CN106090134B - External gear, eccentric oscillating gear device, robot, and method for using eccentric oscillating gear device - Google Patents

External gear, eccentric oscillating gear device, robot, and method for using eccentric oscillating gear device Download PDF

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Publication number
CN106090134B
CN106090134B CN201610252428.4A CN201610252428A CN106090134B CN 106090134 B CN106090134 B CN 106090134B CN 201610252428 A CN201610252428 A CN 201610252428A CN 106090134 B CN106090134 B CN 106090134B
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gear
external
eccentric oscillating
gear device
external gear
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CN106090134A (en
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中村江児
光野悠太
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Nabtesco Corp
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Nabtesco Corp
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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
    • 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

External gear, eccentric oscillating gear device, robot, and method for using eccentric oscillating gear device
Technical Field
The present invention relates to an external gear used for an eccentric oscillating gear device, a robot having the eccentric oscillating gear device, a method of using the eccentric oscillating gear device, and a gear device group including a plurality of eccentric oscillating gear devices.
Background
Eccentric oscillating type gear devices are well known, for example, as disclosed in JP 2014-190451 a. The eccentric oscillating type gear device includes a crankshaft having an eccentric body, an external gear through which the crankshaft is inserted, a carrier for holding the crankshaft and the external gear, and a housing for holding the carrier. In this eccentric oscillating type gear device, when rotation is input from the driving device to the crankshaft, the external gear is driven by the eccentric rotation of the eccentric body, and moves, that is, oscillates, on a circle centered on the central axis. At this time, the external teeth of the external gear mesh with the internal teeth of the housing, and the external gear rotates in a swinging manner with respect to the housing. As a result, by fixing one of the carrier and the housing, the rotation input to the crankshaft is output as the other of the carrier and the housing rotates. During operation of the gear device, particularly when used as a speed reducer, the external gear receives a large load.
However, when the gear device is used, the load applied to the external gear during one of the rotation in one direction and the rotation in the other direction tends to be always larger than the load applied to the external gear during the other rotation. Specifically, when the eccentric oscillating type gear device is applied to a device that raises an arm by rotating in one direction and lowers the arm by rotating in the other direction, for example, a robot, a device that tightens a fastener by rotating in one direction and loosens the fastener by rotating in the other direction, or the like, such a tendency is present. The magnitude of the load applied to the external teeth varies depending on the rotational direction, which causes a large stress to locally act on a specific position of the external gear, for example, a tooth surface on one side of the external teeth. When a large stress is locally applied to a specific position of the external gear, the lifetime needs to be set in consideration of the stress, and therefore, the set lifetime is shortened as compared with a case where the stress is not locally generated.
Disclosure of Invention
The present invention has been made in view of the above problems, and an object thereof is to extend the life of an external gear.
The external gear of the 1 st eccentric oscillating type gear device of the present invention has a plurality of external teeth provided around the central axis,
a plurality of through holes through which the crankshaft passes are formed on a circumference centering on the central axis,
the plurality of through holes are asymmetrically arranged with respect to an axis passing through a midpoint on the circumference and the central axis of two adjacent through holes.
In the 1 st eccentric oscillating gear device according to the present invention, the external gear may have a through hole formed between the two through holes, and the through hole may be disposed along the circumference so as to be offset from the midpoint of the two through holes.
In the 1 st eccentric oscillating gear device according to the present invention, the outer gear may have a through hole formed between the two through holes, and the width of the frame portion between the through hole and one of the two through holes located along the circumference may be larger than the width of the frame portion between the through hole and the other of the two through holes located along the circumference.
In the external gear of the 1 st eccentric oscillating gear device according to the present invention, the thickness of the external gear may be asymmetrical with respect to the axis passing through the midpoint of the two through-holes and the central axis.
In the 1 st eccentric oscillating gear device according to the present invention, the external gear may have a reinforcing portion formed between the two through-holes, and the reinforcing portion may be closer to the through-hole located on one side along the circumference than to the through-hole located on the other side along the circumference.
In a state where the external gear of the 2 nd eccentric oscillating gear device of the present invention is incorporated in the eccentric oscillating gear device, rigidity against a force received when the external gear rotates in one direction and rigidity against a force received when the external gear rotates in the other direction are different from each other.
The eccentric oscillating gear device of the present invention includes any one of the 1 st eccentric oscillating gear device external gear and the 2 nd eccentric oscillating gear device external gear of the present invention.
The eccentric oscillating type gear device of the present invention may further include a housing having internal teeth, a carrier supported by the housing, and a crankshaft rotatably supported by the carrier and having an eccentric body, wherein the external gear is engaged with the eccentric body of the crankshaft and oscillates and rotates with respect to the housing while meshing with the internal teeth.
