JP2010014238A - Eccentric reduction gear - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To realize easy machining of a pin internal tooth, and to prevent abrasion of members and deterioration of driving efficiency and assemblability in an eccentric reduction gear provided with a plurality of external gears and pin internal teeth meshing with them. <P>SOLUTION: A first pin internal tooth 22a meshing with at least an external tooth 31 of the first external gear 28a, and a second pin internal tooth 22b meshing with at least an external tooth 31 of the second external gear 28b are provided as the pin internal teeth 22. In the first pin internal tooth 22a, its one end side is positioned with respect to a case 11, and in the second pin internal tooth 22b, its one end side is positioned with respect to another end side of the second pin internal tooth 22b. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to an eccentric type speed reducer in which pin internal teeth are arranged on the inner periphery of a case and an external gear rotates eccentrically while meshing with the pin internal teeth as the crankshaft rotates.

  In various industrial machines and the like, an eccentric type reduction gear is used as a reduction gear capable of realizing a large reduction ratio. As such an eccentric type speed reducer, there is known an eccentric type speed reducer in which pin internal teeth are arranged on the inner periphery of a case and an external gear rotates eccentrically while meshing with the pin internal teeth as the crankshaft rotates. (See Patent Documents 1 and 2).

  In the eccentric type speed reducer disclosed in Patent Document 1, pin inner teeth (pin (128A)) formed as a pin-shaped member are arranged on the inner periphery of the case (casing (158)). The pin internal teeth are arranged to mesh with the two external gears (124). The two external gears (124) rotate eccentrically with the rotation of the crankshaft (48) formed as the eccentric body shaft (120) provided with the eccentric body (122). On the other hand, in the eccentric type speed reducer disclosed in FIG. 5 of Patent Document 2, pin internal teeth (internal tooth pin (31)) arranged on the inner periphery of the cylindrical portion (13) of the case (outer case (12)). ) Is divided into a first internal tooth pin (31a) meshing with one of the two external gears formed as a pinion (44) and a second internal tooth pin (31b) meshing with the other. In the eccentric type speed reducer disclosed in Patent Document 2, an intermediate bearing member (46) that rotatably supports an intermediate portion of the crankshaft (48) is provided between the two external gears. One end side (lower end side) of the first internal tooth pin (31a) and the other end side (upper end side) of the second internal tooth pin (31b) are positioned by the intermediate bearing member (46).

JP 2007-100903 (5th page, FIG. 1) JP 2007-85524 A (page 8, FIG. 5)

  In the eccentric type speed reducer disclosed in Patent Document 1, one pin internal tooth is configured to mesh with a plurality of external gears. For this reason, since the length of the tooth | gear which can mesh | engage over a some external gear is needed, the length of a pin internal tooth will become long. As described above, when the length of the pin internal teeth, which are pin-shaped members, increases, the error in cylindricity tends to increase, and it is difficult to process the pin internal teeth so as to ensure the necessary cylindricity. turn into. Therefore, there is a problem that an advanced machining operation with a high degree of difficulty is required when machining the pin internal teeth.

  On the other hand, in the eccentric type speed reducer disclosed in Patent Document 2, the pin internal teeth are divided. However, the mutually opposing ends of the divided pin inner teeth are positioned by the intermediate bearing member disposed between the divided pin inner teeth. For this reason, the intermediate bearing member that rotates when the eccentric speed reducer operates and the end portion of the divided pin internal teeth always slide, and the pin internal teeth and the intermediate bearing member wear. And there exists a problem that the drive efficiency (drive energy transmission efficiency) of an eccentric type reduction gear will fall by sliding with a pin internal tooth and an intermediate bearing member.

  Further, in the case where the pin internal teeth are formed of one member as in the eccentric type reduction gear of Patent Document 1, in order to improve the assembly efficiency in the assembly of the eccentric type reduction gear, It can be inserted into the case in a united state with the external gear, and then the internal teeth of each pin can be inserted. For this reason, each pin internal tooth can be easily arrange | positioned in a case, matching with each external tooth of an external gear. However, in the eccentric type speed reducer disclosed in Patent Document 2, since it is necessary to assemble the intermediate bearing member, one of the divided pin inner teeth is inserted into the case and arranged, and then the unitized outer teeth are arranged. It is necessary to insert gears into the case. For this reason, it is unitized while aligning a large number (for example, about several tens) of the pin internal teeth (one of the divided pin internal teeth) arranged in the case with the external teeth of the external gear. Further, it is necessary to perform difficult assembly work for arranging the external gear and the like in the case. For this reason, there exists a problem that the assembly property of an eccentric type reduction gear will fall.

  In view of the above circumstances, the present invention realizes easy processing of pin internal teeth, drive efficiency, and ease of assembly in an eccentric type reduction gear provided with a plurality of external gears and pin internal teeth meshing with the external gears. An object of the present invention is to provide an eccentric type speed reducer that can prevent a decrease in the above.

  In order to achieve the above object, an eccentric speed reducer according to a first aspect of the present invention includes a case, a plurality of pin internal teeth formed as pin-shaped members disposed on the inner periphery of the case, and housed in the case. In addition, a first external gear and a second external gear provided on the outer periphery with external teeth meshing with the pin internal teeth, and a crank hole formed in the first external gear and the second external gear A crankshaft that rotates the first external gear and the second external gear eccentrically by rotating, a base carrier that rotatably holds one end side of the crankshaft, and the crankshaft An end carrier that rotatably holds the other end of the base, a support that connects the base carrier and the end carrier, and an output shaft that is fixed to the base carrier and to which a pinion is attached. In the eccentric speed reducer according to the first aspect of the present invention, the pin internal teeth mesh with at least the first pin internal teeth that mesh with the external teeth of the first external gear, and at least mesh with the external teeth of the second external gear. A second pin internal tooth is provided, one end side of the first pin internal tooth is positioned with respect to the case, and one end side of the second pin internal tooth is opposite to the other end side of the first pin internal tooth. It is characterized by being positioned.

  According to this invention, the first pin internal teeth and the second pin internal teeth are provided as the pin internal teeth, the first pin internal teeth are the first external gear, and the second pin internal teeth are the second external teeth. The gears are configured to mesh with each other. For this reason, while ensuring meshing of the pin internal teeth with respect to the first external gear and the second external gear, the pin internal teeth can be constituted by the first pin internal teeth and the second pin internal teeth having a short length. . This makes it easy to reduce the cylindricity error of the first pin internal teeth and the second pin internal teeth and ensure the necessary cylindricity, so that pin internal teeth that mesh with a plurality of external gears are provided. Even if it is an eccentric type reduction gear, a pin internal tooth can be processed easily. Also, according to the present invention, one end side of the first pin internal teeth is positioned with respect to the case, and one end side of the second pin internal teeth is positioned with respect to the first pin internal teeth. For this reason, the first pin inner teeth and the second pin inner teeth can be firmly attached to the pin grooves while suppressing displacement in the longitudinal direction, and the first pin inner teeth and the second pin inner teeth are in the longitudinal direction. Can be easily and reliably positioned. And since the structure which positions a 1st pin internal tooth and a 2nd pin internal tooth by members like the intermediate bearing member disclosed by patent document 2 becomes unnecessary, wear of a member, the fall of drive efficiency, and assembly property It is also possible to prevent a decrease in the temperature.

  Therefore, according to the present invention, in an eccentric type reduction gear provided with a plurality of external gears and pin internal teeth meshing with the external gears, the pin internal teeth can be easily machined, and the drive efficiency and assembly can be prevented from being lowered. can do.

  The eccentric speed reducer according to a second aspect of the present invention is the eccentric speed reducer according to the first aspect, wherein the other end side of the second pin inner tooth holds the end carrier rotatably with respect to the inner periphery of the case. It is characterized by being positioned with respect to one end side.

  According to the present invention, since the other end side of the second pin internal teeth can be positioned using the bearing that rotatably holds the case on the end carrier, the longitudinal direction of the first pin internal teeth and the second pin internal teeth Positioning can be further facilitated, and the efficiency of the assembly work can be further improved.

