CN101368612B - Eccentric swing type planetary gear device - Google Patents
Eccentric swing type planetary gear device Download PDFInfo
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- CN101368612B CN101368612B CN2008100989649A CN200810098964A CN101368612B CN 101368612 B CN101368612 B CN 101368612B CN 2008100989649 A CN2008100989649 A CN 2008100989649A CN 200810098964 A CN200810098964 A CN 200810098964A CN 101368612 B CN101368612 B CN 101368612B
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Abstract
The invention relates to an eccentric oscillating-typr planetary gear device. Elastic deformation of bridge portions in an externally toothed gear and external teeth is suppressed, thereby extending the life of tooth surfaces of external teeth 19, improving vibration characteristics, and markedly increassing output torque while preventing a planetary gear device 11 from becoming large in size. To achieve the above, a ratio obtained by dividing the diameter D of each of pins constituting internal teeth 14 by the pitch P of the internal teeth 14 is made smaller to an extent where tooth tops 19a of the external teeth 19 are radially outside the inner periphery 15a of an internally toothed gear 15. Alternatively, a meeting point C where action lines S of reaction force K of drive force components meet is moved more radially outward compared with a known eccentric oscillating-type planetary gear device so as to be positioned between a pin circle P passing the centers of all the internal teeth (pins) 14 and an outer end passing circle G passing radially outer ends of through holes 22. In addition, the amount H of eccentricity of an externally toothed gear 18 relative to an internally toothed gear is set not less than 0.5 times the radius R of the internal teeth (pins) 14.
Description
This case be that January 28, application number in 2005 are 200580003679.9 the applying date, denomination of invention divides an application for the patent application of " eccentric oscillating-type planetary gear device ".
The present invention relates to a kind of eccentric oscillating-type planetary gear device, make the external tooth gear eccentric swing that meshes with internal gear by crankshaft.
As existing eccentric oscillating-type planetary gear device, the device of record in the known for example patent documentation 1.
This device possesses: internal-gear is provided with the internal tooth that is made of a plurality of cylindric rollers at interior Zhou Yiyi constant pitch; External tooth gear is formed with a plurality of crank axis holes and through hole, periphery have constitute by the trochoid profile of tooth, only lack one external tooth with the engagement of above-mentioned internal tooth and this internal tooth of gear ratio; Crankshaft inserts in each crank axis hole, makes the external tooth gear eccentric swing by rotation; Supporting body can be supported above-mentioned crankshaft rotatably, has the many cylinders that insert versatilely in each through hole simultaneously.
And, in this device, as shown in figure 22, the external tooth 02 of the external tooth gear 01 that contacts with each other applies driving component with flank of tooth Vertical direction for respectively on its point of contact the internal tooth (roller) 04 of internal gear 03, applies the reaction force K of above-mentioned driving component also for external tooth 02 as its reaction internal tooth (roller) 04 simultaneously.
And, as shown in figure 23, the line of action S of reaction force K that each external tooth 101 imposes on the driving component of corresponding internal tooth (roller) 102 overlaps on a convergent point C, this convergent point C is positioned at, the outer end of the radial direction outer end by all through holes 103 is through circle G, and the inner by radial direction the inner is through between the circle N.
And such planetary gear system is required, is not maximizing, and does not especially increase the diameter of external tooth gear, and does not increase under the situation of driving component (contact pressure) that external tooth is applied to internal tooth, increases output torque.
Herein, above-mentioned output torque is, the tangential component of driving force on each point of contact of external tooth and internal tooth (roller), with the center of internal gear aggregate value to the product of the distance of above-mentioned point of contact, but because according to the requirement that prevents to maximize, the center of internal gear is certain to the distance of point of contact, therefore will increase output torque, can consider to increase the tangential component of driving component.And the increase of the tangential component of this driving component can make above-mentioned line of action tiltedly reach to the tangent direction inclination with respect to external tooth gear by making convergent point side shifting outside radial direction of the line of action coincidence that drives component.
Patent documentation 1: the spy opens flat 7-299791 communique
But, above-mentioned planetary gear system, because J is little more a lot of than the wall thickness of other parts for the wall thickness of the bridge shape portion 06 in the radial direction outside that is positioned at through hole 05 on the external tooth gear 01 (being minimum wall thickness (MINI W.) to the distance of the radial direction the tooth root 07 of external tooth 02 from the radial direction outer end of through hole 05), flexural rigidity is low, therefore when above-mentioned reaction force K cardinal principle when radial direction acts on this bridge shape portion 06, near bridge shape portion 06 and this bridge shape portion 06 external tooth 02 produces resiliently deformable, there are the problem of the flank of tooth lost of life of external tooth 02 in external tooth 02 and internal tooth (roller) 04 1 end in contact.
And, if flexural rigidity is low as mentioned above in bridge shape portion 06, then when the above line star gear device being used for robot, work mechanism etc., exist under the situation of torque load, exist intrinsic vibration frequency low, vibrant characteristic worsens, the problem of controlled decline.
And, because this existing eccentric oscillating-type planetary gear device, convergent point C is between the outer end is through circle G and inner process circle N as mentioned above, therefore when the eccentric swing rotation of external tooth gear 104 made above-mentioned convergent point C be positioned near the center of through hole 103, the line of action S of each reaction force K was generally along the Normal direction extension of through hole 103.Herein, because the bridge shape portion 105 in the radial direction outside that is positioned at through hole 103 on the external tooth gear 104, relatively be thin wall thickness with other positions, therefore rigidity is low, because partial reaction power K is as mentioned above generally along the Normal direction of through hole 103, promptly along substantially with the directive effect of the bearing of trend quadrature of bridge shape portion 105 in the low bridge shape portion 105 of this rigidity, therefore make near external tooth 101 resiliently deformables bridge shape portion 105 and this bridge shape portion 105, there are the problem of the flank of tooth lost of life of external tooth 101 in external tooth 101 and internal tooth (roller) 102 1 end in contact.
And, the interior week of interfering internal gear for fear of the tooth top of external tooth, try to achieve divided by the number of teeth of internal tooth (roller) by the position of above-mentioned convergent point (from the radius centered direction distance of internal gear), external tooth gear is with respect to the offset of internal gear, must be below 0.5 times of internal tooth (roller) radius (being about 0.40～0.45 times in the existing planetary gear system), the result, restricted to the aforesaid convergent point side shifting outside radial direction that makes, existence can not fully increase the problem of output torque.
Summary of the invention
Purpose of the present invention just provides a kind of eccentric oscillating-type planetary gear device, the bridge shape portion by suppressing external tooth gear and the resiliently deformable of external tooth prolong the flank of tooth life-span of external tooth, but also can improve vibrant characteristic, and can when preventing to maximize, increase output torque.
The 1st method that can reach such purpose is by the eccentric oscillating-type planetary gear device as following structure, the diameter D that makes the roller that constitutes internal tooth is decreased to divided by the ratio of a constant pitch P of internal tooth, the tooth top of external tooth surpasses the radial direction outside in the interior week of internal gear, and excision is avoided the interference in the interior week of external tooth and internal gear thus above the external tooth at the position in the interior week of internal gear at least.Described eccentric oscillating-type planetary gear device has: internal-gear is provided with the internal tooth that is made of a plurality of cylindric rollers at interior Zhou Yiyi constant pitch P; External tooth gear is formed with at least one crank axis hole and a plurality of through hole, have on the periphery constitute by the trochoid profile of tooth, only lack 1 external tooth with the engagement of above-mentioned internal tooth and this internal tooth of gear ratio; Crankshaft inserts in each crank axis hole, makes the external tooth gear eccentric swing by rotation; Supporting body can be supported above-mentioned crankshaft rotatably, and has a plurality of Cylindrical objects that are inserted in each through hole.
The 2nd to reach method be by same eccentric oscillating-type planetary gear device, the diameter D that makes the roller that constitutes internal tooth is decreased to divided by the ratio of a constant pitch P of internal tooth, the tooth top of external tooth surpasses the radial direction outside in the interior week of internal gear, simultaneously the interior week excision aforementioned external teeth of the internal gear between the adjacent internal tooth is surpassed the above degree of depth of amount in interior week, avoid the interference in the interior week of external tooth and internal gear thus.
The 3rd to reach method be by in following eccentric oscillating-type planetary gear device, the convergent point C that the line of action S of reaction force K that makes each external tooth impose on the driving component of corresponding internal tooth overlaps is between the outer end of the roller circle P at the center of all rollers by constituting internal tooth and radial direction outer end by all through holes is through round G.Described eccentric oscillating-type planetary gear device has: internal-gear is being provided with the internal tooth that is made of a plurality of cylindric rollers interior week; External tooth gear is formed with at least one crank axis hole and a plurality of through hole, have on the periphery constitute by the trochoid profile of tooth, with a plurality of external tooths of above-mentioned internal tooth engagement; Crankshaft inserts in each crank axis hole, makes the external tooth gear eccentric swing by rotation; Supporting body can be supported above-mentioned crankshaft rotatably, and has a plurality of Cylindrical objects that are inserted in each through hole.
The 4th to reach method be by in following eccentric oscillating-type planetary gear device, when with the aforementioned external teeth gear with respect to the offset of internal gear be made as H, when the radius that constitutes the roller of internal tooth is made as R, make above-mentioned offset H in 0.5～1.0 times scope of radius R, and excise each external tooth with established amount from tooth top, avoid the interference in the interior week of external tooth and internal gear, described eccentric oscillating-type planetary gear device has: internal-gear is being provided with the internal tooth that is made of a plurality of cylindric rollers interior week; External tooth gear is formed with at least one crank axis hole and a plurality of through hole, has on the periphery by the trochoid profile of tooth to constitute, only lack 1 external tooth with above-mentioned internal tooth engagement and this internal tooth of gear ratio; Crankshaft inserts in each crank axis hole, makes the external tooth gear eccentric swing by rotation; Supporting body can be supported above-mentioned crankshaft rotatably, and has a plurality of Cylindrical objects that are inserted in each through hole.
