CN104641147B - Eccentric oscillation gear device - Google Patents
Eccentric oscillation gear device Download PDFInfo
- Publication number
- CN104641147B CN104641147B CN201380048660.0A CN201380048660A CN104641147B CN 104641147 B CN104641147 B CN 104641147B CN 201380048660 A CN201380048660 A CN 201380048660A CN 104641147 B CN104641147 B CN 104641147B
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- Prior art keywords
- end plate
- installation portion
- wobble gear
- bearing
- hole
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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
-
- 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
-
- 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
-
- 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 technology
In the past, disclosed in following note patent documentation 1 like that, be known to it is a kind of between two subject parts using predetermined
Speed reducing ratio is dropping slow-revving Eccentrically swinging gear device.The Eccentrically swinging gear device has：It is fixed on an object
The outer tube of component；And it is configured in outer tube and is fixed on the tooth rest of another subject parts.In the central part of tooth rest
Being provided with crankshaft bearing and running through has bent axle.Tooth rest using be installed on bent axle eccentric part wobble gear swing rotary and
Rotated against relative to outer tube.Additionally, on the face of the wobble gear side of tooth rest, being formed with along radial direction and extending
Groove.Thus, it is possible to make grease be moved through groove in the radial direction.
For the tooth rest of Eccentrically swinging gear device disclosed in the patent documentation 1, for making grease time
And need the groove of the position of lubrication to be formed in the way of extending along radial direction.But, there is problems with the structure.I.e.,
In the driving of geared system, acting on as tooth rest rotates has centrifugal force.Therefore, cause the grease in groove from radius side
Flow out laterally end laterally.Therefore, for the crankshaft bearing positioned at the central part of tooth rest, it is difficult to which which is carried out
Lubrication.
Patent documentation 1：Japanese Unexamined Patent Publication 2011-141017 publications
The content of the invention
Therefore, it is an object of the invention to the lubrication of crankshaft bearing can be carried out.
The Eccentrically swinging gear device of one technical scheme of the present invention has：Bent axle, which is formed with eccentric part；Bent axle
Bearing, which is used to support the bent axle and make bent axle rotatable；Wobble gear, which has the through hole for eccentric part insertion
And there is teeth portion；Outer tube, which has the internal tooth engaged for the teeth portion with the wobble gear；Tooth rest, which is used to pacify
Fill the crankshaft bearing, using the wobble gear along with the eccentric part rotation and the swing that carries out, its with it is described
Relative speed discrepancy is produced between outer tube, is formed with the tooth rest：Installation portion, which is used to install the crankshaft bearing；
Oil groove, its towards on the face of the wobble gear along the installation portion periphery and lubricating oil can be stored.
Description of the drawings
Fig. 1 is the integrally-built profile of the Eccentrically swinging gear device of the 1st embodiment for representing the present invention.
Fig. 2 is the front view of the base portion observed from end plate side.
Fig. 3 is the front view of the end plate observed from base portion side.
Fig. 4 is the integrally-built profile of the Eccentrically swinging gear device of the 2nd embodiment for representing the present invention.
Fig. 5 is the end plate of the Eccentrically swinging gear device for representing from base portion side observing, being arranged at the 2nd embodiment
The front view in portion.
Fig. 6 is the eccentric oscillating-type gear dress of the variation for representing from base portion side observing, being arranged at the 2nd embodiment
The front view of the end plate put.
Specific embodiment
Hereinafter, enforcement embodiments of the present invention are explained in detail with reference to the accompanying drawings.
(the 1st embodiment)
Eccentrically swinging gear device (the hereinafter referred to as geared system) 1 of the 1st embodiment is for example as decelerator
Using the geared system of the rotating part of the rotating mass in robot, carpal joint etc., the rotating part of various work equipments etc..
The geared system 1 of the 1st embodiment is constituted as follows：Make when by making the input shaft rotation of omission diagram
When bent axle 10 rotates, wobble gear 14,16 linkedly carries out swing rotary with eccentric part 10a, 10b of bent axle 10, thus, utilizes
The rotation of outer tube 2 or tooth rest 4 is rotated to obtain from output obtained from input rotational delay.Thus, for example can be in machine
Produce between the base portion (subject parts) of device people and rotating mass (another subject parts) and rotate against.
As depicted in figs. 1 and 2, geared system 1 has outer tube 2, tooth rest 4, multiple (such as 3) bent axles 10, swing tooth
Wheel 14,16 and multiple (such as 3) travelling gears 20.
