JP2011089542A - Planetary gear device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To ensure a large space in a center part in the radial direction of a planetary gear device without wastefully increasing the dimension in the radial direction of the entire planetary gear device. <P>SOLUTION: An inner pin (a pin member) 60 which is projected from a carrier flange 62 to penetrate outer gears 51, 53 is integrated with the carrier flange 62. An outermost circumferential part 60A of the inner pin 60 is located on the outer side in the radial direction from inner ring side rolling surfaces 62a, 62b of a cross roller bearing (a main bearing) 66 for supporting the carrier flange 62 by a casing 70 or a minimum diameter part 62 of their extension face. <P>COPYRIGHT: (C)2011,JPO&amp;INPIT

Description

  The present invention relates to a planetary gear device.

  For example, Patent Document 1 discloses a planetary gear reduction device having a hollow portion as shown in FIG.

  The planetary gear reduction device 10 includes three external gears 11 to 13 and an internal gear 14 with which the external gears 11 to 13 are internally meshed, and the external gears 11 to 13 and the internal gear 14. The relative rotation component is taken out as an output. A hollow portion 10 </ b> H that penetrates the device 10 in the axial direction is formed in the center portion in the radial direction of the planetary gear reduction device 10. The hollow portion 10H is passed through a motor power cable, various control cables and the like (not shown).

  Inner pin holes 11A to 13A are respectively formed through the external gears 11 to 13, and the inner roller 20 and the inner pin 22 are loosely fitted into the inner pin holes 11A to 13A. First and second carrier flanges 24 and 26 are arranged on both sides in the axial direction of the external gears 11 to 13, and are connected by a connecting bolt 28 via an inner pin 22. The first and second carrier flanges 24 and 26 are supported on the casing 34 by first and second main bearings 30 and 32.

  When the input shaft 16 is rotated by the motor, the eccentric bodies 17 to 19 integrally formed on the outer periphery of the input shaft 16 are rotated. Since the outer circumferences of the eccentric bodies 17 to 19 are eccentric with respect to the axis of the input shaft 16, the eccentric body bearings (rollers) 35 to 35 incorporated in the outer circumferences of the eccentric bodies 17 to 19 when the input shaft 16 rotates once. The external gears 11 to 13 swing and rotate through 37. As a result, the meshing positions of the internal gear 14 and the external gears 11 to 13 are sequentially shifted in the circumferential direction, and the external gears 11 to 13 correspond to the difference in the number of teeth of the two gears with respect to the internal gear 14. Rotate relatively as much as you can.

  This relative rotation is taken out from the first and second carrier flanges 24 and 26 via the inner pin 22 and the inner roller 20. As a result, a reduction with a large reduction ratio corresponding to (the number of teeth difference between the internal gear 14 and the external gears 11 to 13) / (the number of teeth of the external gears 11 to 13) can be realized in one stage. .

JP 2006-292065 A (FIG. 1)

  In this type of planetary gear reduction device 10, there is a demand for ensuring as large a space as possible in the central portion in the radial direction of the device. For example, there is a demand to make the inner diameter of the hollow portion 10H as large as possible by using the space, or an eccentric body in order to ensure stable oscillation and rotation of the external gear for a long period of time. This is because there is often a demand for making the pitch circle diameter of the bearings 35 to 37 as large as possible.

  However, since there is a dimensional constraint in the radial direction due to the presence of the inner pin 22, it is not possible to secure a large space in the central portion in the radial direction of the planetary gear device of this type of structure (without increasing the size of the device itself). It was very difficult.

  The present invention has been made to solve such a conventional problem, and as much space as possible is secured in the central portion in the radial direction of the device without increasing the radial dimension of the entire planetary gear device. It is an object of the present invention to provide a planetary gear device that can be used.

  The present invention provides a planetary gear device comprising a planetary gear and an internal gear with which the planetary gear internally meshes, and a carrier flange serving as an output member or a fixing member on at least one side in the axial direction of the planetary gear. A pin member protruding from the carrier flange and penetrating the planetary gear is formed integrally with the carrier flange, and an outermost peripheral portion of the pin member is a roller of a main bearing for supporting the carrier flange on the casing. The above-described problem is solved by adopting a configuration that is located radially outside the minimum diameter portion of the inner ring-side rolling surface of the moving body or its extended surface.

  Here, “the outermost peripheral portion of the pin member” means “the portion of the pin member that is farthest away from the axis of the planetary gear device (the center of the main bearing: the axis Og in the example described later). ". The “minimum diameter portion of the rolling surface or its extended surface” means “the rolling surface of the rolling element of the main bearing formed on the carrier flange” or “the tool used when forming the rolling surface”. This means that the portion of the surface formed by extending the rolling surface for the purpose of securing a space for escape, etc., is located on the innermost radial direction.

