JP2014109285A - Gear device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a gear device capable of improving circulation of a lubricant and reducing lubrication failures of a bearing.SOLUTION: A gear device 1 includes: an outer cylinder 2; a crank shaft 20; a carrier 4 which rotatably supports the crank shaft 20 and rotates relative to the outer cylinder 2 in conjunction with rotations of the crank shaft 20; a crank bearing 22; and a first propeller 41 and a second propeller 42. The crank bearing 22 is attached to the carrier 4 and rotatably supports the crank shaft 20. The first propeller 41 and the second propeller 42 are attached to the crank shaft 20 and generate flow for sending a lubricant toward the crank bearing 22 or in a direction opposite to the crank bearing 22 through the rotations of the crank shaft 20.

Description

  The present invention relates to a gear device.

  Conventionally, as an eccentric oscillating gear device for driving a robot member or the like, for example, an eccentric oscillating gear device as described in Patent Document 1 is known. Such a gear device includes an outer cylinder, a plurality of internal teeth pins attached along the axial direction of the outer cylinder on the inner peripheral surface of the outer cylinder, a carrier housed inside the outer cylinder, and a carrier A crankshaft that is rotatably supported and a plurality of oscillating gears that are supported by a carrier so as to oscillate in conjunction with the rotation of the crankshaft and have external teeth that mesh with internal teeth pins.

  In such a gear device, the crankshaft is housed inside the carrier, and is rotatably supported by the carrier via crank bearings that are disposed on the outer side in the axial direction with respect to both end portions, that is, eccentric portions.

  The space inside the gear device, specifically the space inside the outer cylinder, is filled with a lubricant. This lubricant lubricates the mechanical parts of gear devices such as crank bearings.

JP 2008-202664 A

  In the gear device described in Patent Document 1 as described above, the circulation of the lubricant inside the speed reducer (particularly, inside the carrier) is mainly caused by the eccentric movement of the crankshaft and the oscillating gear. Done by flow. For this reason, it is difficult to increase the circulation amount of the lubricant. In particular, it is difficult to sufficiently feed the lubricant to the crank bearing by moving the lubricant in the axial direction of the crankshaft.

  For this reason, in crank bearings and other bearings, there is a risk of deterioration and damage to the bearing and the entire gear device including the bearing due to poor lubrication, temperature rise, and foreign particles such as wear powder and contamination generated during operation or manufacturing. There is.

  Therefore, the present invention has been made in view of such a point, and an object of the present invention is to provide a gear device that can improve the circulation of the lubricant and improve the poor lubrication of the bearing.

  In order to achieve the above object, the gear device of the present invention is a gear device for transmitting a rotational force at a predetermined reduction ratio between a pair of counterpart members, and can be fixed to one of the counterpart members. The outer cylinder that forms a space in which the lubricant can be filled together with the pair of mating members, the crankshaft, and the other mating member can be fixed, and can be rotatably accommodated inside the outer cylinder. A carrier that rotates relative to the outer cylinder in conjunction with rotation of the crankshaft, a bearing attached to the carrier and rotatably supporting the crankshaft, and attached to the crankshaft. And a stirring means for generating a flow of the lubricant in a direction along the crankshaft by rotation of the shaft.

  According to such a configuration, since the stirring means for generating the flow of the lubricant by the rotation of the crankshaft is provided, the lubricant is filled in the space formed by the pair of counterpart members and the outer cylinder. By rotating the crankshaft, it is possible to generate a flow in which the stirring means sends the lubricant in a direction along the crankshaft. Thereby, it is possible to improve the circulation of the lubricant and improve the lubrication failure of the bearing. As a result, it is possible to suppress the temperature rise of the bearing and to prevent deterioration and breakage of the bearing and the entire gear device including the bearing due to retention of foreign matter such as abrasion powder and contamination generated during operation or manufacturing. is there.

  Further, since the stirring means is attached to the crankshaft, it is possible to set the direction of the lubricant flow according to the direction of the blades when the stirring means is attached to the crankshaft.

  In addition, it is preferable that two bearings are provided at an interval in the axial direction of the crankshaft, and the stirring means is disposed on the outer side in the axial direction of the crankshaft than a position where the bearing is disposed. .

  According to such a configuration, since the stirring means is disposed on the outer side in the axial direction of the crankshaft than the bearing supporting the crankshaft, the stirring means can be easily attached to the crankshaft without interfering with the bearing. is there.

  Moreover, it is preferable that the said stirring means has several blade | wings which incline with respect to the axial direction of the said crankshaft.

  According to this configuration, when the crankshaft rotates, a plurality of blades inclined with respect to the axial direction of the crankshaft can apply force to the lubricant in a direction along the crankshaft. Yes, it is possible to reliably flow the lubricant in the direction along the crankshaft.

  Preferably, the crankshaft is rotatable in forward and reverse directions, and the blades reverse the flow of the lubricant when the crankshaft rotates in the forward and reverse directions.

  According to such a configuration, by rotating the crankshaft alternately in the forward direction and the reverse direction, the blades can reverse the flow of the lubricant, thereby causing the lubricant to move forward and backward along the crankshaft. It becomes possible to flow in both directions, and the lubricant can be supplied to the bearing from both the forward and reverse directions.

  It is preferable that the stirring means is disposed at both ends of the crankshaft.

  According to this configuration, when the crankshaft rotates, the stirring means disposed at both ends of the crankshaft can stably flow the lubricant in the direction along the crankshaft between the stirring means. It is.

