JP2009108930A - Eccentric oscillation type gear device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an eccentric oscillation type gear device reduced in the number of part items and improved in assembling performance. <P>SOLUTION: The eccentric oscillation type gear device comprises: an internal-tooth gear 3; an external-tooth gear 9 engaged with the internal-tooth gear; and a support body 19 which is composed of a pair of end plates and a plurality of columns 21 for connecting the pair of end plates, and freely rotatably supports a clank shaft. The internal-tooth gear and the support body relatively rotate in the gear device. Shapes of cross sections of the plurality of columns are circular, one-side ends of the plurality of columns are integrally formed at one end plate 19a, other-side ends of the plurality of columns are inserted into circular holes 26 formed at the other end plate 19b, respectively, at least two of a plurality of the insertion parts are press-inserted with the columns, and through-holes 30 penetrating the plurality of columns and the pair of end plates are formed. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to an eccentric oscillating gear device used for a joint portion of an industrial robot.

  As a conventional eccentric oscillating gear device, for example, one described in Patent Document 1 below is known.

Japanese Utility Model Publication 4-29986

  The eccentric oscillating gear device of Patent Document 1 includes an internal gear, an external gear meshing with the internal gear, a crankshaft for eccentrically moving the external gear, a pair of end plate portions, and the pair of end plate portions. An eccentric oscillating gear device in which the internal gear and the support body rotate relatively, and a support body that rotatably supports the crankshaft. One end of the column portion is integrally formed with one end plate portion, and the other end of the plurality of column portions is in contact with the other end plate portion, and the plurality of column portions and the pair of end plate portions are inserted. A through hole is provided.

  In this conventional eccentric oscillating gear device, during assembly, the other end of the column portion 84 formed integrally with one end plate portion 85 is brought into contact with the other end plate portion 86, and FIG. As shown in 5b, it is fixed with a bolt 81 and a taper pin 82. The bolt 81 and the taper pin 82 are selected to have a size necessary for the torque transmission of the gear device, and the taper pin 82 also serves to position the pair of end plate portions in the circumferential direction. And it fixes to members, such as an arm of an industrial robot, with the volt | bolt 83 which penetrates the through-hole 88 which penetrates a some pillar part and a pair of end plate part.

As described above, since the pair of end plate portions are positioned and coupled by the bolt and the taper pin, the number of parts is increased and the assembly is complicated.
In addition, since the pillar portion 84 is provided with holes such as bolts 81, taper pins 82, and through bolts 83, the sectional shape of the pillar portion increases in a sector shape, and accordingly, the holes of the external gear 87, the holes and the tooth surfaces, etc. There was a problem that the thickness became thin and the strength became weak.

  In view of such a problem, an object of the present invention is to provide an eccentric oscillating gear device in which positioning and coupling between a pair of end plate portions are easy, the number of parts is small, and the assemblability is improved.

An eccentric oscillating gear device according to the present invention includes an internal gear, an external gear meshing with the internal gear, a crankshaft for eccentrically moving the external gear, a pair of end plate portions, and the pair of end plates. An eccentric oscillating gear device, comprising: a plurality of pillars connecting the parts; and a support that rotatably supports the crankshaft, wherein the internal gear and the support rotate relatively. The cross-sectional shape of the plurality of column portions is circular, one end of the plurality of column portions is integrally formed with one end plate portion, and the other end of the plurality of column portions is formed with the other end plate portion. Each of the plurality of insertion portions is inserted into the circular hole, and at least two places are press-fitted, and through holes are formed through the plurality of column portions and the pair of end plate portions.
Further, the pair of end plate portions are fastened and fixed by bolts and nuts penetrating the through holes.
In addition, a screw portion for fastening and fixing a pair of end plate portions is provided on the column portion side of the through hole that passes through the one end plate portion and the column portion, and the end surface of one end plate portion opposite to the column portion side In addition, a screw portion for fastening and fixing to the mating member is formed.
Moreover, the thread part is formed in the both ends of the through-hole which penetrates the inside of said one end plate part and the inside of a pillar part.

