CN204592160U - Speed change gear - Google Patents
Speed change gear Download PDFInfo
- Publication number
- CN204592160U CN204592160U CN201390000747.6U CN201390000747U CN204592160U CN 204592160 U CN204592160 U CN 204592160U CN 201390000747 U CN201390000747 U CN 201390000747U CN 204592160 U CN204592160 U CN 204592160U
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- gear
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
- F16H2001/323—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear comprising eccentric crankshafts driving or driven by a gearing
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
Speed change gear, is configured with between housing and gear carrier: thrust-bearing, and its limiting gear frame while axially carrying out displacement, allows gear carrier rotation relative to housing; Radial bearing, its limiting gear frame while radial direction carries out displacement, allows gear carrier rotation relative to housing.When also with thrust-bearing and radial bearing, easily guarantee the power of the relative displacement of the power of the relative displacement of the axis for limiting housing and gear carrier and the radial direction of restriction housing and gear carrier.
Description
Technical field
The Japanese Patent that the utility model was filed an application based on September 13rd, 2012 goes out hope 2012-202015 CLAIM OF PRIORITY.These all the elements going out to be willing to are quoted in this manual as reference.In this manual, disclose a kind of speed change gear, in this speed change gear, a part for internal tooth engages with a part for external tooth, between the number of teeth and the number of teeth of external tooth of internal tooth, be provided with number of teeth difference, and utilize the external gear when external gear revolves round the sun relative to internal tooth also to carry out the phenomenon of rotation.
Background technique
Such as, the speed change gear shown in Fig. 4 is known to.In the diagram, reference character 107 represents housing, and reference character 105,106 represents internal tooth.Internal tooth 105,106 is fixed on housing 107.Reference character 103,104 represents external gear, and a part for the external tooth of external gear 103 engages with a part for internal tooth 105.A part for the external tooth of external gear 104 engages with a part for internal tooth 106.The number of teeth of external gear 103 is different from the number of teeth of internal tooth 105.The number of teeth of external gear 104 is different from the number of teeth of internal tooth 106.
Bent axle 101a runs through the center 103e of external gear 103.Bent axle 101b runs through the center 104e of external gear 104.Bent axle 101a, 101b are connected with input shaft 101.Bent axle 101a and bent axle 10b all only to stagger distance D from input shaft 101.When observing from the axis direction of input shaft 101, bent axle 101a and bent axle 101b offsets round about centered by input shaft 101.
External gear 103 is formed through hole 103c, 103d.External gear 104 is formed through hole 104c, 104d.Reference character 109a is output shaft, its top bifurcated.The top 109c that bifurcated goes out inserts through hole 103c, 104c.The top 109d that bifurcated goes out inserts through hole 103d, 104d.
When input shaft 101 rotates around axis A, the center 103e of external gear 103 revolves round the sun around axis A, and the center 104e of external gear 104 also revolves round the sun around axis A.When external gear 103 revolves round the sun relative to internal tooth 105, external gear 103 also carries out rotation, and when external gear 104 revolves round the sun relative to internal tooth 106, external gear 104 also carries out rotation.When external gear 103 and external gear 104 carry out time rotational, output shaft 109a also carries out rotation.Gear ratio can be adjusted by poor and external gear 104 and internal tooth 106 the number of teeth difference of the number of teeth of adjustment external gear 103 and internal tooth 105.
In this manual, for output shaft 109a integratedly relative to the component that housing 107 rotates, in the case of figure 4, output shaft 109a and bifurcated top 109c, 109d are called gear carrier 109.In addition, Fig. 4 schematically shows the working principle of speed change gear, and the prong numbers on the top of output shaft 109a is not limited to 2.
The speed change gear of Fig. 4 has housing 107, external gear 103, external gear 104 and gear carrier 109.Number of teeth difference is provided with between the number of teeth of the internal tooth of housing 107 and the number of teeth of the external tooth of external gear 103,104.The speed change gear of Fig. 4 utilizes the external gear 103,104 when external gear 103,104 revolves round the sun relative to housing 107 also carry out the phenomenon of rotation and make gear carrier 109 relative to the speed change gear of housing 107 rotation.Although not shown in the diagram, when using this speed change gear, need in advance to make gear carrier 109 mode of rotation be bearing on housing 107 by gear carrier 109.
