JP2024033666A - Decelerator - Google Patents

Abstract

The present invention provides a speed reducer capable of stably supporting a carrier pin and suppressing deflection of the carrier pin. [Solution] An eccentric rocking type speed reducer 1 includes an input rotating body 10 that rotates at an input rotation speed around a rotating axis O, and a rotating shaft eccentric from the rotating axis O. an eccentric cam 15 that rotates integrally with the eccentric cam 15; an external gear 30 that has an annular shape and has external teeth on its outer peripheral surface and swings eccentrically; , a transmission rod 50 whose other end is in contact with the inner circumferential surface of the external gear 30 and which transmits the movement of the eccentric cam 15 to the external gear 30, an internal gear 90 which internally meshes with the external teeth, and a carrier pin 80. , an output flange 60 arranged at both ends and/or an intermediate portion of the carrier pin 80 and connected to the carrier pin 80; and a cylindrical output rotation unit connected to the output flange 60 and rotating at an output rotation speed around the rotation axis O. A body 100 is provided. [Selection diagram] Figure 1

Description

The present invention relates to a speed reducer.

Equipped with an internal gear and an external gear that internally meshes with the internal gear while oscillating, the relative rotational component between the internal gear and the external gear is output via a carrier pin that passes through the external gear. Eccentric oscillation type reducers that are mounted on a shaft are widely known. Eccentric oscillation type reducers have undergone many improvements over the years, and efforts have been made to achieve miniaturization and high strength, as well as efforts to suppress deflection due to rotational moment acting on the carrier pin. etc. are being done.

In an effort to make the eccentric oscillating type reducer smaller and have higher strength, we have installed first and second internal gears corresponding to the first and second external gears, and There is a method of realizing miniaturization and high strength by providing holes in the gear teeth to take out rotational components (for example, see Patent Document 1).

In order to suppress the deflection caused by the rotational moment acting on the carrier pin of an eccentric oscillating type reducer, an annular carrier is arranged between the first and second external gears, and the carrier is rotatable with respect to the input shaft. There is an eccentric swing type speed reducer in which the moment acting on the carrier pin is suppressed by supporting the carrier pin with an attached bearing and supporting the carrier pin with the carrier (for example, see Patent Document 2).

Japanese Patent Application Publication No. 2020-128759 JP2017-214947A

Efforts have been made to reduce the size of the reducer and to suppress deflection due to the rotational moment acting on the carrier pin, in addition to the reducers described in Patent Document 1 and Patent Document 2, as well as other reducers. Furthermore, development of reduction gears that can increase reduction ratios, obtain high rotational torque, and do not pulsate has been ongoing, but further improvements are expected.

An object of the present invention is to provide a speed reducer that can stably support a carrier pin and suppress deflection of the carrier pin.

The present invention is an eccentric rocking type speed reducer, which has an input rotating body that rotates at an input rotation speed _RI around a rotation axis O, and a rotation axis OE that is eccentric from the rotation axis O. an eccentric cam that rotates integrally with the eccentric cam; an external gear that has an annular shape and has external teeth on its outer circumferential surface and swings eccentrically; one end is in contact with a bearing attached to the outer circumferential surface of the eccentric cam; a transmission rod whose end is in contact with the inner circumferential surface of the external gear and transmits the movement of the eccentric cam to the external gear; an internal gear that internally meshes with the external gear; A carrier pin inserted into a pin hole provided in a gear; an output flange disposed at both ends and/or an intermediate portion of the carrier pin and connected to the carrier pin; a cylindrical output rotating body that rotates at an output rotational speed R _O , the input rotating body and the bearing are arranged to be inserted inside the output rotating body, and the output rotating body is configured such that the transmission rod is inserted therethrough. This is a reduction gear characterized by having an insertion hole.

In the speed reducer according to the present invention, the output flange has an annular shape and has splines on an inner circumferential surface, and the output rotating body has a spline on an outer circumferential surface that meshes with the splines of the output flange. An output flange is inserted through the outside of the output rotating body, and the output flange and the output rotating body are connected via the spline.

The reduction gear according to the present invention includes a plurality of the external gears and a plurality of the output flanges, the output flanges being arranged at both ends and intermediate portions of the plurality of external gears, The insertion hole and the spline provided in the output rotor are provided at the same position as the external gear and the output flange, respectively, when viewed in the axial direction.

