JP4265834B2 - Inner and outer rollers having an intermeshing planetary gear structure and manufacturing method thereof - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an inner roller or outer roller having an intermeshing planetary gear structure, and a method of manufacturing the same.
[0002]
[Prior art]
Conventionally, a first shaft, an eccentric body that rotates by rotation of the first shaft, an external gear that is incorporated so as to be eccentrically rotatable with respect to the first shaft via the eccentric body, and the external gear An intermeshing planetary gear structure comprising an internal gear that internally meshes and a second shaft that is connected to the external gear through means for transmitting only the rotation component of the external gear is widely known. It has been.
[0003]
A conventional example of this structure is shown in FIGS. In this conventional example, the first shaft is used as an input shaft, the second shaft is used as an output shaft, and the above structure is applied to a “reduction gear” by fixing an internal gear.
[0004]
Eccentric bodies 3a and 3b are fitted to the input shaft 1 with a predetermined phase difference (180 ° in this example). The eccentric bodies 3a and 3b are integrated. Two eccentric gears 5a and 5b are attached to the eccentric bodies 3a and 3b via bearings 4a and 4b, respectively. A plurality of inner roller holes 6 are provided in the external gears 5a and 5b, and an inner pin 7 and an inner roller 8 are inserted therein.
[0005]
The inner pin 7 is covered with the inner roller 8 to disperse the slip during operation (the slip of the inner pin 7 and the external gears 5a and 5b, the slip of the inner pin 7 and the inner roller 8, and the inner roller 8). This is to disperse the sliding of the external gears 5a and 5b).
[0006]
The inner pin 7 that penetrates the external gears 5 a and 5 b is fixed or fitted to the flange portion of the output shaft 2.
[0007]
The reason for using two external gears (double row) is mainly to increase the transmission capacity, maintain the strength, and maintain the rotational balance.
[0008]
On the outer periphery of the external gears 5a and 5b, external teeth 9 such as a trochoidal tooth profile and an arc tooth profile are provided. The external teeth 9 are internally meshed with an internal gear 10 fixed to the casing 12.
[0009]
The internal teeth of the internal gear 10 are specifically constituted by the outer pins 11. The outer pin 11 is loosely fitted in the outer pin hole 13 and is held easily to rotate. For example, as shown in FIG. 8, the outer pin 11 is sometimes covered with an outer roller 14. As a result, the slippage during operation is dispersed (the sliding of the outer pin 11 and the outer pin hole 13 in FIG. 6 is different from the sliding of the outer pin 11A and the outer roller 14 and the outer pin 11A as shown in FIG. And the sliding of the outer pin hole 13).
[0010]
The operation of the speed reducer will be briefly described. When the input shaft 1 rotates once, the eccentric bodies 3a and 3b rotate once. When the eccentric bodies 3a and 3b rotate once, the external gears 5a and 5b also try to swing and rotate around the input shaft 1. However, since the rotation of the internal gear 10 is restricted by the internal gear 10, the external gears 5 a and 5 b almost only swing while inscribed in the internal gear 10.
[0011]
For example, when the number of teeth of the external gears 5a and 5b is N and the number of teeth of the internal gear 10 is N + 1, the difference in the number of teeth is 1. Therefore, every time the input shaft 1 rotates, the external gears 5 a and 5 b are shifted (rotated) by one tooth with respect to the internal gear 10 fixed to the casing 12. This means that the rotation of the input shaft 1 is decelerated to the rotation of -1 / N of the external gear. A minus sign means reverse rotation.
[0012]
The rotation of the external gears 5 a and 5 b is absorbed by the gap between the inner roller hole 6 and the inner roller 8, and only the rotation component is transferred to the output shaft 2 via the inner pin 7 in the inner roller 8. Communicated. As a result, the reduction of the reduction ratio -N is achieved after all.
[0013]
Therefore, a geared motor with a large reduction ratio can be obtained with a reduction mechanism of only one stage by combining the reduction gear having this intermeshing planetary gear structure with, for example, a motor.
