JP2006207828A - Connecting structure of reduction gear - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a connecting structure of a reduction gear, flexibly coping with the state of a counterpart machine and the state of own reduction gear ratio. <P>SOLUTION: This connecting structure of an oscillating reduction gear and an orthogonal reduction gear in reduction gears includes: an oscillating reduction gear 104 provided with external gears 108A, 108B rotated with eccentricity to an input shaft 102A, an internal gear 110 inscribing and meshing with the external gear, and a carrier 112 taking rotation component of the external gear; and an orthogonal reduction gear 105 provided with a transmission shaft 46 connected to the carrier 112, to which the rotary power is input, an inlet side bevel gear 116 coaxially mounted on the transmission shaft 46 and an outlet bevel gear 118 meshing with the inlet bevel gear 116. A cylindrical joint flange 44 connecting the output side fitting surface 50 of the oscillating reduction gear 104 and the input side fitting surface 124B of the orthognal reduction gear 105 by the inlet and outlet connecting surfaces 44A, 44B formed at both ends thereof is interpoesd between the oscillating reduction gear and the orthogonal reduction gear, and the transmission shaft 46 and the carrier 112 are rotatably disposed on the inner periphery of the joint flange 44. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a reduction gear connecting structure suitable for, for example, preparing a plurality of various geared motors as a product group based on a technically rational idea.

  Conventionally, a geared motor 1 as shown in FIG. 7 has been proposed (see, for example, Patent Document 1). This geared motor 1 is provided with various motors 2 (the whole is not shown) and a speed reduction device 3, and the optimum one of a plurality of types of speed reduction devices 3 is considered in consideration of the capacity of the motor 2 and the mating dimensions of the counterpart machine. It is selected and combined with the motor 2.

  The speed reduction device 3 includes a swing speed reducer 4 having a swinging intermeshing planetary gear structure and a quadrature speed reducer 5 having a one-stage orthogonal transmission structure connected to the output side of the swing speed reducer 4. . The swing speed reducer 4 includes an eccentric body 6 connected to the motor shaft 2A of the motor 2, external gears 8A and 8B rotatably attached to the eccentric body 6 via rollers 8, and the external gear 8A. , 8B and a carrier 12 that takes out only the rotation components of the external gears 8A, 8B and outputs them to the orthogonal reduction gear 5 side.

  The internal gear 10 is held by a cylindrical internal gear casing 10A connected to the flange 2B of the motor 2 and a groove formed on the inner peripheral surface of the internal gear casing 10A. A plurality of external pins 10B are provided, and the external gears 8A and 8B mesh with the external pins 10B. Due to this meshing state, the external gears 8A and 8B that are free to rotate eccentrically are restricted in their own free rotation (spinning), and therefore perform almost only a swing motion around the motor shaft 2A. A plurality of carrier holes 14 are formed in the external gears 8A and 8B at regular intervals in the circumferential direction, and the carrier pins 12A of the carrier 12 are loosely fitted into the carrier holes 14 via the pin rollers 12B. Yes. The “free-fitting state” between the carrier pin 12A and the pin roller 12B and the carrier hole 14 is set so as to be able to absorb the oscillation component of the external gears 8A and 8B. Only the rotation components of the gears 8A and 8B are extracted.

  If the number of teeth of the internal gear 10 is N + 1 and the number of teeth of the external gears 8A and 8B is N, the difference in the number of teeth is 1. When the motor shaft 2A (eccentric body 6) rotates once and the external gears 8A, 8B rotate eccentrically (oscillate), the external gears 8A, 8B have a tooth number difference of “1” relative to the internal gear 10. Will be shifted. This "deviation of the number of teeth difference" corresponds to the rotation component of the external gears 8A and 8B. That is, the rotation of the carrier 12 is decelerated to -1 / N with respect to one rotation of the motor shaft 2A. (-Indicates reverse rotation).

  The swing reducer 4 having the swing internal meshing gear structure described above may have various other structures, but the main axis of the transmission device (here, the central axis of the motor shaft 2A) is the external tooth. It has the characteristic that it exists inside the circumference | surroundings of the gearwheel 8A, 8B, ie, the characteristic which belongs to international patent classification F16H 1/32.

