CN102384221B - Swinging inner engaged planetary gear apparatus and manufacture method - Google Patents
Swinging inner engaged planetary gear apparatus and manufacture method Download PDFInfo
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- CN102384221B CN102384221B CN201110233217.3A CN201110233217A CN102384221B CN 102384221 B CN102384221 B CN 102384221B CN 201110233217 A CN201110233217 A CN 201110233217A CN 102384221 B CN102384221 B CN 102384221B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C19/00—Bearings with rolling contact, for exclusively rotary movement
- F16C19/54—Systems consisting of a plurality of bearings with rolling friction
- F16C19/546—Systems with spaced apart rolling bearings including at least one angular contact bearing
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C35/00—Rigid support of bearing units; Housings, e.g. caps, covers
- F16C35/04—Rigid support of bearing units; Housings, e.g. caps, covers in the case of ball or roller bearings
- F16C35/06—Mounting or dismounting of ball or roller bearings; Fixing them onto shaft or in housing
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C43/00—Assembling bearings
- F16C43/04—Assembling rolling-contact bearings
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C19/00—Bearings with rolling contact, for exclusively rotary movement
- F16C19/02—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows
- F16C19/14—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows for both radial and axial load
- F16C19/16—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows for both radial and axial load with a single row of balls
- F16C19/163—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows for both radial and axial load with a single row of balls with angular contact
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C19/00—Bearings with rolling contact, for exclusively rotary movement
- F16C19/22—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings
- F16C19/44—Needle bearings
- F16C19/46—Needle bearings with one row or needles
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C19/00—Bearings with rolling contact, for exclusively rotary movement
- F16C19/54—Systems consisting of a plurality of bearings with rolling friction
- F16C19/541—Systems consisting of juxtaposed rolling bearings including at least one angular contact bearing
- F16C19/542—Systems consisting of juxtaposed rolling bearings including at least one angular contact bearing with two rolling bearings with angular contact
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C2361/00—Apparatus or articles in engineering in general
- F16C2361/61—Toothed gear systems, e.g. support of pinion shafts
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
- F16H2001/323—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear comprising eccentric crankshafts driving or driven by a gearing
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
- Rolling Contact Bearings (AREA)
- General Details Of Gearings (AREA)
Abstract
The present invention provides a singing inner engaged planetary gear apparatus and a manufacture method, easily equipped with an input shaft and especially capable of simply assembling a bearing for supporting the input shaft. The singing inner engaged planetary gear apparatus (50) is provided with an input shaft (52), a distribution gear (54) arranged on the input shaft (52), a decentration body shaft gear (crankshaft gear) (56A-56C) engaged with the distribution gear (54); a decentration body shaft (crankshaft) (58A-58C) assembled with the decentration body shaft gear (crankshaft gear) (56A-56C), wherein the gear (B3) of one side of a pair of gears (B3, B4) for supporting the input shaft (52) is a quill bearing (84), the bearing (B4) of the other side can be first and second corner contact ball bearings (86, 87) for bearing the push force load applied on the input shaft, and the outer diameter d1 of the inner ring (84B) of the quill bearing (84) is more than the gear top circle d2 of the distribution gear (54) and less than the inner diameters D1, D2 (D2=D1) of the outer ring (86C, 87C) of the first and second corner contact ball bearings (86, 87).
Description
Technical field
The application advocates the preference of No. 2010-199190th, the Japanese patent application based on application on September 6th, 2010.All the elements of its application are by referring to being applied in this specification.
The invention particularly relates to a kind of oscillating internal engagement type planetary gear device and the manufacture method thereof that possess multiple bent axle.
Background technique
Oscillating internal engagement type planetary gear device is disclosed in patent documentation 1.Fig. 4 is the overall synoptic diagram of this oscillating internal engagement type planetary gear device, and Fig. 5 is the sectional view of the arrow V-V line along Fig. 4.
