CN104641147A - Eccentric oscillation gear device - Google Patents
Eccentric oscillation gear device Download PDFInfo
- Publication number
- CN104641147A CN104641147A CN201380048660.0A CN201380048660A CN104641147A CN 104641147 A CN104641147 A CN 104641147A CN 201380048660 A CN201380048660 A CN 201380048660A CN 104641147 A CN104641147 A CN 104641147A
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- end plate
- gear
- assembly department
- bearing
- oil groove
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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
- F16H57/042—Guidance of lubricant
- F16H57/0421—Guidance of lubricant on or within the casing, e.g. shields or baffles for collecting lubricant, tubes, pipes, grooves, channels or the like
- F16H57/0424—Lubricant guiding means in the wall of or integrated with the casing, e.g. grooves, channels, holes
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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
- F16H57/045—Lubricant storage reservoirs, e.g. reservoirs in addition to a gear sump for collecting lubricant in the upper part of a gear case
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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
- F16H57/048—Type of gearings to be lubricated, cooled or heated
- F16H57/0482—Gearings with gears having orbital motion
- F16H57/0486—Gearings with gears having orbital motion with fixed gear ratio
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
- F16H2001/323—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear comprising eccentric crankshafts driving or driven by a gearing
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
- F16H2001/325—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear comprising a carrier with pins guiding at least one orbital gear with circular holes
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
- General Details Of Gearings (AREA)
Abstract
An eccentric oscillation gear device (1), provided with: a crank shaft (10) in which an eccentric part (10a) is formed; crank bearings (12a, 12b) for rotatably supporting the crank shaft (10); an oscillating gear (14) having a through-hole (14c) into which the eccentric part (10a) is inserted and having external teeth (14a); an outer cylinder (2) having internal teeth pins (3) which engage with the external teeth (14a) of the oscillating gear (14); and a carrier (4) to which the crank bearings (12a, 12b) are mounted, the carrier (4) causing a relative rotation speed difference with respect to the outer cylinder (2) due to the oscillation of the oscillating gear (14) accompanying the rotation of the eccentric part (10a). The carrier (4) has formed thereon mounting parts (4e, 7b) for mounting the crank bearings (12a, 12b) and an oil groove (25) disposed along the peripheral edges of the mounting parts (4e, 7b) on the surface facing the oscillating gear (14) and adapted so as to be capable of storing lubrication oil.
Description
Technical field
The present invention relates to a kind of Eccentrically swinging gear device.
Background technique
In the past, disclosed in following note patent documentation 1, be known to a kind ofly between two subject parts, utilize predetermined reduction speed ratio to fall slow-revving Eccentrically swinging gear device.This Eccentrically swinging gear device has: the urceolus being fixed on a subject parts; And to be configured in urceolus and to be fixed on the gear carrier of another subject parts.Crankshaft bearing is installed at the central part of gear carrier and runs through and have bent axle.Gear carrier utilization is installed on the swing rotary of the wobble gear of the eccentric part of bent axle and relatively rotates relative to urceolus.In addition, on the face of the wobble gear side of gear carrier, the groove extended along radial direction is formed.Thus, lubricating grease can be made to pass groove to move in the radial direction.
For the gear carrier of Eccentrically swinging gear device disclosed in described patent documentation 1, formed in the mode extended along radial direction for making the groove of lubricating grease throughout the position needing lubrication.But there is following problem in this structure.Namely, in the driving of gearing, because gear carrier rotates, effect has centrifugal force.Therefore, the lubricating grease in groove is caused to flow out laterally from the end outside radial direction.Therefore, for be positioned at gear carrier central part crankshaft bearing for, be difficult to lubricate it.
Patent documentation 1: Japanese Unexamined Patent Publication 2011-141017 publication
Summary of the invention
Therefore, the object of the invention is to can the lubrication of March axle bearing.
The Eccentrically swinging gear device of a technological scheme of the present invention has: bent axle, and it is formed with eccentric part; Crankshaft bearing, it makes bent axle rotatable for supporting described bent axle; Wobble gear, it has the penetration hole for described eccentric part insertion and has teeth portion; Urceolus, it has the internal tooth for engaging with the described teeth portion of described wobble gear; Gear carrier, it is for installing described crankshaft bearing, and the swing utilizing described wobble gear to carry out along with the rotation of described eccentric part, produces relative speed discrepancy between its with described urceolus, described gear carrier is formed: assembly department, it is for installing described crankshaft bearing; Oil groove, it can store lubricant oil along the periphery of described assembly department on the face towards described wobble gear.