[0014]
In this conventional example, the internal gear of the intermeshing planetary gear structure is fixed and the first shaft is the input shaft and the second shaft is the output shaft. However, the second shaft is fixed and the first shaft is The speed reducer can also be configured by using the input shaft and the internal gear as the output shaft. Further, it is possible to configure a speed increaser by reversing these inputs and outputs.
[0015]
In this conventional example, the eccentric body is directly incorporated in the outer periphery of the first shaft. However, the first shaft is dispersed into “three first shafts” via a spur gear, and the dispersed first shaft is dispersed. Also known is a type in which an eccentric body is incorporated in each of which an external gear is oscillated and rotated through the eccentric body. The present invention can be applied without any problem to such a type of intermeshing planetary gear structure.
[0016]
[Problems to be solved by the invention]
Incidentally, as exaggeratedly shown in FIG. 9, a gap δ1 is provided between the outer periphery of the inner pin 7 and the inner periphery of the inner roller 8. Further, as exaggeratedly shown in FIG. 10, a gap δ2 is provided between the outer periphery of the outer pin 11A and the inner periphery of the outer roller 14. The gaps δ1 and δ2 are for ensuring a lubricating oil film between the two members and for allowing the members in contact with each other to slide smoothly.
[0017]
However, when such gaps δ1, δ2 are provided, rattling occurs between the inner pin 7 and the inner roller 8, or between the outer pin 11A and the outer roller 14, and as a result, rattling occurs throughout the gear transmission mechanism. appear. For this reason, there has been a drawback that the rotation on the driving side does not immediately appear as the rotation on the driven side when shifting from the rotation on one side to the rotation on the other side. Such a response delay is hereinafter referred to as “angle backlash”.
[0018]
This angle backlash reduces the control accuracy when the intermeshing planetary gear structure is used as a control mechanism with a servomotor such as a joint drive speed reducer of an industrial robot. There are various causes for the occurrence of angular backlash in the intermeshing planetary gear structure. As a device for eliminating such angular backlash, conventionally, for example, external gears, internal gears, etc. are used for forward rotation and reverse rotation. Various structures are known, such as division or division of roles for forward rotation and reverse rotation (Japanese Patent Laid-Open Nos. 59-106744, 59-113340, 59-115743, JP-A-59-208366).
[0019]
In addition, the applicant has previously proposed Japanese Patent Application No. 60-86571 (Japanese Patent Publication No. 5) as a method for minimizing the gap between the outer pin and the outer pin hole (in an intermeshing planetary gear structure of a type having no outer roller). -86506).
[0020]
However, none of the above known examples has so far focused on the gap δ1 between the inner pin and the inner roller and the gap δ2 between the outer pin and the outer roller in order to reduce the angle backlash. The actual situation is that no measures have been taken with respect to the angle backlash that occurs in Japan.
[0021]
This is because (1) it is necessary to always secure a predetermined lubricating oil between the inner pin and the inner roller, or between the outer pin and the outer roller; (2) even when processing error, assembly error, or power transmission Even if the inner pin and the inner roller, or the outer pin and the outer roller are misaligned due to the deformation of each member, it is necessary to smoothly slide the two members. This is because δ1 and δ2 were considered to be structures that cannot be eliminated (essential structures).
[0022]
In addition, as a method for ensuring good sliding between the two sliding members without providing a gap, it is also conceivable to use a material with low friction and good adaptability, such as white metal or fluororesin. However, the inner and outer rollers of the intermeshing planetary gear structure generally have a large torque obtained by amplifying the torque of the input shaft from several times to 100 times or more. Therefore, from the viewpoint of durability, it has high hardness and high strength. A material (for example, high carbon chromium bearing steel (SUJ2 or equivalent of JIS G4805) is quenched and tempered, or alloy steel for mechanical structure (JIS G4103, JIS G4104, JIS G4105) is carburized and tempered to about HRC 58-64. This method cannot be used in many cases.
