JP4610052B2 - Series of gear materials, external gears, and speed reducers - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
TECHNICAL FIELD The present invention relates to a speed increasing / reducing gear having a swinging internal meshing planetary gear structure or a series of the speed increasing / decreasing devices, and in particular, a technology for sharing gear materials used for external gears, the external gears, and the like. About.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, this type of oscillating intermeshing planetary gear type speed reducer has been widely known and used as being capable of obtaining a large speed increasing ratio with a small number of speed increasing / decreasing stages. In this oscillating internal meshing planetary gear structure, the external gear and the internal gear are relatively eccentrically oscillated, thereby causing relative rotation between the two gears due to the constraint of the internal meshing state. Power is transmitted at an increase / decrease ratio that exists in the difference in rotational speed between the oscillating motion and the relative rotation.
[0003]
8 and 9 show a conventional speed reducer 20 in which this swinging intermeshing planetary gear structure is incorporated so as to have a speed reducing function. The speed reducer 20 is attached to the first shaft 1 (in this case, the input shaft) 1, the eccentric bodies 3a and 3b that rotate by the rotation of the first shaft 1, and the eccentric bodies 3a and 3b via bearings 4a and 4b. The two external gears 5a and 5b that are made eccentrically rotatable, the internal gear 10 that is internally meshed with the external gears 5a and 5b, and a member that extracts only the rotation components of the external gears 5a and 5b. And a second shaft (in this case, an output shaft) 2 connected to the external gears 5a and 5b. In this conventional example, two external gears 5a and 5b are assembled into a double row type (including the case of three or more), but of course, a single row type consisting of one external gear. It does not matter.
[0004]
The eccentric bodies 3a and 3b are fitted to the input shaft 1 with a predetermined phase difference (180 ° in this example). As shown in FIG. 9, the eccentric bodies 3a and 3b are each eccentric with respect to the input shaft 1 (center O1) by an eccentric amount e (center O2).
[0005]
The external gears 5a and 5b are provided with a plurality of inner pin holes 6a and 6b. The inner pins 7 (specifically, the pin 8A and the inner roller 8B installed on the pin 8A are provided in the inner holes 6a and 6b. Is configured). The inner pin 7 corresponds to “a member that extracts only the rotation component of the external gear”. The inner roller 8B is rotatable, and the pin 8A is fixed or fitted to the carrier 30 formed on the output shaft 2.
[0006]
External teeth 9 having a trochoid tooth profile (specifically, an epitrochoid parallel curved tooth profile is employed in this conventional example) are provided on the outer circumferences of the external gears 5a and 5b. The external teeth 9 are in internal mesh with the internal gear 10 fixed to the casing 12.
[0007]
The internal gear 10 includes a cylindrical internal tooth frame 32 and a plurality of external pins 34 installed on the inner peripheral side of the internal tooth frame 32. Specifically, an axial pin groove 33 is formed on the inner periphery of the inner tooth frame 32, and the outer pin 34 is installed in the pin groove 33. The tooth surface of the inner tooth 11 is formed by the outer peripheral surface of the outer pin 34 (the portion exposed inside).
[0008]
When the input shaft 1 rotates once, the eccentric bodies 3a and 3b rotate once. The external gears 5a and 5b try to rotate around the input shaft 1 by one rotation of the eccentric bodies 3a and 3b, but their free rotation is restricted by the meshing state with the internal gear 10, The external gears 5a and 5b perform an eccentric oscillating motion based on the center 01 and a slight rotational motion (due to the difference in the number of teeth between the internal teeth 11 and the external teeth 9).
[0009]
For example, when the number of teeth of the external gears 5a and 5b is n (n = 35 in the illustrated example) and the number of teeth of the internal gear 10 is n + 1 (36 in the illustrated example), the number of teeth is as follows. The difference N is 1. For this reason, the external gears 5a and 5b are shifted (spinned) by one tooth with respect to the internal gear 10 for each rotation of the input shaft 1 (that is, for each eccentric swing motion). This means that one rotation of the input shaft 1 is decelerated to the rotation of 1 / n of the external gears 5a, 5b (1/35 in the illustrated example, 35 as the reduction ratio). The rotation direction of the external gears 5a and 5b is opposite to the rotation on the input side.