Accompanying drawing explanation
Fig. 1 is the integrally-built sectional drawing of the Eccentrically swinging gear device representing the 1st mode of execution of the present invention.
Fig. 2 is the plan view of the base portion observed from end plate side.
Fig. 3 is the plan view of the end plate observed from base portion side.
Fig. 4 is the integrally-built sectional drawing of the Eccentrically swinging gear device representing the 2nd mode of execution of the present invention.
Fig. 5 is the plan view of the end plate representing Eccentrically swinging gear device that observe from base portion side, that be arranged at the 2nd mode of execution.
Fig. 6 is the plan view of the end plate of the Eccentrically swinging gear device representing variation that observe from base portion side, that be arranged at the 2nd mode of execution.
Embodiment
Below, enforcement embodiments of the present invention are described in detail with reference to accompanying drawing.
(the 1st mode of execution)
The Eccentrically swinging gear device (hereinafter referred to as gearing) 1 of the 1st mode of execution is such as the gearing of the rotary part of the rotating main body, wrist joint etc. being used in robot as retarder, the rotary part of various working equipment etc.
The gearing 1 of the 1st mode of execution is formed as follows: when by making the illustrated input shaft rotation of omission make bent axle 10 rotate, eccentric part 10a, 10b of wobble gear 14,16 and bent axle 10 carry out swing rotary linkedly, thus, utilize the rotation of urceolus 2 or gear carrier 4 to obtain the output obtained from input rotation deceleration to rotate.Thus, rotation relatively such as can be produced between the base portion of robot (subject parts) and rotating main body (another subject parts).
As depicted in figs. 1 and 2, gearing 1 has urceolus 2, gear carrier 4, multiple (such as 3) bent axle 10, wobble gear 14,16 and multiple (such as 3) driving gear 20.
Urceolus 2 is the components of the outer surface forming gearing 1, has substantially cylindrical shape.The inner peripheral surface of urceolus 2 is formed multiple cotter way 2b.Each cotter way 2b configures in the axially extended mode along urceolus 2, and cross section orthogonal to the axial direction has semicircular sectional shape.These cotter ways 2b circumferentially equally spaced arranges on the inner peripheral surface of urceolus 2.
Urceolus 2 has multiple interior alligator 3.Each interior alligator 3 is installed on cotter way 2b respectively.Specifically, each interior alligator 3 is embedded in corresponding cotter way 2b respectively, with the axially extended attitude configuration along urceolus 2.Thus, multiple interior alligator equally spaced arranges along the circumference of urceolus 2.1st external tooth 14a of the 1st wobble gear 14 and the 2nd external tooth 16a of the 2nd wobble gear 16 engages with alligator in these 3.
Urceolus 2 is provided with lip part.This lip part is such as formed with the penetration hole 2c run through for fastening piece (bolt), and this fastening piece is used for the base portion this lip part being fixed on robot.
Gear carrier 4 is to be housed in urceolus 2 with urceolus 2 state configured on the same axis.Gear carrier 4 rotates around identical axis relatively relative to urceolus 2.Specifically, gear carrier 4 is configured in the radially inner side of urceolus 2, and in this condition, gear carrier 4 is supported as can relatively rotate relative to urceolus 2 by a pair main bearing 6 axially arranged apart from each other.
Gear carrier 4 has base portion 5 and end plate 7, and this base portion 5 has baseplate part 4a and multiple (such as 3) axle portion 4c.
Baseplate part 4a is configured in axial near one end in urceolus 2.The radial central part of this baseplate part 4a is provided with circular through hole 4d.As shown in Figure 2, around through hole 4d, multiple (such as 3) mounting recess 4e is circumferentially equally spaced arranged.Mounting recess 4e is configured for the assembly department (substrate-side assembly department) installing the substrate-side bearing 12a in crankshaft bearing described later, is formed as the concavity in the face upper shed towards the 1st wobble gear 14.
Baseplate part 4a is formed the fastener hole 4g for the illustrated fastening piece of fastening omission (bolt), and this fastening piece is used for rotating main body gear carrier 4 being fixed on such as robot.
End plate 7 is formed independently relative to baseplate part 4a, is set to separate with baseplate part 4a vertically, near the other end being configured in the axis in urceolus 2.Namely, end plate 7 is configured in the side contrary with baseplate part 4a for wobble gear 14,16.
