CN117588528A - Speed reducer and rotating device - Google Patents

Speed reducer and rotating device Download PDF

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Publication number
CN117588528A
CN117588528A CN202310968990.7A CN202310968990A CN117588528A CN 117588528 A CN117588528 A CN 117588528A CN 202310968990 A CN202310968990 A CN 202310968990A CN 117588528 A CN117588528 A CN 117588528A
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CN
China
Prior art keywords
pin
housing
pin grooves
axial direction
split
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202310968990.7A
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Chinese (zh)
Inventor
纪平诚人
松林将宽
林照太
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nabtesco Corp
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Nabtesco Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nabtesco Corp filed Critical Nabtesco Corp
Publication of CN117588528A publication Critical patent/CN117588528A/en
Pending legal-status Critical Current

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/04—Features relating to lubrication or cooling or heating
    • F16H57/042—Guidance of lubricant
    • F16H57/0421—Guidance of lubricant on or within the casing, e.g. shields or baffles for collecting lubricant, tubes, pipes, grooves, channels or the like
    • F16H57/0424—Lubricant guiding means in the wall of or integrated with the casing, e.g. grooves, channels, holes
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/08—General details of gearing of gearings with members having orbital motion
    • F16H57/082—Planet carriers
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F16H2001/325—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear comprising a carrier with pins guiding at least one orbital gear with circular holes
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F16H2001/327—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear with orbital gear sets comprising an internally toothed ring gear

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)

Abstract

The invention provides a speed reducer and a rotating device. The speed reducer according to one aspect of the present invention includes: a cylindrical housing having a plurality of pin grooves along an axial direction on an inner peripheral surface thereof; an inner tooth pin rotatably accommodated in each of the pin grooves; a plurality of swing gears having a smaller number of external teeth than the number of external teeth arranged in the circumferential direction of the pin grooves, the plurality of swing gears being arranged in the axial direction on the inner circumference of the housing, and being rotated while being meshed with the internal tooth pins by the external teeth by a rotational driving force; and a carrier that is assembled to be rotatable relative to the housing and is assembled to be rotatable relative to the plurality of oscillating gears, wherein the housing is formed with a plurality of dividing modules that divide the pin grooves in the axial direction at positions where the pin grooves are formed.

