TW201938928A - Transmission device characterized by compactly arranging a reducer and a drive source along the direction of the rotary shaft of the annular gear - Google Patents
Transmission device characterized by compactly arranging a reducer and a drive source along the direction of the rotary shaft of the annular gear Download PDFInfo
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- TW201938928A TW201938928A TW108107824A TW108107824A TW201938928A TW 201938928 A TW201938928 A TW 201938928A TW 108107824 A TW108107824 A TW 108107824A TW 108107824 A TW108107824 A TW 108107824A TW 201938928 A TW201938928 A TW 201938928A
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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
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/029—Gearboxes; Mounting gearing therein characterised by means for sealing the gearboxes, e.g. to improve airtightness
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/108—Bearings specially adapted therefor
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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
- F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
- F16H37/02—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings
- F16H37/04—Combinations of toothed gearings only
- F16H37/041—Combinations of toothed gearings only for conveying rotary motion with constant gear ratio
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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
- 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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- 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
- F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
-
- 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
- F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
- F16H1/04—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members
- F16H1/12—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with non-parallel axes
- F16H1/14—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with non-parallel axes comprising conical gears only
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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
-
- 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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- 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
- F16H2057/02039—Gearboxes for particular applications
- F16H2057/02069—Gearboxes for particular applications for industrial applications
- F16H2057/02073—Reduction gearboxes for industry
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Retarders (AREA)
- General Details Of Gearings (AREA)
- Sealing With Elastic Sealing Lips (AREA)
- Gear Transmission (AREA)
- Steroid Compounds (AREA)
- Transition And Organic Metals Composition Catalysts For Addition Polymerization (AREA)
Abstract
Description
本發明係關於一種用於將旋轉驅動力向對象裝置傳遞的傳動裝置(例如，減速機)。The present invention relates to a transmission device (for example, a reduction gear) for transmitting a rotational driving force to a target device.
一直以來，公知用於使來自驅動源之驅動力向對象裝置傳遞的傳動裝置。對象裝置例如為工業用機器人、轉台。作為先前之傳動裝置之一例，在專利文獻1公開了一種用於驅動工業用機器人之手腕的驅動機構所使用的行星齒輪減速機。該行星齒輪減速機用於將從作為驅動源之驅動馬達輸入的旋轉驅動力減速而向機器人的手腕傳遞。Conventionally, a transmission device for transmitting a driving force from a driving source to a target device is known. The target device is, for example, an industrial robot or a turntable. As an example of a conventional transmission device, Patent Document 1 discloses a planetary gear reducer used in a drive mechanism for driving a wrist of an industrial robot. This planetary gear reducer is used to reduce the rotational driving force input from a drive motor as a drive source and transmit the rotational driving force to the robot's wrist.
該行星齒輪減速機具有：環形齒輪，其用於輸入來自驅動馬達的旋轉驅動力；3個小齒輪，其與環形齒輪嚙合；以及減速部，其用於將從該小齒輪輸入之旋轉減速而向機器人的手腕輸出。該環形齒輪具備外齒及內齒。安裝於驅動馬達之輸出軸的小齒輪與環形齒輪之外齒嚙合。上述之3個小齒輪與環形齒輪之內齒嚙合。環形齒輪經由設於其徑向外側之軸承以能夠旋轉之方式支承於殼體。
[現有技術文獻]
[專利文獻]The planetary gear reducer has a ring gear for inputting a rotational driving force from a drive motor, three pinion gears that mesh with the ring gear, and a reduction section for reducing the rotation input from the pinion gear and Output to the robot's wrist. The ring gear includes external teeth and internal teeth. The pinion gear mounted on the output shaft of the drive motor meshes with the external gear of the ring gear. The three pinions mentioned above mesh with the internal teeth of the ring gear. The ring gear is rotatably supported on the housing via a bearing provided on the radially outer side.
[Prior Art Literature]
[Patent Literature]
專利文獻1：日本特開平02-048193號公報Patent Document 1: Japanese Unexamined Patent Publication No. 02-048193
[發明所欲解決之問題][Problems to be solved by the invention]
在專利文獻1所公開之手腕驅動機構中，環形齒輪之轉軸與驅動源之轉軸平行地設置。因此，驅動源配置於在沿著環形齒輪之轉軸的方向上自減速機偏移的位置。因此，在上述之先前之減速機中，無法在沿著環形齒輪之轉軸的方向上緊湊地配置減速機及驅動源。In the wrist drive mechanism disclosed in Patent Document 1, the rotation axis of the ring gear is provided in parallel with the rotation axis of the driving source. Therefore, the driving source is disposed at a position shifted from the reducer in a direction along the rotation axis of the ring gear. Therefore, in the aforementioned conventional reducer, the reducer and the drive source cannot be compactly arranged in a direction along the rotation axis of the ring gear.
另外，在上述之行星齒輪減速機中，用於將環形齒輪支承於支承體之軸承配置於該環形齒輪之徑向外側。因此，行星齒輪減速機之尺寸於環形齒輪之徑向上變大。Further, in the planetary gear reducer described above, a bearing for supporting the ring gear on the support body is arranged radially outward of the ring gear. Therefore, the size of the planetary gear reducer becomes larger in the radial direction of the ring gear.
本發明之目的在於解決或者緩和上述問題之至少一部分。本發明之更具體的目的之一在於提供一種能夠緊湊化之傳動裝置。
[解決問題之技術手段]An object of the present invention is to solve or alleviate at least part of the problems described above. One of the more specific objects of the present invention is to provide a transmission device capable of being compact.
[Technical means to solve the problem]
本發明之一技術方案之傳動裝置包括：第1齒輪，其連接於驅動源；環形齒輪，其具有外周面及內周面，該外周面設有與上述第1齒輪嚙合之外齒，該內周面設有內齒；第2齒輪，其與上述環形齒輪之上述內齒嚙合；減速部，其用於使來自上述第2齒輪之輸入減速並輸出；軸承，其用於將上述環形齒輪以能夠旋轉之方式支承於基部；以及密封構件，其設於上述環形齒輪之轉軸與上述軸承之間。A transmission device according to a technical solution of the present invention includes a first gear connected to a driving source, and a ring gear having an outer peripheral surface and an inner peripheral surface. The outer peripheral surface is provided with external teeth that mesh with the first gear. The peripheral surface is provided with internal teeth; a second gear that meshes with the internal teeth of the ring gear; a reduction unit for reducing the input from the second gear and outputting the bearing; and a bearing for converting the ring gear to The base is rotatably supported; and a sealing member is provided between the rotation shaft of the ring gear and the bearing.
在本發明之一技術方案中，上述軸承具有：第1軸承，其設於上述轉軸方向上之第1位置；以及第2軸承，其設於上述轉軸方向上之第2位置，上述密封構件之至少一部分設於上述轉軸方向上的上述第1位置與上述第2位置之間。In one aspect of the present invention, the bearing includes: a first bearing provided at a first position in the rotation axis direction; and a second bearing provided at a second position in the rotation axis direction, and the seal member At least a part is provided between the first position and the second position in the rotation axis direction.
