CN104074928B - Possesses the deceleration device of Eccentrically rocking type reduction gear structure - Google Patents
Possesses the deceleration device of Eccentrically rocking type reduction gear structure Download PDFInfo
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- CN104074928B CN104074928B CN201410075036.6A CN201410075036A CN104074928B CN 104074928 B CN104074928 B CN 104074928B CN 201410075036 A CN201410075036 A CN 201410075036A CN 104074928 B CN104074928 B CN 104074928B
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- Prior art keywords
- wheel carrier
- gear
- eccentric shaft
- carrier flange
- deceleration device
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Classifications
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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
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/04—Features relating to lubrication or cooling or heating
- F16H57/0412—Cooling or heating; Control of temperature
- F16H57/0415—Air cooling or ventilation; Heat exchangers; Thermal insulations
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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
- F16H57/00—General details of gearing
- F16H57/08—General details of gearing of gearings with members having orbital motion
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
- General Details Of Gearings (AREA)
Abstract
The present invention relates to one kind possesses Eccentrically rocking type reduction gear structure（8）Deceleration device（10）, it is from internal gear（12）The position that offsets of axle center (O1) possess multiple eccentric shafts（18）, by each eccentric shaft（18）Synchronous rotary, make the 1st external gear（14）, the 2nd external gear（16）It is engaged in internal gear while swing（12）, wherein, in the 1st external gear（14）Axial side to possess the 1st wheel carrier be wheel carrier flange（38）, described 1st wheel carrier is that wheel carrier flange has：Screw（38B）, for object of connection machinery；Central through hole（38C）, positioned at radially central and and reducing gear（8）Inside connection；And dead eye（38F）, it is configured with supporting eccentric shaft（18）Eccentric shaft bearing（44）, the 1st wheel carrier（38）Screw（38B）Radially inner side region dug formation oil storage recess（64）, central through hole（38C）And dead eye（38F）Run through the 1st wheel carrier（38）With oil storage recess（64）Connection.
Description
The application advocates the priority based on Japanese patent application filed in 27 days March in 2013 the 2013-067262nd.
The full content of this Japanese patent application is by reference to being applied in this specification.
Technical field
The present invention relates to a kind of deceleration device possessing Eccentrically rocking type reduction gear structure.
Background technology
Patent document 1 discloses that a kind of deceleration device possessing Eccentrically rocking type reduction gear structure.This deceleration device is from interior
The position of the axle center skew of gear possesses and has multiple eccentric shafts.In this deceleration device, by the synchronous rotary of each eccentric shaft
And make external gear be engaged in internal gear while swinging.
The axial side of external gear is provided with wheel carrier flange.Wheel carrier flange has and is configured with the axle supporting described eccentric shaft
The dead eye holding, and external gear opposition side in the axial direction possesses the screwed hole having for object of connection machinery.And, in wheel carrier
The radial direction central authorities of flange are formed with the central through hole connecting with the inside of this reducing gear.
Patent documentation 1：Japanese Unexamined Patent Publication 2008-267570 publication
But, the deceleration device of this structure has following problem：Due to enclosing profit in the space accommodating reducing gear
The space of lubrication prescription is less, and the circulation of lubricant is not smooth, and therefore cooling effectiveness is relatively low, and thermal capacity aspect is easily critical.
Content of the invention
The present invention be in order to solve the problems, such as this kind conventional and complete, its problem is that providing one kind to have carries further
The deceleration device of the Eccentrically rocking type reduction gear structure of high cooling efficiency.
The present invention by following structure solve above-mentioned problem, a kind of deceleration device possessing Eccentrically rocking type reduction gear structure,
It possesses multiple eccentric shafts in the position offseting from the axle center of internal gear, makes external tooth by the synchronous rotary of each eccentric shaft
Wheel is engaged in described internal gear while swinging, and wherein, possesses wheel carrier flange in the axial side of described external gear, this wheel carrier
Flange has：Screw, for object of connection machinery；Central through hole, connects in radially central authorities and with the inside of described reducing gear
Logical；Dead eye, is configured with the bearing supporting described eccentric shaft, the region quilt of the radially inner side of described screw of this wheel carrier flange
Dig formation oil storage recess, described central authorities' through hole and described dead eye are run through described wheel carrier flange and connected with described oil storage recess.
