TWI572795B - Eccentric oscillating gear device - Google Patents
Eccentric oscillating gear device Download PDFInfo
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- TWI572795B TWI572795B TW102127038A TW102127038A TWI572795B TW I572795 B TWI572795 B TW I572795B TW 102127038 A TW102127038 A TW 102127038A TW 102127038 A TW102127038 A TW 102127038A TW I572795 B TWI572795 B TW I572795B
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- gear
- eccentric
- outer cylinder
- carrier
- oscillating
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
- F16H2001/323—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear comprising eccentric crankshafts driving or driven by a gearing
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- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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Description
本發明係有關於一種偏心擺動型齒輪裝置。 The present invention relates to an eccentric oscillating gear device.
以往，如下述之專利文獻1所揭示，已知在2個對象構件之間以既定減速比使轉速減速的偏心擺動型齒輪裝置。該偏心擺動型齒輪裝置包括：固定於一方之對象構件的外筒；及載具，係配置於外筒內，而且固定於另一方之對象構件。載具係藉安裝於曲柄軸的偏心部之擺動齒輪的擺動轉動，對外筒相對地轉動。 Conventionally, as disclosed in Patent Document 1 below, an eccentric oscillating type gear device that decelerates a rotation speed between two target members at a predetermined reduction ratio is known. The eccentric oscillating gear device includes an outer cylinder fixed to one of the target members, and the carrier is disposed in the outer cylinder and fixed to the other target member. The carrier rotates by the swinging of the swing gear attached to the eccentric portion of the crankshaft, and the outer cylinder relatively rotates.
[專利文獻1]特開2006-77980號公報 [Patent Document 1] JP-A-2006-77980
近年來，因機器人之使用環境的變化，機器人之運轉率有提高之傾向，隨著對減速機亦要求高速化。在使用偏心擺動型齒輪裝置時，載具內之溫度成為比外筒之溫度更高。因此，在使用時擺動齒輪發生熱膨脹。因該熱膨脹，擺動齒輪之外齒與外筒的內齒之間的間隙變窄，擺動齒輪之齒面的面壓升高。結果，擺動齒輪之壽命變短。 In recent years, the operating rate of robots has been increasing due to changes in the environment in which robots are used, and speeding up of speed reducers is also required. When an eccentric oscillating gear device is used, the temperature in the carrier becomes higher than the temperature of the outer cylinder. Therefore, the swing gear is thermally expanded in use. Due to this thermal expansion, the gap between the outer teeth of the oscillating gear and the internal teeth of the outer cylinder is narrowed, and the surface pressure of the tooth surface of the oscillating gear is increased. As a result, the life of the oscillating gear becomes short.
本發明之目的在於藉由抑制擺動齒輪之齒面的面壓升高，而可抑制擺動齒輪之壽命變短。 An object of the present invention is to suppress a decrease in the life of the oscillating gear by suppressing an increase in the surface pressure of the tooth surface of the oscillating gear.
根據本發明之一形態的偏心擺動型齒輪裝置係在第1構件與第2構件之間以既定之轉速比變換轉速並傳達驅動力的齒輪裝置，該齒輪裝置係包括：偏心部；擺動齒輪，係具有該偏心部所***之插穿孔而且具有齒部；外筒，係構成為可安裝於第1構件及第2構件之一方；及載具，係構成為可安裝於第1構件及第2構件之另一方。該外筒係具有與該擺動齒輪之該齒部嚙合的內齒。該載具係在固持該擺動齒輪之狀態配置於該外筒之徑向內側。該外筒與該載具係藉該偏心部的轉動所伴隨之該擺動齒輪的擺動，可成同心狀地彼此相對地轉動。在該偏心擺動型齒輪裝置，為了因在使用時之該擺動齒輪的熱膨脹而該載具對該外筒的背隙角度成為約1分，該背隙角度係被設定成2分~3分。 An eccentric oscillating gear device according to an aspect of the present invention is a gear device that transmits a driving force between a first member and a second member at a predetermined rotational speed ratio, and the gear device includes an eccentric portion and a swing gear. An insertion hole having the eccentric portion inserted therein and having a tooth portion; the outer tube being configured to be attachable to one of the first member and the second member; and the carrier configured to be attachable to the first member and the second member The other side of the component. The outer cylinder has internal teeth that mesh with the tooth portion of the oscillating gear. The carrier is disposed radially inward of the outer cylinder in a state in which the swing gear is held. The outer cylinder and the carrier are rotatable relative to each other in a concentric manner by the swing of the swing gear accompanying the rotation of the eccentric portion. In the eccentric oscillating gear device, the backlash angle of the carrier is set to about 2 minutes to 3 minutes in order to cause the backlash angle of the carrier to the outer cylinder to be about 1 minute due to thermal expansion of the oscillating gear during use.
1‧‧‧偏心擺動型齒輪裝置 1‧‧‧Eccentric swing gear device
2‧‧‧外筒 2‧‧‧Outer tube
3‧‧‧內齒銷 3‧‧‧ internal gear
4‧‧‧載具 4‧‧‧ Vehicles
6‧‧‧主軸承 6‧‧‧ main bearing
8a‧‧‧輸入齒輪 8a‧‧‧ input gear
10‧‧‧曲柄軸 10‧‧‧ crankshaft
10a‧‧‧第1偏心部 10a‧‧‧1st eccentric
10b‧‧‧第2偏已部 10b‧‧‧The second partial
10c‧‧‧軸本體 10c‧‧‧ axis body
12a‧‧‧第1曲柄軸承 12a‧‧‧1st crank bearing
12b‧‧‧第2曲柄軸承 12b‧‧‧2nd crank bearing
14‧‧‧第1擺動齒輪 14‧‧‧1st swing gear
14a‧‧‧外齒 14a‧‧‧ external teeth
16‧‧‧第2擺動齒輪 16‧‧‧2nd swing gear
16a‧‧‧外齒 16a‧‧‧ external teeth
第1圖係表示本發明之實施形態的偏心擺動型齒輪裝置之構成的剖面圖。 Fig. 1 is a cross-sectional view showing the configuration of an eccentric oscillating gear device according to an embodiment of the present invention.
