WO2014057628A1 - Dispositif d'engrenage oscillant excentriquement - Google Patents

Dispositif d'engrenage oscillant excentriquement Download PDF

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Publication number
WO2014057628A1
WO2014057628A1 PCT/JP2013/005855 JP2013005855W WO2014057628A1 WO 2014057628 A1 WO2014057628 A1 WO 2014057628A1 JP 2013005855 W JP2013005855 W JP 2013005855W WO 2014057628 A1 WO2014057628 A1 WO 2014057628A1
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WO
WIPO (PCT)
Prior art keywords
eccentric
outer cylinder
carrier
oscillating gear
bolt
Prior art date
Application number
PCT/JP2013/005855
Other languages
English (en)
Japanese (ja)
Inventor
宏猷 王
義昭 牧添
正隆 佐藤
Original Assignee
ナブテスコ株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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
Priority to CN201380052920.1A priority Critical patent/CN104736888A/zh
Priority to DE112013004942.2T priority patent/DE112013004942T5/de
Priority to KR1020157008346A priority patent/KR20150068372A/ko
Publication of WO2014057628A1 publication Critical patent/WO2014057628A1/fr

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Classifications

    • 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 relates to an eccentric oscillating gear device.
  • the eccentric oscillating gear device includes an outer cylinder fixed to one counterpart member, and a carrier disposed in the outer cylinder and fixed to the other counterpart member.
  • the carrier has a substrate portion in which a shaft portion is integrally formed and an end plate portion.
  • a swinging gear attached to the eccentric part of the crankshaft is sandwiched between the substrate part and the end plate part, and in this state, the shaft part and the end plate part are fastened to each other by bolts. Then, when the swinging gear swings and rotates while meshing with the inner teeth of the outer cylinder, the carrier and the outer cylinder rotate relatively.
  • the substrate part, shaft part, and end plate part constituting the carrier are generally made of an iron-based material, and the same applies to bolts. Since there is a processing error in the screw thread formed in the fastening hole of the shaft part and the screw thread of the bolt, not all parts of the screw are engaged with each other when the bolt is fastened. That is, there is a case where only a part of the threads is engaged because the pitch of the threads is slightly varied. In this case, there is a problem that the fastening with the bolt is loosened when the carrier receives an impact.
  • An object of the present invention is to prevent the bolts provided on the carrier from being loosened.
  • An eccentric oscillating gear device is a gear device that transmits a driving force by converting a rotational speed at a predetermined rotational speed ratio between a first member and a second member.
  • the eccentric oscillating gear device is attachable to one of an eccentric part, an oscillating gear having an insertion hole into which the eccentric part is inserted and having a tooth part, and the first member and the second member.
  • an outer cylinder having an inner tooth that meshes with the tooth portion of the rocking gear, and a carrier configured to be attachable to the other of the first member and the second member.
  • the carrier includes a base portion in which a fastening hole is formed, an end plate portion in which an insertion hole is formed, and a bolt that is inserted into the insertion hole and fastened to the fastening hole.
  • the bolt is made of an iron-based material.
  • the said base is comprised with the material whose longitudinal elastic modulus is lower than the longitudinal elastic modulus of an iron-type material.
  • FIG. 2 is a cross-sectional view taken along line II-II in FIG.
  • An eccentric oscillating gear device (hereinafter referred to as a gear device) 1 according to the present embodiment is applied as a speed reducer to, for example, a revolving part of a revolving trunk or arm joint of a robot, a revolving part of various machine tools, or the like. is there.
  • the gear device 1 rotates the crankshaft 10 by rotating the input shaft 8, and swings and rotates the swing gears 14 and 16 in conjunction with the eccentric portions 10a and 10b of the crankshaft 10.
  • an output rotation decelerated from the input rotation is obtained.
  • relative rotation can be caused between the base of the robot (one counterpart member) and the swing drum (the other counterpart member).
  • a base is illustrated as a 1st member
  • a turning body is illustrated as a 2nd member.
  • the gear device 1 includes an outer cylinder 2, a carrier 4, an input shaft 8, a plurality of (for example, three) crankshafts 10, a first swing gear 14, and a second