In the present invention, formation oil storage recess is dug in the region of the radially inner side of screw.And, make to be formed at wheel carrier flange
Radially the dead eye of the central through hole in central authorities and the bearing being configured with supporting eccentric shaft is communicated in this oil storage recess.
Thereby, it is possible to enclose lubricant in this oil storage recess, and inside including reducing gear, central authorities can be formed
Through hole, oil storage recess, dead eye, the lubricant circulating path of the inside of reducing gear, can make including this oil storage recess
Lubricant greatly improves in interior substantial amounts of lubricant circulation, the cooling effectiveness therefore, it is possible to make deceleration device.
In accordance with the invention it is possible to obtain a kind of subtracting of Eccentrically rocking type reduction gear structure having and improving cooling effectiveness further
Speed variator.
Brief description
Fig. 1 is cuing open of the deceleration device with Eccentrically rocking type reduction gear structure of that represents embodiments of the present invention
View.
Fig. 2 is the side view observed from the arrow II direction of Fig. 1.
In figure：10- deceleration device, 12- internal gear, 14- the 1st external gear, 18- eccentric shaft, 30- distribution gear, 38-
1 wheel carrier（Wheel carrier flange）, 38B- screw, 38C- central authorities through hole, 38F- dead eye, 38G- extension, 38P- wheel carrier pin, 44-
Eccentric shaft bearing, 52- shell, 64- oil storage recess, 70- second recesses.
Specific embodiment
Hereinafter, with reference to the accompanying drawings of embodiments of the present invention is described in detail.
Fig. 1 is cuing open of the deceleration device with Eccentrically rocking type reduction gear structure of that represents embodiments of the present invention
View, Fig. 2 is the side view observed from the arrow II direction of Fig. 1.
This deceleration device 10 is to have the Eccentrically rocking type reduction gear structure 8 of so-called distribution formula, and is used for driving (not shown)
The deceleration device in the joint of robot.
Deceleration device 10 possesses internal gear 12, internal messing in the 1st external gear 14 of this internal gear 12, the 2nd external gear 16, and
And possess for making the 1st external gear 14, the 2nd external gear 16 swing in the position only offseting R1 from the axle center O1 of this internal gear 12
Multiple eccentric shafts 18.
Hereinafter, the overall structure from deceleration device 10 starts explanation.
In deceleration device 10 involved by this embodiment, motor（Omit diagram）Power via connecting shaft（Input shaft）
26 are transfused to.In the end of the motor opposition side of connecting shaft 26, input little gear is formed with vertical cut mode（The gear of input side）
32.
Input little gear 32 is engaged with multiple distribution gears 30 simultaneously.Each distribution gear 30 is provided with 3 in this embodiment
Individual（Only illustrate 1）, and it is linked to eccentric shaft 18 respectively.
Eccentric shaft 18 is provided with 3 in this embodiment（Only illustrate 1）, only inclined in the axle center O1 from internal gear 12
The position moving R1 is along the circumferential direction configured with 120 degree of interval.It is formed with the 1st in the axial same position of each eccentric shaft 18 inclined
Heart body 20, is formed with the 2nd eccentric body 22 with adjacent and in each eccentric shaft 18 the axial same position of the 1st eccentric body 20.Respectively
Eccentric phase between 1st eccentric body 20 of eccentric shaft 18 is consistent, and the eccentric phase between the 2nd eccentric body 22 is consistent.1st is inclined
The eccentric phase difference of heart body 20 and the 2nd eccentric body 22 is 180 degree（Eccentric to the direction being separated from each other）.
The periphery of the 1st eccentric body 20 of each eccentric shaft 18, is assembled with via the 1st eccentric body bearing 34 being made up of roller
1st external gear 14.The periphery of the 2nd eccentric body 22 of each eccentric shaft 18, equally via the 2nd eccentric body bearing being made up of roller
36 are assembled with the 2nd external gear 16.Thus, can be made by the synchronous rotary of the 1st eccentric body 20 on 3 eccentric shafts 18
1 external gear 14 swings, and can make the 2nd external gear again by the synchronous rotary of the 2nd eccentric body 22 on 3 eccentric shafts 18
16 swings.1st external gear 14 is poor with the eccentric phase of the 2nd external gear 16 to be（Based on the 1st eccentric body 20 and the 2nd eccentric body 22
Eccentric phase is poor）180 degree.
