CN101769363B

CN101769363B - Reduction apparatus

Info

Publication number: CN101769363B
Application number: CN2009102251747A
Authority: CN
Inventors: 鹤身洋; 为永淳
Original assignee: Sumitomo Heavy Industries Ltd
Current assignee: Sumitomo Heavy Industries Ltd
Priority date: 2008-12-29
Filing date: 2009-12-09
Publication date: 2012-09-26
Anticipated expiration: 2029-12-09
Also published as: KR20100080380A; CN101769363A; JP5121696B2; DE102009059785B4; DE102009059785A1; JP2010156430A

Abstract

The present invention provides a reduction device for avoiding phenomenons that the reduction apparatus is disassembled and larger components fall off because of stronger impact, and stifling secondary accidents in the cradle. The reduction apparatus (40) has an input shaft (a crankshaft ) (42) for making an external gear (a planet gear ) ( from 46A to 46C) oscillate and rotate. The input shaft (42) are supported by a first flange body and a second flange body (a wheel carrier body ) (54, 56) through a couple of first angular contact ball bearing and second angular contact ball bearing (50, 52), as bearings of the input shaft (42), the first and second angular contact ball bearings (50, 52) have contact angles (theta 1, theta 2) of approximate 40 DEG and are assembled in a back-to-back combination mode.

Description

Speed reducer

Technical field

The application advocates the preference based on the Japanese patent application of on December 29th, 2008 application 2008-335687 number.The full content of this application is quoted in this specification through reference.

The present invention relates to possess the speed reducer of swing internal-gearing planet gear mechanism.

Background technique

In patent documentation 1, disclose the speed reducer that possesses swing internal-gearing planet gear mechanism.Like Fig. 5, shown in Figure 6, this speed reducer 10 possesses: input shaft 14, and eccentric body 16A, 16B is integrally formed and as bent axle performance function; External gear (planetary pinion) 18A, 18B are entrenched in the periphery of above-mentioned eccentric body 16A, 16B; Internal gear 20 and meshes in this external gear 18A, the 18B.

Have sold inside the country 24 at

external gear

18A, 18B movable fit.Sold inside the country 24 wheel carriers as this internal-gearing planet gear mechanism (carrier) are brought into play function, and firmly fix, are attached at the pair of flanges body (wheel support body) 25,26 of the axial both sides that are disposed at

external gear

18A, 18B.

If input shaft (bent axle) 14 rotations then make

external gear

18A, 18B swing rotation through eccentric body 16A, 16B.For example internal gear 20 sides (the 1st object machinery 31 sides) when being fixed, are rotated

external gear

18A, 18B with respect to internal gear 20 relative displacements (rotation) through this swing.The rotation composition of this

external gear

18A, 18B takes out from

body flange

25,26 through sold inside the country 24, with these

body flange

25,26 incorporate the 2nd object machineries 33 sideway swivels.

For example industrial robot or the lathes etc. of being used for of speed reducer 10 like this structure more.At this moment; If because of the arm of some reason mechanism hand or the movable part of lathe impact certain object; Then produce following phenomenon; That is: through this impact with respect to the pair of flanges body that is positioned at axial both

sides

25,26 apply follow " distortion " or " bending " than thump, sold inside the country 24 produce bending force and tensile forces what firmly fixing, linking this pair of

flanges body

25,26.

On the one hand, this sold inside the country 24 needs to connect

external gear

18A, 18B, so be made up of the binding parts of the pin of (have to by) thinner diameter etc.Therefore, exist (but very rare) to make the problem of sold inside the country 24 fractures through such impact.

Even; If sold inside the country 24 fractures; The base that then has body flange 25 (or 26) thereby lose this supporting owing to this fracture is from shell 30 " separation ", produces because this separation makes the 1st parts 31 sides or the 2nd parts 33 sides any one of mechanism hand come off to make and be positioned at that near material is ruined, the worry of so-called second accident.