  An eccentric type speed reducer according to a third aspect of the invention is the eccentric type speed reducer according to the first or second aspect of the invention, and is arranged between the first external gear and the second external gear, and is intermediate between the crankshafts. An intermediate bearing that rotatably holds the portion; and a plate that holds the intermediate bearing and is disposed between the first external gear and the second external gear; Is opposed to the outer periphery of the plate via a gap.

  According to this invention, the intermediate part of the crankshaft can be rotatably supported by the plate via the intermediate bearing. Since there is a gap between the outer periphery of the plate and the pin internal teeth, the plate and the pin internal teeth slide even when the eccentric type reduction gear operates and the plate rotates together with the base carrier and the end carrier. As a result, the member is not worn and the driving efficiency is not lowered. Further, when assembling the eccentric type reduction gear, after inserting the unitized first external gear and second external gear into the case, the external teeth of the first external gear and the second external gear The first pin inner teeth and the second pin inner teeth can be arranged in the case so as to meet the above requirements. Therefore, according to the present invention, unlike the eccentric speed reducer provided with the intermediate bearing member disclosed in Patent Document 2, in the eccentric speed reducer in which the intermediate portion of the crankshaft is rotatably supported, the pin internal teeth Thus, it is possible to prevent the member from being worn, the driving efficiency and the assembly from being deteriorated.

  An eccentric speed reducer according to a fourth aspect of the invention is the eccentric speed reducer according to the third aspect of the invention, wherein the pin internal teeth are in the second pin and the portion of the first pin internal teeth in contact with the first external gear. It is characterized by arranging so that the part which the 2nd external gear in a tooth contacts may be located symmetrically via the field where the center in the thickness direction of the plate is located.

  According to the present invention, the portion where the first external gear contacts the first pin internal teeth and the portion where the second external gear contacts the second pin internal teeth are symmetrical via the plane where the thickness center of the plate is located. The first pin inner teeth and the second pin inner teeth are arranged on the inner periphery of the case so as to be located at the center. For this reason, during the operation of the eccentric type reduction gear, the sliding state caused by the meshing with the first external gear at the first pin internal teeth and the meshing with the second external gear at the second pin internal teeth are caused. The sliding state is an equal state or a state close to equal. For this reason, the wear progresses substantially evenly between the first pin inner teeth and the second pin inner teeth, and it is possible to suppress the occurrence of uneven wear in either the first pin inner teeth or the second pin inner teeth. Thereby, the durable years of the first pin inner teeth and the second pin inner teeth can be made substantially the same, and the durability of the eccentric reduction gear can be improved efficiently.

  An eccentric speed reducer according to a fifth aspect of the invention is the eccentric speed reducer according to the third or fourth aspect of the invention, wherein the inner periphery of the case is provided with a pin groove in which the pin inner teeth are disposed and an outer periphery of the plate. A concave portion formed so as to be recessed at the same depth as the pin groove at the opposite position or deeper than the depth of the pin groove is provided. An end portion on the other end side and an end portion on the one end side of the second pin internal tooth are disposed at a position corresponding to the concave portion with respect to the inner periphery of the case.

  According to the present invention, a concave portion having the same depth as the pin groove or deeper than the depth of the pin groove is formed on the inner periphery of the case in which the pin groove is formed at the position where the outer periphery of the plate faces. Yes. And the one end side of a 2nd pin internal tooth is positioned with respect to the other end side of a 1st pin internal tooth in the position corresponding to a recessed part. For this reason, the first pin inner teeth and the second pin inner teeth are attached to the pin grooves without interfering with portions other than the pin grooves with respect to the inner periphery of the case, and the second pin inner teeth with respect to the first pin inner teeth Positioning will also be performed. Thereby, even if it is an eccentric type reduction gear provided with a plate, the pin groove and the pin inner teeth are used when the assembly work is performed so that the first pin inner teeth and the second pin inner teeth are fitted into the pin grooves. The sliding range is reduced, the assembling work can be facilitated and the assembling work time can be shortened, and the assembling work efficiency can be improved.

  An eccentric type speed reducer according to a sixth aspect of the invention is the eccentric type speed reducer according to any one of the first to fifth aspects of the invention, wherein the first pin internal teeth and the second pin internal teeth are arranged side by side on the same straight line. And the same number is provided.

  According to the present invention, each pin groove in which the first pin internal teeth and the second pin internal teeth are arranged so that the same number of first pin internal teeth and second pin internal teeth are arranged on the same straight line. Are formed on a straight line. For this reason, pin groove formation which processes a pin groove by the process by the gear shaper etc. which cut with the pinion cutter which forms the tooth surface of a gear can be performed easily.

  According to the present invention, in an eccentric type reduction gear provided with a plurality of external gears and pin internal teeth meshing with the external gears, the pin internal teeth can be easily processed, and the drive efficiency and assembly can be prevented from being lowered. Can do.

  DESCRIPTION OF EMBODIMENTS Embodiments for carrying out the present invention will be described with reference to the drawings. The eccentric speed reducer according to the embodiment of the present invention can be widely applied to various industrial machines such as industrial robots and various machine tools, construction machines, and the like. For example, in a windmill, since the diameter of a blade (blade) tends to increase in recent years, yaw driving that is a driving device for swinging to turn the nacelle of the windmill in accordance with the wind direction. As a device, a reduction gear with a high output specification (large load capacity) is required while suppressing an increase in size. For this reason, the eccentric type speed reducer according to the present embodiment is preferably used as such a yaw drive device for a windmill. In addition to this example, the pin internal teeth are arranged on the inner periphery of the case, and the present invention is widely applied to an eccentric speed reducer in which the external gear rotates eccentrically while meshing with the pin internal teeth as the crankshaft rotates. It is something that can be done. Hereinafter, a first embodiment and a second embodiment of an eccentric type speed reducer according to the present invention will be described.

[First Embodiment]
(Overall configuration of eccentric type reducer)
FIG. 1 is a cross-sectional view showing an eccentric type speed reducer 1 according to the first embodiment of the present invention. The eccentric speed reducer 1 is used, for example, as a windmill yaw drive device for turning a nacelle of a windmill, and decelerates rotation input from a motor 100 (partially indicated by a broken line in FIG. 1). Then transmit and output. The eccentric speed reducer 1 includes a case 11, a pin inner tooth 22, a front stage reduction part 12, a rear stage reduction part 13, an output shaft 14, and the like.

  As shown in FIG. 1, the eccentric speed reducer 1 has a pinion 101 attached to an output shaft 14 that is positioned so as to protrude from the case 11 at one end disposed on the lower side, and is disposed on the upper side. The motor 100 is attached to the case 11 on the end side. In the eccentric speed reducer 1, the rotational force input from the motor 100 disposed on the upper side is decelerated and transmitted via the front speed reducer 12 and the rear speed reducer 13 disposed in the case 11 and output. Output to the pinion 101 attached to the shaft 14. If the eccentric speed reducer 1 is used as a windmill yaw drive device, the eccentric speed reducer 1 is arranged so that the pinion 101 meshes with a gear fixed to the top of the tower of the windmill. And the eccentric type reduction gear 1 act | operates with the rotational drive force from the motor 100, and the pinion 101 rotates, and the nacelle of a windmill turns. In the following description, in the eccentric type reduction gear 1, the lower output side where the output shaft 14 is disposed is one end side, and the upper input side where the motor 100 is disposed is the other end side. explain.

(Configuration of case and pin internal teeth)
As shown in FIG. 1, the case 11 of the eccentric speed reducer 1 includes a cylindrical first case portion 11a and a second case portion 11b arranged on the other end side of the first case portion 11a. The edges are connected with bolts. In the case 11, a front-stage reduction unit 12, a rear-stage reduction unit 13, and the like are accommodated. In addition, the front stage reduction part 12 is arrange | positioned inside the 2nd case part 11b, and the rear stage reduction part 13 is arrange | positioned inside the 1st case part 11a, The front stage reduction part 12, the rear stage reduction part 13, and the output shaft 14 Are arranged in series along the axial direction which is the direction of the rotation center line P of the eccentric speed reducer 1 (illustrated by a one-dot chain line in FIG. 1). Further, the case 11 has an opening at one end (the end of the first case 11a) and the motor 100 is fixed to the other end (the end of the second case 11b) as described above. Yes.