  It is preferable that the directions of the blades of the stirring means respectively disposed at both ends of the crankshaft are set to be inclined in the same direction with respect to the axial direction of the crankshaft.

  According to such a configuration, the directions of the blades of the stirring means respectively disposed at the end portions on both sides of the crankshaft are inclined in the same direction, so the rotation of the crankshaft causes the same along the crankshaft between the stirring means. It is possible to smoothly generate a series of lubricant flows flowing in the direction.

  It is preferable that the directions of the blades of the stirring means respectively disposed at both ends of the crankshaft are set to be inclined in directions opposite to each other with respect to the axial direction of the crankshaft.

  According to such a configuration, since the directions of the blades of the stirring means respectively disposed at the end portions on both sides of the crankshaft are inclined opposite to each other, the lubricant is cranked between the stirring means by the rotation of the crankshaft. It is possible to generate both forward and reverse flows along the axis simultaneously. Thereby, even when many members, such as a bearing, are located in a line between the stirring means, it is possible to inject or discharge the lubricant from between these members.

As described above, according to the present invention, it is possible to improve the circulation of the lubricant and improve the lubrication failure of the bearing that supports the crankshaft.
be able to.

It is sectional drawing which shows the state which applied the gear apparatus which concerns on embodiment of this invention to the part of the shoulder joint of a robot. It is an expanded sectional view which shows arrangement | positioning of the crankshaft and a pair of propeller inside the carrier of FIG. FIG. 3 is a cross-sectional perspective view partially showing a crankshaft and its peripheral portion in FIG. 2. It is a perspective view of the 1st or 2nd propeller of FIG. It is a perspective view of the propeller of the shape which cut out the blade | wing from the disk with a hole which is a modification of embodiment of this invention. FIG. 10 is a cross-sectional view showing a state in which the direction of the flow of lubricant generated by the propeller is different even when a crankshaft that is still another modification of the embodiment of the present invention is rotated in the same direction. It is sectional drawing which shows the state which attached the propeller which is the further another modification of embodiment of this invention to the both end surfaces of a crankshaft. The propeller, which is still another modified example of the embodiment of the present invention, is a form in which both ends of the crankshaft are attached, and the direction of the flow of lubricant generated by the propeller is maintained even when the crankshaft is rotated in the same direction. It is sectional drawing which shows a different state. It is sectional drawing which shows the state which attached the propeller to the hollow crankshaft which is the other modification of embodiment of this invention. The propeller is attached to a hollow crankshaft which is still another modification of the embodiment of the present invention, and the direction of the flow of lubricant generated by the propeller is different even if the crankshaft is rotated in the same direction. It is sectional drawing which shows a state.

  Hereinafter, embodiments for carrying out the present invention will be described in detail with reference to the drawings.

  The gear device 1 according to the present embodiment is a gear device that is applied as a speed reducer to, for example, a swivel unit such as a swivel trunk or an arm joint of a robot or a swivel unit of various machine tools. It is a device that transmits a rotational force at a predetermined reduction ratio between a base and a revolving body that revolves relative thereto.

  As shown in FIG. 1, the gear device 1 according to the present embodiment is a device that transmits a rotational force at a predetermined reduction ratio between a revolving body 50 and a base 52 at a shoulder joint portion of a robot. The gear device 1 drives the revolving body 50 to rotate relative to the base 52 by decelerating the rotational driving force of the motor transmitted through the cylindrical first drive shaft DS1. In the present embodiment, the second drive shaft DS2 and the third drive shaft DS3 for rotationally driving a portion ahead of the shoulder joint of the robot (for example, a portion such as a hand or an arm) are the first drive shaft DS1. Is disposed coaxially with the first drive shaft DS1 and the carrier 4 and passes through the central portion of the gear device 1. Note that the second drive shaft DS2 and the third drive shaft DS3 may be omitted.

  As shown in FIG. 1, the gear device 1 of the present embodiment includes an outer cylinder 2, an internal tooth pin 3, a carrier 4, a main bearing 6, a crankshaft 20, a crank bearing 22, and a swing gear. 24, an input gear 16, a spar gear 18 fixed to the crankshaft 20, and a stirring means provided on the crankshaft 20 for generating a lubricant flow. The agitation means includes a first propeller 41 and a second propeller 42 which will be described later.

  The mechanism portion of the gear device 1 (that is, the portion inside the outer cylinder 2) is isolated by a space S closed from the outside formed by combining the revolving body 50, the base 52 and the outer cylinder 2. The interior of the space is filled with a lubricant such as grease or oil. As a result, the lubricant is filled in the gear device 1 through the through holes 4a and 4b of the carrier. Therefore, the space around the first propeller 41 and the second propeller 42 provided near both ends of the crankshaft 20 is also filled with the lubricant inside the through hole 4b.

  The outer cylinder 2 has a shape that can be fixed to one counterpart member (the base 52 in the present embodiment), and functions as a case of the gear device 1. The outer cylinder 2 is formed in a substantially cylindrical shape. The outer cylinder 2 is fastened to the base 52 of the robot by bolts B1, for example. On the inner surface of the outer cylinder 2, a large number of internal tooth pins 3 are arranged at equal intervals in the circumferential direction. The internal tooth pin 3 functions as an internal tooth with which a swing gear 24 made of an external gear meshes. The number of teeth of the oscillating gear 24 is slightly smaller than the number of internal tooth pins 3. In the present embodiment, two (plural) oscillating gears 24 are used. Note that one swinging gear 24 may be provided.

