CN103968008B - Eccentrically rocking type reduction gear series - Google Patents

Abstract

The present invention provides a kind of Eccentrically rocking type reduction gear series, and it reduces the cost of whole Eccentrically rocking type reduction gear series further.The Eccentrically rocking type reduction gear series of the present invention is made up of multiple reductors, and the plurality of reductor belongs to and multiple types number of the corresponding setting of size of transmission torque, the reductor (10a, 10b) belonging to this series is to possess following Eccentrically rocking type reduction gear respectively, i.e. possesses: internal gear (12a, 12b)；1st external gear (14a, 14b), the 2nd external gear (16a, 16b)；Multiple bent axles (18a, 18b), are located at the position in the axle center from internal gear (O3) skew (L1) and make the 1st external gear, the 2nd external gear swing；And crankshaft toothed wheel (30a, 30b), power from input side is delivered to bent axle, wherein, the external splines (24a, 24b) for linking crankshaft toothed wheel it is formed with in the end of bent axle, between the reductor (10a10b) belonging to different type W1, W2, the size/shape of external splines is set to general.

Description

Eccentrically rocking type reduction gear series

Technical field

The application advocates based on Japanese patent application filed in 29 days January in 2013 the 2013-014883rd Priority.The full content of its application is by referring to being applied in this specification.

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

Background technology

Just like the eccentric swing being referred to as so-called " distribution formula " shown in Fig. 4～Fig. 6 disclosed in patent documentation 1 Type reductor.

This reductor 910 possesses internal gear 912 and the 1st external gear with this internal gear 912 internal messing 914 and the 2nd external gear 916, with internal gear while the 1st external gear the 914, the 2nd external gear 916 swing 912 internal messing.In order to make the 1st external gear the 914, the 2nd external gear 916 swing, from internal gear 912 The position of axle center O1 skew, set running through the state of the 1st external gear the 914, the 2nd external gear 916 It is equipped with multiple (being 3 in the disclosure example) bent axle 918(918A～918C).

3 bent axles 918 are respectively provided with the 1st eccentric body 920 in the alignment of axial same position eccentric phase (920A～920C), and equally at the 2nd eccentric body 922 of axial same position eccentric phase alignment (922A～922C).It is configured to make all bent axle 918 synchronous rotaries, thus the 1st external gear 914 passes through 1st eccentric body 920 swings, and the 2nd external gear 916 is swung by the 2nd eccentric body 922.

In order to make 3 bent axle 918 synchronous rotaries, it is respectively formed with external splines in the end of each bent axle 918 924(924A～924C).This external splines 924 is linked with by from connecting shaft (power shaft) 926 side Power be delivered to crankshaft toothed wheel 930(930A～930C of each bent axle 918).

Each crankshaft toothed wheel 930 is simultaneously engaged with the little gear of input 932 formed in connecting shaft 926.By This, be configured to the little gear 932 of the input by connecting shaft 926 and rotate, and each bent axle 918 is with identical Rotating speed rotates in the same direction.

This reductor is prepared with the type number of the corresponding setting of size of multiple and transmission torque, and (size is divided Class), provide multiple deceleration units of the change with multiple gear ratio to make each of the plurality of type number For " Eccentrically rocking type reduction gear series ".

Patent documentation 1: Japanese Unexamined Patent Publication 2010-286098 publication (Fig. 1～Fig. 3)

In the Eccentrically rocking type reduction gear series of above structure, different types number each parts each other are basic On according to each machine type design, the external splines of the end being formed at bent axle is also set to set according to each type number The size/shape of meter.

But, if the external splines being formed at the end of bent axle is different according to each type number, then as knot Really, the internal spline of corresponding crankshaft toothed wheel is different also according to each type number, becomes the manufacture of whole series The main cause that cost increases.

Summary of the invention

The present invention completes in light of this situation, and its problem is to reduce whole eccentric oscillating-type further The cost of decelerator series.

The present invention solves above-mentioned problem by following structure, and i.e. a kind of Eccentrically rocking type reduction gear is serial, its It is made up of multiple reductors, and the plurality of reductor belongs to multiple machines of the corresponding setting of size with transmission torque Model, wherein, the reductor belonging to this series is the Eccentrically rocking type reduction gear possessing following composition respectively, I.e. possess: internal gear；External gear, with this internal gear internal messing；Multiple bent axles, are located at from described internal gear The position of axle center skew, and make described external gear swing；And crankshaft toothed wheel, by the power from input side It is delivered to this bent axle, is formed with the external splines for linking described crankshaft toothed wheel in the end of this bent axle, belonging to Between the reductor of different types number, the size/shape of this external splines is set to general.

