JP2828537B2 - Inner mesh planetary gear structure - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a reduction gear or a speed-increasing gear, and more particularly, to an internal meshing planetary gear structure suitable for use in a reduction gear or a speed-increasing gear which is required to be small and have a high output.

[0002]

2. Description of the Related Art Conventionally, a casing, a main rotating shaft having a tip inserted into the casing, and a spacing in the axial direction of the main rotating shaft are arranged, and each is rotatable with respect to the casing via a bearing. And a plurality of first and second support blocks connected and fixed to each other via a carrier body, and a plurality of the first and second support blocks are arranged on a circumference concentric with the main rotation shaft, and both ends of the first and second support blocks are the first. An eccentric shaft that is rotatably supported via an eccentric shaft bearing in an eccentric shaft bearing hole formed in the second support block, and that rotates in conjunction with the main rotation shaft; An eccentric body provided at a substantially central portion in the axial direction of the eccentric body shaft and an eccentric body bearing hole disposed between the first and second support blocks and having an eccentric body bearing hole are provided for each of the eccentric bodies. To the main rotating shaft An external gear that heart rotating, internally meshing planetary gear structure comprising the internal gear, the said external gear is fixed to said casing is inscribed meshing, for example, JP 6
0-260737, or U.S. Pat.
No. 11 and the like.

FIGS. 6 and 7 show a conventional example of this type of internally meshing planetary gear structure.

In these figures, the reference numeral 1 denotes a cylindrical casing having an outer flange 2. The distal end of an input shaft (main rotating shaft) 3 that is driven to rotate by a motor (not shown) is inserted into the center of the casing 1.

In the casing 1, a first support block 4 and a second support block 5 are arranged facing each other at an interval in the axial direction. The first and second support blocks 4 and 5 are rotatably supported on the inner periphery of the casing 1 via bearings 6a and 6b, respectively.

In FIG. 6, the right second support block 5
Has a carrier body 7 (see FIG. 7) of a complicated shape protruding toward the first support block 4 on the left side, and both support blocks 4 and 5 are interposed through the carrier body 7 of the complicated shape. Are connected and fixed to each other by bolts 29 and pins 30 to form a carrier as a whole.

In the casing 1, three eccentric shafts 8 are arranged in parallel with the input shaft 3. These eccentric shafts 8 are arranged on the circumference concentric with the input shaft 3 at equal intervals in the circumferential direction, and both ends thereof are eccentric shaft bearings 9a and 9 respectively.
The first support block 4 and the second support block 5 are rotatably supported in the respective eccentric shaft bearing holes 10a and 10b via the b.

The end of each eccentric shaft 8 on the side of the first support block 4 protrudes outwardly from the portion supported by the eccentric shaft bearing 9a.
The transmission gear 13 is attached via the. in this case,
The transmission gear 13 is mounted in two layers to prevent backlash.

The first and second support blocks 4 and 5 have center holes 14 and 15 formed at radial centers thereof, and the input shaft 3 passes through the center holes 14 and 15 respectively. I have. Each of the eccentric shafts 8 is attached to the tip of the input shaft 3.
Is fixed so that the rotation of the input shaft 3 is equally distributed to the three eccentric shafts 8 via the pinion 16 and the transmission gear 13. ing.

In this case, the number of teeth of the transmission gear 13 is larger than the number of teeth of the pinion 16, and each eccentric shaft 8 is rotated at a reduced speed by the ratio of the number of teeth of the transmission gear 13 and the number of teeth of the pinion 16.

Two eccentric members 17a and 17b are provided at substantially the center of each eccentric member shaft 8 in the axial direction. These eccentric bodies 17a and 17b are 180 ° out of phase with each other.

On the other hand, between the first and second support blocks 4 and 5, two disk-shaped external gears 18a and 18b having an outer diameter slightly smaller than the inner diameter of the casing 1 are arranged side by side in the axial direction. Have been. Each of the external gears 18a, 18b has three eccentric bearing holes 19a, 19b through which the eccentric shaft 8 passes.
Are provided in each of the eccentric bearing holes 19a and 19b.
The eccentric bodies 17a and 17b are eccentric bearings 20a and 20b.
b. Thereby, the external gear 18a
, 18b are supported so that their center Og is eccentric with respect to the rotation center Of of the input shaft 3 by a distance e, as shown in FIG. It is configured to swing and rotate by one rotation with respect to the center Of.

The eccentric bearings 20a and 20b include:
Here, a needle bearing is used. The positioning of the eccentric bearings 20a and 20b in the axial direction is performed by stopper plates 21, 23 and a flange 22 provided on the eccentric shaft 8.

The external gears 18a and 18b have arc or trochoidal external teeth 24. On the outer peripheral side, an internal gear 25 meshing with the external gears 18a and 18b is arranged. . The internal gear 25 is formed integrally with the casing 1 on the inner periphery of the casing 1, and has an outer pin 26.
Has internal teeth. The outer pin 26 is stopped from the inside by a pin holding ring 27 so as not to fall off.

At the center of the external gears 18a, 18b, as shown in FIG. 7, there are formed insertion openings (= fitting holes) 28a, 28b having complicated curved contours. The carrier 7 of the second support block 5 penetrates the insertion openings 28a and 28b, and the end face of the carrier 7 is in close contact with the inner end face of the first support block 4 as described above. The first and second support blocks 4 and 5 are connected and fixed to each other by bolts 29 and pins 30 to form an integral carrier.

The carrier 7 transmits the rotational force received by the first and second support blocks 4 and 5 to each other.
The insertion openings 28a and 28b of the external gears 18a and 18b are formed as openings having a size and shape that do not interfere with the carrier body 7 even when the external gears 18a and 18b swing.

Next, the operation will be described.

First, a description will be given on the assumption that the casing 1 is temporarily fixed and the rotational output is taken out of the carrier constituted by the first and second support blocks 4 and 5.