  The carrier 4 has a shape that can be fixed to the other mating member (in this embodiment, the revolving body 50). For example, the carrier 4 is fastened to the revolving body 50 of the robot and can rotate relative to the outer cylinder 2. Yes, and accommodated in the outer cylinder 2 in a state of being arranged coaxially with the outer cylinder 2. In the present embodiment, the carrier 4 rotates relative to the outer cylinder 2 around the same axis. The carrier 4 is fastened to the swing body 50 by a plurality of bolts B2. When the carrier 4 rotates relative to the outer cylinder 2, the swing body 50 rotates with respect to the base 52.

  In this embodiment, the carrier 4 is fastened to the revolving body 50 to turn, and the outer cylinder 2 is fixed to the base 52 so as not to move. However, the outer cylinder 2 is fastened to the revolving body 50 and the carrier 4 Of course, it is also possible to use it by fastening it to the base 52.

  The carrier 4 is supported so as to be relatively rotatable with respect to the outer cylinder 2 by a pair of main bearings 6 that are provided apart from each other in the axial direction. The carrier 4 includes a base portion 32 and an end plate portion 34, and a rocking gear 24, which is a transmission member that transmits rotational force between the outer cylinder 2 and the carrier 4, is interposed between them. A storage space 33 for storage is formed.

  The base portion 32 has a substrate portion 32a disposed in the outer tube 2 in the vicinity of the end portion of the outer tube 2, and a plurality of shaft portions 32b extending in the axial direction from the substrate portion 32a toward the end plate portion 34. . The shaft portion 32 b is fastened to the end plate portion 34 by the bolt 5. Thereby, the base 32 and the end plate part 34 are integrated. Further, a through hole 4 a penetrating in the axial direction is provided at the radial center of the carrier 4. The accommodation space 33 communicates with the outside of the carrier 4 through the through hole 4a. The second drive shaft DS2 and the third drive shaft DS3 described above pass through the center of the carrier 4 through the through hole 4a.

  In addition, around the through-hole 4a of the carrier 4, through-holes 4b are formed that are spaced apart at equal intervals of 120 degrees in the circumferential direction of the through-hole 4a.

  A plurality of (for example, three) crankshafts 20 are provided, and each crankshaft 20 is arranged in the carrier 4 around the through hole 4a and the input gear 16 at equal intervals in the circumferential direction at every 120 degrees. Each crankshaft 20 is rotatably supported inside the through hole 4 b of the carrier 4 via a pair of crank bearings 22. One crankshaft 20 may be provided.

  The crankshaft 20 is made of a solid rod-like body and has a plurality (two in this embodiment) of eccentric portions 20a. The plurality of eccentric portions 20 a are arranged so as to be aligned in the axial direction at a position between the pair of crank bearings 22. Each eccentric portion 20a is formed in a columnar shape eccentric from the axis of the crankshaft 20 by a predetermined amount of eccentricity. And each eccentric part 20a is formed in the crankshaft 20 so that it may have a phase difference of a predetermined angle mutually. In addition, the eccentric part 20a should just respond | correspond with the number of said rocking gears 24, and may be one piece.

  Further, as shown in FIG. 2, the crankshaft 20 is formed with step portions 20d and 20e at positions close to the eccentric portion 20a at both ends 20b and 20c. Washers 47 and 48 are engaged with the stepped portions 20d and 20e. Washers 47 and 48 are fixed so as not to drop off by retaining rings 63 and 64 fitted in grooves formed on the inner wall of the carrier 4. Thereby, the movement of the crankshaft 20 in the axial direction C is restricted inside the carrier 4.

  As shown in FIG. 3, each of the washers 47 and 48 has a plurality of through holes 65 formed therein. The lubricant can smoothly flow to the crank bearing 22 through the through hole 65.

  The crankshaft 20 is supported by a crank bearing 22 so as to be rotatable in forward and reverse directions.

  Two crank bearings 22 are provided at intervals in the axial direction C of the crankshaft 20. Each crank bearing 22 includes a plurality of rollers 22a and a cage 22b that holds the rollers 22a circumferentially. Since each roller 22a is disposed so that its axial direction coincides with the axial direction C (see FIG. 2) of the crankshaft 20, lubrication supplied in the axial direction C by the first and second propellers 41 and 42. The agent is easy to pass through the crank bearing 22. This makes it easier to supply the lubricant to the roller bearing 28 disposed inside the axial direction C than the crank bearing 22.

  The stirring means has a configuration capable of generating a lubricant flow in the direction along the crankshaft 20 in the through hole 4b of the carrier 4 by the rotation of the crankshaft 20, and specifically, the first A propeller 41 and a second propeller 42 are provided.

  As shown in FIG. 4, both the first propeller 41 and the second propeller 42 have the same shape. Each of the propellers 41 and 42 includes a ring-shaped base portion 61 and a plurality of blades 62 arranged radially in the circumferential direction of the crankshaft 20 along the outer periphery of the base portion 61. The inner diameter of the base 61 is set to a dimension that can be fixed to the ends 20b and 20c of the crankshaft 20 by press fitting or the like.

  The blades 62 are inclined with respect to the axial direction C of the crankshaft 20 to which the base 61 is fixed so that the lubricant can be pushed out in the axial direction C by the rotation of the propellers 41 and 42. Has been placed. These propellers 41 and 42 are manufactured from a thin metal plate or a resin plate.