[0023]
In addition, while providing a circumferential groove on the inner circumference of the inner roller (or outer circumference of the inner pin) and securing oil in this circumferential groove, this method not only leads to an increase in the processing cost of the inner roller, Since sharp notches that cause stress concentration in high hardness and high strength materials are provided, the strength is remarkably lowered, which is not preferable as the configuration of the inner roller and outer roller of this type of intermeshing planetary gear structure.
[0024]
Furthermore, in this connection, since it is necessary to process high hardness and high strength materials with high precision, the inner and outer diameters of the inner and outer rollers must be processed by “grinding”. When processing by (because grinding is the process of shearing the crystal grains of the material to the last), there is a limit (economically 2-3μ) in the finish roughness, in order to maintain the oil film at this roughness There was also a situation that the existence of gaps δ1 and δ2 having a certain size was essential.
[0025]
For this reason, it is considered that the gap δ1 between the inner pin and the inner roller or the gap δ2 between the outer pin and the outer roller is indispensable, and therefore the occurrence of angular backlash due to this is inevitable. It was what was considered.
[0026]
The present invention has been made in view of such conventional problems, and the shape of the inner roller or the outer roller, which has been considered to have to be processed as close to a true cylinder as possible (naturally). The internal backlash planetary gear structure that can reduce the angle backlash significantly without causing any new inconvenience and is resistant to overload and capable of transmitting large loads without causing any new inconvenience. An object is to provide a roller or an outer roller.
[0027]
It is another object of the present invention to provide an optimum method for actually manufacturing the inner roller or the outer roller.
[0028]
[Means for Solving the Problems]
The invention according to claim 1 is a first shaft, an eccentric body that is rotated by the rotation of the first shaft, and an external tooth that is incorporated in a state that allows eccentric rotation with respect to the first shaft via the eccentric body. An internal gear provided with a gear, an internal gear with which the external gear internally meshes, and a second shaft connected to the external gear via a means for transmitting only the rotation component of the external gear. In a cylindrical inner roller used together with a cylindrical inner pin to constitute a means for transmitting only the rotation component of the meshing planetary gear structure, the inner circumferential wall and the longitudinal section of the inner circumferential wall and outer circumferential wall of the cylinder are And the said subject was solved by forming the inner-outer diameter of the axial direction center part of an outer peripheral wall into the barrel shape larger than the inner-outer diameter of both ends.
[0029]
According to a second aspect of the present invention, there is provided a first shaft, an eccentric body that is rotated by the rotation of the first shaft, and an external tooth that is incorporated so as to be eccentrically rotatable with respect to the first shaft via the eccentric body. An internal gear provided with a gear, an internal gear with which the external gear internally meshes, and a second shaft connected to the external gear via a means for transmitting only the rotation component of the external gear. In a manufacturing method of a cylindrical inner roller used together with a cylindrical inner pin to constitute a means for transmitting only the rotation component of the meshing planetary gear structure, the central portion of the cylindrical inner roller material is axially arranged. A procedure for forming a cylindrical inner roller material by hollow cutting, a procedure for burnishing at least the inner peripheral wall of the inner and outer peripheral walls of the cylindrical inner roller material, and heat-treating the burnished inner roller material The entire inner roller material in the axial direction A barrel-shaped formation procedure of deforming the central portion is barrel-shaped bulging, by including one in which the above-mentioned problems are eliminated.
[0030]
The invention according to claim 3 is the cylindrical inner peripheral wall and the outer periphery according to claim 2, in which the processing strain is more positively applied at the time of burnishing, so that the residual strain before the heat treatment by the processing and the residual strain by the heat treatment The above problems are solved by forming the vertical cross-sectional shape of the wall into a clearer barrel shape.
[0031]
Claims 1, 2 and 3 focus on the inner roller of the intermeshing planetary gear structure. Claims 4, 5 and 6 apply the same configuration to the outer roller.