  • the oscillating gear 16 and a plurality of (for example, three) transmission gears 20 are provided.
  • the outer cylinder 2 constitutes the outer surface of the gear device 1 and has a substantially cylindrical shape.
  • a large number of pin grooves 2 b are formed on the inner peripheral surface of the outer cylinder 2.
  • Each pin groove 2b is disposed so as to extend in the axial direction of the outer cylinder 2, and has a semicircular cross-sectional shape in a cross section orthogonal to the axial direction.
  • These pin grooves 2 b are arranged on the inner peripheral surface of the outer cylinder 2 at equal intervals in the circumferential direction.
  • the outer cylinder 2 has a large number of internal tooth pins 3.
  • Each internal tooth pin 3 is attached to a pin groove 2b.
  • each internal tooth pin 3 is fitted in the corresponding pin groove 2 b and is arranged in a posture extending in the axial direction of the outer cylinder 2.
  • the many internal tooth pins 3 are arranged at equal intervals along the circumferential direction of the outer cylinder 2.
  • the first external teeth 14 a of the first oscillating gear 14 and the second external teeth 16 a of the second oscillating gear 16 are engaged with these internal tooth pins 3.
  • the outer cylinder 2 is provided with a flange portion, and the flange portion is formed with an insertion hole 2a for inserting a fastener (bolt) for fixing to the base of the robot, for example.
  • a fastener bolt
  • the carrier 4 is accommodated in the outer cylinder 2 in a state of being arranged coaxially with the outer cylinder 2.
  • the carrier 4 rotates relative to the outer cylinder 2 around the same axis.
  • the carrier 4 is arranged on the radially inner side of the outer cylinder 2, and in this state, the carrier 4 can be rotated relative to the outer cylinder 2 by a pair of main bearings 6 provided to be separated from each other in the axial direction. It is supported by.
  • the carrier 4 includes a base portion 5 having a substrate portion 4a and a plurality of (for example, three) shaft portions 4c, and an end plate portion 7.
  • the substrate portion 4a is disposed in the outer cylinder 2 in the vicinity of one end portion in the axial direction.
  • a circular through hole 4d is provided in the central portion in the radial direction of the substrate portion 4a.
  • a plurality of (for example, three) crankshaft mounting holes 4e (hereinafter simply referred to as mounting holes 4e) are provided at equal intervals in the circumferential direction.
  • a fastening hole 4g for fastening an unillustrated fastener (bolt) for fixing the carrier 4 to, for example, a rotating drum of the robot is formed in the substrate portion 4a.
  • the end plate portion 7 is provided to be separated from the substrate portion 4a in the axial direction, and is disposed in the outer cylinder 2 in the vicinity of the other end portion in the axial direction.
  • a through hole 7 a is provided at the radial center of the end plate portion 7.
  • a plurality of (for example, three) crankshaft mounting holes 7b (hereinafter simply referred to as mounting holes 7b) are provided at positions corresponding to the plurality of mounting holes 4e of the substrate portion 4a.
  • mounting holes 7b are provided in the outer cylinder 2, a closed space surrounded by both inner surfaces of the end plate part 7 and the substrate part 4 a facing each other and the inner peripheral surface of the outer cylinder 2 is formed.
  • the plurality of shaft portions 4c are provided integrally with the substrate portion 4a, and linearly extend from one main surface (inner surface) of the substrate portion 4a to the end plate portion 7 side.
  • the plurality of shaft portions 4c are arranged at equal intervals in the circumferential direction (see FIG. 2).
  • Each shaft portion 4c is fastened to the end plate portion 7 by bolts 9 (see FIG. 1). That is, a bolt insertion hole 7c is formed in the end plate portion 7, and a fastening hole 4f is formed in the shaft portion 4c (base portion 4) so as to extend in the axial direction from the distal end surface.
  • a bolt 9 is inserted into the bolt insertion hole 7 c of the end plate portion 7 from the side opposite to the base portion 4. The bolt 9 is screwed into the fastening hole 4f of the shaft portion 4c.
  • the input shaft 8 functions as an input unit for inputting a driving force of a driving motor (not shown).
  • the input shaft 8 is inserted into the through hole 7a of the end plate portion 7 and the through hole 4d of the substrate portion 4a.
  • the input shaft 8 is arranged such that its axis coincides with the axes of the outer cylinder 2 and the carrier 4 and rotates around the axis.
  • An input gear 8 a is provided on the outer peripheral surface of the distal end portion of the input shaft 8.
