CN114439902A

CN114439902A - Speed reducer

Info

Publication number: CN114439902A
Application number: CN202111226305.0A
Authority: CN
Inventors: 田村光扩
Original assignee: Sumitomo Heavy Industries Ltd
Current assignee: Sumitomo Heavy Industries Ltd
Priority date: 2020-11-05
Filing date: 2021-10-21
Publication date: 2022-05-06
Also published as: DE102021128579A1; JP2022074799A; JP7394738B2

Abstract

The invention provides a speed reducer having a resin member and capable of improving rigidity of the whole device. A reduction gear (1) is provided with a1 st bearing (26), a2 nd bearing (28), and a1 st bearing support member (21) made of resin and supporting the 1 st bearing and the 2 nd bearing. An outer ring (26o) of the 1 st bearing and an outer ring (28o) of the 2 nd bearing are fixed to the 1 st bearing support member (21) by insert molding.

Description

Reduction gear

The present application claims priority based on japanese patent application No. 2020-185157, applied on 11/5/2020. The entire contents of this japanese application are incorporated by reference into this specification.

Technical Field

The present invention relates to a reduction gear.

Background

Generally, a reduction gear device includes a plurality of bearings, a rotating member that is fitted in the bearings and rotates, and a support member that supports the bearings. Patent document 1 discloses a reduction gear in which a rotating member that rotates via a bearing or a support member that supports the rotating member via a bearing is formed of resin. In this reduction gear, in consideration of the ease of assembly of (the inner ring and the outer ring of) the bearing, the resin rotary member and the resin support member are divided into a plurality of parts, and the plurality of parts are coupled together by bolts.

Patent document 1: japanese patent laid-open publication No. 2018-155313

When the resin-made rotating member or the resin-made support member is divided into a plurality of parts, the parts are thinned due to the division, and thus the rigidity of each part is lowered. Therefore, in the reduction gear using the resin member, there is a problem that it is difficult to improve the rigidity (torsional rigidity and the like) of the entire gear.

Disclosure of Invention

The invention aims to provide a speed reducer which is provided with a resin component and can improve the rigidity of the whole device.

The invention provides a speed reducer, which comprises a1 st bearing, a2 nd bearing and a1 st bearing supporting component which supports the 1 st bearing and the 2 nd bearing and is made of resin, wherein,

one of the inner ring and the outer ring of the 1 st bearing and one of the inner ring and the outer ring of the 2 nd bearing are fixed to the 1 st bearing support member by insert molding.

According to the present invention, the rigidity of the entire reduction gear transmission can be improved while having a resin member.

Drawings

Fig. 1 is a sectional view showing a reduction gear according to a first embodiment of the present invention.

Fig. 2 is a sectional view showing a reduction gear according to a second embodiment of the present invention.

Fig. 3 is a sectional view showing a reduction gear according to a third embodiment of the present invention.

Fig. 4 is a sectional view showing a reduction gear according to a fourth embodiment of the present invention.

In the figure: 1. 1A, 1B, 1C-reduction gear, 10-start-up shaft (input shaft), 10A-start-up, 11-start-up bearing, 15-external gear, 16, 17-stop ring, 21-1 st gear part, 21A 1-1 st gear part, 21A 2-cover part, 22-2 nd gear part, 22B 1-2 nd gear part, 22B 2-cover part, 21g, 22 g-internal gear, 26, 27-bearing, 26i, 27 i-inner ring, 26o, 27 o-outer ring, 28A, 28B-main bearing, 28i, 28 Bi-inner ring, 28o, 28Ao, 28 Bo-outer ring, 32-eccentric Ai shaft (input shaft), 34, 36-external gear, 38-internal gear, 40-internal pin, 41-wheel carrier body, 42-supporting part, 43-wheel carrier pin, 46-1 st shell, 47-2 nd shell, 49-output part, 51, 52-eccentric body bearing, 53, 54-high speed bearing, 55, 56-main bearing.

Detailed Description

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

(first embodiment)

Fig. 1 is a sectional view showing a reduction gear according to a first embodiment of the present invention. In the present specification, a direction along the rotation axis O1 to which a rotational motion is input is referred to as an axial direction, a rotational direction around the rotation axis O1 is referred to as a circumferential direction, and a direction perpendicular to the rotation axis O1 is referred to as a radial direction. In the axial direction, the arrangement side of the 2 nd gear member 22 that outputs the decelerated rotational motion is referred to as an output side, and the opposite side thereof is referred to as an opposite output side.

The reduction gear 1 according to the first embodiment is a reduction gear that is made lightweight by including resin parts, and is mounted on a joint portion of a cooperative robot that works in cooperation with a human. By being lightweight, the reduction gear 1 is suitable as a component of a cooperative robot. The application of the reduction gear transmission 1 is not limited to the above example, and may be incorporated in various apparatuses.

The reduction gear 1 is a flexure mesh type gear device, and includes a start body shaft 10, a start body bearing 11, an external gear 15, a1 st gear member 21 including an internal gear 21g, a2 nd gear member 22 including an internal gear 22g,

bearings

26, 27, a main bearing 28, and

stopper rings

16, 17.

Among the above-described constituent elements, the oscillator shaft 10 corresponds to an example of the input shaft according to the present invention. The 2 nd gear member 22 corresponds to an example of the output shaft according to the present invention. When the bearing 26 is regarded as a1 st bearing and the main bearing 28 is regarded as a2 nd bearing, the 1 st gear member 21 corresponds to an example of a1 st bearing support member according to the present invention that supports the 1 st bearing and the 2 nd bearing. When the bearing 27 is regarded as a1 st bearing and the main bearing 28 is regarded as a2 nd bearing, the 2 nd gear member 22 corresponds to an example of a1 st bearing support member according to the present invention that supports the 1 st bearing and the 2 nd bearing.

The oscillator shaft 10 is a hollow cylindrical shaft that rotates about a rotation axis O1, and has an oscillator 10A with a non-circular (for example, elliptical) outer shape in cross section perpendicular to the rotation axis O1, and

shaft portions

10B and 10C provided on both sides of the oscillator 10A in the axial direction. The elliptical shape need not be an ellipse in a geometrically strict sense, including a substantially ellipse. The

shaft portions

10B and 10C are shafts having circular outer shapes in cross section perpendicular to the rotation axis O1. The oscillator shaft 10 is made of metal such as steel material.

The external gear 15 is a flexible cylindrical member, and teeth are provided on the outer periphery thereof. The outer gear 15 is made of metal such as a steel material.

The two

internal gears

21g, 22g are arranged in the axial direction and mesh with the external gear 15. One internal gear 21g is configured by providing teeth on a part of the inner periphery of the 1 st gear member 21. The other internal gear 22g is formed by providing teeth on a part of the inner periphery of the 2 nd gear member 22.

The oscillator bearing 11 is, for example, a roller bearing, and is disposed between the oscillator 10A and the external gear 15. The oscillator bearing 11 does not have a dedicated outer ring and inner ring, the inner peripheral portion of the external gear 15 also serves as the outer ring of the oscillator bearing 11, and the outer peripheral portion of the oscillator 10A also serves as the inner ring of the oscillator bearing 11. The oscillator bearing 11 may have a dedicated outer ring and inner ring. The oscillator 10A and the external gear 15 are rotatable relative to each other via the oscillator bearing 11. The rolling elements of the oscillator bearing 11 are made of metal.

The

stopper rings

16 and 17 are disposed on both sides of the external gear 15 and the oscillator bearing 11 in the axial direction, and restrict the movement of the external gear 15 and the oscillator bearing 11 in the axial direction. The

stopper rings

16, 17 are made of metal such as a steel material.