[0010]
The rotation of the external gears 5a, 5b is absorbed by the clearance between the inner pin holes 6a, 6b and the inner pin 7 (inner roller 8B), and only the rotation component is transferred to the output shaft 2 via the inner pin 7. Communicated.
[0011]
Generally expressing the reduction ratio I, when the number of external teeth is z1 and the number of internal teeth is z2, in this input / output relationship, I = (z1) / (z2-z1). .
[0012]
In the above structure, the output is taken out from the output shaft 2 as the second shaft and the internal gear 10 is fixed. However, the output is taken out from the internal gear 10 and the output shaft 2 in the above example. It is also possible to configure the speed reducer by fixing the second shaft which has been. Further, in these structures, the “speed increaser” can be configured by reversing the input / output relationship. The point is to obtain a predetermined acceleration / deceleration function by utilizing the relative rotation between the external gears 5a, 5b and the internal gear 10. Further, in this conventional example, the case where the tooth number difference N is 1 is shown, but the tooth number difference of 1 or more can be set. The difference in the number of teeth of 1 or more is described in detail in Japanese Patent Application Laid-Open No. 06-0500394, which is an application filed by the present applicant, and the description thereof is omitted here.
[0013]
In recent years, a plurality of reduction gears 20 having a plurality of reduction gear ratios I are generally presented to customers as a reduction gear series. If the customer selects the optimum speed reducer 20 based on the desired capacity / reduction ratio, etc., a product can be obtained at a lower cost and with a shorter delivery time.
[0014]
For example, conventionally, by preparing a plurality of external gears 5a, 5b and an internal gear 10 having different sizes, number of teeth, tooth shapes, etc., the reduction ratio is 6 to 119 in spite of the one-stage reduction. Reducer series set in multiple stages within the range has been realized. In addition, a reduction gear series that can cope with a wider range of reduction ratios is realized by combining two or more swinging intermeshing planetary gear structures.
[0015]
[Problems to be solved by the invention]
In this type of oscillating intermeshing planetary gear structure reducer 20, a large part of the manufacturing cost is concentrated on the external gears 5 a and 5 b. This is because if the external gears 5a and 5b are not manufactured with high accuracy, smooth and quiet power transmission becomes difficult due to backlash or the like.
[0016]
However, for example, when the reduction gear 20 is prepared as a series as described above, the external gears 5a and 5b corresponding to the respective reduction ratios I must be manufactured, so various gear materials, various gear cutting cutters, and the like The manufacturing cost has increased significantly. In addition, it is necessary to manufacture and deliver the speed reducer 20 in a short period in order to provide the speed reducer 20 as a series. I couldn't be satisfied.
[0017]
In order to satisfy the short delivery time, it is necessary to manufacture various external gears 5a and 5b in advance. However, since the external gears 5a and 5b are relatively large members, the inventory cost increases, leading to an increase in product cost. In other words, the short delivery time and the reduction in product cost contradict each other, and in the case of the series, one of the requirements was selected and the other requirement had to be abandoned.
[0018]
Further, when the types of the external gears 5a and 5b are different, it is necessary to change the design of the inner pin 7 and the carrier 30. Specifically, each time the external gears 5a and 5b are different, the arrangement of the inner pins 7 may be different or the size of the carrier 30 may be different, which is also a factor that hinders quick delivery and low cost. It was.
[0019]
By the way, there is a technique described in, for example, Japanese Patent Application Laid-Open No. 5-231482 as somewhat related to these. This technology is intended to maintain the outer peripheral diameter U of the bearings 4a and 4b in the external gears 5a and 5b of multiple types (specifically, a plurality of eccentricity amounts) at all times. It is intended to reduce the manufacturing cost by promoting the sharing of the bearing openings 36 in the external gears 5a and 5b.
[0020]
According to this technique, it is possible to form a bearing opening 36 having a common size for each of the external gears 5a and 5b. However, the opening is the same as the entire external gear 5a and 5b. However, since the other inner pin holes 6a and 6b, the outer teeth 9 and the like must be formed each time, the above problems could hardly be solved.