  • the plurality of crankshafts 10 are arranged at equal intervals around the input shaft 8 in the outer cylinder 2 (see FIG. 2).
  • Each crankshaft 10 is supported by a pair of crank bearings 12a and 12b so as to be rotatable about the axis with respect to the carrier 4 (see FIG. 1).
  • a first crank bearing 12a is attached to a portion on the inside in the axial direction by a predetermined length from one axial end of each crankshaft 10, and the first crank bearing 12a is attached to the mounting hole 4e of the base plate portion 4a. It is attached to.
  • crankshaft 10 is rotatably supported by the board
  • Each crankshaft 10 has a shaft body 10c and eccentric parts 10a and 10b formed integrally with the shaft body 10c.
  • the 1st eccentric part 10a and the 2nd eccentric part 10b are arrange
  • Each of the first eccentric portion 10a and the second eccentric portion 10b has a columnar shape, and both of the first eccentric portion 10a and the second eccentric portion 10b protrude radially outward from the shaft body 10c in a state of being eccentric with respect to the shaft center of the shaft body 10c.
  • the first eccentric portion 10a and the second eccentric portion 10b are each eccentric from the shaft center by a predetermined eccentric amount, and are disposed so as to have a phase difference of a predetermined angle.
  • a fitted portion 10d to which the transmission gear 20 is attached is provided at one end portion of the crankshaft 10, that is, a portion outside the axial direction of the portion attached in the attachment hole 4e of the substrate portion 4a.
  • the first oscillating gear 14 is disposed in the closed space in the outer cylinder 2 and is attached to the first eccentric portion 10a of each crankshaft 10 via a first roller bearing 18a.
  • first roller bearing 18a When each crankshaft 10 rotates and the first eccentric portion 10a rotates eccentrically, the first swing gear 14 swings and rotates while meshing with the internal tooth pin 3 in conjunction with the eccentric rotation.
  • the first oscillating gear 14 has a size slightly smaller than the inner diameter of the outer cylinder 2.
  • the first swing gear 14 includes a first external tooth 14a, a central through hole 14b, a plurality (for example, three) of first eccentric portion insertion holes 14c, and a plurality (for example, three) of shaft portion insertion holes 14d. And have.
  • the first external teeth 14 a have a wave shape that is smoothly continuous over the entire circumferential direction of the oscillating gear 14.
  • the central through hole 14b is provided in the central portion in the radial direction of the first oscillating gear 14.
  • the input shaft 8 is inserted into the central through hole 14b with play.
  • the plurality of first eccentric portion insertion holes 14 c are provided at equal intervals in the circumferential direction around the central through hole 14 b in the first swing gear 14.
  • the first eccentric portions 10a of the respective crankshafts 10 are inserted into the first eccentric portion insertion holes 14c with the first roller bearings 18a interposed therebetween.
  • the plurality of shaft portion insertion holes 14d are provided at equal intervals in the circumferential direction around the central through hole 14b in the first swing gear 14. Each shaft portion insertion hole 14d is disposed at a position between adjacent first eccentric portion insertion holes 14c in the circumferential direction. The corresponding shaft portion 4c is inserted into each shaft portion insertion hole 14d with play.
  • the second oscillating gear 16 is disposed in the closed space in the outer cylinder 2 and is attached to the second eccentric portion 10b of each crankshaft 10 via a second roller bearing 18b.
  • the first oscillating gear 14 and the second oscillating gear 16 are provided side by side in the axial direction corresponding to the arrangement of the first eccentric portion 10a and the second eccentric portion 10b.
  • the second swinging gear 16 swings and rotates while meshing with the internal tooth pin 3 in conjunction with the eccentric rotation.
  • the second oscillating gear 16 has a size slightly smaller than the inner diameter of the outer cylinder 2 and has the same configuration as the first oscillating gear 14. That is, the second oscillating gear 16 includes a second external tooth 16a, a central through hole 16b, a plurality of (for example, three) second eccentric portion insertion holes 16c, and a plurality of (for example, three) shaft portion insertion holes 16d. Have. These have the same structure as the first external teeth 14a, the central through hole 14b, the plurality of first eccentric portion insertion holes 14c, and the plurality of shaft portion insertion holes 14d of the first swing gear 14. The second eccentric portion 10b of the crankshaft 10 is inserted into each second eccentric portion insertion hole 16c with the second roller bearing 18b interposed therebetween.