1st external gear 14, the axial both sides of the 2nd external gear 16 are configured with the 1st, the 2nd wheel carrier（Wheel carrier flange）38th, 40, respectively
Eccentric shaft 18 is via the eccentric shaft bearing 44,46 being made up of a pair of taper roll bearing of face-to-face mounted in pairs（Supporting
The bearing of eccentric shaft 18）It is supported on the 1st wheel carrier 38, the 2nd wheel carrier 40.1st wheel carrier 38, the 2nd wheel carrier 40 are via back-to-back one-tenth
Shell 52 is supported on to a pair of the angular contact ball bearing 48,50 installed.In addition, the 1st wheel carrier 38, the 2nd wheel carrier 40 are via from the 1st wheel
Frame 38 integratedly projects, and run through the 1st external gear 14, the wheel carrier pin 38P of the 2nd external gear 16 pass through bolt 53 etc. be concatenated, one
Body.
1st external gear 14, the 2nd external gear 16 internal messing are in internal gear 12.Internal gear 12 by this embodiment with shell
The internal tooth wheel body 12A of 52 integrations and be rotatably assembled in this internal tooth wheel body 12A and constitute this internal gear 12
The export trade 12B of internal tooth is constituted.The number of teeth of internal gear 12（The radical of export trade 12B）Only than the 1st external gear 14, the 2nd external gear 16
The number of teeth is more（Only many 1 in this example）.
In present embodiment, via bolt on housing 52（Only illustrate bolt hole 52A）It is linked with the 1st arm of robot（Save
Sketch map shows）, via bolt on the 1st wheel carrier 38（Only illustrate screw 38B）It is linked with the 2nd arm of robot（Object machinery：Save sketch map
Show）.
In addition, in this embodiment, the lubrication of reducing gear 8 is carried out by grease（It can also be oil lubrication）.Right
In the axial end 38E of the 1st wheel carrier 38 and the 2nd arm of robot（Object machinery）Link for, in this embodiment, setting
Become and sealed by being coated with liquid packing ring between the axial end 38E of the 1st wheel carrier 38 and the 2nd arm.And, for shell 52
For the linking part of the 1st arm, also to be sealed with liquid packing ring etc., thus the configuration of distribution gear 30, input little gear 32
Space is sealed with the state that the inside with reducing gear 8 connects.In addition, symbol 61 is oil sealing.
Here, being described in detail to the structure of the cooling system of the deceleration device 10 involved by present embodiment.
The 1st wheel carrier involved by this embodiment（Wheel carrier flange）38, it is configured at the axle of the 1st external gear 14 as previously described
To sidepiece.1st wheel carrier 38 has the 2nd arm for linking machine people（Object machinery）Screw 38B, be located at radially central authorities and with
The central through hole 38C of inside connection of reducing gear 8 and the bearing being configured with the eccentric shaft bearing 44 supporting eccentric body 18
Hole 38F.Formation oil storage recess 64 is dug from external gear opposition side in the region of the radially inner side of screw 38B of the 1st wheel carrier 38.
Specifically, the circumscribed circle diameter d1 than dead eye 38F for the opening footpath D1 of oil storage recess 64 is big（D1 ＞ d1）.Oil storage
The size of the depth H 1 of recess 64 is not reach the back-up ring 66 of the axial end 44E limiting eccentric shaft bearing 44.That is, with assembling
Back-up ring 66 in the eccentric shaft bearing 44 of the dead eye 38F of the 1st wheel carrier 38 is compared, and oil storage recess 64 forms and more leans in the axial direction
The position of external gear opposition side（Do not interfere with the supporting of eccentric shaft bearing 44）.
1st wheel carrier 38 extends to position opposed with the shell 52 of this deceleration device 10 in the axial direction to radial outside,
This extension 38G is formed with screw 38B.If change viewpoint, because there is extension 38G, it is possible to being interpreted as, its result can
Region in the radially inner side of the 1st wheel carrier 38（Dug）Form internal diameter D1 outer more than the dead eye 38F of eccentric shaft bearing 44
Connect the oil storage recess 64 of circular diameter d1.In addition, the pitch circle diameter of screw 38B is d3.