  According to the present invention, a detailed examination is made on the strength of the casing, the carrier flange, and the pin member (inner pin in the previous conventional example), which has been conventionally considered difficult to make thinner or smaller. As a result, first, a pin member that penetrates the planetary gear is formed integrally with the carrier flange, and the radial positional relationship between the main bearing and the pin member is reversed from the conventional one. It comprised so that it might be located in the radial direction outer side from the minimum diameter part of a rolling surface or its extension surface.

  According to the present invention, the pin member tends to be further away from the center in the radial direction of the device (the pitch circle becomes larger). For this reason, the pin member strength is increased while securing a large space in the central portion in the radial direction of the device. It can be secured. If necessary, the outer diameter of the pin member itself can be increased.

  In this case, if an attempt is made to maintain the same casing outer diameter as in the prior art, the thickness of the casing at the position corresponding to the outside of the internal gear tends to be thin. However, since the component in the device radial direction of the meshing reaction force generated when the external gear is inscribed in the internal gear is relatively small, even if the thickness of the casing corresponding to the outside of the internal gear is somewhat thin , Less likely to be a problem.

  On the other hand, the main bearing is disposed at a position farther from the outer peripheral portion of the casing (relative to the pin member), and the casing thickness at a position corresponding to the outer side of the main bearing can be ensured to be larger than the conventional one. It becomes a trend. This trend tends to be very good qualitatively because the casing in the position corresponding to the outside of the main bearing needs to support the strong radial torque of the carrier flange with enhanced torque, which requires high rigidity. It becomes.

  These qualitative tendencies make it easier to secure a larger space in the center of the device in the radial direction, and make a more rational design with regard to the dimensions of the members and the thickness of the casing, such as pin members, which are problematic in strength. This makes it easy to greatly increase the degree of freedom in design according to the application.

  ADVANTAGE OF THE INVENTION According to this invention, the planetary gear apparatus which can ensure a large space in the radial direction center part of an apparatus can be provided, without increasing the radial direction dimension of the whole planetary gear apparatus suddenly.

  From the viewpoint of design freedom, for example, while securing a central space of the same size, the dimensions of other members such as pin members are made larger, and transmission in this part is made accordingly. It can also be understood that the capacity, strength, rigidity, life, etc. can be increased.

Sectional drawing of the planetary gear speed reducer which concerns on an example of embodiment of this invention. Sectional drawing equivalent to FIG. 1 which shows the example of other embodiment of this invention Sectional drawing equivalent to FIG. 1 which shows the example of other embodiment of this invention Sectional drawing equivalent to FIG. 1 which shows the example of other embodiment of this invention Sectional drawing equivalent to FIG. 1 which shows the example of other embodiment of this invention Sectional drawing equivalent to FIG. 1 which shows the example of other embodiment of this invention Partial sectional view showing an example of a conventional planetary gear reduction device

  Hereinafter, an example of an embodiment of the present invention will be described in detail based on the drawings.

  FIG. 1 is a cross-sectional view showing a planetary gear reduction device according to an example of an embodiment of the present invention.

  The planetary gear speed reduction device 40 has a hollow portion 40H that penetrates the device 40 in the axial direction (through the axis Og of the device 40) in a space in the central portion in the radial direction. The planetary gear reduction device 40 includes an input shaft (high-speed shaft) 42, two eccentric bodies 44 and 46, two rollers 47 and 48, two external gears (planetary gears) 51 and 53, and an external gear 51. , 53 are provided with an internal gear 56 that meshes inwardly. By swinging the external gears 51, 53, the relative rotational component between the external gears 51, 53 and the internal gear 56 is extracted as an output via the internal pin (pin member) 60 and the carrier flange 62. ing.

  In this embodiment, the internal teeth of the internal gear 56 are constituted by cylindrical outer pins 56A. The outer pin 56A is rotatably incorporated in the groove 56C of the internal gear main body 56B. The number of internal teeth of the internal gear 56 (the number of external pins 56A) is one more than the number of external teeth of the external gears 51 and 53.

  A carrier flange 62 is disposed on one axial side of the external gears 51 and 53 (left side in FIG. 1). Inner pin holes 51A and 53A are formed through the external gears 51 and 53, respectively. On the other hand, the inner pin (pin member) 60 formed integrally with the carrier flange 62 protrudes from the carrier flange 62 in a cantilevered state, and is loosened in the inner pin holes 51A and 53A of the external gears 51 and 53. It is fitted (fitted with a gap). An inner roller 58 is slidably placed on the outer periphery of the inner pin 60.

  The carrier flange 62 is rotatably supported by the casing 70 of the planetary gear reduction device 40 via a cross roller bearing (main bearing) 66.

