CN106090134A - External gear, eccentric oscillating gear device, robot, method for using eccentric oscillating gear device, and gear device set - Google Patents
External gear, eccentric oscillating gear device, robot, method for using eccentric oscillating gear device, and gear device set Download PDFInfo
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- CN106090134A CN106090134A CN201610252428.4A CN201610252428A CN106090134A CN 106090134 A CN106090134 A CN 106090134A CN 201610252428 A CN201610252428 A CN 201610252428A CN 106090134 A CN106090134 A CN 106090134A
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- 238000000034 method Methods 0.000 title claims abstract description 8
- 210000000515 tooth Anatomy 0.000 claims description 86
- 208000012260 Accidental injury Diseases 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 208000014674 injury Diseases 0.000 description 3
- 230000006378 damage Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 238000013139 quantization Methods 0.000 description 2
- 230000002787 reinforcement Effects 0.000 description 2
- 238000009987 spinning Methods 0.000 description 2
- 235000006508 Nelumbo nucifera Nutrition 0.000 description 1
- 240000002853 Nelumbo nucifera Species 0.000 description 1
- 235000006510 Nelumbo pentapetala Nutrition 0.000 description 1
- 210000003797 carpal joint Anatomy 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
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
- F16H1/321—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 the orbital gear being nutating
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- 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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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Retarders (AREA)
- Manipulator (AREA)
Abstract
The invention provides an external gear, an eccentric oscillating gear device, a robot, a method for using the eccentric oscillating gear device, and a gear device set. The external gear (30) has a plurality of external teeth (39) that are provided around a center axis (ca). A plurality of through holes (33) through which the crankshaft (25) passes are formed on a virtual circumference (vl) centered on the central axis (ca). The external gear (30) is formed asymmetrically with respect to an axis (A) passing through the center point (cp) and the center axis (ca) of the two adjacent through-holes (33) on the virtual circumference.
Description
Technical field
The present invention relates to external gear that Eccentrically swinging gear device used, there is eccentric oscillating-type gear
The robot of device, the using method of Eccentrically swinging gear device and comprise multiple eccentric oscillating-type
The geared system group of geared system.
Background technology
As such as disclosed in JP2014-190451A, Eccentrically swinging gear device is many institute's weeks
Know.This Eccentrically swinging gear device include having the bent axle of eccentric body, run through have the external gear of bent axle,
For keeping the tooth rest of bent axle and external gear and for keeping the shell of tooth rest.Put in this bias
In ejector half geared system, from driving means to bent axle input rotate time, external gear is in the eccentric rotation of eccentric body
Driven under the effect turned, thus move on the circumference centered by central axis, i.e. swing.Now,
Being engaged with the internal tooth of shell by the external tooth of external gear, external gear is relative to shell swing rotary.Its result,
By the one in tooth rest and shell being fixed, it is input to rotating with in tooth rest and shell of bent axle
The mode that another one rotates exports.In the course of action of this geared system, particularly as reductor
In the case of, external gear bears the biggest load.
But, use geared system time, mostly there will be external gear the rotation to a direction and to
The load born in a certain spinning movement in the rotation in another direction is consistently greater than external gear at another
The tendency of the load born in spinning movement.Specifically, Eccentrically swinging gear device is being applied to
Rotate to a direction lift arm and to other direction rotate fall arm device such as robot, to
One direction rotates tightening fastener parts and rotates the feelings of the device etc. loosening securing member to other direction
Under condition, there is such tendency.The size of the load that external tooth bears changes along with direction of rotation,
This can cause the ad-hoc location of external gear, certain side of such as external tooth the flank of tooth on act on partly the biggest
Stress.In the case of the ad-hoc location of external gear acts on the biggest stress partly, need to consider to answer
Power sets the life-span, and therefore, compared with the situation producing stress the most partly, the setting life-span can shorten.
Summary of the invention
The present invention is conceived to problem above point and proposes, and its object is to extend the external gear life-span.
The external gear of the 1st Eccentrically swinging gear device of the present invention possesses and sets centered by central axis
Multiple external tooths,
The through hole passed for bent axle is formed multiple on the circumference centered by described central axis,
Multiple through holes are with respect to two adjacent through holes midpoint on described circumference and described
The axis of central axis asymmetricly configures.
Can also be that the external gear of the 1st Eccentrically swinging gear device of the present invention runs through in said two
Be formed with through hole between hole, described through hole along described circumference from said two through hole described in
Point deviation ground configuration.
Can also be that the external gear of the 1st Eccentrically swinging gear device of the present invention runs through in said two
Be formed with through hole between hole, frame portion in described through hole and said two through hole along described circle
Week, the width ratio frame portion between the through hole of side was in described through hole and said two through hole
Big along described circumference width between the through hole of opposite side.
Can also be, in the external gear of the 1st Eccentrically swinging gear device of the present invention, described external tooth
The thickness described midpoint with respect to said two through hole of wheel and the described axle of described central axis
For line asymmetric.
Can also be that the external gear of the 1st Eccentrically swinging gear device of the present invention runs through in said two
Rib it is formed with between hole, compared with the through hole being positioned at opposite side along described circumference, described reinforcement
Portion is close to the through hole being positioned at side along described circumference.
The external gear of the 2nd Eccentrically swinging gear device of the present invention is being encased in described eccentric oscillating-type tooth
Under state in wheel apparatus, for the power born when rotating to a direction rigidity and for
The rigidity of the power that other direction is born when rotating is different.
