JP2000283250A - Internal gear oscillation type inscribing meshing planetary gear device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To lengthen the life by reducing the meshing friction between an internal oscillator and an external gear, realize low noise during operation and reduce energy loss. SOLUTION: The respective internal gears of internal gear osicllators 112A, 112B are formed by semi-cylindrical external pin holes 113Ax, 113Bx and external pins 113Ay, 113By engaged with the external pin holes. In the case of two internal gear oscillators, the external pin hole is formed twice as large as the number of internal gears in design, and the external pin is provided for the number of internal gears in design. The external pins 113Ay, 113By are incorporated in every other external pin holes 113Ax, 113Bx of the respective internal gear oscillators 112A, 112B, and the positions of the incorporated every other external pins 113Ay, 113By are shifted by one external pin between two internal gear oscillators 112A, 112B.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an external gear having an output member, and an internal oscillating body which meshes with the external gear is oscillated and rotated by an eccentric body, thereby obtaining a reduced rotation output to the external gear. The present invention relates to an internal gear oscillating type internal meshing planetary gear device.

[0002]

2. Description of the Related Art Internally meshing planetary gear devices are widely used in various reduction gear fields because of their advantages of being able to transmit a large torque and obtaining a large reduction ratio.

[0003] Among them, an internal gear oscillating type internal gear meshing planetary gear device that takes out rotation output from the external gear by oscillating rotation of the internal gear oscillating body meshing with the external gear by an eccentric body is disclosed in Patent Document. No. 2607937.

[0004] An example of the gear device will be described with reference to Figs.

[0005] Reference numeral 1 denotes a casing, which comprises a first support block 1A and a second support block 1B connected to each other by a fastening member 2 such as a bolt or a pin. Reference numeral 5 denotes an input shaft, and a pinion 6 is provided at an end of the input shaft 5.
A plurality of transmission gears 7 arranged at equal angles around the input shaft 5
Is engaged.

The casing 1 has bearings 8 at both axial ends.
The three eccentric shafts 10 rotatably supported by 9 and having eccentric bodies 10A and 10B at the axial middle portion are provided at equal angular intervals (120-degree intervals) in the circumferential direction,
The transmission gear 7 is connected to the end of each eccentric shaft 10. The eccentric shafts 10 rotate when the transmission gear 7 rotates in response to the rotation of the input shaft 5.

Each eccentric shaft 10 has an eccentric body hole 11 of two internal tooth oscillating bodies 12A and 12B housed in the casing 1.
A, 11B, respectively, between the outer circumferences of the two-stage eccentric bodies 10A, 10B adjacent in the axial direction of each eccentric body shaft 10 and the inner circumferences of the through holes of the internal tooth oscillators 12A, 12B. Are provided with rollers 14A and 14B.

The reason why the two internal tooth oscillating bodies 12A and 12B are provided is that, in addition to securing the torque capacity, when the two internal tooth oscillating bodies 12A and 12B eccentrically oscillate. This is because the phase is shifted by 180 ° (always swinging in opposite directions) to cancel the centrifugal moment generated by the eccentric swing and balance the dynamic load around the axis.

Therefore, three or more internal tooth oscillating bodies may be provided depending on the application. In the case where N internal tooth oscillating members are provided, if the eccentric phase of each internal tooth oscillating member is shifted in the circumferential direction by 360 ° / N, the centrifugal moment generated by the eccentric oscillating of each internal tooth oscillating member. Can be almost completely offset as a whole.

An output shaft 20 is provided in the center of the casing 1.
An external gear 21 integrated with an end of the external gear 21 is rotatably disposed.
The internal teeth 13A and 13B of A and 12B are meshed. The internal tooth oscillating bodies 12A and 12B are formed by cutting out the remaining parts except for the parts supporting the eccentric bodies 10A and 10B and the internal teeth 13 part, and thereby the first and second support blocks 1A and 1B are formed. In particular, the cross-sectional area of the connecting portion 1B can be increased.