The radial central part of end plate 7 is provided with through hole 7a.As shown in Figure 3, around through hole 7a, multiple (such as 3) mounting hole 7b is arranged on the position corresponding with multiple mounting recess 4e of baseplate part 4a.Mounting hole 7b is configured for the assembly department (end plate side assembly department) of the end plate side bearing 12b installed in crankshaft bearing described later.One end of assembly department 7b is formed as the through hole shape in the face upper shed towards the 2nd wobble gear 16.Namely the assembly department, for crankshaft bearing being installed to gear carrier 4 has the mounting recess 4e (substrate-side assembly department) being formed at baseplate part 4a and the mounting hole 7b being formed at end plate 7 (end plate side assembly department).
Multiple axle portion 4c and baseplate part 4a is arranged integratedly, linearly extends from an interarea (inner side surface) of baseplate part 4a to end plate 7 side.The plurality of axle portion 4c equally spaced configures (with reference to Fig. 2) in circumference.Each axle portion 4c utilizes bolt 9 to be anchored on end plate 7 (with reference to Fig. 1).Namely, in end plate 7, be formed with bolt-through hole 7c, on axle portion 4c (base portion 5), be formed with fastener hole 4f in the mode axially extended from the top end in axle portion.And bolt 9 inserts the bolt-through hole 7c of end plate 7 from the side contrary with base portion 5.This bolt 9 is screwed with the fastener hole 4f of axle portion 4c.Thus, by the integration of baseplate part 4a, axle portion 4c and end plate 7.
End plate 7 utilizes locating stud 11 to realize relative to the location of base portion 5.Locating stud 11 is inserted in the pin-and-hole 4h of the top end opening of axle portion 4c from the through hole 7d running through end plate 7.
Input shaft (omitting diagram slightly) plays a role as the input part for inputting the driving force omitting illustrated drive motor.Input shaft is inserted the through hole 7a of the end plate 7 and through hole 4d of baseplate part 4a.The mode that input shaft aligns with the axle center of urceolus 2 and the axle center of gear carrier 4 with its axle center configures, and rotates about the axis.The outer circumferential face of the tip portion of input shaft is provided with input gear (omitting diagram).
Multiple bent axle 10 is equally spaced configured in (with reference to Fig. 2) around input shaft in urceolus 2.
Each bent axle 10 is can rotate about the axis relative to gear carrier 4 (with reference to Fig. 1) by crankshaft bearing supporting.Crankshaft bearing has the substrate-side bearing 12a being installed on mounting recess 4e and the end plate side bearing 12b being installed on mounting hole 7b.Specifically, in an end of the axis of each bent axle 10, substrate-side bearing 12a is installed.This substrate-side bearing 12a is fixed on the mounting recess 4e being arranged at baseplate part 4a.Namely, mounting recess 4e is provided with multiple in the mode that the quantity (3) with crankshaft bearing is corresponding.On the other hand, in the other end of the axis of each bent axle 10, end plate side bearing 12b is installed.This end plate side bearing 12b is fixed on the mounting hole 7b being arranged at end plate 7.Namely, mounting hole 7b is provided with multiple in the mode that the quantity (3) with crankshaft bearing is corresponding.Thus, bent axle 10 is rotatably supported in baseplate part 4a and end plate 7.
Eccentric part 10a, 10b that each bent axle 10 has axle main body 10c and is integrally formed with this axle main body 10c.1st eccentric part 10a and the 2nd eccentric part 10b by two crankshaft bearings 12a, 12b configure with axially arranging between the part that supports.1st eccentric part 10a and the 2nd eccentric part 10b has cylindrical shape respectively, all stretches out from axle main body 10c to radial outside under the state of the axle center bias relative to axle main body 10c.1st eccentric part 10a and the 2nd eccentric part 10 respectively since the eccentric predetermined offset in axle center, and configure in the mode of the phase difference each other with predetermined angle.
The position in the axially outside of the part in an end of bent axle 10, namely, in the mounting hole 7b being installed on end plate 7 is provided with the fitting portion 10d for installing driving gear 20.
Driving gear 20 is embedded with outward respectively at the fitting portion 10d of each bent axle 10.Driving gear 20 has the external tooth 20a with the gears meshing omitting illustrated input shaft, for the rotation of input shaft being delivered to corresponding bent axle 10.Driving gear 20 rotates integrally around the axis identical with the running shaft of bent axle 10 and this bent axle 10.
The closed space surrounded by end plate 7 and the respective internal surface facing each other of baseplate part 4a and the inner peripheral surface of urceolus 2 is formed in urceolus 2.
1st wobble gear 14 is disposed in the described closed space in urceolus 2 and is installed on the 1st eccentric part 10a of each bent axle 10 by the 1st roller bearing 18a.When each bent axle 10 carries out rotating, the 1st eccentric part 10a carries out eccentric rotary, the 1st wobble gear 14 engages swing rotary on one side mutually linkedly with the eccentric rotary of the 1st eccentric part 10a with interior alligator 3.