According to the invention of claim 1, a plurality of circular pillar portions are inserted into the circular holes, and at least two of the plurality of insertion portions are press-fitted, so that only a pair of end plate portions are inserted. Positioning and coupling are performed, parts such as bolts and taper pins are unnecessary, and workability is also good. Further, since the through hole through which the support body, that is, the pair of end plate portions and the column portion is inserted is formed, the eccentric oscillating gear device can be mounted and fixed from one direction by a bolt passing through the through hole.
Further, according to the invention of claim 2, in addition to the press-fit coupling between the column part and the hole, the pair of end plate parts are further fastened and fixed by bolts and nuts penetrating the through hole. Even if force is applied to the support during transportation or work, the end plate portions can be prevented from being displaced. Furthermore, when assembling the eccentric oscillating gear device, it is only necessary to remove the nut and fasten it to the mating member with the remaining through bolts, saving the trouble of preparing the fastening bolt each time.
According to the invention of claim 3, the screw portion for fastening and fixing the pair of end plate portions is provided on the column portion side of the through hole opened in the one end plate portion and the column portion, and is opposite to the column portion side. A threaded portion that is fastened and fixed to the mating member is formed on the end face of the one end plate portion. The pair of end plate portions can be fastened with bolts by the former threaded portion, and in addition to the press-fit connection between the column portion and the hole, the pair of end plate portions is further firmly fixed. Even if some force is applied to the support, it is possible to reliably prevent the end plate portions from being displaced. Moreover, the eccentric oscillating gear device can be fastened and fixed to the mating member by the latter threaded portion.
If the former screw part is not used for fastening and fixing a pair of end plate parts, a through bolt having a smaller diameter than the screw part is used to fasten and fix the eccentric oscillating gear device to the counterpart member. be able to. In this way, two different mounting structures can be obtained with one eccentric oscillating gear device.
Furthermore, according to the invention of claim 4, screw portions are formed at both end portions of the through hole that passes through the one end plate portion and the column portion. By forming a screw portion for fastening and fixing a pair of end plate portions and a screw portion for fastening and fixing the counterpart member and the eccentric oscillating gear device in one through hole, the through hole can be used as a common pilot hole for the screw portion. It can be. As in the above-described invention, the threaded portion on the pillar portion side of the through hole is used for fastening and fixing the pair of end plate portions, and the other threaded portion is used for fastening and fixing to the mating member. Two types of attachment structures are possible in the case where the eccentric oscillating gear device is fastened and fixed to the counterpart member by using a through bolt smaller than the threaded portion without using it.

Embodiments of the present invention will be described below with reference to the drawings.
FIG. 1 is an example in which the eccentric oscillating gear device of the present invention is used in a turning part of an industrial robot, and FIG. 2 is a cross-sectional view taken along the line AA in FIG. 1 (only the eccentric oscillating gear device).
The eccentric oscillating gear device 100 includes an internal gear 3 having internal teeth 1 composed of a large number of pins, two external gears 9 meshing with the internal gear 3, and three pieces that cause the external gear 9 to move eccentrically. A crankshaft 17, a pair of end plate portions 19 a, 19 b, and a plurality of column portions 21 connecting the pair of end plate portions, and a support body 19 that rotatably supports the crankshaft 17. The gear 3 and the support 19 are relatively rotated by the pair of main bearings 27a and 27b.

Each column part 21 protrudes from one end plate part 19a and is integrally formed, and its cross-sectional shape is circular. The other end plate portion 19b has a number of circular holes 26 corresponding to the number of the column portions 21, and the ends of the column portions 21 are inserted into the circular holes 26, respectively. In this embodiment, six column portions 21 and six circular holes 26 are formed. Here, the cross-sectional shape of the column part 21 includes a shape obtained by cutting a part of a circle. That is, most of the outer shape of the column part 21 coincides with the circumference, and the remaining part includes a shape inward from the circumference.
At least two of these six insertion portions are press-fit. Note that the press-fit fit is preferably a uniform position such as a diagonal position if there are two places and a position where a triangle is formed if there are three places.
As described above, since the plurality of circular column portions 21 are inserted into the circular holes 26 and at least two of the plurality of insertion portions are press-fitted, the positioning coupling between the pair of end plate portions can be performed only by that. The parts such as bolts and taper pins are unnecessary and workability is good.

The pair of end plate portions 19 a and 19 b and each column portion 21 constituting the support body 19 have through holes of substantially the same diameter that are inserted in the axial direction, and a through hole 30 is formed as the support body 19. ing.
The support 19 of the eccentric oscillating gear device 100 is attached to a predetermined member, in this embodiment, a fixing member 150 of a turning portion of an industrial robot, by a through bolt 40 passing through the through hole 30. At this time, the through bolt 40 is used for attaching the eccentric oscillating gear device 100 and at the same time firmly bonding the pair of end plate portions 19a and 19b and the column portion 21.
Since the support body 19, that is, the through hole 30 through which the pair of end plate portions 19 a and 19 b and the column portion 21 are inserted, the eccentric oscillating gear device is moved from one direction by the bolt 40 that passes through the through hole 30. In this embodiment, it can be mounted and fixed from above.
A motor 170 is fixed to the other end plate portion 19 b constituting the support body 19.
Moreover, the internal gear 3 is attached to the rotating member 160 of the turning part of the industrial robot by a bolt in this embodiment.

When the rotation from the motor 170 is transmitted to the output gear 2, the cylindrical gear 20 is rotated via the spur gears 51 and 52 of the intermediate shaft 50. In this embodiment, since the support body 19 is fixed, when the rotation of the cylindrical gear 20 is transmitted to the transmission gear 15 of the crankshaft 17, the crankshaft 17 causes the external gear 9 to be eccentric with respect to the internal gear 3. Swing motion. Due to the fact that the external gear 9 is meshed with the internal gear 3, the internal gear 3 is output at a reduced speed, and the rotating member 160 rotates.
As in the embodiment shown in FIG. 1, the rotating member 160 is decelerated and rotated by the rotation of the motor 170, but the motor 170 itself is fixed to the support 19 and does not move with the fixing member 150 of the robot. Therefore, the wiring 180 of the motor 170 that is exposed to the outside through the hollow hole 35 provided at the center of the eccentric oscillating gear device 100 is not twisted by the rotating member 160, and the useless wiring length. Is unnecessary.