In this planetary gear system 10, the distribution gear 14 being assembled in input shaft 12 engages with 3 crankshaft gear 18A ~ 18C (only illustrating 18A) on 3 bent axle 16A ~ 16C simultaneously.Each bent axle 16A ~ 16C is formed with respectively eccentric body 20,22.The periphery of each eccentric body 20,22 is chimeric external gear 24,26.External gear 24,26 internal messing is in the internal gear 30 with shell 28 integralization.Each bent axle 16A ~ 16C is supported on the 1st, the 2nd interconnected flange 32,34.
In this planetary gear system 10, if input shaft 12 rotates, then 3 bent axle 16A ~ 16C are rotated to equidirectional with identical speed by distribution gear 14 and 3 crankshaft gear 18A ~ 18C.Thus, while being embedded in external gear 24,26 swing rotary of each bent axle 16A ~ 16C, internal messing is in internal gear 30.The number of teeth of external gear 24,26 is less than the number of teeth of internal gear 30, if so external gear 24,26 swing while internal messing in internal gear 30, then each external gear 24,26 with produce relative slowly rotation between internal gear 30.In disclosed example, take out this relative rotation from the 1st, the 2nd flange 32,34 and export as slowing down.
In this planetary gear system 10 involved by patent documentation 1, support input shaft 12 by pair of bearings B1, B2.In this pair of bearings B1, B2, the bearing B1 of a side is made up of roller bearing 36, the bearing B2 of the opposing party by bear thrust load (one group) the 1st, the 2nd tapered roller bearing 40,42 form.In patent documentation 1, suppressed the expansion of the radial dimension of the parts of supporting input shaft 12 by this formation, seek the expansion of the diameter of axle of this input shaft 12 simultaneously.
Patent documentation 1: Japanese Unexamined Patent Publication 2009-287631 publication (Fig. 1, [0009] section, summary)
The part of the distribution gear 14 of oscillating internal engagement type planetary gear device 10 disclosed in above-mentioned patent documentation 1 upwarps towards the end of input shaft 12, what the size of the top circle of this distribution gear 14 was greater than the roller 36A of roller bearing 36 transfers face, so can only insert from the right side of Fig. 4 towards left side and assemble input shaft 12.But, on the other hand, what the most peripheral of the 1st its roller of tapered roller bearing 40 40A of the bearing B2 of another side of supporting input shaft 12 was greater than the roller 36A of roller bearing 36 transfers face, so when (from the right side of Fig. 4 towards left side) inserts this input shaft 12, the state inner ring 40B of the 1st tapered roller bearing 40 and roller 40A being installed on input shaft 12 cannot be become.
Therefore, after the 1st tapered roller bearing 40 assembles the input shaft 12 being only provided with inner ring 40B, must be assembled in this inner ring 40B from the left side of Fig. 3 by roller 40A 11 ground.
And, to the 2nd tapered roller bearing 42 of bearing B2, when inserting input shaft 12, also the state the inner ring 42B of the 2nd tapered roller bearing 42 or roller 42A being installed on input shaft 12 cannot be become, so, result installs roller 40A, 42A one by one to any one (assembling complete inner ring 40B, 42B) in the 1st, the 2nd tapered roller bearing 40,42, and therefore the assembling of input shaft 12 needs a lot of time and labors.
Summary of the invention
The present invention completes to solve such problem in the past, and its problem is, provides a kind of and assembles input shaft, the oscillating internal engagement type planetary gear device that especially can assemble the bearing of this input shaft of supporting simply and manufacture method thereof like a cork.
The present invention solves above-mentioned problem by following structure: a kind of oscillating internal engagement type planetary gear device, possesses input shaft, be arranged at the distribution gear of this input shaft, the crankshaft gear engaged with this distribution gear and be assembled with the bent axle of this crankshaft gear, wherein, possesses the pair of bearings supporting described input shaft, in this pair of bearings, the bearing of a side is needle bearing, the bearing of the opposing party is the thrust-bearing that also can bear the thrust load putting on described input shaft, the external diameter of the inner ring of described needle bearing is greater than the top circle of described distribution gear and is less than the most internal diameter of the outer ring of described thrust-bearing.
