JP2009063108A - Eccentric oscillation type gear device - Google Patents

Eccentric oscillation type gear device Download PDF

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JP2009063108A
JP2009063108A JP2007232088A JP2007232088A JP2009063108A JP 2009063108 A JP2009063108 A JP 2009063108A JP 2007232088 A JP2007232088 A JP 2007232088A JP 2007232088 A JP2007232088 A JP 2007232088A JP 2009063108 A JP2009063108 A JP 2009063108A
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gear
pair
transmission gear
end plate
external
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JP4966136B2 (en
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Shigehisa Muraki
茂久 村木
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Nabtesco Corp
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Nabtesco Corp
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Abstract

<P>PROBLEM TO BE SOLVED: To provide an eccentric oscillation type gear device, in which the gear tip radius of a transmission gear can be set large so as to provide a large reduction gear ratio at a prestage reduction part by engagement of an input gear with the transmission gear. <P>SOLUTION: The device is provided with an internal gear, an external gear, comprising a plurality of first through holes and a plurality of second through holes in the axial direction, which is engaged with the internal gear, a plurality of crankshafts, comprising a transmission gear, of which eccentric part is engaged with each first through hole in the external gear to move the external gear eccentrically, and a support member, comprising a pair of end plate parts provided in parallel in the axial direction, and a plurality of column parts connecting the pair of end plate parts to each other, with circular cross section engaged with the respective second through holes in the external gears with clearance so as to rotatably support the crankshafts. The transmission gear of each crankshaft is positioned between the pair of the end plate parts. The tip radius R of the transmission gear is set to be larger than such size as to get in contact with the circular outer circumference of the column part. Part of the circular outer circumference of the column part is cut off at a position where the tip radius R of the transmission gear gets in contact with the circular outer circumference of the column part. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

本発明は、産業用ロボットの関節部などに用いられる偏心揺動型歯車装置に関する。   The present invention relates to an eccentric oscillating gear device used for a joint portion of an industrial robot.

従来の偏心揺動型歯車装置としては例えば以下の特許文献１に記載されているものが知られている。   As a conventional eccentric oscillating gear device, for example, one described in Patent Document 1 below is known.

実公昭６２−３５６０号公報Japanese Utility Model Publication No. 62-3560

特許文献１の偏心揺動型歯車装置は、内歯歯車と、軸方向に複数の第一貫通孔及び複数の第二貫通孔を有するとともに内歯歯車に噛み合う外歯歯車と、伝達歯車を有するとともに外歯歯車の各第一貫通孔に偏心部が係合して該外歯歯車を偏心運動させる複数のクランク軸と、軸方向に並設した一対の端板部及び該一対の端板部を連結するとともに外歯歯車の各第二貫通孔に遊嵌した断面が円形及びリブ形状の複数の柱部を有し、クランク軸を回転自在に支持する支持体とを備え、各クランク軸の伝達歯車が一対の端板部の間に位置する偏心揺動型歯車装置であって、内歯歯車が出力回転するものである。   The eccentric oscillating gear device of Patent Document 1 has an internal gear, an external gear that has a plurality of first through holes and a plurality of second through holes in the axial direction, and meshes with the internal gear, and a transmission gear. And a plurality of crankshafts that eccentrically engage the first through holes of the external gear to cause the external gear to move eccentrically, a pair of end plate portions arranged in parallel in the axial direction, and the pair of end plate portions And a support body that rotatably supports the crankshaft, having a plurality of circular and rib-shaped cross sections that are loosely fitted in the second through holes of the external gear. An eccentric oscillating gear device in which a transmission gear is positioned between a pair of end plate portions, and an internal gear rotates as an output.

この従来の偏心揺動型歯車装置は、支持体を構成する柱部の断面が円形であるため、各クランク軸の伝達歯車の歯先が柱部の円形外周に接触しないようにしなければならず、外径の大きい伝達歯車とできなかった。即ち、伝達歯車の歯先半径が柱部の円形外周に接触しない位置までしかとれないので、伝達歯車を回転させるために伝達歯車に噛み合わせる入力歯車の歯先半径との前段減速関係において、前段部で大きな減速比を得るようにできていなかった。   In this conventional eccentric oscillating gear device, since the cross section of the column portion constituting the support is circular, it is necessary to prevent the tooth tip of the transmission gear of each crankshaft from coming into contact with the circular outer periphery of the column portion. It was not possible to make a transmission gear with a large outer diameter. That is, since the tooth tip radius of the transmission gear can only reach a position where it does not contact the circular outer periphery of the column portion, in the preceding stage deceleration relationship with the tooth tip radius of the input gear meshed with the transmission gear to rotate the transmission gear, It was not possible to obtain a large reduction ratio in the section.

