CN109707799A - Deceleration device - Google Patents
Deceleration device Download PDFInfo
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- CN109707799A CN109707799A CN201810762997.2A CN201810762997A CN109707799A CN 109707799 A CN109707799 A CN 109707799A CN 201810762997 A CN201810762997 A CN 201810762997A CN 109707799 A CN109707799 A CN 109707799A
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- deceleration device
- guard block
- central tube
- wheel carrier
- substrate
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Abstract
The project that the present invention mentions is to provide a kind of technology of lightness that can be realized deceleration device.Deceleration device (10) of the invention has: shell (40) is provided with internal gear (34)；External gear (32), is engaged with internal gear；And wheel carrier (36), it is configured at the axial side of external gear and is rotatably freely supported on shell, the deceleration device is provided in its radial central portion along axial direction (X) perforative hollow part (24), wherein, the deceleration device has: central tube (42), it is configured to through external gear and wheel carrier, and constitutes hollow part；And guard block (44); it is configured at position adjacent with the end of central tube in the axial direction; and constitute the end of hollow part; guard block is fixed on wheel carrier; and guard block is configured to, relative to centered on the central axis of internal gear (La) and the circumscribed circle of the maximum diameter (Ra) external with wheel carrier falls in its radially inner side.
Description
This application claims preferential based on Japanese patent application filed on October 25th, 2017 the 2017-206099th
Power.The entire content of this Japanese application is incorporated by reference in this manual.
Technical field
The present invention relates to a kind of deceleration devices.
Background technique
The industrial machines such as manipulator or lathe have: being carried out in a manner of moving back and forth in defined angular range
The machinery of rotational action.The industrial machine usually has the substrate parts relatively rotated with the rotational action and turns
Dynamic component.Sometimes it is assembled with the deceleration device for being provided with hollow part on this industrial machine, and has electricity in the insert of its hollow part
Cable etc. inserts component.The base side portion of the insert component point is fixed on the substrate parts of industrial machine, substrate opposite side sometimes
Rotatable parts are fixed in part sometimes.At this point, opposite if inserting relative rotation of the component based on substrate parts and rotatable parts
It is slided in hollow part, then will lead to the loss of insert component.
As its countermeasure, following deceleration device is disclosed in patent document 1: for insert component base side portion point insert and
Constitute position fixed deceleration of the guard block (side end pieces) of the substrate side end of hollow part relative to substrate parts
Device.As a result, in the case where substrate parts and rotatable parts relatively rotate, the base side portion split-phase of insert component can be avoided
The substrate side end of hollow part is slided.
Patent document 1: Japanese Unexamined Patent Publication 2010-156431 bulletin
The guard block of patent document 1 is configured to, and the periphery of the wheel carrier relative to deceleration device is overflowed towards radial outside.
The present inventor carries out research and has found following opinion: from the viewpoint of the lightness for realizing deceleration device, the skill of patent document 1
There are also improved spaces for art.
Summary of the invention
One embodiment of the present invention is to complete in light of this situation, can one of its goals is to provide one kind
Realize the technology of the lightness of deceleration device.
One embodiment of the present invention is related to a kind of deceleration device, which has: shell, is provided with interior
Gear；External gear is engaged with the internal gear；And wheel carrier, it is configured at the axial side of the external gear and rotates freely
Ground is supported on the shell, also, the deceleration device its radial central portion be provided with axially through hollow part,
In, which has: central tube, is inserted through the external gear and the wheel carrier, and constitute the hollow part；And it protects
Component is protected, is configured at position adjacent with the end of the central tube in the axial direction, and constitute the end of the hollow part,
The guard block is fixed on the wheel carrier, and the guard block is configured to, relative to the central axis of the internal gear
Centered on line and with the wheel carrier, the circumscribed circle of external maximum diameter falls in its radially inner side.
In accordance with the invention it is possible to realize the lightness of deceleration device.
Detailed description of the invention
Fig. 1 is the cross-sectional view for indicating to have used a part of the industrial machine of the deceleration device of the 1st embodiment.
Fig. 2 is guard block and schematic diagram when substrate side wheel frame from substrate side.
Fig. 3 is the partial enlarged view of Fig. 1.
Fig. 4 is the cross-sectional view for indicating a part of deceleration device of the 1st variation.
Fig. 5 is the cross-sectional view for indicating a part of deceleration device of the 2nd embodiment.
Fig. 6 is the cross-sectional view for indicating to have used a part of the industrial machine of the deceleration device of the 3rd embodiment.
In figure: 10- deceleration device, 20- motor, 24- hollow part, 30- crankshaft, 30c- hollow part, 32- external gear, in 34-
Gear, 36- wheel carrier, 40- shell, 42- central tube, 44- guard block, 44a- hollow structure portion, 46- cover member, 60- washer.
Specific embodiment
Hereinafter, marking identical symbol to identical constitutive requirements, and omit repetition and say in embodiment and variation
It is bright.Also, a part of constitutive requirements in the drawings, for ease of description, is suitably omitted, or suitably zooms in or out table
Show the size of constitutive requirements.
(the 1st embodiment)
Fig. 1 is the cross-sectional view for indicating to have used a part of the industrial machine 12 of the deceleration device 10 of the 1st embodiment.