  • Each transmission gear 20 transmits the rotation of the input gear 8a to the corresponding crankshaft 10.
  • Each transmission gear 20 is externally fitted to a fitted portion 10d provided at one end of the corresponding shaft body 10c of the crankshaft 10.
  • Each transmission gear 20 rotates integrally with the crankshaft 10 about the same axis as the rotation axis of the crankshaft 10.
  • Each transmission gear 20 has external teeth 20a that mesh with the input gear 8a.
  • the base part 5 (namely, the board
  • the end plate portion 7 of the carrier 4 is also made of aluminum or an aluminum alloy.
  • the bolt 9 that fastens the base portion 5 and the end plate portion 7 is made of an iron-based material such as stainless steel or chrome molybdenum steel.
  • the shaft 4c of the base 5 that constitutes the carrier 4 and is formed with the fastening hole 4f to which the bolt 9 is fastened is made of aluminum or aluminum alloy.
  • the bolt 9 is made of an iron-based material.
  • the shaft portion 4 c of the base portion 5 is softer than the bolt 9. Therefore, when the bolt 9 inserted into the bolt insertion hole 7c of the end plate portion 7 is screwed into the fastening hole f4 of the shaft portion 4c, the thread of the fastening hole 4f is easily elastically deformed.
  • the outer cylinder 2 is also made of aluminum or aluminum alloy, so that the weight of the gear device 1 can be reduced. Further, it can be made less susceptible to the influence of a magnetic field. Moreover, since the heat transfer performance of the outer cylinder 2 can be improved, the heat inside the outer cylinder 2 can be easily released. Therefore, the temperature rise of the rocking gears 14 and 16 can be suppressed, and the thermal expansion of the rocking gears 14 and 16 can be suppressed. As a result, an increase in the surface pressure of the tooth portions 14a and 16a of the oscillating gears 14 and 16 can be suppressed, so that the life of the oscillating gears 14 and 16 can be extended.
  • the present invention is not limited to the above-described embodiment, and various modifications and improvements can be made without departing from the spirit of the present invention.
  • the two swing gears 14 and 16 are provided.
  • the present invention is not limited to this.
  • a configuration in which one oscillating gear is provided or a configuration in which three or more oscillating gears are provided may be employed.
  • the input shaft 8 is disposed at the center of the carrier 4 and the plurality of crankshafts 10 are disposed around the input shaft 8.
  • the present invention is not limited to this.
  • a center crank type in which the crankshaft 10 is disposed at the radial center of the carrier 4 may be employed.
  • the input shaft 8 may be disposed at any position.
  • the base that forms the carrier and is formed with a fastening hole in which the bolt is fastened is made of a material whose longitudinal elastic modulus is lower than that of the iron-based material, and the bolt is made of the iron-based material.
  • the base is softer than the bolt. Therefore, when the bolt inserted into the insertion hole of the end plate portion is fastened to the base, the thread of the fastening hole is easily elastically deformed. For this reason, even if there is a part where the pitch of the screw thread is slightly different due to a processing error, the strong part of the screw thread of the fastening hole is elastically deformed, so that the entire axial direction of the screw is covered.
  • the screws can be meshed evenly. Therefore, it is possible to avoid a situation in which the screw thread of the bolt and the screw thread of the fastening hole mesh with each other, and it is possible to prevent the bolt from loosening when the carrier receives an impact. it can.
  • Aluminum or an aluminum alloy may be used as the base material.
  • Aluminum alloys are lightweight and have good market availability.
  • the outer cylinder may also be made of aluminum or aluminum alloy.
  • the weight of the eccentric oscillating gear device can be further reduced. Further, it can be made less susceptible to the influence of a magnetic field.
  • the heat transfer performance of the outer cylinder can be improved, the heat inside the outer cylinder can be easily released. Therefore, the temperature rise of the oscillating gear can be suppressed, and the thermal expansion of the oscillating gear can be suppressed. As a result, an increase in the surface pressure of the tooth portion of the oscillating gear can be suppressed, so that the life of the oscillating gear can be extended.

