WO2013051457A1 - Gear transmission device - Google Patents

Gear transmission device Download PDF

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Publication number
WO2013051457A1
WO2013051457A1 PCT/JP2012/074894 JP2012074894W WO2013051457A1 WO 2013051457 A1 WO2013051457 A1 WO 2013051457A1 JP 2012074894 W JP2012074894 W JP 2012074894W WO 2013051457 A1 WO2013051457 A1 WO 2013051457A1
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WO
WIPO (PCT)
Prior art keywords
crankshaft
gear
carrier
gear transmission
external
Prior art date
Application number
PCT/JP2012/074894
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French (fr)
Japanese (ja)
Inventor
真哉 廣瀬
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 WO2013051457A1 publication Critical patent/WO2013051457A1/en

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • 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 application relates to a gear transmission.
  • the present application relates to a gear transmission in which a plurality of external gears rotate eccentrically while meshing with internal gears.
  • a gear transmission in which an external gear rotates eccentrically while meshing with an internal gear is known.
  • the carrier rotates with the eccentric rotation of the external gear.
  • the carrier is coaxially supported by the internal gear.
  • a crankshaft is supported on the carrier.
  • the crankshaft supports the external gear.
  • An eccentric body is fixed to the crankshaft.
  • the external gear is provided with a through hole along the axial direction of the gear transmission.
  • the eccentric body of the crankshaft is engaged with a through hole provided in the external gear.
  • the external gear rotates eccentrically with the rotation of the eccentric body. If the position of the eccentric body and the external gear shifts in the axial direction, torque transmission from the crankshaft to the external gear cannot be performed smoothly. Or if the position of an eccentric body and an external gear shifts in the direction of an axis, parts which constitute a gear transmission may interfere.
  • Patent Document 1 Japanese Patent Application Laid-Open No. 2007-285396.
  • a bearing race fixed to an internal gear is brought into contact with the surface (end surface in the axial direction) of the external gear.
  • a thrust washer is disposed between the carrier and the crankshaft.
  • the gear transmission disclosed in this specification includes a case, a carrier, a crankshaft, and two external gears.
  • An internal gear is formed on the inner periphery of the case.
  • the carrier is supported by the case coaxially with the internal gear.
  • the crankshaft is supported by the carrier.
  • the crankshaft has two eccentric bodies.
  • the crankshaft is provided with a disc whose axial position is restricted.
  • the two external gears are engaged with the two eccentric bodies, respectively, and rotate eccentrically while meshing with the internal gears.
  • the disk is sandwiched between two external gears. Thereby, the axial movement of the crankshaft is restricted.
  • the movement of the crankshaft in the axial direction is restricted by the external gear.
  • the external gear determines the position of the crankshaft in the axial direction.
  • the crankshaft is supported on the carrier without being restricted in movement in the axial direction. Therefore, no axial force is applied from the carrier to the crankshaft.
  • the external gear directly determines the position of the crankshaft in the axial direction. As a result, it is possible to prevent an axial displacement between the eccentric body and the external gear.
  • examples of the “disc in which the position in the axial direction is regulated” include a flange formed integrally with the crankshaft, a washer fixed to the crankshaft, and the like.
  • FIG. 2 shows an enlarged sectional view of a range II in FIG. 1.
  • a modification of the first embodiment is shown (1).
  • a modification of the first embodiment is shown (2).
  • Sectional drawing of the gear transmission of 2nd Example is shown.
  • Sectional drawing of the gear transmission of 3rd Example is shown.
  • the two eccentric bodies may be eccentrically symmetrical with respect to the axis of the crankshaft. Since the external gear is engaged with the eccentric body, the two external gears are eccentrically symmetrical with respect to the axis of the crankshaft. The force applied to the disk from the external gear is symmetrical on both sides of the disk. It is possible to suppress the force applied to the disk from the external gear from concentrating on a specific place of the disk.
  • the gear transmission disclosed in the present specification may include a first disk coaxial with one eccentric body and a second disk coaxial with the other eccentric body.
  • a hole penetrating in the axial direction is formed in the external gear, and the eccentric body is fitted into the through hole.
  • the outer periphery of the disk In order to sandwich the disk between the two external gears, it is necessary that the outer periphery of the disk be positioned radially outside the through hole of the external gear.
  • the center of the through hole of the external gear is equal to the center of the eccentric body.
  • the technology disclosed in this specification can realize a gear transmission in which positional deviation between the eccentric body and the external gear in the axial direction is suppressed.
  • FIG. 1 shows a cross-sectional view of the gear transmission 100.
  • the gear transmission 100 is a reduction device that rotates eccentrically while the external gear 20 meshes with the internal gear 32.
  • the carrier 2 rotates according to the difference between the number of teeth of the external gear 20 and the number of teeth of the internal gear 32.
  • the internal gear 32 includes a case 30 and a plurality of internal teeth pins 34 arranged on the inner periphery of the case 30.
  • the gear transmission 100 includes a case 30, a carrier 2, a crankshaft 12, and an external gear 20.
  • the carrier 2 includes a first plate 2a and a second plate 2c.
  • the first plate 2a includes a columnar portion 2b.
  • the columnar portion 2b extends from the first plate 2a toward the second plate 2c.
  • the columnar part 2b and the second plate 2c are fixed with bolts (not shown).
  • the carrier 2 is supported on the case 30 by a pair of angular ball bearings 16.
  • the axis 26 corresponds to the axis of the carrier 2.
  • the axis line 26 also corresponds to the axis line of the internal gear 32 (case 30). That is, the carrier 2 is supported by the case 30 coaxially with the internal gear 32.
  • the angular ball bearing 16 can bear loads in the axial direction and the radial direction.
  • the carrier 2 can be rotated with respect to the case 30 by the angular ball bearing 16, and movement in the axial direction (direction of the axis 26) and the radial direction is restricted.
  • the crankshaft 12 includes two eccentric bodies 14 (eccentric bodies 14X and 14Y), a flange 22, and an input gear 24.
  • the eccentric body 14 and the flange 22 are formed integrally with the shaft portion of the crankshaft 12. In FIG. 1, hatching different from other parts of the crankshaft 12 is attached to the flange 22 so that the flange 22 can be easily identified.
  • the eccentric body 14 is eccentric with respect to the axis 25 of the crankshaft 12.
  • the flange 22 is coaxial with the axis 25.
  • the input gear 24 is attached to the end of the crankshaft 12.
  • the flange 22 corresponds to a disc whose position in the direction of the axis 25 is regulated.
  • the crankshaft 12 extends in parallel to the axis 26 at a position offset from the axis 26. That is, the axis 25 of the crankshaft 12 is parallel to the axis 26 of the carrier 2.
  • the crankshaft 12 is supported by the carrier 2 by two first cylindrical roller bearings 10 (first cylindrical roller bearings 10X and 10Y).
  • the first cylindrical roller bearing 10 is disposed between the wall surface of the carrier through hole 8 formed in the carrier 2 and the shaft portion of the crankshaft 12.
  • the eccentric body 14 and the flange 22 are located between the two first cylindrical roller bearings 10.
  • the input gear 24 is fixed to the crankshaft 12 outside the two first cylindrical roller bearings 10.
  • the flange 22 is located between the two eccentric bodies (the eccentric body 14X and the eccentric body 14Y).
  • the eccentric body 14X and the eccentric body 14Y are eccentrically symmetrical with respect to the axis 25.
  • the first cylindrical roller bearing 10 can bear a load in the radial direction but cannot bear a load in the axial direction. Therefore, the crankshaft 12 can rotate relative to the carrier 2 without being restricted by the first cylindrical roller bearing 10 from moving in the direction of the axis 26.
  • Through holes 6 are formed in the two external gears 20 (external gears 20X and 20Y), respectively.
  • the eccentric body 14 is fitted in the through hole 6 via the second cylindrical roller bearing 18 (second cylindrical roller bearings 18X and 18Y).
  • the external gears 20X and 20Y are eccentrically symmetrical with respect to the axis 26.
  • the diameter of the through hole 6 is smaller than the diameter of the flange 22. Further, when viewed from the direction of the axis 25, the outer periphery of the flange 22 is located outside the through hole 6.
  • the flange 22 and the external gear 20 restrict the movement of the crankshaft 12 in the direction of the axis 25. That is, the movement of the crankshaft 12 in the direction of the axis 25 is restricted by the two external gears 20X and 20Y and the flange 22.
  • the external gear 20X has a thick part 20Xa and a thin part 20Xb.
  • the external gear 20Y has a thick part 20Ya and a thin part 20Yb.
  • the interval between the two inner races 16a is the same as or slightly wider than the total thickness of the thick portion 20Xa and the thick portion 20Ya.
  • the distance between the two inner races 16a is such that the friction between the inner race 16a and the external gear 20 (external gears 20X and 20Y) and between the external gear 20X and the external gear 20Y does not become excessive. It has been adjusted.