The Eccentrically swinging gear device of the present invention possesses the 1st eccentric oscillating-type gear dress of the invention described above
Put any one in external gear and the 2nd Eccentrically swinging gear device external gear.
The Eccentrically swinging gear device of the present invention can also also include having the shell of internal tooth, be bearing in institute
State the tooth rest on shell and can be bearing in the way of rotating on described tooth rest and there is bias
The bent axle of body, described external gear engages with the described eccentric body of described bent axle, engage with described internal tooth
Simultaneously relative to described shell swing rotary.
The robot of the present invention include the invention described above Eccentrically swinging gear device and by described partially
Two arms that heart oscillating-type geared system connects,
Described external gear is at the internal tooth engaged relative to the described external tooth having with described external gear
The rigidity of the power that shell is born when rotating against to a direction than for described external gear relative to
The rigidity of the power that described shell was born when other direction rotates is high.
The using method of the Eccentrically swinging gear device of the present invention is in the robot of the invention described above
The method using Eccentrically swinging gear device, wherein, use Eccentrically swinging gear device, thus
Described Eccentrically swinging gear device is with two arms that will connect by described Eccentrically swinging gear device
In an arm lift relative to another arm mode action time, described external gear relative to described shell to
One direction rotates against.
The geared system group of the present invention includes:
1st Eccentrically swinging gear device, it has for being born when rotating to a direction
The external gear that the rigidity of power is higher than the rigidity for the power born when rotating to other direction；And
2nd Eccentrically swinging gear device, it has for the power born when rotating to a direction
The rigidity external gear lower than the rigidity for the power born when rotating to other direction.
The geared system group of the present invention can also be, described 1st Eccentrically swinging gear device described outside
Gear is mutually isostructural gear with the described external gear of described 2nd Eccentrically swinging gear device, the two
It is encased in the Eccentrically swinging gear device of correspondence in positive and inverse reversing mode.
Use the present invention, it is possible to improve the durability of external gear, be effectively prevented external tooth damage.Thus,
It is capable of the long lifetime of external gear.
Accompanying drawing explanation
Fig. 1 is the figure for an embodiment of the invention is described, is with by eccentric oscillating-type gear
The section of the rotation axis of device represents the figure of this Eccentrically swinging gear device with external gear.
Fig. 2 is the vertical view of the example representing the external gear being encased in Eccentrically swinging gear device
Figure.
Fig. 3 is the vertical view of another example representing the external gear being encased in Eccentrically swinging gear device
Figure.
Fig. 4 is the vertical view of another example representing the external gear being encased in Eccentrically swinging gear device
Figure.
Fig. 5 is the sectional view of the V-V line along Fig. 4.
Fig. 6 is the axonometric chart of the robot of the application examples being denoted as Eccentrically swinging gear device.
Detailed description of the invention
Hereinafter, with reference to the accompanying drawings of an embodiment of the invention.Fig. 1 is to represent eccentric oscillating-type tooth
The longitudinal section of wheel apparatus.Fig. 2～Fig. 5 is the figure of several concrete examples of the external gear representing the present invention.Figure
6 is the axonometric chart that an application examples as Eccentrically swinging gear device represents robot.
As it is shown in figure 1, Eccentrically swinging gear device 10 have shell 15, tooth rest 20, bent axle 25,
And two external gears 30a, 30b.Shell 15 has internal tooth 16.Bent axle 25 drive two external gear 30a,
30b, and be bearing on tooth rest 20.In this Eccentrically swinging gear device 10, pass through external gear
The external tooth 39 of 30a, 30b engages with the internal tooth 16 of shell 15, and tooth rest 20 is with rotation axis amCentered by
Rotate against relative to shell 15.
Tooth rest 20 has the 1st plate the 21 and the 2nd plate 22 utilizing securing member fastened to each other.1st plate 21 has
Post portion 21a.1st plate 21 is connected by post portion 21a and the 2nd plate 22.Utilize post portion 21a, at the 1st plate 21
With the 2nd be formed with the space for housing external gear 30a, 30b between plate 22.Post portion 21a passes through external gear
The through hole described later 35 of 30a, 30b.Tooth rest 20 and shell 15 utilize pair of horns contact ball bearing 12 with
Can be with rotation axis amCentered by the mode that rotates connect.
Tooth rest 20 is formed the support holes 23 of through 1st plate the 21 and the 2nd plate 22.Support holes 23 with
Rotation axis amCentered by circumferentially spaced about be equally spaced provided with three.In three support holes 23 respectively
By the 1st cylindrical roller bearing 13a and the 2nd cylindrical roller bearing 13b can be supported with in the way of rotating
Bent axle 25.It addition, the rotation axis a of bent axle 25cWith shell 15 relative to the relative rotation axi of tooth rest 20
Line amParallel.Hereinafter, axis a will be rotated against with shell 15 relative to tooth rest 20mParallel direction
It is referred to as " axial da", axis a will be rotated against with shell 15 relative to tooth rest 20mOrthogonal direction claims
Make " radially dr”。
Bent axle 25 has at axial daTwo eccentric bodies 26a, 26b of upper arrangement and input gear 27.Each partially
The heart body 26a, 26b have discoideus or columned outer shape.The center of two eccentric bodies 26a, 26b
Axis aca、acbRotation axis a with bent axle 25cCentered by eccentric symmetrically.Two external gears 30a, 30b
At axial d in the space between the 1st plate the 21 and the 2nd plate 22 being formed at tooth rest 20aUpper arrangement.Respectively
The through hole 33 that bent axle 25 passes through it is formed on external gear 30a, 30b.The through hole 33 of external gear 30a
Housing eccentric body 26a and the 3rd cylindrical roller bearing 13c, the through hole 33 of external gear 30b houses eccentric body
26b and the 4th cylindrical roller bearing 13d.Through hole 33 with three bent axles 25 accordingly at each external gear
30a, 30b are provided with three.The number of teeth of external gear 30a, 30b (is made less than the number of teeth of the internal tooth 16 of shell 15
Be example be one less).Additionally, the external diameter of external gear 30a, 30b is than the internal tooth 16 of shell 15
Internal diameter smaller.
