JP2866244B2 - 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 constitute 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, a 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. A particularly different point is that screw holes 32 are formed in the outer surface of the first support block 4 and mating member fixing bolts are screwed into these screw holes 32 to mount the mating member P.

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 that the planetary gear structure disclosed in Japanese Patent Application Laid-Open No. 60-260737 is a carrier rotating type, and the precision is improved by simultaneous machining. Techniques are 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 positions of the axes of the holes (the pitch circle diameter and the pitch) are made to match.

[0030]

The eccentric shaft bearing hole and the eccentric bearing hole cannot be set to the same diameter due to design reasons and the like, and the eccentric members of the first and second support blocks are not provided. Often, the diameter of the eccentric bearing hole of the external gear must be larger or smaller than any of the shaft bearing holes.

For example, when the bearing cannot be made the same diameter due to the difference in the material and structure of the bearing, when there is a bolt hole or the like, the strength in the vicinity is different from other parts, or when a specific member (for example, a carrier pin) is used. In some cases, the hole to be inserted first must be larger than the hole to be inserted later due to the necessity of inserting ()).

In such a case, the bearing holes cannot be simultaneously formed from one direction while keeping the arrangement of the members after assembly.

Further, if the two support blocks and the external gears are arranged in the same manner (axial position) and overlapped,
For example, even if the eccentric body bearing hole and the eccentric body shaft bearing hole are arranged so that the hole diameter changes in one direction, the phase at the time of processing (pitch circle diameter and pitch In fact, it was difficult to assemble while maintaining). For this reason, there has been a problem that the improvement in component accuracy due to the simultaneous processing cannot be properly reflected on the assembled product.

The present invention has been made in view of such a conventional problem, and enables simultaneous machining of holes requiring precision, so that the machining precision is dramatically improved, and the precision of an assembly is thereby improved. It is another object of the present invention to provide an internally meshing planetary gear structure capable of improving quality.

[0035]

According to a first aspect of the present invention, a casing, a main rotating shaft having a tip inserted into the casing, and a main rotating shaft are arranged at intervals in an axial direction of the main rotating shaft. A first support block and a second support block, each rotatably supported by the casing via a bearing, and connected and fixed to each other via a carrier, on a circumference concentric with the main rotation shaft; , And both ends are rotatably supported via eccentric shaft bearings in eccentric shaft bearing holes formed in the first and second support blocks, and rotate in conjunction with the main rotation shaft. An eccentric body shaft, and an eccentric body provided at an approximately central portion in the axial direction of each of the plurality of eccentric body shafts,
The eccentric body bearing hole formed between the first and second support blocks is rotatably fitted to each of the eccentric bodies via an eccentric body bearing. an external gear that rotates eccentrically, the internal gear the external gear is fixed to the casing is internally engaged in the internally meshing planetary gear structure example Bei and the carrier body, wherein the first, second The carrier pin is formed separately from the support block, and the carrier pin is passed through the carrier pin holding holes formed in the first and second support blocks from one of the support blocks, thereby providing the first support pin. And the second support block are connected and fixed, and the eccentric body shaft bearing hole, the eccentric body bearing hole, and the carrier pin holding hole are all formed as through holes. Of these holes, the eccentricities of the first and second support blocks are set. Each eccentric body of body shaft bearing hole and external gear Receiving hole together with each arranged at the same pitch on the same circumference, arranged at a first, the pitch in the second of each carrier pin holding holes of the support block also each on the same circumference,
Moreover, the first, and said external gear and the second support block, when the axial position is changed parallel beauty in this order,
The diameter of the eccentric shaft bearing hole formed in the first and second support blocks and the diameter of the eccentric body bearing hole formed in the external gear become smaller in one direction, and this arrangement remains unchanged. At the same time, the eccentric shaft bearing hole and the eccentric bearing are arranged such that the relationship that the diameter of each carrier pin holding hole formed in the first and second support blocks decreases in the same direction as that described above. This problem has been solved by setting each diameter of the hole and the carrier pin holding hole.
Also, the invention according to claim 2 is characterized in that the casing and the case
A main rotating shaft having a tip inserted into the ring, and an axis of the main rotating shaft.
Are spaced apart in the direction, each of which is
Rotatably supported by the casing and via a carrier
And the first support block and the second
2 and a support block on the circumference concentric with the main rotation axis.
A first support block and a second support block each having both ends.
Through the eccentric shaft bearing hole formed in the eccentric shaft bearing hole
It is rotatably supported and rotates in conjunction with the main rotating shaft.
Eccentric body shaft, and approximately the center in the axial direction of each of the plurality of eccentric body shafts.
An eccentric body provided in the first and second support blocks;
The eccentric bearing hole formed in the
Each eccentric is rotatably fitted via an eccentric bearing.
An external gear that rotates eccentrically with respect to the main rotation axis by
The external gear is fixed to the casing and the internal gear meshes internally.
And an internal meshing planetary gear structure comprising:
The carrier body is separated from the first and second support blocks.
A carrier pin, and the carrier pin is
1. Each carrier pin formed on the second support block
By penetrating the holding hole from one support block side
Connecting and fixing the first and second support blocks,
All of the core shaft bearing holes, eccentric body bearing holes, and carrier pin holding holes
Through holes, and of these holes, the first and second support
Each eccentric shaft bearing hole of the external gear and each eccentric shaft bearing hole of the external gear
Each is arranged at the same pitch on the same circumference, and the first and
Each carrier pin holding hole of the second support block is also the same circle
Arranged at the same pitch on the circumference, and the external gear and the
The first and second support blocks are arranged in this order in the axial direction.
When the positions are rearranged, the bias formed on the external gear is changed.
Formed in the first and second support blocks with the diameter of the core bearing hole
The diameter of the eccentric shaft bearing hole becomes smaller in one direction.
At the same time, and the first and second
The diameter of each carrier pin holding hole formed in the support block is
The relationship of becoming smaller in the same direction as above is established
So that the eccentric bearing hole, the eccentric shaft bearing hole, and the
By setting each diameter of the rear pin holding hole,
This solves the problem described above.