In this type of internally meshing planetary gear device, generally, the internal teeth 13A of the internal tooth oscillating bodies 12A, 12B,
13B is a semi-cylindrical groove 13Ax, 13Bx (formed in the axial direction of the internal tooth oscillating body 12A, 12B) and a pin 13Ay, 13By engaged with the groove 13Ax, 13Bx.
And is constituted by. It is this internal tooth oscillating body 1
This is because the internal teeth 13A, 13B of the external gears 2A, 12B and the external teeth 23 of the external gear 21 mesh with each other while rubbing each other, so that the sliding friction at the time of the engagement between them is made as small as possible. Therefore, the pins 13Ay and 13By can freely rotate in the semi-cylindrical grooves 13Ax and 13Bx.

The grooves 13Ax and 13Bx are generally called "outer pin holes". The grooves 13Ax, 13B
The pins 13Ay and 13By engaged with x are generally called “outer pins”.

This device operates as follows.

The rotation of the input shaft 5 is given to a transmission gear 7 via a pinion 6, and the transmission gear 7 causes the eccentric shaft 10 to rotate.
Is rotated. The rotation of the eccentric body shaft 10 causes the eccentric body 1
When 0A and 10B are rotated, the eccentric bodies 10A and 1B are rotated.
The rotation of 0B causes the internal tooth rocking bodies 12A and 12B to rock. In this case, the phase of the external gear 21 meshing with the internal tooth oscillating bodies 12A and 12B is shifted by the number of teeth due to one oscillating rotation of the internal tooth oscillating bodies 12A and 12B.
The rotation component corresponding to the phase difference is the (deceleration) rotation of the external gear 21, and a deceleration output is obtained from the output shaft 20.

[0015]

In this type of internally meshing planetary gear device, due to its structure, when the difference between the number of teeth of the external gear and the number of teeth of the internal oscillating body is "1". The highest reduction ratio can be obtained. Therefore, it is general to set the difference in the number of teeth to one.

However, when the difference in the number of teeth is set to 1 and the number of the internal tooth oscillating bodies is set to, for example, two, if the internal tooth oscillating bodies 12A and 12B are completely identical, that is, in the same phase. When manufactured, as shown in FIG. 4, the internal tooth oscillating bodies 12 </ b> A, 12 </ b> A with respect to the external teeth 23 of the external gear 21 having the same phase.
The internal teeth 13A and 13B of B cannot be meshed properly. Therefore, the relative rotational phase of each pair of the external gear 21 and the internal tooth oscillators 12A and 12B is set to 180.
In order to shift the phase, the built-in phase of the pair 21 & 12A of the external gear 21 and the internal rocking body 12A is changed to the other pair 21 & 12.
B needs to be shifted by half a phase (half a tooth) with respect to that of B. Therefore, conventionally, it was necessary to devise the following processing.

A) As shown in FIG.
Is assumed to be common, the phases of the eccentric body holes 11A and 11B for inputting the internal teeth of the two internal tooth oscillating bodies 12A and 12B
3A and 13B are shifted by a half phase.

In order to realize this, if the internal teeth 13A and 13B of the two inscribed rocking bodies 12A and 12B are simultaneously processed, two sheets of internal teeth 13A and 13B are used as a reference. The eccentric holes 11A and 11B of the internal tooth oscillating body must be post-processed by being shifted from each other by a half phase. vice versa,
When the input eccentric body holes 11A and 11B are simultaneously processed, the internal teeth of the two internal tooth oscillating bodies are shifted from each other by a half phase with respect to the simultaneously processed input eccentric body holes 11A and 11B. It must be post-processed.

B) As shown in FIG. 6, the external gear 21 (21) meshing with the internal teeth of each of the internal tooth rockers 12A and 12B
A, 21B) are processed by shifting the external teeth 23A, 23B by a half phase from each other in the axial direction.

In order to realize this, it is actually necessary, for example, to cut the external gears 21 separately and to combine them in a state shifted from each other by a half phase.

In either of the methods A) and B), after processing a certain portion once, it is necessary to post-process the remaining portion after relatively shifting one of them by half a phase. In the case, the relative positional relationship (including the phase angle) between the eccentric body holes 11A, 11B of the internal tooth oscillating bodies 12A, 12B and the internal teeth 13A, 13B, and in the case of B), the axis O of the external gear 21
It is very difficult to maintain the relative positional relationship between the outer teeth 23A and 23B with high accuracy, and an extremely advanced processing technique is required, and a high-cost processing apparatus is required.