When the input shaft 3 rotates, the three eccentric shafts 8 rotate at the same speed in the same direction (opposite to the input shaft 3) via the pinion 16 and the transmission gear 13. The three eccentric body shafts 8 are provided with two eccentric bodies 17a and 17b, respectively. The eccentric bodies 17a and 17b are eccentrically rotated in the same direction at the same speed, so that two external gears 18a and 17b are provided.
a and 18b perform oscillating rotation with respect to the input shaft 3.

Since it is assumed here that the casing 1 is fixed, that is, the internal gear 25 is fixed, the external gears 18a and 18b are kept free from rotation by the internal gear 25. , While being in contact with the internal gear 25. Now, for example, the external gears 18a, 18
If the number of teeth of b is N and the number of teeth of the internal gear 25 is N + 1, the difference in the number of teeth is 1. Therefore, each time the eccentric shaft 8 makes one rotation, the external gears 18a, 18b are shifted (rotated) by one tooth with respect to the internal gear 25.

This "shift", that is, the external gears 18a, 18
The rotation of b is transmitted to the first and second support blocks 4 and 5 via the eccentric body shaft 8. The rotational force transmitted to each support block 4, 5 is taken out from the support block 4 or 5 on the output side as a combined force because the two support blocks 4, 5 are integrated via the carrier body 7. When the eccentric shaft 8 makes one rotation, the two support blocks 4 and 5 are decelerated to -1 / N rotation.

In the above description, the operation when the casing 1 is fixed and the output is taken out from the first and second support blocks 4 and 5 has been described.
And the output can be taken out from the casing 1 side. In that case, the outer flange 2 provided on the casing 1
To the other member. As a result, a deceleration output of 1 / (N + 1) rotation is taken out of the casing 1 in a direction opposite to that of the support blocks 4 and 5 (relative to the input rotation).

As described above, the casing 1 side may be fixed and the reduced rotation output may be taken out from the first and second support blocks 4 and 5 side, or the first and second support blocks 4 and 5 side may be taken out. Alternatively, the reduced rotation output may be taken out from the casing 1 side. When applied as a speed reducer, the above two usage forms are possible. When discriminating according to how to take out the output, the former is called a carrier rotation type, and the latter is called a case rotation type.

In the case of the conventional structure shown in FIG. 6, the cover 31 is provided at the opening of the casing 1 on the side of the transmission gear 13 because it is configured on the assumption that the case is used as a case rotating type. .

It should be noted that this type of internally meshing planetary gear structure can be used as a speed-increasing gear in both case-rotating and carrier-rotating types by reversing the relationship between input and output.

Next, another conventional example configured as a carrier rotating type will be briefly described with reference to FIG.

Generally, in the case of a carrier rotating type, an output shaft is provided integrally with a support block opposite to an input shaft, and a reduced rotation output is taken out from the output shaft in many cases. However, in the structure of this conventional example, a mating member on the output side is directly connected to the first support block 4. In the internal meshing planetary gear structure, the carrier body 7 that connects the two support blocks 4 and 5 is not the second support block 5 but the first support block 5.
The structure of the speed reduction mechanism is almost the same as that shown in FIGS. 6 and 7 except for the point provided on the support block 4 side and the point that the cover 31 is removed.

Another difference is that screw holes 32 are formed in the outer surface of the first support block 4, and bolts for fixing the mating member are screwed into the screw holes 32 so that the mating member P is mounted. And that each carrier body 7 is formed in an independent columnar shape, and these carrier bodies 7 are penetrated through fitting holes 28a and 28b formed in the external gears 18a and 18b, respectively, and connected to the other support block 5 side. Correspondingly, center holes 60a and 60b are provided at the radial center of the external gears 18a and 18b in the same manner as the two support blocks 4 and 5.

Further, in the above two examples, the carrier body integrally formed with the first support block 4 or the second support block 5 is used to connect the first support block 4 and the second support block 5. Although US Pat. No. 3,129,611 shows an example in which a carrier pin (cage bar) is used as the connecting carrier body 7, US Pat. In this case, the carrier pin has first and second ends.
The carrier (cage) is formed by connecting both support blocks by being fixed to the support block (disk).

On the other hand, Japanese Patent Application Laid-Open No. 63-22289 discloses a technique for improving the accuracy by simultaneous machining of a planetary gear structure disclosed in Japanese Patent Application Laid-Open No. 60-260737v in which a carrier is rotated. Is disclosed. The technique disclosed in Japanese Patent Application Laid-Open No. 63-22289 is essentially the same as that disclosed in Japanese Patent Application Laid-Open No. 60-260737. The eccentric shaft bearing holes 10a, 10b on the side and the eccentric bearing holes 19a, 19b on the external gears 18a, 18b are simultaneously machined.
The diameters of the holes 19a and 19b are the same, and the relative positional relationship (the pitch circle diameter and the pitch) of the axis of each hole is made to match.

[0031]

In recent years, there has been an increasing demand for miniaturization and high precision in the field of speed increasing and reduction gears employing this type of internally meshing planetary gear structure. ing.

However, the fact is that the answer to such a demand by increasing the processing accuracy is almost at a limit even in relation to the cost.

As described above, for example, JP-A-63-22
No. 289, the eccentric shaft bearing holes 10a, 10b on the support blocks 4, 5 side and the eccentric body bearing holes 19a, 19b on the external gears 18a, 18b side can be simultaneously machined. , The bearing holes 10a, 10b, 19a
, And 19b have the same diameter, and the relative positional relationship (pitch circle and pitch) of the axis of each hole has been proposed. However, this alone will dramatically improve the processing accuracy. It could not be linked to a result.

Under the above circumstances, the present invention not only aims to improve the quality by merely improving the processing accuracy, but also more drastically revises the above structure.
It has been developed with the object to be able to obtain a higher quality gearbox even by processing with the same processing machine.

