CN105317940A - Speed reducer - Google Patents

Speed reducer Download PDF

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Publication number
CN105317940A
CN105317940A CN201510420103.8A CN201510420103A CN105317940A CN 105317940 A CN105317940 A CN 105317940A CN 201510420103 A CN201510420103 A CN 201510420103A CN 105317940 A CN105317940 A CN 105317940A
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CN
China
Prior art keywords
press
hole
pressed
pin
plectane
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Granted
Application number
CN201510420103.8A
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Chinese (zh)
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CN105317940B (en
Inventor
杉下健治
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Nidec Shimpo Corp
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Nidec Shimpo Corp
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Filing date
Publication date
Priority to JP2014147529A priority Critical patent/JP6356514B2/en
Priority to JP2014-147529 priority
Application filed by Nidec Shimpo Corp filed Critical Nidec Shimpo Corp
Publication of CN105317940A publication Critical patent/CN105317940A/en
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Publication of CN105317940B publication Critical patent/CN105317940B/en
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Classifications

    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H1/00Toothed gearings for conveying rotary motion
    • F16H1/28Toothed gearings for conveying rotary motion with gears having orbital motion
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H57/00General details of gearing
    • F16H57/02Gearboxes; Mounting gearing therein
    • F16H57/023Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H2700/00Transmission housings and mounting of transmission components therein; Cooling; Lubrication; Flexible suspensions, e.g. floating frames

Abstract

The invention provides a speed reducer which converts first rotary motion with a first rotational speed into the rotary motion with a second rotational speed lower than the first rotational speed, and the speed reducer is provided with: an input rotator rotating at the first rotational speed; an output rotator rotating at the second rotational speed; and a speed reducing structure arranged between the input rotator and the output rotator, wherein the output rotator is provided with a circular plate body which is vertical to a rotation axial line and a plurality of pins extending in the direction parallel to the rotation axial line. The circular plate body is provided with a plurality of press-in holes which are arranged in the circumferential direction. The plurality of pins are respectively provided with a pressed part which is pressed into the press-in hole and a rotation transmitting part which is arranged at the outer side of the press-in hole and receives torque from the speed reducing structure. The press-in part is provided with a strong press-in part which is pressed into the press-in hole with a second interference magnitude smaller than the first interference magnitude.

Description

Speed reducer
Technical field
The present invention relates to a kind of speed reducer.
Background technique
Conventionally, there is known employ planetary gears speed reducer or in connect planetary speed reducer.These speed reducers have: the plectane body be connected with output shaft; And in the circumferential arrangement and respective end winding support in multiple pins of plectane body.The rotation of input shaft is decelerated and is passed to each pin, and exports from output shaft via plectane body.When interior connect planetary speed reducer, above-mentioned multiple pin is inserted into the multiple holes being arranged at external gear respectively.Further, when employing the speed reducer of planetary gears, multiple planetary pinion supports as rotating by above-mentioned each pin respectively.Further, the method for fixed disc body and each pin such as uses press-in.That is, the diameter hole slightly less than the external diameter of pin is set at plectane body, with magnitude of interference, pin is pressed into this hole.
When assembling speed reducer, by multiple pin press-in plectane body, and external gear or planetary pinion are assembled in from the outstanding each pin in the face of the side contrary with the press-in side of pin plectane body.Then, to be bolted etc. the end of each pin is fixed on the discoideus parts with the split of above-mentioned plectane body.Such as in Japanese Unexamined Patent Publication 2007-127165 publication, describe this speed reducer in the past.
But if the state of plectane body is uneven around the hole that supply and marketing is pressed into, then the hole of plectane body is crooked unevenly because of the press-in of pin.Thus, the pin after press-in is sometimes relative to axioversion.Such as, when in uneven thickness around hole of plectane body, if magnitude of interference is constant during pressure pin, then crooked thicker than the thickness part of the part of the thinner thickness in the surrounding in hole greatly crooked.If like this, then sell easily to the lopsidedness of thinner thickness.So, if each pin after press-in tilts, be then difficult to accurately external gear or planetary pinion are assembled in each pin.
Summary of the invention
The object of the present invention is to provide a kind of have can suppress to be pressed into plectane body multiple pins relative to the speed reducer of the structure of axioversion.
The speed reducer of an exemplary mode of execution of the application, the rotary motion of the first rotating speed is converted to the rotary motion of second rotating speed lower than described first rotating speed by it, described speed reducer has: input solid of rotation, and described input solid of rotation rotates with described first rotating speed; Export solid of rotation, described output solid of rotation rotates with described second rotating speed; And reducing gear, described reducing gear is present between described input solid of rotation and described output solid of rotation, and described output solid of rotation has: plectane body, and described plectane body and spin axis vertically configure; And multiple pin, described multiple pin and described rotation axis parallel ground extend, and described plectane body has arrange in the circumferential multiple and is pressed into hole, and described multiple pin has respectively: press-in portion, is pressed into hole described in described press-in portion is positioned at; And rotation transfer part, the outside in hole is pressed into described in described rotation transfer part is positioned at, and described rotation transfer part accepts torque from described reducing gear, described press-in portion has: strong press-in portion, and described strong press-in portion is pressed into hole by described in the first magnitude of interference press-in; And light press-in portion, described light press-in portion is positioned at than the position of described strong press-in portion by described rotation transfer part side, and described light press-in portion is pressed into hole by described in the second magnitude of interference press-in less than described first magnitude of interference.