Outer tube 2 is the component of the outer surface for constituting geared system 1, with substantially cylindrical shape.On the inner peripheral surface of outer tube 2
It is formed with multiple cotter way 2b.Each cotter way 2b is configured in the way of axially extending along outer tube 2, on section orthogonal to the axial direction
With semicircular cross sectional shape.These cotter ways 2b is circumferentially equally spaced arranged on the inner peripheral surface of outer tube 2.
Outer tube 2 has multiple interior alligators 3.Each interior alligator 3 is respectively arranged in cotter way 2b.Specifically, each interior alligator 3 is distinguished
It is embedded in corresponding cotter way 2b, with the axially extending attitude configuration along outer tube 2.Thus, multiple interior alligators are along outer
The circumference of cylinder 2 is equally spaced arranged.The 2nd external tooth 16a of the 1st external tooth 14a and the 2nd wobble gear 16 of the 1st wobble gear 14 with
In these, alligator 3 is engaged.
Flange part is provided with outer tube 2.The flange part is for example formed with the through hole 2c run through for securing member (bolt),
The securing member is for the flange part to be fixed on the base portion of robot.
Tooth rest 4 is housed in outer tube 2 with the state configured on the same axis with outer tube 2.Tooth rest 4 is relative to outer tube
2 are rotated against around identical axis.Specifically, tooth rest 4 is configured in the radially inner side of outer tube 2, in this condition,
Tooth rest 4 is can be rotated against relative to outer tube 2 in the supporting of a pair of base bearings 6 for axially arranging apart from each other.
Tooth rest 4 has base portion 5 and end plate 7, and the base portion 5 has baseplate part 4a and multiple (such as 3) axle portions 4c.
Baseplate part 4a is configured in axial near one end in outer tube 2.Arrange in the radial direction central part of baseplate part 4a
There is the through hole 4d of circle.As shown in Fig. 2 around through hole 4d, multiple (such as 3) mounting recess 4e is circumferentially, equally spaced
Arrange.Mounting recess 4e constitute for install the substrate side bearing 12a in crankshaft bearing described later installation portion (substrate-side install
Portion), be formed as the concavity in the face upper shed towards the 1st wobble gear 14.
It is formed with baseplate part 4a for fastening the fastener hole 4g for omitting the securing member (bolt) for illustrating, the securing member is used
In the rotating mass that tooth rest 4 is fixed on such as robot.
End plate 7 is separately formed relative to baseplate part 4a, is set to separate with baseplate part 4a vertically, is configured in outer tube
Near the other end of axial direction in 2.I.e., end plate 7 is configured in contrary with baseplate part 4a for wobble gear 14,16
Side.
The radial direction 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
It is individual) installing hole 7b is arranged on position corresponding with multiple mounting recess 4e of baseplate part 4a.Installing hole 7b is constituted for after installation
The installation portion (end plate side installation portion) of the end plate side bearing 12b in the crankshaft bearing stated.The one end of installation portion 7b is formed as
Towards the through hole shape of the face upper shed of the 2nd wobble gear 16.I.e., the installation portion for crankshaft bearing to be installed to tooth rest 4 has
There are the mounting recess 4e (substrate-side installation portion) for being formed at baseplate part 4a and the installing hole 7b for being formed at end plate 7 (to pacify end plate side
Dress portion).
Multiple axle portions 4c are integrally provided with baseplate part 4a, and an interarea (medial surface) from baseplate part 4a is to end plate 7
Side linearly extends.The plurality of axle portion 4c is in circumferential equally spaced configuration (with reference to Fig. 2).Each axle portion 4c is fastened using bolt 9
In end plate 7 (with reference to Fig. 1).I.e., bolt-through hole 7c is formed with end plate 7, in axle portion 4c (base portion 5), with from axle
The mode that the top end face in portion is axially extended is formed with fastener hole 4f.And, bolt 9 is inserted from the side contrary with base portion 5
The bolt-through hole 7c of end plate 7.The bolt 9 is screwed with the fastener hole 4f of axle portion 4c.Thus, by baseplate part 4a, axle portion
4c and end plate 7 are integrated.
End plate 7 relative to base portion 5 positioning using alignment pin 11 realizing.Alignment pin 11 is from through end plate 7
Through hole 7d be inserted in axle portion 4c top end face opening pin-and-hole 4h.