  The casing 70 includes a bearing casing body 70 </ b> A, a speed reduction portion casing body 70 </ b> B, and a cover casing body 70 </ b> C, and is connected and integrated by bolts 74. The bearing casing body 70 </ b> A is disposed at a position corresponding to the outside of the cross roller bearing 66 and supports the cross roller bearing 66. The bearing casing body 70A includes first and second bearing casing portions 70A1 and 70A2 that are divided into two in the axial direction in order to facilitate the assembly of the rollers (rolling elements) 72 of the cross roller bearing 66. . The speed reduction part casing body 70B is disposed at a position corresponding to the outside of the internal gear 56, and is integrated with the main body 56B of the internal gear 56, and accommodates the speed reduction part of the planetary gear speed reduction device 40. The cover casing body 70 </ b> C covers and protects the axial side surface of the planetary gear reduction device 40.

  In this embodiment, the cross roller bearing 66 does not have an inner ring. That is, the carrier flange 62 also serves as the inner ring of the cross roller bearing 66. Inner ring side rolling surfaces (inner ring side rolling surfaces of the rolling elements of the main bearing) 62 a and 62 b are directly formed on the outer periphery of the carrier flange 62.

  In this embodiment, the cross roller bearing 66 does not have an outer ring. That is, the bearing casing body 70A (first and second bearing casing portions 70A1 and 70A2) also serves as an outer ring of the cross roller bearing 66. Outer ring side rolling surfaces 70A1a and 70A2a of the rollers (rolling elements) 72 of the cross roller bearing 66 are directly formed on the inner circumferences of the first and second bearing casing portions 70A1 and 70A2, respectively.

  The roller 72 of the cross roller bearing 66 has a cylindrical shape whose diameter is slightly smaller than the height, and is inclined 90 degrees every other (alternately) between the inner ring side rolling surface 62a and the outer ring side rolling surface 70A2a, and The inner ring side rolling surface 62b and the outer ring side rolling surface 70A1a are disposed respectively.

  The input shaft (high speed shaft) 42 is supported by a ball bearing 43 and a carrier flange 62. The ball bearing 43 is disposed at a position where the ball 43A as a rolling element overlaps the roller 72 of the cross roller bearing 66 in the axial direction (position having a common axial coordinate).

  As described above, the inner pin (pin member) 60 is formed integrally with the carrier flange 62. The outermost peripheral portion of the inner pin 60 (the portion farthest away from the inner pin 60 when viewed from the axis (= center of the main bearing) Og of the planetary gear speed reduction device 40) 60A is the inner raceway rolling surfaces 62a, 62b. More specifically, it is located on the radially outer side of the minimum diameter portion 62c of the inner ring-side rolling surfaces 62a and 62b formed as tool flank surfaces. That is, the radius (the pin member outermost peripheral diameter) R3 of the outermost peripheral portion 60A of the inner pin 60 (the pin member outermost peripheral diameter R3) is larger than the radius (the rolling surface minimum diameter portion diameter) R2 of the minimum diameter portion 62c. > Minimum diameter part diameter R2). In this embodiment, a cross roller bearing 66 is adopted as the main bearing, and the diameter R8 of the inner ring side rolling surface 62b on the inner pin 60 side of the inner ring side rolling surfaces 62a and 62b is a pin member. As it approaches 60, it becomes larger. This configuration has great manufacturing significance (described later).

  Further, the radius (inner tooth tip circle diameter) R1 of the tip circle of the internal gear 56 (a circle connecting the inner ends of the respective outer pins 56A) R1 of the roller 72 of the cross roller bearing 66 (arrangement from the axis Og) It is larger than the radius of the pitch circle (roller pitch circle diameter) R4 (corresponding to the distance) (internal tooth tip circle diameter R1> roller pitch circle diameter R4). Further, the roller pitch circle diameter R4 of the cross roller bearing 66 is larger than the pitch circle radius (pin member pitch circle diameter) R5 of the inner pin 60 (roller pitch circle diameter R4> pin member pitch circle diameter R5). That is, internal tooth tip circle diameter R1> roller pitch circle diameter R4> pin member pitch circle diameter R5.

  The outer peripheral diameter Ro of the casing 70 is set to the same radius Ro except for the protrusions partially formed in the axial direction so as to allow the bolts 74 connecting the casing bodies 70A to 70C to pass therethrough. . That is, the outer periphery radius (reduction portion casing body diameter) Ro of the reduction gear casing body 70B at the position corresponding to the outer side of the internal gear 56 is the outer peripheral radius (bearing casing) of the bearing casing body 70A at the position corresponding to the outer side of the cross roller bearing 66. Body diameter) (both are radius Ro).

  Note that the positioning of each member will be described briefly. The external gears 51 and 53 are provided with overhang portions 51B, 51C, 53B, and 53C for positioning in the axial direction, respectively. The position restriction (positioning) of the external gear 51 in the left direction in the drawing is performed by the contact between the projecting portion 51 </ b> A of the external gear 51 and the carrier flange 62. The positioning of the external gears 51 and 53 is performed by contact with the overhanging portions 51B and 53A. Positioning of the external gear 53 in the right direction in the drawing is performed by contact between the overhanging portion 53B and a positioning plate 76 provided in contact with the cover casing body 70C.