In addition, the concept of roller bearing is also comprised in the concept of needle bearing of the present invention.
In the present invention, in the pair of bearings of supporting input shaft, the bearing of a side is set as (comprising this concept of roller bearing) needle bearing, the bearing of the opposing party is also set as the thrust-bearing bearing the thrust load putting on input shaft.Thereby, it is possible to be maintained as the basic bearing value needed for bearing of supporting input shaft while suppress the radial direction size of planetary gear system entirety smaller.
On this basis, in the present invention, the external diameter of the inner ring of needle bearing is formed as the top circle being greater than distribution gear, and is formed as the most internal diameter of the outer ring being less than thrust-bearing.
In the present invention, namely assemble input shaft from the side of thrust-bearing to the side of needle bearing from the opposite direction.Now, the external diameter of the inner ring of needle bearing is greater than the external diameter of the top circle of distribution gear, so with the state outer ring of needle bearing and needle roller (rolling element) being assembled in the main body side of planetary gear system, by inner side assembling (installing or be integrally formed the inner ring of complete distribution gear and the needle bearing) input shaft of the outer ring of this needle bearing and needle roller.
And, the external diameter of the inner ring of needle bearing is formed as the most internal diameter of the outer ring being less than thrust-bearing, so can directly with the state of the outer ring of the main body side installed thrust bearing in planetary gear system, (while making the inner side of the inner ring of needle bearing by the outer ring of this thrust-bearing) be from the side assembling input shaft of thrust-bearing.
Its result, can expand the selection of thrust-bearing kind or the selection of its assembling, and all easily can carry out the work of needle bearing and thrust-bearing assembling.
Invention effect
According to the present invention, input shaft, the oscillating internal engagement type planetary gear device that especially can assemble the bearing of this input shaft of supporting simply or its manufacture method can be assembled like a cork.
Accompanying drawing explanation
Fig. 1 is the overall synoptic diagram of the oscillating internal engagement type planetary gear device involved by an example of embodiments of the present invention.
Fig. 2 is the major component amplification sectional view of Fig. 1.
Fig. 3 is the major component amplification sectional view of assembly process when representing assembling input shaft.
Fig. 4 is the overall synoptic diagram of oscillating internal engagement type planetary gear device in the past.
Fig. 5 is the sectional view of the arrow V-V line along Fig. 4.
In figure: 50-planetary gear system, 52-input shaft, 54-distribution gear, 56A ~ 56C-eccentric shaft gear (crankshaft gear), 58A ~ 58C-eccentric shaft (bent axle), 70,71-external gear, 72-internal gear, 84-needle bearing, 84A-needle roller (rolling element), 84B-inner ring, 84C-outer ring, 86,87-the 1st, the 2nd angular contact ball bearing (thrust-bearing), 86A, 87A-ball (rolling element), 86B, 87B-inner ring, 86C, 87C-outer ring.
Embodiment
Below, an example of embodiments of the present invention is described with reference to the accompanying drawings in detail.
Fig. 1 represents the oscillating internal engagement type planetary gear device involved by an example of embodiments of the present invention.
Fig. 2 is its major component amplification sectional view.
This planetary gear system 50 is assembled in the joint of mechanism hand (omitting diagram).In addition, identical with the previous example shown in Fig. 4, assemble bevel gear (omitting diagram) in the end of the input shaft 52 of planetary gear system 50 by spline 53.To the rotation that the input of this bevel gear rotates forward, reverses, thus produce the two-way thrust based on bevel gear engagement at input shaft 52.Multiple (in this example being 3) eccentric shaft gear (crankshaft gear) 56A ~ 56C that planetary gear system 50 possesses this input shaft 52, is arranged at the distribution gear 54 of this input shaft 52, engage with this distribution gear 54 simultaneously and multiple (in this example being 3) eccentric shaft (bent axle) 58A ~ 58C being assembled with each eccentric shaft gear 56A ~ 56C.In addition, not shown eccentric shaft gear 56B, 56C and eccentric shaft 58B, 58C.