In patent documentation 2; As the structure that is used to handle such problem; Disclose following structure: in the axial end portion of shell, side-prominent jut in the radial direction being set with above-mentioned axle or with all discontiguous state of these incorporate parts, and above-mentioned axle or with these incorporate parts on be formed with opposed portion; This opposed internal diameter that is set at the external diameter of itself greater than above-mentioned jut, to the inside mutually opposed with respect to this jut in enclosure axis.

Through this structure,, also can prevent the phenomenon that body flange (wheel support body) comes off from shell through this jut and opposed 's existence even the inside of speed reducer is destroyed.

Patent documentation 1: International Publication WO2008-075598A1 (Fig. 1, Fig. 2)

Patent documentation 2: No. 4167879 communiques of japanese (claim 1, Fig. 1)

Yet above-mentioned patent documentation 2 disclosed structures need be formed on jut respectively on 2 parts with relative portion, so there is baroque problem.And it is overlapping that this jut and opposed have at radial direction in its function aspects, so have installation flexibility or the problem that reduces greatly of property easily.

Summary of the invention

The present invention accomplishes for the problem of eliminating this past; Its problem is; Provide and complicatedly to construct; When guaranteeing installation flexibility or easy property, even because of receiving stronger impact the binding parts that link the wheel support body are destroyed, the second accident that also can the part of speed reducer split, come off and produce is prevented trouble before it happens.

Speed reducer of the present invention possesses swing internal-gearing planet gear mechanism; This swing internal-gearing planet gear mechanism has the bent axle that makes planetary pinion swing rotation; In this speed reducer,, link the above-mentioned support body of taking turns by linking parts at above-mentioned planetary axial both sides configuration wheel support body; And support above-mentioned bent axle by the above-mentioned support body dual-supporting ground of taking turns through bearing; And as the bearing of this bent axle of supporting, have the pair of bearings of the wrapping angle beyond zero, solved above-mentioned problem through said structure with back-to-back combination assembling.

In the present invention,,, constitute with " back-to-back combination " assembling and have zero in addition the pair of bearings of wrapping angle and as the bearing of this bent axle of supporting by wheel support body dual-supporting ground supporting crankshaft through bearing.

Therefore; Even produce situation like the binding parts fracture of binding, fast pulley support body; Wheel support body (or parts incorporate with it) is owing to be set as back-to-back combination with crankshaft support in the bearing of wheel support body; So this rolling element blocks the rolling surface in the outer ring of tilt outside axially, can avoid come off (afterwards stating).

The present invention is prevented the effect that comes off of wheel support body through the kind of bearing and studying intensively of its mounting direction, and therefore the certain components with respect to speed reducer does not need to form in addition jut or opposed portion.And, because do not have this jut or relative portion, so the undesirable condition of " it is overlapping that this jut or opposed have at radial direction, so the installation flexibility of speed reducer or property reduction easily " can not take place yet.

The invention effect

According to the present invention; Need not complicatedly construct; When guaranteeing installation flexibility or easy property, even because of receiving stronger impact the binding parts that link the wheel support body are destroyed, the second accident that also can the part of speed reducer split, come off and produce is prevented trouble before it happens.

Description of drawings

Fig. 1 is the sectional drawing of speed reducer of using an example of mode of execution of the present invention.

Fig. 2 is the sectional drawing of speed reducer of using an example of other mode of executions of the present invention.

Fig. 3 be along Fig. 2 to the sectional drawing of looking the III-III line.

Fig. 4 is the major component enlarged view of Fig. 2.

Fig. 5 is the sectional drawing of an example of expression speed reducer in the past.

Fig. 6 be along Fig. 5 to the sectional drawing of looking the VI-VI line.