In the present invention, the external splines being formed at the end of bent axle in order to link crankshaft toothed wheel is made to belong to and pass Specially it is set to its size/shape between the reductor of the different type number passing the size correspondence setting of torque lead to With.

Therefore, belong in the reductor of different type number, be at least capable of the internal spline of crankshaft toothed wheel The generalization of manufacturing process, can manufacture described series with lower cost as result.

In accordance with the invention it is possible to reduce the cost of whole Eccentrically rocking type reduction gear series further.

Accompanying drawing explanation

Fig. 1 is to compare to illustrate the Eccentrically rocking type reduction gear involved by an example constituting embodiments of the present invention The overall sectional view of 2 reductors of series.

Fig. 2 is the main portion sectional view of the vicinity amplifying the crankshaft toothed wheel illustrating above-mentioned reductor.

Fig. 3 is to represent that, in above-mentioned series, external splines, internal spline and teeth portion are by the figure of unitized state Table.

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

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

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

In figure: 10a, 10b-reductor, 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-crank teeth Wheel, 31a, 31b-internal spline, 33a, 33b-teeth portion.

Detailed description of the invention

Hereinafter, with reference to the accompanying drawings an example of embodiments of the present invention is described in detail.

Fig. 1 is to compare to illustrate the Eccentrically rocking type reduction gear involved by an example constituting embodiments of the present invention The overall sectional view of 2 reductors of series, Fig. 2 is that amplification illustrates the attached of the crankshaft toothed wheel of above-mentioned reductor Near main portion sectional view.

In this Eccentrically rocking type reduction gear series, it is stipulated that have multiple setting corresponding with the size of transmission torque Type number, be prepared with the reductor of multiple gear ratio for each of the plurality of type number.

If it addition, " setting of type number " is supplemented, then " the size with transmission torque of the present invention The corresponding type number set " refer to that " be conceived to the output torque of reductor with identical speed reducing ratio, peak value turns Magnitude classification during any one in the concept of the various transmission torque such as square or nominal torque ".As type Number establishing method, be roughly divided into the mode of setting corresponding with the size transmitting torque and big with reductor The little corresponding mode set.When for " type number of the corresponding setting of size with transmission torque ", if phase With speed reducing ratio, then unrelated with the kind of the specific transmission torque being had in mind, reductor that type number is different Having the magnitude relationship of same tendency, this tendency is the most consistent with the magnitude relationship of the size of reductor (size) (without the reverse of magnitude relationship).It addition, in the present invention, as " Eccentrically rocking type reduction gear series ", Complete the definition of following statement, even if therefore " setting of type number " is come by the magnitude classification of arbitrary concept Complete, the most do not produce difference.

In the present invention, " Eccentrically rocking type reduction gear series " refers to be defined and draw class for subtract with a series of One group of speed machine, a group of this reductor has involved by the transmission of (in addition to the external splines of bent axle) power The shape of each parts is set as the Eccentrically rocking type reduction gear structure of essentially similar shape, and transmission torque (bag Include nominal torque, allow the concepts such as torque) and speed reducing ratio different.

Thus, such as, such as solid Eccentrically rocking type reduction gear with hollow Eccentrically rocking type reduction gear each other, subtract The structure dissimilar reductor of shape of the Eccentrically rocking type reduction gear structure part in speed machine own is each other at this Not included in belonging in the concept with a series of reductor in bright.On the contrary, even if for " being defined and draw class (lineup) it is a group with a series of reductor ", the most a part of reductor such as only has specific machine The kind of the bearing of the specific reductor of model is different with the kind of oil sealing, or the parts of another part are different. Further, when Eccentrically rocking type reduction gear structure part obtains different speed reducing ratio, external gear and internal gear " profile of tooth " is not necessarily on all four shape.But, now, as long as " being defined and draw class is With a series of reductor one group ", just it is included in the same a series of concept of the present invention.Above-mentioned definition In, it is set as " shape with each parts becomes the Eccentrically rocking type reduction gear structure of essentially similar shape " Refer to following situation, similar shape the most described above, but the most few section components or It is dissimilar that a part for section components is set as shape.Further, such as, as belong to the reductor of old series with Belong to the reductor of the new range of its modified form, " be defined as with a series of but do not draw class (the most not Isonomic) reductor each other " not included in belonging to the general of same a series of reductor involved in the present invention In reading.This is owing to the most also using the same or similar portion of shape between old series and modified form new range Part, but in order to strengthen the transmission torque etc. of whole series, can increase in the reductor being included in series logical With the change of configuration aspects.