Preferred described reducing gear comprises: external gear, and described external gear has multiple external tooth at peripheral part; And internal gear, described internal gear has the multiple internal tooths engaged with described external tooth in inner peripheral portion, described in the gear ratio of described internal gear, the number of teeth of external gear is many, described external gear is while revolve round the sun around described spin axis by the power of described input solid of rotation, while by engaging and rotation with described internal gear, described external gear has multiple inserting hole, and described multiple pin is inserted into described multiple inserting hole respectively.
Preferred described speed reducer has the multiple described external gear arranged in the axial direction.
It is constant that the position of the internal diameter and axis that are pressed into hole preferably has nothing to do, and the external diameter of described light press-in portion is less than the external diameter of described strong press-in portion.
It is constant that the external diameter of preferred described press-in portion has nothing to do with axial position, described in be pressed into the part contacted with described light press-in portion in hole internal diameter ratio described in be pressed into the internal diameter of the part contacted with described strong press-in portion in hole large.
The axial length of preferred described light press-in portion is more than 0.2 times of the axial length of described press-in portion.
The axial length of preferred described strong press-in portion is more than 0.2 times of the axial length of described press-in portion.
Preferred described plectane body has: heavy section, is pressed into the radially inner side in hole described in described heavy section is positioned at; And thinner wall section, be pressed into the radial outside in hole described in described thinner wall section is positioned at, the radial thickness of described thinner wall section is thinner than the radial thickness of described heavy section.
Preferred described speed reducer has: cylindric framework, and described in described framework to major general, plectane body is contained in inside; And bearing, described bearing is present between described framework and described plectane body, and described bearing is positioned at the radial outside of described thinner wall section.
Preferred described pin also has lip part, and described lip part is adjacent with described strong press-in portion, and described lip part contacts in the axial direction with described plectane body.
The structure of the speed reducer of other exemplary mode of executions of this case is, described speed reducer has: sun wheel, and described sun wheel rotates centered by spin axis; Multiple planet wheel, described multiple planet wheel configures around described sun wheel, and described multiple planet wheel contacts rotation with described sun wheel; The outer ring body of ring-type, described outer ring body contacts with described multiple planet wheel; Multiple pin, described multiple planet wheel supports as rotatable by described multiple pin respectively; And plectane body, described multiple pin is fixed with at described plectane body, described outer ring body is relative centered by described spin axis with described pin to be rotated, described plectane body has arrange in the circumferential multiple and is pressed into hole, described multiple pin has respectively: press-in portion, is pressed into hole described in described press-in portion is positioned at; And support, described supporting portion is pressed into the outside in hole in described and support described planet wheel, and described press-in portion has: strong press-in portion, and described strong press-in portion is pressed into hole by described in the first magnitude of interference press-in; And light press-in portion, described light press-in portion is positioned at than the position of described strong press-in portion by described support side, and described light press-in portion is pressed into hole by described in the second magnitude of interference press-in less than described first magnitude of interference.
According to an exemplary mode of execution of the application, the pin being pressed into plectane body can be suppressed relative to axioversion.Thereby, it is possible to assemble the rotation transfer part of reducing gear and pin accurately.
According to other exemplary mode of executions of the application, the pin being pressed into plectane body can be suppressed relative to axioversion.Thereby, it is possible to assemble the support of planet wheel and pin accurately.
By referring to the detailed description of accompanying drawing to the preferred embodiment of the present invention, above-mentioned and other feature of the present invention, key element, step, feature and advantage more clearly can be understood.
Accompanying drawing explanation
Fig. 1 is the longitudinal section of the speed reducer involved by one embodiment of the present invention.
Fig. 2 is the sectional elevation of the speed reducer involved by one embodiment of the present invention.
Fig. 3 is the first plectane body before press-in and the stereogram of multiple pin.
Fig. 4 is the first plectane body after press-in and the stereogram of multiple pin.
Fig. 5 is the side view of pin.
Fig. 6 illustrates the chart of the axial length of light press-in portion relative to the relation between the ratio of the axial length of press-in portion entirety and the displacement amount of pin terminal part.
Fig. 7 illustrates the chart of the axial length of light press-in portion relative to the relation between the ratio of the axial length of press-in portion entirety and the displacement amount of pin terminal part.
Fig. 8 illustrates the chart of the axial length of light press-in portion relative to the relation between the ratio of the axial length of press-in portion entirety and the displacement amount of pin terminal part.
Fig. 9 illustrates the chart of the axial length of light press-in portion relative to the relation between the ratio of the axial length of press-in portion entirety and the displacement amount of pin terminal part.
Figure 10 is the longitudinal section of the speed reducer involved by other mode of executions of the present invention.
Figure 11 is the partial sectional view of the first plectane body involved by other mode of executions of the present invention.
Embodiment
Below, with reference to accompanying drawing, exemplary mode of execution of the present invention is described.In addition, in this application, respectively the direction of the rotation axis parallel with input solid of rotation or sun wheel is called " axis ", the direction orthogonal with the spin axis of input solid of rotation or sun wheel is called " radial direction ", the direction along the circular arc centered by the spin axis inputting solid of rotation or sun wheel is called " circumference ".But above-mentioned " parallel direction " also comprises almost parallel direction.Further, above-mentioned " orthogonal direction " also comprises roughly orthogonal direction.Further, below for convenience of explanation, respectively the right side in Fig. 1 or Figure 10 is called " input side ", the left side in Fig. 1 or Figure 10 is called " outlet side ".