External gear 103,104 is made to be not limited to the mechanism of Fig. 4 relative to the mechanism that housing 107 revolves round the sun.Such as, in Figure 5, bent axle 101a, 101b run through excentral position 103f, 104f of external gear 103,104.Even if adopt this structure, when input shaft 101 rotates, external gear 103,104 also can revolve round the sun relative to housing 107.When external gear 103,104 revolves round the sun relative to housing 107, external gear 103,104 is relative to housing 107 rotation.In the structure of Fig. 5, input shaft 101 and bent axle 101a, 101b need to follow certainly rotatably rotating of external gear 103,104.Therefore, the component 109g for supporting input shaft 101 can rotate relative to housing 107.In Figure 5, by formative gear framves 109 such as output shaft 109a, bifurcated top 109d and input shaft support member 109g.Even if adopt the structure of Fig. 5, also need in advance to make gear carrier 109 mode of rotation be bearing on housing 107 by gear carrier 109.In the case of fig. 5, the motor being used for input shaft 101 is rotated is fixed on gear carrier 109.In this case, housing 107 situation of carrying out rotation relative to gear carrier 109 is more.In addition, Fig. 5 schematically shows the working principle of speed change gear, and the radical of input shaft 101, the prong numbers etc. of output shaft 109a are not limited to illustrated situation.
Exemplify bent axle 101a, 101b in figure 6 to hold concurrently as the situation for the rotation of external gear 103,104 being delivered to the component of output shaft 109a.In figure 6, torque transfer shaft 101c is connected with in the upper end of bent axle 101b.Output shaft 109a is formed collecting part 109h.The upper end of torque transfer shaft 101c is accommodated in the part of collecting part 109h beyond the rotating center axis A of output shaft 109a.Torque transfer shaft 101c can relative to collecting part 109h rotation.Adopt this structure, when input shaft 101 rotates, external gear 103,104 revolves round the sun relative to housing 107.When external gear 103,104 revolves round the sun relative to housing 107, external gear 103,104 is also relative to housing 107 rotation.
In the structure of Fig. 6, input shaft 101, bent axle 101a, bent axle 101b and torque transfer shaft 101c need to follow certainly rotatably rotating of external gear 103,104.Therefore, the component 109g for supporting input shaft 101 can rotate relative to housing 107.In figure 6, the formative gear frame 109 such as output shaft 109a and input shaft support member 109g is utilized.Even if adopt the structure of Fig. 6, also need to make gear carrier 109 mode of rotation to be bearing on housing 107 by gear carrier 109.In the case of fig. 6, the motor being used for input shaft 101 is rotated is fixed on gear carrier 109.In this case, housing 107 situation of carrying out rotation relative to gear carrier 109 is more.In addition, Fig. 6 schematically shows the working principle of speed change gear, and the radical of input shaft 101 is not limited to illustrated situation.
Even if adopt any one structure illustrated in Fig. 4 to Fig. 6, also all need to make gear carrier 109 mode of rotation to be bearing on housing 107 by gear carrier 109.Japanese Unexamined Patent Publication 2007-278355 publication represents the structure of Fig. 6 in detail.In the following description, Japanese Unexamined Patent Publication 2007-278355 publication is called patent documentation 1.As shown in Fig. 1 of patent documentation 1, in the technology of patent documentation 1, gear carrier arranges cylindrical shape portion, housing arranges cylindrical portion, bearing is set between cylindrical shape portion and cylindrical portion.Specifically, the 1st bearing is set near the upper end in cylindrical shape portion, the 2nd bearing is set at the lower end in cylindrical shape portion.
Model utility content
The problem that model utility will solve
Above-mentioned speed change gear is such as applied in the joint portion of robot.Such as, when housing is fixed on arm base portion side, gear carrier is fixed on the tip side of arm time, can utilize motor that tip side is rotated relative to base portion side.Now, can motor rotary speed be reduced and tip side is rotated.
Between housing and gear carrier, effect has various external force.Between housing and gear carrier, need limiting gear frame to carry out displacement relative to housing in axial (direction along the axis of rotation of gear carrier), and need limiting gear frame to carry out displacement relative to housing at radial direction.And, need gear carrier can the relation of rotation relative to housing.In the technology of patent documentation 1, by arranging the 1st ball bearing near the upper end of columniform gear carrier, at lower end configuration the 2nd ball bearing of columniform gear carrier, to tackle above-mentioned requirement.