  Further, the position restriction (positioning) of the outer pin 56A, which is the inner tooth of the internal gear 56, with respect to the left direction in the figure is the second bearing casing portion 70A2 of the bearing casing body 70A (the casing integrated with the outer ring of the main bearing). It is made by abutting.

  Next, the operation of the planetary gear reduction device 40 will be described.

  When the input shaft 42 is rotated by a motor (not shown), the eccentric bodies 44 and 46 integrally formed on the outer periphery of the input shaft 42 are rotated. Since the outer circumferences of the eccentric bodies 44 and 46 are eccentric with respect to the axis Og of the input shaft 42, when the input shaft 42 rotates, the eccentric bodies 44 and 46 are incorporated into the outer circumferences of the eccentric bodies 44 and 46 via rollers 47 and 48. The external gears 51 and 53 rotate and rotate. As a result, the meshing positions of the internal gear 56 and the external gears 51 and 53 are sequentially shifted in the circumferential direction, and the external gears 51 and 53 correspond to the difference in the number of teeth of both gears with respect to the internal gear 56. Rotate relatively as much as you can.

  The relative rotation of the external gears 51 and 53 with respect to the internal gear 56 is taken out from the carrier flange 62 via the internal pins 60 and the internal rollers 58 that pass through the external gears 51 and 53. As a result, a reduction with a large reduction ratio corresponding to (the number of teeth difference between the internal gear 56 and the external gears 51 and 53) / (the number of teeth of the external gears 51 and 53) can be realized in one stage. The swinging components of the external gears 51 and 53 are absorbed by loose fit between the inner pin holes 51A and 53A and the inner pin 60 (inner roller 58).

  Here, in this embodiment, the pin member outermost periphery diameter R3 is configured to be larger than the rolling surface minimum diameter portion diameter R2 of the cross roller bearing 66 (outside in the radial direction). For this reason, the inner pin 60 is further away from the axis Og of the hollow portion 40H (the pin member pitch circle diameter R5 is made larger: a larger space is secured in the central portion in the radial direction of the planetary gear reduction device 40). As a result, the inner diameter D3 of the hollow portion 40H can be increased. Further, if necessary, the qualitative tendency can be used to increase the radius R6 of the inner pin 60 itself so as to increase the strength.

  When the outermost peripheral diameter R3 of the pin member is increased, the thickness D1 in the radial direction of the speed reduction unit casing body 70B at a position corresponding to the outer side of the internal gear 56 tends to decrease (if the speed reduction unit casing diameter Ro is the same as the conventional one). However, since the component in the device radial direction of the meshing reaction force generated when the external gears 51 and 53 are inscribed in the internal gear 56 is relatively small, the thickness D1 of the speed reduction portion casing body 70B is somewhat reduced. However, it is hardly a problem.

  On the other hand, since the pin member outermost peripheral diameter R3 is configured to be larger than the rolling surface minimum diameter portion diameter R2 of the cross roller bearing 66, the cross roller bearing 66 has a bearing casing body diameter Ro that is the same as the conventional one. If it is the same, it will be arranged at a position further away from the outer periphery of the bearing casing body 70A. That is, the radial thickness D4 of the bearing casing body 70A can be secured larger than the thickness D1 of the speed reduction portion casing body 70B at a position corresponding to the outside of the internal gear 56. Since this bearing casing body 70A needs to firmly support the strong radial torque of the carrier flange 62 with increased torque, it requires high rigidity. Therefore, the thickness D1 of the speed reduction portion casing body 70B and the bearing casing body are required. The magnitude relationship with the thickness D4 of 70A has a very good effect qualitatively.

  Further, the carrier flange 62 and the inner pin 60 are integrated, and the inner ring of the cross roller bearing 66 is integrally formed with the carrier flange 62. For this reason, even if the outermost peripheral radius (pin member outermost peripheral diameter) R3 of the inner pin 60 is configured to be larger than the rolling surface minimum diameter portion diameter R2 of the cross roller bearing 66, the inner pin The strength near the root of 60 can be properly maintained. In particular, in this embodiment, the roller pitch circle diameter R4 of the cross roller bearing 66 is set larger than the pitch circle diameter R5 of the inner pin 60, so that the strength in the vicinity of the root of the inner pin 60 is further ensured. Has been.