The 5th to reach method be by in same eccentric oscillating-type planetary gear device, when with the aforementioned external teeth gear with respect to the offset of internal gear be made as H, when the radius that constitutes the roller of internal tooth is made as R, make above-mentioned offset H in 0.5～1.0 times scope of radius R, and, avoid the interference in the interior week of external tooth and internal gear thus with only excising the degree of depth of regulation the interior week of the internal gear between the adjacent internal tooth.
In the invention that aforesaid way 1,2 relates to, owing to the diameter D that makes the roller that constitutes internal tooth is decreased to divided by the ratio of a constant pitch P of internal tooth, the tooth top of external tooth surpasses the radial direction outside in the interior week of internal gear, therefore the diameter D of above-mentioned internal tooth (roller) ratio diameter in the past is little, thus, the tooth root of the external tooth of external tooth gear side shifting outside radial direction, result, the wall thickness (minimum wall thickness (MINI W.)) of bridge shape portion in the radial direction outside that is positioned at through hole is than thickening in the past, and flexural rigidity improves.Thus, the resiliently deformable of bridge shape portion and external tooth can prolong the flank of tooth life-span of external tooth, and can improve intrinsic vibration frequency, and improve vibrant characteristic and controlled when the reaction force that can suppress to drive component acted on radial direction substantially.
Herein, during for aforesaid formation, the interior week of outer interference of tooth internal gear, but in the invention that mode 1 relates to, at least excise the external tooth at the position in the interior week that surpasses internal gear, and, in the invention that mode 2 relates to, with only excising aforementioned external teeth the interior week of the internal gear between the adjacent internal tooth, avoid the interference in the interior week of external tooth and internal gear thus above the degree of depth more than the amount in interior week.
And,, by keeping the reduction that the flex point that transmitting torque is played maximum effect can suppress transmitting torque, and can reduce noise and heating by keeping few position of sliding between external tooth and the internal tooth if as the formation of mode 3.
And,, can further prolong the flank of tooth life-span of external tooth if, the hertz stress on the point of contact of internal tooth and external tooth can be maintained lower value as the formation of mode 4 record.
And, if, can prevent to produce sharp-pointed position on the flank of tooth, can also increase output torque as the formation of mode 5 record.
And, if as the formation of mode 6 record, because the convergent point C that the line of action S of reaction force K that makes each external tooth impose on the driving component of corresponding internal tooth overlaps, be positioned at the outside of the outer end of the radial direction outer end by all through holes through the radial direction of circle G, therefore in the time of on convergent point C is positioned at by through hole radius centered line of direction, the line of action S of all reaction force K is more oblique to the tangent direction inclination than in the past with respect to through hole, near the bearing of trend of bridge shape portion.As a result, the bridge shape portion that the inhibition wall is thin and rigidity is low and near the resiliently deformable of the external tooth this bridge shape portion, and the flank of tooth life-span of prolongation external tooth.
And, when above-mentioned convergent point C is positioned at the radial direction outside of outer end process circle G as mentioned above, owing to be not the hollow sectors of through hole but the component of the tangent direction of above-mentioned each reaction force K bears in the high bridge shape portion of tangent direction rigidity, therefore can suppress the distortion of through hole.But when if above-mentioned convergent point C is positioned at the radial direction outside of roller circle P at center of all rollers by constituting internal tooth, because the flank of tooth of external tooth produces sharp-pointed part, therefore above-mentioned convergent point C must be in the outer end through between circle G and the round P of roller.
Herein, when above-mentioned convergent point C is between roller circle P and root circle M, partial reaction power K acts on external tooth gear generally along tangent direction, the result, such reaction force K might make external tooth bending deflection, if but, made above-mentioned convergent point C between root circle M and outer end process circle G as mode 7 records, then could prevent this from occurring.
And,, be 2 to compare when above and can realize high reduction speed ratio with number of teeth difference, and can reduce processing charges if as the formation of mode 8 record.
In the invention that mode 9 relates to, owing to make offset H at more than 0.5 times of radius R, therefore the tooth number Z that can make this offset H multiply by internal tooth is tried to achieve, the center O of internal gear is bigger than in the past to the radial direction distance L between the convergent point C, promptly can make convergent point C side shifting outside radial direction very big.Thus, the line of action S that drives component K ' is tiltedly very big to the tangent direction inclination with respect to external tooth gear, has increased the tangent direction component that drives component K ', thus, can increase output torque under the situation of the total number of teeth in engagement that does not change inside and outside tooth.
Herein, make as mentioned above offset H radius R more than 0.5 times the time, though the tooth top of external tooth is interfered the interior week of internal gear, by from tooth top with above-mentioned each external tooth of established amount excision, can avoid the interference in the interior week of such external tooth and internal gear.And in the invention that claim 10 relates to,, avoid the interference in the interior week of external tooth and internal gear thus with the interior week excision prescribed depth of the internal gear between the adjacent internal tooth.In addition, when above-mentioned offset H surpasses 1.0 times of radius R, all can produce the rotational position of external tooth and interior interference of tooth under above-mentioned all situations during the rotation of the eccentric swing of external tooth gear, so offset H must be at below 1.0 times of radius R.
And, if, can prevent from the flank of tooth, to produce sharp-pointed position, and output torque is increased significantly as the formation of mode 11 record.
And, if, can improve the flexural rigidity of external tooth, and can make the external tooth easy processing as the formation of mode 12 record.
Description of drawings
Fig. 1 represents the sectional view of embodiments of the invention 1
The I-I of Fig. 2 Fig. 1 is to looking sectional view
Fig. 3 represents to act on reaction force K on the external tooth and the explanatory drawing of line of action S thereof
The enlarged view of the U part of Fig. 4 Fig. 3
Fig. 5 represents the diameter D of internal tooth (roller) and the plotted curve of the relation of hertz stress ratio
Fig. 6 represents the plotted curve of the relation of the value of L/R and load ratio
Fig. 7 represents the sectional view same as in figure 1 of embodiments of the invention 2
Fig. 8 represents the sectional view the same with Fig. 2 of embodiments of the invention 2
Fig. 9 represents the sectional view of embodiments of the invention 3
The II-II of Figure 10 Fig. 9 is to looking sectional view
Figure 11 represents the identical sectional view with Figure 10 of the engagement of internal tooth and external tooth
Figure 12 illustrates that the line of action S that drives component (reaction force K) converges at the explanatory drawing of the state of convergent point C
Figure 13 represents the plotted curve of the relation between load ratio and the L/Q value
Figure 14 represents the sectional view of embodiments of the invention 4
The III-III of Figure 15 Figure 14 is to looking sectional view
Figure 16 represents the identical sectional view with Figure 15 of the engagement of internal tooth and external tooth
Figure 17 represents to act on the driving component K ' of internal tooth and the explanatory drawing of line of action S thereof
Figure 18 represents the plotted curve of the relation between L/Q value and the load ratio
Figure 19 represents the diameter D of internal tooth (roller) and the plotted curve of the relation of hertz stress ratio
Figure 20 represents the sectional view the same with Figure 14 of embodiments of the invention 5
Figure 21 represents the sectional view the same with Figure 15 of embodiments of the invention 5
Figure 22 represents the sectional view the same with Fig. 2 of an example of background technique
Figure 23 illustrates that the line of action S of the driving component (reaction force K) that illustrated in the background technique converges at the explanatory drawing of the state of convergent point C
Embodiment
The following describes embodiments of the invention.
Embodiments of the invention 1 are described below with reference to the accompanying drawings.
In Fig. 1, Fig. 2,11 for being used for the eccentric oscillating-type planetary gear device of robot etc., and this planetary gear system 11 has, and for example is installed on the rotational shell 12 of the approximate circle tubular of the arm that not have robot that represents among the figure or hand etc.The cross section that interior week forms a plurality of its axial direction central parts at this rotational shell 12 is semicircular roller (pin) groove 13, and these roller slots 13 extend along axial direction, and along the circumferential direction equidistant separation is with a constant pitch P separate configuration herein.14 is the internal tooth that is made of a plurality of (identical with the quantity of roller slot 13) cylindrical roller, half is inserted into the cardinal principle of these internal tooths (roller) 14 in the roller slot 13, therefore along the circumferential direction is arranged on the interior week of rotational shell 12 with equidistant (a constant pitch P).
Herein, an above-mentioned constant pitch P is, the girth of the roller circle V at the center of all rollers by constituting internal tooth 14 is divided by the value of the radical of internal tooth (roller) 14, in other words, and the arc length when connecting the center of adjacent arbitrarily 2 internal tooths (roller) 14 with the circular arc line segment.Above-mentioned rotational shell 12, internal tooth (roller) 14 are provided with the internal gear 15 of the internal tooth 14 that is made of a plurality of cylindric rollers as a whole on all 15a in being formed in.As a result, interior all 15a of internal gear 15 (rotational shell 12), be positioned at above-mentioned roller circle V go up or can keep at least internal tooth (roller) 14 roller circle V near.
Herein, above-mentioned internal tooth (roller) 14 disposes about 25～100, but preferred in 30～80 scope.Its reason is, if the radical that makes internal tooth (roller) 14 is in above-mentioned scope, in the previous stage of external tooth gear 18 described later with internal gear 15 engagements, the reduction speed ratio that setting is made of external tooth gear 40,42 described later is 1/1～1/7 straight toothed spur gear reducing gear, make the words of the reduction speed ratio combination of previous stage and back one-level, then high reduction speed ratio can be easily obtained, but also the planetary gear system of the high high reduction speed ratio of intrinsic vibration frequency can be constituted.
Contain a plurality of (being 2 herein) external tooth gear 18 in the form of a ring side by side along axial direction in the above-mentioned internal gear 15, the periphery of these external tooth gears 18 is formed with respectively by the trochoid profile of tooth, is specially a plurality of external tooths 19 that peritrochoid (peritrochoid) profile of tooth constitutes.And the tooth number Z of the external tooth 19 of aforementioned external teeth gear 18 is only lacked 1 (number of teeth difference is 1) than the number of teeth of above-mentioned internal tooth (roller) 14.Why making the internal tooth (roller) 14 and the number of teeth difference of external tooth 19 is 1, is because be that the situation of the value G more than 2 is compared with their number of teeth difference, can improve reduction speed ratio, and can reduce processing charges.