Input shaft (omitting diagram to omit) is played as the input unit for being input into the driving force of the drive motor for omitting diagram
Effect.Input shaft is inserted the through hole 4d of the through hole 7a and baseplate part 4a of end plate 7.Input shaft is with its axle center and the axle of outer tube 2
The mode of the axle center alignment of the heart and tooth rest 4 is configured, and is rotated about the axis.It is provided with the outer peripheral face of the top ends of input shaft
Input gear (omits diagram).
Multiple bent axles 10 are equally spaced configured in around input shaft (with reference to Fig. 2) in outer tube 2.
Each bent axle 10 is that (with reference to Fig. 1) is rotated about the axis relative to tooth rest 4 by crankshaft bearing supporting.Crankshaft bearing has
There is the substrate side bearing 12a for the being installed on mounting recess 4e and end plate side bearing 12b for being installed on installing hole 7b.Specifically, exist
The one end of the axial direction of each bent axle 10 is provided with substrate side bearing 12a.Substrate side bearing 12a is fixed on and is arranged at base
The mounting recess 4e of plate portion 4a.I.e., mounting recess 4e is provided with many in the way of corresponding with the quantity of crankshaft bearing (3)
It is individual.On the other hand, the other end in the axial direction of each bent axle 10 is provided with end plate side bearing 12b.End plate side bearing 12b is installed
It is fixed on the installing hole 7b for being arranged at end plate 7.I.e., installing hole 7b is in the way of corresponding with the quantity of crankshaft bearing (3)
It is provided with multiple.Thus, bent axle 10 is rotatably supported in baseplate part 4a and end plate 7.
Eccentric part 10a, 10b that each bent axle 10 is had axle main body 10c and is integrally formed with axle main body 10c.1st eccentric part
10a and the 2nd eccentric part 10b are configured with axially arranging between the part supported by two crankshaft bearings 12a, 12b.The
1 eccentric part 10a and the 2nd eccentric part 10b have cylindrical shape respectively, in the state that the axle center relative to axle main body 10c is eccentric
Under stretch out from axle main body 10c to radial outside.1st eccentric part 10a and the 2nd eccentric part 10 are each since the eccentric predetermined bias in axle center
Amount, and configured in the way of the phase contrast with predetermined angular each other.
One end in bent axle 10, i.e., at the axially external position of the part being installed in the installing hole 7b of end plate 7
It is provided with for installing fitting portion 10d of travelling gear 20.
Travelling gear 20 is embedded with outward respectively in fitting portion 10d of each bent axle 10.Travelling gear 20 with omit diagram
Input shaft gear engagement external tooth 20a, for the rotation of input shaft is delivered to corresponding bent axle 10.Travelling gear 20 around
And rotate integrally with the bent axle 10 with the rotary shaft identical axis of bent axle 10.
It is formed with outer tube 2 by the respective inner surface facing each other and outer tube 2 of end plate 7 and baseplate part 4a
The closed space that inner peripheral surface is surrounded.
The closed space that 1st wobble gear 14 is disposed in outer tube 2 and it is installed on by the 1st roller bearing 18a
1st eccentric part 10a of each bent axle 10.When each bent axle 10 is rotated the 1st eccentric part 10a carries out eccentric rotary when, the 1st swing
The eccentric rotary of gear 14 and the 1st eccentric part 10a is mutually linkedly while engage one side swing rotary with interior alligator 3.
1st wobble gear 14 is with the size more slightly smaller than the internal diameter of outer tube 2.1st wobble gear 14 with the 1st external tooth 14a,
Central part through hole 14b, multiple (such as 3) the 1st eccentric part through hole 14c and multiple (such as 3) axle portion through hole 14d.
1st external tooth 14a is with the swimmingly continuous waveform shape of the whole circumference in wobble gear 14.
Central part through hole 14b is arranged at the radial direction central part of the 1st wobble gear 14.Between input shaft (omitting diagram) is to carry
The state of gap runs through central part through hole 14b.
Multiple 1st eccentric part through hole 14c circumferentially, equally spaced centrally disposed portion's through holes on the 1st wobble gear 14
Around 14b.1st eccentric part 10a of each bent axle 10 with the 1st roller bearing 18a between each bent axle 10 the 1st eccentric part 10a and
State between each 1st eccentric part through hole 14c extends through each 1st eccentric part through hole 14c.