  Moreover, in this embodiment, since the diameter R8 of the inner ring side rolling surface 62b on the inner pin 60 side of the cross roller bearing 66 becomes larger as the pin member 60 is approached, the following manufacturing advantages are obtained. Is obtained. That is, for example, a conventional configuration (as shown in FIG. 7), that is, a structure in which the diameter (R20) of the inner ring side rolling surface (24A) of the main bearing becomes smaller as it approaches the pin member (22). If so, simply trying to realize a configuration in which the outermost peripheral portion of the pin member (22) is larger than the inner ring side rolling surface (which is a part of the present invention), the inner ring side rolling is performed. A stepped portion is formed between the surface (24A) and the outermost peripheral portion of the pin member (22). For this reason, a grindstone collides with the stepped portion, which causes a problem that the inner ring-side rolling surface cannot be ground well to the end. In order to avoid this problem, for example, an unnecessary inner ring-side rolling surface must be formed in the axial direction as much as the grinding wheel escapes, so that the axial length of the apparatus increases unnecessarily. It will be. Returning to FIG. 1, in this embodiment, the diameter R8 of the inner ring-side rolling surface 62b on the inner pin 60 side of the cross roller bearing 66 becomes larger as it approaches the inner pin 60, and as a result, A terminal end 62b1 of the inner ring-side rolling surface 62b is larger than the outermost peripheral portion 60A of the inner pin 60 (positioned radially outward from the outermost peripheral portion 60A). Therefore, it is possible to completely avoid the problem of grindstone escape (unless the inner ring is integrally formed and the outermost peripheral portion 60A of the inner pin 60 is larger than the inner ring-side rolling surfaces 62a, 62b). The inner ring-side rolling surface 62b can be efficiently ground with the shortest axial length without forming a running extension surface.

  In this embodiment, for example, the internal tooth tip circle diameter R1 of the internal gear 56 can be designed to be larger than the roller pitch circle diameter R4 of the cross roller bearing 66. This means that the pitch circle diameter (arrangement distance from the axis Og) R7 of the outer pin 56A is large, which contributes effectively to higher meshing strength.

  Further, in this embodiment, since the cross roller bearing 66 is adopted as the main bearing, the carrier flange 62 can be supported in both thrust and radial directions by a single flange, and the carrier flange 62 is externally connected. Even when the gears 51 and 53 exist only on one side in the axial direction, that is, even when the inner pin 60 is supported by the carrier flange 62 in a cantilever state, the inner pin 60 can be favorably supported.

  In particular, in this embodiment, a ball bearing 43 supporting an input shaft (high-speed shaft) 42 is supported by the carrier flange 62, and a ball (rolling element) 43A of the ball bearing 43 is a cross roller bearing. It is arranged at a position overlapping with 66 rollers 72 in the axial direction (a position having a common axial coordinate). As a result, the carrier flange 62 can be supported so as to be held substantially “on the same plane” by the roller 72 of the cross roller bearing 66 and the ball 43 </ b> A of the ball bearing 43. In addition to the ball bearing 43, the input shaft 42 is constituted by a “huge pseudo bearing” composed of the eccentric bodies 44 and 46, rollers 47 and 48, the external gears 51 and 53, and the internal gear 56. Therefore, the position of the ball bearing 43 does not necessarily have to be this position. However, according to this configuration, the carrier flange 62 is rotated around the cross roller bearing 66 by the support stress of the ball bearing 43 with respect to the cross roller bearing 66 (which can receive loads in both thrust and radial directions). A state where no moment is generated. For this reason, the carrier flange 62 can be supported in a more stable state, and the external gear 51 in the speed reduction portion, although the inner pin 60 extends from the carrier flange 62 in a cantilever state. The swing of 53 can be performed extremely stably.

  In the present embodiment, as a result of these configurations, the radial dimension of the planetary gear reduction device 40 (= bearing casing body diameter = reduction portion casing body diameter) Ro is not increased, and the cross roller bearing 66 and the inner pin are increased. 60, while maintaining (or rather enhancing) the strength of the outer pin 56A and the like, a large space can be secured in the central portion in the radial direction of the apparatus, and as a result, the inner diameter D3 of the hollow portion 40H (from the conventional size) can be secured. Can be designed large.

  Various variations are possible in the present invention.

  For example, even when a so-called four-point support ball bearing 166 is adopted instead of the cross roller bearing as in the planetary gear reduction device 140 shown in FIG. 2, the four-point support ball bearing 166 disposed only at one place is used. The carrier flange 162 can be supported in both thrust and radial directions. The inner pin 160 is formed integrally with the carrier flange 162, and the inner ring side rolling surfaces 162 a and 162 b of the four-point support ball bearing 166 are directly formed on the carrier flange 162. For the sake of convenience, the reference numerals for the radius, outer diameter, etc. are given the same reference numerals for the same qualitative portion with priority given to easy understanding. The member outermost peripheral diameter R3 is larger than the radius (rolling surface minimum diameter portion diameter) R2 of the minimum diameter portion 162c of the extended surface of the inner ring side rolling surfaces 162a and 162b of the four-point support ball bearing 166.

  As a result, the inner pin 160 is supported in a cantilevered manner on the carrier flange 162 that exists only on one side in the axial direction of the external gears 151 and 153, as in the case of using the cross roller bearing 66 of the above embodiment. However, the carrier flange 162 integrated with the inner pin 160 can be favorably supported while ensuring a large radius D3 of the hollow portion 140H.