Description

Speed reducer and rotating device
Technical Field
The present invention relates to a speed reducer and a rotating apparatus.
Background
In a rotary machine used for an industrial robot or the like, a decelerator is used to decelerate rotation of a rotary drive source such as a motor (for example, refer to patent document 1).
As the above-mentioned speed reducer, there is a speed reducer provided with: a cylindrical housing; a carrier rotatably held into the housing; a crankshaft rotatably supported to the carrier; a swing gear rotated by the eccentric portion of the crankshaft and rotated in the housing; and a plurality of inner teeth pins rotatably held to an inner peripheral surface of the housing.
In the case of this reduction gear, the rotational driving force of the rotational driving source is input to the crankshaft. Further, pin grooves for rotatably holding the plurality of internal tooth pins are formed in the inner peripheral surface of the housing. The pin grooves are formed at equal intervals along the axial direction of the housing on the inner peripheral surface of the housing. External teeth engaged with the plurality of internal tooth pins are formed on the outer peripheral surface of the swing gear. The number of teeth of the external teeth is set to be one less than the number of pins of the internal teeth. Therefore, when the swing gear is rotated by the rotational driving force of the crankshaft, the swing gear is decelerated at a predetermined reduction ratio while meshing with the internal gear pin, and rotates in a direction opposite to the rotation direction. The rotation component of the swing gear is transmitted to the carrier via the crankshaft and another output pin. The carrier is connected to a rotating target portion of a rotating machine to be used, and transmits power of the decelerated rotation driving source to the rotating target portion.
Prior art literature
Patent literature
Patent document 1: japanese patent No. 4783668
Disclosure of Invention
Problems to be solved by the invention
In a large-sized rotating machine, in order to transmit a large torque to a rotating object, it is necessary to enlarge a reduction gear. In this case, since it is expensive to rotatably support the carrier on the main bearing of the housing, if the number of the main bearings to be provided is to be suppressed, the axial length of the housing is increased, and a plurality of swing gears are simultaneously provided in the axial direction. In this case, the pin grooves formed in the inner peripheral surface of the housing become longer in the axial direction according to the number of simultaneous arrangement of the swing gears, and the like.
However, if the length of the pin groove formed in the inner peripheral surface of the housing is increased in the axial direction, the depth of the pin groove tends to be deviated between one end side and the other end side in the axial direction when the pin groove is continuously cut in the axial direction by the cutting tool. Further, if the difference in groove depth between one end side and the other end side in the axial direction of the pin groove becomes large, the contact between the internal tooth pin and the pin groove becomes unstable, which is disadvantageous in terms of durability of the device.
In view of the above, the present invention provides a speed reducer and a rotating apparatus as follows: by reducing the deviation in the axial direction of the depth of the pin groove, the contact between the internal tooth pin and the pin groove can be stabilized.
Solution for solving the problem
The speed reducer according to an aspect of the present invention includes: a cylindrical housing having a plurality of pin grooves along an axial direction on an inner peripheral surface thereof; an inner tooth pin rotatably accommodated in each of the pin grooves; a plurality of swing gears having a smaller number of external teeth than the number of external teeth arranged in the circumferential direction of the pin grooves, the plurality of swing gears being arranged in the axial direction on the inner circumference of the housing, and being rotated while being meshed with the internal tooth pins by the external teeth by a rotational driving force; and a carrier that is assembled to be rotatable relative to the housing and is assembled to be rotatable relative to the plurality of oscillating gears, wherein the housing is configured by a plurality of dividing modules that divide the pin grooves in the axial direction at positions where the pin grooves are formed.
In the above-described aspect of the speed reducer, since the portion of the housing where each pin groove is formed is divided into a plurality of divided modules, each pin groove can be divided into each divided module and cut. Therefore, the variation in depth (difference in depth) when the pin groove is observed as a whole in the axial direction can be reduced.