When speed change gear miniaturization, have to make bearing also miniaturization.When bearing miniaturization, reduce relative to the power that housing is axially carrying out displacement for limiting gear frame, the power of carrying out displacement for being limited in radial direction also reduces.Even if (improve the shape of the ring of the ball for guiding rotation at angular contact ball bearing, thus improve the bearing of restraint axially), angle contacting roller bearing is (by using roller as rolling element, while making area of contact increase, the draw direction of roller is tilted, thus improve the bearing of restraint axially), tapered roller bearing is (by arranging roller that diameter gradually changes as rolling element, to improve the bearing of restraint axially) etc. bearing kind aspect under the various time, also the power deficiency of carrying out displacement for limiting gear frame relative to housing can be caused.In this manual, a kind of speed change gear is disclosed, even if by speed change gear miniaturization, also can guarantee the power of carrying out relative displacement for limiting gear frame relative to housing in axis, the power of carrying out relative displacement for limiting gear frame relative to housing at radial direction can be guaranteed.
Disclosed in Fig. 4 to Fig. 6, speed change gear disclosed in this specification has housing, external gear and gear carrier.Housing is formed with internal tooth, external gear is formed with external tooth.External gear can carry out planetary motion relative to housing.The number of teeth being formed at the internal tooth of housing is different from the number of teeth of the external tooth being formed at external gear.Therefore, when making external gear revolve round the sun relative to housing under the state engaged with a part for the external tooth being formed at external gear in a part for the internal tooth being formed at housing, external gear also carries out rotation.In addition, be not particularly limited for the mechanism that makes external gear revolve round the sun relative to housing.The various revolution movement illustrated in Fig. 4 to Fig. 6 can be used.Also not illustrative revolution movement in Fig. 4 to Fig. 6 can be used in.
For speed change gear disclosed in this specification, be configured with between housing and gear carrier: thrust-bearing, one margin gear carrier axially carrying out displacement, allows that gear carrier is relative to housing rotation relative to housing; Radial bearing, one margin gear carrier carries out displacement relative to housing at radial direction, allows that gear carrier is relative to housing rotation.Although namely gear carrier can relative to housing rotation, the relative displacement of axis is limited by thrust-bearing, and radial relative displacement is limited by radial bearing.When having said structure, gear carrier follows certainly transferring relative to housing rotation of external gear.Gear ratio can be realized between revolution at the revolution number of external gear and external gear.
As mentioned above, axial relative displacement is limited by thrust-bearing, and the relative displacement of radial direction is limited by radial bearing.Adopt this structure, with the structure utilizing the single relative displacement of bearing restrictive axial with the relative displacement of radial direction, namely, the structure that utilizes angular contact ball bearing, angle contacting roller bearing or tapered roller bearing to carry out supporting compares, and easily guarantees required restraint.Even if by bearing miniaturization, also required restraint can be guaranteed.The length of the axis namely, when also using thrust-bearing and radial bearing is equal with external diameter with the length of axis when use angular contact ball bearing, angle contacting roller bearing or tapered roller bearing with external diameter, " the former restraint axially " > " restraint axially of the latter ", " restraint on the former radial direction " > " restraint on the radial direction of the latter ".
Thrust-bearing and radial bearing and be not particularly limited by method.Such as, following structure can be adopted: form flange shape large-diameter portion in a part for the axis of gear carrier, utilize the upper surface of the 1st thrust-bearing support lug shape large-diameter portion, utilize the lower surface of the 2nd thrust-bearing support lug shape large-diameter portion, and utilize the side face of radial bearing support lug shape large-diameter portion.Or can provide between face and the outer circumferential face of gear carrier at the internal tooth of housing and configure radial bearing.Be known to following technology: provide Formation cross-section on face to be semicircular groove at the internal tooth of housing, and rotate freely the pin that storage cross section is circle in the cell, thus form internal tooth.When the internal tooth utilizing this structure to be formed with the housing of internal tooth provide to be configured with radial bearing between face and the outer circumferential face of gear carrier, roller (rolling element of radial bearing) can be configured in above-mentioned semicircular groove.The rolling surface of groove as rolling element can be used.And, the structure that will be used for providing the pin of internal tooth to be also used as the rolling element of radial bearing can be formed as.
Accompanying drawing explanation
Fig. 1 represents the sectional view of the speed change gear of the 1st embodiment.
Fig. 2 represents the amplification view of the II-II line along Fig. 1.
Fig. 3 represents the sectional view of the speed change gear of the 2nd embodiment.
Fig. 4 exemplifies the 1st example of speed change gear in the past.
Fig. 5 exemplifies the 2nd example of speed change gear in the past.
Fig. 6 exemplifies the 3rd example of speed change gear in the past.
Embodiment
Below, several technical characteristicss of embodiment disclosed in this specification are recorded.In addition, the thing Entries below recorded individually possesses skills the serviceability of aspect.