[0035]

According to the present invention, there is provided a casing, a main rotating shaft having a tip inserted into the casing, and an axially spaced main rotating shaft, each of which is provided with a bearing. A first support block and a second support block rotatably supported by the casing and connected and fixed to each other via a carrier body, and a plurality of first and second support blocks are arranged on a circumference concentric with the main rotation shaft; An eccentric shaft that is rotatably supported via eccentric shaft bearings in eccentric shaft bearing holes formed in the first and second support blocks, and that rotates in conjunction with the main rotation shaft; An eccentric body provided at a substantially central portion in the axial direction of each of the plurality of eccentric body shafts;
A plurality of eccentric body bearing holes formed therein are rotatably fitted to the respective eccentric bodies via the eccentric body bearings so as to rotate eccentrically with respect to the main rotation shaft. An external gear, and an internal gear fixed to the casing and internally meshed with the external gear, and each of the first and second support blocks and the radial center of the external gear have a respective center. A center hole is formed, and the carrier body is
The carrier pins are separate from the first and second support blocks.
And the carrier pin is provided with the first and second carrier pins.
Through each carrier pin holding hole formed in the support block
The first and second support blocks are connected by being passed through.
The fixed eccentric shaft bearing hole, eccentric body bearing hole,
Inner engagement with rear pin holding hole and center hole all through holes
In the planetary gear structure, first, as well as arranged at the same pitch to the second supporting block each eccentric body shaft bearing holes and the eccentric body of the external gear bearing bore each on the same circumference of the front Symbol first, When the carrier pin holding holes of the second support block are also arranged at the same pitch on the same circumference, and the first and second support blocks and the external gear are rearranged in this order in the axial direction. in the first, towards the diameter of the second of said external gear which is formed in the center hole than the diameter of the support block formed center hole before
Serial and decreases in the direction of the same order (including the same diameter), and remains at the same time the first of this arrangement, the external gear than the diameter of the second support block formed eccentric body shaft bearing holes The diameter of the formed eccentric bearing hole is the same order as above
Of smaller toward the direction (including the same diameter), yet also remains in this arrangement at the same time, the first and the diameter of the second support each carrier pin holding holes formed in the block toward the same direction as the The respective diameters of the center hole, the eccentric shaft bearing hole, the eccentric body bearing hole, and the carrier pin holding hole are set so as to satisfy the relationship of becoming smaller (including the same diameter), and the first and second support members are set. by the outer diameter of the block was set to be smaller than the root diameter of the external teeth of the external gear is obtained by solving the above problems. The present invention also provides a casing and the casing.
A main rotating shaft having a tip inserted into the shing, and
Are axially spaced, each forward through a bearing
The casing is rotatably supported by the casing and the carrier body is
A first support block connected and fixed to each other through
A second support block and a circle concentric with the main rotation axis.
Plural arrangements are provided, each end of which is the first and second support blocks.
Through the eccentric shaft bearing hole formed in the shaft
Rotatably supported and rotated in conjunction with the main rotating shaft
Eccentric body axis to be performed, and approximately the middle of the plurality of eccentric body axes in the axial direction.
An eccentric body provided at the center, and the first and second support blowers;
The eccentric bearing hole formed in the
It is rotatably fitted to each eccentric via an eccentric bearing.
Multiple external teeth that rotate eccentrically with respect to the main rotation axis
The gear and the external gear fixed to the casing are inscribed.
An internal gear that meshes with the first and second support gears.
Each center of the lock and the external gear in the radial direction is
A center hole is formed, and the carrier body is provided with the first and second carriers.
If it is composed of a carrier pin separate from the support block of
In both cases, the carrier pin is connected to the first and second support blocks.
Through the carrier pin holding holes formed in the
Thereby, the first and second support blocks are connected and fixed,
Eccentric shaft bearing hole, eccentric body bearing hole, carrier pin holding
Inscribed mesh planetary gear structure in which all holes and center holes are through holes
, Each eccentric body axis of the first and second support blocks
The bearing holes and the eccentric bearing holes of the external gear on the same circumference
The first and second support blocks are arranged at the same pitch.
Each carrier pin holding hole is also at the same pitch on the same circumference.
Disposing the external gear and the first and second support blocks
Are rearranged in this order in the axial direction, the external teeth
The first and second supports are determined by the diameter of a center hole formed in the gear.
The diameter of the center hole formed in the block is the same order as above
(Including the same diameter)
Eccentric bearing hole formed in the external gear at the same time
Of the first and second support blocks due to the diameter of
The diameter of the core shaft bearing hole is oriented in the same order as above.
( Including the same diameter)
At the same time, the first and second support blocks are formed.
The diameter of each carrier pin holding hole is in the same direction as above.
So that the relationship of becoming smaller (including the same diameter) holds
The center hole, eccentric shaft bearing hole, eccentric body bearing hole,
The diameter of the rear pin holding hole is set, and the first and second support
The outer diameter of the block is smaller than the root diameter of the external teeth of the external gear.
The above-mentioned problem has been solved by setting
You.

[0036]

[0037]

[0038]

[0039]

[0040]

[0041]

[0042]

[0043]

[0044]

[0045]

[0046] In fact when the design of the convenience of design, for example, can not be set to said eccentric body shaft bearing holes and eccentric body bearing holes in the same size, the first, eccentric body shaft bearing holes of the second support block Often, the diameter of the eccentric bearing hole of the external gear must be larger or smaller than either of the above.

For example, if the bearings are different in material and structure and cannot have the same diameter due to strength, or if there is a bolt hole or the like and the strength in the vicinity is different from other parts,
Alternatively, there is a case where a hole to be inserted first must be larger than a hole to be inserted later because a specific member (for example, a carrier pin) needs to be inserted. In such a case, the bearing holes cannot be simultaneously processed from one side while keeping the arrangement of the members after assembly. In addition, the technique disclosed in the above-mentioned conventional Japanese Patent Application Laid-Open No. 63-22289 cannot be used.