Each of the internal tooth pins may be constituted by a plurality of split pins accommodated in each of the pin grooves of each of the split modules.
In this case, since the split pins are individually accommodated in the pin grooves of the split modules, unnecessary stress is more difficult to act on the inner teeth pins when the plurality of swing gears swing and rotate. Therefore, in the case of adopting the present structure, the contact between the internal tooth pin (split pin) and the pin groove can be made more stable, and the durability of the reduction gear can be improved.
Each of the dividing modules may be constituted by a 1 st dividing module and a 2 nd dividing module which divide each of the pin grooves into two parts equally long in the axial direction.
In this case, the complexity of the structure of the housing can be suppressed, while the variation in the depth of the pin groove in the axial direction can be suppressed efficiently.
An annular groove may be provided between end surfaces of the two split modules facing each other in the axial direction, the annular groove opening toward the inner circumferential side.
In this case, the lubricant in the case can be retained in the annular groove formed between the end surfaces of the split modules, and the lubricity of the operation portion in the case can be improved.
The split modules may be connected to each other by a plurality of fastening members at positions equally spaced apart from each other in the circumferential direction.
In this case, the plurality of divided modules are fastened uniformly in the circumferential direction, and it is difficult to generate a gap between adjacent divided modules.
The rotating device according to an aspect of the present invention includes: a rotational driving source that outputs a rotational driving force; and a speed reducer that reduces the rotation of the rotation drive source, the speed reducer including: a cylindrical housing having a plurality of pin grooves along an axial direction on an inner peripheral surface thereof; an inner tooth pin rotatably accommodated in each of the pin grooves; a plurality of swing gears having a smaller number of external teeth than the number of external teeth arranged in the circumferential direction of the pin grooves, the plurality of swing gears being arranged in the axial direction on the inner circumference of the housing, and being rotated while being meshed with the internal tooth pins by the external teeth by a rotational driving force; and a carrier that is assembled to be rotatable relative to the housing and is assembled to be rotatable relative to the plurality of oscillating gears, wherein the housing is formed with a plurality of dividing modules that divide the pin grooves in the axial direction at positions where the pin grooves are formed.
ADVANTAGEOUS EFFECTS OF INVENTION
In the above-described aspects, since the portion of the housing of the speed reducer in which each pin groove is formed is constituted by a plurality of dividing modules that divide each pin groove in the axial direction, the pin groove can be cut individually for each dividing module. Therefore, the deviation of the depth of the pin groove in the axial direction can be reduced. Therefore, in the case of the speed reducer according to the above-described aspects, the inclination of the inner tooth pin during operation thereof can be reduced, and the contact between the inner tooth pin and the pin groove can be stabilized.
Drawings
Fig. 1 is a front view, partially in section, of a decelerator of an embodiment of the present invention.
Fig. 2 is a sectional view of the decelerator as viewed in a section along line II-II of fig. 1.
Fig. 3 is a view showing a main part of the reduction gear, and is an enlarged cross-sectional view of a portion a of fig. 2.
Description of the reference numerals
10. A speed reducer; 11. a housing; 11A, 1 st division module (division module); 11B, the 2 nd division module (division module); 13A, 1 st carrier module (carrier); 13B, 2 nd carrier module (carrier); 15A, 1 st swing gear (swing gear); 15B, 2 nd swing gear (swing gear); 18. a pin slot; 20. an inner toothed pin; 20A, 1 st split pin; 20B, 2 nd split pin; 30. a notched portion (annular groove); 45. bolts (fastening members); 50. a motor (rotation driving source); 100. and rotating the device.
Detailed Description
An embodiment of the present invention will be described based on the drawings.
Fig. 1 is a partially cut-away front view of the reduction gear 10 of the present embodiment as seen from the input side. Fig. 2 is a sectional view taken along line II-II of fig. 1.
As shown in fig. 2, the decelerator 10 constitutes a rotating apparatus 100 together with a motor 50 as a rotation driving source. The rotating device 100 rotates a rotation target portion, not shown, by receiving a driving force of a motor 50 (see fig. 2) decelerated by a decelerator 10. The rotating device 100 is, for example, a rotating arm of an industrial robot, a rotating table of an article conveying apparatus, or the like. The rotary shaft 50a of the motor 50 is connected to the crankshaft 14 of the reduction gear 10, which is discussed later, by a power transmission mechanism not shown. The crankshaft 14 of the speed reducer 10 is rotated by the rotational driving force of the motor 50.