Among the figure: 42-input shaft (bent axle), 46A～46C-external gear, 48A～48C-eccentric body, 50,52-the 1st, the 2nd angular contact ball bearing; 50A, 52A-inner ring, 50A1,52A1-rolling surface, 50B, 52B-outer ring, 50B1,52B1-rolling surface; 50C, 52C-ball, 54,56-the 1st, the 2nd body flange (wheel support body), 58A～58C-roller, 60-internal gear; The 62-shell, 72-is sold inside the country, θ 1, θ 2-wrapping angle.

Embodiment

Below, at length describe based on the example of accompanying drawing mode of execution of the present invention.

Fig. 1 is the sectional drawing of speed reducer 40 of using an example of mode of execution of the present invention.

This speed reducer 40 possesses swing internal-gearing planet gear mechanism, and it is input shaft 42 that this swing internal-gearing planet gear mechanism has the bent axle that makes external gear (planetary pinion) 46A～46C swing rotation.Input shaft 42 through a pair of the 1st, the 2nd angular contact ball bearing 50,52 dual-supportings be bearing in the 1st, the 2nd body flange (wheel support body) 54,56.1st, the 2nd angular contact ball bearing 50,52 has the roughly wrapping angle of 40 degree (wrapping angle beyond zero) θ 1, θ 2, and with back-to-back combination assembling.

The structure of each several part below is described in further detail.

The eccentric phase place that is integrally formed at the eccentric body 48A～48C of input shaft 42 120 degree that along the circumferential direction respectively squint.Periphery at each eccentric body 48A～48C is assembled with 3 external gear 46A～46C freely through roller 58A～58C swing rotation.Be engaged in internal gear 60 in each external gear 46A～46C.

The internal tooth of internal gear 60 is arc toothed, particularly is embedded in the columniform export trade 60B formation of the groove 60A of circular arc freely through rotation.The number of teeth of internal gear 60 is set the number of teeth only many " 1 " than external gear 46A～46C for.Internal gear 60 is integrated with shell 62 in this embodiment.Be formed with at shell 62 and be used for the bolt hole 62A that links with the 1st parts of mechanism hand (omitting diagram).Periphery at the 1st, the

2nd body flange

54,56 disposes this main bearing 66,68.

Connect vertically at each external gear 46A～46C and to be formed with a plurality of inner pinhole 46A1～46C1.Have at inner pinhole 46A1～46C1 movable fit (slit) with amount suitable with the offset of eccentric body 48A～48C put in sold inside the country 72 (the binding parts) of roller 70.Sold inside the country 72 outstanding from the 1st body flange 54 one, form, link securely, fix through bolt 74 and the 2nd body flange 56, bring into play function as the wheel carrier of external gear 46A～46C.

In addition, reference character 76 is bolts hole of the 2nd parts that are used to link mechanism hand (omitting diagram) and the 1st body flange 54.

At this, as be used for input shaft (bent axle) 42 dual-supportings be bearing in the bearing of the 1st, the 2nd body flange (wheel support body) 54,56, in this embodiment, adopt the 1st, the 2nd angular contact ball bearing 50,52.1st, the 2nd angular contact ball bearing 50,52 all has roughly wrapping angle θ 1, the θ 2 (θ 1=θ 2) of 40 degree, is assembled in input shaft 42 and the 1st, the 2nd body flange 54 with " back-to-back combination " respectively, between 56.1st, the 2nd angular contact ball bearing 50,52 has independently

inner ring

50A, 52A respectively.But outer ring 50B, 52B and the 1st, the

2nd body flange

54,56 are integrally formed.That is, the part of the 1st, the

2nd body flange

54,56 is brought into play function as outer ring 50B, the 52B of the 1st, the 2nd angular contact ball bearing 50,52 respectively.

The rolling surface 50B1 of outer ring 50B, 52B, 52B1 (because the 1st, the 2nd angular contact ball bearing 50,52 is made as back-to-back combination) are mutually towards the axial outside.The rolling surface 50A1 of

inner ring

50A, 52A, 52A1 (because the 1st, the 2nd angular contact ball bearing 50,52 is made as back-to-back combination) are mutually towards axial inboard.