The 1 st gear member 21 is a ring-shaped member that extends from the radially outer side of the bearing 26 to a radially outer position of the main bearing 28 and is continuous in the circumferential direction. The 1 st gear member 21 includes, in addition to the internal gear 21g, a1 st bearing support 21a that supports the bearing 26, a2 nd bearing support 21b that supports the main bearing 28, and a coupling portion 21c that is coupled to a support member outside the apparatus. The 1 st bearing support portion 21a is located radially outward of the bearing 26 and on the opposite side of the output side from the teeth of the internal gear 21 g. The 2 nd bearing support portion 21b is located radially outward of the main bearing 28 and axially closer to the output side than the teeth of the internal gear 21 g. The connecting portion 21c is located at the outer peripheral portion of the 1 st gear member 21. The coupling portion 21c is provided with an engagement portion (e.g., a through hole for fastening) h1 that engages with a coupling member such as a bolt.

The 1 st gear member 21 also functions as a housing that covers the meshing portions of the

internal gears

21g, 22g and the external gear 15 from the opposite output side and the radially outer side, and is coupled to and supported by a member outside the device.

The 2 nd gear member 22 is a circumferentially continuous ring-shaped member extending from a radially outer side of the bearing 27 to a radially inner side of the main bearing 28. The 2 nd gear member 22 includes, in addition to the ring gear 22g, a1 st bearing support 22a that supports the bearing 27, a2 nd bearing support 22b that supports the main bearing 28, and a coupling portion 22c that is coupled to a member outside the apparatus. The 1 st bearing support portion 22a is located radially outward of the bearing 27 and on the output side of the teeth of the internal gear 22 g. The 2 nd bearing support portion 22b is located radially inward of the bearing 26 and radially outward of the teeth of the internal gear 22 g. The coupling portion 22c is located at a radially outer wall thickness portion of the 1 st bearing support portion 22a on the output side of the 2 nd gear member 22. The coupling portion 22c is provided with an engagement portion (e.g., a screw hole) h2 that engages with a coupling member such as a bolt. The reduction gear 1 outputs the reduced rotational motion to an external member (driven member) coupled to the coupling portion 22 c.

The 2 nd gear member 22 also functions as a cover that covers a part of the meshing portion between the

internal gears

21g, 22g and the external gear 15 from the output side.

The bearing 26 is present between the 1 st gear member 21 and the start-up body shaft 10, and enables relative rotation therebetween. The bearing 27 is present between the 2 nd gear member 22 and the start-up shaft 10, and enables relative rotation therebetween. The main bearing 28 is present between the 1 st gear member 21 and the 2 nd gear member 22, and enables relative rotation therebetween. In the structure in which the bearing is present between the member a and the member B so that the member a and the member B can rotate relative to each other, the member a may be regarded as a bearing, or the member a may be regarded as a bearing to rotatably support the member a. The member B may be regarded as a support bearing, or may be regarded as a bearing that rotatably supports the member B. The member a may be regarded as rotatably supporting the member B via a bearing, or the member B may be regarded as rotatably supporting the member a via a bearing.

The bearing 26 has an inner ring 26i, an outer ring 26o, and a plurality of rolling elements 26 r. The plurality of rolling elements 26r roll between the inner ring 26i and the outer ring 26 o. The bearing 26 is a ball bearing in which the rolling elements 26r are spherical, but the type of the rolling elements is not particularly limited, and for example, a roller bearing in which the rolling elements 26r are roller-shaped, or a tapered roller bearing in which the rolling elements 26r are tapered roller-shaped may be used. The inner ring 26i, the outer ring 26o, and the plurality of rolling elements 26r are made of metal such as a steel material.

The bearing 27 has an inner ring 27i, an outer ring 27o, and a plurality of rolling elements 27 r. The plurality of rolling elements 27r roll between the inner ring 27i and the outer ring 27 o. The bearing 27 is a ball bearing in which the rolling elements 27r are spherical, but the type of the rolling elements is not particularly limited, and for example, a roller bearing in which the rolling elements 27r are roller-shaped, or a tapered roller bearing in which the rolling elements 27r are tapered roller-shaped may be used. The inner ring 27i, the outer ring 27o, and the plurality of rolling elements 27r are made of a metal such as a steel material.

Main bearing 28 has an inner race 28i, an outer race 28o, and a plurality of rolling elements 28 r. The plurality of rolling elements 28r roll between the inner race 28i and the outer race 28 o. The main bearing 28 is a cross roller bearing, and an insertion opening into which the rolling elements 28r can be inserted from the radially outer side is provided in a part of the outer ring 28o in the circumferential direction. A through hole into which the rolling element 28r can be inserted is also provided in a portion of the 1 st gear member 21 corresponding to the insertion port. The insertion opening and the through hole are configured to be openable and closable. The inner ring 28i, the outer ring 28o, and the plurality of rolling elements 28r are made of a metal such as a steel material. The main bearing 28 is not limited to the cross roller bearing, and various bearings, for example, a ball bearing may be used.

The 1 st gear member 21 and the 2 nd gear member 22 are made of a resin material. As the resin material, for example, a simple resin such as a synthetic resin, a Fiber-Reinforced resin such as FRP (Fiber-Reinforced Plastic) or CFRP (Carbon Fiber-Reinforced Plastic), a paper phenol resin, a cloth phenol resin, or the like can be used. In the present embodiment, the 1 st gear member 21 and the 2 nd gear member 22 are made of PEEK (Polyetheretherketone) containing carbon fibers.

The 1 st gear member 21 is integrated with the outer ring 26o of the bearing 26 and the outer ring 28o of the main bearing 28 by insert molding. That is, the outer rings 26o and 28o are fixed to the 1 st bearing support 21a and the 2 nd bearing support 21b of the 1 st gear member 21, respectively, by insert molding. The outer rings 26o and 28o are fixed to the inner periphery of the 1 st bearing support portion 21a and the inner periphery of the 2 nd bearing support portion 21b, respectively.

The 2 nd gear member 22 is integrated with the outer ring 27o of the bearing 27 and the inner ring 28i of the main bearing 28 by insert molding. That is, the outer ring 27o and the inner ring 28i are fixed to the 1 st bearing support 22a and the 2 nd bearing support 22b of the 2 nd gear member 22, respectively, by insert molding. The outer ring 27o is fixed to the inner periphery of the 1 st bearing support 22a, and the inner ring 28i is fixed to the outer periphery of the 2 nd bearing support 22 b.

By insert molding, high fastening property between the resin component (the 1 st gear member 21 or the 2 nd gear member 22) and the metal components (the inner ring 28i, the outer rings 26o, 27o, 28o) is obtained, so that the joining strength between the resin component and the metal components is improved. Also, by insert molding, a shape in which the resin member surrounds a part of the metal member or a shape in which the resin member is embedded in a part of the metal member can be formed so as not to separate the resin member from the metal member, and one or both of the 1 st gear member 21 and the outer rings 26o, 28o may have such a shape. The 2 nd gear member 22 and one or both of the outer ring 27o and the inner ring 28i may have the above-described shape.

< Assembly Process >

Next, an example of an assembling method of the reduction gear transmission 1 according to the first embodiment will be described. In a stage before assembly, the

bearings

26, 27 and the main bearing 28 are separated into

inner rings

26i, 27i, 28i, outer rings 26o, 27o, 28o, and rolling

elements

26r, 27r, 28 r. Further, the outer rings 26o and 28o are integrated with the 1 st gear member 21, and the outer ring 27o and the inner ring 28i are integrated with the 2 nd gear member 22 by insert molding.