  • the flange 22 is sandwiched between the thin portion 20Xb and the thin portion 20Yb.
  • the flange 22 covers the through hole 6 of the external gear 20. Therefore, the movement of the flange 22 (crankshaft 12) in the direction of the axis 25 is restricted by the external gears 20X and 20Y.
  • the external gear 20 determines the position of the crankshaft 12 in the direction of the axis 25. Since the position of the eccentric body 14 (crankshaft 12) is directly determined by the external gear 20, the displacement between the eccentric body 14 and the external gear 20 is suppressed.
  • the gear transmission 100 can smoothly transmit torque from the crankshaft 12 to the external gear 20 because the positional deviation between the eccentric body 14 and the external gear 20 is suppressed.
  • the interval between the thin portion 20Xb and the thin portion 20Yb is the same as or slightly wider than the thickness of the flange 22.
  • the interval between the thin portion 20Xb and the thin portion 20Yb is adjusted so that the friction between the flange 22 and the external gear 20 does not become excessive.
  • the crankshaft 12 is supported on the carrier 2 by the first cylindrical roller bearing 10.
  • the first cylindrical roller bearing 10 does not restrict movement of the crankshaft 12 in the direction of the axis 25.
  • only the flange 22 restricts the movement of the crankshaft 12 in the direction of the axis 25. Since the movement of the crankshaft 12 in the direction of the axis 25 is restricted at only one place, no compression force or tensile force is applied to the crankshaft 12 in the direction of the axis 25.
  • a compressive force or a tensile force may be applied to the crankshaft in the linear direction.
  • a mode of restricting movement of the crankshaft in the axial direction at a plurality of locations will be described.
  • a thrust washer is disposed between the carrier and the crankshaft to restrict movement of the crankshaft in the axial direction, and a flange fixed to the crankshaft by two external gears is sandwiched.
  • a strong force is applied from the flange to the external gear.
  • a large friction is generated between the flange and the external gear, and the external gear does not rotate smoothly.
  • a strong force is applied from the external gear to the flange, and the crankshaft does not rotate smoothly.
  • a compressive force or a tensile force is applied to the crankshaft between the flange and the thrust washer.
  • Retaining rings 40 (retaining rings 40X and 40Y) are fixed to both ends of the crankshaft 12.
  • the first cylindrical roller bearing 10 is located between the retaining ring 40 and the eccentric body 14.
  • the first cylindrical roller bearing 10 is restricted from moving in the direction of the axis 25 with respect to the crankshaft 12. More specifically, washers 42 (washers 42X and 42Y) and washers 44 (washers 44X and 44Y) are provided at both ends of the retainer 43 (retainers 43X and 43Y) of the first cylindrical roller bearing 10.
  • a washer 42, a retainer 43, and a washer 44 are sandwiched between the retaining ring 40 and the eccentric body 14.
  • the second cylindrical roller bearing 18 is located between the flange 22 and the washer 44.
  • the second cylindrical roller bearing 18 is restricted from moving in the direction of the axis 25 with respect to the crankshaft 12. More specifically, the cage (the cages 45X and 45Y) of the second cylindrical roller bearing 18 is sandwiched between the flange 22 and the washer 44. It can be said that the washer 44 is restricted from moving in the direction of the axis 25 by the retaining ring 40 and the eccentric body 14. That is, the movement of the second cylindrical roller bearing 18 in the direction of the axis 25 with respect to the crankshaft 12 is restricted by the flange 22 and the retaining ring 40.
  • the pair of angular ball bearings 16 includes an inner race 16a, a ball 16b, and an outer race 16c.
  • the two inner races 16a restrict the movement of the external gears 20X and 20Y in the direction of the axis 25.
  • the two outer races 16 c cover a part of both ends of the internal tooth pin 34. When viewed from the direction of the axis 25, the outer race 16 c overlaps the internal tooth pin 34. The movement of the internal tooth pin 34 in the direction of the axis 25 with respect to the crankshaft 12 is restricted by the two outer races 16c.
  • an oil seal 36 is disposed between the case 30 and the first plate 2a.
  • the oil seal 36 prevents the lubricant sealed in the gear transmission 100 from leaking out of the gear transmission 100.
  • a central through hole 4 is formed in the center of the gear transmission 100 along the direction of the axis 26. The central through hole 4 can be used to allow wiring, piping, etc. to pass through the gear transmission 100.
  • FIG. 3 shows a form in which a plurality of discs (first washer 122a, second washer 122c and flange 122b) are sandwiched between two external gears 20X and 20Y.
  • the plurality of disks 122a, 122b, and 122c are referred to as a disk set 122.
  • Components other than the disk set 122 are denoted by the same reference numerals as those in FIG.
  • the first washer 122a and the second washer 122c are attached to the crankshaft 12.
  • the flange 122b is formed integrally with the crankshaft 12. Also in FIG. 3, the flange 122b is hatched differently from the other parts of the crankshaft 12 so that the flange 122b can be easily identified.
  • the first washer 122a is coaxial with the eccentric body 14X. That is, the center of the first washer 122a is equal to the center of the through hole 6 of the external gear 20X.
  • the second washer 122c is coaxial with the eccentric body 14Y. The center of the second washer 122c is equal to the center of the through hole 6 of the external gear 20Y.
  • the flange 122b is coaxial with the axis 25 of the crankshaft 12.
  • the first washer 122a corresponds to the first disk
  • the second washer 122c corresponds to the second disk.
  • the form such as the disk set 122 is useful when it is difficult to increase the diameter of the flange 122b.
  • the first washer 122a can be moved in the direction of the axis 25 only by making the diameter of the first washer 122a slightly larger than the diameter of the through hole 6. Is regulated.
  • the diameter of the second washer 122c can be made slightly larger than the diameter of the through hole 6 in the direction of the axis 25 of the second washer 122c. Movement is restricted. That is, the diameters of the first washer 122a and the second washer 122c can be made smaller than the diameter of the flange 22 shown in FIG.
  • the first washer 122a is restricted from moving in the direction of the axis 25 by the flange 122b and the retaining ring 40X. More precisely, the movement of the first washer 122a in the direction of the axis 25 is restricted by the flange 122b and the second cylindrical roller bearing 18X. Similarly, the movement of the second washer 122c in the direction of the axis 25 is restricted by the flange 122b and the retaining ring 40Y.
  • the disk set 122 corresponds to a disk whose position in the direction of the axis 25 is restricted.
  • the disk set 222 may be sandwiched between two external gears 20X and 20Y.
  • the disk set 222 includes a first washer 222a and a second washer 222b.
  • the first washer 222a is restricted from moving in the direction of the axis 25 by the eccentric body 14Y and the retaining ring 40X.
  • the movement of the second washer 222b in the direction of the axis 25 is restricted by the eccentric body 14X and the retaining ring 40Y.
  • the disk set 222 corresponds to a disk whose position in the direction of the axis 25 is restricted.
  • the disk set 222 corresponds to a form in which the flange 122b of the disk set 122 described in FIG. 3 is removed and the thickness of the first washer 122a and the thickness of the second washer 122c are increased.
  • the gear transmission 200 will be described with reference to FIG.
  • the gear transmission 200 is a modification of the gear transmission 100.
  • the same parts as those of the gear transmission 100 may be denoted by the same or lower two digits and the description thereof may be omitted.
  • the gear transmission 200 is different from the gear transmission 100 in the structure that restricts the movement of the external gears 20X and 20Y in the direction of the axis 26 (direction of the axis 25).
  • a cylindrical protrusion 50 is formed at the end of the carrier 2.
  • the protrusion 50 is formed on each of the first plate 2a and the second plate 2c.
  • the protrusion 50 extends in the direction of the axis 26 from the first plate 2 a and the second plate 2 c toward the external gear 20.
  • the protrusion 50 restricts the movement of the external gear 20 in the direction of the axis 26.
  • the movement of the external gear 20 in the direction of the axis 26 is restricted by the carrier 2.
  • the inner race 216a of the pair of angular ball bearings 216 does not have a function of restricting the movement of the external gears 20X and 20Y in the direction of the axis 26.
  • a disk set 122 see FIG. 3
  • a disk set 222 see FIG. 4
  • the gear transmission 300 will be described with reference to FIG.
  • the gear transmission 300 is a modification of the gear transmission 100.
  • the same parts as those of the gear transmission 100 may be denoted by the same or lower two digits and the description thereof may be omitted.
  • the outer race 316 c of the angular ball bearing 316 regulates the movement of the external gear 20 in the direction of the axis 26.
  • the outer race 316c restricts movement of the external gear 20 in the direction of the axis 26 and restricts movement of the internal tooth pin 34 in the direction of the axis 26.
  • the outer race 316 c is fixed to the case 30. Therefore, the movement of the external gear 20 of the gear transmission 300 in the direction of the axis 26 is restricted by the case 30.