  The one-stage orthogonal reduction gear 5 is connected to a bevel pinion 16 integrally connected to the carrier 12, a bevel gear 18 meshing with the bevel pinion 16, and coaxially and integrally connected to the bevel gear 18. A hollow type (hollow shaft type) output shaft 20 and a gear box 24 that rotatably supports the output shaft 20 via two bearings 22 and accommodates the bevel pinion 16 and the bevel gear 18 therein. .

  On the input side of the gear box 24, a mounting flange portion 26 is formed integrally with the cylindrical protrusion and the tip is spread outward, and the internal gear casing 10 </ b> A of the oscillating speed reducer 4 is formed on the mounting flange 26. Are connected. A transmission shaft 16A is connected to the bevel pinion 16, and the transmission shaft 16A is splined to a shaft hole 12C formed in the carrier 12. Further, the transmission shaft 16A is rotatably supported by a bearing 28 installed on the inner peripheral side of the mounting flange portion 26, and the carrier 12 is similarly installed on the inner peripheral side of the mounting flange portion 26. The bearing 30 is rotatably supported. Because of these structures, the carrier 12 and the bevel pinion 16 rotate together, so that the rotation of the carrier 12 is transmitted to the bevel pinion 16.

  According to the geared motor 1, the rotational power of the motor 2 is decelerated by the swinging speed reducer 4, and the power after the deceleration is input to the one-stage orthogonal speed reducer 5. The power is decelerated by the bevel pinion 16 and the bevel gear 18, the direction of the rotation shaft is changed so as to be orthogonal to the motor shaft 2 </ b> A, and output from the output shaft 20.

JP 2000-110895 A

  The orthogonal speed reducer 5 having an orthogonal transmission structure has a characteristic that “power transmission capability” is relatively low due to the characteristics of a pair of bevel gears that are subjected to a reaction force in the thrust direction to be separated from each other. Accordingly, the rigidity of the gear box 24 and the bearing 22 is set to be slightly higher than the predetermined frame number P of the reduction gear 3 in order to resist the reaction force in the thrust direction. On the other hand, the oscillating speed reducer 4 transmits power while a plurality of teeth are always meshed with each other, so that a high power transmission capability is ensured structurally. That is, in all the frame numbers P in the plurality of reduction gears 3 prepared as a series, a combination in which the orthogonal reduction gear 5 is slightly larger and the swing reduction gear 4 is slightly smaller is employed.

  However, for example, when a torque limiter is installed in the reduction gear 3 so that rotational power exceeding a predetermined torque is not transmitted (guaranteed), the rigidity of the orthogonal reduction gear 5 is not necessarily “increased” as described above. In other words, conventionally, the manufacturing cost and the transmission efficiency are unnecessarily increased.

  On the other hand, for example, when a braking mechanism (brake) is installed on the input side of the reduction gear 3 and the rotation of the counterpart machine needs to be stopped reliably (when receiving a strong inertial reaction force), or a large load is applied. However, when it is necessary to maintain the stopped state, the rigidity of the orthogonal reduction gear 5 corresponding to the conventional frame number P is not always sufficient.

  This situation is peculiar to the structure in which the reaction torque of the counterpart machine is directly received by the bevel gear 18 and the bevel pinion 16, and is considered to be a problem that occurs because of this structure. .

  The present invention has been made in view of the above-mentioned problems, and flexibly responds to specifications (requirements) such as a counterpart machine and a rotational power source, and reduces the size of the entire apparatus while maintaining the power transmission efficiency in an optimum state. It aims at obtaining the connection structure of the reduction device which was aimed.

  The present invention includes an external gear that rotates eccentrically with respect to an input shaft, an internal gear that is fixedly engaged with the external gear, and a carrier that extracts a rotation component of the external gear. An oscillating speed reducer having a meshing planetary gear structure, a transmission shaft connected to the carrier of the oscillating speed reducer to receive rotational power, an inlet bevel gear provided coaxially with the transmission axis, and In the connecting structure of the oscillating speed reducer and the orthogonal speed reducer in a speed reducer comprising an orthogonal speed reducer having an orthogonal transmission structure having an output side bevel gear meshing with an input side bevel gear, an input formed at both ends of the gear A cylindrical joint flange capable of connecting the output side mounting surface of the swing speed reducer and the input side mounting surface of the orthogonal speed reducer by a side and an output side connecting surface, the swing speed reducer and the orthogonal speed reducer And the inner circumference of the joint flange, The transmission shaft provided coaxially to fill bevel gears, and by which is arranged rotatably said carrier connected to said transfer shaft, is to achieve the above object.