Industrial machine 12 is industrial robot, and deceleration device 10 drives its joint portion.In addition, the use of deceleration device 10 of the invention
Way is simultaneously not particularly limited.Industrial machine 12 has the rotation of substrate parts 14 (the 1st object Part), front end side of base end side
The driving device 18 component 16 (the 2nd object Part) and rotate rotatable parts 16 relative to substrate parts 14.It is shown in FIG. 1
A part of substrate parts 14.The rotatable parts 16 of present embodiment are configured to the cover member 46 (aftermentioned) with deceleration device 10
A part of identical component.The driving device 18 of present embodiment makes rotatable parts 16 to provide relative to substrate parts 14
Angular range in move back and forth mode rotate.In addition, rotatable parts 16 (the 2nd object Part) are set as and cover member 46 sometimes
Different components, and be fixed on from shell 40 to radial outside flange part outstanding.
Driving device 18 has power supply (not shown), motor 20, deceleration device 10 and insert component 22.Power supply is assembled in base
Bottom parts 14 (or being assembled in the component relative to substrate parts 14 without rotation).Motor 20 is assembled in rotatable parts 16, and
It drives the external gear 32 of deceleration device 10 to wait by driving important document.Deceleration device 10 makes rotatable parts 16 using the power of motor 20
It is relatively rotated relative to substrate parts 14.
Inserting component 22 is strip component, has the 1st side section of the side being located on length direction (hereinafter, claiming
Divide 22a as base side portion) and the other side of dividing 22a to be located on length direction relative to base side portion the 2nd side section (hereinafter,
Referred to as substrate opposite side part 22b).The insert component 22 of present embodiment is the cable supplied electric power from power supply to motor 20.
The base side portion of insert component 22 divides 22a to be fixed on substrate parts 14 via power supply, and substrate opposite side part 22b is via motor 20
It is fixed on rotatable parts 16.In addition, the substrate opposite side part 22b of present embodiment has the 1st of wherein way position branch
Component 22c and the 2nd component 22d, the 1st component 22c are fixed on rotatable parts 16.
Deceleration device 10 is provided with the hollow part 24 inserted for insert component 22.Hollow part 24 is aftermentioned deceleration device 10
Radial central portion along axial direction X run through deceleration device 10 and be arranged.Hollow part 24 has the side being located on axial direction X (in Fig. 1
Downside) a side end (hereinafter referred to as substrate side end 24a) and the other side on axial X end side (with
Under, the referred to as opposite side end 24b of substrate).Insert has the substrate side of insert component 22 in the substrate side end 24a of hollow part 24
Part 22a, insert has the substrate opposite side part 22b of insert component 22 in the opposite side end 24b of substrate.
Deceleration device 10 swings the external gear 32 engaged with internal gear 34, to make in internal gear 34 and external gear 32
One progress rotation, and the rotation ingredient can be exported from output block.The output block of present embodiment is aftermentioned outer
Shell 40.The deceleration device 10 of present embodiment is the eccentric oscillating-type that above-mentioned rotation ingredient is generated by the swing of external gear 32
Deceleration device.The deceleration device 10 of present embodiment is that crankshaft 30 configures the center on the position central axis La of internal gear 34
Crank-type deceleration device.
Hereinafter, the direction of the central axis La along internal gear 34 is set as axial X.Also, it for ease of description, will be axial
Side (downside in Fig. 1) on X is known as substrate side (guard block side), and it is opposite that the other side on axial X is known as substrate
Side (guard block opposite side).Also, by the circumferencial direction of the circle centered on the central axis La of internal gear 34 and radius side
To being briefly referred to as " circumferential direction " and " radial direction ".
Deceleration device 10 mainly has: input shaft 26；Transmission gear 28；Crankshaft 30；External gear 32；Internal gear 34；Wheel carrier
36,38；Shell 40；Central tube 42；Guard block 44；Cover member 46.All multiple features of the deceleration device 10 of present embodiment exist
In central tube 42, guard block 44 and cover member 46, still, first it is illustrated since its peripheral structure.
Input shaft 26 is arranged to, and is linked to the motor drive shaft 20a of motor 20 by spline etc. so as to the horse with motor 20
It is integrally rotated up to axis 20a.It is formed with outer toothed portion in the peripheral part of input shaft 26, which engages with transmission gear 28.
Transmission gear 28 can transmit the rotation of input shaft 26 to crankshaft 30.Transmission gear 28 is arranged to, and passes through threaded portion
Part etc. is linked to crankshaft 30 so as to integrally rotate with crankshaft 30.
Crankshaft 30 can be rotated around the rotation centerline Lb through its own, and can be made outside by the rotation
Gear 32 is swung.Crankshaft 30 is arranged with the axle portion 30a extended along axial X, in a manner of it can integrally rotate with axle portion 30a
Multiple (in present embodiment be two) eccentric part 30b and run through the hollow part 30c of axle portion 30a along axial X.Multiple eccentric parts
The central axis of 30b is eccentric relative to the rotation centerline Lb of crankshaft 30.The eccentric phase of multiple eccentric part 30b offsets one from another,
In the present embodiment, the eccentric phase of two eccentric part 30b offsets one from another 180 degree.
Corresponding to crankshaft 30 each eccentric part 30b and be provided with multiple external gears 32, and along axial X each other across
Every and configure.External gear 32 has for the perforative medium pore 32a of crankshaft 30.External gear 32 is set to the corresponding bias of crankshaft 30
The radial outside of portion 30b, and eccentric part 30b is rotatably freely supported on via capacity eccentric bearing 48.External gear 32 passes through song
The corresponding eccentric part 30b of axis 30 is put in such a way that the central axis of its own is rotated around rotation centerline Lb
It is dynamic.