[0021]
The present invention has been made in view of the above-mentioned problems, and shares the material for the external gear, and thus the external gear itself, and greatly reduces the manufacturing cost when preparing the speed reducer as a series, for example. With the goal.
[0022]
[Means for Solving the Problems]
The present invention relates to a first shaft, an eccentric body that rotates by the rotation of the first shaft, an external gear that can be eccentrically rotated with respect to the first shaft via the eccentric body, and the external gear. And a second shaft to which only the rotation component of the external gear is transmitted by an internal pin loosely fitted in the internal pin hole of the external gear. In the gear material used for the external gear of the speed reducer with a planetary gear structure, a plurality of openings for the inner pin hole having at least a first inner diameter and a second inner diameter are provided. In advance Formed And A first external gear capable of meshing with the first internal gear with a first eccentric amount using at least the opening of the first inner peripheral diameter as the inner pin hole, and the opening of the second inner peripheral diameter The above object is achieved by making it possible to configure the second external gear that can be engaged with the second internal gear with the second eccentric amount by using the pin hole.
[0023]
In the present invention, an opening having a first inner diameter and a second inner diameter is formed in the material itself, and the openings are selectively used according to the amount of eccentricity. Therefore, when combined with the idea of sharing the bearing opening shown in the conventional example, the sharing of the material is completely achieved, so that the manufacturing cost is greatly increased particularly when mass-producing a plurality of types of external gears. It can be reduced. On the other hand, the present invention is not limited to the case where the bearing opening is shared. This is because, in the present invention, a plurality of inner pin hole sides “requires labor” are shared on the material side.
[0024]
In the first invention, a plurality of openings having the first inner peripheral diameter are formed at predetermined intervals on the inner pin hole pitch circle, and openings having the second inner peripheral diameter are formed on the inner pin hole pitch circle. Preferably, the plurality of openings are formed at the same intervals as the predetermined intervals of the openings having the first inner peripheral diameter and in a state where the entire phases are shifted so as not to interfere with the openings having the first inner peripheral diameter.
[0025]
In this way, the common carrier having the inner pin can be applied to the first external gear and the second external gear. Therefore, it is possible to share the carrier side when preparing the speed increasing / decreasing device as a series, and the number of parts can be drastically reduced.
[0026]
The first and second external gears are included in the same (single type) gear material when the external teeth are not cut. Here, when different external teeth are cut, they are separated into two types of first and second external gears, and on the other hand, for example, the tooth profile is shared by using the tooth profile sharing technique described later The external gears having the same external appearance also serve as the first and second external gears, and become the first and second external gears having different functions depending on the combination state with the internal gears.
[0027]
As mentioned above, if the 1st external gear or the 2nd external gear is constituted from the material for a single gear, the above-mentioned merit can be exhibited.
[0028]
The above idea is particularly effective when a plurality of speed increasing / decreasing ratios are set and a plurality of speed increasing / decreasing gears are prepared as a series.
[0029]
Specifically, in the series of the speed reducers having a plurality of speed increasing / reducing ratios of the speed increasing / reducing gears having the same swinging intermeshing planetary gear structure as described above, at least the gear material according to the above invention is provided. The first and second external gears configured using the first external gear, the first internal gear that can mesh with the first external gear with the first eccentric amount, and the second external gear with the second external gear. A second internal gear capable of meshing with an eccentric amount is prepared, and a first speed reducer constituted by the first external gear and the first internal gear, the second external gear and the second external gear The second speed reducer configured by two internal gears and having a speed increase / decrease ratio different from that of the first speed reducer may be included in at least the series component.
[0030]
When providing speed increase / reduction gears to customers as a series, each part must be secured as a huge inventory. Furthermore, if the processing of the inner pin hole to which a relatively large amount of labor is applied is performed for each order, it is not possible to satisfy the requirement for a short delivery time.
[0031]
However, according to the above invention, since the opening for the inner pin hole is formed in advance on the material side, it is possible to achieve a short delivery time even if the external gear is manufactured by order production. Moreover, since it can be stocked as a material rather than as various external gears, the series can be provided at a lower cost including reduction of inventory cost.