第2(A)圖係在第1圖之Ⅱ-Ⅱ線的剖面圖，第2(B)圖係第2(A)圖之部分放大圖。 Fig. 2(A) is a cross-sectional view taken along line II-II of Fig. 1, and Fig. 2(B) is a partially enlarged view of Fig. 2(A).
第3圖係用以說明背隙角度的圖。 Figure 3 is a diagram for explaining the angle of backlash.
第4圖係用以說明外筒的溫度變化所伴隨之背隙角度之變 化的圖。 Figure 4 is a diagram showing the change of the backlash angle accompanying the temperature change of the outer cylinder. Map.
以下，參照圖面，詳細說明本發明之實施形態的偏心擺動型齒輪裝置。 Hereinafter, an eccentric oscillating type gear device according to an embodiment of the present invention will be described in detail with reference to the drawings.
本實施形態之偏心擺動型齒輪裝置(以下稱為齒輪裝置)1係例如在機器人之旋轉體或腕關節等的旋轉部、各種工具體之旋轉部等作為減速機所應用。本齒輪裝置1係例如在80rpm~200rpm(每分鐘80轉以上且每分鐘200轉以下)之轉速範圍所使用。 The eccentric oscillating gear device (hereinafter referred to as a gear device) 1 of the present embodiment is applied as a speed reducer, for example, in a rotating portion such as a rotating body or a wrist joint of a robot, and a rotating portion of various tool bodies. The gear device 1 is used, for example, at a rotational speed range of 80 rpm to 200 rpm (80 rpm or more and 200 rpm or less).
本實施形態之齒輪裝置1係構成為藉由輸入軸8轉動，曲柄軸10轉動，第1擺動齒輪14、16以與曲柄軸10之偏心部10a、10b連動的方式擺動、轉動，藉此，得到從輸入轉動減速的輸出轉動。在本齒輪裝置1，例如可在機器人之底座(一方之對象構件)與旋轉體(另一方之對象構件)之間產生相對轉動。 In the gear device 1 of the present embodiment, the crankshaft 10 is rotated by the input shaft 8, and the first swing gears 14 and 16 are swung and rotated so as to interlock with the eccentric portions 10a and 10b of the crankshaft 10. Get the output rotation from the input rotation deceleration. In the present gear device 1, for example, relative rotation can be generated between the base of the robot (one of the target members) and the rotating body (the other target member).
如第1圖及第2(A)圖所示，齒輪裝置1包括外筒2、載具4、輸入軸8、複數支(例如3支)曲柄軸10、擺動齒輪(第1擺動齒輪14及第2擺動齒輪16)及複數個(例如3個)傳動齒輪20。 As shown in FIGS. 1 and 2(A), the gear unit 1 includes an outer cylinder 2, a carrier 4, an input shaft 8, a plurality of (for example, three) crankshafts 10, and a swing gear (a first swing gear 14 and The second oscillating gear 16) and a plurality of (for example, three) transmission gears 20.
外筒2係構成齒輪裝置1之外面，並具有大致圓筒形。外筒2係鎖緊於例如機器人的底座(省略圖示；第1構件)。多個銷槽2b形成於外筒2的外周面。各銷槽2b係配置成在外筒2之軸向延伸，並在與軸向正交之截面具有半圓形的截面形狀。這些銷槽2b係在外筒2之內周面在圓周方向等間 隔地排列。 The outer cylinder 2 constitutes the outer surface of the gear unit 1 and has a substantially cylindrical shape. The outer cylinder 2 is locked to, for example, a base of a robot (not shown; first member). A plurality of pin grooves 2b are formed on the outer circumferential surface of the outer cylinder 2. Each of the pin grooves 2b is disposed to extend in the axial direction of the outer cylinder 2, and has a semicircular cross-sectional shape in a cross section orthogonal to the axial direction. These pin grooves 2b are in the circumferential direction of the inner circumference of the outer cylinder 2, etc. Arranged across the ground.
外筒2具有多支內齒銷3。各內齒銷3係分別安裝於銷槽2b。具體而言，各內齒銷3係分別嵌入對應之銷槽2b，並以在外筒2之軸向延伸的姿勢所配置。藉此，多支內齒銷3係沿著外筒2之圓周方向等間隔地排列。第1擺動齒輪14之外齒14a及第2擺動齒輪16之第2外齒16a與這些內齒銷3嚙合。 The outer cylinder 2 has a plurality of inner tooth pins 3. Each of the internal tooth pins 3 is attached to the pin groove 2b. Specifically, each of the internal tooth pins 3 is fitted into the corresponding pin groove 2b, and is disposed in a posture in which the outer tube 2 extends in the axial direction. Thereby, the plurality of internal tooth pins 3 are arranged at equal intervals along the circumferential direction of the outer cylinder 2. The outer teeth 14a of the first swing gear 14 and the second outer teeth 16a of the second swing gear 16 mesh with the internal tooth pins 3.
凸緣部設置於外筒2，該凸緣部係形成例如用以***固定於機器人之底座的固定件(螺栓)的插穿孔2c。 The flange portion is provided in the outer cylinder 2, and the flange portion forms, for example, an insertion hole 2c for inserting a fixing member (bolt) fixed to the base of the robot.
載具4係在配置成與外筒2同軸上之狀態收容於外筒2的內側。載具4係鎖緊於例如機器人之旋轉體(省略圖示；第2構件)。載具4係對外筒2繞與外筒2相同之軸相對轉動。在此狀態，載具4係藉在軸向彼此分開地設置之一對主軸承6支撐成可對外筒2相對轉動。 The carrier 4 is housed inside the outer cylinder 2 in a state of being disposed coaxially with the outer cylinder 2. The carrier 4 is locked to, for example, a rotating body of the robot (not shown; second member). The carrier 4 is rotated relative to the outer cylinder 2 about the same axis as the outer cylinder 2. In this state, the carrier 4 is supported by the main bearing 6 so as to be relatively rotatable relative to the outer cylinder 2 by being disposed apart from each other in the axial direction.