The speed reducer according to the present invention includes a plurality of the external gears and the same number of the external gears or the same number of the external gears plus one output flange, and the external gears and the output flanges are connected to each other. The insertion holes and the splines provided in the output rotating body are arranged alternately in the axial direction, and are provided at the same position as the external gear and the output flange, respectively, when viewed in the axial direction. Features.

In the reduction gear according to the present invention, the internal gear is formed with outer pins arranged on the inner peripheral surface of the casing.

In the reducer according to the present invention, the output flange has a plurality of through holes in the circumferential direction, a bush is fitted into the through hole, the carrier pin is fitted into the bush, and the carrier pin and the output flange are fitted together. is characterized in that they are connected.

According to the present invention, it is possible to provide a reduction gear that can stably support a carrier pin and suppress deflection of the carrier pin.

1 is a longitudinal cross-sectional view of a reduction gear 1 according to a first embodiment of the present invention. 1 is a cross-sectional view of a reduction gear 1 according to a first embodiment of the present invention. 1 is a cross-sectional view of a reduction gear 1 according to a first embodiment of the present invention. 1 is a cross-sectional view of a reduction gear 1 according to a first embodiment of the present invention. 1 is a cross-sectional view of a reduction gear 1 according to a first embodiment of the present invention. FIG. 1 is an exploded configuration diagram of a reduction gear 1 according to a first embodiment of the present invention. FIG. 1 is an exploded configuration diagram of a reduction gear 1 according to a first embodiment of the present invention. FIG. 1 is an exploded configuration diagram of a reduction gear 1 according to a first embodiment of the present invention. FIG. 6 is a schematic diagram for explaining the arrangement of output flanges 60 of the reduction gear of the present invention.

FIG. 1 is a longitudinal cross-sectional view of a reduction gear 1 according to a first embodiment of the present invention. 2 to 5 are cross sections of the reducer 1 according to the first embodiment of the present invention taken along cutting lines AA, BB, CC, and DD in FIG. It is a diagram. 6 to 8 are exploded configuration diagrams of the reducer 1 according to the first embodiment of the present invention. In FIGS. 6 to 8, some of the constituent parts are omitted.

In this embodiment, the longitudinal direction of the rotation axis O is the axial direction, the direction orthogonal to the rotation axis O is the radial direction, and the arc direction centered on the rotation axis O is the circumferential direction, and the top and bottom of FIG. Let left and right be upward direction, downward direction, leftward direction, and rightward direction, respectively. The axial direction, the radial direction, and the circumferential direction include a substantially axial direction, a substantially radial direction, and a substantially circumferential direction that can be viewed substantially the same.

The reducer 1 according to the first embodiment of the present invention is an eccentric oscillating type reducer, and includes an input rotating body 10, a plurality of eccentric cams 15, a plurality of external gears 30, and a plurality of transmission rods 50. , a plurality of output flanges 60, a plurality of carrier pins 80, an internal gear 90, and an output rotating body 100 as main components.

The input rotating body 10 is connected to an output shaft of a motor, etc., and rotates around a rotation axis O at an input rotation speed _RI . The input rotating body 10 of this embodiment includes a cylindrical main body 11 extending left and right, and includes a flange portion 12 at the left end. The input rotating body 10 is not limited to this embodiment, and the main body 11 may have a cylindrical shape into which an output shaft of a motor or the like can be fitted.

The eccentric cam 15 is inserted into and fixed to the outer peripheral surface 13 of the input rotating body 10 , rotates integrally with the input rotating body 10 , and swings and rotates the external gear 30 via the bearing 25 and the transmission rod 50 . The number of eccentric cams 15 is the same as the number of external gears 30, and in this embodiment, the first to third eccentric cams 15 are arranged at intervals from left to right. The number of eccentric cams 15 is not limited to three, and may be one, two, or four or more, depending on the number of external gears 30.

The first to third eccentric cams 15 are cylinders centered on a first rotation axis OE _a , a second rotation axis OE _b , and a third rotation axis OE _c that are parallel to the rotation axis O and eccentric from the rotation axis O by ΔE, respectively. It has a shaped outer peripheral surface. The eccentric phase of the eccentric cam 15 is basically 360°/the number of eccentric cams 15, and in this embodiment, since the number of eccentric cams 15 is three, the eccentric phase is 120° (see FIGS. 2 to 4). . The eccentric phases of the eccentric cams 15 are basically distributed evenly in order to suppress vibrations during rotation, but they may not be equally distributed depending on the relationship between the reduction ratio and the number of eccentric cams 15.