The robot of the present invention includes the above-described eccentric oscillating type gear device of the present invention and two arms connected by the eccentric oscillating type gear device,
the rigidity of the external gear with respect to a force received when the external gear rotates in one direction relative to a housing having internal teeth that mesh with the external teeth of the external gear is higher than the rigidity with respect to a force received when the external gear rotates in the other direction relative to the housing.
The method of using the eccentric oscillating gear device according to the present invention is a method of using the eccentric oscillating gear device in the robot according to the present invention, in which the eccentric oscillating gear device is used so that the external gear rotates relative to the housing in the one direction when the eccentric oscillating gear device is operated to lift one of the two arms connected by the eccentric oscillating gear device relative to the other arm.
The gear device group of the present invention includes:
a 1 st eccentric oscillating gear device having an external gear having higher rigidity against a force received when rotating in one direction than a force received when rotating in the other direction; and
and a 2 nd eccentric oscillating gear device including an external gear having lower rigidity against a force received when rotating in one direction than that against a force received when rotating in the other direction.
In the gear train of the present invention, the external gear of the 1 st eccentric oscillating gear device and the external gear of the 2 nd eccentric oscillating gear device may be gears having the same structure, and both may be incorporated in the corresponding eccentric oscillating gear devices in a forward and reverse reciprocal manner.
The invention can improve the durability of the external gear and effectively prevent the external gear from being damaged. This can extend the life of the external gear.
Drawings
Fig. 1 is a diagram for explaining an embodiment of the present invention, and is a diagram showing an eccentric oscillating gear device including an external gear in a cross section passing through a rotation axis of the eccentric oscillating gear device.
Fig. 2 is a plan view showing an example of an external gear incorporated in an eccentric oscillating type gear device.
Fig. 3 is a plan view showing another example of an external gear incorporated in an eccentric oscillating type gear device.
Fig. 4 is a plan view showing still another example of an external gear incorporated in an eccentric oscillating type gear device.
Fig. 5 is a sectional view taken along line V-V of fig. 4.
Fig. 6 is a perspective view showing a robot as an application example of the eccentric oscillating type gear device.
Detailed Description
Hereinafter, an embodiment of the present invention will be described with reference to the drawings. Fig. 1 is a longitudinal sectional view showing an eccentric oscillating type gear device. Fig. 2 to 5 are views showing some specific examples of the external gear of the present invention. Fig. 6 is a perspective view showing a robot as an application example of the eccentric oscillating type gear device.
As shown in fig. 1, the eccentric oscillating type gear device 10 has a housing 15, a carrier 20, a crankshaft 25, and two external gears 30a, 30 b. The housing 15 has internal teeth 16. The crankshaft 25 drives the two external gears 30a, 30b and is supported on the carrier 20. In the eccentric oscillating type gear device 10, the external teeth 39 of the external gears 30a and 30b mesh with the internal teeth 16 of the housing 15, whereby the carrier 20 rotates about the rotation axis amIs centrally relatively rotatable with respect to the housing 15.
The carrier 20 has a 1 st plate 21 and a 2 nd plate 22 fixed to each other with fasteners. The 1 st plate 21 has pillar portions 21 a. The 1 st plate 21 is connected to the 2 nd plate 22 by a pillar 21 a. A space for accommodating the external gears 30a, 30b is formed between the 1 st plate 21 and the 2 nd plate 22 by the column portion 21 a. The pillar portion 21a passes through a through hole 35, described later, of the external gears 30a, 30 b. The carrier 20 and the housing 15 are supported by a pair of angular ball bearings 12 so as to be rotatable about a rotation axis amAre connected in a centrally rotating manner.
The carrier 20 is formed with a support hole 23 penetrating the 1 st plate 21 and the 2 nd plate 22. The support hole 23 is arranged at the rotation axis amThree are provided at equal intervals on the circumference as the center. The crankshaft 25 is rotatably supported by the 1 st cylindrical roller bearing 13a and the 2 nd cylindrical roller bearing 13b in each of the three support holes 23. In addition, the rotation axis a of the crankshaft 25cAnd the relative rotation axis a of the housing 15 with respect to the carrier 20mParallel. Hereinafter, the relative rotation axis a of the housing 15 with respect to the carrier 20 will be describedmThe parallel direction being referred to as the "axial direction da", will be associated with the relative rotational axis a of the housing 15 with respect to the carrier 20mThe orthogonal direction being referred to as "radial direction dr”。
The crankshaft 25 has a radial direction daTwo eccentric bodies 26a, 26b and an input gear 27 arranged above. Each eccentric body 26a, 26b has a disc shape or a circleCylindrical outer shape. Central axis a of the two eccentric bodies 26a, 26bca、acbAbout the axis of rotation a of the crankshaft 25cAre centrosymmetrically eccentric. The two external gears 30a, 30b are arranged in the axial direction d in the space formed between the 1 st plate 21 and the 2 nd plate 22 of the carrier 20aAre arranged in an upper row. A through-hole 33 through which the crankshaft 25 passes is formed in each of the external gears 30a and 30 b. The through hole 33 of the external gear 30a accommodates the eccentric body 26a and the 3 rd cylindrical roller bearing 13c, and the through hole 33 of the external gear 30b accommodates the eccentric body 26b and the 4 th cylindrical roller bearing 13 d. The through-hole 33 is provided in three in each of the external gears 30a and 30b corresponding to the three crankshafts 25. The number of teeth of the external gears 30a, 30b is smaller than that of the internal teeth 16 of the housing 15 (only one smaller as an example). Further, the outer diameters of the external gears 30a, 30b are smaller than the inner diameters of the internal teeth 16 of the outer case 15.