  In these propellers 41 and 42 shown in FIGS. 1 to 3, the direction of the blades 62 is set to be inclined in the same direction with respect to the axial direction C of the crankshaft 20.

  The number and shape of the blades 62 are not particularly limited in the present invention. For example, the number, angle, width, cross-sectional shape, or thickness of the blades 62 are appropriately set according to conditions such as the rotational speed of the crankshaft 20 and the type of lubricant. Specifically, about 4 to 8 blades 62 are arranged.

  The first propeller 41 and the second propeller 42 are fixed to the peripheral surface of the crankshaft 20. Specifically, the first propeller 41 is fixed to the outer peripheral surface 20b1 of the end 20b to which the spur gear 18 is fixed on the crankshaft 20 by press fitting or the like. The first propeller 41 is disposed outside the position where the crank bearing 22 is disposed in the axial direction C and between the crank bearing 22 and the spur gear 18. Specifically, the first propeller 41 is disposed at a position where the blade 62 (see FIG. 4) faces the crank bearing 22 via the washer 47.

  On the other hand, the second propeller 42 is fixed to the outer peripheral surface 20c1 of the end portion 20c protruding on the opposite side of the end portion 20b to which the spur gear 18 is fixed on the crankshaft 20 by press fitting or the like. The second propeller 42 is disposed outside the position where the crank bearing 22 is disposed in the axial direction C, that is, at a position closer to the tip of the end 20c than the crank bearing 22 at the end 20c. Specifically, the second propeller 42 is also disposed at a position where the blade 62 (see FIG. 4) faces the crank bearing 22 via the washer 48.

  As described above, since the directions of the blades 62 of the first propeller 41 and the second propeller 42 are set to be inclined in the same direction with respect to the axial direction C of the crankshaft 20, the crankshaft 20 is A. By rotating in the direction (positive direction), the direction of the lubricant flow generated by the first propeller 41 (direction of arrow D1) and the direction of the lubricant flow generated by the second propeller 42 (direction of arrow D2) are the same. It is possible to set so that Thereby, it is possible to smoothly generate a series of lubricant flows that flow in the same direction along the crankshaft 20 between the first propeller 41 and the second propeller 42. Further, in this configuration, by rotating the crankshaft 20 in the direction opposite to the A direction (reverse direction), the first propeller 41 generates a lubricant flow in the direction opposite to the arrow D1 direction, and the second propeller. By generating the lubricant flow in the direction opposite to the direction of the arrow D2 by 42, it is possible to generate a series of lubricant flows flowing in the direction opposite to the lubricant flow shown in FIG. As described above, when the crankshaft 20 rotates in the forward and reverse directions, the blades 62 of the first propeller 41 and the second propeller 42 can reverse the flow of the lubricant.

  The two oscillating gears 24 are attached to the eccentric portions 20a of the crankshaft 20 via roller bearings 28, respectively. The oscillating gear 24 is formed to be slightly smaller than the inner diameter of the outer cylinder 2 and meshes with the internal tooth pin 3 on the inner surface of the outer cylinder 2 in conjunction with the eccentric rotation of the eccentric portion 20a when the crankshaft 20 rotates. Oscillates and rotates.

  The roller bearing 28 includes a plurality of rollers 28a and a cage 28b that holds the rollers 28a in a circumferential shape.

  Here, in order to improve the flow of the lubricant, a plurality of through-holes 65 formed in washers 47 and 48 are formed on the end faces in the axial direction C of the cage 28 b of the roller bearing 28 and the cage 22 b of the crank bearing 22. It is preferable that a through hole similar to that shown in FIG. 3 is formed.

  The oscillating gear 24 has a central portion through hole 24b, a plurality of eccentric portion insertion holes 24c, and a plurality of shaft portion insertion holes 24d.

  The eccentric portion insertion holes 24c are provided at equal intervals in the circumferential direction around the central through hole 24b in the swing gear 24. The eccentric portions 20a of the crankshafts 20 are inserted into the eccentric portion insertion holes 24c with the roller bearings 28 interposed therebetween.

  The shaft portion insertion holes 24 d are provided at equal intervals in the circumferential direction around the central portion through hole 24 b in the swing gear 24. Each shaft portion insertion hole 24d is disposed at a position between the eccentric portion insertion holes 24c in the circumferential direction. Each shaft portion 32b of the carrier 4 is inserted into each shaft portion insertion hole 24d with play.

  One end 20 b of each crankshaft 20 protrudes outside from the end plate portion 34 of the carrier 4 through the through hole 4 b along the axial direction C of the carrier 4. A spar gear 18 is detachably attached to each end of the crankshaft 20 that extends outside the carrier 4 by retaining rings 43 and 44.

  As shown in FIG. 2, when the retaining rings 43 and 44 are fitted into grooves formed on the outer peripheral surface of the end portion 20 b of the crankshaft 20, the spar gear 18 moves in the axial direction C of the crankshaft 20. Is regulated.

  Each spur gear 18 meshes with a gear portion 16a of the input gear 16 described later. Each spur gear 18 transmits the rotation of the input gear 16 to a crankshaft 20 to which the spur gear 18 is attached.