[0032]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
[0033]
The present invention is characterized by the shape of the inner and outer circumferential longitudinal sections of the inner meshing planetary gear structure or the outer roller, and the configuration of the inner meshing planetary gear structure itself is not particularly different from the conventional configuration. . Accordingly, since the configuration of the intermeshing planetary gear structure itself has already been described in detail, the description thereof is omitted.
[0034]
The longitudinal section of the inner roller or outer roller according to the present invention is such that the inner and outer peripheral walls thereof are not straight as in the prior art, and the inner and outer diameters of the central portions in the axial direction of the inner and outer peripheral walls are larger than the inner and outer diameters of both ends. It has a large-diameter barrel shape, and when an inner pin or outer pin is inserted, it can hold oil or grease lubricating oil, and the inner pin or outer pin can be held by a load accompanying power transmission. Even when it bends, it is made so that an edge load does not occur due to the meshing of the external gear.
[0035]
FIG. 1 is a longitudinal sectional view of an inner roller 30 according to the present invention. The barrel shape is exaggerated here.
[0036]
FIG. 2 is an actual measurement graph obtained by measuring the shape and roughness of the inner peripheral wall of the inner roller 30 according to the embodiment of the present invention with a roughness meter. Here, the scales in the radial direction Y and the axial direction X are not the same for the purpose of measurement, and the magnification in the radial direction Y is set to 200 times the axial direction X.
[0037]
The line 32L in FIG. 2 corresponds to the inner peripheral wall 32 on the substantial side in the lower half of FIG. That is, with the line 32L as a boundary, the lower part is the substance side and the upper part is the hollow hole side.
[0038]
As shown in FIGS. 1 and 2, the inner roller 30 according to this embodiment has a cylindrical inner peripheral wall 32 whose longitudinal section is not straight and whose inner diameter d1 at the center in the axial direction is larger than the inner diameter d2 at both ends. The central portion P1 of the through hole 31 has a diameter (d1> d2) and has a convex barrel shape (concave when viewed from the substantial side). The size of the inner roller 30 according to this embodiment is such that the axial length L1 is 25 mm, the inner diameter d2 at both end portions P2 is 12 mm, and the wall thickness t is 2.5 mm. The difference in inner diameter (d1-d2) at the portion P2 is about 5-6 μm on one side.
[0039]
The convex portion (recessed portion as viewed from the substantial side) 32R1 of the inner peripheral wall at the central portion P1 and the concave portion (convex portion as viewed from the substantial side) 32R2 at both end portions P2 are smoothly continuous, and further, the recessed portion 32R2 and both end surfaces 32R3. Is also smoothly continuous.
[0040]
Further, the longitudinal cross section of the cylindrical outer peripheral wall 33 of the inner roller 30 is not straight, the outer diameter D1 of the central portion in the axial direction is larger than the outer diameter D2 of both ends (D1> D2), and the central portion of the through hole 31 P1 has a convex barrel shape.
[0041]
FIG. 3 is a conceptual diagram showing a state in which the inner roller 30 according to this embodiment is assembled to the inner pin 7. 3 also prioritizes ease of viewing, the scales in the radial direction Y and the axial direction X are not the same.
[0042]
The outer periphery 7A of the inner pin 7 is in light contact with the (substantially) convex portions 32R2 and 32R2 of the inner peripheral wall 32 of the inner roller 30, and the gap between the central portion P1 of the inner peripheral wall 32 and the (substantially) concave portion 32R1. H1, i.e. (d1-d2) / 2, is about 5-6 microns as described above (due to the barrel shape). The gap H1 is not significantly affected by the size of the inner roller 30, and an absolute value of about 2 to 10 μm is an allowable range.