Herein, number of teeth difference is that the external tooth gear of the value G more than 2 is, appearance profile with the trochoid external tooth gear, along the circumferential direction stagger the tooth pitch of external tooth 19 divided by the distance of this G value, and the external tooth gear (opening flat 3-181641 communique with reference to the spy) that takes out as profile of tooth of the part that an appearance profile portion of these G that along the circumferential direction stagger is overlapping.And, external tooth 19 and internal tooth (roller) 14 engagements under the state that in these external tooth gears 18 and internal gear 15, connects, but 180 ° of the phase shiftings of the maximum engagement position of 2 external tooth gears 18 (meshing the darkest position).
Be formed with at least one on each external tooth gear 18, be 3 crank axis holes 21 that connect along axial direction herein, the distance that these crank axis holes 21 equate from the central shaft of external tooth gear 18 along radial direction, and spaced apart in the circumferential direction equidistant.22 is a plurality of (identical with the quantity of crank axis hole 21, as the to be 3) through hole that forms on each external tooth gear 18, and these through holes 22 along the circumferential direction dispose alternately with crank axis hole 21, and equidistant configuration spaced apart in the circumferential direction.So above-mentioned through hole 22 is the approximate pedestal shape that broadens towards the width of radial direction outer circumference direction.
25 be embedded in the rotational shell 12, the supporting body (bearing) on the stationary machines people's parts that not have in the drawings to represent is installed for living, this supporting body 25 is by a pair of end plate 26,27 that is sub-circular in axial direction two outsides that are configured in external tooth gear 18, fuse with end plate 26 with an end, the other end is made of a plurality of (identical with the quantity of through hole 22, as to be 3) Cylindrical object 29 that a plurality of bolts 28 can be connected on the end plate 27 with loading and unloading.And the Cylindrical object 29 that connects above-mentioned end plate 26,27 extends along axial direction, and the insertion of maintenance plurality of gaps (embedding of living) is in the through hole 22 of external tooth gear 18.
Because Cylindrical object 29 is so lived and is embedded in the through hole 22, therefore be positioned at the external tooth gear 18 in the radial direction outside of this through hole 22, constitute the inboard bridge shape portion 30 that is not supported, and the wall thickness of this bridge shape portion 30 (the radial direction distance from the radial direction outer end of through hole 22 to the tooth root 19b of the external tooth 19 of external tooth gear 18 be a minimum wall thickness (MINI W.)) J is littler much than the wall thickness at other positions, and flexural rigidity is low.
31 for being installed in above-mentioned supporting body 25, is specially the pair of bearings between week in the axial direction two ends of the periphery of end plate 26,27 and rotational shell 12, can support internal-gear 15 rotatably by these bearing 31 supporting bodys 25.35 is that at least one of angle same spaced apart in the circumferential direction configuration is (identical with the quantity of crank axis hole 21, be 3) crankshaft, these crankshafts 35, by the tapered roller bearing 36 on the end that is embedded in its axial direction outward be embedded in tapered roller bearing 37 on the other end of its axial direction outward, can be supported body 25, be specially end plate 26,27 and support rotatably.
Above-mentioned crankshaft 35 has 2 eccentric cams 38 from the equidistant off-centre of central shaft of crankshaft 35 in its axial direction central authorities, 180 ° of these eccentric cams 38 phase shiftings each other.Herein, the eccentric cam 38 of above-mentioned crankshaft 35 is lived respectively and is embedded in the crank axis hole 21 of external tooth gear 18, and needle roller bearing 39 is installed between them, the result, and aforementioned external teeth gear 18 allows relative rotation with crankshaft 35.And an end of the axial direction of each crankshaft 35 is fixed with external tooth gear 40, and the external tooth gear 42 that is provided with on output shaft 41 1 ends of these external tooth gears 40 and the drive motor that not have expression in the drawings meshes.
And, work as drive motor action, when making external tooth gear 40 rotations, crankshaft 35 is around the central shaft rotation of self, as a result, the eccentric cam 38 of crankshaft 35 is eccentric rotation in the crank axis hole 21 of external tooth gear 18, and external tooth gear 18 is rotated along direction of arrow eccentric swing.At this moment, on the point of contact of intermeshing internal tooth (roller) 14 and external tooth 19, shown in Fig. 2,3,4, effect has external tooth 19 to impose on the driving component of corresponding internal tooth (roller) 14 along line of action S direction respectively, and, as its reaction force, effect has internal tooth (roller) 14 to impose on the reaction force K of external tooth 19 along the driving component of line of action S direction respectively.
Herein, the line of action S of each above-mentioned reaction force K is positioned on the line vertical with the above-mentioned point of contact place flank of tooth, but these line of action S, because internal tooth (roller) 14 is cylindric as mentioned above, therefore external tooth 19 is made of the trochoid profile of tooth, a bit is that convergent point C converges (intersection) on external tooth gear 18.So, the tangent direction component of above-mentioned driving component act on internal gear 15 as rotary driving force with joint efforts.
And, part among the reaction force K of above-mentioned driving component acts in the low bridge shape portion 30 of above-mentioned flexural rigidity, this reaction force K makes near the external tooth 19 bridge shape portion 30 and this bridge shape portion 30 produce resiliently deformable, make external tooth 19 and internal tooth (roller) 14 1 end in contact, might make the flank of tooth lost of life of external tooth 19, perhaps intrinsic vibration frequency reduces, and makes vibrant characteristic, controlled reduction.
For this reason, in this embodiment 1, the diameter D that makes the roller that constitutes internal tooth 14 is decreased to divided by the ratio B of a constant pitch P of internal tooth 14, and the tooth top 19a that the imaginary line of external tooth 19 is represented surpasses the radial direction outside of interior all 15a of internal gear 15, for example, when the number of teeth of internal tooth (roller) 14 is 40, be about 0.55 in the past, it is decreased to about 0.32, thus, make the diameter D of above-mentioned internal tooth (roller) 14 littler, make the tooth root 19b of the external tooth 19 of external tooth gear 18 move to the radial direction outside than in the past.
And, when the tooth root 19b that makes external tooth 19 as mentioned above moves to the radial direction outside, the radial direction outer end of through hole 22 is to the radial direction distance of the tooth root 19b of external tooth 19, the wall thickness J that is above-mentioned bridge shape portion 30 is than thickening in the past, flexural rigidity increases, the result, having suppressed bridge shape portion 30 and external tooth 19 is subjected to above-mentioned reaction force K to make the resiliently deformable of time spent, can prolong the flank of tooth life-span of this external tooth 19, also intrinsic vibration frequency can be improved even exist under the situation of torque loads, vibrant characteristic and controlled can be improved.
Herein, when reducing the diameter D of internal tooth (roller) 14 as mentioned above, two flank of tooth contact the transverse tooth thickness and the tooth depth increase of the external tooth 19 of (the sense of rotation front side flank of tooth and the rear side flank of tooth) respectively with adjacent internal tooth (roller) 14, if but made ratio B be reduced to the radial direction outside that tooth top 19a surpasses interior all 15a as mentioned above, all 15a in the external tooth 19 of then tooth depth increase is interfered.For this reason, by excising the position of external tooth 19 at least, avoid the interference of interior all 15a of external tooth 19 and internal gear 15 above interior all 15a of internal gear 15.
In this embodiment 1, at the maximum engagement position of internal-gear 15 with external tooth gear 18, make between interior all 15a of the top of the external tooth 19 after the excision and internal gear 15, the degree ground that only produces micro-gap excises, and avoids the interference of external tooth 19 and interior all 15a of internal gear 15 thus.And, when the distance between the sense of rotation forward edge 44a of the external tooth 19 after will so excising and the sense of rotation posterior edges 44b is made as A, preferably make the diameter D of the roller that constitutes above-mentioned internal tooth 14 littler than distance A.
Herein, preferably make the excision position on the external tooth 19 of aforementioned external teeth gear 18, the radial direction outside at the line M of the flex point H of two flank of tooth (the sense of rotation front side flank of tooth and the rear side flank of tooth) that connect external tooth 19, thus, make the diameter D of the roller that constitutes above-mentioned internal tooth 14, crow flight distance Y in the heart in adjacent 2 rollers that constitute internal tooth 14 deducts the sense of rotation forward edge 45a of the external tooth 19 after the line M excision and more than the difference apart from F between sense of rotation posterior edges 45b.Its reason is, if aforesaid words, then can keep and do not excise to transmitting torque work maximum (with internal tooth 14 contact pressures be maximum value) flex point H, can suppress reducing of transmitting torque.Herein, above-mentioned line M is centre of curvature, the circular arc line that passes through two flex point H for the central shaft with external tooth gear 18.
And, preferably make the excision position of the external tooth 19 of aforementioned external teeth gear 18, radial direction inboard at the tooth top of external tooth 19 and the boundary N of tooth root (tooth depth 1/2 height and position), thus, make the diameter D of the roller that constitutes above-mentioned internal tooth 14, crow flight distance Y in the heart in above-mentioned deducts the sense of rotation forward edge 46a of the external tooth 19 after above-mentioned border N excision and below the difference apart from E between sense of rotation posterior edges 46b.Its reason is, external tooth 19 outside the radial direction of above-mentioned border N produces big slip when meshing with internal tooth (roller) 14, if but handle as mentioned above, then can keep the little position of slip between external tooth 19 and the internal tooth (roller) 14, can reduce noise and heating thus.
For above-mentioned reasons, after will excising aforementioned external teeth 19 along the line M of the flex point H that connects two flank of tooth, distance between the sense of rotation forward edge 45a of external tooth 19 and the sense of rotation posterior edges 45b is made as F, and will be after the border N excision aforementioned external teeth 19 of tooth top and tooth root, when the distance between the sense of rotation forward edge 46a of external tooth 19 and sense of rotation posterior edges 46b is made as E, preferably outside the radial direction of line M, and radial direction medial resection aforementioned external teeth 19 at border N, make the diameter D of the roller that constitutes above-mentioned internal tooth 14 thus, more than the crow flight distance Y between the above-mentioned center deducts difference apart from F, and below the crow flight distance Y between the above-mentioned center deducts difference apart from E.