In this state, first, the worker assembles the bearing 26 by fitting the inner ring 26i and the plurality of rolling elements 26r into the outer ring 26o integrated with the 1 st gear member 21. When assembling the bearing 26, first, the worker disposes the inner ring 26i inside the outer ring 26o, and then, leans a part of the inner ring 26i toward the outer ring 26o, thereby enlarging the gap between the inner ring 26i and the outer ring 26o on the opposite side of the leaned part. Next, the worker inserts the plurality of rolling elements 26r between the inner ring 26i and the outer ring 26o from the gap, and then restores the bias of the inner ring 26 i. Next, the worker disperses the plurality of rolling elements 26r in the rolling path between the inner ring 26i and the outer ring 26o, and inserts the cage to hold the dispersed arrangement of the plurality of rolling elements 26 r. The assembly of the bearing 26 is completed in this order. The method of assembling the bearing 26 (the same applies to other bearings such as the bearing 27 and the main bearing 28) is not limited to this, and various methods of assembling the bearing may be employed. For example, a plurality of rolling elements may be supported by a cage, and the cage may be assembled between the inner ring 26i and the outer ring 26 o.

Similarly, the worker assembles the bearing 27 by fitting the inner ring 27i and the plurality of rolling elements 27r into the outer ring 27o integrated with the 2 nd gear member 22.

Next, the worker inserts the shaft portion 10B of the start body shaft 10 into the bearing 26 (the inner ring 26i thereof) integrated with the 1 st gear member 21 from the output side. Next, the worker fits the oscillator bearing 11 and the external gear 15 into the oscillator 10A of the oscillator shaft 10 from the output side. When the shaft portion 10B of the oscillation generating body shaft 10 is fitted into the bearing 26, the worker inserts the snap ring 16 between the bearing 26 and the oscillation generating body 10A in advance. When the external gear 15 is fitted, the worker adjusts the positions in the rotational direction of the external gear 15 and the internal gear 21g so that the external teeth of the external gear are engaged with the internal teeth of the internal gear.

Next, the worker fits (the outer ring 27o of) the bearing 27 from the output side into the shaft portion 10C on the output side of the oscillator shaft 10 assembled as described above. Since the bearing 27 is integrated with the 2 nd gear member 22, the 2 nd gear member 22 is also inserted to a position overlapping with a part of the 1 st gear member 21 in the axial direction by the insertion of the bearing 27. When fitting the bearing 27 into the shaft portion 10C of the oscillator shaft 10, the worker inserts the snap ring 17 between the bearing 27 and the oscillator 10A in advance. When the bearing 27 is fitted into the shaft portion 10C of the starting body shaft 10, the worker meshes the external teeth of the external gear 15 with the internal teeth of the internal gear 22 g.

In this state, the inner ring 28i and the outer ring 28o of the main bearing 28 are in an opposed relationship with each other. In this state, the worker inserts the plurality of rolling elements 28r between the inner ring 28i and the outer ring 28o one by one through the insertion hole of the 1 st gear member 21 and the insertion opening of the outer ring 28 o. Subsequently, when all the rolling elements 28r are inserted, the insertion openings and the through holes are closed, thereby completing the assembly of the main bearing 28 and the reduction gear 1.

< deceleration action >

The reduction gear transmission 1 according to the first embodiment operates as follows. When the rotational motion is input through the oscillation start body shaft 10, the rotational motion of the oscillation start body 10A is transmitted to the external gear 15. At this time, the shape of the external gear 15 is limited to a shape conforming to the outer peripheral surface of the oscillator 10A, and it is bent into an elliptical shape having a major axis portion and a minor axis portion when viewed from the axial direction. The external gear 15 meshes with the internal gear 21g of the fixed 1 st gear member 21 at the major axis portion. Therefore, the external gear 15 does not rotate at the same rotational speed as the oscillator 10A, but the oscillator 10A relatively rotates inside the external gear 15. Then, the external gear 15 is flexurally deformed so that the long axis position and the short axis position move in the circumferential direction in accordance with the relative rotation. The deformation period is proportional to the rotation period of the oscillator shaft 10.

When the external gear 15 is deformed, the long-axis position thereof moves, and the meshing position between the external gear 15 and the internal gear 21g changes in the rotational direction. Here, when the number of teeth of the external gear 15 is 100 and the number of teeth of the internal gear 21g is 102, the meshing teeth of the external gear 15 and the internal gear 21g are sequentially shifted every rotation of the meshing position, and the external gear 15 rotates (rotates). If the number of teeth is set as described above, the rotational motion of the oscillator shaft 10 is reduced at a reduction ratio of 100:2 and then transmitted to the external gear 15.

On the other hand, since the external gear 15 meshes with the other internal gear 22g, the meshing position between the external gear 15 and the internal gear 22g changes in the rotational direction as the rotor shaft 10 rotates. On the other hand, since the number of teeth of the internal gear 22g is identical to that of the external gear 15, the external gear 15 and the internal gear 22g do not rotate relative to each other, and the rotational motion of the external gear 15 is transmitted to the internal gear 22g at a reduction ratio of 1: 1. Thereby, the rotational motion of the oscillator body shaft 10 is reduced in speed by a reduction ratio of 100:2 and transmitted to the 2 nd gear member 22. Then, the decelerated rotational motion is output to the target member coupled to the 2 nd gear member 22.

When torque is generated between the target member coupled to the 2 nd gear member 22 and the support member coupled to the 1 st gear member 21 during the operation of the reduction gear transmission 1, torque in the rotational direction is also generated in the 1 st gear member 21 and the 2 nd gear member 22. Here, if the 1 st gear member 21 is divided into a plurality of parts, the parts are divided into parts having a small thickness, and thus the rigidity of each part is lowered. In addition, in a structure in which resin parts are connected together by bolts, since the resin is relatively soft and cannot increase the fastening torque of the bolts, the connection rigidity between the plurality of parts is lowered. On the other hand, the 1 st gear member 21 of the present embodiment is integrated (formed integrally of the same material) from the outer ring 26o of the bearing 26 to the outer ring 28o of the main bearing 28, and the outer rings 26o, 28o are fixed to the 1 st gear member 21 by insert molding. Therefore, as compared with a structure in which this portion is divided into a plurality of parts and coupled together by bolts or the like, high rigidity of the 1 st gear member 21 can be obtained even if it is made of resin. Similarly, the 2 nd gear member 22 can be made of resin to have high rigidity. Therefore, high rigidity of the reduction gear transmission 1 can be obtained with respect to the torque.

As described above, according to the reduction gear 1 of the present embodiment, the outer ring 26o of the bearing 26 and the outer ring 28o of the main bearing 28 are fixed to the 1 st gear member 21 made of resin by insert molding. Therefore, compared to the case where the part of the 1 st gear member 21 is divided into the bearing 26 side and the main bearing 28 side and coupled together by a bolt or the like, the 1 st gear member 21 of the present embodiment is formed integrally, and therefore, high rigidity can be obtained even if made of resin. Similarly, since the outer ring 27o of the bearing 27 and the inner ring 28i of the main bearing 28 are fixed to the 2 nd gear member 22 by insert molding, high rigidity of the 2 nd gear member 22 can be obtained even if the members are made of resin by fixing metal components. Therefore, by including the resin-made module, the reduction in weight can be achieved, and the rigidity (torsional rigidity and the like) of the entire reduction gear transmission 1 can be improved. Further, the reduction gear 1 of the present embodiment can reduce the number of fastening components such as bolts and can reduce the component cost, as compared with the configuration in which the 1 st gear member 21 is divided into a plurality of parts and the configuration in which the 2 nd gear member 22 is divided into a plurality of parts.