かかる課題に鑑み、本発明は、伝達歯車に噛み合わせる入力歯車の歯先半径との前段減速関係において前段部で大きな減速比が得られるように、伝達歯車の歯先半径が大きく設定できる偏心揺動型歯車装置を提供することを目的とする。   In view of such a problem, the present invention provides an eccentric oscillation in which the gear tip radius of the transmission gear can be set large so that a large reduction ratio can be obtained at the front gear portion in the front gear reduction relationship with the gear tip radius of the input gear meshed with the transmission gear. An object of the present invention is to provide a dynamic gear device.

本発明の偏心揺動型歯車装置は、内歯歯車と、軸方向に複数の第一貫通孔及び複数の第二貫通孔を有するとともに内歯歯車に噛み合う外歯歯車と、伝達歯車を有するとともに外歯歯車の各第一貫通孔に偏心部が係合して該外歯歯車を偏心運動させる複数のクランク軸と、軸方向に並設した一対の端板部及び該一対の端板部を連結するとともに外歯歯車の各第二貫通孔に遊嵌した断面が円形の複数の柱部を有しクランク軸を回転自在に支持する支持体とを備え、各クランク軸の伝達歯車が一対の端板部の間に位置する偏心揺動型歯車装置において、伝達歯車の歯先半径が柱部の円形外周に接触する大きさ以上であり、柱部の円形外周の一部は伝達歯車の歯先半径が柱部の円形外周に接触する位置で切除されている。
また、各柱部の一端は一対の端板部の一方に一体的に形成されており、各柱部の他端は切除された円形外周の一部を有し、各柱部の他端を一対の端板部の他方に形成した円形穴に挿入している。
また、各柱部の他端及び一対の端板部の他方は柱部の他端にねじ込まれたボルトで一体的に固定されており、柱部の他端の端面と一対の端板部の他方の円形穴の穴底面との間に、シール部材を設けている。
また、外歯歯車は複数個あり、外歯歯車には中心部に中空孔が形成され、各クランク軸の偏心部は各外歯歯車の第一貫通孔に係合し、各クランク軸の伝達歯車は偏心部のうちいずれか隣接する偏心部の間に形成されており、伝達歯車に噛み合う入力歯車が中空孔に挿入されている。 The eccentric oscillating gear device of the present invention includes an internal gear, an external gear that has a plurality of first through holes and a plurality of second through holes in the axial direction and meshes with the internal gear, and a transmission gear. A plurality of crankshafts that eccentrically engage the first through holes of the external gear to cause the external gear to move eccentrically, a pair of end plate portions arranged in parallel in the axial direction, and the pair of end plate portions And a support body that rotatably supports the crankshaft and has a plurality of circular circular cross-sections that are loosely fitted in the respective second through holes of the external gear, and the transmission gear of each crankshaft is a pair of In the eccentric oscillating gear device positioned between the end plate portions, the tip radius of the transmission gear is greater than or equal to the contact with the circular outer periphery of the column portion, and a part of the circular outer periphery of the column portion is a tooth of the transmission gear. The tip radius is cut off at a position where it contacts the circular outer periphery of the column.
In addition, one end of each column part is integrally formed with one of the pair of end plate parts, the other end of each column part has a part of a cut circular outer periphery, and the other end of each column part is It is inserted into a circular hole formed in the other of the pair of end plate portions.
Also, the other end of each column part and the other of the pair of end plate parts are integrally fixed with a bolt screwed into the other end of the column part, and the end face of the other end of the column part and the pair of end plate parts A seal member is provided between the bottom surface of the other circular hole.
There are a plurality of external gears. A hollow hole is formed in the center of the external gear. The eccentric part of each crankshaft is engaged with the first through hole of each external gear, and the transmission of each crankshaft. The gear is formed between any of the eccentric portions adjacent to each other, and an input gear meshing with the transmission gear is inserted into the hollow hole.