In the Eccentrically swinging gear device 10 with above structure, from the driving means such as motor 5
When torque is delivered to input gear 27, bent axle 25 is with rotation axis acPivot about.Now, the 1st
Eccentric body 26a and the 2nd eccentric body 26b eccentric rotary.Thus, each external gear 30a, 30b are around rotating against
Axis amMobile.Now, the external tooth 39 of each external gear 30a, 30b engages with the internal tooth 16 of shell 15.Knot
Really, external gear 30a, 30b relative to shell 15 swing rotary, by bent axle 25 support external gear 30a,
The tooth rest 20 of 30b is also with rotation axis amCentered by axis rotate relative to shell 15.
This Eccentrically swinging gear device 10 can be applied to constitute the convolution master of robot 1 as reductor
Convolution portion 2a, 2b, 2c such as body, carpal joint (with reference to Fig. 6), the convolution portion etc. of various lathe.At Fig. 6
In shown example, by being fixed on the shell 15 of Eccentrically swinging gear device 10 to circle round
Near-end side arm (cardinal extremity side arm) 2ap, 2bp, 2cp that mode connects and far-end side arm (top side arm)
In one in 2ad, 2bd, 2cd, the tooth rest 20 of Eccentrically swinging gear device 10 is fixed on it
In middle another one, it is possible to big torque make far-end side arm 2ad, 2bd, 2cd relative to near-end side arm 2ap,
2bp, 2cp rotate, and can control far-end side arm 2ad, 2bd, 2cd accurately relative to near-end
The relative position of side arm 2ap, 2bp, 2cp.
But, when tooth rest 20 and shell 15 rotate against, external gear 30a, 30b are in the week of external tooth 39
Enclose the internal tooth 16 from engaging with external tooth 39 and bear load.Additionally, external gear 30a, 30b are at its through hole 33
Surrounding also bear load from the bent axle 25 of this through hole 33 through.Particularly in the bias as variable-speed motor
In oscillating-type geared system 10, load is bigger.The load that external gear 30a, 30b bear can cause external gear
The damage of the deformation of 30a, 30b, even external gear 30a, 30b.And, as at background section
As described, when applying Eccentrically swinging gear device 10, easily occur that external gear 30a, 30b exist
Outside the load ratio rotated to a direction and bear in a certain course of action in the rotation of other direction
The tendency that load that gear 30a, 30b bear in another course of action is big.
Such as in the 1st convolution portion 2a of the robot 1 shown in Fig. 6, at tooth rest 20 and shell 15 to one
Individual direction daxWhen rotating against, overcome the deadweight of far-end side arm 2ad by this far-end side arm 2ad relative to near-end
Side arm 2ap lifts.On the other hand, at tooth rest 20 and shell 15 to other direction dayWhen rotating against,
This far-end side arm 2ad is fallen relative to near-end side arm 2ap.In the 2nd convolution portion 2b of robot 1 also together
Sample ground, at tooth rest 20 and shell 15 to a direction dbxWhen rotating against, far-end side arm 2bd is lifted,
At tooth rest 20 and shell 15 to other direction dbyWhen rotating against, far-end side arm 2bd is fallen.Thus,
In the Eccentrically swinging gear device 10 that the 1st convolution portion 2a and the 2nd convolution portion 2b is applied, external gear
30a, 30b at tooth rest 20 and shell 15 to a direction dax、dbxOutside the load ratio born when rotating against
Gear 30a, 30b at tooth rest 20 and shell 15 to other direction day、dbyThe load born when rotating against
Greatly.
Additionally, be provided with in the case of the instrument of tightening fastener parts on the top of robot 1, at machine
In the 3rd convolution portion 2c of device people 1, by tooth rest 20 and shell 15 to a direction dcxRotate against, energy
Enough tightening fastener parts.On the other hand, by tooth rest 20 and shell 15 to other direction dcyRotate against,
Securing member can be loosened.Thus, in the Eccentrically swinging gear device 10 that the 3rd convolution portion 2c is applied,
External gear 30a, 30b at shell 15 and tooth rest 20 to a direction dcxThe load born when rotating against is big
In external gear 30a, 30b at shell 15 and tooth rest 20 to other direction dcyThe load born when rotating against
Lotus.
So, the load that external gear bears change in a rotational direction mean at external gear specific
Position, such as external tooth certain side the flank of tooth on intensively act on the biggest stress.Local on external gear
Ground produces in the case of the biggest stress, need to consider this stress to set the life-span, therefore, and will not local
Ground produces the situation of stress and compares, and sets the lost of life.