在本發明之一技術方案中，上述密封構件配置於在與上述轉軸正交且穿過上述軸承的密封假想面中較上述軸承靠近上述轉軸的位置。In one aspect of the present invention, the seal member is disposed closer to the rotation shaft than the bearing in a sealing virtual plane orthogonal to the rotation shaft and passing through the bearing.
在本發明之一技術方案中，上述環形齒輪具有：內齒構件，其具有上述內齒；以及外齒構件，其相對於上述內齒構件獨立，並具有上述外齒。In one aspect of the present invention, the ring gear includes: an internal gear member having the internal gear; and an external gear member which is independent of the internal gear member and has the external gear.
本發明之一技術方案之傳動裝置包括：第1齒輪，其連接於驅動源；環形齒輪，其具有外齒構件及相對於上述外齒構件獨立的內齒構件，該外齒構件具有與上述第1齒輪嚙合之外齒，該內齒構件具有內齒；第2齒輪，其與上述環形齒輪之上述內齒嚙合；螺栓，其配置於與上述環形齒輪之轉軸正交且穿過上述第2齒輪之第1假想面上，用於將上述內齒構件緊固於上述外齒構件；減速部，其用於使來自上述第2齒輪之輸入減速並輸出；以及軸承，其用於將上述環形齒輪以能夠旋轉之方式支承於基部。A transmission device according to a technical solution of the present invention includes: a first gear connected to a driving source; a ring gear having an external gear member and an internal gear member independent of the external gear member; 1 a gear meshes with external teeth, the internal tooth member has internal teeth; a second gear that meshes with the internal teeth of the ring gear; and a bolt that is arranged orthogonal to the rotation axis of the ring gear and passes through the second gear The first imaginary plane is used to fasten the internal gear member to the external gear member; a speed reduction unit for reducing and outputting the input from the second gear; and a bearing for reducing the ring gear The base is rotatably supported.
本發明之一技術方案之傳動裝置包括：第1齒輪，其連接於驅動源；環形齒輪，其具有外周面及內周面，該外周面設有與上述第1齒輪嚙合之外齒，該內周面設有內齒，上述環形齒輪相對於基部旋轉；第2齒輪，其配置於與上述環形齒輪之轉軸正交且穿過上述第1齒輪之第1假想面上，並與上述環形齒輪之上述內齒嚙合；固定部，其以不會相對於上述基部旋轉之方式設置；輸出部，其設於上述固定部之內側，以自上述第2齒輪之轉速減速而成之轉速相對於上述基部旋轉；以及主軸承，其配置於上述固定部與上述輸出部之間，上述第1齒輪之至少一部分配置於上述固定部之外周面與上述主軸承之外周面之間。A transmission device according to a technical solution of the present invention includes a first gear connected to a driving source, and a ring gear having an outer peripheral surface and an inner peripheral surface. The outer peripheral surface is provided with external teeth that mesh with the first gear. The peripheral surface is provided with internal teeth, and the ring gear rotates with respect to the base; the second gear is disposed on a first imaginary plane orthogonal to the rotation axis of the ring gear and passing through the first gear, and is the same as the ring gear. The internal teeth mesh; the fixed portion is provided so as not to rotate relative to the base portion; the output portion is provided inside the fixed portion and rotates at a speed reduced from the speed of the second gear with respect to the base portion And a main bearing disposed between the fixed portion and the output portion, and at least a portion of the first gear is disposed between an outer peripheral surface of the fixed portion and an outer peripheral surface of the main bearing.
在本發明之一技術方案中，上述主軸承配置於在與上述轉軸正交且穿過上述第1齒輪之第2假想面中較上述第1齒輪靠近上述轉軸的位置。In one aspect of the present invention, the main bearing is disposed closer to the rotation shaft than the first gear in a second imaginary plane orthogonal to the rotation shaft and passing through the first gear.
在本發明之一技術方案中，上述第1齒輪構成為，繞與上述環形齒輪之上述轉軸不同的另一轉軸旋轉。
[發明之效果]In one aspect of the present invention, the first gear is configured to rotate around another rotation axis different from the rotation axis of the ring gear.
[Effect of the invention]
根據本發明之技術方案，能夠提供一種可緊湊化之傳動裝置。According to the technical solution of the present invention, a compact transmission device can be provided.
以下，參照附圖說明本發明之實施形態。首先，參照圖1~圖4說明本發明之一實施方式之傳動裝置及具備該傳動裝置之旋轉裝置。圖1係概略地表示具備本發明之一實施方式之傳動裝置之旋轉裝置的概略圖，圖2係概略地表示本發明之一實施方式之旋轉裝置之內部構造之局部之概略圖。圖3係示意性地表示沿著圖2之A-A線之剖面的剖視圖，圖4係示意性地表示沿著圖3之B-B線之剖面的剖視圖。圖示之旋轉裝置用於例如使工業用機器人的手腕、轉台旋轉。Hereinafter, embodiments of the present invention will be described with reference to the drawings. First, a transmission device according to an embodiment of the present invention and a rotation device including the same will be described with reference to FIGS. 1 to 4. FIG. 1 is a schematic diagram showing a rotary device including a transmission device according to an embodiment of the present invention, and FIG. 2 is a schematic diagram showing a part of an internal structure of a rotary device according to an embodiment of the present invention. FIG. 3 is a cross-sectional view schematically showing a cross-section taken along the line A-A in FIG. 2, and FIG. 4 is a cross-sectional view schematically showing a cross-section taken along the line B-B in FIG. 3. The rotating device shown in the figure is used to rotate, for example, a wrist or a turntable of an industrial robot.
圖示之旋轉裝置包括驅動源5及用於使來自該驅動源5之旋轉向對象裝置傳遞的減速機10。驅動源5例如為電動馬達。減速機10將從驅動源5輸入之旋轉減速，並向作為驅動對象之對象裝置(未圖示)輸出。能夠應用本發明之傳動裝置不限定於減速機10。The rotating device shown in the figure includes a driving source 5 and a speed reducer 10 for transmitting rotation from the driving source 5 to a target device. The drive source 5 is, for example, an electric motor. The speed reducer 10 decelerates the rotation input from the drive source 5 and outputs it to a target device (not shown) as a drive target. The transmission device to which the present invention can be applied is not limited to the speed reducer 10.
減速機10具有：用於傳遞來自驅動源5之旋轉的齒輪單元100、基部15以及支承於基部15之減速部50。在減速機10設有貫通孔，在該貫通孔設有筒狀之中央管25。減速部50將從齒輪單元100輸入之旋轉減速，並輸出已減速之旋轉。The speed reducer 10 includes a gear unit 100 for transmitting rotation from the drive source 5, a base portion 15, and a speed reduction portion 50 supported by the base portion 15. The reducer 10 is provided with a through-hole, and the through-hole is provided with a cylindrical central pipe 25. The reduction section 50 decelerates the rotation input from the gear unit 100 and outputs the decelerated rotation.
