CN103968008A - Eccentric swinging type reducer series - Google Patents

Abstract

The invention provides an eccentric swinging type reducer series with further reduced manufacturing cost of the entire eccentric swinging type reducer. The eccentric swining type reducer series is composed of multiple reducers of multiple models set correspondingly with respect to the magnitudes of transmission torque. The reducers (10a, 10b) in the series include internal gears (12a, 12b), first external gears (14a, 14b), second external gears (16a, 16b), multiple crankshafts (18a, 18b) which are disposed in positions deviating (L1) from axes (O3) of the inner gears to swing the first outer gears and the second outer gears, and crankshaft gears (30a, 30b) which outputs power from input sides to the crankshafts. Outer splines (42a, 42b)for connecting the crankshaft gears are formed at ends of the crankshafts and arranged between the reducers (10a, 10b) of different modesl (W1, W2). The size/shape of each outer spline is set to be universal.

Description

Eccentrically rocking type reduction gear series

Technical field

The application advocates the preference of No. 2013-014883rd, Japanese patent application based on January 29th, 2013 application.The full content of its application is applied in this specification by reference.

The present invention relates to a kind of Eccentrically rocking type reduction gear series.

Background technique

In patent documentation 1, disclose the Eccentrically rocking type reduction gear that is called what is called " distribution type " as shown in Fig. 4～Fig. 6.

This speed reducer 910 engages with internal gear 912 is interior when possessing internal gear 912 and swing with interior the 1st external gear 914 engaging of this internal gear 912 and the 2nd external gear 916, the 1 external gear the 914, the 2nd external gears 916.For the 1st external gear the 914, the 2nd external gear 916 is swung, in the position of the axle center O1 skew from internal gear 912, be provided with multiple (in the disclosure example as 3) bent axle 918(918A～918C to run through the state of the 1st external gear 914, the 2nd external gear 916).

3 bent axles 918 have respectively the 1st eccentric body 920(920A～920C in axial same position eccentric phase alignment), and the 2nd eccentric body 922(922A～922C aliging at axial same position eccentric phase equally).Be configured to and make all bent axle 918 synchronous rotaries, thereby the 1st external gear 914 swings by the 1st eccentric body 920, the 2nd external gear 916 swings by the 2nd eccentric body 922.

In order to make 3 bent axle 918 synchronous rotaries, be formed with respectively external splines 924(924A～924C in the end of each bent axle 918).On this external splines 924, be linked with the crankshaft gear 930(930A～930C to each bent axle 918 by the transmission of power from coupling shaft (input shaft) 926 sides).

Each crankshaft gear 930 engages with the input small gear 932 forming on coupling shaft 926 simultaneously.Thus, be configured to by the input small gear 932 of coupling shaft 926 and be rotated, each bent axle 918 rotates in the same direction with identical rotating speed.

This speed reducer prepares to have the machine model (magnitude classification) of the corresponding setting of size multiple and transmitting torque, provides multiple deceleration units of the variation with multiple gear ratio as " Eccentrically rocking type reduction gear series " to each of the plurality of machine model.

Patent documentation 1: TOHKEMY 2010-286098 communique (Fig. 1～Fig. 3)

In the Eccentrically rocking type reduction gear series of above structure, different machine models each parts are each other substantially according to each machine type design, and the external splines that is formed at the end of bent axle is also made as according to the size/shape of each machine type design.

But, if the external splines of end that is formed at bent axle according to each machine model and difference, as a result of, the internal spline of corresponding crankshaft gear, also according to each machine model and difference, becomes the main cause of the manufacture cost increase of whole series.

Summary of the invention

The present invention completes in light of this situation, and its problem is further to reduce the cost of whole Eccentrically rocking type reduction gear series.

The present invention solves above-mentioned problem by following structure, be a kind of Eccentrically rocking type reduction gear series, it is made up of multiple speed reducers, and the plurality of speed reducer belongs to the multiple machine models with the corresponding setting of size of transmitting torque, wherein, belonging to this serial speed reducer is the Eccentrically rocking type reduction gear that possesses respectively following composition, possesses: internal gear; External gear, and engages in this internal gear; Multiple bent axles, are located at from the position of the desaxe of described internal gear, and described external gear is swung; And crankshaft gear, the transmission of power from input side to this bent axle, is formed with to the external splines for linking described crankshaft gear in the end of this bent axle, between the speed reducer that belongs to different machine model, the size/shape of this external splines is made as general.

In the present invention, to be specially made as its size/shape between the speed reducer of the different machine model of the corresponding setting of size of transmitting torque general belonging to for the external splines that makes the end that is formed at bent axle in order to link crankshaft gear.