Fig. 1 is the longitudinal section utilizing the plane comprising spin axis 90 to cut off the speed reducer 1 involved by one embodiment of the present invention and formed.Fig. 2 is the sectional elevation of the speed reducer 1 observed from the A-A position Fig. 1.
This speed reducer 1 be the rotary motion of the first rotating speed is converted to second rotating speed lower than the first rotating speed rotary motion in connect planetary speed reducer.Speed reducer 1 be such as assembled into robot, lathe, X-Y table, material shut-off means, conveyor line, rotating platform, roll etc. driving mechanism and used.But speed reducer of the present invention also may be used for other purposes.
As shown in Figure 1, the speed reducer 1 of present embodiment has input solid of rotation 10, reducing gear 20 and exports solid of rotation 30.
Input solid of rotation 10 is the parts rotated with the rotating speed inputted from outside i.e. the first rotating speed.In the present embodiment, the parts along the cylindrical shape of spin axis 90 configuration become input solid of rotation 10.The end 101 of the input side of input solid of rotation 10 is direct or be connected with the motor as driving source via other power transmission mechanisms.When making motor drive, input solid of rotation 10 rotates centered by spin axis 90 by the first rotating speed.
Input solid of rotation 10 has the first eccentric part 11 and is positioned at than second eccentric part 12 of the first eccentric part 11 by the position of input side.First eccentric part 11 has the outer circumferential face of the cylindrical shape centered by the first central axis 91, and position and spin axis 90 that the first central axis 91 is departing from spin axis 90 extend abreast.Second eccentric part 12 has the outer circumferential face of the cylindrical shape centered by the second central axis 92, and the second central axis 92 also extends abreast in the position and spin axis 90 of departing from spin axis 90.The position of the first central axis 91 and the second central axis 92 is across spin axis 90 opposition side each other.Further, when inputting solid of rotation 10 and rotating, the position of the first central axis 91 and the second central axis 92 also rotates centered by spin axis 90.
Reducing gear 20 is present in input solid of rotation 10 and exports between solid of rotation 30 and the rotary motion inputting solid of rotation 10 slowed down and be passed to the mechanism exporting solid of rotation 30.The reducing gear 20 of present embodiment has the first external gear 21, second external gear 22 and framework 23.
First external gear 21 is installed on the outer circumferential face of the first eccentric part 11 by roller bearing 24.Therefore, the first external gear 21 is supported to centered by the first central axis 91 of the first eccentric part 11 rotatable.Second external gear 22 is installed on the outer circumferential face of the second eccentric part 12 by roller bearing 25.Therefore, the second external gear 22 is supported to centered by the second central axis 92 of the second eccentric part 12 rotatable.
Illustrate as amplified in fig. 2, the first external gear 21 has to the outstanding multiple external tooths 41 of radial outside at its peripheral part.Further, between adjacent external tooth 41, be provided with the outer inter-tooth slots 42 to radially inner side depression.External tooth 41 and outer inter-tooth slots 42 are alternately arranged in the circumferential centered by the first central axis 91.Further, identical with the first external gear 21, the second external gear 22 also has multiple external tooth 41 and multiple outer inter-tooth slots 42 at peripheral part.
Further, as shown in Figure 1 and Figure 2, the first external gear 21 has multiple (being eight in the example in figure 2) inserting hole 43.Multiple inserting hole 43 arranges with equal intervals in the circumferential centered by the first central axis 91.Each inserting hole 43 is leaning on position through first external gear 21 vertically of radially inner side than external tooth 41 and outer inter-tooth slots 42.Further, identical with the first external gear 21, the second external gear 22 also has multiple inserting hole 43.
In addition, the reducing gear 20 of present embodiment has two external gears 21,22, but the quantity of external gear also can be one, can also be more than three.
Framework 23 is that input solid of rotation 10, output solid of rotation 30 and two external gears 21,22 are contained in inner roughly cylindric parts.Illustrate as amplified in fig. 2, framework 23 within it perimembranous has to the outstanding multiple internal tooths 51 of radially inner side.Further, between adjacent internal tooth 51, inter-tooth slots 52 in radial outside depression is provided with.Internal tooth 51 and interior inter-tooth slots 52 are alternately arranged in the circumferential centered by spin axis 90.
Multiple external tooths 41 of each external gear 21,22 engage each other with multiple internal tooths 51 of framework 23.That is, when speed reducer 1 works, the external tooth 41 of each external gear 21,22 embeds the interior inter-tooth slots 52 of framework 23, and the internal tooth 51 of framework 23 embeds the outer inter-tooth slots 42 of each external gear 21,22, and each external gear 21,22 rotates simultaneously.So, in the present embodiment, framework 23 plays a role as internal gear.But, also can with framework 23 split be provided as the internal gear of point body component in the inner peripheral portion of framework 23.
First external gear 21 and the second external gear 22 are while revolve round the sun around spin axis 90, by engaging and rotation with the internal tooth 51 of framework 23 by the power of input solid of rotation 10.At this, the quantity of number ratio first external gear 21 of the internal tooth 51 that framework 23 has and respective the had external tooth 41 of the second external gear 22 is many.Therefore, the every public affairs of each external gear 21,22 turn around, and can stagger in the position of the external tooth 41 engaged with the internal tooth 51 of the same position of framework 23.Thus, the first external gear 21 and the second external gear 22 with second rotating speed lower than the first rotating speed towards the direction lentamente rotation contrary with the sense of rotation of input solid of rotation 10.Therefore, the inserting hole 43 of each external gear 21,22 also rotates lentamente with the second rotating speed.