Further, when applying geared system 10, tooth rest 20 and shell 15 rotate against to a direction
Time is long more than the time rotated against to other direction.In this case, meeting external tooth for a long time
The ad-hoc location of wheel, the flank of tooth applied stress of certain side of such as external tooth.In this example embodiment, it is also desirable to examine
Consider this stress to set the life-span, therefore, compared with the situation that will not produce stress for a long time, set the life-span
Can shorten.
Therefore, in the Eccentrically swinging gear device 10 here illustrated, external gear 30a, 30b for
To a direction dax、dbx、dcxThe rigidity of the external force born when rotating against and external gear 30a, 30b pin
Different to the rigidity of the external force born when rotating against to other direction.That is, it is more than integrally
Improving the rigidity of external gear 30a, 30b, further improve for the load that may cause accidental injury is firm
Property, i.e. for the rigidity of the biggest stress produced in one rotational direction.By improving rigidity, it is possible to
Reduce the stress produced on external gear 30a, 30b.Thereby, it is possible to avoid external gear 30a, 30b and
Eccentrically swinging gear device 10 the most large-scale re-quantization while, by expeditiously to external tooth
Wheel 30a, 30b give and seek external tooth with the application corresponding suitable rigidity of Eccentrically swinging gear device 10
The long lifetime of wheel 30a, 30b.
Hereinafter, external gear 30a, 30b are illustrated in greater detail.It addition, the 1st external gear 30a and the 2nd external tooth
Wheel 30b can use same gear, and only makes the phase under the state being encased in Eccentrically swinging gear device 10
Phase difference 180 ° (only makes from rotating against axis amEccentric eccentric direction is contrary).Thus, the 1st external tooth
The explanation that wheel 30a and the 2nd external gear 30b shares uses reference " 30 ", and does not differentiates between the 1st external gear 30a
Illustrate with the 2nd external gear 30b.
First, in the concrete example shown in Fig. 2～Fig. 5 of following description, external gear 30 has annular body
The external tooth 39 that portion 31 and the periphery along circular body portion 31 arrange.As it has been described above, external tooth 39 and shell 15
Internal tooth 16 engage.The circular body portion 31 of external gear 30 is formed three run through for bent axle 25 respectively
Individual through hole 33.Three through holes 33 are in virtual circumference vl centered by the central axis ca of external gear 30
On separate and equally spaced arrange.And, external gear 30 is formed as, non-relative to axis A right when overlooking
Claiming, this axis A is by two the adjacent through holes 33 midpoint cp in virtual circumference vl and central axis
ca。
It addition, the central axis ca of external gear 30 is formed as the arrangement center of external tooth 39.Fill at external gear 30
Entering under the state of Eccentrically swinging gear device 10, central axis ca and shell 15 are relative to tooth rest 20
Rotate against axis amParallel.But, the central axis ca of external gear 30 is from rotating against axis amPartially
The distance that shifting is suitable with the offset of eccentric body 26a, 26b of bent axle 25.
First, the 1st concrete example of the external gear 30 shown in explanatory diagram 2.External gear 30 at the 1st concrete example
In, the circular body portion 31 of external gear 30 is formed through hole 35.Through hole 35 is for tooth rest 20
The position (with reference to Fig. 1) that passes of post portion 21a.Through hole 35 is usually provided at employing and combines by post portion 21a
On the tooth rest 20 of the structure of the 1st plate the 21 and the 2nd plate 22.As in figure 2 it is shown, through hole 35 is along imaginary circles
Week, vl was formed at the position between adjacent two through hole 33 (33a, 33b).Particularly shown in Fig. 2
The 1st concrete example in, between adjacent each two through hole 33, be formed with the 1st through hole 35a and the 2nd pass through
Through hole 35b.And, the two through hole 35a, 35b in virtual circumference vl from two through holes 33 (33a,
Midpoint cp skew ground configuration 33b).That is, two through holes 35a, 35b in virtual circumference vl relative to
It is positioned at the close opposite side through hole 33b being positioned at opposite side of side through hole 33a of side.But, outside
In the circular body portion 31 of gear 30, the knot between any two through hole 33 adjacent in virtual circumference vl
Structure is mutually the same.That is, circular body portion 31 entirety of external gear 30 rotation centered by its center axis ca
Turn symmetrical, be more particularly three sub symmetry.
As in figure 2 it is shown, in the external gear 30 of this structure, circular body portion 31 through hole 33 along
The opposite side of virtual circumference vl has the part bigger than side.In other words, by a through hole 33 and along
Virtual circumference vl is positioned at another side frame portion that the through hole 35 (35a) of the opposite side of this through hole 33 marks off
The width w of 37b (37)bMore than by this through hole 33 and being positioned at this through hole 33 along virtual circumference vl
The width w in side frame portion 37a (37) that the through hole 35 (35b) of side marks offa。
External gear 30 relative to fixing shell 15 to the 1st direction (counter clockwise direction in Fig. 2) dxRotate,
1st direction (counter clockwise direction in Fig. 2) dxWith the side along virtual circumference vl as front and with edge
The opposite side virtual circumference vl is rear.Now, external gear 30 is by the bent axle being positioned at through hole 33
25 with tooth rest 20 together action.Thus, external gear 30 bears side opposite to the direction of rotation from bent axle 25
To counteracting force.That is, external gear 30 is to the 1st direction dxPass through being positioned at along virtual circumference vl during rotation
The retroaction from bent axle 25 is born at the region of opposite side of perforation 33, namely another side frame portion 37b
Power.On the contrary, at external gear 30 relative to fixing shell 15 to the opposite side along virtual circumference vl it is
Front and the 2nd direction (clockwise direction in Fig. 2) d with the side along virtual circumference vl as reary
During rotation, external gear 30 be positioned at along virtual circumference vl the region of side of through hole 33, namely one
The counteracting force from bent axle 25 is born at side frame portion 37a.