The speed reducer 10 includes: a substantially cylindrical housing 11; a 1 st carrier module 13A and a 2 nd carrier module 13B which are assembled to the inner peripheral side of the housing 11 so as to be rotatable with respect to the inner peripheral side of the housing 11; a plurality of (e.g., three) crankshafts 14 rotatably supported to the 1 st and 2 nd carrier modules 13A and 13B; and a 1 st wobble gear 15A and a 2 nd wobble gear 15B that revolve with the two eccentric regions 14B of each crankshaft 14.
In the present embodiment, the 1 st carrier module 13A and the 2 nd carrier module 13B constitute a carrier. The 1 st swing gear 15A and the 2 nd swing gear 15B constitute a plurality of swing gears in the present embodiment.
The 1 st carrier module 13A has a disk-shaped base plate portion 13Aa and a plurality of support portions 13Ab extending from an end surface of the base plate portion 13Aa in a direction toward the 2 nd carrier module 13B. The 2 nd carrier module 13B is formed in an open circular plate shape. The end face of the strut portion 13Ab of the 1 st carrier module 13A abuts against the end face of the 2 nd carrier module 13B, and each strut portion 13Ab is fastened and fixed to the 2 nd carrier module 13B by bolts 16. Reference numeral 17 in the drawing is a positioning pin for positioning the 2 nd carrier module 13B with respect to each of the strut portions 13Ab before fastening by the bolts 16.
A gap in the axial direction is ensured between the base plate portion 13Aa of the 1 st carrier module 13A and the 2 nd carrier module 13B. In this gap, the 1 st swing gear 15A and the 2 nd swing gear 15B are arranged.
Further, the 1 st swing gear 15A and the 2 nd swing gear 15B are formed with escape holes 19 through which the respective strut portions 13Ab of the 1 st carrier module 13A pass. The escape hole 19 is formed to be sufficiently large with respect to the outer surface shape of the strut portion 13Ab so that the strut portion 13Ab does not interfere with the turning operation of the 1 st swing gear 15A and the 2 nd swing gear 15B.
The case 11 includes a 1 st split module 11A and a 2 nd split module 11B that are abutted against each other with end surfaces in the axial direction. The housing 11 is divided into a 1 st division module 11A and a 2 nd division module 11B at a substantially central position in the axial direction. The 1 st split module 11A and the 2 nd split module 11B are coupled by a plurality of (for example, three) bolts 45 (fastening members) in a state in which end surfaces in the axial direction are mutually opposed. The plurality of bolts 45 are arranged to be spaced apart from each other at equal angular intervals about a rotation center axis c1 discussed later.
The 1 st division module 11A and the 2 nd division module 11B constitute a plurality of division modules in the present embodiment.
An annular seal groove 46 is provided in an inner end surface 11Ae of the 1 st split module 11A (an end surface on the side facing the 2 nd split module 11B). An annular seal member 47 is accommodated in the seal groove 46. The seal member 47 seals the end surfaces 11Ae and 11Be between the 1 st split module 11A and the 2 nd split module 11B when the plurality of bolts 45 are fastened.
The 1 st split module 11A and the 2 nd split module 11B are connected to each other, and the cylindrical case 11 is disposed so as to straddle the outer peripheral surface of the substrate portion 13Aa of the 1 st carrier module 13A and the outer peripheral surface of the 2 nd carrier module 13B. The base plate portion 13Aa of the 1 st carrier module 13A and the 2 nd carrier module 13B are rotatably supported by the main bearing 12 at both side edges in the axial direction of the housing 11. Further, a plurality of pin grooves 18 extending in a direction parallel to the rotation center axes c1 of the 1 st carrier module 13A and the 2 nd carrier module 13B are formed in the inner peripheral surface of the central region (region facing the outer peripheral surfaces of the 1 st swing gear 15A and the 2 nd swing gear 15B) in the axial direction of the housing 11.
Each pin groove 18 rotatably accommodates an internal tooth pin 20. The inner tooth pin 20 includes a 1 st split pin 20A and a 2 nd split pin 20B which are substantially cylindrical. The 1 st split pin 20A and the 2 nd split pin 20B are mutually independent pin members having the same shape and the same size as each other. The 1 st split pin 20A is accommodated in the pin groove 18 in a region formed on the inner peripheral surface of the 1 st split module 11A. The 2 nd split pin 20B is accommodated in the pin groove 18 in a region formed on the inner peripheral surface of the 2 nd split module 11B. The 1 st split pin 20A stored in the pin groove 18 of the 1 st split module 11A faces the outer peripheral surface of the 1 st swing gear 15A, and the 2 nd split pin 20B stored in the pin groove 18 of the 2 nd split module 11B faces the outer peripheral surface of the 2 nd swing gear 15B.