The quantity of the first external gear 21 and respective the had external tooth 41 of the second external gear 22 is being set to N, when the quantity of the internal tooth 51 had by framework 23 is set to M, the reduction speed ratio P of reducing gear 20 is P=(the first rotating speed)/(the second rotating speed)=N/ (M-N).In the example in figure 2, due to N=59, M=60, the reduction speed ratio of the reducing gear 20 therefore in this example is P=59.That is, the second rotating speed becomes the rotating speed of 1/59 of the first rotating speed.But the reduction speed ratio of reducing gear of the present invention also can be other values.
Export second rotating speed of solid of rotation 30 after slowing down to rotate centered by spin axis 90.As shown in Figure 1, the output solid of rotation 30 of present embodiment has the first plectane body 31, second plectane body 32 and multiple (being eight in the present embodiment) pin 33.
First plectane body 31 is the circular parts vertically configured with spin axis 90.First plectane body 31 is configured in the position leaning on outlet side than the first external gear 21 and the second external gear 22.Respectively the first plectane body 31 and input solid of rotation 10 between and there is ball bearing 60 between the first plectane body 31 and framework 23.Thus, the first plectane body 31 be supported to relative to framework 23 and input solid of rotation 10 rotatable.
Further, the first plectane body 31 is provided with multiple (being eight in the present embodiment) that are pressed into for multiple pin 33 and is pressed into hole 311.Multiple hole 311 that is pressed into arranges at equal intervals in the circumferential centered by spin axis 90.Respectively be pressed into hole 311 through first plectane body 31 vertically.
Second plectane body 32 is the circular parts vertically configured with spin axis 90.Second plectane body 32 is configured in the position leaning on input side than the first external gear 21 and the second external gear 22.Respectively the second plectane body 32 and input solid of rotation 10 between and there is ball bearing 60 between the second plectane body 32 and framework 23.Thus, the second plectane body 32 be supported to relative to framework 23 and input solid of rotation 10 rotatable.
Further, multiple (being eight in the present embodiment) fixing hole 321 of the end insertion for the input side of multiple pin 33 is provided with at the second plectane body 32.Multiple fixing hole 321 arranges at equal intervals in the circumferential centered by spin axis 90.Each fixing hole 321 is through second plectane body 32 vertically.
Multiple pin 33 is columned parts of connection first plectane body 31 and the second plectane body 32.Each pin 33 configures substantially in parallel with spin axis 90.Further, multiple pin 33 is inserted into multiple inserting holes 43 of the first external gear 21 and the second external gear 22 respectively.Multiple pin 33 is pressed into the multiple of the first plectane body 31 respectively and is pressed into hole 311.Further, the lip part 331 of enlarged-diameter is provided with in the end of the outlet side of each pin 33.Lip part 331 contacts in the axial direction with the first plectane body 31.Prevent each pin 33 from coming off to input side thus.Further, the end of the input side of each pin 33 is inserted into the fixing hole 321 of the second plectane body 32, and utilizes nut to be fixed on the second plectane body 32.
As shown in Figure 2, between the face forming each inserting hole 43 and the outer circumferential face of pin 33, there is gap.Further, circular grommet 61 is inserted into this gap.When the first external gear 21 and the second external gear 22 are with the second rotating speed time rotational after deceleration, this power is passed to each pin 33 via grommet 61.Consequently, multiple pin 33, first plectane body 31 and the second plectane body 32 rotate centered by spin axis 90 by the second rotating speed.
Then, the first plectane body 31 is described in detail with the fixed structure of multiple pin 33.Fig. 3 is the first plectane body 31 before press-in and the stereogram of multiple pin 33.Fig. 4 is the first plectane body 31 after press-in and the stereogram of multiple pin 33.Fig. 5 is the side view of pin 33.
As shown in Figure 3, multiple pin 33 is pressed into the multiple of the first plectane body 31 by the outlet side from the first plectane body 31 respectively and is pressed into hole 311.When multiple pin 33 is pressed into, as shown in Figure 4, the input side of each pin 33 end than the first plectane body 31 input side facing to input side give prominence to.Further, contacted with the face of the outlet side of the first plectane body 31 by the lip part 331 of each pin 33, complete the press-in of multiple pin 33.
As shown in Figure 5, the part completing the pin 33 after press-in becomes the press-in portion 71 being positioned at and being pressed into hole 311.In the example of fig. 5, the part adjacent with the input side of lip part 331 in pin 33 becomes press-in portion 71.Further, the part adjacent with the input side of press-in portion 71 in pin 33 becomes the rotation transfer part 72 being positioned at the outside being pressed into hole 311.Rotate multiple inserting holes 43 that transfer part 72 is inserted into the first external gear 21 and the second external gear 22, and accept torque via grommet 61 from the first external gear 21 and the second external gear 22.
In one embodiment of the present invention, it is constant that the position of the internal diameter and axis that are pressed into hole 311 has nothing to do.Relatively, the press-in portion 71 of pin 33 has the mutually different strong press-in portion 711 of external diameter and light press-in portion 712.Strong press-in portion 711 is adjacent with the input side of lip part 331.Light press-in portion 712 is positioned at the input side of strong press-in portion 711, and is positioned at the outlet side rotating transfer part 72.Illustrate as amplified in Figure 5, the external diameter Rb of light press-in portion 712 is less than the external diameter Ra of strong press-in portion 711.Therefore, be set to " the first magnitude of interference " strong press-in portion 711 is pressed into the magnitude of interference being pressed into hole 311, light press-in portion 712 is pressed into the magnitude of interference being pressed into hole 311 when being set to " the second magnitude of interference ", the second magnitude of interference is less than the first magnitude of interference.
