WO2012067057A1 - Swing drive device for hybrid construction machine - Google Patents

Swing drive device for hybrid construction machine Download PDF

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Publication number
WO2012067057A1
WO2012067057A1 PCT/JP2011/076153 JP2011076153W WO2012067057A1 WO 2012067057 A1 WO2012067057 A1 WO 2012067057A1 JP 2011076153 W JP2011076153 W JP 2011076153W WO 2012067057 A1 WO2012067057 A1 WO 2012067057A1
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WO
WIPO (PCT)
Prior art keywords
input
crankshaft
gear
carrier
drive device
Prior art date
Application number
PCT/JP2011/076153
Other languages
French (fr)
Japanese (ja)
Inventor
赤見俊也
村上智之
Original Assignee
ナブテスコ株式会社
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Filing date
Publication date
Application filed by ナブテスコ株式会社 filed Critical ナブテスコ株式会社
Publication of WO2012067057A1 publication Critical patent/WO2012067057A1/en

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    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
    • E02F9/2062—Control of propulsion units
    • E02F9/2075—Control of propulsion units of the hybrid type
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/08—Superstructures; Supports for superstructures
    • E02F9/10—Supports for movable superstructures mounted on travelling or walking gears or on other superstructures
    • E02F9/12—Slewing or traversing gears
    • E02F9/121—Turntables, i.e. structure rotatable about 360°
    • E02F9/123—Drives or control devices specially adapted therefor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • 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