In the eccentric oscillating gear device 10 having the above configuration, when the torque from the driving device 5 such as the motor is transmitted to the input gear 27, the crankshaft 25 rotates about the rotation axis acThe rotation is performed as a center. At this time, the 1 st eccentric body 26a and the 2 nd eccentric body 26b eccentrically rotate. Thereby, the external gears 30a, 30b are rotated around the relative rotation axis amAnd (4) moving. At this time, the external teeth 39 of the external gears 30a, 30b mesh with the internal teeth 16 of the housing 15. As a result, the external gears 30a, 30b rotate in an oscillating manner with respect to the housing 15, and the carrier 20 supporting the external gears 30a, 30b via the crankshaft 25 also rotates on the rotation axis amIs a central axis that rotates relative to the housing 15.
The eccentric oscillating gear device 10 can be applied as a reduction gear to a revolving body constituting the robot 1, revolving parts 2a, 2b, and 2c (see fig. 6) such as wrist joints, and revolving parts of various machine tools. In the example shown in fig. 6, by fixing the housing 15 of the eccentric oscillating gear device 10 to one of the proximal side arms (proximal side arms) 2ap, 2bp, 2cp and the distal side arms (distal side arms) 2ad, 2bd, 2cd connected to each other so as to be able to rotate, and fixing the carrier 20 of the eccentric oscillating gear device 10 to the other, the distal side arms 2ad, 2bd, 2cd can be rotated with respect to the proximal side arms 2ap, 2bp, 2cp with a large torque, and the relative positions of the distal side arms 2ad, 2bd, 2cd with respect to the proximal side arms 2ap, 2bp, 2cp can be controlled with high accuracy.
However, when the carrier 20 and the housing 15 rotate relative to each other, the external gears 30a, 30b receive a load from the internal teeth 16 meshing with the external teeth 39 around the external teeth 39. The external gears 30a and 30b receive a load from the crankshaft 25 penetrating the through-hole 33 around the through-hole 33. In particular, in the eccentric rocking type gear device 10 used as a transmission, a load is large. The load received by the external gears 30a, 30b may cause deformation of the external gears 30a, 30b, and even damage to the external gears 30a, 30 b. Further, as described in the background section, when the eccentric oscillating type gear device 10 is applied, the load applied to the external gears 30a and 30b during one of the rotation in one direction and the rotation in the other direction tends to be larger than the load applied to the external gears 30a and 30b during the other operation.
For example, in the 1 st turning part 2a of the robot 1 shown in fig. 6, the carrier 20 and the housing 15 are oriented in one direction daxWhen the distal end side arm 2ad is relatively rotated, the distal end side arm 2ad is lifted up with respect to the proximal end side arm 2ap against the self weight of the distal end side arm 2 ad. On the other hand, the carrier 20 and the casing 15 are oriented in the other direction dayWhen the rotation is performed, the distal-end side arm 2ad is lowered relative to the proximal-end side arm 2 ap. Similarly, in the 2 nd turning part 2b of the robot 1, the carrier 20 and the housing 15 are oriented in the one direction dbxWhen the carriage 20 and the housing 15 rotate relative to each other, the distal end side arm 2bd is lifted up and moved in the other direction dbyWhen the rotation is performed, the distal end side arm 2bd is lowered. Therefore, in the eccentric oscillating type gear device 10 to which the 1 st and 2 nd turning parts 2a and 2b are applied, the external gears 30a and 30b are moved in one direction d between the carrier 20 and the housing 15ax、dbxThe load applied during the relative rotation is larger than the load applied to the external gears 30a and 30b in the other direction d between the carrier 20 and the housing 15ay、dbyThe load applied during the relative rotation is large.
Further, in the case where a tool for tightening a fastener is attached to the tip end of the robot 1, the carrier 20 and the housing 15 are passed through the 3 rd turning part 2c of the robot 1 in one direction dcxRelative rotation enables tightening of the fastener. On the other hand, via the carrier 20 and the housing 15 in the other direction dcyRelative rotation can loosen the fastener. Therefore, in the eccentric oscillating type gear device 10 to which the 3 rd turning portion 2c is applied, the external gears 30a and 30b are moved in one direction d between the housing 15 and the carrier 20cxThe load applied during the relative rotation is larger than the load applied to the external gears 30a and 30b in the other direction d between the housing 15 and the carrier 20cyRelative to the load experienced during rotation.