Internal gear 34 is set to the radial outside of multiple external gears 32, and it has and to engage with the outer toothed portion of external gear 32
Interior teeth portion.In the present embodiment, the number of teeth of the interior gear ratio external gear 32 of internal gear 34 is 1 more.
Wheel carrier 36,38 is configured at the side in the axial direction of external gear 32.Wheel carrier 36,38 includes: relative to multiple external gears
32 are configured at the substrate side wheel frame 36 (the 1st wheel carrier) of substrate side, are configured at the substrate opposite side wheel carrier 38 the (the 2nd of substrate opposite side
Wheel carrier).Wheel carrier 36,38 is rotatably freely supported on shell 40 via base bearing 50.In addition, can also not have in wheel carrier 36,38
There are one of wheel carrier 36,38, such as substrate opposite side wheel carrier 38.
The wheel carrier 36,38 of present embodiment is in the form of annular discs.Wheel carrier 36,38 has the through hole through its radial central portion
52.Wheel carrier 36,38 rotatably supports the crankshaft 30 being configured in the through hole 52 via crankshaft bearing 54.
Substrate side wheel frame 36 is arranged to substrate opposite side wheel carrier 38, (interior via the wheel carrier pin through multiple external gears 32
Pin) 56 and it is connected to each other together, so as to integrally be rotated.Wheel carrier pin 56 is opposite with substrate side wheel frame 36 or substrate
A wheel carrier in side wheel frame 38 is formed as one, and is linked to another wheel carrier by screwed part etc., so as to
It is integrally rotated with another wheel carrier.
The inner peripheral portion of shell 40 is provided with above-mentioned internal gear 34.Shell 40 is whole to be cylindrical in shape, and matches in its radially inner side
It is equipped with the internal components such as external gear 32, wheel carrier 36,38.The shell 40 of present embodiment become internal gear 34 carry out rotation when with
The rotation ingredient synchronous rotary is to export the output block of the rotation ingredient to rotatable parts 16.Shell 40 passes through screwed part
Deng and link together with rotatable parts 16 (cover member 46).
Hereinafter, being illustrated to the movement of above-mentioned deceleration device 10.
If input shaft 26 is rotated based on the power exported from motor, which is transmitted to crankshaft via transmission gear 28
30 so that crankshaft 30 rotates.If crankshaft 30 is rotated around rotation centerline Lb, external gear 32 is put by crankshaft 30
It is dynamic.At this point, external gear 32 is swung in such a way that the central axis of its own is rotated around rotation centerline Lb.If outer
Gear 32 is so swung, then external gear 32 and the position of engagement of internal gear 34 successively shift.As a result, the every rotation one of crankshaft 30
It is secondary, a side in external gear 32 and internal gear 34 will rotation be equivalent to external gear 32 and internal gear 34 teeth number difference amount.?
In present embodiment, since wheel carrier 36,38 is fixed on substrate parts 14, internal gear 34 carries out rotation, the rotation ingredient from
Output block (that is, shell 40) output.The rotation of crankshaft 30 is corresponding with the teeth number difference between external gear 32 and internal gear 34
Reduction ratio is slowed down, and from output block (that is, shell 40) output to rotatable parts 16.As a result, rotatable parts 16 are opposite
It is rotated in substrate parts 14.
Next, the main feature to present embodiment is illustrated.Central tube 42 is inserted through the medium pore of external gear 32
In the through hole 52 of 32a and wheel carrier 36,38.Also, central tube 42 is also inserted through in the hollow part 30c of crankshaft 30.Central tube 42
It is configured between guard block 44 and cover member 46.Central tube 42 constitute hollow part 24, substrate side end 24a it is opposite with substrate
Middle part 24c between the 24b of side end.
Guard block 44 is configured at adjacent with the end of substrate side of central tube 42 position on axial X.Guard block
44 are fixed on substrate side wheel frame 36 by screwed part etc..Guard block 44 is fixed on substrate parts via substrate side wheel frame 36
14, the position relative to substrate parts 14 is fixed.Guard block 44 has the substrate side end 24a for constituting hollow part 24
The 1st hollow structure portion 44a.
Cover member 46 is configured at adjacent with the end of substrate opposite side of central tube 42 position on axial X.Cover member
46 cover substrate opposite side wheel carrier 38 from substrate opposite side.Cover member 46 is fixed on shell 40 by screwed part etc., thus with
40 integration of shell.The cover member 46 of present embodiment is configured to a part of component identical with rotatable parts 16, opposite
In the position of rotatable parts 16 be fixed.
Cover member 46 has the 2nd sky of the opposite side end 24b of substrate for the insert of insert component 22 and composition hollow part 24
Core structure portion 46a.Cover member 46 also includes the input shaft supporting part 46b of tubular, relative to the 2nd hollow structure portion 46a to
The substrate opposite side that is positioned against of radial outside offset protrudes；And motor fixed part 46c, it is set to input shaft supporting part 46b
Front end.In the inside of input shaft supporting part 46b, insert has motor drive shaft 20a and input shaft 26.Input shaft supporting part 46b via
Input shaft bearing 58 rotatably supports input shaft 26.The flange portion for having motor 20 is abutted in motor fixed part 46c, and is led to
Cross the fixing motors such as screwed part (not shown) 20.