Definitions

  • the present invention is used in a hybrid construction machine in which a swinging body is provided on an upper part of a lower body so as to be rotatable, and is used in a hybrid construction machine having an actuator driving engine and a motor generator.
  • the present invention relates to a turning drive device for a hybrid construction machine.
  • a hybrid construction machine having an engine for driving an actuator and a motor generator is known (See Patent Document 1).
  • an engine, a hydraulic pump driven by the engine, and a hydraulic actuator driven by oil discharged from the hydraulic pump are provided, and a first electric motor and a second electric motor are provided.
  • An electric motor and a power storage device are provided. The first electric motor is driven by the engine, and the electric power generated by the first electric motor is charged in the power storage device.
  • the 2nd electric motor is driven with the electric power of an electrical storage apparatus, and, thereby, a turning body is driven to turn.
  • the second electric motor is provided as a motor generator that performs a power generation operation so that the inertia energy of the revolving structure is converted into electric energy and regenerated during the turning braking of the revolving structure.
  • the electric power generated by the motor generator is charged in the power storage device.
  • the hybrid construction machine is provided as a drive device (reduction gear 13) that is connected to the motor generator configured as the second electric motor and that drives the turning body to turn.
  • a swivel drive device is provided.
  • Patent Document 2 discloses a drive device including a three-stage planetary gear mechanism as a swing drive device for a construction machine that is connected to an electric motor and drives the swing body to swing.
  • JP 2002-275945 A (page 4-5, FIG. 1) JP 2007-39990 A (page 9-11, FIG. 4)
  • a turning drive device with a high speed increase ratio is required as a turning drive device for hybrid construction equipment.
  • a swivel drive device having a three-stage planetary gear mechanism as disclosed in Patent Document 2 as a swivel drive device for hybrid construction equipment, a swivel drive device for hybrid construction equipment with an increased speed increase ratio is realized. It is possible to do.
  • the present invention can ensure a high speed increase ratio and input high-speed rotation to the motor generator, and the operator can easily stop the tip of the revolving unit at a desired location. It is an object of the present invention to provide a turning drive device for a hybrid construction machine that can perform an operation to be performed and can improve operability.
  • a swivel drive device for a hybrid construction machine is a hybrid construction machine having a swivel body pivotably provided on an upper part of a lower body and having an actuator driving engine and a motor generator. It is related with the turning drive apparatus for hybrid construction machines which is connected in the said motor generator, and drives the turning body to turn.
  • the turning drive device for a hybrid construction machine includes a case, a plurality of inner teeth disposed on the inner periphery of the case, and an outer tooth that is housed in the case and meshes with the inner teeth.
  • the external gear provided on the external gear and a crank hole formed in the external gear, and when the driving force is transmitted, the external gear is rotated to eccentrically swing the external gear, and the external gear is rotated.
  • the crankshaft is rotated by the driving force from the external gear, the end carrier that rotatably holds one end of the crankshaft, and the other end of the crankshaft is rotatable.
  • a carrier having a base carrier to be held on, a support for connecting the end carrier and the base carrier, and the other end connected to the rotating shaft of the motor generator and opposite to the motor generator Side edge
  • a first input / output shaft provided with an input / output gear portion, and a crank that is fixed to one end of the crankshaft via a first spline coupling portion and teeth formed on the outer periphery mesh with the input / output gear portion
  • a rated rotation speed of the motor generator is set in a range of 6000 rpm to 10000 rpm, and an increase in driving force transmitted from the pinion to the first input / output shaft.
  • the speed ratio is set in a range of 60 or more and 110 or less, between the input / output gear portion and the crankshaft gear, between the first spline coupling portion, the crankshaft and the external gear.
  • the total amount of backlash between the first input / output shaft and the pinion defined by the external gear and the internal teeth and the second spline coupling portion is 0.25 degrees. It is characterized by being set in the range of 0.50 degrees or less.
  • the swing drive device for a hybrid construction machine is an eccentric oscillating type in which the external gear meshing with the inner teeth on the inner periphery of the case is eccentrically oscillated with the rotation of the crankshaft rotatably held by the carrier.
  • the drive mechanism is provided.
  • the first input / output shaft connected to the rotating shaft of the motor generator meshes with the crankshaft gear fixed to one end of the crankshaft, and the second input is fixed to the pinion that meshes with the lower ring gear.
  • the output shaft is integrally formed with the base carrier of the carrier.
  • the rated rotational speed is set to a high speed range of 6000 rpm to 10,000 rpm.
  • High speed rotation can be input to the motor generator.
  • the speed increasing ratio when the driving force is transmitted from the pinion to the first input / output shaft is set in the range of 60 to 110, thereby efficiently increasing the regeneration capacity of the motor generator to a sufficiently high level. be able to.
  • sufficient regenerative capability is obtained by setting the speed increase ratio to 60 or more, and when the speed increase ratio exceeds 110, the effect of increasing the regenerative capacity is rapidly converged.
  • tooth engagement portions and spline coupling portions are present in a large number of locations.
  • the tooth meshing portion and the spline coupling portion include the input / output gear portion and the crankshaft gear, the first spline coupling portion, the crankshaft and the external gear, and the external teeth. Between the gear and the internal teeth and the second spline coupling portion is present, and it is configured to exist only in a considerably small number of places.
  • the total amount of backlash between the first input / output shaft and the pinion defined by the above location is set in the range of 0.25 degrees or more and 0.50 degrees or less, resulting in a decrease in driving efficiency. It is possible to sufficiently reduce backlash while suppressing the above. As a result, the swing range due to the occurrence of swing back when the turning operation is stopped can be reduced, and the operator can easily perform the operation of stopping the tip of the turning body at a desired location. If the total backlash amount is less than 0.25 degrees, the driving efficiency is drastically reduced. If the total backlash amount exceeds 0.50 degrees, the swing range of the swingback when the turning operation is stopped Will grow rapidly.
  • the swing drive device for hybrid construction equipment a high speed increase ratio can be ensured and high-speed rotation can be input to the motor generator, and the operator can easily place the tip of the swing body at a desired location. It is possible to perform an operation to stop the operation and improve operability.
  • the turning drive device for a hybrid construction machine is the turning drive device for a hybrid construction equipment of the first aspect, wherein the support column and the crankshaft are alternately arranged along the circumferential direction of the carrier.
  • the support is provided with a recessed portion on the side surface so that a cross section perpendicular to the axial direction of the carrier is formed in a recessed shape at a position biased to the inside of the central portion of the support in the radial direction of the carrier, As a side surface portion that is provided on the external gear and that faces the column in the column through hole through which the column penetrates, projects toward the inside of the column through hole so as to follow the recessed portion of the column. It is provided.
  • the recessed portion is provided on the side surface of the column, and the side surface portion of the column through hole in the external gear is provided as a portion protruding along the recessed portion of the column.
  • the dimension of the radial direction of a crankshaft can be largely set corresponding to the part which the support
  • the durability is improved by increasing the diameter of the crankshaft.
  • the recessed portion provided on the side surface of the support is provided at a position biased to the inside of the center of the support in the radial direction of the carrier, the influence on the torsional rigidity of the swing drive device for hybrid construction equipment can be reduced. .
  • a high speed increase ratio can be ensured and high speed rotation can be input to the motor generator, and the operator can easily stop the tip of the revolving structure at a desired location.
  • a swing drive device for a hybrid construction machine that can improve operability.
  • FIG. 3 is an enlarged cross-sectional view showing an acceleration / deceleration unit and the vicinity thereof in the turning drive device for a hybrid construction machine shown in FIG. 2.
  • FIG. 3 is a cross-sectional view of the turning device for a hybrid construction machine shown in FIG.
  • the swing drive device for a hybrid construction machine is widely used in a hybrid construction machine in which a swing body is swingably provided on an upper part of a lower body and has an actuator driving engine and a motor generator. It is something that can be done. That is, this embodiment can be widely applied to a swing drive device for a hybrid construction machine that is used in a hybrid construction machine, is connected to a motor generator and drives the swing body to swing.
  • FIG. 1 is a plan view schematically showing an excavator 100 to which a turning drive device 1 for hybrid construction equipment (hereinafter also simply referred to as “turning drive device 1”) according to an embodiment of the present invention is applied.
  • a shovel machine 100 shown in FIG. 1 is provided with a revolving body 102 on a lower body constituting a lower traveling body having a pair of traveling crawlers 101, and an actuator driving engine (not shown) and a motor generator. It is comprised as a hybrid construction machine having the machine 10.
  • a ring gear 103 having teeth formed on the inner periphery is fixed to a main body portion (not shown) of a lower body, and the revolving body 102 includes a motor generator 10 and the motor generator.
  • a turning drive device 1 connected to the machine 10 is installed.
  • the turning drive device 1 is disposed so as to mesh with the ring gear 103 in a pinion 17 (see FIG. 2) described later, and is attached to the turning body 102 in a case 11 (see FIG. 2) described later. Then, when the turning drive device 1 is driven by the motor generator 10, the turning body 102 is driven to turn with respect to the main body portion of the lower body.
  • the motor generator 10 is driven by the swing drive device 1, so that the motor generator 10 generates electric power that is regenerated by converting the inertial energy of the swing body 102 into electric energy. It will be.
  • the hydraulic pump driven by the engine described above a plurality of actuators provided in the swing body 102, a generator (not shown) driven by the engine, And a power storage device (not shown) that is charged with power generated by the generator.
  • the motor generator 10 is driven by the power supplied from the power storage device, and is configured to charge the power storage device with the generated power when the turning body 102 is turned.
  • a motor whose rated rotational speed is set in a range of 6000 rpm or more and 10,000 rpm or less so as to be able to cope with high speed rotation is used in order to ensure high regenerative capability.
  • the plurality of actuators are driven by pressure oil supplied from the hydraulic pump.
  • the boom 104 driven by the hydraulic cylinder with the said pressure oil, the arm 105, and the bucket 106 as an attachment are provided as a some actuator.
  • the bucket 106 that is the tip of the swing body 102 rotates in a direction indicated by a double-ended arrow A in the drawing.
  • FIG. 2 is a cross-sectional view of the turning drive device 1 as seen from the front.
  • a part of the outer shape of the motor generator 10 is shown by a two-dot chain line, and only a part of the input / output rotary shaft 10a is shown by a solid line.
  • the turning drive device 1 includes a case 11, a first input / output shaft 12, an acceleration / deceleration unit 13, a second input / output shaft 14, a pin internal tooth 15, a pinion 17, and the like. Yes.
  • the turning drive device 1 has a motor generator 10 attached to the case 11 on one end side (upper side in the figure) and protrudes from the case 11 on the other end side (lower side in the figure).
  • a pinion 17 is attached to the second input / output shaft 14 positioned.
  • the pinion 17 is fixed to the second input / output shaft 14 via a spline coupling portion 18 (second spline coupling portion in the present embodiment).
  • the turning drive device 1 shown in FIG. 2 when driving force is input to the first input / output shaft 12 from the motor generator 10 disposed on the upper side, the input rotation is disposed in the case 11.
  • the signal is decelerated and transmitted via the acceleration / deceleration unit 13 and output from the pinion 17 attached to the second input / output shaft 14.
  • the turning drive device 1 is arranged so that the pinion 17 meshes with the ring gear 103 provided in the main body portion of the lower body, and is turned by the driving force from the motor generator 10.
  • the swiveling body 102 is swiveled with respect to the lower body.
  • the turning drive device 1 when the driving force due to the inertial energy of the turning body 102 is input to the pinion 17 and the second input / output shaft 14 disposed on the lower side, the input rotation is increased or decreased.
  • the upper side where the motor generator 10 is disposed is described as one end side
  • the lower side where the pinion 17 is disposed is described as the other end side.
  • the case 11 of the turning drive device 1 is composed of a cylindrical first case portion 11a and a second case portion 11b disposed on one end side of the first case portion 11a.
  • the parts are connected by bolts (not shown).
  • the case 11 houses an acceleration / deceleration unit 13 and the like, and the first input / output shaft 12, the acceleration / deceleration unit 13, and the second input / output shaft 14 are connected to a rotation center line P (in FIG. 2). They are arranged in series along the axial direction, which is the direction of the dotted line).
  • the case 11 has the motor generator 10 fixed to one end side (the end portion side of the second case portion 11b) and the other end side (the end portion side of the first case portion 11a) formed to be open. Yes.
  • the inside of the case 11 is sealed to the outside by a sealing member, and the inside of the sealed case 11 is filled with lubricating oil.
  • FIG. 3 is an enlarged cross-sectional view showing the acceleration / deceleration unit 13 and its vicinity in FIG.
  • the pin internal teeth 15 (the external shape is not shown in the cross section in FIGS. 2 and 3) constituting the internal teeth in the present embodiment are used as pin-shaped members (round bar-shaped members). Is formed.
  • the pin internal teeth 15 are arranged so that the longitudinal direction thereof is parallel to the rotation center line P, and are arranged at equal intervals along the circumferential direction on the inner periphery of the case 11. 22 external teeth 47 are configured to mesh with each other.
  • the first input / output shaft 12 is provided as a shaft-like gear member, and is disposed on the rotation center line P concentric with the rotation shaft 10a of the motor generator 10.
  • the first input / output shaft 12 is connected to the rotary shaft 10a via a key connection at the end on one end side thereof.
  • the first input / output shaft 12 is provided with an input / output gear portion 12a that meshes with a crankshaft gear 19 of an acceleration / deceleration portion 13 to be described later, at the other end side opposite to the motor generator 10. Yes.
  • the first input / output shaft 12 is configured to transmit the rotational driving force between the rotating shaft 10a of the motor generator 10 and the crankshaft gear 19 of the speed increasing / decreasing portion 13.
  • the speed increasing / decreasing portion 13 includes a crankshaft gear 19, a crankshaft 20, a carrier 21, an external gear 22, crankshaft bearings (26, 27), a brake mechanism 35, and the like. It is configured.
  • the crankshaft gear 19 is configured as a spur gear.
  • the crankshaft gear 19 has a plurality (three in this embodiment) around the input / output gear portion 12a so that the teeth formed on the outer periphery thereof mesh with the input / output gear portion 12a of the first input / output shaft 12. It arrange
  • the crankshaft gear 19 is formed with a through hole in the central portion thereof, and is fixed to one end side of the crankshaft 20 through a spline coupling portion 16 (first spline coupling portion in the present embodiment) in the through hole. ing.
  • the crankshaft gear 19 is configured to transmit a rotational driving force between the first input / output shaft 12 and the crankshaft 20.
  • crankshafts 20 are arranged at equal angular positions along the circumferential direction around the rotation center line P, and the axial directions thereof are parallel to the rotation center line P. Is arranged.
  • Each crankshaft 20 (in FIG. 2 and FIG. 3, the outer shape is shown in a cross section) is provided as a shaft member that is disposed so as to penetrate the crank hole 30 formed in the external gear 22. And when the driving force from the 1st input / output shaft 12 arrange
  • crankshaft 20 is rotated by the driving force from the external gear 22 when the driving force from the second input / output shaft 14 disposed on the other end side is transmitted and the external gear 22 swings and rotates. It is comprised so that. Accordingly, the crankshaft 20 performs a revolving operation with the rotation of the external gear 22 accompanying its own rotation (spinning), and on the other hand, performs a rotating (spinning) operation with the rotation of the external gear 22 accompanying its own revolving operation. It will be.
  • the crankshaft 20 includes a first eccentric portion 20a, a second eccentric portion 20b, a first shaft portion 20c, and a second shaft portion 20d. From the one end side, the first shaft portion 20c and the first eccentric portion 20a are formed. The second eccentric portion 20b and the second shaft portion 20d are provided in this order. The first eccentric portion 20a and the second eccentric portion 20b are formed such that a cross section perpendicular to the axial direction is a circular cross section, and the center position of each of the first eccentric portion 20a and the second eccentric portion 20b is indicated by a rotation center line Q of the crankshaft 20 (shown by a dashed line in FIG. ) To be eccentric. The first eccentric portion 20 a and the second eccentric portion 20 b are disposed in the crank hole 30 of the external gear 22.
  • a first shaft portion 20c provided on one end side of the crankshaft 20 is rotatably held with respect to the carrier 21 via a first crankshaft bearing 26 provided as a cylindrical roller bearing (or needle roller bearing). Yes.
  • the second shaft portion 20d provided on the other end side of the crankshaft 20 is rotatably held with respect to the carrier 21 via a second crankshaft bearing 27 provided as a cylindrical roller bearing (or needle roller bearing).
  • the first shaft portion 20c is provided with the crankshaft gear 19 via the spline coupling portion 16 on the end portion side so as to protrude from the first crankshaft bearing 26 to the one end side. It is fixed.
  • cylindrical roller bearings are used as the first and second crankshaft bearings (26, 27) for rotatably holding the crankshaft 20, but this is not necessary.
  • a tapered roller bearing may be used.
  • the brake mechanism 35 is disposed on one end side of the first shaft portion 20c of the crankshaft 20, and is provided as a mechanism for applying a braking force to the end portion on one end side of the crankshaft 20 in order to lock the crankshaft 20. Yes.
  • the brake mechanism 35 includes a friction plate 36, a holding member 37, a piston member 38, a spring 39, and the like.
  • a plurality of the friction plates 36 are arranged side by side, and can be relatively displaced in the axial direction with respect to the end portion on one end side of the crankshaft 20 and connected via a spline coupling portion in a state where the relative displacement in the radial direction is constrained. Has been.
  • the holding member 37 is fixed to one end side of an end carrier 24 described later in the carrier 21 and is provided as a member for holding the friction plate 36.
  • the piston member 38 defines a hydraulic chamber between the piston member 38 and the inner wall of the first case portion 11b.
  • the piston member 38 is urged by the urging force of the spring 39 to the other end side.
  • the friction plates 36 are pressed to generate a frictional force.
  • a braking force is applied to the crankshaft 20 in the brake mechanism 35.
  • pressure oil is supplied to the hydraulic chamber, the piston member 38 is displaced toward one end against the biasing force of the spring 39. Thereby, in the brake mechanism 35, it is comprised so that braking force may be cancelled
  • the carrier 21 includes a base carrier 23, an end carrier 24, and a support column 25.
  • the base carrier 23 is disposed in the case 11 with the second input / output shaft 14 formed integrally on the other end side.
  • the base carrier 23 has a crank holding hole 40 formed on one end side thereof, and the crank holding hole 40 rotates the other end side of each crankshaft 20 through the second crankshaft bearing 27 at the second shaft portion 20d. Hold freely.
  • the crank holding hole 40 is formed at a position of an equal angle along the circumferential direction around the rotation center line P.
  • the end carrier 24 is connected to the base carrier 23 via a support column 25 and is provided as a disk-shaped member.
  • a crank through hole 41 is formed in the end carrier 24 as a through hole in which the first shaft portion 20c on one end side of the crankshaft 20 is disposed at a position at an equal angle along the circumferential direction around the rotation center line P. Has been.
  • one end side of the crankshaft 20 is rotatably held by the first shaft portion 20c via the first crankshaft bearing 26.
  • the support column 25 is disposed between the base carrier 23 and the end carrier 24 and is provided as a columnar portion that connects the base carrier 23 and the end carrier 24.
  • a plurality (three in this embodiment) of struts 25 are arranged at equal angular positions along the circumferential direction around the rotation center line P, and the axial directions thereof are arranged so as to be parallel to the rotation center line P. ing.
  • pillar 25 and the crankshaft 20 are arrange
  • Each support column 25 is formed integrally with the base carrier 23 and is provided so as to protrude from one end side of the base carrier 23.
  • Each strut 25 is formed with a strut pin hole 43 that opens toward the through hole formed in the end carrier 24 and extends in the axial direction and into which the strut pin 42 is press-fitted.
  • the support pins 42 are press-fitted across the support pin holes 43 from one end side of the end carrier 24, so that the circumferential positions of the base carrier 23 and the end carrier 24 are aligned.
  • Each strut 25 is formed with a strut bolt hole 45 that opens toward the through hole formed in the end carrier 24 and extends in the axial direction and into which the strut bolt 44 is inserted.
  • a female screw portion is formed on the inner periphery of the support bolt hole 45, and a screw portion formed as a male screw portion is provided on the other end side of the support bolt 44.
  • the strut bolt 44 is disposed so as to penetrate the end carrier 24 and its threaded portion is screwed into the female screw portion of the strut bolt hole 45, thereby connecting the end carrier 24 and the base carrier 23 via the strut 25.
  • the carrier 21 is rotatably held with respect to the case 11 together with the second input / output shaft 14 via a pair of main bearings 50.
  • the pair of main bearings 50 includes a main bearing 50a and a main bearing 50b.
  • the main bearing 50 a is configured as a ball bearing that rotatably holds the end carrier 24 with respect to the inner peripheral side of the case 11 on the outer peripheral side.
  • the main bearing 50b is configured as a self-aligning roller bearing that rotatably holds the base carrier 23 and the second input / output shaft 14 with respect to the inner peripheral side of the case 11 on the outer peripheral side thereof.
  • the external gear 22 is composed of a first external gear 22a and a second external gear 22b housed in the case 11 in a state of being arranged in parallel.
  • the first external gear 22a and the second external gear 22b are respectively formed with a crank hole 30 through which the crankshaft 20 passes and a column through hole 46 through which the column 25 passes.
  • the first external gear 22a and the second external gear 22b are arranged such that the positions of the crank hole 30 and the column through hole 46 correspond to each other in the direction parallel to the rotation center line P.
  • the crank hole 30 of the external gear 22 (22a, 22b) is formed as a circular hole, and a plurality of (in the present embodiment, at the same angle position along the circumferential direction of the external gear 22 corresponding to the crankshaft 20).
  • the column through holes 46 are formed as holes corresponding to the cross-sectional shape of the column 25, and a plurality of (three in this embodiment) are arranged at equal angle positions along the circumferential direction of the external gear 22 corresponding to the columns 25. ) Is arranged. Further, the support through holes 46 are formed alternately with the crank holes 30 in the circumferential direction of the external gear 22. In addition, the support
  • external teeth 47 that mesh with the pin internal teeth 15 are provided on the outer circumferences of the first external gear 22a and the second external gear 22b.
  • the number of teeth of the external teeth 47 of the first external gear 22a and the second external gear 22b is provided to be one or more than the number of teeth of the pin internal teeth 15. For this reason, when the external gear 22 (22a, 22b) rotates corresponding to the rotation of the crankshaft 20 and when rotating the crankshaft 20 by rotating itself, the external gear 47 and the pin that mesh with each other are rotated. The meshing with the inner teeth 15 is shifted, and the eccentric teeth are eccentrically rotated.
  • the external gear 22 rotatably holds the crankshaft 20 in the crank hole 30 via the external gear bearings (48, 49).
  • the external tooth bearing 48 holds the first eccentric portion 20a with respect to the first external gear 22a
  • the external tooth bearing 49 holds the second eccentric portion 20b with respect to the second external gear 22b.
  • These external tooth bearings (48, 49) are configured as cylindrical roller bearings (or needle roller bearings).
  • FIG. 4 is a cross-sectional view of the turning drive device 1 shown in FIG. 2 as viewed from the position indicated by arrows BB. 4 shows the swivel drive device 1 in an enlarged state with respect to FIG.
  • each strut 25 has a cross section perpendicular to the axial direction of the carrier 21 (that is, a cross section perpendicular to the rotation center line P) inside the central portion of each strut 25 in the radial direction of the carrier 21.
  • a recessed portion 25a is provided on the side surface so as to be formed in a recessed shape at the biased position.
  • a pair of recessed portions 25 a is provided on each support column 25, and is provided on each side surface of each support column 25 on both sides in the circumferential direction of the carrier 21.
  • the support pillars 22a and 22b are provided on the external gears 22 (22a and 22b) so that the side face portions 46a of the support pillar through holes 46 through which the support pillars 25 pass are opposed to the support pillars 25 along the recessed portions 25a of the support pillars 25. It is provided as a side surface portion 46 a protruding toward the inside of the through hole 46. A pair of side surface portions 46 a are provided in each column through hole 46, and each column side through hole 46 is provided on each side surface on both sides in the circumferential direction of the external gear 22 (22 a, 22 b). As described above, each side surface portion 46a is provided along each recessed portion 25a, and is formed in a shape that curves and protrudes corresponding to each recessed portion 25a.
  • the thickness dimension of the portion between the side surface portion 46a and the crank hole 30 is formed thin as long as the required strength is ensured. That is, the crank hole 30 and the external tooth bearings (48, 49) are disposed at positions closer to the side surface portions 46a disposed on both sides in the circumferential direction of the external gear 22 (22a, 22b). As described above, the above wall thickness dimension is set. Thereby, the diameter of the first eccentric portion 20a and the second eccentric portion 20b is increased, and the radial dimension of the crankshaft 20 is set to be large.
  • a tangent line R (two in FIG. 4) extends in the radial direction of the external gear 22 (22a, 22b) and contacts the outer periphery of the external tooth bearing (48, 49). All of the column through holes 46 are arranged on the opposite side of the external tooth bearings (48, 49) with respect to each of the tangents indicated by the dotted line R). That is, the column through hole 46 is disposed on the opposite side of the tangent line R from the external tooth bearings (47, 48) without intersecting the tangent line R.
  • the external gear 22 (22a, 22b) it is a portion on the outer peripheral side in the radial direction of the external gear 22 (22a, 22b) with respect to the portion between the crank hole 30 and the column through hole 46.
  • the thickness of the portion in the vicinity of the outer teeth 47 can be increased.
  • the turning drive device 1 shown in FIGS. 2 to 4 the turning has a relatively small number of pin inner teeth 15 and a large load per pin inner tooth 15.
  • sufficient strength is ensured at the portion where the crank hole 30, the column through hole 46, and the external teeth 47 are arranged around the external gear 22 (22 a, 22 b). Can do.
  • the speed increasing ratio when the driving force is transmitted from the pinion 17 to the first input / output shaft 12 is set in the range of 60 or more and 110 or less. Further, in this turning drive device 1, the total amount of backlash is calculated between the input / output gear portion 12a and the crankshaft gear 19, the first spline coupling portion 16, and the external tooth bearings (48, 49). Between the crankshaft 20 and the external gear 22, between the external gear 22 and the pin internal teeth 15, and the second spline coupling portion 18. In the turning drive device 1, the total amount of backlash is set in a range of 0.25 degrees (°) or more and 0.50 degrees (°) or less.
  • the turning drive device 1 operates by operating the motor generator 10 driven by the electric power supplied from the power storage device (not shown).
  • the motor generator 10 driven by the electric power supplied from the power storage device (not shown).
  • the first input / output shaft 12 driven by the rotating shaft 10a of the motor generator 10 rotates.
  • the crankshaft gears 19 that mesh with the input / output gear portion 12a rotate, and the first and second eccentric portions ( 20a, 20b) rotate.
  • a load acts on the external gears 22 (22a, 22b) from the first and second eccentric portions (20a, 20b), and the external gears 22 (22a, 22b) are pin internal teeth 15 And rotate eccentrically so as to swing while shifting the mesh.
  • the crankshaft 20 rotated and held with respect to the external gear 22 (22a, 22b) revolves around the rotation center line P while rotating. Perform the action. Due to the revolving operation of the crankshaft 20, the second input / output shaft 14 rotates together with the carrier 21 that rotatably holds the crankshaft 20, and a large torque is output from the pinion 17 that meshes with the ring gear 103. Thereby, the turning body 102 is driven to turn.
  • each crankshaft 20 revolves as the second input / output shaft 14 rotates. Perform the action.
  • the external gears 22 (22a, 22b) rotate eccentrically so as to oscillate while shifting the mesh with the pin internal teeth 15, and each crankshaft is rotated from the external gear 22 (22a, 22b).
  • a load is applied to the first and second eccentric portions (20a, 20b) of the 20 and each crankshaft 20 is rotated.
  • a driving force is input from the first input / output shaft 12 meshed with each crankshaft gear 19 fixed to each crankshaft 20 to the rotating shaft 10a of the motor generator 10, and the motor generator 10 during braking generates power. Will be done.
  • the generated power is charged in a power storage device (not shown).
  • the rotational speed is increased in the range of 60 times to 110 times in the driving force transmission path from the pinion 17 to the first input / output shaft 12, and the increased high speed rotation is performed. Is input to the motor generator 10. Then, power generation is performed until the rotation of the motor generator 10 stops.
  • the total amount of backlash of the turning drive device 1 is set in a range of 0.25 degrees or more and 0.50 degrees or less, at the timing when the turning braking operation ends (that is, when the turning operation is stopped). This greatly suppresses the occurrence of rocking back at the bucket 106, which is the tip of the swivel body 102.
  • the turning drive device 1 has the eccentric swing in which the external gear 22 that meshes with the inner teeth of the case 11 eccentrically swings and rotates with the rotation of the crankshaft 20 rotatably held by the carrier 21.
  • a dynamic drive mechanism is provided.
  • the first input / output shaft 12 connected to the rotary shaft 10 a of the motor generator 10 meshes with a crankshaft gear 19 fixed to one end side of the crankshaft 20 and meshes with a lower ring gear 103.
  • the second input / output shaft 14 is fixed integrally with the base carrier 23 of the carrier 21.
  • a high speed increasing ratio can be easily secured, and the rated rotational speed is set to a high speed range of 6000 rpm to 10,000 rpm.
  • High-speed rotation can be input to the motor generator 10 that has been made.
  • the speed increasing ratio when the driving force is transmitted from the pinion 17 to the first input / output shaft 12 is set to 60 or more and 110 or less, so that the regeneration capacity of the motor generator 10 can be efficiently increased to a sufficiently high level. Can be increased.
  • the tooth meshing portion and the spline coupling portion include the input / output gear portion 12 a and the crankshaft gear 19, the first spline coupling portion 16, the crankshaft 20 and the external gear. 22, between the external gear 22 and the pin internal teeth 15, and the second spline coupling portion 18 are present, and the configuration exists only in considerably fewer locations.
  • the total backlash amount between the first input / output shaft 12 and the pinion 17 defined by the above location is set in the range of 0.25 degrees to 0.50 degrees, thereby driving efficiency
  • the backlash can be sufficiently reduced while suppressing the decrease in.
  • the swing range due to the occurrence of swing back when the swing operation is stopped can be reduced, and the operator can easily perform the operation of stopping the bucket 106 at the tip of the swing body 102 at a desired location. it can.
  • a high speed increase ratio can be ensured and high speed rotation can be input to the motor generator 10, and the operator can easily stop the tip of the revolving body 102 at a desired location.
  • the turning drive device 1 for a hybrid construction machine that can be operated and can improve operability can be provided.
  • the recessed portion 25 a is provided on the side surface of the column 25, and the side surface portion 46 a of the column through hole 46 in the external gear 22 (22 a, 22 b) stretches along the recessed portion 25 a of the column 25. It is provided as a part to be taken out. For this reason, the dimension of the radial direction of the crankshaft 20 can be set large corresponding to the part where the support
  • the turning drive device 1 can improve durability while maintaining torsional rigidity.
  • crankshaft, the carrier, and the like can be implemented by changing various forms.
  • the present invention may be applied to a center crank type swivel drive device for a hybrid construction machine in which a crankshaft is disposed on a rotation center line.
  • pillar which connects a base carrier and an end part carrier does not need to be integrally formed in a base carrier, and may be formed as a member different from a base carrier.
  • the number of crankshafts and struts may be different from the present embodiment.
  • the number of eccentric parts of the crankshaft and the number of external gears need not be two.
  • the crankshaft gear may not be configured as a spur gear, and may be configured as a helical gear, for example.
  • the present invention is used in a hybrid construction machine in which a swinging body is provided on an upper part of a lower body so as to be rotatable, and is used in a hybrid construction machine having an actuator driving engine and a motor generator.
  • the present invention can be widely applied as a turning drive device for a hybrid construction machine.