請求項１の発明によれば、伝達歯車の歯先半径を大きく設定できる偏心揺動型歯車装置が提供できる。

また、請求項２の発明によれば、柱部を太く形成しても、柱部の他端が切除された円形外周の一部を有しているので、柱部の他端を一対の端板部の他方に形成した円形穴に挿入する際の挿入力を低減でき、組立作業性を向上できる。
また、請求項３の発明によれば、偏心揺動型歯車装置内の潤滑剤が柱部の他端及び一対の端板部の他方から柱部の他端にねじ込まれたボルトに流出することを防止でき、該潤滑剤が該ボルト外周から外部へ流出することを防止できる。
また、請求項４の発明によれば、モータの出力軸を中空孔に挿入でき、中間部の伝達歯車と入力歯車が噛み合うことによって、モータへの距離を短くできることにより、装置をコンパクトにできる。 According to the first aspect of the present invention, an eccentric oscillating gear device capable of setting the tooth tip radius of the transmission gear to be large can be provided.

According to the second aspect of the present invention, even if the column portion is formed thick, it has a part of a circular outer periphery in which the other end of the column portion is cut off. The insertion force at the time of inserting in the circular hole formed in the other of the board part can be reduced, and assembly workability | operativity can be improved.
According to the invention of claim 3, the lubricant in the eccentric oscillating gear device flows out from the other end of the column portion and the other of the pair of end plate portions to a bolt screwed into the other end of the column portion. And the lubricant can be prevented from flowing out from the outer periphery of the bolt.
According to the fourth aspect of the present invention, the output shaft of the motor can be inserted into the hollow hole, and the distance to the motor can be shortened by meshing the transmission gear and the input gear at the intermediate portion, so that the apparatus can be made compact.

以下、本発明の第一実施例を図面に基づいて説明する。
図１乃至図４において、偏心揺動型歯車装置１００は、多数のピンからなる内歯１を有する内歯歯車３と、軸方向に複数（二個）の第一貫通孔５及び複数（四個）の第二貫通孔７を有するとともに内歯歯車３に噛み合う外歯歯車９と、伝達歯車１１を有するとともに外歯歯車９の各第一貫通孔５に偏心部１３が針状ころ軸受１５を介して係合して該外歯歯車９を偏心運動させる複数（二個）のクランク軸１７と、軸方向に並設した一対の端板部１９ａ，１９ｂ及び該一対の端板部１９ａ，１９ｂを連結するとともに外歯歯車９の各第二貫通孔７に遊嵌した断面が円形の複数の柱部２１を有しクランク軸１７を回転自在に支持する支持体２３とを備え、各クランク軸１７の伝達歯車１１が一対の端板部１９ａ，１９ｂの間に位置している。伝達歯車１１の歯先半径Ｒは柱部２１の円形外周に接触する大きさ以上に設定されていて、柱部２１の円形外周の一部は伝達歯車１１の歯先半径Ｒが柱部２１の円形外周に接触する位置で切除されている。当該切除部（切り欠き部）は符号Ｓで示している。（図３）各クランク軸１７の両端部分は円すいころ軸受１４で一対の端板部１９ａ，１９ｂに回転自在に支持されている。 Hereinafter, a first embodiment of the present invention will be described with reference to the drawings.
1 to 4, an eccentric oscillating gear device 100 includes an internal gear 3 having an internal tooth 1 composed of a large number of pins, a plurality of (two) first through holes 5 and a plurality (four) of axial gears. A plurality of second through holes 7 and an external gear 9 meshing with the internal gear 3, a transmission gear 11, and an eccentric portion 13 in each first through hole 5 of the external gear 9. A plurality of (two) crankshafts 17 that are engaged with each other through an eccentric movement, a pair of end plate portions 19a and 19b arranged in parallel in the axial direction, and the pair of end plate portions 19a, 19b, and a support body 23 that rotatably supports the crankshaft 17 having a plurality of pillars 21 having a circular cross section that is loosely fitted in each second through hole 7 of the external gear 9. The transmission gear 11 of the shaft 17 is located between the pair of end plate portions 19a and 19b. The tooth tip radius R of the transmission gear 11 is set to be greater than or equal to the size of contact with the circular outer periphery of the column portion 21, and the tooth tip radius R of the transmission gear 11 is a part of the circular outer periphery of the column portion 21. It is excised at a position in contact with the circular outer periphery. The cut portion (notch portion) is indicated by a symbol S. (FIG. 3) Both ends of each crankshaft 17 are rotatably supported by a pair of end plate portions 19a, 19b by tapered roller bearings 14.