Therefore, belong in the speed reducer of different machine model, at least can realize the generalization of the manufacturing process of the internal spline of crankshaft gear, as a result of can manufacture described series with lower cost.

According to the present invention, can further reduce the cost of whole Eccentrically rocking type reduction gear series.

Brief description of the drawings

Fig. 1 is the overall sectional view that 2 speed reducers of a routine related Eccentrically rocking type reduction gear series that forms embodiments of the present invention are relatively shown.

Fig. 2 is the major component sectional view that amplifies near of the crankshaft gear that above-mentioned speed reducer is shown.

Fig. 3 is illustrated in above-mentioned series, and external splines, internal spline and tooth portion are by the chart of unitized state.

Fig. 4 is the overall sectional view of Eccentrically rocking type reduction gear in the past.

Fig. 5 is the sectional view along arrow V-V line of Fig. 4.

Fig. 6 is the sectional view along arrow VI-VI line of Fig. 4.

In figure: 10a, 10b-speed reducer, 12a, 12b-internal gear, 14a, 14b-the 1st external gear, 16a, 16b-the 2nd external gear, 18a, 18b-bent axle, 24a, 24b-external splines, 30a, 30b-crankshaft gear, 31a, 31b-internal spline, 33a, 33b-tooth portion.

Embodiment

Below, with reference to the accompanying drawings an example of embodiments of the present invention is elaborated.

Fig. 1 is the overall sectional view that 2 speed reducers of a routine related Eccentrically rocking type reduction gear series that forms embodiments of the present invention are relatively shown, Fig. 2 is the major component sectional view that amplifies near of the crankshaft gear that above-mentioned speed reducer is shown.

In this Eccentrically rocking type reduction gear series, regulation has the machine model of the corresponding setting of size multiple and transmitting torque, has the speed reducer of multiple gear ratio for each preparation of the plurality of machine model.

In addition, if " setting of machine model " supplemented, " with the machine model of the corresponding setting of size of transmitting torque " of the present invention refers to " magnitude classification be conceived to any in the concept of the various transmitting torques such as output torque, peak torque or the nominal torque of speed reducer during with identical reduction speed ratio ".As the establishing method of machine model, be roughly divided into the mode of the corresponding setting of size of transmitting torque and with the mode of the corresponding setting of size of speed reducer.When being when " with the machine model of the corresponding setting of size of transmitting torque ", if identical reduction speed ratio, irrelevant with the kind of had in mind specific transmitting torque, the speed reducer that machine model is different has the magnitude relationship of same tendency, also consistent (without the reverse of magnitude relationship) of magnitude relationship of this tendency and the size (size) of speed reducer.In addition, in the present invention, as " Eccentrically rocking type reduction gear series ", complete the definition of following statement, even if therefore " setting of machine model " completed by the magnitude classification of arbitrary concept, in fact also substantially do not produce difference.

In the present invention, " Eccentrically rocking type reduction gear series " refers to that being defined and drawing class is a group with a series of speed reducer, one group of shape with the related each parts of (except the external splines of bent axle) transmission of power of this speed reducer is set as the Eccentrically rocking type reduction gear structure of similar shape substantially, and transmitting torque (comprise nominal torque, allow the concepts such as torque) and reduction speed ratio different.

Thus, for example, as solid Eccentrically rocking type reduction gear and hollow Eccentrically rocking type reduction gear each other, the dissimilar speed reducer of the shape of structure of the Eccentrically rocking type reduction gear structure part in speed reducer own is each other in the present invention not included in the concept belonging to a series of speed reducer.On the contrary, even if be " being defined and drawing class (lineup) is with a group of a series of speed reducer ", a part of speed reducer for example only has the kind of bearing of specific speed reducer of specific model number different with the kind of oil sealing sometimes, or the parts difference of another part.And in the time that Eccentrically rocking type reduction gear structure part obtains different reduction speed ratio, " profile of tooth " of external gear and internal gear not one is decided to be on all four shape.But, now, as long as for " being defined and drawing class is a group with a series of speed reducer ", be just included in of the present invention with a series of concept.In above-mentioned definition, be set as " shape with each parts becomes the Eccentrically rocking type reduction gear structure of similar shape substantially " and refer to the following situation that comprises, be essentially similar shape described above, but only have a part for few part parts or part parts to be set as shape dissmilarity.And, for example, as the speed reducer that belongs to old series and the speed reducer of new range that belongs to its improved type, " being defined as with (different series in time) speed reducer a series of but that do not draw class each other " is not included in belonging in the concept of same a series of speed reducer involved in the present invention.This is owing to sometimes also using the same or similar parts of shape between old series and improved type new range, but in order to strengthen the transmitting torque etc. of whole series, can increase the change of General Construction aspect in the speed reducer being included in series.