  FIG. 2 is an enlarged partial sectional view in the axial direction on the other end side of the case 11. 2 is a cross-sectional view of only the first case portion 11a (FIG. 2A), and a cross-sectional view of the pin inner teeth 22 attached to the pin groove 52 in the same cross section as FIG. 2A. 2 (b)). As shown in FIGS. 1 and 2, a pin groove 52 in which the pin inner teeth 22 are arranged is provided on the inner periphery of the first case portion 11 a of the case 11. A plurality of pin grooves 52 are provided along the inner periphery of the case 11. Each pin groove 52 is formed as a groove having a semicircular arc cross section and the longitudinal direction of which extends in parallel with the rotation center line P.

  A plurality of pin internal teeth 22 are provided, and are formed as pin-shaped members (round bar-shaped members) as shown in FIGS. 1 and 2 and arranged in pin grooves 52 provided on the inner periphery of the case 11. Has been. In FIG. 1 and FIG. 2, the pin inner teeth 22 are shown not in cross section but in outer shape. The pin inner teeth 22 are arranged so that the longitudinal direction thereof is positioned in parallel with the rotation center line P, and are arranged in a state of being fitted and attached to the pin grooves 52 at equal intervals on the inner periphery of the case 11. It is configured to mesh with external teeth 31 of an external gear 28 described later.

  Further, as the pin internal teeth 22, first pin internal teeth 22 a and second pin internal teeth 22 b are provided. The same number of first pin inner teeth 22a and second pin inner teeth 22b are provided, and a pair of first pin inner teeth 22a and second pin inner teeth 22 are provided as pin inner teeth 22 that are fitted and attached to the respective pin grooves 52. Teeth 22b are provided. The first pin inner teeth 22 a and the second pin inner teeth 22 b are arranged in a line on the same straight line parallel to the rotation center line P by being attached to the pin groove 52. The first pin internal teeth 22a mesh with the external teeth 31 of the first external gear 28a of the external gear 28 described later, and the second pin internal teeth 22b are the second external gear of the external gear 28. It arrange | positions so that it may mesh | engage with the external tooth 31 of 28b (refer FIG. 3). The first pin inner teeth 22 a are positioned at one end side with respect to a step portion formed on the inner periphery of the first case portion 11 a of the case 11 via a spacer 54. On the other hand, the second pin inner teeth 22b are positioned by directly abutting one end side thereof against the other end side of the first pin inner teeth 22a. The other end side of the second pin inner teeth 22b is positioned by directly abutting against one end side of a ball bearing 37 that holds an end carrier 26, which will be described later, rotatably with respect to the inner periphery of the case 11. (In other words, the ball bearing 37 is provided as a bearing for holding the end carrier 26 rotatably with respect to the case 11 and positioning the other end side of the second pin inner teeth 22b in this embodiment. ).

(Structure of the front reduction gear)
As shown in FIG. 1, the front speed reduction unit 12 includes a one-stage planetary gear mechanism to which the rotational driving force from the motor 100 is transmitted and a spur gear 49, and the planetary gear mechanism includes the sun gear 15. , A carrier 16, a planetary gear 17, a ring gear 18 and the like.

  As shown in FIG. 1, a plurality of planetary gears 17 (three in this embodiment) are arranged around the rotating shaft 100a of the motor 100 arranged so as to protrude toward the inside of the case 11 and rotate. It is located in the radial direction (direction perpendicular to the rotation center line P) of the eccentric speed reducer 1 with respect to the shaft 100a. Each planetary gear 17 is connected to the rotary shaft 100a by meshing with a gear formed on the outer periphery of the end of the rotary shaft 100a. The carrier 16 is formed as a planetary frame that rotatably holds a plurality of planetary gears 17 at positions of equal angles along the circumferential direction around the rotation shaft 100a and performs a revolving operation. The ring gear 18 is provided as a ring-shaped gear that is fixed to the second case portion 11 b and has teeth formed on the inner periphery, and is configured to mesh with the planetary gear 17. The sun gear 15 is disposed on the rotation center line P, and is connected to the inner peripheral portion of the carrier 16 by spline coupling. The sun gear 15 has an input gear portion 15a formed at one end thereof, and is arranged so as to mesh with the spur gear 49 in the input gear portion 15a.

  As shown in FIG. 1, a plurality of spur gears 49 (four in this embodiment) are arranged around the spur gear 49 so as to mesh with the input gear portion 15 a of the sun gear 15, and are eccentrically decelerated with respect to the sun gear 15. It is located in the radial direction of the machine 1. The spur gear 49 is fixed to the other end side of the crankshaft 23 of the rear-stage speed reduction unit 13. Accordingly, the spur gear 49 is configured to transmit a rotational force that rotates the crankshaft 23.

(Configuration of the rear stage deceleration unit)
FIG. 3 is an enlarged cross-sectional view showing the rear-stage deceleration unit 13 and its vicinity in FIG. As shown in FIG. 1, the rear stage speed reduction unit 13 is configured to operate by a rotational driving force input from the motor 100 and transmitted through the front stage speed reduction unit 12 to transmit rotation to the output shaft 14. ing. As shown in FIGS. 1 and 3, the rear speed reduction unit 13 includes a crankshaft 23, a base carrier 25 (only a part of which is shown in FIG. 3), an end carrier 26, a column 27, and first external teeth. An external gear 28 including a gear 28a and a second external gear 28b is provided.

  As shown in FIGS. 1 and 3, the crankshaft 23 is arranged so that its axial direction is parallel to the rotation center line P, and the crankshaft 23 has an equal angle along the circumferential direction around the rotation center line P. A plurality (four in this embodiment) are arranged at positions. Each crankshaft 23 is disposed so as to penetrate a crank hole 30 formed in a first external gear 28a and a second external gear 28b, which will be described later, and rotates to form a first external gear 28a. The second external gear 28b is provided as a shaft member that rotates eccentrically. And the crankshaft 23 will perform a revolution operation | movement with rotation of the 1st external gear 28a and the 2nd external gear 28b accompanying self rotation (autorotation). 1 and 3, the crankshaft 23 is shown not in cross section but in its outer shape.

  The crankshaft 23 is provided with a first eccentric portion 23a, a second eccentric portion 23b, a first shaft portion 23c, and a second shaft portion 23d. The first shaft portion 23c, the first eccentric portion 23a, The second eccentric portion 23b and the second shaft portion 23d are provided in series in this order. The first eccentric portion 23a and the second eccentric portion 23b are formed such that a cross section perpendicular to the axial direction is a circular cross section, and the center positions of the first eccentric portion 23a and the second eccentric portion 23b are the rotation center lines of the crank shaft 23 (first shaft portion). 23c and the center position of the second shaft portion 23d). A first shaft portion 23c provided on one end side of the crankshaft 23 is rotatably held via a roller bearing 34 with respect to a base carrier 25 described later, and a second shaft disposed on the other end side. The portion 23d is rotatably held via a roller bearing 35 with respect to an end carrier 26 described later. Further, a spur gear 49 is connected to the second shaft portion 23d on the other end side of the crankshaft 23 by spline coupling at an end portion thereof so as to protrude from the roller bearing 35 to the other end side.

  As shown in FIGS. 1 and 3, the external gear 28 includes a first external gear 28 a and a second external gear 28 b that are accommodated in the case 11 in a state of being arranged in parallel. Each of the first external gear 28a and the second external gear 28b is formed with a crank hole 30 through which the crankshaft 23 passes and a column through hole 48 through which a column 27 described later passes. The first external gear 28a and the second external gear 28b are arranged so that the positions of the crank hole 30 and the column through hole 48 correspond to each other in the direction parallel to the rotation center line P.