And when the number of teeth that is made as the external tooth 19 of R, external tooth gear 18 when the radius with roller circle V was made as Z, the diameter D that preferably makes the roller that constitutes above-mentioned internal tooth 14 was in the scope of 2R/Z ± 1.5mm.Its reason is, when diameter D is in above-mentioned scope, as by known to the figure shown in Figure 5, the hertz stress of internal tooth (roller) 14 and the point of contact of external tooth 19 can be maintained the low value of the some inboard that beginning sharply increases, and can prolong the flank of tooth life-span of external tooth 19.
In addition, this figure shown in Figure 5 is tried to achieve for simulating with each following factor.Promptly, if the number of teeth that the number of teeth (radical) of the internal tooth of each planetary gear system (roller) is 40, the radius R of roller circle V is 120mm, external tooth is 39, external tooth gear 18 is specified value 2.7mm with respect to the offset Q of internal gear 15, try to achieve the hertz stress on the point of contact of external tooth 19 and internal tooth (roller) 14 when changing the diameter D of internal tooth (roller) 14.Herein, Fig. 5 represents that the hertz stress value is an index 1 when diameter D equals 2R/Z.
And, as the aforesaid mode that makes tooth root 19b side shifting outside radial direction of external tooth 19 along with diminishing of diameter D, have: make external tooth gear 18 constant with respect to the offset Q of internal gear 15, be definite value, increase the mode of the tooth root diameter of a circle of all the tooth root 19b by external tooth gear 18; Make above-mentioned root circle constant, for definite value, increase the mode of offset Q; And the mode that increases root circle and offset Q simultaneously, but in this embodiment 1, it is certain making root circle, increases offset Q.
When so increasing offset Q, can make the center O of internal gear 15 bigger than in the past to the distance L (can try to achieve) of convergent point C by the number of teeth that multiply by internal tooth 14 with offset Q, promptly can make position side shifting outside radial direction of convergent point C, but this moment, preferably make above-mentioned distance L and roller justify the ratio of the radius R of V, promptly the value of L/R is in 0.86～1.00 scope.
Its reason is, if the value that makes L/R is more than 0.86, then line of action S tilts to tangent direction with respect to external tooth gear 18, and the result can increase the wall thickness of the bridge shape portion 30 that is subjected to above-mentioned reaction force K, suppress the resiliently deformable that this bridge shape portion 30 produces effectively, and,, obtain identical moment of torsion because the load ratio is roughly definite value as by known to Fig. 6, therefore can make the load relevant that acts on external tooth 19 certain substantially, and be minimum value with transmitting torque.But, when above-mentioned value than L/R surpasses 1.00, when making, external tooth 19 produces sharp-pointed position on the flank of tooth, and the value of therefore preferred L/R is below 1.00.
Herein, above-mentioned curve is simulated with each following factor and is tried to achieve.Promptly, if the number of teeth that the number of teeth (radical) of the internal tooth of each planetary gear system (roller) is 40, the diameter D of roller is 10mm, the radius R of roller circle V is 120mm, external tooth is a definite value 39, the value of L/R is changed in 0.5～1.0 scope, obtain the component on tangent direction with joint efforts of the driving component that acts on convergent point C.Curve when herein, Fig. 6 represents that the component load ratio of above-mentioned tangent direction when the value of L/R is 0.75 is index 1.
And, each external tooth 19 is from the words of the amount of tooth top 19a excision regulation as mentioned above, then 19 of internal tooth (roller) 14 and external tooths some, when being 1.0, the value of above-mentioned L/R only has an appointment 1/3, in present embodiment 1, only have an appointment 3/4 the engagement, therefore remaining about 1/4 internal tooth (roller) 14 does not contact with external tooth 19, can deviate from roller slot 13.Therefore, in present embodiment 1, as shown in Figure 1,2 roller pressure rings 50 as control mechanism that are formed with the patchhole 49 that inserts for the two ends of internal tooth (roller) 14 have been installed between bearing 31 and external tooth gear 18, and these 2 roller pressure rings 50 are not fixed on the internal gear 15 revolvably, limit moving of above-mentioned internal tooth (roller) 14.
In addition, as above-mentioned control mechanism, also can use the patchhole that forms on the interior edge face of bearing outer ring of bearing 31, insert for the two ends of above-mentioned internal tooth (roller) 14, the identical circumferential groove of diameter that perhaps, form on the interior edge face of the bearing outer ring of bearing 31, width and internal tooth (roller) 14.
The following describes effect about the embodiment of the invention 1.
Now, drive motor work, crankshaft 35 rotations.At this moment, the eccentric cam 38 of crankshaft 35 is eccentric rotation in the crank axis hole 21 of external tooth gear 18, make the rotation of external tooth gear 18 eccentric swings, but because the quantity of the gear ratio internal tooth (roller) 14 of the external tooth 19 of aforementioned external teeth gear 18 is only lacked 1, thus rotational shell 12 and robots arm etc. since the eccentric swing of external tooth gear 18 rotate and low speed rotation.
Herein, owing to the diameter D that makes internal tooth (roller) 14 as mentioned above is reduced to divided by the ratio B of a constant pitch P, the tooth top 19a of external tooth 19 surpasses the radial direction outside of interior all 15a of internal gear 15, therefore the diameter D of above-mentioned internal tooth (roller) 14 is littler than in the past, thus, tooth root 19b side shifting outside radial direction of the external tooth 19 of external tooth gear 18, result, wall thickness J (minimum wall thickness (MINI W.)) ratio of bridge shape portion 30 is thickening in the past, the flexural rigidity grow.
Thus, the resiliently deformable when having suppressed bridge shape portion 30 and external tooth 19 and being driven the reaction force K of component can prolong flank of tooth life-span of external tooth 19, and intrinsic vibration frequency increases, and can improve vibrant characteristic and controlled.Herein, if aforesaid formation, external tooth 19 is interfered interior all 15a of internal gears 15, but the position of the interior all 15a that surpass internal gear 15 by excising external tooth 19 at least, has avoided the interference of this external tooth 19 and interior all 15a of internal gear 15.
Embodiment 2
Fig. 7,8 figure for expression embodiments of the invention 2.In this embodiment 2, do not carry out excision as above-mentioned embodiment's 1 external tooth 19, but with the interior week of the internal gear 15 between the adjacent internal tooth (roller) 14 (rotational shell 12) and the interior week on every side of each internal tooth (roller) 14, excision aforementioned external teeth 19 surpasses the above degree of depth of amount in interior week, cut away the roughly degree of depth of half of the diameter D that equals internal tooth (roller) 14 herein, the interference of interior all 15a of the internal gear 15 (rotational shell 12) after avoiding external tooth 19 and excise with this.
As a result, the radial direction outer end of each internal tooth (roller) 14 contacts with interior all 15a lines of internal gear 15 after the excision, and thus, rotational shell 12 bears the component of the radial direction of the driving component that acts on each internal tooth (roller) 14.At this moment, owing to there is not roller slot 13, so each internal tooth (roller) 14 can move freely, but equally limits the mobile of this internal tooth (roller) 14 by roller pressure ring 50 with above-mentioned.In addition, other structure is identical with the foregoing description 1 with effect.
In addition, in the foregoing description 1, in external tooth gear 18, form a plurality of (3) crank axis hole 21, and will insert respectively in each crank axis hole 21 along the crankshaft 35 of same direction constant speed rotation, make the rotation of external tooth gear 18 eccentric swings, but in the present invention, also the eccentric cam of 1 crankshaft can be inserted in 1 the crank axis hole that forms on the central shaft of external tooth gear 18, make the rotation of external tooth gear eccentric swing by the rotation of this crankshaft.At this moment, the Cylindrical object of supporting body is necessary to contact with the interior contour of through hole.
And in the foregoing description 1, fixedly supporting body 25, make internal gear 15 low speed rotation, but in the present invention, also can fixed annulus, make the supporting body low speed rotation.And, at the diameter D that does not dwindle the roller that constitutes internal tooth 14, in the planetary gear system 11 of original diameter, also can excise external tooth 19 by certain position in the radial direction outside a little at the line M that connects flex point H, suppress the reduction of transmitting torque, reduce heating and noise simultaneously.
Embodiment 3
Embodiments of the invention 3 are described below with reference to the accompanying drawings.
In Fig. 9,10,11,111 for being used for the eccentric oscillating-type planetary gear device of robot etc., and this planetary gear system 111 has the rotational shell 112 that is installed in the approximate circle tubular on the arm that not have robot that represents among the figure for example, the hand etc.Cross section at the central position that is formed with many its axial directions interior week of this rotational shell 112 is semicircular roller slot 113, and these roller slots 113 extend along axial direction, and along the circumferential direction with equidistant configuration.114 is the internal tooth that is made of a plurality of (identical with the quantity of roller slot 113) cylindrical roller, and half inserts roller slot 113 cardinal principle of these internal tooths (roller) 114, therefore the equidistant interior week that is arranged on rotational shell 112 spaced apart in the circumferential direction.Above-mentioned rotational shell 112, internal tooth (roller) 114 are provided with the internal gear 115 of the internal tooth 114 that is made of a plurality of cylindric rollers as a whole on week in being formed in.Herein, about 25～100 of above-mentioned internal tooth (roller) 114 configurations, but preferred in 30～80 scope.Its reason is, if the radical that makes internal tooth (roller) 114 is in above-mentioned scope, and by assembling external tooth gear 140,142 described later, can easily obtain necessary speed ratio, but also can constitute the planetary gear system of the high high reduction speed ratio of intrinsic vibration frequency.
Axially contain a plurality of (being 2 herein) external tooth gear 118 in the form of a ring in the above-mentioned internal gear 115 side by side, the periphery of these external tooth gears 118 is formed with respectively by the trochoid profile of tooth, is specially a plurality of external tooths 119 that the peritrochoid profile of tooth constitutes.And, the number of teeth of the above-mentioned internal tooth of gear ratio (roller) 114 of the external tooth 119 of aforementioned external teeth gear 118 few 1 (number of teeth difference is 1).Why so making the internal tooth (roller) 114 and the number of teeth difference of external tooth 119 is 1, is because be that value R more than 2 compares with their number of teeth difference, can easily accomplish high reduction speed ratio, and can reduce processing charges.