In this way, the load applied to the external gear changes in the rotational direction, which means that a large stress is intensively applied to a specific position of the external gear, for example, a tooth surface on one side of the external teeth. When a large stress is locally generated in the external gear, the lifetime needs to be set in consideration of the stress, and therefore, the set lifetime is shortened as compared with a case where the stress is not locally generated.
In addition, when the gear device 10 is applied, the time period during which the carrier 20 and the housing 15 are relatively rotated in one direction is much longer than the time period during which they are relatively rotated in the other direction. In this case, stress acts on a specific position of the external gear, for example, a tooth surface on one side of the external gear, for a long time. In this example, the lifetime needs to be set in consideration of the stress, and therefore, the set lifetime is shortened as compared with a case where the stress does not occur for a long time.
Therefore, in the eccentric oscillating type gear device 10 described here, the external gears 30a and 30b face each other in one direction dax、dbx、dcxThe rigidity against the external force received when the external gears 30a and 30b relatively rotate in the other direction is different from the rigidity against the external force received when the external gears relatively rotate in the other direction. That is, not only the rigidity of the external gears 30a, 30b as a whole is improved, but also the rigidity against a load that may cause an accidental damage, that is, the rigidity against a large stress generated in one rotational direction is improved. By improving the rigidity, the stress generated in the external gears 30a, 30b can be reduced. This makes it possible to efficiently impart appropriate rigidity to the external gears 30a and 30b in accordance with the application of the eccentric oscillating gear device 10 while avoiding a large and large-scale weight increase of the external gears 30a and 30b and the eccentric oscillating gear device 10, thereby extending the life of the external gears 30a and 30 b.
Hereinafter, the external gears 30a and 30b will be described in more detail. In addition, the 1 st external gear 30a and the 2 nd external gear 30b may be the same gear, and may be out of phase by 180 ° only in a state of being incorporated into the eccentric oscillating type gear device 10 (only from the relative rotation axis a)mThe eccentricity of the eccentricity is in the opposite direction). Therefore, the 1 st external gear 30a and the 2 nd external gear 30b are commonly explained using the reference numeral "30", and the 1 st external gear 30a and the 2 nd external gear 30b are not distinguished from each other for explanation.
First, in the specific example shown in fig. 2 to 5 described below, the external gear 30 has an annular main body portion 31 and external teeth 39 arranged along the peripheral edge of the annular main body portion 31. As described above, the external teeth 39 mesh with the internal teeth 16 of the housing 15. Three through holes 33 through which the crankshafts 25 are respectively inserted are formed in the annular body portion 31 of the external gear 30. The three through-holes 33 are arranged at equal intervals on a virtual circumference vl around the central axis ca of the external gear 30. The external gear 30 is formed asymmetrically with respect to the axis a in a plan view, and the axis a passes through a midpoint cp and a center axis ca of the virtual circumference vl of the two adjacent through-holes 33.
In addition, the center axis ca of the external gear 30 is formed as the arrangement center of the external teeth 39. In a state where the external gear 30 is incorporated in the eccentric rocking type gear device 10, the center axis ca and the relative rotation axis a of the housing 15 with respect to the carrier 20mParallel. However, the central axis ca of the external gear 30 is from the relative rotation axis amOffset by a distance corresponding to the eccentric amount of the eccentric bodies 26a, 26b of the crankshaft 25.
First, a concrete example 1 of the external gear 30 shown in fig. 2 will be described. In the external gear 30 according to example 1, a through hole 35 is formed in the annular body portion 31 of the external gear 30. The through hole 35 is a portion through which the pillar portion 21a of the carrier 20 passes (see fig. 1). The through-hole 35 is usually provided in the carrier 20 configured to join the 1 st plate 21 and the 2 nd plate 22 via the pillar portion 21 a. As shown in fig. 2, the through-hole 35 is formed along the virtual circumference vl at a position between two adjacent through-holes 33(33a, 33 b). In particular, in the example 1 shown in fig. 2, a 1 st through hole 35a and a 2 nd through hole 35b are formed between every two adjacent through holes 33. The two through holes 35a and 35b are arranged offset from the midpoint cp of the two through holes 33(33a and 33b) on the virtual circumference vl. That is, the two through holes 35a and 35b are close to the other through hole 33b on the other side with respect to the one through hole 33a on the one side on the virtual circumference vl. However, in the annular body portion 31 of the external gear 30, the structures between any two through holes 33 adjacent to each other on the virtual circumference vl are the same. That is, the entire annular body portion 31 of the external gear 30 is rotationally symmetrical, more specifically, three-fold symmetrical about the center axis ca thereof.