Further, according to the reduction gear 1 of the present embodiment, the shafts (the oscillation start shaft 10 and the 2 nd gear member 22) having different rotation speeds are supported by two bearings (26, 28) integrated with the 1 st gear member 21 by insert molding. Similarly, two bearings (27, 28) integrated with the 2 nd gear member 22 by insert molding support shafts having different rotational speeds, respectively. Since the 1 st gear member 21 and the 2 nd gear member 22 rotate relative to each other, one of them can be regarded as an axis. In a typical reduction gear, a member supporting two shafts having different rotation speeds supports different shafts, and therefore, there is a possibility that torque is received between the different shafts. Therefore, by making the 1 st gear member 21 in this state from an integral component and fixing the outer rings 26o, 28o of the two bearings (26, 28) to the 1 st gear member 21 by insert molding, the 1 st gear member 21 has high rigidity, and therefore the rigidity of the reduction gear transmission 1 with respect to the above-described torque can be improved. Similarly, the 2 nd gear member 22 that is in a state of receiving the torque is made of an integral member, and the outer ring 27o and the inner ring 28i of the bearings (27, 28) are fixed to the 2 nd gear member 22 by insert molding, whereby the 2 nd gear member 22 has high rigidity, and therefore the rigidity of the reduction gear transmission 1 with respect to the torque can be improved.

More specifically, the 1 st gear member 21 supports the oscillation start body shaft 10 to which the rotational motion is input and the 2 nd gear member 22 to which the rotational motion after the speed reduction is output via the bearing 26 and the main bearing 28. Therefore, an axial load or a radial load is sometimes applied from the outside to the main bearing 28 via the output shaft (i.e., the 2 nd gear member 22) so that a torque is generated in the 1 st gear member 21. However, since high rigidity of the 1 st gear member 21 can be obtained, the rigidity of the reduction gear transmission 1 with respect to the torque can be improved.

In the reduction gear 1 of the present embodiment, the 1 st gear member 21, in which the outer rings 26o and 28o are fixed by insert molding, has the internal gear 21g, and torque is generated by applying a force in the rotational direction to the internal gear 21 g. Similarly, the 2 nd gear member 22 in which the outer ring 27o and the inner ring 28i are fixed by insert molding has the internal gear 22g, and a force in the rotational direction is applied to the internal gear 22g, thereby generating a torque. According to the reduction gear 1 of the present embodiment, as described above, the 1 st gear member 21 and the 2 nd gear member 22 that generate torque have high rigidity, and therefore the rigidity of the reduction gear 1 as a whole with respect to torque can be improved.

Further, according to the reduction gear 1 of the present embodiment, the outer rings 26o and 28o integrated with the 1 st gear member 21 by insert molding are fixed to the inner periphery of the 1 st gear member 21. Of the outer ring 27o and the inner ring 28i which are integrated with the 2 nd gear member 22 by insert molding, the outer ring 27o is fixed to the inner periphery of the 2 nd gear member 22, and the inner ring 28i is fixed to the outer periphery of the 2 nd gear member 22. By this insert molding, the contact areas between the outer rings 26o and 28o and the 1 st gear member 21 and between the outer ring 27o and the inner ring 28i and the 2 nd gear member 22 can be increased, and the holding of the insert metal during the insert molding can be facilitated.

(second embodiment)

Fig. 2 is a sectional view of a reduction gear transmission according to a second embodiment of the present invention. The reduction gear transmission 1A according to the second embodiment is an example in which the 2 nd gear member 22 is a member integrated with both bearings by insert molding of the outer ring or the inner ring. The same components as those of the first embodiment are denoted by the same reference numerals, and detailed description thereof is omitted.

The reduction gear 1A is a flexure mesh type gear device mounted on a joint portion of a cooperative robot (the application is not limited), and includes a starting body shaft 10, a starting body bearing 11, an external gear 15, a1 st gear member 21A1 including an internal gear 21g, a cover member 21A2, a2 nd gear member 22 including an internal gear 22g,

bearings

26 and 27, a main bearing 28A, and stopper rings 16 and 17.

Among these components, the start body shaft 10 corresponds to an example of the input shaft according to the present invention. The 2 nd gear member 22 corresponds to an example of the output shaft according to the present invention. The 2 nd gear member 22 corresponds to an example of the 1 st bearing support member according to the present invention, the 1 st gear member 21a1 corresponds to an example of the 2 nd bearing support member according to the present invention, and the cover member 21a2 corresponds to an example of the 3 rd bearing support member according to the present invention. The bearing 27, the main bearing 28A, and the bearing 26 correspond to examples of the 1 st bearing, the 2 nd bearing, and the 3 rd bearing according to the present invention, respectively.

The main bearing 28A is a ball bearing, but may be a roller bearing or a tapered roller bearing. The inner ring 28Ai, the outer ring 28Ao, and the plurality of rolling elements 28Ar are made of a metal such as a steel material.

The 1 st gear member 21a1 is an annular member that extends from the meshing portion on the non-output side of the external gear 15 to a position radially outside the main bearing 28A and is continuous in the circumferential direction. The 1 st gear member 21a1 includes a ring gear 21g, a2 nd bearing support portion 21b that supports the main bearing 28, a coupling portion 21c for coupling to a support member outside the apparatus, and a cover coupling portion 21d for coupling to the cover member 21a 2. The cover coupling portion 21d is provided with an engagement portion (e.g., a screw hole) h11 that engages with a coupling member B1 such as a bolt. The 1 st gear member 21a1 also functions as a casing that covers the main bearing 28A and the meshing portion between the external gear 15 and the internal gear 21g from the radially outer side, is connected to an external member, and is supported by this member.

The cover member 21a2 is an annular member that extends radially outward from the outer periphery of the bearing 26 and is continuous in the circumferential direction, and covers the meshing portion of the internal gear 21g and the external gear 15 from the opposite output side. The cover member 21a2 has a1 st bearing support portion 21a that supports the bearing 26 and a flange portion 21e that is coupled to the cover coupling portion 21d of the 1 st gear member 21a 1. The flange portion 21e is provided with an engagement portion (e.g., a through hole) h12 that engages with a coupling member B1 such as a bolt.

A part of the output side of the cover member 21a2 protrudes toward the output side over the entire circumference, and the protruding part is fitted (snap-fitted) to the inner peripheral edge portion of the 1 st gear member 21a1 on the opposite side to the output side, thereby being positioned.

The 1 st gear member 21a1 is formed of the same resin material as the 1 st gear member 21 of the first embodiment, and is integrated with the outer ring 28Ao of the main bearing 28A by insert molding. That is, the outer ring 28Ao is fixed to the inner periphery of the 2 nd bearing support portion 21b by insert molding.

The cover member 21a2 is formed of the same resin as the 1 st gear member 21 of the first embodiment, and is integrated with the outer ring 26o of the bearing 26 by insert molding. That is, the outer ring 26o is fixed to the inner periphery of the 1 st bearing support portion 21a by insert molding.

< Assembly Process >

The reduction gear transmission 1A of the second embodiment is assembled as follows. First, the worker assembles the bearing 27 by fitting the inner ring 27i and the plurality of rolling elements 27r into the outer ring 27o integrated with the 2 nd gear member 22. The assembly method of the rolling elements 27r of the bearing 27 is the same as that in the first embodiment. Similarly, the worker assembles the bearing 26 by fitting the inner ring 26i and the plurality of rolling elements 26r into the outer ring 26o integrated with the cover member 21a 2.

