TWI678485B - External gear, eccentric oscillating gear device, robot, use method of eccentric oscillating gear device, and gear device group - Google Patents
External gear, eccentric oscillating gear device, robot, use method of eccentric oscillating gear device, and gear device group Download PDFInfo
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- TWI678485B TWI678485B TW105109057A TW105109057A TWI678485B TW I678485 B TWI678485 B TW I678485B TW 105109057 A TW105109057 A TW 105109057A TW 105109057 A TW105109057 A TW 105109057A TW I678485 B TWI678485 B TW I678485B
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- gear device
- gear
- eccentric oscillating
- external
- externally toothed
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Classifications
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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
- F16H1/321—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 the orbital gear being nutating
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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
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
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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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- 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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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Retarders (AREA)
- Manipulator (AREA)
Abstract
本發明之外齒齒輪(30)具有以中心軸線(ca)為中心而設置之複數個外齒(39)。於以中心軸線(ca)為中心之假想圓周(v1)上，形成有複數個供曲柄軸(25)通過之插通孔(33)。外齒齒輪(30)係以通過沿假想圓周相鄰之兩個插通孔(33)之中心(cp)與中心軸線(ca)之軸線(A)為中心而非對稱地形成。 The externally toothed gear (30) of the present invention has a plurality of external teeth (39) provided with the center axis (ca) as the center. On an imaginary circle (v1) centered on the central axis (ca), a plurality of insertion holes (33) are formed through which the crank shaft (25) passes. The externally toothed gear (30) is formed asymmetrically around the axis (A) of the center (cp) and the center axis (ca) of two insertion holes (33) adjacent to each other along an imaginary circle.
Description
本發明係關於一種用於偏心擺動型齒輪裝置之外齒齒輪、具有偏心擺動型齒輪裝置之機器手、偏心擺動型齒輪裝置之使用方法及包含複數個偏心擺動型齒輪裝置之齒輪裝置群。 The invention relates to a gear used for external gears of an eccentric oscillating gear device, a robot arm having an eccentric oscillating gear device, a method of using the eccentric oscillating gear device, and a gear device group including a plurality of eccentric oscillating gear devices.
例如JP2014-190451A所揭示般偏心擺動型齒輪裝置已為眾所周知。該偏心擺動型齒輪裝置包含具有偏心體之曲柄軸、曲柄軸所貫通之外齒齒輪、保持曲柄軸及外齒齒輪之承載器、及保持承載器之外殼。於該偏心擺動型齒輪裝置中，若自驅動裝置對曲柄軸輸入旋轉，則外齒齒輪藉由偏心體之偏心旋轉被驅動，而於以中心軸線為中心之圓周上移動、即擺動。此時，藉由外齒齒輪之外齒與外殼之內齒嚙合，而外齒齒輪相對於外殼擺動旋轉。其結果，輸入於曲柄軸之旋轉藉由固定承載器及外殼之一者，而作為承載器及殼體之另一者之旋轉被輸出。於如此之齒輪裝置之動作中，尤其是作為減速機使用之情形時，於外齒齒輪負載較大之載荷。 For example, the eccentric swing-type gear device disclosed in JP2014-190451A is well known. The eccentric oscillating gear device includes a crank shaft having an eccentric body, an external tooth gear penetrated by the crank shaft, a carrier holding the crank shaft and the external tooth gear, and a housing holding the carrier. In this eccentric oscillating gear device, if the self-driving device inputs rotation to the crank shaft, the externally toothed gear is driven by the eccentric rotation of the eccentric body, and moves on the circumference around the center axis, that is, swings. At this time, the external teeth of the external gears mesh with the internal teeth of the housing, and the external gears swing and rotate relative to the housing. As a result, the rotation input to the crank shaft is output as the rotation of the other of the carrier and the housing by fixing one of the carrier and the housing. In the operation of such a gear device, especially when it is used as a reducer, a large load is applied to the external gear.
然而，根據齒輪裝置之應用，多有如下情況：恆定產生在向一方向之旋轉及向另一方向之旋轉中之任一者之旋轉動作中於外齒齒輪負載之載荷大於在另一者之旋轉動作中於外齒齒輪負載之載荷之傾向。具體而言，於在藉由向一方向之旋轉抬升臂且藉由向另一方向之旋轉而降下臂之裝置例如機器手、或藉由向一方向之旋轉而將緊固具 緊固且藉由向另一方向之旋轉而將緊固具鬆開之裝置等中，應用偏心擺動型齒輪裝置之情形時，產生如此之傾向。根據旋轉方向而於外齒負載之載荷之大小變化會對外齒齒輪之特定位置例如外齒之單側之齒面產生局部較大之應力。於在外齒齒輪之特定位置局部地產生較大應力之情形時，必須於考慮該應力之基礎上設定壽命，故與未局部地產生應力之情形相比，設定壽命變短。 However, according to the application of the gear device, there are many cases in which the load on the externally toothed gear is greater than the load on the external gear in the rotation action of one of the rotation in one direction and the rotation in the other direction. The tendency of the load on the external gear during rotation. Specifically, in a device such as a robot hand that raises the arm by rotating in one direction and lowers the arm by rotating in the other direction, or fixes the fastener by rotating in one direction This tendency occurs when an eccentric oscillating gear device is used in a device that fastens and loosens the fastener by rotating in another direction. The change in the load of the external tooth load according to the rotation direction will cause a local large stress at a specific position of the external tooth gear, such as the tooth surface on one side of the external tooth. When a large stress is locally generated at a specific position of the externally toothed gear, the life must be set in consideration of the stress, so the set life is shorter than when the stress is not locally generated.
本發明係著眼於以上方面者，其目的在於使外齒齒輪長壽命化。 The present invention is directed to the above aspects, and an object thereof is to increase the life of an externally toothed gear.
本發明之第1偏心擺動型齒輪裝置之外齒齒輪係：具備以中心軸線為中心而設置之複數個外齒；且於以上述中心軸線為中心之圓周上，形成有複數個供曲柄軸通過之插通孔；且該外齒齒輪係以通過沿上述圓周相鄰之兩個插通孔之中心與上述中心軸線之軸線為中心而非對稱地形成。 The outer eccentric gear train of the first eccentric oscillating gear device of the present invention is provided with a plurality of external teeth provided with the center axis as a center; and a plurality of crank shafts are formed on a circumference centered on the center axis. And the externally toothed gear system is formed asymmetrically by passing the center of two insertion holes adjacent to each other along the circumference and the axis of the central axis as the center.
於本發明之第1偏心擺動型齒輪裝置之外齒齒輪中，亦可為，於上述兩個插通孔之間形成貫通孔，且上述貫通孔之配置係沿上述圓周自上述兩個插通孔之中心偏離。 In the outer-toothed gear of the first eccentric oscillating gear device of the present invention, a through-hole may be formed between the two insertion holes, and the arrangement of the through-holes is from the two insertions along the circumference. The center of the hole is off.
於本發明之第1偏心擺動型齒輪裝置之外齒齒輪中，亦可為，於上述兩個插通孔之間形成貫通孔，且位於上述兩個插通孔中之位於沿上述圓周之一側之插通孔與上述貫通孔之間之框部之寬度，寬於位於上述兩個插通孔中之位於沿上述圓周之另一側之插通孔與上述貫通孔之間之框部之寬度。 In the external-toothed gear of the first eccentric oscillating gear device of the present invention, a through hole may be formed between the two insertion holes, and one of the two insertion holes is located along one of the circumferences. The width of the frame portion between the through hole on the side and the through hole is wider than the width of the frame portion between the through hole and the through hole on the other side along the circumference of the two through holes. width.
於本發明之第1偏心擺動型齒輪裝置之外齒齒輪中，亦可為，以通過上述兩個插通孔之中心與上述中心軸線之上述軸線為中心，上述外齒齒輪之厚度具有非對稱之構成。 In the external-toothed gear of the first eccentric oscillating gear device of the present invention, the thickness of the external-toothed gear may be asymmetric with the center passing through the center of the two insertion holes and the center axis of the center axis as the center. Of the composition.
於本發明之第1偏心擺動型齒輪裝置之外齒齒輪中，亦可為，於上述兩個插通孔之間形成補強部，且上述補強部係較位於沿上述圓周之另一側之插通孔更接近位於沿上述圓周之一側之插通孔。 In the outer-toothed gear of the first eccentric oscillating gear device of the present invention, a reinforcing portion may be formed between the two insertion holes, and the reinforcing portion is relatively inserted on the other side along the circumference. The through hole is closer to the insertion through hole located on one side along the circumference.
本發明之第2偏心擺動型齒輪裝置之外齒齒輪係如下外齒齒輪：於被組入於上述偏心擺動型齒輪裝置之狀態下，對於向一方向旋轉時所負載之力之剛性、與對於向另一方向旋轉時所負載之力之剛性不同。 The externally toothed gear of the second eccentric oscillating gear device of the present invention is an external toothed gear: in a state of being incorporated in the above eccentric oscillating gear device, the rigidity with respect to the force applied when rotating in one direction, and the The stiffness of the force applied when rotating in the other direction is different.
本發明之偏心擺動型齒輪裝置具備上述本發明之第1及第2外齒齒輪中任一者。 The eccentric oscillating gear device of the present invention includes any one of the first and second externally toothed gears of the present invention.
本發明之偏心擺動型齒輪裝置亦可進而具備：外殼，其具有內齒；承載器，其支持於上述外殼；及曲柄軸，其可旋轉地支持於上述承載器，且具有偏心體；且上述外齒齒輪與上述曲柄軸之上述偏心體卡合，而一面與上述內齒嚙合一面相對於上述外殼擺動旋轉。 The eccentric oscillating gear device of the present invention may further include: a housing having internal teeth; a carrier supported by the housing; and a crank shaft rotatably supported by the carrier and having an eccentric body; and The externally toothed gear is engaged with the eccentric body of the crankshaft, and while being engaged with the internal tooth, the externally toothed gear swings and rotates relative to the housing.