The 1 st swing gear 15A and the 2 nd swing gear 15B have an outer diameter slightly smaller than the inner diameter of the housing 11 (the 1 st split module 11A and the 2 nd split module 11B). External teeth 15Aa and 15Ba that come into contact with the 1 st split pin 20A and the 2 nd split pin 20B disposed on the inner peripheral portions (pin grooves 18) of the 1 st split module 11A and the 2 nd split module 11B are formed on the outer peripheral surfaces of the 1 st and 2 nd swing gears 15A and 15B, respectively. The number of external teeth 15Aa, 15Ba formed on the outer peripheral surfaces of the 1 st swing gear 15A and the 2 nd swing gear 15B is slightly smaller than the number of 1 st split pin 20A and the 2 nd split pin 20B (the number of pin grooves 18). For example, the number of teeth of the external teeth 15Aa, 15Ba formed on the outer peripheral surfaces of the 1 st swing gear 15A and the 2 nd swing gear 15B is set to be one less than the number of the 1 st split pin 20A and the 2 nd split pin 20B.
The plurality of crankshafts 14 are disposed on the same circumference centering on the rotation center axis c1 of the 1 st carrier module 13A and the 2 nd carrier module 13B. The crankshafts 14 are rotatably supported by the 1 st carrier module 13A and the 2 nd carrier module 13B via bearings 21. Each crankshaft 14 has a pair of shaft support regions 14a arranged to be axially separated from each other and two eccentric regions 14b arranged between the pair of shaft support regions 14 a. A gear mounting portion 14c is formed adjacent to the shaft support region 14a at one end portion in the axial direction of the crankshaft 14. The shaft support regions 14a extend through the shaft support holes 13Aa-1 formed in the 1 st carrier block 13A (the base plate portion 13 Aa) and the shaft support holes 13Ba-1 formed in the 2 nd carrier block 13B, and are rotatably supported by the shaft support holes 13Aa-1 and the shaft support holes 13Ba-1 via bearings 21.
The center axis of each of the two eccentric regions 14b of the crankshaft 14 is eccentric with respect to the center axis of the shaft support region 14 a. The two eccentric regions 14b are eccentric so that the phases are offset 180 ° around the central axis of the shaft support region 14 a.
Further, each eccentric region 14B of the crankshaft 14 penetrates the 1 st swing gear 15A and the 2 nd swing gear 15B, respectively. Each eccentric region 14B is rotatably engaged with a support hole 22 formed in each of the 1 st swing gear 15A and the 2 nd swing gear 15B via an eccentric portion bearing 23 (cylindrical roller bearing).
The 1 st carrier module 13A and the 2 nd carrier module 13B are coupled to be unable to rotate relative to the 1 st swing gear 15A and the 2 nd swing gear 15B via a plurality of crankshafts 14 disposed about the rotation center axis c 1. That is, when the 1 st swing gear 15A and the 2 nd swing gear 15B rotate in one direction, the 1 st carrier module 13A and the 2 nd carrier module 13B rotate in synchronization with their rotation.
In the speed reducer 10 of the present embodiment, when the plurality of crankshafts 14 are rotated in one direction by an external force (rotational driving force), the eccentric regions 14B of the crankshafts 14 are rotated in the same direction by a predetermined rotation radius, and accordingly, the 1 st wobble gear 15A and the 2 nd wobble gear 15B are rotated (oscillated) in the same direction by the same rotation radius. At this time, the external teeth 15Aa of the 1 st swing gear 15A and the external teeth 15Ba of the 2 nd swing gear 15B are in contact with the plurality of internal teeth pins 20 (the 1 st split pin 20A and the 2 nd split pin 20B) so as to mesh with the plurality of internal teeth pins 20 (the 1 st split pin 20A and the 2 nd split pin 20B) held to the inner periphery of the housing 11 (the 1 st split module 11A and the 2 nd split module 11B).
The gear mounting portion 14c of each crankshaft 14 penetrates the shaft support hole 13Ba-1 of the 2 nd carrier module 13B and protrudes axially outward of the 2 nd carrier module 13B. A crank gear 28 is attached to the gear attachment portion 14c protruding from the 2 nd carrier module 13B. Each crank gear 28 meshes with an input gear, not shown. The input gear is rotated by a rotational driving force of a motor 50 as a rotational driving source.