切除部Ｓを設けない円形柱の場合は、柱部外周に伝達歯車の外周がかからないようにしながらその柱を太くすると、クランク軸が柱間に無い隣り合う柱間が図２の矢印Ｐのように接近し、且つ柱がクランク軸から離隔してしまう。その結果、支持体２３のねじり剛性が低下し、クランク軸１７を安定的に強く支持することができなくなる。しかしながら、本実施例においては、柱部２１の円形外周の一部は伝達歯車１１の歯先半径が柱部２１の円形外周に接触する位置で切除しているので、柱部２１を太くしても隣り合う柱間が図２の矢印Ｐのように接近することなく、且つ柱部２１がクランク軸１７から離隔してしまうことがない。従って、支持体２３のねじり剛性が低下せず、クランク軸１７を安定的に強く支持することができる。また、切除部Ｓは柱部２１に作用するトルク方向と直交しない方向で切除している。   In the case of a circular column not provided with the cut-out portion S, if the column is thickened while the outer periphery of the transmission gear is not applied to the outer periphery of the column, the adjacent columns without the crankshaft between the columns are indicated by arrows P in FIG. And the column is separated from the crankshaft. As a result, the torsional rigidity of the support body 23 decreases, and the crankshaft 17 cannot be supported stably and strongly. However, in this embodiment, a part of the circular outer periphery of the column part 21 is cut off at a position where the tooth tip radius of the transmission gear 11 contacts the circular outer periphery of the column part 21, so that the column part 21 is thickened. In addition, the adjacent columns do not approach each other as indicated by an arrow P in FIG. 2, and the column portion 21 is not separated from the crankshaft 17. Therefore, the torsional rigidity of the support 23 is not lowered, and the crankshaft 17 can be supported stably and strongly. Further, the excision S is excised in a direction that is not orthogonal to the direction of the torque acting on the column part 21.

各柱部２１の一端２５は一対の端板部の一方１９ａに一体的に形成されており、各柱部２１の他端２７は切除された円形外周の一部を有し、各柱部２１の他端２７を一対の端板部の他方１９ｂに形成した円形穴２９に挿入している。柱部の他端２７と一対の端板部の他方１９ｂに形成した円形穴２９とは微小の圧入、又は微小の隙間で結合される。また、各柱部２１の他端２７及び一対の端板部の他方１９ｂは柱部の他端２７にねじ込まれたボルト３１で一体的に固定されている。柱部の他端２７の端面３３と一対の端板部の他方１９ｂの円形穴２９の穴底面３５との間に、シール部材としてのＯリング３７を設けている。Ｏリング３７を収納する溝３８は柱部の他端２７の端面３３に形成している。Ｏリング３７を収納する溝は穴底面に形成しても良い。また、シール部材としてのＯリング３７は、柱部を切除しない場合においても有効である。その場合には、柱の外周または、円形穴の内周のどちらか一方にＯリングを設けることができる。   One end 25 of each column portion 21 is integrally formed with one end 19a of the pair of end plate portions, and the other end 27 of each column portion 21 has a part of a cut circular outer periphery. Is inserted into a circular hole 29 formed in the other end 19b of the pair of end plate portions. The other end 27 of the column part and the circular hole 29 formed in the other end 19b of the pair of end plate parts are coupled by a minute press-fitting or a minute gap. Further, the other end 27 of each column portion 21 and the other end 19b of the pair of end plate portions are integrally fixed by a bolt 31 screwed into the other end 27 of the column portion. An O-ring 37 as a seal member is provided between the end surface 33 of the other end 27 of the column portion and the bottom surface 35 of the circular hole 29 of the other end 19b of the pair of end plate portions. A groove 38 for accommodating the O-ring 37 is formed in the end surface 33 of the other end 27 of the column portion. The groove for storing the O-ring 37 may be formed on the bottom surface of the hole. Further, the O-ring 37 as a seal member is effective even when the column part is not cut. In that case, an O-ring can be provided on either the outer periphery of the column or the inner periphery of the circular hole.