本發明之機器手係：具備上述本發明之偏心擺動型齒輪裝置、及經由上述偏心擺動型齒輪裝置而連接之兩條臂；且對於上述外齒齒輪相對於具有與上述外齒齒輪之上述外齒卡合之內齒之外殼向一方向旋轉時於上述外齒齒輪負載之力之該外齒齒輪之剛性，強於對於上述外齒齒輪相對於上述外殼向另一方向旋轉時於上述外齒齒輪負載之力之該外齒齒輪之剛性。 The robot arm of the present invention is provided with the above-mentioned eccentric oscillating gear device of the present invention, and two arms connected via the above-mentioned eccentric oscillating gear device; The rigidity of the externally toothed gear when the housing of the internal teeth of the tooth engagement rotates in one direction, the externally toothed gear is more rigid than the externally toothed gear when the externally toothed gear rotates in the other direction relative to the housing. The force of the gear load is the rigidity of the externally toothed gear.
本發明之偏心擺動型齒輪裝置之使用方法係於上述本發明之機器手中使用偏心擺動型齒輪裝置之方法，且係以如下方式使用偏心擺動型齒輪裝置之方法，即，於上述偏心擺動型齒輪裝置以相對於經由上述偏心擺動型齒輪裝置而連接之兩條臂中之一條臂將另一條臂抬升之方式動作時，上述外齒齒輪相對於上述外殼向上述一方向相對旋轉。 The method of using the eccentric oscillating gear device of the present invention is the method of using the eccentric oscillating gear device in the hands of the machine of the present invention, and is the method of using the eccentric oscillating gear device in the following manner, that is, the above eccentric oscillating gear When the device operates in such a manner that one arm is lifted relative to one of the two arms connected via the eccentric swing-type gear device, the externally toothed gear is relatively rotated in the one direction relative to the housing.
本發明之齒輪裝置群具備：第1偏心擺動型齒輪裝置，其具有外齒齒輪，該外齒齒輪係對在向一方向旋轉時負載之力之剛性較對在向另一方向旋轉時負載之力之剛性為強；及第2偏心擺動型齒輪裝置，其具有外齒齒輪，該外齒齒輪係對在向一方向旋轉時所負載之力之剛性較對在向另一方向旋轉時負載之力之剛性為弱。 The gear device group of the present invention includes: a first eccentric oscillating gear device having externally toothed gears, the externally toothed gear system having a rigidity against a load applied when rotating in one direction is more rigid than a load applied when rotating in another direction; The rigidity of the force is strong; and the second eccentric oscillating gear device has external gears that are more rigid to the force that is loaded when rotating in one direction than the load that is loaded when rotating in the other direction. The rigidity of the force is weak.
於本發明之齒輪裝置群中，亦可為，上述第1偏心擺動型齒輪裝置之上述外齒齒輪及上述第2偏心擺動型齒輪裝置之上述外齒齒輪係正背相反地組入於對應之偏心擺動型齒輪裝置之相同構成之齒輪。 In the gear device group of the present invention, the external gears of the first eccentric oscillating gear device and the external gears of the second eccentric oscillating gear device may be oppositely and positively incorporated in corresponding ones. Gears of the same configuration of an eccentric oscillating gear device.
根據本發明，可改善外齒齒輪之耐久性，而有效地防止外齒之損傷。藉此，可實現外齒齒輪之長壽命化。 According to the present invention, the durability of the external gear can be improved, and damage to the external teeth can be effectively prevented. As a result, the life of the externally toothed gear can be increased.
1‧‧‧機器手 1‧‧‧ robot
2a‧‧‧第1旋轉部 2a‧‧‧1st rotating part
2b‧‧‧第2旋轉部 2b‧‧‧2nd rotating part
2c‧‧‧第3旋轉部 2c‧‧‧3rd rotating part
2ad‧‧‧遠端側臂 2ad‧‧‧Distal side arm
2ap‧‧‧近端側臂 2ap‧‧‧proximal side arm
2bd‧‧‧遠端側臂 2bd‧‧‧Distal side arm
2bp‧‧‧近端側臂 2bp‧‧‧proximal side arm
2cd‧‧‧遠端側臂 2cd‧‧‧Distal Side Arm
2cp‧‧‧近端側臂 2cp‧‧‧proximal side arm
5‧‧‧驅動裝置 5‧‧‧Drive
10‧‧‧偏心擺動型齒輪裝置 10‧‧‧eccentric swing gear
12‧‧‧角接觸滾珠軸承 12‧‧‧Angular contact ball bearings
13a‧‧‧第1圓筒滾動軸承 13a‧‧‧The first cylindrical rolling bearing
13b‧‧‧第2圓筒滾動軸承 13b‧‧‧2nd cylindrical rolling bearing
13a‧‧‧第3圓筒滾動軸承 13a‧‧‧3rd cylindrical rolling bearing
13d‧‧‧第4圓筒滾動軸承 13d‧‧‧The fourth cylindrical rolling bearing
15‧‧‧外殼 15‧‧‧shell
16‧‧‧內齒 16‧‧‧ Internal tooth
20‧‧‧承載器 20‧‧‧ Carrier
21‧‧‧第1板 21‧‧‧The first board
21a‧‧‧柱部 21a‧‧‧Column
22‧‧‧第2板 22‧‧‧The second board
23‧‧‧支持孔 23‧‧‧Support hole
25‧‧‧曲柄軸 25‧‧‧ crank shaft
26a‧‧‧第1偏心體 26a‧‧‧The first eccentric body
26b‧‧‧第2偏心體 26b‧‧‧ 2nd eccentric body
27‧‧‧輸入齒輪 27‧‧‧input gear
30‧‧‧外齒齒輪 30‧‧‧External gear
30a‧‧‧第1外齒齒輪 30a‧‧‧1st external gear
30b‧‧‧第2外齒齒輪 30b‧‧‧ 2nd external gear
31‧‧‧環狀本體部 31‧‧‧Ring body
33‧‧‧插通孔 33‧‧‧Plug-in hole
33a‧‧‧插通孔 33a‧‧‧Plug-in hole
33b‧‧‧插通孔 33b‧‧‧Plug-in hole
35‧‧‧貫通孔 35‧‧‧through hole
35a‧‧‧第1貫通孔 35a‧‧‧The first through hole
35b‧‧‧第2貫通孔 35b‧‧‧ 2nd through hole
37‧‧‧框部 37‧‧‧Frame
37a‧‧‧一側框部 37a‧‧‧ side frame
37b‧‧‧另一側框部 37b‧‧‧ the other side frame
38‧‧‧補強部 38‧‧‧ Reinforcement Department
39‧‧‧外齒 39‧‧‧ Outer teeth
A‧‧‧軸線 A‧‧‧ axis
ac‧‧‧旋轉軸線 a c ‧‧‧ rotation axis
aca‧‧‧中心軸線 a ca ‧‧‧center axis
acb‧‧‧中心軸線 a cb ‧‧‧ central axis
am‧‧‧旋轉軸線 a m ‧‧‧ rotation axis
ca‧‧‧中心軸線 ca‧‧‧center axis
cp‧‧‧中心 cp‧‧‧ center
da‧‧‧軸向 d a ‧‧‧ axial
dax‧‧‧一方向 d ax ‧‧‧ one direction
day‧‧‧另一方向 d ay ‧‧‧ the other direction
dbx‧‧‧一方向 d bx ‧‧‧ one direction
dby‧‧‧另一方向 d by ‧‧‧ the other direction
dcx‧‧‧一方向 d cx ‧‧‧ one direction
dcy‧‧‧另一方向 d cy ‧‧‧ the other direction
dr‧‧‧徑向 d r ‧‧‧ radial
dx‧‧‧第1方向 d x ‧‧‧first direction
dy‧‧‧第2方向 d y ‧‧‧ 2nd direction
ta‧‧‧厚度 t a ‧‧‧ thickness
tb‧‧‧厚度 t b ‧‧‧ thickness
V-V‧‧‧線 V-V‧‧‧line
v1‧‧‧假想圓周 v1‧‧‧imaginary circle
wa‧‧‧寬度 w a ‧‧‧ width
wb‧‧‧寬度 w b ‧‧‧ width
圖1係用於說明本發明之一實施形態之圖，且係將具有外齒齒輪之偏心擺動型齒輪裝置以通過其旋轉軸線之剖面表示之圖。 FIG. 1 is a diagram for explaining an embodiment of the present invention, and is a diagram showing an eccentric oscillating gear device having an external-toothed gear in a cross section passing through its rotation axis.
圖2係表示組入於偏心擺動型齒輪裝置之外齒齒輪之一例之俯視圖。 FIG. 2 is a plan view showing an example of an external-toothed gear incorporated in an eccentric oscillating gear device.
圖3係表示組入於偏心擺動型齒輪裝置之外齒齒輪之另一例之俯視圖。 FIG. 3 is a plan view showing another example of an external-toothed gear incorporated in an eccentric oscillating gear device.
圖4係表示組入於偏心擺動型齒輪裝置之外齒齒輪之進而另一例之俯視圖。 FIG. 4 is a plan view showing yet another example of an external-toothed gear incorporated in an eccentric oscillating gear device.
圖5係沿圖4之V-V線之剖視圖。 Fig. 5 is a sectional view taken along the line V-V in Fig. 4.
圖6係表示作為偏心擺動型齒輪裝置之一應用例之機器手之立體圖。 Fig. 6 is a perspective view showing a robot hand as an application example of an eccentric swing gear device.
