TW201632760A - Speed reduction unit, speed reducer and design method of speed reducer - Google Patents

Speed reduction unit, speed reducer and design method of speed reducer Download PDF

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Publication number
TW201632760A
TW201632760A TW104141944A TW104141944A TW201632760A TW 201632760 A TW201632760 A TW 201632760A TW 104141944 A TW104141944 A TW 104141944A TW 104141944 A TW104141944 A TW 104141944A TW 201632760 A TW201632760 A TW 201632760A
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Taiwan
Prior art keywords
gear
support bearing
journal
shaft
crank assembly
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TW104141944A
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Chinese (zh)
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TWI675972B (en
Inventor
Kazuya Furuta
Syunsuke Yoshida
Tomohiko Masuda
Daiki Masuda
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Nabtesco Corp
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Publication of TW201632760A publication Critical patent/TW201632760A/en
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Publication of TWI675972B publication Critical patent/TWI675972B/en

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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
    • 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
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)

Abstract

The present invention discloses a speed reduction unit, which comprises: a first speed reducer having a first crank assembly, where the first crank assembly is rotated around a first transmission shaft spaced by a first distance from a first shaft assigned as a rotation axis of a first output portion and a first rocking gear is rocked by having the first output portion rotating around the first shaft; and a second speed reducer having a second crank assembly, where the second crank assembly is rotated around a second transmission shaft spaced by a second distance that is different from the first distance from a second shaft assigned as a rotation axis of a second output portion, and a second rocking gear is rocked by having the second output portion rotating around the second shaft.

Description

減速機組、減速機及減速機之設計方法 Design method of reduction unit, reducer and reducer

本發明係關於一種具有作為偏心搖動型齒輪裝置之機構的減速機。 The present invention relates to a speed reducer having a mechanism as an eccentric rocking type gear device.

於產業用機器人或工作機械等各種技術領域，使用有各種減速機(參照日本專利特開2010-286098號公報)。日本專利特開2010-286098號公報揭示一種包括筒狀之殼體、於殼體內搖動之搖動齒輪、以及使搖動齒輪搖動之曲柄組裝體的減速機。設計者能夠基於日本專利特開2010-286098號公報之揭示技術，以符合客戶所要求之性能(例如轉矩或減速比)之方式設計各種減速機。 Various types of speed reducers are used in various technical fields such as industrial robots and work machines (refer to Japanese Laid-Open Patent Publication No. 2010-286098). Japanese Laid-Open Patent Publication No. 2010-286098 discloses a reduction gear including a cylindrical casing, a rocking gear that swings in the casing, and a crank assembly that swings the rocking gear. The designer can design various speed reducers in a manner that meets the performance required by the customer (for example, torque or reduction ratio) based on the technique disclosed in Japanese Laid-Open Patent Publication No. 2010-286098.

根據日本專利特開2010-286098號公報，曲柄組裝體包含多個軸承。若設計者根據客戶之各種要求設計各種減速機，則亦存在如下情況：管理減速機之製造之後勤部門之管理勞力因過多之軸承種類所致而變得過大。 According to Japanese Laid-Open Patent Publication No. 2010-286098, the crank assembly includes a plurality of bearings. If the designer designs various speed reducers according to various requirements of the customer, there is also a case where the management labor of the service department after the manufacture of the reduction speed reducer is excessive due to the excessive bearing type.

本發明之目的在於提供一種能夠於使用少數幾種軸承之情況下製造減速機之技術。 It is an object of the present invention to provide a technique for manufacturing a speed reducer using a few bearings.

本發明之一態樣之減速機組包括：第1減速機，其具有第1曲柄組裝體，該第1曲柄組裝體係藉由繞與被規定為第1輸出部之旋轉中心軸之第1主軸相隔第1距離之第1傳遞軸進行旋轉運動，而以使上述第1輸出部繞上述第1主軸旋轉之方式使第1搖動齒輪搖動；及第2減速 機，其具有第2曲柄組裝體，該第2曲柄組裝體係藉由繞與被規定為第2輸出部之旋轉中心軸之第2主軸相隔不同於上述第1距離之第2距離之第2傳遞軸進行旋轉運動，而以使上述第2輸出部繞上述第2主軸旋轉之方式使第2搖動齒輪搖動。上述第1曲柄組裝體包含：第1曲柄軸，其包含第1軸頸與相對於上述第1軸頸偏心之第1偏心部；第1軸支持軸承，其安裝於上述第1軸頸；及第1齒輪支持軸承，其配置於上述第1偏心部與上述第1搖動齒輪之間。上述第2曲柄組裝體包含：第2曲柄軸，其包含第2軸頸與相對於上述第2軸頸偏心之第2偏心部；第2軸支持軸承，其安裝於上述第2軸頸；及第2齒輪支持軸承，其配置於上述第2偏心部與上述第2搖動齒輪之間。上述第1齒輪支持軸承與上述第2軸支持軸承在形狀上一致。 A reduction gear unit according to an aspect of the present invention includes: a first reduction gear having a first crank assembly that is spaced apart from a first main shaft defined as a rotation center axis of the first output portion The first transmission shaft of the first distance rotates, and the first output gear is rotated about the first main shaft so that the first rocking gear is swung; and the second deceleration The second crank assembly assembly is configured to be coupled to the second spindle that is defined as the rotation center axis of the second output portion by a second distance different from the second distance of the first distance. The shaft is rotated, and the second rocking gear is rocked so that the second output portion rotates around the second main shaft. The first crank assembly includes a first crankshaft including a first journal and a first eccentric portion that is eccentric with respect to the first journal, and a first shaft support bearing that is attached to the first journal; The first gear support bearing is disposed between the first eccentric portion and the first oscillating gear. The second crank assembly includes a second crank shaft including a second journal and a second eccentric portion that is eccentric with respect to the second journal, and a second shaft support bearing that is attached to the second journal; The second gear support bearing is disposed between the second eccentric portion and the second oscillating gear. The first gear support bearing and the second shaft support bearing are identical in shape.

本發明之另一態樣之減速機係於輸出部之旋轉中心軸與傳遞使上述輸出部繞上述旋轉中心軸旋轉之驅動力的曲柄組裝體之傳遞旋轉軸之間之距離關係上，與其他另一減速機不同。減速機包括：第1輸出部，其繞被規定為上述旋轉中心軸之第1主軸旋轉；第1搖動齒輪，其以引起上述第1輸出部之繞上述第1主軸之旋轉之方式搖動；及第1曲柄組裝體，其進行繞與上述第1主軸相隔第1距離之被規定為上述傳遞旋轉軸之第1傳遞軸之旋轉運動。上述其他另一減速機具有第2曲柄組裝體，該第2曲柄組裝體係藉由繞與被規定為上述旋轉中心軸之第2主軸相隔不同於上述第1距離之第2距離之、被規定為上述傳遞旋轉軸之第2傳遞軸進行旋轉運動，而以使第2輸出部繞上述第2主軸旋轉之方式使第2搖動齒輪搖動。上述第1曲柄組裝體包含：第1曲柄軸，其包含第1軸頸與相對於上述第1軸頸偏心之第1偏心部；第1軸支持軸承，其安裝於上述第1軸頸；及第1齒輪支持軸承，其配置於上述第1偏心部與上述第1搖動齒輪之間。上述第2曲柄組裝體包含：第2曲柄軸，其包含第2軸頸與相對於上述第2軸頸偏心之第2偏心部；第2軸支 持軸承，其安裝於上述第2軸頸；及第2齒輪支持軸承，其配置於上述第2偏心部與上述第2搖動齒輪之間。上述第1齒輪支持軸承與上述第2軸支持軸承在形狀上一致。 Another aspect of the present invention relates to a speed reducer between a rotation center axis of an output portion and a transmission rotation axis of a crank assembly that transmits a driving force for rotating the output portion around the rotation center axis, and The other reducer is different. The speed reducer includes: a first output portion that rotates around a first spindle that is defined as the rotation center axis; and a first rocking gear that swings to cause rotation of the first output portion around the first spindle; and The first crank assembly performs a rotational motion of a first transmission axis defined as a transmission rotation axis about a first distance from the first main spindle. The other other speed reducer includes a second crank assembly, and the second crank assembly system is defined by being spaced apart from the second spindle defined as the rotation center axis by a second distance different from the first distance. The second transmission shaft that transmits the rotation shaft rotates, and the second oscillation gear is swung so that the second output portion rotates around the second main shaft. The first crank assembly includes a first crankshaft including a first journal and a first eccentric portion that is eccentric with respect to the first journal, and a first shaft support bearing that is attached to the first journal; The first gear support bearing is disposed between the first eccentric portion and the first oscillating gear. The second crank assembly includes a second crank shaft including a second journal and a second eccentric portion that is eccentric with respect to the second journal; and a second pivot a bearing is attached to the second journal; and a second gear support bearing is disposed between the second eccentric portion and the second oscillating gear. The first gear support bearing and the second shaft support bearing are identical in shape.

本發明之又一態樣之設計方法係用於如下減速機之設計，該減速機於輸出部之旋轉中心軸與傳遞使上述輸出部繞上述旋轉中心軸旋轉之驅動力的曲柄組裝體之傳遞旋轉軸之間之距離關係上，與其他另一減速機不同。設計方法包括如下步驟；設計於被規定為上述旋轉中心軸之第1主軸旋轉之第1輸出部；設計以引起上述第1輸出部繞上述第1主軸之旋轉之方式搖動之第1搖動齒輪；及設計第1曲柄組裝體，該第1曲柄組裝體進行繞與上述第1主軸相隔第1距離之、被規定為上述傳遞旋轉軸之第1傳遞軸之旋轉運動。上述其他另一減速機具有第2曲柄組裝體，該第2曲柄組裝體係藉由繞與被規定為上述旋轉中心軸之第2主軸相隔不同於上述第1距離之第2距離之、被規定為上述傳遞旋轉軸之第2傳遞軸進行旋轉運動，而以使第2輸出部繞上述第2主軸旋轉之方式使第2搖動齒輪搖動。上述第2曲柄組裝體包含：第2曲柄軸，其包含第2軸頸與相對於上述第2軸頸偏心之第2偏心部；第2軸支持軸承，其安裝於上述第2軸頸；及第2齒輪支持軸承，其配置於上述第2偏心部與上述第2搖動齒輪之間。設計上述第1曲柄組裝體之步驟包含如下階段；(i)設計包含第1軸頸與相對於上述第1軸頸偏心之第1偏心部之第1曲柄軸；及(ii)決定將與上述第2軸支持軸承在形狀上一致之軸承用作配置於上述第1偏心部與上述第1搖動齒輪之間之第1齒輪支持軸承。 Another aspect of the present invention is directed to a design of a reducer that transmits a central axis of rotation of an output portion and a crank assembly that transmits a driving force for rotating the output portion about the central axis of rotation. The distance between the rotary axes is different from that of the other reducer. The design method includes the following steps: a first output portion designed to rotate the first main shaft defined as the rotation center axis, and a first oscillating gear designed to cause the first output portion to swing about the first main shaft; And designing the first crank assembly, the first crank assembly is rotated about a first transmission axis defined as the transmission rotation axis about a first distance from the first main shaft. The other other speed reducer includes a second crank assembly, and the second crank assembly system is defined by being spaced apart from the second spindle defined as the rotation center axis by a second distance different from the first distance. The second transmission shaft that transmits the rotation shaft rotates, and the second oscillation gear is swung so that the second output portion rotates around the second main shaft. The second crank assembly includes a second crank shaft including a second journal and a second eccentric portion that is eccentric with respect to the second journal, and a second shaft support bearing that is attached to the second journal; The second gear support bearing is disposed between the second eccentric portion and the second oscillating gear. The step of designing the first crank assembly includes the following steps: (i) designing a first crankshaft including a first journal and a first eccentric portion that is eccentric with respect to the first journal; and (ii) determining The bearing that matches the shape of the second shaft support bearing is used as the first gear support bearing disposed between the first eccentric portion and the first rocking gear.