In the speed reducer 10 of the present embodiment, the number of teeth of the external teeth 15Aa of the 1 st swing gear 15A and the external teeth 15Ba of the 2 nd swing gear 15B is set to be slightly smaller than the number of the internal tooth pins 20 (1 st split pin 20A and 2 nd split pin 20B) on the housing 11 side. Therefore, during one revolution of the 1 st and 2 nd swing gears 15A and 15B, the 1 st and 2 nd swing gears 15A and 15B receive a reaction force in the rotational direction from the internal tooth pin 20 on the housing 11 side. Thus, the 1 st swing gear 15A and the 2 nd swing gear 15B rotate by a predetermined pitch in the direction opposite to the rotation direction. The 1 st carrier module 13A and the 2 nd carrier module 13B assembled to the 1 st swing gear 15A and the 2 nd swing gear 15B via the crankshaft 14 are rotated by the same pitch in the same rotational direction together with the 1 st swing gear 15A and the 2 nd swing gear 15B. As a result, the rotation of the crankshaft 14 is decelerated to be output as the rotation of the 1 st carrier module 13A and the 2 nd carrier module 13B.
In the present embodiment, the housing 11 is fixed to a support structure, not shown, together with the motor 50, and the 1 st carrier module 13A is coupled to a rotating object, not shown, of the rotating apparatus 100. Therefore, the rotational driving force of the motor 50 rotates the rotation object via the 1 st carrier module 13A after being decelerated at a predetermined deceleration ratio by the decelerator 10.
However, the 1 st carrier module 13A and the 2 nd carrier module 13B may be fixed to a support structure not shown, and then the housing 11 may be coupled to a rotating object not shown.
Fig. 3 is an enlarged view of a portion a of fig. 2. Specifically, fig. 3 is a cross-sectional view of the connecting portion between the 1 st split module 11A and the 2 nd split module 11B of fig. 2 enlarged.
The 1 st segment block 11A and the 2 nd segment block 11B are positioned by a plurality of positioning pins, not shown, so that pin grooves 18 on the inner peripheral surfaces of the two blocks are aligned in a straight line in the axial direction, and are connected to each other by bolts 45 in this state. The plurality of positioning pins are disposed at equal angular intervals from each other around the rotation center axis c1, like the bolts 45.
The 1 st division module 11A and the 2 nd division module 11B constituting the housing 11 divide the pin groove 18 of the inner peripheral surface of the housing 11 so as to be equally divided into two parts in the axial direction.
As shown in fig. 3, notch portions 30 that open to the end faces 11Ae, 11Be side and the radial inner side are formed in a ring shape at the inner peripheral edge portions of the end faces 11Ae, 11Be inside the 1 st split module 11A and the 2 nd split module 11B. The notch 30 on the 1 st split module 11A side and the notch 30 on the 2 nd split module 11B side constitute 1 annular groove that opens to the inner peripheral side when the two split modules 11A and 11B are connected. The annular groove thus configured can stably retain therein a lubricant, not shown, filled into the housing 11.
Next, a method of manufacturing the housing 11 of the reduction gear 10 will be described.
First, the general shapes of the 1 st split module 11A and the 2 nd split module 11B are each shaped by casting or the like.
Thereafter, pin grooves 18 are formed in the inner peripheral surfaces of the 1 st segment block 11A and the 2 nd segment block 11B, respectively, by cutting with a cutting tool. At this time, in the 1 st segment block 11A and the 2 nd segment block 11B, cutting is performed from one end side toward the other end side in the axial direction.
At this time, the depth of the pin groove 18 may vary for each position when viewed from one end side toward the other end side in the axial direction of the pin groove 18 during cutting. However, in the present embodiment, the axial length of each of the pin grooves 18 of the 1 st split module 11A and the 2 nd split module 11B is approximately half the length of the pin groove 18 of the entire housing 11, and therefore, the variation in groove depth at each position in the longitudinal direction of the pin groove 18 becomes small.
Reference symbol w1 in fig. 3 denotes a variation in depth of the pin groove 18 when the case 11 is divided into the 1 st division block 11A and the 2 nd division block 11B. On the other hand, reference symbol w2f in fig. 3 denotes a variation in the depth of the pin groove 18 when the housing 11 is constituted by an integral module. As shown in fig. 3, when the case 11 is configured by dividing the 1 st division module 11A and the 2 nd division module 11B into two, the variation in the depth of the pin groove 18 can be suppressed to approximately half as compared with the case where the case 11 is configured by an integral module.
As described above, the portion of the housing 11 of the speed reducer 10 in the present embodiment where the pin grooves 18 are formed is constituted by a plurality of split modules (in the present embodiment, two split modules, namely, the 1 st split module 11A and the 2 nd split module 11B) that split the pin grooves 18 in the axial direction. Therefore, the pin grooves 18 can be individually machined for each split module. Accordingly, the variation in the depth of the pin groove 18 in the axial direction can be made smaller than in the case of the integrated module.