Near the interior week of the 1st, the 2nd body flange 54,56, to implement to have electronic curing to handle, to be guaranteed essential hardness in order bringing into play near week in this as the function of outer ring 50B, 52B.And, except electronic curing is handled, also can carry out carburizing, modified etc. cured.

Between

inner ring

50A, 52A and (and the 1st, the

2nd body flange

54,56 is incorporate) outer ring 50B, 52B, be assembled with

ball

50C, 52C as rolling element.In addition, with outer ring 50B, 52B and the 1st, the

2nd body flange

54,56 incorporate structures, and by comparing based on the installation of snap ring or the position limit that is pressed into etc.; Installation strength is very superior; So aspect following, have advantage, that is, and like this mode of execution; Even as when making sold inside the country 72 to be fractureed, the required axial reaction force of Drop-proof (anti-fall reliability is high) can be provided reliably also because of impact.And, with back-to-back combination assembling bearing the time, through the structure of integrated outer ring, (comparing) with the structure of integrated inner ring especially each part installation flexibility, easily property very superior aspect also be the big advantage of one in the practicality.On this meaning, for the easy property that more effectively realizes installing, should integrated " outer ring " side.

Near the end of input shaft 42, be equipped with the 1st, the 2nd slot part 42A, 42B.In the 1st, the

2nd slot part

42A, 42B embedding the 1st, the

2nd snap ring

84,86 is arranged.And, at the inner ring 50A of the 1st angular contact ball bearing 50 be embedded between the 1st snap ring 84 of the 1st slot part 42A and dispose pad 90.1st, the

2nd body flange

54,56 links through sold inside the country 72, is fixing (constant) at a distance from Lo therebetween, so the interval of the outer ring 50B of the 1st, the 2nd angular contact ball bearing 50,52,52B also is fixing (constant).Thus,, suitably shorten the inner ring 50A of the 1st, the 2nd angular contact ball bearing 50,52, the interval of 52A, thereby can adjust the size (power) of the pressurization of the 1st, the 2nd angular contact ball bearing 50,52 through adjusting the axial thickness of this pad 90.In other words,, apply suitable pressurization, the axial gap of the 1st, the 2nd angular contact ball bearing 50,52 is dwindled through pad 90.

On the one hand, as stated, interior all parts that constitutes the outer ring of the 1st, the 2nd angular contact ball bearing 50,52 of the 1st, the

2nd body flange

54,56 are handled so carry out electronic curing.Therefore, as its non-staple effect, axial

inner side surface

54A, 56A near the interior week of the 1st, the

2nd body flange

54,56 also become very hard.In addition, also has shape, so near axial

inner side surface

54A, 56A (from axial periphery side side) of the interior week of the 1st, the

2nd body flange

54,56 extends to the radial direction inboard as the outer ring of back-to-back combination at vpg connection.In this embodiment; Actively utilize these characteristics; Through axial inner side surface 54A, the 56A of the 1st, the

2nd body flange

54,56, the moving axially of roller (rolling element) 58A～58C of restriction external gear 46A～46C (being specially the moving axially of retainer (retainer) 58A1～58C1 of restriction roller 58A～58C).

The function of this speed reducer 40 then is described.

If with the rotating eccentricity body 48A～48C rotation of input shaft 42, the external gear 46A～46C that then is assembled in the periphery of this eccentric body 48A～48C swings rotation.Shell 62 (internal gear 60) makes external gear 46A～46C with respect to internal gear 60 relative displacements (rotation) through this swing rotation when side is fixed.The rotation composition of this external gear 46A～46C takes out from the 1st, the

2nd body flange

54,56 through sold inside the country 72, through the 1st body flange 54 and the incorporate object parts of bolt hole 76 (the not shown bolt that is screwed into therein) (omitting diagram) rotation.

And, when the rotation of the 1st, the

2nd body flange

54,56 sides is limited (rotation of external gear 46A～46C is limited), to take out output with the mode of shell 62 incorporate object parts (omitting diagram) rotation.