[0032]
On the other hand, the present inventor has focused on the fact that if the external teeth of the external gear are shared, the manufacturing cost is further reduced and the product can be delivered in a short delivery time.
[0033]
Therefore, as a result of further analysis on the tooth profile of the external gear in the swinging intermeshing planetary gear structure, it is possible to combine it with a plurality of internal gears with the same external tooth profile even if it is not completely ideal. The idea was that it could be shared. In the analysis process, the shape of the "regions that play an important role in power transmission" located on the root side of the external teeth used for different reduction ratios are very close to each other. This is due to the fact that they have learned. In other words, it is intended to share the tooth profile of the external tooth by utilizing the range that can be approximated on the tooth base side, even if it is not a completely ideal tooth profile.
[0034]
Specifically, in a series of speed increasing / decreasing gears having a swinging intermeshing planetary gear structure similar to that described above, a plurality of speed increasing / decreasing gears having different speed increasing / decreasing ratios are provided. An external gear having an inner pin hole with an inner peripheral diameter, and a first internal gear that is combined with the outer gear with a first eccentric amount e1 using the inner pin hole with the first inner peripheral diameter. , And a second internal gear that is combined with the second eccentric amount e2 using the inner pin hole of the second inner peripheral diameter with respect to the external gear, and further, the external gear When the pitch circle radius of the first internal gear to be combined is A1, and the pitch circle radius of the second internal gear to be combined with the external gear is A2, A1-e1 = A2-e2 = P (P : Constant), and the external teeth of the external gear are cycloid or A first speed reducer including a coiled curve and having a tooth tip that does not interfere when the tooth tip meshes with both the first and second internal gears, and is constituted by the external gear and the first internal gear; And a second speed increasing / decreasing gear configured by the external gear and the second internal gear and having a speed increasing / decreasing ratio different from that of the first speed increasing / decreasing gear. Good.
[0035]
This makes it possible to share specific external gears when configuring the speed reducer series, thus reducing manufacturing costs in all aspects such as gear materials and gear cutting cutters. I can do it. Therefore, when configuring a series of speed increasing / decreasing gears that cover a wide range of speed increasing / decreasing ratios, it is possible to drastically reduce the types of tooth shapes of external gears and, consequently, the types of external gears.
[0036]
The external teeth of this specific external gear do not form an “ideal” tooth profile for all of the specific plurality of internal gears if the entire tooth surface is taken. It is considered geometrically impossible. However, in an external gear having a cycloid or trochoidal curvature (including a parallel curve), a plurality of areas can be shared by limiting and sharing the root side region that plays an important role in power transmission. The external gear shape can be made ideally close to the internal gear. Furthermore, the shape on the tooth tip side of the external gear is a shape in which interference with a plurality of specific internal gears is prevented. This is because the tooth tip side may deviate from the ideal tooth profile from the idea that the tooth tip side originally does not have an important role in power transmission. In other words, the tooth root side is a very rational tooth profile that gives priority to prevention of interference while ignoring the meshing while sharing the heavy tooth base side for power transmission.
[0037]
If this is taken as a single external gear, an internal pin hole having at least a first inner peripheral diameter and a second inner peripheral diameter is formed in the external gear, and its external teeth are cycloid or In the state including the trochoid curve, the first internal gear combined using the inner pin hole of the first inner peripheral diameter and the second internal gear combined using the inner pin hole of the second inner peripheral diameter There is no interference when meshing with both.
[0038]
In order to prevent interference specifically, for example, in the above-described invention, the first and second internal gears mesh with each other on the cycloid or trochoid curve included in the external tooth shape of the external gear. In this state, the tip shape of the external tooth is rounded off from the cycloid or trochoid curve in a state where both meshing points where the torque conversion rate becomes maximum are left, so that the first and first It is only necessary that the two internal gears and the external gear can mesh with each other without interference.
[0039]
The meshing point at which the torque conversion rate is maximum is the meshing point when the normal line of the tooth surface of the meshing point is tangent to the pitch circle.
[0040]
In the above-described invention, the external gear (or material) is shared by forming an internal pin hole having a plurality of inner diameters in the internal gear, but the same effect can be obtained by the following method. I can do it.