Each eccentric shaft gear 56A ~ 56C is integrated in each eccentric shaft 58A ~ 58C to circumferencial direction by spline 60, and by brake hoop 62,63 to axial integration.Eccentric body 64,65 is formed with respectively at each eccentric shaft 58A ~ 58C.Configure multiple roller 66,67 in the periphery of eccentric body 64,65, chimeric in the periphery of the plurality of roller 66,67 have external gear 70,71.External gear 70,71 internal messing is in internal gear 72, and the number of teeth is only less than internal gear 72 (being only " 1 " in this mode of execution individual) a little.The internal tooth 72A of internal gear 72 is made up of pin, main body 72B and shell 74 integralization.
Each eccentric shaft 58A ~ 58C is supported on the 1st, the 2nd flange 78,79 by tapered roller bearing 76,77.1st flange 78 and the 2nd flange 79 pass through from the outstanding wheel support body 79A of the 2nd flange 79 one and bolt 80 and are integrated.Be integrated the 1st, the 2nd flange 78,79 is supported on described shell 74 respectively by the 1st, the 2nd angular contact ball bearing 82,83.
Primary Reference Fig. 2, input shaft 52 is supported by pair of bearings B3, B4.In this mode of execution, in pair of bearings B3, B4, the bearing B3 of load reverse side (distribution gear 54 side) is needle bearing 84, and the bearing B4 of load side (distribution gear 54 opposition side) is the 1st, the 2nd angular contact ball bearing (thrust-bearing) 86,87.
The needle bearing 84 forming the bearing B3 of load reverse side is formed primarily of needle roller (rolling element) 84A, inner ring 84B, outer ring 84C and retainer 84D.Inner ring 84B separates with input shaft 52 and forms, and is assemblied in input shaft 52 in the mode of (in advance) press-in or shrink fit.Needle roller 84A is kept by retainer 84D.Outer ring 84C has claw 84C1,84C2 for fixed retainer 84D, is pressed in described 1st flange (main body side of planetary gear system 50) 78.A part for described distribution gear 54 is stretched in the inner side of the inner ring 84B of needle bearing 84.
The outside diameter d 1 of the inner ring 84B of described needle bearing 84 is greater than the top circle d2 (d1 > d2) of described distribution gear 54.Further, external diameter (inscribed circle diameter of the needle roller 84A) d1 of this inner ring 84B is less than most internal diameter D1, D2 (D2=D1) (d1 < D1=D2) of outer ring described later 86C, 87C of the 1st, the 2nd angular contact ball bearing 86,87.
In addition, the inner ring 84B of needle bearing 84 also can be the structure of input shaft 52 dual-purpose.Now, the external diameter of the inner ring of needle bearing is identical with the external diameter that the formation of input shaft 52 transfers the part in face.
On the other hand, in pair of bearings B3, the B4 of supporting input shaft 52, the bearing B4 of load side is set as the 1st, the 2nd angular contact ball bearing (thrust-bearing) 86,87 also bearing the thrust load putting on input shaft 52.1st, the structure of the bearing of the 2nd angular contact ball bearing 86,87 itself is identical, but with the face-to-face duplex assembling of the mode that the direction of bearing thrust load is contrary mutually.
1st, the 2nd angular contact ball bearing 86,87 is formed primarily of ball (rolling element) 86A, 87A, inner ring 86B, 87B and outer ring 86C, 87C respectively.1st, outer ring 86C, 87C of the 2nd angular contact ball bearing 86,87 fix in the 2nd flange (main body side of planetary gear system 50) 79 by clamping each pad 91 by the brake hoop 88,89 of groove 79A, 79B of being embedded in the 2nd flange 79.Further, inner ring 86B, 87B of the 1st, the 2nd angular contact ball bearing 86,87 fix in this input shaft 52 by clamping each pad 92 by the end difference 52A of input shaft 52 and the brake hoop 90 that is embedded in the groove 52B being located in input shaft 52.By selecting the axial width of the pad 91,92 inserted, the precompressed of the 1st, the 2nd angular contact ball bearing 86,87 can be adjusted.As previously mentioned, most internal diameter D1, D2 (D2=D1) of outer ring 86C, 87C of the 1st, the 2nd angular contact ball bearing 86,87 are greater than the outside diameter d 1 (D1=D2 > d1) of the inner ring 84B of needle bearing 84.