1st wobble gear 14 has the size slightly less than the internal diameter of urceolus 2.1st wobble gear 14 has the 1st external tooth 14a, central part through hole 14b, multiple (such as 3) the 1st eccentric part penetration hole 14c and multiple (such as 3) axle portion penetration hole 14d.1st external tooth 14a has the whole circumference continuous print waveform shape swimmingly at wobble gear 14.
Central part through hole 14b is arranged at the radial central part of the 1st wobble gear 14.Input shaft (omitting diagram) is to run through central part through hole 14b with the state in gap.
Multiple 1st eccentric part penetration hole 14c is circumferentially equally spaced arranged on around central part through hole 14b on the 1st wobble gear 14.1st eccentric part 10a of each bent axle 10 runs through each 1st eccentric part penetration hole 14c respectively with the state of the 1st roller bearing 18a between the 1st eccentric part 10a and Ge 1 eccentric part penetration hole 14c of each bent axle 10.
Multiple axle portion penetration hole 14d is circumferentially equally spaced arranged on around central part through hole 14b on the 1st wobble gear 14.Each axle portion penetration hole 14d is disposed in the position between the 1st adjacent eccentric part penetration hole 14c in the circumferential respectively.Corresponding axle portion 4c is to run through each axle portion penetration hole 14d with the state in gap.
2nd wobble gear 16 is disposed in the described closed space in urceolus 2 and is installed on the 2nd eccentric part 10b of each bent axle 10 by the 2nd roller bearing 18b.1st wobble gear 14 and the 2nd wobble gear 16 are set to arrange vertically with the configuration of the 1st eccentric part 10a and the 2nd eccentric part 10b accordingly.When each bent axle 10 carries out rotating, the 2nd eccentric part 10b carries out eccentric rotary, the 2nd wobble gear 16 engages swing rotary on one side mutually linkedly with the eccentric rotary of the 2nd eccentric part 10b with interior alligator 3.
2nd wobble gear 16 has the size slightly less than the internal diameter of urceolus 2, is formed as the structure identical with the 1st wobble gear 14.Namely, the 2nd wobble gear 16 has the 2nd external tooth 16a, central part through hole 16b, multiple (such as 3) the 2nd eccentric part penetration hole 16c and multiple (such as 3) axle portion penetration hole 16d.They have the structure identical with the 1st external tooth 14a of the 1st wobble gear 14, central part through hole 14b, multiple 1st eccentric part penetration hole 14c and multiple axle portion penetration hole 14d.2nd eccentric part 10b of bent axle 10 runs through each 2nd eccentric part penetration hole 16c with the state of the 2nd roller bearing 18b between the 2nd eccentric part 10b and Ge 2 eccentric part penetration hole 16c of bent axle 10.
Gear carrier 4 is formed the oil groove 25 that can store lubricant oil.Oil groove 25 is provided with multiple with the quantity of bent axle 10 (or mounting recess 4e or mounting hole 7b) accordingly.Each oil groove 25 has the substrate side channel 27 formed on the face facing with the 1st wobble gear 14 of baseplate part 4a and the end plate side channel 29 formed on the face facing with the 2nd wobble gear 16 of end plate 7.
Substrate side channel 27 is formed as the shape of the periphery along the mounting recess 4e (substrate-side assembly department) for installation base plate side bearing 12a.Mounting recess 4e is circumferentially provided with at spaced intervals multiple (being 3 in legend) around through hole 4d, and therefore, substrate side channel 27 is also circumferentially provided with at spaced intervals multiple (being 3 in legend) around through hole 4d.And, the wall portion 27b that each substrate side channel 27 has the bottom 27a that is connected with the periphery of mounting recess 4e and erects from the outer circumference end of 27a bottom this, is formed in the mode caved in from the face (face of baseplate part 4a) towards the 1st wobble gear 14 along the complete cycle of mounting recess 4e.Thus, lubricant oil can be stored in substrate side channel 27 with substrate-side bearing 12a adjoining position.Between the face towards the 1st wobble gear 14 of baseplate part 4a and the 1st wobble gear 14, be formed with gap, therefore, lubricant oil does not exist only in substrate-side groove 27, can also through this gap throughout engaging piece, the main bearing 6 of interior alligator 3 and external tooth 14a.
In addition, bottom 27a is formed as the widest shape in the thinnest, inside radial direction position, position outside the radial direction of gear carrier 4, but is not limited to this shape.Such as, bottom 27a can be formed as identical width on complete cycle, also can be formed as narrower in the position of inner side, in the wider shape in the position in outside.