繼而，更具體地說明齒輪單元100。齒輪單元100包括：正齒輪1、輸入齒輪2以及環形齒輪3。輸入齒輪2連接於驅動源5之驅動軸111，在從驅動源5輸入之驅動力的作用下繞第1轉軸旋轉。Next, the gear unit 100 will be described more specifically. The gear unit 100 includes a spur gear 1, an input gear 2, and a ring gear 3. The input gear 2 is connected to a drive shaft 111 of the drive source 5 and rotates around a first rotation shaft under the action of a driving force input from the drive source 5.
在圖示之實施形態中，正齒輪1係直齒圓柱齒輪。能夠應用於本發明之正齒輪1不限定於直齒圓柱齒輪。作為正齒輪1，能夠使用可將環形齒輪3之旋轉向減速部50(具體而言，後述之曲軸80)傳遞的任意的齒輪。在圖示之實施形態中，齒輪單元100具有3個正齒輪1，但設於齒輪單元100之正齒輪1的數量既可以大於3，亦可以小於3。In the illustrated embodiment, the spur gear 1 is a spur gear. The spur gear 1 applicable to the present invention is not limited to a spur gear. As the spur gear 1, any gear that can transmit the rotation of the ring gear 3 to the reduction unit 50 (specifically, a crankshaft 80 described later) can be used. In the illustrated embodiment, the gear unit 100 has three spur gears 1, but the number of the spur gears 1 provided in the gear unit 100 may be greater than three or less than three.
環形齒輪3以繞轉軸RCX旋轉之方式支承於基部15。環形齒輪3具有支承於基部15之支承構件7及環形狀之環構件8。支承構件7具有圓盤形狀之主體部7a及從主體部7a之徑向內端向X2方向延伸之凸座部7b。凸座部7b具有大致圓筒形狀。在圖示之實施形態中，支承構件7及環構件8係相互獨立的構件，環構件8被螺栓14連結於支承構件7。支承構件7及環構件8亦可以具有一體之單件構造。環形齒輪3具有內齒4及外齒6。更具體而言，環形齒輪3之環構件8具有內齒4及外齒6。內齒4沿著環構件8之內周面設置，與正齒輪1嚙合。外齒6沿著環構件8之外周面設置，與輸入齒輪2嚙合。輸入齒輪2係申請專利範圍中所記載之第1齒輪的例子。正齒輪1係申請專利範圍中所記載之第2齒輪的例子。The ring gear 3 is supported on the base portion 15 so as to rotate about a rotation axis RCX. The ring gear 3 includes a support member 7 supported on the base 15 and a ring-shaped ring member 8. The support member 7 has a disc-shaped main body portion 7a and a convex portion 7b extending from the radially inner end of the main body portion 7a in the X2 direction. The boss portion 7b has a substantially cylindrical shape. In the illustrated embodiment, the support member 7 and the ring member 8 are independent members, and the ring member 8 is connected to the support member 7 by a bolt 14. The support member 7 and the ring member 8 may have an integrated one-piece structure. The ring gear 3 includes internal teeth 4 and external teeth 6. More specifically, the ring member 8 of the ring gear 3 includes internal teeth 4 and external teeth 6. The internal teeth 4 are provided along the inner peripheral surface of the ring member 8 and mesh with the spur gear 1. The external teeth 6 are provided along the outer peripheral surface of the ring member 8 and mesh with the input gear 2. The input gear 2 is an example of the first gear described in the patent application scope. The spur gear 1 is an example of the second gear described in the patent application scope.
在圖3中示出與轉軸RCX正交且穿過外齒6之假想面P1。內齒4及外齒6均配置於該假想面P1上。換言之，假想面P1穿過內齒4及外齒6該兩者。假想面P1係申請專利範圍中之第1假想面的例子。在先前之減速機中，與輸入齒輪嚙合之齒輪的齒及與正齒輪嚙合之齒輪的齒配置於在減速機之中心軸方向上偏移的位置。相對於此，在圖示之實施形態中，與輸入齒輪2嚙合之外齒6及與正齒輪1嚙合之內齒4均配置於假想面P1上，因此能夠利用該配置減小減速機10之中心軸RCX方向上之尺寸。正齒輪1及螺栓14亦配置於該假想面P1上。利用該配置，能夠進一步減小減速機10之中心軸RCX方向上之尺寸。An imaginary plane P1 that is orthogonal to the rotation axis RCX and passes through the external teeth 6 is shown in FIG. 3. Both the internal teeth 4 and the external teeth 6 are arranged on the virtual plane P1. In other words, the imaginary plane P1 passes through both the internal teeth 4 and the external teeth 6. The imaginary plane P1 is an example of the first imaginary plane in the scope of patent application. In the conventional reducer, the teeth of the gear meshing with the input gear and the teeth of the gear meshing with the spur gear are disposed at positions shifted in the direction of the central axis of the reducer. In contrast, in the illustrated embodiment, the outer teeth 6 meshing with the input gear 2 and the inner teeth 4 meshing with the spur gear 1 are disposed on the imaginary plane P1. Therefore, this configuration can be used to reduce the speed of the reducer 10. Dimensions in the center axis RCX direction. The spur gear 1 and the bolt 14 are also arranged on this imaginary plane P1. With this configuration, it is possible to further reduce the size in the direction of the center axis RCX of the reducer 10.
環形齒輪3繞轉軸RCX(第2轉軸)自轉。環形齒輪3配置為其轉軸RCX不與輸入齒輪2的轉軸(第1轉軸)平行。在圖示之實施形態中，環形齒輪3的轉軸RCX與穿過設於減速機10之中心的圓筒形狀之貫通孔之中心的軸線一致。因此，在本說明書中，有時將轉軸RCX稱為(減速機10之)中心軸RCX。第2轉軸沿與第1轉軸不同的方向延伸。因而，利用輸入齒輪2及環形齒輪3來變換來自驅動源5之驅動力之傳遞方向。在圖示之實施形態中，由輸入齒輪2及環形齒輪3構成錐齒輪。除錐齒輪之外，輸入齒輪2及環形齒輪3亦可以為螺旋齒輪、蝸輪、或者能夠變換動力之傳遞方向的除上述之外之齒輪。The ring gear 3 rotates around a rotation shaft RCX (second rotation shaft). The ring gear 3 is disposed such that its rotation axis RCX is not parallel to the rotation axis (first rotation axis) of the input gear 2. In the illustrated embodiment, the rotation axis RCX of the ring gear 3 coincides with the axis passing through the center of the cylindrical through hole provided at the center of the reduction gear 10. Therefore, in this specification, the rotating shaft RCX may be referred to as the central shaft RCX (of the reducer 10). The second rotation shaft extends in a direction different from the first rotation shaft. Therefore, the input gear 2 and the ring gear 3 are used to change the transmission direction of the driving force from the driving source 5. In the illustrated embodiment, the input gear 2 and the ring gear 3 constitute a bevel gear. In addition to the bevel gear, the input gear 2 and the ring gear 3 may be a helical gear, a worm gear, or a gear other than the above that is capable of changing the direction of power transmission.
作為齒輪單元100之構成要素的各齒輪的具體的形狀、配置以及數量不限於圖示所示。The specific shape, arrangement, and number of each gear as a component of the gear unit 100 are not limited to those shown in the drawings.