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Abstract

Provided is a swing drive device for a hybrid construction machine such that high-speed rotation is input to an electromotive generator by maintaining the speed increasing ratio, and operability is improved so as to enable an operator to easily stop a leading portion of a swinging structure at a desired position. An outer toothed gear (22), through which a crank axle (20) that is rotatably retained by a carrier (20) passes, engages with the inner teeth (15) of the internal circumference of a casing (11), and moves in eccentric oscillating rotation. A first input-output axle (12) is connected to the rotating axle (10a) of the electromotive generator (10), and a second input-output axle (14) is integrally formed onto a base carrier (23) of a carrier (21). The rated speed of the electromotive generator (10) is set in a range of no less than 6000 rpm and no more than 10000 rpm, and the speed increasing ratio from a pinion (17) that engages with a ring gear (103) to the first input-output axle (12) is set to a range of no less than 60 and no more than 110. The total amount of backlash from between the first input-output axle (12) to the pinion (17) is set to a range of no less than 0.25 and no more than 0.50.

Description

ハイブリッド建機用旋回駆動装置Swiveling drive for hybrid construction equipment
　本発明は、下位体の上部に旋回体が旋回自在に設けられるとともにアクチュエータ駆動用のエンジンと電動発電機とを有するハイブリッド建設機械において用いられ、電動発電機に連結されるとともに旋回体を旋回駆動するハイブリッド建機用旋回駆動装置に関する。 INDUSTRIAL APPLICABILITY The present invention is used in a hybrid construction machine in which a swinging body is provided on an upper part of a lower body so as to be rotatable, and is used in a hybrid construction machine having an actuator driving engine and a motor generator. The present invention relates to a turning drive device for a hybrid construction machine.
　下部走行体として構成された下位体の上部に旋回体が旋回自在に設けられたショベル機等の建設機械において、アクチュエータ駆動用のエンジンと電動発電機とを有するハイブリッド建設機械が知られている（特許文献１を参照）。特許文献１に開示されたハイブリッド建設機械においては、エンジンと、このエンジンにより駆動される油圧ポンプと、油圧ポンプからの吐出油により駆動される油圧アクチュエータとが設けられるとともに、第１電動機及び第２電動機と蓄電装置とが設けられている。第１電動機はエンジンによって駆動され、この第１電動機による発電電力が蓄電装置に充電される。そして、蓄電装置の電力によって第２電動機が駆動され、これにより、旋回体が旋回駆動される。また、第２電動機は、旋回体の旋回制動時には、旋回体の慣性エネルギを電気エネルギに変換して回生するように発電作動する電動発電機として設けられている。この電動発電機による発電電力は、蓄電装置に充電される。 In a construction machine such as an excavator in which a swinging body is provided so as to be capable of swinging on an upper part of a lower body configured as a lower traveling body, a hybrid construction machine having an engine for driving an actuator and a motor generator is known ( (See Patent Document 1). In the hybrid construction machine disclosed in Patent Document 1, an engine, a hydraulic pump driven by the engine, and a hydraulic actuator driven by oil discharged from the hydraulic pump are provided, and a first electric motor and a second electric motor are provided. An electric motor and a power storage device are provided. The first electric motor is driven by the engine, and the electric power generated by the first electric motor is charged in the power storage device. And the 2nd electric motor is driven with the electric power of an electrical storage apparatus, and, thereby, a turning body is driven to turn. Further, the second electric motor is provided as a motor generator that performs a power generation operation so that the inertia energy of the revolving structure is converted into electric energy and regenerated during the turning braking of the revolving structure. The electric power generated by the motor generator is charged in the power storage device.
　特許文献１に開示されたハイブリッド建設機械においては、上記の第２電動機として構成された電動発電機に連結されるとともに旋回体を旋回駆動する駆動装置（減速機１３）として設けられたハイブリッド建機用旋回駆動装置が備えられている。また、特許文献２においては、電動モータに連結されて旋回体を旋回駆動する建設機械用の旋回駆動装置として、３段式の遊星歯車機構を備えた駆動装置が開示されている。 In the hybrid construction machine disclosed in Patent Document 1, the hybrid construction machine is provided as a drive device (reduction gear 13) that is connected to the motor generator configured as the second electric motor and that drives the turning body to turn. A swivel drive device is provided. Further, Patent Document 2 discloses a drive device including a three-stage planetary gear mechanism as a swing drive device for a construction machine that is connected to an electric motor and drives the swing body to swing.
特開２００２－２７５９４５号公報（第４－５頁、第１図）JP 2002-275945 A (page 4-5, FIG. 1) 特開２００７－３９９９０号公報（第９－１１頁、第４図）JP 2007-39990 A (page 9-11, FIG. 4)
　ハイブリッド建設機械において、上記の電動発電機の小型化を図るとともにこの電動発電機における回生能力を高めるためには、電動発電機に対して高速の回転が入力されるように構成されることが望ましい。このためには、ハイブリッド建機用旋回駆動装置として、増速比の高い旋回駆動装置が必要となる。ハイブリッド建機用旋回駆動装置として、特許文献２に開示されたような３段式の遊星歯車機構を有する旋回駆動装置を用いることで、増速比を高めたハイブリッド建機用旋回駆動装置を実現することが考えられる。 In a hybrid construction machine, in order to reduce the size of the motor generator and increase the regenerative capacity of the motor generator, it is preferable that high speed rotation is input to the motor generator. . For this purpose, a turning drive device with a high speed increase ratio is required as a turning drive device for hybrid construction equipment. By using a swivel drive device having a three-stage planetary gear mechanism as disclosed in Patent Document 2 as a swivel drive device for hybrid construction equipment, a swivel drive device for hybrid construction equipment with an increased speed increase ratio is realized. It is possible to do.
　しかしながら、特許文献２に開示された旋回駆動装置の場合、上述のように３段式の遊星歯車機構を備えて構成されるため、駆動力の伝達経路において、歯の噛み合い部やスプライン結合部が非常に多く存在してしまうことになり、バックラッシュの増大を招いてしまうことになる。このため、ショベル機におけるバケット部分のような旋回体の先端部において、旋回動作の停止時における揺り戻しの発生による揺動範囲が大きくなってしまうことになる。これにより、ハイブリッド建設機械を操縦している操縦者が所望の箇所にバケット部分のような旋回体の先端部を停止させる操作を行うことが困難になってしまい、操作性の悪化を招いてしまうことになる。 However, in the case of the turning drive device disclosed in Patent Document 2, since it is configured with the three-stage planetary gear mechanism as described above, the tooth meshing portion and the spline coupling portion are not provided in the driving force transmission path. As a result, there will be a large amount of backlash, which will increase backlash. For this reason, the rocking | fluctuation range by generation | occurrence | production of rocking | fluctuation at the time of the stop of turning operation | movement will become large in the front-end | tip part of a turning body like the bucket part in a shovel machine. As a result, it becomes difficult for the operator who is operating the hybrid construction machine to perform an operation of stopping the tip of the revolving body such as the bucket portion at a desired location, resulting in deterioration of operability. It will be.
　本発明は、上記実情に鑑みることにより、高い増速比を確保して電動発電機に高速の回転を入力することができるとともに、操縦者が所望の箇所に旋回体の先端部を容易に停止させる操作を行うことができて操作性の向上を図ることができるハイブリッド建機用旋回駆動装置を提供することを目的とする。 In view of the above circumstances, the present invention can ensure a high speed increase ratio and input high-speed rotation to the motor generator, and the operator can easily stop the tip of the revolving unit at a desired location. It is an object of the present invention to provide a turning drive device for a hybrid construction machine that can perform an operation to be performed and can improve operability.
　上記目的を達成するための第１発明に係るハイブリッド建機用旋回駆動装置は、下位体の上部に旋回体が旋回自在に設けられるとともにアクチュエータ駆動用のエンジンと電動発電機とを有するハイブリッド建設機械において用いられ、前記電動発電機に連結されるとともに前記旋回体を旋回駆動するハイブリッド建機用旋回駆動装置に関する。そして、第１発明に係るハイブリッド建機用旋回駆動装置は、ケースと、前記ケースの内周に配置された複数の内歯と、前記ケースに収納されるとともに前記内歯に噛み合う外歯が外周に設けられた外歯歯車と、前記外歯歯車に形成されたクランク用孔を貫通し、駆動力が伝達されたときには回転して前記外歯歯車を偏心させて揺動回転させ、前記外歯歯車が揺動回転したときは当該外歯歯車からの駆動力により回転されるクランク軸と、前記クランク軸の一端側を回転自在に保持する端部キャリア、前記クランク軸の他端側を回転自在に保持する基部キャリア、及び、前記端部キャリアと前記基部キャリアとを連結する支柱、を有するキャリアと、前記電動発電機の回転軸に連結されるとともに当該電動発電機と反対側である他端側の端部に入出力ギア部が設けられた第１入出力軸と、前記クランク軸の一端側に第１スプライン結合部を介して固定されるとともに、外周に形成された歯が前記入出力ギア部に噛み合うクランク軸用歯車と、前記基部キャリアに一体に形成された第２入出力軸と、前記第２入出力軸に対して第２スプライン結合部を介して固定され、前記下位体に設けられたリングギアに噛み合うピニオンと、を備え、前記電動発電機の定格回転数は、６０００ｒｐｍ以上で１００００ｒｐｍ以下の範囲に設定され、前記ピニオンから前記第１入出力軸に対して駆動力が伝達される際における増速比は、６０以上で１１０以下の範囲に設定され、前記入出力ギア部及び前記クランク軸用歯車の間と、前記第１スプライン結合部と、前記クランク軸及び前記外歯歯車の間と、前記外歯歯車及び前記内歯の間と、前記第２スプライン結合部と、によって規定される前記第１入出力軸から前記ピニオンまでの間のバックラッシュ量の合計が、０．２５度以上で０．５０度以下の範囲に設定されていることを特徴とする。 In order to achieve the above object, a swivel drive device for a hybrid construction machine according to a first aspect of the present invention is a hybrid construction machine having a swivel body pivotably provided on an upper part of a lower body and having an actuator driving engine and a motor generator. It is related with the turning drive apparatus for hybrid construction machines which is connected in the said motor generator, and drives the turning body to turn. The turning drive device for a hybrid construction machine according to the first aspect of the present invention includes a case, a plurality of inner teeth disposed on the inner periphery of the case, and an outer tooth that is housed in the case and meshes with the inner teeth. The external gear provided on the external gear and a crank hole formed in the external gear, and when the driving force is transmitted, the external gear is rotated to eccentrically swing the external gear, and the external gear is rotated. When the gear swings and rotates, the crankshaft is rotated by the driving force from the external gear, the end carrier that rotatably holds one end of the crankshaft, and the other end of the crankshaft is rotatable. A carrier having a base carrier to be held on, a support for connecting the end carrier and the base carrier, and the other end connected to the rotating shaft of the motor generator and opposite to the motor generator Side edge A first input / output shaft provided with an input / output gear portion, and a crank that is fixed to one end of the crankshaft via a first spline coupling portion and teeth formed on the outer periphery mesh with the input / output gear portion A shaft gear, a second input / output shaft formed integrally with the base carrier, and a ring gear fixed to the second input / output shaft via a second spline coupling portion and provided in the lower body A rated rotation speed of the motor generator is set in a range of 6000 rpm to 10000 rpm, and an increase in driving force transmitted from the pinion to the first input / output shaft. The speed ratio is set in a range of 60 or more and 110 or less, between the input / output gear portion and the crankshaft gear, between the first spline coupling portion, the crankshaft and the external gear. And the total amount of backlash between the first input / output shaft and the pinion defined by the external gear and the internal teeth and the second spline coupling portion is 0.25 degrees. It is characterized by being set in the range of 0.50 degrees or less.
　この発明によると、ハイブリッド建機用旋回駆動装置が、キャリアに回転自在に保持されたクランク軸の回転とともにケースの内周の内歯に噛み合う外歯歯車が偏心して揺動回転する偏心揺動型の駆動機構を備えて構成されている。そして、電動発電機の回転軸に連結される第１入出力軸は、クランク軸の一端側に固定されるクランク軸用歯車と噛み合い、下位体のリングギアに噛み合うピニオンが固定される第２入出力軸は、キャリアの基部キャリアに一体形成される。このため、第１入出力軸とピニオンとの間の駆動力伝達経路において、高い増速比を容易に確保することができるとともに、定格回転数が高速の６０００ｒｐｍ以上１００００ｒｐｍ以下の範囲に設定された電動発電機に対して高速の回転を入力することができる。そして、ピニオンから第１入出力軸に駆動力が伝達される際の増速比が６０以上１１０以下の範囲に設定されることで、電動発電機における回生能力を十分に高い水準まで効率よく高めることができる。尚、増速比が６０以上に設定されることで十分な回生能力が得られ、増速比が１１０を超えると回生能力を高める効果が急速に収束してしまうことになる。 According to the present invention, the swing drive device for a hybrid construction machine is an eccentric oscillating type in which the external gear meshing with the inner teeth on the inner periphery of the case is eccentrically oscillated with the rotation of the crankshaft rotatably held by the carrier. The drive mechanism is provided. The first input / output shaft connected to the rotating shaft of the motor generator meshes with the crankshaft gear fixed to one end of the crankshaft, and the second input is fixed to the pinion that meshes with the lower ring gear. The output shaft is integrally formed with the base carrier of the carrier. For this reason, in the driving force transmission path between the first input / output shaft and the pinion, a high speed increasing ratio can be easily ensured, and the rated rotational speed is set to a high speed range of 6000 rpm to 10,000 rpm. High speed rotation can be input to the motor generator. The speed increasing ratio when the driving force is transmitted from the pinion to the first input / output shaft is set in the range of 60 to 110, thereby efficiently increasing the regeneration capacity of the motor generator to a sufficiently high level. be able to. In addition, sufficient regenerative capability is obtained by setting the speed increase ratio to 60 or more, and when the speed increase ratio exceeds 110, the effect of increasing the regenerative capacity is rapidly converged.