本發明能夠於使用少數幾種軸承之情況下製造減速機。 The present invention enables the manufacture of a speed reducer using a few bearings.

上述技術之目的、特徵及優點藉由以下之詳細說明及隨附圖式而變得更加明瞭。 The objects, features, and advantages of the invention will be apparent from the description and appended claims.

100‧‧‧減速機 100‧‧‧Reducer

100A‧‧‧減速機 100A‧‧‧Reducer

200‧‧‧殼體筒 200‧‧‧ shell tube

200A‧‧‧殼體筒 200A‧‧‧ shell tube

210‧‧‧外筒部 210‧‧‧Outer tube

210A‧‧‧外筒部 210A‧‧‧Outer tube

211‧‧‧外筒 211‧‧‧Outer tube

211A‧‧‧外筒 211A‧‧‧Outer tube

212‧‧‧內齒銷 212‧‧‧ internal gear

212A‧‧‧內齒銷 212A‧‧‧ internal gear

220‧‧‧載體部 220‧‧‧Carrier Department

220A‧‧‧載體部 220A‧‧‧ Carrier Department

221‧‧‧基部 221‧‧‧ base

221A‧‧‧基部 221A‧‧‧ base

222‧‧‧端板部 222‧‧‧End Plate Department

222A‧‧‧端板部 222A‧‧‧End Plate Department

223‧‧‧定位銷 223‧‧‧Locating pin

224‧‧‧固定螺栓 224‧‧‧ fixing bolts

225‧‧‧基板部 225‧‧‧Parts Department

225A‧‧‧基板部 225A‧‧‧Parts Department

226‧‧‧軸部 226‧‧‧Axis

226A‧‧‧軸部 226A‧‧‧Axis

227‧‧‧螺孔 227‧‧‧ screw holes

228‧‧‧鉸孔 228‧‧‧Reaming

230‧‧‧主軸承 230‧‧‧ main bearing

230A‧‧‧主軸承 230A‧‧‧ main bearing

300‧‧‧齒輪部 300‧‧‧ Gear Department

300A‧‧‧齒輪部 300A‧‧‧ Gear Department

310‧‧‧齒輪 310‧‧‧ Gears

310A‧‧‧齒輪 310A‧‧‧ gear

320‧‧‧齒輪 320‧‧‧ gears

320A‧‧‧齒輪 320A‧‧‧ gear

400‧‧‧曲柄組裝體 400‧‧‧Crank assembly

400A‧‧‧曲柄組裝體 400A‧‧‧ crank assembly

400B‧‧‧曲柄組裝體 400B‧‧‧ crank assembly

400C‧‧‧曲柄組裝體 400C‧‧‧ crank assembly

400D‧‧‧曲柄組裝體 400D‧‧‧ crank assembly

410‧‧‧曲柄軸 410‧‧‧ crankshaft

410A‧‧‧曲柄軸 410A‧‧‧ crankshaft

410B‧‧‧曲柄軸 410B‧‧‧ crankshaft

410C‧‧‧曲柄軸 410C‧‧‧ crankshaft

410D‧‧‧曲柄軸 410D‧‧‧ crankshaft

411‧‧‧軸頸 411‧‧‧ journal

411A‧‧‧軸頸 411A‧‧‧ journal

411B‧‧‧軸頸 411B‧‧‧ journal

411C‧‧‧軸頸 411C‧‧‧ journal

411D‧‧‧軸頸 411D‧‧‧ journal

412‧‧‧軸頸 412‧‧‧ journal

412A‧‧‧軸頸 412A‧‧‧ journal

412B‧‧‧軸頸 412B‧‧‧ journal

412C‧‧‧軸頸 412C‧‧‧ journal

412D‧‧‧軸頸 412D‧‧‧ journal

413‧‧‧偏心部 413‧‧‧Eccentric

413A‧‧‧偏心部 413A‧‧‧Eccentric

413B‧‧‧偏心部 413B‧‧‧Eccentric

413C‧‧‧偏心部 413C‧‧‧Eccentric

413D‧‧‧偏心部 413D‧‧‧Eccentric

414‧‧‧偏心部 414‧‧‧Eccentric

414A‧‧‧偏心部 414A‧‧‧Eccentric

414B‧‧‧偏心部 414B‧‧‧Eccentric

414C‧‧‧偏心部 414C‧‧‧Eccentric

414D‧‧‧偏心部 414D‧‧‧Eccentric

421‧‧‧軸承 421‧‧‧ bearing

421A‧‧‧軸承 421A‧‧‧ bearing

421B‧‧‧滾針軸承 421B‧‧‧needle bearings

421C‧‧‧滾針軸承 421C‧‧‧needle bearings

421D‧‧‧滾針軸承 421D‧‧‧needle bearing

422‧‧‧軸承 422‧‧‧ bearing

422A‧‧‧軸承 422A‧‧‧ bearing

422B‧‧‧滾針軸承 422B‧‧‧needle bearings

422C‧‧‧滾針軸承 422C‧‧‧needle bearings

422D‧‧‧滾針軸承 422D‧‧‧needle bearings

423‧‧‧軸承 423‧‧‧ bearing

423A‧‧‧軸承 423A‧‧‧ bearing

423B‧‧‧滾針軸承 423B‧‧‧needle bearings

423C‧‧‧滾針軸承 423C‧‧‧needle bearings

423D‧‧‧滾針軸承 423D‧‧‧needle bearings

424‧‧‧軸承 424‧‧‧ bearing

424A‧‧‧軸承 424A‧‧‧ bearing

424B‧‧‧滾針軸承 424B‧‧‧needle bearings

424C‧‧‧滾針軸承 424C‧‧‧needle bearings

424D‧‧‧滾針軸承 424D‧‧‧needle bearings

430‧‧‧傳遞齒輪 430‧‧‧Transmission gear

430A‧‧‧傳遞齒輪 430A‧‧‧Transmission gear

FMX‧‧‧主軸 FMX‧‧‧ spindle

FTX‧‧‧傳遞軸 FTX‧‧‧ transmission shaft

L1‧‧‧傳遞軸與主軸之間之距離 L1‧‧‧Distance between the transmission shaft and the main shaft

L2‧‧‧傳遞軸與主軸之間之距離 L2‧‧‧Distance between the transmission shaft and the main shaft

NDL-1‧‧‧型號 NDL-1‧‧‧ model

NDL-2‧‧‧型號 NDL-2‧‧‧ model

NDL-3‧‧‧型號 NDL-3‧‧‧ model

SMX‧‧‧主軸 SMX‧‧‧ spindle

STX‧‧‧傳遞軸 STX‧‧‧ transmission shaft

圖1A係第1實施形態之減速機之概略性剖視圖。 Fig. 1A is a schematic cross-sectional view of a reduction gear according to a first embodiment.

圖1B係沿圖1A所示之A-A線之減速機之概略性剖視圖。 Fig. 1B is a schematic cross-sectional view of the speed reducer taken along the line A-A shown in Fig. 1A.

圖2係其他另一減速機之概略性剖視圖。 Fig. 2 is a schematic cross-sectional view of another speed reducer.

圖3係表示軸承選擇模式之表(第2實施形態)。 Fig. 3 is a table showing a bearing selection mode (second embodiment).

圖4係曲柄組裝體之設計概念圖(第3實施形態)。 Fig. 4 is a conceptual view of a design of a crank assembly (third embodiment).

圖5係表示減速機之例示性設計程序之概念圖(第4實施形態)。 Fig. 5 is a conceptual diagram showing an exemplary design procedure of the speed reducer (fourth embodiment).

參照隨附圖式，說明與能夠在使用少數幾種軸承之情況下製造減速機之技術相關之各種實施形態。 Various embodiments relating to a technique capable of manufacturing a speed reducer using a few types of bearings will be described with reference to the accompanying drawings.

<第1實施形態> <First embodiment>

先前之設計技術係設計者於設計在以特定之減速比旋轉之輸出部之旋轉中心軸與對輸出部傳遞驅動力之曲柄組裝體之間之距離關係上互不相同之複數個減速機時，設計者會對減速機分別使用不同之軸承。於第1實施形態中，說明能夠對複數個減速機利用在形狀上一致之軸承之技術。 The previous design technique was designed when the designer designed a plurality of speed reducers that differ in the distance between the central axis of rotation of the output portion that rotates at a specific reduction ratio and the crank assembly that transmits the driving force to the output portion. The designer uses different bearings for the gear unit. In the first embodiment, a technique in which bearings having the same shape can be used for a plurality of speed reducers will be described.

(減速機之構造) (construction of reducer)

圖1A及圖1B表示例示性之減速機100。圖1A係減速機100之概略性剖視圖。圖1B係沿圖1A所示之A-A線之減速機100之概略性剖視圖。參照圖1A及圖1B說明減速機100。 1A and 1B show an exemplary reducer 100. 1A is a schematic cross-sectional view of a speed reducer 100. Fig. 1B is a schematic cross-sectional view of the speed reducer 100 taken along line A-A shown in Fig. 1A. The speed reducer 100 will be described with reference to Figs. 1A and 1B.

減速機100包括殼體筒200、齒輪部300、及3個曲柄組裝體400。殼體筒200收容齒輪部300及3個曲柄組裝體400。於本實施形態中，第1減速機係由減速機100例示。 The speed reducer 100 includes a housing barrel 200, a gear portion 300, and three crank assemblies 400. The case cylinder 200 houses the gear portion 300 and the three crank assemblies 400. In the present embodiment, the first reduction gear is exemplified by the reduction gear 100.