Therefore, when the speed reducer 10 of the present embodiment is employed, the inclination of the internal tooth pin 20 during operation of the speed reducer 10 can be reduced, and the contact between the internal tooth pin 20 and the pin groove 18 can be stabilized.
In the present embodiment, the case 11 is divided into two parts such as the 1 st division module 11A and the 2 nd division module 11B, but the number of divisions in the axial direction of the case 11 is not limited to two. The number of divisions of the case 11 may be three or more.
The internal tooth pins 20 of the speed reducer 10 of the present embodiment are constituted by the 1 st split pin 20A and the 2 nd split pin 20B which are accommodated in the pin grooves 18 of the 1 st split module 11A and the 2 nd split module 11B, respectively. In this case, the split pins (1 st split pin 20A and 2 nd split pin 20B) are individually accommodated in the pin grooves 18 of the split modules (1 st split module 11A and 2 nd split module 11B). Therefore, unnecessary stress is more difficult to act on the inner tooth pin 20 when the 1 st swing gear 15A and the 2 nd swing gear 15B swing and rotate. Therefore, in the case of adopting the present configuration, the contact between the internal tooth pins 20 (the 1 st split pin 20A and the 2 nd split pin 20B) and the pin grooves 18 during operation of the speed reducer 10 can be made more stable, and the durability of the speed reducer 10 can be improved.
In the present embodiment, the 1 st split pin 20A and the 2 nd split pin 20B are individually accommodated in the pin grooves 18 of the 1 st split module 11A and the 2 nd split module 11B, but the present invention is not limited to this configuration, and a single internal tooth pin having a continuous length may be accommodated in the pin grooves 18 of the 1 st split module 11A and the 2 nd split module 11B.
The housing 11 of the speed reducer 10 of the present embodiment is composed of a 1 st split block 11A and a 2 nd split block 11B formed by dividing the pin groove 18 into two parts equally long in the axial direction. Therefore, in the case where the structure of the speed reducer 10 according to the present embodiment is adopted, it is possible to efficiently suppress the variation in the depth of each pin groove 18 in the axial direction while suppressing the structural complexity of the housing 11.
In the speed reducer 10 of the present embodiment, an annular groove that opens to the inner peripheral side is provided between the end face 11Ae of the 1 st split module 11A and the end face 11Be of the 2 nd split module 11B that are opposed in the axial direction by the notch 30. Therefore, in the case of adopting the present configuration, the lubricant in the housing 11 can Be retained in the annular groove formed between the both end surfaces 11Ae, 11Be, and the lubricity of the operation portion in the housing 11 can Be further improved.
The 1 st split module 11A and the 2 nd split module 11B of the speed reducer 10 of the present embodiment are coupled by a plurality of bolts 45 (fastening members) at positions separated from each other at equal angular intervals along the circumferential direction. Therefore, the 1 st split module 11A and the 2 nd split module 11B can Be fastened uniformly in the circumferential direction, and it is difficult to generate a gap between the end face 11Ae of the 1 st split module 11A and the end face 11Be of the 2 nd split module 11B.
The present invention is not limited to the above-described embodiments, and various design changes may be made without departing from the spirit and scope of the present invention.
For example, in the above-described embodiment, the 1 st split module 11A and the 2 nd split module 11B are configured to divide the pin groove 18 into two equal lengths in the axial direction, but the present invention is not limited to this configuration, and a plurality of split modules may be configured to divide the pin groove 18 into different lengths in the axial direction.
In the above-described embodiment, the motor 50 is used as the rotation driving source that constitutes the rotation device 100 together with the speed reducer 10, but the rotation driving source is not limited to an electric motor as long as it can transmit the rotation driving force. For example, the rotation driving source may be configured to change the movement of the linear actuator to the movement in the rotation direction.
In the embodiments disclosed in the present specification, a member composed of a plurality of objects may be integrated with the plurality of objects, or a member composed of one object may be divided into a plurality of objects. Whether or not integrated, the present invention may be constructed so as to achieve the object of the present invention.

