JP2827166B2 - Planetary gear reducer - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [0001] BACKGROUND OF THE INVENTIONPlanetary gear reducerAbout
I do. [0002] [Prior art]Conventionally, a cylindrical body provided with an internal gear,
The external gear that meshes with the internal gear of the body and the center of the internal gear
And its crank is fitted to the external gear
An input crankshaft that swings and rotates the external gear
With a support that supports the crankshaft Planetary gear reducer with
As disclosed in JP-A-59-106744.
It is known. [0003] [Problems to be solved by the invention]However, this feature
Planetary gear reduction as disclosed in JP-A-59-106744
Machine, the input crankshaft is cantilevered on the support
So it is basically a planetary gear reducer with low rigidity
You. Also, the input crankshaft receives the total reaction force from the external gear.
The bearing that supports the input crankshaft is
The diameter of the cylinder between the input gear and the cylinder
Use large ones (support and cylinder are not integral
The bearing between the cylinder and the input crankshaft has a load capacity
Need to be increased, so that it becomes large). In addition,
In order to make the power crankshaft rigid, the support must also be rigid.
Support is necessary, and the support
It has a configuration with an end, and two
The main bearing is arranged so that it is
It has become. Therefore, high cost and large planets
There was a problem that it was a gear reducer. Also,
Since the tip of the long shaft part of the support is used as the output shaft,
Driven parts and bases with a large mounting surface on the output part
Can not be attached, the application field is limited
There was a problem that was. [0004](Object of the invention) The present invention is compact and low cost, yet rigid
Planetary gear reducer with high torque and high torque transmission
In particular, parts such as driven parts and bases with large mounting surfaces
Material can be attached to the support itself,
With the aim of providing a planetary gear reducer that can be extended
You. [0005] [Means for Solving the Problems]In the present invention, the internal teeth
Meshing with the simple gear with gears and the internal gear of the cylinder Outside
Tooth gear, and located at the center of the internal gear,
The crank portion fits into the external gear and the external gear
The input crankshaft that swings and rotates the input crankshaft
A supporting body, and a planetary gear reducer comprising:
A pair of supports in which the support is located on both sides of the external gear
Part, and the axial direction of the input crankshaft of the external gear
It is constituted integrally from a pillar part loosely fitted in the hole opened in the direction,
The cylindrical body includes both outer circumferences of the pair of support portions and both outer surfaces of the cylindrical body.
Through the bearing provided between the inner circumference of the end and the front
The input crankshaft is supported by the support, and both ends of the input crankshaft are
Both inner circumferences of the pair of support portions and both ends of the input crankshaft
Via a bearing provided between the outer periphery
One of the pair of support portions is supported by a pair of support portions.
And a member mounting end face formed at one side end of the member.
A member fastening hole formed in the attachment end face;
The attachment end face is located outside the one end of the cylindrical body.
The planetary gear reducer is characterized in that
Achieve the goal. [0006] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTSPlanetary gear reduction
A planetary gear reducer according to the present invention with a part of its configuration
1 to 12 (first embodiment to fifth embodiment)
First, the planetary gear reducer shown in Example) will be described first, and the present invention
The planetary gear reducer according to FIG.On the basis of
explain. [0007](First Embodiment) 1 to 3First of reduction gears including planetary gear reducer
Form exampleFIG. First, the configuration will be described.
Figure 1Produced a first embodiment of a reduction gear including a planetary gear reducer
Industrial robot joint deviceOverall robot joints used
It is a schematic diagram. Reference numeral 1 denotes an electric motor.
The flange 2 is fixed to the cylinder 4 of the reduction gear 3. Tube
The body 4 is fixed to the tip 5a of a first arm 5 as a first member.
Is defined. The rotating shaft 7 of the electric motor output is a reduction gear.
The output of the reduction gear 3 is connected to the input rotary shaft 8 of the
10, the shaft 10 penetrates the cylindrical body 11 and the second part
It is fixed to a second arm 12 as a material. 2nd ar
The cylindrical body 13 at the end of the arm 12 and the tip 5a of the first arm 5
Between the cylindrical projection 15 protruding downward from the lower surface of the
Is provided with a pair of bearings 16. Accordingly
The reduction gear 3 reduces the rotation speed of the electric motor 1 and
The driven part of the unit, that is, the second arm 12 is rotated.
In addition, the electric motor 1, the reduction gear 3, the second arm 12,
And the load connected to the second arm constitutes a drive system. The speed reducer 3 is shown in FIGS. 2 and 3.