In this embodiment, it is continuously formed in the oil storage recess 64 of the 1st wheel carrier 38 and connects with the inside of reducing gear 8
Central through hole 38C.And, dead eye 38F also extends through the 1st wheel carrier 38, it is continuously formed with this oil storage recess 64.That is,
Central through hole 38C is connected with the inside of oil storage recess 64 and reducing gear 8, dead eye 38F also with oil storage recess 64 and
The inside connection of reducing gear 8.Thus, due to there is this oil storage recess 64, the inside of reducing gear 8, central through hole in result
38C, the inside of oil storage recess 64, dead eye 38F and the reducing gear 8 being connected with this dead eye 38F are interconnected, and constitute
The circulating path that lubricant can circulate.
In addition, running through the 1st external gear 14, the 2nd external tooth although having formed from the 1st wheel carrier 38 in this embodiment
The wheel carrier pin 38P of wheel 16, but when end on observation, be formed with the position overlapping with this wheel carrier pin 38P（Due to taking turns in this example
Frame pin 38P is 3）3 second recesses 70 dug further from oil storage recess 64.The peristome 70A of this second recesses 70 is ellipse
Circular has bottom recess, and itself is not especially connected with the part beyond oil storage recess 64.
The side wall 64W not axle center with the 1st wheel carrier 38 of oil storage recess 64（Identical with the axle center of internal gear 12）O1 is parallel,
With to axially external（2nd arm side, i.e. object mechanical side）The form of diffusion tilts.This inclination not identical inclination in the circumferential
Angle, and be formed as the radial outside than second recesses 70 for the side wall 64W1 of the position of dead eye 38F of eccentric shaft 18
Side wall 64W2 " steep " of position（That is, become with axle center O1 closer to parallel angle）.
Then, the effect to this eccentric oscillating-type deceleration device 10 illustrates.
If motor rotation (not shown), the input little gear 32 being formed at connecting shaft 26 front end rotates.Due to inputting little tooth
Wheel 32 is simultaneously engaged with 3 distribution gears 30, therefore engaging by this input little gear 32 and distribution gear 30,3 bias
Body axle 18 is with the state that is decelerated according to the gear ratio of input little gear 32 and distribution gear 30 in the same direction with same rotating speed
Synchronous rotary.
As a result, be respectively formed in the axial same position of each eccentric shaft 18 3 the 1st eccentric body 20 synchronous rotaries and
So that the 1st external gear 14 is swung, and it is synchronous to be respectively formed in 3 the 2nd eccentric bodies 22 of the axial same position of eccentric shaft 18
Rotate and so that the 2nd external gear 16 is swung.
1st external gear 14, the 2nd external gear 16 difference internal messing are in internal gear 12, the therefore the 1st external gear 14, the 2nd external gear
16 often swing once, and the 1st external gear 14, the 2nd external gear 16 deviate number of teeth residual quantity in a circumferential direction with respect to internal gear 12
（It is 1 tooth amount in this embodiment）Phase place（Rotation）.This rotation composition as each eccentric shaft 18 around internal gear 12 axle
The revolution of heart O1 is delivered to the 1st wheel carrier 38, the 2nd wheel carrier 40.Due to the 1st wheel carrier 38, the 2nd wheel carrier 40 via with the 1st wheel carrier 38 1
The wheel carrier pin 38P of body and bolt 53 etc. are interconnected, and result passes through connecting shaft（Input shaft）26 rotation, with respect to shell
52 can make the 2nd arm being linked to the 1st wheel carrier 38 rotate against.
In addition, with respect to housing 52 the 1st wheel carrier 38 rotate to be relative.For example, as this real mode, the of robot
1 arm is linked to shell 52, as object machinery robot the 2nd arm be linked to the 1st wheel carrier 38 grade in the case of additionally it is possible to reason
Solve and rotate with respect to the 2nd arm for the 1st arm.Therefore, the 1st wheel carrier 38 differs and is set to " output block ", and simply opposite shell 52 is carried out
The part rotating against.
Here, the effect to the cooling system of this deceleration device 10 illustrates.