[0036]

[Action] In the invention described in claim 1, the first, and said external gear and the second support block, when the axial position is changed parallel beauty in this order, first, second support The diameter of the eccentric shaft bearing hole formed in the block and the diameter of the eccentric body bearing hole formed in the external gear become smaller in one direction (including a part of the same diameter). The eccentric shaft bearing hole and the eccentric body have such a relationship that the diameter of each carrier pin holding hole formed in the second support block decreases in the same direction as the above (including a part of the same diameter). Since the diameters of the bearing hole and the carrier pin holding hole are set, the eccentric shaft bearing hole of the first and second support blocks and the eccentric body bearing hole of the external gear that require high accuracy are required in one setting. And the carrier pin holding holes of the first and second support blocks are the same. It can be processed. Exactly the same taste
Therefore, in the invention according to claim 2, the external gear and the external gear
The first and second support blocks are connected in this order with their axes.
When the directional position is changed, it is formed on the external gear.
The diameter of the eccentric bearing hole and the first and second support blocks.
The diameter of the formed eccentric shaft bearing hole decreases in one direction.
At the same time, the first and the second
Of each carrier pin holding hole formed in the second support block.
The relationship that the diameter decreases in the same direction as above
So that the eccentric body bearing hole and the eccentric body shaft bearing hole
Each diameter of the carrier pin holding hole is set.
Even in a single setting, external teeth that require precision
Eccentric body bearing hole of car and eccentricity of first and second support blocks
The first and second support blows are simultaneously processed with the body shaft bearing holes.
Can simultaneously process both carrier pin holding holes of
You.

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

[0038]

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 two 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.
Is axially positioned with respect to the second support block 105.

A pipe-shaped carrier spacer 154 is provided between the first support block 104 and the second support block 105.
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.

The first support block 104 and the second support block 105 have center holes 11 at the radial centers thereof, respectively.
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 supporting the eccentric shaft 108 are provided in the end surface 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 body bearing 120a near the first support block 104 is positioned at the left end side in FIG. 1 directly 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 arc or trochoidal external teeth 124. The external gears 118a and 118b have external gears 118 on their outer peripheral sides.
An internal gear 125 meshing with a and 118b is provided. The internal gear 125 is formed integrally with the casing 101 on the inner periphery of the casing 101, and has internal teeth formed of an outer pin 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 central 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 hole 156 on the tip 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 internal 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 configuration taken for improving the accuracy will be described.

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.

Further, the carrier pin holding holes 151, 1
In the case of the eccentric body shaft bearing holes 110a, 110b, the eccentric body bearing holes 119a, 119b also require high accuracy. Therefore, if all can be processed simultaneously by the same chucking, a dramatic improvement in accuracy can be obtained.

Incidentally, the carrier pin fitting holes 128a, 128
8b does 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 "the relation of the diameter according to the present invention"
Is not subject to regulations.

In the structure of this embodiment, the above-described holes requiring high accuracy are configured as follows.

That is, first, the first and second support blocks 1
Eccentric shaft bearing holes 110a, 1
10b, the eccentric bearing holes 119a, 119b formed in the external gears 118a, 118b, and the carrier pin holding holes 151, 152 are all 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.

Further, 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: D2 = D1> 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 provided.
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.

As described above, that is, by determining the diameter of each hole so that the equations (1) and (2) are simultaneously satisfied,
As shown in FIG. 4, the second support block 1
05, the first support block 104, the external gear 118a,
In the case where the external gears 118b are superposed and set in this order, the diameter of each hole (including a part of the holes) decreases toward the right in the drawing. That is, the diameter of the eccentric shaft bearing holes 110a and 110b on the support blocks 104 and 105 side and the external gear 1
Eccentric bearing holes 119a, 119b on the 18a, 118b side
And the diameters of the carrier pin holding holes 151 and 152 also decrease toward the right at the same time while maintaining this arrangement.

Therefore, by inserting a tool from the left side in the drawing (by setting the machining 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. Further, the carrier pin holding hole 152 of the second support block 105 and the carrier pin holding hole 151 of the first support block 104 are simultaneously processed with exactly the same setting (with the same chucking). be able to.