Herein, number of teeth difference is that the external tooth gear of the value R more than 2 is, the appearance profile of trochoid external tooth gear is along the circumferential direction staggered the tooth pitch of external tooth 119 divided by the angle of this R value, and the external tooth gear (opening flat 3-181641 communique with reference to the spy) that takes out as profile of tooth of the part that an appearance profile portion of these R that along the circumferential direction stagger is overlapping.And, external tooth 119 and internal tooth (roller) 114 engagements under the state that in these external tooth gears 118 and internal gear 115, connects, but 180 ° of the phase shiftings of the maximum engagement portion of 2 external tooth gears 118 (meshing the darkest position).
Be formed with at least one on each external tooth gear 118, be 3 crank axis holes 121 that connect along axial direction herein, and these crank axis holes 121 leave the distance that the central shaft of external tooth gear 118 equates along radial direction, and equal distance spaced apart in the circumferential direction.122 is a plurality of (identical with the quantity of the crank axis hole 121) through hole that forms on each external tooth gear 118, and these through holes 122 along the circumferential direction dispose alternately with crank axis hole 121, and equal distance spaced apart in the circumferential direction.And above-mentioned through hole 122 is the approximate pedestal shape that broadens towards the width of radial direction outer circumference direction.
125 be embedded in the rotational shell 112, the supporting body on the stationary machines people's parts that not have in the drawings to represent is installed for living, this supporting body 125 is by a pair of end plate 126,127 that is sub-circular in axial direction two outsides that are configured in external tooth gear 118, fuses with end plate 126 with an end, the other end is made of a plurality of (identical with the quantity of through hole 122) Cylindrical object 129 that a plurality of bolts 128 can be connected on the end plate 127 with loading and unloading.And the Cylindrical object 129 that connects above-mentioned end plate 126,127 extends along axial direction, and keeps plurality of gaps to insert (embedding of living) in the through hole 122 of external tooth gear 118.
131 for being installed in above-mentioned supporting body 125, is specially the bearing between week in the axial direction two ends of the periphery of end plate 126,127 and rotational shell 112, can support internal-gear 115 rotatably by these bearing 131 supporting bodys 125.135 is at least one (identical with the quantity of crank axis hole 121) crankshaft of angle same configuration spaced apart in the circumferential direction, these crankshafts 135, by the tapered roller bearing 136 on the end that is embedded in its axial direction outward be embedded in tapered roller bearing 137 on the other end of its axial direction outward, can be supported body 125, be specially end plate 126,127 and support rotatably.
Above-mentioned crankshaft 135 has 2 eccentric cams 138 from the equidistant off-centre of central shaft of crankshaft 135 in its axial direction central authorities, 180 ° of these eccentric cams 138 phase shiftings each other.Herein, the eccentric cam 138 of above-mentioned crankshaft 135 is lived respectively and is embedded in the crank axis hole 121 of external tooth gear 118, and needle roller bearing 139 is installed between them, the result, and aforementioned external teeth gear 118 allows relative rotation with crankshaft 135.And an end of the axial direction of each crankshaft 135 is fixed with external tooth gear 140, and the external tooth gear 142 that is provided with on output shaft 141 1 ends of these external tooth gears 140 and the drive motor that not have expression in the drawings meshes.
And, work as drive motor action, when making external tooth gear 140 rotations, crankshaft 135 is around the central shaft rotation of self, as a result, the eccentric cam 138 of crankshaft 135 is eccentric rotation in the crank axis hole 121 of external tooth gear 118, makes the rotation of external tooth gear 118 eccentric swings.At this moment, on the point of contact of intermeshing internal tooth (roller) 114 and external tooth 119, effect has external tooth 119 to impose on the driving component along line of action S direction of corresponding internal tooth (roller) 114 respectively.
Herein, the line of action S of the above-mentioned reaction force K that respectively drives component, being positioned on the line vertical as shown in figure 12 with the above-mentioned point of contact place flank of tooth, but these line of action S, because internal tooth (roller) 114 is cylindric as mentioned above, therefore external tooth 119 is made of the trochoid profile of tooth, a bit is that convergent point C converges (intersection) on external tooth gear 118.So, the acting on the internal gear 115 as rotary driving force with joint efforts of the above-mentioned tangent direction component that respectively drives component.
Herein, if convergent point C such as above-mentioned background technique illustrated, the outer end through circle G with inner through round N between when (with reference to Figure 23), then because near the reaction force K of the driving component of part (the maximum engagement position), along with the vertical substantially directive effect of the bearing of trend of bridge shape portion 105 in the low bridge shape portion 105 of rigidity, near so external tooth 101 resiliently deformables this bridge shape portion 105 and this bridge shape portion 105, and external tooth 101 and internal tooth (roller) 102 1 end in contact, the flank of tooth lost of life of external tooth 101.
But, in this embodiment 3, make above-mentioned convergent point C ratio side shifting outside radial direction in the past, be positioned at than above-mentioned outer end and lean on the radial direction outside through circle G.Thus, when convergent point C is positioned at through on the radius centered line of direction of through hole 122 time as shown in figure 12, the line of action S of all reaction force K with respect to through hole 122 all than oblique to the tangent direction inclination in the past, near the bearing of trend of the bridge shape 118a of portion.As a result, suppress wall thin and the bridge shape 118a of portion that rigidity is low and near the resiliently deformable of the external tooth 119 this bridge shape 118a of portion, prolonged flank of tooth life-span of external tooth 119.
And, when above-mentioned convergent point C was positioned at than the outer end through circle G as mentioned above by the radial direction when outside, owing to be not the hollow sectors of through hole 122, but the high bridge shape 118a of portion of tangent direction rigidity bears the component of the tangent direction of above-mentioned reaction force K, therefore can suppress the distortion of through hole 122.But, when above-mentioned convergent point C is positioned at the radial direction outside of roller circle P at center of all rollers by constituting internal tooth 114, can produce sharp-pointed position on the flank of tooth of external tooth 119, therefore above-mentioned convergent point C must be between the outer end be through circle G and roller circle P.
Herein, because the center O of above-mentioned internal gear 115 is to the distance L of the radial direction of convergent point C, can represent with respect to the tooth number Z that the offset H of internal gear 115 multiply by the internal tooth (roller) 114 of internal gear 115 with external tooth gear 118, in order to make distance L bigger, can make some in the offset H or the number of teeth or make both bigger than in the past simultaneously than distance L in the past shown in Figure 23.And, though in this embodiment 3, increase offset H in order to increase above-mentioned distance L, in order further to increase offset H, the external diameter that makes internal tooth (roller) 114 little than in the past.
Herein, the distance L of preferred above-mentioned radial direction and the value of the ratio (L/Q) of the radius Q of above-mentioned roller circle P are in 0.86～1.00 scope.Its reason is, if above-mentioned value than L/Q is more than 0.86, then as by known to Figure 13, because the load ratio is roughly definite value, obtain identical moment of torsion, therefore can make the load relevant (driving the tangent direction component of component) that acts on external tooth 119 certain substantially with transmitting torque, and be minimum value, if but less than 0.86, then the variation of load ratio increases, the load relevant with transmitting torque that acts on the external tooth 119 increases, and when above-mentioned value than L/Q surpassed 1.00, the flank of tooth can produce sharp-pointed position during generate external tooth 119.
Herein, above-mentioned curve is simulated under each following factor and is tried to achieve.Promptly, the number of teeth that the tooth number Z (radical) of supposing the internal tooth (roller) of each planetary gear system is 40, the diameter of internal tooth (roller) is 10mm, the radius Q of roller circle P is 120mm, external tooth is a definite value 39, the value of L/Q is changed in 0.5～1.0 scope, obtain the tangent direction component of making a concerted effort of the reaction force K that acts on convergent point C.
Curve when herein, Figure 13 represents that the load ratio of above-mentioned tangent direction component when the value of L/Q is 0.75 is index 1.
The external diameter that makes internal tooth (roller) 114 as mentioned above is than in the past little and make offset H bigger than in the past, the then external tooth 119 that contacts with internal tooth (roller) 114 of two flank of tooth maximization that becomes, and promptly transverse tooth thickness, tooth depth all increase.But on the above-mentioned roller circle of generally being positioned at substantially in interior week of rotational shell 112 P, if external tooth 119 maximizes, then external tooth 119 is interfered the interior week of rotational shells 112.Therefore in this embodiment 3, be circle a tooth top portion (position of representing with imaginary line among Figure 11) of centre of curvature, prevent the interference in the interior week of external tooth 119 and rotational shell 112 with established amount excision aforementioned external teeth 119 along center with external tooth gear 118.In addition, replace the tooth top portion of excision external tooth 119, above-mentioned interference also can prevent by the degree of depth that the interior week excision of the rotational shell 112 between the adjacent internal tooth (roller) 114 is stipulated.
, above-mentioned convergent point C is positioned at herein, the root circle M of the tooth root by all external tooths 119 and above-mentioned outer end are through between the circle G.Its reason is, when convergent point C between roller circle P and the root circle M time, the reaction force K of part along the directive effect of approximate tangent line in external tooth gear 118, the result, this reaction force K might make external tooth 119 generation bending deflections; But make convergent point C as mentioned above between root circle M and outer end process circle G, then can prevent this from occurring.
And, excise the tooth top portion of each external tooth 119 as mentioned above, then internal tooth (roller) 114 and 119 some engagements of external tooth, 3/4 engagement of only having an appointment herein, therefore remaining about 1/4 internal tooth (roller) 114 does not contact with external tooth 119, can deviate from roller slot 113.Therefore, in this embodiment 3, on the interior edge face of the bearing outer ring 131a of above-mentioned bearing 131, form the patchhole 131b that inserts for the two ends of above-mentioned internal tooth (roller) 114, prevent that thus internal tooth (roller) 114 from deviating from from roller slot 113.And this moment, external tooth 119 passed to driving force internal tooth (roller) 114 in about 3/8 scope.