Eccentric swing axle is supported on gear carrier to make the rotatable mode of eccentric swing axle by (feature 1).
(feature 2) is configured with a pair tapered roller bearing between gear carrier and eccentric swing axle.
(feature 3) is configured with upper cone roller bearing near the upper end of eccentric swing axle and between gear carrier, between the lower end and gear carrier of eccentric swing axle, be configured with lower cone roller bearing.
Relation that > " acts on the axial force between gear carrier and eccentric swing axle " that (feature 4) has " acting on the axial force between housing and gear carrier ", has the relation that " acting on the radial direction power between housing and gear carrier " > " acts on the radial direction power between gear carrier and eccentric swing axle ".
Embodiment
(the 1st embodiment)
Fig. 1 represents the sectional view of the speed change gear 20 of the 1st embodiment.Fig. 2 represents the amplification view of the II-II line along Fig. 1.Speed change gear 20 has housing 7, the 1st external gear 3, the 2nd external gear 4, gear carrier 9 and eccentric swing axle 11.Gear carrier 9 is can relative to housing 7 around the rotation of A axis by the 1st thrust-bearing 6a, radial bearing 6b, the 2nd thrust-bearing 6c supporting.Gear carrier 9 is restricted to can not relative to housing 7 along the direction of A axis (rotation axis) and radial direction displacement.
It is can relative to gear carrier 9 around the rotation of E axis that eccentric swing axle 11 is supported by the 1st tapered roller bearing 8a and the 2nd tapered roller bearing 8b.When eccentric swing axle 11 is around E axis time rotational, the central axis C of eccentric cam 11c is around the revolution of E axis, and the 1st external gear 3 revolves round the sun.As shown in Figure 2, the inner peripheral surface of housing 7 is formed with internal tooth 7g, the outer circumferential face of the 1st external gear 3 is formed with external tooth 3d, a part of internal tooth 7g engages with a part of external tooth 3d.When under the state engaged with a part of external tooth 3d in a part of internal tooth 7g, the 1st external gear 3 revolves round the sun relative to housing 7, the 1st external gear 3 also carries out rotation.Identical therewith, the 2nd external gear 4 is also rotation of revolving round the sun.Gear carrier 9 follow the 1st external gear 3 and the 2nd external gear 4 from then rotation.With unit time of eccentric swing axle 11 compared with the revolution, unit time of gear carrier 9 from revolution slowly.The speed change gear of Fig. 1 has the basic structure of Fig. 6.
Housing 7 utilizes bolt 7a to be fixed together by upper plate 7b and cylinder portion 7c and forms.Cylinder portion 7c is formed with mounting hole 7d.Use mounting hole 7d, housing 7 can be fixed on the base portion side of arm of other components, such as robot.As shown in Figure 2, the inner peripheral surface 7e of cylinder portion 7c being formed with cross section is semicircular groove 7f.Groove 7f and axis A parallel ground extend.Groove 7f is formed every the predetermined distance of circumference on inner peripheral surface 7e.Pin 5 is inserted with in each groove 7f.Pin 5 can be rotation in semicircular groove 7f in cross section.Internal tooth 7g is formed by the inner peripheral surface 7e of pin 5 and cylinder portion 7c.Namely, on housing 7, internal tooth 7g is formed with.In fig. 2, for the ease of understanding, illustrate in the mode that there is interval between pin 5 and groove 7f, but in fact pin 5 and groove 7f contact.
The outer circumferential face of the 1st external gear 3 is formed external tooth 3d (with reference to Fig. 2).The opening 1st external gear 3 being formed the opening for receiving eccentric cam 11c, central opening and passing through for gear carrier 9.Reference character 3a represents the side face of the opening for receiving eccentric cam 11c, and reference character 3b represents the side face of central opening, and reference character 3c represents the side face of the opening passed through for gear carrier.Similarly, the outer circumferential face of the 2nd external gear 4 is formed with external tooth 4d.The opening 2nd external gear 4 being formed the opening for receiving eccentric cam 11b, central opening and passing through for gear carrier 9.Reference character 4a represents the side face of the opening for receiving eccentric cam 11b, and reference character 4b represents the side face of central opening, and reference character 4c represents the side face of the opening passed through for gear carrier.