As shown in fig. 2, in the external gear 30 having this configuration, the annular body portion 31 has a larger portion on the other side of the through-hole 33 along the virtual circumference vl than on the one side. In other words, the width w of the other side frame portion 37b (37) defined by the through hole 35(35a) located on the other side of the through hole 33 along the virtual circumference vl and the one through hole 33bIs larger than the width w of a side frame part 37a (37) divided by the through hole 33 and a through hole 35(35b) located on one side of the through hole 33 along a virtual circumference vla。
The external gear 30 is oriented in the 1 st direction (counterclockwise direction in fig. 2) d with respect to the fixed housing 15xRotation in the 1 st direction (counterclockwise in FIG. 2) dxWith one side along the virtual circumference vl being forward and the other side along the virtual circumference vl being rearward. At this time, the external gear 30 operates together with the carrier 20 via the crankshaft 25 positioned in the through-hole 33. Therefore, the external gear 30 receives a reaction force in the direction opposite to the rotation direction from the crankshaft 25. That is, the external gear 30 is oriented in the 1 st direction dxDuring rotation, a reaction force from the crankshaft 25 is received by the other side frame portion 37b, which is a region located on the other side of the through-hole 33 along the virtual circumference vl. In contrast, the external gear 30 is oriented in the 2 nd direction (clockwise direction in fig. 2) d with respect to the fixed housing 15, with the other side along the virtual circumference vl being forward and the one side along the virtual circumference vl being backwardyDuring rotation, the external gear 30 receives a reaction force from the crankshaft 25 at a region located on one side of the through-hole 33 along the virtual circumference vl, that is, at the side frame portion 37 a.
In the external gear 30 shown in fig. 2Width w of the other side frame portion 37bbIs larger than the width w of one side frame part 37aa. Therefore, in the external gear 30 shown in fig. 2, the external gear 30 is aligned in the 1 st direction d with respect to the housing 15xThe rigidity ratio of the load received during rotation with respect to the direction d of the external gear 30 in the 2 nd direction with respect to the housing 15yThe rigidity of the load applied during rotation is high.
Therefore, it is preferable that the eccentric oscillating type gear device 10 having the external gear 30 is incorporated in the robot 1 so that the external gear 30 can be moved in the 1 st direction d with respect to the housing 15xThe rotation is induced in the eccentric oscillating type gear device 10 toward the one direction d described with reference to fig. 6ax、dbx、dcxAs a result of the relative rotation, the distal side arm 2ad can be lifted relative to the proximal side arm 2ap or the fastener can be tightened. In other words, it is preferable that the eccentric oscillating type gear device 10 having the external gear 30 is incorporated in the robot 1 so that the external gear 30 can be moved in the 2 nd direction d with respect to the housing 15yRotates to cause the eccentric oscillating type gear device 10 to face the other direction d described with reference to fig. 6ay、dby、dcyRelative rotation of the two. In such application of the eccentric oscillating type gear device 10 to the robot 1, the external gear 30 exhibits high rigidity when the distal-end side arm 2ad is lifted or a fastener is tightened under a high load. On the other hand, the external gear 30 exhibits a minimum rigidity matching a low load when the distal side arm 2ad is lowered or the fastener is loosened.
As described above, in the external gear 30 and the eccentric oscillating type gear device 10 according to example 1, the external gear 30 has different rigidity depending on the rotation direction of the external gear 30 with respect to the housing 15. Therefore, with the external gear 30 and the eccentric oscillating gear device 10, it is possible to effectively avoid a large weight due to the overall rigidity reinforcement and to exhibit sufficient rigidity according to the application of the eccentric oscillating gear device 10. This can effectively prevent accidental damage to the external gear 30 and the eccentric oscillating gear device 10, and can effectively improve the reliability of the external gear 30 and the eccentric oscillating gear device 10.
Next, a specific example 2 of the external gear 30 shown in fig. 3 will be described. In the example 1 shown in fig. 2, two through holes 35 are formed between two adjacent through holes 33, but in the external gear 30 in the example 2, only one through hole 35 is formed between two adjacent through holes 33. The number of the through holes 35 of the external gear 30 in the specific example 2 is different from that in the specific example 1, and other portions are configured similarly. Therefore, in the external gear 30 according to example 2, the through hole 35 is closer to the other-side through hole 33b located on the other side along the virtual circumference vl than to the one-side through hole 33a located on the one side along the virtual circumference vl. The width w of the other side frame portion 37b between the one through hole 35 and the one through hole 33a located on one side of the through hole 35 along the virtual circumference vlbA width w larger than that of the one side frame portion 37a between the through hole 35 and the other side through hole 33b located on the other side of the through hole 35 along the virtual circumference vla。
In the external gear 30 of the specific example 2 shown in fig. 3 configured as described above, the external gear 30 is oriented in the 1 st direction d with respect to the housing 15xThe rigidity ratio of the load received during rotation with respect to the direction d of the outer gear 30 in the 2 nd direction with respect to the housing 15yThe rigidity of the load applied during rotation is high. When the external gear 30 according to the 2 nd specific example is used, the same operational effects as those in the case of using the external gear according to the 1 st specific example can be obtained.