The present invention considers these points comprehensively,
First, the first and second support blocks and the external gear are
When the axial positions are appropriately rearranged, the first and second positions
The diameter of the center hole formed in the support block and the diameter of the center hole formed in the external gear become smaller in one direction (including the same diameter), and the first and second gears are simultaneously arranged in the same direction.
The diameter of the eccentric shaft bearing hole formed in the second support block and the diameter of the eccentric body bearing hole formed in the external gear become smaller in one direction (including the same diameter), and are further arranged. At the same time, the center hole is formed so that the relationship that the diameter of each carrier pin holding hole formed in the first and second support blocks decreases (including the same diameter) in the same direction as above. Since the diameters of the eccentric shaft bearing hole, the eccentric shaft bearing hole, and the carrier pin holding hole are set, the eccentric shaft bearing holes of the first and second support blocks and the eccentric body bearing of the external gear can be set by a single setting. The holes can be simultaneously machined, the carrier pin holding holes of the first and second support blocks can be machined simultaneously, and the center holes of the first and second support blocks and the external gear can be machined simultaneously. It became so.

Each hole may be provided with, for example, a counterbore or chamfering. However, since a portion which does not require a high degree of accuracy can be processed separately, such a hole is provided. It is not always required that the diameter of the target part be in the above order.

[0050] On top of that, in the present invention, before Symbol first, the outer diameter of the second support block, because you to set smaller than the root diameter of the external teeth of the external gear, while the setting described above Thus, the external teeth of the external gear can be simultaneously processed (with the same chucking).

As a result, the eccentric shaft bearing holes of the first and second support blocks, the eccentric body bearing holes of the external gear, and the carrier pin holding holes of the first and second support blocks which require high accuracy are required. Can be processed simultaneously, and furthermore,
The external teeth of the external gear can also be simultaneously processed, and the relative positional accuracy of each can be drastically improved.

[0052]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to FIGS.

In FIG. 1, reference numeral 101 denotes a cylindrical casing. The casing 101 has a plurality of bolt insertion holes 102 penetrating the cylinder wall in the axial direction. An input shaft (main rotating shaft) 10 that is driven to rotate by a motor (not shown) is provided at a central portion in the casing 101.
3 are inserted from the right side in the figure.

In the casing 101, a thick disk-shaped first support block (left side in the figure) 1 is spaced apart in the axial direction.
04 and a second support block (right side in the figure) 105 are arranged to face each other. First support block 104
The outer end surface (left end surface) is a mating member mounting surface 104a,
It slightly protrudes out of the casing 101. These first,
Each of the second support blocks 104 and 105 is a bearing 1
It is rotatably supported on the inner periphery of the casing 101 via 06a and 106b.

The support blocks 104 and 105 are integrally connected and fixed by three carrier pins 150 arranged in parallel with the input shaft 103, and constitute a carrier as a whole. The carrier pin 150 is connected to both support blocks 104, 1
The input shaft 101 is arranged at a position near the outer periphery of the input shaft 101.
They are arranged at equal intervals in the circumferential direction on a circumference concentric with the above (see FIGS. 2 and 3).

The first support block 104 and the second support block 105 are formed with carrier pin holding holes 151 and 152 through which the respective carrier pins 150 are inserted. The carrier pin holding hole 152 of the second support block 105 has a counterbore 153 on the outer end surface side. Then, a carrier pin 150 having a flange 150a at its head is inserted from the side of the carrier pin holding hole 152 of the second support block 105, and the flange 150a abuts against the bottom surface of the counterbore 153.
In the axial direction with respect to the second support block 105.

Further, a pipe-shaped carrier spacer 154 is disposed between the first support block 104 and the second support block 105, and the tip of each carrier pin 150 is
Each carrier pin 154 is inserted into each carrier pin holding hole 151 of the first support block 104 through the carrier spacer 154. Each carrier spacer 154 is loosely fitted around the outer periphery of the carrier pin 150 at the axially intermediate portion, and has both end faces of the first support block 104 and the second support block 105.
The distance between the support blocks 104 and 105 is kept constant by being in close contact with the support block 104.

The tip surface of the carrier pin 150 is exposed on the mating member mounting surface 104a of the first support block 104. A screw hole 156 for screwing the mating member fixing bolt 155 is formed at the center of the exposed distal end surface, and the bolt 15 inserted through the bolt insertion hole of the mating member P is formed.
5 is screwed into the screw hole 156 to couple the mating member P and the carrier pin 150, so that the first support block 104 and the second support block 105
Connected at predetermined intervals via carrier spacers 154
It is fixed.

In the casing 101, three eccentric shafts 108 are provided in parallel with the input shaft 103. These eccentric shafts 108 are arranged on the circumference concentric with the input shaft 3 at equal intervals in the circumferential direction. As shown in FIG. 2 and FIG. I have.
Both ends of each eccentric shaft 108 are connected to the first support block 10 via eccentric shaft bearings 109a and 109b.
4 and the eccentric shaft bearing holes 1 of the second support block 105
It is rotatably supported by each of 10a and 110b.

First support block 1 for each eccentric shaft 108
On the 04 side, a transmission gear 113 is mounted via a spline 112 closer to the axially intermediate portion than the portion supported by the eccentric shaft bearing 109a.

At the radial center of the first support block 104 and the second support block 105, a center hole 11 is provided.
4, 115 are formed, and the central holes 114, 1
15, the input shaft 103 is inserted from the second support block 105 side.

The tip of the input shaft 103 is located slightly inside the center hole 114 of the first support block 104.
A pinion 116 meshing with a transmission gear 113 fixed to each of the eccentric shafts 108 is fixed to a tip end of the input shaft 103, whereby the rotation of the input shaft 103 is reduced.
6 and the transmission gear 113, and are equally distributed to the three eccentric shafts 108. In this case, the number of teeth of the transmission gear 113 is greater than the number of teeth of the pinion 116, and each eccentric shaft 108 is rotated at a reduced speed by the ratio of the number of teeth of the transmission gear 113 and the number of teeth of the pinion 116.

At the center in the axial direction of each eccentric shaft 108, two eccentrics 117a and 117b are provided side by side in the axial direction. These eccentric bodies 117a and 117b are 180 ° out of phase with each other.