　また、特許文献２に開示されたような３段式の遊星歯車機構を有する旋回駆動装置の場合、歯の噛み合い部分やスプライン結合部が非常に多くの箇所に存在してしまうことになる。しかし、本発明によると、歯の噛み合い部分やスプライン結合部としては、入出力ギア部及びクランク軸用歯車の間と、第１スプライン結合部と、クランク軸及び外歯歯車の間と、外歯歯車及び内歯の間と、第２スプライン結合部とが存在し、相当に少ない箇所のみに存在する構成となる。そして、上記の箇所によって規定される第１入出力軸からピニオンまでの間のバックラッシュ量の合計が、０．２５度以上０．５０度以下の範囲に設定されることで、駆動効率の低下を抑制しつつ、バックラッシュを十分に低減することができる。これにより、旋回動作の停止時における揺り戻しの発生による揺動範囲を小さくすることができ、操縦者が所望の箇所に旋回体の先端部を停止させる操作を容易に行うことができる。尚、上記バックラッシュ量の合計について、０．２５度未満となると駆動効率の急激な低下を招いてしまうことになり、０．５０度を超えると旋回動作の停止時における揺り戻しの揺動範囲が急激に大きくなってしまうことになる。従って、このハイブリッド建機用旋回駆動装置によると、高い増速比を確保して電動発電機に高速の回転を入力することができるとともに、操縦者が所望の箇所に旋回体の先端部を容易に停止させる操作を行うことができて操作性の向上を図ることができる。 Further, in the case of a turning drive device having a three-stage planetary gear mechanism as disclosed in Patent Document 2, tooth engagement portions and spline coupling portions are present in a large number of locations. However, according to the present invention, the tooth meshing portion and the spline coupling portion include the input / output gear portion and the crankshaft gear, the first spline coupling portion, the crankshaft and the external gear, and the external teeth. Between the gear and the internal teeth and the second spline coupling portion is present, and it is configured to exist only in a considerably small number of places. The total amount of backlash between the first input / output shaft and the pinion defined by the above location is set in the range of 0.25 degrees or more and 0.50 degrees or less, resulting in a decrease in driving efficiency. It is possible to sufficiently reduce backlash while suppressing the above. As a result, the swing range due to the occurrence of swing back when the turning operation is stopped can be reduced, and the operator can easily perform the operation of stopping the tip of the turning body at a desired location. If the total backlash amount is less than 0.25 degrees, the driving efficiency is drastically reduced. If the total backlash amount exceeds 0.50 degrees, the swing range of the swingback when the turning operation is stopped Will grow rapidly. Therefore, according to the swing drive device for hybrid construction equipment, a high speed increase ratio can be ensured and high-speed rotation can be input to the motor generator, and the operator can easily place the tip of the swing body at a desired location. It is possible to perform an operation to stop the operation and improve operability.
　第２発明に係るハイブリッド建機用旋回駆動装置は、第１発明のハイブリッド建機用旋回駆動装置において、前記支柱と前記クランク軸とは、前記キャリアの周方向に沿って交互に並んで配置され、前記支柱は、前記キャリアの軸方向に垂直な断面が前記キャリアの径方向における当該支柱の中央部分の内側に偏った位置において凹む形状に形成されるように、側面に凹み部分が設けられ、前記外歯歯車に設けられて前記支柱が貫通する支柱貫通孔における前記支柱に対向する側面部分が、前記支柱における前記凹み部分に沿うように前記支柱貫通孔の内側に向かって張り出した側面部分として設けられていることを特徴とする。 The turning drive device for a hybrid construction machine according to a second aspect of the invention is the turning drive device for a hybrid construction equipment of the first aspect, wherein the support column and the crankshaft are alternately arranged along the circumferential direction of the carrier. The support is provided with a recessed portion on the side surface so that a cross section perpendicular to the axial direction of the carrier is formed in a recessed shape at a position biased to the inside of the central portion of the support in the radial direction of the carrier, As a side surface portion that is provided on the external gear and that faces the column in the column through hole through which the column penetrates, projects toward the inside of the column through hole so as to follow the recessed portion of the column. It is provided.
　この発明によると、支柱の側面に凹み部分が設けられ、外歯歯車における支柱貫通孔の側面部分が支柱の凹み部分に沿って張り出す部分として設けられる。このため、支柱貫通孔の張り出した部分に対応させてクランク軸の径方向の寸法を大きく設定することができる。そして、クランク軸が大径化されることにより耐久性が向上する。一方、支柱の側面に設けられる凹み部分は、キャリアの径方向における支柱の中央部分の内側に偏った位置に設けられるため、ハイブリッド建機用旋回駆動装置のねじり剛性に対する影響を小さくすることができる。このように、ハイブリッド建機用旋回駆動装置全体として、ねじり剛性を維持しながら、耐久性の向上を図ることができる。 According to the present invention, the recessed portion is provided on the side surface of the column, and the side surface portion of the column through hole in the external gear is provided as a portion protruding along the recessed portion of the column. For this reason, the dimension of the radial direction of a crankshaft can be largely set corresponding to the part which the support | pillar through-hole extended. The durability is improved by increasing the diameter of the crankshaft. On the other hand, since the recessed portion provided on the side surface of the support is provided at a position biased to the inside of the center of the support in the radial direction of the carrier, the influence on the torsional rigidity of the swing drive device for hybrid construction equipment can be reduced. . Thus, as a whole hybrid construction machine turning drive device, it is possible to improve durability while maintaining torsional rigidity.
　本発明によると、高い増速比を確保して電動発電機に高速の回転を入力することができるとともに、操縦者が所望の箇所に旋回体の先端部を容易に停止させる操作を行うことができて操作性の向上を図ることができるハイブリッド建機用旋回駆動装置を提供することができる。 According to the present invention, a high speed increase ratio can be ensured and high speed rotation can be input to the motor generator, and the operator can easily stop the tip of the revolving structure at a desired location. Thus, it is possible to provide a swing drive device for a hybrid construction machine that can improve operability.
本発明の一実施の形態に係るハイブリッド建機用旋回駆動装置が用いられる建設機械を模式的に示す平面図である。It is a top view which shows typically the construction machine with which the turning drive device for hybrid construction machines which concerns on one embodiment of this invention is used. 本発明の一実施の形態に係るハイブリッド建機用旋回駆動装置の断面図である。It is sectional drawing of the turning drive apparatus for hybrid construction machines which concerns on one embodiment of this invention. 図２に示すハイブリッド建機用旋回駆動装置における増減速部及びその近傍を拡大して示す断面図である。FIG. 3 is an enlarged cross-sectional view showing an acceleration / deceleration unit and the vicinity thereof in the turning drive device for a hybrid construction machine shown in FIG. 2. 図２に示すハイブリッド建機用旋回駆動装置のＢ－Ｂ線矢視位置から見た断面図である。FIG. 3 is a cross-sectional view of the turning device for a hybrid construction machine shown in FIG.
　以下、本発明を実施するための形態について図面を参照しつつ説明する。尚、本発明の実施形態に係るハイブリッド建機用旋回駆動装置は、下位体の上部に旋回体が旋回自在に設けられるとともにアクチュエータ駆動用のエンジンと電動発電機とを有するハイブリッド建設機械において広く用いることができるものである。即ち、本実施形態は、ハイブリッド建設機械において用いられ、電動発電機に連結されるとともに旋回体を旋回駆動するハイブリッド建機用旋回駆動装置に関して、広く適用することができるものである。 Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings. The swing drive device for a hybrid construction machine according to the embodiment of the present invention is widely used in a hybrid construction machine in which a swing body is swingably provided on an upper part of a lower body and has an actuator driving engine and a motor generator. It is something that can be done. That is, this embodiment can be widely applied to a swing drive device for a hybrid construction machine that is used in a hybrid construction machine, is connected to a motor generator and drives the swing body to swing.
　図１は、本発明の一実施の形態に係るハイブリッド建機用旋回駆動装置１（以下、単に「旋回駆動装置１」ともいう）が適用されるショベル機１００を模式的に示す平面図である。図１に示すショベル機１００は、一対の走行クローラ１０１を有する下部走行体を構成する下位体の上部に旋回体１０２が旋回自在に設けられるとともにアクチュエータ駆動用のエンジン（図示せず）と電動発電機１０とを有するハイブリッド建設機械として構成されている。 FIG. 1 is a plan view schematically showing an excavator 100 to which a turning drive device 1 for hybrid construction equipment (hereinafter also simply referred to as “turning drive device 1”) according to an embodiment of the present invention is applied. . A shovel machine 100 shown in FIG. 1 is provided with a revolving body 102 on a lower body constituting a lower traveling body having a pair of traveling crawlers 101, and an actuator driving engine (not shown) and a motor generator. It is comprised as a hybrid construction machine having the machine 10.
　ショベル機１００においては、下位体の本体部（図示せず）には、内周に歯が形成されたリングギア１０３が固定されており、旋回体１０２には、電動発電機１０及びこの電動発電機１０に連結された旋回駆動装置１が設置されている。旋回駆動装置１は、後述するピニオン１７（図２を参照）においてリングギア１０３に対して噛み合うように配置され、後述するケース１１（図２を参照）において旋回体１０２に取り付けられている。そして、旋回駆動装置１が電動発電機１０によって駆動されることで、旋回体１０２が下位体の本体部に対して旋回駆動されることになる。また、旋回体１０２の旋回制動時には、旋回駆動装置１によって電動発電機１０が駆動されることで、旋回体１０２の慣性エネルギを電気エネルギに変換して回生する発電が電動発電機１０において行われることになる。 In the shovel machine 100, a ring gear 103 having teeth formed on the inner periphery is fixed to a main body portion (not shown) of a lower body, and the revolving body 102 includes a motor generator 10 and the motor generator. A turning drive device 1 connected to the machine 10 is installed. The turning drive device 1 is disposed so as to mesh with the ring gear 103 in a pinion 17 (see FIG. 2) described later, and is attached to the turning body 102 in a case 11 (see FIG. 2) described later. Then, when the turning drive device 1 is driven by the motor generator 10, the turning body 102 is driven to turn with respect to the main body portion of the lower body. Further, at the time of turning braking of the swing body 102, the motor generator 10 is driven by the swing drive device 1, so that the motor generator 10 generates electric power that is regenerated by converting the inertial energy of the swing body 102 into electric energy. It will be.
　また、図１に示すショベル機１００においては、前述のエンジンによって駆動される油圧ポンプと、旋回体１０２に設けられた複数のアクチュエータと、上記エンジンによって駆動される発電機（図示せず）と、この発電機による発電電力が充電される蓄電装置（図示せず）とが備えられている。電動発電機１０は、上記の蓄電装置から供給される電力によって駆動されるとともに、旋回体１０２の旋回制動時には発電した電力をこの蓄電装置に充電するように構成されている。この電動発電機１０としては、高い回生能力を確保するため、高速回転に対応可能なようにその定格回転数が６０００ｒｐｍ以上で１００００ｒｐｍ以下の範囲に設定されたものが用いられている。 Further, in the excavator machine 100 shown in FIG. 1, the hydraulic pump driven by the engine described above, a plurality of actuators provided in the swing body 102, a generator (not shown) driven by the engine, And a power storage device (not shown) that is charged with power generated by the generator. The motor generator 10 is driven by the power supplied from the power storage device, and is configured to charge the power storage device with the generated power when the turning body 102 is turned. As the motor generator 10, a motor whose rated rotational speed is set in a range of 6000 rpm or more and 10,000 rpm or less so as to be able to cope with high speed rotation is used in order to ensure high regenerative capability.
　また、上記の複数のアクチュエータは、上記の油圧ポンプから供給される圧油によって駆動される。そして、ショベル機１００においては、複数のアクチュエータとして、上記圧油により油圧シリンダによって駆動されるブーム１０４、アーム１０５、アタッチメントとしてのバケット１０６が設けられている。尚、旋回体１０２の旋回駆動時には、旋回体１０２の先端部となるバケット１０６は図中の両端矢印Ａで示す方向に回転することになる。 Also, the plurality of actuators are driven by pressure oil supplied from the hydraulic pump. And in the shovel machine 100, the boom 104 driven by the hydraulic cylinder with the said pressure oil, the arm 105, and the bucket 106 as an attachment are provided as a some actuator. When the swing body 102 is swiveled, the bucket 106 that is the tip of the swing body 102 rotates in a direction indicated by a double-ended arrow A in the drawing.
　次に、本実施形態に係るハイブリッド建機用旋回駆動装置１について詳しく説明する。図２は、旋回駆動装置１を正面から見た断面図である。尚、図２では、電動発電機１０については、二点鎖線で外形の一部を図示しており、その入出力用の回転軸１０ａの一部のみ実線で図示している。この図２に示すように、旋回駆動装置１は、ケース１１、第１入出力軸１２、増減速部１３、第２入出力軸１４、ピン内歯１５、ピニオン１７等を備えて構成されている。そして、旋回駆動装置１は、一端側（図中の上側）においてケース１１に対して電動発電機１０が取り付けられており、他端側（図中の下側）においてケース１１から突出するように位置する第２入出力軸１４にピニオン１７が取り付けられている。尚、ピニオン１７は、第２入出力軸１４に対してスプライン結合部１８（本実施形態における第２スプライン結合部）を介して固定されている。 Next, the turning drive device 1 for a hybrid construction machine according to the present embodiment will be described in detail. FIG. 2 is a cross-sectional view of the turning drive device 1 as seen from the front. In FIG. 2, a part of the outer shape of the motor generator 10 is shown by a two-dot chain line, and only a part of the input / output rotary shaft 10a is shown by a solid line. As shown in FIG. 2, the turning drive device 1 includes a case 11, a first input / output shaft 12, an acceleration / deceleration unit 13, a second input / output shaft 14, a pin internal tooth 15, a pinion 17, and the like. Yes. The turning drive device 1 has a motor generator 10 attached to the case 11 on one end side (upper side in the figure) and protrudes from the case 11 on the other end side (lower side in the figure). A pinion 17 is attached to the second input / output shaft 14 positioned. The pinion 17 is fixed to the second input / output shaft 14 via a spline coupling portion 18 (second spline coupling portion in the present embodiment).
　図２に示す旋回駆動装置１においては、上側に配置された電動発電機１０から駆動力が第１入出力軸１２に入力されたときは、その入力された回転をケース１１内に配置された増減速部１３を介して減速して伝達して第２入出力軸１４に取り付けられたピニオン１７から出力する。尚、前述のように、旋回駆動装置１は、ピニオン１７が下位体の本体部に設けられたリングギア１０３と噛み合うように配置されており、電動発電機１０からの駆動力に伴って旋回駆動装置１が作動してピニオン１７が回転することで、旋回体１０２が下位体に対して旋回駆動される。一方、旋回駆動装置１において、旋回体１０２の慣性エネルギによる駆動力が下側に配置されたピニオン１７及び第２入出力軸１４に入力されたときは、その入力された回転を増減速部１３を介して増速して伝達して第１入出力軸１２から電動発電機１０に出力する。尚、以下の説明においては、旋回駆動装置１において、電動発電機１０が配置される上側を一端側として、ピニオン１７が配置される下側を他端側として説明する。 In the turning drive device 1 shown in FIG. 2, when driving force is input to the first input / output shaft 12 from the motor generator 10 disposed on the upper side, the input rotation is disposed in the case 11. The signal is decelerated and transmitted via the acceleration / deceleration unit 13 and output from the pinion 17 attached to the second input / output shaft 14. As described above, the turning drive device 1 is arranged so that the pinion 17 meshes with the ring gear 103 provided in the main body portion of the lower body, and is turned by the driving force from the motor generator 10. As the device 1 operates and the pinion 17 rotates, the swiveling body 102 is swiveled with respect to the lower body. On the other hand, in the turning drive device 1, when the driving force due to the inertial energy of the turning body 102 is input to the pinion 17 and the second input / output shaft 14 disposed on the lower side, the input rotation is increased or decreased. Through the first input / output shaft 12 and output to the motor generator 10. In the following description, in the swivel drive device 1, the upper side where the motor generator 10 is disposed is described as one end side, and the lower side where the pinion 17 is disposed is described as the other end side.