  • the groove 316a of the carrier 2 functions as an inner race of the angular ball bearing 316.
  • a disk set 122 see FIG. 3
  • a disk set 222 see FIG. 4
  • the characteristics of the above embodiment can be expressed as follows.
  • the movement in the axial direction is regulated by the two external gears being sandwiched between the carrier or the case from both sides.
  • a disc in which movement in the axial direction relative to the crankshaft is restricted is sandwiched between two external gears.
  • sandwiching the disk between two external gears the position of the crankshaft in the axial direction is determined by the external gears. As a result, it is possible to suppress the positional deviation between the eccentric body fixed to the crankshaft and the external gear.
  • the bearing disposed between the carrier and the case may be of a type that bears loads in the axial direction and the radial direction.
  • a tapered roller bearing or an angular roller bearing may be used instead of the angular ball bearing.
  • the number of external gears may be three or more. Even in this case, it is possible to suppress the positional deviation between the eccentric body fixed to the crankshaft and the external gear by sandwiching the disk between the two external gears.

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

This gear transmission device is provided with a case, a carrier, a crankshaft, and two external gears. An internal gear is formed at the inner periphery of the case. The carrier is supported at the case coaxially with the internal gear. The crankshaft is supported at the carrier, and has two eccentric bodies. The two external gears respectively engage the two eccentric bodies. The two external gears rotate eccentrically while being meshed with the internal gear. A disk having a regulated position in the axial direction is provided to the crankshaft. The disk is sandwiched by the two external gears, and so the movement in the axial direction of the crankshaft is regulated.

Description

歯車伝動装置Gear transmission
　本出願は、２０１１年１０月４日に出願された日本国特許出願第２０１１－２２０４４１号に基づく優先権を主張する。その出願の全ての内容は、この明細書中に参照により援用されている。本出願は、歯車伝動装置に関する。特に、本出願は、複数の外歯歯車が内歯歯車と噛み合いながら偏心回転する歯車伝動装置に関する。 This application claims priority based on Japanese Patent Application No. 2011-220441 filed on October 4, 2011. The entire contents of that application are incorporated herein by reference. The present application relates to a gear transmission. In particular, the present application relates to a gear transmission in which a plurality of external gears rotate eccentrically while meshing with internal gears.
　外歯歯車が内歯歯車と噛み合いながら偏心回転する歯車伝動装置が知られている。このような歯車伝動装置では、外歯歯車の偏心回転に伴って、キャリアが回転する。キャリアは、内歯歯車に同軸に支持されている。キャリアには、クランクシャフトが支持されている。クランクシャフトが、外歯歯車を支持している。クランクシャフトには、偏心体が固定されている。外歯歯車には、歯車伝動装置の軸方向に沿った貫通孔が設けられている。クランクシャフトの偏心体が、外歯歯車に設けられた貫通孔に係合している。外歯歯車は、偏心体の回転に伴って偏心回転する。軸方向において偏心体と外歯歯車との位置がずれると、クランクシャフトから外歯歯車へのトルク伝達をスムーズに行うことができない。あるいは、軸方向において偏心体と外歯歯車との位置がずれると、歯車伝動装置を構成している部品同士が干渉することがある。 A gear transmission in which an external gear rotates eccentrically while meshing with an internal gear is known. In such a gear transmission, the carrier rotates with the eccentric rotation of the external gear. The carrier is coaxially supported by the internal gear. A crankshaft is supported on the carrier. The crankshaft supports the external gear. An eccentric body is fixed to the crankshaft. The external gear is provided with a through hole along the axial direction of the gear transmission. The eccentric body of the crankshaft is engaged with a through hole provided in the external gear. The external gear rotates eccentrically with the rotation of the eccentric body. If the position of the eccentric body and the external gear shifts in the axial direction, torque transmission from the crankshaft to the external gear cannot be performed smoothly. Or if the position of an eccentric body and an external gear shifts in the direction of an axis, parts which constitute a gear transmission may interfere.
　上記のような不具合を防止するために、内歯歯車又はキャリアを利用して、軸方向におけるクランクシャフト及び外歯歯車の位置が規制される。偏心体（クランクシャフト）と外歯歯車との位置ずれを防止する技術の一例が、特開２００７－２８５３９６号公報に開示されている。以下の説明では、特開２００７－２８５３９６号公報を、特許文献１と称する。特許文献１の技術では、内歯歯車に固定された軸受のレースを、外歯歯車の表面（軸方向における端面）に接触させる。さらに、特許文献１の技術では、キャリアとクランクシャフトの間にスラストワッシャを配置する。すなわち、特許文献１の技術では、内歯歯車が軸方向における外歯歯車の位置を規制し、キャリアが軸方向におけるクランクシャフトの位置を規制する。特許文献１の歯車伝動装置は、上記の構造により、偏心体と外歯歯車の間の位置ずれを抑制している。 In order to prevent the above problems, the positions of the crankshaft and the external gear in the axial direction are regulated using the internal gear or the carrier. An example of a technique for preventing the positional deviation between the eccentric body (crankshaft) and the external gear is disclosed in Japanese Patent Application Laid-Open No. 2007-285396. In the following description, Japanese Patent Application Laid-Open No. 2007-285396 is referred to as Patent Document 1. In the technique of Patent Document 1, a bearing race fixed to an internal gear is brought into contact with the surface (end surface in the axial direction) of the external gear. Furthermore, in the technique of Patent Document 1, a thrust washer is disposed between the carrier and the crankshaft. That is, in the technique of Patent Document 1, the internal gear regulates the position of the external gear in the axial direction, and the carrier regulates the position of the crankshaft in the axial direction. The gear transmission of patent document 1 is suppressing position shift between an eccentric body and an external gear by said structure.
　特許文献１の歯車伝動装置では、外歯歯車の軸方向の位置と、クランクシャフトの軸方向の位置とが、夫々別の部品によって規制されている。そのため、例えば、クランクシャフトが正しい軸方向の位置からずれてキャリアに支持されると、その位置ずれは、偏心体と外歯歯車の間の相対的な位置に影響を及ぼす。すなわち、偏心体と外歯歯車の間に、軸方向における位置ずれが生じる。本明細書は、偏心体と外歯歯車との間の位置ずれを抑制する技術を提供する。 In the gear transmission of Patent Document 1, the axial position of the external gear and the axial position of the crankshaft are regulated by different parts. Therefore, for example, when the crankshaft is deviated from the correct axial position and is supported by the carrier, the misalignment affects the relative position between the eccentric body and the external gear. That is, a positional deviation in the axial direction occurs between the eccentric body and the external gear. This specification provides the technique which suppresses the position shift between an eccentric body and an external gear.
　本明細書で開示する歯車伝動装置は、ケースと、キャリアと、クランクシャフトと、２個の外歯歯車を備えている。ケースの内周には、内歯歯車が形成されている。キャリアは、内歯歯車と同軸にケースに支持されている。クランクシャフトは、キャリアに支持されている。また、クランクシャフトは、２個の偏心体を有する。クランクシャフトには、軸方向の位置が規制されているディスクが設けられている。２個の外歯歯車は、２個の偏心体の夫々に係合しており、内歯歯車と噛み合いながら偏心回転する。この歯車伝動装置では、上記ディスクが２個の外歯歯車に挟まれている。それにより、クランクシャフトの軸方向移動が規制される。 The gear transmission disclosed in this specification includes a case, a carrier, a crankshaft, and two external gears. An internal gear is formed on the inner periphery of the case. The carrier is supported by the case coaxially with the internal gear. The crankshaft is supported by the carrier. The crankshaft has two eccentric bodies. The crankshaft is provided with a disc whose axial position is restricted. The two external gears are engaged with the two eccentric bodies, respectively, and rotate eccentrically while meshing with the internal gears. In this gear transmission, the disk is sandwiched between two external gears. Thereby, the axial movement of the crankshaft is restricted.
　上記の歯車伝動装置によると、クランクシャフトの軸方向への移動が、外歯歯車によって規制される。別言すると、外歯歯車が、軸方向におけるクランクシャフトの位置を決定する。クランクシャフトは、キャリアに対して、軸方向への移動の規制を受けることなく支持されている。そのため、キャリアからクランクシャフトに対して軸方向への力が加わらない。外歯歯車が、クランクシャフトの軸方向における位置を直接定めている。その結果、偏心体と外歯歯車との間に、軸方向における位置ずれが生じることを防止できる。なお、「軸方向の位置が規制されているディスク」の一例として、クランクシャフトに一体に形成されるフランジ、クランクシャフトに固定されるワッシャ等が挙げられる。 According to the above gear transmission, the movement of the crankshaft in the axial direction is restricted by the external gear. In other words, the external gear determines the position of the crankshaft in the axial direction. The crankshaft is supported on the carrier without being restricted in movement in the axial direction. Therefore, no axial force is applied from the carrier to the crankshaft. The external gear directly determines the position of the crankshaft in the axial direction. As a result, it is possible to prevent an axial displacement between the eccentric body and the external gear. Note that examples of the “disc in which the position in the axial direction is regulated” include a flange formed integrally with the crankshaft, a washer fixed to the crankshaft, and the like.