Gear carrier 9 is configured to the structure that top 9d and bottom 9e utilizes integration such as pin 9q, bolt 9r etc.Top 9d is formed flange shape large-diameter portion 9j.The upper surface 9i of large-diameter portion 9j is supported on housing 7 by thrust-bearing 6a.The side face 9k of large-diameter portion 9j is supported on housing 7 by radial bearing 6b.The lower surface 9m of large-diameter portion 9j is supported on housing 7 by thrust-bearing 6c.Large-diameter portion 9j, i.e. gear carrier 9 are can be supported on housing 7 around the mode of A axis rotation by thrust-bearing 6a, radial bearing 6b and thrust-bearing 6c.The upper surface 9i that thrust-bearing 6a limits large-diameter portion 9j carries out displacement upward relative to housing 7.The lower surface 9m that thrust-bearing 6c limits large-diameter portion 9j carries out displacement downwards relative to housing 7.Thrust-bearing 6a, 6c limiting gear frame 9 carries out displacement relative to housing 7 along A axial direction.Radial bearing 6b limiting gear frame 9 carries out displacement relative to housing 7 at radial direction.
In the present embodiment, it is characterized in that, be respectively arranged with for limit carry out bearing from displacement to axial top, carry out the bearing of displacement to radial direction for limiting and carry out the bearing of displacement for limiting to axial below.Such as, bearing 6a just carries out the component of displacement upward along A axis relative to housing 7 for limiting gear frame 9, if the displacement to radial direction of not limiting gear frame 9, and so also not limiting gear frame 9 displacement downwards.In this case, special limiting gear frame 9 can be used to carry out the bearing 6a of displacement upward, thus larger restraint can be obtained with small-sized bearing 6a.Similarly, bearing 6c just carries out the component of displacement downwards along A axis relative to housing 7 for limiting gear frame 9, if the displacement to radial direction of not limiting gear frame 9, and the so also displacement upward of not limiting gear frame 9.In this case, special limiting gear frame 9 can be used to carry out the bearing 6c of displacement downwards, thus larger restraint can be obtained with small-sized bearing 6c.Too, radial bearing 6b just carries out the component of displacement to radial bearing 6b to radial direction relative to housing 7 for limiting gear frame 9, if not limiting gear frame 9 displacement upward, and the so also displacement downwards of not limiting gear frame 9.In this case, special restriction can be used to the bearing 6b of the displacement of radial direction, thus larger restraint can be obtained with small-sized radial bearing 6b.
Utilize a pair tapered roller bearing 8a, 8b can the state of rotation relative to gear carrier 9 not make eccentric swing axle 11 eccentric swing axle 11 is supported to eccentric swing axle 11 while axis and the enterprising line displacement of radial direction relative to gear carrier 9.In fact, between gear carrier 9 and eccentric swing axle 11, do not apply larger power axially.Therefore, it is possible to utilize a pair tapered roller bearing 8a, 8b, while axis and the enterprising line displacement of radial direction, eccentric swing axle 11 to be supported to relative to gear carrier 9 not make eccentric swing axle 11 and to make eccentric swing axle 11 can rotation relative to gear carrier 9.
But effect has larger power axially between gear carrier 9 and housing 7.When using the tapered roller bearing that can be housed in the size of profile thrust-bearing 6a, radial bearing 6b and thrust-bearing 6c are included that gear carrier 9 is supported on housing 7, external force cannot be resisted and carry out limiting gear frame 9 and housing 7 carries out relative displacement in the axial direction, also cannot be limited on radial direction and carry out relative displacement.Even if use angular contact ball bearing or angle contacting roller bearing to replace tapered roller bearing, required restraint can not be guaranteed.If the boundary dimension of bearing is identical, the radial bearing restraint combined when using of the thrust-bearing so enabling to carry out specially axially restriction and the restriction carrying out radial direction specially estimates to reach about about 4 times that use restraint when not only having carried out axially limiting but also carrying out the angular contact ball bearing of radial direction restriction, angle contacting roller bearing or tapered roller bearing by 1 bearing.In the present embodiment, owing to using the bearing 6a of special restriction displacement upward, the bearing 6b of special restriction to the displacement of radial direction and the bearing 6c of special restriction displacement downwards, and can by around bearing 6a, 6b, 6c outer Monday circle overall size miniaturization.
In addition, crossed roller bearing is known to.Crossed roller bearing has the set of rollers configured towards the direction of the power of bearing axially and the set of rollers configured towards the direction of the power of bearing on radial direction, if restraint axially also uprises, then the restraint on radial direction is higher.But need more man-hour at manufacture view, cost is high.And very actual by the structure of special bearing 6a, 6b, 6c, easily manufacture.