Next, another embodiment of the present embodiment will be described with reference to FIG. The structure of the eccentric oscillating gear device is the same as that of the previous embodiment.
In this embodiment, in addition to the press-fit coupling between the column portion 21 and the hole 26, the pair of end plate portions 19a and 19b are further fastened and fixed by the bolt 40 and the nut 60 that penetrate the through hole 30. By doing in this way, even if some force is applied to the support body 19 at the time of transportation of the eccentric oscillating gear device or during work, it is possible to reliably prevent the end plate portions from being displaced. Furthermore, when assembling the eccentric oscillating gear device, it is only necessary to remove the nut 60 and fasten it to the mating member with the remaining through bolts 40, thereby saving the trouble of preparing the fastening bolt each time.

Next, another embodiment of the present embodiment will be described with reference to FIG. The structure of the eccentric oscillating gear device is the same as that of the previous embodiment.
In this embodiment, screw portions 31 and 32 are provided at both ends of the through hole 30 opened in one end plate portion 19 a and the column portion 21. Moreover, the thread part 33 is also formed in the end surface of one end plate part 19a opposite to the column part side.
In addition to the press-fit connection between the column portion 21 and the hole 26, the bolt 41 is fastened to the screw portion 32, thereby fixing the pair of end plate portions further, and even if some force is applied to the support body 19, Deviation between end plate portions can be reliably prevented. When assembling the eccentric oscillating gear device, the bolt 41 may be removed and fastened to the mating member with a through bolt having a diameter smaller than that of the screw portion 32.
Further, in this embodiment, the bolt 41 is left for coupling the end plate portions, and the eccentric oscillating gear device is assembled from the counterpart member (from the left in the figure) to the screw portion 33 or 31. It can be done by fastening. Only one of the screw part 33 and the screw part 31 may be provided, but both may be provided and used. Fastening and fixing with the mating member becomes stronger.
When only the screw part 31 is provided, the screw part is provided at both ends of the through hole 30. Therefore, the through hole 30 becomes a common pilot hole of the screw part as it is, and the processing of the screw parts 31 and 32 is simplified. can do.

  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. For example, the number of external gears may be one, three or more, and the number of crankshafts is not limited to three, and may be one, two, or three or more.

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.

It is sectional drawing which attached the eccentric rocking | fluctuation type gear apparatus of the Example which concerns on this invention to the turning part of an industrial robot. It is AA sectional drawing of FIG. It is sectional drawing of the eccentric rocking | fluctuation type gear apparatus of the other form of the Example which concerns on this invention. It is sectional drawing of the eccentric rocking | fluctuation type gear apparatus of another form of the Example which concerns on this invention. It is sectional drawing of the conventional eccentric rocking | fluctuation type gear apparatus. It is BB sectional drawing of FIG. 5a. It is CC sectional drawing of FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 100 ... Eccentric oscillation type gear apparatus 3 .... Internal gear 9 ... External gear 17 ... Crankshaft 19 ... Support body 19a, 19b ... End plate part 21 ... -Column part 26 ... Circular hole 30 ... Through hole 31, 32, 33 ... Screw part 40 ... Through bolt 60 ... Nut 150 ... Fixed part 160 ... Rotating part 170- ··motor

Claims (4)

An internal gear, an external gear meshing with the internal gear, a crankshaft for eccentrically moving the external gear, a pair of end plate portions, and a plurality of column portions connecting the pair of end plate portions. An eccentric oscillating gear device comprising a support that rotatably supports the crankshaft, wherein the internal gear and the support rotate relatively;
The cross-sectional shape of the plurality of pillars is circular,
One end of the plurality of pillar portions is integrally formed with one end plate portion,
The other ends of the plurality of column portions are respectively inserted into circular holes formed in the other end plate portion, and at least two of the plurality of insertion portions are press-fitted,
An eccentric oscillating gear device, wherein a through hole is formed through the plurality of pillar portions and the pair of end plate portions.   The eccentric oscillating gear device according to claim 1, wherein the pair of end plate portions are fastened and fixed by bolts and nuts penetrating the through holes.   Provided with a screw portion for fastening and fixing a pair of end plate portions on the column portion side of the through hole that passes through the inside of the one end plate portion and the inside of the column portion, on the end surface of one end plate portion opposite to the column portion side, The eccentric oscillating gear device according to claim 1, wherein a screw portion that is fastened and fixed to the mating member is formed.   The eccentric oscillating gear device according to claim 1, wherein threaded portions are formed at both end portions of the through hole that passes through the one end plate portion and the column portion.

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