以下，參照圖式對本發明之一實施形態進行說明。圖1係表示偏 心擺動型齒輪裝置之縱剖視圖。圖2~圖5係表示本發明之外齒齒輪之若干具體例之圖。圖6係作為偏心擺動型齒輪裝置之一應用例而表示機器手之立體圖。 Hereinafter, one embodiment of the present invention will be described with reference to the drawings. Figure 1 shows the bias Vertical sectional view of a heart swing type gear device. 2 to 5 are diagrams showing specific examples of the externally toothed gear of the present invention. FIG. 6 is a perspective view showing a robot arm as an application example of an eccentric swing type gear device.
如圖1所示，偏心擺動型齒輪裝置10具有外殼15、承載器20、曲柄軸25、及兩個外齒齒輪30a、30b。外殼15具有內齒16。曲柄軸25驅動兩個外齒齒輪30a、30b，且支持於承載器20。於該偏心擺動型齒輪裝置10中，藉由將外齒齒輪30a、30b之外齒39與外殼15之內齒16嚙合，而使承載器20以旋轉軸線am為中心相對於外殼15相對旋轉。 As shown in FIG. 1, the eccentric oscillating gear device 10 includes a housing 15, a carrier 20, a crank shaft 25, and two externally toothed gears 30 a and 30 b. The housing 15 has internal teeth 16. The crank shaft 25 drives two externally toothed gears 30 a and 30 b and is supported by the carrier 20. In this eccentric oscillating gear device 10, by engaging the external teeth 39 of the external gears 30a, 30b with the internal teeth 16 of the housing 15, the carrier 20 is relatively rotated relative to the housing 15 around the rotation axis a m .
承載器20具有藉由緊固具相互固定之第1板21及第2板22。第1板21具有柱部21a。第1板21經由柱部21a與第2板22連接。藉由柱部21a，而於第1板21及第2板22之間，形成有收容外齒齒輪30a、30b之空間。柱部21a通過外齒齒輪30a、30b之後述之貫通孔35。承載器20及外殼15藉由一對角接觸滾珠軸承12而可以旋轉軸線am為中心旋轉地連接。 The carrier 20 includes a first plate 21 and a second plate 22 which are fixed to each other by a fastening tool. The first plate 21 includes a pillar portion 21a. The first plate 21 is connected to the second plate 22 via a pillar portion 21a. A space for accommodating the externally toothed gears 30a and 30b is formed between the first plate 21 and the second plate 22 by the pillar portion 21a. The column portion 21 a passes through the through-holes 35 described later on the external gears 30 a and 30 b. The carrier 20 and the housing 15 are rotatably connected around the rotation axis a m by a pair of angular contact ball bearings 12.
於承載器20，形成有貫通第1板及第2板21、22之支持孔23。支持孔23於以旋轉軸線am為中心之圓周上保持等間隔而設置有三個。於三個支持孔23之各者，經由第1及第2圓筒滾動軸承13a、13b可旋轉地支持有曲柄軸25。再者，曲柄軸25之旋轉軸線ac平行於外殼15與承載器20之相對旋轉軸線am。以下，將平行於外殼15與承載器20之相對旋轉軸線am之方向稱為「軸向da」，將正交於外殼15與承載器20之相對旋轉軸線am之方向稱為「徑向dr」。 A support hole 23 is formed in the carrier 20 and penetrates the first plate and the second plates 21 and 22. Three support holes 23 are provided at regular intervals on the circumference centered on the rotation axis a m . A crank shaft 25 is rotatably supported by each of the three support holes 23 via the first and second cylindrical rolling bearings 13a and 13b. Furthermore, the rotation axis a c of the crank shaft 25 is parallel to the relative rotation axis a m of the housing 15 and the carrier 20. Hereinafter, a direction parallel to the relative rotation axis a m of the housing 15 and the carrier 20 is referred to as “axial d a ”, and a direction orthogonal to the relative rotation axis a m of the housing 15 and the carrier 20 is referred to as “diameter To dr ”.
曲柄軸25具有排列於軸向da之兩個偏心體26a、26b、及輸入齒輪27。各偏心體26a、26b具有圓板狀或圓柱狀之外形狀。兩個偏心體26a、26b之中心軸線aca、acb係以曲柄軸25之旋轉軸線ac為中心對稱地偏心。兩個外齒齒輪30a、30b係於形成於承載器20之第1及第2板21、22之間之空間內，於軸向da排列。於各外齒齒輪30a、30b中，形成有 供曲柄軸25通過之插通孔33。各外齒齒輪30a、30b之插通孔33將對應之偏心體26a、26b與第3及第4圓筒滾動軸承13c、13d一併收容。插通孔33對應於三條曲柄軸25，而於各外齒齒輪30a、30b設置有三個。各外齒齒輪30a、30b之齒數少於外殼15之內齒16之齒數(作為一例，僅少一個)。又，外齒齒輪30a、30b之外徑稍小於外殼15之內齒16之內徑。 The crank shaft 25 includes two eccentric bodies 26 a and 26 b arranged in the axial direction d a and an input gear 27. Each of the eccentric bodies 26a and 26b has a shape other than a disk shape or a cylindrical shape. The center axes a ca and a cb of the two eccentric bodies 26 a and 26 b are symmetrically eccentric about the rotation axis a c of the crank shaft 25 as a center. The two externally toothed gears 30 a and 30 b are arranged in a space formed between the first and second plates 21 and 22 of the carrier 20 and are aligned in the axial direction da. Each of the externally toothed gears 30 a and 30 b is formed with an insertion hole 33 through which the crank shaft 25 passes. The insertion holes 33 of the externally toothed gears 30a and 30b accommodate the corresponding eccentric bodies 26a and 26b together with the third and fourth cylindrical rolling bearings 13c and 13d. The insertion holes 33 correspond to the three crankshafts 25, and three of the externally toothed gears 30a and 30b are provided. The number of teeth of each of the external gears 30 a and 30 b is less than the number of teeth of the internal teeth 16 of the housing 15 (for example, only one less). The outer diameters of the externally toothed gears 30 a and 30 b are slightly smaller than the inner diameter of the inner teeth 16 of the housing 15.
於具有以上之構成之偏心擺動型齒輪裝置10中，若將來自馬達等驅動裝置5之扭矩傳遞至輸入齒輪27，則曲柄軸25以旋轉軸線ac為中心旋轉。此時，第1及第2偏心體26a、26b偏心旋轉。藉此，各外齒齒輪30a、30b於相對旋轉軸線am之周圍移動。此時，各外齒齒輪30a、30b之外齒39與外殼15之內齒16嚙合。結果，外齒齒輪30a、30b相對於外殼15擺動旋轉，經由曲柄軸25支持外齒齒輪30a、30b之承載器20亦以其中心軸線為旋轉軸線am而相對於外殼15旋轉。 In the eccentric oscillating gear device 10 having the above configuration, if the torque from the drive device 5 such as a motor is transmitted to the input gear 27, the crank shaft 25 rotates around the rotation axis ac . At this time, the first and second eccentric bodies 26a and 26b rotate eccentrically. Accordingly, each of the externally toothed gears 30a, 30b to move around the axis of rotation of a m. At this time, the external teeth 39 of each of the external gears 30 a and 30 b mesh with the internal teeth 16 of the housing 15. As a result, the externally toothed gears 30 a and 30 b swing relative to the housing 15, and the carrier 20 supporting the externally toothed gears 30 a and 30 b via the crank shaft 25 also rotates relative to the housing 15 with its center axis as the rotation axis a m .
該偏心擺動型齒輪裝置10可於形成機器手1之旋轉體或臂關節等之旋轉部2a、2b、2c(參照圖6)或各種工具機之旋轉部等作為減速機使用。於圖6所示之例中，藉由於可旋轉地連接之近端側臂(基端側臂)2ap、2bp、2cp及遠端側臂(前端側臂)2ad、2bd、2cd中之一者固定偏心擺動型齒輪裝置10之外殼15、且於另一者固定偏心擺動型齒輪裝置10之承載器20，可相對於近端側臂2ap、2bp、2cp使遠端側臂2ad、2bd、2cd以高扭矩旋轉，且高精度地控制遠端側臂2ad、2bd、2cd相對於近端側臂2ap、2bp、2cp之相對位置。 This eccentric oscillating gear device 10 can be used as a speed reducer in the rotating parts 2a, 2b, 2c (see FIG. 6) forming the rotating body or arm joint of the robot hand 1, or the rotating parts of various machine tools. In the example shown in FIG. 6, one of the proximal side arms (base side arms) 2ap, 2bp, 2cp and the distal side arms (front side arms) 2ad, 2bd, 2cd is rotatably connected. The housing 15 of the eccentric oscillating gear device 10 is fixed, and the carrier 20 of the eccentric oscillating gear device 10 is fixed to the other, and the distal side arms 2ad, 2bd, and 2cd can be made relative to the proximal side arms 2ap, 2bp, and 2cp. Rotate with high torque and control the relative positions of the distal side arms 2ad, 2bd, and 2cd with respect to the proximal side arms 2ap, 2bp, and 2cp with high accuracy.
然而，於承載器20及外殼15相對旋轉時，外齒齒輪30a、30b係於外齒39之周圍，自與外齒39嚙合之內齒16承受載荷。又，外齒齒輪30a、30b係於其插通孔33之周圍，亦自貫通該插通孔33之曲柄軸25承受載荷。尤其是，於作為變速機使用之偏心擺動型齒輪裝置10中，載荷相對變大。外齒齒輪30a、30b所負載之載荷成為引起外齒齒輪 30a、30b之變形、進而外齒齒輪30a、30b之損傷之原因。且，如於先前技術中亦已說明般，於偏心擺動型齒輪裝置10之應用中，容易產生於向一方向之旋轉及向另一方向之旋轉中之任一者之動作中外齒齒輪30a、30b所負載之載荷大於在另一者之動作中外齒齒輪30a、30b所負載之載荷之傾向。 However, when the carrier 20 and the housing 15 are relatively rotated, the external gears 30a, 30b are tied around the external teeth 39, and the internal teeth 16 that mesh with the external teeth 39 receive a load. In addition, the externally toothed gears 30 a and 30 b are tied around the insertion hole 33, and also receive a load from the crank shaft 25 penetrating the insertion hole 33. In particular, in the eccentric oscillating gear device 10 used as a transmission, the load is relatively large. The external load gears 30a and 30b have loads Causes of deformation of 30a, 30b, and further damage of external gears 30a, 30b. Moreover, as also explained in the prior art, in the application of the eccentric swing-type gear device 10, the externally toothed gear 30a, which is easily generated in any one of rotation in one direction and rotation in the other direction, is generated. The load carried by 30b tends to be larger than the load carried by the externally toothed gears 30a, 30b in the other operation.