  The crank holes 30 of the first external gear 28a and the second external gear 28b are formed as circular holes, and correspond to the crankshaft 23 in the circumferential direction of the first external gear 28a and the second external gear 28b. A plurality of (four in the present embodiment) are arranged at equal angular positions. The crank hole 30 has a first eccentric portion 23a in the first external gear 28a and a second eccentric portion 23b in the second external gear 28b via a roller bearing 38 having needle rollers or cylindrical rollers. Hold each one. A plurality of (four in this embodiment) pillar through holes 48 are arranged at equal angular positions along the circumferential direction of the external gear 28 corresponding to the pillars 27 described later. Moreover, the support | pillar through-hole 48 is alternately formed with the hole 30 for cranks in the circumferential direction of the 1st external gear 28a and the 2nd external gear 28b. In addition, the support | pillar 27 has penetrated the support | pillar through-hole 48 in the loose-fit state.

  In addition, external teeth 31 that mesh with the pin internal teeth 22 are provided on the outer circumferences of the first external gear 28a and the second external gear 28b. As described above, the external teeth 31 of the first external gear 28a mesh with the first pin internal teeth 22a, and the external teeth 31 of the second external gear 28b mesh with the second pin internal teeth 22b. . In this embodiment, the number of teeth of each external tooth 31 in the first external gear 28a and the second external gear 28b is based on the number of teeth of the first pin internal teeth 22a and the second pin internal teeth 22b. Is also provided so as to be reduced by one. For this reason, every time the crankshaft 23 rotates, the meshing between the meshing external teeth 31 and the pin internal teeth 22 is shifted, and the first external gear 28a and the second external gear 28b are eccentrically oscillated and rotated. Has been. The difference in the number of teeth between the external teeth 31 and the pin internal teeth 22 is not limited to one and may be plural.

  As shown in FIGS. 1 and 3, the base carrier 25 is formed integrally with the output shaft 14 on one end side thereof and is disposed in the case 11. On the other end side, the base carrier 25 is formed with a crank holding hole 50 in which the first shaft portion 23 c of the crankshaft 23 is disposed via the roller bearing 34. The crank holding hole 50 is formed at a position of an equal angle along the circumferential direction around the rotation center line P. With the crank holding hole 50, the base carrier 25 holds one end side of each crankshaft 23 rotatably at the first shaft portion 23c via the roller bearing 34.

  Further, the base carrier 25 is rotatably held on the outer peripheral side with respect to the inner peripheral side of the first case portion 11 a in the case 11 via the roller bearing 36. As shown in FIG. 1, a positioning member 44 provided as a ring-shaped member disposed along the outer periphery of the base carrier 25 is fixed to the base carrier 25. And the roller bearing 36 is arrange | positioned in the state which the one end side engaged with the positioning member 44, and the other end side engaged with the one end side of the 1st case part 11a. The positioning member 44 defines the position of the roller bearing 36 relative to the base carrier 25. In the present embodiment, the output shaft 14 is fixed to the base carrier 25 by being formed integrally with the base carrier 25.

  As shown in FIGS. 1 and 3, the end carrier 26 is connected to the base carrier 25 through a support 27 and is provided as a disk-shaped member. The end carrier 26 is rotatably held with respect to the inner periphery of the case 11 via a ball bearing 37 on the outer peripheral side thereof. The ball bearing 37 is arranged so that one end side thereof engages with the other end side of the second case portion 11a of the case 11 and the other end side of the second pin internal teeth 22b is positioned. And the other end side of the ball bearing 37 is arrange | positioned so that it may engage with the edge part 26a protruded in the flange shape in the other end side of the edge part carrier 26. FIG. Further, the end carrier 26 is formed with a crank through-hole 43 in which the second shaft portion 23d on the other end side of the crankshaft 23 is disposed at an equal angle position along the circumferential direction with the rotation center line P as the center. Has been. In the crank through-hole 43, the other end side of the crankshaft 23 is rotatably held by a second shaft portion 23d via a roller bearing 35.

  Since the external gear 28, the crankshaft 23, etc. are arranged as described above, when the rotational driving force is transmitted from the spur gear 49 and the crankshaft 23 rotates together with the spur gear 49, the crankshaft 23 rotates. Accordingly, a load acts on the first external gear 28a and the second external gear 28b from the first eccentric portion 23a and the second eccentric portion 23b. Due to this load, the first external gear 28a and the second external gear 28b rotate eccentrically so as to swing, and the crank corresponding to the eccentric rotation of the first external gear 28a and the second external gear 28b. The shaft 23 performs a revolving operation while rotating.

  As shown in FIGS. 1 and 3, the support column 27 is provided as a columnar portion that connects the base carrier 25 and the end carrier 26. A plurality (four in this embodiment) of the columns 27 are arranged at equal angular positions along the circumferential direction around the rotation center line P, and the axial directions thereof are parallel to the rotation center line P. Are arranged as follows. In addition, the support | pillar 27 and the crankshaft 23 are alternately arrange | positioned along the circumferential direction centering on the rotation centerline P. As shown in FIG.

  Each support column 27 is formed integrally with the base carrier 25 and is provided on the other end side of the base carrier 25 so as to protrude toward the other end side. The support column 27 is formed with a support pin hole 51 into which the support pin 40 is press-fitted. The column pin hole 51 is formed as a hole that opens to the other end side of the end carrier 26 and extends from the end carrier 26 to the column 27. Further, the support pin 40 is formed as a round bar-like (columnar) member that is press-fitted into the support pin hole 51. When the support pins 40 are press-fitted into the support pin holes 51, the circumferential positions of the base carrier 25 and the end carrier 26 are matched. In the present embodiment, two support pins 40 are provided for each support 27.

  Further, the support column 27 is formed with a support bolt hole 47 into which a support bolt 29 shown by a broken line in the drawing is inserted. The strut bolt hole 47 is provided as a hole that opens to the other end side of the end carrier 26, and is formed as a hole that extends to the base carrier 25 through the end carrier 26 and the strut 27 toward one end side. . A female screw portion is formed on the inner periphery of the portion arranged at the base carrier 25 and the base portion of the column 27 in the column bolt hole 47.

  1 and 3, the column bolt 29 indicated by a broken line has a threaded portion formed as a male threaded portion on one end side, and a head portion provided with a hexagonal hole for tightening with a hexagonal wrench or the like on the other end side. Is provided. The support bolt 29 is provided as a bolt member that couples the end carrier 26 and the base carrier 25 via the support 27 by screwing. In the present embodiment, one support bolt 29 for each support 27 is arranged along the radial direction of the eccentric speed reducer 1. When the base carrier 25 and the end carrier 26 are connected by the connection with the support bolt 29, the support pin 40 is first press-fitted into the support pin hole 51 as described above, and the base carrier 25 and the end carrier 26 are connected. Positioning in the circumferential direction is performed. With this alignment, the support bolt 29 is inserted into the support bolt hole 47 from the other end of the end carrier 26. Then, the aforementioned threaded portion on one end side of the prop bolt 29 is screwed into the aforementioned female screw portion formed at the base portion of the base carrier 25 and the prop 27 in the prop bolt hole 47. At this time, the head of the support bolt 29 engages with the other end of the end carrier 26 where the support bolt hole 47 is opened. The base carrier 25 and the end carrier 26 are connected by the coupling by the support bolts 29.

  In addition, the column bolt 29 is screwed into the base portions of the base carrier 25 and the column 27, and a clamping force that connects the base carrier 25 and the end carrier 26 is generated, whereby the positioning member 44 fixed to the base carrier 25. And the end carrier 26 sandwich the case 11 via the roller bearing 36 and the ball bearing 37. The end carrier 26 and the positioning member 44 sandwich the case 11 via the roller bearing 36 and the ball bearing 37, so that the base carrier 25 and the end carrier 26 are rotatably held with respect to the case 11. It will be. At this time, the first pin inner teeth 22 a and the second pin inner teeth 22 b are also positioned between the case 11 and the ball bearing 37.

(Eccentric reducer operation)
Next, the operation of the above-described eccentric speed reducer 1 will be described. The eccentric speed reducer 1 operates when the motor 100 is operated. When the operation of the motor 100 is started, the rotating shaft 100a of the motor 100 rotates. When the rotating shaft 100a rotates, the planetary gear 17 connected thereto rotates and revolves while meshing with the ring gear 18, whereby the carrier 16 rotates and the sun gear 15 connected to the carrier 16 rotates. And each spur gear 49 which meshes with the input gear part 15a of the sun gear 15 rotates.