Needless to say, unless these relative positional relationships are processed with high precision maintained, the two internal tooth oscillating bodies 12A and 12B smoothly mesh together around the external gear 21 in cooperation with each other. It becomes impossible to move, the meshing friction increases sharply, the noise increases, the durability decreases, and the energy loss increases.

The present invention has been made in view of such a conventional problem, and in a case where two or three or more internal tooth oscillating bodies are used in this kind of internal meshing gear device. Even without using advanced machining technology and expensive manufacturing equipment, the shaft center of the external gear and the external teeth, or the eccentric body hole of the internal oscillating body and the internal teeth (including the phase angle) It is an object of the present invention to provide a device that maintains the relative positional relationship with high accuracy at all times, thereby realizing smooth engagement and oscillation of the internal tooth oscillator, low noise, high durability, and low energy loss. The subject.

[0024]

According to the present invention, there is provided an internal gear for rotating an external gear by rotating the external gear by rotating an eccentric body which meshes with the external gear and penetrates the external gear. A moving body, wherein the internal teeth of the internal tooth oscillating body are constituted by a semi-cylindrical groove and a pin engaged with the groove. 2
And the semi-cylindrical grooves constituting the respective internal teeth of the two internal tooth oscillators are provided with the number of the internal teeth of the number of the designed two.
In addition to the double formation, the pins are prepared by the number of the internal teeth in design, and the pins are inserted into the grooves of the two internal tooth rockers every other one and every other one. The above-mentioned problem has been solved by incorporating two internal tooth oscillating members so that the positions of the pins to be shifted from each other by one groove.

The first aspect of the present invention specifies the configuration limited to the case where the number of the internal tooth oscillating bodies most frequently used in practice is two.

On the other hand, the invention according to claim 2 can be universally applied to a case where the number of the internal tooth oscillating bodies is N. That is, the external gear includes an external gear, and an internal oscillator that rotates the external gear by being oscillated by the rotation of an eccentric body that meshes with the external gear and penetrates the external gear. In the case of the internal gear oscillating type internally meshing planetary gear device, the internal teeth of which are constituted by a semi-cylindrical groove and a pin engaged with this groove, the internal gear oscillating body is provided with N The semi-cylindrical groove forming each internal tooth of the internal tooth oscillating body is formed N times the number of the designed internal teeth, and the pins are prepared by the number of the designed internal teeth. In each of the grooves of the plurality of internal tooth oscillators, the pins are provided every (N-1)
-1) The positions of the pins to be incorporated every other one may be shifted so as to be shifted from each other by the one groove in the N internal tooth oscillating bodies.

[0027]

Embodiments of the present invention will be described below in detail with reference to the drawings.

The internal gear oscillating type internally meshing planetary gear device to which the present invention is applied is a gear having the internal teeth 1 of the internal teeth oscillating bodies 112A and 112B.
The other configurations are basically the same as those of the conventional internal gear oscillating type internally meshing planetary gear device described with reference to FIGS. 2 and 3 except that the configurations of 13A and 113B are different.

Therefore, FIG. 1 shows a structural diagram corresponding to FIGS. 4 and 5, and the features of the present embodiment will be described in detail mainly with reference to FIG. 1, and overlapping description will be omitted. In addition,
In order to facilitate understanding, FIG. 1 shows two internal gears 112A and 113B at the same time, and
The same or similar parts as those in the related art are denoted by the same reference numerals in the last two digits.

The internal oscillating bodies 112A and 112B are provided with eccentric bodies and rollers (not shown, such as conventional 10A, 10B and 14A,
14B) are formed. The internal tooth oscillating bodies 112A and 112B mesh with the external gear 121 and have eccentric body holes 111A and 111B.
The eccentric body inserted into 1B is oscillated and rotated, and the oscillating rotation rotates the external gear 121. The basic structure itself is the same as the conventional one.

The internal teeth 11 of the internal tooth oscillators 112A and 112B
Basically, 3A and 113B are semi-cylindrical outer pin holes (grooves) 113Ax and 113Bx in the same manner as in the prior art.
113By.