  Conventionally, the orthogonal speed reducer and the speed reducer are connected by “one (one) mating surface (connecting surface)”. This is considered to be a condition that the transmission capacity has to be determined with the speed reducer as a whole. This is because the transmission capacity of the reduction gear is comprehensively determined from the thickness and size of the gearbox, but it is often reflected in the size of the mating surface (connection surface). is there.

  Therefore, in the present invention, a joint flange is interposed between the speed reducer and the orthogonal speed reducer so that they are connected by “two connecting surfaces”, and the orthogonal speed reducer is made “independent” with respect to the specific swing speed reducer. A plurality of types can be prepared, and a combination of these is possible.

  In this case, for example, if a joint flange is replaced (that is, an appropriate joint flange is selected) for a specific swinging speed reducer (that is, a speed reducer having a specific output side mounting surface dimension), two or more. The orthogonal reduction gears (that is, the orthogonal reduction gears having two or more different input side mounting surface dimensions) can be easily combined.

  As a result, for example, when the oscillating speed reducer or the orthogonal speed reducer is configured such that each mounting surface dimension corresponds (reflects) to the transmission capacity, for example, the following modes can be selected.

  (1) When a torque limiter or the like is employed, the transmission capacity of the orthogonal speed reducer is lowered by one rank while maintaining the transmission capacity of the oscillating speed reducer (that is, the dimension of the input side mounting surface is lowered by one rank). Like

  (2) When a braking mechanism (brake) is adopted, the transmission capacity of the oscillating speed reducer is maintained and the transmission capacity of the orthogonal speed reducer is increased by one rank (that is, the dimension of the input side mounting surface is increased). (Raise one rank)

  (3) When the mounting surface size on the counterpart machine side is “already determined”, an orthogonal reduction gear that matches the mounting surface size is selected unavoidably. A way to select and combine freely (without restrictions on the size of the output side mounting surface)

  (4) When the mounting surface dimension on the rotating power source (for example, the motor) side is “already determined”, the oscillating speed reducer that matches the mounting surface dimension is unavoidably selected. A mode of selecting and combining capacities (without being restricted by the dimensions of the input side mounting surface)

  (5) A mode in which a single-stage speed reducer having an optimum transmission capacity is combined with a predetermined capacity swing reducer according to the “reduction ratio” selected by the swing reducer.

  (6) Optimizing the distribution of the reduction ratio of the single-stage reduction gear and the reduction ratio of the oscillating reduction gear, the optimal transmission capacity according to the transmission torque distributed as a result, and the restriction of the connection surface Independently selecting and combining without receiving

  Although not all of the above aspects, such a configuration makes it possible to respond more flexibly to the user's request, thereby increasing transmission efficiency and reducing manufacturing costs. This is obtained as a result of thorough examination of the characteristics of the swinging intermeshing planetary gear structure, the characteristics of the orthogonal transmission structure, and the characteristics when the reduction gear is configured by combining them.

  FIG. 1 shows, for example, a schematic example of a series that can be configured using such a reduction gear connecting structure. As a result of the conventional connecting structure with one connecting surface, the output side mounting surface dimensions S1, S2, S3... (Corresponding to the transmission capacities Y1, Y2, Y3. The orthogonal reduction gears (corresponding to transmission capacities X1, X2, X3...) Of input side mounting surface dimensions T1, T2, T3. It is considered that only A1, A2, A3,... Located on the diagonal line as devices were prepared as components of the series. If the present invention is adopted, for example, A1 and B1 that can be combined with orthogonal reduction gears T1 and T2 with respect to swing reduction gear S1, and orthogonal reduction gears T1, T2, and T3 with respect to swing reduction gear S2 can be combined. A series of reduction gears having C1, A2, B2 and the like as constituent elements can be obtained, and the above-mentioned merits can be obtained.