例如，於圖6所示之機器手1之第1旋轉部2a中，若承載器20與外殼15向一方向dax相對旋轉，則對抗遠端側臂2ad之自重而將該遠端側臂2ad相對於近端側臂2ap抬升。另一方面，若承載器20與外殼15向另一方向day相對旋轉，則將該遠端側臂2ad相對於近端側臂2ap降下。於機器手1之第2旋轉部2b中，亦為若承載器20與外殼15向一方向dbx相對旋轉，則抬升該遠端側臂2bd，若承載器20與外殼15向另一方向dby相對旋轉，則降下該遠端側臂2bd。因此，於應用於第1旋轉部2a及第2旋轉部2b之偏心擺動型齒輪裝置10中，在承載器20與外殼15向一方向dax、dbx相對旋轉時外齒齒輪30a、30b所負載之載荷大於在承載器20與外殼15向另一方向day、dby相對旋轉時外齒齒輪30a、30b所負載之載荷。 For example, in the first rotating part 2a of the robot hand 1 shown in FIG. 6, if the carrier 20 and the housing 15 are relatively rotated in a direction d ax , the distal side arm 2ad is resisted against the weight of the distal side arm 2ad and the distal side arm 2ad is raised relative to the proximal side arm 2ap. On the other hand, if the carrier 20 and the housing 15 d ay rotate relative to the distal end side of the arm in the other direction relative to the proximal side arm 2ad 2ap lowered. In the second rotating part 2b of the robot hand 1, if the carrier 20 and the housing 15 are relatively rotated in one direction d bx , the distal side arm 2bd is lifted, and if the carrier 20 and the housing 15 are in the other direction d By relative rotation, the distal side arm 2bd is lowered. Therefore, in the eccentric oscillating gear device 10 applied to the first rotating portion 2a and the second rotating portion 2b, when the carrier 20 and the housing 15 are relatively rotated in one direction d ax and d bx , the external gears 30 a and 30 b The load is larger than the load carried by the externally toothed gears 30a, 30b when the carrier 20 and the housing 15 are relatively rotated in the other directions d ay , d by .
又，於在機器手1之前端安裝有將緊固具緊固之工具之情形時，於機器手1之第3旋轉部2c中，藉由承載器20與外殼15向一方向dcx相對旋轉，可將緊固具緊固。另一方面，藉由承載器20與外殼15向另一方向dcy相對旋轉，可將緊固具鬆開。因此，於應用於第3旋轉部2c之偏心擺動型齒輪裝置10中，在外殼15與承載器20向一方向dcx相對旋轉時外齒齒輪30a、30b所負載之載荷大於在外殼15與承載器20向另一方向dcy相對旋轉時外齒齒輪30a、30b所負載之載荷。 In addition, when a tool for fastening the fastening tool is installed at the front end of the robot hand 1, the third rotation part 2c of the robot hand 1 is relatively rotated in a direction d cx by the carrier 20 and the housing 15 , You can tighten the fastener. On the other hand, by relatively rotating the carrier 20 and the housing 15 in the other direction d cy , the fastening tool can be loosened. Therefore, in the eccentric oscillating gear device 10 applied to the third rotating portion 2c, the load on the external gears 30a, 30b when the housing 15 and the carrier 20 are relatively rotated in one direction d cx is greater than the load on the housing 15 and the bearing The load carried by the externally toothed gears 30a, 30b when the gear 20 is relatively rotated in the other direction dcy .
如此，於旋轉方向外齒齒輪所負載之載荷變化意味著對外齒齒輪之特定位置、例如外齒之單側之齒面集中地作用較大之應力。於對外齒齒輪局部地產生較大應力之情形時，必須於考慮該應力之基礎上 設定壽命，故與未局部地產生應力之情形相比，設定壽命變短。 In this way, the change in the load carried by the externally toothed gear in the direction of rotation means that a larger position of the externally toothed gear, such as the tooth surface on one side of the externally toothed gear, concentrates a greater stress. In the case where a large stress is locally generated in the external gear, it is necessary to consider the stress The set life is shorter than the case where no stress is locally generated.
進而，於齒輪裝置10之應用中，亦有承載器20與外殼15向一方向相對旋轉之時間大幅度長於向另一方向相對旋轉之時間之情形。於該情形時，對外齒齒輪之特定位置、例如外齒之單側之齒面持續長時間作用應力。於如此之例中，亦由於必須於考慮該應力之基礎上設定壽命，故與未產生持續長時間之應力之情形相比，設定壽命變短。 Furthermore, in the application of the gear device 10, there may be a case where the relative rotation time of the carrier 20 and the housing 15 in one direction is significantly longer than the relative rotation time in the other direction. In this case, a specific position of the externally toothed gear, such as the tooth surface on one side of the external tooth, continues to exert stress for a long time. In such an example, since the life must be set in consideration of the stress, the set life is shortened compared with a case where no stress lasting for a long time is generated.
因此，於此處所說明之偏心擺動型齒輪裝置10中，外齒齒輪30a、30b對於向一方向dax、dbx、dcx相對旋轉時負載之外力之剛性與外齒齒輪30a、30b對於向另一方向相對旋轉時負載之外力之剛性不同。即，並非僅整體地改善外齒齒輪30a、30b之剛性，而改善了對可導致意外損傷之載荷、即於一旋轉方向產生之大應力之剛性。藉由改善剛性，可縮小於外齒齒輪30a、30b產生之應力。藉此，一面避免外齒齒輪30a、30b及偏心擺動型齒輪裝置10之大幅度之大型重量化，一面對外齒齒輪30a、30b有效地賦予對應於偏心擺動型齒輪裝置10之應用之適當之剛性，由此謀求外齒齒輪30a、30b之長壽命化。 Therefore, in the eccentric oscillating gear device 10 described here, the rigidity of the external gears 30a, 30b with respect to the load external force when the relative rotation is in a direction d ax , d bx , d cx is opposite to that of the external gears 30 a, 30 b. When the other direction is relatively rotated, the rigidity of the force outside the load is different. That is, the rigidity of the externally toothed gears 30a, 30b is not only improved as a whole, but the rigidity against a load that can cause accidental damage, that is, a large stress generated in a rotation direction is improved. By improving the rigidity, the stress generated by the external gears 30a and 30b can be reduced. With this, while avoiding the large and heavy weight of the external gears 30a, 30b and the eccentric swing type gear device 10, the external gears 30a, 30b effectively impart appropriate rigidity corresponding to the application of the eccentric swing type gear device 10 Therefore, the life of the externally toothed gears 30a and 30b is increased.
以下，對外齒齒輪30a、30b進一步詳細敍述。再者，第1外齒齒輪30a及第2外齒齒輪30b可僅藉由使其等於組入於偏心擺動型齒輪裝置10之狀態下之相位相差180°(僅藉由使其等之自相對旋轉軸線am之偏心方向相反)，而形成為相同之齒輪。因此，關於第1外齒齒輪30a及第2外齒齒輪30b所共通之說明，使用符號「30」，對第1外齒齒輪30a及第2外齒齒輪30b不加區別地進行說明。 Hereinafter, the external gears 30a and 30b will be described in more detail. Furthermore, the phase difference between the first externally toothed gear 30a and the second externally toothed gear 30b in the state of being assembled in the eccentric oscillating gear device 10 may be 180 ° (only by making them equal to each other). The eccentric direction of the rotation axis am is opposite), and the same gears are formed. Therefore, regarding the description common to the first external gear 30a and the second external gear 30b, the first external gear 30a and the second external gear 30b will be described without distinction using the symbol "30".
首先，於以下說明之圖2~圖5所示之具體例中，外齒齒輪30具有環狀本體部31、及沿環狀本體部31之周緣排列之外齒39。如上述般，外齒39與外殼15之內齒16嚙合。於外齒齒輪30之環狀本體部31中，形成有供曲柄軸25分別插通之三個插通孔33。三個插通孔33係於以外齒齒輪30之中心軸線ca為中心之假想圓周v1上保持等間隔地排 列。且，外齒齒輪30於俯視下，以通過沿假想圓周v1相鄰之兩個插通孔33之中心cp與中心軸線ca之軸線A為中心，非對稱地形成。 First, in the specific examples shown in FIGS. 2 to 5 described below, the externally toothed gear 30 includes an annular body portion 31 and outer teeth 39 arranged along the periphery of the annular body portion 31. As described above, the external teeth 39 mesh with the internal teeth 16 of the housing 15. In the ring-shaped body portion 31 of the externally toothed gear 30, three insertion holes 33 through which the crank shaft 25 is inserted are formed, respectively. The three insertion holes 33 are arranged at regular intervals on an imaginary circle v1 centered on the central axis ca of the externally toothed gear 30. Column. In addition, the externally toothed gear 30 is formed asymmetrically in a plan view around the center cp of the two insertion holes 33 adjacent to each other along the imaginary circle v1 and the axis A of the center axis ca.