[0043]
If the gap H1 is too small, the original function of the gap will not be exhibited. If it is too large, even if a radial (large) force acts between the inner roller 30 and the inner pin 7, Since the arcs at the two convex portions 32R2 and 32R2 (viewed from the actual side) become smaller and torque is transmitted only at these two points, the inner pin 7 (at any time) contacts the inner roller 30 only at this portion. This is because it is not preferable in terms of wear resistance.
[0044]
By forming the inner peripheral wall 32 of the inner roller 30 in such a shape, the gap H1 in FIG. 3 functions as a space for securing lubricating oil. Further, since the inner pin 7 is in contact with the inner roller 30 at the two convex portions 32R2 and 32R2 of the inner peripheral wall 32 of the inner roller 30, the shaft O1 of the inner roller 30 and the inner pin 7 has a particularly large force. As long as it is not applied, there will be no deviation, and basically no “rattling” will occur. Therefore, unlike the conventional case, the angle backlash due to the gap δ1 does not occur.
[0045]
On the other hand, with respect to the outer periphery 33, the outer diameter D2 at both ends is smaller than that at the center D1, so that clearances σ1 and σ2 are secured between the inner roller holes 6a and 6b of the external gears 5a and 5b. Is done. This prevents the inner rollers 6a, 6b and the inner rollers 30 from contacting the inner rollers 30 after the external gears 5a, 5b when an excessive load is applied to the intermeshing planetary gear structure.
[0046]
Furthermore, even if there is a processing error or assembly error, or even if each member is elastically deformed during power transmission, an unexpectedly large external load is applied to cause the inner pin 7 to bend. However, since the lubricating oil is secured in the gap H, smooth sliding can be maintained.
[0047]
Accordingly, by adopting the inner roller (or outer roller) having such a structure, the inner roller (outer roller) and the inner pin (outer pin) are secured while securing a large amount of lubricating oil, that is, without reducing the durability. ), The angular backlash can be reduced. Furthermore, even if processing errors, elastic deformation during operation, elastic deformation with respect to an external load, etc. occur, good slip characteristics can be ensured, so that power loss can be significantly reduced.
[0048]
In addition, when the inner roller 30 according to this embodiment is manufactured by a manufacturing method to be described later, the surface of the inner peripheral wall 32 is mirror-finished by burnishing, so that seizure hardly occurs even if the lubricating oil film becomes thin. According to an experiment with an actual machine, it has been confirmed that the power transmission capability is greatly improved by about three times and noise during operation is also reduced.
[0049]
Next, a method for manufacturing the inner roller (or outer roller) having such a shape will be described in detail.
[0050]
For the inner roller having a barrel-shaped inner peripheral wall as described above, a method of cutting the inner peripheral wall with, for example, an ultra-high precision NC (Nunerical Control) machine tool in a manufacturing process similar to the conventional one can be considered. However, an NC machine tool capable of cutting a high-hardness, high-strength material with high accuracy is very expensive and the processing time required for each inner roller is long. In practical terms, it cannot be established on cost.
[0051]
Accordingly, the inventors have devised a manufacturing method that combines so-called burnishing and heat treatment, and actively uses the work strain and heat treatment strain.
[0052]
4A to 4D show the manufacturing method. In addition, since each part of FIG. 4 gave priority to easiness to view, the deformation is exaggerated and the scales in the radial direction Y and the axial direction X are not the same. This will be described in order below.
[0053]
FIG. 4 (A)
First, the outer periphery is processed with a precision lathe at the round bar stage of the inner roller material 30 </ b> A, and then the processed outer periphery is burnished with the roller burnishing tool 51. The burnishing process here is a process known per se and is a process of rolling the outer periphery (by crushing and plastically deforming it).
[0054]
FIG. 4 (B)
Subsequently, in the state before the heat treatment (the material is soft), the central portion of the cylindrical inner roller material 30A is cut in the axial direction X to form a cylindrical inner roller material 30B, and the inner roller material 30B Intermediate finish of the inner circumference. Here, it is assumed that the inner circumference is processed by turning with a precision lathe. This processing is processing by shearing the material structure.