In the past, for the deceleration device 10 with this kind of Eccentrically rocking type reduction gear structure 8 being referred to as distribution formula, lubrication
The inclosure space of agent is less, is not only difficult to ensure that the lubricant of appropriate amount, and cannot be circulated well, therefore exists cold
But the problem of the easy step-down of performance.As a result, the temperature that there is deceleration device 10 easily rises, height in recent years especially cannot be met
Speed, the problem of the requirement working long hours.In addition, the amount of lubricant is less, temperature easily rises, and therefore also exists easily bad
Change, the life-span of lubricant（The interval changed）The problem shortening.
According to present embodiment, the 1st wheel carrier（Wheel carrier flange）Formation storage is dug in the region of 38 radially inner side of screw 38B
Oily recess 64, and be continuously formed and the central through hole 38C connecting inside reducing gear 8 in this oil storage recess 64, and
And be configured with the dead eye 38F of the eccentric shaft bearing 44 of supporting eccentric shaft 18 be again formed as running through the 1st wheel carrier 38 and with this
Oil storage recess 64 is continuous.Therefore, it is possible to increase the total amount enclosing the lubricant in deceleration device 10 further, and being capable of shape
One-tenth includes the lubrication within the inside of reducing gear 8, central authorities through hole 38C, oil storage recess 64, dead eye 38F, reducing gear 8
Agent circulating path.
In distribution formula Eccentrically rocking type reduction gear structure 8, the 1st external gear 14, the 2nd external gear 16 pass through multiple eccentric shafts 18
Synchronous rotation and swing, and, the 1st external gear 14, the 2nd external gear 16 are rotating slowly（Rotation）.Now, the plurality of bias
Body axle 18 revolves round the sun in the same direction.Therefore, being not provided with special pump etc. just can make the lubricant of this inclosure circulate well, and
Cooling effectiveness can be greatly promoted.
In addition, the oil storage recess 64 being arranged to be sealed with a large amount of lubricants is presented axially in the external gear of the 1st wheel carrier 38
Opposition side, and with the 2nd arm linking via screw 38B（Object machinery）The part of side links, therefore, it is possible to via quality（Heat
Capacity）2nd arm bigger than deceleration device 10 energetically transmits heat.Pass through heat exchange thereby, it is possible to more effectively cooling
And the lubricant that temperature rises.
In addition, in order to ensure the enclosed volume of lubricant, for example, compare and merely increase the 1st wheel carrier 38, the 2nd wheel carrier 40
The method at interval etc., because the interval L3 between the 1st wheel carrier 38, the 2nd wheel carrier 40 is able to maintain that shorter length as in the past
Degree, therefore, it is possible to maintain the rigidity of the eccentric shaft 18 requiring high rigidity higher.
And, be the type do not dug of conventional type by two kind of the 1st wheel carrier 38 of preparation, and as present embodiment is dug
Type, the compactedness of axial length is compared with thermic load characteristic it is also possible to set up can according to purposes select be
Row.
And, in present embodiment, especially, it is formed with from the 1st wheel carrier 38 and run through the 1st external gear 14, the 2nd external gear
16 wheel carrier pin 38P, when end on observation, is formed with further from oil storage recess 64 in the position overlapping with this wheel carrier pin 38P
The second recesses 70 of depression.Therefore, do not lengthen the axial length of deceleration device 10 entirety and oil storage recess 64 can be expanded further
Volume, in addition can also realize more lightweight.This second recesses 70 is arranged at and from the integral part of wheel carrier of the 1st wheel carrier 38
The overlapping position of pin 38P, even if therefore form this second recesses 70 also hardly damage the strong of the 1st wheel carrier 38～wheel carrier pin 38P
Degree, can maintain the intensity of the 1st wheel carrier 38～wheel carrier pin 38P higher.
In addition, oil storage recess 64 is formed as the side wall 64W1 ratio of the position of dead eye 38F of eccentric shaft 18
The side wall 64W2 of the position of second recesses 70 more tilts.Therefore（Due to side not simple uniformly the inclining of wall 64W
Tiltedly）, with the rotation of the 1st wheel carrier 38, the side wall 64W of oil storage recess 64 is to retreat with respect to the lubricant in this oil storage recess 64
The form rotation of movement.As a result, the lubricant in oil storage recess 64 is subsequently gently stirred for, rotates, promote cyclicity further.