Then, the effect of this planetary gear system 50 is described, doubles as the manufacture method of this planetary gear system 50, especially comprise the explanation of the manufacture method involved by assembling of input shaft 52.
In the lump with reference to figure 3, with following operation assembling input shaft 52.
First, eccentric shaft gear 56A (~ 56C) is fixed by brake hoop 62,63 at (assembled) eccentric shaft 58A ~ 58C.And, as shown in Fig. 3 (A), the outer ring 84C of needle bearing 84 is pressed into, assembling between claw 84C1,84C2 with the needle roller 84A (the 1st operation) of retainer 84D maintenance at this outer ring 84C at the 1st flange (main body side of planetary gear system 50) 78.
Then, the 2nd flange (main body side of planetary gear system 50) 79 is assembled the outer ring 86C of (axial inner side) the 1st angular contact ball bearing 86 until abut with brake hoop 88 (the 2nd operation).
In addition, in this mode of execution, bearing (thrust-bearing) B4 of load reverse side assembled by the mode contrary mutually with the direction of bearing thrust load 1 group the 1st, the 2nd angular contact ball bearing 86,87 are formed, so, in the 2nd operation, only assemble the outer ring 86C of (axial inner side) the 1st angular contact ball bearing 86.
Afterwards (or walking abreast with the 1st, the 2nd operation), on the input shaft 52 becoming distribution gear 54 at prior cutting tooth form except the inner ring 86B of assembled shaft the 1st angular contact ball bearing 86 to the inside and ball 86A, the also together inner ring 87B of assembled shaft the 2nd angular contact ball bearing 87 laterally and ball 87A (the 3rd operation ~ the 5th operation).In addition, the 1st, the 2nd angular contact ball bearing 86,87 inner ring 86B, 87B input shaft 52 end difference 52A and be embedded in input shaft 52 groove 52B brake hoop 90 between be together jammed with pad 92 and be fixed on input shaft 52.Due to can be installed on assembling the 1st, the 2nd angular contact ball bearing 86,87 in advance ball 86A, 87A before inner ring 86B, 87B on, so compared with when inner ring is after assembling assembled, especially easily ball 86A, 87A can be installed on inner ring 86B, 87B.
In addition, even if the operation that the 1st ~ 5th operation changes them also has not big harm.Which type of therefore, order to carry out the 1st ~ 5th operation with to be also used as and to be contained in the present invention.
Afterwards, from the 1st, the 2nd angular contact ball bearing 86,87 side towards needle bearing 84 side, assembling is provided with inner ring 86B, 87B of distribution gear 54 and the 1st, the 2nd angular contact ball bearing 86,87 and the input shaft 52 (the 6th operation) of ball 86A, 87A.
As shown in Fig. 3 (A) ~ (B), the outside diameter d 1 of the inner ring 84B of needle bearing 84 is formed as dimension D 1, the D2 of the most internal diameter of outer ring 86C, the 87C being less than the 1st, the 2nd angular contact ball bearing 86,87, so input shaft 52 can to install the state of the inner ring 84B of needle bearing 84 directly through the inner side of outer ring 86C, 87C of the 1st, the 2nd angular contact ball bearing 86,87.And, the outside diameter d 1 of the inner ring 84B of needle bearing 84 is formed as the top circle d2 being greater than distribution gear 54, so, as shown in Fig. 3 (B) ~ (C), (being formed on input shaft 52) distribution gear 54 can directly through the inner side of the needle roller 84A of needle bearing 84.