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

Abstract

La présente invention se rapporte à un dispositif d'engrenage oscillant excentriquement (1) qui comprend une partie excentrique (10a), un engrenage oscillant (14) qui comporte un trou traversant dans lequel est insérée la partie excentrique (10a) et qui comporte des dents externes (14a), un cylindre externe (2) ainsi qu'un support (4). Le support (4) comporte une partie de base (5) dans laquelle est formé un trou de fixation (4f), et une partie de plaque d'extrémité (7) dans laquelle est formé un trou traversant de boulon (7c), et un boulon (9) qui est inséré dans le trou traversant de boulon (7c) et fixé dans le trou de fixation (4f). Le boulon (9) est réalisé à partir un matériau à base de fer. La partie de base (5) est réalisée à partir d'un matériau qui présente un module d'élasticité longitudinal qui est inférieur à celui du matériau à base de fer tel qu'un alliage d'aluminium. Le cylindre externe (2) et le support (4) peuvent être amenés à tourner de manière concentrique l'un par rapport à l'autre sous l'effet de l'oscillation de l'engrenage oscillant (14) associée à la rotation de la partie excentrique (10a).
PCT/JP2013/005855 2012-10-09 2013-10-01 Dispositif d'engrenage oscillant excentriquement WO2014057628A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN201380052920.1A CN104736888A (zh) 2012-10-09 2013-10-01 偏心摆动型齿轮装置
DE112013004942.2T DE112013004942T5 (de) 2012-10-09 2013-10-01 Exzentrische oszillierende Getriebevorrichtung
KR1020157008346A KR20150068372A (ko) 2012-10-09 2013-10-01 편심 요동형 기어 장치

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2012223830A JP2014077453A (ja) 2012-10-09 2012-10-09 偏心揺動型歯車装置
JP2012-223830 2012-10-09

Publications (1)

Publication Number Publication Date
WO2014057628A1 true WO2014057628A1 (fr) 2014-04-17

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Application Number Title Priority Date Filing Date
PCT/JP2013/005855 WO2014057628A1 (fr) 2012-10-09 2013-10-01 Dispositif d'engrenage oscillant excentriquement

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JP (1) JP2014077453A (fr)
KR (1) KR20150068372A (fr)
CN (1) CN104736888A (fr)
DE (1) DE112013004942T5 (fr)
TW (1) TW201420923A (fr)
WO (1) WO2014057628A1 (fr)

Families Citing this family (5)

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Publication number Priority date Publication date Assignee Title
CN105351499A (zh) * 2015-08-11 2016-02-24 华南理工大学 一种轻型铝合金结构rv减速机
CN105570437B (zh) * 2016-03-12 2019-02-15 深圳市领略数控设备有限公司 一种低背隙机器人减速机
JP6752070B2 (ja) * 2016-07-12 2020-09-09 ナブテスコ株式会社 歯車装置
JP6859039B2 (ja) * 2016-07-12 2021-04-14 ナブテスコ株式会社 歯車装置
JP6898876B2 (ja) 2018-02-28 2021-07-07 住友重機械工業株式会社 偏心揺動型減速装置

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004245321A (ja) * 2003-02-13 2004-09-02 Kayaba Ind Co Ltd 螺旋結合部における緩み止め構造
JP2010101454A (ja) * 2008-10-24 2010-05-06 Sumitomo Heavy Ind Ltd 減速装置
JP2011185367A (ja) * 2010-03-09 2011-09-22 Nabtesco Corp 部材の結合構造及び歯車装置

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003322168A (ja) * 2002-02-26 2003-11-14 Nippon Light Metal Co Ltd 回転構造物における回転体と駆動軸の接合構造およびその接合方法
CN101328953B (zh) * 2004-01-30 2011-03-30 纳博特斯克株式会社 偏心摆动型行星齿轮装置
JP2005262340A (ja) * 2004-03-16 2005-09-29 Fanuc Ltd 産業用ロボット

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004245321A (ja) * 2003-02-13 2004-09-02 Kayaba Ind Co Ltd 螺旋結合部における緩み止め構造
JP2010101454A (ja) * 2008-10-24 2010-05-06 Sumitomo Heavy Ind Ltd 減速装置
JP2011185367A (ja) * 2010-03-09 2011-09-22 Nabtesco Corp 部材の結合構造及び歯車装置

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DE112013004942T5 (de) 2015-07-16
CN104736888A (zh) 2015-06-24
JP2014077453A (ja) 2014-05-01
TW201420923A (zh) 2014-06-01
KR20150068372A (ko) 2015-06-19

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