4 cylindrical portion 11a, 11b, 11c and 11d are formed by connecting by eccentric swing axle 11.The central axis of cylindrical portion 11a, 11d is coaxial, and cylindrical portion 11a is supported by tapered roller bearing 8a, and cylindrical portion 11d is supported by tapered roller bearing 8b.When utilizing a pair tapered roller bearing 8a, 8b to support, the central axis of cylindrical portion 11a, 11d is configured on E axis.Cylindrical portion 11a, 11d are around the rotation of E axis.
The central axis of cylindrical portion 11b only to stagger distance D from the central axis of cylindrical portion 11a, 11d.Equally, the central axis of cylindrical portion 11c also only to stagger distance D from the central axis of cylindrical portion 11a, 11d.But when observing from the direction along axis E, the direction that cylindrical portion 11b staggers from the central axis of cylindrical portion 11a, 11d from the direction that the central axis of cylindrical portion 11a, 11d staggers and cylindrical portion 11c is towards the opposite.
When cylindrical portion 11a, 11d are around central axis E time rotational, the central axis C of cylindrical portion 11c and the central axis B of cylindrical portion 11b revolves round the sun around central axis E.Fig. 1 represents that the central axis C of cylindrical portion 11c staggers to the left from the central axis E of cylindrical portion 11a, 11d, the state that the central axis B of cylindrical portion 11b staggers to the right from the central axis E of cylindrical portion 11a, 11d.On the contrary, also can be formed as axis C and stagger from axle E alignment right, the state that axis B staggers to the left from axis E.Cylindrical portion 11c is the eccentric cam that central axis C revolves round the sun around axis E, and cylindrical portion 11b is the eccentric cam that central axis B revolves round the sun around axis E.
Illustrated reference character 13 represents the bearing supporting the 1st external gear 3 around eccentric cam (eccentric cylinder portion) 11c.Illustrated reference character 14 represents the bearing supporting the 2nd external gear 4 around eccentric cam (eccentric cylinder portion) 11b.When eccentric cam (eccentric cylinder portion) 11c revolves round the sun around axis E, the central axis C ' of the 1st external gear 3 revolves round the sun around axis A, and the central axis B ' of the 2nd external gear 4 revolves round the sun around axis A.
The outer circumferential face of the 1st external gear 3 is formed the external tooth 3d of pericycloid shape.The part being formed at the external tooth 3d of the periphery of the 1st external gear 3 engages with a part of the internal tooth 7g of the inner circumferential being formed at housing 7.External tooth 3d to be positioned at centered by axis C ' circumferentially, and internal tooth 7g to be positioned at centered by axis A circumferentially.The number of teeth being formed at the internal tooth 7g of housing 7 is inconsistent with the number of teeth of the external tooth 3d being formed at the 1st external gear 3.Under the state that a part of the external tooth 3d of the 1st external gear 3 engages with a part of the internal tooth 7g of housing 7, when the 1st external gear 3 revolves round the sun relative to housing 7, the 1st external gear 3 also carries out rotation.1st external gear 3 is while relative to housing 7 revolution rotation on one side (planetary motion).
Cylinder 10 is fixed on central opening 9a, 9p of gear carrier 9.Guarantee there is gap between the side face 3b of the central opening of the periphery of cylinder 10 and the 1st external gear 3.Therefore, cylinder 10 can not stop the 1st external gear 3 to carry out planetary motion relative to housing 7.In addition, guarantee the external gear passage 9c of gear carrier 9 and the gear carrier of external gear 3 by opening side face 3c between also have gap.Gear carrier 9 also can not stop the 1st external gear 3 to carry out planetary motion relative to housing 7.
The outer circumferential face of the 2nd external gear 4 is formed the external tooth 4d of pericycloid shape.The part being formed at the external tooth 4d of the periphery of the 2nd external gear 4 engages with a part of the internal tooth 7g of the inner circumferential being formed at housing 7.External tooth 4d to be positioned at centered by axis B ' circumferentially, and internal tooth 7g to be positioned at centered by axis A circumferentially.The number of teeth being formed at the internal tooth 7g of housing 7 is inconsistent with the number of teeth of the external tooth 4d being formed at the 2nd external gear 4.Under the state that a part of the external tooth 4d of the 2nd external gear 4 engages with a part of the internal tooth 7g of housing 7, when the 2nd external gear 4 revolves round the sun relative to housing 7, the 2nd external gear 4 also carries out rotation.2nd external gear 4 is while revolve round the sun while carry out rotation (planetary motion) relative to housing 7.