Fig. 1 (A), Fig. 2 (A) represent reductor 10a, the Fig. 1 transmitting the less type W1 of torque (B), Fig. 2 (B) represents the reductor involved by type W2 that transmission torque is bigger in contrast 10b.In Eccentrically rocking type reduction gear series, actually in the portion of Eccentrically rocking type reduction gear structure G2a, G2b Point hardly result in the change of multiple speed reducing ratio, therefore, the 1st reducing gear G1a, G1b part (i.e. Input the adjustment of the combination of little gear 32a, 32b and crankshaft toothed wheel 30a, 30b) guarantee the change of this speed reducing ratio Change (wherein, it is possible to the part at Eccentrically rocking type reduction gear structure G2a, G2b prepares different decelerations Than).Thus, though Eccentrically rocking type reduction gear structure G2a, G2b part each parts type number not With, but be the most also similar shape, functionally identical.Therefore, here, for convenience, to this function Identical parts enclose similar elements symbol, exist for the parts involved by the reductor 10a of type W1 A is enclosed at the end of symbol, for comparing the parts involved by the reductor 10b of bigger type W2 in phase B is enclosed, below the reductor 10b to reductor 10a, W2 of two type W1 with the end of symbol Illustrate simultaneously.

In this embodiment, the power of motor (omitting diagram) is via connecting shaft (power shaft: overall omission Diagram, equal with described connecting shaft 926) 26a, 26b input.In connecting shaft 26a, the motor phase of 26b The end tossed about directly is cut and is formed with input little gear (gear of input side) 32a, 32b.

Input little gear 32a, 32b to be simultaneously engaged with multiple crankshaft toothed wheel 30a, 30b and constitute the 1st deceleration Mechanism G1a, G1b.The speed reducing ratio of reductor 10a, 10b is by the 1st reducing gear G1a, G1b part The adjustment of speed reducing ratio and adjust.Each crankshaft toothed wheel 30a, 30b are provided with 3 in this embodiment (only diagram 1), is linked to 3 (only diagram 1) bent axle 18a, 18b respectively.For bent axle Structure near 18a, 18b and crankshaft toothed wheel 30a, 30b is described in detail later.

Each bent axle 18a, 18b are equivalent to the power shaft of Eccentrically rocking type reduction gear structure G2a, G2b.This enforcement In mode, bent axle 18a, 18b are provided with 3 (only diagrams 1).Each bent axle 18a, 18b are from interior Axle center O1a, O1b of gear 12a, 12b the most only offset the position of L1a, L1b, along the circumferential direction with The interval configuration of 120 degree.It is eccentric that each bent axle 18a, 18b are formed with the 1st in respective axial same position Body 20a, 20b, adjoin with the 1st eccentric body 20a, 20b and be formed in respective axial same position 2nd eccentric body 22a, 22b.The 1st eccentric body 20a, 20b of each bent axle 18a, 18b is each other and the 2nd inclined The heart body 22a, 22b eccentric phase alignment each other.1st eccentric body 20a, 20b and the 2nd eccentric body The eccentric phase difference of 22a, 22b is 180 degree.

In the periphery of the 1st eccentric body 20a, 20b of each bent axle 18a, 18b via the 1st roller bearing 34a, 34b are assembled with the 1st external gear 14a, 14b.The 2nd eccentric body at each bent axle 18a, 18b The periphery of 22a, 22b is assembled with the 2nd external gear 16a, 16b via the 2nd roller bearing 36a, 36b.By This, it is possible to make the 1st by the 1st eccentric body 20a, 20b synchronous rotary on 3 bent axles 18a, 18b External gear 14a, 14b swing, again by the 2nd eccentric body 22a, 22b on 3 bent axles 18a, 18b Synchronous rotary makes the 2nd external gear 16a, 16b swing.

It is configured with the 1st in the axial both sides of the 1st external gear 14a, 14b and the 2nd external gear 16a, 16b to take turns Frame 38a, 38b and the 2nd wheel carrier 40a, 40b, each bent axle 18a, 18b pass through a pair taper roll bearing 44a, 44b and 46a, 46b are supported on the 1st wheel carrier 38a, 38b and the 2nd wheel carrier 40a, 40b. 1st wheel carrier 38a, 38b and the 2nd wheel carrier 40a, 40b by pair of horns contact ball bearing 48a, 48b and 50a, 50b are supported on shell 52a, 52b.It addition, protrude wheel carrier bridge from the 2nd wheel carrier 40a, 40b (Carrier Bridge) 43a, 43b, the 1st wheel carrier 38a, 38b and the 2nd wheel carrier 40a, 40b via This wheel carrier bridge 43a, 43b is also linked by knock pin 53a, 53b and not shown bolt and integration.