載具4包括：基部，係具有基板部4a與複數個(例如3個)軸部4c；及端板部4b。 The carrier 4 includes a base portion having a substrate portion 4a and a plurality of (for example, three) shaft portions 4c; and an end plate portion 4b.
基板部4a係在外筒2內配置於軸向之一端部附近。在基板部4a之徑向中央部，設置圓形的貫穿孔4d。在貫穿孔4d的周圍，在圓周方向等間隔地設置複數個(例如3個)曲柄軸安裝孔4e(以下稱為安裝孔4e)。 The substrate portion 4a is disposed in the vicinity of one end portion in the axial direction in the outer tube 2. A circular through hole 4d is provided in a central portion in the radial direction of the substrate portion 4a. A plurality of (for example, three) crankshaft mounting holes 4e (hereinafter referred to as mounting holes 4e) are provided at equal intervals in the circumferential direction around the through hole 4d.
固定孔4i形成於基板部4a，該固定孔4i係用以固定將載具4固定於例如機器人之旋轉體之省略圖示的固定件(螺栓)。 The fixing hole 4i is formed in the board portion 4a for fixing a fixing member (bolt) (not shown) for fixing the carrier 4 to, for example, a rotating body of the robot.
端板部4b係對基板部4a設置成在軸向分開，並 在外筒2內配置於軸向之另一端附近。貫穿孔4f設置於端板部4b之徑向中央部。在貫穿孔4f的周圍，設置複數個(例如3個)曲柄軸安裝孔4g(以下僅稱為安裝孔4g)。各安裝孔4g係分別配置於與基板部4a之安裝孔4e對應的位置。在外筒2內，形成於由端板部4b及基板部4a之彼此相對向之雙方的內面與外筒2之內周面所包圍的閉空間。 The end plate portion 4b is disposed to be axially separated from the substrate portion 4a, and The outer cylinder 2 is disposed in the vicinity of the other end in the axial direction. The through hole 4f is provided in the radial center portion of the end plate portion 4b. A plurality of (for example, three) crankshaft mounting holes 4g (hereinafter simply referred to as mounting holes 4g) are provided around the through hole 4f. Each of the attachment holes 4g is disposed at a position corresponding to the attachment hole 4e of the substrate portion 4a. The outer cylinder 2 is formed in a closed space surrounded by the inner surface of the end plate portion 4b and the substrate portion 4a facing each other and the inner circumferential surface of the outer cylinder 2.
複數個軸部4c係設置成與基板部4a一體化，並從基板部4a之一主面(內側面)向端板部4b側直線地延伸。該複數個軸部4c係在圓周方向等間隔地配設(參照第2(A)圖)。各軸部4c係藉螺栓4h鎖緊於端板部4b(參照第1圖)。藉此，將基板部4a、軸部4c及端板部4b一體化。 The plurality of shaft portions 4c are provided integrally with the substrate portion 4a, and linearly extend from one main surface (inner side surface) of the substrate portion 4a toward the end plate portion 4b side. The plurality of shaft portions 4c are disposed at equal intervals in the circumferential direction (see FIG. 2(A)). Each of the shaft portions 4c is locked to the end plate portion 4b by a bolt 4h (see Fig. 1). Thereby, the board portion 4a, the shaft portion 4c, and the end plate portion 4b are integrated.
輸入軸8係作用為輸入省略圖示之驅動馬達之驅動力的輸入部。輸入軸8係***端板部4b之貫穿孔4f及基板部4a之貫穿孔4d。輸入軸8係配置成其軸心與外筒2及載具4之軸心一致，並繞軸轉動。輸入齒輪8a設置於輸入軸8之尖端部的外周面。 The input shaft 8 functions as an input unit that inputs a driving force of a drive motor (not shown). The input shaft 8 is inserted into the through hole 4f of the end plate portion 4b and the through hole 4d of the substrate portion 4a. The input shaft 8 is disposed such that its axis coincides with the axis of the outer cylinder 2 and the carrier 4, and is rotated about the axis. The input gear 8a is provided on the outer peripheral surface of the tip end portion of the input shaft 8.
複數支曲柄軸10係在外筒2內等間隔地配置於輸入軸8的周圍(參照第2(A)圖)。各曲柄軸10係藉一對曲柄軸承12a、12b支撐成對載具4可繞軸轉動(參照第1圖)。具體而言，從各曲柄軸10之軸向的一端將第1曲柄軸承12a安裝於僅既定長度之軸向內側的部分。該第1曲柄軸承12a係安裝於基板部4a的安裝孔4e。另一方面，第2曲柄軸承12b安裝於各曲柄軸10之軸向的另一端部。該第2曲柄軸承12b係安裝於端板部4b之安裝孔4g。藉此，曲柄軸10係被基板部4a及 端板部4b支撐成可轉動。 The plurality of crankshafts 10 are disposed at equal intervals in the outer cylinder 2 around the input shaft 8 (see FIG. 2(A)). Each of the crankshafts 10 is supported by a pair of crank bearings 12a and 12b so that the pair of carriers 4 can be pivoted (see Fig. 1). Specifically, the first crank bearing 12a is attached to a portion of the axial length inside only a predetermined length from one end of the crankshaft 10 in the axial direction. The first crank bearing 12a is attached to the mounting hole 4e of the substrate portion 4a. On the other hand, the second crank bearing 12b is attached to the other end portion of the crankshaft 10 in the axial direction. The second crank bearing 12b is attached to the mounting hole 4g of the end plate portion 4b. Thereby, the crankshaft 10 is supported by the substrate portion 4a and The end plate portion 4b is supported to be rotatable.