[0055]
In addition, it is also effective in mass production processing to finish the outer periphery after manufacturing by plastic working by cold forging up to the intermediate finishing of FIG. 4 (B) instead of the processing of FIG. 4 (A).
[0056]
FIG. 4 (C)
Next, the entire axial length of the outer peripheral wall 33 is chucked by the chucking device 50, and the inner peripheral wall 32 is burnished by the roller burnishing tool 52 to obtain the inner roller material 30C. The burnishing process here is also known per se and is a process of rolling the inner peripheral wall 32 processed by shearing the structure in FIG. For this reason, finer roughness (mirror surface) than turning and grinding can be obtained.
[0057]
FIG. 4 (D)
FIG. 4D shows an exaggerated depiction of the minute bend after the heat treatment is performed after the inner peripheral wall 32 is burnished in this manner.
[0058]
When the material of the inner roller material 30C is a high carbon chrome bearing steel (SUJ2 of JIS G4805 or equivalent), the heat treatment here is preferably a step of hardening the whole by known quenching and tempering.
[0059]
Further, when the material of the inner roller material 30C is alloy steel for machine structure (so-called carburized steel such as JIS G4103, JIS G4104, JIS G4105, etc.), it is preferable that the surface is hardened by so-called carburizing quenching and tempering.
[0060]
In either case, both ends in the axial direction have a large heat radiation area during quenching, so they are cooled quickly, so they shrink more than the central part and harden in that state, and as shown in FIG. A bend shape can be obtained. In FIG. 4D, l0 is the length bent at the outer periphery, .delta.o is the relative shrinkage amount of the outer diameter, and l1 and .delta.i are the bending length and the shrinkage amount on the inner diameter side.
[0061]
That is, as is apparent from the drawing, the inner roller material 30D has a smaller diameter at the outer peripheral side by δo at both ends l0, and the inner peripheral side has a diameter at both ends from the center by δi at both axial ends li. The so-called barrel shape is small.
[0062]
As described above, this embodiment is characterized in that the deformation (thermal strain) caused by the heat treatment is positively used, thereby forming the barrel shape of the inner peripheral wall.
[0063]
Next, a method for forming the barrel shape more positively (larger) will be described with reference to FIG.
[0064]
In this method, when performing burnishing, the chucking is performed over the entire axial length in the previous embodiment, but here the chucking is intentionally removed at both ends. . As a result, when a processing pressure is applied from the inner peripheral side by the roller burnishing tool 52 during the burnishing process, a phenomenon occurs in which both end portions of the inner roller material 30E expand to the outer peripheral side as indicated by broken lines in the figure. Thus, the processing (rolling) becomes light, and it is possible to create a state in which only the inner peripheral wall 32 is not enlarged.
[0065]
As a result, when the chucking device 50 'is released, as shown in FIG. 5B, at the stage where the heat treatment is not yet performed, a barrel shape having a small diameter at both ends by δB is already obtained at both ends lB. Will be able to. Therefore, the barrel shape can be further clarified by applying the heat treatment step described above to the previous embodiment.
[0066]
Actually, considering the size of the individual inner rollers and the applied torque, the actually formed gap H1 (FIG. 3) is 2 to 10 μ (preferably 5 to 6 μ), that is, the crowning amount δo is 5 to 15 μ. What is necessary is just to determine the method of chucking and heat processing so that it may become (preferably 7-8 micrometers).
[0067]
In order to further increase the degree of barrel shape, in addition to the above-described embodiments, only the central part is intentionally released slowly at the stage of heat dissipation (so that both ends are intentionally released quickly). It is also possible to form a heat radiation environment, for example, an environment where the flow of cooling oil is improved only near both ends during heat radiation.