In the external gear 30 shown in Fig. 2, the width w of another side frame portion 37bbMore than side frame portion 37a's
Width wa.Thus, for the external gear 30 shown in Fig. 2, at this external gear 30 relative to shell
15 to the 1st direction dxThe rigidity of the load born during rotation than at this external gear 30 relative to shell
15 to the 2nd direction dyThe rigidity of the load born during rotation is high.
It is therefore preferable that the Eccentrically swinging gear device 10 with external gear 30 is encased in robot 1,
Thus can be by making this external gear 30 relative to shell 15 to the 1st direction dxRotate and at eccentric oscillating-type tooth
Cause in wheel apparatus 10 towards a direction d with reference to Fig. 6 explanationax、dbx、dcxRotate against, its knot
Far-end side arm 2ad can be lifted relative to near-end side arm 2ap or be tightened by securing member by fruit.In other words, excellent
The Eccentrically swinging gear device 10 with external gear 30 is encased in robot 1 by choosing, thus can pass through
Make this external gear 30 relative to shell 15 to the 2nd direction dyRotate and in Eccentrically swinging gear device 10
Cause towards the other direction d with reference to Fig. 6 explanationay、dby、dcyRotate against.Such by bias
During oscillating-type geared system 10 is applied to robot 1, external gear 30 is bearing inciting somebody to action far of high capacity
Side arm 2ad presents higher rigidity when lifting or tightened by securing member.On the other hand, external gear 30
Present, when when being fallen by far-end side arm 2ad or being loosened by securing member, the minimum matched with low-load
The rigidity of degree.
As above, in the external gear 30 and Eccentrically swinging gear device 10 of the 1st concrete example, root
According to external gear 30 relative to the difference of the direction of rotation of shell 15, external gear 30 has different rigidity.Cause
And, use this external gear 30 and Eccentrically swinging gear device 10, it is possible to be effectively prevented from by entirety
Rigidity strengthen cause large-scale re-quantization while, present with apply Eccentrically swinging gear device 10 corresponding
Enough rigidity.Thereby, it is possible to be effectively prevented external gear 30 and Eccentrically swinging gear device 10
Accidental injury, it is possible to effectively promote external gear 30 and the reliability of Eccentrically swinging gear device 10.
Then, the 2nd concrete example of the external gear 30 shown in explanatory diagram 3.In the 1st concrete example shown in Fig. 2,
It is formed with two through holes 35 between two adjacent through holes 33, but at the external gear of the 2nd concrete example
In 30, between two adjacent through holes 33, it is simply formed with a through hole 35.Outside 2nd concrete example
The quantity of the through hole 35 of gear 30 is different with the 1st concrete example, and other positions are similarly constituted.Cause
And, in the external gear 30 of the 2nd concrete example, run through compared to the side being positioned at side along virtual circumference vl
Hole 33a, the close opposite side through hole 33b being positioned at opposite side along virtual circumference vl of through hole 35.Additionally,
It is positioned at a through hole 35 and is positioned at the side through hole of side of this through hole 35 along virtual circumference vl
The width w of another side frame portion 37b between 33abMore than being positioned at this through hole 35 and along virtual circumference vl position
The width w of the side frame portion 37a between the opposite side through hole 33b of the opposite side of this through hole 35a。
For the external gear 30 of the 2nd concrete example shown in Fig. 3 of being made up of above structure, for outside
Gear 30 relative to shell 15 to the 1st direction dxThe rigidity ratio of the load born during rotation is at external tooth
Take turns 30 relative to shell 15 to the 2nd direction dyThe rigidity of the load born during rotation is high.Using so
The 2nd concrete example external gear 30 in the case of, it is possible to play and use the feelings of external gear of the 1st concrete example
The action effect that condition is same.
Then, the 3rd concrete example of the external gear 30 shown in explanatory diagram 4 and Fig. 5.Shown in Fig. 4 and Fig. 5
In the external gear 30 of the 3rd concrete example, between two adjacent through holes 33, it is formed with the 1st through hole 35a
With the 2nd through hole 35b the two through hole 35.But, as shown in Figure 4, two through holes 35a, 35b
The configuration medially of two through holes 33 it is positioned at along virtual circumference vl.Thus, at the external tooth of the 3rd concrete example
In wheel 30, the width w of another side frame portion 37bbWidth w with side frame portion 37aaIdentical.And, Fig. 4
The outline of the external gear 30 during shown vertical view is symmetrical relative to axis A, and this axis A is by adjacent
Midpoint cp in virtual circumference vl of two through holes 33 and central axis ca.
On the other hand, as shown in Figure 4 and Figure 5, between two through holes 33, rib 38 it is formed with.?
Between two through holes 33, compared with the opposite side through hole 33b being positioned at opposite side along virtual circumference vl,
Rib 38 is close to the through hole being positioned at side along virtual circumference vl.In the example shown in Figure 4, strengthen
Portion 38 is located on another side frame portion 37b.Rib 38 is the position of the rigidity for strengthening external gear 30.