各曲柄軸10具有軸本體10c、與一體地形成於該軸本體10c的偏心部10a、10b。第1偏心部10a與第2偏心部10b係在軸向並列地配置於藉兩曲柄軸承12a、12b所支撐的部分之間。第1偏心部10a與第2偏心部10b係分別具有圓柱形，並都在對軸本體10c之軸心偏心的狀態從軸本體10c在徑向外側突出。第1偏心部10a與第2偏心部10b係分別配置成從軸向偏心既定時間偏心量，並彼此具有既定角度的相差。 Each of the crankshafts 10 has a shaft body 10c and eccentric portions 10a and 10b integrally formed on the shaft body 10c. The first eccentric portion 10a and the second eccentric portion 10b are arranged side by side in the axial direction between the portions supported by the two crank bearings 12a and 12b. Each of the first eccentric portion 10a and the second eccentric portion 10b has a cylindrical shape, and both of them protrude outward in the radial direction from the shaft body 10c in a state of being eccentric to the axis of the shaft body 10c. The first eccentric portion 10a and the second eccentric portion 10b are respectively arranged to be eccentric from the axial direction for a predetermined time eccentric amount, and have a phase difference from each other at a predetermined angle.
在曲柄軸10之一端部，即安裝於基板部4a之安裝孔4e內的部分之軸向外側的部分，設置安裝傳動齒輪20的被嵌合部10d。 A fitting portion 10d to which the transmission gear 20 is attached is provided at one end portion of the crankshaft 10, that is, a portion of the axially outer portion of the portion of the mounting portion 4e of the substrate portion 4a.
第1擺動齒輪14係配設於外筒2內之該閉空間，而且經由第1滾動軸承18a安裝於各曲柄軸10的第1偏心部10a。第1擺動齒輪14係各曲柄軸10轉動而第1偏心部10a進行偏心轉動時，以與該偏心轉動連動的方式一面與內齒銷3嚙合一面擺動轉動。 The first oscillating gear 14 is disposed in the closed space in the outer cylinder 2, and is attached to the first eccentric portion 10a of each of the crankshafts 10 via the first rolling bearing 18a. When the first eccentric shaft 10 is rotated and the first eccentric portion 10a is eccentrically rotated, the first oscillating gear 14 is oscillated and rotated while meshing with the internal tooth pin 3 in conjunction with the eccentric rotation.
第1擺動齒輪14具有比外筒2之內徑更稍小的大小。第1擺動齒輪14具有第1外齒14a、中央部貫穿孔14b、複數個(例如3個)第1偏心部插穿孔14c、及複數個(例如3個)軸部插穿孔14d。第1外齒14a具有在第1擺動齒輪14之圓周方向圓滑地連接的波狀。 The first swing gear 14 has a size smaller than the inner diameter of the outer cylinder 2. The first oscillating gear 14 has a first outer tooth 14a, a central portion through hole 14b, a plurality of (for example, three) first eccentric portion insertion holes 14c, and a plurality of (for example, three) shaft portion insertion holes 14d. The first external teeth 14a have a wave shape that is smoothly connected in the circumferential direction of the first swing gear 14.
中央部貫穿孔14b設置於第1擺動齒輪14之徑向中央部。輸入軸8以具有游隙之狀態***中央部貫穿孔14b。 The center portion through hole 14b is provided in the radial center portion of the first swing gear 14. The input shaft 8 is inserted into the center portion through hole 14b in a state of having a play.
複數個第1偏心部插穿孔14c係在第1擺動齒輪 14在圓周方向等間隔地設置於中央部貫穿孔14b的周圍。在各第1偏心部插穿孔14c，在已插裝第1滾動軸承18a之狀態分別***各曲柄軸10的第1偏心部10a。 a plurality of first eccentric portion insertion through holes 14c are attached to the first swing gear 14 is provided at equal intervals in the circumferential direction around the center portion through hole 14b. The first eccentric portion is inserted into the through hole 14c, and the first eccentric portion 10a of each of the crank shafts 10 is inserted into the first rolling bearing 18a.
複數個軸部插穿孔14d係在第1擺動齒輪14在圓周方向等間隔地設置於中央部貫穿孔14b的周圍。各軸部插穿孔14d係在圓周方向分別配設於相鄰之第1偏心部插穿孔14c之間的位置。在各軸部插穿孔14d，在具有游隙之狀態***對應之軸部4c。 The plurality of shaft insertion holes 14d are provided around the center portion through hole 14b at equal intervals in the circumferential direction of the first swing gear 14. Each of the shaft insertion holes 14d is disposed at a position between the adjacent first eccentric portion insertion holes 14c in the circumferential direction. The perforation 14d is inserted into each of the shaft portions, and the corresponding shaft portion 4c is inserted in a state of having a play.
第2擺動齒輪16係配設於外筒2內之該閉空間，而且經由第2滾動軸承18b安裝於各曲柄軸10的第2偏心部10b。第1擺動齒輪14與第2擺動齒輪16係以和第1偏心部10a與第2偏心部10b之配置對應的方式在軸向並列地設置。第2擺動齒輪16係各曲柄軸10轉動而第2偏心部10b進行偏心轉動時，以與該偏心轉動連動的方式一面與內齒銷3嚙合一面擺動轉動。 The second oscillating gear 16 is disposed in the closed space in the outer cylinder 2, and is attached to the second eccentric portion 10b of each of the crankshafts 10 via the second rolling bearing 18b. The first oscillating gear 14 and the second oscillating gear 16 are arranged side by side in the axial direction so as to correspond to the arrangement of the first eccentric portion 10a and the second eccentric portion 10b. When the second eccentric shaft 10b rotates and the second eccentric portion 10b rotates eccentrically, the second oscillating gear 16 swings and rotates while meshing with the internal tooth pin 3 in conjunction with the eccentric rotation.