  2 is the same as that of the previous embodiment shown in FIG. 1, and therefore, in FIG. 2, there are two lower digits in the part having the same or similar function as FIG. A duplicate description is omitted by giving a common reference numeral. As described above, the same qualitative portion dimensions are denoted by the same reference numerals for the radius and outer diameter. Therefore, it does not necessarily mean that the absolute dimensions are the same in each embodiment. The same applies to other embodiments to be introduced.

  The planetary gear speed reduction device 240 shown in FIG. 3 uses a pair of angular ball bearings 266 and 267 as the main bearings on the back side. The inner pin 260 is formed integrally with the carrier flange 262, and the inner ring-side rolling surface 262 b of the angular ball bearing 266 is directly formed on the carrier flange 262. In this embodiment, the angular ball bearing 267 is supported by a carrier flange body 262A constituting a part of the carrier flange 262 by being bolted to the carrier flange 262.

  In this embodiment, the extension surfaces 262C of the inner ring-side rolling surfaces 262b, 262a of the angular ball bearings 266, 267 are substantially parallel to the axis Og, and the extension surface 262C is the inner ring-side rolling of the angular ball bearings 266, 267. The minimum diameter part of the surface 262b, 262a is comprised. The diameter of the extended surface (minimum diameter portion) 262C is R2. The pin member outermost peripheral diameter R3 is formed larger than the rolling surface minimum diameter portion diameter R2, and the same effects as those of the previous embodiment are obtained.

  In this embodiment as well, the diameter R8 of the inner ring-side rolling surface 262b of the angular ball bearing 266 on the inner pin 260 side becomes larger as it approaches the inner pin 260, and as a result, the inner ring-side rolling The end 262b1 of the running surface 262b is larger than the outermost peripheral portion 260A of the inner pin 260 (positioned radially outward from the outermost peripheral portion 260A). Therefore, the problem of wheel escape can be completely avoided (although the inner ring is integrally formed and the outermost peripheral portion 260A of the inner pin 260 is larger than the inner ring-side rolling surface 262b), and unnecessary rolling extension is achieved. The inner ring-side rolling surface 262b can be efficiently ground with the shortest axial length without forming a surface.

  In the planetary gear speed reduction device 340 shown in FIG. 4, the second carrier flange 363 is arranged on the opposite side of the (first) carrier flange 362 in the axial direction of the external gears 351 and 353. A pair of angular rollers using the same roller 372 as the roller 72 of the cross roller bearing 66 used in the embodiment of FIG. 1 and the same bearing casing body 370A (incorporated with the left and right reversed). Bearings (main bearings) 366 and 367 are formed, and the two carrier flanges 362 and 363 are respectively supported by front-to-front (possibly back-to-back). As a result, the inner pin 360 integrally formed with the first carrier flange 362 can be supported at both ends by the bolts 381 tightened from the second carrier flange 363. Inner ring side rolling surfaces 362a and 362b of the angular roller bearing 366 are directly formed on the first carrier flange 362, and inner ring side rolling surfaces 363a and 363b of the angular roller bearing 367 are also directly formed on the second carrier flange 363. Has been.

  Also in this embodiment, the pin member outermost peripheral diameter R3 is formed larger than the rolling surface minimum diameter portion diameter R2, and the same effect as the previous embodiment can be obtained. In this embodiment, as for the bearing casing body 370A, the first and second bearing casing portions 370A1 and 370A2 can use the same member as the cross roller bearing of the embodiment of FIG. 1, and the roller 372 is also shared. As a result, it is possible to cope with a minimum cost increase when higher precision support is required depending on the application.

  Further, in the embodiment shown in FIG. 5, the present invention is applied to a so-called sort-type inscribed mesh planetary gear device.

  Since the speed reduction mechanism of the distribution type internal meshing planetary gear device is known, the description of the speed reduction mechanism itself will be briefly stopped. However, a transmission pinion 484 is provided on the input shaft 442 of the internal meshing planetary gear device 440. The rotation of the transmission pinion 484 is distributed to three distribution gears 486A to 486C (only 486A is shown). Each of the sorting gears 486A to 486C is integrated with three eccentric body shafts (high speed shafts) 488A to 488C (only 488A is shown).

  The eccentric body shaft 488A includes eccentric bodies 444 and 446 which are eccentric from the axis O2 of the eccentric body shaft 488A. Similarly, the eccentric body shafts 488B and 488C which are not shown in the figure also include two eccentric bodies. The external gears 451 and 453 swing when the eccentric bodies located at the same position in the axial direction of the eccentric body shafts 488A to 488C rotate at the same eccentric phase, and the external gears 451 and 453 and the internal teeth The meshing point with the gear 456 moves according to the difference in the number of teeth between the internal gear 456 and the external gears 451 and 453. The rotation components of the external gears 451 and 453 are extracted from the first carrier flange 462 or the second carrier flange 463 as revolutions around the input shaft 442 of the eccentric body shafts 488A to 488C. Here, the first and second carrier flanges 462 and 463 are connected by carrier pins 490 (three in the circumferential direction, but only one is shown) and bolts (only bolt holes are shown). This carrier pin 490 corresponds to a “pin member” according to the present invention, is formed integrally with the first carrier flange 462, and is incorporated in the same configuration as the inner pin in the previous embodiment. The carrier pin 490 is not circular in cross section. In other words, the pin member of the present invention is not necessarily a member having a circular cross section.