1st external gear 14a, 14b and the 2nd external gear 16a, 16b nibbles in internal gear 12a, 12b Close.Internal gear 12a, 12b include in this embodiment: the internal gear integrated with shell 52a, 52b Main body 13a, 13b and be rotatably assembled in this internal gear main body 13a, 13b and constitute this internal gear Export trade 15a, 15b of the internal tooth of 12a, 12b.The number of teeth (export trade 15a, 15b of internal gear 12a, 12b Radical) more more than the number of teeth of the 1st external gear 14a, 14b and the 2nd external gear 16a, 16b (the most 1).

Shell 52a, 52b are linked with robot by bolt (only diagram bolt hole 53a, 53b) 1st arm (omits diagram), is linked with respectively by not shown bolt on the 2nd wheel carrier 40a, 40b 2nd arm (omitting diagram) of robot.

Here, the structure near crankshaft toothed wheel 30a, 30b is described in detail.

Primary Reference Fig. 2, at the respective end of multiple (in this embodiment being 3) bent axle 18a, 18b Portion is formed with external splines 24a, 24b.Crankshaft toothed wheel 30a, 30b are by this external splines 24a, 24b and bent axle 18a, 18b link with cantilever position.

More specifically, bent axle 18a, 18b possess axial end somewhat be chamfered processing front end 19a, 19b, possesses back-up ring recess 21a, 21b in the axially inner side position of this leading section 19a, 19b.At back-up ring With the back-up ring 54a being embedded with on recess 21a, 21b for being axially positioned crankshaft toothed wheel 30a, 30b, 54b。

Further, the axially inner side at external splines 24a, 24b of bent axle 18a, 18b is formed than this external splines Tooth root deeper recess 58a, 58b of 24a, 24b.Being axially formed of external splines 24a, 24b is a length of L3a、L3b。

It addition, in this embodiment, external splines 24a, 24b are formed by rolling (plastic working).Recessed Portion 58a, 58b also play the effect in the space in " the spilling portion of material " that add man-hour.

On the other hand, crankshaft toothed wheel 30a, 30b gear little with input 32a, 32b engage, will be from input The power of side is delivered to bent axle 18a, 18b.Crankshaft toothed wheel 30a, 30b possess in periphery and input little gear Teeth portion 33a of 32a, 32b engagement, 33b, and possess and the external splines of bent axle 18a, 18b in inner circumferential Internal spline 31a, 31b of 24a, 24b engaging.Internal spline 31a, 31b are throughout crankshaft toothed wheel 30a, 30b Whole axial length L 5a, L5b and formed (but, it is not necessary to necessarily the most whole throughout crankshaft toothed wheel 30a, 30b Individual axial length L 5a, L5b and formed, it is possible to leave the part that do not formed of local).

It addition, symbol 61a, 61b of Fig. 1, Fig. 2 are respectively used for determining that crankshaft toothed wheel 30a, 30b exist The pad of the axial location on bent axle 18a, 18b.

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

It addition, in this embodiment, the external splines 24b of the bent axle 18b of bigger type W2 and bent axle The internal spline 31b of gear 30b links (aftermentioned) by " interference fit ".

Here, the reductor 10a of Fig. 1 (A), Fig. 2 (A) is equivalent to the catalog having shown in Fig. 3 The reductor 10a of specification of type W1& speed reducing ratio R3.Fig. 1 (B), the reductor of Fig. 2 (B) 10b is equivalent to the reductor with the specification of type W2& speed reducing ratio R2 of the catalog shown in Fig. 3 10b.It addition, the transmission torque of the transmission torque ratio type W1 of type W2 is big, speed reducing ratio R3 ratio subtracts Speed ratio R2 is big.That is, W1 ＜ W2, R2 ＜ R3.

First, external splines 24a and the type number of the bent axle 18a of the reductor 10a of type W1 are paid close attention to The external splines 24b of the bent axle 18b of the reductor 10b of W2.As it has been described above, in this embodiment by rolling System (plastic working) processing external splines 24a, 24b.

As shown in Figure 2 (A) shows, in this embodiment, the bent axle 18a's of the reductor 10a of type W1 The pitch circle radius of external splines 24a 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 of the external splines 24b of the bent axle 18b in the reductor 10b of type W2 Radius is also Rs1.Further, modulus is Ms1, and the number of teeth is Ts1.That is, at different type W1, W2 Between, the pitch circle radius of external splines 24a, 24b of bent axle 18a, 18b is Rs1, and modulus is Ms1, the number of teeth is Ts1, the most identical, (include leading section 19a, 19b, back-up ring recess 21a, 21b, recess 58a, 58b) size/shape is set to general.