As it is shown in figure 5, rib 38 is formed as the bellying for increasing thickness.That is, in Fig. 4 and Fig. 5 institute
In the 3rd concrete example shown, the thickness of external gear 30 is with respect to the midpoint cp between two through holes 33
Asymmetric with for the axis A of central axis ca.
As it is shown in figure 5, in the external gear 30 of the 3rd concrete example, the thickness t of another side frame portion 37bbCompare side
The thickness t of frame portion 37aaThick.Thus, in the external gear 30 shown in Fig. 4 and Fig. 5, and at external gear
30 relative to shell 15 to the 1st direction dxThe rigidity of the load born during rotation is compared, at external tooth
Take turns 30 relative to shell 15 to the 2nd direction dyThe rigidity of the load born during rotation is higher.Using this
In the case of the external gear 30 of the 3rd concrete example of sample, it is possible to play and use the external gear of the 1st concrete example
The action effect that situation is same.
In present embodiment described above, the through hole 33 passed for bent axle 25 is with central axis ca
Centered by virtual circumference vl on be formed multiple.External gear 30 has and passes through with respect to adjacent two
For the axis A of the central axis ca of the perforation 33 midpoint cp in virtual circumference vl and external gear 30 non-right
The structure claimed.Use this external gear 30, outside being born when external gear 30 rotates to a direction
The rigidity of power and for the external force born when external gear 30 rotates to other direction rigidity the most not
With.Thus, by there is high stiffness with external gear 30 in the direction of rotation bearing relatively large load
Mode external gear 30 is encased in Eccentrically swinging gear device 10, it is possible to effectively improve external gear 30
Durability.Its result, is not dependent on can holding with direction of rotation correspondingly Eccentrically swinging gear device 10
The size of the load being subject to, it is also possible to be effectively prevented the deformation of external gear 30.Thereby, it is possible to effectively prevent
Stop the unexpected damaged of external gear and realize the long lifetime of external gear 30.
Additionally, in the concrete example shown in Fig. 2 or Fig. 3, on external gear 30, confession bent axle 25 passes through
It is formed with through hole 35 between two through holes 33.Through hole 35 deviates from the midpoint cp of two through holes 35
Ground configuration.In other words, compared with the through hole 33a of side, through hole 35 is located adjacent to opposite side through hole
The position of 33b；This side through hole 33a is positioned at side along virtual circumference vl being arranged with through hole 33；
This opposite side through hole 33b is positioned at opposite side along virtual circumference vl.Thus, by using this through hole 35,
Can utilize very simple structure realize rigidity corresponding to the difference of direction of rotation different external gears
30.And, as this through hole 35, it is possible to utilize the hole that the post portion 21a for tooth rest 20 passes.?
In this case, it is possible to prevent from declining by being newly formed the rigidity that special hole causes external gear overall.
In other words, in the concrete example shown in Fig. 2 or Fig. 3, it is positioned in through hole 35 and two through holes 33
Along virtual circumference vl between the side through hole 33a of side and along radial direction extend another
The width w along virtual circumference vl of side frame portion 37bbRatio is positioned in through hole 35 and two through holes 33
Along virtual circumference vl between the opposite side through hole 33b of opposite side and along radial direction extend
The width w along virtual circumference vl of side frame portion 37aaGreatly.That is, through hole 35 it is positioned at and along virtual
The width w of the circumference vl another side frame portion 37b between the side through hole 33a of sidebMore through than being positioned at
Hole 35 and along virtual circumference vl side frame portion 37a's between the opposite side through hole 33b of opposite side
Width waGreatly.As long as utilizing through hole 35 to adjust the width w of frame portion 37a, 37ba、wb, it becomes possible to utilize
Very simple structure realize rigidity corresponding to the difference of direction of rotation different external gears 30.And,
The hole that the post portion 21a for shell 20 passes can be utilized as this through hole 35.In this case, energy
Enough prevent the rigidity by being newly formed the external gear entirety that special through hole 35 causes from declining.
Further, in the concrete example shown in Fig. 4 and Fig. 5, external gear 30 has its thickness with respect to two
Asymmetrical structure for the axis A of the midpoint cp and central axis ca of individual through hole 33.By making thickness
Asymmetricly change for predetermined axis A, it is possible to utilize very simple structure to realize rigidity
The external gear 30 different corresponding to the difference of direction of rotation.Such as, make along being arranged with through hole 33
Virtual circumference vl is in the thickness t of the region 37b of the opposite side of through hole 33bRatio is in this through hole 33
The thickness t of the region 37a of sideaGreatly.In this example embodiment, when shell 15 is fixing, at external gear
30 with the side of virtual circumference vl as front while, when rotating with opposite side as rear, thickness is thicker
Part strengthens the peripheral part of the through hole 33 run through for bent axle 25 from moving direction rear.That is, external gear
30 are given higher rigidity for the power born from bent axle 25 along with such rotation expeditiously.
On the other hand, rotate as front, with side as rear with the opposite side of virtual circumference vl at external gear 30
Time, it is possible to maintain the rigidity of the load born for this external gear 30.
Further, in shown in Fig. 4 and Fig. 5 a embodiment, on external gear 30, for bent axle 25
Through two through holes 33 be formed with rib 38.It is positioned at opposite side with along virtual circumference vl
Opposite side through hole 33b compares, and rib 38 is close to the side through hole being positioned at side along virtual circumference vl
33a.That is, rib 38 offsets from by the axis A of the midpoint cp and central axis ca of two through holes 33.