A collar 20 is attached between adjacent eccentric cams 15. The collar 20 is a member for positioning the eccentric cam 15 and providing a space for arranging the output flange 60. The collar 20 has a cylindrical shape, and is located on the outer circumferential surface 13 of the input rotary body 10 between adjacent eccentric cams 15, in this embodiment, between the first eccentric cam 15 and the second eccentric cam 15, and between the second eccentric cam 15 and the second eccentric cam 15. It is installed between the eccentric cams 15 and the third eccentric cam 15, and further on the right side of the third eccentric cam 15.

The bearing 25 is attached to the outer peripheral surface of each eccentric cam 15 and rotatably supports the external gear 30 connected via the transmission rod 50. The bearing 25 of this embodiment is a ball bearing.

The external gear 30 is an annular member, and is rotatably connected to the eccentric cam 15 via a bearing 25 and a transmission rod 50. The external gear 30 has a circular inner circumferential surface 32 and external teeth 36 on the outer circumferential surface. A plurality _of external teeth 36 are provided on the outer peripheral surface at equal intervals in the circumferential direction, and a recess 38 into which an external pin 92 is fitted is formed between adjacent external teeth 36.

Further, the external gear 30 includes pin holes 40 in a number corresponding to the carrier pins 80 at equal intervals in the circumferential direction. In this embodiment, 21 pin holes 40 are provided. The diameter D ₁ of the pin hole 40 is D ₁ =d ₁ +2ΔE, and the pin hole 40 penetrates in the axial direction. Here, _d1 is the diameter of the carrier pin 80, and ΔE is the eccentricity of the eccentric cam 15.

In this embodiment, first to third external gears 30 having the same shape and size are attached. _M1 in FIG. 2 is the meshing position of the first external gear (first stage external gear) 30 located on the left, and _M2 in FIG. 3 is the meshing position of the second external gear (first stage external gear) located in the center. M3 in FIG. ₃ indicates the meshing position of the third external gear (third external gear) 30 located on the right. The reducer 1 of this embodiment includes three external gears 30, but the number of external gears 30 is not limited to three, and may be one, two, or four or more. Good too.

The transmission rod 50 is a member for transmitting the movement of the eccentric cam 15 to the external gear 30, and corresponds to each eccentric cam 15 and each external gear 30, and in this embodiment, the first to third transmission rods 50 Equipped with. The first to third transmission rods 50 each include a plurality of rod members 52 having a substantially rectangular parallelepiped shape, and in this embodiment, each of the first to third transmission rods 50 includes twelve rod members 52. It consists of The number of rod members 52 constituting the transmission rod 50 is not limited to twelve, but a certain number is required to stably transmit the movement of the eccentric cam 15 to the external gear 30.

Each rod member 52 is arranged radially such that one end 54 contacts the outer peripheral surface of the bearing 25 and the other end 56 contacts the inner peripheral surface 32 of the external gear 30. The surface of the bar member 52 that is in contact with the outer circumferential surface of the bearing 25 has a curved surface with the same curvature as the outer circumferential surface of the bearing 25, and the surface that is in contact with the inner circumferential surface 32 of the external gear 30 is the inner circumferential surface of the external gear 30. It has a curved surface with the same curvature as No. 32, and touches each other without a gap.

The output flange 60 is an annular member that is connected to the carrier pin 80 and transmits the power transmitted via the carrier pin 80 to the output rotating body 100. The output flange 60 is arranged between adjacent external gears 30 when viewed in the axial direction, and on the outside of the external gears 30 at both left and right ends. Therefore, the number of output flanges 60 is basically the number of external gears 30 +1. In this embodiment, since the external gear 30 is composed of the first to third external gears 30, there are four output flanges, which are the first to fourth output flanges 60.

The output flange 60 has an outer diameter smaller than the outer diameter of the external gear 30 and has a spline (spline hole) 63 formed of a plurality of keys and key grooves on the inner peripheral surface, and connects the output rotating body 100 through the spline 63. and transmits power to the output rotating body 100. The output flange 60 is provided with pin holes 65 in a number corresponding to the carrier pins 80 at equal intervals in the circumferential direction. In this embodiment, 21 pin holes 65 are provided. The pin hole 65 passes through the output flange 60 in the axial direction, and a cylindrical bush 70 is fitted into the pin hole 65.