It addition, as shown in black "●" labelling in Fig. 3, in this embodiment, be not only reductor 10a, 10b, reductor 10c, 10d, 10e of type W1 and the reductor 10f of type W2, 10g, 10h all size/shape with this external splines 24a, 24b are set to general.Especially, in the present invention, no Require to make the size/shape of external splines be all set to general (one in all speed reducing ratio of paired type number Part is general).

Then, internal spline 31a and the type of the crankshaft toothed wheel 30a of the reductor 10a of type W1 are paid close attention to The internal gear 31b of the crankshaft toothed wheel 30b of the reductor 10b of number W2.In this embodiment, added by broaching Work is processed (can also being processed) by gear shapping machine etc. to internal spline 31a, 31b.

In this embodiment, the internal spline 31a's and type W2 of the crankshaft toothed wheel 30a of type W1 (in order to engage with identical external splines 24a, 24b) pitch circle of the internal spline 31b of crankshaft toothed wheel 30b Radius is Rs1, and modulus is Ms1, the number of teeth is Ts1.That is, different type W1, W2 it Between, the pitch circle radius of internal spline 31a, 31b of crankshaft toothed wheel 30a, 30b is Rs1, and modulus is Ms1, the number of teeth is Ts1, the most identical, and size/shape is set to general.In other words, type W1 The internal spline 31b both of which of internal spline 31a and type W2 can be with the external splines of type W1 Any one in the external splines 24b of 24a and type W2 engages and links.

It addition, as shown in Fig. 3 empty "○" labelling, in this embodiment, with black "●" labelling Reductor corresponding to reductor, i.e. at reductor 10c, 10d, 10e and the type W2 of type W1 Reductor 10f, 10g, 10h in, be formed with identical size/shape (pitch circle radius Rs1, modulus Ms1, number of teeth Ts1) internal spline 31.

If it addition, paying close attention to teeth portion 33a and the type of the crankshaft toothed wheel 30a of the reductor 10a of type W1 Teeth portion 33b of the crankshaft toothed wheel 30b of the reductor 10b of number W2, then in this embodiment, type W1 The pitch circle radius of teeth portion 33a of crankshaft toothed wheel 30a be Rg1, modulus is Mg1, and the number of teeth is Tg1.Separately On the one hand, the pitch circle radius of the crankshaft toothed wheel 30b of type W2 is also Rg1, and modulus is also Mg1, tooth Number is also Tg1.That is, between different type W1, W2, the teeth portion of crankshaft toothed wheel 30a, 30b The pitch circle radius of 33a, 33b is Rg1, and modulus is Mg1, and the number of teeth is Tg1, the most identical, And size/shape is set to general (with reference to double-round " ◎ " labelling of Fig. 3).

In other words, the crankshaft toothed wheel 30a of the reductor 10a of type W1& speed reducing ratio R3 and type number The crankshaft toothed wheel 30b of the reductor 10b of W2& speed reducing ratio R2 not only internal spline 31a, 31b is general ("○" labelling), teeth portion 33a, 33b are the most general, and (modulus Mg1 and number of teeth Tg1 are general: " ◎ " Labelling), for the parts of identical (congruent).That is, crankshaft toothed wheel 30a, 30b is originally in different Share between type W1, W2.

It addition, the pitch circle radius of the little gear 32a of input engaged with the crankshaft toothed wheel 30a of type W1 For Rg2, modulus is (general with the modulus Mg1 of crankshaft toothed wheel 30a, 30b) Mg1, and the number of teeth is Tg2, realizes speed reducing ratio R3(Tg1/Tg2 by engaging with crankshaft toothed wheel 30a).Further, type number The pitch circle radius of the little gear 32b of input of W2 is Rg3, and modulus is (with crankshaft toothed wheel 30a, 30b Modulus Mg1 is general) Mg1, the number of teeth is Tg3, realizes (comparing R3 by engaging with crankshaft toothed wheel 30b Little) speed reducing ratio R2(Tg1/Tg3).

As from this structure it will be evident that can common crankshaft gear 30a, 30b when meeting following condition Itself, i.e. reductor 10a and reductor 10b only has the most merely the interior flower of crankshaft toothed wheel 30a, 30b The size/shape of key 31a, 31b is general, teeth portion 33a of this crankshaft toothed wheel 30a, 30b, the modulus of 33b Be Mg1 and equal, it addition, " pitch circle radius Rg1 of crankshaft toothed wheel 30a with input little gear 32a Pitch circle radius Rg2 sum " and " pitch circle radius Rg1 of crankshaft toothed wheel 30b with input little gear The pitch circle radius Rg3 sum of 32b " all with axle center O1a, the O1b from internal gear 12a, 12b to song Axes O 3a of axle 18a, 18b, distance L1a of O3b, L1b equal (Rg1+Rg2=L1b, and Rg1+Rg3=L1b).