殼體筒200包含外筒部210、載體部220、及2個主軸承230。載體部220配置於外筒部210內。2個主軸承230配置於外筒部210與載體部220之間。2個主軸承230係使外筒部210與載體部220之間能夠進行相對旋轉運動。於本實施形態中，第1輸出部係由外筒部210及載體部 220中之一者例示。 The casing cylinder 200 includes an outer tubular portion 210, a carrier portion 220, and two main bearings 230. The carrier portion 220 is disposed in the outer tubular portion 210. The two main bearings 230 are disposed between the outer tubular portion 210 and the carrier portion 220. The two main bearings 230 enable relative rotational movement between the outer tubular portion 210 and the carrier portion 220. In the present embodiment, the first output portion is composed of the outer tubular portion 210 and the carrier portion. One of 220 is illustrated.

圖1A表示被規定為2個主軸承230之旋轉中心軸之主軸FMX。若外筒部210為固定，則載體部220繞主軸FMX旋轉。若載體部220為固定，則外筒部210繞主軸FMX旋轉。即，外筒部210及載體部220中之一者能夠相對於外筒部210及載體部220中之另一者繞主軸FMX相對地旋轉。於本實施形態中，第1主軸係由主軸FMX例示。 FIG. 1A shows a spindle FMX defined as a central axis of rotation of two main bearings 230. When the outer tubular portion 210 is fixed, the carrier portion 220 rotates about the main shaft FMX. When the carrier portion 220 is fixed, the outer tubular portion 210 rotates about the main axis FMX. That is, one of the outer tubular portion 210 and the carrier portion 220 can relatively rotate about the main axis FMX with respect to the other of the outer tubular portion 210 and the carrier portion 220. In the present embodiment, the first main spindle is exemplified by the main shaft FMX.

設計者可對外筒部210賦予各種形狀。因此，本實施形態之原理並不限定於外筒部210之特定之形狀。 The designer can impart various shapes to the outer tubular portion 210. Therefore, the principle of the present embodiment is not limited to the specific shape of the outer tubular portion 210.

設計者可對載體部220賦予各種形狀。因此，本實施形態之原理並不限定於載體部220之特定之形狀。 The designer can impart various shapes to the carrier portion 220. Therefore, the principle of the present embodiment is not limited to the specific shape of the carrier portion 220.

外筒部210包含外筒211及複數個內齒銷212。外筒211係界定收容載體部220、齒輪部300及曲柄組裝體400之圓筒狀之內部空間。各內齒銷212係與主軸FMX大致平行地延伸之圓柱狀之構件。各內齒銷212嵌入至形成於外筒211之內壁之槽部。因此，各內齒銷212係由外筒211適當地保持。 The outer tubular portion 210 includes an outer cylinder 211 and a plurality of inner tooth pins 212. The outer cylinder 211 defines a cylindrical inner space in which the carrier portion 220, the gear portion 300, and the crank assembly 400 are housed. Each of the internal tooth pins 212 is a cylindrical member that extends substantially parallel to the main shaft FMX. Each of the internal tooth pins 212 is fitted into a groove portion formed on the inner wall of the outer cylinder 211. Therefore, each of the internal tooth pins 212 is appropriately held by the outer cylinder 211.

複數個內齒銷212係繞主軸FMX以大致固定間隔配置。各內齒銷212之半周面自外筒211之內壁朝向主軸FMX突出。因此，複數個內齒銷212係作為與齒輪部300嚙合之內齒發揮功能。 A plurality of internal tooth pins 212 are disposed at substantially fixed intervals around the main shaft FMX. The half circumferential surface of each internal tooth pin 212 protrudes from the inner wall of the outer cylinder 211 toward the main shaft FMX. Therefore, the plurality of internal tooth pins 212 function as internal teeth that mesh with the gear portion 300.

載體部220包含基部221、端板部222、定位銷223、及固定螺栓224。載體部220整體上呈圓筒形狀。基部221包含基板部225及3個軸部226。3個軸部226分別自基板部225朝向端板部222延伸。於3個軸部226之各者之前端面，形成螺孔227及鉸孔228。定位銷223***至鉸孔228。其結果，將端板部222相對於基部221高精度地定位。固定螺栓224螺合於螺孔227。其結果，將端板部222適當地固定於基部221。 The carrier portion 220 includes a base portion 221, an end plate portion 222, a positioning pin 223, and a fixing bolt 224. The carrier portion 220 has a cylindrical shape as a whole. The base portion 221 includes a substrate portion 225 and three shaft portions 226. The three shaft portions 226 extend from the substrate portion 225 toward the end plate portion 222, respectively. A screw hole 227 and a reaming hole 228 are formed in the front end faces of each of the three shaft portions 226. The positioning pin 223 is inserted into the reaming hole 228. As a result, the end plate portion 222 is positioned with high precision with respect to the base portion 221. The fixing bolt 224 is screwed to the screw hole 227. As a result, the end plate portion 222 is appropriately fixed to the base portion 221.

齒輪部300配置於基板部225與端板部222之間。3個軸部226貫通齒輪部300，並連接於端板部222。 The gear portion 300 is disposed between the substrate portion 225 and the end plate portion 222. The three shaft portions 226 penetrate the gear portion 300 and are connected to the end plate portion 222.

齒輪部300包含2個齒輪310、320。齒輪310配置於基板部225與齒輪320之間。齒輪320配置於端板部222與齒輪310之間。 The gear unit 300 includes two gears 310 and 320. The gear 310 is disposed between the substrate portion 225 and the gear 320. The gear 320 is disposed between the end plate portion 222 and the gear 310.

齒輪310係形狀及大小與齒輪320大致相同。齒輪310、320一面與內齒銷212嚙合，一面於外筒211內環繞移動。因此，齒輪310、320之中心繞主軸FMX環繞。於本實施形態中，第1搖動齒輪係由齒輪310、320中之一者例示。 Gear 310 is substantially the same shape and size as gear 320. The gears 310, 320 are engaged with the inner tooth pin 212 while moving around the outer cylinder 211. Therefore, the centers of the gears 310, 320 are wound around the main axis FMX. In the present embodiment, the first rocking gear train is exemplified by one of the gears 310 and 320.

齒輪310之環繞相位與齒輪320之環繞相位大致偏離180°。齒輪310與外筒部210之複數個內齒銷212中之半數嚙合期間，齒輪320與複數個內齒銷212中之其餘半數嚙合。因此，齒輪部300能夠使外筒部210或載體部220旋轉。 The wraparound phase of the gear 310 is substantially offset from the wraparound phase of the gear 320 by 180°. During engagement of the gear 310 with a half of the plurality of internal tooth pins 212 of the outer tubular portion 210, the gear 320 meshes with the remaining half of the plurality of internal tooth pins 212. Therefore, the gear portion 300 can rotate the outer tubular portion 210 or the carrier portion 220.

於本實施形態中，齒輪部300包含2個齒輪310、320。作為替代，設計者亦可使用超過2個之數量之齒輪作為齒輪部。進而，作為替代，設計者亦可使用1個齒輪作為齒輪部。 In the present embodiment, the gear unit 300 includes two gears 310 and 320. Alternatively, the designer can use more than two gears as the gear portion. Further, alternatively, the designer may use one gear as the gear portion.

3個曲柄組裝體400分別包含曲柄軸410、4個軸承421、422、423、424、及傳遞齒輪430。傳遞齒輪430亦可為一般之正齒輪(spur gear)。本實施形態之原理並不限定於傳遞齒輪430之特定之種類。 The three crank assemblies 400 respectively include a crank shaft 410, four bearings 421, 422, 423, and 424, and a transmission gear 430. The transmission gear 430 can also be a general spur gear. The principle of the embodiment is not limited to the specific type of the transmission gear 430.

傳遞齒輪430直接或間接地受到驅動源(例如馬達)所產生之驅動力。設計者亦可根據減速機100之使用環境或使用條件，適當地設定自驅動源至傳遞齒輪430之驅動力之傳遞路徑。因此，本實施形態之原理並不限定於自驅動源至傳遞齒輪430之特定之驅動傳遞路徑。 The transmission gear 430 is directly or indirectly driven by a driving force generated by a driving source such as a motor. The designer can also appropriately set the transmission path of the driving force from the driving source to the transmission gear 430 according to the use environment or the use condition of the speed reducer 100. Therefore, the principle of the present embodiment is not limited to the specific drive transmission path from the drive source to the transfer gear 430.

圖1A表示傳遞軸FTX。傳遞軸FTX相對於主軸FMX大致平行。曲柄軸410繞傳遞軸FTX旋轉。圖1A係以記號「L1」表示傳遞軸FTX與主軸FMX之間之距離。於本實施形態中，第1曲柄組裝體係由3個曲柄組裝體400中之1個例示。第1傳遞軸係由傳遞軸FTX例示。第1距離係由距離L1例示。 Figure 1A shows the transfer axis FTX. The transfer axis FTX is substantially parallel with respect to the spindle FMX. The crankshaft 410 rotates about the transmission axis FTX. Fig. 1A shows the distance between the transmission axis FTX and the spindle FMX by the symbol "L1". In the present embodiment, the first crank assembly system is exemplified by one of the three crank assemblies 400. The first transmission shaft is exemplified by the transmission shaft FTX. The first distance is exemplified by the distance L1.

曲柄軸410包含2個軸頸411、412、及2個偏心部413、414。軸頸 411、412沿傳遞軸FTX延伸。軸頸411、412之中心軸與傳遞軸FTX一致。偏心部413、414係形成於軸頸411、412間。偏心部413、414分別自傳遞軸FTX偏心。於本實施形態中，第1曲柄軸係由曲柄軸410例示。第1軸頸係由軸頸411、412中之一者例示。第1偏心部係由偏心部413、414中之一者例示。 The crankshaft 410 includes two journals 411 and 412 and two eccentric portions 413 and 414. Journal 411, 412 extend along the transmission axis FTX. The central axes of the journals 411, 412 coincide with the transmission axis FTX. The eccentric portions 413 and 414 are formed between the journals 411 and 412. The eccentric portions 413 and 414 are eccentric from the transmission axis FTX, respectively. In the present embodiment, the first crankshaft is exemplified by the crankshaft 410. The first journal is exemplified by one of the journals 411 and 412. The first eccentric portion is exemplified by one of the eccentric portions 413 and 414.