The carrier pin 80 is composed of a plurality of cylindrical pins, and is inserted through the pin holes 40 of the first to third external gears 30, and has a bush 70 fitted into the pin holes 65 of the first to fourth output flanges 60. It can be attached so that it spans over the The number of carrier pins 80 in this embodiment is 21. The outer peripheral surface 82 of the carrier pin 80 inserted into the bush 70 is slidably in contact with the inner peripheral surface of the bush 70. The carrier pin 80 attached to span the first to fourth output flanges 60 is parallel to the rotation axis O.

The internal gear 90 is formed by attaching a plurality of _N1 outer pins 92 to the inner peripheral surface of a cylindrical casing body 121 at equal intervals in the circumferential direction. A recess 94 is formed between adjacent outer pins (inner teeth) 92 into which the outer teeth 36 fit. The number N _I of external pins is one more than the number N _O of external teeth 36 .

The output rotating body 100 has a cylindrical main body 101, a left flange 105 located at the left and right ends of the main body 101, and a right flange 110. The inner diameter of the main body 101 is larger than the outer diameter of the input rotating body 10 to which the first to third eccentric cams 15 and the bearing 25 are attached, and the outer diameter of the main body 101 is the diameter of the inner peripheral surface 32 of the external gear 30. and smaller than the diameter of the inner peripheral surface of the output flange 60.

The main body 101 includes first to third insertion holes 104 spaced apart from each other in the axial direction through which the first to third transmission rods 50 are inserted. A plurality of first to third insertion holes 104 are provided at equal intervals in the circumferential direction, and in this embodiment, twelve insertion holes 104 are provided at a pitch of 30°. Further, the outer circumferential surface 102 of the main body 101 is provided with first to fourth splines 103 that engage with the respective splines 63 of the first to fourth output flanges 60. The first to third insertion holes 104 and the first to fourth splines 103 are arranged alternately in the axial direction.

The left flange 105 is integrally formed with the main body 101, and the right flange portion 110 is bolted to the right end of the main body 101. An inner stepped portion 106 into which the bearing 115 fits is provided on the right inner side of the left flange 105, and an outer stepped portion 108 into which the bearing 130 fits into the outer side of the left flange 105. An inner stepped portion 111 into which the bearing 116 fits is provided on the left inner side of the right flange 110, and an outer stepped portion 113 into which the bearing 131 fits into the outer side of the right flange 110. The bearings 115, 116, 130, 131 of this embodiment are ball bearings.

The casing 120 includes a cylindrical main body 121, a left cover 124 that closes both ends of the main body 121, and a right cover 127. The left cover 124 is bolted to the left end of the main body 121, and the right cover 127 is bolted to the right end of the main body 121. The inner diameter of the main body 121 is larger than the outer diameter of the external gear 30, and an external pin 92 is attached to the cylindrical inner peripheral surface to form the internal gear 90.

The left cover 124 and the right cover 127 are annular members, and their inner diameters are larger than the outer diameter of the output rotating body 100. A stepped portion 125 into which a bearing 130 fits is provided inside the left lid 124, and a stepped portion 128 into which a bearing 131 fits inside the right lid 127.

The procedure for assembling the reducer 1 will be explained. However, the assembly procedure for the reduction gear 1 is not limited to the following assembly procedure. A bearing 115, a first eccentric cam 15, a first collar 20, a second eccentric cam 15, a second collar 20, a third eccentric cam 15, and a third eccentric cam 15 are installed on the main body 11 of the input rotating body 10 from left to right in the axial direction. The input rotating body 10 with the collar 20 and the bearing 116 arranged in this order is inserted into the main body 101 of the output rotating body 100.

The bearing 115 attached to the input rotary body 10 contacts the right side surface 14 of the flange portion 12 of the input rotary body 10 and is fitted into the inner stepped portion 106 of the left flange 104 of the output rotary body 100, thereby making contact with the input rotary body 10. The position with respect to the output rotating body 100 is determined.