  Also, in exactly the same way, for example, A1 and C1 that enable the combination of the swing reducers S1 and S2 to the orthogonal reducer T1, and the swing reducers S1, S2, and S3 to the orthogonal reducer T2 are combined. It is also possible to obtain a series of reduction gears that have B1, A2, C2, and the like as possible components.

  It is preferable that the joint flange, the transmission shaft, and the carrier can be integrated and removed integrally with the remaining portion of the reduction gear.

  In this way, the orthogonal reducer side, the joint flange portion (including both the orthogonal reducer and the swing reducer elements), and the swing reducer side are assembled independently, and the three bodies are finally assembled. As a result, it is possible to construct the speed reducer, so that the manufacturing and assembling costs are suppressed and the maintainability is improved. Also, the speed reducer can be disassembled via the joint flange even when the orthogonal speed reducer is connected to the counterpart machine side, or when the swing speed reducer is connected to the power source. This is particularly suitable when constructing a series, and even when the orthogonal speed reducer is connected to the counterpart machine, if the swing speed reducer is replaced with another one (within the series) It becomes possible to change to a reduction gear.

  According to the present invention, on the basis of a technically rational basis, when configuring a reduction gear series that can flexibly respond to specifications of a counterpart machine, a rotational power source, etc., and can maintain transmission efficiency in an optimum state. Therefore, it is possible to obtain a speed reducer connecting structure suitable for the above.

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

  FIG. 2 shows a speed reducer 103 in which an example of a connecting structure of a rocking speed reducer device according to the present invention is adopted. The speed reducer 103 includes a swinging reduction gear 104 having a swinging intermeshing planetary gear structure with a transmission capacity Y, and an orthogonal speed reducer 105 connected to the output side of the swinging speed reducer 104 and having a transmission capacity of X. . The orthogonal reduction device 105 is an orthogonal transmission structure using a pair of bevel gears including a bevel pinion 116 and a bevel gear 118, and converts rotational power into a right angle direction with a predetermined reduction ratio (about 1/3 here). Except for the configuration or operation specifically described below, it is substantially the same as the reduction gear 3 already shown in the conventional example, and therefore the same or similar members / parts are the same as the reduction gear 3 and the lower two digits. By attaching the same reference numerals, detailed description of the configuration and operation will be omitted.

  The oscillating speed reducer 104 includes external gears 108A and 108B (not shown) that rotate eccentrically with respect to the motor shaft (input shaft) 102A, and internal gears that are fixed and internally engaged with the external gears 108A and 108B. A tooth gear 110 and a carrier 112 for taking out the self-rotating sentence of the external gears 108A and 108B are provided.

  A gear box 124 that accommodates the bevel gear 118 and the bevel pinion 116 and rotatably supports the output shaft 120 is formed with an input side mounting surface 124B having bolt holes 42 formed at predetermined intervals in the circumferential direction. Has been. An opening 40 is formed in the input side mounting surface 124B, and a part of a joint flange 44 described later is inserted therein. The bevel pinion 116 is coaxially connected (or formed) to one end of the transmission shaft 46 that is splined to the carrier 112. Here, the diameter of the circular locus in which the bolt hole 42 of the input side mounting surface 124B is formed is defined as T, and this is defined as the dimension T of the input side mounting surface in the present embodiment.

  On the output side end surface of the internal gear 110, an output side mounting surface 50 having bolt holes 48 formed at regular intervals in the circumferential direction is formed. Note that the diameter of the circular orbit formed with the bolt hole 48 is S, and this S is defined as the dimension S of the output side mounting surface 50 in the present embodiment. The concept of the dimensions S and T of the mounting surface is not limited to the above.

  Next, the connection structure of the rocking reduction gear 104 and the one-stage orthogonal reduction gear 105 in the reduction gear 103 will be described.