繼而，更具體地說明減速部50。減速部50具有：與正齒輪1結合之曲軸80、曲軸軸承84、擺動齒輪部70、殼體11、齒輪架60以及銷20。Next, the speed reduction unit 50 will be described more specifically. The reduction unit 50 includes a crankshaft 80, a crankshaft bearing 84, a swing gear unit 70, a housing 11, a carrier 60, and a pin 20 coupled to the spur gear 1.
曲軸80具有軸主體80a、偏心部81以及偏心部82。軸主體80a係沿與中心軸RCX平行之方向延伸的圓柱形狀之構件。偏心部81及偏心部82係圓筒形狀之構件。偏心部81及偏心部82自軸主體80a偏心。偏心部81之相位與偏心部82之相位彼此錯開180°。偏心部82設於在中心軸RCX方向上較偏心部81靠X2側的位置。曲軸80固定於正齒輪1。換言之，曲軸80以不會相對於正齒輪1相對旋轉之方式設置。The crankshaft 80 includes a shaft body 80 a, an eccentric portion 81, and an eccentric portion 82. The shaft body 80a is a cylindrical member extending in a direction parallel to the central axis RCX. The eccentric portion 81 and the eccentric portion 82 are cylindrical members. The eccentric portion 81 and the eccentric portion 82 are eccentric from the shaft body 80a. The phase of the eccentric portion 81 and the phase of the eccentric portion 82 are shifted from each other by 180 °. The eccentric portion 82 is provided on the X2 side from the eccentric portion 81 in the center axis RCX direction. The crankshaft 80 is fixed to the spur gear 1. In other words, the crankshaft 80 is provided so as not to rotate relative to the spur gear 1.
在偏心部81、82之徑向外側設有複數個曲軸軸承84。曲軸軸承84例如為滾針軸承。A plurality of crankshaft bearings 84 are provided on the radially outer side of the eccentric portions 81 and 82. The crankshaft bearing 84 is, for example, a needle bearing.
擺動齒輪部70具有第1擺動齒輪71及設於在中心軸RCX方向上較第1擺動齒輪71靠X2側的位置之第2擺動齒輪72。第1擺動齒輪71經由曲軸軸承84安裝於偏心部81。同樣，第2擺動齒輪72經由曲軸軸承84安裝於偏心部82。第1擺動齒輪71在其徑向中央具有中央孔71c，在該中央孔71c之周圍具有3個軸孔71b。第2擺動齒輪72在其徑向中央具有中央孔72c，在該中央孔72c之周圍具有3個軸孔72b。第1擺動齒輪71具有外齒71a，第2擺動齒輪72具有外齒72a。第1擺動齒輪71之外齒71a的齒數與第2擺動齒輪72之外齒72a的齒數相同。在圖示之實施形態中，銷20之數量較外齒71a(外齒72a)之齒數僅多1個。The oscillating gear portion 70 includes a first oscillating gear 71 and a second oscillating gear 72 provided on the X2 side of the first oscillating gear 71 in the direction of the central axis RCX. The first swing gear 71 is attached to the eccentric portion 81 via a crankshaft bearing 84. Similarly, the second swing gear 72 is attached to the eccentric portion 82 via a crankshaft bearing 84. The first swing gear 71 has a center hole 71c at the center in the radial direction, and three shaft holes 71b around the center hole 71c. The second swinging gear 72 has a center hole 72c at the center in the radial direction, and three shaft holes 72b around the center hole 72c. The first swing gear 71 has external teeth 71a, and the second swing gear 72 has external teeth 72a. The number of teeth of the outer teeth 71 a of the first swing gear 71 is the same as the number of teeth of the outer teeth 72 a of the second swing gear 72. In the illustrated embodiment, the number of pins 20 is only one more than the number of teeth of the external teeth 71a (external teeth 72a).
在擺動齒輪部70之徑向外側設有殼體11。殼體11具有呈圓筒形狀之殼體主體11b及設於殼體主體11b之徑向外側的凸緣11a。殼體主體11b具有外周面11b1。殼體主體11b之外周面11b1與凸緣11a之內周面接觸。在殼體主體11b之外周面11b1安裝有馬達凸緣112。驅動源5利用該馬達凸緣112安裝於殼體主體11b及基部15。在殼體主體11b之外周面11b1設有向徑向內側凹陷之凹部11b2。凹部11b2設於殼體主體11b之外周面11b1中之與驅動源5相對的位置。如圖3所示，用於從驅動源5之驅動軸111輸入旋轉之輸入齒輪2之至少一部分收納於凹部11b2。A housing 11 is provided on the radially outer side of the swing gear portion 70. The case 11 includes a case body 11b having a cylindrical shape and a flange 11a provided on the radially outer side of the case body 11b. The case body 11b has an outer peripheral surface 11b1. The outer peripheral surface 11b1 of the case body 11b is in contact with the inner peripheral surface of the flange 11a. A motor flange 112 is attached to the outer peripheral surface 11b1 of the case body 11b. The drive source 5 is attached to the case main body 11 b and the base portion 15 using the motor flange 112. The outer peripheral surface 11b1 of the case main body 11b is provided with a recessed portion 11b2 recessed inward in the radial direction. The recessed portion 11b2 is provided at a position facing the drive source 5 in the outer peripheral surface 11b1 of the case body 11b. As shown in FIG. 3, at least a part of the input gear 2 for inputting rotation from the drive shaft 111 of the drive source 5 is housed in the recessed portion 11 b 2.
在殼體主體11b之內壁設有沿轉軸RCX方向延伸的複數個槽。在該複數個槽分別設有銷20。銷20係沿轉軸RCX方向延伸的圓柱形狀之構件。藉此，銷20被殼體主體11b保持。A plurality of grooves are provided on the inner wall of the case body 11b and extend along the rotation axis RCX direction. Each of the plurality of grooves is provided with a pin 20. The pin 20 is a cylindrical member extending in the direction of the rotation axis RCX. Thereby, the pin 20 is held by the case main body 11b.
凸緣11a利用螺栓緊固於殼體主體11b及基部15。凸緣11a不會相對於殼體主體11b及基部15相對旋轉。殼體11係申請專利範圍所記載之固定部的例子。The flange 11 a is fastened to the case body 11 b and the base portion 15 with bolts. The flange 11 a does not rotate relative to the case body 11 b and the base 15. The case 11 is an example of the fixing portion described in the scope of the patent application.