With the output rotary body 100 with the input rotary body 10 inserted in it standing up with the left flange 105 facing down, the bearing 130 is fitted into the outer stepped portion 108 of the left flange 105 of the main body 101 of the output rotary body 100, and then The first output flange 60 to which the bush 70 is attached is inserted and attached to the main body 101 so that the spline 63 fits into the first spline 103 of the output rotating body 100.

Next, the rod member 52 is inserted into the first insertion hole 104, and then the first external gear 30 is inserted into the main body 101 of the output rotating body 100 so that the rod member 52 is located on the inner peripheral surface 32. Thereafter, the second output flange 60, second transmission rod 50, second external gear 30, third output flange 60, third transmission rod 50, third external gear 30, and fourth output flange 60 are sequentially installed in the same manner. Insert and attach.

Subsequently, the carrier pin 80 is inserted into the pin hole 40 of the first to third external gears 30 and is attached so as to fit into the bush 70 attached to the first to fourth output flanges 60. Finally, the right flange 110 with the bearing 131 fitted to the outer stepped portion 113 of the right flange 110 of the output rotating body 100 is fixed to the main body 101. As a result, the input rotating body 10, the first to third external gears 30, the first to third connecting rods 50, the first to fourth output flanges 60, the carrier pin 80, and the output rotating body 100 are connected.

The casing 120 is attached to the output rotating body 100 to which the input rotating body 10 is connected in the following manner. The left cover 124 is attached so that the bearing 130 fits into the stepped portion 125. Next, the casing body 121 is attached so that the outer pin 92 meshes with the first to third external gears 30, and finally the right cover 127 is attached so that the bearing 131 fits into the stepped portion 128.

In the reducer 1 constructed as described above, the output rotary body 100 is arranged so as to cover the input rotary body 10 to which the first to third eccentric cams 15 and bearings 25 are attached, and the bearings 115 and 116 disposed on the left and right. It is rotatably connected to the input rotating body 10 via the input rotating body 10 . With respect to the output rotating body 100, the first to third external gears 30 and the first to fourth output flanges 60 are located on the outside in the radial direction of the output rotating body 100, and the first to third external gears 30 A casing 120 is located outside the first to fourth output flanges 60 in the radial direction, and the output rotating body 100 is rotatably connected to the casing 120 via bearings 130 and 131.

In the reducer 1, the axial and radial positions of the input rotating body 10 and the output rotating body 100 are determined by attaching the left and right bearings 115 and 116 to predetermined positions, and the left and right bearings 130 and 131 are attached to predetermined positions. The positions of the output rotating body 100 and the casing 120 in the axial direction and the radial direction are determined by attaching them to the positions.

As a result, as shown in FIG. 1, the eccentric cam 15, the bearing 25, the connecting rod 50, and the external gear 30 are arranged on the same straight line perpendicular to the rotation axis O, and the collar 20, the spline 103 of the output rotary body 100, and the output The flanges 60 are arranged on the same straight line orthogonal to the rotation axis O. In other words, when viewed in the axial direction, the eccentric cam 15, the bearing 25, the connecting rod 50, and the external gear 30 are in the same position, and the collar 20, the spline 103 of the output rotating body 100, and the output flange 60 are in the same position.

The operation of the reducer is as follows. When the input rotating body 100 rotates at the rotation speed R _I , the first to third eccentric cams 15 fixed to the input rotating body 10 rotate integrally with the input rotating body 10. Since each eccentric cam 15 is eccentric by ΔE with respect to the rotation axis O, each external gear 30 in contact with each transmission rod 50 swings and rotates while meshing with the internal gear 90. At this time, the number N _I of the external pins 92 that are internal teeth is greater than the number N _O of the external teeth 36, so when the external gear 30 oscillates once, the position of the external teeth 36 that mesh with the external pin 92 changes. It shifts (rotates) by the number difference (N _I - N _O ). In this embodiment, the number N _I of external pins 92 is 42, and the number N _O of external teeth 36 is 41.

As a result, each external gear 30 rotates in a direction opposite to the rotational direction of the input rotary body 10 at a ratio of (N _I −N ₀ )/N _O with respect to the rotation speed R _I of the input rotary body 10. In other words, the reduction ratio of the reducer 1 is N _O /(N _I - N _O ).