  A cylindrical joint flange 44 is disposed between the swinging speed reducer 104 and the orthogonal speed reducer 105. The joint flange 44 has a so-called both-flange structure in which an inlet side connecting surface 44A and an outlet side connecting surface 44B are formed at both ends thereof. Accordingly, the output side mounting surface 50 of the swing reduction gear 104 is connected to the inlet side connection surface 44A of the joint flange 44 by the bolt, while the input side mounting surface 124B of the one-stage orthogonal speed reducer 105 is connected to the joint flange 44. Are connected to the outlet side connection surface 44B by bolts.

  Further, a transmission shaft 46 to which the bevel pinion 116 is integrally connected via a bearing 128 is rotatably disposed on the inner periphery of the joint flange 44, and the carrier 112 is also rotated via the bearing 130. Arranged freely. More specifically, the carrier 112 is formed with a spline-shaped shaft hole 112 </ b> C and is splined to one end of the transmission shaft 46. Since the bevel pinion 116 is coaxially provided at the other end of the transmission shaft 46, the rotation of the carrier 112 is transmitted to the bevel pinion 116 via the transmission shaft 46 from the above configuration. Note that the arrangement of the bearings 128 and 130 is not limited to this case, and one bearing may support all (the transmission shaft 46 and the carrier 112). You may make it support with one bearing. In short, on the inner peripheral side of the joint flange 44, the carrier 112 and the transmission shaft 46 may be held rotatably in an integrated state. In this way, the joint flange 44, the transmission shaft 46, and the carrier 112 can be integrally incorporated into or removed from the remaining portion of the speed reducer 103.

  According to the reduction gear 103 described above, since the joint flange 44 is interposed between the swing reduction gear 104 and the orthogonal reduction gear 105, the dimension S of the output side mounting surface 50 and the input side mounting surface 124B. The dimension T can be changed independently. This is accomplished by replacing the joint flange 44 with another.

  For example, FIG. 3 shows a speed reducer constructed by connecting a swing speed reducer having a small dimension S, that is, a swing speed reducer having a small transmission capacity Y to an orthogonal speed reducer having the same capacity as that shown in FIG. Show.

  The swing speed reducer 204 in the speed reducer 203 is substantially the same as the structure of the swing speed reducer 104 shown in FIG. 2, but the dimension S1 of the output side mounting surface 250 of the swing speed reducer 204 is significantly reduced. ing. That is, it can be said that the transmission capacity Y of the rocking speed reducer 204 is set small. In conjunction with this, the diameter K1 of the circular orbit where the carrier pin 212A in the carrier 212 is arranged is also smaller than the same dimension K of the reduction gear 103 shown in FIG.

  On the other hand, the dimension T1 of the input side mounting surface 224B of the orthogonal reduction gear 205 and the outer diameter D1 of the transmission shaft 246 are the same as the dimensions T and D shown in FIG. That is, the orthogonal reduction device 105 shown in FIG. 2 and the orthogonal reduction device 205 shown in FIG. 3 have the same transmission capability X. Therefore, as apparent from a comparison between the speed reducer 203 shown above and the speed reducer 103 in FIG. 2, the dimension S1 of the swing speed reducer 104 (204) and the dimension T of the orthogonal speed reducer 105 (205) are as follows. It can be changed completely “independently” and can form a completely different series from the conventional concept of frame number (details will be described later). Further, in the joint casing 244, an inlet side connecting surface 244A and an outlet side connecting surface 244B are formed so as to coincide with these dimensions S1 and T1.

  The other parts / members and the like in the speed reducer 203 are substantially the same as those of the speed reducer 103 already shown in FIG. 2, and therefore, the same or similar parts / members are denoted by the same reference numerals in the last two digits. Accordingly, detailed description of the configuration and operation will be omitted.

  Here, for the sake of convenience, a reduction gear series configured by preparing a plurality of reduction gears employing the above-described connection structure will be described. The speed reducer will be described based on the reference numerals of the speed reducer 103 shown in FIG.

  This reduction gear series includes a plurality of oscillating speed reducers 104 prepared so that the dimensions S of their output side mounting surfaces 50 are different from each other (that is, S1 <S2 <S3...). A plurality of oscillating speed reducers G and orthogonal speed reducers 105 are prepared so that their input side mounting surfaces 124B have different dimensions T (that is, T1 <T2 <T3...). The orthogonal reducer group I configured and the joint flange 44 disposed so as to be interposed between the swing reducer 104 and the orthogonal reducer 105 have dimensions of the input side connection surface 44A and the output side connection surface 44B ( In other words, a plurality of joint flange groups F are prepared and configured so that combinations of the dimensions S and T) are different.