End plate side channel 29 is formed as the shape of the periphery along the mounting hole 7b (end plate side assembly department) for installing end plate side bearing 12b.Mounting hole 7b is circumferentially provided with at spaced intervals multiple (being 3 in legend) around through hole 7a, and therefore end plate side channel 29 is also circumferentially provided with at spaced intervals multiple (being 3 in legend) around through hole 7a.And, the wall portion 29b that each end plate side channel 29 has the bottom 29a that is connected with the periphery of mounting hole 7b and erects from the outer circumference end of 29a bottom this, is formed in the mode caved in from the face (face of end plate 7) towards the 2nd wobble gear 16 along the complete cycle of mounting hole 7b.Thus, lubricant oil can store end plate side channel 29 with end plate side bearing 12b adjoining position.Between the face towards the 2nd wobble gear 16 of end plate 7 and the 2nd wobble gear 16, be formed with gap, therefore, lubricant oil does not exist only in end plate side channel 29, can also through this gap throughout engaging piece, the main bearing 6 of interior alligator 3 and external tooth 16a.
In addition, bottom 29a is formed as the widest shape in the thinnest, inside radial direction position, position outside the radial direction of gear carrier 4, but is not limited to this shape.Such as, bottom 29a can be formed as identical width on complete cycle, also can be formed as narrower in the position of inner side, in the wider shape in the position in outside.
In addition, in substrate side channel 27 and end plate side channel 29, wall portion 27b, 29b are formed in the position of at least radial outside of assembly department (mounting recess 4e and mounting hole 7b), must not be formed on a complete cycle (the whole circumference of periphery) of assembly department (mounting recess 4e and mounting hole 7b).Wall portion 27b, 29b are formed at the position at least leaning on gear carrier 4 than the center (center of mounting recess 4e, the center of mounting hole 7b) of assembly department on the periphery of assembly department.In this case, when due to the rotation of gear carrier 4 to lubricant oil effect centrifugal force in oil groove 25, lubricant oil is also difficult to the outside being discharged to oil groove 25.In figs. 2 and 3, wall portion 27b, 29b are not formed in the position inside radial direction yet.
Gear carrier 4 is formed the connectivity slot 31 be connected with each other by oil groove 25.Specifically, on the face of the 1st wobble gear 14, be formed with the substrate-side connectivity slot 32 be connected with each other by substrate side channel 27 at baseplate part 4a, on the face of the 2nd wobble gear 16, be formed with the end plate side connectivity slot 33 be connected with each other by end plate side channel 29 in end plate 7.Namely, connectivity slot 31 comprises substrate-side connectivity slot 32 and end plate side connectivity slot 33.
Substrate-side connectivity slot 32 is formed with the periphery of the mode be connected with each other by adjacent substrate side channel 27 along through hole 4d.Substrate-side connectivity slot 32 has the wall portion 32b being formed in conplane bottom 32a with the bottom 27a of substrate side channel 27 and erecting from the outer circumference end of bottom 32a in the position not being connected with substrate side channel 27.Because substrate side channel 27 utilizes substrate-side connectivity slot 32 to be connected each other, substrate-side connectivity slot 32 is also the same with substrate side channel 27 stores lubricant oil.
End plate side connectivity slot 33 is formed with the periphery of the mode be connected with each other by adjacent end plate side channel 29 along through hole 7a.End plate side connectivity slot 33 has the wall portion 33b being formed in conplane bottom 33a with the bottom 29a of end plate side channel 29 and erecting from the outer circumference end of bottom 33a in the position not being connected with end plate side channel 29.Because end plate side channel 29 utilizes end plate side connectivity slot 33 to be connected each other, end plate side connectivity slot 33 is also the same with end plate side channel 29 stores lubricant oil.
As described above, in the present embodiment, the oil groove 25 that can store lubricant oil is formed along the periphery of the assembly department for installing crankshaft bearing.Therefore, when gear carrier 4 carries out rotating and creates centrifugal force, can prevent oil from all spilling out from oil groove 25.Therefore, it is possible to maintain the lubrication of crankshaft bearing (substrate-side bearing 12a, end plate side bearing 12b).In addition, oil groove 25 be formed in gear carrier 4 towards on the face of wobble gear 14,16, therefore, it is possible to suppress to increase for the formation of the labour of the processing of oil groove 25 and time.