However, the number N of the internal tooth rockers 112A and 112B in this embodiment is two in this embodiment, that is, N = 2. Therefore, both internal teeth oscillating body 1
12A and 112B are 180 ° from each other (that is, a half phase)
It is necessary to swing and rotate in a state where the phases are shifted. For this purpose, the internal teeth 113A and 113A of the internal tooth oscillators 112A and 112B are required.
13B has the following configuration.

That is, among the two sheets, the internal tooth oscillating body 112A, 1
Outer pin hole 1 forming inner teeth 113A, 113B of 12B
Originally, 13Ax and 113Bx should be formed by the number of teeth of the external gear 121 plus the number of teeth 1 (in the conventional case), but in this embodiment, the number of internal teeth in the design is , That is, 2 × (the number of external teeth + 1). Since the number of the outer pin holes 113Ax and 113Bx is doubled, the outer pin holes 113Ax and 113Bx
Is set to almost half the size of the conventional one.
The two internal tooth oscillating bodies 112A and 112B are respectively formed with internal teeth 113A and 113B and eccentric body holes 111A and 111A.
Both 1B are processed and manufactured simultaneously (with the same chucking).

Therefore, each of the internal tooth oscillating bodies 112A, 112B
Eccentric holes 111A, 111B and internal teeth 113A, 113
The relative positional relationship with B is always maintained at the precision itself of the processing machine in any combination. For example, the eccentric body hole 111A of one internal tooth rocking body 112A is
Not only is the relative positional relationship with the internal teeth 113A of the same internal tooth oscillating body 112A accurately maintained, but also the relative positional relationship with the eccentric body hole 111B and the internal teeth 113B of the other internal tooth oscillating body 112B. It will be maintained accurately. The outer pins 113Ay, 113By that actually perform the function of the internal teeth of the internal tooth rockers 112A, 112B are set to the radii that slide and engage with the finely formed outer pin holes 113Ax, 113Bx. The number is the same as the conventional one (designed number) of the number of the external teeth + 1, that is, the outer pin hole 113 for each of the internal tooth rocking bodies 112A and 112B.
Only half of the number of Ax and 113Bx are prepared. The outer pins 113Ay and 113By are connected to the respective
Every other outer pin hole 113Ax, 113Bx of 12B is incorporated. At this time, the two internal tooth oscillating bodies 1
12A and 112B, the external pins 113Ay and 113By that are to be incorporated every other one are incorporated so that the two internal tooth rockers 112A and 112B are offset from each other by one external pin.

The configuration of the external gear 121 is the same as the configuration of the conventional external gear 21 including the shape and number of external teeth, and the eccentric amount e1 is adjusted in accordance with the decrease in the radius of the external pin. Is slightly smaller than the conventional eccentricity e0,
The structure of the other structural members is the same as the conventional structure.

Next, the operation of this embodiment will be described.

The two internal tooth oscillating bodies 112A and 112B are located at the positions of the eccentric body holes 111A and 11B and the internal teeth (outer pins) 113.
The numbers and shapes of Ay and 113y are exactly the same. However, the number of the outer pin holes 113Ax and 113Bx is formed twice as much as the originally required number of teeth, and the two internal tooth rockers 11
Outer pin holes 113Ax, 11 of respective 2A, 112B
Since every other outer pin 113Ay and 113By is incorporated in 3Bx, the same movement as having one more tooth than the number of external teeth 123 of the external gear 121 is performed. . In addition, since the positions of the outer pins 113Ay and 113By incorporated in every other one of the two internal tooth oscillators 112A and 112B are shifted from each other by one external pin, the two internal tooth oscillators 112A and 112B are displaced from each other. It has the same effect as if the phases of the entire internal teeth 113A and 113B are shifted by a half phase (180 °), and the two internal tooth rockers 112A and 112B are always eccentrically rocked in opposite directions. Therefore, the centrifugal moment generated by the two swings is favorably canceled.

In addition, each internal tooth oscillating body 112A, 112B
Eccentric holes 111A, 111B and internal teeth 113A, 11
The relative positional relationship of 3B is accurately defined by processing using the same chucking. Therefore, the accuracy is 1
This is much higher than the method in which the chucking is released and only one of the internal tooth oscillators 112A or 112B is rotated by a half phase and then reworked, so that the meshing friction during operation can be reduced accordingly. Therefore, high durability can be maintained with low noise, and energy loss can be minimized.