Afterwards, by (being positioned at axial outside) the 2nd the outer ring 87C of angular contact ball bearing 87 be assemblied in the 2nd flange (main body side of planetary gear system 50) 79, use pad 91 to adjust groove 79B that brake hoop 89 is embedded in the 2nd flange 79 by precompressed terminates the assembling of input shaft 52.
In addition, the decelerating effect of the oscillating internal engagement type planetary gear device 50 so manufactured is described simply.
If input shaft 52 rotates, then 3 eccentric shaft 58A ~ 58C are rotated to identical direction with identical speed by distribution gear 54 and 3 eccentric shaft gear 56A ~ 56C.Thus, while being embedded in external gear 70,71 swing rotary on each eccentric shaft 58A ~ 58C, internal messing is in internal gear 72.The number of teeth of external gear 70,71 is only less than the number of teeth of internal gear 72 a little, if so external gear 70,71 swing while internal messing in internal gear 72, then each external gear 70,71 with produce relative slowly rotation between internal gear 72.
At this, time fixed annulus 72 (and shell 74), eccentric shaft 58A ~ 58C is synchronous with the rotation composition of external gear 70,71 and axle center O1 around planetary gear system 50 revolves round the sun.Export thereby, it is possible to take out to slow down from the 1st, the 2nd flange 78,79 with this revolution.On the contrary, if when the rotation of external gear 70,71 (revolution of eccentric shaft 58A ~ 58C) is limited, internal gear 72 sideway swivel, rotates export so can take out so-called frame from the shell 74 with this internal gear 72 integralization.
In addition, in above-mentioned mode of execution, on input shaft 52, direct cutting tooth form becomes distribution gear 54, and the part being set to distribution gear 54 stretches into the inner side of the inner ring 84B of needle bearing 84 to seek the reduction of part number of packages and axial cripetura, but the distribution gear in the present invention directly may not be formed in input shaft by cutting tooth form, also the distribution gear manufactured in addition can be assemblied in input shaft.
In addition, this operation is equivalent to the 3rd operation, but does not limit due to the 1st ~ 5th its tandem of operation as previously mentioned, so in fact, can carry out this operation in arbitrary operation of the 1st ~ 5th operation.Distribution gear in the present invention is set to the external diameter that its top circle is less than the inner ring of needle bearing, so, even with input shaft independently distribution gear, also input shaft can be assembled with the state this distribution gear being assembled in input shaft direct (from thrust-bearing side) in the same manner as described above.
In addition, in above-mentioned mode of execution, adopt to bear one group the 1st of the face-to-face duplex assembling of the direction of thrust load mode contrary mutually, the 2nd angular contact ball bearing 86,87 is as thrust-bearing.But thrust-bearing involved in the present invention is not necessarily defined in the thrust-bearing of this structure.Such as, can be with one group of tapered roller bearing of same form assembling, even can also for such as limit be used in sense of rotation thrust load be also only from the purposes that side applies by determining time, only configuration 1 only can bear the structure of the thrust-bearing (such as being equivalent to the thrust-bearing of the 1st angular contact ball bearing 86 in above-mentioned mode of execution) of the thrust load in this direction.Further, can also as crossed roller, self-aligning roller bearing or self-aligning ball bearing, monomer available bears the bearing of two-way thrust load and so on.This " 1 " monomer available of only assembling is when bearing that bearing of two-way thrust load, or when back-to-back duplex assembles one group of thrust-bearing, in the present invention, (structure of patent documentation 1 different from the past) also can from the side of angular contact bearing to the side of needle bearing assembling input shaft, so (can will be assembled with rolling element in Internal and external cycle) by press-in or shrink fit etc. in advance, angular contact bearing (remaining untouched) is installed on " rear end " of the input shaft carrying out inserting (in addition, when installing in shrink fit mode, input shaft is inserted) after cooling.