In addition, in the present embodiment, mounting recess 4e is formed as the concavity in the face upper shed towards the 1st wobble gear 14, is formed with substrate side channel 27 in the mode that bottom 27a is connected with the periphery of mounting recess 4e.In addition, it is poroid that mounting hole 7b is formed as in the face upper shed towards the 2nd wobble gear 16, is formed with end plate side channel 29 in the mode that bottom 29a is connected with the periphery of mounting hole 7b.Therefore, can lubricant oil be stored in oil groove 25, on the other hand, be formed as also storing lubricant oil in concavity or assembly department that is poroid and that be connected with oil groove 25 (mounting recess 4e or mounting hole 7b).Therefore, it is possible to improve the lubricity of crankshaft bearing (substrate-side bearing 12a, end plate side bearing 12b).
In addition, in the present embodiment, at wobble gear 14, the both sides of 16 are configured with the bearing (substrate-side bearing 12a and end plate side bearing 12b) for supporting crankshaft 10 respectively, and these substrate-side bearing 12a and end plate side bearing 12b utilize the lubricant oil being stored in each substrate side channel 27 and end plate side channel 29 to lubricate.Therefore, it is possible at the two-side supporting bent axle 10 of length direction, and the lubrication of both sides' bearing 12a, 12b can be guaranteed.
In addition, in the present embodiment, because be provided with multiple bent axle 10, so the bent axle 10 that diameter is less can be utilized to drive wobble gear 14,16, and the lubrication of each crankshaft bearing can be guaranteed.
In addition, in the present embodiment, because be formed with the connectivity slot 31 for being connected with each other by oil groove 25, so the situation that lubricant oil can be avoided to be partial to any one oil groove be stored in multiple oil groove 25 occurs, the lubrication of all crankshaft bearings can be guaranteed.
(the 2nd mode of execution)
Fig. 4 represents the 2nd mode of execution of the present invention.Below be specifically described, here, identical reference character marked for the structural element identical with the 1st mode of execution, and omits its detailed description.
In described 1st mode of execution, input shaft is disposed in the central part of gear carrier 4, and multiple bent axle 10 is disposed in around input shaft, for this structure, in the 2nd mode of execution, be configured to the structure that bent axle 10 is disposed in the centre-crank shaft formula of the central part of gear carrier 4.Specifically, as shown in Figure 4, only arrange 1 bent axle 10, this bent axle 10 arranges in the mode running through through hole 4d and through hole 7a, and this through hole 4d runs through the central part of baseplate part 4a, and through hole 7a runs through the central part of end plate 7.And substrate-side bearing 12a is disposed in the through hole 4d of baseplate part 4a, end plate side bearing 12b is disposed in the through hole 7a of end plate 7.Therefore, in the 2nd mode of execution, the through hole 4d of baseplate part 4a is configured for the substrate-side assembly department of the substrate-side bearing 12a installed in crankshaft bearing, and the through hole 7a of end plate 7 is configured for the end plate side assembly department of the end plate side bearing 12b installed in crankshaft bearing.
In the 2nd mode of execution, any one in substrate-side assembly department (through hole 4d) and end plate side assembly department (through hole 7a) is formed as the through hole shape of an end in the face upper shed towards wobble gear 14,16.In addition, pin-and-hole 4h is formed at baseplate part 4a instead of is formed at axle portion 4c.In addition, the mounting recess 4e of baseplate part 4a and the mounting hole 7b of end plate 7 is omitted.
Substrate side channel 27 is formed along the periphery of the through hole 4d for installation base plate side bearing 12a, and end plate side channel 29 is formed along the periphery of the through hole 7a for installing end plate side bearing 12b.As shown in Figure 5, end plate side channel 29 to be formed as near the 7c of bolt-through hole narrowed width, in the roughly the same shape of position width in addition.But, be not limited to this shape.Such as, as shown in Figure 6, the structure that end plate side channel 29 also can be formed as except near the 7c of bolt-through hole, also width also narrows near the through hole 7d run through for locating stud 11.
Input shaft is arranged in the mode engaged with the driving gear 20 of the end being arranged at bent axle 10.
In addition, other structure, effect and effect are identical with described 1st mode of execution, so the description thereof will be omitted.
(other mode of execution)
The present invention is not limited to described mode of execution, can carry out various change, improvement etc. in the scope not departing from its purport.Such as, in described each mode of execution, although be configured to the structure being provided with two wobble gears 14,16, be not limited to this.Such as, can be the structure being provided with 1 wobble gear, or be provided with the structure of more than 3 wobble gears.
In addition, in described each mode of execution, be fixed on base portion although the description of urceolus 2, gear carrier 4 carries out the relative example rotated relative to urceolus 2, but be not limited to this.Also can be the fixed body that gear carrier 4 is fixed on base portion etc., urceolus 2 rotates relatively relative to gear carrier 4.