外歯歯車９は複数個（二個）あり、外歯歯車９には中心部に中空孔が形成され、各クランク軸１７の偏心部１３は各外歯歯車９の第一貫通孔５に係合し、各クランク軸１７の伝達歯車１１は二個の偏心部の間、偏心部が三個以上の場合は複数個の偏心部のうちいずれか隣接する偏心部の間、に形成されている。伝達歯車１１に噛み合う入力歯車４０が中空孔８及び一対の端板部の他方１９ｂの中空孔５０に挿入されている。入力歯車４０はモータの出力軸に固定するために、モータの出力軸に挿入される穴４１が形成されている。入力歯車４０は一対の端板部の他方１９ｂに軸受で回転自在に支持させても良い。
内歯歯車３及び支持体２３は一対のアンギュラ玉軸受６０で相対的に回転可能に支持されている。オイルシール７０は一対の端板部の一方１９ａの外周及び内歯歯車３の一方側端部の内周間に配設されている。 There are a plurality (two) of external gears 9. A hollow hole is formed at the center of the external gear 9, and the eccentric portion 13 of each crankshaft 17 is engaged with the first through hole 5 of each external gear 9. In addition, the transmission gear 11 of each crankshaft 17 is formed between two eccentric portions, and between three adjacent eccentric portions when there are three or more eccentric portions. . An input gear 40 that meshes with the transmission gear 11 is inserted into the hollow hole 8 and the hollow hole 50 of the other end 19b of the pair of end plate portions. In order to fix the input gear 40 to the output shaft of the motor, a hole 41 to be inserted into the output shaft of the motor is formed. The input gear 40 may be rotatably supported by a bearing on the other end 19b of the pair of end plate portions.
The internal gear 3 and the support body 23 are supported by a pair of angular ball bearings 60 so as to be relatively rotatable. The oil seal 70 is disposed between the outer periphery of the one end 19 a of the pair of end plate portions and the inner periphery of the one end portion of the internal gear 3.

次に、本発明の第二実施例を図面に基づいて説明する。
図５において、偏心揺動型歯車装置２００は第一実施例の偏心揺動型歯車装置１００と比べて、柱部の個数及びクランク軸の個数が異なるだけであって、他の基本構成は該偏心揺動型歯車装置１００と同じであるので、当該相違の構成について主に説明する。
多数のピンからなる内歯２０１を有する内歯歯車２０３と、軸方向に複数（三個）の第一貫通孔２０５及び複数（三個）の第二貫通孔２０７を有するとともに内歯歯車２０３に噛み合う外歯歯車２０９と、伝達歯車２１１を有するとともに外歯歯車２０９の各第一貫通孔２０５に偏心部２１３が係合して該外歯歯車２０９を偏心運動させる複数（三個）のクランク軸２１７と、該一対の端板部を連結するとともに外歯歯車２０９の各第二貫通孔２０７に遊嵌した断面が円形の複数の柱部２２１を有し、クランク軸２１７を回転自在に支持する支持体とを備え、各クランク軸２１７の伝達歯車２１１が一対の端板部の間に位置している。伝達歯車２１１の歯先半径Ｒは柱部２２１の円形外周に接触する大きさ以上に設定されている。柱部２２１の円形外周の一部（二箇所）は伝達歯車２１１の歯先半径Ｒが柱部２２１の円形外周に接触する位置で切除されている。当該切除部（切り欠き部）は符号Ｓで示している。 Next, a second embodiment of the present invention will be described with reference to the drawings.
In FIG. 5, the eccentric oscillating gear device 200 differs from the eccentric oscillating gear device 100 of the first embodiment only in the number of columns and the number of crankshafts. Since it is the same as the eccentric oscillating gear device 100, the difference configuration will be mainly described.
An internal gear 203 having internal teeth 201 composed of a large number of pins, a plurality (three) of first through holes 205 and a plurality (three) of second through holes 207 in the axial direction, and the internal gear 203 A plurality of (three) crankshafts that have an external gear 209 that meshes with each other, a transmission gear 211, and an eccentric portion 213 that engages with each first through hole 205 of the external gear 209 to cause the external gear 209 to move eccentrically. 217 and the pair of end plate portions, and a plurality of pillar portions 221 having a circular cross section loosely fitted in the second through holes 207 of the external gear 209, and rotatably supporting the crankshaft 217. And a transmission gear 211 of each crankshaft 217 is positioned between the pair of end plate portions. The tooth tip radius R of the transmission gear 211 is set to be greater than or equal to the size of contact with the circular outer periphery of the column portion 221. A part (two places) of the circular outer periphery of the column part 221 is cut off at a position where the tooth tip radius R of the transmission gear 211 contacts the circular outer periphery of the column part 221. The cut portion (notch portion) is indicated by a symbol S.