In addition, in one embodiment of the present invention, the external diameter Rb of light press-in portion 712 is identical with the external diameter rotating transfer part 72.But the external diameter Rb of light press-in portion 712 also can be identical with the external diameter rotating transfer part 72.
Table 1 illustrates the result utilizing structure elucidation software to investigate following situation: after multiple pin 33 is pressed into the first plectane body 31, the end of the input side of pin 33 is how many at radial displacement.In example 1 in Table 1, make the external diameter of the press-in portion 71 of pin 33 constant.In example 2 in Table 1, the external diameter Rb of light press-in portion 712 is set as less than the external diameter Ra of strong press-in portion 711.In addition, in the example of table 1, the axial length of part outstanding to input side for the ratio first plectane body 31 in pin 33 is set to 40.5mm, the axial length of press-in portion 71 is set to 16.5mm, the axial length of the strong press-in portion 711 in example 2 is set to 11.0mm, the axial length of the light press-in portion 712 in example 2 is set to 5.5mm.
Table 1
[mm]
The result of resolving is: in example 1, the radial displacement of the end of the input side of pin 33 is 0.0173mm.On the other hand, in example 2, the radial displacement of the end of the input side of pin 33 is 0.0014mm.That is, compared with example 1, the radial displacement of the end of the input side of the pin 33 of example 2 is little.Even if when change be pressed into the internal diameter in hole 311, each several part of pin 33 axial length, be pressed into the position etc. of hole 311 in the first plectane body 31 similarly resolve, result is also identical, compared with the situation that the external diameter of press-in portion 71 is constant, when utilizing strong press-in portion 711 and light press-in portion 712 to change external diameter, the radial displacement of the end of the input side of pin 33 is little.
From this analysis result, by arranging strong press-in portion 711 and light press-in portion 712 at pin 33, the pin 33 after being pressed into can be suppressed relative to axioversion.As long as the inclination of pin 33 can be suppressed, just the rotation transfer part 72 of pin 33 can be assembled in accurately the first external gear 21 and the second external gear 22.
The pin 33 after being pressed into can be suppressed when pin 33 is provided with strong press-in portion 711 and light press-in portion 712 to tilt, infer based on following reason.That is, as above-mentioned example 1, if to press-in portion 71 entirety suppress into, then be pressed into hole 311 whole axially occur crooked into what cause because suppressing.On the other hand, as above-mentioned example 2, if leaning on the position of input side to arrange light press-in portion 712 than strong press-in portion 711, although then the outer circumferential face of light press-in portion 712 contacts with the face that the formation of the first plectane body 31 is pressed into hole 311, not easily making to be pressed into hole 311 and occurring crooked.Therefore, around strong press-in portion 711, occur crooked even if be pressed into hole 311, light press-in portion 712 also can be utilized to correct the inclination of the pin 33 caused because this is crooked.Consequently, think that the inclination of the pin 33 after being pressed into is suppressed.
Especially as one embodiment of the present invention, compared with the situation being with external gear, when being arranged with multiple external gear in the axial direction, need add have strong market potential 33 axial length.Therefore, in order to the rotation transfer part 72 of pin 33 is assembled in multiple external gear accurately, suppress the inclination of pin 33 to become more important.
Further, as shown in Figure 3, the first plectane body 31 of one embodiment of the present invention has heavy section 312 at the radially inner side being pressed into hole 311, and has thinner wall section 313 at the radial outside being pressed into hole 311.The radial thickness of thinner wall section 313 is thinner than the radial thickness of heavy section 312.Form if so, then can configure with partially leaning on radial outside and multiplely be pressed into hole 311 and multiple pin 33.Therefore, pitch diameter expands, and can reduce the load putting on pin 33.But this thinner wall section 313 of the first plectane body 31 is easily out of shape because of press-in.Therefore, in the structure shown here, pin 33 is suppressed to tilt to become more important.
Especially in one embodiment of the present invention, ball bearing 60 is configured with at the radial outside of thinner wall section 313.Therefore, in order to configure ball bearing 60, the radial thickness of thinner wall section 313 becomes thinner.Therefore, in the structure shown here, pin 33 is suppressed to tilt to become more important.
In the example of fig. 5, the axial length L b of light press-in portion 712 is shorter than the axial length L a of strong press-in portion 711.That is, the axial length L b of light press-in portion 712 is below half of the axial length L o of press-in portion 71 entirety.But the axial length L b of light press-in portion 712 also can be longer than the axial length L a of strong press-in portion 711.Further, the axial length L a of strong the press-in portion 711 and axial length L b of light press-in portion 712 also can be equal.
The figure of Fig. 6 ~ Fig. 9 indicates the result utilizing the structure elucidation software identical with table 1 to investigate following situation: the ratio changing the axial length L b of light press-in portion 712 and the axial length L o of press-in portion 71 entirety, how the displacement amount observing the end of the input side of pin 33 changes.In the example of Fig. 6 ~ Fig. 9, the internal diameter being pressed into hole 311 is set to 8mm, 10mm, 12mm, 16mm respectively.Further, in Fig. 6 ~ Fig. 9, each DS utilizing mark ◇,, △ to draw is data when strong press-in portion 711 and the difference of the magnitude of interference of light press-in portion 712 not being set to 0.005mm, 0.010mm, 0.015mm.