在殼體11之徑向內側設有齒輪架60。齒輪架60具有第1齒輪架體61及第2齒輪架體62。在第1齒輪架體61與第2齒輪架體62之間配置有第1擺動齒輪71及第2擺動齒輪72。第1齒輪架體61及第2齒輪架體62在其中央具有沿中心軸RCX方向延伸的貫通孔。第1齒輪架體61具有從其下表面向X2方向突出的3個軸63。軸63穿過第1擺動齒輪71的軸孔71b及第2擺動齒輪72的軸孔72b而延伸至第2齒輪架體62的上表面。第2齒輪架體62利用螺栓64安裝於軸63。第1齒輪架體61與第2齒輪架體62不會相對旋轉。第1齒輪架體61及第2齒輪架體62亦可以具有一體之單件構造。A gear carrier 60 is provided on the radially inner side of the casing 11. The carrier 60 includes a first carrier body 61 and a second carrier body 62. A first swing gear 71 and a second swing gear 72 are arranged between the first carrier body 61 and the second carrier body 62. The first carrier body 61 and the second carrier body 62 have a through hole extending in the center axis RCX direction at the center thereof. The first carrier body 61 includes three shafts 63 protruding from the lower surface thereof in the X2 direction. The shaft 63 extends through the shaft hole 71 b of the first swing gear 71 and the shaft hole 72 b of the second swing gear 72 to the upper surface of the second gear frame body 62. The second carrier body 62 is attached to the shaft 63 with a bolt 64. The first carrier body 61 and the second carrier body 62 do not rotate relative to each other. The first carrier body 61 and the second carrier body 62 may have an integrated one-piece structure.
第1齒輪架體61經由第1主軸承91設於殼體11。第2齒輪架體62經由第2主軸承92設於殼體11。第2主軸承92之外周面之局部亦與凸緣11a之內周面接觸。藉此，第1齒輪架體61與第2齒輪架體62被支承為能夠相對於殼體11相對旋轉。The first carrier body 61 is provided in the housing 11 via a first main bearing 91. The second carrier body 62 is provided in the housing 11 via a second main bearing 92. A part of the outer peripheral surface of the second main bearing 92 is also in contact with the inner peripheral surface of the flange 11a. Thereby, the first carrier body 61 and the second carrier body 62 are supported to be relatively rotatable with respect to the housing 11.
齒輪架60與對象裝置連結。該對象裝置係轉台、工業用機器人的臂、或者除上述之外之能夠旋轉的裝置。齒輪架60係申請專利範圍所記載之輸出部的例子。The carrier 60 is connected to the target device. The target device is a turntable, an arm of an industrial robot, or a device capable of rotating other than the above. The carrier 60 is an example of the output unit described in the scope of the patent application.
基部15具有圓盤形狀之底部15a及從底部15a之徑向內端向X1方向延伸之凸座部15b。基部15在底部15a之徑向外端與凸緣11a連結。凸座部15b呈大致圓筒形狀。The base portion 15 has a disk-shaped bottom portion 15a and a convex portion 15b extending from the radially inner end of the bottom portion 15a in the X1 direction. The base portion 15 is connected to the flange 11a at the radially outer end of the bottom portion 15a. The boss portion 15b has a substantially cylindrical shape.
在基部15之凸座部15b之外周面與支承構件7之凸座部7b之內周面之間設有第1軸承13a及第2軸承13b。第1軸承13a具有：內圈13a1、外圈13a2以及設於該內圈13a1與外圈13a2之間的滾轉體13a3。同樣，第2軸承13b具有：內圈13b1、外圈13b2以及設於該內圈13b1與外圈13b2之間的滾轉體13b3。第1軸承13a配置於在中心軸RCX方向上之第1位置，第2軸承13b配置於在中心軸RCX方向上之第2位置。該第2位置位於中心軸RCX方向上較該第1位置靠X2側的位置。亦即，第2軸承13b配置於較第1軸承13a靠X2側的位置。於未另外指明之情形時，第1軸承13a在中心軸RCX方向上的位置亦可以設為滾轉體13a3之中心的位置。於未另外指明之情形時，第2軸承13b在中心軸RCX方向上的位置亦可以設為滾轉體13b3之中心的位置。在本說明書中，有時將第1軸承13a之X1側之端面稱為第1端面131a，將第1軸承13a之X2側之端面稱為第2端面132a。另外，有時將第2軸承13b之X1側之端面稱為第1端面131b，將第2軸承13b之X2側之端面稱為第2端面132b。第1軸承13a及第2軸承13b配置於較環形齒輪3之內齒4靠徑向內側的位置。即，第1軸承13a及第2軸承13b配置於較環形齒輪3之內齒4靠近中心軸RCX的位置。如此，環形齒輪3以能夠繞中心軸RCX旋轉之方式被第1軸承13a及第2軸承13b支承。在先前之減速機中，用於支承環形齒輪之軸承設於該環形齒輪之徑向外側。相對於此，在圖示之實施形態中，第1軸承13a及第2軸承13b配置於較內齒4靠減速機10之徑向之內側的位置，因此能夠利用該配置來減小減速機10之徑向(與中心軸RCX正交的方向)之尺寸。A first bearing 13 a and a second bearing 13 b are provided between the outer peripheral surface of the convex seat portion 15 b of the base portion 15 and the inner peripheral surface of the convex seat portion 7 b of the support member 7. The first bearing 13a includes an inner ring 13a1, an outer ring 13a2, and a rolling body 13a3 provided between the inner ring 13a1 and the outer ring 13a2. Similarly, the second bearing 13b includes an inner ring 13b1, an outer ring 13b2, and a rolling element 13b3 provided between the inner ring 13b1 and the outer ring 13b2. The first bearing 13a is arranged at a first position in the center axis RCX direction, and the second bearing 13b is arranged at a second position in the center axis RCX direction. The second position is located on the X2 side in the direction of the center axis RCX from the first position. That is, the second bearing 13b is disposed on the X2 side from the first bearing 13a. When not otherwise specified, the position of the first bearing 13a in the direction of the center axis RCX may also be set to the position of the center of the rolling body 13a3. When not otherwise specified, the position of the second bearing 13b in the direction of the central axis RCX may also be set to the position of the center of the rolling body 13b3. In this specification, the end surface on the X1 side of the first bearing 13a may be referred to as a first end surface 131a, and the end surface on the X2 side of the first bearing 13a may be referred to as a second end surface 132a. The end surface on the X1 side of the second bearing 13b may be referred to as a first end surface 131b, and the end surface on the X2 side of the second bearing 13b may be referred to as a second end surface 132b. The first bearing 13 a and the second bearing 13 b are arranged radially inward of the internal teeth 4 of the ring gear 3. That is, the first bearing 13 a and the second bearing 13 b are disposed closer to the center axis RCX than the internal teeth 4 of the ring gear 3. In this way, the ring gear 3 is supported by the first bearing 13a and the second bearing 13b so as to be rotatable about the center axis RCX. In the previous reducer, a bearing for supporting the ring gear is provided on the radially outer side of the ring gear. In contrast, in the embodiment shown in the figure, the first bearing 13a and the second bearing 13b are disposed at a position radially inward of the reducer 10 from the inner teeth 4, so that the arrangement can be used to reduce the reducer 10 The radial (direction orthogonal to the central axis RCX) dimension.