Use the setting of this rib 38, it is possible to utilize very simple structure to realize rigidity corresponding to direction of rotation
Difference and different external gears 30.Such as when shell 15 is fixing, at external gear 30 with virtual
While the side of circumference vl is front, when rotating with opposite side as rear, rib 38 is from bent axle 25
Moving direction rear strengthen peripheral part of the through hole 33 run through for bent axle 25.That is, external gear 30 quilt
Higher rigidity is given expeditiously for the power from bent axle 25 born along with such rotation.
On the other hand, rotate as front, with side as rear with the opposite side of virtual circumference vl at external gear 30
Time, it is possible to maintain the rigidity of the load born for this external gear 30.
Additionally, in the present embodiment, robot 1 has Eccentrically swinging gear device 10 and by partially
A pair arm 2ap, 2bp, 2cp, 2ad, 2bd, 2cd that heart oscillating-type geared system 10 connects.And,
External gear 30 for the internal tooth 16 engaged relative to the external tooth 39 having with external gear 30 shell 15 to
One direction dax、dbx、dcxThe rigidity ratio of the external force born when rotating against is in external gear 30 phase
For shell 15 to other direction day、dby、dcyThe rigidity of the external force born when rotating against is high.?
In this robot 1, fall the dynamic of another arm 2ad, 2bd, 2cd with relative to arm 2ap, 2bp, a 2cp
As time compare, external gear 30 relative to arm 2ap, 2bp, a 2cp lift another arm 2ad, 2bd,
The load born during the action of 2cd is bigger.Thus it is preferred that, at Eccentrically swinging gear device 10
To overcome the deadweight of another arm 2ad, 2bd, 2cd and by this another arm 2ad, 2bd, 2cd relative to one
During the mode action that arm 2ap, 2bp, 2cp lift, external gear 30 relative to shell 15 to a direction dax、
dbx、dcxRotate against.As long as such Eccentrically swinging gear device 10 being applied to robot 1, partially
The external gear 30 of heart oscillating-type geared system 10 just presents stronger when bearing the action of bigger load
Rigidity.Thus, it is possible to improve the durability of Eccentrically swinging gear device 10, seek eccentric oscillating-type tooth
The long lifetime of wheel apparatus 10.
Additionally, it is preferable that form geared system group, this geared system group comprises: the 1st eccentric oscillating-type
Geared system 10, it has for a direction dax、dbx、dcxOutside being born when rotating against
The rigidity ratio of power is for other direction day、dby、dcyThe rigidity of the external force born when rotating against
High external gear 30；And the 2nd Eccentrically swinging gear device 10, it has for a direction
dax、dbx、dcxThe rigidity ratio of the external force born when rotating against is for other direction day、dby、
dcyThe external gear 30 that the rigidity of the external force born when rotating against is low.By being pre-formed, to comprise the 1st inclined
The geared system group of heart oscillating-type geared system the 10 and the 2nd Eccentrically swinging gear device 10, it is possible to from the 1st
Eccentrically swinging gear device the 10 and the 2nd Eccentrically swinging gear device 10 selects suitable eccentric swing
Type geared system 10.Thereby, it is possible to be effectively prevented from the accidental injury of Eccentrically swinging gear device 10.
Additionally, this geared system group is preferably, the external gear 30 of the 1st Eccentrically swinging gear device 10
It is mutually isostructural gear with the external gear 30 of the 2nd Eccentrically swinging gear device 10, with positive and inverse reversing
Mode is encased in the Eccentrically swinging gear device 10 of correspondence.Namely it is preferred that one described above
Described in embodiment, it is possible to prepare the 1st eccentric pendulum by changing the both forward and reverse directions of identical external gear 30
Ejector half geared system the 10 and the 2nd Eccentrically swinging gear device 10.In this case, the 1st eccentric swing
If the external gear 30 of the external gear of type geared system 10 the 30 and the 2nd Eccentrically swinging gear device 10 is just changing
Opposite direction, is identical positive antisymmetry, it is possible to share whole building blocks.
It addition, above-mentioned embodiment can be applied various changes.
First, in the 3rd concrete example of Fig. 4 and Fig. 5, by forming the rib 38 as bellying,
The rigidity of external gear 30 is the most different with direction of rotation.But, it is not limited to this example, also
Can be in virtual circumference v1 being arranged with through hole 33, the portion of the either side in the both sides of through hole 33
Set up reinforcement structure things such as putting rib separately as rib 38.Additionally, in the virtual circumference being arranged with through hole 33
On vl, by the thickness of the part of the either side in the both sides of reduction through hole 33, it is possible to realizing external tooth
The light-weighted rigidity simultaneously making external gear 30 of wheel 30 is the most different with direction of rotation.
Additionally, illustrate Eccentrically swinging gear device 10 in the above-described embodiment to comprise the 1st external tooth
Wheel 30a and the example of the 2nd external gear 30b the two external gear 30.But, it is not limited to this example,
Eccentrically swinging gear device 10 can comprise only one external gear 30, or can also comprise more than three
External gear 30.
Further, illustrate Eccentrically swinging gear device 10 in the above-described embodiment and there are three bent axles
The example of 25, but be not limited to this example, can have two bent axles 25, it is possible to have four with
Upper bent axle 25.
Claims (11)
1. an external gear for Eccentrically swinging gear device, wherein,
This external gear possesses the multiple external tooths set centered by central axis,
The through hole passed for bent axle is formed multiple along the circumference centered by described central axis,
This external gear with respect to two adjacent through holes midpoint on described circumference and described in
The axis of mandrel line is asymmetricly formed.