  As specifically shown in FIG. 4, the swing reduction gear group G having dimensions S1, S2, S3, S4... And the orthogonal reduction gear group I having dimensions T1, T2, T3, T4. As a result, a matrix M is formed. Since each joint flange is prepared corresponding to each cell U (where the speed reducer 103 is prepared as a series) in the matrix M, the plurality of joint flanges are gathered to form a joint flange group F. Is configured. In other words, in this example, the number of joint flanges in the joint flange group F matches the number of reduction gears prepared by the reduction gear series.

  As a result of adopting the above configuration, this speed reducer series is a swing speed reducer in specific speed reducers 103A, A2 and A3 (a swing speed reducer 104 whose output side mounting surface dimensions are S1, S2, S3 and S4). By interposing a predetermined joint flange 44 selected from the joint flange group F with respect to each of these, at least two of the orthogonal speed reducer group I have different input side mounting surface dimensions T from each other. Reducer (see below for details) can be combined.

  That is, in the series of swing reduction devices shown in FIG. 4, two orthogonal speed reducers 105 with dimensions T1 and T2 are combined with the swing reducer 104 with a specific dimension S1. A reduction gear 103 of A1 and B1 is configured. Further, for the oscillating speed reducer 104 having a specific dimension S2, the selected three orthogonal speed reducers 105 of T1, T2, and T3 are combined to form a speed reduction device 103 of C1, A2, and B2. . Furthermore, for the speed reducer 104 with a specific dimension S3, three orthogonal speed reducers with dimensions T2, T3, and T4 are combined to form a speed reducer 103 with C2, A3, and B3. For the oscillating speed reducer 104 having a specific dimension S4, the C3 and A4 speed reducer 103 is configured by combining the orthogonal speed reducers 105 having dimensions T3 and T4. This is because the predetermined joint flange 44 is prepared corresponding to each cell U as already described.

  Further, a predetermined joint flange 44 is interposed in the orthogonal reduction device (orthogonal reduction device having the input side mounting surface dimension T4) in the specific reduction device A4, so that it is selected from the swing reduction device group G. Furthermore, it is possible to combine at least two swing reducers 104 having different dimensions S on the output side mounting surface 50 (here, two swing reducers 104 having dimensions S4 and S5 are selected), and thereby A4 and C4 reduction gears 103 are configured.

  Conventionally, the reduction device 103 in a state where the swing reduction device 104 and the orthogonal reduction device 105 are combined is regarded as an integral one, and the transmission capacity of the “whole” is changed in a step shape, thereby forming a series. . Therefore, if it is assumed to correspond to the matrix of FIG. 4, only the series of A1, A2, A3, A4. However, according to the reduction gear series according to the first embodiment, the reduction gears 103 of B1, B2, B3..., C1, C2, C3, C4. Therefore, it becomes possible to flexibly cope with the situation as shown below. This can be considered that the dimension S of the output-side mounting surface 50 and the dimension T of the input-side mounting surface 124B generally reflect the transmission capacities Y and X of the oscillating speed reducer 104 and the orthogonal speed reducer 105. Because it can.

  (1) For example, normally, the speed reduction device A2 is applied, but when the torque limiter is installed in the swing speed reducer 104, the transmission torque input to the one-stage orthogonal speed reducer 105 is always below a predetermined value. In this case, the input side mounting surface dimension T2 of the one-stage orthogonal reduction gear 105 is reduced to T1, and the C1 reduction gear 103 in which the transmission capacity X of the orthogonal reduction gear is set to be small is used. Aspect to do

  (2) Normally, the reduction gear A2 is adopted, but since the braking mechanism (brake) is adopted on the power source side, it is necessary to securely hold the stop state of the counterpart machine, and the one-stage orthogonal reduction gear 105 A mode in which the B2 reduction device in which the transmission capacity X of the orthogonal reduction gear is set large is adopted by increasing the dimension T2 of the cylinder to T3.