Multiple axle portion through hole 14d are circumferentially equally spaced in central part through hole 14b on the 1st wobble gear 14
Around.Each axle portion through hole 14d is disposed in the position between the 1st adjacent eccentric part through hole 14c in the circumferential respectively.Institute
Corresponding axle portion 4c runs through each axle portion through hole 14d with the state with gap.
The closed space that 2nd wobble gear 16 is disposed in outer tube 2 and it is installed on by the 2nd roller bearing 18b
2nd eccentric part 10b of each bent axle 10.1st wobble gear 14 and the 2nd wobble gear 16 and the 1st eccentric part 10a and the 2nd eccentric part
The configuration of 10b is accordingly set to axially aligned.When each bent axle 10 is rotated and the 2nd eccentric part 10b carries out eccentric rotation
When turning, the 2nd wobble gear 16 is mutually linkedly engaged with interior alligator 3 while swinging rotation with the eccentric rotary of the 2nd eccentric part 10b
Turn.
2nd wobble gear 16 is formed as and 14 identical of the 1st wobble gear with the size more slightly smaller than the internal diameter of outer tube 2
Structure.I.e., the 2nd wobble gear 16 runs through with the 2nd external tooth 16a, central part through hole 16b, multiple (such as 3) the 2nd eccentric part
Hole 16c and multiple (such as 3) axle portion through hole 16d.They with the 1st external tooth 14a of the 1st wobble gear 14, central authorities
Portion through hole 14b, multiple 1st eccentric part through hole 14c and multiple axle portion through hole 14d identical structures.The 2nd of bent axle 10 is inclined
Center portion 10b with the 2nd roller bearing 18b between bent axle 10 shapes of the 2nd the eccentric part 10b and Ge 2 between eccentric part through hole 16c
State runs through each 2nd eccentric part through hole 16c.
The oil groove 25 that can store lubricating oil is formed with tooth rest 4.Oil groove 25 and bent axle 10 (or mounting recess 4e or
Person installing hole 7b) quantity be accordingly provided with it is multiple.Each oil groove 25 is with baseplate part 4a and 14 phase of the 1st wobble gear
The substrate side channel 27 formed on the face for facing and the end plate formed on the face facing with the 2nd wobble gear 16 of end plate 7
Side channel 29.
Substrate side channel 27 is formed along the mounting recess 4e's (substrate-side installation portion) for installation base plate side bearing 12a
The shape of periphery.Mounting recess 4e is circumferentially spaced around through hole 4d and has been positioned apart from multiple (being 3 in legend),
Therefore, substrate side channel 27 is also circumferentially spaced around through hole 4d and has been positioned apart from multiple (being 3 in legend).And
And, what each substrate side channel 27 was erected with the bottom 27a being connected with the periphery of mounting recess 4e and from the outer circumference end of bottom 27a
Wall portion 27b, by the complete cycle along mounting recess 4e in the way of be recessed towards the face of the 1st wobble gear 14 (face of baseplate part 4a)
Formed.Thus, lubricating oil can be stored in substrate side channel 27 with substrate side bearing 12a adjoining positions.In the face of baseplate part 4a
Gap is formed between the face of the 1st wobble gear 14 and the 1st wobble gear 14, therefore, lubricating oil is not only present in substrate-side
In groove 27, additionally it is possible to the engaging piece, base bearing 6 through the gap throughout interior alligator 3 and external tooth 14a.
In addition, bottom 27a be formed as the position on the outside of the radial direction of tooth rest 4 it is most thin, on the inside of radial direction
The most wide shape in position, but it is not limited to the shape.For example, bottom 27a can be formed as identical width on complete cycle, also may be used
Be formed as position in inner side it is narrower, in the wider shape in the position in outside.
End plate side channel 29 is formed along for installing week of the installing hole 7b (end plate side installation portion) of end plate side bearing 12b
The shape of edge.Installing hole 7b is circumferentially spaced around through hole 7a and has been positioned apart from multiple (they being 3 in legend), therefore
End plate side channel 29 is also circumferentially spaced around through hole 7a and has been positioned apart from multiple (being 3 in legend).And, it is each to hold
Wall portion 29b that plate side channel 29 is erected with the bottom 29a being connected with the periphery of installing hole 7b and from the outer circumference end of bottom 29a,
Formed in the way of be recessed towards the face of the 2nd wobble gear 16 (face of end plate 7) by the complete cycle along installing hole 7b.Thus,
Lubricating oil can store end plate side channel 29 with end plate side bearing 12b adjoining positions.In end plate 7 towards the 2nd wobble gear
Gap is formed between 16 face and the 2nd wobble gear 16, therefore, lubricating oil is not only present in end plate side channel 29, additionally it is possible to
Engaging piece, base bearing 6 through the gap throughout interior alligator 3 and external tooth 16a.