On the other hand, the first and second support blocks 104,
Two disc-shaped external gears 118a and 118b each having an outer diameter slightly smaller than the inner diameter of the casing 101 are arranged between 105 in the axial direction. Each external gear 118a,
The eccentric shaft 118 is provided with three eccentric bearing holes 119a, 119b through which the eccentric shaft 108 penetrates, and the eccentric bodies 117 are provided in the eccentric bearing holes 119a, 119b, respectively.
a and 117b are fitted via eccentric bearings 120a and 120b. Thus, the external gears 118a, 118
8b, as shown in FIG.
The eccentric shaft 108 is supported so as to be eccentric with respect to the center Of of the input shaft 103 by one rotation for each rotation of the eccentric shaft 108.

As described above, the external gears 118a, 118b
Are arranged, the two support blocks 104, 10
Between 5, the transmission gear 113, the external gear 118a, and the external gear 118b are arranged adjacent to each other in order from the first support block 104 side to the second support block 105 side.

The eccentric shaft bearing 109a and the transmission gear 113 on the left side in FIG. 1 that support the eccentric shaft 108 are provided in the end face of the eccentric body 117a on the left side and in the eccentric shaft bearing hole 110a of the first support block 104. It is sandwiched by a retaining ring 160 which is engaged with the circumference, and is thereby positioned on the eccentric shaft 108.

As the eccentric bearings 120a and 120b, needle bearings are used here. The positioning of the eccentric bearings 120a and 120b in the axial direction is performed as follows.

That is, the left eccentric bearing 120a near the first support block 104 is positioned directly on the left end side in FIG. 1 on the side surface of the transmission gear 113, and the right end side is provided between the eccentric bodies 117a and 117b. Positioned by 122. Also, the second support block 10
The eccentric body bearing 120b closer to the fifth has the eccentric body 11 on the left end side.
It is positioned by the flange 122 provided between 7a and 117b, and the right end is positioned by the stopper plate 123.

The stop plate 123 is pressed by a right eccentric shaft bearing 109a that supports the eccentric shaft 108. The eccentric shaft bearing 109a is engaged with the inner periphery of the eccentric shaft bearing hole 110a of the second support block 105. It is pressed by the combined retaining ring 161.

The external gears 118a and 118b have external teeth 124 under the conditions described below.
On the outer peripheral side of the external gears 8a, 118b, external gears 118a, 118
An internal gear 125 meshing with the gear 8b is provided. The internal gear 125 is provided on the inner periphery of the casing 101,
01 and has internal teeth formed of outer pins 126. The outer pin 126 is stopped from the inside by a pin holding ring 127 so as not to fall off.

The external gears 118a and 118b have center holes 160a and 160 through which the input shaft 103 passes.
b are formed, and fitting holes 128a and 128b are formed at positions corresponding to the carrier pins 150. Then, the fitting holes 128a and 128b are
0 and the carrier spacer 154 penetrate.

The carrier pin 150 applies the rotational force received by the second support block 105 to the first support block 104.
The fitting holes 128a, 128b of the external gears 118a, 118b are transmitted to the external gears 118a, 11b.
8b is formed as a circular hole large enough not to interfere with the carrier pin 150 and the carrier spacer 154 even if it swings.

Further, in addition to the screw holes 156 on the distal end surface of the carrier pin 150, a plurality of screw holes 157 for fixing the mating member are formed on the mating member mounting surface 104a of the first support block 104 as shown in FIG. These many screw holes 15
By screwing the fixing bolts 155 into 6, 157, the mating member P can be firmly connected and fixed.

Next, the operation of the thus structured inner meshing planetary gear will be described.

The external gears 118a and 118b are connected to the input shaft 10
3, the input shaft 103 is rotated by the engagement between the external pin 126 corresponding to the internal teeth of the internal gear 125 and the external gears 118a and 118b.
, 118b are decelerated (rotation) in exactly the same manner as in the prior art.

The rotation of the external gears 118a and 118b is transmitted to the first and second support blocks 104 and 105 via three eccentric shafts 108. Second support block 1
The rotational force transmitted to 05 is transmitted to first support block 104 via carrier pin 150. And
The rotational force is transmitted from the first support block 104 to the counterpart member P connected to the first support block 104.

Next, a description will be given of a configuration employed for improving the accuracy.

Of the above-described configuration, in particular, the eccentric shaft bearing holes 110a and 110b formed in the first and second support blocks 104 and 105 and the eccentric body bearing hole 119a formed in the external gears 118a and 118b. , 119b, it is important to keep the processing accuracy including their relative positional relationship extremely high in order to improve the accuracy, performance and quality of the assembled product.

The same can be said for the carrier pin holding holes 151 and 152. Furthermore, each center hole 11
Since 4, 115, 160a, and 160b serve as reference holes, it is important to maintain the relative positional relationship with other holes with high accuracy, as described above. Note that the carrier pin fitting holes 128a and 128b do not require high accuracy as described above. The same applies to the spot facing portion 153. Therefore, there is no particular problem even if it is separately processed, and it is not subject to the regulation of “the relationship of the diameter according to the present invention”.

In the structure of this embodiment, the holes and external teeth which require the above-described high precision are configured as follows.

That is, first, the first and second support blocks 1
Eccentric shaft bearing holes 110a, 1
10b, eccentric bearing holes 119a, 119b formed in the external gears 118a, 118b, carrier pin holding holes 151, 152, and center holes 114, 115, 160a,
160b are formed as through holes so that they can be simultaneously processed.

Next, of these holes, both support blocks 1
04, 105 eccentric shaft bearing holes 110a, 110b
And the eccentric bearing holes 119 of the external gears 118a and 118b.
a and 119b are arranged at the same pitch on the same circumference. The carrier pin holding holes 151 and 152 of the first and second support blocks 104 and 105 are arranged at the same pitch on the same circumference.

The eccentric shaft bearing holes 1 formed in the first and second support blocks 104 and 105, respectively.
The diameters of 10a and 110b are D1 and D2, and the external gear 11
Eccentric body bearing holes 119a, 1a formed in 8a, 118b
When the diameter of 19b is D3 and D4, the following relationship is established: D1 = D2> D3 = D4 (1) That is, the support block 10
The diameter of the eccentric body bearing holes 119a, 119b on the external gears 118a, 118b side is set smaller than any of the eccentric body shaft bearing holes 110a, 110b on the side of 4, 105.

