JP6752070B2 (en) * | 2016-07-12 | 2020-09-09 | ナブテスコ株式会社 | Gear device |
JP6859039B2 (en) * | 2016-07-12 | 2021-04-14 | ナブテスコ株式会社 | Gear device |
JP6898876B2 (en) | 2018-02-28 | 2021-07-07 | 住友重機械工業株式会社 | Eccentric swing type speed reducer |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2003322168A (en) * | 2002-02-26 | 2003-11-14 | Nippon Light Metal Co Ltd | Joining structure of rotary element with drive shaft to rotary structure and joining method |
JP2004245321A (en) * | 2003-02-13 | 2004-09-02 | Kayaba Ind Co Ltd | Looseness preventing structure in spiral joint |
CN101328953B (en) * | 2004-01-30 | 2011-03-30 | 纳博特斯克株式会社 | Eccentric oscillating-type planetary gear device |
JP2005262340A (en) * | 2004-03-16 | 2005-09-29 | Fanuc Ltd | Industrial robot |
JP5156961B2 (en) * | 2008-10-24 | 2013-03-06 | 住友重機械工業株式会社 | Reduction gear |
JP2011185367A (en) * | 2010-03-09 | 2011-09-22 | Nabtesco Corp | Member connecting structure and gear device |
-
2012
- 2012-10-09 JP JP2012223830A patent/JP2014077453A/en active Pending
-
2013
- 2013-10-01 CN CN201380052920.1A patent/CN104736888A/en active Pending
- 2013-10-01 DE DE112013004942.2T patent/DE112013004942T5/en not_active Withdrawn
- 2013-10-01 KR KR1020157008346A patent/KR20150068372A/en not_active Application Discontinuation
- 2013-10-01 WO PCT/JP2013/005855 patent/WO2014057628A1/en active Application Filing
- 2013-10-07 TW TW102136220A patent/TW201420923A/en unknown
Also Published As
Publication number | Publication date |
---|---|
DE112013004942T5 (en) | 2015-07-16 |
CN104736888A (en) | 2015-06-24 |
JP2014077453A (en) | 2014-05-01 |
KR20150068372A (en) | 2015-06-19 |
WO2014057628A1 (en) | 2014-04-17 |
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