第2擺動齒輪16具有比外筒2之內徑更稍小的大小，並成為與第1擺動齒輪14相同的構成。即，第2擺動齒輪16具有第2外齒16a、中央部貫穿孔16b、複數個(例如3個)第2偏心部插穿孔16c、及複數個(例如3個)軸部插穿孔16d。這些構件具有與第1擺動齒輪14之第1外齒14a、中央部貫穿孔14b、複數個第1偏心部插穿孔14c、及複數個軸部插穿孔14d相同的構造。在各第2偏心部插穿孔16c，在已插裝第2滾動軸承18b之狀態***曲柄軸10的第2偏心部10b。 The second oscillating gear 16 has a size smaller than the inner diameter of the outer cylinder 2 and has the same configuration as that of the first oscillating gear 14. In other words, the second oscillating gear 16 has the second external teeth 16a, the central portion through hole 16b, a plurality of (for example, three) second eccentric portion insertion holes 16c, and a plurality of (for example, three) shaft portion insertion holes 16d. These members have the same structure as the first outer teeth 14a of the first oscillating gear 14, the center portion through hole 14b, the plurality of first eccentric portion insertion holes 14c, and the plurality of shaft portion insertion holes 14d. The second eccentric portion 10c is inserted into each of the second eccentric portions, and the second eccentric portion 10b of the crankshaft 10 is inserted in a state in which the second rolling bearing 18b is inserted.
各傳動齒輪20係將輸入齒輪8a之轉動傳達至對 應的曲柄軸10。各傳動齒輪20係分別外嵌於在對應之曲柄軸10的軸本體10c之一端部的被嵌合部10d。各傳動齒輪20係繞與曲柄軸10之轉軸相同的軸與該曲柄軸10一體地轉動。各傳動齒輪20具有與輸入齒輪8a嚙合的外齒20a。 Each of the transmission gears 20 transmits the rotation of the input gear 8a to the pair The crankshaft 10 should be. Each of the transmission gears 20 is externally fitted to the fitted portion 10d at one end of the shaft body 10c of the corresponding crankshaft 10. Each of the transmission gears 20 rotates integrally with the crankshaft 10 about the same axis as the rotation shaft of the crankshaft 10. Each of the transmission gears 20 has external teeth 20a that mesh with the input gear 8a.
在此，說明在本實施形態的齒輪裝置1之載具4的背隙角度。背隙角度係在已固定輸入軸之狀態對載具4施加扭力時，在扭力為零之狀態載具4繞軸所轉動的角度。即，在載具4內之擺動齒輪14、16的外齒14a、16a與外筒2內的內齒銷3之間，因為如第2(B)圖所示具有間隙，所以對載具4施加扭力時，至外齒14a、16a與內齒銷3嚙合為止在扭力仍然是零之狀態稍微地轉動。該轉動角度係成為與外齒14a、16a與內齒銷3之間之間隙的大小對應的角度。而且，如第3圖所示，在外齒14a、16a與內齒銷3嚙合之狀態，載具4之扭轉角度係成為與所施加之扭力的大小對應的大小。依此方式，在載具4，在扭力仍然是零之狀態，可轉動與該間隙之大小對應的背隙角度，該背隙角度之大小係影響機器人之定位精度(停止精度)。因此，一般，將外筒及擺動齒輪的形狀設定成背隙角度成為約1分(60分之一度)。 Here, the backlash angle of the carrier 4 of the gear device 1 of the present embodiment will be described. The backlash angle is an angle at which the carrier 4 rotates about the axis when the torque is zero when the torque is applied to the carrier 4 in a state where the input shaft is fixed. That is, between the outer teeth 14a and 16a of the swing gears 14 and 16 in the carrier 4 and the inner tooth pins 3 in the outer cylinder 2, since there is a gap as shown in the second (B) diagram, the carrier 4 is provided. When the torque is applied, the outer teeth 14a, 16a are slightly rotated in a state where the torsion is still zero until they mesh with the inner tooth pins 3. This rotation angle is an angle corresponding to the size of the gap between the external teeth 14a, 16a and the internal tooth pin 3. Further, as shown in Fig. 3, in a state where the external teeth 14a, 16a are engaged with the internal tooth pin 3, the torsion angle of the carrier 4 is a size corresponding to the magnitude of the applied torque. In this manner, in the carrier 4, in a state where the torsion is still zero, the backlash angle corresponding to the size of the gap can be rotated, and the magnitude of the backlash angle affects the positioning accuracy (stopping accuracy) of the robot. Therefore, generally, the shape of the outer cylinder and the swing gear is set to have a backlash angle of about one minute (one-60th of a degree).
而，在本實施形態的齒輪裝置1，在使用前之狀態被設定成背隙角度成為2分~3分。即，外筒2係因為散熱至外氣或散熱至所固定之對象構件(例如機器人之底座)，而熱膨脹量比擺動齒輪14、16及內齒銷3小。因此，使齒輪裝置1動作時，有擺動齒輪14、16之外齒14a、16a與內齒銷3之間的間隙(clearance)變窄的傾向。因此，在本實施形態之齒輪裝 置1，設定成在因使用時之升溫而間隙變成比使用前窄時，背隙角度成為約1分。例如，藉由使內齒銷3之外徑比以往者小，可預先附加相當於發熱所造成之間隙減少量的間隙。 In the gear device 1 of the present embodiment, the state before use is set such that the backlash angle is 2 minutes to 3 minutes. That is, the outer cylinder 2 is cooled to the outside air or radiated to the fixed target member (for example, the base of the robot), and the amount of thermal expansion is smaller than that of the swing gears 14, 16 and the internal tooth pins 3. Therefore, when the gear device 1 is operated, the clearance between the teeth 14a and 16a and the internal tooth pin 3 outside the oscillating gears 14 and 16 tends to be narrow. Therefore, in the gear mounting of this embodiment When set to 1, the backlash angle is set to about 1 minute when the gap becomes narrower than before use due to the temperature rise during use. For example, by making the outer diameter of the inner toothed pin 3 smaller than the conventional one, a gap corresponding to the amount of decrease in the gap due to heat generation can be added in advance.