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

In the above embodiment, the bearing holes 110a, 110b on the support block side are larger than the bearing holes 119a, 119b on the external gear side. Is possible. In this case, D1 = D2> D3 = D4 (3) Since the relationship of D5 <D6 (4) holds simultaneously, the external gear 118a from the left side in the figure as shown in FIG. , 118b, the second support block 105, and the first support block 104 in this order. By doing so, the diameter of each bearing hole decreases toward the right, and the diameter of the carrier pin holding holes 152, 151 also decreases 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.

[0077]

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 holes can be processed simultaneously, and the carrier pin holding holes can also be processed simultaneously.

Therefore, the relative positional accuracy between the eccentric shaft bearing hole, the eccentric body bearing hole, and the carrier pin holding hole can be remarkably increased, and even if the same processing machine as that of the related art is used, the relative position error due to the processing can be reduced. The influence can be suppressed extremely small, and the accuracy after assembly 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 and the external gear are overlapped in a state in which they are in good contact with each other. Can be processed. for that reason,
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.

[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, 17a, 17b, 117a, 117b: eccentric , 18a, 18b, 118a, 118b ... external gears, 19a, 19b, 119a, 119b ... eccentric bearing holes, 20a, 20b, 120a, 120b ... eccentric bearings, 24, 124 ... external teeth, 25, 125 ... inside Tooth gear, 150: Carrier pin, 151, 152: Carrier pin holding hole, 154: Carrier spacer, 155: Bolt, 156: Screw hole, P: Mating member.

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 An external gear that is eccentrically rotated with respect to the main rotation shaft by being rotatably fitted through an eccentric bearing, and an internal gear that is fixed to the casing and in which the external gear meshes internally. in <br/> Bei example was internally meshing planetary gear structure, the carrier body, the first and the second supporting block constitutes a carrier pin separate, the carrier pins, the first, second The first and second support blocks are connected and fixed by penetrating the carrier pin holding holes formed in the support block from one support block side, and the eccentric shaft bearing hole, the eccentric body bearing hole, All carrier pin holding holes are through holes, and of these holes , The respective eccentric shaft bearing holes of the first and second support blocks and the respective eccentric body bearing holes of the external gear are arranged at the same pitch on the same circumference, and the respective eccentric body bearing holes of the first and second support blocks are respectively arranged. carrier pin holding holes also respectively arranged at the same pitch on the same circumference, moreover, the first and second supporting blocks and said externally toothed gear, when the axial position is changed parallel beauty in this order ,
The diameter of the eccentric shaft bearing hole formed in the first and second support blocks and the diameter of the eccentric body bearing hole formed in the external gear become smaller in one direction, and this arrangement remains unchanged. At the same time, the eccentric shaft bearing hole and the eccentric bearing are arranged such that the relationship that the diameter of each carrier pin holding hole formed in the first and second support blocks decreases in the same direction as that described above. An internally meshing planetary gear structure, wherein each diameter of the hole and the carrier pin holding hole is set. (2) A casing, and a tip inserted into the casing.
Inserted in the main rotating shaft and an interval in the axial direction of the main rotating shaft.
And each rotates on the casing via a bearing
Freely supported and connected to each other via a carrier
Fixed first support block and second support block
And a plurality thereof are arranged on a circumference concentric with the main rotation axis,
Eccentric ends formed on the first and second support blocks
It is rotatably supported in the body shaft bearing hole via an eccentric body shaft bearing.
An eccentric shaft that rotates in conjunction with the main rotation shaft,
The plurality of eccentric body shafts are provided at a substantially central portion in the axial direction.
The eccentric body and the first and second support blocks are disposed between the eccentric body and the first and second support blocks.
Eccentric body bearing holes formed in the eccentric body
The main shaft is rotatably fitted through the core bearing
An external gear that rotates eccentrically with respect to the rotation axis, and the casing
And the internal gear, wherein the external gear is internally meshed with the external gear.
In the internal meshing planetary gear structure provided, What is the carrier body, the first and second support blocks
It is configured with a separate carrier pin, and the carrier pin is
Each carrier pin formed on the first and second support blocks
By penetrating the holding hole from one support block side
Connecting and fixing the first and second support blocks, Eccentric shaft bearing hole, eccentric body bearing hole, carrier pin holding
The holes are all through holes, and the first and second supports
Eccentric shaft of bearing block and eccentric shaft of external gear
The receiving holes 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 respectively
Placed at the same pitch on the same circumference, Moreover, the external gear and the first and second support blocks
And when rearranging its axial position in this order,
The diameter of the eccentric bearing hole formed in the external gear and the
1. Eccentric shaft bearing holes formed in the second support block
The diameter becomes smaller in one direction, and this arrangement
While being simultaneously formed on the first and second support blocks.
The diameter of each carrier pin holding hole in the same direction as above.
Eccentric body so that the relationship of
Adjust the diameter of the bearing hole, eccentric shaft bearing hole, and carrier pin holding hole.
An internally meshing planetary gear structure characterized by being set.