  (3) The mounting surface dimension on the counterpart machine side has already been determined, and the only one-stage orthogonal reduction gear 105 that can cope with this is T3. Because the transmission capability Y on the machine 104 side is unnecessarily large, a mode in which S2 is lowered by one rank and the B2 speed reduction device 103 in which the transmission capacity Y is set small is selected as S1.

  (4) Since the capacity of the power generation source (motor) is relatively large, the speed reducer A2 must be selected in the prior art in order to employ the swing speed reducer 104 of dimension S2. Since the transmission ratio X of the one-stage orthogonal reduction gear 105 is relatively large because the reduction ratio of 104 is set low, the dimension T2 is lowered by one rank to T1, and the transmission capacity X is set to be small for C1. A mode in which the reduction gear 103 is employed

  The various aspects described above are only examples, but by configuring the series in this way, it is possible to respond more flexibly to the user's request, and as a result, it is possible to improve transmission efficiency. In the past, (total) transmission capacity was set at relatively large intervals such as A1, A2, A3..., But according to this reduction gear series, A1, C1, A2, C2, A3, It is also possible to set the (total) transmission capacity at fine intervals in the order of C3..., And accurately (in an optimal state) respond to the user's transmission capacity requirements. In addition, except that the joint flange 144 according to the present embodiment must be selected by each reduction gear, other parts (for example, the swinging intermeshing planetary gear structure and the orthogonal transmission structure) are the same as the conventional ones. Since it can be used and shared, the series can be constructed extremely rationally.

  Next, another reduction gear series will be described. Since the configuration of the speed reducer is the same as that of the previous example, the description will be made according to the reference numerals of the speed reducer 103 shown in FIG.

  As shown in FIG. 5, this reduction gear series includes a oscillating speed reducer group G composed of three oscillating speed reducers 104 having a dimension S of S1, S2, and S3, and a dimension T of T1, T2, and T3. An orthogonal reduction gear group I including three orthogonal reduction gears 105.

  Further, with respect to the swing speed reducer 104 having the specific dimension S2 selected from the swing speed reducer group G, the three dimensions (T1, T2, T3) selected from the orthogonal speed reducer group I are orthogonal. A reduction gear is combined, and thereby, the three reduction gears 103 of B1, A2, and C2 are configured as a series.

  In addition, for the orthogonal speed reducer 105 having the specific dimension T2 selected from the orthogonal speed reducer group I, three swings (which have dimensions S1, S2, and S3) selected from the swing speed reducer group G are used. A dynamic speed reducer 104 is combined, and thereby, three speed reducers 103 of C1, A2, and B2 are configured as a series. A predetermined joint flange 44 is prepared for each of the speed reducers A2, B1, B2, C1, and C2 prepared in the speed reducer series, and a joint flange group F is configured by these members as a whole.

  According to this series of speed reducers, the A2 speed reducer 103 is adopted in a general situation. However, considering the structure of the mounting surface on the counterpart machine side, the speed reduction ratio of the swing speed reducer 104, etc. It is possible to shift in four directions B1, B2, C1, and C2. That is, four kinds of variations are further added according to the situation (request), and it can respond flexibly.

  When configuring the speed reducer series as described above, the joint flange 44 must be prepared in correspondence with each swing speed reducer 103. Therefore, as shown in FIG. 2, if the carrier 112 and the transmission shaft 46 accommodated in the joint flange 44 are prepared in correspondence with each other, the number of parts (inventory) that must be prepared is reduced. Because it becomes enormous, it is irrational. Therefore, the number of parts can be greatly reduced by the following means.

  FIG. 6 shows a combination of the carrier 112, the transmission shaft 46, and the bevel pinion 116 corresponding to the speed reducer series of FIG. An increase in the dimension S of the oscillating speed reducer 104 in the reduction gear 103 means that the transmission capacity Y of the oscillating speed reducer 104 is increased, and accordingly, the dimension K of the carrier 112 is also K1 <K2. <K3 must be increased to increase rigidity.