In addition, be arranged to make the 1st wheel carrier 38 radially outside extend to right with the shell 52 of deceleration device 10 in the axial direction
The position put, forms for linking the 2nd arm in this extension 38G（Object machinery）Screw 38B.Thus, although defining storage
Oily recess 64 also can suppress the increase of axial length in Min., and, due to pitch circle diameter d3 can be used relatively
Big screw 38B links the 2nd arm（2nd object machinery）, therefore, it is possible to improve the binding strength with object mechanical side.
In addition, although adopting grease as lubricant in above-mentioned embodiment, but the present invention is readily adaptable for use in use
Oil, as the situation of lubricant, can obtain same action effect.
In addition, in the above-described embodiment although employing the axially external knot that distribution gear 30 is located at the 2nd wheel carrier 40
Structure, but the present invention for the Eccentrically rocking type reduction gear structure 8 including the allocation position of distribution gear 30 concrete structure not
It is particularly defined to said structure example.For example, as the eccentric shaft bearing 44 of supporting eccentric shaft 18, in the above-described embodiment
Although employing the taper roll bearing that face-to-face mounted in pairs mode assembles, support eccentric shaft involved in the present invention
Bearing is not limited to this, for example, can be angular contact ball bearing or needle bearing.It can also be back-to-back paired peace
The bearing pair that dress mode assembles.Under any circumstance, via the gap of rolling element, oil storage recess, dead eye and reducing gear
Internal connection, lubricant can move back and forth between oil storage recess and the inside of reducing gear.And, in outer casing supporting
The bearing of wheel carrier flange, the species of bearing is not limited to angular contact ball bearing, alternatively, it is also possible to be the axle of face-to-face mounted in pairs
Honour（Not back-to-back mounted in pairs）.
Claims (4)
1. a kind of deceleration device possessing Eccentrically rocking type reduction gear structure, it possesses many in the position offseting from the axle center of internal gear
Individual eccentric shaft, by the synchronous rotary of each eccentric shaft, makes external gear be engaged in described internal gear while swinging, described
Deceleration device is characterised by,
There is the 1st wheel carrier flange and the 2nd wheel carrier flange, described 1st wheel carrier flange is configured at the axial side of described external gear, institute
State the axial opposite side in described external gear for the 2nd wheel carrier flange configuration,
Described 1st wheel carrier flange has：Screw, for object of connection machinery；Central through hole, positioned at radially central authorities and with described
The inside connection of reducing gear；Dead eye, is configured with the bearing supporting described eccentric shaft,
Described eccentric shaft has：Protuberance, prominent to the side contrary with external gear of described 2nd wheel carrier flange；Distribution tooth
Wheel, is located on this protuberance,
Formation oil storage recess is dug in the region of the radially inner side of described screw of described 1st wheel carrier flange,
Described central authorities' through hole and described dead eye are run through described 1st wheel carrier flange and are connected with oil storage recess.
2. a kind of deceleration device possessing Eccentrically rocking type reduction gear structure, it possesses many in the position offseting from the axle center of internal gear
Individual eccentric shaft, by the synchronous rotary of each eccentric shaft, makes external gear be engaged in described internal gear while swinging, described
Deceleration device is characterised by,
Possesses the 1st wheel carrier flange in the axial side of described external gear, described 1st wheel carrier flange has：Screw, right for linking
As machinery；Central through hole, connects positioned at radially central authorities and with the inside of described reducing gear；Dead eye, is configured with supporting institute
State the bearing of eccentric shaft,
Formation oil storage recess is dug in the region of the radially inner side of described screw of described 1st wheel carrier flange,
Described central authorities' through hole and described dead eye are run through described 1st wheel carrier flange and are connected with oil storage recess,
It is integrally formed with the wheel carrier pin running through described external gear in described 1st wheel carrier flange, with this wheel when from end on observation
The overlapping position of frame pin is formed with the second recesses dug further from described oil storage recess.
3. the deceleration device possessing Eccentrically rocking type reduction gear structure according to claim 2 it is characterised in that
The side wall ratio the described 2nd of the position of the dead eye of bearing of the described eccentric shaft of supporting of described oil storage recess
The side wall of the position of recess more tilts.