In addition, in described each mode of execution, although crankshaft bearing is configured to the structure with substrate-side bearing 12a and end plate side bearing 12b, this is not limited to.Such as, also can be configured to only be provided with the structure of any one in substrate-side bearing 12a and end plate side bearing 12b.
(general introduction of mode of execution)
Here, described mode of execution is summarized.
(1) oil groove that in the present embodiment, can store lubricant oil is formed along the periphery of the assembly department for installing crankshaft bearing.Therefore, when gear carrier carries out rotating and creates centrifugal force, can prevent oil from all spilling out from oil groove.Therefore, it is possible to maintain the lubrication of crankshaft bearing.In addition, oil groove be formed in gear carrier towards on the face of wobble gear, therefore, it is possible to suppress to increase the labour of processing and time that form oil groove.
(2) described assembly department can be formed as at the concavity of the face upper shed towards described wobble gear or poroid.In this case, preferably, the mode be connected with the periphery of described assembly department with the bottom of described oil groove is formed with described oil groove.
In this case, lubricant oil can be stored in oil groove, and on the other hand, lubricant oil also accumulates in and is formed as concavity or assembly department that is poroid and that be connected with oil groove, therefore, it is possible to improve the lubricity of crankshaft bearing.
(3) described gear carrier can have baseplate part and end plate, and this end plate is formed independently relative to this baseplate part, and is configured in the side contrary with described baseplate part for described wobble gear.Described assembly department can have the substrate-side assembly department being formed at described baseplate part and the end plate side assembly department being formed at described end plate.Described crankshaft bearing can have the substrate-side bearing being installed on described substrate-side assembly department and the end plate side bearing being installed on described end plate side assembly department.In this case, preferably, described oil groove have be formed in described baseplate part towards the substrate side channel on the face of described wobble gear and be formed in described end plate towards the end plate side channel on the face of described wobble gear.
Namely under this form, be configured with the bearing for supporting crankshaft respectively in the both sides of wobble gear, each bearing, substrate-side bearing and end plate side bearing utilize the lubricant oil being stored in substrate side channel and end plate side channel to lubricate.Therefore, it is possible at the two-side supporting bent axle of length direction, and the lubrication of both sides' bearing can be guaranteed.
(4) can be that the multiple crankshaft bearings comprising described crankshaft bearing configure in the circumferentially spaced compartment of terrain of described gear carrier.Also can be that the multiple assembly department comprising described assembly department is arranged accordingly with described multiple crankshaft bearing.In this case, preferably, the multiple oil groove comprising described oil groove is arranged accordingly with described multiple assembly department.
Under this form, because be provided with multiple bent axle, therefore, it is possible to the crank-driven wobble gear utilizing diameter less, and the lubrication of each crankshaft bearing can be guaranteed.
(5) for described Eccentrically swinging gear device, the connectivity slot be connected with each other by described oil groove can be formed with.
Under this form, the situation that lubricant oil can be avoided to be partial to any one oil groove be stored in multiple oil groove occurs, and can guarantee the lubrication of all crankshaft bearings.
As described above, adopt present embodiment, can the lubrication of March axle bearing.
description of reference numerals
1 Eccentrically swinging gear device
2 urceolus
Alligator in 3
4 gear carriers
4a baseplate part
4c axle portion
4f fastener hole
5 base portions
6 main bearings
7 end plate
7c bolt-through hole
9 bolts
10 bent axles
10a the 1st eccentric part
10b the 2nd eccentric part
12a the 1st crankshaft bearing
12b the 2nd crankshaft bearing
10c axle main body
14 the 1st wobble gears
14a external tooth
14c eccentric part penetration hole
16 the 2nd wobble gears
16a external tooth
16c eccentric part penetration hole
25 oil grooves
27 substrate side channels
Bottom 27a
27b wall portion
29 end plate side channels
Bottom 29a
29b wall portion
32 substrate-side connectivity slots
Bottom 32a
32b wall portion
33 end plate side connectivity slots
Bottom 33a
33b wall portion
Claims (5)
1. an Eccentrically swinging gear device, it has:
Bent axle, it is formed with eccentric part;
Crankshaft bearing, it supports described bent axle and bent axle is rotated;
Wobble gear, it has the penetration hole for described eccentric part insertion and has teeth portion;
Urceolus, it has the internal tooth engaged with the described teeth portion of described wobble gear;
Gear carrier, it is for installing described crankshaft bearing, and the swing utilizing described wobble gear to carry out along with the rotation of described eccentric part, produces relative speed discrepancy between its with described urceolus,
Described gear carrier is formed: assembly department, it is for installing described crankshaft bearing; Oil groove, it can store lubricant oil along the periphery of described assembly department on the face towards described wobble gear.