Next, the worker arranges the inner ring 28Ai integral with the 2 nd gear member 22 and the outer ring 28Ao integral with the 1 st gear member 21a1 so as to face each other, and assembles the main bearing 28A by incorporating a plurality of rolling elements 28Ar therebetween. Both the outer ring 28Ao and the inner ring 28Ai are integrated with the resin components (the 1 st gear member 21a1 and the 2 nd gear member 22), but when the starting body shaft 10, the starting body bearing 11, and the external gear 15 are not assembled, the inner ring 28Ai can be brought closer to the outer ring 28Ao side in a part in the circumferential direction without interference of the resin components. Therefore, a plurality of rolling elements 28Ar can be assembled to the main bearing 28A as well as to the

bearings

26 and 27. When the main bearing 28 is assembled, the relative disposition between the 1 st gear member 21A1 and the 2 nd gear member 22 is determined.

Next, the worker fits the external gear 15, the starting body bearing 11, and the starting body shaft 10 into the 1 st gear member 21a1 and the 2 nd gear member 22, which are arranged in a predetermined manner, from the opposite output side. At this time, the shaft portion 10C of the start body shaft 10 is fitted into the inner ring 27i of the bearing 27, and the external gear 15 meshes with the

internal gears

21g and 22 g.

Next, the worker inserts the cover member 21a2 integrated with the bearing 26 from the opposite output side. At this time, the inner race 26i of the bearing 26 is fitted into the shaft 10B of the start body shaft 10. Next, the worker fastens the coupling member B1 to couple the flange portion 21e of the cover member 21A2 to the cover coupling portion 21d of the 1 st gear member 21A1, thereby completing the assembly of the reduction gear 1A.

As described above, according to the reduction gear transmission 1A of the second embodiment, the 2 nd gear member 22 is integrally formed of a single resin member from the 1 st bearing support portion 22a to the 2 nd bearing support portion 22b, and is integrally formed with the outer ring 27o of the bearing 27 and the inner ring 28Ai of the main bearing 28A by insert molding. Therefore, compared to the structure in which the portion supporting the bearing 27 and the portion supporting the main bearing 28A are separated from each other and are coupled together by bolts or the like in the comparative example, the rigidity of the 2 nd gear member 22 is improved, and the rigidity of the entire reduction gear 1A can be improved.

Further, according to the reduction gear 1A of the second embodiment, the cover member 21A2 supporting the bearing 26 and the 1 st gear member 21A1 supporting the main bearing 28A are separate members, and therefore, they can be assembled separately in the assembly process. Therefore, the restrictions in assembling the reduction gear 1A are reduced, and accordingly, the degree of freedom in designing the reduction gear 1A can be increased, and for example, even if the starting body shaft 10 having the largest diameter at the center is used, the assembly can be easily performed.

In addition, the above-described effects can be similarly obtained also in the case where one or both of the 1 st gear member 21a1 and the cover member 21a2 are made of metal. Further, one or both of the 1 st gear member 21a1 and the cover member 21a2 may be formed of a resin member that is not integrated with the main bearing 28A or the bearing 26 by insert molding, and in this case, the above-described effects can be similarly obtained.

Further, according to the reduction gear transmission 1A of the second embodiment, the 1 st gear member 21A1 and the cover member 21A2 are made of resin, so that the reduction gear transmission 1A can be further reduced in weight. Further, the outer ring 26o of the bearing 26 is fixed to the cover member 21A2 by insert molding, and the outer ring 28Ao of the main bearing 28A is fixed to the 1 st gear member 21A1 by insert molding, whereby the rigidity of the 1 st gear member 21A1 made of resin and the cover member 21A2 made of resin is improved, and the rigidity of the entire reduction gear 1A can be improved.

(third embodiment)

Fig. 3 is a sectional view of a reduction gear transmission according to a third embodiment of the present invention. The reduction gear 1B of the third embodiment is an example in which the 1 st gear member 21 is a member integrated with two bearings by insert molding of an outer ring or an inner ring. The same components as those of the first embodiment are denoted by the same reference numerals, and detailed description thereof is omitted.

The reduction gear 1B is a flexure mesh type gear device mounted on a joint portion of a cooperative robot (the application is not limited), and includes a starting body shaft 10, a starting body bearing 11, an external gear 15, a1 st gear member 21 including an internal gear 21g, a2 nd gear member 22B1 including an internal gear 22g, a cover member 22B2,

bearings

26 and 27, a main bearing 28B, and stopper rings 16 and 17.

Among these components, the start body shaft 10 corresponds to an example of the input shaft according to the present invention. The 2 nd gear member 22B1 and the cover member 22B2 correspond to an example of the output shaft according to the present invention. The 1 st gear member 21 corresponds to an example of the 1 st bearing support member according to the present invention, the 2 nd gear member 22B1 corresponds to an example of the 2 nd bearing support member according to the present invention, and the cover member 22B2 corresponds to an example of the 3 rd bearing support member according to the present invention. The bearing 26, the main bearing 28B, and the bearing 27 correspond to examples of the 1 st bearing, the 2 nd bearing, and the 3 rd bearing according to the present invention, respectively.

The main bearing 28B is a ball bearing, but may be a roller bearing or a tapered roller bearing. The inner ring 28Bi, the outer ring 28Bo, and the plurality of rolling elements 28Br are made of metal such as a steel material.

The 2 nd gear member 22B1 is an annular member that is located between the meshing portion on the output side of the external gear 15 and the inner side of the main bearing 28B and is continuous in the circumferential direction. The 2 nd gear member 22B1 includes the ring gear 22g, the 2 nd bearing support 22B that supports the main bearing 28B, a coupling portion 22c for coupling to a target member outside the apparatus, and a cover coupling portion 22d for temporarily coupling to the cover member 22B 2. The coupling portion 22c is provided with an engagement portion (e.g., a screw hole) h21 that engages with a coupling member such as a bolt. The decelerated rotational motion is output to the target member. The cover coupling portion 22d is provided with an engagement portion (e.g., a screw hole) h22 that engages with a coupling member B2 such as a bolt.

The cover member 22B2 is an annular member that extends radially outward from the outer periphery of the bearing 27 and is continuous in the circumferential direction, and covers the meshing portion of the internal gear 22g and the external gear 15 from the output side. The cover member 22B2 includes a1 st bearing support 22a that supports the bearing 27, and a plurality of coupling portions 22e that are coupled (fastened) to the 2 nd gear member 22B 1. An engaging portion (e.g., a through hole for fastening) h23 that engages with a coupling member (not shown) such as a bolt for coupling to the output member is provided in any of the plurality of coupling portions 22e, and an engaging portion (e.g., a through hole) h24 that engages with the coupling member B2 for temporary fixing is provided in any of the plurality of coupling portions 22 e.

The cover member 22B2 has a stepped portion in which a part of the non-output side is recessed toward the output side over the entire circumference, and the stepped portion is fitted (snap-fitted) to the inner peripheral edge portion of the 2 nd gear member 22B1 on the output side and is positioned.

The 2 nd gear member 22B1 is formed of the same resin material as the 2 nd gear member 22 of the first embodiment, and is integrated with the inner race 28Bi of the main bearing 28B by insert molding. That is, the inner race 28Bi is fixed to the outer periphery of the 2 nd bearing support portion 22b by insert molding.

The cover member 22B2 is formed of the same resin as the 2 nd gear member 22 of the first embodiment, and is integrated with the outer ring 27o of the bearing 27 by insert molding. That is, the outer ring 27o is fixed to the inner periphery of the 1 st bearing support portion 22a by insert molding.

< Assembly Process >

The reduction gear transmission 1B of the third embodiment is assembled as follows. First, the worker assembles the bearing 26 by fitting the inner ring 26i and the plurality of rolling elements 26r into the outer ring 26o integrated with the 1 st gear member 21. The assembly method of the rolling elements 26r of the bearing 26 is the same as that in the first embodiment. Similarly, the worker assembles the bearing 27 by fitting the inner ring 27i and the plurality of rolling elements 27r into the outer ring 27o integrated with the cover member 22B 2.