Here, needing to avoid insert component 22 and rotation of the hollow part 24 with rotatable parts 16 relative to substrate parts 14
And it slides over each other.This sliding is usually generated in the opposite side end 24b of the substrate side end 24a or substrate of hollow part 24.Insert
Divide 22a relative to the position of substrate parts 14 in the base side portion of the insert component 22 of the substrate side end 24a of the hollow part 24
It is fixed.Also, the substrate opposite side part of the insert component 22 of the opposite side end 24b of the substrate for being inserted through hollow part 24
22b is fixed relative to the position of rotatable parts 16.Therefore, in order to avoid the above-mentioned sliding of generation, the deceleration of present embodiment
Device 10 is configured to meet following two condition.
1st condition is as follows: will constitute the guard block 44 of the substrate side end 24a of hollow part 24 relative to substrate parts 14
Position be set as fixed (guard block 44 and substrate parts 14 will not relative rotation).For example, it has been observed that the condition can pass through
The substrate side wheel frame 36 for being fixed with guard block 44 is fixed on substrate parts 14 to realize.2nd condition is as follows: will constitute hollow
The cover member 46 of the opposite side end 24b of the substrate in portion 24 is set as fixed relative to the position of rotatable parts 16.For example, it has been observed that
Cover member 46 by the way that cover member 46 to be set as to a part of component identical with rotatable parts 16 or can be fixed on by the condition
Rotatable parts 16 are realized.
Fig. 2 is guard block 44 and schematic diagram when substrate side wheel frame 36 from substrate side.In Fig. 2, to substrate side
Wheel carrier 36 has drawn hacures.Guard block 44 is configured to, relative to the outer of the substrate side wheel frame 36 for being fixed with guard block 44
Circumferential surface falls in its radially inner side.Specifically, as shown in Figures 2 and 3, guard block 44 is configured to, relative to internal gear 34
Central axis La centered on and the circumscribed circle Ca of the maximum diameter Ra external with substrate side wheel frame 36 fall in its radially inner side.Protection
Component 44 is it can be appreciated that be configured to, relative to circumscribed circle Ca not to radial outside spilling.This can also be understood that are as follows: from axial direction
When X observes (from the viewing point of Fig. 2), guard block 44 is configured to, the periphery relative to the shape for becoming substrate side wheel frame 36
Face falls in its radially inner side.It is configured to as a result, with the guard block 44 as the deceleration device of patent document 1 relative to wheel carrier
36, the case where 38 periphery is overflowed towards radial outside is compared, and guard block 44 can be made in the radial direction compact in size, and
And it can be realized the lightness of deceleration device 10 by the miniaturization.
In addition, cover member 46 is configured to, the circumscribed circle relative to the maximum diameter external with the outer peripheral surface of guard block 44 is (not
Diagram) it is overflowed to radial outside.Also, in the present embodiment, cover member 46 is configured to, relative to substrate opposite side wheel carrier
The circumscribed circle (not shown) of the external maximum diameter of 38 outer peripheral surface is overflowed to radial outside.
Then, other features of deceleration device 10 are illustrated.
Fig. 3 is the partial enlarged view of Fig. 1.Substrate side wheel frame 36 has the wheel carrier side chain buckle for mounting substrate component 14
36a.Substrate parts 14 have the subject side latch portion 14a for being embedded in wheel carrier side chain buckle 36a.Wheel carrier side chain buckle 36a and right
As side chain buckle 14a is respectively arranged at position substrate parts 14 and substrate side wheel frame 36, opposite each other on axial X.?
In present embodiment, wheel carrier side chain buckle 36a is in basad side convex outstanding, and subject side latch portion 14a is recessed in basad side
Sunken concavity.The subject side latch portion 14a of present embodiment is a part along axial X through the through hole of substrate parts 14,
Configured with guard block 44 and insert component 22 on the inside of it.
(A) as shown in Figures 2 and 3, guard block 44 is configured to, the periphery of the wheel carrier side chain buckle 36a relative to convex
Face falls in its radially inner side.The outer peripheral surface of wheel carrier side chain buckle 36a herein refers to: and it is chimeric with wheel carrier side chain buckle 36a
The face of the inner circumferential face contact of subject side latch portion 14a.As a result, it is also understood that when from axial X, guard block 44 is matched
It is set to, the outer peripheral surface relative to the shape as wheel carrier side chain buckle 36a falls in its radially inner side.Thereby, it is possible to make protection portion
The size in the radial direction of part 44 miniaturises.
In addition, as shown in figure 4, wheel carrier side chain buckle 36a can also be in the concavity of basad opposite side recess, object side chain
Buckle 14a can also be in basad opposite side convex outstanding.At this point, in order to obtain the effect of above-mentioned (A), it can be by protection portion
Part 44 is configured to, and the inner peripheral surface relative to wheel carrier side chain buckle 36a falls in radially inner side.Wheel carrier side chain buckle 36a's herein
Inner peripheral surface refers to: and the face of the periphery face contact of the subject side latch portion 14a chimeric with wheel carrier side chain buckle 36a.As a result, may be used
To be interpreted as, when from axial X, guard block 44 is configured to, the inner circumferential relative to the shape as wheel carrier side chain buckle 36a
Face falls in its radially inner side.
Return to Fig. 1.Guard block 44 is made of the hardness material lower than the hardness of central tube 42.Hardness herein refers to dimension
Family name's hardness [Hv].Specifically, central tube 42 is made of the aluminium class material (that is, metal material) including aluminium alloy, protection
Component 44 is made of the hardness synthetic resin (that is, resin material) lower than the hardness of the metal of central tube 42.Synthesis tree herein
Rouge is, for example, the general engineering plastics such as polycarbonate.Guard block 44 uses hardness ratio central tube 42 made of high hardness material
Low low-durometer material.The case where contacting as a result, compared to insert component 22 and high hardness material, can reduce and guard block
The burden of the insert component 22 of 44 contacts, can be effectively prevented the loss of insert component 22.