Fig. 1 (A), Fig. 2 (A) represent that speed reducer 10a, Fig. 1 (B), Fig. 2 (B) of the machine model W1 that transmitting torque is less represent the related speed reducer 10b of machine model W2 that transmitting torque is larger in contrast.In Eccentrically rocking type reduction gear series, in fact be difficult to obtain the variation of multiple reduction speed ratio in the part of Eccentrically rocking type reduction gear structure G2a, G2b, therefore, guarantee the variation (wherein, also can prepare different reduction speed ratio in the part of Eccentrically rocking type reduction gear structure G2a, G2b) of this reduction speed ratio in the part (inputting the adjustment of the combination of small gear 32a, 32b and crankshaft gear 30a, 30b) of the 1st reducing gear G1a, G1b.Thus, though the machine model difference of each parts of Eccentrically rocking type reduction gear structure G2a, G2b part, but be also similar shape substantially, identical in function.Therefore, at this, for convenient, the identical parts of this function are enclosed to similar elements symbol, enclose a for the parts that the speed reducer 10a of machine model W1 is related at the end of symbol, enclose b for the related parts of speed reducer 10b of comparing larger machine model W2 at the end of same-sign, below the speed reducer 10b of speed reducer 10a, W2 to two machine model W1 describe simultaneously.

In this mode of execution, the power of motor (omitting diagram) is via coupling shaft (input shaft: entirety is omitted diagram, equates with described coupling shaft 926) 26a, 26b input.In the end of the motor opposition side of coupling shaft 26a, 26b, directly cutting is formed with input small gear (gear of input side) 32a, 32b.

Input small gear 32a, 32b engage with multiple crankshaft gear 30a, 30b simultaneously and form the 1st reducing gear G1a, G1b.The reduction speed ratio of speed reducer 10a, 10b is adjusted by the adjustment of the reduction speed ratio of the 1st reducing gear G1a, G1b part.Each crankshaft gear 30a, 30b are provided with 3 (only illustrating 1) in this embodiment, are linked to respectively 3 (only illustrating 1) bent axle 18a, 18b.Describe in detail in the back near structure bent axle 18a, 18b and crankshaft gear 30a, 30b.

Each bent axle 18a, 18b are equivalent to the input shaft of Eccentrically rocking type reduction gear structure G2a, G2b.In this mode of execution, bent axle 18a, 18b are provided with 3 (only illustrating 1).Each bent axle 18a, 18b are only offset respectively the position of L1a, L1b at axle center O1a, O1b from internal gear 12a, 12b, along the circumferential direction with the arranged spaced of 120 degree.Each bent axle 18a, 18b are formed with the 1st eccentric body 20a, 20b in axial same position separately, with the 1st eccentric body 20a, 20b in abutting connection with and be formed with the 2nd eccentric body 22a, 22b in axial same position separately.The 1st eccentric body 20a, the 20b of each bent axle 18a, 18b each other and the alignment of eccentric phase each other of the 2nd eccentric body 22a, 22b.The eccentric phase of the 1st eccentric body 20a, 20b and the 2nd eccentric body 22a, 22b is poor is 180 degree.

Periphery at the 1st eccentric body 20a, the 20b of each bent axle 18a, 18b is assembled with the 1st external gear 14a, 14b via the 1st roller bearing 34a, 34b.Periphery at the 2nd eccentric body 22a, the 22b of each bent axle 18a, 18b is assembled with the 2nd external gear 16a, 16b via the 2nd roller bearing 36a, 36b.Thus, can the 1st external gear 14a, 14b be swung by the 1st eccentric body 20a, 20b synchronous rotary on 3 bent axle 18a, 18b, by the 2nd eccentric body 22a, 22b synchronous rotary on 3 bent axle 18a, 18b, the 2nd external gear 16a, 16b be swung equally.