軸頸411***至軸承421。軸承421配置於軸頸411與端板部222之間。因此，軸頸411係由端板部222與軸承421支持。軸頸412***至軸承422。軸承422配置於軸頸412與基部221之間。因此，軸頸412係由基部221與軸承422支持。於本實施形態中，第1軸支持軸承係由軸承421、422中之一者例示。 The journal 411 is inserted into the bearing 421. The bearing 421 is disposed between the journal 411 and the end plate portion 222. Therefore, the journal 411 is supported by the end plate portion 222 and the bearing 421. The journal 412 is inserted into the bearing 422. The bearing 422 is disposed between the journal 412 and the base 221 . Therefore, the journal 412 is supported by the base 221 and the bearing 422. In the present embodiment, the first shaft support bearing is exemplified by one of the bearings 421 and 422.

偏心部413***至軸承423。軸承423配置於偏心部413與齒輪310之間。偏心部414***至軸承424。軸承424配置於偏心部414與齒輪320之間。於本實施形態中，第1齒輪支持軸承係由軸承423、424中之一者例示。 The eccentric portion 413 is inserted into the bearing 423. The bearing 423 is disposed between the eccentric portion 413 and the gear 310. The eccentric portion 414 is inserted into the bearing 424. The bearing 424 is disposed between the eccentric portion 414 and the gear 320. In the present embodiment, the first gear support bearing is exemplified by one of the bearings 423 and 424.

若對傳遞齒輪430輸入驅動力，則曲柄軸410繞傳遞軸FTX旋轉。其結果，偏心部413、414繞傳遞軸FTX偏心旋轉。經由軸承423、424而連接於偏心部413、414之齒輪310、320係於由外筒部210界定之圓形空間內搖動。齒輪310、320由於與內齒銷212嚙合，故引起外筒部210與載體部220之間相對之旋轉運動。 When a driving force is input to the transmission gear 430, the crank shaft 410 is rotated about the transmission axis FTX. As a result, the eccentric portions 413 and 414 are eccentrically rotated about the transmission axis FTX. The gears 310, 320 connected to the eccentric portions 413, 414 via the bearings 423, 424 are rocked in a circular space defined by the outer tubular portion 210. The gears 310, 320 are engaged with the inner tooth pin 212, thereby causing a relative rotational movement between the outer tubular portion 210 and the carrier portion 220.

(其他另一減速機) (other other reducer)

設計者能夠基於參照圖1A及圖1B所說明之減速機100之設計原理，設計尺寸上不同之其他另一減速機。 The designer can design another speed reducer that is different in size based on the design principle of the speed reducer 100 described with reference to FIGS. 1A and 1B.

圖2表示基於參照圖1A及圖1B所說明之設計原理而建構之其他另一減速機100A。圖2係減速機100A之概略性剖視圖。參照圖1A及圖2說明減速機100A。 FIG. 2 shows another speed reducer 100A constructed based on the design principles described with reference to FIGS. 1A and 1B. 2 is a schematic cross-sectional view of the speed reducer 100A. The speed reducer 100A will be described with reference to Figs. 1A and 2 .

減速機100A包括殼體筒200A、齒輪部300A、及曲柄組裝體 400A。殼體筒200A收容齒輪部300A及曲柄組裝體400A。於本實施形態中，第2減速機係由減速機100A例示。 The reducer 100A includes a housing barrel 200A, a gear portion 300A, and a crank assembly 400A. The case cylinder 200A houses the gear portion 300A and the crank assembly 400A. In the present embodiment, the second reduction gear is exemplified by the reduction gear 100A.

殼體筒200A包含外筒部210A、載體部220A、及2個主軸承230A。載體部220A配置於外筒部210A內。2個主軸承230A配置於外筒部210A與載體部220A之間。2個主軸承230A係使外筒部210A與載體部220A之間能夠進行相對旋轉運動。於本實施形態中，第2輸出部係由外筒部210A及載體部220A中之一者例示。 The case cylinder 200A includes an outer tubular portion 210A, a carrier portion 220A, and two main bearings 230A. The carrier portion 220A is disposed in the outer tubular portion 210A. The two main bearings 230A are disposed between the outer tubular portion 210A and the carrier portion 220A. The two main bearings 230A enable relative rotational movement between the outer tubular portion 210A and the carrier portion 220A. In the present embodiment, the second output unit is exemplified by one of the outer tubular portion 210A and the carrier portion 220A.

圖2表示被規定為2個主軸承230A之旋轉中心軸之主軸SMX。若外筒部210A為固定，則載體部220A繞主軸SMX旋轉。若載體部220A為固定，則外筒部210A繞主軸SMX旋轉。即，外筒部210A及載體部220A中之一者能夠相對於外筒部210A及載體部220A中之另一者繞主軸SMX相對地旋轉。於本實施形態中，第2主軸係由主軸SMX例示。 Fig. 2 shows a spindle SMX defined as a central axis of rotation of two main bearings 230A. When the outer tubular portion 210A is fixed, the carrier portion 220A rotates about the main shaft SMX. When the carrier portion 220A is fixed, the outer tubular portion 210A rotates about the main axis SMX. That is, one of the outer tubular portion 210A and the carrier portion 220A can relatively rotate about the main axis SMX with respect to the other of the outer tubular portion 210A and the carrier portion 220A. In the present embodiment, the second main spindle is exemplified by the main shaft SMX.

設計者可對外筒部210A賦予各種形狀。因此，本實施形態之原理並不限定於外筒部210A之特定之形狀。 The designer can impart various shapes to the outer tubular portion 210A. Therefore, the principle of the present embodiment is not limited to the specific shape of the outer tubular portion 210A.

設計者可對載體部220A賦予各種形狀。因此，本實施形態之原理並不限定於載體部220A之特定之形狀。 The designer can impart various shapes to the carrier portion 220A. Therefore, the principle of the present embodiment is not limited to the specific shape of the carrier portion 220A.

外筒部210A包含外筒211A及複數個內齒銷212A。減速機100A內之內齒銷212A亦可較減速機100內之內齒銷212多。外筒211A界定收容載體部220A、齒輪部300A及曲柄組裝體400A之圓筒狀之內部空間。各內齒銷212A係與主軸SMX大致平行地延伸之圓柱狀之構件。各內齒銷212A嵌入至形成於外筒211A之內壁之槽部。因此，各內齒銷212A係由外筒211A適當地保持。 The outer tubular portion 210A includes an outer cylinder 211A and a plurality of inner tooth pins 212A. The inner tooth pin 212A in the reducer 100A may also be larger than the inner tooth pin 212 in the reducer 100. The outer cylinder 211A defines a cylindrical inner space in which the carrier portion 220A, the gear portion 300A, and the crank assembly 400A are housed. Each of the internal tooth pins 212A is a cylindrical member that extends substantially parallel to the main shaft SMX. Each of the internal tooth pins 212A is fitted into a groove portion formed in the inner wall of the outer cylinder 211A. Therefore, each of the internal tooth pins 212A is appropriately held by the outer cylinder 211A.

複數個內齒銷212A係繞主軸SMX以大致固定間隔配置。各內齒銷212A之半周面自外筒211A之內壁朝向主軸SMX突出。因此，複數個內齒銷212A作為與齒輪部300A嚙合之內齒發揮功能。 A plurality of internal tooth pins 212A are disposed at substantially fixed intervals around the main shaft SMX. The half circumferential surface of each internal tooth pin 212A protrudes from the inner wall of the outer cylinder 211A toward the main shaft SMX. Therefore, the plurality of internal tooth pins 212A function as internal teeth that mesh with the gear portion 300A.

載體部220A包含基部221A及端板部222A。載體部220A整體上呈 圓筒形狀。基部221A包含基板部225A及軸部226A。軸部226A自基板部225A朝向端板部222A延伸。與減速機100同樣地，端板部222A亦可藉由螺釘及銷固定於軸部226A之前端面。 The carrier portion 220A includes a base portion 221A and an end plate portion 222A. The carrier portion 220A is entirely Cylinder shape. The base portion 221A includes a substrate portion 225A and a shaft portion 226A. The shaft portion 226A extends from the substrate portion 225A toward the end plate portion 222A. Similarly to the speed reducer 100, the end plate portion 222A may be fixed to the front end surface of the shaft portion 226A by screws and pins.

齒輪部300A配置於基板部225A與端板部222A之間。軸部226A貫通齒輪部300A，並連接於端板部222A。 The gear portion 300A is disposed between the substrate portion 225A and the end plate portion 222A. The shaft portion 226A penetrates the gear portion 300A and is connected to the end plate portion 222A.

齒輪部300A包含2個齒輪310A、320A。齒輪310A配置於基板部225A與齒輪320A之間。齒輪320A配置於端板部222A與齒輪310A之間。 The gear portion 300A includes two gears 310A and 320A. The gear 310A is disposed between the substrate portion 225A and the gear 320A. The gear 320A is disposed between the end plate portion 222A and the gear 310A.

齒輪310A係形狀及大小與齒輪320A相同。齒輪310A、320A一面與內齒銷212A嚙合，一面於外筒211A內環繞移動。因此，齒輪310A、320A之中心繞主軸SMX環繞。於本實施形態中，第2搖動齒輪係由齒輪310A、320A中之一者例示。 The gear 310A has the same shape and size as the gear 320A. The gears 310A, 320A are engaged with the inner tooth pin 212A while being circumferentially moved inside the outer cylinder 211A. Therefore, the center of the gears 310A, 320A is wound around the main axis SMX. In the present embodiment, the second rocking gear train is exemplified by one of the gears 310A and 320A.

齒輪310A之環繞相位與齒輪320A之環繞相位大致偏離180°。齒輪310A與外筒部210A之複數個內齒銷212A中之半數嚙合期間，齒輪320A與複數個內齒銷212A中之其餘半數嚙合。因此，齒輪部300A能夠使外筒部210A或載體部220A旋轉。 The wraparound phase of gear 310A is substantially offset from the wrap angle of gear 320A by 180°. While the gear 310A is engaged with half of the plurality of internal tooth pins 212A of the outer tubular portion 210A, the gear 320A meshes with the remaining half of the plurality of internal tooth pins 212A. Therefore, the gear portion 300A can rotate the outer tubular portion 210A or the carrier portion 220A.

於本實施形態中，齒輪部300A包含2個齒輪310A、320A。作為替代，設計者亦可使用超過2個之數量之齒輪作為齒輪部。進而，作為替代，設計者亦可使用1個齒輪作為齒輪部。 In the present embodiment, the gear portion 300A includes two gears 310A and 320A. Alternatively, the designer can use more than two gears as the gear portion. Further, alternatively, the designer may use one gear as the gear portion.