Above-mentioned patchhole 131b constitutes the control mechanism 143 that internal tooth (roller) 114 deviate from from roller slot 113 that prevents that does not contact with external tooth 119 as a whole.In addition,, replace patchhole 131b, can use the identical circumferential groove of diameter that form on the interior edge face of bearing outer ring 131a of bearing 131, width and internal tooth (roller) 114 as above-mentioned control mechanism 143; Perhaps use be configured between above-mentioned 2 external tooth gears 118,1 roller pressure ring that periphery contacts with all internal tooth (roller) 114; But also can use the hole that is configured between bearing 131 and the external tooth gear 118, is formed with the two ends insertion that supplies internal tooth (roller) 114,2 roller pressure rings of circumferential groove.
The following describes the effect of the embodiment of the invention 3.
Now, drive motor work, crankshaft 135 rotates with identical speed along same direction around the central shaft of self.At this moment, the eccentric cam 138 of crankshaft 135 is eccentric rotation in the crank axis hole 121 of external tooth gear 118, make the rotation of external tooth gear 118 eccentric swings, but because the number of teeth of the gear ratio internal tooth (roller) 114 of the external tooth 119 of aforementioned external teeth gear 118 is only lacked 1, so the arm of rotational shell 112 and robot etc. is because the eccentric swing rotation of external tooth gear 118 and low speed rotation.
Herein, because the convergent point C that the line of action S that makes each external tooth 119 of external tooth gear 118 impose on the driving component (reaction force K) of corresponding internal tooth (roller) 114 overlaps, the outer end that is positioned at roller circle P and radial direction outer end by all through holes 122 by all internal tooths (roller) 114 centers is through between the circle G, therefore in the time of on convergent point C is positioned at by the radius centered line of direction of through hole 122, the line of action S of all reaction force K than oblique to the tangent direction inclination in the past, suppresses near the resiliently deformable of the external tooth 119 of the bridge shape 118a of portion and this bridge shape 118a of portion with respect to through hole 122 thus.
In addition, in the above embodiments 3, on external tooth gear 118, form a plurality of (3) crank axis hole 121, and will insert respectively in each crank axis hole 121 along the crankshaft 135 of same direction constant speed rotation, make the rotation of external tooth gear 118 eccentric swings, but in the present invention, also 1 crankshaft can be inserted 1 the crank axis hole that forms on the central shaft of external tooth gear 118, the rotation by this crankshaft makes the rotation of external tooth gear eccentric swing.At this moment, the Cylindrical object of supporting body is necessary to contact with the interior contour of through hole.
And in the above embodiments 3, fixedly supporting body 125, make internal gear 115 low speed rotation, but in the present invention, also can fixed annulus, make the supporting body low speed rotation.And, in the present invention, also the straight toothed spur gear reducing gear of reduction speed ratio than 1/7 little (near 1/1) can be set, with 2 grades of decelerations in the previous stage of above line star gear device 111.So, can obtain the high high reduction speed ratio gearing of intrinsic vibration frequency.
Embodiment 4
Embodiments of the invention 4 are described below with reference to the accompanying drawings.
In Figure 14,15,16,211 for being used for the eccentric oscillating-type planetary gear device of robot etc., and this eccentric oscillating-type planetary gear device 211 has and is installed in the rotational shell 212 that not have the approximate circle tubular on the robots arm that represents or the hand etc. among the figure for example.Cross section at the central position that is formed with many its axial directions interior week of this rotational shell 212 is semicircular roller slot 213, and this roller slot 213 extends along axial direction, along the circumferential direction equidistant configuration.
214 is the internal tooth that is made of a plurality of (identical with the quantity of roller slot 213) cylindrical roller, and half inserts roller slot 213 to these internal tooths (roller) 214 substantially, thus along the circumferential direction with the equidistant interior week that is arranged on rotational shell 212.Above-mentioned rotational shell 212, internal tooth (roller) 214 are provided with the internal gear 215 of the internal tooth 214 that is made of a plurality of cylindric rollers as a whole on all 215a in being formed in.As a result, interior all 215a of internal gear 215 (rotational shell 212) are positioned at, and the roller circle P at the center of the roller by all formation internal tooths 214 goes up or extremely near its place.Herein, about 25～100 of above-mentioned internal tooth (roller) 214 configurations, but preferred in 30～80 scope.Its reason is, if the radical that makes internal tooth (roller) 214 is in above-mentioned scope, then by previous stage in external tooth gear 218 described later and internal gear 215 engagements, reduction speed ratio be set be 1/1～1/7 straight toothed spur gear reducing gear, by making previous stage and the combination of the reduction speed ratio of one-level afterwards, high reduction speed ratio can be easily obtained, but also the planetary gear system of the high high reduction speed ratio of intrinsic vibration frequency can be constituted.
Contain a plurality of (being 2 herein) external tooth gear 218 in the form of a ring side by side along axial direction in the above-mentioned internal gear 215, the periphery of these external tooth gears 218 is formed with respectively by the trochoid profile of tooth, is specially a plurality of external tooths 219 that the peritrochoid profile of tooth constitutes.And the number of teeth of the above-mentioned internal tooth of gear ratio (roller) 214 of the external tooth 219 of aforementioned external teeth gear 218 is only lacked 1 (number of teeth difference is 1).Why making the internal tooth (roller) 214 and the number of teeth difference of external tooth 219 is 1, is because be that value G more than 2 compares with their number of teeth difference, can accomplish high reduction speed ratio, and can reduce processing charges.
Herein, number of teeth difference is that the external tooth gear of the value G more than 2 is, make the appearance profile of trochoid external tooth gear, along the circumferential direction stagger the tooth pitch of external tooth 219 divided by the distance of this G value, and the external tooth gear (opening flat 3-181641 communique with reference to the spy) that takes out as profile of tooth of the part that an appearance profile portion of these G that along the circumferential direction stagger is overlapping.And, external tooth 219 and internal tooth (roller) 214 engagements under the state that in these external tooth gears 218 and internal gear 215, connects, but 180 ° of the phase shiftings of the maximum engagement portion of 2 external tooth gears 218 (meshing the darkest position).
Be formed with at least one on each external tooth gear 218, be 3 crank axis holes 221 that connect along axial direction herein, and these crank axis holes 221 leave the distance that the central shaft of external tooth gear 218 equates along radial direction, and equal distance spaced apart in the circumferential direction.222 is a plurality of (identical with the quantity of the crank axis hole 221) through hole that forms on each external tooth gear 218, and these through holes 222 along the circumferential direction dispose alternately with crank axis hole 221, and equal distance spaced apart in the circumferential direction.And above-mentioned through hole 222 is the approximate pedestal shape that broadens towards the width of radial direction outer circumference direction.
225 be embedded in the rotational shell 212, the supporting body (bearing) on the stationary machines people's parts that not have in the drawings to represent is installed for living, this supporting body 225 is by a pair of end plate 226,227 that is sub-circular in axial direction two outsides that are configured in external tooth gear 218, fuse with end plate 226 with an end, the other end is made of a plurality of (identical with the quantity of through hole 222, as to be 3) Cylindrical object 229 that a plurality of bolts 228 can be connected on the end plate 227 with loading and unloading.And the Cylindrical object 229 that connects above-mentioned end plate 226,227 extends along axial direction, and the insertion of maintenance plurality of gaps (embedding of living) is in the through hole 222 of external tooth gear 218.
231 for being installed in above-mentioned supporting body 225, is specially the pair of bearings between interior week at two ends of axial direction of the periphery of end plate 226,227 and rotational shell 212, can support internal-gear 215 rotatably by these bearing 231 supporting bodys 225.235 is that at least one of angle same spaced apart in the circumferential direction configuration is (identical with the quantity of crank axis hole 221, be 3) crankshaft, these crankshafts 235, by the tapered roller bearing 236 on the end that is embedded in its axial direction outward be embedded in tapered roller bearing 237 on the other end of its axial direction outward, be supported body 225, being specially end plate 226,227 can support rotatably.
Above-mentioned crankshaft 235 has 2 eccentric cams 238 from the equidistant off-centre of the central shaft of crankshaft 235 in its axial direction central authorities, 180 ° of these eccentric cams 238 phase shiftings each other.Herein, the eccentric cam 238 of above-mentioned crankshaft 235 is lived respectively and is embedded in the crank axis hole 221 of external tooth gear 218, and needle roller bearing 239 is installed between them, the result, and aforementioned external teeth gear 218 allows relative rotation with crankshaft 235.And an end of the axial direction of each crankshaft 235 is fixed with external tooth gear 240, and the external tooth gear 242 that is provided with on output shaft 241 1 ends of these external tooth gears 240 and the drive motor that not have expression in the drawings meshes.
And, when drive motor work made external tooth gear 240 rotations, crankshaft 235 was around the central shaft rotation of self, result, the eccentric cam 238 of crankshaft 235 is eccentric rotation in the crank axis hole 221 of external tooth gear 218, makes the rotation of external tooth gear 218 eccentric swings.At this moment, on the point of contact of intermeshing internal tooth (roller) 214 and external tooth 219, as shown in figure 17, effect has external tooth 219 to impose on the driving component K ' along line of action S direction of corresponding internal tooth (roller) 214 respectively.
Herein, the above-mentioned line of action S that respectively drives component K ', be positioned on the line vertical with the above-mentioned point of contact place flank of tooth, but these line of action S, because internal tooth (roller) 214 is cylindric as mentioned above, therefore external tooth 219 is made of the trochoid profile of tooth, a bit is that convergent point C converges (intersection) on external tooth gear 218.So, the output torque that the internal gear 215 of such planetary gear system 211 is exported to arm of robot etc. is, the tangential component of driving component K ' on each point of contact of external tooth 219 and internal tooth (roller) 214 is with the center O of internal gear 215 total to the product of the distance of above-mentioned point of contact.