在凸座部15b之內周面與中央管25之外周面之間設有密封構件16。在一實施形態中，密封構件16配置於第1軸承13a之X1側之端與第2軸承13b之X2側之端之間的區域。亦即，密封構件16配置於在中心軸RCX方向上之第1軸承13a之第1端面131a與第2軸承13b之第2端面132b之間。密封構件16既可以為其全部配置於第1端面131a與第2端面132b之間，亦可以為其局部配置於第1端面131a與第2端面132b之間。亦可為，密封構件16之局部或者全部設置於在中心軸RCX方向上的滾轉體13a3與滾轉體13b3之間。在圖示之實施形態中，用於支承環形齒輪3之第1軸承13a及第2軸承13b並非直接安裝於中央管25，而是安裝於在中央管25之徑向外側設置之凸座部15b。藉由在該凸座部15b與中央管25之間設置密封構件16，能夠將密封構件16配置於與第1軸承13a及第2軸承13b中之至少一者在中心軸RCX方向上重疊的位置。利用該配置，能夠減小減速機10之中心軸RCX方向上之尺寸。A sealing member 16 is provided between the inner peripheral surface of the boss portion 15b and the outer peripheral surface of the center pipe 25. In one embodiment, the sealing member 16 is arranged in a region between the end on the X1 side of the first bearing 13a and the end on the X2 side of the second bearing 13b. That is, the sealing member 16 is disposed between the first end surface 131a of the first bearing 13a and the second end surface 132b of the second bearing 13b in the center axis RCX direction. The sealing member 16 may be entirely disposed between the first end surface 131a and the second end surface 132b, or may be partially disposed between the first end surface 131a and the second end surface 132b. Part or all of the sealing member 16 may be provided between the rolling body 13a3 and the rolling body 13b3 in the center axis RCX direction. In the illustrated embodiment, the first bearing 13a and the second bearing 13b for supporting the ring gear 3 are not directly mounted on the central pipe 25, but are mounted on a convex seat portion 15b provided on the radially outer side of the central pipe 25. . By providing a sealing member 16 between the boss portion 15b and the central tube 25, the sealing member 16 can be disposed at a position overlapping with at least one of the first bearing 13a and the second bearing 13b in the center axis RCX direction. . With this configuration, it is possible to reduce the size in the direction of the center axis RCX of the reducer 10.
繼而，說明輸入齒輪2的配置。在圖3中示出與轉軸RCX正交且穿過第2主軸承92之假想面P2。假想面P2係申請專利範圍中之第2假想面的例子。第2主軸承92及輸入齒輪2均配置於該假想面P2上。換言之，假想面P2穿過第2主軸承92及輸入齒輪2該兩者。第2主軸承92配置於在假想面P2上較輸入齒輪2靠近中心軸RCX的位置。利用該配置，能夠減小減速機10之中心軸RCX方向上之尺寸。在圖示之實施形態中，驅動源5之驅動軸111亦配置於假想面P2上。利用該配置，亦能夠減小減速機10之中心軸RCX方向上之尺寸。Next, the arrangement of the input gear 2 will be described. An imaginary plane P2 orthogonal to the rotation axis RCX and passing through the second main bearing 92 is shown in FIG. 3. The imaginary plane P2 is an example of the second imaginary plane in the scope of patent application. Both the second main bearing 92 and the input gear 2 are arranged on the virtual plane P2. In other words, the imaginary plane P2 passes through both the second main bearing 92 and the input gear 2. The second main bearing 92 is disposed at a position closer to the center axis RCX than the input gear 2 on the virtual plane P2. With this configuration, it is possible to reduce the size in the direction of the center axis RCX of the reducer 10. In the illustrated embodiment, the driving shaft 111 of the driving source 5 is also arranged on the virtual plane P2. With this configuration, it is also possible to reduce the size in the direction of the center axis RCX of the reducer 10.
在圖3中示出與轉軸RCX正交且穿過第2擺動齒輪72之假想面P3。假想面P3係申請專利範圍中之第3假想面的例子。第2擺動齒輪72及輸入齒輪2均配置於該假想面P3上。換言之，假想面P3穿過第2擺動齒輪72及輸入齒輪2該兩者。在圖示之例子中，假想面P3穿過輸入齒輪2之上端附近。第2擺動齒輪72配置於在假想面P3上較輸入齒輪2靠近中心軸RCX的位置。利用該配置，能夠減小減速機10之中心軸RCX方向上之尺寸。An imaginary plane P3 orthogonal to the rotation axis RCX and passing through the second swing gear 72 is shown in FIG. 3. The imaginary plane P3 is an example of the third imaginary plane in the scope of patent application. The second swing gear 72 and the input gear 2 are both disposed on the virtual plane P3. In other words, the virtual plane P3 passes through both the second swing gear 72 and the input gear 2. In the illustrated example, the virtual plane P3 passes near the upper end of the input gear 2. The second swing gear 72 is disposed on the virtual plane P3 closer to the center axis RCX than the input gear 2. With this configuration, it is possible to reduce the size in the direction of the center axis RCX of the reducer 10.
如圖3所示，在與中心軸RCX正交的方向上，輸入齒輪2之至少一部分配置於主軸承91之外周面91a(或者主軸承92之外周面92a)的位置與殼體主體11b之外周面11b1的位置之間。利用該配置，能夠減小減速機10之徑向(與中心軸RCX正交的方向)上之尺寸。As shown in FIG. 3, in a direction orthogonal to the central axis RCX, at least a part of the input gear 2 is disposed at a position between the outer peripheral surface 91 a of the main bearing 91 (or the outer peripheral surface 92 a of the main bearing 92) and the position of the housing main body 11 b. Between the positions of the outer peripheral surface 11b1. With this arrangement, it is possible to reduce the size in the radial direction (the direction orthogonal to the central axis RCX) of the speed reducer 10.
繼而，進一步說明密封構件16的配置。在圖3中示出與轉軸RCX正交且穿過第1端面131a之假想面P4及與轉軸RCX正交且穿過第2端面132b之假想面P5。如上述般，亦可為，密封構件16之局部或者全部在轉軸RCX上配置於第1端面131a與第2端面132b之間。換言之，密封構件16在轉軸RCX方向上配置於處於假想面P4與假想面P5之間之假想面(在本說明書中有時稱為“密封假想面”。)。密封構件16在該密封假想面上配置於較第1軸承13a及第2軸承13b靠近轉軸RCX的位置。Next, the arrangement of the sealing member 16 will be further described. 3 shows an imaginary plane P4 orthogonal to the rotation axis RCX and passing through the first end surface 131a, and an imaginary plane P5 orthogonal to the rotation axis RCX and passing through the second end surface 132b. As described above, part or all of the sealing member 16 may be disposed between the first end surface 131 a and the second end surface 132 b on the rotation shaft RCX. In other words, the sealing member 16 is disposed on the virtual plane between the virtual plane P4 and the virtual plane P5 in the direction of the rotation axis RCX (this may be referred to as a "sealed virtual plane" in this specification). The seal member 16 is disposed on the sealing virtual surface at a position closer to the rotation shaft RCX than the first bearing 13a and the second bearing 13b.