  When each spur gear 49 rotates, each crankshaft 23 to which each spur gear 49 is fixed at the end on the other end side rotates, and the first eccentric portion 23a and the second eccentric portion 23b rotate with each crankshaft 23. With this rotation, as described above, the first external gear 28a is in relation to the first pin internal teeth 22a, and the second external gear 28b is in relation to the second pin internal teeth 22b. It rotates eccentrically while shifting the mesh. The crankshaft 23 rotated and held by the first external gear 28a and the second external gear 28b by the roller bearing 38 with the eccentric rotation of the first external gear 28a and the second external gear 28b is the center of rotation. Revolution operation is performed around the line P. As a result, the output shaft 14 rotates together with the base carrier 25 and the end carrier 26 that are connected by the support column 27 and rotatably hold the crankshaft 23, and a large torque is output from the pinion 101.

(Effect of eccentric type reduction gear)
According to the eccentric type reduction gear 1 described above, the first pin internal teeth 22a and the second pin internal teeth 22b are provided as the pin internal teeth 22, and the first pin internal teeth 22a are in relation to the first external gear 28a. The second pin internal teeth 22b are configured to mesh with the second external gear 28b, respectively. Therefore, the pin internal teeth 22 are secured to the first external gears 28a and the second external gears 28b, and the pin internal teeth 22 are formed by the short first pin internal teeth 22a and the second pin internal teeth 22b. Can be configured. This makes it easy to reduce the cylindricity error of the first pin internal teeth 22a and the second pin internal teeth 22b and ensure the necessary cylindricity, so that the plurality of external gears 28 (first external teeth) The pin internal teeth 22 can be easily machined even with the eccentric speed reducer 1 provided with the pin internal teeth 22 that mesh with the gears 28a and the second external gear 28b).

  Further, according to the eccentric speed reducer 1, one end side of the first pin inner teeth 22a is positioned with respect to the case 11, and one end side of the second pin inner teeth 22b is positioned with respect to the first pin inner teeth 22a. Therefore, the first pin inner teeth 22a and the second pin inner teeth 22b can be firmly attached to the pin groove 52 while suppressing displacement in the longitudinal direction, and the first pin inner teeth 22a and the second pin inner teeth Positioning of the teeth 22b in the longitudinal direction can be performed easily and reliably. And since the structure which positions the 1st pin internal tooth 22a and the 2nd pin internal tooth 22b with members like the intermediate bearing member indicated by patent documents 2 becomes unnecessary, the wear of a member and the fall of drive efficiency, It is also possible to prevent a decrease in assemblability.

  Therefore, according to the present embodiment, in the eccentric speed reducer 1 in which the plurality of external gears 28 (the first external gear 28a and the second external gear 28b) and the pin internal teeth 22 meshing therewith are provided, It is possible to realize easy processing of the teeth 22 and to prevent the members from being worn, and the driving efficiency and the assembling performance from being lowered.

  Further, according to the eccentric speed reducer 1, since the other end side of the second pin inner teeth 22b can be positioned using the ball bearing 37 that rotatably holds the case 11 on the end carrier 26, Positioning of the teeth 22a and the second pin inner teeth 22b in the longitudinal direction can be further facilitated, and the assembly work can be made more efficient.

  Further, according to the eccentric type reduction gear 1, the first pin inner teeth 22a and the second pin inner teeth 22a and the second pin inner teeth 22b provided in the same number are arranged side by side on the same straight line. Each pin groove 52 in which the teeth 22b are arranged is formed on a straight line. For this reason, it is possible to easily form a pin groove for processing the pin groove 52 by processing with a gear shaper that cuts with a pinion cutter that forms the tooth surface of the gear.

[Second Embodiment]
Next, an eccentric type speed reducer 2 according to a second embodiment of the present invention will be described. The eccentric speed reducer 2 can be widely applied to various industrial machines, construction machines, and the like, similarly to the eccentric speed reducer 1 of the first embodiment, and can be used as, for example, a windmill yaw drive device. In the following description, components similar to those in the first embodiment are denoted by the same reference numerals in the drawings, and description thereof will be omitted as appropriate.

(Overall configuration of eccentric type reducer)
FIG. 4 is a cross-sectional view showing the eccentric speed reducer 2. The eccentric speed reducer 2 includes a case 61, a pin inner tooth 22, a front speed reduction part 12, a rear speed reduction part 60, an output shaft 14, and the like. The eccentric speed reducer 2 includes a front speed reduction part 12 and a rear speed reduction part arranged in the case 61 with rotation input from a motor 100 (partially indicated by broken lines in FIG. 4) attached to the case 61. The motor is decelerated through 60 and transmitted to the pinion 101 attached to the output shaft 14. In the following description, as in the first embodiment, the lower output side where the output shaft 14 is disposed is one end side, and the upper input side where the motor 100 is disposed is the other end side. explain.

(Configuration of case and pin internal teeth)
As in the case 11 of the first embodiment, the case 61 of the eccentric speed reducer 2 shown in FIG. 4 includes a first case portion 61a and a second case portion 61b that are connected to each other at the edges. Yes. However, the case 61 of the second embodiment differs from the first embodiment in the configuration of the inner periphery of the first case portion 61a. FIG. 5 is an enlarged partial sectional view in the axial direction on the other end side of the case 61 of the second embodiment. 5 is a cross-sectional view of only the first case portion 61a (FIG. 5A), and a cross-sectional view of the pin inner teeth 22 attached to the pin groove 55 in the same cross section as FIG. 5A. FIG. 5 (b)) is shown. As shown in FIGS. 4 and 5, a pin groove 55 in which the pin inner teeth 22 are disposed and a recess 53 are provided on the inner periphery of the first case portion 61 a of the case 61.

  A plurality of pin grooves 55 shown in FIGS. 4 and 5 are provided along the inner periphery of the case 61. Each pin groove 55 has a semicircular cross section and its longitudinal direction extends in parallel with the rotation center line P. Is formed. In addition, as the pin groove 55, a first pin groove 55 a formed on one end side and a second pin groove 55 b formed on the other end side are provided on the inner periphery of the case 61. The first pin grooves 55 a are arranged at equal intervals along the circumferential direction on the inner periphery of the case 61, and the second pin grooves 55 b are also arranged at equal intervals along the circumferential direction on the inner periphery of the case 61. The first pin grooves 55a and the second pin grooves 55b are arranged on the same straight line parallel to the rotation center line P.

  As shown in FIGS. 4 and 5, the recess 53 is formed on the inner periphery of the case 61 over the entire inner periphery, and is between the first pin groove 55 a and the second pin groove 55 b. The plate 39 is provided at a position facing the outer periphery of the plate 39 described later. The recess 53 is formed so as to be recessed deeper than the depth of the pin groove 55. The depth of the pin groove 55 is the depth in the radial direction with respect to the inner periphery of the case 61, and the portion located on the innermost radial direction in the inner peripheral portion of the case 61 forming the pin groove 55. To the portion located on the most radially outer side. Further, the innermost portion of the case 61 forming the pin groove 55 is located on the outermost radial direction in the inner peripheral portion of the case 61 forming the recess 53 from the innermost portion on the inner peripheral portion of the case 61. By forming the depth in the radial direction up to a portion deeper than the depth of the pin groove 55, the recess 53 is formed to be recessed deeper than the depth of the pin groove 55. 5 exemplifies the recess 53 that is slightly deeper than the depth of the pin groove 55. However, the present invention is not limited to this configuration, and a deeper recess may be provided. You may provide the recessed part formed so that it might dent at the same depth as this depth.

  A plurality of pin internal teeth 22 are provided, and as shown in FIGS. 4 and 5, the pin internal teeth 22 are formed as pin-shaped members (round bar-shaped members) and arranged in pin grooves 55 provided on the inner periphery of the case 61. Has been. 4 and 5, the pin inner teeth 22 are shown not in cross section but in outer shape. The pin inner teeth 22 are arranged so that the longitudinal direction thereof is positioned parallel to the rotation center line P, and are arranged in a state of being fitted and attached to the pin grooves 55 at equal intervals on the inner periphery of the case 61. It is configured to mesh with the external teeth 31 of the external gear 28.