Next, a specific example 3 of the external gear 30 shown in fig. 4 and 5 will be described. In the external gear 30 of the specific example 3 shown in fig. 4 and 5, two through holes 35, i.e., the 1 st through hole 35a and the 2 nd through hole 35b, are formed between two adjacent through holes 33. However, as shown in fig. 4, the two through holes 35a and 35b are disposed along the virtual circumference vl at the middle of the two through holes 33. Therefore, in the external gear 30 according to concrete example 3, the width w of the other side frame portion 37bbAnd a width w of the one side frame portion 37aaThe same is true. The outer contour of the external gear 30 in the plan view shown in fig. 4 is symmetrical with respect to the axis a passing through the center point cp and the center axis ca of the two adjacent through holes 33 on the virtual circumference vl.
On the other hand, as shown in fig. 4 and 5, a reinforcing portion 38 is formed between the two through-holes 33. Between the two through-holes 33, the reinforcing portion 38 is closer to the through-hole on one side along the virtual circumference vl than to the through-hole 33b on the other side along the virtual circumference vl. In the example shown in fig. 4, the reinforcing portion 38 is provided on the other side frame portion 37 b. The reinforcing portion 38 is a portion for reinforcing the rigidity of the external gear 30. As shown in fig. 5, the reinforcement portion 38 may be formed as a bulging portion for increasing the thickness. That is, in the specific example 3 shown in fig. 4 and 5, the thickness of the external gear 30 is asymmetrical with respect to the axis a passing through the center point cp between the two through-holes 33 and the center axis ca.
As shown in fig. 5, in the external gear 30 according to example 3, the thickness t of the other side frame portion 37bbIs thicker than the thickness t of one side frame portion 37aaIs thick. Therefore, in the external gear 30 shown in fig. 4 and 5, the external gear 30 faces the 1 st direction d with respect to the housing 15xThe rigidity with respect to the load received during rotation is higher in the 2 nd direction d of the external gear 30 with respect to the housing 15yThe rigidity of the load applied during rotation is high. When the external gear 30 according to the 3 rd specific example is used, the same operational effects as those in the case of using the external gear according to the 1 st specific example can be obtained.
In the present embodiment described above, a plurality of through holes 33 through which the crankshaft 25 passes are formed on the virtual circumference vl around the center axis ca. The external gear 30 has an asymmetrical structure with respect to a midpoint cp on the virtual circumference vl through the adjacent two through holes 33 and an axis a of the central axis ca of the external gear 30. With this external gear 30, the rigidity against external force received when the external gear 30 rotates in one direction and the rigidity against external force received when the external gear 30 rotates in the other direction are different. Therefore, by incorporating the external gear 30 into the eccentric oscillating type gear device 10 in such a manner that the external gear 30 has high rigidity in the rotational direction that receives a relatively large load, the durability of the external gear 30 can be effectively improved. As a result, the deformation of the external gear 30 can be effectively prevented without depending on the magnitude of the load that can be borne by the eccentric oscillating gear device 10 according to the rotation direction. This effectively prevents accidental breakage of the external gear, and can prolong the life of the external gear 30.
In the specific example shown in fig. 2 or 3, a through hole 35 is formed between two through holes 33 in the external gear 30 through which the crankshaft 25 passes. The through-holes 35 are disposed offset from the midpoint cp of the two through-holes 35. In other words, the through-hole 35 is located closer to the other-side through-hole 33b than to the one-side through-hole 33 a; the one-side through-hole 33a is located on one side along a virtual circumference vl in which the through-holes 33 are arranged; the other-side through-hole 33b is located on the other side along the virtual circumference vl. Therefore, by using the through hole 35, the external gear 30 having different rigidity depending on the rotation direction can be realized with a very simple configuration. The through hole 35 can be a hole through which the pillar portion 21a of the carrier 20 passes. In this case, it is possible to prevent the rigidity of the entire external gear from being lowered due to the newly formed dedicated hole.
In other words, in the specific example shown in fig. 2 or 3, the width w along the virtual circumference vl of the other side frame portion 37b, which is located between the through hole 35 and the one through hole 33a located on one side along the virtual circumference vl of the two through holes 33 and extends in the radial directionbA width w along the virtual circumference vl of the one side frame portion 37a extending in the radial direction between the through hole 35 and the other side through hole 33b located on the other side along the virtual circumference vl of the two through holes 33aIs large. That is, the width w of the other side frame portion 37b between the through hole 35 and the one side through hole 33a located on one side along the virtual circumference vlbIs wider than the width w of the one side frame portion 37a between the through hole 35 and the other side through hole 33b along the virtual circumference vlaIs large. The width w of the frame portions 37a, 37b can be adjusted by the through hole 35a、wbIt is possible to realize the external gear 30 having the rigidity different according to the difference in the rotation direction with a very simple structure. A hole through which the column portion 21a of the housing 20 is inserted may be used as the through hole 35. In this case, the through hole 35 dedicated to the new formation can be prevented from causing the entire external gear to be just formedThe sexual performance is reduced.