In addition, bottom 29a be formed as the position on the outside of the radial direction of tooth rest 4 it is most thin, on the inside of radial direction
The most wide shape in position, but it is not limited to the shape.For example, bottom 29a can be formed as identical width on complete cycle, also may be used
Be formed as position in inner side it is narrower, in the wider shape in the position in outside.
Additionally, in substrate side channel 27 and end plate side channel 29, wall portion 27b, 29b be formed in installation portion (mounting recess 4e and
Installing hole 7b) at least radial outside position, it is not necessary to installation portion (mounting recess 4e and installing hole 7b) need to be formed in
On one complete cycle (the whole circumference of periphery).Wall portion 27b, 29b is formed at the center (installation than installation portion on the periphery of installation portion
The center of recess 4e, the center of installing hole 7b) at least by tooth rest 4 position.In this case, due to tooth
The rotation of wheel carrier 4 and in oil groove 25 lubricating oil effect centrifugal force in the case of, lubricating oil is also difficult to be discharged to oil groove 25
It is outside.In figs. 2 and 3, wall portion 27b, 29b is also not formed at the position on the inside of radial direction.
The connectivity slot 31 that oil groove 25 is connected with each other is formed with tooth rest 4.Specifically, baseplate part 4a towards
The substrate-side connectivity slot 32 that substrate side channel 27 is connected with each other is formed with the face of the 1st wobble gear 14, end plate 7 towards
The end plate side connectivity slot 33 that end plate side channel 29 is connected with each other is formed with the face of the 2nd wobble gear 16.I.e., connectivity slot 31 is included
Substrate-side connectivity slot 32 and end plate side connectivity slot 33.
Substrate-side connectivity slot 32 is formed along the periphery of through hole 4d in the way of adjacent substrate side channel 27 is connected with each other.
Substrate-side connectivity slot 32 is formed in conplane bottom 32a with the bottom 27a with substrate side channel 27 and has base not connected
Wall portion 32b that the position of plate side channel 27 is erected from the outer circumference end of bottom 32a.As substrate side channel 27 is connected using substrate-side each other
Groove 32 is connected, and substrate-side connectivity slot 32 also can store lubricating oil as substrate side channel 27.
End plate side connectivity slot 33 is formed along the periphery of through hole 7a in the way of adjacent end plate side channel 29 is connected with each other.
End plate side connectivity slot 33 is formed in conplane bottom 33a with the bottom 29a with end plate side channel 29 and has end not connected
Wall portion 33b that the position of plate side channel 29 is erected from the outer circumference end of bottom 33a.As end plate side channel 29 is connected using end plate side each other
Groove 33 is connected, and end plate side connectivity slot 33 also can store lubricating oil as end plate side channel 29.
As described above, in the present embodiment, the oil groove 25 of lubricating oil can be stored along for installing Crankshaft
The periphery of the installation portion for holding is formed.Therefore, when tooth rest 4 is rotated and generated centrifugal force, oil is prevented from from oil groove
25 all spill out.Therefore, it is possible to maintain the lubrication of crankshaft bearing (substrate side bearing 12a, end plate side bearing 12b).In addition, oily
Groove 25 is formed on the face towards wobble gear 14,16 of tooth rest 4, therefore, it is possible to suppress to increase for forming oil groove 25
The labour of processing and time.
Additionally, in the present embodiment, mounting recess 4e is formed as in the recessed of the face upper shed towards the 1st wobble gear 14
Shape, is formed with substrate side channel 27 in the way of bottom 27a is connected with the periphery of mounting recess 4e.In addition, installing hole 7b is formed as
In the poroid of the face upper shed towards the 2nd wobble gear 16, it is formed with the way of bottom 29a is connected with the periphery of installing hole 7b
End plate side channel 29.Therefore, lubricating oil can be stored in oil groove 25, on the other hand, be formed as concavity or it is poroid and with oil
Also lubricating oil is stored in the installation portion (mounting recess 4e or installing hole 7b) that groove 25 is connected.Therefore, it is possible to improve crankshaft bearing
The lubricity of (substrate side bearing 12a, end plate side bearing 12b).