第１実施例の歯車伝動装置の断面図を示す。Sectional drawing of the gear transmission of 1st Example is shown. 図１の範囲IIの拡大断面図を示す。FIG. 2 shows an enlarged sectional view of a range II in FIG. 1. 第１実施例の変形例を示す（１）。A modification of the first embodiment is shown (1). 第１実施例の変形例を示す（２）。A modification of the first embodiment is shown (2). 第２実施例の歯車伝動装置の断面図を示す。Sectional drawing of the gear transmission of 2nd Example is shown. 第３実施例の歯車伝動装置の断面図を示す。Sectional drawing of the gear transmission of 3rd Example is shown.
　以下、本明細書で開示する実施例の技術的特徴の幾つかを記す。なお、以下に記す事項は、各々単独で技術的な有用性を有している。 Hereinafter, some of the technical features of the embodiments disclosed in this specification will be described. The items described below have technical usefulness independently.
　本明細書で開示する歯車伝動装置では、２個の偏心体が、クランクシャフトの軸線に対して対称に偏心していてもよい。外歯歯車は偏心体に係合しているので、２個の外歯歯車が、クランクシャフトの軸線に対して対称に偏心する。外歯歯車からディスクに加わる力が、ディスクの両面で対称になる。外歯歯車からディスクに加わる力が、ディスクの特定の場所に集中することを抑制することができる。 In the gear transmission disclosed in this specification, the two eccentric bodies may be eccentrically symmetrical with respect to the axis of the crankshaft. Since the external gear is engaged with the eccentric body, the two external gears are eccentrically symmetrical with respect to the axis of the crankshaft. The force applied to the disk from the external gear is symmetrical on both sides of the disk. It is possible to suppress the force applied to the disk from the external gear from concentrating on a specific place of the disk.
　本明細書で開示する歯車伝動装置では、一方の偏心体と同軸の第１ディスクと、他方の偏心体と同軸の第２ディスクを備えていてもよい。歯車伝動装置では、外歯歯車と偏心体を係合させる場合に、外歯歯車に軸方向に貫通する孔を形成し、その貫通孔に偏心体を嵌合させる。２個の外歯歯車でディスクを挟むためには、ディスクの外周が、外歯歯車の貫通孔よりも径方向の外側に位置することが必要である。外歯歯車の貫通孔の中心は、偏心体の中心に等しい。上記した第１ディスクと第２ディスクを備えていることにより、ディスク（第１ディスクと第２ディスク）の径を、対応する外歯歯車の貫通孔の直径よりも僅かに大きくするだけでよい。 The gear transmission disclosed in the present specification may include a first disk coaxial with one eccentric body and a second disk coaxial with the other eccentric body. In the gear transmission, when the external gear and the eccentric body are engaged, a hole penetrating in the axial direction is formed in the external gear, and the eccentric body is fitted into the through hole. In order to sandwich the disk between the two external gears, it is necessary that the outer periphery of the disk be positioned radially outside the through hole of the external gear. The center of the through hole of the external gear is equal to the center of the eccentric body. By providing the first disk and the second disk described above, the diameters of the disks (first disk and second disk) need only be slightly larger than the diameter of the corresponding through hole of the external gear.
　本明細書が開示する技術は、軸方向における偏心体と外歯歯車との位置ずれが抑制された歯車伝動装置を実現することができる。 The technology disclosed in this specification can realize a gear transmission in which positional deviation between the eccentric body and the external gear in the axial direction is suppressed.
　以下の実施例では、クランクシャフトがキャリアの軸線からオフセットしている形態の歯車伝動装置について説明する。しかしながら、本明細書が開示する技術は、クランクシャフトがキャリアの軸線と同軸の歯車伝動装置にも適用することができる。 In the following embodiment, a gear transmission in which the crankshaft is offset from the carrier axis will be described. However, the technique disclosed in this specification can also be applied to a gear transmission in which the crankshaft is coaxial with the carrier axis.
（第１実施例）
　図１は、歯車伝動装置１００の断面図を示す。なお、図面の明瞭化のため、一部の部品については、断面を現すハッチングを省略している。まず、歯車伝動装置１００の全体的な構造について説明する。歯車伝動装置１００は、外歯歯車２０が内歯歯車３２と噛み合いながら偏心回転する減速装置である。歯車伝動装置１００は、外歯歯車２０の歯数と内歯歯車３２の歯数の差に応じて、キャリア２が回転する。内歯歯車３２は、ケース３０と、ケース３０の内周に配置されている複数の内歯ピン３４で構成されている。 (First embodiment)
FIG. 1 shows a cross-sectional view of the gear transmission 100. For the sake of clarity, some of the parts are omitted from the hatching that shows the cross section. First, the overall structure of the gear transmission 100 will be described. The gear transmission 100 is a reduction device that rotates eccentrically while the external gear 20 meshes with the internal gear 32. In the gear transmission 100, the carrier 2 rotates according to the difference between the number of teeth of the external gear 20 and the number of teeth of the internal gear 32. The internal gear 32 includes a case 30 and a plurality of internal teeth pins 34 arranged on the inner periphery of the case 30.
　歯車伝動装置１００は、ケース３０とキャリア２とクランクシャフト１２と外歯歯車２０を備えている。キャリア２は、第１プレート２ａと第２プレート２ｃを備えている。第１プレート２ａは、柱状部２ｂを備えている。柱状部２ｂは、第１プレート２ａから第２プレート２ｃに向けて延びている。柱状部２ｂと第２プレート２ｃは、ボルト（図示省略）で固定されている。 The gear transmission 100 includes a case 30, a carrier 2, a crankshaft 12, and an external gear 20. The carrier 2 includes a first plate 2a and a second plate 2c. The first plate 2a includes a columnar portion 2b. The columnar portion 2b extends from the first plate 2a toward the second plate 2c. The columnar part 2b and the second plate 2c are fixed with bolts (not shown).
　キャリア２は、一対のアンギュラ玉軸受１６によって、ケース３０に支持されている。軸線２６が、キャリア２の軸線に相当する。軸線２６は、内歯歯車３２（ケース３０）の軸線にも相当する。すなわち、キャリア２は、内歯歯車３２と同軸にケース３０に支持されている。なお、アンギュラ玉軸受１６は、アキシャル方向とラジアル方向の荷重を負担することができる。キャリア２は、アンギュラ玉軸受１６によって、ケース３０に対して回転可能であるとともに、アキシャル方向（軸線２６方向）とラジアル方向への移動が規制されている。 The carrier 2 is supported on the case 30 by a pair of angular ball bearings 16. The axis 26 corresponds to the axis of the carrier 2. The axis line 26 also corresponds to the axis line of the internal gear 32 (case 30). That is, the carrier 2 is supported by the case 30 coaxially with the internal gear 32. The angular ball bearing 16 can bear loads in the axial direction and the radial direction. The carrier 2 can be rotated with respect to the case 30 by the angular ball bearing 16, and movement in the axial direction (direction of the axis 26) and the radial direction is restricted.
　クランクシャフト１２は、２個の偏心体１４（偏心体１４Ｘ，１４Ｙ）とフランジ２２と入力歯車２４を備えている。偏心体１４とフランジ２２は、クランクシャフト１２のシャフト部分と一体に形成されている。なお、図１では、フランジ２２を識別しやすいように、クランクシャフト１２の他の部分とは異なるハッチングをフランジ２２に付している。偏心体１４は、クランクシャフト１２の軸線２５に対して偏心している。フランジ２２は、軸線２５と同軸である。入力歯車２４は、クランクシャフト１２の端部に取り付けられている。フランジ２２は、軸線２５方向の位置が規制されているディスクに相当する。 The crankshaft 12 includes two eccentric bodies 14 ( eccentric bodies 14X and 14Y), a flange 22, and an input gear 24. The eccentric body 14 and the flange 22 are formed integrally with the shaft portion of the crankshaft 12. In FIG. 1, hatching different from other parts of the crankshaft 12 is attached to the flange 22 so that the flange 22 can be easily identified. The eccentric body 14 is eccentric with respect to the axis 25 of the crankshaft 12. The flange 22 is coaxial with the axis 25. The input gear 24 is attached to the end of the crankshaft 12. The flange 22 corresponds to a disc whose position in the direction of the axis 25 is regulated.