When the external gear 30 rotates, the power is transmitted to the carrier pin 80 inserted into the pin hole 40 of the external gear 30. The carrier pin 80 is connected to the first to fourth output flanges 60 via the bush 70, and the first to fourth output flanges 60 are further connected to the output rotating body 100 via the splines 63, 103, so that the carrier The power transmitted to the pin 80 is finally transmitted to the output rotating body 100. As a result, the rotational speed R _O of the output rotary body 100 becomes a value obtained by multiplying the rotational speed R _I of the input rotary body 10 by (N _I −N ₀ )/N _O .

The functions and effects of the reducer 1 are as follows. In the reducer 1 of the present embodiment, a plurality of output flanges 60 are arranged so as to sandwich each external gear 30 in the axial direction, and rotatably support the carrier pin 80. By supporting the carrier pin 80 at a plurality of locations in the axial direction in this manner, the carrier pin 80 is stably supported, and deflection due to the rotational moment acting on the carrier pin 80 can be suppressed.

Since the reducer 1 having such a structure can suppress the deflection of the carrier pin 80, the carrier pin 80 and each member can be made more compact than conventional reducers, and the reducer 1 can be made smaller. .

Further, since the reducer 1 can suppress the deflection of the carrier pin 80, the carrier pin 80 can be made long and thin. If the carrier pin 80 is lengthened, the number of external gears 30 to be attached can be increased, and a large transmission capacity can be obtained. Furthermore, by increasing the number of external gears 30, the rotational balance is improved and pulsation is also suppressed. By reducing the diameter d ₁ of the carrier pin 80, the diameter D ₁ of the pin hole 40 of the external gear 30 can be reduced. By reducing the diameter _D1 of the pin hole 40 of the external gear 30, the distance from the end of the pin hole 40 to the outer peripheral surface of the external gear 30 and the distance to the inner peripheral surface 32 of the external gear 30 become longer. . This increases the strength of the external gear 30 and increases the output torque.

Although the reduction gear according to the present invention has been described above using the reduction gear 1 of the first embodiment, the reduction gear according to the present invention is not limited to the above embodiment, and can be modified without changing the gist. and can be used.

FIG. 9 is a schematic diagram for explaining the arrangement of the output flange 60 of the reduction gear of the present invention. In FIG. 9, the same components as the reducer 1 according to the first embodiment of the present invention are given the same reference numerals. In the figure, the numbers in circles indicate the order from the left in the axial direction of the output flange 60, and the numbers in parentheses indicate the order from the left in the axial direction of the external gear 30.

FIG. 9(A) shows the arrangement of the output flanges 60 of the reducer 1 according to the first embodiment of the present invention, in which the first to fourth output flanges 60 and the first to third external gears 30 are alternately arranged one by one. are arranged in In FIG. 9(B), there is one external gear 30, and the output flanges 60 are arranged so as to sandwich the external gear 30.

In FIG. 9C, the first to sixth output flanges 60 and the first to sixth external gears 30 are arranged alternately one by one. In FIG. 9(A), the number of output flanges 60 is one more than the number of external gears 30, so the output flanges 60 are arranged at both ends, but in FIG. 9(C), the number of output flanges 60 is However, since the number is the same as the number of external gears 30, the output flange 60 is not arranged at the right end. In FIG. 9(D), there are five output flanges 60 for eight external gears 30, and one output flange 60 is arranged for every two external gears 30 arranged side by side. ing.

In the reducer of the present invention, the arrangement of the output flange 60 with respect to the external gear 30 is such that the output flange 60 and the external gear 30 are alternately arranged one by one as shown in FIGS. Basically, the output flange 60 is also arranged in the section. On the other hand, when increasing the number of external gears 30 to obtain a large output, the number of output flanges 60 can be reduced by arranging the output flanges 60 as shown in FIG. 9(C) or FIG. 9(D). As a result, the size and weight of the speed reducer can be reduced.

In the reducer of the present invention, the output flange can adopt an arrangement other than the arrangement shown in FIGS. It supports multiple locations and suppresses deflection due to rotational moment acting on the carrier pin 80. Here, the intermediate portion is a region excluding both ends.

In the reducer 1 of the first embodiment, the input rotating body 10, the eccentric cam 15, and the collar 20 are separate bodies, and the eccentric cam 15 and collar 20 are inserted into the outer peripheral surface 13 of the input rotating body 10 and fixed. However, the input rotating body 10, the eccentric cam 15, and the collar 20 may be formed integrally. Alternatively, the input rotating body 10 and the eccentric cam 15 may be formed integrally, and the collar 20 may be omitted.