曲柄組裝體400A包含曲柄軸410A、4個軸承421A、422A、423A、424A、及傳遞齒輪430A。傳遞齒輪430A亦可為一般之正齒輪。本實施形態之原理並不限定於傳遞齒輪430A之特定之種類。 The crank assembly 400A includes a crankshaft 410A, four bearings 421A, 422A, 423A, and 424A, and a transmission gear 430A. The transmission gear 430A can also be a general spur gear. The principle of this embodiment is not limited to the specific type of the transmission gear 430A.

圖2表示傳遞軸STX。傳遞軸STX相對於主軸SMX大致平行。曲柄軸410A繞傳遞軸STX旋轉。圖2係以記號「L2」表示傳遞軸STX與主軸SMX之間之距離。距離L2大於距離L1。於本實施形態中，第2曲柄組裝體係由曲柄組裝體400A例示。第2傳遞軸係由傳遞軸STX例 示。第2距離係由距離L2例示。 Figure 2 shows the transmission axis STX. The transmission axis STX is substantially parallel with respect to the main axis SMX. The crankshaft 410A rotates about the transmission axis STX. Fig. 2 shows the distance between the transmission axis STX and the spindle SMX by the symbol "L2". The distance L2 is greater than the distance L1. In the present embodiment, the second crank assembly system is exemplified by the crank assembly 400A. The second transmission axis is determined by the transmission axis STX Show. The second distance is exemplified by the distance L2.

曲柄軸410A包含2個軸頸411A、412A、及2個偏心部413A、414A。軸頸411A、412A沿傳遞軸STX延伸。軸頸411A、412A之中心軸與傳遞軸STX一致。偏心部413A、414A係形成於軸頸411A、412A間。偏心部413A、414A分別自傳遞軸STX偏心。於本實施形態中，第2曲柄軸係由曲柄軸410A例示。第2軸頸係由軸頸411A、412A中之一者例示。第2偏心部係由偏心部413A、414A中之一者例示。 The crankshaft 410A includes two journals 411A and 412A and two eccentric portions 413A and 414A. The journals 411A, 412A extend along the transmission axis STX. The central axes of the journals 411A, 412A coincide with the transmission axis STX. The eccentric portions 413A and 414A are formed between the journals 411A and 412A. The eccentric portions 413A and 414A are eccentric from the transmission axis STX, respectively. In the present embodiment, the second crankshaft is exemplified by the crankshaft 410A. The second journal is exemplified by one of the journals 411A and 412A. The second eccentric portion is exemplified by one of the eccentric portions 413A and 414A.

軸頸411A***至軸承421A。軸承421A配置於軸頸411A與端板部222A之間。因此，軸頸411A係由端板部222A與軸承421A支持。軸頸412A***至軸承422A。軸承422A配置於軸頸412A與基部221A之間。因此，軸頸412A係由基部221A與軸承422A支持。於本實施形態中，第2軸支持軸承係由軸承421A、422A中之一者例示。 The journal 411A is inserted into the bearing 421A. The bearing 421A is disposed between the journal 411A and the end plate portion 222A. Therefore, the journal 411A is supported by the end plate portion 222A and the bearing 421A. The journal 412A is inserted into the bearing 422A. The bearing 422A is disposed between the journal 412A and the base 221A. Therefore, the journal 412A is supported by the base 221A and the bearing 422A. In the present embodiment, the second shaft support bearing is exemplified by one of the bearings 421A and 422A.

偏心部413A***至軸承423A。軸承423A配置於偏心部413A與齒輪310A之間。偏心部414A***至軸承424A。軸承424A配置於偏心部414A與齒輪320A之間。於本實施形態中，第2齒輪支持軸承係由軸承423A、424A中之一者例示。 The eccentric portion 413A is inserted into the bearing 423A. The bearing 423A is disposed between the eccentric portion 413A and the gear 310A. The eccentric portion 414A is inserted into the bearing 424A. The bearing 424A is disposed between the eccentric portion 414A and the gear 320A. In the present embodiment, the second gear support bearing is exemplified by one of the bearings 423A and 424A.

若對傳遞齒輪430A輸入驅動力，則曲柄軸410A繞傳遞軸STX旋轉。其結果，偏心部413A、414A繞傳遞軸STX偏心旋轉。經由軸承423A、424A而連接於偏心部413A、414A之齒輪310A、320A係於由外筒部210A界定之圓形空間內搖動。齒輪310A、320A由於與內齒銷212A嚙合，故引起外筒部210A與載體部220A之間相對之旋轉運動。 When a driving force is input to the transmission gear 430A, the crank shaft 410A is rotated about the transmission axis STX. As a result, the eccentric portions 413A and 414A are eccentrically rotated about the transmission axis STX. The gears 310A, 320A connected to the eccentric portions 413A, 414A via the bearings 423A, 424A are rocked in a circular space defined by the outer tubular portion 210A. Since the gears 310A, 320A mesh with the internal tooth pin 212A, the relative rotational movement between the outer tubular portion 210A and the carrier portion 220A is caused.

設計者亦可選擇與減速機100之軸承423、424在形狀上一致之軸承作為減速機100A之軸承421A、422A。 The designer can also select a bearing that conforms in shape to the bearings 423, 424 of the reduction gear 100 as the bearings 421A, 422A of the reduction gear 100A.

<第2實施形態> <Second embodiment>

設計者亦可基於供給軸承之供應商所標註之型號，選擇用於減速機之軸承。於第2實施形態中，說明各種軸承選擇模式。 The designer can also select the bearing for the reducer based on the model number specified by the supplier supplying the bearing. In the second embodiment, various bearing selection modes will be described.

圖3係表示針對減速機100、100A之軸承選擇模式之表。參照圖1A、圖2及圖3說明軸承選擇模式。 Fig. 3 is a table showing the bearing selection mode for the speed reducers 100, 100A. The bearing selection mode will be described with reference to Figs. 1A, 2 and 3.

於本實施形態中，供應商對滾針軸承(needle bearing)標註有型號「NDL-1」、「NDL-2」、「NDL-3」。標註有相同型號之複數個軸承具有大致相同之形狀及大致相同之性能。另一方面，標註有互不相同之型號之複數個軸承具有互不相同之形狀(例如互不相同之內徑尺寸、互不相同之外形尺寸及/或互不相同之厚度尺寸)、以及互不相同之性能。 In the present embodiment, the supplier has the models "NDL-1", "NDL-2", and "NDL-3" attached to the needle bearing. A plurality of bearings labeled with the same type have substantially the same shape and substantially the same performance. On the other hand, a plurality of bearings marked with different models have mutually different shapes (for example, inner diameters different from each other, different outer dimensions and/or different thickness sizes), and mutual Not the same performance.

「複數個軸承在形狀上相同」之表述並非僅指複數個軸承之實際形狀完全一致之情況。即使複數個軸承之製造誤差使得複數個軸承之尺寸產生微小之誤差，複數個軸承仍包含於在形狀上相同之軸承之概念。例如，只要複數個軸承係基於共通之設計圖式而建構，則該等軸承在形狀上相同(即，複數個軸承於內徑尺寸、外形尺寸、厚度或其他尺寸方面上相同)。 The expression "the plurality of bearings are identical in shape" does not refer only to the fact that the actual shapes of the plurality of bearings are identical. Even if the manufacturing error of a plurality of bearings causes a small error in the size of a plurality of bearings, a plurality of bearings are included in the concept of bearings having the same shape. For example, as long as the plurality of bearings are constructed based on a common design pattern, the bearings are identical in shape (ie, the plurality of bearings are identical in terms of inner diameter size, outer dimensions, thickness, or other dimensions).

「複數個軸承在性能上相同」之表述並非僅指複數個軸承之實際性能完全一致之情況。即使複數個軸承實際上發揮之性能產生有微小差異，複數個軸承仍包含於在性能上相同之軸承之概念。例如，只要複數個軸承係基於共通之設計圖式而建構，則該等軸承在性能上相同(例如，複數個軸承於容許負載或其他性能參數方面相同)。 The expression "the same number of bearings are identical in performance" does not refer only to the fact that the actual performance of a plurality of bearings is identical. Even though the performance of a plurality of bearings actually differs slightly, a plurality of bearings are still included in the concept of bearings with the same performance. For example, as long as the plurality of bearings are constructed based on a common design pattern, the bearings are identical in performance (eg, the plurality of bearings are identical in terms of allowable load or other performance parameters).

圖3表示設計者針對軸承421、422選擇標註有型號「NDL-1」之滾針軸承。由於標註有型號「NDL-1」之滾針軸承被用作軸承421、422，故軸承421、422在形狀及性能上相同。 Fig. 3 shows that the designer selects the needle bearing of the type "NDL-1" for the bearings 421, 422. Since the needle bearings bearing the model "NDL-1" are used as the bearings 421, 422, the bearings 421, 422 are identical in shape and performance.

圖3表示設計者針對軸承423、424、421A、422A選擇標註有型號「NDL-2」之滾針軸承。由於標註有型號「NDL-2」之滾針軸承被用作軸承423、424、421A、422A，故軸承423、424、421A、422A在形狀及性能上相同。 Fig. 3 shows that the designer selects the needle bearing of the type "NDL-2" for the bearings 423, 424, 421A, and 422A. Since the needle bearings bearing the model "NDL-2" are used as the bearings 423, 424, 421A, and 422A, the bearings 423, 424, 421A, and 422A are identical in shape and performance.

圖3表示設計者針對軸承423A、424A選擇標註有型號「NDL-3」之滾針軸承。由於標註有型號「NDL-3」之滾針軸承被用作軸承423A、424A，故軸承423A、424A在形狀及性能上相同。 Fig. 3 shows that the designer selects the needle bearing bearing the model "NDL-3" for the bearings 423A, 424A. Since the needle bearings bearing the model "NDL-3" are used as the bearings 423A, 424A, the bearings 423A, 424A are identical in shape and performance.

<第3實施形態> <Third embodiment>

設計者可變更主軸與傳遞軸之間之距離，對減速機能夠輸出之轉矩設定各種值。若對減速機要求較大之轉矩，則設計者亦可使主軸與傳遞軸之間之距離變長。於該情形時，設計者亦可對減速機組入較粗之曲柄軸，以使減速機具有充分之機械強度。關於第1實施形態及第2實施形態所說明之設計原理能夠對於粗細度不同之曲柄軸安裝少數幾種軸承而組成曲柄組裝體。於第3實施形態中，說明用以利用少數幾種軸承建構粗細度不同之各種曲柄組裝體之技術。 The designer can change the distance between the main shaft and the transmission shaft and set various values for the torque that the reducer can output. If a large torque is required for the reducer, the designer can also lengthen the distance between the main shaft and the transmission shaft. In this case, the designer can also insert the thicker crankshaft into the reduction unit so that the reducer has sufficient mechanical strength. With respect to the design principles described in the first embodiment and the second embodiment, a few types of bearings can be attached to the crankshafts having different thicknesses to form a crank assembly. In the third embodiment, a technique for constructing various crank assemblies having different thicknesses using a few types of bearings will be described.