クランク軸を三個とする場合、柱部は隣接する伝達歯車間に配置され限られた空間に設けなければならないが、柱部に切除部を設けたことによって柱部を太くでき、一対の端板部１９ａ，１９ｂで構成される支持体２３のねじり剛性がアップし、クランク軸を安定的に強くに支持できる。また、切除部Ｓは柱部２１に作用するトルク方向と直交しない方向で切除している。   When three crankshafts are used, the column portion must be provided between the adjacent transmission gears and provided in a limited space. However, the column portion can be thickened by providing a cut portion in the column portion, and a pair of ends The torsional rigidity of the support body 23 composed of the plate portions 19a and 19b is increased, and the crankshaft can be supported stably and strongly. Further, the excision S is excised in a direction that is not orthogonal to the direction of the torque acting on the column part 21.

次に実施例の作用について説明する。
偏心揺動型歯車装置の減速作用は公知なので簡潔に説明する。支持体２３を固定する場合、入力歯車４０から伝達歯車１１に回転力が伝達されると、各クランク軸１７は外歯歯車９を内歯歯車３に対して偏心揺動運動させる。外歯歯車９が内歯歯車３に噛み合っていることに起因して、内歯歯車３が減速回転された出力となる。内歯歯車３を固定する場合は、支持体２３が減速回転された出力となる。
ここで、伝達歯車１１の歯先半径Ｒが柱部２１の円形外周に接触する大きさ以上に設定されていて、柱部２１の円形外周の一部は伝達歯車１１の歯先半径Ｒが柱部２１の円形外周に接触する位置で切除している。従って、伝達歯車の歯先半径Ｒを大きく設定できる偏心揺動型歯車装置が提供できる。
また、各柱部２１の一端２５は一対の端板部の一方１９ａに一体的に形成されており、各柱部２１の他端２７は切除された円形外周の一部を有し、各柱部の他端２７を一対の端板部の他方１９ｂに形成した円形穴２９に挿入している。従って、柱部２１を太く形成しても、柱部の他端２７を一対の端板部の他方１９ｂに形成した円形穴２９に挿入する際の挿入力を低減でき、組立作業性を向上できる。
また、各柱部の他端２７及び一対の端板部の他方１９ｂは柱部の他端２７にねじ込まれたボルト３１で一体的に固定されており、柱部の他端２７の端面３３と一対の端板部の他方１９ｂの円形穴の穴底面との間に、シール部材３７を設けている。従って、偏心揺動型歯車装置内の潤滑剤が柱部の他端２７及び一対の端板部の他方１９ｂから柱部の他端２７にねじ込まれたボルト３１に流出することを防止でき、該潤滑剤が該ボルト３１外周から外部へ流出することを防止できる。
また、外歯歯車９は複数個あり、外歯歯車９には中心部に中空孔が形成され、各クランク軸１７の偏心部１３は各外歯歯車９の第一貫通孔５に係合し、各クランク軸１７の伝達歯車１１は偏心部１３のうちいずれか隣接する偏心部１３の間に形成されており、伝達歯車１１に噛み合う入力歯車４０が中空孔８に挿入されている。従って、モータの出力軸を中空孔５０に挿入でき、中間部の伝達歯車１１と入力歯車４０が噛み合うことによって、モータへの距離を短くできることにより、装置をコンパクトにできる。 Next, the operation of the embodiment will be described.
Since the speed reducing action of the eccentric oscillating gear device is known, it will be briefly described. When the support body 23 is fixed, when the rotational force is transmitted from the input gear 40 to the transmission gear 11, each crankshaft 17 causes the external gear 9 to move in an eccentric manner with respect to the internal gear 3. Due to the fact that the external gear 9 is meshed with the internal gear 3, the output of the internal gear 3 is reduced and rotated. When the internal gear 3 is fixed, the output of the support 23 is reduced and rotated.
Here, the tooth tip radius R of the transmission gear 11 is set to be larger than the size of contact with the circular outer periphery of the column portion 21, and the tooth tip radius R of the transmission gear 11 is a column of a part of the circular outer periphery of the column portion 21. The part 21 is excised at a position in contact with the circular outer periphery. Accordingly, it is possible to provide an eccentric oscillating gear device in which the tooth tip radius R of the transmission gear can be set large.
Further, one end 25 of each column portion 21 is formed integrally with one end 19a of a pair of end plate portions, and the other end 27 of each column portion 21 has a part of a cut circular outer periphery. The other end 27 of the portion is inserted into a circular hole 29 formed in the other end 19b of the pair of end plate portions. Therefore, even if the column portion 21 is formed thick, the insertion force when the other end 27 of the column portion is inserted into the circular hole 29 formed in the other end 19b of the pair of end plate portions can be reduced, and the assembly workability can be improved. .
The other end 27 of each column part and the other 19b of the pair of end plate parts are integrally fixed by a bolt 31 screwed into the other end 27 of the column part, and the end surface 33 of the other end 27 of the column part A seal member 37 is provided between the other bottom 19b of the pair of end plate portions and the bottom surface of the circular hole. Therefore, the lubricant in the eccentric oscillating gear device can be prevented from flowing out from the other end 27 of the column portion and the other end 19b of the pair of end plate portions to the bolt 31 screwed into the other end 27 of the column portion, The lubricant can be prevented from flowing out from the outer periphery of the bolt 31.
There are a plurality of external gears 9. A hollow hole is formed at the center of the external gear 9. The eccentric portion 13 of each crankshaft 17 engages with the first through hole 5 of each external gear 9. The transmission gear 11 of each crankshaft 17 is formed between any one of the eccentric portions 13 adjacent to each other, and the input gear 40 meshing with the transmission gear 11 is inserted into the hollow hole 8. Therefore, the output shaft of the motor can be inserted into the hollow hole 50, and the intermediate transmission gear 11 and the input gear 40 mesh with each other, whereby the distance to the motor can be shortened, and the apparatus can be made compact.