Thus, the sharing of same crankshaft toothed wheel such as in Fig. 3 quadrangle " " labelling shown in, In the reductor 10d of type W1& speed reducing ratio R2 and the reductor 10f of type W2& speed reducing ratio R1 also It is capable of.It addition, as in Fig. 3 by black " ▲ " shown in labelling, subtracting of type W1& speed reducing ratio R4 The reductor 10g of speed machine 10e and type W2& speed reducing ratio R3 also is able to realize.It addition, now, subtract Speed machine 10d, 10f(or reductor 10e, 10g) if the modulus of teeth portion 33 of crankshaft toothed wheel 30 subtract Speed machine 10d, 10f mutually the same (or reductor 10e, 10g are mutually the same), the most also can be with reductor The modulus Mg1 of the teeth portion 33 of the crankshaft toothed wheel 30 of 10a, 10b is different.

When by external splines 24 and internal spline 31 or teeth portion 33 generalization, it is set to and meets bigger type Spline tooth surface pressure in number or the size/shape of the feasible value of the face pressure of teeth portion.Thus, less Type number the most automatically meets feasible value.If be difficult to ensure that the situation of feasible value in bigger type number, Such as carry out following arbitrary process, a) improve further interference fit chimeric, b) prolong further The axial length of long internal spline or the facewidth, c) processed by surface and improve Gear Surface Strength etc. further.These Whole series (both bigger type number and less type number) can be carried out by process, it is possible to only to appearance Permitted to be worth strict bigger type number to carry out.That is, if between type number, the size/shape of external splines is general Change, then crankshaft toothed wheel itself also can share without certain.

Such as, as it has been described above, in present embodiment, only in bigger type W2, be set to by mistake Cooperation of being full of links the internal spline 31b of the external splines 24b and crankshaft toothed wheel 30b of bent axle 18b, less type The external splines 24a and internal spline 31a of number W1 are set to the matched in clearance that assembleability is better.With identical sight Point, even if being such as set to interference fit by both of which, it is possible to by the external splines 24a of less type W1 The external splines 24b and internal spline 31b of bigger type W2 it is set to the interference fit of internal spline 31a The more loosening interference fit of interference fit.Therefore, the present invention is not intended to according to each specific type number Carry out different process.

It addition, in order to strengthen the chimeric (or in order to reduce between matched in clearance further of interference fit further Gap), it is possible to adopting with the following method, the method for the most basic processing is constant, in rolling (or cold forging and rolling Cut) time somewhat fulfil processing ahead of schedule than the original process finishing moment, thus the transverse tooth thickness of spline or teeth portion is adjusted It is made into thicker.Thus, this advantage of commonization of processing method will not be weakened, it is possible to realize bigger type Differential number with the transverse tooth thickness of less type number.This differential also can be only in internal spline side, spend the most outside Realize under key side or the arbitrary situation in internal spline and these both sides of external splines.

If consideration case above, in the present invention, " between the reductor belonging to different type number external splines Size/shape general " this saying should strictly not understood, and should be included pitch circle radius, transverse tooth thickness Or external splines be axially formed the slightly different concepts such as length.In other words, as long as " as result, it is ensured that Identical (crankshaft toothed wheel) internal spline (is included in general manufacturing process manufacture, but is added by adjustment Wait between man-hour and make the internal spline that interference fit degree is different) can (bent axle of type number with more than 2 ) interchangeability of external splines engaging ", then it may be said that meet and the present invention " belonging to different type Number reductor between the size/shape of external splines general ".

Then, the effect to this Eccentrically rocking type reduction gear series illustrates.

First, the effect from the monomer of reductor 10a, 10b proceeds by explanation.

If not shown motor rotates, then this rotation is delivered to connecting shaft 26a, 26b, connecting shaft 26a, Input little gear 32a, 32b that the front end of 26b is formed rotate.Input little gear 32a, 32b and 3 Individual crankshaft toothed wheel 30a, 30b are simultaneously engaged, therefore by this input little gear 32a, 32b and crankshaft toothed wheel The engagement of 30a, 30b, 3 bent axles 18a, 18b are to be decelerated to input little gear 32a, 32b and crank teeth The state of the gear ratio of wheel 30a, 30b rotates with identical rotating speed in same direction.