  Moreover, as the pin internal tooth 22, the 1st pin internal tooth 22a fitted and attached to the 1st pin groove | channel 55a, and the 2nd pin internal tooth 22b fitted and attached to the 2nd pin groove | channel 55b, Is provided. The same number of first pin inner teeth 22 a and second pin inner teeth 22 b are provided, and are arranged side by side on the same straight line parallel to the rotation center line P by being attached to the pin groove 55. The first pin internal teeth 22a are arranged to mesh with the external teeth 31 of the first external gear 28a, and the second pin internal teeth 22b are arranged to mesh with the external teeth 31 of the second external gear 28b (see FIG. 6). The first pin inner teeth 22 a are positioned at one end side with respect to a step portion formed on the inner periphery of the first case portion 61 a of the case 61 via a spacer 54. On the other hand, the second pin inner teeth 22b are positioned by directly abutting one end side thereof against the other end side of the first pin inner teeth 22a. The other end side of the second pin inner teeth 22b is positioned by directly abutting against one end side of a ball bearing 37 that rotatably holds the end carrier 26 with respect to the inner periphery of the case 61. (See FIG. 6). The end portion on the other end side of the first pin inner teeth 22 a and the end portion on the one end side of the second pin inner teeth 22 b are arranged at positions corresponding to the recesses 53 with respect to the inner periphery of the case 61. .

(Structure of the front reduction gear)
The front stage speed reduction unit 12 shown in FIG. 4 includes a single stage planetary gear mechanism and a spur gear 49 to which the rotational driving force from the motor 100 is transmitted, as in the first embodiment. Of these, the planetary gear mechanism includes a carrier 16 provided as a planetary frame, a plurality of planetary gears 17 that are rotated and held by the carrier 16 and meshed with gears on the outer periphery of the output shaft 100 a, and a ring gear 18 that meshes with the planetary gear 17. And a sun gear 62 to which the carrier 16 is connected. The spur gear 49 meshes with one end side of the sun gear 62 and is fixed to the end portion on the other end side of the crankshaft 56.

(Configuration of the rear stage deceleration unit)
FIG. 6 is an enlarged cross-sectional view showing the rear-stage deceleration unit 60 and its vicinity in FIG. 4 and FIG. 6 is operated and output by a rotational driving force that is input from the motor 100 and transmitted through the front-stage reduction unit 12, similarly to the rear-stage reduction unit 13 of the first embodiment. The rotation is transmitted to the shaft 14. The rear speed reduction unit 60 is similar to the rear speed reduction unit 13 in that it includes an outer shaft composed of a crankshaft 56, a base carrier 25, an end carrier 26, a support 57, a first external gear 28a, and a second external gear 28b. The tooth gear 28, the support bolt 58, the support pin 59, and the like are provided. However, the rear stage reduction unit 60 is different from the first embodiment in that the configuration of the crankshaft 56, the column 57, the column bolt 58, and the column pin 59, and the plate 39 and the intermediate bearing 41 are further provided. Yes.

  As in the first embodiment, a plurality of crankshafts 56 shown in FIGS. 4 and 6 (three in the present embodiment) are arranged at equal angular positions along the circumferential direction around the rotation center line P. It is arranged so that its axial direction is parallel to the rotation center line P. Each crankshaft 56 is disposed so as to pass through the crank hole 30 formed in each of the first external gear 28a and the second external gear 28b, and is rotated to rotate the first external gear 28a. The second external gear 28b is provided as a shaft member that rotates eccentrically. Further, each crankshaft 56 is arranged so as to also penetrate a crank plate hole 42 formed in a plate 39 described later. 4 and 6, the crankshaft 56 is shown not in cross section but in its outer shape.

  Further, the crankshaft 56 is provided with a first eccentric portion 56a, a second eccentric portion 56b, a first shaft portion 56c, a second shaft portion 56d, and an intermediate portion 56e, and the first shaft portion 56c and the first shaft portion 56c are provided. The eccentric portion 56a, the intermediate portion 56e, the second eccentric portion 56b, and the second shaft portion 56d are provided in series in this order. The first eccentric portion 56a and the second eccentric portion 56b are formed such that a cross section perpendicular to the axial direction is a circular cross section, and the center positions of the first eccentric portion 56a and the second eccentric portion 56b are the rotation center lines of the crankshaft 56 (the first shaft portion 56c and the second eccentric portion 56b). The center position of the second shaft portion 56d is provided so as to be eccentric. The first eccentric portion 56a is formed in the crank hole 30 with respect to the first external gear 28a, and the second eccentric portion 56b is formed in the crank hole 30 with respect to the second external gear 28b arranged in parallel with the first external gear 28a. The roller bearings 38 are rotatably held. The first shaft portion 56c is rotatably held by the base carrier 25 via the roller bearing 34, and the second shaft portion 56d is rotatably held by the end carrier 26 via the roller bearing 35. Further, the intermediate portion 56e disposed between the first eccentric portion 56a and the second eccentric portion 56b in the crankshaft 56 is formed such that a cross section perpendicular to the axial direction is a circular cross section, and its center position Is provided so as to coincide with the rotation center line of the crankshaft 56.

  As shown in FIGS. 4 and 6, the intermediate bearing 41 is disposed between the first external gear 28 a and the second external gear 28 b, and the first eccentric portion 56 a and the second eccentric shaft 56 are arranged with respect to the crankshaft 56. It arrange | positions between the eccentric parts 56b. The intermediate bearing 41 is provided as a roller bearing having needle rollers or cylindrical rollers, and is held in a crank plate hole 42 formed in a plate 39 described later via an outer ring 63 formed as a cylindrical member. Has been. And the intermediate bearing 41 is holding the intermediate part 56e of the crankshaft 56 rotatably in the inner side.

  As shown in FIGS. 4 and 6, the plate 39 is provided as a flat plate-like member having a circular outer periphery, and is disposed between the first external gear 28a and the second external gear 28b. Yes. As described above, the plate 39 is disposed such that the outer periphery thereof faces the inner periphery of the case 61 in the recess 53 formed so as to be recessed deeper than the pin groove 55. The plate 39 is disposed in a state where a gap is formed between the outer periphery of the plate 39 and the pin inner teeth 22 (that is, the pin inner teeth 22 face the outer periphery of the plate 39 via the gap. ing). The plate 39 is provided with a crank plate hole 42 formed as a circular hole at a position of an equal angle along the circumferential direction around the rotation center line P. The plate 39 holds the intermediate bearing 41 in the crank plate hole 42. Thereby, the crankshaft 56 is rotatably held by the intermediate portion 56e with respect to the plate 39 via the intermediate bearing 41.

  The pin internal teeth 22 are externally connected via a surface Q (virtual plane indicated by a two-dot chain line in FIG. 6) in which the center in the thickness direction of the plate 39 (direction parallel to the rotation center line P) is located. It arrange | positions so that the part which the gearwheel 28 contacts may be located symmetrically. That is, the portion of the first pin internal teeth 22a that contacts the external teeth 31 of the first external gear 28a and the portion of the second pin internal teeth 22b that contacts the external teeth 31 of the second external gear 28b contact the plate 39. The pin internal teeth 22 are arranged so as to be located symmetrically via the plane Q on which the center in the thickness direction is located. Here, the portions of the first pin internal teeth 22a and the second pin internal teeth 22b that are in contact with the first external gear 28a and the second external gear 28b are the first external gear 28a and the second external gear, respectively. Reference numeral 28b denotes a portion that contacts while rotating around the rotation center line P by one rotation.

  As shown in FIGS. 4 and 6, the base carrier 25 and the end carrier 26 are configured in the same manner as in the first embodiment. That is, the base carrier 25 formed integrally with the output shaft 14 holds the first shaft portion 56 c of the crankshaft 56 rotatably via the roller bearing 34, and the end carrier 26 is the second carrier of the crankshaft 56. The shaft portion 56d is rotatably held via the roller bearing 35. The base carrier 25 and the end carrier 26 are held rotatably with respect to the case 61 via roller bearings 36 and ball bearings 37, respectively.