  On the other hand, when the dimension T of the orthogonal reduction gear 105 is gradually increased such that T1 <T2 <T3, this means that the transmission capacity X is also gradually increased. The external dimension D of 46 must also be increased to D1 <D2 <D3. In order to realize such a combination, the carrier 112 and the transmission shaft 46 are integrally manufactured (the same number as the joint flange) and each is prepared. .

  About this, the "material" of the carrier 112 and the transmission shaft 46 can be shared as much as possible by appropriately processing only the shaft hole 112C formed in the carrier 112.

  That is, first, considering the reduction gears 3 corresponding to B1, A1, and C2 in the series, three orthogonal reduction gears in the orthogonal reduction gear group I (orthogonal reduction gears whose dimensions T are T1, T2, and T3) 105 Corresponding to the three types of transmission shafts 46 of the outer diameters D1, D2, and D3, the carrier 112 included in the swing reduction device 104 having the dimension S2 in the specific reduction gear A2 (the material and the dimension K2 are common) A plurality of shaft holes 112C may be prepared so that the inner diameters of the shaft holes 112C are different from each other (that is, coincident with D1, D2, and D3) so that the carrier 112 and each transmission shaft 46 can be connected.

  Next, considering the reduction gears 103 of C1 and B2 in the series, the oscillating reduction gear group corresponding to the outer diameter D2 of the transmission shaft 46 of the orthogonal reduction gear 105 whose dimension in the specific reduction gear A2 is T2. A common shaft hole 112 </ b> C corresponding to the outer diameter D <b> 2 of the transmission shaft 46 is used for the carriers 112 having different sizes so that the two swing reducers 104 having the dimensions S <b> 1 and S <b> 3 in G have K <b> 1 <K <b> 3. The carriers 112 having different sizes and the “common” transmission shaft 46 can be connected to each other. In this way, even if a dimensional variation on the carrier 112 side occurs, the transmission shaft 46 can always use a common material.

  From the above, by “using the joint flange”, the sharing of parts or “materials” is achieved, and the series can be configured extremely rationally.

The matrix which shows typically the structure of the series of the speed reducer which can be constructed | assembled using the connection structure of the speed reducer which concerns on this invention Sectional drawing which shows the reduction gear which comprises the same reduction gear series Sectional drawing which shows the other example of the speed reducer Matrix showing the configuration of the reduction gear series Matrix showing the configuration of other reduction gear series Conceptual diagram showing the specifications of the carrier and transmission shaft when configuring the reduction gear series Sectional drawing which shows the reduction gear which comprises the conventional rocking reduction gear series

Explanation of symbols

103, 203 ... Decelerator 104, 204 ... Oscillating reducer 105, 205 ... Orthogonal reducer 116, 216 ... Bevel pinion 118, 218 ... Bevel gear 44, 244 ... Joint flange 44A, 244A ... Inlet connecting surface 44B, 244B ... Output side connection surface 112C, 212C ... Shaft hole 50, 250 ... Output side mounting surface 124B, 224B ... Input side mounting surface

Claims (2)

An external gear that rotates eccentrically with respect to the input shaft, an internal gear that is fixedly engaged with the external gear and internally meshed with the external gear, and a swinging internally meshed planetary gear that includes a carrier that extracts the rotation component of the external gear. A swing reducer with a structure;
A transmission shaft connected to the carrier of the oscillating speed reducer to receive rotational power; an input side bevel gear provided coaxially with the transmission shaft; and an output side bevel gear meshing with the input side bevel gear An orthogonal speed reducer having an orthogonal transmission structure,
In the connecting structure of the oscillating speed reducer and the orthogonal speed reducer in a speed reducer comprising:
A cylindrical joint flange that can connect the output-side mounting surface of the swing reducer and the input-side mounting surface of the orthogonal reducer by means of an inlet-side and an outlet-side connecting surface formed at both ends thereof. The transmission shaft provided between the dynamic reduction gear and the orthogonal reduction gear, the transmission shaft provided coaxially with the entry side bevel gear on the inner periphery of the joint flange, and the carrier connected to the transmission shaft Arranged for rotation,
A structure for connecting a reduction gear. In claim 1,
The joint structure of the speed reducer, wherein the joint flange, the transmission shaft, and the carrier can be integrally incorporated into and removed from the remaining part of the speed reducer.

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