第4圖表示關於使用時之發熱所伴隨的背隙角度之從使用前的狀態開始的變化。在使用時，外筒2之溫度係上升至約70~80℃。因此，在使用前的狀態(例如20℃)背隙角度是2分的情況，在70℃之背隙角度成為未滿1分(約0.6分)。又，在使用前的狀態背隙角度是3分的情況，在70℃之背隙角度成為約1.2分。因此，只要在使用前之狀態的背隙角度是2~3分(2分以上且3分以內)，使用中之背隙角度係成為約1分(0.6分以上且1.2分以內)。尤其，在本實施形態，因為成為在80rpm~200rpm所使用之齒輪裝置，所以至到達該溫度不太花時間，而少在背隙大之狀態使用。此外，在第4圖，在使用前之狀態的背隙角度為3分之情況的資料係推測值。 Fig. 4 shows changes in the backlash angle accompanying the heat generation during use from the state before use. In use, the temperature of the outer cylinder 2 rises to about 70 to 80 °C. Therefore, in the state before use (for example, 20 ° C), the backlash angle is 2 minutes, and the backlash angle at 70 ° C is less than 1 minute (about 0.6 minutes). Further, in the case where the backlash angle before use is 3 minutes, the backlash angle at 70 ° C is about 1.2 minutes. Therefore, as long as the backlash angle in the state before use is 2 to 3 minutes (2 minutes or more and 3 minutes or less), the backlash angle in use is about 1 minute (0.6 points or more and 1.2 minutes or less). In particular, in the present embodiment, since the gear device used at 80 rpm to 200 rpm is used, it takes less time to reach the temperature and is less used in a state where the backlash is large. Further, in Fig. 4, the data of the case where the backlash angle in the state before use is 3 points is an estimated value.
如第4圖之第1比較例所示，在使用前之狀態的背隙角度為1分的情況，在60℃以上，即使溫度上升，背隙角度亦不會減少而停止減少。推測這表示在60℃附近間隙已不存在之狀態。另一方面，第2比較例表示在使用前的狀態為6分的情況。在本第2比較例，在外筒之溫度已上升的使用中，背隙角度亦具有約4分，而機器人之定位精度(停止精度)變差。 As shown in the first comparative example of Fig. 4, when the backlash angle in the state before use is 1 minute, at 60 °C or higher, the backlash angle does not decrease and stops decreasing even if the temperature rises. It is presumed that this indicates a state in which the gap is no longer existed at around 60 °C. On the other hand, the second comparative example shows a case where the state before use is 6 points. In the second comparative example, in the use in which the temperature of the outer cylinder has risen, the backlash angle also has about 4 minutes, and the positioning accuracy (stop accuracy) of the robot is deteriorated.
如以上之說明所示，在本實施形態之齒輪裝置1，因為背隙角度被設定成2分~3分，所以在因使齒輪裝置1動作而擺動齒輪14、16升溫並膨脹的情況，可使載具4相對外筒2之背隙角度成為約1分。因此，因為在使用時載具4相對 外筒2之背隙角度不會成為過大，所以作為偏心擺動型齒輪裝置1可維持停止精度。而且，因為可抑制擺動齒輪14、16之齒面的面壓變高，所以可抑制擺動齒輪14、16之壽命的減少。即，可使在實際使用時之背隙角度最佳化。 As described above, in the gear device 1 of the present embodiment, since the backlash angle is set to 2 minutes to 3 minutes, the swing gears 14 and 16 are heated and expanded by the operation of the gear device 1. The backlash angle of the carrier 4 with respect to the outer cylinder 2 is set to about 1 minute. Therefore, because the carrier 4 is relatively in use Since the backlash angle of the outer cylinder 2 is not excessively large, the stop accuracy can be maintained as the eccentric oscillation gear device 1. Further, since the surface pressure of the tooth surfaces of the swing gears 14 and 16 can be suppressed from increasing, the life of the swing gears 14 and 16 can be suppressed from decreasing. That is, the backlash angle in actual use can be optimized.
又，在本實施形態，外筒2與載具4之間的相對轉速是80rpm~200rpm。在此形態，因為在80rpm~200rpm之高速區域的轉速所使用，所以開始使用後之擺動齒輪14、16的升溫亦快。因此，在開始使用後至平常之背隙角度(約1分)的時間亦短，而可使暖機運轉之時間變短或不存在。 Further, in the present embodiment, the relative rotational speed between the outer cylinder 2 and the carrier 4 is 80 rpm to 200 rpm. In this form, since the rotation speed is used in the high speed region of 80 rpm to 200 rpm, the temperature rise of the oscillating gears 14 and 16 after the start of use is also fast. Therefore, the time to the usual backlash angle (about 1 minute) after the start of use is also short, and the time for warming up can be shortened or absent.
此外，本發明係未限定為該實施形態，可在不超出其主旨之範圍進行各種變更、改良等。例如，在該實施形態，採用設置2個擺動齒輪14、16的構成，但是未限定如此。例如，亦可是設置一個擺動齒輪的構成或設置3個以上之擺動齒輪的構成。 In addition, the present invention is not limited to the embodiment, and various changes, improvements, and the like can be made without departing from the scope of the invention. For example, in this embodiment, the configuration in which the two swing gears 14 and 16 are provided is employed, but the present invention is not limited thereto. For example, a configuration in which one swing gear is provided or a configuration in which three or more swing gears are provided may be employed.
在該實施形態，輸入軸8配設於載具4的中央部，多支曲柄軸10配設於輸入軸8的周圍。可是，未限定為該構成。例如，亦可是曲柄軸10配設於載具4之中央部的中心曲柄式。在此情況，只要設置於與輸入軸8與安裝於曲柄軸10之傳動齒輪20嚙合，輸入軸8係配設於任何位置都可。 In this embodiment, the input shaft 8 is disposed at the center of the carrier 4, and the plurality of crankshafts 10 are disposed around the input shaft 8. However, it is not limited to this configuration. For example, the crankshaft 10 may be disposed in a center crank type at the center of the carrier 4. In this case, as long as it is provided to mesh with the input shaft 8 and the transmission gear 20 attached to the crankshaft 10, the input shaft 8 may be disposed at any position.