Claims (6)

1. A speed reducer, wherein,
the speed reducer is provided with:
a cylindrical housing having a plurality of pin grooves along an axial direction on an inner peripheral surface thereof;
an inner tooth pin rotatably accommodated in each of the pin grooves;
a plurality of swing gears having a smaller number of external teeth than the number of external teeth arranged in the circumferential direction of the pin grooves, the plurality of swing gears being arranged in the axial direction on the inner circumference of the housing, and being rotated while being meshed with the internal tooth pins by the external teeth by a rotational driving force; and
a carrier that is assembled to be rotatable relative to the housing and is assembled to be non-rotatable relative to the plurality of swing gears,
the portion of the housing where each of the pin grooves is formed is constituted by a plurality of dividing modules that divide each of the pin grooves in the axial direction.
2. The decelerator according to claim 1, wherein,
each of the internal tooth pins is composed of a plurality of split pins accommodated in each of the pin grooves of each of the split modules.
3. The decelerator according to claim 1 or 2, wherein,
each of the dividing modules is composed of a 1 st dividing module and a 2 nd dividing module which are formed by dividing each of the pin grooves in such a manner as to divide the pin grooves into two parts equally in the axial direction.
4. The decelerator according to claim 1 or 2, wherein,
an annular groove opening toward the inner peripheral side is provided between end surfaces of the two divided modules facing each other in the axial direction.
5. The decelerator according to claim 1 or 2, wherein,
the dividing modules are joined to each other by a plurality of fastening members at positions equally angularly separated from each other in the circumferential direction.
6. A rotary apparatus, wherein,
the rotating device is provided with:
a rotational driving source that outputs a rotational driving force; and
a speed reducer for reducing the rotation of the rotation driving source,
the speed reducer is provided with:
a cylindrical housing having a plurality of pin grooves along an axial direction on an inner peripheral surface thereof;
an inner tooth pin rotatably accommodated in each of the pin grooves;
a plurality of swing gears having a smaller number of external teeth than the number of external teeth arranged in the circumferential direction of the pin grooves, the plurality of swing gears being arranged in the axial direction on the inner circumference of the housing, and being rotated while being meshed with the internal tooth pins by the external teeth by a rotational driving force; and
a carrier that is assembled to be rotatable relative to the housing and is assembled to be non-rotatable relative to the plurality of swing gears,
the portion of the housing where each of the pin grooves is formed is constituted by a plurality of dividing modules that divide each of the pin grooves in the axial direction.
CN202310968990.7A 2022-08-09 2023-08-03 Speed reducer and rotating device Pending CN117588528A (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2022127174A JP2024024381A (en) 2022-08-09 2022-08-09 Speed reducer and rotary device
JP2022-127174 2022-08-09

Publications (1)

Publication Number Publication Date
CN117588528A true CN117588528A (en) 2024-02-23

Family

ID=89920711

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202310968990.7A Pending CN117588528A (en) 2022-08-09 2023-08-03 Speed reducer and rotating device

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Country Link
JP (1) JP2024024381A (en)
CN (1) CN117588528A (en)

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