  The input gear 16 is a gear that meshes with the plurality of spur gears 18 and transmits a rotational driving force to each of the plurality of spur gears 18. The input gear 16 includes a gear portion 16a formed of an external gear that meshes with the plurality of spur gears 18, and a connecting portion 16b that is integrally formed side by side with the gear portion 16a. A spline groove 16c is formed on the outer peripheral surface of the connecting portion 16b. When the connecting portion 16b is inserted into the cylindrical first drive shaft DS1, the outer peripheral side spline groove 16c of the connecting portion 16b is engaged with the inner peripheral side spline convex portion DS1a of the first drive shaft DS1. It is possible. Thereby, the input gear 16 can be easily coupled to the first drive shaft DS1.

  In the center of the input gear 16, a through hole 16d penetrating in the axial direction is provided. The second drive shaft DS2 and the third drive shaft DS3 are inserted into the through hole 16d.

  As shown in FIG. 1, the first drive shaft DS1 is rotatably supported in the base 52 via a bearing R1. A seal ring S1 is provided between the outer peripheral surface of the first drive shaft DS1 and the inner peripheral surface of the base 52 so that the lubricant in the base 52 and the gear device 1 does not leak to the outside.

  The second drive shaft DS2 is rotatably supported inside the first drive shaft DS1 via a bearing R2, and the space between the first drive shaft DS1 and the second drive shaft DS1 is sealed by a seal ring S2. . Similarly, the third drive shaft DS3 is rotatably supported inside the second drive shaft DS2 via a bearing R3, and the space between the second drive shaft DS2 and the third drive shaft DS3 is sealed by a seal ring S3. Yes.

  Next, the operation of the gear device 1 according to the present embodiment will be described.

  When the input gear 16 receives a rotational driving force from the motor via the first drive shaft DS1, it is transmitted to each spur gear 18 via the gear portion 16a of the input gear 16. Thereby, each crankshaft 20 rotates around each axis.

  At this time, the first propeller 41 and the second propeller 42 fixed to the peripheral surface of the crankshaft 20 rotate together with the crankshaft 20 to generate a lubricant flow along the axial direction C. Thereby, the rotation of the crankshaft 20 in the forward direction or the reverse direction causes the first propeller 41 and the second propeller 42 to flow toward the crank bearing 22 (that is, the directions of the arrows D1 and D2 in FIG. 2). ) Or in the opposite direction to generate a good circulation of the lubricant.

  For example, as shown in FIG. 2, when the crankshaft 20 rotates in the A direction, the lubricant flows between the spur gear 18 and the end plate portion 34 of the carrier 4 and flows to the first propeller 41. Then, the lubricant flows into the through hole 4 b that penetrates the carrier 4 in the axial direction, passes through the pair of crank bearings 22 and the two roller bearings 28 sandwiched between them, and reaches the second propeller 42. Thereafter, the lubricant is discharged to the outside of the carrier 4. Further, when the crankshaft 20 rotates in the direction opposite to the A direction, the lubricant can flow in the direction opposite to the directions of the arrows D1 and D2 shown in FIG.

  As each crankshaft 20 rotates, the eccentric portion 20a of the crankshaft 20 rotates eccentrically. Thereby, the swing gear 24 swings and rotates while meshing with the inner tooth pin 3 on the inner surface of the outer cylinder 2 in conjunction with the eccentric rotation of the eccentric portion 20a. The swing rotation of the swing gear 24 is transmitted to the carrier 4 through each crankshaft 20. In the present embodiment, since the outer cylinder 2 is fixed to the base 52 and does not move, the carrier 4 and the revolving structure 50 thereby move with respect to the outer cylinder 2 and the base 52 at a rotational speed decelerated from the input rotation. Relative rotation.

(Feature)
(1)
Since the gear device 1 according to the present embodiment includes the first propeller 41 and the second propeller 42, the gear device 1 is provided inside the space formed by the revolving body 50 and the base 52 (a pair of mating members) and the outer cylinder 2. With the lubricant filled, rotation of the crankshaft 20 can generate a flow in which the first propeller 41 and the second propeller 42 send the lubricant to the crankshaft 20 in both directions. Thereby, it is possible to improve the circulation of the lubricant and improve the lubrication failure of the crank bearing 22. As a result, the temperature increase of the crank bearing 22 is suppressed, and deterioration and breakage of the crank bearing 22 and the entire gear device including the crank bearing 22 are suppressed by the retention of foreign matter such as wear powder and contamination generated during operation or manufacture. It is possible.

(2)
In the gear device 1 of the present embodiment, the first propeller 41 and the second propeller 42 are disposed outside the crank bearing 22 that supports the crankshaft 20 in the axial direction C. Therefore, the first propeller 41 and the second propeller 42 can be easily assembled to the crankshaft 20 without interfering with the crank bearing 22.

(3)
In the gear device 1 of the present embodiment, the first propeller 41 and the second propeller 42 have a plurality of blades 62 that are inclined with respect to the axial direction of the crankshaft 20. The blades 62 can apply a force to the lubricant in the direction along the crankshaft 20, and the lubricant can flow reliably in the direction along the crankshaft 20.

(4)
In the gear device 1 of the present embodiment, the first propeller 41 and the second propeller 42 are attached to the crankshaft 20, so that depending on the direction of the blades 62 when attaching these propellers 41, 42 to the crankshaft 20. Thus, it is possible to set the direction of the lubricant flow.