In the specific example shown in fig. 4 and 5, the external gear 30 has a structure in which the thickness thereof is asymmetrical with respect to the axis a passing through the center point cp and the center axis ca of the two through holes 33. By changing the thickness asymmetrically with respect to the predetermined axis a, it is possible to realize the external gear 30 having the rigidity different depending on the difference in the rotational direction with a very simple structure. For example, the thickness t of the region 37b on the other side of the through-hole 33 along the virtual circumference vl in which the through-hole 33 is arrangedbA thickness t of the region 37a on the side of the through-hole 33aIs large. In this example, when the outer gear 30 rotates with one side of the virtual circumference vl as the front and the other side as the rear in a state where the housing 15 is fixed, the thick portion reinforces the peripheral portion of the through hole 33 through which the crankshaft 25 passes from the rear in the moving direction. That is, the external gear 30 is imparted with high rigidity with high efficiency against the force received from the crankshaft 25 with such rotation. On the other hand, when the external gear 30 rotates with the other side of the virtual circumference vl being the front and the one side being the rear, the rigidity against the load received by the external gear 30 can be maintained.
In the embodiment shown in fig. 4 and 5, a reinforcing portion 38 is formed between the two through holes 33 in the external gear 30 through which the crankshaft 25 passes. The reinforcement portion 38 is closer to the one-side through-hole 33a on the one side along the virtual circumference vl than to the other-side through-hole 33b on the other side along the virtual circumference vl. That is, the reinforcing portion 38 is offset from the axis a passing through the center points cp of the two through holes 33 and the center axis ca. With the provision of the reinforcement portion 38, the external gear 30 having different rigidity depending on the rotation direction can be realized with a very simple configuration. For example, when the outer gear 30 rotates with one side of the virtual circumference vl as the front side and the other side as the rear side in a state where the housing 15 is fixed, the reinforcing portion 38 reinforces the peripheral portion of the through hole 33 through which the crankshaft 25 passes from the rear side in the moving direction of the crankshaft 25. That is, the external gear 30 is imparted with high rigidity with high efficiency against the force from the crankshaft 25 received with such rotation. On the other hand, when the external gear 30 rotates with the other side of the virtual circumference vl being the front and the one side being the rear, the rigidity against the load received by the external gear 30 can be maintained.
In the present embodiment, the robot 1 includes the eccentric oscillating gear device 10 and the pair of arms 2ap, 2bp, 2cp, 2ad, 2bd, 2cd connected to each other by the eccentric oscillating gear device 10. The external gear 30 is disposed in one direction d with respect to the housing 15 having the internal teeth 16 engaged with the external teeth 39 of the external gear 30ax、dbx、dcxThe rigidity ratio of the external force applied during the relative rotation is directed to the other direction d of the external gear 30 relative to the housing 15ay、dby、dcyThe rigidity against external force applied during rotation is high. In the robot 1, the load applied to the external gear 30 during the operation of raising the one arm 2ap, 2bp, 2cp and the other arm 2ad, 2bd, 2cd is greater than during the operation of lowering the other arm 2ad, 2bd, 2cd with respect to the one arm 2ap, 2bp, 2 cp. Therefore, when the eccentric oscillating type gear device 10 is operated to lift the other arm 2ad, 2bd, 2cd from the one arm 2ap, 2bp, 2cp against the self weight of the other arm 2ad, 2bd, 2cd, it is preferable that the external gear 30 is moved in one direction d with respect to the housing 15ax、dbx、dcxAnd (4) relatively rotating. When the eccentric oscillating gear device 10 is applied to the robot 1, the external gear 30 of the eccentric oscillating gear device 10 exhibits high rigidity when it is operated under a large load. Therefore, the durability of the eccentric oscillating gear device 10 can be improved, and the life of the eccentric oscillating gear device 10 can be prolonged.
Further, it is preferable to form a gear device set including: 1 st eccentric oscillating type gear device 10 having a pair of gears facing in one direction dax、dbx、dcxThe rigidity ratio of the external force received during relative rotation to the other direction day、dby、dcyAn external gear 30 having high rigidity against an external force applied during rotation; and a 2 nd eccentric oscillating type gear device 10 having a pair of gears facing in one direction dax、dbx、dcxRigidity against external force applied during rotationIs directed to the other direction day、dby、dcyThe external gear 30 has low rigidity against an external force applied during rotation. By forming a gear device group including the 1 st eccentric rocking gear device 10 and the 2 nd eccentric rocking gear device 10 in advance, an appropriate eccentric rocking gear device 10 can be selected from the 1 st eccentric rocking gear device 10 and the 2 nd eccentric rocking gear device 10. This can effectively avoid accidental damage to the eccentric rocking gear device 10.