As a carrier body, a carrier pin 150 separate from the first and second support blocks 104 and 105 is used.
The first and second carrier pins 150 are passed through the carrier pin holding holes 151 and 152 formed in the first and second support blocks 104 and 105 from the second support block 105 side. 2 support blocks 10
4 and 105 are connected and fixed. That is, in this type, the diameter D5 of the carrier pin holding hole 151 of the first support block 104 and the diameter D6 of the carrier pin holding hole 152 of the second support block 105 are represented by D5 <D6 (2) The relationship is set. This is to facilitate insertion when the carrier pin 150 is inserted from one side.

Further, the first and second support blocks 104,
The diameters D7, D8 of the center holes 114, 115 of the 105 and the center holes 160a, 160 of the external gears 118a, 118b.
The relationship between the diameters D9 and D10 of b is set as follows: D7 = D8> D9 = D10 (3)

By determining the diameter of each hole so that the above equations (1), (2), and (3) are simultaneously satisfied, as shown in FIG. 105,
When the first support block 104, the external gear 118a, and the external gear 118b are superposed and set in this order,
The diameter of each hole (including a part of the same diameter) decreases toward the right in the figure. That is, the diameter of the eccentric shaft bearing holes 110a and 110b on the support block 104 and 105 side and the external gear 118
The diameters of the eccentric bearing holes 119a and 119b on the side of the a and 118b are reduced toward the right, and the center holes 11 on the side of the support blocks 104 and 105 are simultaneously kept in this arrangement.
4, 115 and the diameter of the central holes 160a, 160b on the side of the external gears 118a, 118b become smaller toward the right.
A relationship is also established in which the diameters of the carrier pin holding holes 151 and 152 also decrease toward the right.

Therefore, by inserting a tool from the left side in the drawing (by setting the processing direction to X), the eccentric shaft bearing hole 110b of the second support block 105 and the eccentric body of the first support block 104 Shaft bearing hole 110a and external gear 1
The eccentric bearing hole 119a of 18a and the eccentric bearing hole 119b of the external gear 118b can be simultaneously processed. Also, with the same setting (with the same chucking), the center hole 115 of the second support block 105 and the center hole 114 of the first support block 104
, The central hole 160a of the external gear 118a, and the external gear 1
18b and the eccentric bearing hole 160b. Further, with the same setting, the carrier pin holding hole 152 of the second support block 105 and the first
And the carrier pin holding hole 151 of the support block 104 can be simultaneously processed.

Therefore, the relative positional accuracy of the hole processed by these one setting is remarkably increased.

In the case of the above embodiment, the bearing holes 110a and 110b on the support block side are larger than the bearing holes 119a and 119b on the external gear side, and the center holes 114 and 115 on the support block side. Is the central hole 1 on the external gear side
Although the case where it is larger than 60a and 160b is shown, simultaneous processing is possible in the opposite case. In this case, the relationship of D1 = D2> D3 = D4 (4) D7 = D8> D9 = D10 (5) The relationship of D5 <D6 (6) holds simultaneously. As shown in FIG. 5, the external gears 118a, 118b, the second support block 105, and the first support block 104 are superposed and set in this order from the left side in the figure. By doing so, the diameter of each bearing hole becomes smaller toward the right, the diameter of each center hole becomes smaller toward the right, and the diameter of the carrier pin holding holes 152 and 151 also becomes smaller toward the right. . Accordingly, by inserting a tool from the left side in the drawing as in the above, each hole can be simultaneously processed.

Next, a description will be given of a configuration for simultaneously processing the external teeth 124 of the external gears 118a and 118b while keeping the same setting (with the same chucking). First, prior to entering the concrete description, a basic structure for simultaneously processing the external teeth of the external gear in the present embodiment.

FIG. 9 shows two external gears 2 according to this embodiment .
18 shows the relationship between the external gears 18a and 218b and the external pins 226 corresponding to the external teeth of the internal gear 225.

As is apparent from FIG. 9, the external gear 2
18a and 218b have external gears 218a and 218b.
The number “18” is set to “24” which is an integral multiple of the number “2”. The number of the outer pins 226 is “28”. Accordingly, the difference in the number of teeth between the external gears 218a, 218b and the external pin 226 is set to "4" which is an integral multiple of the number "2" of the external gears 218a, 218b.

Incidentally, the symbol O in the figure is the center of the main rotating shaft, Oa1
Indicates the center of the external gear 218a when the external gear 218a is eccentric in the maximum eccentric direction, and Ob1 indicates the center of the external gear 218b when the external gear 218b is eccentric in the maximum eccentric direction. I have.

As a result of this setting, when assembling, it is only necessary to move the external gears 218a, 218b in parallel in the respective maximum eccentric directions (in this case, 180 ° apart), so that the external gears 218a, 218b can be assembled. Regardless of the shape of the through-hole at any position, the external teeth and the various holes of both external gears can be machined at one time.

Moreover, since the outer teeth are assembled in a state of being moved in parallel, the outer teeth formed at the same position (for example, a1 and a2, b1 and b2, or c1 and c2 in the figure) are necessarily the inner teeth. This prevents the external teeth cut at the same position from meshing with the internal gear at the same time. In addition, "The external teeth cut at the same position
At the same time, do not engage with the internal gear.
It is the result of experiments by the inventors that it greatly contributes to error leveling.
The result has been confirmed.

The establishment of the relationship between the number of sheets, the number of teeth, and the difference in the number of teeth corresponds to an essential requirement for being able to assemble without fail by "translating". This implementation
In the example, since the above relationship is satisfied, it can be assembled without fail by "parallel movement". When the above relationship is not established, the assembly cannot always be performed by “parallel movement”.