By the way, even common ball bearing or deep groove ball bearings, also by suitably restriction outer ring and inner ring bear some thrust loads in the axial direction.In the present invention, these bearings not can not also be applied flexibly as the thrust-bearing in the present invention.But, if such as consider, oscillating internal engagement type planetary gear device involved in the present invention is used for situation about being such as sometimes applied in as the joint drive of mechanism hand in the purposes of stronger thrust load, then more preferably as (as above) bearing that can reliably bear further thrust load.
In addition, in the above-described embodiment, show, on all multiple bent axles, crankshaft gear, each bent axle are set by distribution gear driven oscillating internal engagement type planetary gear device simultaneously, but, all may not to have crankshaft gear by all bent axles in the present invention.Such as, can be also following structure: 1 only in multiple bent axle is arranged crankshaft gear (only having 1 bent axle to be driven by distribution gear), other bent axle is not driven by distribution gear, but driven with the action of external gear.
Claims (6)
1. an oscillating internal engagement type planetary gear device, the crankshaft gear possess input shaft, be arranged at the distribution gear of this input shaft, engaging with this distribution gear and the bent axle being assembled with this crankshaft gear, is characterized in that,
Possess the pair of bearings supporting described input shaft,
In this pair of bearings, the bearing of a side is needle bearing, and the bearing of the opposing party is the thrust-bearing that also can bear the thrust load putting on described input shaft,
The external diameter of the inner ring of described needle bearing is greater than the top circle of described distribution gear, and is less than the most internal diameter of the outer ring of described thrust-bearing,
At the main body side of described planetary gear system, the outer ring of the described needle bearing of the end side of the described input shaft of assembling supporting and needle roller, and be assembled with the outer ring of the described thrust-bearing of another side of supporting described input shaft, in this case, described input shaft is assembled to the side of described needle bearing from the side of described thrust-bearing, described input shaft is provided with described distribution gear, and assemble or be formed with the inner ring of described thrust-bearing, and be assembled with the rolling element of described thrust-bearing.
2. oscillating internal engagement type planetary gear device as claimed in claim 1, is characterized in that,
The inner ring of described needle bearing separates with described input shaft and forms, and a part for described distribution gear stretches into the inner side of the inner ring of this needle bearing.
3. oscillating internal engagement type planetary gear device as claimed in claim 1 or 2, is characterized in that,
Described thrust-bearing is made up of 1 group of angular contact bearing, and described angular contact bearing is with the face-to-face duplex assembling of the mode that the direction of bearing described thrust load is contrary mutually.
4. the manufacture method of an oscillating internal engagement type planetary gear device, this oscillating internal engagement type planetary gear device possesses input shaft, be arranged at the distribution gear of this input shaft, the crankshaft gear that engages with this distribution gear and the bent axle being assembled with this crankshaft gear, it is characterized in that, comprise:
1st operation, at outer ring and the needle roller of the needle bearing of the end side of the described input shaft of main body side assembling supporting of described planetary gear system;
2nd operation, in the outer ring of the thrust-bearing of another side of the described input shaft of main body side assembling supporting of described planetary gear system;
3rd operation, assembles at described input shaft or is integrally formed described distribution gear;
4th operation, at described input shaft assembling or the inner ring being integrally formed described thrust-bearing;
5th operation, assembles the rolling element of described thrust-bearing at described input shaft; And
6th operation, assembles input shaft from the side of this thrust-bearing to the side of described needle bearing, the inner ring of described input shaft formation or integrated described distribution gear and thrust-bearing and rolling element.
5. the manufacture method of oscillating internal engagement type planetary gear device as claimed in claim 4, is characterized in that,
In described 3rd operation, come integrated in this input shaft by described distribution gear cutting tooth form being formed in described input shaft.