(5)
In the gear device 1 of the present embodiment, the blades 62 of the first propeller 41 and the second propeller 42 (FIG. 4) are rotated by alternately rotating the crankshaft 20 in the forward direction (the direction of arrow A in FIG. 2) and the opposite direction. See) can reverse the flow of the lubricant. As a result, the lubricant can flow in both forward and reverse directions along the crankshaft 20, and the lubricant can be supplied to the crank bearing 22 and the roller bearing 28 from both forward and reverse directions.

(6)
In the gear device 1 of the present embodiment, the first propeller 41 and the second propeller 42 are respectively disposed at the end portions 20b and 20c on both sides of the crankshaft 20, and therefore the first propeller 41 and the second propeller 42 are rotated by the rotation of the crankshaft 20. The propeller 41 and the second propeller 42 can stably flow the lubricant in the direction along the crankshaft 20 between them.

(7)
In the gear device 1 of the present embodiment, the directions of the blades 62 (see FIG. 4) of the first propeller 41 and the second propeller 42 respectively disposed at the end portions 20b, 20c on both sides of the crankshaft 20 are inclined in the same direction. Therefore, the rotation of the crankshaft 20 can smoothly generate a series of lubricant flows that flow in the same direction along the crankshaft 20 between the propellers 41 and 42.

(Modification)
(A)
In the above embodiment, the propellers 41 and 42 in which the plurality of blades 62 are radially arranged around the ring-shaped base 61 are described as an example of the stirring means, but the present invention is not limited to this. Absent. For example, as shown in FIG. 5, a propeller 70 formed by cutting and raising a plurality of ring-shaped plate materials may be employed. The propeller 70 includes a ring-shaped base 71 in which a plurality of openings 73 are arranged circumferentially, and a plurality of blades 72 rising from the edge of each opening 73 with respect to the base 71. The propeller 70 is attached to the outer peripheral surface of the crankshaft 20. The blades 72 are inclined in the same direction so that the lubricant can be pushed out in the axial direction of the crankshaft 20 when the propeller 70 rotates. Even when the propeller 70 as described above is used, the lubricant hitting the blades 72 can flow along the axis of the crankshaft 20 as the propeller 70 rotates together with the crankshaft 20.

(B)
Moreover, in the said embodiment, although the 1st propeller 41 and the 2nd propeller 42 are arrange | positioned in the outer side of the axial direction C rather than the crank bearing 22 which supports the crankshaft 20, this invention is not limited to this. Absent. As a modification of the present invention, one or a plurality of propellers may be arranged on the inner side in the axial direction than the crank bearing 22. Further, only one propeller may be arranged on the outer side in the axial direction than the crank bearing 22.

(C)
In the above embodiment, as shown in FIG. 2, when the rotation direction of the crankshaft 20 is the same, the direction D1 of the lubricant generated by the first propeller 41 and the flow of the lubricant generated by the second propeller 42 The direction of the blades 62 of the first propeller 41 and the second propeller 42 is set to be inclined in the same direction with respect to the axial direction C of the crankshaft 20 so that the direction D2 is the same. Is not limited to this. For example, as in the modification shown in FIG. 6, the first propeller 41 and the second propeller 42 are different in the direction of the flow of lubricant generated even when the crankshaft 20 is rotated in the same A direction. The directions of the blades 62 of the propeller 41 and the second propeller 42 may be set so as to incline in opposite directions with respect to the axial direction C of the crankshaft 20. In this case, the lubricant flows from the gap between the two roller bearings 28 and flows along the peripheral surface of the crankshaft 20 toward one end 20b of the crankshaft 20 and the other of the crankshaft 20. It becomes possible to generate the flow D4 toward the end 20c.

  In such a configuration, the rotation of the crankshaft 20 allows the lubricant to flow in the forward and reverse directions along the crankshaft 20 between the first propeller 41 and the second propeller 42 simultaneously. As a result, even when a large number of members such as bearings (for example, two roller bearings 28 and a pair of crank bearings) are arranged between the propellers 41 and 42, between these members (for example, between the roller bearings 28). ) Can be injected or discharged.

(D)
Further, the first propeller 41 and the second propeller 42 constituting the stirring means of the above embodiment are fixed to the peripheral surfaces of both end portions 20b and 20c of the crankshaft 20, but the present invention is limited to this. is not. As a modification of the present invention, as shown in FIG. 7, the first propeller 81 and the second propeller 82 may be attached to both end faces 20 f and 20 g of the crankshaft 20.

  As shown in FIG. 7, the first propeller 81 and the second propeller 82 of this modification both have the same shape. These propellers 81 and 82 are a disc-shaped base 83, a plurality of blades 84 that are arranged radially in the circumferential direction of the crankshaft 20 along the outer periphery of the base 83, and a base 83. And a threaded portion 85.

  The outer diameter of the base 83 is set to be substantially the same as the outer diameter of the ends 20b and 20c of the crankshaft 20. In addition, the surface 83a of the base 83 that faces the both end surfaces 20f, 20g of the crankshaft 20 is flat so that it can contact the both end surfaces 20f, 20g.

  The male thread portion 85 protrudes from a surface 83a of the base portion 83 that faces both end surfaces 20f, 20g of the crankshaft 20. Since the male thread portion 85 is formed at each of the end portions 20b and 20c of the crankshaft 20, it has a dimension capable of being screwed into the thread portion 20h.

  The blades 84 are disposed so as to be inclined with respect to the axial direction C of the crankshaft 20 to which the base 83 is fixed so that the lubricant can be pushed out in the axial direction C when the propellers 81 and 82 rotate. ing.