　クランクシャフト１２は、軸線２６からオフセットした位置で、軸線２６に平行に延びている。すなわち、クランクシャフト１２の軸線２５は、キャリア２の軸線２６と平行である。クランクシャフト１２は、２個の第１円筒ころ軸受１０（第１円筒ころ軸受１０Ｘ，１０Ｙ）によって、キャリア２に支持されている。第１円筒ころ軸受１０は、キャリア２に形成されているキャリア貫通孔８の壁面とクランクシャフト１２のシャフト部分との間に配置されている。 The crankshaft 12 extends in parallel to the axis 26 at a position offset from the axis 26. That is, the axis 25 of the crankshaft 12 is parallel to the axis 26 of the carrier 2. The crankshaft 12 is supported by the carrier 2 by two first cylindrical roller bearings 10 (first cylindrical roller bearings 10X and 10Y). The first cylindrical roller bearing 10 is disposed between the wall surface of the carrier through hole 8 formed in the carrier 2 and the shaft portion of the crankshaft 12.
　偏心体１４とフランジ２２は、２個の第１円筒ころ軸受１０の間に位置している。入力歯車２４は、２個の第１円筒ころ軸受１０の外側でクランクシャフト１２に固定されている。フランジ２２は、２個の偏心体（偏心体１４Ｘと偏心体１４Ｙ）の間に位置している。偏心体１４Ｘと偏心体１４Ｙは、軸線２５に対して対称に偏心している。なお、第１円筒ころ軸受１０は、ラジアル方向の荷重を負担することができるが、アキシャル方向の荷重を負担することができない。そのため、クランクシャフト１２は、第１円筒ころ軸受１０によって、軸線２６方向への移動規制を受けることなく、キャリア２に対して回転可能である。 The eccentric body 14 and the flange 22 are located between the two first cylindrical roller bearings 10. The input gear 24 is fixed to the crankshaft 12 outside the two first cylindrical roller bearings 10. The flange 22 is located between the two eccentric bodies (the eccentric body 14X and the eccentric body 14Y). The eccentric body 14X and the eccentric body 14Y are eccentrically symmetrical with respect to the axis 25. The first cylindrical roller bearing 10 can bear a load in the radial direction but cannot bear a load in the axial direction. Therefore, the crankshaft 12 can rotate relative to the carrier 2 without being restricted by the first cylindrical roller bearing 10 from moving in the direction of the axis 26.
　２個の外歯歯車２０（外歯歯車２０Ｘ，２０Ｙ）には、夫々貫通孔６が形成されている。偏心体１４が、第２円筒ころ軸受１８（第２円筒ころ軸受１８Ｘ，１８Ｙ）を介して貫通孔６に嵌まっている。外歯歯車２０Ｘと２０Ｙは、軸線２６に対して対称に偏心している。詳細は後述するが、外歯歯車２０は、キャリア２によって、軸線２６方向への移動が規制されている。貫通孔６の直径は、フランジ２２の直径よりも小さい。また、軸線２５方向から見ると、フランジ２２の外周は、貫通孔６の外側に位置する。そのため、クランクシャフト１２に軸線２５方向の力が加わっても、フランジ２２と外歯歯車２０によって、クランクシャフト１２が軸線２５方向に移動することが規制される。すなわち、クランクシャフト１２は、２個の外歯歯車２０Ｘ，２０Ｙとフランジ２２によって、軸線２５方向への移動が規制されている。 Through holes 6 are formed in the two external gears 20 ( external gears 20X and 20Y), respectively. The eccentric body 14 is fitted in the through hole 6 via the second cylindrical roller bearing 18 (second cylindrical roller bearings 18X and 18Y). The external gears 20X and 20Y are eccentrically symmetrical with respect to the axis 26. Although details will be described later, the movement of the external gear 20 in the direction of the axis 26 is regulated by the carrier 2. The diameter of the through hole 6 is smaller than the diameter of the flange 22. Further, when viewed from the direction of the axis 25, the outer periphery of the flange 22 is located outside the through hole 6. Therefore, even when a force in the direction of the axis 25 is applied to the crankshaft 12, the flange 22 and the external gear 20 restrict the movement of the crankshaft 12 in the direction of the axis 25. That is, the movement of the crankshaft 12 in the direction of the axis 25 is restricted by the two external gears 20X and 20Y and the flange 22.
　モータ（図示省略）のトルクが入力歯車２４に伝達されると、クランクシャフト１２が回転する。クランクシャフト１２の回転に伴って、偏心体１４が、軸線２５の周りを偏心回転する。偏心体１４の偏心回転に伴って、外歯歯車２０が、内歯歯車３２と噛み合いながら軸線２６の周りを偏心回転する。外歯歯車２０の歯数と内歯歯車３２の歯数（内歯ピン３４の数）は異なる。そのため、外歯歯車２０が偏心回転すると、外歯歯車２０と内歯歯車３２の歯数差に応じて、キャリア２が、内歯歯車３２（ケース３０）に対して回転する。 When the torque of the motor (not shown) is transmitted to the input gear 24, the crankshaft 12 rotates. As the crankshaft 12 rotates, the eccentric body 14 rotates eccentrically around the axis 25. As the eccentric body 14 rotates eccentrically, the external gear 20 rotates eccentrically around the axis 26 while meshing with the internal gear 32. The number of teeth of the external gear 20 and the number of teeth of the internal gear 32 (number of internal pins 34) are different. Therefore, when the external gear 20 rotates eccentrically, the carrier 2 rotates relative to the internal gear 32 (case 30) according to the difference in the number of teeth between the external gear 20 and the internal gear 32.
　図２を参照し、歯車伝動装置１００の特徴を詳細に説明する。２個の外歯歯車２０Ｘ，２０Ｙが、一対のアンギュラ玉軸受１６のインナーレース１６ａに挟まれている。そのため、外歯歯車２０は、軸線２５方向への移動が規制されている。インナーレース１６ａは、キャリア２に固定されている。そのため、２個の外歯歯車２０Ｘ，２０Ｙは、キャリア２によって軸線２５方向への移動が規制されているといえる。２個の外歯歯車２０Ｘ，２０Ｙは、軸線２５方向の両側からキャリア２に挟まれることによって、軸線２５方向への移動が規制されている。外歯歯車２０Ｘは、肉厚部２０Ｘａと薄肉部２０Ｘｂを有する。外歯歯車２０Ｙは、肉厚部２０Ｙａと薄肉部２０Ｙｂを有する。２個のインナーレース１６ａの間隔は、肉厚部２０Ｘａと肉厚部２０Ｙａの合計の厚みと同じか、僅かに広い。２個のインナーレース１６ａの間隔は、インナーレース１６ａと外歯歯車２０（外歯歯車２０Ｘ，２０Ｙ）の間、及び、外歯歯車２０Ｘと外歯歯車２０Ｙの間の摩擦が過大にならないように調整されている。 The characteristics of the gear transmission 100 will be described in detail with reference to FIG. Two external gears 20 </ b> X and 20 </ b> Y are sandwiched between inner races 16 a of the pair of angular ball bearings 16. Therefore, the movement of the external gear 20 in the direction of the axis 25 is restricted. The inner race 16 a is fixed to the carrier 2. Therefore, it can be said that the movement of the two external gears 20X and 20Y in the direction of the axis 25 is restricted by the carrier 2. The movement of the two external gears 20X and 20Y in the direction of the axis 25 is restricted by being sandwiched by the carrier 2 from both sides in the direction of the axis 25. The external gear 20X has a thick part 20Xa and a thin part 20Xb. The external gear 20Y has a thick part 20Ya and a thin part 20Yb. The interval between the two inner races 16a is the same as or slightly wider than the total thickness of the thick portion 20Xa and the thick portion 20Ya. The distance between the two inner races 16a is such that the friction between the inner race 16a and the external gear 20 ( external gears 20X and 20Y) and between the external gear 20X and the external gear 20Y does not become excessive. It has been adjusted.
　フランジ２２は、薄肉部２０Ｘｂと薄肉部２０Ｙｂに挟まれている。フランジ２２を軸線２５方向から見ると、フランジ２２が、外歯歯車２０の貫通孔６を覆っている。そのため、フランジ２２（クランクシャフト１２）は、外歯歯車２０Ｘ，２０Ｙによって、軸線２５方向への移動が規制される。別言すると、外歯歯車２０が、クランクシャフト１２の軸線２５方向の位置を定める。偏心体１４（クランクシャフト１２）の位置が外歯歯車２０によって直接的に決められるので、偏心体１４と外歯歯車２０の間の位置ずれが抑制される。歯車伝動装置１００は、偏心体１４と外歯歯車２０の間の位置ずれが抑制されているので、クランクシャフト１２から外歯歯車２０へのトルク伝達をスムーズに行うことができる。なお、薄肉部２０Ｘｂと薄肉部２０Ｙｂの間隔は、フランジ２２の厚みと同じか、僅かに広い。薄肉部２０Ｘｂと薄肉部２０Ｙｂの間隔は、フランジ２２と外歯歯車２０の間の摩擦が過大にならないように調整されている。 The flange 22 is sandwiched between the thin portion 20Xb and the thin portion 20Yb. When the flange 22 is viewed from the direction of the axis 25, the flange 22 covers the through hole 6 of the external gear 20. Therefore, the movement of the flange 22 (crankshaft 12) in the direction of the axis 25 is restricted by the external gears 20X and 20Y. In other words, the external gear 20 determines the position of the crankshaft 12 in the direction of the axis 25. Since the position of the eccentric body 14 (crankshaft 12) is directly determined by the external gear 20, the displacement between the eccentric body 14 and the external gear 20 is suppressed. The gear transmission 100 can smoothly transmit torque from the crankshaft 12 to the external gear 20 because the positional deviation between the eccentric body 14 and the external gear 20 is suppressed. The interval between the thin portion 20Xb and the thin portion 20Yb is the same as or slightly wider than the thickness of the flange 22. The interval between the thin portion 20Xb and the thin portion 20Yb is adjusted so that the friction between the flange 22 and the external gear 20 does not become excessive.