Guarantee there is gap between the side face 4b of the central opening of the periphery of cylinder 10 and the 2nd external gear 4.Therefore, cylinder 10 can not stop the 2nd external gear 4 to carry out planetary motion relative to housing 7.In addition, guarantee the external gear passage 9c of gear carrier 9 and the gear carrier of external gear 3 by opening side face 4c between also have gap.Gear carrier 9 also can not stop the 2nd external gear 4 to carry out planetary motion relative to housing 7.
When the 1st external gear 3 and the 2nd external gear 4 revolve round the sun while time rotational relative to housing 7, eccentric swing axle 11 becomes torque-transfer members and gear carrier 9 rotation.Gear carrier 9 is also the output shaft of speed change gear 20.Such as, can mounting hole 9f, 9g be utilized in advance and the tip side of mechanical arm is fixed on gear carrier 9.The base portion side of mechanical arm can be fixed on housing 7, and the tip side of mechanical arm is fixed on gear carrier 9.In this case, gear carrier 9 becomes the output shaft of speed change gear 20.On the contrary, also the base portion side of arm can be fixed on gear carrier 9, the tip side of arm is fixed on housing 7.In this case, housing 7 becomes the output shaft of speed change gear 20.
Gear 11e is fixed on eccentric swing axle 11.Gear 11e directly or indirectly with the gears meshing of output shaft being fixed on motor.When the motor is rotated, eccentric cam 11b, 11c revolve round the sun, the rotation and the 1st external gear 3 and the 2nd external gear 4 revolve round the sun.When gear carrier 9 is motionless, housing 7 rotates, the motor being fixed on gear carrier 9 does not move.When housing 7 is motionless, gear carrier 9 rotates, the position being fixed on the motor of gear carrier 9 rotates around axis A.
(the 2nd embodiment)
Fig. 3 represents the 2nd embodiment.Below only the aspect different from the 1st embodiment is described.Even if in the 2nd embodiment, gear carrier 9 also can relative to housing 7 rotation.Illustrated reference character 26a is the 2nd thrust-bearing carrying out displacement for limiting gear frame 9 relative to housing 7 downwards.Reference character 26b, 26d are the rings for guiding roller 26c.The spin axis of roller 26c in figure 3 along horizontal-extending, and radially extends from A axis.Utilize the 2nd thrust-bearing 26a, gear carrier 9 can around the rotation of A axis relative to housing 7, and limiting gear frame 9 carries out displacement downwards relative to housing 7.
Illustrated reference character 26k is the 1st thrust-bearing carrying out displacement for limiting gear frame 9 relative to housing 7 upward.Reference character 26m, 26p are the rings for guiding roller 26n.The spin axis of roller 26n in figure 3 along horizontal-extending, and radially extends from A axis.Utilize the 1st thrust-bearing 26k, gear carrier 9 can around the rotation of A axis relative to housing 7, and limiting gear frame 9 carries out displacement upward relative to housing 7.
Illustrated reference character 26e and 26h is the radial bearing carrying out displacement for limiting gear frame 9 relative to housing 7 at radial direction.Reference character 26f, 26i are rollers, and reference character 26g, 26j are the inner ring of gear carrier 9 side for guiding roller.In 2nd embodiment identical with the 1st embodiment, also provide on the 7e of face at the internal tooth of housing 7 and be formed with the semicircular groove 7f in cross section.Although pin 5 to be inserted this groove 7f, in the 2nd embodiment, groove 7f is formed longer than pin 5.As shown in Figure 3, in the both end sides of pin 5, roller 26f, 26i are the same with pin 5 can from being rotatably contained in groove 7f.Groove 7f dual-purpose does the ring of housing 7 side of roller 26f, 26i, thus reduces parts count.And pin 5 also can make the rolling element (roller) of radial bearing 26e and 26h by dual-purpose.Structure is simplified, thus the parts count needed for reducing further.
Above, understand concrete example of the present utility model in detail, but these only illustrate, and do not limit claims.In the technology described in claims, comprise and various distortion, change and the technological scheme obtained are carried out to concrete example illustrated above.
The technical characteristics illustrated in this specification or accompanying drawing plays technical serviceability by independent or various combination, is not limited to the combination described in claim when applying for.In addition, this specification or the technology illustrated in accompanying drawing can realize multiple object simultaneously, the serviceability on the technology itself realizing the object of one of them possesses skills.