　図２に示すように、旋回駆動装置１のケース１１は、筒状の第１ケース部１１ａと第１ケース部１１ａの一端側に配置される第２ケース部１１ｂとで構成され、これらの縁部同士がボルト（図示せず）で連結されている。ケース１１の内部には、増減速部１３等が収納され、第１入出力軸１２、増減速部１３、及び第２入出力軸１４は、旋回駆動装置１の回転中心線Ｐ（図２において一点鎖線で図示）の方向である軸方向に沿って直列に配置されている。ケース１１は、一端側（第２ケース部１１ｂの端部側）には前述のように電動発電機１０が固定され、他端側（第１ケース部１１ａの端部側）が開口形成されている。尚、ケース１１の内部は外部に対してシール部材によって密封されており、この密封されたケース１１の内部には潤滑油が充填されている。 As shown in FIG. 2, the case 11 of the turning drive device 1 is composed of a cylindrical first case portion 11a and a second case portion 11b disposed on one end side of the first case portion 11a. The parts are connected by bolts (not shown). The case 11 houses an acceleration / deceleration unit 13 and the like, and the first input / output shaft 12, the acceleration / deceleration unit 13, and the second input / output shaft 14 are connected to a rotation center line P (in FIG. 2). They are arranged in series along the axial direction, which is the direction of the dotted line). As described above, the case 11 has the motor generator 10 fixed to one end side (the end portion side of the second case portion 11b) and the other end side (the end portion side of the first case portion 11a) formed to be open. Yes. Note that the inside of the case 11 is sealed to the outside by a sealing member, and the inside of the sealed case 11 is filled with lubricating oil.
　図３は、図２における増減速部１３及びその近傍を拡大して示す断面図である。図２及び図３に示すように、本実施形態における内歯を構成するピン内歯１５（図２及び図３では断面でなく外形を図示）は、ピン状の部材（丸棒状の部材）として形成されている。そして、ピン内歯１５は、その長手方向が回転中心線Ｐと平行に位置するように配置されるとともに、ケース１１の内周において周方向に沿って等間隔で配列され、後述する外歯歯車２２の外歯４７と噛み合うように構成されている。 FIG. 3 is an enlarged cross-sectional view showing the acceleration / deceleration unit 13 and its vicinity in FIG. As shown in FIGS. 2 and 3, the pin internal teeth 15 (the external shape is not shown in the cross section in FIGS. 2 and 3) constituting the internal teeth in the present embodiment are used as pin-shaped members (round bar-shaped members). Is formed. The pin internal teeth 15 are arranged so that the longitudinal direction thereof is parallel to the rotation center line P, and are arranged at equal intervals along the circumferential direction on the inner periphery of the case 11. 22 external teeth 47 are configured to mesh with each other.
　図２及び図３に示すように、第１入出力軸１２は、軸状の歯車部材として設けられ、電動発電機１０の回転軸１０ａと同心上の回転中心線Ｐ上に配置されている。そして、第１入出力軸１２は、その一端側の端部において回転軸１０ａがキー結合を介して連結されている。また、第１入出力軸１２は、電動発電機１０と反対側である他端側の端部において、後述する増減速部１３のクランク軸用歯車１９に噛み合う入出力ギア部１２ａが設けられている。このように、第１入出力軸１２は、電動発電機１０の回転軸１０ａと増減速部１３のクランク軸用歯車１９との間で回転駆動力を伝達するように構成されている。 As shown in FIGS. 2 and 3, the first input / output shaft 12 is provided as a shaft-like gear member, and is disposed on the rotation center line P concentric with the rotation shaft 10a of the motor generator 10. The first input / output shaft 12 is connected to the rotary shaft 10a via a key connection at the end on one end side thereof. Further, the first input / output shaft 12 is provided with an input / output gear portion 12a that meshes with a crankshaft gear 19 of an acceleration / deceleration portion 13 to be described later, at the other end side opposite to the motor generator 10. Yes. Thus, the first input / output shaft 12 is configured to transmit the rotational driving force between the rotating shaft 10a of the motor generator 10 and the crankshaft gear 19 of the speed increasing / decreasing portion 13.
　図２及び図３に示すように、増減速部１３は、クランク軸用歯車１９、クランク軸２０、キャリア２１、外歯歯車２２、クランク軸軸受（２６、２７）、ブレーキ機構３５等を備えて構成されている。 As shown in FIGS. 2 and 3, the speed increasing / decreasing portion 13 includes a crankshaft gear 19, a crankshaft 20, a carrier 21, an external gear 22, crankshaft bearings (26, 27), a brake mechanism 35, and the like. It is configured.
　クランク軸用歯車１９は、スパーギアとして構成されている。そして、クランク軸用歯車１９は、その外周に形成された歯が第１入出力軸１２の入出力ギア部１２ａと噛み合うように入出力ギア部１２ａの周囲に複数（本実施形態では３つ）配置され、入出力ギア部１２ａに対して旋回駆動装置１の径方向（回転中心線Ｐに対して垂直な方向）に位置している。このクランク軸用歯車１９は、中央部分に貫通孔が形成され、この貫通孔においてクランク軸２０の一端側に対してスプライン結合部１６（本実施形態における第１スプライン結合部）を介して固定されている。これにより、クランク軸用歯車１９は、第１入出力軸１２とクランク軸２０との間で回転駆動力を伝達するように構成されている。 The crankshaft gear 19 is configured as a spur gear. The crankshaft gear 19 has a plurality (three in this embodiment) around the input / output gear portion 12a so that the teeth formed on the outer periphery thereof mesh with the input / output gear portion 12a of the first input / output shaft 12. It arrange | positions and is located in the radial direction (direction perpendicular | vertical with respect to the rotation centerline P) of the turning drive device 1 with respect to the input-output gear part 12a. The crankshaft gear 19 is formed with a through hole in the central portion thereof, and is fixed to one end side of the crankshaft 20 through a spline coupling portion 16 (first spline coupling portion in the present embodiment) in the through hole. ing. Thus, the crankshaft gear 19 is configured to transmit a rotational driving force between the first input / output shaft 12 and the crankshaft 20.
　クランク軸２０は、回転中心線Ｐを中心とした周方向に沿った均等角度の位置に複数（本実施形態では３つ）配置されており、その軸方向が回転中心線Ｐと平行になるように配置されている。各クランク軸２０（図２及び図３では、断面でなく外形を図示）は、外歯歯車２２に形成されたクランク用孔３０をそれぞれ貫通するように配置された軸部材として設けられている。そして、クランク軸２０は、一端側に配置された第１入出力軸１２からの駆動力がクランク軸用歯車１９を介して伝達されたときには、自ら回転することで外歯歯車２２を偏心させて揺動回転させるように構成されている。一方、クランク軸２０は、他端側に配置された第２入出力軸１４からの駆動力が伝達されて外歯歯車２２が揺動回転したときには、外歯歯車２２からの駆動力により回転されるように構成されている。これにより、クランク軸２０は、自らの回転（自転）に伴う外歯歯車２２の回転とともに公転動作を行い、一方、自らの公転動作に伴う外歯歯車２２の回転とともに回転（自転）動作を行うことになる。 A plurality of crankshafts 20 (three in this embodiment) are arranged at equal angular positions along the circumferential direction around the rotation center line P, and the axial directions thereof are parallel to the rotation center line P. Is arranged. Each crankshaft 20 (in FIG. 2 and FIG. 3, the outer shape is shown in a cross section) is provided as a shaft member that is disposed so as to penetrate the crank hole 30 formed in the external gear 22. And when the driving force from the 1st input / output shaft 12 arrange | positioned at the one end side is transmitted through the gear 19 for crankshafts, the crankshaft 20 will rotate the self gear 22 eccentrically by rotating itself. It is configured to swing and rotate. On the other hand, the crankshaft 20 is rotated by the driving force from the external gear 22 when the driving force from the second input / output shaft 14 disposed on the other end side is transmitted and the external gear 22 swings and rotates. It is comprised so that. Accordingly, the crankshaft 20 performs a revolving operation with the rotation of the external gear 22 accompanying its own rotation (spinning), and on the other hand, performs a rotating (spinning) operation with the rotation of the external gear 22 accompanying its own revolving operation. It will be.
　また、クランク軸２０には、第１偏心部２０ａ、第２偏心部２０ｂ、第１軸部２０ｃ、第２軸部２０ｄが形成され、一端側から、第１軸部２０ｃ、第１偏心部２０ａ、第２偏心部２０ｂ、第２軸部２０ｄの順番で設けられている。第１偏心部２０ａ及び第２偏心部２０ｂは、軸方向と垂直な断面が円形断面となるように形成され、それぞれの中心位置がクランク軸２０の回転中心線Ｑ（図３において一点鎖線で図示）に対して偏心するように設けられている。第１偏心部２０ａ及び第２偏心部２０ｂは、外歯歯車２２のクランク用孔３０に配置されている。 The crankshaft 20 includes a first eccentric portion 20a, a second eccentric portion 20b, a first shaft portion 20c, and a second shaft portion 20d. From the one end side, the first shaft portion 20c and the first eccentric portion 20a are formed. The second eccentric portion 20b and the second shaft portion 20d are provided in this order. The first eccentric portion 20a and the second eccentric portion 20b are formed such that a cross section perpendicular to the axial direction is a circular cross section, and the center position of each of the first eccentric portion 20a and the second eccentric portion 20b is indicated by a rotation center line Q of the crankshaft 20 (shown by a dashed line in FIG. ) To be eccentric. The first eccentric portion 20 a and the second eccentric portion 20 b are disposed in the crank hole 30 of the external gear 22.
　クランク軸２０の一端側に設けられた第１軸部２０ｃは、円筒ころ軸受（又はニードルころ軸受）として設けられた第１クランク軸軸受２６を介してキャリア２１に対して回転自在に保持されている。クランク軸２０の他端側に設けられた第２軸部２０ｄは、円筒ころ軸受（又はニードルころ軸受）として設けられた第２クランク軸軸受２７を介してキャリア２１に対して回転自在に保持されている。また、第１軸部２０ｃには、第１クランク軸軸受２６から一端側に突出するように位置するその端部側において、前述したように、クランク軸用歯車１９がスプライン結合部１６を介して固定されている。尚、本実施形態では、クランク軸２０を回転自在に保持する第１及び第２クランク軸軸受（２６、２７）として円筒ころ軸受が用いられるものを例示しているが、この通りでなくてもよく、例えば、テーパころ軸受が用いられるものであってもよい。 A first shaft portion 20c provided on one end side of the crankshaft 20 is rotatably held with respect to the carrier 21 via a first crankshaft bearing 26 provided as a cylindrical roller bearing (or needle roller bearing). Yes. The second shaft portion 20d provided on the other end side of the crankshaft 20 is rotatably held with respect to the carrier 21 via a second crankshaft bearing 27 provided as a cylindrical roller bearing (or needle roller bearing). ing. Further, as described above, the first shaft portion 20c is provided with the crankshaft gear 19 via the spline coupling portion 16 on the end portion side so as to protrude from the first crankshaft bearing 26 to the one end side. It is fixed. In the present embodiment, cylindrical roller bearings are used as the first and second crankshaft bearings (26, 27) for rotatably holding the crankshaft 20, but this is not necessary. For example, a tapered roller bearing may be used.
　ブレーキ機構３５は、クランク軸２０の第１軸部２０ｃの一端側に配置され、クランク軸２０を係止するためにクランク軸２０の一端側の端部に制動力を付与する機構として設けられている。このブレーキ機構３５は、摩擦板３６、保持部材３７、ピストン部材３８、バネ３９等を備えて構成されている。摩擦板３６は、複数枚並んで配置され、クランク軸２０の一端側の端部に対して軸方向の相対変位が可能で径方向の相対変位が拘束された状態でスプライン結合部を介して連結されている。保持部材３７は、キャリア２１における後述の端部キャリア２４の一端側に固定されるとともに、摩擦板３６を保持する部材として設けられている。ピストン部材３８は、第１ケース部１１ｂの内壁との間で油圧室を区画しており、この油圧室から圧油が排出された状態では、バネ３９の付勢力で付勢されて他端側に変位して複数の摩擦板３６を押圧して摩擦力を発生させる。これにより、ブレーキ機構３５において、クランク軸２０に制動力が付与される。一方、上記油圧室に圧油が供給されることで、ピストン部材３８がバネ３９の付勢力に抗して一端側に変位する。これにより、ブレーキ機構３５において、制動力が解除されるよう構成されている。 The brake mechanism 35 is disposed on one end side of the first shaft portion 20c of the crankshaft 20, and is provided as a mechanism for applying a braking force to the end portion on one end side of the crankshaft 20 in order to lock the crankshaft 20. Yes. The brake mechanism 35 includes a friction plate 36, a holding member 37, a piston member 38, a spring 39, and the like. A plurality of the friction plates 36 are arranged side by side, and can be relatively displaced in the axial direction with respect to the end portion on one end side of the crankshaft 20 and connected via a spline coupling portion in a state where the relative displacement in the radial direction is constrained. Has been. The holding member 37 is fixed to one end side of an end carrier 24 described later in the carrier 21 and is provided as a member for holding the friction plate 36. The piston member 38 defines a hydraulic chamber between the piston member 38 and the inner wall of the first case portion 11b. When the pressure oil is discharged from the hydraulic chamber, the piston member 38 is urged by the urging force of the spring 39 to the other end side. And the friction plates 36 are pressed to generate a frictional force. Thereby, a braking force is applied to the crankshaft 20 in the brake mechanism 35. On the other hand, when pressure oil is supplied to the hydraulic chamber, the piston member 38 is displaced toward one end against the biasing force of the spring 39. Thereby, in the brake mechanism 35, it is comprised so that braking force may be cancelled | released.
　キャリア２１は、基部キャリア２３と、端部キャリア２４と、支柱２５とを備えて構成されている。基部キャリア２３は、その他端側において第２入出力軸１４が一体に形成されてケース１１内に配置されている。基部キャリア２３は、その一端側にクランク保持穴４０が形成され、このクランク保持穴４０によって各クランク軸２０の他端側をその第２軸部２０ｄにて第２クランク軸軸受２７を介して回転自在に保持している。クランク保持穴４０は、回転中心線Ｐを中心とした周方向に沿った均等角度の位置に形成されている。 The carrier 21 includes a base carrier 23, an end carrier 24, and a support column 25. The base carrier 23 is disposed in the case 11 with the second input / output shaft 14 formed integrally on the other end side. The base carrier 23 has a crank holding hole 40 formed on one end side thereof, and the crank holding hole 40 rotates the other end side of each crankshaft 20 through the second crankshaft bearing 27 at the second shaft portion 20d. Hold freely. The crank holding hole 40 is formed at a position of an equal angle along the circumferential direction around the rotation center line P.
　端部キャリア２４は、支柱２５を介して基部キャリア２３と連結され、円板状の部材として設けられている。端部キャリア２４には、回転中心線Ｐを中心とした周方向に沿った均等角度の位置にクランク軸２０の一端側の第１軸部２０ｃが配置される貫通孔としてクランク貫通孔４１が形成されている。このクランク貫通孔４１において、クランク軸２０の一端側がその第１軸部２０ｃにて第１クランク軸軸受２６を介して回転自在に保持されている。 The end carrier 24 is connected to the base carrier 23 via a support column 25 and is provided as a disk-shaped member. A crank through hole 41 is formed in the end carrier 24 as a through hole in which the first shaft portion 20c on one end side of the crankshaft 20 is disposed at a position at an equal angle along the circumferential direction around the rotation center line P. Has been. In the crank through hole 41, one end side of the crankshaft 20 is rotatably held by the first shaft portion 20c via the first crankshaft bearing 26.