Dispose the 1st wheel carrier 38a, 38b and the 2nd wheel carrier 40a, 40b in the axial both sides of the 1st external gear 14a, 14b and the 2nd external gear 16a, 16b, each bent axle 18a, 18b are supported on the 1st wheel carrier 38a, 38b and the 2nd wheel carrier 40a, 40b by a pair of tapered roller bearing 44a, 44b and 46a, 46b.The 1st wheel carrier 38a, 38b and the 2nd wheel carrier 40a, 40b are supported on shell 52a, 52b by pair of horns contact ball bearing 48a, 48b and 50a, 50b.In addition, be extruded with wheel carrier bridge (Carrier Bridge) 43a, 43b from the 2nd wheel carrier 40a, 40b, the 1st wheel carrier 38a, 38b and the 2nd wheel carrier 40a, 40b are via this wheel carrier bridge 43a, 43b and link also integrated by knock pin 53a, 53b and not shown bolt.

The 1st external gear 14a, 14b and the 2nd external gear 16a, 16b engage with in internal gear 12a, 12b.Internal gear 12a, 12b comprise in this embodiment: be assembled in freely this internal gear main body 13a, 13b and form export trade 15a, the 15b of the internal tooth of this internal gear 12a, 12b with the integrated internal gear main body of shell 52a, 52b 13a, 13b and rotation.The number of teeth (radical of export trade 15a, 15b) of internal gear 12a, 12b is than the number of teeth of the 1st external gear 14a, 14b and the 2nd external gear 16a, 16b more a little (in these examples only many 1).

On shell 52a, 52b, be linked with the 1st arm (omitting diagram) of robot by bolt (only illustrating bolt hole 53a, 53b), on the 2nd wheel carrier 40a, 40b, be linked with respectively the 2nd arm (omitting diagram) of robot by not shown bolt.

At this, near structure crankshaft gear 30a, 30b is elaborated.

Mainly, with reference to figure 2, be formed with external splines 24a, 24b in the end separately of multiple (in this mode of execution being 3) bent axle 18a, 18b.Crankshaft gear 30a, 30b link with cantilever position by this external splines 24a, 24b and bent axle 18a, 18b.

More specifically, bent axle 18a, 18b possess axial end be chamfered a little front end 19a, the 19b of processing, possess back-up ring recess 21a, 21b at the axial inner side of this front end 19a, 19b.On recess 21a, 21b for back-up ring, embed and be useful on the back-up ring 54a, the 54b that locate vertically crankshaft gear 30a, 30b.

And, be formed with recess 58a, the 58b darker than the tooth root of this external splines 24a, 24b in the axial inner side of external splines 24a, the 24b of bent axle 18a, 18b.The axial formation length of external splines 24a, 24b is L3a, L3b.

In addition, in this mode of execution, external splines 24a, 24b form by rolling (plastic working).Recess 58a, 58b also bring into play the effect in the space of " portion of overflowing of material " that add man-hour.

On the other hand, crankshaft gear 30a, 30b engage with input small gear 32a, 32b, and the transmission of power from input side is arrived to bent axle 18a, 18b.Crankshaft gear 30a, 30b possess the 33a of tooth portion, the 33b that engage with input small gear 32a, 32b in periphery, and are possessing in interior week and the external splines 24a of bent axle 18a, 18b, internal spline 31a, the 31b that 24b engages.Internal spline 31a, 31b spread all over whole axial length L 5a, the L5b of crankshaft gear 30a, 30b and form (still, form without necessarily spreading all over the whole axial length L 5a of crankshaft gear 30a, 30b, L5b, also can leave local inchoate part).

In addition, symbol 61a, the 61b of Fig. 1, Fig. 2 are respectively the pad for determining crankshaft gear 30a, the 30b axial position on bent axle 18a, 18b.

Crankshaft gear 30a, 30b coat external splines 24a, 24b(and recess 58a, 58b with lubricating grease in this embodiment) state group be loaded on external splines 24a, 24b.

In addition, in this mode of execution, the external splines 24b of bent axle 18b of larger machine model W2 and the internal spline 31b of crankshaft gear 30b link (aftermentioned) by " interference fit ".

At this, the speed reducer 10a of Fig. 1 (A), Fig. 2 (A) is equivalent to have the speed reducer 10a of the specification of the machine model W1 & reduction speed ratio R3 of the Schedule shown in Fig. 3.The speed reducer 10b of Fig. 1 (B), Fig. 2 (B) is equivalent to have the speed reducer 10b of the specification of the machine model W2 & reduction speed ratio R2 of the Schedule shown in Fig. 3.In addition, the transmitting torque of machine model W2 is larger than the transmitting torque of machine model W1, and reduction speed ratio R3 is larger than reduction speed ratio R2., W1 < W2, R2 < R3.

First, pay close attention to the external splines 24a of bent axle 18a of speed reducer 10a of machine model W1 and the external splines 24b of the bent axle 18b of the speed reducer 10b of machine model W2.As mentioned above, in this embodiment by rolling (plastic working) processing external splines 24a, 24b.