　上記したように、クランクシャフト１２は、第１円筒ころ軸受１０によって、キャリア２に支持されている。第１円筒ころ軸受１０は、クランクシャフト１２の軸線２５方向への移動を規制しない。歯車伝動装置１００では、フランジ２２のみが、クランクシャフト１２の軸線２５方向への移動を規制する。クランクシャフト１２の軸線２５方向への移動を一箇所だけで規制するので、軸線２５方向において、圧縮力又は引張力がクランクシャフト１２に加わることはない。なお、クランクシャフトの軸線方向への移動を複数の箇所で規制すると、線方向において、圧縮力又は引張力がクランクシャフトに加わることがある。 As described above, the crankshaft 12 is supported on the carrier 2 by the first cylindrical roller bearing 10. The first cylindrical roller bearing 10 does not restrict movement of the crankshaft 12 in the direction of the axis 25. In the gear transmission 100, only the flange 22 restricts the movement of the crankshaft 12 in the direction of the axis 25. Since the movement of the crankshaft 12 in the direction of the axis 25 is restricted at only one place, no compression force or tensile force is applied to the crankshaft 12 in the direction of the axis 25. When the movement of the crankshaft in the axial direction is restricted at a plurality of locations, a compressive force or a tensile force may be applied to the crankshaft in the linear direction.
　本明細書が開示する技術とは異なり、クランクシャフトの軸線方向への移動を複数の箇所で規制する形態を説明する。一例として、キャリアとクランクシャフトの間にスラストワッシャを配置してクランクシャフトの軸線方向への移動を規制し、さらに、２個の外歯歯車でクランクシャフトに固定したフランジを挟む形態が挙げられる。このような形態の場合、軸線方向において、クランクシャフトがキャリアに対して正しい位置からずれた位置に取り付けられた場合、フランジから外歯歯車に強い力が加わる。フランジと外歯歯車の間に大きな摩擦が生じ、外歯歯車がスムーズに回転しない。あるいは、外歯歯車からフランジに強い力が加わり、クランクシャフトがスムーズに回転しない。また、フランジとスラストワッシャの間で、圧縮力又は引張力がクランクシャフトに加わる。 Unlike the technique disclosed in this specification, a mode of restricting movement of the crankshaft in the axial direction at a plurality of locations will be described. As an example, there is a mode in which a thrust washer is disposed between the carrier and the crankshaft to restrict movement of the crankshaft in the axial direction, and a flange fixed to the crankshaft by two external gears is sandwiched. In the case of such a form, when the crankshaft is attached to a position shifted from the correct position with respect to the carrier in the axial direction, a strong force is applied from the flange to the external gear. A large friction is generated between the flange and the external gear, and the external gear does not rotate smoothly. Alternatively, a strong force is applied from the external gear to the flange, and the crankshaft does not rotate smoothly. Further, a compressive force or a tensile force is applied to the crankshaft between the flange and the thrust washer.
　上記の不具合を避けるために、例えば入力歯車を２個の偏心体の間でクランクシャフトに固定する形態の歯車伝動装置の場合、入力歯車が外歯歯車に接触しないように、２個の外歯歯車の隙間を充分に広げることが必要である。そのため、入力歯車が２個の偏心体の間でクランクシャフトに固定されている形態の歯車伝動装置の場合、その入力歯車は、本明細書に開示するディスクとして機能しない。 In order to avoid the above problems, for example, in the case of a gear transmission in which the input gear is fixed to the crankshaft between two eccentric bodies, two external teeth are used so that the input gear does not contact the external gear. It is necessary to sufficiently widen the gear gap. Therefore, in the case of a gear transmission in which the input gear is fixed to the crankshaft between the two eccentric bodies, the input gear does not function as the disc disclosed in this specification.
　歯車伝動装置１００の他の特徴を説明する。クランクシャフト１２の両端に止め輪４０（止め輪４０Ｘ，４０Ｙ）が固定されている。第１円筒ころ軸受１０は、止め輪４０と偏心体１４の間に位置している。第１円筒ころ軸受１０は、クランクシャフト１２に対して軸線２５方向への移動が規制されている。より具体的には、第１円筒ころ軸受１０の保持器４３（保持器４３Ｘ，４３Ｙ）の両端にワッシャ４２（ワッシャ４２Ｘ，４２Ｙ）とワッシャ４４（ワッシャ４４Ｘ，４４Ｙ）が設けられている。ワッシャ４２と保持器４３とワッシャ４４が、止め輪４０と偏心体１４で挟まれている。 Other characteristics of the gear transmission 100 will be described. Retaining rings 40 (retaining rings 40X and 40Y) are fixed to both ends of the crankshaft 12. The first cylindrical roller bearing 10 is located between the retaining ring 40 and the eccentric body 14. The first cylindrical roller bearing 10 is restricted from moving in the direction of the axis 25 with respect to the crankshaft 12. More specifically, washers 42 (washers 42X and 42Y) and washers 44 ( washers 44X and 44Y) are provided at both ends of the retainer 43 ( retainers 43X and 43Y) of the first cylindrical roller bearing 10. A washer 42, a retainer 43, and a washer 44 are sandwiched between the retaining ring 40 and the eccentric body 14.
　第２円筒ころ軸受１８は、フランジ２２とワッシャ４４の間に位置している。第２円筒ころ軸受１８は、クランクシャフト１２に対して軸線２５方向への移動が規制されている。より具体的には、第２円筒ころ軸受１８の保持器（保持器４５Ｘ，４５Ｙ）が、フランジ２２とワッシャ４４で挟まれている。ワッシャ４４は、止め輪４０及び偏心体１４によって軸線２５方向への移動が規制されているといえる。すなわち、第２円筒ころ軸受１８は、フランジ２２と止め輪４０によって、クランクシャフト１２に対して軸線２５方向への移動が規制されている。 The second cylindrical roller bearing 18 is located between the flange 22 and the washer 44. The second cylindrical roller bearing 18 is restricted from moving in the direction of the axis 25 with respect to the crankshaft 12. More specifically, the cage (the cages 45X and 45Y) of the second cylindrical roller bearing 18 is sandwiched between the flange 22 and the washer 44. It can be said that the washer 44 is restricted from moving in the direction of the axis 25 by the retaining ring 40 and the eccentric body 14. That is, the movement of the second cylindrical roller bearing 18 in the direction of the axis 25 with respect to the crankshaft 12 is restricted by the flange 22 and the retaining ring 40.
　一対のアンギュラ玉軸受１６は、インナーレース１６ａと玉１６ｂとアウターレース１６ｃを備える。上記したように、２個のインナーレース１６ａは、外歯歯車２０Ｘ，２０Ｙの軸線２５方向への移動を規制している。２個のアウターレース１６ｃが、内歯ピン３４の両端の一部分を覆っている。軸線２５方向から見ると、アウターレース１６ｃが、内歯ピン３４とオーバーラップしている。内歯ピン３４は、２個のアウターレース１６ｃによって、クランクシャフト１２に対して軸線２５方向への移動が規制されている。 The pair of angular ball bearings 16 includes an inner race 16a, a ball 16b, and an outer race 16c. As described above, the two inner races 16a restrict the movement of the external gears 20X and 20Y in the direction of the axis 25. The two outer races 16 c cover a part of both ends of the internal tooth pin 34. When viewed from the direction of the axis 25, the outer race 16 c overlaps the internal tooth pin 34. The movement of the internal tooth pin 34 in the direction of the axis 25 with respect to the crankshaft 12 is restricted by the two outer races 16c.
　図１に示すように、オイルシール３６が、ケース３０と第１プレート２ａの間に配置されている。オイルシール３６は、歯車伝動装置１００内に封止された潤滑剤が歯車伝動装置１００外に漏れることを防止する。歯車伝動装置１００の中央に、軸線２６方向に沿った中心貫通孔４が形成されている。中心貫通孔４を利用し、配線，配管等を、歯車伝動装置１００内を通過させることができる。 As shown in FIG. 1, an oil seal 36 is disposed between the case 30 and the first plate 2a. The oil seal 36 prevents the lubricant sealed in the gear transmission 100 from leaking out of the gear transmission 100. A central through hole 4 is formed in the center of the gear transmission 100 along the direction of the axis 26. The central through hole 4 can be used to allow wiring, piping, etc. to pass through the gear transmission 100.