The fact that the external gear can be assembled by "translation", that is, the external gear can be assembled without rotating at all, means that any shape of the external gear can be mounted at any position on the external gear. Even if the holes are formed, this corresponds to an essential requirement for being able to process the external teeth and various holes of all the external gears at once. When assembling can be performed by parallel movement, the external teeth and various holes of all the external gears can always be machined at once.

However, when assembly cannot be performed by parallel movement, that is, when assembly cannot be performed unless one of the external gears is rotated with respect to the other external gear (after processing), it is not always necessary to complete the assembly. The external teeth and various holes of the external gear cannot be machined at once.

[0099] In the present embodiment, the number of such external gear, number of teeth, and because the relationship between the difference in the number of teeth is established, configuration coupled with each eccentric body shaft bearing holes 110a as described above,
110b, eccentric bearing holes 119a, 119b of the external gear
And the first, together with a carrier pin holding holes 151 and 152 of the second support block 104 and 105 may be simultaneously processed, the external gears 118a, Ru can also be processed at the same time the external teeth of 118b.

[0100] In an embodiment of this, the external gears 118a, 11
The number 8b is set to "2" as is apparent from the figure. The number of teeth of each of the external gears 118a and 118b is set to "78" which is an integral multiple of the number "2" of the external gears 118a and 118b. Further, the number of the outer pins 125 (corresponding to the number of teeth of the internal gear 125) is "8
0 "and the external teeth 1 of the external gears 118a and 118b.
The difference in the number of teeth from 24 is “2”. That is, the difference in the number of teeth is set to an integral multiple of the number of external gears “2”. As a result, when assembling the external gears 118a and 118b, it is only necessary to translate the external gears 118a and 118b in the direction of 180 ° which is the maximum eccentric direction.

[0102] As a result, the external teeth to each other, which is cut at the same position is inevitably longer meshed with the outer pins 126 at the same time, further
In addition, the leveling of the processing error can be realized. Also, as it is clear from the figures, the external gears 118a, Various through-holes are formed in 118b, in this embodiment, sheets of outer teeth gear
A predetermined relationship is established between the number, the number of teeth, and the difference between the number of teeth.
Therefore, it can be understood that the external gears 118a and 118b can simultaneously process the external teeth and various holes , regardless of the shape of the hole and the position in which the external gear is stacked. Therefore, as is clear from FIG. 4 or FIG. 5, the first and second support blocks 10 are larger than the root diameter D11 of the external teeth 125 of the external gears 118a and 118b.
By setting the outer diameter D12 of the eccentric body 4 and 105 small, the eccentric shaft bearing holes 110a and 110b, the eccentric body bearing holes 119a and 119b, and the carrier pin holding can be performed by one setting (with the same chucking). Hole 151,
152 it is possible to simultaneously process a further externally toothed gear 118a, Ru can also be processed at the same time the external teeth 124 of 118b. As a result, these holes and external teeth can be machined and assembled while maintaining their relative positional relationship with very high precision.

In the above embodiment, the carrier pins 150
Are inserted into the second support block 105 from the side of the second support block 105, and the distance between the first support block 104 and the second support block 105 is determined by a separate carrier spacer 154. However, this can be configured as shown in FIG.

In FIG. 10, the carrier pin 170 is
It has an overhang 171, which functions as the carrier spacer 154 of the above embodiment. The carrier pin 170 is configured so that the intermediate member 172 and the bolt 173 fulfill the function of the “flange” (the function of preventing the leftward movement in the figure) of the embodiment.

The other construction is exactly the same as that of the above embodiment, and the same operation and effect can be obtained. Therefore, the same reference numerals are given in the drawings, and the duplicated explanation is omitted.

[0105]

As described above, according to the present invention, the eccentric shaft bearing hole and the eccentricity, which are required to have high accuracy, are required only by setting the first and second support blocks and the external gear once. The body bearing hole can be simultaneously machined, the center hole can be machined simultaneously, the carrier pin holding hole can be machined simultaneously, and the external teeth of the external gear can be machined at the same time.

Therefore, the eccentric shaft bearing hole, the eccentric body bearing hole,
The relative position accuracy of the carrier pin holding hole, the center hole, and the external teeth can be significantly increased, and even if the same processing machine as in the past is used, the influence of the relative position error due to processing can be extremely small. The accuracy after attachment can be dramatically increased.

Further, since the carrier pin holding hole can be simultaneously formed with the same setting as the processing of the bearing hole, the carrier pin is inserted into the holding hole and the both support blocks are fixed. Is accurately positioned, thereby improving the positioning accuracy of the bearing hole. Therefore, without providing a separate positioning means,
The reproducibility of positioning when disassembling and reassembling the carrier can also be improved.

Further, since both support blocks are fixed with carrier pins which are separate from the two support blocks, when the two support blocks are overlapped, the two support blocks are overlapped with the external gears in close contact with each other. be able to. Therefore, the perpendicularity of the hole to the surface is increased, and the accuracy of the shaft runout direction is improved.

[Brief description of the drawings]

FIG. 1 is a side sectional view of an internally meshing planetary gear structure according to an embodiment of the present invention.

FIG. 2 is a view taken along the line II-II in FIG. 1;

FIG. 3 is a sectional view taken along the line III-III in FIG. 1;

FIG. 4 is an explanatory diagram when holes are formed in components (first and second support blocks and external gears) of the gear structure according to one embodiment of the present invention.

FIG. 5 is an explanatory view when a hole is formed in a component (a first and a second support block and an external gear) of a gear structure according to another embodiment of the present invention.

FIG. 6 is a side sectional view showing an example of a conventional internal meshing planetary gear structure.

FIG. 7 is a sectional view taken along line VII-VII in FIG. 6;

FIG. 8 is a side sectional view showing another example of the conventional internal meshing planetary gear structure.

FIG. 9 is an explanatory diagram for explaining the basic principle regarding the number of teeth, the number of teeth, and the difference in the number of teeth of the external gear according to the present embodiment .

FIG. 10 is a cross-sectional view corresponding to FIG. 1 and showing an example in which a configuration near a carrier pin is changed in the embodiment of the present invention.