繼而，參照圖5，說明本發明之另一實施方式之減速機。圖5放大表示本發明之另一實施方式之減速機的剖面之局部。在圖5所示之實施形態中，環形齒輪3之結構與圖3所示之實施形態不同。在圖5所示之實施形態中，環形齒輪3具有：支承構件7、外齒構件8a以及內齒構件8b。外齒構件8a及內齒構件8b均具有環狀之形狀。在外齒構件8a之外周面設有外齒6，在內齒構件8b之內周面設有內齒4。支承構件7具有圓盤形狀之主體部7a及從主體部7a之徑向內端向X2方向延伸之凸座部7b。外齒構件8a、內齒構件8b以及支承構件7之主體部7a利用螺栓14連結。Next, a speed reducer according to another embodiment of the present invention will be described with reference to FIG. 5. FIG. 5 is an enlarged view showing a part of a cross section of a reduction gear according to another embodiment of the present invention. In the embodiment shown in FIG. 5, the structure of the ring gear 3 is different from the embodiment shown in FIG. In the embodiment shown in FIG. 5, the ring gear 3 includes a support member 7, an external tooth member 8a, and an internal tooth member 8b. Both the external tooth member 8a and the internal tooth member 8b have a ring shape. External teeth 6 are provided on the outer peripheral surface of the external tooth member 8a, and internal teeth 4 are provided on the internal peripheral surface of the internal tooth member 8b. The support member 7 has a disc-shaped main body portion 7a and a convex portion 7b extending from the radially inner end of the main body portion 7a in the X2 direction. The external tooth member 8 a, the internal tooth member 8 b, and the main body portion 7 a of the support member 7 are connected by bolts 14.
繼而，說明減速機10之動作。若向輸入齒輪2輸入來自驅動源5之旋轉，則與輸入齒輪2之旋轉聯動地，環形齒輪3繞中心軸RCX旋轉。該環形齒輪3之旋轉向與環形齒輪之內齒4嚙合之正齒輪1傳遞。若正齒輪1旋轉，則曲軸80之偏心部81及偏心部82偏心旋轉。利用該偏心部81及偏心部82之偏心旋轉，第1擺動齒輪71及第2擺動齒輪72擺動旋轉。此時，第1擺動齒輪71之中心軸CX1、第2擺動齒輪72之中心軸CX2繞齒輪架60之旋轉中心軸RCX繞轉。因而，第1擺動齒輪71之外齒71a及第2擺動齒輪72之外齒72a與銷20嚙合，並且第1擺動齒輪71及第2擺動齒輪72在殼體主體11b內繞轉移動。曲軸80每轉1圈，第1擺動齒輪71相對於殼體11旋轉與銷20之數量與外齒71a之齒數之差即1個齒相應的量。如此，曲軸80之旋轉以“1/外齒71a之齒數”之減速比減速而向齒輪架60傳遞。藉此，齒輪架60以自曲軸80之轉速減速後得到之轉速相對於殼體11及基部15旋轉。如以上方式，從驅動源5輸入到減速機10之旋轉被減速而從齒輪架60向對象裝置輸出。Next, the operation of the speed reducer 10 will be described. When the rotation from the drive source 5 is input to the input gear 2, the ring gear 3 rotates about the center axis RCX in conjunction with the rotation of the input gear 2. The rotation of the ring gear 3 is transmitted to the spur gear 1 that meshes with the internal teeth 4 of the ring gear. When the spur gear 1 rotates, the eccentric portion 81 and the eccentric portion 82 of the crankshaft 80 rotate eccentrically. By the eccentric rotation of the eccentric portion 81 and the eccentric portion 82, the first swing gear 71 and the second swing gear 72 swing and rotate. At this time, the center axis CX of the first swing gear 71 and the center axis CX2 of the second swing gear 72 orbit the rotation center axis RCX of the carrier 60. Therefore, the outer teeth 71a of the first swing gear 71 and the outer teeth 72a of the second swing gear 72 mesh with the pin 20, and the first swing gear 71 and the second swing gear 72 move around the casing body 11b. Each time the crankshaft 80 makes one revolution, the first swing gear 71 rotates with respect to the housing 11 and the difference between the number of pins 20 and the number of teeth of the external teeth 71 a is an amount corresponding to one tooth. In this way, the rotation of the crankshaft 80 is reduced to the gear carrier 60 at a reduction ratio of "1 / the number of teeth of the external teeth 71a". As a result, the gear carrier 60 rotates relative to the housing 11 and the base 15 at a rotation speed obtained by decelerating from the rotation speed of the crankshaft 80. As described above, the rotation input from the drive source 5 to the speed reducer 10 is reduced and output from the carrier 60 to the target device.
在本說明書中說明之各構成要素之尺寸、材料以及配置不限定於實施形態中明示地說明的內容，該各構成要素能夠以具有本發明之範圍所能包含的任意之尺寸、材料以及配置之方式變形。另外，既能夠將在本說明書中未明示地說明之構成要素附加於已說明之實施形態，亦能夠省略在各實施形態中已說明之構成要素的一部分。The sizes, materials, and arrangements of the constituent elements described in this specification are not limited to those explicitly described in the embodiment, and the constituent elements can have any size, material, and arrangement that can be included in the scope of the present invention. Way deformed. In addition, constituent elements that are not explicitly described in this specification can be added to the embodiments described above, or a part of the constituent elements described in each embodiment can be omitted.
上述之各實施形態亦可以適當組合。藉由組合複數個實施形態而實現之形態亦能夠成為本發明之一實施形態。Each of the embodiments described above may be appropriately combined. A form realized by combining a plurality of embodiments can also be an embodiment of the present invention.