  As shown in FIGS. 4 and 6, the column 57 is provided as a columnar portion that connects the base carrier 25 and the end carrier 26 via a plate 39. A plurality (three in this embodiment) of the support columns 57 are arranged at equal angular positions along the circumferential direction around the rotation center line P, and the axial directions thereof are parallel to the rotation center line P. Are arranged as follows. Further, the support columns 57 and the crankshaft 56 are alternately arranged along the circumferential direction around the rotation center line P.

  Each column 57 includes a base-side column part 57 a formed integrally with the base carrier 25 and an end-side column part 57 b formed integrally with the end carrier 26. The base side column part 57 a is provided on the other end side of the base carrier 25 so as to protrude toward the other end side. On the other hand, the end portion side column portion 57 b is provided so as to protrude toward one end side on one end side of the end carrier 26. In addition, the base-side column portion 57a and the end-side column portion 57b sandwich the thick portion 39a that is formed as a portion that is disposed radially outward in the plate 39 and is raised slightly thicker than the other portions ( Are held so as to be sandwiched). In addition, a concave portion is formed on the other end side of the base side column portion 57a and one end side of the end portion column portion 57b, and a protruding portion that engages with the concave portion is formed. Are formed in a protruding shape on one end side and the other end side of the thick portion 39a of the plate 39, respectively.

  As shown in FIGS. 4 and 6, a support pin 57 into which the support pin 59 is press-fitted is formed in the support 57 and the thick portion 39 a of the plate 39. The support pin hole 64 is formed as a hole that opens to the other end side of the end carrier 26 and extends from the end carrier 26 to the base carrier 25 through the support 57 and the plate 39. The support pin 59 is formed as a round bar (columnar) member that is press-fitted into the support pin hole 64. When the support pins 59 are press-fitted into the support pin holes 64, the circumferential positions of the base carrier 25 and the end carrier 26 are matched. In the present embodiment, two support pins 59 are arranged side by side along the radial direction of the eccentric speed reducer 2 for each support 57.

  In addition, in the thick portion 39 a of the support column 57 and the plate 39, a support bolt hole 65 into which the support bolt 58 is inserted is formed. The strut bolt hole 65 is provided as a hole that opens to the other end side of the end carrier 26, penetrates the end carrier 26 and the end side strut portion 57 b toward the one end side, and further includes the plate 39 and the base side strut portion. It is formed as a hole that extends through 57 a to the base carrier 25. A female screw portion is formed on the inner periphery of the portion arranged in the base carrier 25 and the base side column portion 57a in the column bolt hole 65.

  As shown in FIGS. 4 and 6, the column bolt 58 is provided with a screw portion 58a formed as a male screw portion on one end side and a head portion provided with a hexagon hole for tightening with a hexagon wrench or the like on the other end. On the side. The support bolt 58 is provided as a bolt member that joins the support 27 and the base carrier 25 by screwing, similarly to the support bolt 29 of the first embodiment. In this embodiment, one support bolt 58 is provided for each support 57. When connecting the base carrier 25 and the end carrier 26 by coupling with the column bolts 58, first, the column pins 59 are press-fitted into the column pin holes 64 and the base carrier 25 and the end carrier 26 via the plate 39. Alignment in the circumferential direction is performed. With this alignment, the support bolt 58 is inserted into the support bolt hole 65 from the other end of the end carrier 26. And the screw part 58a of the one end side of the support | pillar bolt 58 is screwed with the above-mentioned female screw part formed in the base carrier 25 in the support | pillar bolt hole 65 and the base side support | pillar part 57a. At this time, the head of the support bolt 58 engages with the other end of the end carrier 26 where the support bolt hole 65 opens. The base carrier 25, the plate 39, and the end carrier 26 are connected by the coupling by the support bolts 58.

  Further, the column bolt 58 is screwed into the base carrier 25 and the base-side column portion 57a, and a clamping force that connects the base carrier 25 and the end carrier 26 is generated, whereby the positioning member 44 fixed to the base carrier 25 is obtained. And the end carrier 26 sandwich the case 61 via the roller bearing 36 and the ball bearing 37. The end carrier 26 and the positioning member 44 sandwich the case 61 via the roller bearing 36 and the ball bearing 37, so that the base carrier 25 and the end carrier 26 are rotatably held with respect to the case 61. It will be. At this time, the first pin inner teeth 22 a and the second pin inner teeth 22 b are also positioned between the case 61 and the ball bearing 37.

(Eccentric reducer operation)
Next, the operation of the above-described eccentric speed reducer 2 will be described. The eccentric speed reducer 2 operates when the motor 100 is operated. When the operation of the motor 100 is started and the rotating shaft 100a of the motor 100 is rotated, the planetary gear 17 connected thereto rotates and revolves while meshing with the ring gear 18, whereby the carrier 16 rotates and the carrier 16 rotates. The sun gear 62 connected to is rotated. Then, each spur gear 49 that meshes with the sun gear 62 rotates.

  When each spur gear 49 rotates, each crankshaft 56 to which each spur gear 49 is fixed at the end on the other end side rotates, and the first eccentric portion 56a and the second eccentric portion 56b that rotate together with each crankshaft 56 first. A load acts on the external gear 28a and the second external gear 28b. The first external gear 28a and the second external gear 28b that are swung by this load are the first pin internal teeth 22a attached to the first pin groove 52a and the second pin internal gears attached to the second pin groove 52b. It rotates eccentrically while shifting the meshing of the external teeth 31 with respect to the teeth 22b. Then, along with the eccentric rotation of the first external gear 28a and the second external gear 28b, the roller bearing 38 rotates and holds the first external gear 28a and the second external gear 28b and the intermediate bearing 41 rotates the plate. The crankshaft 56 having the intermediate portion 56e rotated and held at 39 performs a revolution operation around the rotation center line P. As a result, the output shaft 14 rotates together with the base carrier 25, the plate 39, and the end carrier 26 that are connected by the support column 57 and the support column bolt 58 and rotatably hold the crankshaft 56, and a large torque is output from the pinion 101. Will be.

(Effect of eccentric type reduction gear)
According to the second embodiment described above, as in the first embodiment, a plurality of external gears 28 (first external gear 28a, second external gear 28b) and pin internal teeth 22 meshing with the external gears 28 are provided. In the eccentric type speed reducer 2 that is provided, easy processing of the pin internal teeth 22 can be realized. Further, according to the eccentric type speed reducer 2, the intermediate portion 56 e of the crankshaft 56 can be rotatably supported by the plate 39 via the intermediate bearing 41. Since there is a gap between the outer periphery of the plate 39 and the pin inner teeth 22, even when the eccentric speed reducer 2 operates and the plate 39 rotates together with the base carrier 25 and the end carrier 26, The pin inner teeth 22 do not slide to cause wear of the member or decrease in driving efficiency. When the eccentric type reduction gear 2 is assembled, after the unitized first external gear 28a and the second external gear 28b are inserted into the case 61, the first external gear 28a and the second external gear 28a are inserted. The first pin inner teeth 22a and the second pin inner teeth 22b can be arranged in the case 61 so as to match the outer teeth 31 of the gear 28b. Therefore, according to the present embodiment, unlike the eccentric speed reducer provided with the intermediate bearing member disclosed in Patent Document 2, in the eccentric speed reducer 2 in which the intermediate portion 56e of the crankshaft 56 is rotatably supported. In addition to realizing easy processing of the pin inner teeth 22, it is possible to prevent wear of members, deterioration of drive efficiency and assemblability.