A first-stage speed reducer 20 for reducing the number of revolutions of the electric motor 1
Is connected to the pre-stage speed reducer 20 to further reduce the rotational speed.
And a second-stage speed reducer 21. Front reduction gear
20 is a parallel shaft type speed reducer. The rear reduction gear 21 is fixed
Internal gear 28 and external gear meshing with internal gear 28
29 and engage with the external gear 29 to swing the external gear 29
An input crankshaft 30 as an eccentric input shaft to be rotated;
Having an eccentric oscillating type planetary gear device
You. The internal gear 28 is a pin gear using the pin teeth 31.
And one more than the number of teeth of the external gear 29
It has the number of teeth. In addition, the front-stage speed reducer 20 is a normal parallel
It is a shaft type speed reducer and is constituted by a spur gear. The reduction ratio i1 of the front reduction gear 20 and the rear reduction gear
The reduction ratio i2 of 21 is the normal control rotation speed of the electric motor 1.
The robots, ie, the first arm 5 and the second
So that the resonance between the arm 12 and the rear reduction gear 21 does not occur.
You have selected. That is, in the practical range of the electric motor 1,
The number of revolutions per second of the pre-stage reduction gear 20 is reduced by 1,
Speed device 3, connected to second arm 12 and second arm 12
Oscillation frequency of the drive system composed of the applied load
(This refers to the frequency near the natural torsional frequency f0. The same applies hereinafter.)
F) Select the reduction ratio i1 of the pre-stage reduction gear 20 so that
Select. In this embodiment, the normal control of the electric motor 1 is performed.
When the number of rotations is 0 to 1000 rpm, the speed of the pre-stage reduction gear 20 is reduced.
The ratio i1 is 1/3 and the reduction ratio i2 of the rear reduction gear 21 is 1
/ 40, and the overall reduction ratio i of the reduction gear transmission 3 is 1/12.
It has been selected to be zero. Intrinsic twist of the drive train
The frequency f0 is the number of rotations of the electric motor 1 at the resonance peak point.
The number of rotations, the reduction ratio i1 of the pre-stage reduction gear 20 and the reduction gear 3
Can be calculated backward from the torque fluctuation characteristics described later.
In the example, it is about 8.4 Hz. [0010] The reduction ratio i1 of the pre-stage reduction gear 20 is less than 1/5.
(Meaning that the denominator increases. The same applies hereinafter) or
The reduction ratio i2 of the rear reduction gear 21 exceeds 1/25 (the denominator
Means smaller. The same applies below)
1/12 using a parallel shaft reducer with a simple structure
Since it is difficult to obtain a total reduction ratio i of 0,
Disadvantageously. Also, the reduction ratio i2 of the rear reduction gear 21
Is less than 1/60 or the reduction ratio i1 of the pre-stage reduction gear 20 is 1
/ 2 to obtain a total reduction ratio i of 1/120,
In the practical range of the dynamic motor 1, the
The rotational speed of the drive system is the natural torsional frequency f0 (8.
4Hz) Near or higher, preventing resonance
Less effective. Next, the operation will be described. Electric motor
When 1 is rotated at a normal rotation speed of 0 to 1000 rpm,
The output rotational speed of the pre-stage reduction gear 20 having the reduction ratio i1 of 1/3 is 0.
~ 333 rpm, reduction ratio i2 reduced by 1/40
The output rotation speed of the speed changer 21 is 0 to 8.3 rpm.
No resonance phenomenon occurs in the range. The resonance is out of the practical range,
When the output rotation speed of the electric motor 1 is around 1500 rpm (this
, The output rotation speed of the pre-stage reduction gear 20 is 1500 rpm
× 1/3 = near 500 rpm, planetary gear reducer 21
The power rotation speed is 1500 rpm × 1/3 × 1/40 = 12.1.
Around 5 rpm). In this way, the resonance phenomenon
It is not clear why this occurs outside the practical range of
Estimated from the test results, the internal gear and external gear
The planetary differential gear device having a tooth number difference of 1 is an input shaft (clutch).
Torque fluctuation per rotation of the link shaft 30),
Accordingly, the front-stage speed reducer 20 having the reduction ratio i1 of 1/3
Is attached, the rotation speed of the electric motor 1 is out of the practical range.
In the vicinity of 1500 rpm, 1500 × (1/1)
3) A torque fluctuation per minute of about 1 × 500 occurs,
This torque fluctuation number is the natural frequency of the drive system 8.4 Hz.