In addition, in the present embodiment, it is each configured with for supporting the axle of bent axle 10 in the both sides of wobble gear 14,16
Hold (substrate side bearing 12a and end plate side bearing 12b), these substrate side bearing 12a and end plate side bearing 12b are each using being stored in
The lubricating oil of individual substrate side channel 27 and end plate side channel 29 is lubricated.Therefore, it is possible to the two-side supporting bent axle 10 in length direction,
And it is able to ensure that the lubrication of both sides bearing 12a, 12b.
In addition, in the present embodiment, because being provided with multiple bent axles 10, it is possible to using the less bent axle of diameter 10
Wobble gear 14,16 is driven, and is able to ensure that the lubrication of each crankshaft bearing.
In addition, in the present embodiment, because being formed with the connectivity slot 31 for oil groove 25 is connected with each other, it is possible to
The situation that lubricating oil deflection is stored in any one oil groove in multiple oil grooves 25 is avoided to occur, it can be ensured that all of crankshaft bearing
Lubrication.
(the 2nd embodiment)
Fig. 4 represents the 2nd embodiment of the present invention.Hereinafter be specifically described, here, for the 1st embodiment party
Formula identical structural element marks identical reference, and omits detail explanation.
In the 1st embodiment, input shaft is disposed in the central part of tooth rest 4, and multiple bent axles 10 are disposed in input
Around axle, for the structure, in the 2nd embodiment, it is configured to bent axle 10 and is disposed in the central part of tooth rest 4
The structure of innermost being shaft type.Specifically, as shown in figure 4, only arranging 1 bent axle 10, the bent axle 10 is with through through hole 4d and through hole
The mode of 7a is arranged, central parts of the through hole 4d through baseplate part 4a, central parts of the through hole 7a through end plate 7.And, substrate
Side bearing 12a is disposed in the through hole 4d of baseplate part 4a, and end plate side bearing 12b is disposed in the through hole 7a of end plate 7.Therefore,
In the 2nd embodiment, the through hole 4d of baseplate part 4a is constituted for installing the substrate-side of the substrate side bearing 12a in crankshaft bearing
Installation portion, the through hole 7a of end plate 7 are constituted for installing the end plate side installation portion of the end plate side bearing 12b in crankshaft bearing.
In the 2nd embodiment, any one of substrate-side installation portion (through hole 4d) and end plate side installation portion (through hole 7a)
Be formed as through hole shape of the one end in the face upper shed towards wobble gear 14,16.Additionally, pin-and-hole 4h be formed at baseplate part 4a and
It is not formed at axle portion 4c.Additionally, the installing hole 7b of the mounting recess 4e and end plate 7 of baseplate part 4a is omitted.
Substrate side channel 27 is formed along the periphery of through hole 4d for installation base plate side bearing 12a, end plate side channel 29 along
Periphery for installing the through hole 7a of end plate side bearing 12b is formed.As shown in figure 5, end plate side channel 29 is formed as in bolt-through
Hole 7c nearby narrowed width, in position width same shape in addition.But, however it is not limited to the shape.For example,
As shown in fig. 6, end plate side channel 29 can also be formed as except other than around, also passing through for alignment pin 11 in bolt-through hole 7c
The structure that the neighbouring width of the through hole 7d for wearing also narrows.
Input shaft is arranged in the way of the travelling gear 20 with the one end for being arranged at bent axle 10 is engaged.
Additionally, other structures, effect and effect are identical with the 1st embodiment, so the description thereof will be omitted.
(other embodiments)
The present invention is not limited to the embodiment, can carry out various changes, changes in the range of without departing from its purport
It is good etc..For example, in each embodiment, although be configured to be provided with the structure of two wobble gears 14,16, but do not limit
In this.For example, it may be the structure of 1 wobble gear is provided with, or the structure for being provided with more than 3 wobble gears.
Additionally, in each embodiment, although illustrate that outer tube 2 is fixed on base portion, tooth rest 4 relative to outer tube 2
The example for being rotated against, but it is not limited to this.Can also be fixed body that tooth rest 4 is fixed on base portion etc., outer tube 2 is relative
Rotated against in tooth rest 4.
Additionally, in each embodiment, although crankshaft bearing is configured to substrate side bearing 12a and end plate side axle
The structure of 12b is held, but is not limited to this.For example, it is also possible to be configured to only be provided with substrate side bearing 12a and end plate side bearing
The structure of any one of 12b.
(general introduction of embodiment)
Here, the embodiment is summarized.