圖4係曲柄組裝體之設計概念圖。參照圖4說明曲柄組裝體之設計概念。 Figure 4 is a conceptual diagram of the design of the crank assembly. The design concept of the crank assembly will be described with reference to FIG.

圖4表示3個曲柄組裝體400B、400C、400D。曲柄組裝體400B、400C、400D於粗細度方面互不相同。 Fig. 4 shows three crank assemblies 400B, 400C, and 400D. The crank assemblies 400B, 400C, and 400D differ from each other in thickness.

曲柄組裝體400B包含曲柄軸410B、及4個滾針軸承421B、422B、423B、424B。曲柄軸410B包含2個軸頸411B、412B、及2個偏心部413B、414B。偏心部413B、414B係形成於軸頸411B、412B間。軸頸411B、412B為同軸，另一方面，偏心部413B、414B不同軸。偏心部413B、414B分別相對於軸頸411B、412B偏心。偏心部413B、414B之各者較軸頸411B、412B粗。滾針軸承421B、422B分別安裝於軸頸411B、412B。滾針軸承423B、424B分別安裝於偏心部413B、414B。 The crank assembly 400B includes a crankshaft 410B and four needle bearings 421B, 422B, 423B, and 424B. The crankshaft 410B includes two journals 411B and 412B and two eccentric portions 413B and 414B. The eccentric portions 413B and 414B are formed between the journals 411B and 412B. The journals 411B and 412B are coaxial, and the eccentric portions 413B and 414B are different axes. The eccentric portions 413B and 414B are eccentric with respect to the journals 411B and 412B, respectively. Each of the eccentric portions 413B and 414B is thicker than the journals 411B and 412B. Needle bearings 421B and 422B are attached to the journals 411B and 412B, respectively. Needle bearings 423B and 424B are attached to the eccentric portions 413B and 414B, respectively.

曲柄組裝體400C包含曲柄軸410C、及4個滾針軸承421C、422C、423C、424C。曲柄軸410C包含2個軸頸411C、412C、及2個偏心部413C、414C。偏心部413C、414C係形成於軸頸411C、412C之 間。軸頸411C、412C為同軸，另一方面，偏心部413C、414C不同軸。偏心部413C、414C分別相對於軸頸411C、412C偏心。偏心部413C、414C之各者較軸頸411C、412C粗。滾針軸承421C、422C分別安裝於軸頸411C、412C。滾針軸承423C、424C分別安裝於偏心部413C、414C。 The crank assembly 400C includes a crankshaft 410C and four needle bearings 421C, 422C, 423C, and 424C. The crankshaft 410C includes two journals 411C and 412C and two eccentric portions 413C and 414C. The eccentric portions 413C and 414C are formed on the journals 411C and 412C. between. The journals 411C and 412C are coaxial, and the eccentric portions 413C and 414C are different axes. The eccentric portions 413C and 414C are eccentric with respect to the journals 411C and 412C, respectively. Each of the eccentric portions 413C and 414C is thicker than the journals 411C and 412C. Needle bearings 421C, 422C are attached to the journals 411C, 412C, respectively. Needle bearings 423C and 424C are attached to the eccentric portions 413C and 414C, respectively.

曲柄組裝體400D包含曲柄軸410D、及4個滾針軸承421D、422D、423D、424D。曲柄軸410D包含2個軸頸411D、412D、及2個偏心部413D、414D。偏心部413D、414D係形成於軸頸411D、412D之間。軸頸411D、412D為同軸，另一方面，偏心部413D、414D不同軸。偏心部413D、414D分別相對於軸頸411D、412D偏心。偏心部413D、414D之各者較軸頸411D、412D粗。滾針軸承421D、422D分別安裝於軸頸411D、412D。滾針軸承423D、424D分別安裝於偏心部413D、414D。 The crank assembly 400D includes a crank shaft 410D and four needle bearings 421D, 422D, 423D, and 424D. The crankshaft 410D includes two journals 411D and 412D and two eccentric portions 413D and 414D. The eccentric portions 413D and 414D are formed between the journals 411D and 412D. The journals 411D and 412D are coaxial, and the eccentric portions 413D and 414D are different axes. The eccentric portions 413D and 414D are eccentric with respect to the journals 411D and 412D, respectively. Each of the eccentric portions 413D and 414D is thicker than the journals 411D and 412D. Needle bearings 421D, 422D are attached to the journals 411D, 412D, respectively. Needle bearings 423D and 424D are attached to the eccentric portions 413D and 414D, respectively.

設計者亦可使曲柄軸410B之偏心部413B、414B之直徑與曲柄軸410C之軸頸411C、412C之直徑一致。於該情形時，作為安裝於偏心部413B、414B及軸頸411C、412C之軸承，選擇標註有共通之型號之滾針軸承。 The designer can also make the diameters of the eccentric portions 413B, 414B of the crankshaft 410B coincide with the diameters of the journals 411C, 412C of the crankshaft 410C. In this case, as a bearing attached to the eccentric portions 413B and 414B and the journals 411C and 412C, a needle bearing having a common type is selected.

設計者亦可使曲柄軸410C之偏心部413C、414C之直徑與曲柄軸410D之軸頸411D、412D之直徑一致。於該情形時，作為安裝於偏心部413C、414C及軸頸411D、412D之軸承，選擇標註有共通之型號之滾針軸承。 The designer can also make the diameters of the eccentric portions 413C, 414C of the crankshaft 410C coincide with the diameters of the journals 411D, 412D of the crankshaft 410D. In this case, as a bearing attached to the eccentric portions 413C and 414C and the journals 411D and 412D, a needle bearing having a common type is selected.

<第4實施形態> <Fourth embodiment>

設計者可基於各種方法設計減速機。於第4實施形態中，說明例示性之設計程序。 Designers can design gearboxes based on a variety of methods. In the fourth embodiment, an exemplary design procedure will be described.

圖5係表示減速機之例示性之設計程序之概念圖。參照圖5說明減速機之例示性之設計程序。 Fig. 5 is a conceptual diagram showing an exemplary design procedure of the speed reducer. An exemplary design procedure of the speed reducer will be described with reference to FIG.

圖5表示3個區塊。3個區塊分別表示減速機之設計對象。3個區塊之各者所表示之設計亦可同時進行。作為替代，3個區塊之各者所表示之設計亦可依序執行。本實施形態之原理並不限定於3個區塊之特定之執行順序。 Figure 5 shows three blocks. The three blocks represent the design objects of the reducer. The design represented by each of the three blocks can also be performed simultaneously. Alternatively, the design represented by each of the three blocks may be performed sequentially. The principle of this embodiment is not limited to the specific execution order of the three blocks.

設計者設計殼體筒(外筒部或載體部)、齒輪部及曲柄組裝體。殼體筒及齒輪部可基於與減速機所要求之減速比、轉矩或大小相關之條件予以設計。 The designer designs the casing cylinder (outer cylinder portion or carrier portion), the gear portion, and the crank assembly. The casing barrel and gear portion can be designed based on conditions related to the reduction ratio, torque or magnitude required by the reducer.

曲柄組裝體亦可參照已設計出之其他減速機之設計資料進行設計。對軸頸之直徑分配其他減速機之設計資料所表示之偏心部之尺寸值。設計者可對安裝於軸頸之軸承，選擇具有與該其他減速機中所利用之軸承相同之型號之軸承。因此，關於上述實施形態所說明之設計原理不僅能夠減輕關於軸承管理之後勤事務，亦能夠減輕用以設計新減速機之設計業務之勞力。 The crank assembly can also be designed with reference to the design data of other gear units that have been designed. The diameter of the eccentric portion indicated by the design data of the other reducer is assigned to the diameter of the journal. The designer can select the bearing of the same type as the bearing used in the other reducer for the bearing mounted on the journal. Therefore, the design principle described in the above embodiment can not only alleviate the work after the bearing management, but also reduce the labor for designing the new reducer.

上述各種實施形態之原理亦可以符合對減速機之要求之方式予以組合。 The principles of the various embodiments described above may also be combined in a manner consistent with the requirements of the reducer.

上述之實施形態中主要包含具有以下構成之技術。具有以下構成之技術能夠於使用少數幾種軸承之情況下製造減速機。 The above embodiments mainly include a technique having the following configuration. A technique having the following constitution enables the manufacture of a speed reducer using a few types of bearings.

上述實施形態之一態樣之減速機組包括：第1減速機，其具有第1曲柄組裝體，該第1曲柄組裝體係藉由繞與被規定為第1輸出部之旋轉中心軸之第1主軸相隔第1距離之第1傳遞軸進行旋轉運動，而以使上述第1輸出部繞上述第1主軸旋轉之方式使第1搖動齒輪搖動；及第2減速機，其具有第2曲柄組裝體，該第2曲柄組裝體係藉由繞與被規定為第2輸出部之旋轉中心軸之第2主軸相隔不同於上述第1距離之第2距離之第2傳遞軸進行旋轉運動，而以使上述第2輸出部繞上述第2主軸旋轉之方式使第2搖動齒輪搖動。上述第1曲柄組裝體包含：第1曲柄軸，其包含第1軸頸與相對於上述第1軸頸偏心之第1偏心部；第1軸支 持軸承，其安裝於上述第1軸頸；及第1齒輪支持軸承，其配置於上述第1偏心部與上述第1搖動齒輪之間。上述第2曲柄組裝體包含：第2曲柄軸，其包含第2軸頸與相對於上述第2軸頸偏心之第2偏心部；第2軸支持軸承，其安裝於上述第2軸頸；及第2齒輪支持軸承，其配置於上述第2偏心部與上述第2搖動齒輪之間。上述第1齒輪支持軸承與上述第2軸支持軸承在形狀上一致。 The speed reduction unit according to an aspect of the embodiment includes a first reduction gear having a first crank assembly that is wound around a first spindle that is defined as a rotation center axis of the first output portion. The first transmission shaft that is separated by the first distance rotates, and the first output gear is rotated about the first main shaft to swing the first rocking gear; and the second reduction gear has a second crank assembly. The second crank assembly system rotates by a second transmission shaft that is spaced apart from a second spindle that is defined as a rotation center axis of the second output portion by a second distance different from the first distance. The second output gear is rocked by the output unit rotating around the second main shaft. The first crank assembly includes: a first crankshaft including a first journal and a first eccentric portion that is eccentric with respect to the first journal; and a first shaft a bearing is attached to the first journal; and a first gear support bearing is disposed between the first eccentric portion and the first oscillating gear. The second crank assembly includes a second crank shaft including a second journal and a second eccentric portion that is eccentric with respect to the second journal, and a second shaft support bearing that is attached to the second journal; The second gear support bearing is disposed between the second eccentric portion and the second oscillating gear. The first gear support bearing and the second shaft support bearing are identical in shape.