This structure is if impact certain object because of some reason makes the parts that link with speed reducer 40; Then produce following phenomenon; Promptly; Through this impact with respect to a pair of the 1st, the

2nd body flange

54,56 that is positioned at axial both sides apply follow " distortion " or " bending " than thump, sold inside the country 72 produce bending force and tensile forces what firmly fixing, linking this a pair of the 1st, the

2nd body flange

54,56.

Sold inside the country 24 need to connect external gear 46A～46C, so design (necessary design) becomes thinner diameter.Therefore, exist (but very rare) to make the problem of sold inside the country 72 fractures through such impact.

But in this embodiment, (the 1st, the 2nd angular contact ball bearing 50,52) outer ring 50B of the 1st body flange 54 and the 2nd body flange 56, the rolling surface 50B1 of 52B, 52B1 are owing to being back-to-back combination, so mutually towards the axial outside.The rolling surface 50A1 of the inner ring 50A of opposite the 1st, the 2nd angular contact ball bearing 50,52,52A (owing to being back-to-back combination), 52A1 are mutually towards axial inboard.1st, the inner ring 50A of the 2nd angular contact ball bearing 50,52,52A can not move to the direction that deviates from mutually on input shaft (bent axle) 42 owing to snap

ring

84,86 in the axial direction.Therefore, outer ring 50B, 52B are also owing to

ball

50C, 52C can not move towards the direction that deviates from mutually.So, can not move to the direction that deviates from mutually with this outer ring 50B, incorporate the 1st, the

2nd body flange

54,56 of 52B.

Promptly; Make the 1st, the 2nd body flange 54,56 because this fracture loses the base of its supporting even be sold inside the country 72 fractures; 1st, the 2nd body flange 54,56 because outer ring 50B, the rolling surface 50B1 of 52B, the part of 52B1 block at

ball

50C, 52C, does not have in axial separation, the phenomenon that deviates from yet.Its result, can prevent that the 2nd body flange 56 from coming off with respect to the 1st body flange 54 or the 1st body flange 54 sides with respect to the phenomenon that the 2nd body flange 56 comes off, the generation of the so-called second accident that can avoid causing by coming off.

In this embodiment,, be prevented the effect that comes off of the 1st, the

2nd body flange

54,56, therefore need be formed on the jut that must form in addition in the patent documentation 2 in the past or opposed etc. through the kind of bearing and studying intensively of its mounting direction.In addition; Because do not have this jut or opposed portion; And

inner ring

50A, 52A are not integrally formed with input shaft 42; So also can not produce the undesirable condition of " owing to this jut, opposed or inner ring overlapping installation flexibility or property reduction easily that makes speed reducer on radial direction ", the workability of installation is very good.

And, because the 1st, the 2nd angular contact ball bearing 50,52 assemble with back-to-back combination,, can support input shaft (bent axle) 42 with stable manner (mode that axle does not rock) very so the span L1 of its line of action can be set significantly.Its result can make 3 external gear 46A～46C guarantee correct phase difference and the correct amount of eccentric swing only, the running of can vibrate, noise is little and efficient is high.Because it is little that axle rocks, so, also can design ball 50C, the 52C of the 1st, the 2nd angular contact ball bearing 50,52 littler if need.

In addition, in the above-described embodiment, adopted input shaft 42 to be arranged on the structure of the central authorities of speed reducer 40, but the structure of the bent axle of the speed reducer that the present invention relates to is not limited to this structure with bent axle function.

For example, shown in the speed reducer 104 of Fig. 2～shown in Figure 4, also can in the structure that possesses a plurality of (being 3 in this example) bent axle, use the present invention, can obtain identical action effect.