In the above embodiment, the number of the internal tooth oscillating bodies 112A and 112B is two, that is, N is set to 2. However, the present invention is not limited to this example, and the number of the internal tooth oscillating bodies is two. This is applicable even when N is 3 or more. In that case, the number of external pin holes of the internal tooth
That is, N times (the number of the external teeth of the external gear +1) is formed, and the number of the external pins is prepared by the number of the internal teeth in the design.
Insert an outer pin into each outer pin hole of the N
-1) It may be incorporated every other unit. At this time, the positions of the outer pins to be installed every (N-1) pieces are shifted so as to be shifted by one outer pin from each other in the N internal tooth oscillating bodies.

In this manner, even if the number of the internal tooth oscillators is three or more, all the internal tooth oscillators can be simultaneously processed by the same chucking, and the phase of each internal tooth oscillator is set to N /. It is possible to shift by 360 degrees with high accuracy.

[0041]

According to the present invention, even when there are a plurality of internal tooth oscillating bodies, the relative positional relationship between the eccentric body hole of each internal tooth oscillating body and the phase of the internal tooth is determined by the phase angle. Therefore, the internal gear planetary gear device of the internal gear oscillating type with low noise, high durability, and low energy loss can be obtained by reducing the mesh friction by reducing the mesh friction.

[Brief description of the drawings]

FIG. 1 is a structural view corresponding to a main part of FIG. 3 showing a meshing state between an internal gear oscillating body and an external gear according to an embodiment of the present invention.

FIG. 2 is a longitudinal sectional view showing a conventional internal gear planetary gear device having two internal tooth oscillating bodies having two internal tooth oscillating bodies.

FIG. 3 is a sectional view taken along the line of FIG. 2;

FIG. 4 is a main part structural diagram showing an interference state in a conventional internal tooth oscillating type internal meshing planetary gear device when the phases of two internal tooth oscillating bodies are not considered;

FIG. 5 is a main part structural view showing one method for shifting the phase of two internal tooth oscillating bodies by 180 ° (half-phase) in a conventional internal tooth oscillating type internal meshing planetary gear device.

FIG. 6 is a structural view of a main part showing another method.

[Explanation of symbols]

 111A, 111B: Eccentric hole 112A, 112B: Internal oscillating body 113A, 113B: Internal tooth 113Ax, 113Bx: External pin hole (groove) 113Ay, 113By: External pin 121: External tooth

Claims (2)

[Claims] 1. An external gear including an external gear, and an internal oscillator that rotates the external gear by being oscillated by rotation of an eccentric body that meshes with the external gear and penetrates the external gear. An internal tooth oscillating type internally meshing planetary gear device in which the internal teeth of the tooth oscillating body are formed by a semi-cylindrical groove and a pin engaged with the groove, comprising: two internal tooth oscillating bodies; The semi-cylindrical groove forming each internal tooth of the two internal tooth rockers is formed twice as many as the number of designed internal teeth, and the pins are prepared by the number of designed internal teeth, The pin is inserted into each of the grooves of the two internal tooth oscillators,
An internal tooth oscillating type internal meshing wherein every other pin is incorporated so that the positions of the pins incorporated therein are shifted from each other by one groove by two internal tooth oscillating bodies. Planetary gear set. 2. An external gear including an external gear, and an internal gear oscillating body that rotates the external gear by being oscillated by the rotation of an eccentric body that meshes with the external gear and penetrates the external gear. An internal tooth oscillating type internally meshing planetary gear device in which the internal teeth of the tooth oscillating body are constituted by a semi-cylindrical groove and a pin engaged with the groove, wherein N internal tooth oscillating bodies are provided. The semi-cylindrical groove forming each internal tooth of the two internal tooth oscillating bodies is formed N times the number of designed internal teeth, and the pins are prepared by the number of designed internal teeth, The pin is inserted into each of the grooves of the N internal tooth oscillators.
It is characterized in that the positions of the pins to be incorporated every (N-1) pieces and every (N-1) pieces are incorporated so that the positions of the pins are shifted from each other by one groove by N pieces of the internal tooth oscillating body. Internal gear oscillating type internal meshing planetary gear device.