  Further, according to the eccentric speed reducer 2, the portion of the first pin internal teeth 22 a that contacts the first external gear 28 a and the portion of the second pin internal teeth 22 b that contact the second external gear 28 b contact the plate 39. The first pin inner teeth 22a and the second pin inner teeth 22b are arranged on the inner circumference of the case 61 so as to be located symmetrically via the surface Q on which the thickness center is located. For this reason, during the operation of the eccentric speed reducer 2, the sliding state caused by the meshing of the first pin internal teeth 22a with the first external gear 28a and the second external gear 28b of the second pin internal teeth 22b. The sliding state caused by the meshing with is an equal state or a state close to equality. Therefore, it is possible to suppress the occurrence of wear in the first pin inner teeth 22a and the second pin inner teeth 22b and the occurrence of uneven wear in either the first pin inner teeth 22a or the second pin inner teeth 22b. . Thereby, the durable years of the 1st pin internal tooth 22a and the 2nd pin internal tooth 22b can be made substantially the same, and the maintenance and improvement of the durability of the eccentric type reduction gear 2 can be aimed at efficiently.

  Further, according to the eccentric speed reducer 2, at the position where the outer periphery of the plate 39 faces the inner periphery of the case 61 in which the pin groove 55 is formed, it is the same depth as the pin groove 55 or deeper than the depth of the pin groove 55. A recess 53 is formed over the entire circumference. And the one end side of the 2nd pin internal tooth 22b is positioned in the position corresponding to the recessed part 53 with respect to the other end side of the 1st pin internal tooth 22a. For this reason, the first pin inner teeth 22a and the second pin inner teeth 22b are attached to the pin grooves 55 without interfering with portions other than the pin grooves 55 with respect to the inner periphery of the case 61, and the first pin inner teeth 22a are attached to the first pin inner teeth 22a. The positioning of the second pin internal teeth 22b is also performed. Thereby, even if it is the eccentric type reduction gear 2 provided with the plate 39, when performing the assembly operation | work which attaches so that the 1st pin internal tooth 22a and the 2nd pin internal tooth 22b may be fitted in the pin groove 55, a pin The range in which the groove 55 and the pin inner teeth 22 slide is reduced, the assembling work can be facilitated and the assembling work time can be shortened, and the assembling work efficiency can be improved.

[Modification]
The first and second embodiments of the eccentric type speed reducer according to the present invention have been described above. However, the present invention is not limited to the above-described embodiments, and various modifications can be made as long as they are described in the claims. Can be implemented. For example, the following modifications can be implemented.

(1) In the first and second embodiments, the eccentric type reduction gears in which the crankshaft is arranged along the circumferential direction around the rotation center line have been described as an example, but this need not be the case, The present invention can also be applied to a center crank type eccentric speed reducer in which the crankshaft is disposed on the rotation center line. In this case, a plurality of guide crankshafts are arranged along the circumferential direction centering on the rotation center line on which the crankshaft is arranged, and the guide crankshaft rotates with the rotation of the external gear accompanying the rotation of the crankshaft (autorotation). ), The eccentric speed reducer that rotates the base carrier and the end carrier can be configured.

(2) In the first and second embodiments, the eccentric type reduction gear that is fixed by being provided integrally with the base carrier has been described as an example, but this need not be the case, The present invention can also be applied to an eccentric type reduction gear in which the output shaft is provided as a separate member from the base carrier and is fixed to the base carrier.

(3) In the first and second embodiments, the column is described as an example in which the support is formed integrally with the base carrier or the base carrier and the end carrier, but this need not be the case. For example, it may be an eccentric reduction gear that is formed as a separate member from the base carrier and the end carrier, and is provided with a column that connects the base carrier and the end carrier.

(4) In the first and second embodiments, the external gear has been described as an example in which only the two external gears of the first external gear and the second external gear are provided. It may not be a street and may be an eccentric type reduction gear provided with three or more external gears. When three or more external gears are provided, the first pin internal teeth and the second pin internal teeth may be provided so as to mesh over a plurality of external gears. Further, when three or more external gears are provided, an eccentric type reduction gear provided with two or more intermediate bearings and plates can be formed. In this case, a plurality of recesses deeper than the pin grooves are also provided. A plurality of plates can be provided corresponding to the plates.

(5) Moreover, the eccentric type reduction gear provided with five or more crankshafts and support | pillars may be sufficient. In the first and second embodiments, the case where the one end side of the first pin inner teeth is positioned with respect to the case via the spacer has been described as an example. However, this need not be the case, and the spacer is arranged. Instead, one end side of the first pin internal teeth may be positioned in direct contact with the case. Further, one end side of the second pin internal teeth may be positioned on the other end side of the first pin internal teeth via a spacer. Further, the other end side of the second pin internal teeth may be positioned with respect to the bearing via a spacer.

  INDUSTRIAL APPLICABILITY The present invention can be widely applied as an eccentric type speed reducer in which pin internal teeth are arranged on the inner periphery of a case and an external gear rotates eccentrically while meshing with pin internal teeth as the crankshaft rotates. is there.

It is sectional drawing of the eccentric type reduction gear which concerns on 1st Embodiment of this invention. It is sectional drawing which expands and shows a part of case in the eccentric reduction gear shown in FIG. It is sectional drawing which expands and shows the back | latter stage deceleration part and its vicinity in the eccentric type reduction gear shown in FIG. It is sectional drawing of the eccentric type reduction gear which concerns on 2nd Embodiment of this invention. It is sectional drawing which expands and shows a part of case in the eccentric type reduction gear shown in FIG. It is sectional drawing which expands and shows the back | latter stage deceleration part and its vicinity in the eccentric type reduction gear shown in FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Eccentric reducer 11 Case 14 Output shaft 22 Pin internal tooth 22a 1st pin internal tooth 22b 2nd pin internal tooth 23 Crankshaft 25 Base carrier 26 End carrier 27 Support | pillar 28a 1st external gear 28b 2nd external gear 30 Crank hole 31 External tooth 101 Pinion

Claims (6)

Case and
A plurality of pin internal teeth disposed on the inner periphery of the case and formed as a pin-shaped member;
A first external gear and a second external gear, which are housed in the case and have external teeth meshing with the pin internal teeth on the outer periphery;
A crankshaft that passes through a hole for a crank formed in the first external gear and the second external gear and rotates the first external gear and the second external gear eccentrically by rotating. ,
A base carrier for rotatably holding one end side of the crankshaft;
An end carrier for rotatably holding the other end of the crankshaft;
A strut connecting the base carrier and the end carrier;
An output shaft fixed to the base carrier and to which a pinion is attached;
An eccentric speed reducer with
As the pin internal teeth, at least a first pin internal tooth that meshes with an external tooth of the first external gear, and at least a second pin internal tooth that meshes with an external tooth of the second external gear,
One end side of the first pin internal teeth is positioned with respect to the case, and one end side of the second pin internal teeth is positioned with respect to the other end side of the first pin internal teeth. Eccentric reducer. The eccentric speed reducer according to claim 1,
An eccentric type speed reducer characterized in that the other end side of the second pin inner teeth is positioned with respect to one end side of a bearing that holds the end carrier rotatably with respect to the inner periphery of the case. The eccentric speed reducer according to claim 1 or 2,
An intermediate bearing disposed between the first external gear and the second external gear and rotatably holding an intermediate portion of the crankshaft;
A plate that holds the intermediate bearing and is disposed between the first external gear and the second external gear;
Further comprising
The eccentric internal speed reducer, wherein the pin internal teeth are opposed to the outer periphery of the plate via a gap. The eccentric speed reducer according to claim 3,
In the pin internal teeth, a portion in the thickness direction of the plate is a portion where the first external gear contacts the first pin internal teeth and a portion where the second external gear contacts the second pin internal teeth. An eccentric type speed reducer, characterized in that it is arranged so as to be located symmetrically through a plane on which is located. The eccentric speed reducer according to claim 3 or 4,
In the inner periphery of the case, a pin groove in which the pin inner teeth are arranged, and a pin that is recessed at the same depth as the pin groove over the entire periphery at a position facing the outer periphery of the plate or the pin A recess formed to be recessed deeper than the depth of the groove,
An end portion on the other end side of the first pin internal teeth and an end portion on the one end side of the second pin internal teeth are disposed at positions corresponding to the recesses with respect to the inner periphery of the case. Eccentric reducer. An eccentric type speed reducer according to any one of claims 1 to 5,
The first type pin internal teeth and the second pin internal teeth are arranged side by side on the same straight line, and the same number is provided.

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