In the reducer 1 of the first embodiment, the rod member 52 has a rectangular shape, but the rod member 52 only needs to be able to reliably transmit the movement of the eccentric cam 15 to the external gear 30, and its shape is particularly limited. It is not something that will be done. As long as the rod member 52 is solid, it may be a hollow member.

In the reducer 1 of the first embodiment, the splines 63 and 103 are used as a connection means between the output flange 60 and the output rotating body 100, but if the power can be reliably transmitted from the output flange 60 to the output rotating body 100, the splines 63 and 103 can be connected. Other means may be used. Further, in the reducer 1 of the first embodiment, the internal gear 90 is formed integrally with the casing 120, but the internal gear 90 may be separated from the casing 120 and formed separately.

Although the preferred speed reducer has been described with reference to the drawings, those skilled in the art will readily assume various changes and modifications within the obvious range upon viewing this specification. It is therefore contemplated that such changes and modifications are within the scope of the invention as defined by the claims.

1 Reducer 10 Input rotating body 15 Eccentric cam 20 Collar 25 Bearing 30 External gear 32 External gear inner peripheral surface 36 External teeth 40 Pin hole 50 Transmission rod 52 Rod member 54 One end of the rod member 56 Other end of the rod member 60 Output Flange 63 Spline 65 Pin hole 70 Bush 80 Carrier pin 90 Internal gear 92 Outer pin 100 Output rotating body 101 Main body 102 Main body outer peripheral surface 103 Spline 104 Insertion hole 120 Casing 121 Casing main body 122 Casing main body inner peripheral surface N _O Number of external teeth N _I Number of internal teeth O Rotating axes OE _a , OE _b , OE _c 1st rotating axis, 2nd rotating axis, 3rd rotating axis R _I Input rotation speed R _O Output rotation speed

Claims (6)

It is an eccentric rocking type reducer,
an input rotating body that rotates at an input rotation speed R _I around a rotation axis O;
an eccentric cam having a rotation axis OE eccentric from the rotation axis O and rotating integrally with the input rotating body;
an external gear that has an annular shape and has external teeth on its outer peripheral surface and swings eccentrically;
a transmission rod having one end in contact with a bearing attached to the outer circumferential surface of the eccentric cam and the other end in contact with the inner circumferential surface of the external gear to transmit the movement of the eccentric cam to the external gear;
an internal gear that internally meshes with the external teeth;
a carrier pin extending in the axial direction and inserted into a pin hole provided in the external gear;
an output flange arranged at both ends and/or an intermediate portion of the carrier pin and connected to the carrier pin;
a cylindrical output rotating body connected to the output flange and rotating at an output rotational speed _RO around a rotation axis O;
Equipped with
The input rotating body and the bearing are inserted and disposed inside the output rotating body,
The speed reducer, wherein the output rotating body includes an insertion hole through which the transmission rod is inserted. The output flange has an annular shape and has a spline on an inner peripheral surface,
The output rotating body includes a spline on an outer peripheral surface that engages with a spline of the output flange,
The speed reducer according to claim 1, wherein the output flange is inserted through the outside of the output rotating body, and the output flange and the output rotating body are connected via the spline. comprising a plurality of the external gears and a plurality of the output flanges,
The output flanges are arranged at both ends and intermediate portions of the plurality of external gears,
The speed reducer according to claim 2, wherein the insertion hole and the spline provided in the output rotating body are provided at the same position as the external gear and the output flange, respectively, when viewed in the axial direction. Machine. comprising a plurality of the external gears and the same number of the external gears or the same number of the external gears plus one output flange;
The external gear and the output flange are arranged alternately in the axial direction,
The speed reducer according to claim 2, wherein the insertion hole and the spline provided in the output rotary body are provided at the same position as the external gear and the output flange, respectively, when viewed in the axial direction. Machine. The speed reducer according to any one of claims 1 to 4, wherein the internal gear is formed with external pins arranged on an inner circumferential surface of a casing. The output flange has a plurality of through holes in the circumferential direction,
A bush is fitted into the through hole,
The speed reducer according to any one of claims 1 to 4, wherein the carrier pin is fitted into the bush, and the carrier pin and the output flange are connected.

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