As shown in Figure 2 (A) shows, in this mode of execution, the pitch circle radius of the external splines 24a of the bent axle 18a of the speed reducer 10a of machine model W1 is Rs1.And modulus is Ms1, the number of teeth is Ts1.On the other hand, as shown in Fig. 2 (B), the pitch circle radius of the external splines 24b of the bent axle 18b in the speed reducer 10b of machine model W2 is also Rs1.And modulus is Ms1, the number of teeth is Ts1.; between different machine model W1, W2; the external splines 24a of bent axle 18a, 18b, the pitch circle radius of 24b are Rs1; modulus is Ms1; the number of teeth is Ts1; identical respectively, (comprising front end 19a, 19b, back-up ring recess 21a, 21b, recess 58a, 58b), size/shape was made as general.

In addition, as shown in black "●" mark in Fig. 3, in this mode of execution, be not only speed reducer 10a, 10b, speed reducer 10f, 10g, the 10h of speed reducer 10c, 10d, 10e and the machine model W2 of machine model W1 are all made as general with the size/shape of this external splines 24a, 24b.Especially,, in the present invention, do not require and in all reduction speed ratio of paired machine model, make the size/shape of external splines all be made as general (part is general).

Then, pay close attention to the internal spline 31a of crankshaft gear 30a of speed reducer 10a of machine model W1 and the internal gear 31b of the crankshaft gear 30b of the speed reducer 10b of machine model W2.In this mode of execution, process internal spline 31a, 31b are processed to (also can be processed by gear shaping machine etc.) by broaching.

In this mode of execution, (in order to engage with identical external splines 24a, 24b) pitch circle radius of the internal spline 31b of the crankshaft gear 30b of the internal spline 31a of the crankshaft gear 30a of machine model W1 and machine model W2 is Rs1, and modulus is Ms1, the number of teeth is Ts1.That is, between different machine model W1, W2, the internal spline 31a of crankshaft gear 30a, 30b, the pitch circle radius of 31b are Rs1, and modulus is Ms1, and the number of teeth is Ts1, identical respectively, and size/shape is made as general.In other words, the internal spline 31b of the internal spline 31a of machine model W1 and machine model W2 the two all can engage and link with any in the external splines 24b of the external splines 24a of machine model W1 and machine model W2.

In addition, as shown in Fig. 3 empty "○" mark, in this mode of execution, the speed reducer corresponding with the speed reducer of black "●" mark, in speed reducer 10f, the 10g of speed reducer 10c, 10d, 10e and the machine model W2 of machine model W1,10h, be formed with the internal spline 31 of identical size/shape (pitch circle radius Rs1, modulus Ms1, number of teeth Ts1).

In addition, if the 33a of tooth portion of crankshaft gear 30a of speed reducer 10a of the machine of concern model W1 and the 33b of tooth portion of the crankshaft gear 30b of the speed reducer 10b of machine model W2, in this mode of execution, the pitch circle radius of the 33a of tooth portion of the crankshaft gear 30a of machine model W1 is Rg1, modulus is Mg1, and the number of teeth is Tg1.On the other hand, the pitch circle radius of the crankshaft gear 30b of machine model W2 is also Rg1, and modulus is also Mg1, and the number of teeth is also Tg1.That is, between different machine model W1, W2, the 33a of tooth portion of crankshaft gear 30a, 30b, the pitch circle radius of 33b are Rg1, and modulus is Mg1, and the number of teeth is Tg1, identical respectively, and size/shape is made as general (with reference to two circle " ◎ " marks of figure 3).

In other words, not only internal spline 31a, 31b general ("○" mark) of the crankshaft gear 30b of the speed reducer 10b of the crankshaft gear 30a of the speed reducer 10a of machine model W1 & reduction speed ratio R3 and machine model W2 & reduction speed ratio R2, the 33a of tooth portion, 33b be general (modulus Mg1 and number of teeth Tg1 are general: " ◎ " mark) also, are the parts of identical (congruence)., crankshaft gear 30a, 30b originally share between different machine model W1, W2.

In addition, the pitch circle radius of the input small gear 32a engaging with the crankshaft gear 30a of machine model W1 is Rg2, modulus is (general with the modulus Mg1 of crankshaft gear 30a, 30b) Mg1, and the number of teeth is Tg2, by engaging to realize reduction speed ratio R3(Tg1/Tg2 with crankshaft gear 30a).And, the pitch circle radius of the input small gear 32b of machine model W2 is Rg3, modulus is (general with the modulus Mg1 of crankshaft gear 30a, 30b) Mg1, and the number of teeth is Tg3, by engaging to realize (less than R3) reduction speed ratio R2(Tg1/Tg3 with crankshaft gear 30b).