6. the manufacture method of the oscillating internal engagement type planetary gear device as described in claim 4 or 5, is characterized in that,
Described thrust-bearing is the bearing that 1 group of different angular contact bearing of the direction of described thrust load is born in the configuration of face-to-face duplex,
In described 2nd operation, the outer ring of the angular contact bearing being positioned at axially inner side in this group of angular contact bearing is installed on the main body side of planetary gear system,
In described 3rd ~ 5th operation, except described distribution gear and the inner ring being positioned at the angular contact bearing inside this axis and rolling element, the inner ring and the rolling element that are positioned at the angular contact bearing in axially outside are also assembled in or are integrally formed at described input shaft,
After described 6th operation, the outer ring of the described thrust-bearing being positioned at axially outside is assemblied in the main body side of described planetary gear system.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2010-199190 | 2010-09-06 | ||
| JP2010199190A JP5603717B2 (en) | 2010-09-06 | 2010-09-06 | Oscillating intermeshing planetary gear device and manufacturing method thereof |
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| CN102384221A CN102384221A (en) | 2012-03-21 |
| CN102384221B true CN102384221B (en) | 2015-03-11 |
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| CN201110233217.3A Active CN102384221B (en) | 2010-09-06 | 2011-08-15 | Swinging inner engaged planetary gear apparatus and manufacture method |
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| JP (1) | JP5603717B2 (en) |
| CN (1) | CN102384221B (en) |
| DE (1) | DE102011112177B4 (en) |
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| CN102829150B (en) * | 2012-05-30 | 2016-01-27 | 彭启发 | Crank planetary gear transmission device |
| JP2014092249A (en) * | 2012-11-06 | 2014-05-19 | Nabtesco Corp | Gear device |
| JP6137875B2 (en) * | 2013-03-01 | 2017-05-31 | 住友重機械工業株式会社 | Planetary gear reducer |
| CN105134888B (en) * | 2015-10-16 | 2018-02-06 | 宋志安 | A kind of accurate reduction gearing mechanism |
| CN105526314A (en) * | 2016-02-01 | 2016-04-27 | 武汉市精华减速机制造有限公司 | Direct-connected offset reducer |
| CN108679206A (en) * | 2018-06-03 | 2018-10-19 | 今峰精密机电（上海）有限公司 | A method of reducing speed reducer oil leak, enhancing frictional force |
| CN109058393A (en) * | 2018-10-31 | 2018-12-21 | 南京高速齿轮制造有限公司 | Eccentrically arranged type mechanical reduction gear |
| CN109737187B (en) * | 2019-03-11 | 2023-11-10 | 南京南传智能技术有限公司 | Speed reducer |
| CN110242708A (en) * | 2019-05-12 | 2019-09-17 | 天津大学 | Secondary seal formula eccentric disc swing movable teeth reducer |
| CN110966357A (en) * | 2019-05-22 | 2020-04-07 | 苏州华震工业机器人减速器有限公司 | Speed reducer for precision control |
| JP7373919B2 (en) | 2019-05-23 | 2023-11-06 | ナブテスコ株式会社 | Input shaft and reducer |
| JP2020200913A (en) * | 2019-06-12 | 2020-12-17 | ナブテスコ株式会社 | Support part structure of transmission gear, speed reducer, and rotary device |
| JP7324070B2 (en) * | 2019-07-10 | 2023-08-09 | ナブテスコ株式会社 | Decelerator |
| JP7469910B2 (en) * | 2020-03-02 | 2024-04-17 | 住友重機械工業株式会社 | Eccentric oscillating gear device, and method for assembling eccentric oscillating gear device |
| CN112427941B (en) * | 2020-03-26 | 2022-09-06 | 宁波市海曙必伟工业自动化有限公司 | Automatic assembly equipment for gear assembly and assembly method thereof |
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| CN101251166A (en) * | 2007-02-22 | 2008-08-27 | 住友重机械工业株式会社 | Oscillating internally meshing planetary gear system and method for manufacturing eccentric body shaft |
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| Publication number | Publication date |
|---|---|
| JP5603717B2 (en) | 2014-10-08 |
| DE102011112177A1 (en) | 2012-04-19 |
| DE102011112177B4 (en) | 2017-02-02 |
| JP2012057661A (en) | 2012-03-22 |
| CN102384221A (en) | 2012-03-21 |
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