[0068]
By these methods, for example, when the inner diameter d2 of the inner roller is in the range of 6 mm to 60 mm, Inner roller Outer diameter (d2 + 2 t) is about 1.3 to 1.7 times (ie t / d) 2 In the range of about 1/3 to 1/6), the barrel shape as intended in the required axial length L1 (about 1.5 to 4 times the inner diameter d2 is required). It has been confirmed by the inventors' tests that they can be sufficiently formed. However, ideally the outer diameter ( d2 + 2 t ) Is about 1.5 times the inner diameter d2 (1.4 to 1.6 times) (without any further heat treatment or the like), a good gap H1 and crowning amount δo are ensured.
[0069]
In any case, the outer peripheral surface does not necessarily need to be burned. Further, both the inner and outer circumferences may be finally ground by barrel grinding.
[0070]
Since the inner roller manufactured in this way has a gap H1 between the inner pin and the inner pin at the axially central portion of the inner peripheral wall, this serves as a lubricating oil holding portion. In addition, the inner and outer peripheral walls are remarkably mirror-finished by the burnishing process compared to the conventional grinding process, so that seizure hardly occurs and the both ends are almost always in contact with each other (the gap between the inner pin and the inner roller is almost 0). ) And will be able to eliminate the cause of angular backlash. Moreover, coupled with the fact that the inner peripheral wall is mirror-finished, the power transmission efficiency can be kept high by the oil film that is always formed, and in addition, since the outer peripheral wall is also barrel-shaped, the edge contact with the external gear is reduced. As a result, larger load transmission (about 3 times) is possible.
[0071]
In the above-described embodiment, the configuration and the manufacturing method have been described by taking the inner roller as an example. However, it goes without saying that the present invention can be applied to the outer roller in the same manner.
[0072]
【The invention's effect】
As described above, the inner roller (outer roller) according to the present invention, or the inner roller (outer roller) manufactured by the method according to the present invention, has sufficient lubricating oil in the barrel-shaped gap on its inner peripheral wall. Therefore, the inner pin (outer pin) can be held coaxially with the inner roller (outer roller) with little rattling.
[0073]
Further, since the outer peripheral wall is also barrel-shaped, there is no edge contact with the external gear, and as a result, a larger load can be transmitted.
[0074]
Therefore, it is possible to secure lubricating oil (maintain durability), improve power transmission efficiency and transmission capacity, reduce noise, and reduce angle backlash.
[Brief description of the drawings]
FIG. 1 is a longitudinal sectional view of an inner roller applied to an intermeshing planetary gear structure according to the present invention.
FIG. 2 is a graph in which the shape of the inner peripheral wall in the lower half of the inner roller in FIG. 1 is measured.
FIG. 3 is a longitudinal sectional view showing a state in which an inner pin is assembled to the inner roller of FIG.
4 is a process diagram illustrating a method of manufacturing the inner roller according to FIG.
5 is a partial process diagram showing a modification of the manufacturing process according to FIG. 4;
FIG. 6 is a partially broken front view for explaining the configuration of a conventional inscribed meshing planetary gear structure.
7 is a sectional view taken along line VII-VII in FIG.
FIG. 8 is a partially enlarged cross-sectional view for explaining the configuration of an internally meshing planetary gear structure having an outer roller.
FIG. 9 is a cross-sectional view for explaining the relationship between a conventional inner roller and an inner pin.
FIG. 10 is a cross-sectional view for explaining the relationship between a conventional outer roller and an outer pin.