Next, the worker arranges the outer ring 28Bo integrated with the 1 st gear member 21 and the inner ring 28Bi integrated with the 2 nd gear member 22B1 to face each other, and assembles the main bearing 28B by incorporating a plurality of rolling elements 28Br therebetween. Both the outer ring 28Bo and the inner ring 28Bi are integrated with the resin package (the 1 st gear member 21 and the 2 nd gear member 22B1), but when the starting body shaft 10, the starting body bearing 11, and the external gear 15 are not assembled, the inner ring 28Bi can be brought closer to the outer ring 28Bo side in a part in the circumferential direction without interfering with the resin package. Therefore, a plurality of rolling elements 28Br can be assembled to main bearing 28B as well as

bearings

26 and 27. When the main bearing 28B is assembled, the relative disposition between the 1 st gear member 21 and the 2 nd gear member 22B1 is determined.

Next, the worker inserts the external gear 15, the oscillator bearing 11, and the oscillator shaft 10 into the 1 st gear member 21 and the 2 nd gear member 22B1, which are arranged in the determined relative positions, from the output side. At this time, the shaft portion 10B of the start body shaft 10 is fitted into the inner ring 26i of the bearing 26, and the external gear 15 meshes with the

internal gears

21g and 22 g.

Next, the worker inserts the cover member 22B2 integrated with the bearing 27 from the output side. At this time, the inner race 27i of the bearing 27 is fitted into the shaft portion 10C of the start body shaft 10. Next, the worker fastens the coupling member B2 to couple the coupling portion 22e of the cover member 22B2 to the cover coupling portion 22d of the 2 nd gear member 22B1, thereby completing the assembly of the reduction gear 1B.

As described above, according to the reduction gear transmission 1B of the third embodiment, the 1 st gear member 21 is integrally formed of a single resin member from the 1 st bearing support portion 21a to the 2 nd bearing support portion 21B, and is integrally formed with the outer ring 26o of the bearing 26 and the outer ring 28Bo of the main bearing 28B by insert molding. Therefore, compared to the structure in which the portion supporting the bearing 26 and the portion supporting the main bearing 28B are separated from each other and are coupled together by bolts or the like in the comparative example, the rigidity of the 1 st gear member 21 is improved, and the rigidity of the entire reduction gear 1B can be improved.

Further, according to the reduction gear 1B of the third embodiment, the cover member 22B2 supporting the bearing 27 and the 2 nd gear member 22B1 supporting the main bearing 28B are separate members, and therefore, they can be assembled separately in the assembly process. Therefore, restrictions in assembling the reduction gear 1B are reduced, and accordingly, the degree of freedom in designing the reduction gear 1B can be increased, and for example, even if the starting body shaft 10 having the largest diameter at the center is used, the assembly can be easily performed.

In addition, the above-described effects can be similarly obtained also in the case where one or both of the 2 nd gear member 22B1 and the cover member 22B2 are made of metal. Further, one or both of the 2 nd gear member 22B1 and the cover member 22B2 may be formed of a resin member that is not integrated with the main bearing 28B or the bearing 27 by insert molding, and in this case, the above-described effects can be obtained similarly.

Further, according to the reduction gear transmission 1B of the third embodiment, the 2 nd gear member 22B1 and the cover member 22B2 are made of resin, so that the reduction gear transmission 1B can be further reduced in weight. Further, the outer ring 27o of the bearing 27 is fixed to the cover member 22B2 by insert molding, and the inner ring 28Bi of the main bearing 28B is fixed to the 2 nd gear member 22B1 by insert molding, whereby the rigidity of the resin 2 nd gear member 22B1 and the resin cover member 22B2 is improved, and the rigidity of the entire reduction gear 1B can be improved.

(fourth embodiment)

Fig. 4 is a sectional view showing a reduction gear 1C according to a fourth embodiment of the present invention. In the fourth embodiment, the side on which the output member 49 is arranged in the axial direction is referred to as the output side, and the side on which the 1 st housing 46 is arranged opposite thereto is referred to as the opposite side to the output side. Here, the 1 st case 46 and the 2 nd case 47 are assumed to be coupled to a support member outside the apparatus, and in this case, the decelerated rotational motion is output to the output member 49, and thus, is referred to as the output side and the opposite output side as described above. However, the reduction gear 1C according to the fourth embodiment is not limited to the above-described method of use, and may be used in such a manner that the carrier body 41 is coupled to a support member outside the device, and the reduced rotational motion is output to the 1 st and 2

nd housings

46 and 47.

The reduction gear 1C according to the fourth embodiment is a reduction gear that is made lightweight by including resin parts, and is mounted on a joint portion of a cooperative robot that works in cooperation with a human. By the weight reduction, the reduction gear 1C is suitable as a component of a cooperative robot. The application of the reduction gear transmission 1C is not limited to the above example, and may be incorporated in various devices.

The reduction gear 1C is an eccentric oscillation type reduction gear having eccentrically oscillating

external gears

34, 36, and includes an eccentric body shaft 32 having a1 st eccentric body 32b and a2 nd eccentric body 32C, two

external gears

34, 36, an internal gear 38, eccentric body bearings 51, 52, a plurality of internal pins 40 engaged with the

external gears

34, 36, a carrier body 41 supporting the internal pins 40 on the output side, a support member 42 supporting the internal pins on the opposite output side, a carrier pin 43 connecting the carrier body 41 and the support member 42, and an output member 49 connected to the carrier body 41.

The reduction gear 1C includes a1 st housing 46 located on the opposite side to the output side, a2 nd housing 47 located on the outer side in the radial direction of the device, a plurality of high-speed bearings 53 and 54 supporting the eccentric body shaft 32, and a plurality of

main bearings

55 and 56 supporting the reduced rotation body (the carrier body 41 and the support member 42).

In the above-described components, the eccentric body shaft 32 corresponds to an example of an input shaft according to the present invention, and the carrier body 41 and the output member 49 correspond to an example of an output shaft according to the present invention. The high-speed bearing 53, the main bearing 55, the high-speed bearing 54, and the main bearing 56 correspond to examples of the 1 st bearing, the 2 nd bearing, the 3 rd bearing, and the 4 th bearing according to the present invention, respectively. The 1 st housing 46 corresponds to an example of a1 st bearing support member, the carrier body 41 corresponds to an example of a 4 th bearing support member of the present invention, and the 2 nd housing 47 corresponds to an example of a 5 th bearing support member of the present invention.

The eccentric body shaft 32 includes

shaft portions

32a and 32d having a rotation shaft O1 overlapping the center axis, and a1 st eccentric body 32b and a2 nd eccentric body 32c eccentrically provided from the rotation shaft O1. The 1 st eccentric body 32b and the 2 nd eccentric body 32c have circular cross sections perpendicular to the rotation axis O1, and eccentrically rotate in different phases from each other by the rotation of the eccentric body shaft 32.

The one external gear 34 is assembled to the 1 st eccentric body 32b via an eccentric body bearing 51, and oscillates with the rotation of the eccentric body shaft 32. The other external gear 36 is assembled to the 2 nd eccentric body 32c via the eccentric body bearing 52, and oscillates in a phase different from that of the external gear 34 with the rotation of the eccentric body shaft 32. A plurality of inner pin holes 34h through which the plurality of inner pins 40 are inserted are provided in the outer gear 34 in a circumferential direction. Similarly, the outer gear 36 is provided with a plurality of inner pin holes 36h through which the plurality of inner pins 40 are inserted, arranged in a circumferential direction.