In addition, substrate side wheel frame 36 is made of the iron type materials (that is, metal material) including cast iron and steel, protection portion
Part 44 is made of the hardness resin material lower than the hardness of the metal of substrate side wheel frame 36.It may be said that guard block 44 is by hardness ratio
The material that the hardness of substrate side wheel frame 36 is low is made.
Also, it is fixed for driving the motor 20 of the external gear 32 of deceleration device 10 and being not secured to guard block 44
In cover member 46.It is therefore not necessary to intensity needed for ensuring fixing motor 20 with guard block 44, it is thus possible to mitigate to protection portion
The intensity that part 44 requires, the miniaturization of guard block 44 easy to accomplish, lightness.
1st hollow structure portion 44a of guard block 44 have internal diameter with towards it is axially external and become larger the 1st in
Diameter change section 44b.1st internal diameter change section 44b constitutes the opening edge for being located at the end of substrate side of hollow part 24.Cover member 46
The 2nd hollow structure portion 46a have internal diameter with towards the 2nd internal diameter change section 46d that is axially external and becoming larger.In 2nd
Diameter change section 46d constitutes the opening edge for being located at the end of substrate opposite side of hollow part 24.1st internal diameter change section 44b and the 2nd
Internal diameter change section 46d shape in curved surface.1st internal diameter change section 44b and the 2nd internal diameter change section 46d has the effect that increasing insert
Component 22 touches the contact area when opening edge of hollow part 24, to prevent insert component 22 because of local surface pressure
Increase and is lost.In addition, the 1st internal diameter change section 44b and the 2nd internal diameter change section 46d may not be curved, but it is interior straight
Linearly changed planar.
1st hollow structure portion 44a of guard block 44 is more leaning on axially inner side (in axial direction than the 1st internal diameter change section 44b
External gear side) it is formed with the 1st straight line portion 44c of constant inner diameter.2nd hollow structure portion 46a of cover member 46 becomes than the 2nd internal diameter
Change portion 46d is more formed with the 2nd straight line portion 46e of constant inner diameter by axially inner side.The internal diameter of 1st straight line portion 44c and the 2nd straight line portion
The internal diameter of 46e is identical as the internal diameter of central tube 42.
As shown in figure 3, deceleration device 10 is also equipped with the outer washer 60 for being embedded in central tube 42.The washer 60 of present embodiment by
Iron type materials (that is, metal material) including carbon steel are made.Washer 60 is cartridge, passes through interference fit, transition
Cooperation etc. and outside be embedded in central tube 42.
Central tube 42 have the washer mounting portion 42a being externally embedded to for washer 60 and setting with washer mounting portion 42a in substrate
The middle part 42b of the adjacent position of opposite side.Washer mounting portion 42a is set to the substrate side end of central tube 42.Washer installation
The internal diameter of portion 42a is identical as the internal diameter of middle part 42b, and its outer diameter is then less than the outer diameter of middle part 42b.
Deceleration device 10 is also equipped with the 1st oil sealing 62 being configured between central tube 42 and substrate side wheel frame 36.1st oil sealing 62
It is configured at outer between the washer 60 and substrate side wheel frame 36 of central tube 42.1st oil sealing 62 passes through interference fit, transition fit
Deng and be installed on the seal installation portion 36b that substrate side wheel frame 36 is set.Seal installation portion 36b constitutes substrate side wheel frame 36
Through hole 52 substrate side end.
1st oil sealing 62 has based on flexible deformation the sealed lip 62a of the periphery face contact with washer 60.1st oil sealing
62 seal the inner space 64 for being formed in the radially inner side of shell 40 by sealed lip 62a with the contact of washer 60.At this
It is sealed in inner space 64 and waits bearings for the site of engagement and capacity eccentric bearing 48 of external gear wheel 32 and the equal gears of internal gear 34
The lubricating oil (not shown) being lubricated.
Here, at the position contacted with the sealed lip 62a of the 1st oil sealing 62, therefore, to assure that prevent with the sealed lip
The sliding of 62a and the required hardness that is worn.Central tube 42 uses aluminium class material for lightness, still, if using aluminium class
Material is then difficult to ensure above-mentioned necessary hardness.It therefore, will be by being heat-treated the washer 60 it is easy to ensure that iron type materials of hardness
It is embedded in central tube 42 outside, and configures the 1st oil sealing 62 between the washer 60 and wheel carrier 36,38.It is contacted as a result, with the 1st oil sealing 62
Position be aluminium class material central tube 42 when compare, it is easy to ensure that the necessary hardness at the position contacted with the 1st oil sealing 62.
The outer diameter Rb of above-mentioned washer 60 is set as the internal diameter Rc of the hollow part 30c less than crankshaft 30.Crankshaft 30 herein it is interior
Diameter Rc refers to: the minimum diameter in the entire axial direction X range of crankshaft 30.Also, the outer diameter Rb of washer 60 is set as being less than and be formed in
The internal diameter of the medium pore 28a (referring to Fig. 1) of transmission gear 28.Hereinafter, being illustrated to its advantage.