4. the deceleration device possessing Eccentrically rocking type reduction gear structure according to any one in claims 1 to 3, its feature
It is,
Have make described 1st wheel carrier flange radially outside extend to position opposed with the shell of this deceleration device in the axial direction
And the extension being formed, it is formed with the described screw for object of connection machinery in this extension.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2013-067262 | 2013-03-27 | ||
| JP2013067262A JP5941863B2 (en) | 2013-03-27 | 2013-03-27 | Deceleration device having an eccentric oscillation type deceleration mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104074928A CN104074928A (en) | 2014-10-01 |
| CN104074928B true CN104074928B (en) | 2017-03-01 |
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ID=51596423
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410075036.6A Active CN104074928B (en) | 2013-03-27 | 2014-03-03 | Possesses the deceleration device of Eccentrically rocking type reduction gear structure |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP5941863B2 (en) |
| CN (1) | CN104074928B (en) |
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| JP6399951B2 (en) * | 2015-03-05 | 2018-10-03 | 住友重機械工業株式会社 | Drive device |
| JP6573777B2 (en) * | 2015-04-28 | 2019-09-11 | ナブテスコ株式会社 | External gear, eccentric oscillating gear device, robot, and method of using eccentric oscillating gear device |
| JP6629000B2 (en) | 2015-07-31 | 2020-01-15 | ナブテスコ株式会社 | Eccentric oscillating gear device and its manufacturing method |
| JP6479613B2 (en) * | 2015-09-03 | 2019-03-06 | 住友重機械工業株式会社 | Eccentric rocking gear device |
| JP6659396B2 (en) * | 2016-02-19 | 2020-03-04 | ナブテスコ株式会社 | Steering gear |
| JP6629106B2 (en) * | 2016-03-04 | 2020-01-15 | 住友重機械工業株式会社 | Robot joint drive structure |
| JP6257683B2 (en) * | 2016-04-04 | 2018-01-10 | 住友重機械工業株式会社 | Deceleration device having an eccentric oscillation type deceleration mechanism |
| JP2018017342A (en) * | 2016-07-28 | 2018-02-01 | ナブテスコ株式会社 | Gear device |
| CN110094466B (en) * | 2018-01-30 | 2022-04-05 | 住友重机械工业株式会社 | Wheel drive device |
| JP2021067327A (en) * | 2019-10-24 | 2021-04-30 | ナブテスコ株式会社 | Case of speed reducer, speed reducer, and industrial robot |
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| JP4539718B2 (en) * | 2005-04-22 | 2010-09-08 | 株式会社ダイフク | Secondary power receiving circuit for contactless power supply equipment |
| JP4901156B2 (en) * | 2005-08-11 | 2012-03-21 | ナブテスコ株式会社 | Reduction gear |
| JP4820713B2 (en) * | 2006-08-10 | 2011-11-24 | 住友重機械工業株式会社 | Decelerator |
| JP4918052B2 (en) * | 2008-02-08 | 2012-04-18 | ナブテスコ株式会社 | Eccentric oscillating gear unit |
| JP2011033113A (en) * | 2009-07-31 | 2011-02-17 | Ntn Corp | Railway vehicle driving unit |
| KR20130122749A (en) * | 2010-12-02 | 2013-11-08 | 나부테스코 가부시키가이샤 | Speed reducer for industrial robot |
| JP5840843B2 (en) * | 2011-01-12 | 2016-01-06 | ナブテスコ株式会社 | Industrial robot reducer |
| JP5508320B2 (en) * | 2011-03-10 | 2014-05-28 | ナブテスコ株式会社 | Gear device |
| JP5537516B2 (en) * | 2011-09-02 | 2014-07-02 | 住友重機械工業株式会社 | Eccentric oscillation type speed reducer |
-
2013
- 2013-03-27 JP JP2013067262A patent/JP5941863B2/en active Active
-
2014
- 2014-03-03 CN CN201410075036.6A patent/CN104074928B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| JP2014190451A (en) | 2014-10-06 |
| JP5941863B2 (en) | 2016-06-29 |
| CN104074928A (en) | 2014-10-01 |
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