再者，外齒齒輪30之中心軸線ca構成外齒39之排列中心。於將外齒齒輪30組入於偏心擺動型齒輪裝置10之狀態下，中心軸線ca平行於外殼15與承載器20之相對旋轉軸線am。但是，外齒齒輪30之中心軸線ca自相對旋轉軸線am偏移曲柄軸25之偏心體26a、26b之偏心量。 Furthermore, the center axis ca of the externally toothed gear 30 constitutes the arrangement center of the externally toothed 39. In a state where the externally toothed gear 30 is incorporated in the eccentric swing-type gear device 10, the center axis ca is parallel to the relative rotation axis a m of the housing 15 and the carrier 20. However, the center axis ca of the externally toothed gear 30 is offset from the rotation axis a m by the eccentricity of the eccentric bodies 26 a and 26 b of the crank shaft 25.
首先，對圖2所示之外齒齒輪30之第1具體例進行說明。於第1具體例之外齒齒輪30中，於外齒齒輪30之環狀本體部31，形成有貫通孔35。貫通孔35係供承載器20之柱部21a通過之部位(參照圖1)。貫通孔35通常設置於採用經由柱部21a將第1板21及第2板22結合之構成之承載器20。如圖2所示，貫通孔35形成於成為沿假想圓周v1相鄰之兩個插通孔33(33a、33b)之間之位置。尤其是，於圖2所示之第1具體例中，於相鄰之兩個插通孔33之間，分別形成有第1貫通孔35a及第2貫通孔35b。且，該等兩個貫通孔35a、35b之配置係自兩個插通孔33(33a、33b)之中心cp沿假想圓周v1偏移。即，兩個貫通孔35a、35b較位於沿假想圓周v1之一側之一側插通孔33a更接近位於沿假想圓周v1之另一側之另一側插通孔33b。但是，於外齒齒輪30之環狀本體部31中，沿假想圓周v1相鄰之任意兩個插通孔33間之構成成為彼此相同。即，外齒齒輪30之環狀本體部31整體形成為以其中心軸線ca為中心之旋轉對稱、更詳細而言三次對稱。 First, a first specific example of the externally toothed gear 30 shown in FIG. 2 will be described. In the externally toothed gear 30 of the first specific example, a through hole 35 is formed in the ring-shaped body portion 31 of the externally toothed gear 30. The through hole 35 is a portion through which the pillar portion 21 a of the carrier 20 passes (see FIG. 1). The through-hole 35 is generally provided in the carrier 20 which employs a structure in which the first plate 21 and the second plate 22 are connected via the pillar portion 21 a. As shown in FIG. 2, the through hole 35 is formed at a position between two insertion holes 33 (33 a, 33 b) adjacent to each other along an imaginary circumference v1. In particular, in the first specific example shown in FIG. 2, a first through-hole 35 a and a second through-hole 35 b are respectively formed between two adjacent through-holes 33. Moreover, the arrangement of the two through holes 35a, 35b is offset from the center cp of the two insertion holes 33 (33a, 33b) along the imaginary circle v1. That is, the two through holes 35a, 35b are closer to the insertion holes 33b on the other side along the virtual circle v1 than the insertion holes 33a on one side along the virtual circle v1. However, in the ring-shaped body portion 31 of the externally toothed gear 30, the configurations between any two insertion holes 33 adjacent to each other along the imaginary circumference v1 are the same as each other. That is, the ring-shaped body portion 31 of the externally toothed gear 30 is integrally formed to be rotationally symmetrical with respect to the center axis ca as a center, and more specifically, cubically symmetrical.
如圖2所示，於如此構成之外齒齒輪30中，環狀本體部31係較沿假想圓周v1之插通孔33之一側，於沿假想圓周v1之插通孔33之另一側具有更大部分。換言之，藉由一個插通孔33與沿假想圓周v1位於該插通孔33之另一側之貫通孔35(35a)劃分形成之另一側框部37b之寬度wb寬於藉由該插通孔33與沿假想圓周v1位於該插通孔33之一側之貫通孔35(35b)劃分形成之一側框部37a之寬度wa。 As shown in FIG. 2, in the externally toothed gear 30 thus configured, the ring-shaped body portion 31 is located on one side of the insertion hole 33 along the imaginary circumference v1 and on the other side of the insertion hole 33 along the imaginary circumference v1. With a bigger part. In other words, the width w b of the other side frame portion 37 formed by dividing one insertion hole 33 and the through hole 35 (35 a) located on the other side of the insertion hole 33 along the imaginary circle v1 is wider than that by the insertion The width w a of the one side frame portion 37 a is formed by dividing the through hole 33 and the through hole 35 (35 b) located on one side of the insertion hole 33 along the imaginary circumference v1.
外齒齒輪30相對於固定之外殼15向以沿假想圓周v1之一側為前方且以沿假想圓周v1之另一側為後方之第1方向(圖2之逆時針方向)dx旋轉。此時，外齒齒輪30經由位於插通孔33內之曲柄軸25與承載器20一併動作。因此，外齒齒輪30自曲柄軸25受到與旋轉方向相反方向之反作用力。即，外齒齒輪30於向第1方向dx旋轉時，於沿假想圓周v1位於插通孔33之另一側之區域、即另一側框部37b受到來自曲柄軸25之反作用力。相反，若外齒齒輪30相對於固定之外殼15向以沿假想圓周v1之另一側為前方且以沿假想圓周v1之一側為後方之第2方向(圖2之順時針方向)dy旋轉，則外齒齒輪30於沿假想圓周v1位於插通孔33之一側之區域、即一側框部37a受到來自曲柄軸25之反作用力。 The externally toothed gear 30 rotates with respect to the fixed housing 15 in a first direction (counterclockwise in FIG. 2) d x with one side along the virtual circle v1 as the front and the other side along the virtual circle v1 as the rear. At this time, the externally toothed gear 30 moves together with the carrier 20 via the crank shaft 25 located in the insertion hole 33. Therefore, the externally toothed gear 30 receives a reaction force from the crank shaft 25 in a direction opposite to the rotation direction. That is, when the external gear 30 d x in the first direction of rotation, to pass along the imaginary circumferential region v1 located on the other side of the insertion hole 33, i.e., the other side frame portion 37b by a reaction force from the crankshaft 25. Conversely, if the externally toothed gear 30 faces the fixed housing 15 in the second direction (clockwise in FIG. 2) d y with the other side along the imaginary circle v1 as the front and the one along the imaginary circle v1 as the rear When rotating, the externally toothed gear 30 receives a reaction force from the crank shaft 25 in a region located on one side of the insertion hole 33 along the imaginary circumference v1, that is, the one side frame portion 37 a.
於圖2所示之外齒齒輪30中，另一側框部37b之寬度wb寬於一側框部37a之寬度wa。因此，圖2所示之外齒齒輪30對在相對於外殼15向第1方向dx旋轉時該外齒齒輪30所負載之載荷，較對在相對於外殼15向第2方向dy旋轉時該外齒齒輪30所負載之載荷，具有更高之剛性。 In the externally toothed gear 30 shown in FIG. 2, the width w b of the other side frame portion 37 b is wider than the width w a of the one side frame portion 37 a . Therefore, the load of the externally toothed gear 30 shown in FIG. 2 when the externally toothed gear 30 rotates in the first direction d x relative to the housing 15 is more than when the externally toothed gear 30 rotates in the second direction d y with respect to the housing 15. The load carried by the externally toothed gear 30 has higher rigidity.
因此，較佳為以如下方式將具有該外齒齒輪30之偏心擺動型齒輪裝置10組入於機器手1，即，藉由外齒齒輪30相對於外殼15向第1方向dx旋轉，而於偏心擺動型齒輪裝置10內產生參照圖6所說明之向一方向dax、dbx、dcx之相對旋轉，其結果，將遠端側臂2ad相對於近端側臂2ap抬升或將緊固具緊固。換言之，較佳為以如下方式將具有該外齒齒輪30之偏心擺動型齒輪裝置10組入於機器手1，即，藉由外齒齒輪30相對於外殼15向第2方向dy旋轉，而於偏心擺動型齒輪裝置10內產生參照圖6所說明之向另一方向day、dby、dcy之相對旋轉。於將如此之偏心擺動型齒輪裝置10應用於機器手1時，外齒齒輪30於施加高載荷之遠端側臂2ad之抬升或緊固具之緊固時，呈現較高剛性。另一方面，外齒齒輪30於降下遠端側臂2ad時或鬆開緊固具時，呈現與低載荷相稱之最低限度之剛性。 Therefore, it is preferable that the eccentric oscillating gear device 10 having the externally toothed gear 30 be incorporated in the robot hand 1 in such a manner that the externally toothed gear 30 is rotated in the first direction d x with respect to the housing 15 in such a manner that Relative rotations in one direction d ax , d bx , d cx as described with reference to FIG. 6 are generated in the eccentric oscillating gear device 10. As a result, the distal side arm 2ad is lifted or tightened relative to the proximal side arm 2ap. Fasteners. In other words, the eccentric swing-type gear device 10 having the externally toothed gear 30 is preferably incorporated into the robot hand 1 in such a manner that the externally toothed gear 30 rotates in the second direction d y with respect to the housing 15 in such a manner that Relative rotations in the other directions d ay , d by , and d cy occur in the eccentric swing-type gear device 10 described with reference to FIG. 6. When such an eccentric oscillating gear device 10 is applied to the robot hand 1, the externally toothed gear 30 exhibits high rigidity when the distal side arm 2ad is applied with a high load or the fastener is fastened. On the other hand, the externally toothed gear 30 exhibits the minimum rigidity commensurate with a low load when the distal side arm 2ad is lowered or when the fastener is released.