All known according to which result in Fig. 6 ~ Fig. 9, when Lb/Lo is about 50%, the displacement amount of the end of the input side of pin 33 is minimum, and along with Lb/Lo is close to 0% or 100%, the displacement quantitative change of the end of the input side of pin 33 is large.
Result according to Fig. 6 ~ Fig. 9 can be said, preferably the axial length L b of light press-in portion 712 is more than 0.2 times of the axial length L o of press-in portion 71 entirety, and more preferably the axial length L b of light press-in portion 712 is more than 0.3 times of the axial length L o of press-in portion 71 entirety.By guaranteeing the axial length L b of light press-in portion 712 to a certain extent, the effect of being corrected the inclination of pin 33 by light press-in portion 712 more effectively can be obtained.Further, even if when there is machining error, because the axial length of light press-in portion 712 can not be too short, therefore also can more reliably suppress pin 33 to tilt.
And, result according to Fig. 6 ~ Fig. 9 can be said, preferably the axial length L a of strong press-in portion 711 is more than 0.2 times of the axial length L o of press-in portion 71 entirety, and more preferably the axial length L a of strong press-in portion 711 is more than 0.3 times of the axial length L o of press-in portion 71 entirety.By guaranteeing the axial length of strong press-in portion 711 to a certain extent, constant intensity pin 33 being fixed on the first plectane body 31 can be improved.Further, even if when there is machining error, because the axial length of strong press-in portion 711 can not be too short, therefore also can more reliably suppress pin 33 to tilt.
Figure 10 is the longitudinal section utilizing the plane comprising spin axis 90A to cut off the speed reducer 1A involved by other mode of executions of the present invention and formed.This speed reducer 1A is the speed reducer that make use of so-called planetary gears comprising a sun gear 14A and multiple planetary pinion 26A.The speed reducer 1A of present embodiment has input solid of rotation 10A, reducing gear 20A and exports solid of rotation 30A.
Input solid of rotation 10A rotates with the rotating speed inputted from outside, i.e. the first rotating speed.The input solid of rotation 10A of present embodiment has input shaft 13A and the sun gear 14A as sun wheel.Input shaft 13A is the parts of the cylindrical shape along spin axis 90A configuration.The end 131A of the input side of input shaft 13A is direct or be connected with the motor as driving source via other power transmission mechanisms.When making motor drive, input solid of rotation 10A rotates centered by spin axis 90A by the first rotating speed.
Sun gear 14A is fixed on the outer circumferential face of input shaft 13A, and together rotates centered by spin axis 90A with input shaft 13A.Sun gear 14A has towards the outstanding multiple fixed star tooth 141A of radial outside.
Reducing gear 20A is present in input solid of rotation 10A and exports between solid of rotation 30A and the rotary motion inputting solid of rotation 10A slowed down and be passed to the mechanism exporting solid of rotation 30A.The reducing gear 20A of present embodiment has framework 23A and multiple planetary pinion 26A as planet wheel.
Multiple planetary pinion 26A configures at equal intervals around sun gear 14A.Each planetary pinion 26A has inserting hole 260A in central authorities.Pin 33A described later is inserted with in this inserting hole 260A.Each planetary pinion 26A is supported as rotatable by this pin 33A.Further, the multiple planet tooth 261A engaged with fixed star tooth 141A are provided with at the peripheral part of each planetary pinion 26A.
Framework 23A is by input solid of rotation 10A, exports the parts that solid of rotation 30A and multiple planetary pinion 26A is contained in inner roughly cylindrical shape.Framework 23A within it perimembranous has the multiple internal tooth 51A engaged with planet tooth 261A.That is, multiple planetary pinion 26A engages with the fixed star tooth 141A of sun gear 14A and both internal tooth 51A of framework 23A respectively all the time.Therefore, when sun gear 14A rotates, multiple planetary pinion 26A rotation centered by pin 33A, while revolve round the sun lentamente along the inner peripheral surface of framework 23A with the second rotating speed lower than the first rotating speed.
So, in the present embodiment, framework 23A plays a role as the outer ring body contacted with planetary pinion 26A.But, also can with framework 23A split be provided as the outer ring body of the ring-type contacted with planetary pinion 26A of point body component in the inner peripheral portion of framework 23A.
Export second rotating speed of solid of rotation 30A after slowing down to rotate centered by spin axis 90A.As shown in Figure 10, the output solid of rotation 30A of present embodiment has the first plectane body 31A, the second plectane body 32A and multiple pin 33A.
First plectane body 31A is the circular parts vertically configured with spin axis 90A.First plectane body 31A is configured in than the position of multiple planetary pinion 26A by outlet side.Ball bearing 60A is there is respectively between the first plectane body 31A and input shaft 13A and between the first plectane body 31A and framework 23A.Thus, the first plectane body 31A is supported to rotatable relative to framework 23A and input shaft 13A.
Further, the first plectane body 31A is provided with supply multiple pin 33A to be pressed into multiple and is pressed into hole 311A.Multiple hole 311A that is pressed into arranges at equal intervals in the circumferential centered by spin axis 90A.Respectively be pressed into hole 311A through first plectane body 31A vertically.
Second plectane body 32A is the circular parts vertically configured with spin axis 90A.Second plectane body 32A is configured in than the position of multiple planetary pinion 26A by input side.Ball bearing 60A is there is respectively between the second plectane body 32A and input shaft 13A and between the second plectane body 32A and framework 23A.Thus, the second plectane body 32A is supported to rotatable relative to framework 23A and input shaft 13A.