In the gear train, it is preferable that the external gear 30 of the 1 st eccentric oscillating gear device 10 and the external gear 30 of the 2 nd eccentric oscillating gear device 10 are gears having the same configuration, and are incorporated in the corresponding eccentric oscillating gear devices 10 so as to be reversed in the normal direction. That is, as described in the above-described embodiment, it is preferable that the 1 st eccentric oscillating gear device 10 and the 2 nd eccentric oscillating gear device 10 be prepared by changing the forward and backward directions of the same external gear 30. In this case, the external gear 30 of the 1 st eccentric oscillating gear device 10 and the external gear 30 of the 2 nd eccentric oscillating gear device 10 are in the same front-back symmetry if the front-back directions are changed, and all the components can be shared.
In addition, various modifications can be made to the above-described embodiments.
First, in the specific example 3 of fig. 4 and 5, the rigidity of the external gear 30 is different depending on the rotation direction by forming the reinforcing portion 38 as a bulging portion. However, the present invention is not limited to this example, and a reinforcing structure such as a rib may be provided as the reinforcing portion 38 in a portion on either side of the through-hole 33 on the virtual circumference v1 in which the through-hole 33 is arranged. In addition, by reducing the thickness of any one of the both sides of the through-hole 33 in the virtual circumference vl in which the through-hole 33 is arranged, the rigidity of the external gear 30 can be made different depending on the rotation direction while achieving weight reduction of the external gear 30.
In the above-described embodiment, the example in which the eccentric oscillating type gear device 10 includes two external gears 30, that is, the 1 st external gear 30a and the 2 nd external gear 30b, is shown. However, the present invention is not limited to this example, and the eccentric oscillating type gear device 10 may include only one external gear 30, or may include three or more external gears 30.
In the above-described embodiment, the example in which the eccentric oscillating gear device 10 has three crankshafts 25 is shown, but the present invention is not limited to this example, and two crankshafts 25 may be provided, or four or more crankshafts 25 may be provided.

Claims (9)

1. An outer gear of an eccentric oscillating type gear device,
the external gear is provided with: an annular main body portion configured to be rotationally symmetrical about a central axis, and a plurality of external teeth provided along a peripheral edge of the annular main body portion about the central axis,
a plurality of through holes through which the crankshaft passes are formed in the annular main body along a circumference centered on the central axis,
it is characterized in that the preparation method is characterized in that,
the annular main body portion is formed asymmetrically with respect to an axis passing through the center point on the circumference and the center axis of the two adjacent through-holes.
2. The outer gear of the eccentric oscillating type gear device according to claim 1,
a through hole is formed between the two through holes,
the through hole is disposed along the circumference so as to be offset from the midpoint of the two through holes.
3. The outer gear of the eccentric oscillating type gear device according to claim 1,
a through hole is formed between the two through holes,
the frame portion has a larger width between the through hole and one of the two through holes located on one side along the circumference than a width between the through hole and one of the two through holes located on the other side along the circumference.
4. The outer gear of the eccentric oscillating type gear device according to claim 1,
the thickness of the outer gear is asymmetrical with respect to the axis passing through the midpoints of the two through holes and the central axis.
5. The outer gear of the eccentric oscillating type gear device according to claim 1,
a reinforcing part is formed between the two through holes,
the reinforcement portion is close to the through-hole on one side along the circumference, as compared to the through-hole on the other side along the circumference.
6. An outer gear of an eccentric oscillating type gear device,
the external gear is provided with: an annular main body portion configured to be rotationally symmetrical about a central axis, and a plurality of external teeth provided along a peripheral edge of the annular main body portion about the central axis,
it is characterized in that the preparation method is characterized in that,
in a state where the external gear is incorporated in the eccentric oscillating type gear device, rigidity with respect to a force received when the external gear rotates in one direction and rigidity with respect to a force received when the external gear rotates in the other direction are different.
7. An eccentric oscillating type gear device, wherein,
the eccentric oscillating gear device includes the external gear according to claims 1 to 6.
8. A robot comprising the eccentric oscillating gear device of claim 7 and two arms connected by the eccentric oscillating gear device,
the rigidity of the external gear with respect to a force received when the external gear rotates in one direction relative to a housing having internal teeth that mesh with the external teeth of the external gear is higher than the rigidity with respect to a force received when the external gear rotates in the other direction relative to the housing.
9. A method of using an eccentric oscillating gear device in a robot according to claim 8, wherein,
the eccentric oscillating gear device is used so that the external gear rotates relative to the housing in the one direction when the eccentric oscillating gear device is operated so as to lift one of the two arms connected by the eccentric oscillating gear device relative to the other arm.
CN201610252428.4A 2015-04-28 2016-04-21 External gear, eccentric oscillating gear device, robot, and method for using eccentric oscillating gear device Active CN106090134B (en)

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JP6573777B2 (en) 2019-09-11
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