Its result, 3 the 1st formed in the axial same position of each bent axle 18a, 18b respectively are eccentric Body 20a, 20b synchronous rotary and make the 1st external gear 14a, 14b swing, and at each bent axle 18a, 18b Axial same position on 3 the 2nd eccentric body 22a, 22b synchronous rotaries being formed respectively and make outside the 2nd Gear 16a, 16b swing.

1st external gear 14a, 14b and the 2nd external gear 16a, 16b internal messing respectively in internal gear 12a, 12b, therefore the 1st external gear 14a, 14b and the 2nd external gear 16a, 16b the most once swings, should 1st external gear 14a, 14b and the 2nd external gear 16a, 16b is relative to internal gear 12a, 12b offset teeth The phase place (carrying out rotation) of the circumferencial direction of number residual quantity (being 1 tooth amount in this embodiment).This changes into certainly It is allocated as being delivered to around the revolution of axle center O1a, O1b of internal gear 12a, 12b for each bent axle 18a, 18b 1st wheel carrier 38a, 38b and the 2nd wheel carrier 40a, 40b.1st wheel carrier 38a, 38b and the 2nd wheel carrier 40a, 40b via wheel carrier bridge 43a, 43b and by knock pin 53a, 53b and not shown bolt company Knot.Therefore, result can make to be linked to shell by the rotation of connecting shaft (power shaft) 26a, 26b 1st arm and the 2nd arm being linked to the 2nd wheel carrier 40a, 40b of 52a, 52b rotate against.

It is used for guaranteeing to manufacture external splines by rolling it addition, recess 58a, 58b of bent axle 18a, 18b play The effect in the space in material spilling portion when 24a, 24b, and also play external splines 24a, 24b and interior flower The effect of the grease reservoir of grease between key 31a, 31b.

Then the effect to grease illustrates.

As already mentioned, in this Eccentrically rocking type reduction gear series, however, it is difficult in bias The part of reducing gear G2a, G2b of oscillating-type obtains the change of multiple gear ratio, is therefore set to by the 1st Input little gear 32a, 32b of reducing gear G1a, G1b obtain with the combination of crankshaft toothed wheel 30a, 30b The change of this speed reducing ratio.Therefore, in the past it is certainly contemplated that has arrived as this Eccentrically rocking type reduction gear structure is defeated Entering the bent axle 18 of axle, (owing to the section diameter of eccentric body 22 is different according to the difference of type number) is at this The size/shape of the external splines 24 formed on bent axle 18 is different also according to each type number.

Especially, such as describing it is evident that the external splines 924 of bent axle 918 was by rolling cut shape in the past from Fig. 4 Become, the most inevitably need the region 925 of referred to as so-called " cutting portion ".Therefore, to make bent axle During the size/shape generalization of the external splines 924 of 918, the allowance of the bent axle 918 of less type number Relatively large and " cutting portion " becomes very large, also produce and need useless this manufacture view of axial space Problem.This also is understood as not expecting and makes external splines 924 generalization between different types number this The potential reason of design.

Therefore, in the past, external splines 24 and internal spline 31 were different according to each type number, it is therefore desirable to system Make a variety of crankshaft toothed wheel 30, become the main cause of high cost.

But, such as such as present embodiment, by rolling (plastic working) formation external splines, thus almost It can be avoided that the problem of the manufacture view caused by this rolling cut.It addition, as the plastic working in addition to rolling Also have cold forging etc., the problem all not producing this (such as rolling cut) manufacture view.It addition, plastic working is also Can obtain by processing hardening improve Gear Surface Strength advantage, therefore, it is possible to obtain following characteristic, i.e. relative to The external splines making big type number is formed as relatively small and forms " generalization of external splines ", (than rolling Cut) preferred in terms of durability.

In present embodiment, with this be contemplated that basis by rolling (plastic working) formed external splines 24a, 24b, thus realize external splines 24a, 24b of bent axle 18a, the 18b between different type W1, W2 Generalization.

Thus, internal spline 31a, 31b of crankshaft toothed wheel 30a, 30b at least can be made at different types number Generalization between W1, W2 such that it is able to simplify the manufacture body of the crankshaft toothed wheel 30 of whole series further System, it is possible to realize the cost degradation of respective amount.