The external gear of Eccentrically swinging gear device the most according to claim 1, wherein,
It is formed with through hole between said two through hole,
Described through hole configures along described circumference from the deviation of the described midpoint of said two through hole.
The external gear of Eccentrically swinging gear device the most according to claim 1, wherein,
It is formed with through hole between said two through hole,
Frame portion is positioned at passing through of side along described circumference in described through hole and said two through hole
Width ratio frame portion between perforation in described through hole and said two through hole along described circumference
Width between the through hole of opposite side is big.
The external gear of Eccentrically swinging gear device the most according to claim 1, wherein,
The thickness of described external gear is with respect to the described midpoint of said two through hole and described center
For the described axis of axis asymmetric.
The external gear of Eccentrically swinging gear device the most according to claim 1, wherein,
It is formed with rib between said two through hole,
Compared with the through hole being positioned at opposite side along described circumference, described rib is close to along described circle
It is positioned at the through hole of side week.
6. an external gear for Eccentrically swinging gear device, wherein,
This external gear is when being encased in described Eccentrically swinging gear device, for one
The rigidity of the power born when direction rotates and firm for the power born when rotating to other direction
Property is different.
7. an Eccentrically swinging gear device, wherein,
This Eccentrically swinging gear device possesses the external gear described in claim 1～6.
8. a robot, it includes the Eccentrically swinging gear device described in claim 7 and passes through institute
State two arms that Eccentrically swinging gear device connects,
Described external gear is at the internal tooth engaged relative to the described external tooth having with described external gear
The rigidity of the power that shell is born when rotating against to a direction than for described external gear relative to
The rigidity of the power that described shell was born when other direction rotates is high.
9. a using method for Eccentrically swinging gear device, it is the robot described in claim 8
In the using method of Eccentrically swinging gear device, wherein,
Use Eccentrically swinging gear device, thus at described Eccentrically swinging gear device with will be by institute
State the mode that an arm in two arms that Eccentrically swinging gear device connects lifts relative to another arm
During action, described external gear rotates against to one direction relative to described shell.
10. a geared system group, wherein,
This geared system group includes:
1st Eccentrically swinging gear device, it has for the power born when rotating to a direction
The rigidity external gear higher than the rigidity for the power born when rotating to other direction；And
2nd Eccentrically swinging gear device, it has for the power born when rotating to a direction
The rigidity external gear lower than the rigidity for the power born when rotating to other direction.
11. geared system groups according to claim 10, wherein,
The described external gear of described 1st Eccentrically swinging gear device and described 2nd eccentric oscillating-type gear
The described external gear of device is mutually isostructural gear, and the two is encased in the inclined of correspondence in positive and inverse reversing mode
In heart oscillating-type geared system.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2015091966A JP6573777B2 (en) | 2015-04-28 | 2015-04-28 | External gear, eccentric oscillating gear device, robot, and method of using eccentric oscillating gear device |
| JP2015-091966 | 2015-04-28 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106090134A true CN106090134A (en) | 2016-11-09 |
| CN106090134B CN106090134B (en) | 2020-06-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610252428.4A Active CN106090134B (en) | 2015-04-28 | 2016-04-21 | External gear, eccentric oscillating gear device, robot, and method for using eccentric oscillating gear device |
Country Status (5)
| Country | Link |
|---|---|
| JP (1) | JP6573777B2 (en) |
| KR (1) | KR102542805B1 (en) |
| CN (1) | CN106090134B (en) |
| DE (1) | DE102016205975B4 (en) |
| TW (1) | TWI678485B (en) |
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| CN106402285A (en) * | 2016-11-16 | 2017-02-15 | 李宗翰 | Eccentric swing type planetary gear speed reducer capable of increasing output torque |
| CN106438864A (en) * | 2016-11-16 | 2017-02-22 | 马桂骅 | Eccentric swing type planetary gear device capable of increasing output torque |
| CN110151033A (en) * | 2019-05-06 | 2019-08-23 | 谢奉先 | A kind of back, which helps, washes massager |
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| JP7530796B2 (en) * | 2020-10-05 | 2024-08-08 | ナブテスコ株式会社 | Reducer and eccentric gear of reducer |
| US11981375B2 (en) * | 2020-10-05 | 2024-05-14 | Nabtesco Corporation | Steering device |
| KR20220157300A (en) | 2021-05-20 | 2022-11-29 | 나부테스코 가부시키가이샤 | Transmission with anti-drop prevention function |
| US20230182286A1 (en) * | 2021-12-15 | 2023-06-15 | Nabtesco Corporation | Eccentric oscillation gear device, robot, and industrial machine |
| KR20230091041A (en) * | 2021-12-15 | 2023-06-22 | 나부테스코 가부시키가이샤 | Eccentric oscillation gear device, robot, industrial machine and method of assembling eccentric oscillation gear device |
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Also Published As
| Publication number | Publication date |
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| DE102016205975B4 (en) | 2023-12-21 |
| KR20160128221A (en) | 2016-11-07 |
| TW201638497A (en) | 2016-11-01 |
| JP2016205601A (en) | 2016-12-08 |
| KR102542805B1 (en) | 2023-06-14 |
| CN106090134B (en) | 2020-06-02 |
| TWI678485B (en) | 2019-12-01 |
| DE102016205975A1 (en) | 2016-11-03 |
| JP6573777B2 (en) | 2019-09-11 |
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