As can be obviously found out from this structure, can common crankshaft gear 30a in the time meeting following condition, 30b itself, , speed reducer 10a and speed reducer 10b not only have merely crankshaft gear 30a, the internal spline 31a of 30b, the size/shape of 31b is general, this crankshaft gear 30a, the 33a of tooth portion of 30b, the modulus of 33b is Mg1 and equates, in addition, " the pitch circle radius Rg1 of crankshaft gear 30a with input small gear 32a pitch circle radius Rg2 sum " and " the pitch circle radius Rg1 of crankshaft gear 30b with input small gear 32b pitch circle radius Rg3 sum " all with from internal gear 12a, the axle center O1a of 12b, O1b is to bent axle 18a, the axes O 3a of 18b, the distance L 1a of O3b, L1b equates (Rg1+Rg2=L1b, and Rg1+Rg3=L1b).

Thus, the sharing of same crankshaft gear for example, as shown in quadrangle " " mark in Fig. 3, also can be realized in the speed reducer 10d of machine model W1 & reduction speed ratio R2 and the speed reducer 10f of machine model W2 & reduction speed ratio R1.In addition, as in Fig. 3 by as shown in black " ▲ " mark, in the speed reducer 10g of the speed reducer 10e of machine model W1 & reduction speed ratio R4 and machine model W2 & reduction speed ratio R3, also can realize.In addition, now, speed reducer 10d, 10f(or speed reducer 10e, 10g) the modulus of tooth portion 33 of crankshaft gear 30 as long as speed reducer 10d, 10f mutually the same (or speed reducer 10e, 10g are mutually the same), also can be different from the modulus Mg1 of the tooth portion 33 of the crankshaft gear of speed reducer 10a, 10b 30.

When by external splines 24 and internal spline 31 or 33 generalization of tooth portion, set the size/shape of the admissible value of the flank of tooth pressure of the spline tooth surface pressure that meets in larger machine model or tooth portion for.Thus, less machine model also automatically meets admissible value.If be difficult to guarantee the situation of admissible value in larger machine model time, for example carry out following arbitrary processing, a) further improve interference fit chimeric, the axial length or the facewidth that b) further extend internal spline, c) further improve Gear Surface Strength etc. by surface treatment.These processing can be carried out whole series (larger machine model and less machine model the two), also can only carry out the strict larger machine model of admissible value.,, if the size/shape generalization of external splines between machine model, crankshaft gear itself also can share without certain.

For example, as mentioned above, in present embodiment, only in larger machine model W2, be made as by interference fit and link the external splines 24b of bent axle 18b and the internal spline 31b of crankshaft gear 30b, external splines 24a and the internal spline 31a of less machine model W1 are made as the Spielpassung that assembling performance is better.With identical viewpoint, even if for example the two is all made as to interference fit, also the less external splines 24a of machine model W1 and the interference fit of internal spline 31a can be made as to the more loosening interference fit of the larger external splines 24b of machine model W2 and the interference fit of internal spline 31b.Therefore, in the present invention, do not limit according to each specific machine model and carry out different processing.

In addition, in order further to strengthen interference fit chimeric (or in order further to dwindle the gap of Spielpassung), can adopt with the following method, for example the method for basic processing is constant, when rolling (or cold forging and rolling cut), fulfil a little processing ahead of schedule than the original process finishing moment, thereby the transverse tooth thickness of spline or tooth portion is adjusted to thicker.Thus, can not weaken this advantage of commonization of processing method, can realize transverse tooth thickness differential of larger machine model and less machine model.This differential also can be only in internal spline side, only realize under external splines side or the arbitrary situation in internal spline and these both sides of external splines.

If consider above situation, in the present invention, " size/shape of external splines is general between the speed reducer that belongs to different machine model " this saying should strictly not understood, and should be comprised the slightly different concepts such as the axial formation length of pitch circle radius, transverse tooth thickness or external splines.In other words, as long as " as a result of; guarantee identical (crankshaft gear) internal spline (be included in general manufacturing process and manufacture; but make process time etc. by adjusting the internal spline that interference fit degree is different) (bent axle) external spliness of machine models that can be above with 2 interchangeability that engage ", met " size/shape of external splines is general between the speed reducer that belongs to different machine model " in the present invention.

Then, the effect of this Eccentrically rocking type reduction gear series is described.