Further, multiple fixing hole 321A of the end insertion for the input side of multiple pin 33A are provided with at the second plectane body 32A.Multiple fixing hole 321A arranges at equal intervals in the circumferential centered by spin axis 90A.Each fixing hole 321A is through second plectane body 32A vertically.
Multiple pin 33A is the columned parts of connection first plectane body 31A and the second plectane body 32A.Each pin 33A and spin axis 90A configures substantially in parallel.Multiple pin 33A is pressed into the first the multiple of plectane body 31A respectively and is pressed into hole 311A, and is inserted into the inserting hole 260A of multiple planetary pinion 26A respectively.The lip part 331A of enlarged-diameter is provided with in the end of the outlet side of each pin 33A.Lip part 331A contacts in the axial direction with the first plectane body 31A.Prevent each pin 33A from coming off to input side thus.Further, the end of the input side of each pin 33A is inserted into the fixing hole 321A of the second plectane body 32A, and utilizes nut to be fixed on the second plectane body 32A.
When multiple planetary pinion 26A revolves round the sun with the second rotating speed after deceleration, this transmission of power is to each pin 33A.Consequently, multiple pin 33A, the first plectane body 31A and the second plectane body 32A rotate centered by spin axis 90A by the second rotating speed.
So, although the structure of the reducing gear of the speed reducer 1A of present embodiment is different from the first mode of execution, exports solid of rotation 30A if be only conceived to, then there is the structure similar with the output solid of rotation 30 of the first mode of execution.Each pin 33A has: the press-in portion 71A being positioned at the inside being pressed into hole 311A; And be positioned at the outside and the support 72A of planetary gear bearing 26A that are pressed into hole 311A.Therefore, identical with the first mode of execution, as long as arrange strong press-in portion and light press-in portion at the press-in portion 71A of pin 33A, the pin 33A after being pressed into just can be suppressed to tilt.Further, as long as suppress pin 33A to tilt, each support 72A and the planetary pinion 26A of multiple pin 33A can just be assembled accurately.
Above, exemplary mode of execution of the present invention is illustrated, but the invention is not restricted to above-mentioned mode of execution.
Figure 11 is the partial sectional view of the first plectane body 31B involved by other mode of executions of the present invention.In the example of Figure 11, it is constant that the external diameter of the press-in portion 71B of pin 33B has nothing to do with axial position.Relatively, the internal diameter Rd being pressed into the part contacted with light press-in portion 712B in the 311B of hole of the first plectane body 31B is larger than the internal diameter Rc of the part contacted with strong press-in portion 711B.So, also can have the different part of internal diameter by making to be pressed into hole 311B, being less than the magnitude of interference of the press-in of strong press-in portion 711B with the magnitude of interference of the press-in making light press-in portion 712B.But, from the viewpoint of easness of processing, make pin have the different part of external diameter easier than the part making to be pressed into hole and have internal diameter different.
The material forming each parts of speed reducer such as can use the metal of high strength.But, as long as the material of load when the material of each parts can bear use, be not necessarily limited to metal.
Further, in the respective embodiments described above, lip part becomes a part for pin.That is, the press-in portion of pin is the parts be connected with lip part.But lip part also can be the parts with pin split.
Further, in the respective embodiments described above, the end of the outlet side of multiple pin is pressed into the first plectane body, and the end of the input side of multiple pin utilizes nut to be fixed on the second plectane body.But also can be following structure: the end of the input side of multiple pin is pressed into the second plectane body, the end of the outlet side of multiple pin utilizes nut to be fixed on the first plectane body.Now, strong press-in portion be set at the pin being pressed into the second plectane body and be positioned at than the light press-in portion of strong press-in portion by the position of outlet side.
Further, in other above-mentioned mode of executions, employ sun gear as sun wheel, employ planetary pinion as planet wheel.Further, the engagement of both utilizations carrys out transferring power.But, can be also following structure: utilize fixed star roller as sun wheel, use planetary rollers as planet wheel, and utilize the frictional force produced by both contacts to carry out transferring power.
Further, in other above-mentioned mode of executions, the position of framework is fixing, and multiple pin rotates relative to this framework.But, also can fix the position of multiple pin, framework is rotated relative to the plurality of pin.That is, as long as framework and the pin relative structure rotated centered by spin axis.
Further, the shape of the detail section of speed reducer also can be different from the shape shown in each figure of the application.Further, in the scope do not conflicted, each key element occurred can be also suitably combined in above-mentioned mode of execution and variation.

Claims (18)

1. a speed reducer, the rotary motion of the first rotating speed is converted to the rotary motion of second rotating speed lower than described first rotating speed by it,
The feature of described speed reducer is to have:
Input solid of rotation, described input solid of rotation rotates with described first rotating speed;
Export solid of rotation, described output solid of rotation rotates with described second rotating speed; And
Reducing gear, described reducing gear is present between described input solid of rotation and described output solid of rotation,
Described output solid of rotation has:
Plectane body, described plectane body and spin axis vertically configure; And
Multiple pin, described multiple pin and described rotation axis parallel ground extend,
Described plectane body has arrange in the circumferential multiple and is pressed into hole,
Described multiple pin has respectively:
Press-in portion, is pressed into hole described in described press-in portion is positioned at; And
Rotate transfer part, be pressed into the outside in hole described in described rotation transfer part is positioned at, and described rotation transfer part accept torque from described reducing gear,
Described press-in portion has:
Strong press-in portion, described strong press-in portion is pressed into hole by described in the first magnitude of interference press-in; And
Light press-in portion, described light press-in portion is positioned at than the position of described strong press-in portion by described rotation transfer part side, and described light press-in portion is pressed into hole by described in the second magnitude of interference press-in less than described first magnitude of interference.