The internal gear 38 has a plurality of internal teeth, and meshes with the

external gears

34, 36. The internal gear 38 is formed by providing teeth on the inner periphery of the 2 nd housing 47. The internal gear 38 is not limited to the above configuration, and may have a plurality of grooves provided on the inner periphery of the 2 nd housing 47 and a plurality of pins (outer pins) held in the plurality of grooves, for example. In this case, the plurality of grooves extend in the axial direction and are arranged in a row in the circumferential direction.

The plurality of inner pins 40 penetrate the inner pin hole 34h of one external gear 34 and the inner pin hole 36h of the other external gear 36. The plurality of inner pins 40 are in contact with the inner peripheral surfaces of the

inner pin holes

34h, 36h, and move (including rest) in synchronization with the movement (rotation movement) of the

outer gears

34, 36.

The carrier body 41 and the support member 42 are disposed on the output side and the opposite output side of the two

external gears

34 and 36, respectively, and support the plurality of inner pins 40 from the output side and the opposite output side, respectively. The carrier body 41 and the support member 42 are coupled together via a carrier pin 43. The carrier pin 43 passes through the carrier pin holes 34h2, 36h2 provided in the

external gears

34, 36. The carrier body 41 and the support member 42 move (including rest) in synchronization with the movement (rotation movement) of the

external gears

34, 36 via the inner pins 40.

The eccentric bearings 51 and 52, the high-speed bearings 53 and 54, and the

main bearings

55 and 56 are ball bearings, but may be roller bearings or tapered roller bearings. The high-speed bearings 53 and 54 and the

main bearings

55 and 56 may be different types of bearings.

The output member 49 is coupled to the carrier body 41 via a coupling member B0 such as a bolt, and outputs the decelerated rotational motion to the outside of the reduction gear 1C.

The 1 st and 2

nd housings

46 and 47 cover the internal structure of the reduction gear 1C and support the internal structure rotatably. Specifically, the 1 st housing 46 covers the output-opposite side of the external gear 34 and the support member 42, and extends to the outside in the radial direction of the device. The 1 st housing 46 rotatably supports the support member 42 via the main bearing 55, and rotatably supports the shaft portion 32a on the opposite side of the eccentric body shaft 32 from the output side via the high-speed bearing 53. The 2 nd housing 47 covers the radial outer sides of the

external gears

34, 36 and the carrier body 41, and rotatably supports the support member 42 and the carrier body 41 via the

main bearings

55, 56, respectively. The shaft portion 32d on the output side of the eccentric body shaft 32 is rotatably supported by the carrier body 41 via a high-speed bearing 54.

The 1 st case 46 and the 2 nd case 47 are provided with engagement portions (through holes or the like for communication) h31 for connection to a support member outside the apparatus. The 1 st and 2

nd housings

46 and 47 have engaging portions (through-holes, screw holes, and the like) h41 and h42 for coupling the 1 st and 2

nd housings

46 and 47 to each other, and are coupled to each other via a coupling member B3 such as a bolt.

Among the above-described constituent elements, the 1 st outer case 46, the 2 nd outer case 47, the carrier body 41, the support member 42, and the

external gears

34, 36 are made of resin. As the resin material, for example, simple resins such as synthetic resins, fiber reinforced resins such as FRP and CFRP, paper phenol resins, cloth phenol resins, and the like can be used. And, the eccentric body shaft 32; an output member 49; inner rings 53i and 54i, outer rings 53o and 54o, and rolling elements 53r and 54r of high-speed bearings 53 and 54;

inner rings

55i, 56i, outer rings 55o, 56o, and rolling

bodies

55r, 56r of the

main bearings

55, 56; the inner rings 51i, 52i, the outer rings 51o, 52o, and the rolling elements 51r, 52r of the eccentric bearings 51, 52 are made of a metal such as a steel material. In addition, the output member 49 may be made of a resin material.

The 1 st housing 46 is integrated with the outer ring 53o of the high-speed bearing 53 and the outer ring 55o of the main bearing 55 by insert molding. That is, the outer rings 53o and 55o are fixed to the inner periphery of the 1 st housing 46 at a plurality of positions by insert molding. A part of the outer circumference of the outer ring 55o of the main bearing 55 in the axial direction is fixed to the 1 st housing 46 by insert molding, and the remaining part of the outer circumference in the axial direction is fitted to the 2 nd housing 47.

The carrier body 41 is integrated with the outer race 54o of the high-speed bearing 54 and the inner race 56i of the main bearing 56 by insert molding. That is, the outer race 54o and the inner race 56i are fixed to the inner periphery and the outer periphery of the carrier body 41 by insert molding, respectively.

The 2 nd housing 47 is integrated with the outer race 56o of the main bearing 56 by insert molding. The support member 42 is integrated with the inner ring 55i of the main bearing 55 by insert molding.

< Assembly Process >

As an example, the reduction gear transmission 1C according to the fourth embodiment can be assembled as follows. That is, the worker first fits the inner ring 53i and the plurality of rolling elements 53r into the outer ring 53o integrated with the 1 st housing 46 to assemble the high-speed bearing 53. Next, the worker assembles the main bearing 55 by incorporating the inner ring 55i integrated with the support member 42 and the plurality of rolling elements 55r into the outer ring 55o integrated with the 1 st housing 46. The high-speed bearing 53 and the main bearing 55 can be assembled in the same manner as the

bearings

26 and 27 of the first embodiment.

Next, the worker assembles the high-speed bearing 54 by fitting the inner ring 54i and the plurality of rolling elements 54r into the outer ring 54o integrated with the carrier body 41. Next, the worker assembles the inner ring 56i integrated with the carrier body 41, the outer ring 56o integrated with the 2 nd shell 47, and the plurality of rolling elements 56r to assemble the main bearing 56. The assembly of high speed bearing 54 and main bearing 56 may be performed in the same manner as described above. Next, the worker fits the plurality of inner pins 40 and the carrier pins 43 into the carrier body 41.

Next, the worker assembles the

external gears

34 and 36 to the eccentric body shaft 32 via the eccentric body bearings 51 and 52.

Next, the worker fits the eccentric body shaft 32, to which the

external gears

34 and 36 and the like are assembled, into the high-speed bearing 54 and the main bearing 56 that are integrated with the carrier body 41. At this time, the plurality of inner pins 40 pass through the

inner pin holes

34h, 36h of the

external gears

34, 36, and the carrier pins 43 pass through the carrier pin holes 34h2, 36h2 of the

external gears

34, 36. The external gears 34 and 36 mesh with an internal gear 38 provided in the 2 nd housing 47.

Next, the worker inserts the high-speed bearing 53 integrated with the 1 st housing 46 into the shaft portion 32a on the opposite side of the output of the eccentric body shaft 32. At this time, a part of the outer ring 55o of the main bearing 55 assembled to the 1 st housing 46 is fitted to the inner peripheral edge portion of the 2 nd housing 47 on the opposite side to the output side, and the end portions of the plurality of inner pins 40 and the carrier pins 43 on the opposite side to the output side are fitted to the support member 42.

Next, the worker connects the 1 st case 46 and the 2 nd case 47 by the connecting member B3, and connects the output member 49 to the wheel frame body 41 by the connecting member B0. Thereby, the assembly of the reduction gear transmission 1C is completed.