First, start to describe from the effect of the monomer of speed reducer 10a, 10b.

If the rotation of not shown motor, this rotation is delivered to coupling shaft 26a, 26b, and the input small gear 32a, the 32b that form at the front end of coupling shaft 26a, 26b are rotated.Input small gear 32a, 32b engage with 3 crankshaft gear 30a, 30b simultaneously, therefore engage with crankshaft gear 30a, 30b's by this input small gear 32a, 32b, 3 bent axle 18a, 18b are rotated with identical rotating speed along equidirectional with the state of the gear ratio of crankshaft gear 30a, 30b to be decelerated to input small gear 32a, 32b.

Its result, 3 the 1st eccentric body 20a forming in the axial same position of each bent axle 18a, 18b respectively, 20b synchronous rotary and the 1st external gear 14a, 14b are swung, and 3 the 2nd eccentric body 22a that form respectively in the axial same position of each bent axle 18a, 18b, 22b synchronous rotary and the 2nd external gear 16a, 16b are swung.

The 1st external gear 14a, 14b and the 2nd external gear 16a, 16b are engaged in internal gear 12a, 12b in respectively, therefore the 1st external gear 14a, 14b and the 2nd external gear 16a, 16b often once swing, and the 1st external gear 14a, 14b and the 2nd external gear 16a, 16b depart from the phase place (carrying out rotation) of the circumferencial direction of number of teeth residual quantity (being 1 tooth amount in this mode of execution) with respect to internal gear 12a, 12b.This rotation composition is delivered to the 1st wheel carrier 38a, 38b and the 2nd wheel carrier 40a, 40b as each bent axle 18a, 18b around the revolution of axle center O1a, the O1b of internal gear 12a, 12b.The 1st wheel carrier 38a, 38b and the 2nd wheel carrier 40a, 40b link via wheel carrier bridge 43a, 43b and by knock pin 53a, 53b and not shown bolt.Therefore the 1st arm that, result can make to be linked to shell 52a, 52b by the rotation of coupling shaft (input shaft) 26a, 26b be linked to the 2nd wheel carrier 40a, 40b the 2nd arm is relative rotates.

In addition, material when recess 58a, the 58b performance of bent axle 18a, 18b is used for guaranteeing to manufacture external splines 24a, 24b by rolling overflows the effect in the space of portion, and brings into play the effect of the lubricating grease reservoir of lubricating grease between external splines 24a, 24b and internal spline 31a, 31b.

Then the effect of lubricating grease is described.

Just as already mentioned, in this Eccentrically rocking type reduction gear series, in fact be difficult to obtain in the part of reducing gear G2a, the G2b of eccentric oscillating-type the variation of multiple gear ratio, be therefore made as the variation that obtains this reduction speed ratio by input small gear 32a, the 32b of the 1st reducing gear G1a, G1b and the combination of crankshaft gear 30a, 30b.Therefore, certainly considered the bent axle 18 to the input shaft as this Eccentrically rocking type reduction gear structure in the past, (due to the section diameter of eccentric body 22 according to the difference of machine model and difference) size/shape of the external splines 24 that forms on this bent axle 18 is also according to each machine model and difference.

Especially, as from Fig. 4 describe obviously find out, the external splines 924 of bent axle 918 formed by rolling cut in the past, therefore inevitably needed to be called the region 925 that what is called " cuts portion ".Therefore,, if will make the size/shape generalization of external splines 924 of bent axle 918 time, " cutting portion " becomes very large compared with the machining allowance of the bent axle 918 of little machine model is relatively large, also produce the problem that needs useless this manufacture view of axial space.This also can be regarded as does not expect the potential reason that makes external splines 924 this design of generalization between different machine models.

Therefore, in the past, external splines 24 and internal spline 31 according to each machine model and therefore difference needs to manufacture a variety of crankshaft gears 30, became the main cause of expensiveization.

But, for example, as present embodiment, form external splines by rolling (plastic working), thereby almost can avoid the problem of the manufacture view being caused by this rolling cut.In addition, also have cold forging etc. as the plastic working except rolling, all do not produce the problem of this (as rolling cut) manufacture view.In addition, plastic working also can obtain improving by work-hardening the advantage of Gear Surface Strength, therefore can obtain following characteristic, with respect to the external splines that makes large machine model be formed as relatively little and form " generalization of external splines ", (than rolling cut) is preferred aspect durability.

In present embodiment, be contemplated that with this basis forms external splines 24a, 24b by rolling (plastic working), thereby realize the external splines 24a of bent axle 18a, 18b between different machine model W1, W2, the generalization of 24b.