It is considered herein that in order to safeguard etc. and from the hollow part 30c of crankshaft 30 towards the substrate opposite side extraction on axial direction X in
The situation of heart pipe 42.At this point, according to above structure, even if extracting central tube 42, washer 60 in the state of being equipped with washer 60
Also it is difficult to be blocked by crankshaft 30.It therefore,, can without dismantling washer 60 from central tube 42 in the extraction operation of central tube 42
Obtain good operability.
In addition, the outer diameter Rb of the washer 60 of present embodiment is set as the outer diameter Rd of the middle part 42b less than central tube 42.Cause
This, has the advantages that more to be difficult to be blocked by crankshaft 30 in the extraction operation middle washer 60 of central tube 42.
Guard block 44 is whole in the form of annular discs.Guard block 44 includes fixed part 44d, is overlapped and is fixed on substrate side wheel
End face portion on the axial X of frame 36；Interior face 44e, faces the inside on axial X.The interior face 44e of guard block 44 is arranged
In opposed with the 1st oil sealing 62, washer 60 and central tube 42 position on axial X.The interior face 44e of guard block 44 is configured at
Relative to the 1st oil sealing 62, washer 60 and central tube 42 separate the position in gap 66 to not with the 1st oil sealing 62, washer 60 and in
Heart pipe 42 contacts.Gap 66 between the interior face 44e of guard block 44 and the 1st oil sealing 62 as clearance (clear ance) and
It plays a role.The clearance has the effect that in the 1st oil sealing 62 by the influence of scale error etc. and from defined target position
In the case where deviating to the direction close to guard block 44, the two is avoided to contact.Target position herein is set as, the 1st oil sealing
62 from the position that the axially external opening edge 36c of the seal installation portion 36b of substrate side wheel frame 36 overflows.Also, from
Target position offset refers to: opening edge 36c situation that in the axial direction outside overflow of the 1st oil sealing 62 from seal installation portion 36b.
In this way, will appear if the 1st oil sealing 62 causes guard block 44 to contact with the 1st oil sealing 62 from target position offset
The case where guard block 44 can not be fixed on to substrate side wheel frame 36.In view of the point, the guard block 44 of present embodiment is matched
It is placed in the position that the gap 66 as clearance is separated relative to the 1st oil sealing 62.There is the 1st oil sealing 62 from target position as a result,
It when the case where offset, is easy that guard block 44 is avoided to contact with the 1st oil sealing 62, and is easy to avoid to protect because of the contact
The appearance for the case where shield component 44 is fixed on substrate side wheel frame 36.
The interior face 44e of guard block 44 includes the 1st inward-facing section 44f, and at least part is oily with the 1st on axial X
It is opposed to seal 62；And the 2nd inward-facing section 44g, it is opposed with central tube 42 on axial X.1st inward-facing section 44f setting is than protecting
The fixed part 44d of shield component 44 more leans on radially inner side position.2nd inward-facing section 44g setting is more leaned on than the 1st inward-facing section 44f
Radially inner side position.2nd inward-facing section 44g be located at than the 1st inward-facing section 44f more lean on it is axially external (in axial direction with external gear phase
Wheel carrier opposite side on anti-side, axial direction) position.1st inward-facing section 44f is configured to it and is spaced apart the 1st with the 1st oil sealing 62
Gap 66a.2nd inward-facing section 44g is configured to it and is spaced apart the 2nd gap 66b with central tube 42.
The axial dimension L1 of 1st gap 66a is set as the axial dimension L2 less than the 2nd gap 66b.Guard block 44 have with
The position more smaller than the axial dimension L2 in the gap between central tube 42 the axial dimension L1 in the gap between the 1st oil sealing 62
(the 1st inward-facing section 44f).In other words, the minimum value L1 of the axial gap between guard block 44 and the 1st oil sealing 62 is less than protection
The minimum value L2 of axial gap between component 44 and central tube 42.In the following, being illustrated to its advantage.
Guard block 44 considered below is led to the hollow of guard block 44 by external force due to contacting with insert component 22 etc.
The situation that structural portion 44a is deformed towards axially inner side direction Pa.At this point, according to above structure, guard block 44 with central tube
It is first contacted with the 1st oil sealing 62 before 42 contacts.Therefore, even if also can in the case where guard block 44 as described above deformation
Guard block 44 is avoided to contact with central tube 42 high-speed rotating when substrate parts 14 are relatively rotated with rotatable parts 16.
As shown in Figure 1, cover member 46 is arranged to the end with the substrate opposite side of central tube 42 (guard block opposite side)
42c is connected.Cover member 46 is made of with central tube 42 the integrated moldings product such as die casting aluminium.As a result, central tube 42 be arranged to
Cover member 46 integrally rotates.Cover member 46 is made of with central tube 42 single component.Thereby, it is possible to cut down component number of packages from
And can be realized the reduction of management cost, assembling working hour can be cut down so as to realize the mitigation of assembling labour's burden.
(the 2nd embodiment)
Fig. 5 is the cross-sectional view for indicating a part of deceleration device 10 of the 2nd embodiment.The deceleration device of present embodiment
10 difference from the example of Fig. 3 is on washer 60.In Fig. 3, the hollow part 30c of crankshaft 30 is less than to the outer diameter of washer 60
The example of internal diameter be illustrated.The outer diameter of the washer 60 of present embodiment is then greater than the internal diameter of the hollow part 30c of crankshaft 30.
In this way, the outer diameter of washer 60 and being not particularly limited.
(the 3rd embodiment)
Fig. 6 is the cross-sectional view for indicating to have used a part of the industrial machine 12 of the deceleration device 10 of the 3rd embodiment.