[0041]
A first shaft, an eccentric body rotating by rotation of the first shaft, an external gear capable of rotating eccentrically with respect to the first shaft via the eccentric body, and an internal meshing with the external gear And a second shaft through which only the rotation component of the external gear is transmitted by the internal pin loosely fitted in the internal pin hole of the external gear. In the series of speed increasing / decreasing gears prepared with a plurality of speed increasing / decreasing ratios, an external gear having an inner peripheral diameter Y of the inner pin hole and each different from the external gear M internal gears combined with an eccentric amount ei (i = 1, 2,... M) are prepared, and the m internal gears and the external gears are combined with each other. Each outer diameter Di (i = 1, 2,... M) of the inner pin is set to be Di = Y−2 * ei, and the specific pin A plurality of speed increasing / decreasing gears having different speed increasing / decreasing ratios configured by combining the toothed gear, the m number of internal gears, and the inner pin are included in at least the components of the series, and It is intended to achieve the purpose.
[0042]
According to the present invention, by inserting the inner pins having different outer diameters into the inner pin holes formed in the internal gear, it is possible to cope with different eccentric amounts. From the viewpoint that it is unreasonable to remake external gears with large weight, volume, etc. of the material itself every time the eccentric amount is different, an internal pin hole of a common size is formed between the external gears, When the amount of eccentricity is different, the outer diameter of the inner pin is changed to form a predetermined loose fit state.
[0043]
As a result, it is necessary to prepare inner pins with different outer diameters, but it is easy to manufacture a compact inner pin itself, and there is almost no increase in manufacturing cost, inventory cost, or the like. On the other hand, since the gear material for the external gear can be shared, the overall cost is greatly reduced.
[0044]
Here, the concept of the inner pin includes a roller type in which a cylindrical inner roller is rotatably provided on the pin. In this case, “the outer diameter of the roller” corresponds to “the outer diameter of the inner pin”. When a roller-type inner pin is used, the inner diameter of the inner roller (that is, the outer diameter of the center pin) is unified and only the outer diameter is changed, and as a result, the outer diameter of the inner pin is changed. In this way, the central pin can be shared.
[0045]
In this case as well, in the same manner as described above, if the external teeth themselves can be shared, complete sharing of the external gears can be achieved.
[0046]
Specifically, in the above idea, when the pitch circle radii of the internal gears having the eccentric amounts ei are Ai (i = 1, 2,... M), the m internal gears and A plurality of the speed reducers configured by combining the external gears are set to satisfy Ai−ei = P (P: constant), and the external teeth formed on the external gear are The external gears may have the same shape by including a cycloid or trochoid curve and having a tooth tip that does not interfere when meshing with all of the m internal gears.
[0047]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, examples of embodiments of the present invention will be described in detail with reference to the drawings.
[0048]
1 and 2 show first and second reducers 120 and 220 that are part of the components of the reducer series according to the first embodiment of the present invention. Except for the part specifically described below, the configuration is almost the same as that of the conventional speed reducer 20 shown in FIGS. 8 and 9, so the entire illustration is omitted, and the same or similar functions are provided. About the part and member which has, the description of an effect | action etc. is abbreviate | omitted by attaching | subjecting the same code | symbol as this reduction gear 20 to the last two digits.
[0049]
In these first and second reduction gears 120 and 220, the completely same external gear 105 (the number of teeth: 100) is used. A first internal gear 110 (the number of teeth: 110) and a second internal gear 210 (the number of teeth: 104) are arranged in an eccentric state and in an intermeshing engagement state with respect to the external gear 105, and a carrier (illustrated). However, the inner pin 107 rotates freely together with the external gear 105 by loosely fitting the inner pin 107 into the inner pin hole 106 of the external gear 105. The carrier and the inner pin 107 are also completely the same in the first and second reduction gears 120 and 220.
[0050]
If this structure is generally expressed, it is a swinging intermeshing planetary gear structure in which the center of the internal gear is located inside the periphery of the external gear, and is a feature belonging to International Patent Classification F16H 1/32. have.