以上のように本発明を実施例により説明をしたが、本発明はこれらに限定されるものではなく、本発明の技術的思想の範囲で各種の変更が可能である。また、実施例における軸受の形態も例示であり、これに限定されるものではない。   As described above, the present invention has been described with reference to the embodiments. However, the present invention is not limited to these embodiments, and various modifications can be made within the scope of the technical idea of the present invention. Moreover, the form of the bearing in an Example is an illustration and is not limited to this.

本発明は、あらゆる産業分野に用いられる偏心揺動型歯車装置に利用できる。
特に、産業用ロボットの関節部や回転テーブル装置や工作機械の工具自動交換装置に用いられる偏心揺動型減速装置に最適である。 INDUSTRIAL APPLICABILITY The present invention can be used for an eccentric oscillating gear device used in all industrial fields.
In particular, it is most suitable for an eccentric oscillating speed reduction device used in a joint part of an industrial robot, a rotary table device, or an automatic tool changer of a machine tool.

本発明に係る第一実施例の断面図である。It is sectional drawing of the 1st Example which concerns on this invention. 図１のＡ−Ａ断面図である。It is AA sectional drawing of FIG. 支持体の柱部を示す断面図である。It is sectional drawing which shows the pillar part of a support body. 図３の上面図の一部分である。FIG. 4 is a part of the top view of FIG. 3. 本発明に係る第二実施例の断面図である。It is sectional drawing of the 2nd Example which concerns on this invention.

符号の説明Explanation of symbols

１００・・・偏心揺動型歯車装置
３・・・・内歯歯車
５・・・・第一貫通孔
７・・・・第二貫通孔
９・・・・外歯歯車
１１・・・伝達歯車
１３・・・偏心部
１７・・・クランク軸
１９ａ，１９ｂ・・・一対の端板部
２１・・・柱部
２３・・・支持体
Ｒ・・・伝達歯車の歯先半径
Ｓ・・・切除部 DESCRIPTION OF SYMBOLS 100 ... Eccentric oscillation gear apparatus 3 .... Internal gear 5 ... First through hole 7 ... Second through hole 9 ... External gear 11 ... Transmission gear DESCRIPTION OF SYMBOLS 13 ... Eccentric part 17 ... Crankshaft 19a, 19b ... A pair of end plate part 21 ... Column part 23 ... Support body R ... Radius tip radius S of transmission gear Part

Claims (4)