In this speed reducer 104, the power of not shown motor is delivered to input shaft 106 through key (only illustrating keyway 106A).Be formed with driving pinion 108 at input shaft 106.Driving pinion 108 meshes with 3 distribution gear 130A～130C (only illustrating 130A) simultaneously.Each distribution gear 130A～130C and 3 eccentric axons (bent axle) 144A～144C are integrated.

Eccentric axon 144A possesses eccentric

eccentric body

160A, 162A from the axle center of this off-centre axon 144A.Eccentric axon 144B possesses eccentric body 160B, 162B (with reference to Fig. 3.Not shown eccentric body 160B.)。Eccentric axon 144C possesses eccentric body 160C, 162C (not shown eccentric body 160C.)。

Be positioned at the eccentric body of the axial same position of each eccentric axon 142A～142C, for example the eccentric body 160C of the eccentric body 160B of the eccentric body 160A of eccentric axon 142A, eccentric axon 142B and eccentric axon 142C is mutually with identical eccentric phase place assembling.And the eccentric body 162B of the eccentric body 162A of eccentric axon 144A, eccentric axon 144B and the eccentric body 162C of eccentric axon 144C are also mutually with identical eccentric phase place assembling.Through roller 164A～164C is chimeric external gear 166 (not shown roller 164B, 164C) arranged in that eccentric body 160A～160C is last.In addition, eccentric body 162A～162C is also chimeric through roller 170A～170C and external gear 168 respectively.

According to these structures; Each eccentric axon 144A～144C can rotate with identical speed along equidirectional with each distribution gear 130A～130C integratedly; And rotation through each eccentric axon 144A～144C; Eccentric body 160A, 160B, 160C become one group to rotate with same phase, and likewise one group of

eccentric body

162A, 162B, 162C is rotated with same phase.In addition, one group the eccentric phase place of one group the eccentric phase place of eccentric body 160A, 160B, 160C and

eccentric body

162A, 162B, 162C is skew 180 degree mutually, and the eccentric phase difference of external gear 166,168 is 180 °.

Be engaged on internal gear 172 in 2 external gears 166,168.Internal gear 172 is integrated with shell 120.Shell 120 is fixed on the base member (omitting diagram) of mechanism hand through bolt (only illustrating bolt hole 122).The internal tooth of internal gear 172 constitutes through export trade 174.But, consider lightweight and cost degradation at this, export trade 174 omits the configuration at a distance from 2 of 2 configurations.In this structure, compare when disposing export trade 174 fully, though transfer capacity reduces, also can obtain identical effect as the relative movement (deceleration principle) of the mechanical property of external gear 166,168 and internal gear 172.

Dispose the 1st, the 2nd body flange (wheel support body) 146,148 in the axial both sides of external gear 166,168, be bearing in shell 120 freely through bearing 178,180 rotations.The 1st body flange 146 firmly fixes, links with wheel carrier pin (binding parts) 184A～184C through bolt 182.The 2nd body flange 148 firmly fixes, links with wheel carrier pin 184A～184C together with object machinery (only illustrating bolt hole 186) through bolt.Thus, in this embodiment, exist the wheel carrier pin 184A～184C that firmly fixes, links the 1st, the 2nd body flange 146,148 to become severe state when clashing etc. and the worry that ruptures.In addition, when fracture, still produce the segregation phenomenon of the 1st body flange 146 sides and the 2nd body flange 148 sides.

At this, in this embodiment, the bearing as being used for supporting eccentric body axle (bent axle) 144A～144C on the 1st, the 2nd body flange 146,148 dual-supporting ground adopts the 1st, the 2nd angular contact ball bearing 188,190.

With reference to Fig. 4; In order to seek conveniently; Be conceived to eccentric axon 144A; Then the 1st, the 2nd angular contact ball bearing 188,190 all has roughly wrapping angle θ 3, the θ 4 (θ 3=θ 4) of 15 degree, is assembled in eccentric axon 144A and the 1st, the 2nd body flange 146 with " back-to-back combination " respectively, between 148.1st, the 2nd angular contact ball bearing 188,190 has independently

inner ring

188A, 190A respectively.But outer ring 188B, 190B and the 1st, the 2nd body flange 146,148 are integrally formed.That is, the part around the eccentric axon 144A of the 1st, the 2nd body flange 146,148 is brought into play function as outer ring 188B, the 190B of the 1st, the 2nd angular contact ball bearing 188,190 respectively.