  The main bearings in this embodiment are angular roller bearings 466 and 467 having the same configuration as that of the embodiment of FIG. Inner ring-side rolling surfaces 462 a and 462 b of the angular roller bearing 466 are directly formed on the first carrier flange 462. The radius (outermost peripheral diameter of the pin member) R3 of the outermost peripheral portion 490A of the carrier pin 490 is the minimum diameter portion diameter of the extended surface of the rolling surfaces 462a and 462b of the angular roller bearings 466 and 467 (the minimum diameter of the rolling surface). Greater than R2. Other configurations are the same as those of the embodiment shown in FIG. 4, and the same effects can be obtained.

  FIG. 6 shows an example of still another embodiment of the present invention.

  A cross roller bearing 566 as a main bearing (bearing that supports the carrier flange 562 on the casing 570) of the planetary gear reduction device 540 in this embodiment includes an independent inner ring 566A and outer ring 566B. The carrier flange 562 is configured by connecting a main body flange 562A and an auxiliary flange 562B separate from the main body flange 562A with a bolt 580.

  The body flange 562A of the carrier flange 562 has an inner ring arrangement portion 562A1 in which the inner ring 566A of the cross roller bearing 566 is arranged, and a diameter R11 larger than the diameter R10 of the inner ring arrangement portion 562A1, and an inner pin (pin member) 560 is provided. It has a pin forming part 562A2 which is formed to protrude. The auxiliary flange 562B of the carrier flange 562 is disposed on the pin forming portion 562A2 of the main body flange 562A from the side opposite to the inner ring arrangement portion of the pin formation portion 562A2 via the bolt 580 (the inner ring 566A is arranged on the inner ring arrangement portion 562A1. Will be attached later). The auxiliary flange 562B enhances the rigidity of the main body flange 562A and restricts the axial movement of the inner ring 566A of the cross roller bearing 566 toward the anti-pin forming portion.

  A step portion 562D is formed in a portion where the diameter R11 of the pin forming portion 562A2 is larger than the diameter R10 of the inner ring arranging portion 562A1, and the pin formation of the inner ring of the cross roller bearing 566 is formed by the step portion 562D. Restriction of axial movement to the part side is made. In other words, the cross roller bearing 566 is positioned in the axial direction (restricted movement in both axial directions) while being sandwiched between the step 562D and the auxiliary flange 562B.

  In this embodiment, since the cross roller bearing 566 as the main bearing includes the independent inner ring 566A and the outer ring 566B, the configuration of the casing 570 is slightly different from the previous embodiment, but it protrudes from the carrier flange 562. The inner pin 560 passing through the external gears 551 and 553 is formed integrally with the carrier flange 562, and the outermost peripheral portion 560A (diameter R3) of the inner pin 560 is a cross roller as a main bearing. Outer in the radial direction than the minimum diameter portion 556C (diameter R2) of the inner ring-side rolling surfaces 566A1, 566A2 (specifically, the extended surfaces of the inner ring-side rolling surfaces 566A1, 566A2) of the roller (rolling element) 572 of the bearing 566 (R2 <R3) is the same as that of the previous embodiment.

  If the inner ring is separate from the carrier flange as in this embodiment, there will be no problem of grinding wheel grinding of the inner ring-side rolling surface, so the diameter of the inner ring-side rolling surface increases as it approaches the inner pin. Even unbearable bearings can be used without any problem. In this sense, the separate inner ring type has the advantage that more options are available for the shape and type of the bearing.

  Reference numeral 582 denotes a spacer disposed on the outer periphery of the pin forming portion 562A2 between the outer pin 556A constituting the inner teeth of the internal gear 556 and the outer ring 566B of the cross roller bearing 566.

  Other configurations are the same as those of the previous embodiment, and the same operational effects can be obtained.

  As described above, in the present invention, there is no particular limitation as to what structure the main bearing is specifically incorporated in in which reduction mechanism. For example, as described above, the main bearing of the present invention may be such that the inner ring and the outer ring are completely independent, or the inner ring and the outer ring may be integrated with the carrier flange and the casing. It does not have to be a cross roller bearing.

  Moreover, in this invention, it is not specifically limited about what kind of member of what kind of deceleration mechanism the pin member functions. For example, a support pin for a planetary gear of a simple planetary gear may be used in addition to the inner pin of the reduction mechanism already described or a carrier pin. As described above, the cross-sectional shape of the pin member is not necessarily “circular”.

  In the above embodiments, the casing is fixed and the carrier flange side rotates, but the carrier flange side is fixed and the casing side rotates. The present invention is applicable.