1‧‧‧第2齒輪(正齒輪)1‧‧‧ 2nd gear (spur gear)
2‧‧‧第1齒輪(輸入齒輪) 2‧‧‧ 1st gear (input gear)
3‧‧‧環形齒輪 3‧‧‧ ring gear
4‧‧‧內齒 4‧‧‧ Internal tooth
5‧‧‧驅動源 5‧‧‧Drive source
6‧‧‧外齒 6‧‧‧ external teeth
7‧‧‧支承構件 7‧‧‧ support member
7a‧‧‧主體部 7a‧‧‧Main body
7b‧‧‧凸座部 7b‧‧‧ convex seat
8‧‧‧環構件 8‧‧‧ ring member
8a‧‧‧外齒構件 8a‧‧‧Outer teeth member
8b‧‧‧內齒構件 8b‧‧‧Internal gear member
10‧‧‧減速機 10‧‧‧ Reducer
11‧‧‧殼體 11‧‧‧shell
11a‧‧‧凸緣 11a‧‧‧ flange
11b‧‧‧殼體主體 11b‧‧‧shell body
11b1‧‧‧外周面 11b1‧‧‧outer surface
11b2‧‧‧凹部 11b2‧‧‧ recess
13‧‧‧軸承 13‧‧‧bearing
13a‧‧‧第1軸承 13a‧‧‧The first bearing
13b‧‧‧第2軸承 13b‧‧‧Second bearing
13a1、13b1‧‧‧內圈 13a1, 13b1‧‧‧ Inner ring
13a2、13b2‧‧‧外圈 13a2, 13b2 ‧‧‧ outer ring
13a3‧‧‧滾轉體 13a3‧‧‧Rotating
13b3‧‧‧滾轉體 13b3‧‧‧‧Rotate
14‧‧‧螺栓 14‧‧‧ Bolt
15‧‧‧基部 15‧‧‧ base
15a‧‧‧底部 15a‧‧‧ bottom
15b‧‧‧凸座部 15b‧‧‧ convex seat
16‧‧‧密封構件 16‧‧‧Sealing member
20‧‧‧銷 20‧‧‧pin
25‧‧‧中央管 25‧‧‧ Central tube
50‧‧‧減速部 50‧‧‧ Reduction section
60‧‧‧齒輪架 60‧‧‧ Gear carrier
61‧‧‧第1齒輪架體 61‧‧‧The first gear body
62‧‧‧第2齒輪架體 62‧‧‧The second gear body
63‧‧‧軸 63‧‧‧axis
64‧‧‧螺栓 64‧‧‧ Bolt
70‧‧‧擺動齒輪部 70‧‧‧Swing gear section
71‧‧‧第1擺動齒輪 71‧‧‧1st swing gear
71a、71b‧‧‧外齒 71a, 71b‧‧‧ Outer teeth
71c‧‧‧中央孔 71c‧‧‧center hole
72‧‧‧第2擺動齒輪 72‧‧‧ 2nd swing gear
72a‧‧‧外齒 72a‧‧‧outer teeth
72b‧‧‧軸孔 72b‧‧‧shaft hole
72c‧‧‧中央孔 72c‧‧‧center hole
80‧‧‧曲軸 80‧‧‧ crankshaft
80a‧‧‧軸主體 80a‧‧‧shaft body
81、82‧‧‧偏心部 81, 82‧‧‧eccentric
84‧‧‧曲軸軸承 84‧‧‧ crankshaft bearings
91‧‧‧第1主軸承 91‧‧‧The first main bearing
91a、92a‧‧‧外周面 91a, 92a‧‧‧ Outer peripheral surface
92‧‧‧第2主軸承 92‧‧‧Second main bearing
100‧‧‧齒輪單元 100‧‧‧Gear unit
111‧‧‧驅動軸 111‧‧‧Drive shaft
112‧‧‧馬達凸緣 112‧‧‧Motor flange
131a、131b‧‧‧第1端面 131a, 131b‧‧‧1st end face
132a、132b‧‧‧第2端面 132a, 132b‧‧‧ 2nd end face
CX1、CX2‧‧‧中心軸 CX1, CX2‧‧‧ central axis
RCX‧‧‧轉軸 RCX‧‧‧Shaft
P1～P5‧‧‧假想面 P1 ～ P5‧‧‧imaginary noodles
圖1係本發明之一實施形態之旋轉裝置的概略圖。FIG. 1 is a schematic diagram of a rotating device according to an embodiment of the present invention.
圖2係概略地表示本發明之一實施形態之旋轉裝置之內部構造之局部之概略圖。 Fig. 2 is a schematic diagram showing a part of an internal structure of a rotary device according to an embodiment of the present invention.
圖3係用於說明本發明之一實施形態之旋轉裝置的詳細情況的圖。 FIG. 3 is a diagram for explaining details of a rotation device according to an embodiment of the present invention.
圖4係示意性地表示圖3之旋轉裝置所具備的減速機的剖面的剖視圖。 FIG. 4 is a cross-sectional view schematically showing a cross section of a reduction gear provided in the rotating device of FIG. 3.
圖5係放大表示本發明之另一實施形態之齒輪單元之局部之放大圖。 FIG. 5 is an enlarged view showing a part of a gear unit according to another embodiment of the present invention.
Claims (11)
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2018042346 | 2018-03-08 | ||
| JP2018-042346 | 2018-03-08 |
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| KR (1) | KR20190106794A (en) |
| CN (1) | CN110242707B (en) |
| DE (1) | DE102019203150A1 (en) |
| TW (1) | TWI822737B (en) |
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|---|---|---|---|---|
| CN112780728B (en) * | 2021-01-07 | 2022-05-17 | 重庆大学 | Cylindrical ring groove type double cycloid small tooth difference planetary reducer |
Family Cites Families (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0248193A (en) | 1988-08-04 | 1990-02-16 | Fanuc Ltd | Wrist drive mechanism of industrial robot |
| JP2006200557A (en) * | 2005-01-18 | 2006-08-03 | Spinea Sro Kosice | Transmission device |
| JP2009109002A (en) * | 2007-10-12 | 2009-05-21 | Nabtesco Corp | Gear device |
| DE102008050254A1 (en) * | 2008-10-07 | 2010-04-08 | OKIN Gesellschaft für Antriebstechnik mbH | Planetary gear i.e. revolution reduction gear, has coupling device provided in drive-side for coupling of torque that is coupled radially outward to carrier with respect to main axis of rotation by coupling device |
| JP5193072B2 (en) * | 2009-01-09 | 2013-05-08 | ナブテスコ株式会社 | Gear transmission |
| JP5234463B2 (en) * | 2009-03-16 | 2013-07-10 | 住友重機械工業株式会社 | Reduction gear |
| JP5337088B2 (en) * | 2010-03-19 | 2013-11-06 | 住友重機械工業株式会社 | Power transmission structure |
| JP5594024B2 (en) * | 2010-09-29 | 2014-09-24 | 日産自動車株式会社 | Gear transmission unit |
| JP5411111B2 (en) * | 2010-11-25 | 2014-02-12 | 川崎重工業株式会社 | Planetary gear reducer |
| CN102562785A (en) * | 2011-12-04 | 2012-07-11 | 河南科技大学 | Turntable bearing with built-in internal tooth driving device |
| JP5816584B2 (en) * | 2012-03-23 | 2015-11-18 | 住友重機械工業株式会社 | Power transmission device |
| JP2014066262A (en) * | 2012-09-24 | 2014-04-17 | Jtekt Corp | Gear device |
| US9882450B2 (en) * | 2014-06-02 | 2018-01-30 | Harmonic Drive Systems Inc. | Rotation actuator |
| DE102015104308A1 (en) * | 2015-03-23 | 2016-09-29 | Harmonic Drive Ag | Gearbox kit with an output bearing and a voltage wave gearbox which can be stored in it |
| JP6659232B2 (en) * | 2015-04-14 | 2020-03-04 | ナブテスコ株式会社 | Gear transmission |
| JP6645789B2 (en) * | 2015-10-02 | 2020-02-14 | ナブテスコ株式会社 | Turntable reducer |
| DE102015120244A1 (en) * | 2015-11-23 | 2017-05-24 | Minebea Co., Ltd. | Gear stage for a gear assembly, gear assembly and drive device with an electric motor and a gear assembly |
-
2019
- 2019-03-07 JP JP2019041157A patent/JP7339745B2/en active Active
- 2019-03-07 KR KR1020190026467A patent/KR20190106794A/en not_active Application Discontinuation
- 2019-03-07 CN CN201910178159.5A patent/CN110242707B/en active Active
- 2019-03-08 DE DE102019203150.1A patent/DE102019203150A1/en active Pending
- 2019-03-08 TW TW108107824A patent/TWI822737B/en active
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| CN110242707B (en) | 2024-07-12 |
| DE102019203150A1 (en) | 2019-09-12 |
| CN110242707A (en) | 2019-09-17 |
| JP7339745B2 (en) | 2023-09-06 |
| TWI822737B (en) | 2023-11-21 |
| JP2019158144A (en) | 2019-09-19 |
| KR20190106794A (en) | 2019-09-18 |
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