In Fig. 1, cover member 46 is illustrated with central tube 42 by the example that single component is constituted.The cover portion of present embodiment
Part 46 is then separately formed with central tube 42.Cover member 46 is integrated by screwed part etc. with central tube 42.
Specifically, cover member 46, which has, is set to substrate side and in the axial direction outer concave relative to the 2nd hollow structure portion 46a
Sunken recess portion 46f.Central tube 42, which has, to be set to the opposite side end of substrate of central tube 42 and is embedded in the recess portion of cover member 46
Embedded division 42d in 46f.Central tube 42 is inserted through the 2nd hollow structure portion 46a and embedded division 42d of cover member 46 by fastening
Screwed part 68 be fixed on cover member 46.
More than, the example of embodiments of the present invention is described in detail.Above embodiment is only intended to reality
Apply concrete example of the invention.The content of embodiment does not limit technical scope of the invention, in not departing from claims
In the range of the thought of defined invention, it is able to carry out a variety of design alterations such as change, addition, deletion of constitutive requirements.Upper
It states in embodiment, to this content that can change design, marks the statements such as " embodiment ", " in embodiments " and come
It is illustrated, but is not meant to that the content of no this statement does not allow for design alteration.Also, in the section mark of attached drawing
The hacures of note do not limit the material for being labeled with the object of hacures.
More than, to driving device 18 driving with the substrate parts of the most base end side of mechanical arm front end side it is adjacent first
The example of grade joint component (rotatable parts 16) is illustrated.In addition, driving device 18 can be used for driving the second level with
Joint component afterwards.At this point it is possible to regard the joint component as driven object as rotatable parts, it will be relative to the driven object
Joint component regard substrate parts as in the adjacent joint component of base end side.If joint component based on the base end side with into one
Walking the relationship between base end side adjacent " another substrate parts ", then the joint component of the base end side becomes " rotatable parts ",
It is relatively rotated relative to " another substrate parts ".
More than, component identical with the cover member 46 of deceleration device 10 is configured to the rotatable parts 16 of industrial machine 12
The example of a part be illustrated, still, rotatable parts 16 seperated with cover member 46 can also be constituted.Also, it is above right
The example that the motor 20 of driving device 18 is fixed on cover member 46 is illustrated, but motor 20 can also be fixed on protection
Component 44.
More than, the example that insert component 22 is feed cable is illustrated, still, concrete example is not limited especially
It is fixed.Other cables such as being also possible to distribution cable of component 22 are inserted, can also be the cooling tube crossed for cooling liquid stream, driving
Axis etc..
More than, deceleration device 10 is illustrated for the case where eccentric oscillating-type deceleration device, still, type is not
It is particularly limited.For example, it can be flexure engagement type deceleration device, epicyclic reduction gear units etc..Also, above to bias
Oscillating-type deceleration device is that the example of center crank-type deceleration device is illustrated, and still, type is simultaneously not particularly limited.
For example, it can be the distribution that multiple crankshafts are configured in the position deviated from the central axis La of internal gear 34 to radial outside
Type deceleration device.
In the present embodiment, to the swing of external gear 32 is made to make 34 rotation of internal gear and from as the outer of output block
The example that shell 40 exports the rotation ingredient is illustrated.Further, it is also possible to which external gear 32 is made to swing to make external gear 32 certainly
Turn and exports the rotation ingredient from wheel carrier 36,38.
More than, the substrate for the hollow part 24 for dividing 22a to insert for the base side portion for inserting component 22 is constituted to guard block 44
The example of side end 24a is illustrated.In addition, guard block 44 also may be constructed the substrate opposite side for inserting component 22
Divide the opposite side end 24b of substrate of the hollow part 24 of 22b insert.
In addition, preferably avoiding the relative rotation with substrate parts 14 and rotatable parts 16 when using guard block 44
And generate sliding between guard block 44 and hollow part 24 and insert component 22 (still, it's not limited to that).Realizing the mesh
When, guard block 44 constitute hollow part 24 substrate side end 24a in the case where, in order to fix guard block 44 relative to
The position of substrate parts 14 is preferably also fixed with position of the substrate side wheel frame 36 of guard block 44 relative to substrate parts 14
It sets.At this point, being made on the basis of the wheel carrier 36,38 of deceleration device 10 is fixed on substrate parts 14 by the power of motor 20
The shell 40 of deceleration device 10 rotates, so that rotatable parts 16 be made to rotate.
Also, when stating purpose in realization, the feelings of the opposite side end 24b of substrate of hollow part 24 are constituted in guard block 44
Under condition, in order to fix position of the guard block 44 relative to rotatable parts 16, it is preferably also fixed with the base of guard block 44
Position of the bottom opposite side wheel carrier 38 relative to rotatable parts 16.At this point, the shell 40 of deceleration device 10 is fixed on basal part
On the basis of part 14, rotate the wheel carrier 36,38 of deceleration device 10 by the power of motor 20, to make 16 turns of rotatable parts
It is dynamic.
That is, in the case where guard block 44 constitutes the substrate side end 24a of hollow part 24 basal part can be fixed on
Guard block 44 is fixed on the wheel carrier 36,38 of part 14, thus position of the fixed guard block 44 relative to substrate parts 14.It is another
Aspect, in the case where guard block 44 constitutes the opposite side end 24b of substrate of hollow part 24, can based on motor 20 and into
Guard block 44 is fixed on the wheel carrier 36,38 of row rotation, thus position of the fixed guard block 44 relative to rotatable parts 16.