(500 vibrations / minute)
Conceivable. On the other hand, the difference in the number of teeth between the internal teeth and the external teeth is 2
In the case of a Japanese gear unit, the input shaft
(Wave generator) 2 torque changes per rotation
Motion, and therefore this is reduced to 1/3 of the previous stage
When the machine is installed, the rotation speed of the electric motor is 750 rpm
750 x 1/3 x 2 = 500 per minute torque around
Fluctuations occur, and the natural frequency f0 of the drive system is the same as in the above embodiment.
Like 8.4 hertz (500 vibrations per minute)
When the rotation speed of the motor is around 750 rpm, which is within the practical range,
It is considered that vibration occurs. In this case,
Does resonance occur when the frequency is approximately 500?
From the harmonic gear reducer, the pre-stage reduction with a reduction ratio i of about 1/6
The rotation speed of the electric motor at resonance is
Up to around 1500rpm, which is out of range
Can be considered. However, the reduction of harmonic gear reducer
The ratio i2 is at least 1/480, and is 1 to 1000 rpm
Reduction ratio generally required for electric motors with m as the practical range
i (about 1/120) cannot be satisfied, so that
Will be. The electric motor 1 and the pre-stage speed reducer 20
Does not affect the oscillation of the drive system. This is
Because these vibrations are small,
It is considered that this is due to absorption. (Experimental example) The aforementionedForm exampleIn addition to the reduction gear of
Describes vibration measurement tests performed on the reduction gears shown.
I will tell. The aforementionedForm exampleAnd the eccentric oscillating type of Comparative Examples 1 and 2.
Planetary gear reducer, swinging of crankshaft and external gear
To reduce the vibration amplitude by preventing imbalance due to
Second, which will be described laterThird embodimentSimilarly, with two external gears
These are assembled with a phase difference of 180 degrees
And the number of teeth of the internal gear is one more than the number of teeth of the external gear
Used was used. Reduction gear of each reduction gear
Number, reduction ratio i1, i2, rotation spring constant K1 (see FIG. 9)
And the moment of inertia J are shown in Table 1 below. [0015] [Table 1](Note 1): Planetary gear reduction is an eccentric oscillating type planetary gear reducer.
The spur gear reducer shows a parallel shaft type spur gear train reducer
You. The experiment was conducted according to the overall configuration diagram shown in FIG.
did. That is, the output shaft 51a of the electric servomotor 51
A reduction gear 52 is attached to the output shaft 52 of the reduction gear 52.
a shows the moment of inertia of the driven part (second arm) of the robot
Flywheel 53 as an inertial load equivalent to
Was attached. Radius of flywheel side 53a
A piezoelectric element that can measure the acceleration and amplitude in the circumferential direction
An acceleration pickup 54 using a child was attached. This
The output of the acceleration pickup 54 is
Are linked. The motor 51, the reduction gear 52, and the
The natural frequency f0 of the drive system composed of the wheel 53 is about
Adjusted to 8.4 Hertz. Electric motor rotation
By changing the number of turns, the acceleration of the flywheel at that time
The size was measured. FIG. 4 shows the measurement results. The horizontal axis is electric
The number of rotations of the servo motor 51 is plotted on the vertical axis.
Circumferential acceleration detected in up 54 (unit: G)
Is shown. In Comparative Examples 1, 2 and 3
Therefore, the resonance peaks are
The number is approximately 750 rpm, approximately 500 rpm and approximately 250
rpm, the normal control speed of the electric motor 51
Resonance occurs in the range of 0 to 1000 rpm. Only
while doing,Example of form using this reduction gearIn the case of electric
Near 1500rpm, which is outside the practical range of motor
A resonance phenomenon occurs nearby. Comparison between Comparative Example 2 and Comparative Example 3
Therefore, the number of revolutions of the electric motor 51 at resonance is
Planetary gear reducer with 1 tooth difference between external gear and external gear
It will be appreciated that this is twice the harmonic gearing. Also,form
ExampleFrom the comparison between Comparative Example 1 and Comparative Example 2,
The rotation speed of the electric motor 51 is determined by the reduction ratio i of the preceding reduction gear.
It is recognized that it is proportional. [0018](Second embodiment) nextSecond embodiment of a reduction gear including a planetary gear reducerage
I mentioned earlierFirst form exampleThe speed reducer 3 of
This will be described with reference to FIGS. In addition,First form
An exampleFor the same configuration asFirst form exampleUse the same code as
Will be described. In FIGS. 6 and 7, reference numeral 40 indicates the position shown in FIG.
A reduction gear driven by the electric motor 1
The speed gear 40 is connected to the rotating shaft 7 of the electric motor 1 by a parallel gear.