在該實施形態，成為外筒2與機器人之底座結合同時載具4與機器人之旋轉體結合，而且載具4對外筒2轉動的構成。可是，未限定為此構成。例如，亦可採用載具4與機器人之底座結合同時外筒2與機器人之旋轉體結合，而且外筒2對外筒2轉動的構成。 In this embodiment, the outer cylinder 2 is coupled to the base of the robot, and the carrier 4 is coupled to the rotating body of the robot, and the carrier 4 is rotated to the outer cylinder 2. However, it is not limited to this configuration. For example, the carrier 4 may be coupled to the base of the robot while the outer cylinder 2 is coupled to the rotating body of the robot, and the outer cylinder 2 is rotated to the outer cylinder 2.
在此，概略說明該實施形態。 Here, the embodiment will be briefly described.
一般，在使用偏心擺動型齒輪裝置時，擺動齒輪因發熱而比外筒更高溫。因此，配設於外筒之內齒與擺動齒輪之齒部的間隙係有在使用中變成比使用前窄的傾向。因此，如一般之偏心擺動型齒輪裝置所示，在擺動齒輪對外筒之背隙角度被設定成約1分的情況，因擺動齒輪之發熱而該間隙(游隙)變窄時，導至擺動齒輪之齒面的面壓上升，結果，疲勞強度降低。而，在本實施形態，因為背隙角度被設定成2分~3分，所以因使偏心擺動型齒輪裝置動作而擺動齒輪升溫並膨脹時，可使擺動齒輪對外筒之背隙角度變成約1分。因此，因為在使用時擺動齒輪對外筒之背隙角度不會成為過大，所以作為偏心擺動型齒輪裝置，可維持停止精度。而且，可抑制擺動齒輪之齒面的面壓升高，而可抑制擺動齒輪之壽命的減少。 Generally, when an eccentric oscillating type gear device is used, the oscillating gear has a higher temperature than the outer cylinder due to heat generation. Therefore, the gap between the internal teeth of the outer cylinder and the tooth portion of the oscillating gear tends to be narrower than before use. Therefore, as shown in the general eccentric oscillating type gear device, when the backlash angle of the swing gear is set to about 1 minute, the gap (the clearance) is narrowed by the heat generated by the swing gear, and the swing gear is guided to the swing gear. The surface pressure of the tooth surface rises, and as a result, the fatigue strength decreases. On the other hand, in the present embodiment, since the backlash angle is set to 2 minutes to 3 minutes, when the eccentric oscillating type gear device is operated and the oscillating gear is heated and expanded, the backlash angle of the oscillating gear to the outer cylinder becomes about 1 Minute. Therefore, since the backlash angle of the swing gear to the outer cylinder is not excessively large during use, the stop accuracy can be maintained as the eccentric swing type gear unit. Further, it is possible to suppress an increase in the surface pressure of the tooth surface of the oscillating gear, and it is possible to suppress a decrease in the life of the oscillating gear.
在此，亦可該外筒與該載具之間的相對轉速係80rpm~200rpm。 Here, the relative rotational speed between the outer cylinder and the carrier may be 80 rpm to 200 rpm.
在此形態，因為在80rpm~200rpm之高速區域的轉速範圍所使用，所以開始使用後之擺動齒輪的升溫亦快。因此，在開始使用後至平常之背隙角度(約1分)的時間亦短，而可使暖機運轉之時間變短或不存在。 In this form, since the rotation speed range of the high speed region of 80 rpm to 200 rpm is used, the temperature rise of the oscillating gear after the start of use is also fast. Therefore, the time to the usual backlash angle (about 1 minute) after the start of use is also short, and the time for warming up can be shortened or absent.
如以上之說明所示，若依據本實施形態，因為可抑制擺動齒輪之齒面的面壓升高，所以可抑制擺動齒輪之壽命變短。 As described above, according to the present embodiment, since the increase in the surface pressure of the tooth surface of the oscillating gear can be suppressed, the life of the oscillating gear can be suppressed from becoming short.
1‧‧‧偏心擺動型齒輪裝置 1‧‧‧Eccentric swing gear device
2‧‧‧外筒 2‧‧‧Outer tube
2b‧‧‧銷槽 2b‧‧‧ pin slot
2c‧‧‧插穿孔 2c‧‧‧ inserted perforation
3‧‧‧內齒銷 3‧‧‧ internal gear
4‧‧‧載具 4‧‧‧ Vehicles
4a‧‧‧基板部 4a‧‧‧Substrate Department
4b‧‧‧端板部 4b‧‧‧End Plate Department
4c‧‧‧軸部 4c‧‧‧Axis
4d‧‧‧貫穿孔 4d‧‧‧through holes
4e‧‧‧曲柄軸安裝孔 4e‧‧‧ crank shaft mounting hole
4f‧‧‧貫穿孔 4f‧‧‧through holes
4g‧‧‧曲柄軸安裝孔 4g‧‧‧ crank shaft mounting hole
4i‧‧‧固定孔 4i‧‧‧Fixed holes
4h‧‧‧螺栓 4h‧‧‧ bolt
6‧‧‧主軸承 6‧‧‧ main bearing
8‧‧‧輸入軸 8‧‧‧ input shaft
8a‧‧‧輸入齒輪 8a‧‧‧ input gear
10‧‧‧曲柄軸 10‧‧‧ crankshaft
10a‧‧‧第1偏心部 10a‧‧‧1st eccentric
10b‧‧‧第2偏心部 10b‧‧‧2nd eccentric
10c‧‧‧軸本體 10c‧‧‧ axis body
10d‧‧‧被嵌合部 10d‧‧‧Fitting Department
12a‧‧‧第1曲柄軸承 12a‧‧‧1st crank bearing
12b‧‧‧第2曲柄軸承 12b‧‧‧2nd crank bearing
14‧‧‧第1擺動齒輪 14‧‧‧1st swing gear
14a‧‧‧第1外齒 14a‧‧‧1st external tooth
14b‧‧‧中央部貫穿孔 14b‧‧‧Central through hole
14c‧‧‧第1偏心部插穿孔 14c‧‧‧1st eccentric insertion punch
14d‧‧‧軸部插穿孔 14d‧‧‧Axis insertion and perforation
16‧‧‧第2擺動齒輪 16‧‧‧2nd swing gear
16a‧‧‧第2外齒 16a‧‧‧2nd external tooth
16b‧‧‧中央部貫穿孔 16b‧‧‧Central through hole
16c‧‧‧第2偏心部插穿孔 16c‧‧‧Second eccentric insertion piercing
16d‧‧‧軸部插穿孔 16d‧‧‧Axis insertion piercing
18a‧‧‧1滾動軸承 18a‧‧1 rolling bearing