　本明細書が開示する技術の特徴は、クランクシャフトに対して軸方向への移動が規制されているディスクが、２個の外歯歯車に挟まれていることである。ディスクの形態は、上記したフランジ２２に限定されない。以下、第１実施例の変形例の幾つかを説明する。 The feature of the technology disclosed in the present specification is that a disk whose axial movement is restricted with respect to the crankshaft is sandwiched between two external gears. The form of the disk is not limited to the flange 22 described above. Hereinafter, some modified examples of the first embodiment will be described.
　図３は、２個の外歯歯車２０Ｘ，２０Ｙの間に複数のディスク（第１ワッシャ１２２ａ，第２ワッシャ１２２ｃ及びフランジ１２２ｂ）が挟まれている形態を示す。以下の説明では、複数のディスク１２２ａ，１２２ｂ及び１２２ｃを、ディスクセット１２２と称する。ディスクセット１２２以外の部品については、図２と同じ符号を付すことにより説明を省略する。第１ワッシャ１２２ａと第２ワッシャ１２２ｃは、クランクシャフト１２に取り付けられている。フランジ１２２ｂは、クランクシャフト１２と一体に形成されている。なお、図３においても、フランジ１２２ｂを識別しやすいように、クランクシャフト１２の他の部分と異なるハッチングをフランジ１２２ｂに付している。 FIG. 3 shows a form in which a plurality of discs (first washer 122a, second washer 122c and flange 122b) are sandwiched between two external gears 20X and 20Y. In the following description, the plurality of disks 122a, 122b, and 122c are referred to as a disk set 122. Components other than the disk set 122 are denoted by the same reference numerals as those in FIG. The first washer 122a and the second washer 122c are attached to the crankshaft 12. The flange 122b is formed integrally with the crankshaft 12. Also in FIG. 3, the flange 122b is hatched differently from the other parts of the crankshaft 12 so that the flange 122b can be easily identified.
　第１ワッシャ１２２ａは、偏心体１４Ｘと同軸である。すなわち、第１ワッシャ１２２ａの中心は、外歯歯車２０Ｘの貫通孔６の中心に等しい。同様に、第２ワッシャ１２２ｃは、偏心体１４Ｙと同軸である。第２ワッシャ１２２ｃの中心は、外歯歯車２０Ｙの貫通孔６の中心に等しい。フランジ１２２ｂは、クランクシャフト１２の軸線２５と同軸である。第１ワッシャ１２２ａは第１ディスクに相当し、第２ワッシャ１２２ｃは第２ディスクに相当する。 The first washer 122a is coaxial with the eccentric body 14X. That is, the center of the first washer 122a is equal to the center of the through hole 6 of the external gear 20X. Similarly, the second washer 122c is coaxial with the eccentric body 14Y. The center of the second washer 122c is equal to the center of the through hole 6 of the external gear 20Y. The flange 122b is coaxial with the axis 25 of the crankshaft 12. The first washer 122a corresponds to the first disk, and the second washer 122c corresponds to the second disk.
　ディスクセット１２２のような形態は、フランジ１２２ｂの径を大きくすることが困難な場合に有用である。また、第１ワッシャ１２２ａの中心が貫通孔６の中心に等しいので、第１ワッシャ１２２ａの径を貫通孔６の径よりも僅かに大きくするだけで、第１ワッシャ１２２ａの軸線２５方向への移動が規制される。同様に、第２ワッシャ１２２ｃの中心が貫通孔６の中心に等しいので、第２ワッシャ１２２ｃの径を貫通孔６の径よりも僅かに大きくするだけで、第２ワッシャ１２２ｃの軸線２５方向への移動が規制される。すなわち、第１ワッシャ１２２ａ及び第２ワッシャ１２２ｃの径を、図２に示すフランジ２２の径よりも小さくすることができる。 The form such as the disk set 122 is useful when it is difficult to increase the diameter of the flange 122b. Further, since the center of the first washer 122a is equal to the center of the through hole 6, the first washer 122a can be moved in the direction of the axis 25 only by making the diameter of the first washer 122a slightly larger than the diameter of the through hole 6. Is regulated. Similarly, since the center of the second washer 122c is equal to the center of the through hole 6, the diameter of the second washer 122c can be made slightly larger than the diameter of the through hole 6 in the direction of the axis 25 of the second washer 122c. Movement is restricted. That is, the diameters of the first washer 122a and the second washer 122c can be made smaller than the diameter of the flange 22 shown in FIG.
　なお、第１ワッシャ１２２ａは、フランジ１２２ｂと止め輪４０Ｘによって、軸線２５方向への移動が規制される。より正確に表現すると、第１ワッシャ１２２ａは、フランジ１２２ｂと第２円筒ころ軸受１８Ｘによって、軸線２５方向への移動が規制されている。同様に、第２ワッシャ１２２ｃは、フランジ１２２ｂと止め輪４０Ｙによって、軸線２５方向への移動が規制されている。ディスクセット１２２は、軸線２５方向の位置が規制されているディスクに相当する。 The first washer 122a is restricted from moving in the direction of the axis 25 by the flange 122b and the retaining ring 40X. More precisely, the movement of the first washer 122a in the direction of the axis 25 is restricted by the flange 122b and the second cylindrical roller bearing 18X. Similarly, the movement of the second washer 122c in the direction of the axis 25 is restricted by the flange 122b and the retaining ring 40Y. The disk set 122 corresponds to a disk whose position in the direction of the axis 25 is restricted.
　図４に示すように、ディスクセット２２２が２個の外歯歯車２０Ｘ，２０Ｙに挟まれていてもよい。ディスクセット２２２は、第１ワッシャ２２２ａと第２ワッシャ２２２ｂを備えている。第１ワッシャ２２２ａは、偏心体１４Ｙと止め輪４０Ｘによって、軸線２５方向への移動が規制されている。第２ワッシャ２２２ｂは、偏心体１４Ｘと止め輪４０Ｙによって、軸線２５方向への移動が規制されている。ディスクセット２２２は、軸線２５方向の位置が規制されているディスクに相当する。なお、ディスクセット２２２は、図３で説明したディスクセット１２２のフランジ１２２ｂを取り除き、第１ワッシャ１２２ａの厚みと第２ワッシャ１２２ｃの厚みを増大させた形態に相当する。 As shown in FIG. 4, the disk set 222 may be sandwiched between two external gears 20X and 20Y. The disk set 222 includes a first washer 222a and a second washer 222b. The first washer 222a is restricted from moving in the direction of the axis 25 by the eccentric body 14Y and the retaining ring 40X. The movement of the second washer 222b in the direction of the axis 25 is restricted by the eccentric body 14X and the retaining ring 40Y. The disk set 222 corresponds to a disk whose position in the direction of the axis 25 is restricted. The disk set 222 corresponds to a form in which the flange 122b of the disk set 122 described in FIG. 3 is removed and the thickness of the first washer 122a and the thickness of the second washer 122c are increased.
（第２実施例）
　図５を参照し、歯車伝動装置２００について説明する。歯車伝動装置２００は、歯車伝動装置１００の変形例である。歯車伝動装置１００と同じ部品には、同一又は下二桁が同じ符号を付すことにより説明を省略することがある。 (Second embodiment)
The gear transmission 200 will be described with reference to FIG. The gear transmission 200 is a modification of the gear transmission 100. The same parts as those of the gear transmission 100 may be denoted by the same or lower two digits and the description thereof may be omitted.
　歯車伝動装置２００は、外歯歯車２０Ｘ，２０Ｙの軸線２６方向（軸線２５方向）への移動を規制する構造が歯車伝動装置１００と異なる。歯車伝動装置２００では、円筒状の突起５０が、キャリア２の端部に形成されている。突起５０は、第１プレート２ａと第２プレート２ｃの夫々に形成されている。突起５０は、第１プレート２ａと第２プレート２ｃから、外歯歯車２０に向けて軸線２６方向に延びている。突起５０が、外歯歯車２０の軸線２６方向への移動を規制する。 The gear transmission 200 is different from the gear transmission 100 in the structure that restricts the movement of the external gears 20X and 20Y in the direction of the axis 26 (direction of the axis 25). In the gear transmission 200, a cylindrical protrusion 50 is formed at the end of the carrier 2. The protrusion 50 is formed on each of the first plate 2a and the second plate 2c. The protrusion 50 extends in the direction of the axis 26 from the first plate 2 a and the second plate 2 c toward the external gear 20. The protrusion 50 restricts the movement of the external gear 20 in the direction of the axis 26.