And, in this example,, make the offset H of external tooth gear 218 with respect to internal gear 215 in order to increase above-mentioned output torque, surpass restriction in the past, at more than 0.5 times of radius R of the roller that constitutes internal tooth 214.So make the words 0.5 times or more of offset H at radius R, then the center O of internal gear 215 is bigger than in the past to the radial direction distance L (tooth number Z that be multiply by internal tooth (roller) 214 by offset H is tried to achieve) of convergent point C, that is, the position of convergent point C is significantly moved to the radial direction outside.
Thus, above-mentioned line of action S is more oblique to the tangent direction inclination biglyyer than in the past with respect to external tooth gear 218, and the tangent direction component that drives component K ' increases, and the result during total number of teeth in engagement no change of inside and outside tooth 214,219, can increase output torque.But, when above-mentioned offset H surpasses 1.0 times of radius R, produce the position that external tooth 219 and internal tooth (roller) 214 are interfered during the rotation of external tooth gear 218 eccentric swings, therefore above-mentioned offset H must be in 0.5 times～1.0 times scope of radius R.
And, when the center O of establishing internal gear 215 as mentioned above is L to the radial direction of convergent point C distance (tooth number Z that be multiply by internal tooth (roller) 214 by offset H is tried to achieve), if when the radius of the roller at the center of all rollers by constituting above-mentioned internal tooth 214 circle P was Q, preferably their ratio L/Q was in 0.86～1.00 scope.
Its reason is, if above-mentioned value than L/Q is more than 0.86, then as by known to Figure 18, because the load ratio is roughly definite value, obtain identical moment of torsion, therefore can make the load relevant that acts on external tooth 219 certain substantially with transmitting torque, and be minimum value, if less than 0.86, then the variation of load ratio increases, the load relevant with transmitting torque that acts on the external tooth 219 increases, and when above-mentioned value than L/Q surpasses 1.00, can produce sharp-pointed position on the flank of tooth when making external tooth 219.
Herein, above-mentioned curve is simulated with each following factor and is tried to achieve.Promptly, if the number of teeth that the tooth number Z (radical) of the internal tooth of each planetary gear system (roller) is 40, the diameter D of internal tooth (roller) is 10mm, the radius Q of roller circle P is 120mm, external tooth is a definite value 39, the value of L/Q is changed in 0.5～1.0 scope, obtain the tangent direction component of making a concerted effort of the driving component K ' that acts on convergent point C.Curve when herein, Figure 18 represents that the load ratio of the above-mentioned tangent direction component when the value of L/Q is 0.75 is index 1.
And, when in the scope of value 0.86～1.00 of L/Q as mentioned above, the diameter D of internal tooth (roller) 214 (radius R * 2) is preferably the diameter M (radius Q * 2) of the roller circle P merchant divided by the number of teeth U of external tooth 219, be near the value of M/U, to be specially in the scope of M/U ± 2mm.Its reason is, when near the value of diameter D at M/U, as by known to the plotted curve of Figure 19, the hertz stress that can maintain internal tooth (roller) 214 and the point of contact of external tooth 219 begins the low value of the some inboard that sharply increases, can prolong the flank of tooth life-span of external tooth 219.
And, be substantially certain minimum value in order to make hertz stress, as by known to Figure 19, above-mentioned diameter D is preferably in the scope of M/U ± 0.75mm.In addition, the curve that this is shown in Figure 19, except that making offset H is the 2.7mm, identical with the condition of the curve of above-mentioned Figure 18, the diameter D of change internal tooth (roller) 214 also simulates, try to achieve the hertz stress of the point of contact of external tooth 19 and internal tooth (roller) 14, the hertz stress value representation when diameter D equals M/U is an index 1.
And, make the words 0.5 times or more of offset H as mentioned above at radius R, the maximization because the external tooth 219 that two flank of tooth contact with internal tooth (roller) 214 becomes, be that transverse tooth thickness, tooth depth all increase, therefore this external tooth 219 surpasses all 215a that are positioned at the internal gear 215 (rotational shell 12) on the roller circle P substantially and enters, and produces between them and interferes.Therefore, in this embodiment 4, external tooth 219 is begun the amount (the just position that dots Figure 16) of only excision regulation from tooth top, prevent the interference of interior all 215a of external tooth 219 and internal gear 215 along the circle that with the center of external tooth gear 218 is centre of curvature.In addition, the excision amount in these external tooths 219 is preferred, at the internal-gear 215 maximum engagement position with external tooth gear 218, makes the degree that only produces small gap between interior all 215a of the top of the external tooth 219 after the excision and internal gear 215.
And, as mentioned above under the situation of partly excising each external tooth 219, distance between the sense of rotation forward edge 219a of certain 1 external tooth 219 after will excising and the sense of rotation posterior edges 219b is made as E, and when the distance between sense of rotation forward edge 219a and the sense of rotation posterior edges 219b is made as F in 2 adjacent external tooths 219, preferably make above-mentioned apart from E greater than distance F.Its reason is that so, then the flexural rigidity of external tooth 219 increases, and can make the easy processing of external tooth.
And, words of only excising each external tooth 219 as mentioned above with established amount from tooth top, because internal tooth (roller) 214 has only the part engagement with external tooth 219, the value of above-mentioned L/Q is 1.0 o'clock about 1/3, about 3/4 engagement among this embodiment 4, therefore remaining about 1/4 internal tooth (roller) 214 does not contact with external tooth 219, can deviate from roller slot 213.Therefore, in this embodiment 4, on the interior edge face of the bearing outer ring 231a of above-mentioned bearing 231, form the patchhole 231b that inserts for the two ends of above-mentioned internal tooth (roller) 214, thus, prevent that internal tooth (roller) 214 from deviating from from roller slot 213.And this moment, external tooth 219 passed to driving force internal tooth (roller) 214 in about 3/8 scope.
Above-mentioned patchhole 231b constitutes the control mechanism 243 that internal tooth (roller) 214 deviate from from roller slot 213 that prevents that does not contact with external tooth 219 as a whole.In addition, as above-mentioned control mechanism 243, substitute patchhole 231b, can use the identical circumferential groove of diameter that form on the interior edge face of bearing outer ring 231a, width and internal tooth (roller) 214, perhaps use be configured between above-mentioned 2 external tooth gears 218,1 roller pressure ring that periphery contacts with all internal tooth (roller) 214.
The following describes the effect of the embodiment of the invention 4.
Now, drive motor work, crankshaft 235 rotates with identical speed along same direction around the central shaft of self.At this moment, the eccentric cam 238 of crankshaft 235 is eccentric rotation in the crank axis hole 221 of external tooth gear 218, make the rotation of external tooth gear 218 eccentric swings, but because the number of teeth of the gear ratio internal tooth (roller) 214 of the external tooth 219 of aforementioned external teeth gear 218 is only lacked 1, so the arm of rotational shell 212 and robot etc. is because the eccentric swing rotation of external tooth gear 218 and low speed rotation.
Herein, owing to make offset H at more than 0.5 times of radius R as mentioned above, therefore the center O of internal gear 15 is bigger than in the past to the distance L of convergent point C, promptly, the position of convergent point C is significantly moved to the radial direction outside, and thus, above-mentioned line of action S is more oblique than big in the past ground tangent direction inclination with respect to external tooth gear 218, the component tangentially that drives component K ' increases, and output torque increases.
Embodiment 5
Figure 20,21 figure for expression embodiments of the invention 5.In this embodiment 5, do not carry out excision as above-mentioned embodiment's 4 external tooth 219, but with interior all 215a of the internal gear 215 between the adjacent internal tooth (roller) 214 (rotational shell 212) and interior all 215a on every side of each internal tooth (roller) 214, the excision prescribed depth, be the degree of depth of excising and the radius R of internal tooth (roller) 214 equates substantially herein, avoid the interference of interior all 215a of external tooth 219 and internal gear 215 (rotational shell 212) with this.Herein, excision amount of all 215a can suitably determine according to the above-mentioned inlet of external tooth 219 in this.
As a result, the radial direction outer end of each internal tooth (roller) 214 contacts with interior all 215a lines of internal gear 215 after the excision, and thus, rotational shell 212 bears the radial direction component of the driving component K ' that acts on each internal tooth (roller) 214.At this moment, owing to do not have roller slot 213, so each internal tooth (roller) 214 can move freely.Therefore, in this embodiment 5,2 roller pressure rings 246 as control mechanism that are formed with the patchhole 245 that inserts for the two ends of internal tooth (roller) 214 have been installed between bearing 231 and external tooth gear 218, and these 2 roller pressure rings 246 are not fixed on the internal gear 215 revolvably, limit moving of above-mentioned internal tooth (roller) 214.In addition, other formation is identical with the foregoing description 4 with effect.
In addition, in the above embodiments 4, in external tooth gear 218, form a plurality of (3) crank axis hole 221, and will insert respectively in each crank axis hole 221 along the crankshaft 235 of same direction constant speed rotation, make the rotation of external tooth gear 218 eccentric swings, but in the present invention, also 1 crankshaft can be inserted 1 the crank axis hole that forms on the central shaft of external tooth gear 218, the rotation by this crankshaft makes the rotation of external tooth gear eccentric swing.At this moment, the Cylindrical object of supporting body is necessary to contact with the interior contour of through hole.
And in the above embodiments 4, fixedly supporting body 225, make internal gear 215 low speed rotation, but in the present invention, also can fixed annulus, make the supporting body low speed rotation.And, in the present invention, also the straight toothed spur gear reducing gear of reduction speed ratio than 1/7 little (near 1/1) can be set, with 2 grades of decelerations in the previous stage of above line star gear device 211.So, can obtain the high high reduction speed ratio gearing of intrinsic vibration frequency.And, in the above embodiments 4, only excise external tooth 219 with established amount from tooth top, in embodiment 5, interior all 215a of the internal gear 215 between the internal tooth (roller) 214 (rotational shell 212) are only excised prescribed depth, but the present invention also can excise the interior week of external tooth and internal gear simultaneously.
Utilize possibility on the industry
The present invention can be used for making by crank axle the eccentric oscillating-type planetary gear device of the external tooth gear eccentric swing that is meshed with internal gear.