18b‧‧‧2滾動軸承 18b‧‧‧2 rolling bearings
20‧‧‧傳動齒輪 20‧‧‧Transmission gear
20a‧‧‧外齒 20a‧‧‧ external teeth
Claims (2)
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2012185392A JP5466739B2 (en) | 2012-08-24 | 2012-08-24 | Eccentric oscillating gear unit |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| TW201420921A TW201420921A (en) | 2014-06-01 |
| TWI572795B true TWI572795B (en) | 2017-03-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| TW102127038A TWI572795B (en) | 2012-08-24 | 2013-07-29 | Eccentric oscillating gear device |
Country Status (6)
| Country | Link |
|---|---|
| JP (1) | JP5466739B2 (en) |
| KR (3) | KR20150038700A (en) |
| CN (1) | CN104583645B (en) |
| DE (1) | DE112013003689B4 (en) |
| TW (1) | TWI572795B (en) |
| WO (1) | WO2014030292A1 (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105065584A (en) * | 2015-08-19 | 2015-11-18 | 英瑞克自动化有限公司 | Hypocycloid speed reducer |
| JP6709666B2 (en) * | 2016-04-14 | 2020-06-17 | ナブテスコ株式会社 | Gear device |
| JP7035406B2 (en) * | 2017-09-22 | 2022-03-15 | 日本電産株式会社 | transmission |
| JP6863882B2 (en) | 2017-11-27 | 2021-04-21 | 住友重機械工業株式会社 | Planetary gear device and manufacturing method of planetary gear device |
| JP2019132282A (en) * | 2018-01-29 | 2019-08-08 | 宇部興産機械株式会社 | Ladle water heater and arm drive control system |
| JP7068213B2 (en) * | 2019-02-28 | 2022-05-16 | トヨタ自動車株式会社 | Torsion vibration reduction device |
| JP7450340B2 (en) * | 2019-04-09 | 2024-03-15 | 住友重機械工業株式会社 | Gear device, manufacturing method of gear device |
| CN110985611A (en) * | 2019-05-22 | 2020-04-10 | 苏州华震工业机器人减速器有限公司 | Hollow speed reducer for precision control |
| CN110966357A (en) * | 2019-05-22 | 2020-04-07 | 苏州华震工业机器人减速器有限公司 | Speed reducer for precision control |
| JP2021081055A (en) * | 2019-11-22 | 2021-05-27 | ナブテスコ株式会社 | Driving unit and electric power steering device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60129454A (en) * | 1983-12-19 | 1985-07-10 | Sumitomo Heavy Ind Ltd | Planetary speed-up and reduction gear |
| JPS61266849A (en) * | 1985-05-20 | 1986-11-26 | Fujitsu Ltd | Reduction gear |
| TW200532124A (en) * | 2004-01-13 | 2005-10-01 | Nabtesco Corp | Eccentrically swinging gear device |
| CN101725642A (en) * | 2008-10-24 | 2010-06-09 | 住友重机械工业株式会社 | Decelerating device |
| WO2010119631A1 (en) * | 2009-04-17 | 2010-10-21 | ナブテスコ株式会社 | Eccecntric oscillating gear assembly |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006077980A (en) | 2004-08-11 | 2006-03-23 | Nabtesco Corp | Reduction gear mounted on revolute joint part of industrial robot |
| JP5709373B2 (en) | 2009-12-07 | 2015-04-30 | Ntn株式会社 | In-wheel motor drive device |
-
2012
- 2012-08-24 JP JP2012185392A patent/JP5466739B2/en active Active
-
2013
- 2013-07-23 DE DE112013003689.4T patent/DE112013003689B4/en active Active
- 2013-07-23 CN CN201380043885.7A patent/CN104583645B/en active Active
- 2013-07-23 KR KR20157006953A patent/KR20150038700A/en active Search and Examination
- 2013-07-23 KR KR1020157026574A patent/KR20150117296A/en active Application Filing
- 2013-07-23 KR KR1020197023270A patent/KR20190095559A/en not_active Application Discontinuation
- 2013-07-23 WO PCT/JP2013/004462 patent/WO2014030292A1/en active Application Filing
- 2013-07-29 TW TW102127038A patent/TWI572795B/en active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60129454A (en) * | 1983-12-19 | 1985-07-10 | Sumitomo Heavy Ind Ltd | Planetary speed-up and reduction gear |
| JPS61266849A (en) * | 1985-05-20 | 1986-11-26 | Fujitsu Ltd | Reduction gear |
| TW200532124A (en) * | 2004-01-13 | 2005-10-01 | Nabtesco Corp | Eccentrically swinging gear device |
| CN101725642A (en) * | 2008-10-24 | 2010-06-09 | 住友重机械工业株式会社 | Decelerating device |
| WO2010119631A1 (en) * | 2009-04-17 | 2010-10-21 | ナブテスコ株式会社 | Eccecntric oscillating gear assembly |
Also Published As
| Publication number | Publication date |
|---|---|
| TW201420921A (en) | 2014-06-01 |
| DE112013003689T5 (en) | 2015-04-09 |
| JP5466739B2 (en) | 2014-04-09 |
| JP2014043874A (en) | 2014-03-13 |
| KR20150117296A (en) | 2015-10-19 |
| DE112013003689B4 (en) | 2023-01-12 |
| WO2014030292A1 (en) | 2014-02-27 |
| KR20150038700A (en) | 2015-04-08 |
| CN104583645B (en) | 2016-04-27 |
| KR20190095559A (en) | 2019-08-14 |
| CN104583645A (en) | 2015-04-29 |
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