通過以上之方式，於第1具體例之外齒齒輪30及偏心擺動型齒輪裝置10中，對應於外齒齒輪30相對於外殼15之旋轉方向，而外齒齒輪30具有不同之剛性。因此，根據該外齒齒輪30及偏心擺動型齒輪裝置10，可一面有效地避免起因於整體之剛性強化之大型重量化，一面呈現對應於偏心擺動型齒輪裝置10之應用之充分之剛性。藉此，可有效地防止外齒齒輪30及偏心擺動型齒輪裝置10之意外損傷，從而使外齒齒輪30及偏心擺動型齒輪裝置10之可靠性有效地提高。 In the above manner, in the external toothed gear 30 and the eccentric oscillating gear device 10 of the first specific example, the external toothed gear 30 has different rigidity corresponding to the rotation direction of the external toothed gear 30 with respect to the housing 15. Therefore, according to the externally toothed gear 30 and the eccentric oscillating gear device 10, it is possible to effectively avoid the large-scale weight increase due to the overall rigidity enhancement, while presenting sufficient rigidity corresponding to the application of the eccentric oscillating gear device 10. This can effectively prevent accidental damage to the externally toothed gear 30 and the eccentric oscillating gear device 10, thereby effectively improving the reliability of the externally toothed gear 30 and the eccentric oscillating gear device 10.
其次，對圖3所示之外齒齒輪30之第2具體例進行說明。於圖2所示之第1具體例中，於相鄰之兩個插通孔33之間，形成有兩個貫通孔35，但於第2具體例之外齒齒輪30中，於相鄰之兩個插通孔33之間，僅形成有一個貫通孔35。第2具體例之外齒齒輪30與第1具體例於貫通孔35之數量上不同，其他可構成為相同。因此，於第2具體例之外齒齒輪30中，貫通孔35較位於沿假想圓周v1之一側之一側插通孔33a更接近位於沿假想圓周v1之另一側之另一側插通孔33b而設置。又，位於一個貫通孔35與沿假想圓周v1位於該貫通孔35之一側之一側插通孔33a之間的另一側框部37b之寬度wb，較位於該貫通孔35與沿假想圓周v1位於該貫通孔35之另一側之另一側插通孔33b之間的一側框部37a之寬度wa寬。 Next, a second specific example of the externally toothed gear 30 shown in FIG. 3 will be described. In the first specific example shown in FIG. 2, two through holes 35 are formed between two adjacent through-holes 33. However, in the second specific example, the externally toothed gear 30 is adjacent to Only one through hole 35 is formed between the two insertion holes 33. The second specific example of the externally toothed gear 30 differs from the first specific example in the number of through-holes 35, and other configurations may be the same. Therefore, in the externally toothed gear 30 of the second specific example, the through hole 35 is closer to the other side insertion hole 33a located on the other side along the virtual circle v1 than the through hole 33a located on one side along the virtual circle v1. Holes 33b. In addition, the width w b of the other side frame portion 37 b between one through hole 35 and one of the side insertion holes 33 a on one side of the through hole 35 along the imaginary circle v1 is larger than that of the through hole 35 and the imaginary hole The width v a of the one-side frame portion 37 a of the circumference v1 between the other-side insertion holes 33 b on the other side of the through-hole 35 is wide.
包含以上構成之圖3所示之第2具體例之外齒齒輪30對在相對於外殼15向第1方向dx旋轉時負載之載荷，相較於對在相對於外殼15向第2方向dy旋轉時負載之載荷，呈現更高之剛性。於使用如此之第2具體例之外齒齒輪30之情形時，可發揮與使用第1具體例之外齒齒輪之情形相同之作用效果。 Including the second configuration shown in FIG. 3 including the above configuration, the load of a pair of externally toothed gears 30 when rotating in the first direction d x relative to the housing 15 is larger than that in the second direction d relative to the housing 15. The load of y rotation is more rigid. When the externally toothed gear 30 of the second specific example is used as described above, the same effects as those obtained when the externally toothed gear of the first specific example is used can be exhibited.
其次，對圖4及圖5所示之外齒齒輪30之第3具體例進行說明。於圖4及圖5所示之第3具體例之外齒齒輪30中，於相鄰之兩個插通孔33之間，形成有第1貫通孔35a及第2貫通孔35b之兩個貫通孔35。然而， 如圖4所示，兩個貫通孔35a、35b之配置係沿假想圓周v1位於兩個插通孔33之中間。因此，於第3具體例之外齒齒輪30中，另一側框部37b之寬度wb與一側框部37a之寬度wa相同。且，圖4所示之俯視下之外齒齒輪30之外輪廓係以通過沿假想圓周v1相鄰之兩個插通孔33之中心cp與中心軸線ca之軸線A為中心而成為對稱。 Next, a third specific example of the externally toothed gear 30 shown in FIGS. 4 and 5 will be described. In the externally toothed gear 30 of the third specific example shown in FIGS. 4 and 5, two through holes of a first through hole 35 a and a second through hole 35 b are formed between two adjacent through holes 33. Hole 35. However, as shown in FIG. 4, the arrangement of the two through holes 35 a and 35 b is located between the two insertion holes 33 along the imaginary circumference v1. Therefore, in the externally toothed gear 30 of the third specific example, the width w b of the other side frame portion 37 b is the same as the width w a of the one side frame portion 37 a . In addition, the outer contour of the externally toothed gear 30 in plan view shown in FIG. 4 is symmetrical about the center A of the two insertion holes 33 adjacent to each other along the imaginary circle v1 and the axis A of the center axis ca.
另一方面，如圖4及圖5所示，於兩個插通孔33之間形成有補強部38。補強部38係於兩個插通孔33之間，較位於沿假想圓周v1之另一側之另一側插通孔33b更接近位於沿假想圓周v1之一側之一側插通孔。於圖4所示之例中，補強部38設置於另一側框部37b。補強部38係用於強化外齒齒輪30之剛性之部位。如圖5所示，補強部38可作為用於增加厚度之鼓出部而形成。即，於圖4及圖5所示之第3具體例中，以通過兩個插通孔33之中心cp與中心軸線ca之軸線A為中心，外齒齒輪30之厚度成為非對稱。 On the other hand, as shown in FIGS. 4 and 5, a reinforcing portion 38 is formed between the two insertion holes 33. The reinforcing portion 38 is located between the two insertion holes 33 and is closer to the insertion hole 33 on one side along the imaginary circumference v1 than the insertion hole 33b on the other side along the imaginary circumference v1. In the example shown in FIG. 4, the reinforcing portion 38 is provided on the other side frame portion 37 b. The reinforcing portion 38 is a portion for strengthening the rigidity of the externally toothed gear 30. As shown in FIG. 5, the reinforcing portion 38 may be formed as a bulging portion for increasing the thickness. That is, in the third specific example shown in FIGS. 4 and 5, the thickness of the externally toothed gear 30 is asymmetric with the center cp passing through the two insertion holes 33 and the axis A of the center axis ca as the center.
如圖5所示，於第3具體例之外齒齒輪30中，另一側框部37b之厚度tb厚於一側框部37a之厚度ta。因此，於圖4及圖5所示之外齒齒輪30中，外齒齒輪30對在相對於外殼15向第1方向dx旋轉時負載之載荷，較對在相對於外殼15向第2方向dy旋轉時負載之載荷，呈現更高之剛性。於使用如此之第3具體例之外齒齒輪30之情形時，可發揮與使用第1具體例之外齒齒輪之情形相同之作用效果。 As shown in FIG. 5, in the externally toothed gear 30 of the third specific example, the thickness t b of the other side frame portion 37 b is thicker than the thickness t a of the one side frame portion 37 a . Therefore, in the external-toothed gear 30 shown in FIGS. 4 and 5, the external-toothed gear 30 has a pair of load loads when rotating in the first direction d x with respect to the housing 15, compared with the load in the second direction with respect to the housing 15. The load of d y when rotating is more rigid. In the case where the externally toothed gear 30 of the third specific example is used, the same effect as the case where the externally toothed gear of the first specific example is used can be exhibited.
於以上所說明之本實施形態中，於以中心軸線ca為中心之假想圓周v1上，形成有複數個供曲柄軸25通過之插通孔33。關於通過沿假想圓周v1相鄰之兩個插通孔33之中心cp與外齒齒輪30之中心軸線ca之軸線A，外齒齒輪30具有非對稱之構成。根據如此之外齒齒輪30，對於向一方向旋轉時負載之外力之外齒齒輪30之剛性與對於向另一方向旋轉時負載之外力之外齒齒輪30之剛性不同。因此，於外齒齒輪30負載更大之載荷之旋轉方向，藉由以外齒齒輪30具有更高之剛性之方式將 外齒齒輪30組入於偏心擺動型齒輪裝置10，可有效地改善外齒齒輪30之耐久性。其結果，無需依存於對應於旋轉方向偏心擺動型齒輪裝置10所負載之載荷之大小，而可有效地防止外齒齒輪30之變形。藉此，可防止外齒齒輪之意外破損，而實現外齒齒輪30之長壽命化。 In the present embodiment described above, a plurality of insertion holes 33 through which the crank shaft 25 passes are formed on the imaginary circle v1 centered on the central axis ca. Regarding the axis A passing through the center cp of the two insertion holes 33 adjacent to each other along the imaginary circle v1 and the center axis ca of the externally toothed gear 30, the externally toothed gear 30 has an asymmetrical configuration. According to the externally toothed gear 30, the rigidity of the externally toothed gear 30 is different from the external force of the load when it is rotated in one direction and the rigidity of the externally toothed gear 30 is not applied to the load when it is rotated in the other direction. Therefore, in the direction of rotation where the external gear 30 is loaded with a larger load, the external gear 30 has a higher rigidity. The external-toothed gear 30 is incorporated in the eccentric swing-type gear device 10, which can effectively improve the durability of the external-toothed gear 30. As a result, deformation of the externally toothed gear 30 can be effectively prevented without depending on the magnitude of the load applied to the eccentric swing-type gear device 10 in accordance with the rotation direction. This can prevent accidental damage of the externally toothed gear, and achieve a longer life of the externally toothed gear 30.