The explanation of symbol
11,111,211... epicyclic gearing
14,114,214... internal tooth (roller)
15,115,215... internal-gear
15a... interior week
18,118,218... external tooth gear
19,119,219... external tooth
21,121,221... crank axis hole
22,122,222... through hole
25,125,225... support
29,129,229... post
35,135,235... crank axle
45a... direction of rotation forward edge
45b... direction of rotation posterior edges
46a... direction of rotation forward edge
46b... direction of rotation posterior edges
P... roller is round
G... the outer end is by circle
M... root circle
C... convergent point
S... position
K... drive the reaction force of component
H... offset
K ' ... drive component
R... roller radius
Q... roller circle radius
E... distance
F... distance
Claims (6)
1. eccentric oscillating-type planetary gear device, have: internal-gear is being provided with the internal tooth that is made of a plurality of cylindric rollers interior week; External tooth gear is formed with at least one crank axis hole and a plurality of through hole, have on the periphery constitute by the trochoid profile of tooth, with the external tooth of few 1 of the engagement of above-mentioned internal tooth and this internal tooth of gear ratio; Crankshaft inserts in each crank axis hole, makes the external tooth gear eccentric swing by rotation; Supporting body can be supported above-mentioned crankshaft rotatably, and has a plurality of Cylindrical objects that are inserted in each through hole; It is characterized in that:
When establishing the offset of aforementioned external teeth gear with respect to internal-gear is that the radius of H, the roller that constitutes internal tooth is when being R, make above-mentioned offset H in 0.5～1.0 times scope of radius R, and excise each external tooth from tooth top with established amount, avoid the interference in the interior week of external tooth and internal-gear.
2. eccentric oscillating-type planetary gear device as claimed in claim 1, when the radius of the roller circle P at the center of all rollers that will be by constituting above-mentioned internal tooth is made as Q, and when the distance on the radial direction till the convergent point C that the line of action S that will impose on the driving component K ' of corresponding internal tooth from the center O of above-mentioned internal-gear to external tooth overlaps is made as L, make distance L on the above-mentioned radial direction in 0.86～1.00 times the scope of above-mentioned radius Q.
3. eccentric oscillating-type planetary gear device as claimed in claim 1, when the sense of rotation forward edge of the some external tooths after the above-mentioned excision and the distance between the sense of rotation posterior edges are made as E, and when the sense of rotation forward edge of 2 adjacent external tooths and the distance between the sense of rotation posterior edges are made as F, make above-mentioned apart from E greater than distance F.
4. eccentric oscillating-type planetary gear device, have: internal-gear is being provided with the internal tooth that is made of a plurality of cylindric rollers interior week; External tooth gear is formed with at least one crank axis hole and a plurality of through hole, have on the periphery constitute by the trochoid profile of tooth, with the external tooth of few 1 of the engagement of above-mentioned internal tooth and this internal tooth of gear ratio; Crankshaft inserts in each crank axis hole, makes the external tooth gear eccentric swing by rotation; Supporting body can be supported above-mentioned crankshaft rotatably, and has a plurality of Cylindrical objects that are inserted in each through hole; It is characterized in that:
When establishing the offset of aforementioned external teeth gear with respect to internal-gear is that the radius of H, the roller that constitutes internal tooth is when being R, make above-mentioned offset H in 0.5～1.0 times scope of radius R, and, avoid the interference in the interior week of external tooth and internal-gear thus with the degree of depth that the interior week excision of the internal-gear between the adjacent internal tooth is stipulated.
5. eccentric oscillating-type planetary gear device as claimed in claim 4, when the radius of the roller circle P at the center of all rollers that will be by constituting above-mentioned internal tooth is made as Q, and when the distance on the radial direction till the convergent point C that the line of action S that will impose on the driving component K ' of corresponding internal tooth from the center O of above-mentioned internal-gear to external tooth overlaps is made as L, make distance L on the above-mentioned radial direction in 0.86～1.00 times the scope of above-mentioned radius Q.
6. eccentric oscillating-type planetary gear device as claimed in claim 5, when the sense of rotation forward edge of the some external tooths after the above-mentioned excision and the distance between the sense of rotation posterior edges are made as E, and when the sense of rotation forward edge of 2 adjacent external tooths and the distance between the sense of rotation posterior edges are made as F, make above-mentioned apart from E greater than distance F.
Applications Claiming Priority (12)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2004024887 | 2004-01-30 | ||
| JP2004024887 | 2004-01-30 | ||
| JP2004-024887 | 2004-01-30 | ||
| JP2004142505 | 2004-05-12 | ||
| JP2004142505A JP4498816B2 (en) | 2004-05-12 | 2004-05-12 | Eccentric oscillation type planetary gear unit |
| JP2004-142505 | 2004-05-12 | ||
| JP2004147352A JP4498823B2 (en) | 2004-05-18 | 2004-05-18 | Eccentric oscillation type planetary gear unit |
| JP2004-147352 | 2004-05-18 | ||
| JP2004147352 | 2004-05-18 | ||
| JP2004217946 | 2004-07-26 | ||
| JP2004-217946 | 2004-07-26 | ||
| JP2004217946A JP4626948B2 (en) | 2004-01-30 | 2004-07-26 | Eccentric oscillation type planetary gear unit |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2005800036799A Division CN100451384C (en) | 2004-01-30 | 2005-01-28 | Eccentric swing type planetary gear device |
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| Publication Number | Publication Date |
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| CN101368612A CN101368612A (en) | 2009-02-18 |
| CN101368612B true CN101368612B (en) | 2011-03-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2008100989634A Active CN101328953B (en) | 2004-01-30 | 2005-01-28 | Eccentric oscillating-type planetary gear device |
| CNB2005800036799A Active CN100451384C (en) | 2004-01-30 | 2005-01-28 | Eccentric swing type planetary gear device |
| CN2008100989649A Active CN101368612B (en) | 2004-01-30 | 2005-01-28 | Eccentric swing type planetary gear device |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2008100989634A Active CN101328953B (en) | 2004-01-30 | 2005-01-28 | Eccentric oscillating-type planetary gear device |
| CNB2005800036799A Active CN100451384C (en) | 2004-01-30 | 2005-01-28 | Eccentric swing type planetary gear device |
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| JP (1) | JP4969680B2 (en) |
| CN (3) | CN101328953B (en) |
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| JP2009041625A (en) * | 2007-08-07 | 2009-02-26 | Sumitomo Heavy Ind Ltd | Oscillation inscribed planetary gear structure |
| JP5202985B2 (en) * | 2008-02-19 | 2013-06-05 | 住友重機械工業株式会社 | Decelerator |
| WO2009110023A1 (en) * | 2008-03-03 | 2009-09-11 | ナブテスコ株式会社 | Eccentric speed reducer |
| CN103403396B (en) * | 2011-01-19 | 2016-08-24 | 范戴尼超级涡轮有限公司 | High torque traction drive and the method for transmission rotating mechanical energy |
| JP2012251595A (en) * | 2011-06-02 | 2012-12-20 | Sumitomo Heavy Ind Ltd | Reduction gear device of wind power generating facility |
| CN102242795B (en) * | 2011-07-21 | 2013-09-25 | 浙江恒丰泰减速机制造有限公司 | Precision cycloid decelerator |
| JP5701724B2 (en) * | 2011-09-14 | 2015-04-15 | ナブテスコ株式会社 | Gear device |
| JP5779120B2 (en) * | 2012-02-24 | 2015-09-16 | 住友重機械工業株式会社 | Eccentric oscillation type speed reducer |
| JP2014077453A (en) * | 2012-10-09 | 2014-05-01 | Nabtesco Corp | Eccentric oscillation type gear device |
| CN103334416B (en) * | 2013-07-16 | 2015-01-28 | 四川宏华石油设备有限公司 | Lifting device |
| DE102013018775A1 (en) * | 2013-11-08 | 2015-05-13 | Iwis Motorsysteme Gmbh & Co. Kg | Lantern-transmission device |
| CN105020345A (en) * | 2014-04-21 | 2015-11-04 | 天津职业技术师范大学 | Hollow shaft type precision 2K-V transmission device |
| CN105299148B (en) * | 2015-05-07 | 2018-08-03 | 昆山光腾智能机械有限公司 | Needle tooth cycloidal reducer |
| CN106567911A (en) * | 2015-10-13 | 2017-04-19 | 范正富 | Inner gearing transmission mechanism |
| JP6624938B2 (en) * | 2016-01-13 | 2019-12-25 | ナブテスコ株式会社 | Gear device and output gear plate |
| CN106051069A (en) * | 2016-08-12 | 2016-10-26 | 上海交通大学 | RV reducer for robot |
| CN106402285B (en) * | 2016-11-16 | 2020-09-04 | 李宗翰 | Eccentric swinging type planetary gear speed reducer capable of increasing output torque |
| CN106438864A (en) * | 2016-11-16 | 2017-02-22 | 马桂骅 | Eccentric swing type planetary gear device capable of increasing output torque |
| TWI609143B (en) | 2016-12-29 | 2017-12-21 | 財團法人工業技術研究院 | Eccentric oscillating speed reducer |
| CN108730423A (en) * | 2017-04-17 | 2018-11-02 | 昆山光腾智能机械有限公司 | Needle tooth cycloidal reducer with elastic compensating |
| CN107044511A (en) * | 2017-04-26 | 2017-08-15 | 珠海飞马传动机械有限公司 | A kind of robot poor tooth reductor of cycloid |
| TWI679358B (en) * | 2017-06-23 | 2019-12-11 | 台達電子工業股份有限公司 | Speed reducing device having power source |
| JP2021156313A (en) * | 2020-03-25 | 2021-10-07 | 住友重機械工業株式会社 | Eccentric rocking type gear device |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN101328953B (en) | 2011-03-30 |
| CN101368612A (en) | 2009-02-18 |
| CN101328953A (en) | 2008-12-24 |
| JP4969680B2 (en) | 2012-07-04 |
| JP2011007339A (en) | 2011-01-13 |
| CN1914438A (en) | 2007-02-14 |
| CN100451384C (en) | 2009-01-14 |
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