内歯歯車と、軸方向に複数の第一貫通孔及び複数の第二貫通孔を有するとともに内歯歯車に噛み合う外歯歯車と、伝達歯車を有するとともに前記外歯歯車の各第一貫通孔に偏心部が係合して該外歯歯車を偏心運動させる複数のクランク軸と、軸方向に並設した一対の端板部及び該一対の端板部を連結するとともに前記外歯歯車の各第二貫通孔に遊嵌した断面が円形の複数の柱部を有し前記クランク軸を回転自在に支持する支持体とを備え、前記各クランク軸の伝達歯車が前記一対の端板部の間に位置する偏心揺動型歯車装置において、前記伝達歯車の歯先半径が前記柱部の円形外周に接触する大きさ以上に設定されていて、前記柱部の円形外周の一部は前記伝達歯車の歯先半径が前記柱部の円形外周に接触する位置で切除していることを特徴とする偏心揺動型歯車装置。   An internal gear, an external gear that has a plurality of first through holes and a plurality of second through holes in the axial direction and meshes with the internal gear, a transmission gear, and each first through hole of the external gear A plurality of crankshafts that are eccentrically engaged with each other to eccentrically move the external gear, a pair of end plate portions arranged in parallel in the axial direction, and the pair of end plate portions are connected to each other and each of the external gears is connected. And a support body that rotatably supports the crankshaft, and a transmission gear of each crankshaft is interposed between the pair of end plate portions. In the eccentric oscillating gear device that is positioned, the radius of the tooth tip of the transmission gear is set to be greater than or equal to a size that contacts the circular outer periphery of the column portion, and a part of the circular outer periphery of the column portion is part of the transmission gear. The tooth tip radius is cut off at a position where it contacts the circular outer periphery of the column portion. Eccentric oscillating To gear device. 前記各柱部の一端は前記一対の端板部の一方に一体的に形成されており、前記各柱部の他端は切除された円形外周の一部を有し、各柱部の他端を前記一対の端板部の他方に形成した円形穴に挿入したことを特徴とする請求項１記載の偏心揺動型歯車装置。   One end of each column portion is formed integrally with one of the pair of end plate portions, the other end of each column portion has a part of a cut circular outer periphery, and the other end of each column portion The eccentric oscillating gear device according to claim 1, wherein: is inserted into a circular hole formed in the other of the pair of end plate portions. 前記各柱部の他端及び前記一対の端板部の他方は前記柱部の他端にねじ込まれたボルトで一体的に固定されており、前記柱部の他端の端面と前記一対の端板部の他方の前記円形穴の穴底面との間に、シール部材を設けていることを特徴とする請求項１又は２記載の偏心揺動型歯車装置。   The other end of each pillar part and the other of the pair of end plate parts are integrally fixed with a bolt screwed into the other end of the pillar part, and the other end face of the pillar part and the pair of ends The eccentric oscillating gear device according to claim 1 or 2, wherein a seal member is provided between the bottom of the other circular hole of the plate portion. 前記外歯歯車は複数個あり、外歯歯車には中心部に中空孔が形成され、前記各クランク軸の偏心部は前記各外歯歯車の第一貫通孔に係合し、前記各クランク軸の伝達歯車は前記偏心部のうちいずれか隣接する偏心部の間に形成されており、前記伝達歯車に噛み合う入力歯車が前記中空孔に挿入されていることを特徴とする請求項１乃至３の何れか記載の偏心揺動型歯車装置。   There are a plurality of external gears, and a hollow hole is formed at the center of the external gear, and the eccentric part of each crankshaft is engaged with the first through hole of each external gear, The transmission gear is formed between any one of the eccentric portions adjacent to each other, and an input gear meshing with the transmission gear is inserted into the hollow hole. Any of the eccentric oscillating gear devices.
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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6179016U (en) * 1984-10-30 1986-05-27
JPS623560Y2 (en) * 1982-06-30 1987-01-27
JPH05256340A (en) * 1992-03-12 1993-10-05 Sumitomo Heavy Ind Ltd Structure of inscribed planetary gear
JP2006312957A (en) * 2005-05-06 2006-11-16 Nabtesco Corp Rotary section structure of industrial robot

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS623560Y2 (en) * 1982-06-30 1987-01-27
JPS6179016U (en) * 1984-10-30 1986-05-27
JPH05256340A (en) * 1992-03-12 1993-10-05 Sumitomo Heavy Ind Ltd Structure of inscribed planetary gear
JP2006312957A (en) * 2005-05-06 2006-11-16 Nabtesco Corp Rotary section structure of industrial robot

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