又，於圖2或圖3所示之具體例中，於外齒齒輪30中，在供曲柄軸25通過之兩個插通孔33之間，形成有貫通孔35。貫通孔35之配置偏離兩個插通孔33之中心cp。換言之，貫通孔35係較位於沿排列有插通孔33之假想圓周v1之一側之一側插通孔33a，更接近位於沿假想圓周v1之另一側之另一側插通孔33b而設置。因此，藉由使用該貫通孔35，可藉由極簡之構成實現對應於旋轉方向而剛性不同之外齒齒輪30。並且，可利用供承載器20之柱部21a通過之孔作為該貫通孔35。於該情形時，可防止因新形成專用之孔而導致外齒齒輪整體之剛性下降。 In the specific example shown in FIG. 2 or FIG. 3, a through hole 35 is formed in the externally toothed gear 30 between the two insertion holes 33 through which the crank shaft 25 passes. The arrangement of the through holes 35 is offset from the center cp of the two insertion holes 33. In other words, the through-holes 35 are closer to the through-holes 33a on the other side along the imaginary circumference v1 than the through-holes 33a on one side along the imaginary circumference v1 where the through-holes 33 are arranged Settings. Therefore, by using this through-hole 35, the external gear 30 having different rigidity according to the rotation direction can be realized with a simple structure. As the through hole 35, a hole through which the pillar portion 21 a of the carrier 20 passes can be used. In this case, it is possible to prevent the rigidity of the externally toothed gear as a whole from being reduced due to the newly formed dedicated holes.
換言之，於圖2或圖3所示之具體例中，位於兩個插通孔33中之位於沿假想圓周v1之一側之一側插通孔33a與貫通孔35之間且於半徑方向延伸之另一側框部37b之向假想圓周v1之寬度wb，較位於兩個插通孔33中之位於沿假想圓周v1之另一側之另一側插通孔33b與貫通孔35之間且於半徑方向延伸之一側框部37a之向假想圓周v1之寬度wa寬。即，位於貫通孔35與位於沿假想圓周v1之一側之一側插通孔33a之間的另一側框部37b之寬度wb，較位於貫通孔35與位於沿假想圓周v1之另一側之另一側插通孔33b之間的一側框部37a之寬度wa寬。若使用貫通孔35調整框部37a、37b之寬度wa、wb，則可藉由極簡之構成實現對應於旋轉方向而剛性不同之外齒齒輪30。並且，可利用供承載器20之柱部21a通過之孔作為該貫通孔35。於該情形時，可防止因新形成專用之貫通孔35而導致外齒齒輪整體之剛性下降。 In other words, in the specific example shown in FIG. 2 or FIG. 3, one of the two insertion holes 33 is located between one of the insertion holes 33 a and the through hole 35 on one side along the imaginary circle v1 and extends in the radial direction. The width w b of the other side frame portion 37 b toward the imaginary circle v1 is more than the two insertion holes 33 located between the other side of the through hole 33 b and the through hole 35 along the other side along the imaginary circle v1. The width w a of the side frame portion 37 a extending in the radial direction toward the virtual circle v1 is wide. That is, the width w b of the other side frame portion 37 b between the through-hole 35 and the one-side insertion through-hole 33 a along one side of the imaginary circle v1 is larger than that of the through-hole 35 and the other side of the imaginary circle v1. The width w a of the one side frame portion 37 a between the other side insertion holes 33 b is wide. When the widths w a and w b of the frame portions 37 a and 37 b are adjusted by using the through holes 35, the external gear 30 having different rigidities according to the rotation direction can be realized by a simple structure. As the through hole 35, a hole through which the pillar portion 21 a of the carrier 20 passes can be used. In this case, it is possible to prevent the rigidity of the overall externally toothed gear from being reduced due to the newly formed dedicated through hole 35.
進而，於圖4及圖5所示之具體例中，外齒齒輪30係以通過兩個 插通孔33之中心cp與中心軸線ca之軸線A為中心，外齒齒輪30之厚度具有非對稱之構成。藉由以特定之軸線A為中心使厚度非對稱地變化，可藉由極簡之構成實現對應於旋轉方向而剛性不同之外齒齒輪30。例如，使沿排列有插通孔33之假想圓周v1成為插通孔33之另一側之另一側框部37b之厚度tb較成為該插通孔33之一側之一側框部37a之厚度ta增大。於該例中，於固定有外殼15之狀態下，外齒齒輪30於外齒齒輪30以假想圓周v1之一側為前方且以另一側為後方旋轉時，由厚壁部分自移動方向後方對插通曲柄軸25後之插通孔33之周圍部分進行補強。即，外齒齒輪30被有效地賦予伴隨如此之旋轉自曲柄軸25負載之力較高之剛性。另一方面，於外齒齒輪30以假想圓周v1之另一側為前方且以一側為後方旋轉時，可維持對於該外齒齒輪30所負載之載荷之剛性。 Further, in the specific examples shown in FIGS. 4 and 5, the externally toothed gear 30 is centered on the axis A passing through the center cp of the two insertion holes 33 and the central axis ca, and the thickness of the externally toothed gear 30 is asymmetric. Of the composition. By changing the thickness asymmetrically around a specific axis A, the externally toothed gear 30 having a different rigidity in accordance with the rotation direction can be realized by a simple structure. For example, the thickness t b of the other side frame portion 37 b on the other side of the insertion hole 33 along the imaginary circle v1 in which the insertion hole 33 is arranged is larger than the side frame portion 37 a that is one side of the insertion hole 33. The thickness t a increases. In this example, in a state where the housing 15 is fixed, the externally toothed gear 30 rotates from the thick wall portion to the rear when the externally toothed gear 30 rotates with one side of the imaginary circle v1 as the front and the other side as the rear. The surrounding portion of the insertion hole 33 after the crank shaft 25 is inserted is reinforced. That is, the externally toothed gear 30 is effectively imparted with high rigidity due to the load of the crank shaft 25 accompanying such rotation. On the other hand, when the externally toothed gear 30 is rotated with the other side of the imaginary circle v1 as the front and one side as the rear, the rigidity with respect to the load carried by the externally toothed gear 30 can be maintained.
進而，於圖4或圖5所示之一實施形態中，於外齒齒輪30，在供曲柄軸25通過之兩個插通孔33之間，形成有補強部38。補強部38係較位於沿假想圓周v1之另一側之另一側插通孔33b更接近位於沿假想圓周v1之一側之一側插通孔33a而配置。即，補強部38自通過兩個插通孔33之中心cp與中心軸線ca之軸線A偏移。藉由該補強部38之設置，可藉由極簡之構成實現對應於旋轉方向而剛性不同之外齒齒輪30。例如，於固定有外殼15之狀態下，外齒齒輪30於以假想圓周v1之一側為前方且以另一側為後方外齒齒輪30旋轉時，由補強部38自曲柄軸25之移動方向後方對插通曲柄軸25後之插通孔33之周圍部分進行補強。即，外齒齒輪30被有效地賦予對伴隨如此之旋轉而負載之來自曲柄軸25負載之力較高之剛性。另一方面，於外齒齒輪30以假想圓周v1之另一側為前方且以一側為後方旋轉時，可維持對於該外齒齒輪30所負載之載荷之剛性。 Further, in one embodiment shown in FIG. 4 or FIG. 5, a reinforcing portion 38 is formed in the externally toothed gear 30 between the two insertion holes 33 through which the crank shaft 25 passes. The reinforcing portion 38 is disposed closer to the insertion hole 33a on the other side along the virtual circle v1 than the insertion hole 33b on the other side along the virtual circle v1. That is, the reinforcing portion 38 is offset from the axis A passing through the center cp passing through the two insertion holes 33 and the center axis ca. By providing the reinforcing portion 38, the externally toothed gear 30 having a different rigidity in accordance with the rotation direction can be realized with a simple structure. For example, in a state where the housing 15 is fixed, when the externally toothed gear 30 rotates with one side of the imaginary circle v1 as the front and the other side as the rearward externally toothed gear 30, the reinforcing portion 38 moves from the direction of the crank shaft 25 The rear part is reinforced around the insertion hole 33 after the crank shaft 25 is inserted. That is, the externally toothed gear 30 is effectively imparted with high rigidity to the load from the crank shaft 25 that is loaded with such rotation. On the other hand, when the externally toothed gear 30 is rotated with the other side of the imaginary circle v1 as the front and one side as the rear, the rigidity with respect to the load carried by the externally toothed gear 30 can be maintained.