[Explanation of symbols]
1 ... Input shaft
3a, 3b ... eccentric body
5a, 5b ... external gear
6a, 6b ... Inner roller hole
7 ... Inner pin
8, 30 ... Inner roller
10 ... Internal gear
11 ... Outer pin
13 ... Outside pin hole
14 ... Outer roller
32 ... Inner wall
33 ... Outer wall
51, 52 ... Roller burnishing tool

Claims (6)

A first shaft, an eccentric body rotated by rotation of the first shaft, an external gear incorporated in a state of being eccentrically rotatable with respect to the first shaft via the eccentric body, and the external gear The rotation component of an internal meshing planetary gear structure comprising an internal gear that meshes with and a second shaft that is coupled to the external gear via a means that transmits only the rotation component of the external gear. In a cylindrical inner roller used with a cylindrical inner pin to constitute a means for transmitting only,
A longitudinal section of an inner peripheral wall and an outer peripheral wall of the cylinder is formed in a barrel shape in which the inner and outer diameters of the inner peripheral wall and the outer peripheral wall in the axial center are larger than the inner and outer diameters of both ends. Inner roller with mesh planetary gear structure. A first shaft, an eccentric body rotated by rotation of the first shaft, an external gear incorporated in a state of being eccentrically rotatable with respect to the first shaft via the eccentric body, and the external gear The rotation component of an internal meshing planetary gear structure comprising an internal gear that meshes with and a second shaft that is coupled to the external gear via a means that transmits only the rotation component of the external gear. In the manufacturing method of a cylindrical inner roller used together with a columnar inner pin to constitute a means for transmitting only,
A procedure for forming a cylindrical inner roller material by cutting the center portion of the cylindrical inner roller material in the axial direction,
Among the inner and outer peripheral walls of the cylindrical inner roller material, a procedure for burnishing at least the inner peripheral wall;
A barrel-shaped planetary gear structure comprising: a barrel-shaped forming procedure for deforming the entire inner-roller material into a barrel shape in which the central portion in the axial direction swells by heat-treating the burnished inner-roller material. Of manufacturing inner roller. In the manufacturing method of the inner roller of the intermeshing planetary gear structure according to claim 2,
The burnishing process in the burnishing process is a state where the outer periphery of the inner roller material formed in the cylindrical shape is chucked so that a predetermined pressing force is generated toward the radial circumferential side at the axial center position. Executed on and
The method of manufacturing an inner roller having an intermeshing planetary gear structure, wherein the heat treatment in the barrel forming procedure is performed in a state where the chucking is released. A first shaft, an eccentric body rotated by rotation of the first shaft, an external gear incorporated in a state of being eccentrically rotatable with respect to the first shaft via the eccentric body, and the external gear The internal teeth of an internal meshing planetary gear structure comprising an internal gear that meshes with and a second shaft that is connected to the external gear via a means for transmitting only the rotation component of the external gear. In the cylindrical outer roller used to configure the internal teeth of the gear,
A longitudinal section of an inner peripheral wall and an outer peripheral wall of the cylinder is formed in a barrel shape in which the inner and outer diameters of the inner peripheral wall and the outer peripheral wall in the axial center are larger than the inner and outer diameters of both ends. Outer roller with mesh planetary gear structure. A first shaft, an eccentric body rotated by rotation of the first shaft, an external gear incorporated in a state of being eccentrically rotatable with respect to the first shaft via the eccentric body, and the external gear The internal teeth of an internal meshing planetary gear structure comprising an internal gear that meshes with and a second shaft that is connected to the external gear via a means for transmitting only the rotation component of the external gear. In the manufacturing method of the cylindrical outer roller used for constituting the internal teeth of the gear,
A procedure for forming a cylindrical outer roller material by cutting the center portion of the cylindrical outer roller material in the axial direction,
Among the inner and outer peripheral walls of the cylindrical outer roller material, a procedure for burnishing at least the inner peripheral wall;
An intermeshing planetary gear structure comprising: a barrel-forming procedure for deforming the entire outer roller material into a barrel shape in which an axially central portion swells by heat-treating the burnished outer roller material. Method of manufacturing the outer roller. In the manufacturing method of the outer roller of the intermeshing planetary gear structure according to claim 5,
State in which the burnishing burnishing in the procedure for processing the outer periphery of the outer roller material formed in the cylindrical shape, a predetermined pressing force in the radial circumferential side is chucked to occur at the axial center position Executed on and
The method of manufacturing an outer roller with an intermeshing planetary gear structure, wherein the heat treatment in the barrel forming procedure is performed in a state where the chucking is released.

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