The rolling surface 188B1 of outer ring 188B, 190B, 190B1 (because the 1st, the 2nd angular contact ball bearing 188,190 is made as back-to-back combination) are mutually towards the axial outside.The rolling surface 188A1 of

inner ring

188A, 190A, 190A1 (because the 1st, the 2nd angular contact ball bearing 188,190 is made as back-to-back combination) are mutually towards axial inboard.

Near the interior week of the 1st, the 2nd body flange 146,148, to implement electronic curing and handle, to be guaranteed essential hardness in order bringing into play near week in this as the function of outer ring 188B, 190B.Therefore, also utilize this hardness to increase in this embodiment, the moving axially of roller (rolling element) 164A of the axial inner side surface 146A restriction external gear 166 through the 1st body flange 146 (being specially the moving axially of retainer 164A1 of restriction roller 164A).

Near the end of eccentric axon (bent axle) 144A, be equipped with the 1st, the 2nd slot part 144A1,144A2.In the 1st, the 2nd slot part 144A1,144A2 embedding the 1st, the 2nd snap ring 192,194 is arranged.And, at the inner ring 188A of the 1st angular contact ball bearing 188 be embedded between the 1st snap ring 192 of the 1st slot part 144A1 and dispose pad 196.Because the 1st, the 2nd body flange 146,148 is fixing (constant) at interval, so the interval of the outer ring 188B of the 1st, the 2nd angular contact ball bearing 188,190,190B also is fixing (constant).Thus,, suitably shorten the inner ring 188A of the 1st, the 2nd angular contact ball bearing 188,190, the interval of 190A, thereby can adjust the pressurization size (power) of the 1st, the 2nd angular contact ball bearing 188,190 through adjusting the axial thickness of this pad 196.That is,, apply suitable pressurization, thereby the 1st, the 2nd angular contact ball bearing 188,190 axial gaps are dwindled through pad 196.

Other eccentric axon 144B, 144C also have the identical structure with above-mentioned eccentric axon 144A.

In this embodiment, if input shaft 106 rotations, then the distribution gear 130A～130C with these input shaft 106 engagements rotates, and eccentric axon 144A～144C rotates with identical rotating speed along equidirectional.Its result, external gear 166,168 has 180 ° phase difference mutually, and likewise interior be engaged on internal gear 172 in swing rotation.

The number of teeth of internal gear 172 and external gear 166,168 poor (number of teeth 80 of internal gear 172 originally and the number of teeth 78 of external gear 166,168 poor) is respectively 2; So if external gear 166,168 carries out 1 swing, then external gear 166, the 168 rotation amount corresponding with this number of teeth difference only.Its rotation composition is delivered to the 1st, the 2nd body flange 146,148 through eccentric axon 144A～144C.

The 2nd body flange 148 is mechanical integrated through bolt 186 and object, so at last through the rotation of the 2nd body flange 148, make not shown object mechanical rotation.

In order to seek conveniently; If be conceived to eccentric axon 144A again; Then in this embodiment, (the 1st, the 2nd angular contact ball bearing 188,190) of the 1st body flange 146 and the 2nd body flange 148 the rolling surface 188B1 of outer ring 188B, 190B, 190B1 because be thus that back-to-back combination is also mutually towards the axial outside.The rolling surface 188A1 of the inner ring 188A of opposite the 1st, the 2nd angular contact ball bearing 188,190,190A (owing to being back-to-back combination), 190A1 are mutually towards axial inboard.1st, the inner ring 188A of the 2nd angular contact ball bearing 188,190,190A be because snap ring 192,194, can not move to the direction that deviates from the axial direction mutually in that eccentric axon (bent axle) 144A is last.Therefore, outer ring 188B, 190B are because roller 188C, 190C and can not move to the direction that deviates from mutually.So, can not move to the direction that deviates from mutually with this outer ring 188B, incorporate the 1st, the 2nd body flange 146,148 of 190B.