　支柱２５は、基部キャリア２３と端部キャリア２４との間に配置され、基部キャリア２３と端部キャリア２４とを連結する柱状部分として設けられている。支柱２５は、回転中心線Ｐを中心とした周方向に沿った均等角度の位置に複数（本実施形態では３つ）配置され、その軸方向が回転中心線Ｐと平行となるように配置されている。尚、支柱２５とクランク軸２０とは、回転中心線Ｐを中心とした周方向に沿って（即ち、キャリア２１の周方向に沿って）交互に並んで配置されている。各支柱２５は、基部キャリア２３に一体に形成され、基部キャリア２３の一端側において突出するように設けられている。そして、各支柱２５には、端部キャリア２４に形成された貫通孔に向かって開口するとともに軸方向に沿って延び、支柱ピン４２が圧入される支柱ピン穴４３が形成されている。支柱ピン４２が端部キャリア２４の一端側から支柱ピン穴４３に亘って圧入されることで、基部キャリア２３及び端部キャリア２４の周方向の位置が合わされる。また、各支柱２５には、端部キャリア２４に形成された貫通孔に向かって開口するとともに軸方向に沿って延び、支柱ボルト４４が挿入される支柱ボルト穴４５が形成されている。支柱ボルト穴４５の内周には、雌ネジ部分が形成され、支柱ボルト４４の他端側には、雄ネジ部分として形成されたネジ部が設けられている。支柱ボルト４４は、端部キャリア２４を貫通するよう配置されるとともにそのネジ部が支柱ボルト穴４５の雌ネジ部分と螺合することで、端部キャリア２４と基部キャリア２３とを支柱２５を介して結合するように構成されている。 The support column 25 is disposed between the base carrier 23 and the end carrier 24 and is provided as a columnar portion that connects the base carrier 23 and the end carrier 24. A plurality (three in this embodiment) of struts 25 are arranged at equal angular positions along the circumferential direction around the rotation center line P, and the axial directions thereof are arranged so as to be parallel to the rotation center line P. ing. In addition, the support | pillar 25 and the crankshaft 20 are arrange | positioned along with the circumferential direction centering on the rotation center line P (namely, along the circumferential direction of the carrier 21) alternately. Each support column 25 is formed integrally with the base carrier 23 and is provided so as to protrude from one end side of the base carrier 23. Each strut 25 is formed with a strut pin hole 43 that opens toward the through hole formed in the end carrier 24 and extends in the axial direction and into which the strut pin 42 is press-fitted. The support pins 42 are press-fitted across the support pin holes 43 from one end side of the end carrier 24, so that the circumferential positions of the base carrier 23 and the end carrier 24 are aligned. Each strut 25 is formed with a strut bolt hole 45 that opens toward the through hole formed in the end carrier 24 and extends in the axial direction and into which the strut bolt 44 is inserted. A female screw portion is formed on the inner periphery of the support bolt hole 45, and a screw portion formed as a male screw portion is provided on the other end side of the support bolt 44. The strut bolt 44 is disposed so as to penetrate the end carrier 24 and its threaded portion is screwed into the female screw portion of the strut bolt hole 45, thereby connecting the end carrier 24 and the base carrier 23 via the strut 25. Are configured to be combined.
　尚、キャリア２１は、第２入出力軸１４とともに、ケース１１に対して、一対の主軸受５０を介して回転自在に保持されている。一対の主軸受５０は、主軸受５０ａと主軸受５０ｂとを備えて構成されている。主軸受５０ａは、端部キャリア２４をその外周側においてケース１１の内周側に対して回転自在に保持する玉軸受として構成されている。一方、主軸受５０ｂは、基部キャリア２３及び第２入出力軸１４をその外周側においてケース１１の内周側に対して回転自在に保持する自動調心ころ軸受として構成されている。 In addition, the carrier 21 is rotatably held with respect to the case 11 together with the second input / output shaft 14 via a pair of main bearings 50. The pair of main bearings 50 includes a main bearing 50a and a main bearing 50b. The main bearing 50 a is configured as a ball bearing that rotatably holds the end carrier 24 with respect to the inner peripheral side of the case 11 on the outer peripheral side. On the other hand, the main bearing 50b is configured as a self-aligning roller bearing that rotatably holds the base carrier 23 and the second input / output shaft 14 with respect to the inner peripheral side of the case 11 on the outer peripheral side thereof.
　外歯歯車２２は、平行に配置された状態でケース１１内に収納される第１外歯歯車２２ａと第２外歯歯車２２ｂとで構成されている。第１外歯歯車２２ａ及び第２外歯歯車２２ｂにはそれぞれ、クランク軸２０が貫通するクランク用孔３０、及び、支柱２５が貫通する支柱貫通孔４６が形成されている。第１外歯歯車２２ａ及び第２外歯歯車２２ｂは、回転中心線Ｐと平行な方向において、クランク用孔３０及び支柱貫通孔４６の位置がそれぞれ対応するように配置されている。外歯歯車２２（２２ａ、２２ｂ）のクランク用孔３０は、円形孔として形成され、クランク軸２０に対応して外歯歯車２２の周方向に沿って均等角度の位置に複数（本実施形態では３つ）配置されている。また、支柱貫通孔４６は、支柱２５の断面形状に対応した孔として形成され、支柱２５に対応して外歯歯車２２の周方向に沿った均等角度の位置に複数（本実施形態では３つ）配置されている。また、支柱貫通孔４６は、外歯歯車２２の周方向において、クランク用孔３０と交互に形成されている。尚、支柱貫通孔４６には、支柱２５が遊嵌状態で貫通している。 The external gear 22 is composed of a first external gear 22a and a second external gear 22b housed in the case 11 in a state of being arranged in parallel. The first external gear 22a and the second external gear 22b are respectively formed with a crank hole 30 through which the crankshaft 20 passes and a column through hole 46 through which the column 25 passes. The first external gear 22a and the second external gear 22b are arranged such that the positions of the crank hole 30 and the column through hole 46 correspond to each other in the direction parallel to the rotation center line P. The crank hole 30 of the external gear 22 (22a, 22b) is formed as a circular hole, and a plurality of (in the present embodiment, at the same angle position along the circumferential direction of the external gear 22 corresponding to the crankshaft 20). 3) Arranged. Further, the column through holes 46 are formed as holes corresponding to the cross-sectional shape of the column 25, and a plurality of (three in this embodiment) are arranged at equal angle positions along the circumferential direction of the external gear 22 corresponding to the columns 25. ) Is arranged. Further, the support through holes 46 are formed alternately with the crank holes 30 in the circumferential direction of the external gear 22. In addition, the support | pillar 25 has penetrated the support | pillar through-hole 46 in the loose fitting state.
　また、第１外歯歯車２２ａ及び第２外歯歯車２２ｂのそれぞれの外周には、ピン内歯１５に噛み合う外歯４７が設けられている。尚、第１外歯歯車２２ａ及び第２外歯歯車２２ｂの外歯４７の歯数は、ピン内歯１５の歯数よりも１個又は複数個少なくなるように設けられている。このため、外歯歯車２２（２２ａ、２２ｂ）は、クランク軸２０の回転に対応して回転する際、及び、自ら回転することでクランク軸２０を回転させる際には、噛み合う外歯４７とピン内歯１５との噛み合いがずれ、偏心して揺動回転することになる。 Also, external teeth 47 that mesh with the pin internal teeth 15 are provided on the outer circumferences of the first external gear 22a and the second external gear 22b. Note that the number of teeth of the external teeth 47 of the first external gear 22a and the second external gear 22b is provided to be one or more than the number of teeth of the pin internal teeth 15. For this reason, when the external gear 22 (22a, 22b) rotates corresponding to the rotation of the crankshaft 20 and when rotating the crankshaft 20 by rotating itself, the external gear 47 and the pin that mesh with each other are rotated. The meshing with the inner teeth 15 is shifted, and the eccentric teeth are eccentrically rotated.
　また、外歯歯車２２は、クランク用孔３０において外歯用軸受（４８、４９）を介してクランク軸２０を回転自在に保持している。外歯用軸受４８は第１偏心部２０ａを第１外歯歯車２２ａに対して、外歯用軸受４９は第２偏心部２０ｂを第２外歯歯車２２ｂに対して、それぞれ回転自在に保持している。これらの外歯用軸受（４８、４９）は、円筒ころ軸受（又はニードルころ軸受）として構成されている。 The external gear 22 rotatably holds the crankshaft 20 in the crank hole 30 via the external gear bearings (48, 49). The external tooth bearing 48 holds the first eccentric portion 20a with respect to the first external gear 22a, and the external tooth bearing 49 holds the second eccentric portion 20b with respect to the second external gear 22b. ing. These external tooth bearings (48, 49) are configured as cylindrical roller bearings (or needle roller bearings).
　ここで、支柱２５及び外歯歯車２２（２２ａ、２２ｂ）の形状について更に詳しく説明する。図４は、図２に示す旋回駆動装置１のＢ－Ｂ線矢視位置から見た断面図である。尚、図４は、旋回駆動装置１について、図２に対して拡大した状態で示している。 Here, the shapes of the support column 25 and the external gear 22 (22a, 22b) will be described in more detail. FIG. 4 is a cross-sectional view of the turning drive device 1 shown in FIG. 2 as viewed from the position indicated by arrows BB. 4 shows the swivel drive device 1 in an enlarged state with respect to FIG.
　図４によく示すように、各支柱２５は、キャリア２１の軸方向に垂直な断面（即ち、回転中心線Ｐに垂直な断面）がキャリア２１の径方向における各支柱２５の中央部分の内側に偏った位置において凹む形状に形成されるように、側面に凹み部分２５ａが設けられている。凹み部分２５ａは、各支柱２５に一対で設けられ、各支柱２５においてキャリア２１の周方向における両側の各側面にそれぞれ設けられている。 As shown well in FIG. 4, each strut 25 has a cross section perpendicular to the axial direction of the carrier 21 (that is, a cross section perpendicular to the rotation center line P) inside the central portion of each strut 25 in the radial direction of the carrier 21. A recessed portion 25a is provided on the side surface so as to be formed in a recessed shape at the biased position. A pair of recessed portions 25 a is provided on each support column 25, and is provided on each side surface of each support column 25 on both sides in the circumferential direction of the carrier 21.
　また、外歯歯車２２（２２ａ、２２ｂ）に設けられて各支柱２５が貫通する各支柱貫通孔４６における各支柱２５に対向する側面部分４６ａが、各支柱２５における凹み部分２５ａに沿うように支柱貫通孔４６の内側に向かって張り出した側面部分４６ａとして設けられている。側面部分４６ａは、各支柱貫通孔４６に一対で設けられ、各支柱貫通孔４６において外歯歯車２２（２２ａ、２２ｂ）の周方向における両側の各側面にそれぞれ設けられている。各側面部分４６ａは、上記のように、各凹み部分２５ａに沿って設けられており、各凹み部分２５ａに対応して湾曲して張り出す形状に形成されている。 Further, the support pillars 22a and 22b are provided on the external gears 22 (22a and 22b) so that the side face portions 46a of the support pillar through holes 46 through which the support pillars 25 pass are opposed to the support pillars 25 along the recessed portions 25a of the support pillars 25. It is provided as a side surface portion 46 a protruding toward the inside of the through hole 46. A pair of side surface portions 46 a are provided in each column through hole 46, and each column side through hole 46 is provided on each side surface on both sides in the circumferential direction of the external gear 22 (22 a, 22 b). As described above, each side surface portion 46a is provided along each recessed portion 25a, and is formed in a shape that curves and protrudes corresponding to each recessed portion 25a.
　また、外歯歯車２２（２２ａ、２２ｂ）においては、側面部分４６ａとクランク用孔３０との間の部分の肉厚寸法が、要求される強度が確保される範囲で薄く形成されている。即ち、クランク用孔３０及び外歯用軸受（４８、４９）が、外歯歯車２２（２２ａ、２２ｂ）の周方向の両側に配置された側面部分４６ａに対して、より接近した位置に配置されるように、上記の肉厚寸法が設定されている。これにより、第１偏心部２０ａ及び第２偏心部２０ｂの大径化が図られ、クランク軸２０の径方向の寸法が大きくなるように設定されている。 Further, in the external gear 22 (22a, 22b), the thickness dimension of the portion between the side surface portion 46a and the crank hole 30 is formed thin as long as the required strength is ensured. That is, the crank hole 30 and the external tooth bearings (48, 49) are disposed at positions closer to the side surface portions 46a disposed on both sides in the circumferential direction of the external gear 22 (22a, 22b). As described above, the above wall thickness dimension is set. Thereby, the diameter of the first eccentric portion 20a and the second eccentric portion 20b is increased, and the radial dimension of the crankshaft 20 is set to be large.
　また、外歯歯車２２（２２ａ、２２ｂ）においては、外歯歯車２２（２２ａ、２２ｂ）の半径方向に延びるとともに外歯用軸受（４８、４９）の外周に接する接線Ｒ（図４にて二点鎖線Ｒで示す接線）のそれぞれに対して支柱貫通孔４６の全てが外歯用軸受（４８、４９）と反対側に配置されている。即ち、支柱貫通孔４６は、接線Ｒと交わることなく、接線Ｒに対して外歯用軸受（４７、４８）と反対側に配置されている。このため、外歯歯車２２（２２ａ、２２ｂ）において、クランク用孔３０と支柱貫通孔４６との間の部分に対して外歯歯車２２（２２ａ、２２ｂ）の半径方向における外周側の部分であって外歯４７の近傍の部分の肉厚を厚くすることができる。これにより、凹み部分２５ａを形成しても図２乃至図４に示す旋回駆動装置１のように、ピン内歯１５の本数が比較的少なくてピン内歯１５の１本当りの負荷が大きい旋回駆動装置１の場合であっても、外歯歯車２２（２２ａ、２２ｂ）におけるクランク用孔３０と支柱貫通孔４６と外歯４７とが回りに配置された部分での十分な強度を確保することができる。 Further, in the external gear 22 (22a, 22b), a tangent line R (two in FIG. 4) extends in the radial direction of the external gear 22 (22a, 22b) and contacts the outer periphery of the external tooth bearing (48, 49). All of the column through holes 46 are arranged on the opposite side of the external tooth bearings (48, 49) with respect to each of the tangents indicated by the dotted line R). That is, the column through hole 46 is disposed on the opposite side of the tangent line R from the external tooth bearings (47, 48) without intersecting the tangent line R. For this reason, in the external gear 22 (22a, 22b), it is a portion on the outer peripheral side in the radial direction of the external gear 22 (22a, 22b) with respect to the portion between the crank hole 30 and the column through hole 46. Thus, the thickness of the portion in the vicinity of the outer teeth 47 can be increased. As a result, even if the recessed portion 25a is formed, as in the turning drive device 1 shown in FIGS. 2 to 4, the turning has a relatively small number of pin inner teeth 15 and a large load per pin inner tooth 15. Even in the case of the driving device 1, sufficient strength is ensured at the portion where the crank hole 30, the column through hole 46, and the external teeth 47 are arranged around the external gear 22 (22 a, 22 b). Can do.
　上述した旋回駆動装置１は、ピニオン１７から第１入出力軸１２に対して駆動力が伝達される際における増速比が、６０以上で１１０以下の範囲に設定されている。また、この旋回駆動装置１においては、バックラッシュ量の合計は、入出力ギア部１２ａ及びクランク軸用歯車１９の間と、第１スプライン結合部１６と、外歯用軸受（４８、４９）を介したクランク軸２０及び外歯歯車２２の間と、外歯歯車２２及びピン内歯１５の間と、第２スプライン結合部１８と、によって規定されることになる。そして、旋回駆動装置１では、このバックラッシュ量の合計が、０．２５度（°）以上で０．５０度（°）以下の範囲に設定されている。 In the turning drive device 1 described above, the speed increasing ratio when the driving force is transmitted from the pinion 17 to the first input / output shaft 12 is set in the range of 60 or more and 110 or less. Further, in this turning drive device 1, the total amount of backlash is calculated between the input / output gear portion 12a and the crankshaft gear 19, the first spline coupling portion 16, and the external tooth bearings (48, 49). Between the crankshaft 20 and the external gear 22, between the external gear 22 and the pin internal teeth 15, and the second spline coupling portion 18. In the turning drive device 1, the total amount of backlash is set in a range of 0.25 degrees (°) or more and 0.50 degrees (°) or less.