Especially, the present invention is conceived to be processed external splines by plastic working and find out, if but with " generalization of the size/shape of external splines " this viewpoint grasps the present invention, the most not total ban plasticity Processing method beyond processing.Such as, if being able to ensure that the axial space cut for instrument, the most also can lead to Cross rolling cut and realize the generalization of external splines.Further, for example, it is also possible to form bigger type number by rolling cut External splines, manufactured the external splines of less type number by the plastic working of rolling and cold forging etc..Now, Crankshaft toothed wheel (by the generalization of external splines) can be total at least with internal spline between different types number With, therefore without preparing, according to each type number, the crankshaft toothed wheel that internal spline is different, it is possible in whole series Simplify the manufacturing system of crankshaft toothed wheel, be correspondingly capable of cost degradation.

Return to the explanation of the effect of present embodiment.Such as present embodiment, passing through " identical processing side Method " when realizing both external splines 24a, 24b, this external splines 24a, 24b can be by utilizing identical work Tool, the rolling (or using identical mould, the cold forging etc. of identical method) of same procedure are formed, thus Cost degradation can be realized further.

Further, in present embodiment, the mould of teeth portion 33a of crankshaft toothed wheel 30a, 30b, 33b is made further The number a part of generalization between type W1, W2, therefore enables in particular to simplify whole series further The teeth portion 33 of crankshaft toothed wheel 30 and input the manufacturing system of little gear 32 such that it is able to realize further Cost degradation.

Especially, flexible Application has set speed reducing ratio R2, R3 and crankshaft toothed wheel 18a, 18b and input little tooth Wheel pitch circle radius Rg1 of 32a, 32b, the relation of Rg2, Rg3, therefore, it is possible to directly share complete phase Same crankshaft toothed wheel 18a(=18b).In actual series, the substantially kind of type number and speed reducing ratio The kind of the example of kind of analogy Fig. 3 is many, therefore according to be designed to increase further can sharing completely The quantity of crankshaft toothed wheel.

It addition, in above-mentioned embodiment, it is configured to the power from input side via the input of parallel axes system Little gear is input to crankshaft toothed wheel, but also may be configured as crankshaft toothed wheel itself and become the gear (example of orthogonal system Such as bevel gear etc.), the power from input side is delivered to crank teeth via the little gear of input of orthogonal system Wheel.

Further, disclosed in above-mentioned embodiment, there is a reductor with 3 bent axles, but subtracting in the present invention The bent axle radical of speed machine is more than 2, is not particularly limited to 3.

Claims (7)

1. an Eccentrically rocking type reduction gear series, it is made up of multiple reductors, and the plurality of reductor Multiple types number of the corresponding setting of size belonged to and transmit torque, described Eccentrically rocking type reduction gear series It is characterised by,

The reductor belonging to this series is the Eccentrically rocking type reduction gear possessing following composition respectively, i.e. possesses: Internal gear；External gear, with this internal gear internal messing；Multiple bent axles, are located at the axle center from described internal gear inclined Move position and make described external gear swing；And crankshaft toothed wheel, the power from input side is delivered to this song Axle,

The plurality of type number comprises type No. the 1st and the type No. 2nd bigger than type No. the 1st,

Belong to the internal gear of reductor of described type No. 2nd than belonging in the reductor of described type No. 1st Gear is big,

The external splines for linking described crankshaft toothed wheel it is formed with in the end of this bent axle,

Between the reductor belonging to described type No. 1st and the reductor belonging to described type No. 2nd, should The size/shape of external splines is set to general.

Eccentrically rocking type reduction gear the most according to claim 1 series, it is characterised in that

Described external splines is formed by plastic working.

Eccentrically rocking type reduction gear the most according to claim 1 and 2 series, it is characterised in that

Between the reductor belonging to described type No. 1st and the reductor belonging to described type No. 2nd, institute State crankshaft toothed wheel itself also to share.

Eccentrically rocking type reduction gear the most according to claim 1 and 2 series, it is characterised in that

Between the reductor belonging to described type No. 1st and the reductor belonging to described type No. 2nd general The size/shape of external splines be set to allowing of the spline tooth surface pressure met in described type No. 2nd Value.

Eccentrically rocking type reduction gear the most according to claim 1 and 2 series, it is characterised in that

For described type No. 2nd, the external splines of described bent axle passed through with the internal spline of described crankshaft toothed wheel Cooperation of being full of links.

Eccentrically rocking type reduction gear the most according to claim 5 series, it is characterised in that

Between described type No. 1st, the external splines of described bent axle and the internal spline of described crankshaft toothed wheel are passed through Gap coordinates and links.

Eccentrically rocking type reduction gear the most according to claim 1 and 2 series, it is characterised in that

Between the reductor belonging to described type No. 1st and the reductor belonging to described type No. 2nd, institute The modulus of the teeth portion stating crankshaft toothed wheel is equal.