A shaft type front-stage speed reducer 20 is connected to the front-stage speed reducer 20.
And a planetary gear reducer 21 at the subsequent stage.
You. The tip 7a of the rotating shaft 7 of the electric motor 1 is
It has a screw 7b at the tip. To the screw part 7b
Is connected with a connecting shaft 7c which forms a part of the motor output shaft.
ing. Reference numeral 8 denotes an input rotary shaft, and a front stage deceleration is provided at the tip 8a.
A pinion 22 of the machine 20 is provided and a motor rotation shaft is provided.
7 has a hole 8b passing therethrough, and the hole 8b
It has a tapered hole that engages with the tapered part. Input rotary shaft 8
To the nut 23 on the tip 7a of the rotating shaft 7 of the electric motor 1.
More screwed. The tip 7a of the rotating shaft 7 is input
The rotating shaft 8 is fixed by a half-moon key 24. This
With such a configuration, the shaft diameter of the tip 8a of the input rotary shaft 8 is
Can be smaller than the shaft diameter of the rotary shaft 7,
The number of teeth of the pinion 22 is directly
It can be reduced compared to when attaching
When using a commercially available electric motor 1 with a relatively large rotating shaft diameter,
Even if there is, a predetermined pre-stage reduction ratio can be obtained. Pini
The three spur gears 25 meshing with the on 22 are three gears described later.
, Respectively. The planetary gear reducer 21 is fixedly mounted on the cylinder 4.
A pair of internal gears 28 engaged with the internal gear 28
Of the external gear 29 and the external gear 2
Input shafts as eccentric input shafts for oscillating rotation of
And a link shaft 30. In addition, the internal gear 2
Reference numeral 8 denotes a pin gear having pin teeth 31 and external teeth
The number of teeth is one more than the number of teeth of the gear 29. 3
Reference numeral 3 denotes a disk part, and the disk part 33 is a part of the planetary gear reducer 21.
Construct the front end and move the input crankshaft 30 around the circumference.
The shafts are supported via equally arranged bearings 34. 35 is bu
The lock body is a lock body, and the block body 35
And the input rotary shaft 8 is loosely fitted.
You. Similarly, at the center of the external gear 29 and the disk 33
A hole is provided. The block body 35 has a rear end 35
a has a recess and faces the flange portion 39 of the shaft 10.
You. The void formed by the recess 36 and the flange 39
A front-stage speed reducer 20 is housed in the cave. block
The input crankshaft 30 is equally distributed on the body 35
It is supported via a ring 41. Of the input crankshaft 30
Extension 30a projects into recess 36 and is fixed to spur gear 25
Have been. The input crankshaft 30 is connected to the disc 33 and the block.
And is supported by the central portion of the
A pair of crank portions 42 having a phase difference of 180 degrees
Each crank part 42 has external teeth via a bearing 43
The gear 29 is eccentrically swung. Where before
The disk part 33 and the block body 35 described above
Constitute. Disk part 33, block body 35 and flange
The part 39 is formed by a plurality of bolts 46 and fixing nuts 47.
Fixed to each other. The rotation of the electric motor 1 is controlled by the rotation shaft 7 and the input.
It is transmitted to the pinion of the pre-stage reduction gear 20 via the shaft 8 and
The speed is reduced by the step reducer 20. The output of the pre-stage reducer 20 is flat.
The gear 25 connects to the crankshaft 30 of the planetary gear reducer 21.
Is entered. Next, eccentricity is caused by rotation of the crankshaft 30.
The external gear 29 that is swung, and the external gear 29
Internal gear having one more tooth than mesh external gear 29
28 and the external gear 29
Rotating motion from the support 44 acting as a carrier
The power is transmitted to the shaft 10 and the arm 12 is rotated. [0023]Example of this embodimentIn the case of the normal
The control rotation speed is (0 to 1000 rpm,
Reduction ratio i1 is 1/3, reduction ratio i2 of planetary gear reducer 21
Is 1/40, the total reduction ratio i of the reduction gear 3 is 1/120,
Including the dynamic motor 1, the reduction gear 3, and the second arm 12
The inherent torsional frequency f0 of the drive system thus constructed is approximately 8.4 f
Ruth. Therefore, the electric motor 1 is an industrial robot
(8.4) corresponding to the natural torsional frequency of the drive system
500 rpm corresponding to hertz) in the normal control range (0 to 1)
000 rpm). In addition, the front-stage speed reducer 20
Is the maximum number of revolutions per second in the normal control range of the electric motor 1
(16.7 revolutions per second, equivalent to 1000 rpm)
The natural torsional frequency f0 of the dynamic system should be less than f0 (5.