Claims (10)
1. a speed change gear, is characterized in that,
It has housing, external gear and gear carrier,
Housing is formed with internal tooth,
External gear is formed with external tooth, and this external gear can carry out planetary motion relative to housing,
The number of teeth of the internal tooth of housing is different from the number of teeth of the external tooth of external gear,
Under the state that a part for the internal tooth of housing engages with a part for the external tooth of external gear, when external gear revolves round the sun relative to housing, external gear is rotation also,
Follow external gear from then be configured with relative between the gear carrier of housing rotation and housing: thrust-bearing, its limiting gear frame while axially carrying out displacement, allows that gear carrier is relative to housing rotation relative to housing; Radial bearing, its limiting gear frame while radial direction carries out displacement, allows that gear carrier is relative to housing rotation relative to housing.
2. speed change gear according to claim 1, is characterized in that,
Be respectively arranged with: the 1st thrust-bearing that limiting gear frame moves to axially orientation; Limiting gear frame is to the radial bearing of radial direction displacement; And limiting gear frame is to the 2nd thrust-bearing of axially below displacement.
3. speed change gear according to claim 2, is characterized in that,
A part for the axis of gear carrier is formed with flange shape large-diameter portion,
The upper surface of large-diameter portion is supported by the 1st thrust-bearing,
The lower surface of large-diameter portion is supported by the 2nd thrust-bearing,
The side face of large-diameter portion is supported by radial bearing.
4. speed change gear according to claim 2, is characterized in that,
Internal tooth is formed at the inner peripheral surface of housing,
Radial bearing is being arranged on the both sides of internal tooth on the direction of the axis of rotation.
5. speed change gear according to claim 1, is characterized in that,
There is provided between face and gear carrier at the internal tooth of housing and be configured with radial bearing.
6. speed change gear according to claim 5, is characterized in that,
There is provided at the internal tooth of housing that face is formed with cross section is semicircular groove, this groove dual-purpose does the rolling surface of radial bearing.
7. speed change gear according to claim 6, is characterized in that,
Cross section is that circular pin rotates freely and is accommodated in above-mentioned groove, and this pin dual-purpose makees the rolling element of radial bearing.
8. speed change gear according to claim 1, is characterized in that,
There is the eccentric swing axle that external gear is revolved round the sun,
Opening external gear being formed the opening of the eccentric cam for receiving eccentric swing axle, central opening and passing through for gear carrier.
9. speed change gear according to claim 1, is characterized in that,
The eccentric swing axle that external gear is revolved round the sun follows the rotation of external gear.
10. speed change gear according to claim 1, is characterized in that,
The eccentric swing axle that external gear is revolved round the sun is can the state of rotation be bearing on gear carrier by a pair tapered roller bearing.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2012-202015 | 2012-09-13 | ||
| JP2012202015A JP2014055655A (en) | 2012-09-13 | 2012-09-13 | Transmission |
| PCT/JP2013/073934 WO2014042065A1 (en) | 2012-09-13 | 2013-09-05 | Transmission device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204592160U true CN204592160U (en) | 2015-08-26 |
Family
ID=50278179
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201390000747.6U Expired - Fee Related CN204592160U (en) | 2012-09-13 | 2013-09-05 | Speed change gear |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP2014055655A (en) |
| CN (1) | CN204592160U (en) |
| TW (1) | TW201418601A (en) |
| WO (1) | WO2014042065A1 (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6453135B2 (en) * | 2015-03-27 | 2019-01-16 | 住友重機械工業株式会社 | Eccentric rocking gear device |
| JP6767804B2 (en) * | 2016-07-29 | 2020-10-14 | 日本電産シンポ株式会社 | Gear transmission |
| CN110360274A (en) * | 2019-07-22 | 2019-10-22 | 孙金曦 | Planetary speed reducer with small tooth number difference |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4112461B2 (en) * | 2003-08-29 | 2008-07-02 | 株式会社日本自動車部品総合研究所 | Inscribed mesh planetary gear mechanism |
| WO2008052691A1 (en) * | 2006-11-03 | 2008-05-08 | Spinea S.R.O. | Transmission |
| JP5234464B2 (en) * | 2009-03-16 | 2013-07-10 | 住友重機械工業株式会社 | Reducer for natural energy recovery system |
-
2012
- 2012-09-13 JP JP2012202015A patent/JP2014055655A/en active Pending
-
2013
- 2013-09-05 CN CN201390000747.6U patent/CN204592160U/en not_active Expired - Fee Related
- 2013-09-05 WO PCT/JP2013/073934 patent/WO2014042065A1/en active Application Filing
- 2013-09-12 TW TW102133030A patent/TW201418601A/en unknown
Also Published As
| Publication number | Publication date |
|---|---|
| TW201418601A (en) | 2014-05-16 |
| WO2014042065A1 (en) | 2014-03-20 |
| JP2014055655A (en) | 2014-03-27 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150826 Termination date: 20170905 |