　歯車伝動装置２００では、外歯歯車２０は、キャリア２によって軸線２６方向への移動が規制されている。なお、歯車伝動装置２００では、一対のアンギュラ玉軸受２１６のインナーレース２１６ａは、外歯歯車２０Ｘ，２０Ｙの軸線２６方向への移動を規制する機能を有していない。なお、フランジ２２に代えて、ディスクセット１２２（図３を参照）又はディスクセット２２２（図４を参照）を採用することもできる。 In the gear transmission 200, the movement of the external gear 20 in the direction of the axis 26 is restricted by the carrier 2. In the gear transmission 200, the inner race 216a of the pair of angular ball bearings 216 does not have a function of restricting the movement of the external gears 20X and 20Y in the direction of the axis 26. Instead of the flange 22, a disk set 122 (see FIG. 3) or a disk set 222 (see FIG. 4) may be employed.
（第３実施例）
　図６を参照し、歯車伝動装置３００について説明する。歯車伝動装置３００は、歯車伝動装置１００の変形例である。歯車伝動装置１００と同じ部品には、同一又は下二桁が同じ符号を付すことにより説明を省略することがある。 (Third embodiment)
The gear transmission 300 will be described with reference to FIG. The gear transmission 300 is a modification of the gear transmission 100. The same parts as those of the gear transmission 100 may be denoted by the same or lower two digits and the description thereof may be omitted.
　歯車伝動装置３００では、アンギュラ玉軸受３１６のアウターレース３１６ｃが、外歯歯車２０の軸線２６方向への移動を規制する。アウターレース３１６ｃは、外歯歯車２０の軸線２６方向への移動を規制するとともに、内歯ピン３４の軸線２６方向への移動を規制している。アウターレース３１６ｃは、ケース３０に固定されている。そのため、歯車伝動装置３００の外歯歯車２０は、ケース３０によって軸線２６方向への移動が規制されている。なお、歯車伝動装置３００では、キャリア２の溝部３１６ａが、アンギュラ玉軸受３１６のインナーレースとして機能する。フランジ２２に代えて、ディスクセット１２２（図３を参照）又はディスクセット２２２（図４を参照）を採用することもできる。 In the gear transmission 300, the outer race 316 c of the angular ball bearing 316 regulates the movement of the external gear 20 in the direction of the axis 26. The outer race 316c restricts movement of the external gear 20 in the direction of the axis 26 and restricts movement of the internal tooth pin 34 in the direction of the axis 26. The outer race 316 c is fixed to the case 30. Therefore, the movement of the external gear 20 of the gear transmission 300 in the direction of the axis 26 is restricted by the case 30. In the gear transmission 300, the groove 316a of the carrier 2 functions as an inner race of the angular ball bearing 316. Instead of the flange 22, a disk set 122 (see FIG. 3) or a disk set 222 (see FIG. 4) may be employed.
　上記実施例の特徴は、次のように表現することができる。２個の外歯歯車が、両側からキャリア又はケースに挟まれることにより、軸線方向への移動が規制されている。クランクシャフトに対する軸線方向への移動が規制されているディスクが、２個の外歯歯車に挟まれている。ディスクを２個の外歯歯車で挟むことにより、クランクシャフトの軸線方向の位置が、外歯歯車によって決められる。その結果、クランクシャフトに固定されている偏心体と、外歯歯車の位置ずれを抑制することができる。 The characteristics of the above embodiment can be expressed as follows. The movement in the axial direction is regulated by the two external gears being sandwiched between the carrier or the case from both sides. A disc in which movement in the axial direction relative to the crankshaft is restricted is sandwiched between two external gears. By sandwiching the disk between two external gears, the position of the crankshaft in the axial direction is determined by the external gears. As a result, it is possible to suppress the positional deviation between the eccentric body fixed to the crankshaft and the external gear.
　上記実施例では、一対のアンギュラ玉軸受を用いてキャリアをケースに支持させる例について説明した。キャリアとケースの間に配置する軸受は、アキシャル方向とラジアル方向の荷重を負担するタイプであればよい。例えば、アンギュラ玉軸受に代えて、円錐ころ軸受やアンギュラころ軸受を用いてもよい。 In the above embodiment, an example in which a carrier is supported on a case using a pair of angular ball bearings has been described. The bearing disposed between the carrier and the case may be of a type that bears loads in the axial direction and the radial direction. For example, instead of the angular ball bearing, a tapered roller bearing or an angular roller bearing may be used.
　外歯歯車の数は、３個以上でもよい。この場合でも、ディスクを２個の外歯歯車で挟むことにより、クランクシャフトに固定されている偏心体と、外歯歯車の位置ずれを抑制することができる。 The number of external gears may be three or more. Even in this case, it is possible to suppress the positional deviation between the eccentric body fixed to the crankshaft and the external gear by sandwiching the disk between the two external gears.
　以上、本発明の具体例を詳細に説明したが、これらは例示にすぎず、特許請求の範囲を限定するものではない。特許請求の範囲に記載の技術には、以上に例示した具体例を様々に変形、変更したものが含まれる。本明細書または図面に説明した技術要素は、単独であるいは各種の組み合わせによって技術的有用性を発揮するものであり、出願時の請求項に記載の組み合わせに限定されるものではない。また、本明細書または図面に例示した技術は複数の目的を同時に達成するものであり、そのうちの一つの目的を達成すること自体で技術的有用性を持つものである。 Specific examples of the present invention have been described in detail above, but these are merely examples and do not limit the scope of the claims. The technology described in the claims includes various modifications and changes of the specific examples illustrated above. The technical elements described in this specification or the drawings exhibit technical usefulness alone or in various combinations, and are not limited to the combinations described in the claims at the time of filing. In addition, the technology exemplified in this specification or the drawings achieves a plurality of objects at the same time, and has technical utility by achieving one of the objects.

Claims (7)

  1. 　内周に内歯歯車が形成されているケースと、
    　内歯歯車と同軸にケースに支持されているキャリアと、
    　キャリアに支持されており、２個の偏心体を有するクランクシャフトと、
    　２個の偏心体の夫々に係合しており、内歯歯車と噛み合いながら偏心回転する２個の外歯歯車と、を備えており、
    　クランクシャフトに、軸方向の位置が規制されているディスクが設けられており、
    　前記ディスクが２個の外歯歯車に挟まれており、クランクシャフトの軸方向移動が規制されることを特徴とする歯車伝動装置。     A case in which an internal gear is formed on the inner periphery;
    A carrier supported by the case coaxially with the internal gear;
    A crankshaft supported by a carrier and having two eccentric bodies;
    Two external gears that engage with each of the two eccentric bodies and rotate eccentrically while meshing with the internal gears,
    The crankshaft is provided with a disc whose axial position is regulated,
    A gear transmission characterized in that the disc is sandwiched between two external gears and the axial movement of the crankshaft is restricted.
  2. 　２個の偏心体がクランクシャフトの軸線に対して対称に偏心していることを特徴とする請求項１に記載の歯車伝動装置。 The gear transmission according to claim 1, wherein the two eccentric bodies are eccentrically symmetrical with respect to the axis of the crankshaft.
  3. 　一方の偏心体と同軸の第１ディスクと、他方の偏心体と同軸の第２ディスクを備えていることを特徴とする請求項１又は２に記載の歯車伝動装置。 The gear transmission according to claim 1 or 2, comprising a first disk coaxial with one eccentric body and a second disk coaxial with the other eccentric body.
  4. 　前記ディスクは、クランクシャフトと一体に形成されたフランジであることを特徴とする請求項１又は２に記載の歯車伝動装置。 The gear transmission according to claim 1 or 2, wherein the disc is a flange formed integrally with a crankshaft.
  5. 　キャリアとケースの間に軸受が設けられており、
    　前記軸受のインナーレースが、外歯歯車の軸方向への移動を規制していることを特徴とする請求項１から４のいずれか一項に記載の歯車伝動装置。     A bearing is provided between the carrier and the case,
    The gear transmission according to any one of claims 1 to 4, wherein an inner race of the bearing restricts movement of the external gear in the axial direction.
  6. 　キャリアとケースの間に軸受が設けられており、
    　前記軸受のアウターレースが、外歯歯車の軸方向への移動を規制していることを特徴とする請求項１から４のいずれか一項に記載の歯車伝動装置。     A bearing is provided between the carrier and the case,
    The gear transmission according to any one of claims 1 to 4, wherein an outer race of the bearing regulates movement of the external gear in the axial direction.
  7. 　キャリアに外歯歯車に向けて延びる突起が形成されており、
    　前記突起が、外歯歯車の軸方向への移動を規制していることを特徴とする請求項１から４のいずれか一項に記載の歯車伝動装置。
          A protrusion extending toward the external gear is formed on the carrier,
    5. The gear transmission according to claim 1, wherein the protrusion restricts movement of the external gear in the axial direction. 6.
PCT/JP2012/074894 2011-10-04 2012-09-27 Gear transmission device WO2013051457A1 (en)

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