Guard block 44 only will be configured to relative to the external of the maximum diameter Ra external with the outer peripheral surface of substrate side wheel frame 36
Circle Ca falls in radially inner side, and size radially is simultaneously not particularly limited.For example, as long as guard block 44 meets this
Part, the outer peripheral surface that also can be configured to the wheel carrier side chain buckle 36a relative to substrate side wheel frame 36 or inner circumferential are towards radial outer
It overflows side.
More than, the example made of the hardness material lower than the hardness of central tube 42 of guard block 44 is illustrated,
But it the hardness of the material and is not particularly limited.More than, central tube 42 is made of aluminium class material and washer 60 is by iron class material
Example made of expecting is illustrated, and still, material is simultaneously not particularly limited.
More than, the example being configured between the 1st wheel carrier 36 and washer 60 to the 1st oil sealing 62 is illustrated, still, washer
60 are not necessary structure.At this point, as long as the 1st oil sealing 62 is configured between the 1st wheel carrier 36 and central tube 42.
More than, the example for being configured to not contact with the 1st oil sealing 62 to guard block 44 is illustrated, still, protection portion
Part 44 can also be configured at the position contacted with the 1st oil sealing 62.More than, between the 1st between guard block 44 and the 1st oil sealing 62
The axial dimension L2 of the 2nd gap 66b between the axial dimension L1 and guard block 44 and central tube 42 of gap 66a is different from each other
Example is illustrated, and still, relationship is simultaneously not particularly limited.
In embodiments, shell 40 and cover member 46 are set to independent component, still, shell 40 and cover member 46
It can also be integrally constituted by single component.
Claims (11)
1. a kind of deceleration device, has: shell is provided with internal gear；External gear is engaged with the internal gear；And
Wheel carrier is configured at the axial side of the external gear and is rotatably freely supported on the shell, also, the deceleration device
Its radial direction central portion be provided with axially through hollow part, the deceleration device is characterized in that having:
Central tube is inserted through the external gear and the wheel carrier, and constitutes the hollow part；And
Guard block is configured at position adjacent with the end of the central tube in the axial direction, and constitutes the hollow part
End,
The guard block is fixed on the wheel carrier, and the guard block is configured to, relative in the internal gear
Centered on mandrel line and with the wheel carrier, the circumscribed circle of external maximum diameter falls in its radially inner side.
2. deceleration device according to claim 1, which is characterized in that
The wheel carrier has the convex or concave latch portion for mounting object component,
The guard block is configured to, and is fallen relative to the outer peripheral surface of the convex latch portion or the inner peripheral surface of the concavity latch portion
In radially inner side.
3. deceleration device according to claim 1 or 2, which is characterized in that
The guard block is made of the hardness material lower than the hardness of the central tube.
4. deceleration device according to any one of claim 1 to 3, which is characterized in that
The central tube is made of aluminium class material,
The deceleration device is also equipped with:
Washer, it is outer to be embedded in the central tube and be made of iron type materials；And
Oil sealing is configured between the wheel carrier and the washer.
5. deceleration device according to claim 4, which is characterized in that
The deceleration device is also equipped with the crankshaft for swinging the external gear,
The crankshaft has the hollow part for central tube insert,
The outer diameter of the washer is less than the internal diameter of the hollow part.
6. deceleration device according to any one of claims 1 to 5, which is characterized in that
The deceleration device is also equipped with the oil sealing being configured between the central tube and the wheel carrier,
The guard block is configured to, and separates gap without contacting with the oil sealing relative to the oil sealing.
7. deceleration device according to claim 6, which is characterized in that
The guard block is configured to, and separates gap relative to the central tube,
There is the guard block axial dimension in the gap between the oil sealing to be less than the gap between the central tube
Axial dimension position.
8. deceleration device according to any one of claim 1 to 7, which is characterized in that
The deceleration device be also equipped with the integrated cover member of the shell,
The cover member is arranged to link with the end of the guard block opposite side of the central tube.
9. deceleration device according to claim 8, which is characterized in that
The cover member is made of with the central tube single component.
10. deceleration device according to claim 8 or claim 9, which is characterized in that
The motor for driving the external gear is fixed in the cover member.
11. deceleration device according to any one of claim 1 to 10, which is characterized in that
The internal diameter in the hollow structure portion of the guard block is with towards axially external and become larger.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2017-206099 | 2017-10-25 | ||
| JP2017206099A JP6959825B2 (en) | 2017-10-25 | 2017-10-25 | Decelerator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109707799A true CN109707799A (en) | 2019-05-03 |
Family
ID=66253795
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810762997.2A Pending CN109707799A (en) | 2017-10-25 | 2018-07-12 | Deceleration device |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP6959825B2 (en) |
| CN (1) | CN109707799A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113357318A (en) * | 2020-03-04 | 2021-09-07 | 住友重机械工业株式会社 | Speed reducer and method for assembling joint structure of manipulator |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2021188627A (en) | 2020-05-26 | 2021-12-13 | ナブテスコ株式会社 | Shaft holding mechanism and speed reducer |
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| EP1918611A1 (en) * | 2005-08-22 | 2008-05-07 | Nabtesco Corporation | Center crank type eccentrically rocking reduction gear |
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Also Published As
| Publication number | Publication date |
|---|---|
| JP6959825B2 (en) | 2021-11-05 |
| JP2019078342A (en) | 2019-05-23 |
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