(6 rotations).
You. The rotation spring constant K1 of the speed reducer 40 is about 37.5 kg.
m / min. thisForm exampleAnd vibration characteristics in case of
IsFirst form exampleIs the same as [0024](Third embodiment) nextThird embodiment of reduction gear including planetary gear reducerThe drawing
It will be described based on. In FIG. 8, reference numeral 60 denotes a speed reducer.
is there. The speed reducer 60 includes the electric motor 1, the pre-stage speed reducer 20 and the
And a planetary gear reducer 21 are sequentially arranged in the axial direction.
An input shaft 8 is attached to an output shaft 7 of the motor 1.
You. The front reduction gear 20 is provided at the end of the input rotary shaft 8 on the motor 1 side.
An input gear 22 is provided integrally, and a large gear 6
1a and a first idle gear 61 having a small gear 61b
It is rotatably supported. The class of the planetary gear reducer 21
One end of the link shaft 30 has an extended portion 30 a protruding toward the motor 1.
Having. A second eye is provided at the end of the extension 30a on the motor 1 side.
Gear 62 is rotatably supported, with the front stage reduced in the middle.
The output gear 25 of the speed unit 20 is fixed. Second eye
The dollar gear 62 meshes with the input gear 22 so that the number of teeth
Large gear 62a and large teeth of the first idle gear 61
The small gear 62 having a small number of teeth is meshed with the wheel 61a.
b. The output gear 25 is a small one of the first
It meshes with the gear 61b and has a greater number of teeth. input
Rotary shaft 8, input gear 22, output gear 25, extension 30
a and the first and second aridle gears 61 and 62
A parallel shaft reducer as the reducer 20 is configured. Idol
By inserting gears 61 and 62, the rotation axis
Even when a commercially available electric motor 1 having a large diameter is used,
A predetermined pre-stage reduction ratio i1 can be obtained. Other configurations
And the action is1st form and 2nd formSame as
SoExample of the formThe reference numerals used in the description of FIG.
Is omitted. Next, for an industrial robot 65 shown in FIG.
WasReduction gear of this embodimentThe industrial robot joint device according to
An embodiment will be described with reference to the drawings. In FIG.
The robot 65 is connected to the first joint 66 and the first joint 66.
Second joint 67 and a first arm connected to the second joint 67
83 and a second arm 68. First
The joint 66 moves the swivel 73 above the support 71 in the direction of the arrow P.
The second joint 67 rotates and the bracket fixed to the turntable 73
The first arm 83 on the upper side of the unit 81 is rotated in the direction of arrow Q.
The three-dimensional movement of the tip 68a of the second arm 68 is possible.
Make it work. [0026](Fourth embodiment) FIG.Fourth embodiment of reduction gear including planetary gear reducer
An exampleFIG.Third embodimentThe same configuration
Will be described using the same reference numerals. In FIG. 11, reference numeral 70 denotes a speed reducer.
The reduction gear 70 is a first joint of the industrial robot shown in FIG.
At 66, the inside of the cylindrical support 71 as the first member
It is decorated in. Reduction gear 70 is connected to electric motor 1
Parallel shaft type pre-stage reducer 20 and this pre-stage reducer 2
0 is connected to the planetary gear reducer 21 at the subsequent stage.
Have been. The flange 2 of the electric motor 1 is
And is fixed to the support column 71 using bolts 4b. electric
A substantially vertical rotating shaft 7 on the upper side of the motor 1 is
3 which is fixed to the pinion 22 and meshes with the pinion 22
Pieces of the spur gear 25 are connected to three input crankshafts 30 described later.
Are respectively fixed to the extending portions 30a. Planetary gear reduction
The speed reducer 21 is disposed above the pre-stage speed reducer 20, and
An internal gear 28 fixedly provided and meshed with the internal gear 28
A pair of meshing external gears 29a, 29b (hereinafter, suffixed with
And the external gear 29 fits into the external gear 29.
Three eccentric input shafts for oscillatingly rotating the tooth gear 29
And an input crankshaft 30. Input class
The link shaft 30 is a circle constituting the lower end of the planetary gear reducer 21.
The planetary gear is supported by the plate 33 via a bearing 34.
On the upper end of the reducer 21 and on the circumference of the external gear 29
The block body 35 inserted through the through hole provided
It is supported by a bearing 41. Block 3
5 and the disk part 33 are three bolts 4 equally distributed on the circumference.