根據上述構成，由於第1齒輪支持軸承與第2軸支持軸承在形狀上一致，故軸承能夠利用於第1減速機及第2減速機之各者。因此，第1減速機及第2減速機能夠於使用少數幾種軸承之情況下製造。 According to the above configuration, since the first gear support bearing and the second shaft support bearing are identical in shape, the bearing can be used for each of the first reduction gear and the second reduction gear. Therefore, the first reduction gear and the second reduction gear can be manufactured using a few types of bearings.

於上述構成中，上述第1軸支持軸承、上述第1齒輪支持軸承、上述第2軸支持軸承及上述第2齒輪支持軸承之各者亦可為滾針軸承。 In the above configuration, each of the first shaft support bearing, the first gear support bearing, the second shaft support bearing, and the second gear support bearing may be a needle bearing.

根據上述構成，由於將滾針軸承用於第1軸支持軸承、第1齒輪支持軸承、第2軸支持軸承及第2齒輪支持軸承，故為了支持齒輪而準備之軸承亦能夠用作用以支持曲柄軸之軸承。 According to the above configuration, since the needle bearing is used for the first shaft support bearing, the first gear support bearing, the second shaft support bearing, and the second gear support bearing, the bearing prepared to support the gear can also be used to support the crank. Bearing of the shaft.

於上述構成中，上述第1軸支持軸承亦可與上述第1齒輪支持軸承在形狀上不同。上述第2軸支持軸承亦可與上述第2齒輪支持軸承在形狀上不同。 In the above configuration, the first shaft support bearing may be different in shape from the first gear support bearing. The second shaft support bearing may be different in shape from the second gear support bearing.

根據上述構成，由於第1軸支持軸承與第1齒輪支持軸承在形狀上不同，故設計第1曲柄組裝體之設計者能夠根據第1減速機所要求之條件，適當地設定第1軸頸與第1偏心部之間之直徑比。由於第2軸支持軸承與第2齒輪支持軸承在形狀上不同，故設計第2曲柄組裝體之設計者能夠根據第2減速機所要求之條件，適當地設定第2軸頸與第2偏心部之間之直徑比。 According to the above configuration, since the first shaft support bearing and the first gear support bearing are different in shape, the designer who designs the first crank assembly can appropriately set the first journal and the condition required by the first reduction gear. The ratio of the diameters between the first eccentric portions. Since the second shaft support bearing and the second gear support bearing are different in shape, the designer who designs the second crank assembly can appropriately set the second journal and the second eccentric portion according to the conditions required by the second reducer. The ratio between the diameters.

上述實施形態之另一態樣之減速機於輸出部之旋轉中心軸與傳遞使上述輸出部繞上述旋轉中心軸旋轉之驅動力的曲柄組裝體之傳遞旋轉軸之間之距離關係上，與其他另一減速機不同。減速機包括：第 1輸出部，其繞被規定為上述旋轉中心軸之第1主軸旋轉；第1搖動齒輪，其以引起上述第1輸出部繞上述第1主軸之旋轉之方式搖動；及第1曲柄組裝體，其進行繞與上述第1主軸相隔第1距離之被規定為上述傳遞旋轉軸之第1傳遞軸的旋轉運動。上述其他另一減速機具有第2曲柄組裝體，該第2曲柄組裝體係藉由繞與被規定為上述旋轉中心軸之第2主軸相隔不同於上述第1距離之第2距離之、被規定為上述傳遞旋轉軸之第2傳遞軸進行旋轉運動，而以使第2輸出部繞上述第2主軸旋轉之方式使第2搖動齒輪搖動。上述第1曲柄組裝體包含：第1曲柄軸，其包含第1軸頸與相對於上述第1軸頸偏心之第1偏心部；第1軸支持軸承，其安裝於上述第1軸頸；及第1齒輪支持軸承，其配置於上述第1偏心部與上述第1搖動齒輪之間。上述第2曲柄組裝體包含：第2曲柄軸，其包含第2軸頸與相對於上述第2軸頸偏心之第2偏心部；第2軸支持軸承，其安裝於上述第2軸頸；及第2齒輪支持軸承，其配置於上述第2偏心部與上述第2搖動齒輪之間。上述第1齒輪支持軸承與上述第2軸支持軸承在形狀上一致。 In another aspect of the embodiment, the speed reducer has a distance relationship between a rotation center axis of the output portion and a transmission rotation axis of the crank assembly that transmits a driving force for rotating the output portion around the rotation center axis, and The other reducer is different. Reducer includes: An output unit that rotates around a first spindle that is defined as the rotation center axis; a first rocking gear that swings to cause the first output portion to rotate about the first spindle; and a first crank assembly, The rotation is defined as a first transmission axis that is defined as the transmission rotation axis by a first distance from the first main axis. The other other speed reducer includes a second crank assembly, and the second crank assembly system is defined by being spaced apart from the second spindle defined as the rotation center axis by a second distance different from the first distance. The second transmission shaft that transmits the rotation shaft rotates, and the second oscillation gear is swung so that the second output portion rotates around the second main shaft. The first crank assembly includes a first crankshaft including a first journal and a first eccentric portion that is eccentric with respect to the first journal, and a first shaft support bearing that is attached to the first journal; The first gear support bearing is disposed between the first eccentric portion and the first oscillating gear. The second crank assembly includes a second crank shaft including a second journal and a second eccentric portion that is eccentric with respect to the second journal, and a second shaft support bearing that is attached to the second journal; The second gear support bearing is disposed between the second eccentric portion and the second oscillating gear. The first gear support bearing and the second shaft support bearing are identical in shape.

根據上述構成，由於第1齒輪支持軸承與第2軸支持軸承在形狀上一致，故軸承能夠利用於第1減速機及第2減速機之各者。因此，第1減速機及第2減速機係於使用少數幾種軸承之情況下製造。 According to the above configuration, since the first gear support bearing and the second shaft support bearing are identical in shape, the bearing can be used for each of the first reduction gear and the second reduction gear. Therefore, the first reduction gear and the second reduction gear are manufactured using a few types of bearings.

上述實施形態之又一態樣之設計方法係用於如下減速機之設計，該減速機於輸出部之旋轉中心軸與傳遞使上述輸出部繞上述旋轉中心軸旋轉之驅動力的曲柄組裝體之傳遞旋轉軸之間之距離關係上，與其他另一減速機不同。設計方法包括如下步驟：設計於被規定為上述旋轉中心軸之第1主軸旋轉之第1輸出部；設計以引起上述第1輸出部繞上述第1主軸之旋轉之方式搖動之第1搖動齒輪；及設計第1曲柄組裝體，該第1曲柄組裝體進行繞與上述第1主軸相隔第1距離之被規定為上述傳遞旋轉軸之第1傳遞軸之旋轉運動。上述其他另一減速機 具有第2曲柄組裝體，該第2曲柄組裝體係藉由繞與被規定為上述旋轉中心軸之第2主軸相隔不同於上述第1距離之第2距離之、被規定為上述傳遞旋轉軸之第2傳遞軸進行旋轉運動，而以使第2輸出部繞上述第2主軸旋轉之方式使第2搖動齒輪搖動。上述第2曲柄組裝體包含：第2曲柄軸，其包含第2軸頸與相對於上述第2軸頸偏心之第2偏心部；第2軸支持軸承，其安裝於上述第2軸頸；及第2齒輪支持軸承，其配置於上述第2偏心部與上述第2搖動齒輪之間。設計上述第1曲柄組裝體之步驟包含如下階段；(i)設計包含第1軸頸與相對於上述第1軸頸偏心之第1偏心部的第1曲柄軸；(ii)決定將與上述第2軸支持軸承在形狀上一致之軸承用作配置於上述第1偏心部與上述第1搖動齒輪之間之第1齒輪支持軸承。 Another aspect of the design of the above embodiment is for a design of a reduction gear that is coupled to a central axis of rotation of the output portion and a crank assembly that transmits a driving force for rotating the output portion about the central axis of rotation. The distance between the rotating axes is different from that of the other gearboxes. The design method includes a first output unit designed to rotate the first main shaft defined as the rotation center axis, and a first rocking gear designed to cause the first output unit to swing about the first main shaft; And designing the first crank assembly, the first crank assembly is configured to rotate about a first transmission axis defined by the transmission rotation axis about a first distance from the first main shaft. The other other reducer mentioned above The second crank assembly is defined as the transmission rotation axis by being spaced apart from the second spindle defined as the rotation center axis by a second distance different from the first distance. The transmission shaft rotates, and the second output gear is rocked so that the second output portion rotates around the second main shaft. The second crank assembly includes a second crank shaft including a second journal and a second eccentric portion that is eccentric with respect to the second journal, and a second shaft support bearing that is attached to the second journal; The second gear support bearing is disposed between the second eccentric portion and the second oscillating gear. The step of designing the first crank assembly includes the following steps: (i) designing a first crankshaft including a first journal and a first eccentric portion that is eccentric with respect to the first journal; (ii) determining the same as The bearing having the same shape in the two-axis support bearing serves as the first gear support bearing disposed between the first eccentric portion and the first oscillating gear.

根據上述構成，由於設計方法包含以配置於第1偏心部與第1搖動齒輪之間之第1齒輪支持軸承與第2軸支持軸承在形狀上一致之方式設計第1齒輪支持軸承之階段，故軸承能夠利用於第1減速機及第2減速機之各者。因此，第1減速機及第2減速機係於使用少數幾種軸承之情況下製造。 According to the above configuration, the design method includes the stage of designing the first gear support bearing so that the first gear support bearing disposed between the first eccentric portion and the first oscillating gear and the second shaft support bearing are identical in shape. The bearing can be used for each of the first reduction gear and the second reduction gear. Therefore, the first reduction gear and the second reduction gear are manufactured using a few types of bearings.

[產業上之可利用性] [Industrial availability]

上述實施形態之原理較佳地用於各種減速機之設計。 The principles of the above embodiments are preferably used in the design of various speed reducers.