  The first propeller 81 is fixed by screwing the male screw portion 85 to the female screw portion 20 h of the crankshaft 20 at the end surface 20 f of the end portion 20 b where the spur gear 18 is fixed on the crankshaft 20. Thereby, the 1st propeller 81 is arrange | positioned on the outer side of the axial direction C rather than the position where the crank bearing 22 and the spur gear 18 are arrange | positioned.

  On the other hand, in the second propeller 82, the male screw portion 85 is screwed into the female screw portion 20h of the crankshaft 20 at the end face 20g of the end portion 20c that protrudes on the opposite side to the end portion 20b to which the spur gear 18 is fixed. It is fixed by joining. Thereby, the 2nd propeller 42 is arrange | positioned in the position of the outer side of the axial direction C rather than the position where the crank bearing 22 is arrange | positioned.

  Note that the first propeller 81 and the second propeller 82 shown in FIG. 7 are integrally formed with the base 83, the blades 84, and the external thread 85, but the present invention is not limited to this. The propeller in which the base portion 83 and the blades 84 are integrated may be fixed to the crankshaft 20 with a bolt in place of the male screw portion.

  Also in the modified example of FIG. 7, when the rotation direction of the crankshaft 20 is the same, the direction D1 of the lubricant generated by the first propeller 81 and the direction D2 of the lubricant generated by the second propeller 82 are the same. The directions of the blades 84 of the first propeller 81 and the second propeller 82 are set to be inclined in the same direction with respect to the axial direction C of the crankshaft 20 so as to be the same.

  In this modification, the spur gear 18 is formed with a plurality of openings 18 a for guiding the lubricant flow in the direction of the arrow D <b> 1 generated by the first propeller 81 to the crank bearing 22. Thus, the lubricant can smoothly flow in the direction of the arrow D1 toward the crank bearing 22 through the opening 18a of the spur gear 18 when the crankshaft 20 is rotated in the A direction. Thus, the lubricant flows into the through hole 4b of the carrier 4, passes through the pair of crank bearings 22 and the two roller bearings 28 sandwiched between them, flows in the direction of the arrow D2, and reaches the second propeller 42. Is possible. Further, when the crankshaft 20 rotates in the direction opposite to the direction A, the lubricant can flow in the direction opposite to the directions of the arrows D1 and D2 shown in FIG.

  About the other structure of the gear apparatus of the modification shown by FIG. 7, it has the same structure as the gear apparatus 1 shown by FIGS.

  As described above, in the structure in which the first propeller 81 and the second propeller 82 are attached to the both end faces 20f and 20g of the crankshaft 20, the attaching operation of these propellers 81 and 82 is easy. In particular, since the first propeller 81 is disposed outside the spur gear 18 in the axial direction C of the end portion 20b of the crankshaft 20, the first propeller 81 can be easily formed on the end surface 20f of the crankshaft 20 without interfering with the spur gear 18. It becomes possible to install.

  Also in this modified example, since the directions of the blades 84 of the first propeller 81 and the second propeller 82 respectively disposed on both end faces 20f and 20g of the crankshaft 20 are inclined in the same direction, the rotation of the crankshaft 20 Thus, a series of lubricant flows flowing in the same direction along the crankshaft 20 between the propellers 81 and 82 can be smoothly generated.

(E)
Further, in the above modification (D), as shown in FIG. 7, when the rotation direction of the crankshaft 20 is the same, the lubricant flow direction D1 generated by the first propeller 81 and the second propeller 82 generate. The direction of the blades 84 of the first propeller 81 and the second propeller 82 is set to be inclined in the same direction with respect to the axial direction C of the crankshaft 20 so that the direction D2 of the lubricant flowing is the same. However, the present invention is not limited to this. For example, as in the modification shown in FIG. 8, the first propeller 81 and the second propeller 82 have different directions of lubricant flow even when the crankshaft 20 is rotated in the same A direction. The directions of the blades 84 of the propeller 81 and the second propeller 82 may be set so as to incline in opposite directions with respect to the axial direction C of the crankshaft 20. In this case, the lubricant flows from the gap between the two roller bearings 28 and flows along the circumferential surface of the crankshaft 20 toward one end 20b of the crankshaft 20 and the other of the crankshaft 20. It becomes possible to generate the flow D4 toward the end 20c. Also in the configuration of the modified example shown in FIG. 8, the rotation of the crankshaft 20 simultaneously causes the lubricant to flow in both forward and reverse directions along the crankshaft 20 between the first propeller 81 and the second propeller 82. Is possible. As a result, even when a large number of members such as bearings (for example, two roller bearings 28 and a pair of crank bearings) are arranged between these propellers 81 and 82, between these members (for example, between the roller bearings 28). ) Can be injected or discharged.

(F)
In the above embodiment, a solid rod-like body has been described as an example of the crankshaft 20, but the present invention is not limited to this, and a crankshaft 120 having a through hole as shown in FIG. It may be adopted.

  The crankshaft 120 has a central through hole 121 that penetrates the crankshaft 120 in the axial direction C, and a plurality of radial through holes 122. The radial through hole 122 is formed so as to extend in the radial direction of the crankshaft 120 between both sides of the pair of eccentric portions 20a and the eccentric portion 20a, and communicates with the central through hole 121. The central through hole 121 is opened to the outside from both ends of the crankshaft 120. The center through hole 121 and the radial through hole 122 are filled with a lubricant.