6 to form a support (carrier) 44
And a cylinder as a second member provided on the upper side of the column 71
It is fixed to the bottom part 73a of the rotating body 73 of the shape. bottom
A bearing 7 is provided between the support 73 and the upper portion 71a of the support 71.
4 are provided, and with the rotation of the support (carrier) 44,
The swivel 73 rotates. Configuration, operation and vibration other than those described above
The dynamic characteristics areThird embodimentIt is the same as above and will be omitted. [0028](Fifth embodiment) FIG.Fifth embodiment of reduction gear including planetary gear reducerTo
FIG.Third embodimentAbout the same configuration as
Will be described using the same reference numerals. In FIG. 12, reference numeral 80 denotes a speed reducer.
The reduction gear 80 is a second joint 6 of the industrial robot shown in FIG.
7 was used. Box-shaped bracket as the first member
G is integrated with the above-mentioned revolving disk 73 of the first joint 66
Is fixed. The reduction gear 80 is connected to the electric motor 1.
The connected parallel shaft type pre-stage reducer 20 and the pre-stage reducer 2
0 is connected to the planetary gear reducer 21 at the subsequent stage.
Have been. The flange 2 of the electric motor 1 is a bracket 81
And the rotary shaft of the electric motor 1
7 is fixed to the pinion 22 of the pre-stage reduction gear 20, and the pinion 22
The three spur gears 25 meshing with the gears 22 are three input gears described later.
Each is fixed to the extending portion 30a of the crankshaft 30.
You. Front end of input crankshaft 30 of planetary gear reducer 21
Is supported by the block body 35 via the bearing 41,
The rear end is pivotally supported on the disk 33 via the bearing 34.
Have been. The block 35 and the disc 33 are bolted 46
The support 44 is integrally fixed with the
The bracket 82 is fixed to the bracket 81 by a bracket 82. Planetary teeth
The internal gear 28 of the vehicle speed reducer 21 is attached to the outer periphery of the support 44.
It is rotatably supported via an ringing 84. Internal teeth
The gear 28 is connected to the end 8 of the first arm 83 as a second member.
3a is integrally fixed. The rotation of the electric motor 1 is performed via the rotating shaft 7
The power is transmitted to the pinion 22 of the speed reducer 20 and
It is decelerated at 0. The output of the pre-stage reducer 20 is sent to the spur gear 25
Input to the input crankshaft 30 of the planetary gear reducer 21
It is. Next, eccentricity is caused by the rotation of the input crankshaft 30.
The pair of external gears 29a, 29b (hereinafter, referred to as 2
9) and the external gear 29 meshes with the external gear 29.
With the internal gear 28 having one more tooth than the wheel 29
The speed is further reduced, and the slow rotation of the internal gear 28 is
The two arms 83 are rotated. Configuration, operation and
And vibration characteristicsThird embodimentIs the same as
The description is omitted. [0031](Sixth embodiment) FIG.Sixth embodiment using the planetary gear reducer of the present inventionTo
FIG. 14 is a diagram showing a part of the configuration of the fifth embodiment.
Has been changed,Fifth form exampleSame configuration as
The description will be given with one reference numeral. In FIG. 13, reference numeral 90 denotes a speed reducer.
The reduction gear transmission 90Fifth form exampleSimilarly, as shown in FIG.
This is used for the second joint 67 of the industrial robot.Sixth
Form exampleThen, the speed reducer 90 is connected to the electric motor 1
The front-stage speed reducer 20 and the rear stage idler connected to the front-stage speed reducer 20
And a star gear reducer 21. Electric motor 1
The rotation shaft 7 of the output shaft is connected to the sun gear 91 of the pre-stage reduction gear 20.
3 connected to the sun gear 91 and equally distributed on the circumference.
The planetary gears 92 move forward from the front end of the block body 35.
Gear provided inside the cylindrical portion 35a connected to the
It also meshes with 93 and makes planetary motion. Eccentricity of planetary gear reducer 21
The input crankshaft 30 as the center input shaft is the axis of the rotating shaft 7
Is arranged on the axis of the block body 35 on the same axis as
The extension 30a of the power crankshaft 30 is provided via a bearing 94.
And is pivotally supported by the block body 35. Of the extension 30a
A flange portion 95 is provided at the front end portion.
The planetary gear of the pre-stage reduction gear 20 is inserted into a hole 96 provided around
The 92 shafts 92a are fitted. After the input crankshaft 30
The part is supported by the disk part 33 via a bearing 98.