[Explanation of symbols]

1, 101: casing, 3, 103: input shaft (main rotating shaft), 4, 104: first support block, 5, 105: second support block, 6a, 6b, 106a, 106b: bearing, 8, 108: Eccentric shaft, 9a, 9b, 109a, 109b: Eccentric shaft bearing, 10a, 10b, 110a, 110b: Eccentric shaft bearing hole, 13, 113: Transmission gear, 14, 15, 60a, 60b: Center hole , 17a, 17b, 117a, 117b ... eccentric body, 18a, 18b, 118a, 118b ... external gear, 19a, 19b, 119a, 119b ... eccentric body bearing hole, 20a, 20b, 120a, 120b ... eccentric body bearing, 24 , 124: external teeth, 25, 125: internal gear, 114, 115, 160a, 160b: center hole, 150: carrier pin, 151, 152: carrier pin holding hole, 1 4 ... carrier spacer 155 ... bolts, 156 ... screw hole, P ... mating member.

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int.Cl. ⁶ , DB name) F16H 1/32

Claims (2)

(57) [Claims] 1. A casing, a main rotating shaft having a tip inserted into the casing, and a space arranged in the axial direction of the main rotating shaft, each being rotatably supported by the casing via a bearing. And connected to each other via a carrier body.
A plurality of fixed first and second support blocks and a plurality of eccentric body shafts arranged on a circumference concentric with the main rotation axis, both ends of which are formed in the first and second support blocks, respectively. An eccentric shaft that is rotatably supported in a bearing hole via an eccentric shaft bearing, and that rotates in conjunction with the main rotation shaft;
The eccentric body provided at a substantially central portion in the axial direction of each of the plurality of eccentric body shafts and the eccentric body bearing hole disposed between the first and second support blocks and formed in the respective eccentric body A plurality of external gears that are eccentrically rotated with respect to the main rotation shaft by being rotatably fitted to the external gear via an eccentric bearing, and an internal gear fixed to the casing and in which the external gear is internally meshed And a center hole is formed at each center of the first and second support blocks and the external gear in the radial direction, and the carrier body is provided with the first and second support blocks.
It consists of a separate carrier pin and
Buttons are formed on the first and second support blocks.
1 and 2 by being penetrated through the carrier pin holding hole.
The eccentric shaft bearing hole, eccentric body bearing hole, carrier pin holding
Inscribed mesh planetary gear structure in which all holes and center holes are through holes
In the previous SL first, while arranged at the same pitch and the second of each eccentric body shaft bearing holes and the eccentric body bearing holes of the external gear of the support block each on the same circumference, first and second support each carrier pin holding hole of the block is also arranged at the same pitch, respectively on the same circumference, said first, and said external gear and the second support blocks, the shaft
When rearranged in this order in the direction, the diameter of the center hole formed in the external gear is larger than the diameter of the center hole formed in the first and second support blocks in the same order as above. towards <br/> the smaller (including the same diameter), and remains at the same time the first of this sequence, are formed on the external gear than the diameter of the second support block formed eccentric body shaft bearing holes The diameter of the eccentric body bearing hole becomes smaller (including the same diameter) in the direction of the same order as described above, and furthermore, in the same arrangement, each of the eccentric body bearing holes is formed in the first and second support blocks at the same time. The center hole, the eccentric shaft bearing hole, the eccentric body bearing hole, and the carrier pin holding hole have such a relationship that the diameter of the carrier pin holding hole decreases in the same direction as the above (including the same diameter). Setting each diameter, and setting the outer diameter of the first and second support blocks to the outer diameter. Internally meshing planetary gear structure characterized in that set to be smaller than the root diameter of the external teeth of the gear. 2. A casing, a main rotating shaft having a tip inserted into the casing, and a space arranged in the axial direction of the main rotating shaft, each of which is rotatably supported by the casing via a bearing. And connected to each other via a carrier body.
A plurality of fixed first and second support blocks and a plurality of eccentric body shafts arranged on a circumference concentric with the main rotation axis, both ends of which are formed in the first and second support blocks, respectively. An eccentric shaft that is rotatably supported in a bearing hole via an eccentric shaft bearing, and that rotates in conjunction with the main rotation shaft;
The eccentric body provided at a substantially central portion in the axial direction of each of the plurality of eccentric body shafts and the eccentric body bearing hole disposed between the first and second support blocks and formed in the respective eccentric body A plurality of external gears that are eccentrically rotated with respect to the main rotation shaft by being rotatably fitted to the external gear via an eccentric bearing, and an internal gear fixed to the casing and in which the external gear is internally meshed And a center hole is formed at each center of the first and second support blocks and the external gear in the radial direction, and the carrier body is defined as the first and second support blocks. The first and second carrier pins are formed by separate carrier pins, and the carrier pins are penetrated through the respective carrier pin holding holes formed in the first and second support blocks.
Wherein the first and second eccentric shaft bearing holes, the eccentric body bearing holes, the carrier pin holding holes, and the center hole are all through holes. The eccentric shaft bearing holes of the support block and the eccentric body bearing holes of the external gear are arranged at the same pitch on the same circumference, and the carrier pin holding holes of the first and second support blocks are also identical. When the external gear and the first and second support blocks are arranged in this order in the axial direction, they are arranged on the circumference at the same pitch. The diameters of the center holes formed in the first and second support blocks are smaller (including the same diameter) in the same order as the above than the diameters, and the external gears are simultaneously kept in this arrangement. The first and second support blows from the diameter of the eccentric body bearing hole formed in The diameter of the eccentric shaft bearing hole formed in the shaft becomes smaller (including the same diameter) in the same order as the above, and the first and second support blocks are simultaneously kept in this arrangement. The center hole, the eccentric shaft bearing hole, the eccentric body bearing hole, the eccentric body bearing hole, and the relationship that the diameter of each carrier pin holding hole formed in the hole decreases in the same direction as the above (including the same diameter) is satisfied. An inner meshing planetary gear structure, wherein each diameter of the carrier pin holding hole is set, and the outer diameter of the first and second support blocks is set smaller than the root diameter of the external teeth of the external gear. .