< description of action >

The reduction gear transmission 1C according to the fourth embodiment operates as follows. That is, when the eccentric body shaft 32 rotates, the 1 st eccentric body 32b and the 2 nd eccentric body 32c eccentrically rotate, and the one external gear 34 and the other external gear 36 oscillate with a phase difference of 180 degrees. By providing the two

external gears

34 and 36, the transmission capacity can be increased and the strength can be maintained, and the rotation balance of the reduction gear 1C can be maintained. The external gears 34 and 36 mesh with the internal gear 38, and the internal gear 38 is integrated with the 2 nd housing 47. Therefore, the

external gears

34 and 36 rotate (rotate) relative to the internal gear 38 by the amount corresponding to the difference in the number of teeth per one rotation of the eccentric body shaft 32. The rotation components of the

external gears

34 and 36 are transmitted to the carrier body 41 and the support member 42 via the inner pins 40. As a result, the rotational motion of the eccentric body shaft 32 is reduced in speed at a reduction gear ratio of (difference in the number of teeth between the internal gear 38 and the external gears 34, 36)/(equal number of teeth between the external gear 34 and the external gear 36) and then output from the carrier body 41 and the output member 49.

As described above, according to the reduction gear transmission 1C of the fourth embodiment, the 1 st housing 46 is made of resin, and is integrated with the outer ring 53o of the high-speed bearing 53 and the outer ring 55o of the main bearing 55 by insert molding. Therefore, compared to the structure of the comparative example in which the portion supporting the high-speed bearing 53 and the portion supporting the main bearing 55 are separated from each other and are coupled together by bolts or the like, the rigidity of the 1 st housing 46 is improved, and the rigidity of the entire reduction gear 1C can be improved.

Similarly, according to the reduction gear transmission 1C of the fourth embodiment, the carrier body 41 is made of resin, and is integrated with the outer ring 54o of the high-speed bearing 54 and the inner ring 56i of the main bearing 56 by insert molding. Therefore, as compared with the structure of the comparative example in which the portion supporting the high-speed bearing 54 and the portion supporting the main bearing 56 are separated from each other and are coupled together by bolts or the like, the rigidity of the carrier body 41 is improved, and the rigidity of the entire reduction gear 1C can be improved.

The high-speed bearings 53 and 54 support the eccentric body shaft 32 as an input shaft, and the

main bearings

55 and 56 support the support member 42 and the carrier 41 that output the decelerated rotational motion. Therefore, a torque may be applied to the 1 st housing 46 supporting the high-speed bearing 53 and the main bearing 55 and the carrier body 41 supporting the high-speed bearing 54 and the main bearing 56 based on the axial load or the radial load. However, the rigidity of the reduction gear 1C with respect to the torque can be increased by the high rigidity of the 1 st outer case 46 and the carrier body 41.

Further, according to the reduction gear 1C of the fourth embodiment, two

main bearings

55 and 56 are provided, the outer ring of the main bearing 55 is fixed to the 1 st housing 46 by insert molding, and the inner ring 56i of the main bearing 56 is fixed to the carrier body 41 by insert molding. Therefore, after the two

main bearings

55 and 56 are assembled, the 1 st outer shell 46 and the carrier 41 can be assembled so as to sandwich the 1 st eccentric body 32b and the 2 nd eccentric body 32c of the

external gears

34 and 36 and the eccentric body shaft 32 disposed therebetween. In this way, since assembly can be easily performed, it is difficult for the component shape to be restricted for assembly (for example, the side shaft portion 32a is made thickest for finally mounting the starting body shaft from one side), and a high degree of freedom in design of the reduction gear transmission 1C can be obtained.

Further, according to the reduction gear 1C of the fourth embodiment, the 1 st housing 46 is fixed to a part of the outer periphery of the outer ring 55o by insert molding, and the 2 nd housing 47 is fitted to the remaining part of the outer periphery of the outer ring 55o, and the two members (the 1 st housing 46 and the 2 nd housing 47) support the outer ring 55o of the main bearing 55 are provided. In this way, since the metal outer ring 55o is positioned at the connection portion between the 1 st case 46 and the 2 nd case 47, the rigidity of the connection portion between the 1 st case 46 and the 2 nd case 47 can be increased. Therefore, the rigidity of the entire reduction gear 1C can be improved.

The embodiments of the present invention have been described above. However, the present invention is not limited to the above embodiments. For example, in the above-described embodiment, the reduction gear is a flex-mesh gear device or an eccentric oscillating type reduction gear, but the present invention can be applied to a simple planetary gear device or other types of reduction gear. The present invention is also applicable to a cup-type or silk hat-type flexible gear device, and a distributed eccentric rocking type reduction gear device in which a plurality of eccentric body shafts (input shafts) are provided at positions offset from the axial center of an internal gear. Further, in the above-described embodiment, the example in which the input shaft (i.e., the start body shaft 10 or the eccentric body shaft 32) is made of metal is shown, but the start body shaft 10 may be made of resin and the

inner rings

26i and 27i of the

bearings

26 and 27 may be fixed to the start body shaft 10 by insert molding. Similarly, the eccentric body shaft 32 may be made of resin, and the inner rings 53i and 54i of the high-speed bearings 53 and 54 may be fixed to the eccentric body shaft 32 by insert molding. The detailed configuration described in the embodiment can be modified as appropriate without departing from the spirit of the invention.

Claims

1. A reduction gear device comprising a1 st bearing, a2 nd bearing, and a1 st bearing support member made of resin and supporting the 1 st bearing and the 2 nd bearing,

2. Deceleration device according to claim 1,

the 1 st bearing supports a shaft with a different rotational speed than the shaft supported by the 2 nd bearing.

3. Deceleration device according to claim 2,

the 1 st bearing supports the input shaft,

the 2 nd bearing supports an output shaft to which the rotation after the deceleration is transmitted.

4. Deceleration device according to any one of claims 1 to 3,

the 1 st bearing support member is a gear member having internal teeth of an internal gear.

5. Deceleration device according to any one of claims 1 to 4,

the outer ring of the 1 st bearing is fixed to the inner periphery of the 1 st bearing support member by insert molding,

the inner race of the 2 nd bearing is fixed to the outer periphery of the 1 st bearing support member by insert molding.

6. Deceleration device according to one of claims 1 to 4,

the outer ring of the 2 nd bearing is fixed to the inner periphery of the 1 st bearing support member by insert molding.

7. Deceleration device according to one of claims 1 to 6,

further comprising a 3 rd bearing, a2 nd bearing support member for supporting the other of the inner ring and the outer ring of the 2 nd bearing opposite to the one, and a 3 rd bearing support member for supporting the one of the inner ring and the outer ring of the 3 rd bearing,

the 2 nd bearing support member and the 3 rd bearing support member are formed separately.

8. Deceleration device according to claim 7,

the 2 nd bearing support member is made of resin,

the other of the inner race or the outer race of the 2 nd bearing is fixed to the 2 nd bearing support member by insert molding.

9. Deceleration device according to claim 7 or 8,

the 3 rd bearing support member is made of resin,

the one of the inner race or the outer race of the 3 rd bearing is fixed to the 3 rd bearing support member by insert molding.

10. Deceleration device according to claim 1,

further comprising a 3 rd bearing, a 4 th bearing, and a 4 th bearing support member made of resin for supporting the 3 rd bearing and the 4 th bearing,

the 1 st bearing and the 3 rd bearing support an input shaft,

the 2 nd bearing and the 4 th bearing support a member to which rotation after deceleration is transmitted,

one of the inner ring and the outer ring of the 3 rd bearing and one of the inner ring and the outer ring of the 4 th bearing are fixed to the 4 th bearing support member by insert molding.

11. Deceleration device according to claim 1 or 10,

further comprising a 5 th bearing support member, wherein the 5 th bearing support member supports the 2 nd bearing,

a1 st portion on an outer periphery of an outer ring of the 2 nd bearing is fixed to the 1 st bearing support member by insert molding,

a2 nd portion on an outer periphery of the 2 nd bearing outer ring different from the 1 st portion is fitted into the 5 th bearing support member.