I have. The block 35 and the disk 33 are attached to bolts 82.
It is integrally fixed to the bracket 81.Cylinder 4
Is provided with an internal gear 28, and the internal gear 28 has an external gear.
The tooth gears 29a and 29b are engaged. Input crank
The shaft 30 is located at the center of the internal gear 28 and
Are fitted to the external gears 29a and 29b.
In combination, the external gears 29a and 29b are pivotally rotated.
The support 44 is located between the cylinder 4 and the input crankshaft 30.
And supports the input crankshaft 30. The support 44
The disk portions 33 and 33 located on both sides of the external gears 29a and 29b
And a block 35, which are bolted together.
The block body 35 is physically connected to the
5b. The disk part 33 and the block body 35
It constitutes a pair of support parts 100. Column 35b has external teeth
In the axial direction of the input crankshaft 30 of the gears 29a, 29b
It is loosely fitted in the opened hole 29c. The support 44 is a pair of
It is configured integrally with the support portion 100 and the pillar portion 35b.
I have. The cylindrical body 4 is provided between the pair of support portions 100 of the support body 44.
In both ends of the cylindrical body 4 provided with the outer periphery and the internal gear 28
Via two bearings 84 provided between
And is supported by the support 44. Input crankshaft
The two ends of the pair of support portions 100 of the support body 44
It is installed between the inner circumference and the outer circumference of both ends of the input crankshaft 30.
Supported via two bearings 94, 98
It is supported by a pair of support portions 100 of the body 44. Pair of
One side end of the support portion 100 has a member mounting portion.
An end surface 44a is formed.
The material fastening hole 44b is formed to be open. Support pair 4
4 is an input crank of the cylinder 4
One end of both ends 4a and 4b in the axial direction of the shaft 30
4a. The rotation of the electric motor 1 is
Transmitted to the sun gear 91,
The planetary gear 92 rotates with the sun gear 91,
The planetary gear 92 extends between the sun gear 91 and the internal gear 93.
Decelerates and performs planetary motion. In the planetary motion of the planetary gear 92
The revolving motion is performed by the input crankshaft 30 through the flange 95.
Is transmitted toThe input crankshaft 30 is rotated
And the external gear by the action of the crank portion 42 and the column portion 35b.
29a, 29b are eccentrically oscillating cylinders having internal gears 28
The body 4 rotates.Configuration, operation and vibration characteristics other than those described above
Are the same as those in the fifth embodiment.
Abbreviate. In addition,In the embodiment of the present invention, the member mounting
Attach a bracket corresponding to the base to the end surface 44a
The cylinder is designed to rotate, but as a driven member
Attach all robot arms and rotate the support
You may make it.AlsoThis formIn the previous stage
The speed reduction ratio of the gear is the maximum number of revolutions per second of the electric motor,
Equivalent to the frequency at which resonance begins to occur (see “Ne
Near oscillation frequency), that is, the natural frequency of the drive system
Any value that decelerates to a slightly smaller frequency
No. For example, the natural torsional frequency f0 of the drive system is 5 to 9 Hz
And the maximum rotation speed of the electric motor is 1000r
pm, when the total reduction ratio i is 1/60 to 1/320
Minimum deceleration ratio i1 is about 1 / 1.9 to about 1/6, deceleration at the subsequent stage
Resonance phenomenon by setting the ratio i2 to 1/25 to 1/60
Can be removed from the practical range. In addition, the drive system specific screw
The frequency f0 is 5 to 9 Hz, and the electric motor
The maximum number of revolutions is 2000 rpm, and the total reduction ratio i is 1/1.
When the speed is 10 to 1/320, the preceding stage minimum reduction ratio i1 is set to about 1
/3.7 to about 1 / 6.7, the rear-stage reduction ratio i2 is about 1/25
Robo with no resonance phenomenon by setting to about 1/60
Get the joint device of the kit. Similar (f0 = 5-9Hz) field
And the electric motor speed is up to 4000rpm,
When the reduction ratio i is 1/210 to 1/640,
Reduction ratio i1 from about 1 / 7.4 to about 1 / 13.3, post-stage reduction
The ratio i2 may be about 1/30 to about 1/60. Also,
When the natural torsional frequency f0 of the drive system is 10 to 15 Hz
And the maximum number of revolutions of the electric motor is 1000 rpm,
When the total reduction ratio i is 1/80 to 1/300, the preceding stage is reduced to a minimum.