This acts among other the eccentric axon 144B, 144C also identical.

Its result; Even wheel carrier pin (binding parts) 184A～184C fracture; And 1st, the 2nd body flange (wheel support body) 146,148 is because this fracture loses the base of its supporting; 1st, the 2nd body flange 146,148 owing to outer ring 188B, the rolling surface 188B1 of 190B, the part of 190B1 are blocked at roller 188C, 190C, does not have in the axial direction the phenomenon of separating, deviating from yet.Its result can prevent phenomenon that the 2nd body flange 148 sides come off with respect to the 1st body flange 146 sides or the 1st body flange 146 sides with respect to the phenomenon that the 2nd body flange 148 sides come off, the generation of the so-called second accident that can prevent to cause by coming off.

In addition; Because the 1st, the 2nd angular contact ball bearing 188,190 is assembled with back-to-back combination; So the span L2 of its line of action can be set significantly, also can likewise obtain effect with the mode of execution of front with the eccentric axon 144A of (mode that the axle does not rock) supporting of stable manner very.

In eccentric axon 144B, 144C, also can obtain the effect identical with eccentric axon 144A.

In addition; In the above-described embodiment; Adopt angular contact ball bearing or angular contact ball bearing as the bearing that is used for supporting crankshaft, but in the present invention, be not limited to the bearing of these 2 kinds of kinds especially for the kind of bearing; So long as have wrapping angle and can get final product with the bearing of back-to-back combination assembling, even for example the such bearing of circular cone roller bearing also can obtain identical action effect.

And; In the above-described embodiment; The outer ring that makes angular contact ball bearing or angular contact ball bearing is integrally formed with the wheel support body, but may not need integrally formedly, also can for example carry out following mobile restriction to outer ring independently: based on the axial mobile restriction of snap ring; Based on the axial mobile restriction that is pressed into to the wheel support body; Based on and with these snap rings and to the wheel support body the axial mobile restriction that is pressed into.But, inner ring with wheel support body integrated because the operation property difficulty of assembling to irrealizable degree in practicality, so not preferred.

In addition; In the above-described embodiment; Outer ring through back-to-back combination is integrated, utilizes radial direction position and the hardness of side of the axial inboard of wheel support body to have " as the superperformance of positioning part ", makes and limits moving axially of the rolling element that makes the bearing that external gear (planetary pinion) supports with respect to crankshaft rotating freely; But in the present invention, may not make the wheel support body bear this position limit.

Industrial applicibility

For example, the speed reducer that can be used as the driving of the arm that is used for industrial robot or movable part of lathe etc. is used.

Claims

1. a speed reducer possesses swing internal-gearing planet gear mechanism, and this swing internal-gearing planet gear mechanism has the bent axle that makes planetary pinion swing rotation, it is characterized in that,

At above-mentioned planetary axial both sides configuration wheel support body;

Should take turns support body by linking the parts binding; And

The above-mentioned support body of taking turns is via the above-mentioned bent axle of bearing dual-supporting ground supporting; And

As the bearing of this bent axle of supporting, has the pair of bearings of the wrapping angle beyond zero with back-to-back combination assembling.

2. speed reducer as claimed in claim 1 is characterized in that,

The outer ring of above-mentioned bearing and the above-mentioned support body of taking turns are integrally formed.

3. according to claim 1 or claim 2 speed reducer is characterized in that,

Through above-mentioned side of taking turns the axial inboard of support body, restriction is bearing in the rotation of above-mentioned planetary pinion the moving axially of rolling element of the bearing on the above-mentioned bent axle freely.