2. speed reducer according to claim 1, is characterized in that,
Described reducing gear comprises:
External gear, described external gear has multiple external tooth at peripheral part; And
Internal gear, described internal gear has the multiple internal tooths engaged with described external tooth in inner peripheral portion,
Described in the gear ratio of described internal gear, the number of teeth of external gear is many,
Described external gear while revolved round the sun around described spin axis by the power of described input solid of rotation, by engaging and rotation with described internal gear,
Described external gear has multiple inserting hole,
Described multiple pin is inserted into described multiple inserting hole respectively.
3. speed reducer according to claim 2, is characterized in that,
Described speed reducer has the multiple described external gear arranged in the axial direction.
4. speed reducer according to any one of claim 1 to 3, is characterized in that,
It is constant that the described internal diameter being pressed into hole has nothing to do with axial position,
The external diameter of described light press-in portion is less than the external diameter of described strong press-in portion.
5. speed reducer according to any one of claim 1 to 3, is characterized in that,
It is constant that the external diameter of described press-in portion has nothing to do with axial position,
The internal diameter being pressed into the part contacted with described strong press-in portion in hole described in the internal diameter ratio of the described part contacted with described light press-in portion be pressed in hole is large.
6. speed reducer according to any one of claim 1 to 3, is characterized in that,
The axial length of described light press-in portion is more than 0.2 times of the axial length of described press-in portion.
7. speed reducer according to any one of claim 1 to 3, is characterized in that,
The axial length of described strong press-in portion is more than 0.2 times of the axial length of described press-in portion.
8. speed reducer according to any one of claim 1 to 3, is characterized in that,
Described plectane body has:
Heavy section, is pressed into the radially inner side in hole described in described heavy section is positioned at; And
Thinner wall section, is pressed into the radial outside in hole described in described thinner wall section is positioned at,
The radial thickness of described thinner wall section is thinner than the radial thickness of described heavy section.
9. speed reducer according to claim 8, is characterized in that,
Described speed reducer has:
Cylindric framework, described in described framework to major general, plectane body is contained in inside; And
Bearing, described bearing is present between described framework and described plectane body,
Described bearing is positioned at the radial outside of described thinner wall section.
10. speed reducer according to any one of claim 1 to 3, is characterized in that,
Described pin also has lip part, and described lip part is adjacent with described strong press-in portion, and described lip part contacts in the axial direction with described plectane body.
11. 1 kinds of speed reducers, its structure is,
Described speed reducer has:
Sun wheel, described sun wheel rotates centered by spin axis;
Multiple planet wheel, described multiple planet wheel configures around described sun wheel, and described multiple planet wheel contacts rotation with described sun wheel;
The outer ring body of ring-type, described outer ring body contacts with described multiple planet wheel;
Multiple pin, described multiple planet wheel supports as rotatable by described multiple pin respectively; And
Plectane body, is fixed with described multiple pin at described plectane body,
Described outer ring body is relative centered by described spin axis with described pin to be rotated,
The feature of described speed reducer is,
Described plectane body has arrange in the circumferential multiple and is pressed into hole,
Described multiple pin has respectively:
Press-in portion, is pressed into hole described in described press-in portion is positioned at; And
Support, described supporting portion is pressed into the outside in hole in described and support described planet wheel,
Described press-in portion has:
Strong press-in portion, described strong press-in portion is pressed into hole by described in the first magnitude of interference press-in; And
Light press-in portion, described light press-in portion is positioned at than the position of described strong press-in portion by described support side, and described light press-in portion is pressed into hole by described in the second magnitude of interference press-in less than described first magnitude of interference.
12. speed reducers according to claim 11, is characterized in that,
It is constant that the described internal diameter being pressed into hole has nothing to do with axial position,
The external diameter of described light press-in portion is less than the external diameter of described strong press-in portion.
13. speed reducers according to claim 11, is characterized in that,
It is constant that the external diameter of described press-in portion has nothing to do with axial position,
The internal diameter being pressed into the part contacted with described strong press-in portion in hole described in the internal diameter ratio of the described part contacted with described light press-in portion be pressed in hole is large.
14. speed reducers according to claim 11, is characterized in that,
The axial length of described light press-in portion is more than 0.2 times of the axial length of described press-in portion.
15. speed reducers according to claim 11, is characterized in that,
The axial length of described strong press-in portion is more than 0.2 times of the axial length of described press-in portion.
16. speed reducers according to claim 11, is characterized in that,
Described plectane body has:
Heavy section, is pressed into the radially inner side in hole described in described heavy section is positioned at; And
Thinner wall section, is pressed into the radial outside in hole described in described thinner wall section is positioned at,
The radial thickness of described thinner wall section is thinner than the radial thickness of described heavy section.
17. speed reducers according to claim 11, is characterized in that,
Described speed reducer has:
Cylindric framework, described in described framework to major general, plectane body is contained in inside; And
Bearing, described bearing is present between described framework and described plectane body,
Described bearing is positioned at the radial outside of described thinner wall section.
18. speed reducers according to claim 11, is characterized in that,
Described pin also has lip part, and described lip part is adjacent with described strong press-in portion, and described lip part contacts in the axial direction with described plectane body.
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