The speed ratio i1 is 1 / 1.5 to 1/4, and the reduction ratio i2 in the subsequent stage is 1
/ 25 to 1/60 to control resonance in the practical range
Can be removed. The same (f0 = 10 to 15 Hz)
In this case, the maximum rotation speed of the electric motor is 4000 rpm
m and the total reduction ratio i is 1/125 to 1/600,
Stage reduction ratio i1 is about 1 / 4.5 to about 1/10
The ratio i2 may be about 1/30 to 1/100. [0035] As described above, according to the present invention,
A pair of support members whose support members are located on both sides of the external gear;
And a hole in the axial direction of the input crankshaft of the external gear
It is achieved integrally from the loosely fitted column, and the cylinder is
Provided between both outer circumferences of a pair of support parts and inner circumferences of both ends of the cylindrical body
, Through a bearing, supported on a support, and input
Both ends of the crankshaft are connected to both inner circumferences of a pair of support
Bearings provided between the outer periphery of both ends of the rank shaft
Through a pair of support parts,
The rank shaft can sufficiently support the reaction force from the external gear, and
Despite the low cost and high cost, it is highly steel and transmits torque
Can be a planetary gear reducer You. In addition,
The end surface for attaching the member of the holding body is outside the one end of the cylindrical body
Is located at the end of the support
Use the fastening holes to remove the driven member or the base member.
When attaching, the area is larger than the size of the
Large components can be easily attached, reducing planetary gears.
It can broaden the field of use of speed gear. For example, input
Robot arm that is long in the direction perpendicular to the axis of the rank axis
Can be easily attached.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 shows a first embodiment of a reduction gear including a planetary gear reducer .
It is the whole body schematic diagram of the joint part of the robot used for the joint device of the industrial robot . FIG. 2 is a partial cross-sectional view of the speed reducer of the first embodiment . FIG. 3 is a sectional view taken on line AA of FIG. 2; FIG. 4 is a diagram illustrating the performance of the first embodiment and a comparative example. FIG. 5 is an overall configuration diagram of an experimental example according to FIG. 4; FIG. 6 is a cross-sectional view of a main part of a second embodiment of a reduction gear including a planetary gear reducer . FIG. 7 is a sectional view taken along the line BB of FIG. 6; FIG. 8 is a cross-sectional view of a main part of a third embodiment of a speed reducer including a planetary gear reducer . FIG. 9 is a characteristic diagram of a rotation spring constant of a general reduction gear transmission. FIG. 10 is an overall conceptual diagram of an industrial robot using a robot joint device relating to the speed reduction device of the present embodiment . 11 is a cross-sectional view of a main part of a fourth embodiment example used for the first joint in FIG. 10; FIG. 12 is a sectional view of a main part of a fifth embodiment example used for the second joint of FIG. 10; FIG. 13 shows the planetary gear reducer of the present invention in the second joint of FIG.
It is principal part sectional drawing of the example of form using . [Description of Signs] 1 Electric motor 3, 40, 60, 70, 80, 90 Reduction gear 4 Cylindrical body 4a One side end 5, 71, 81 of cylindrical body First member 12, 73, 83 Second member 20 Front stage Reduction gear 21 Rear-stage reduction gear (planetary gear reduction gear) 28 Internal gear 29 External gear 29c Hole 30 Input crankshaft 33 Disk 35 Block 35b Column 44 Support 44a Member mounting end surface 44b Member fastening hole 84 Bearing 94 98 Bearing 100 A pair of support parts

Claims (1)

(57) [Claims] The cylindrical body provided with the internal gear and the internal gear of the cylindrical body
When it is located at the center of the external gear that meshes with the internal gear
In both cases, the crank portion is fitted to the external gear and the
An input crankshaft that swings and rotates the external gear,
A planetary gear reducer equipped with a support for supporting the shaft
Oite, supporting said support for a pair located on opposite sides of said external gear
Part, and the axial direction of the input crankshaft of the external gear
The cylindrical body is integrally formed from a pillar portion loosely fitted in a hole opened in the direction, and the cylindrical body includes both outer circumferences of the pair of support portions and both sides of the cylindrical body.
Through the bearing provided between the inner edge of the end and the front
Both ends of the input crankshaft are supported by the support, and both ends of the pair of support portions are
Between the inner circumference and the outer circumference of both ends of the input crankshaft.
That is supported by the pair of support parts via bearings.
Is, member formed on one side end of one of said pair of supports
Mounting end face and part formed on the member mounting end face
A hole for material fastening is provided, and the end surface for attaching the member is located outside one end of the cylindrical body.
A planetary gear reducer characterized by being located on the side.