　次に、上述した旋回駆動装置１の作動について説明する。旋回体１０２の旋回駆動時には、旋回駆動装置１は、図示しない蓄電装置から供給される電力によって駆動される電動発電機１０の運転が行われることにより作動する。そして、電動発電機１０の運転が開始されると、電動発電機１０の回転軸１０ａによって駆動される第１入出力軸１２が回転する。第１入出力軸１２が回転すると、入出力ギア部１２ａに噛み合う各クランク軸用歯車１９が回転し、各クランク軸用歯車１９が固定された各クランク軸２０とともに第１及び第２偏心部（２０ａ、２０ｂ）が回転する。この回転に伴って、第１及び第２偏心部（２０ａ、２０ｂ）から外歯歯車２２（２２ａ、２２ｂ）に対して荷重が作用し、外歯歯車２２（２２ａ、２２ｂ）がピン内歯１５と噛み合いをずらしながら揺動するように偏心して回転する。そして、外歯歯車２２（２２ａ、２２ｂ）の揺動回転に伴って、外歯歯車２２（２２ａ、２２ｂ）に対して回転保持されたクランク軸２０が自転しながら回転中心線Ｐを中心として公転動作を行う。このクランク軸２０の公転動作により、クランク軸２０を回転自在に保持するキャリア２１とともに、第２入出力軸１４が回転し、リングギア１０３に噛み合うピニオン１７から大きなトルクが出力されることになる。これにより、旋回体１０２が旋回駆動されることになる。 Next, the operation of the turning drive device 1 described above will be described. At the time of the turning drive of the turning body 102, the turning drive device 1 operates by operating the motor generator 10 driven by the electric power supplied from the power storage device (not shown). When the operation of the motor generator 10 is started, the first input / output shaft 12 driven by the rotating shaft 10a of the motor generator 10 rotates. When the first input / output shaft 12 rotates, the crankshaft gears 19 that mesh with the input / output gear portion 12a rotate, and the first and second eccentric portions ( 20a, 20b) rotate. Along with this rotation, a load acts on the external gears 22 (22a, 22b) from the first and second eccentric portions (20a, 20b), and the external gears 22 (22a, 22b) are pin internal teeth 15 And rotate eccentrically so as to swing while shifting the mesh. As the external gear 22 (22a, 22b) swings and rotates, the crankshaft 20 rotated and held with respect to the external gear 22 (22a, 22b) revolves around the rotation center line P while rotating. Perform the action. Due to the revolving operation of the crankshaft 20, the second input / output shaft 14 rotates together with the carrier 21 that rotatably holds the crankshaft 20, and a large torque is output from the pinion 17 that meshes with the ring gear 103. Thereby, the turning body 102 is driven to turn.
　一方、旋回体１０２の旋回制動時には、旋回体１０２の慣性エネルギによる駆動力がピニオン１７を介して第２入出力軸１４に入力され、第２入出力軸１４の回転とともに各クランク軸２０が公転動作を行う。このクランク軸２０の公転とともに外歯歯車２２（２２ａ、２２ｂ）がピン内歯１５との噛み合いをずらしながら揺動するように偏心して回転し、外歯歯車２２（２２ａ、２２ｂ）から各クランク軸２０の第１及び第２偏心部（２０ａ、２０ｂ）に対して荷重が作用し、各クランク軸２０が回転される。そして、各クランク軸２０に固定された各クランク軸用歯車１９に噛み合う第１入出力軸１２から電動発電機１０の回転軸１０ａに駆動力が入力され、制動中の電動発電機１０において発電が行われることになる。発電された電力は、図示しない蓄電装置に充電されることになる。 On the other hand, during the turning braking of the revolving structure 102, the driving force due to the inertial energy of the revolving structure 102 is input to the second input / output shaft 14 through the pinion 17, and each crankshaft 20 revolves as the second input / output shaft 14 rotates. Perform the action. As the crankshaft 20 revolves, the external gears 22 (22a, 22b) rotate eccentrically so as to oscillate while shifting the mesh with the pin internal teeth 15, and each crankshaft is rotated from the external gear 22 (22a, 22b). A load is applied to the first and second eccentric portions (20a, 20b) of the 20 and each crankshaft 20 is rotated. A driving force is input from the first input / output shaft 12 meshed with each crankshaft gear 19 fixed to each crankshaft 20 to the rotating shaft 10a of the motor generator 10, and the motor generator 10 during braking generates power. Will be done. The generated power is charged in a power storage device (not shown).
　尚、上記の旋回制動時においては、ピニオン１７から第１入出力軸１２までの駆動力伝達経路において回転速度が６０倍以上１１０倍以下の範囲で増速され、その増速された高速の回転が電動発電機１０に入力される。そして、電動発電機１０の回転が停止するまでの間、発電が行われることになる。また、旋回駆動装置１のバックラッシュ量の合計が０．２５度以上で０．５０度以下の範囲に設定されているため、旋回制動動作が終了するタイミング（即ち、旋回動作の停止時）においては、旋回体１０２の先端部であるバケット１０６での揺り戻しの発生が大幅に抑制されることになる。 At the time of the above-described turning braking, the rotational speed is increased in the range of 60 times to 110 times in the driving force transmission path from the pinion 17 to the first input / output shaft 12, and the increased high speed rotation is performed. Is input to the motor generator 10. Then, power generation is performed until the rotation of the motor generator 10 stops. In addition, since the total amount of backlash of the turning drive device 1 is set in a range of 0.25 degrees or more and 0.50 degrees or less, at the timing when the turning braking operation ends (that is, when the turning operation is stopped). This greatly suppresses the occurrence of rocking back at the bucket 106, which is the tip of the swivel body 102.
　以上説明したように、旋回駆動装置１は、キャリア２１に回転自在に保持されたクランク軸２０の回転とともにケース１１の内周の内歯に噛み合う外歯歯車２２が偏心して揺動回転する偏心揺動型の駆動機構を備えて構成されている。そして、電動発電機１０の回転軸１０ａに連結される第１入出力軸１２は、クランク軸２０の一端側に固定されるクランク軸用歯車１９と噛み合い、下位体のリングギア１０３に噛み合うピニオン１７が固定される第２入出力軸１４は、キャリア２１の基部キャリア２３に一体形成される。このため、第１入出力軸１２とピニオン１７との間の駆動力伝達経路において、高い増速比を容易に確保することができるとともに、定格回転数が高速の６０００ｒｐｍ以上１００００ｒｐｍ以下の範囲に設定された電動発電機１０に対して高速の回転を入力することができる。そして、ピニオン１７から第１入出力軸１２に駆動力が伝達される際の増速比が６０以上１１０以下に設定されることで、電動発電機１０における回生能力を十分に高い水準まで効率よく高めることができる。 As described above, the turning drive device 1 has the eccentric swing in which the external gear 22 that meshes with the inner teeth of the case 11 eccentrically swings and rotates with the rotation of the crankshaft 20 rotatably held by the carrier 21. A dynamic drive mechanism is provided. The first input / output shaft 12 connected to the rotary shaft 10 a of the motor generator 10 meshes with a crankshaft gear 19 fixed to one end side of the crankshaft 20 and meshes with a lower ring gear 103. The second input / output shaft 14 is fixed integrally with the base carrier 23 of the carrier 21. For this reason, in the driving force transmission path between the first input / output shaft 12 and the pinion 17, a high speed increasing ratio can be easily secured, and the rated rotational speed is set to a high speed range of 6000 rpm to 10,000 rpm. High-speed rotation can be input to the motor generator 10 that has been made. The speed increasing ratio when the driving force is transmitted from the pinion 17 to the first input / output shaft 12 is set to 60 or more and 110 or less, so that the regeneration capacity of the motor generator 10 can be efficiently increased to a sufficiently high level. Can be increased.
　また、旋回駆動装置１によると、歯の噛み合い部分やスプライン結合部としては、入出力ギア部１２ａ及びクランク軸用歯車１９の間と、第１スプライン結合部１６と、クランク軸２０及び外歯歯車２２の間と、外歯歯車２２及びピン内歯１５の間と、第２スプライン結合部１８とが存在し、相当に少ない箇所のみに存在する構成となる。そして、上記の箇所によって規定される第１入出力軸１２からピニオン１７までの間のバックラッシュ量の合計が、０．２５度以上０．５０度以下の範囲に設定されることで、駆動効率の低下を抑制しつつ、バックラッシュを十分に低減することができる。これにより、旋回動作の停止時における揺り戻しの発生による揺動範囲を小さくすることができ、操縦者が所望の箇所に旋回体１０２の先端部のバケット１０６を停止させる操作を容易に行うことができる。 Further, according to the turning drive device 1, the tooth meshing portion and the spline coupling portion include the input / output gear portion 12 a and the crankshaft gear 19, the first spline coupling portion 16, the crankshaft 20 and the external gear. 22, between the external gear 22 and the pin internal teeth 15, and the second spline coupling portion 18 are present, and the configuration exists only in considerably fewer locations. Then, the total backlash amount between the first input / output shaft 12 and the pinion 17 defined by the above location is set in the range of 0.25 degrees to 0.50 degrees, thereby driving efficiency The backlash can be sufficiently reduced while suppressing the decrease in. As a result, the swing range due to the occurrence of swing back when the swing operation is stopped can be reduced, and the operator can easily perform the operation of stopping the bucket 106 at the tip of the swing body 102 at a desired location. it can.
　従って、本実施形態によると、高い増速比を確保して電動発電機１０に高速の回転を入力することができるとともに、操縦者が所望の箇所に旋回体１０２の先端部を容易に停止させる操作を行うことができて操作性の向上を図ることができるハイブリッド建機用旋回駆動装置１を提供することができる。 Therefore, according to the present embodiment, a high speed increase ratio can be ensured and high speed rotation can be input to the motor generator 10, and the operator can easily stop the tip of the revolving body 102 at a desired location. The turning drive device 1 for a hybrid construction machine that can be operated and can improve operability can be provided.
　また、旋回駆動装置１によると、支柱２５の側面に凹み部分２５ａが設けられ、外歯歯車２２（２２ａ、２２ｂ）における支柱貫通孔４６の側面部分４６ａが支柱２５の凹み部分２５ａに沿って張り出す部分として設けられる。このため、支柱貫通孔４６の張り出した部分に対応させてクランク軸２０の径方向の寸法を大きく設定することができる。そして、クランク軸２０が大径化されることによりクランク軸２０の耐久性が向上する。一方、支柱２５の側面に設けられる凹み部分２５ａは、キャリア２１の径方向における支柱の中央部分の内側に偏った位置に設けられるため、旋回駆動装置１のねじり剛性に対する影響を小さくすることができる。このように、旋回駆動装置１全体として、ねじり剛性を維持しながら耐久性の向上を図ることができる。 Further, according to the turning drive device 1, the recessed portion 25 a is provided on the side surface of the column 25, and the side surface portion 46 a of the column through hole 46 in the external gear 22 (22 a, 22 b) stretches along the recessed portion 25 a of the column 25. It is provided as a part to be taken out. For this reason, the dimension of the radial direction of the crankshaft 20 can be set large corresponding to the part where the support | pillar through-hole 46 protruded. The durability of the crankshaft 20 is improved by increasing the diameter of the crankshaft 20. On the other hand, since the recessed portion 25a provided on the side surface of the support column 25 is provided at a position biased to the inside of the center portion of the support column in the radial direction of the carrier 21, the influence on the torsional rigidity of the turning drive device 1 can be reduced. . Thus, as a whole, the turning drive device 1 can improve durability while maintaining torsional rigidity.
　以上、本発明の実施形態について説明したが、本発明は上述の実施の形態に限られるものではなく、請求の範囲に記載した限りにおいて様々に変更して実施することができる。例えば、次のように変更して実施することができる。 The embodiments of the present invention have been described above. However, the present invention is not limited to the above-described embodiments, and various modifications can be made as long as they are described in the claims. For example, the following modifications can be made.
（１）本実施形態では、ショベル機として構成されたハイブリッド建設機械において用いられる場合を例にとって説明したが、この通りでなくてもよく、ショベル機以外のハイブリッド建設機械において用いられるものであってもよい (1) In this embodiment, the case where it is used in a hybrid construction machine configured as a shovel machine has been described as an example. However, this need not be the case, and it is used in a hybrid construction machine other than a shovel machine. Good
（２）また、クランク軸やキャリア等については、種々形態を変更して実施することができる。例えば、クランク軸が回転中心線上に配置されたセンタクランクタイプのハイブリッド建機用旋回駆動装置に本発明が適用されてもよい。また、基部キャリアと端部キャリアとを連結する支柱は、基部キャリアに一体に形成されていなくてもよく、基部キャリアとは別部材として形成されていてもよい。また、クランク軸及び支柱の数は、本実施形態とは異なっていてもよい。また、クランク軸の偏心部の個数や外歯歯車の枚数については、２つでなくてもよい。また、クランク軸用歯車については、スパーギアとして構成されていなくてもよく、例えば、ヘリカルギアとして構成されていてもよい。 (2) In addition, the crankshaft, the carrier, and the like can be implemented by changing various forms. For example, the present invention may be applied to a center crank type swivel drive device for a hybrid construction machine in which a crankshaft is disposed on a rotation center line. Moreover, the support | pillar which connects a base carrier and an end part carrier does not need to be integrally formed in a base carrier, and may be formed as a member different from a base carrier. Further, the number of crankshafts and struts may be different from the present embodiment. Further, the number of eccentric parts of the crankshaft and the number of external gears need not be two. Further, the crankshaft gear may not be configured as a spur gear, and may be configured as a helical gear, for example.
　本発明は、下位体の上部に旋回体が旋回自在に設けられるとともにアクチュエータ駆動用のエンジンと電動発電機とを有するハイブリッド建設機械において用いられ、電動発電機に連結されるとともに旋回体を旋回駆動するハイブリッド建機用旋回駆動装置として、広く適用することができるものである。 INDUSTRIAL APPLICABILITY The present invention is used in a hybrid construction machine in which a swinging body is provided on an upper part of a lower body so as to be rotatable, and is used in a hybrid construction machine having an actuator driving engine and a motor generator. The present invention can be widely applied as a turning drive device for a hybrid construction machine.
１　　　　　　　　　　　　ハイブリッド建機用旋回駆動装置
１０　　　　　　　　　　　電動発電機
１０ａ　　　　　　　　　　回転軸
１１　　　　　　　　　　　ケース
１２　　　　　　　　　　　第１入出力軸
１２ａ　　　　　　　　　　入出力ギア部
１４　　　　　　　　　　　第２入出力軸
１５　　　　　　　　　　　ピン内歯（内歯）
１６　　　　　　　　　　　スプライン結合部（第１スプライン結合部）
１７　　　　　　　　　　　ピニオン
１８　　　　　　　　　　　スプライン結合部（第２スプライン結合部）
１９　　　　　　　　　　　クランク軸用歯車
２０　　　　　　　　　　　クランク軸
２１　　　　　　　　　　　キャリア
２２、２２ａ、２２ｂ　　　外歯歯車
２３　　　　　　　　　　　基部キャリア
２４　　　　　　　　　　　端部キャリア
２５　　　　　　　　　　　支柱
３０　　　　　　　　　　　クランク用孔
１００　　　　　　　　　　ハイブリッド建設機械
１０２　　　　　　　　　　旋回体
１０３　　　　　　　　　　リングギア DESCRIPTION OF SYMBOLS 1 Rotating drive apparatus 10 for hybrid construction machines Motor generator 10a Rotating shaft 11 Case 12 First input / output shaft 12a Input / output gear portion 14 Second input / output shaft 15 Pin internal teeth (internal teeth)
16 Spline joint (first spline joint)
17 Pinion 18 Spline joint (second spline joint)
19 Crankshaft gear 20 Crankshaft 21 Carriers 22, 22a, 22b External gear 23 Base carrier 24 End carrier 25 Strut 30 Crank hole 100 Hybrid construction machine 102 Swivel body 103 Ring gear