  Further, in the above-described embodiments, the example in which the hollow portion is provided in the radial center portion of the device is shown. However, the effect of securing a large space in the radial center portion of the present invention is not necessarily “ For example, even if the central portion in the radial direction is solid, it is possible to secure a large space here, so that an eccentric bearing with a larger pitch circle diameter can be used. It is also possible to apply when incorporating. When the pitch diameter of the eccentric bearing is increased, the load on each rolling element can be reduced, and the number of rolling elements can be increased. Therefore, the external gear can be rocked more stably, and a planetary gear device with lower vibration, higher capacity, or longer life can be obtained. As a result, the effect of the present invention is effective. Can enjoy.

DESCRIPTION OF SYMBOLS 40 ... Planetary gear reduction device 40H ... Hollow part 42 ... Input shaft 43 ... Ball bearing 44, 46 ... Eccentric body 47, 48 ... Roller 51, 53 ... External gear 56 ... Internal gear 60 ... Inner pin (pin member)
62 ... Carrier flange 62a, 62b ... Inner ring side rolling surface 62c ... Minimum diameter portion 66 ... Cross roller bearing 70 ... Casing 72 ... Roller (rolling element)
Ro: Device outer diameter (bearing casing body diameter, deceleration part casing body diameter)
R1 ... Inner tooth tip circle diameter R2 ... Rolling surface minimum diameter part diameter R3 ... Pin member outermost circumference diameter R4 ... Roller pitch circle diameter R5 ... Pin member pitch circle diameter R6 ... Inner pin radius R7 ... Pitch circle diameter of outer pin D1 ... Radial thickness of the deceleration part casing body D3 ... Inner diameter of the hollow part D4 ... Radial thickness of the bearing casing body

Claims (14)

A planetary gear device comprising a planetary gear and an internal gear with which the planetary gear internally meshes, and a carrier flange serving as an output member or a fixing member on at least one side in the axial direction of the planetary gear.
A pin member protruding from the carrier flange and penetrating the planetary gear is formed integrally with the carrier flange, and the outermost peripheral portion of the pin member is a rolling element of a main bearing for supporting the carrier flange on the casing. A planetary gear device characterized by being positioned radially outward from the minimum diameter portion of the inner ring-side rolling surface or its extended surface. In claim 1,
A planetary gear device, characterized in that a hollow portion penetrating the planetary gear device in the axial direction is formed in a central portion in the radial direction of the planetary gear device. In claim 1 or 2,
A planetary gear device, wherein a tip circle of the internal gear is larger than a pitch circle of a rolling element of the main bearing. In any one of Claims 1-3,
The planetary gear device, wherein a pitch circle of the rolling element of the main bearing is larger than a pitch circle of the pin member. In any one of Claims 1-4,
The planetary gear device characterized in that the inner ring-side rolling surface is directly formed on the outer periphery of the carrier flange, and the diameter of the inner ring-side rolling surface becomes larger as the pin member is approached. . In claim 5,
The planetary gear device, wherein an end of the inner ring-side rolling surface that is larger as it gets closer to the pin member is located radially outward than the outermost peripheral portion of the pin member. In any one of Claims 1-4,
The carrier flange is
An inner ring arrangement portion in which an inner ring of the main bearing is arranged;
A planetary gear device comprising: a pin forming portion having a diameter larger than that of the inner ring arrangement portion and from which the pin member protrudes. In claim 7,
The carrier flange is
A main body flange having the inner ring arrangement portion and the pin forming portion;
An auxiliary flange that is separate from the main body flange and is attached to the main body flange from the side opposite to the pin forming portion and restricts axial movement of the inner ring of the main bearing toward the side opposite to the pin forming portion. Planetary gear device. In claim 7 or 8,
A step portion is formed at a portion where the diameter of the pin forming portion is larger than the diameter of the inner ring arrangement portion, and this step portion allows the axial movement of the inner ring of the main bearing toward the pin forming portion side. A planetary gear device characterized by being regulated. In any one of Claims 1-9,
The planetary gear device, wherein a diameter of the outer periphery of the casing at a position corresponding to the outer side of the internal gear is the same as a diameter of the outer periphery of the casing at a position corresponding to the outer side of the main bearing. In any one of Claims 1-10,
A planetary gear device, wherein a rolling element of a high-speed shaft bearing is disposed on the carrier flange at a position overlapping with the rolling element of the main bearing in the axial direction. In any one of Claims 1-11,
The planetary gear device, wherein the main bearing is a cross roller bearing. In any one of Claims 1-12,
The planetary gear device, wherein the planetary gear is positioned in the axial direction by the carrier flange. In any one of Claims 1-13,
The internal teeth of the internal gear are formed by a cylindrical outer pin,
The planetary gear device characterized in that the end of the outer pin is positioned by an outer ring of the bearing or a casing integrated with the outer ring.

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