Thus, at least can make internal spline 31a, the 31b generalization between different machine model W1, W2 of crankshaft gear 30a, 30b, thereby can further simplify the manufacturing system of the crankshaft gear 30 of whole series, can realize the cost degradation of respective amount.

Especially, the present invention is conceived to by plastic working, external splines be processed and found out, if but grasp the present invention with " generalization of the size/shape of external splines " this viewpoint, be not the processing method beyond total ban plastic working.For example, if can guarantee the axial space cutting for instrument, also can realize by rolling cut the generalization of external splines.And, for example, can also form by rolling cut the external splines of larger machine model, by the external splines of less machine model such as the plastic working manufacture of rolling and cold forging etc.Now, crankshaft gear (by the generalization of external splines) at least can share about internal spline between different machine models, therefore without preparing the different crankshaft gear of internal spline according to each machine model, can in whole series, simplify the manufacturing system of crankshaft gear, correspondingly can realize cost degradation.

Get back to the explanation of the effect of present embodiment.As present embodiment, realize by " identical processing method " external splines 24a, 24b the two time, this external splines 24a, 24b can form by the rolling cold forging etc. of identical mould, identical method (or use) that utilizes same tool, same procedure, thereby can further realize cost degradation.

And, in present embodiment, the a part of generalization of the modulus of the 33a of tooth portion, 33b that further makes crankshaft gear 30a, 30b between machine model W1, W2, therefore especially can further simplify the tooth portion 33 of crankshaft gear 30 and the manufacturing system of input small gear 32 of whole series, thereby can further realize cost degradation.

Especially, reduction speed ratio R2, the R3 that flexible Application has been set and crankshaft gear 18a, 18b and input small gear 32a, pitch circle radius Rg1, the Rg2 of 32b, the relation of Rg3, therefore can directly share identical crankshaft gear 18a(=18b).In actual series, the kind of the example of kind analogy Fig. 3 of the kind of machine model and reduction speed ratio is many substantially, therefore can further increase the quantity of the crankshaft gear of sharing completely according to design.

In addition, in above-mentioned mode of execution, be configured to from the power of input side and be input to crankshaft gear via the input small gear of parallel axes system, become the gear of orthogonal system (such as bevel gear etc.) but also can be configured to crankshaft gear itself, be delivered to crankshaft gear from the power of input side via the input small gear of orthogonal system.

And, in above-mentioned mode of execution, disclose the speed reducer with 3 bent axles, but the bent axle radical of the speed reducer in the present invention is more than 2, be not particularly limited to 3.

Claims (7)

1. an Eccentrically rocking type reduction gear series, it is made up of multiple speed reducers, and the plurality of speed reducer belongs to and multiple machine models of the corresponding setting of size of transmitting torque, and described Eccentrically rocking type reduction gear series is characterised in that,

Belonging to this serial speed reducer is the Eccentrically rocking type reduction gear that possesses respectively following composition, possesses: internal gear; External gear, and engages in this internal gear; Multiple bent axles, are located at from the position of the desaxe of described internal gear and described external gear are swung; And crankshaft gear, the transmission of power from input side is arrived to this bent axle,

Be formed with the external splines for linking described crankshaft gear in the end of this bent axle,

Between the speed reducer that belongs to different machine model, the size/shape of this external splines is made as general.

2. Eccentrically rocking type reduction gear series according to claim 1, is characterized in that,

Described external splines forms by plastic working.

3. Eccentrically rocking type reduction gear series according to claim 1 and 2, is characterized in that,

Between the speed reducer that belongs to different machine model, described crankshaft gear itself also shares.

4. according to the Eccentrically rocking type reduction gear series described in any one in claim 1～3, it is characterized in that,

Set in the size/shape that belongs to external splines general between the speed reducer of described different machine model the admissible value that meets the spline tooth surface pressure in larger machine model for.

5. according to the Eccentrically rocking type reduction gear series described in any one in claim 1～4, it is characterized in that,

Making in the general machine model of described external splines, for larger machine model, the external splines of described bent axle and the internal spline of described crankshaft gear link by interference fit.

6. Eccentrically rocking type reduction gear series according to claim 5, is characterized in that,

Making in the general machine model of described external splines, for less machine model, the external splines of described bent axle and the internal spline of described crankshaft gear link by Spielpassung.

7. according to the Eccentrically rocking type reduction gear series described in any one in claim 1～6, it is characterized in that,

Between the speed reducer that belongs to different machine model, the modulus of the tooth portion of described crankshaft gear equates.