又，於本實施形態中，機器手1具有偏心擺動型齒輪裝置10、及 經由偏心擺動型齒輪裝置10連接之一對臂2ap、2bp、2cp、2ad、2bd、2cd。且，對於外齒齒輪30相對於具有與外齒齒輪30之外齒39卡合之內齒16之外殼15向一方向dax、dbx、dcx相對旋轉時負載之外力之外齒齒輪30之剛性，較對於外齒齒輪30相對於外殼15向另一方向day、dby、dcy相對旋轉時負載之外力之外齒齒輪30之剛性強。於該機器手1中，於相對於一臂2ap、2bp、2cp將另一臂2ad、2bd、2cd抬升之動作時，較相對於一臂2ap、2bp、2cp將另一臂2ad、2bd、2cd降下之動作時，外齒齒輪30負載更大之載荷。因此，較佳為於偏心擺動型齒輪裝置10以相對於一臂2ap、2bp、2cp對抗另一臂2ad、2bd、2cd之自重而將該另一臂2ad、2bd、2cd抬升之方式動作時，外齒齒輪30相對於外殼15向一方向dax、dbx、dcx相對旋轉。藉由將如此之偏心擺動型齒輪裝置10應用於機器手1，偏心擺動型齒輪裝置10之外齒齒輪30於負載更大之載荷之動作時，呈現更強之剛性。因此，可改善偏心擺動型齒輪裝置10之耐久性，而謀求偏心擺動型齒輪裝置10之長壽命化。 In the present embodiment, the robot hand 1 includes an eccentric oscillating gear device 10 and one pair of arms 2ap, 2bp, 2cp, 2ad, 2bd, and 2cd connected via the eccentric oscillating gear device 10. In addition, when the externally toothed gear 30 rotates relative to the housing 15 having the internal teeth 16 engaged with the external teeth 39 of the externally toothed gear 30 in one direction d ax , d bx , d cx , the externally toothed gear 30 is loaded with external force. The rigidity of the externally toothed gear 30 is stronger than that of the externally toothed gear 30 when the externally toothed gear 30 rotates relative to the housing 15 in the other directions d ay , d by , and d cy . In this robot hand 1, when the other arm 2ad, 2bd, 2cd is lifted relative to one arm 2ap, 2bp, 2cp, the other arm 2ad, 2bd, 2cd is lifted compared to one arm 2ap, 2bp, 2cp. During the lowering operation, the external gear 30 is loaded with a larger load. Therefore, it is preferable that when the eccentric swing-type gear device 10 acts against the weight of the other arm 2ad, 2bd, and 2cd with respect to the one arm 2ap, 2bp, and 2cp, and lifts the other arm 2ad, 2bd, and 2cd, The externally toothed gear 30 is relatively rotated with respect to the housing 15 in one direction d ax , d bx , d cx . By applying such an eccentric oscillating gear device 10 to the robot hand 1, the external gear 30 of the eccentric oscillating gear device 10 exhibits greater rigidity when it is operated with a larger load. Therefore, the durability of the eccentric oscillating gear device 10 can be improved, and the life of the eccentric oscillating gear device 10 can be increased.
然而，較佳為具有包含如下裝置之齒輪裝置群：第1偏心擺動型齒輪裝置10，其具有對於向一方向dax、dbx、dcx相對旋轉時負載之外力之剛性強於對於向另一方向day、dby、dcy相對旋轉時負載之外力之剛性之外齒齒輪30；及第2偏心擺動型齒輪裝置10，其具有對於向一方向dax、dbx、dcx相對旋轉時負載之外力之剛性弱於對於向另一方向day、dby、dcy相對旋轉時負載之外力之剛性之外齒齒輪30。藉由具有包含第1偏心擺動型齒輪裝置10及第2偏心擺動型齒輪裝置10之齒輪裝置群，可自第1偏心擺動型齒輪裝置10及第2偏心擺動型齒輪裝置10選擇適當之偏心擺動型齒輪裝置10。藉此，可有效地避免意外之偏心擺動型齒輪裝置10之損傷。 However, it is preferable to have a gear device group including a first eccentric oscillating gear device 10 having a rigidity against a load other than a load when rotating relative to one direction d ax , d bx , d cx relative to another direction. Rigid externally toothed gears 30 having external forces under load during relative rotation in one direction d ay , d by , d cy ; and a second eccentric oscillating gear device 10 having relative rotation in one direction d ax , d bx , d cx addition of a force weaker than the rigidity of the load to the other direction than d, d by, the rigidity of the load forces than when ay d CY toothed gear 30 relative rotation. With the gear device group including the first eccentric oscillating gear device 10 and the second eccentric oscillating gear device 10, an appropriate eccentric oscillation can be selected from the first eccentric oscillating gear device 10 and the second eccentric oscillating gear device 10. Type gear device 10. Thereby, the damage of the accidental eccentric swing-type gear device 10 can be effectively avoided.
又，關於如此之齒輪裝置群，較佳為第1偏心擺動型齒輪裝置10 之外齒齒輪30及第2偏心擺動型齒輪裝置10之外齒齒輪30係表背相反地組入於對應之偏心擺動型齒輪裝置10之相同構成之齒輪。即，較佳為如上述一實施形態般，可藉由改變相同之外齒齒輪30之正背之方向，而準備第1偏心擺動型齒輪裝置10及第2偏心擺動型齒輪裝置10。於該情形時，於第1偏心擺動型齒輪裝置10及第2偏心擺動型齒輪裝置10之間，外齒齒輪30係若變更正背之方向則變成相同之正背對稱，而可將所有構成要素設為共通。 Further, regarding such a gear device group, the first eccentric swing-type gear device 10 is preferable The externally toothed gear 30 and the second eccentric oscillating gear device 10 The externally toothed gear 30 is a gear having the same configuration in which the front and back surfaces are oppositely incorporated in the corresponding eccentric oscillating gear device 10. That is, it is preferable to prepare the first eccentric oscillating gear device 10 and the second eccentric oscillating gear device 10 by changing the direction of the front and back of the same externally toothed gear 30 as in the above embodiment. In this case, between the first eccentric oscillating gear device 10 and the second eccentric oscillating gear device 10, if the externally toothed gear 30 changes the direction of the front back, it becomes the same front and back symmetry, and all the components can be configured. The elements are common.
再者，可對上述實施形態施加各種變更。 In addition, various changes can be added to the above-mentioned embodiment.
首先，於圖4及圖5之第3具體例中，藉由形成作為鼓出部之補強部38，而對應於旋轉方向使外齒齒輪30之剛性不同。然而，並不限於該例，亦可於成為沿排列有插通孔33之假想圓周v1之插通孔33之一側及另一側之任一側之部分，設置肋等補強構造物作為補強部38。又，亦可藉由使成為沿排列有插通孔33之假想圓周v1之插通孔33之一側及另一側之任一側之部分之厚度變薄，而一面實現外齒齒輪30之輕量化，一面使外齒齒輪30對應於旋轉方向而不同。 First, in the third specific example of FIGS. 4 and 5, by forming the reinforcing portion 38 as a bulging portion, the rigidity of the externally toothed gear 30 is made different according to the rotation direction. However, the present invention is not limited to this example, and a reinforcing structure such as a rib may be provided on a part of one side and the other side of the insertion hole 33 along the imaginary circle v1 in which the insertion hole 33 is arranged.部 38。 38. In addition, the thickness of the portion of one side and the other side of the insertion hole 33 along the imaginary circumference v1 in which the insertion hole 33 is arranged can be made thin, so that one side of the externally toothed gear 30 can be realized. While reducing the weight, the externally toothed gear 30 is different depending on the rotation direction.
又，於上述實施形態中，示出了對偏心擺動型齒輪裝置10包含第1外齒齒輪30a及第2外齒齒輪30b之兩個外齒齒輪30之例。然而，並不限於該例，偏心擺動型齒輪裝置10亦可僅包含一個外齒齒輪30，或亦可包含三個以上之外齒齒輪30。 Moreover, in the said embodiment, the example of the eccentric oscillating gear device 10 including the two external gears 30 of the 1st external gear 30a and the 2nd external gear 30b was shown. However, the present invention is not limited to this example, and the eccentric oscillating gear device 10 may include only one externally toothed gear 30 or may include three or more externally toothed gears 30.
進而，於上述實施形態中，雖示出了偏心擺動型齒輪裝置10具有3條曲柄軸25之例，但並不限於該例，既可具有兩條曲柄軸25，亦可具有四條以上之曲柄軸25。 Furthermore, in the above-mentioned embodiment, although the example in which the eccentric oscillating gear device 10 has three crank shafts 25 is shown, it is not limited to this example, and it may have two crank shafts 25 or four or more crank shafts. Shaft 25.
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| JP2015091966A JP6573777B2 (en) | 2015-04-28 | 2015-04-28 | External gear, eccentric oscillating gear device, robot, and method of using eccentric oscillating gear device |
| JP2015-091966 | 2015-04-28 |
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| CN106438864A (en) * | 2016-11-16 | 2017-02-22 | 马桂骅 | Eccentric swing type planetary gear device capable of increasing output torque |
| CN106402285B (en) * | 2016-11-16 | 2020-09-04 | 李宗翰 | Eccentric swinging type planetary gear speed reducer capable of increasing output torque |
| CN110151033A (en) * | 2019-05-06 | 2019-08-23 | 谢奉先 | A kind of back, which helps, washes massager |
| US11981375B2 (en) * | 2020-10-05 | 2024-05-14 | Nabtesco Corporation | Steering device |
| JP2022060746A (en) * | 2020-10-05 | 2022-04-15 | ナブテスコ株式会社 | Speed reducer and eccentric gear of speed reducer |
| KR20220157300A (en) * | 2021-05-20 | 2022-11-29 | 나부테스코 가부시키가이샤 | Transmission with anti-drop prevention function |
| US20230182286A1 (en) * | 2021-12-15 | 2023-06-15 | Nabtesco Corporation | Eccentric oscillation gear device, robot, and industrial machine |
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| WO2008096857A1 (en) * | 2007-02-09 | 2008-08-14 | Nabtesco Corporation | Speed reducer and tracking-type solar photovoltaic power generation device |
| CN101772657A (en) * | 2007-07-31 | 2010-07-07 | 纳博特斯克株式会社 | Gear device and turning portion structure of industrial robot using the gear device |
| TW201335513A (en) * | 2011-11-04 | 2013-09-01 | Nabtesco Corp | Gear transmission device |
Also Published As
| Publication number | Publication date |
|---|---|
| KR20160128221A (en) | 2016-11-07 |
| TW201638497A (en) | 2016-11-01 |
| DE102016205975A1 (en) | 2016-11-03 |
| KR102542805B1 (en) | 2023-06-14 |
| CN106090134A (en) | 2016-11-09 |
| JP6573777B2 (en) | 2019-09-11 |
| CN106090134B (en) | 2020-06-02 |
| DE102016205975B4 (en) | 2023-12-21 |
| JP2016205601A (en) | 2016-12-08 |
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