  When the crankshaft 120 rotates, the centrifugal force causes the lubricant to be discharged from the radial through hole 122 to the outside of the crankshaft 120, and the lubricant is supplied to the pair of crank bearings 22 and the two roller bearings 28. At this time, since the lubricant is discharged from the radial through-hole 122, the inside of the central through-hole 121 communicating with the radial through-hole 122 becomes negative pressure, so that the lubricant passes through the central through-hole 121 from both ends. It flows into the hole 121. Therefore, while the crankshaft 120 is rotating, the lubricant is continuously discharged from the radial through hole 122 to continuously supply the lubricant to the pair of crank bearings 22 and the two roller bearings 28. It is possible.

  About the other structure of the gear apparatus of the modification shown by FIG. 9, it has the same structure as the gear apparatus 1 shown by FIGS.

  In the modification shown in FIG. 9 above, the first propeller 41 and the second propeller 42 cause the lubricant to flow along the axial direction C on the outside of the crankshaft 120, and at the same time, the lubricant is supplied to the crankshaft 120. After being introduced into the inner central through hole 121, it is possible to discharge from the radial through hole 122 in the radial direction of the crankshaft 120. Thereby, it becomes possible to supply more lubricant to the pair of crank bearings 22 and the two roller bearings 28 sandwiched between them, and it becomes possible to more reliably prevent poor lubrication in these members. .

(G)
Further, in the above modification (F), as shown in FIG. 9, when the rotation direction of the crankshaft 120 is the same, it is generated by the direction D1 of the lubricant generated by the first propeller 41 and the second propeller 42. The direction of the blades 62 (see FIG. 4) of the first propeller 41 and the second propeller 42 is inclined in the same direction with respect to the axial direction C of the crankshaft 20 so that the lubricant flow direction D2 is the same. However, the present invention is not limited to this. For example, as in the modification shown in FIG. 10, the first propeller 41 and the second propeller 42 are different in the direction of the flow of lubricant generated even when the crankshaft 120 is rotated in the same A direction. The directions of the blades 62 of the propeller 41 and the second propeller 42 may be set so as to incline in opposite directions with respect to the axial direction C of the crankshaft 20. In this case, the lubricant flows from the gap between the two roller bearings 28 and flows along the peripheral surface of the crankshaft 20 toward one end 20b of the crankshaft 20 and the other of the crankshaft 20. It becomes possible to generate the flow D4 toward the end 20c. Also in the configuration of the modified example shown in FIG. 10, the rotation of the crankshaft 20 simultaneously causes the lubricant to flow in the forward and reverse directions along the crankshaft 20 between the first propeller 41 and the second propeller 42. Is possible. As a result, even when a large number of members such as bearings (for example, two roller bearings 28 and a pair of crank bearings) are arranged between the propellers 41 and 42, between these members (for example, between the roller bearings 28). ) Can be injected or discharged.

  Further, in the modified example shown in FIG. 10, even when the gap between the two roller bearings 28 is narrow and the lubricant does not flow into the gap, the lubrication discharged from the radial through hole 122 of the crankshaft 120 is performed. The lubricant can stably supply the lubricant to the two roller bearings 28 and the pair of crank bearings 22.

(H)
In the above embodiment, the plurality of crankshafts 20 are arranged around the central through hole 4a (see FIG. 1), but the present invention is not limited to this. For example, a center crank type in which the crankshaft 20 is disposed at the center of the carrier 4 may be employed.

DESCRIPTION OF SYMBOLS 1 Gear apparatus 2 Outer cylinder 4 Carrier 20, 120 Crankshaft 20a Eccentric part 22 Crank bearing 24 Oscillating gear 28 Roller bearing 41, 81 1st propeller 42, 82 2nd propeller

Claims (7)

A gear device for transmitting a rotational force at a predetermined reduction ratio between a pair of counterpart members,
An outer cylinder that is fixable to one counterpart member and forms a space that can be filled with a lubricant together with the pair of counterpart members;
A crankshaft,
A carrier that is configured to be fixable to the other member, and is rotatably accommodated inside the outer cylinder, and rotates relative to the outer cylinder in conjunction with rotation of the crankshaft;
A bearing attached to the carrier and rotatably supporting the crankshaft;
Agitation means attached to the crankshaft and generating a flow of the lubricant in a direction along the crankshaft by rotation of the crankshaft.
A gear device characterized by that. Two bearings are provided at an interval in the axial direction of the crankshaft,
The gear device according to claim 1, wherein the agitation unit is arranged on an outer side in the axial direction of the crankshaft than a position where the bearing is arranged. The gear device according to claim 1, wherein the stirring unit has a plurality of blades that are inclined with respect to an axial direction of the crankshaft. The crankshaft is rotatable in forward and reverse directions;
When the crankshaft rotates in the forward and reverse directions, the blades reverse the flow of the lubricant.
The gear device according to claim 3. The agitation means are respectively disposed at both ends of the crankshaft.
The gear device according to claim 3 or 4. The direction of the blades of the stirring means respectively disposed at both ends of the crankshaft is set to be inclined in the same direction with respect to the axial direction of the crankshaft.
The gear device according to claim 5. The direction of the blades of the stirring means respectively disposed at both ends of the crankshaft is set to be inclined in opposite directions with respect to the axial direction of the crankshaft.
The gear device according to claim 5.

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