(1) in the present embodiment, the oil groove of lubricating oil can be stored along for installing the week of the installation portion of crankshaft bearing
Edge is formed.Therefore, when tooth rest is rotated and generated centrifugal force, it is prevented from oil and all spills out from oil groove.Therefore,
It is able to maintain that the lubrication of crankshaft bearing.In addition, oil groove is formed on the face towards wobble gear of tooth rest, therefore, it is possible to press down
System increases the labour of the processing for forming oil groove and time.
(2) installation portion can be formed as the concavity or poroid in the face upper shed towards the wobble gear.
In this case, it is preferred that be formed with the oil groove in the way of the bottom of the oil groove is connected with the periphery of the installation portion.
In this case, lubricating oil can be stored in oil groove, on the other hand, lubricating oil also accumulate in be formed as concavity or
Installation portion that is poroid and being connected with oil groove, therefore, it is possible to improve the lubricity of crankshaft bearing.
(3) tooth rest can have baseplate part and end plate, and the end plate is separately formed relative to the baseplate part,
And the side contrary with the baseplate part is configured in for the wobble gear.The installation portion can have formation
In the substrate-side installation portion and the end plate side installation portion for being formed at the end plate of the baseplate part.The crankshaft bearing can have
There are the substrate side bearing for being installed on the substrate-side installation portion and the end plate side bearing for being installed on end plate side installation portion.At this
In the case of, it is preferred that the oil groove has the substrate-side being formed on the face towards the wobble gear of the baseplate part
Groove and the end plate side channel being formed on the face towards the wobble gear of the end plate.
Under the form, be each configured with for supporting the bearing of bent axle in the both sides of wobble gear, each bearing i.e., substrate
Side bearing and end plate side bearing are using being stored in substrate side channel and the lubricating oil of end plate side channel is lubricated.Therefore, it is possible to grow
The two-side supporting bent axle in degree direction, and it is able to ensure that the lubrication of both sides' bearing.
(4) can be that the multiple crankshaft bearings comprising the crankshaft bearing are spaced in the circumferentially spaced of the tooth rest
Ground configuration.Can also be that the multiple installation portions comprising the installation portion are accordingly arranged with the plurality of crankshaft bearing.
In which case it is preferable that, the multiple oil grooves comprising the oil groove are accordingly arranged with the plurality of installation portion.
Under the form, because being provided with multiple bent axles, therefore, it is possible to drive wobble gear using the less bent axle of diameter,
And it is able to ensure that the lubrication of each crankshaft bearing.
(5) for the Eccentrically swinging gear device, could be formed with the connection that the oil groove is connected with each other
Groove.
Under the form, the situation that lubricating oil deflection is stored in any one oil groove in multiple oil grooves can be avoided from occurring,
It is able to ensure that the lubrication of all of crankshaft bearing.
As described above, the lubrication of crankshaft bearing can using present embodiment, be carried out.
Description of reference numerals
1 Eccentrically swinging gear device
2 outer tube
Alligator in 3
4 tooth rests
4a baseplate parts
4c axle portions
4f fastener holes
5 base portions
6 base bearings
7 end plates
7c bolt-throughs hole
9 bolts
10 bent axles
The 1st eccentric parts of 10a
The 2nd eccentric parts of 10b
The 1st crankshaft bearings of 12a
The 2nd crankshaft bearings of 12b
10c axle main bodys
14 the 1st wobble gears
14a external tooths
14c eccentric part through holes
16 the 2nd wobble gears
16a external tooths
16c eccentric part through holes
25 oil grooves
27 substrate side channels
27a bottoms
27b wall portions
29 end plate side channels
29a bottoms
29b wall portions
32 substrate-side connectivity slots
32a bottoms
32b wall portions
33 end plate side connectivity slots
33a bottoms
33b wall portions
Claims (4)
1. a kind of Eccentrically swinging gear device, which has：
Multiple bent axles, which is respectively formed with eccentric part；
Multiple crankshaft bearings, which supports the plurality of bent axle respectively and multiple bent axles is rotated；
Wobble gear, which has the through hole for eccentric part insertion and has teeth portion；
Outer tube, which has the internal tooth engaged with the teeth portion of the wobble gear；
Tooth rest, which is used to install the plurality of crankshaft bearing, is accompanied by the rotation of the eccentric part using the wobble gear
And the swing for carrying out, relative speed discrepancy is produced between the outer tube at which,
It is formed with the tooth rest：Multiple installation portions, which is used to install the plurality of crankshaft bearing；Multiple oil grooves, its
Periphery towards on the face of the wobble gear respectively along the plurality of installation portion and lubricating oil can be stored；Connectivity slot, its
The plurality of oil groove is connected with each other.