100‧‧‧減速機 100‧‧‧Reducer

200‧‧‧殼體筒 200‧‧‧ shell tube

210‧‧‧外筒部 210‧‧‧Outer tube

211‧‧‧外筒 211‧‧‧Outer tube

212‧‧‧內齒銷 212‧‧‧ internal gear

220‧‧‧載體部 220‧‧‧Carrier Department

221‧‧‧基部 221‧‧‧ base

222‧‧‧端板部 222‧‧‧End Plate Department

223‧‧‧定位銷 223‧‧‧Locating pin

224‧‧‧固定螺栓 224‧‧‧ fixing bolts

225‧‧‧基板部 225‧‧‧Parts Department

226‧‧‧軸部 226‧‧‧Axis

230‧‧‧主軸承 230‧‧‧ main bearing

300‧‧‧齒輪部 300‧‧‧ Gear Department

310‧‧‧齒輪 310‧‧‧ Gears

320‧‧‧齒輪 320‧‧‧ gears

400‧‧‧曲柄組裝體 400‧‧‧Crank assembly

410‧‧‧曲柄軸 410‧‧‧ crankshaft

411‧‧‧軸頸 411‧‧‧ journal

412‧‧‧軸頸 412‧‧‧ journal

413‧‧‧偏心部 413‧‧‧Eccentric

414‧‧‧偏心部 414‧‧‧Eccentric

421‧‧‧軸承 421‧‧‧ bearing

422‧‧‧軸承 422‧‧‧ bearing

423‧‧‧軸承 423‧‧‧ bearing

424‧‧‧軸承 424‧‧‧ bearing

430‧‧‧傳遞齒輪 430‧‧‧Transmission gear

FMX‧‧‧主軸 FMX‧‧‧ spindle

FTX‧‧‧傳遞軸 FTX‧‧‧ transmission shaft

L1‧‧‧傳遞軸與主軸之間之距離 L1‧‧‧Distance between the transmission shaft and the main shaft

Claims (5)

一種減速機組，其包括：第1減速機，其具有第1曲柄組裝體，該第1曲柄組裝體係藉由繞與被規定為第1輸出部之旋轉中心軸之第1主軸相隔第1距離之第1傳遞軸進行旋轉運動，而以使上述第1輸出部繞上述第1主軸旋轉之方式使第1搖動齒輪搖動；及第2減速機，其具有第2曲柄組裝體，該第2曲柄組裝體係藉由繞與被規定為第2輸出部之旋轉中心軸之第2主軸相隔不同於上述第1距離之第2距離的第2傳遞軸進行旋轉運動，而以使上述第2輸出部繞上述第2主軸旋轉之方式使第2搖動齒輪搖動；且上述第1曲柄組裝體包含：第1曲柄軸，其包含第1軸頸與相對於上述第1軸頸偏心之第1偏心部；第1軸支持軸承，其安裝於上述第1軸頸；及第1齒輪支持軸承，其配置於上述第1偏心部與上述第1搖動齒輪之間；上述第2曲柄組裝體包含：第2曲柄軸，其包含第2軸頸與相對於上述第2軸頸偏心之第2偏心部；第2軸支持軸承，其安裝於上述第2軸頸；及第2齒輪支持軸承，其配置於上述第2偏心部與上述第2搖動齒輪之間；且上述第1齒輪支持軸承與上述第2軸支持軸承在形狀上一致。 A reduction gear unit includes: a first reduction gear having a first crank assembly, wherein the first crank assembly system is separated from a first main spindle defined as a rotation center axis of the first output portion by a first distance The first transmission shaft rotates, and the first output gear is rotated about the first main shaft to swing the first rocking gear; and the second reduction gear has a second crank assembly, and the second crank assembly The system rotates around the second transmission shaft that is separated from the second main axis defined as the rotation center axis of the second output unit by a second distance different from the second distance of the first distance, so that the second output unit surrounds the second output unit The second crank gear rotates to move the second rocking gear, and the first crank assembly includes a first crankshaft including a first journal and a first eccentric portion that is eccentric with respect to the first journal; a shaft support bearing attached to the first journal; and a first gear support bearing disposed between the first eccentric portion and the first oscillating gear; and the second crank assembly including a second crank shaft It includes a second journal and a second journal opposite thereto a second eccentric portion of the core; a second shaft support bearing attached to the second journal; and a second gear support bearing disposed between the second eccentric portion and the second oscillating gear; and the first The gear support bearing is identical in shape to the above-described second shaft support bearing. 如請求項1之減速機組，其中上述第1軸支持軸承、上述第1齒輪支持軸承、上述第2軸支持軸承及上述第2齒輪支持軸承分別為滾針軸承。 The reduction gear unit of claim 1, wherein the first shaft support bearing, the first gear support bearing, the second shaft support bearing, and the second gear support bearing are each a needle bearing. 如請求項2之減速機組，其中上述第1軸支持軸承與上述第1齒輪支持軸承在形狀上不同；且上述第2軸支持軸承與上述第2齒輪支持軸承在形狀上不同。 The reduction unit of claim 2, wherein the first shaft support bearing and the first gear support bearing are different in shape; and the second shaft support bearing and the second gear support bearing are different in shape. 一種減速機，其係於輸出部之旋轉中心軸與傳遞使上述輸出部繞上述旋轉中心軸旋轉之驅動力的曲柄組裝體之傳遞旋轉軸之間之距離關係上，與其他另一減速機不同者，且包括：第1輸出部，其繞被規定為上述旋轉中心軸之第1主軸旋轉；第1搖動齒輪，其係以引起上述第1輸出部繞上述第1主軸之旋轉之方式搖動；及第1曲柄組裝體，其進行繞與上述第1主軸相隔第1距離之被規定為上述傳遞旋轉軸之第1傳遞軸的旋轉運動；上述其他另一減速機具有第2曲柄組裝體，該第2曲柄組裝體係藉由繞與被規定為上述旋轉中心軸之第2主軸相隔不同於上述第1距離之第2距離之、被規定為上述傳遞旋轉軸之第2傳遞軸進行旋轉運動，而以使第2輸出部繞上述第2主軸旋轉之方式使第2搖動齒輪搖動；上述第1曲柄組裝體包含：第1曲柄軸，其包含第1軸頸與相對於上述第1軸頸偏心之第1偏心部；第1軸支持軸承，其安裝於上述第1軸頸；及第1齒輪支持軸承，其配置於上述第1偏心部與上述第1搖動齒輪之間；上述第2曲柄組裝體包含：第2曲柄軸，其包含第2軸頸與相對於上述第2軸頸偏心之第2偏心部；第2軸支持軸承，其安裝於上述第2軸頸；及第2齒輪支持軸承，其配置於上述第2偏心部與上述第2搖動齒輪之間；且上述第1齒輪支持軸承與上述第2軸支持軸承在形狀上一致。 A speed reducer is different from another speed reducer in a distance relationship between a rotation center axis of the output portion and a transmission rotation shaft of a crank assembly that transmits a driving force for rotating the output portion around the rotation center axis The first output unit rotates around a first main shaft defined as the rotation center axis, and the first rocking gear swings to cause the first output unit to rotate about the first main shaft. And a first crank assembly that performs a rotational motion of a first transmission shaft defined as a transmission rotation axis at a first distance from the first main shaft; and the other other reduction gear has a second crank assembly. The second crank assembly system performs a rotational motion by a second transmission axis defined as the transmission rotation axis by being spaced apart from a second spindle defined as the rotation center axis by a second distance different from the first distance. The second rocking gear is rocked so that the second output portion rotates around the second main shaft. The first crank assembly includes a first crank shaft including a first journal and an eccentricity with respect to the first journal. a first eccentric portion; a first shaft support bearing attached to the first journal; and a first gear support bearing disposed between the first eccentric portion and the first oscillating gear; and the second crank assembly The second crankshaft includes a second journal and a second eccentric portion that is eccentric with respect to the second journal; a second shaft support bearing that is attached to the second journal; and a second gear support bearing, The first gear support bearing and the second shaft support bearing are disposed in shape in shape between the second eccentric portion and the second oscillating gear. 一種減速機之設計方法，其係於輸出部之旋轉中心軸與傳遞使上述輸出部繞上述旋轉中心軸旋轉之驅動力的曲柄組裝體之傳遞旋轉軸之間之距離關係上與其他另一減速機不同之減速機之設計方法，且包括如下步驟： 設計於被規定為上述旋轉中心軸之第1主軸旋轉之第1輸出部；設計以引起上述第1輸出部繞上述第1主軸之旋轉之方式搖動之第1搖動齒輪；及設計第1曲柄組裝體，該第1曲柄組裝體進行繞與上述第1主軸相隔第1距離之、被規定為上述傳遞旋轉軸之第1傳遞軸之旋轉運動；上述其他另一減速機具有第2曲柄組裝體，該第2曲柄組裝體係藉由繞與被規定為上述旋轉中心軸之第2主軸相隔不同於上述第1距離之第2距離之、被規定為上述傳遞旋轉軸之第2傳遞軸進行旋轉運動，而以使第2輸出部繞上述第2主軸旋轉之方式使第2搖動齒輪搖動；上述第2曲柄組裝體包含：第2曲柄軸，其包含第2軸頸與相對於上述第2軸頸偏心之第2偏心部；第2軸支持軸承，其安裝於上述第2軸頸；及第2齒輪支持軸承，其配置於上述第2偏心部與上述第2搖動齒輪之間；設計上述第1曲柄組裝體之步驟包含如下階段：(i)設計包含第1軸頸與相對於上述第1軸頸偏心之第1偏心部的第1曲柄軸；及(ii)決定將與上述第2軸支持軸承在形狀上一致之軸承用作配置於上述第1偏心部與上述第1搖動齒輪之間之第1齒輪支持軸承。 A method for designing a speed reducer is based on a distance between a rotation center axis of an output portion and a transmission rotation axis of a crank assembly that transmits a driving force for rotating the output portion around the rotation center axis, and another speed reduction The design method of the different speed reducer, and includes the following steps: a first output portion designed to rotate the first main shaft of the rotation center axis; a first oscillating gear designed to cause the first output portion to oscillate about the rotation of the first main shaft; and a first crank assembly The first crank assembly is configured to rotate about a first transmission axis that is defined as a transmission rotation axis by a first distance from the first main shaft, and the other other reduction gear has a second crank assembly. The second crank assembly system performs a rotational motion about a second transmission axis defined as the transmission rotation axis by being spaced apart from a second spindle defined as the rotation center axis by a second distance different from the first distance. The second crank gear is rocked so that the second output portion rotates around the second main shaft. The second crank assembly includes a second crank shaft including a second journal and an eccentricity with respect to the second journal. a second eccentric portion; a second shaft support bearing attached to the second journal; and a second gear support bearing disposed between the second eccentric portion and the second oscillating gear; and the first crank is designed Assembly step The present invention includes the following steps: (i) designing a first crankshaft including a first journal and a first eccentric portion that is eccentric with respect to the first journal; and (ii) determining a shape that is identical to the second shaft support bearing The bearing serves as a first gear support bearing disposed between the first eccentric portion and the first rocking gear.
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