Claims (2)

  1. 　下位体の上部に旋回体が旋回自在に設けられるとともにアクチュエータ駆動用のエンジンと電動発電機とを有するハイブリッド建設機械において用いられ、前記電動発電機に連結されるとともに前記旋回体を旋回駆動するハイブリッド建機用旋回駆動装置であって、
    　ケースと、
    　前記ケースの内周に配置された複数の内歯と、
    　前記ケースに収納されるとともに前記内歯に噛み合う外歯が外周に設けられた外歯歯車と、
    　前記外歯歯車に形成されたクランク用孔を貫通し、駆動力が伝達されたときには回転して前記外歯歯車を偏心させて揺動回転させ、前記外歯歯車が揺動回転したときは当該外歯歯車からの駆動力により回転されるクランク軸と、
    　前記クランク軸の一端側を回転自在に保持する端部キャリア、前記クランク軸の他端側を回転自在に保持する基部キャリア、及び、前記端部キャリアと前記基部キャリアとを連結する支柱、を有するキャリアと、
    　前記電動発電機の回転軸に連結されるとともに当該電動発電機と反対側である他端側の端部に入出力ギア部が設けられた第１入出力軸と、
    　前記クランク軸の一端側に第１スプライン結合部を介して固定されるとともに、外周に形成された歯が前記入出力ギア部に噛み合うクランク軸用歯車と、
    　前記基部キャリアに一体に形成された第２入出力軸と、
    　前記第２入出力軸に対して第２スプライン結合部を介して固定され、前記下位体に設けられたリングギアに噛み合うピニオンと、
    　を備え、
    　前記電動発電機の定格回転数は、６０００ｒｐｍ以上で１００００ｒｐｍ以下の範囲に設定され、
    　前記ピニオンから前記第１入出力軸に対して駆動力が伝達される際における増速比は、６０以上で１１０以下の範囲に設定され、
    　前記入出力ギア部及び前記クランク軸用歯車の間と、前記第１スプライン結合部と、前記クランク軸及び前記外歯歯車の間と、前記外歯歯車及び前記内歯の間と、前記第２スプライン結合部と、によって規定される前記第１入出力軸から前記ピニオンまでの間のバックラッシュ量の合計が、０．２５度以上で０．５０度以下の範囲に設定されていることを特徴とする、ハイブリッド建機用旋回駆動装置。     A hybrid in which a revolving body is provided on an upper part of a lower body so as to be able to swivel, and is used in a hybrid construction machine having an actuator driving engine and a motor generator, and is connected to the motor generator and drives the revolving body to turn. A swing drive device for construction equipment,
    Case and
    A plurality of internal teeth disposed on the inner periphery of the case;
    An external gear that is housed in the case and has external teeth that engage with the internal teeth on the outer periphery; and
    When a driving force is transmitted through a hole for a crank formed in the external gear, the external gear is rotated to eccentrically swing and rotate, and when the external gear rotates and rotates, A crankshaft rotated by a driving force from an external gear;
    An end carrier that rotatably holds one end side of the crankshaft, a base carrier that rotatably holds the other end side of the crankshaft, and a support column that connects the end carrier and the base carrier. Career,
    A first input / output shaft connected to the rotating shaft of the motor generator and provided with an input / output gear portion at the other end opposite to the motor generator;
    A crankshaft gear fixed to one end side of the crankshaft via a first spline coupling portion, and teeth formed on the outer periphery meshing with the input / output gear portion;
    A second input / output shaft formed integrally with the base carrier;
    A pinion fixed to the second input / output shaft via a second spline coupling portion and meshing with a ring gear provided in the lower body;
    With
    The rated rotational speed of the motor generator is set to a range of 6000 rpm to 10,000 rpm,
    The speed increasing ratio when the driving force is transmitted from the pinion to the first input / output shaft is set in the range of 60 to 110,
    Between the input / output gear portion and the crankshaft gear, the first spline coupling portion, between the crankshaft and the external gear, between the external gear and the internal gear, and the second The total amount of backlash between the first input / output shaft and the pinion defined by the spline coupling portion is set in a range of 0.25 degrees to 0.50 degrees. A turning drive device for hybrid construction machines.
  2. 　請求項１に記載のハイブリッド建機用旋回駆動装置であって、
    　前記支柱と前記クランク軸とは、前記キャリアの周方向に沿って交互に並んで配置され、
    　前記支柱は、前記キャリアの軸方向に垂直な断面が前記キャリアの径方向における当該支柱の中央部分の内側に偏った位置において凹む形状に形成されるように、側面に凹み部分が設けられ、
    　前記外歯歯車に設けられて前記支柱が貫通する支柱貫通孔における前記支柱に対向する側面部分が、前記支柱における前記凹み部分に沿うように前記支柱貫通孔の内側に向かって張り出した側面部分として設けられていることを特徴とする、ハイブリッド建機用旋回駆動装置。     It is a turning drive device for hybrid construction machines according to claim 1,
    The struts and the crankshaft are alternately arranged along the circumferential direction of the carrier,
    The support column is provided with a recessed portion on the side surface so that a cross section perpendicular to the axial direction of the carrier is formed in a recessed shape at a position biased to the inside of the center portion of the support column in the radial direction of the carrier,
    As a side surface portion that is provided on the external gear and that faces the column in the column through hole through which the column penetrates, protrudes toward the inside of the column through hole so as to follow the recessed portion of the column. A turning drive device for a hybrid construction machine, characterized in that it is provided.
PCT/JP2011/076153 2010-11-19 2011-11-14 Swing drive device for hybrid construction machine WO2012067057A1 (en)

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JP2010258677A JP5693929B2 (en) 2009-11-20 2010-11-19 Swiveling drive for hybrid construction equipment

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CN113404819A (en) * 2021-06-29 2021-09-17 重庆大学 Gap-adjustable helical gear speed reducer

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CN111691480B (en) * 2020-06-24 2022-04-19 徐州徐工基础工程机械有限公司 Underground continuous wall construction equipment
US11434978B1 (en) * 2021-06-23 2022-09-06 Tsun-Tien Yao Roller-type speed reduction mechanism with lateral output

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DE112013004462B4 (en) * 2012-09-13 2021-04-29 Nabtesco Corporation Gear transmission and the crankshaft structure used therein
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