2. Eccentrically swinging gear device according to claim 1, wherein
Described assembly department is formed as at the concavity of the face upper shed towards described wobble gear or poroid,
Described oil groove is formed in the mode that the bottom of described oil groove is connected with the periphery of described assembly department.
3. Eccentrically swinging gear device according to claim 1 and 2, wherein
Described gear carrier has baseplate part and end plate, and this end plate is formed independently relative to this baseplate part, and is configured in the side contrary with described baseplate part for described wobble gear,
Described assembly department has the substrate-side assembly department being formed at described baseplate part and the end plate side assembly department being formed at described end plate,
Described crankshaft bearing has the substrate-side bearing being installed on described substrate-side assembly department and the end plate side bearing being installed on described end plate side assembly department,
Described oil groove have be formed in described baseplate part towards the substrate side channel on the face of described wobble gear and be formed in described end plate towards the end plate side channel on the face of described wobble gear.
4. Eccentrically swinging gear device according to any one of claim 1 to 3, wherein
The multiple crankshaft bearings comprising described crankshaft bearing configure at spaced intervals in the circumference of described gear carrier,
The multiple assembly department comprising described assembly department is arranged accordingly with described multiple crankshaft bearing,
The multiple oil groove comprising described oil groove is arranged accordingly with described multiple assembly department.
5. Eccentrically swinging gear device according to claim 4, wherein
This Eccentrically swinging gear device is formed with the connectivity slot be connected with each other by described oil groove.
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2012-203993 | 2012-09-18 | ||
JP2012203993A JP5988429B2 (en) | 2012-09-18 | 2012-09-18 | Eccentric oscillating gear unit |
PCT/JP2013/005215 WO2014045531A1 (en) | 2012-09-18 | 2013-09-03 | Eccentric oscillation gear device |
Publications (2)
Publication Number | Publication Date |
---|---|
CN104641147A true CN104641147A (en) | 2015-05-20 |
CN104641147B CN104641147B (en) | 2017-03-22 |
Family
ID=50340873
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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CN201380048660.0A Active CN104641147B (en) | 2012-09-18 | 2013-09-03 | Eccentric oscillation gear device |
Country Status (5)
Country | Link |
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JP (1) | JP5988429B2 (en) |
KR (1) | KR101668970B1 (en) |
CN (1) | CN104641147B (en) |
DE (1) | DE112013004516B4 (en) |
WO (1) | WO2014045531A1 (en) |
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CN107606066A (en) * | 2016-07-12 | 2018-01-19 | 纳博特斯克有限公司 | Gear device |
CN108412965A (en) * | 2017-02-09 | 2018-08-17 | 安徽聚隆机器人减速器有限公司 | A kind of eccentric oscillation gear device |
CN108412967A (en) * | 2017-02-09 | 2018-08-17 | 安徽聚隆机器人减速器有限公司 | A kind of eccentric oscillation gear device |
CN108412964A (en) * | 2017-02-09 | 2018-08-17 | 安徽聚隆机器人减速器有限公司 | A kind of eccentric oscillation gear device |
CN108412966A (en) * | 2017-02-09 | 2018-08-17 | 安徽聚隆机器人减速器有限公司 | A kind of eccentric oscillation gear device |
CN109751366A (en) * | 2017-11-02 | 2019-05-14 | 住友重机械工业株式会社 | Epicyclic reduction gear unit |
CN111043251A (en) * | 2018-10-11 | 2020-04-21 | 住友重机械工业株式会社 | Eccentric oscillating type reduction gear |
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JP6453135B2 (en) * | 2015-03-27 | 2019-01-16 | 住友重機械工業株式会社 | Eccentric rocking gear device |
JP6723657B2 (en) * | 2016-12-05 | 2020-07-15 | 住友重機械工業株式会社 | Reducer |
JP7199147B2 (en) * | 2018-02-07 | 2023-01-05 | 住友重機械工業株式会社 | Eccentric oscillating speed reducer and lubricating method |
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Also Published As
Publication number | Publication date |
---|---|
CN104641147B (en) | 2017-03-22 |
JP2014059012A (en) | 2014-04-03 |
JP5988429B2 (en) | 2016-09-07 |
KR101668970B1 (en) | 2016-10-24 |
KR20150058350A (en) | 2015-05-28 |
DE112013004516B4 (en) | 2022-02-17 |
WO2014045531A1 (en) | 2014-03-27 |
DE112013004516T5 (en) | 2015-06-03 |
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