2. Eccentrically swinging gear device according to claim 1, wherein
The plurality of installation portion is respectively formed as the concavity or poroid in the face upper shed towards the wobble gear,
The plurality of oil groove is formed with the way of the respective bottom of the plurality of oil groove is connected with the periphery of the installation portion.
3. Eccentrically swinging gear device according to claim 1, wherein
The tooth rest has baseplate part and end plate, and the end plate is separately formed relative to the baseplate part, and relative to
The side contrary with the baseplate part is configured in for the wobble gear,
The plurality of installation portion has to be formed at and the substrate-side installation portion of the baseplate part and is formed at the end plate of the end plate
Side installation portion,
The plurality of crankshaft bearing has the substrate side bearing for being installed on the substrate-side installation portion and is installed on the end plate side
The end plate side bearing of installation portion,
The plurality of oil groove have be formed in multiple substrate side channels on the face towards the wobble gear of the baseplate part and
The multiple end plate side channels being formed on the face towards the wobble gear of the end plate.
4. Eccentrically swinging gear device according to any one of claim 1 to 3, wherein
Circumferentially spaced compartment of terrain configuration of the plurality of crankshaft bearing in the tooth rest,
The plurality of installation portion is accordingly arranged with the plurality of crankshaft bearing,
The plurality of oil groove is accordingly arranged with the plurality of installation portion.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2012203993A JP5988429B2 (en) | 2012-09-18 | 2012-09-18 | Eccentric oscillating gear unit |
| JP2012-203993 | 2012-09-18 | ||
| PCT/JP2013/005215 WO2014045531A1 (en) | 2012-09-18 | 2013-09-03 | Eccentric oscillation gear device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104641147A CN104641147A (en) | 2015-05-20 |
| CN104641147B true CN104641147B (en) | 2017-03-22 |
Family
ID=50340873
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201380048660.0A Active CN104641147B (en) | 2012-09-18 | 2013-09-03 | Eccentric oscillation gear device |
Country Status (5)
| Country | Link |
|---|---|
| JP (1) | JP5988429B2 (en) |
| KR (1) | KR101668970B1 (en) |
| CN (1) | CN104641147B (en) |
| DE (1) | DE112013004516B4 (en) |
| WO (1) | WO2014045531A1 (en) |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6453135B2 (en) * | 2015-03-27 | 2019-01-16 | 住友重機械工業株式会社 | Eccentric rocking gear device |
| JP6752070B2 (en) * | 2016-07-12 | 2020-09-09 | ナブテスコ株式会社 | Gear device |
| JP6723657B2 (en) * | 2016-12-05 | 2020-07-15 | 住友重機械工業株式会社 | Reducer |
| 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 |
| 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 |
| 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 |
| JP6909130B2 (en) * | 2017-11-02 | 2021-07-28 | 住友重機械工業株式会社 | Planetary gear speed 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 |
| WO2020031891A1 (en) * | 2018-08-08 | 2020-02-13 | 住友重機械工業株式会社 | Planetary gear device |
| JP7129308B2 (en) * | 2018-10-11 | 2022-09-01 | 住友重機械工業株式会社 | Eccentric oscillating reduction gear |
| CN109854685A (en) * | 2019-01-25 | 2019-06-07 | 南京高速齿轮制造有限公司 | Eccentric oscillating-type mechanical reduction gear |
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- 2012-09-18 JP JP2012203993A patent/JP5988429B2/en active Active
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2013
- 2013-09-03 DE DE112013004516.8T patent/DE112013004516B4/en active Active
- 2013-09-03 KR KR1020157009669A patent/KR101668970B1/en active IP Right Grant
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Also Published As
| Publication number | Publication date |
|---|---|
| DE112013004516B4 (en) | 2022-02-17 |
| JP2014059012A (en) | 2014-04-03 |
| CN104641147A (en) | 2015-05-20 |
| DE112013004516T5 (en) | 2015-06-03 |
| JP5988429B2 (en) | 2016-09-07 |
| KR20150058350A (en) | 2015-05-28 |
| KR101668970B1 (en) | 2016-10-24 |
| WO2014045531A1 (en) | 2014-03-27 |
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