[0051]
In this swinging internal meshing planetary gear structure, when the eccentric bodies 103 and 203 are input elements and the carrier is an output element and have a reduction function, the number of teeth of the external gear is z1, and the number of teeth of the internal gear. Is z2, the reduction ratio I is I = z1 / (z2-z1). Accordingly, the first reduction gear 120 has a reduction ratio I1 = 10, and the second reduction gear 220 has a reduction ratio I2 = 25.
[0052]
The inner pin 107 includes a pin 108A fitted and fixed to the carrier, and a cylindrical inner roller 108B that is rotatably supported by the pin 108A and has an outer diameter D. Only the rotation component is transmitted to the carrier. When power is input from the carrier side and the swinging intermeshing planetary gear structure acts as a speed increaser, the rotation component of the carrier is transmitted to the external gear 105 via the inner pin 107. . The inner pin 107 suffices if it has a function of intervening between the carrier and the external gear 105 so as to match the rotation speeds of the two (the speed is “zero” when it is a fixed element). .
[0053]
In the first reduction gear 120 shown in FIG. 1, the first internal gear 110 and the external gear 105 are arranged in an eccentric state with a first eccentric amount e1. The external gear 105 has an inner pin hole 106A having a first inner peripheral diameter Y1 and an inner pin hole 106B having a second inner peripheral diameter Y2 (Y1> Y2).
[0054]
Six inner pin holes 106A having the first inner peripheral diameter Y1 are formed on the inner pin hole pitch circle C at intervals of 60 degrees, and the inner pin holes 106B having the second inner peripheral diameter Y2 have the same inner pin pitch circle C. On the top, six are formed at intervals of 60 degrees that are the same as the inner pin holes 106A having the first inner peripheral diameter Y1, and with the phases shifted by 30 degrees so as not to interfere with the inner pin holes 106A. Yes. Accordingly, the first inner circumferential diameter Y1, the second inner circumferential diameter Y2, the first inner circumferential diameter Y1,...
[0055]
The first eccentric body 103 having an outer diameter F1 inserted into the center of the external gear 105 rotates while maintaining the distance between the centers of the external gear 105 and the first internal gear 110 at the first eccentric amount e1. It is possible. The bearing 104 installed on the outer periphery of the eccentric body 103 has an inner diameter of F1 and an outer diameter of F2.
[0056]
The first internal gear 110 combined with the external gear 105 has a pitch circle radius of A1.
[0057]
The pitch circle means a circle passing through a pitch point with the center of the first internal gear 110 as a reference. The pitch point connects the centers of the external gear 105 and the first internal gear 110. It means the point where the straight line and the normal to the tooth surface at each meshing point intersect. Generally, the radius A1 of the pitch circle is A1 = (I1 + 1) * e1, and this is actually the case with the first reduction gear 120.
[0058]
The inner pins 107 provided on the carrier of the first reduction gear 120 are inserted into the six inner pin holes 106 </ b> A having the first inner peripheral diameter Y <b> 1 in the external gear 105. Therefore, the inner peripheral surface of the inner pin hole 106B having the second inner peripheral diameter is not used for power transmission. Here, the relationship between the first eccentric amount e1, the first inner peripheral diameter Y1 of the inner pin hole 106A, and the outer diameter D of the inner pin 107 is such that 2 * e1 + D = Y1.
[0059]
Next, the second reduction device 220 shown in FIG. 2 will be described.
[0060]
As already described, the external gear 105 of the second reduction gear 220 is the same as the external gear 105 of the first reduction gear 120.
[0061]
The second internal gear 210 has six fewer teeth than the first external gear 110, and is accordingly smaller overall. When the second eccentricity with the external gear 105 is e2 (<e1), the pitch circle radius A2 of the second internal gear 210 is A2 = (I2 + 1) * e2.
[0062]
The inner pin 107 shared with the first speed reducer 120 is loosely fitted in the inner pin hole 106 </ b> B having the second inner peripheral diameter Y <b> 2 formed in the external gear 105. Therefore, in the second reduction gear 220, the inner peripheral surface of the inner pin hole 106A having the first inner peripheral diameter Y1 is not used for power transmission. The relationship between the second eccentric amount e2, the second inner peripheral diameter Y2 of the inner pin hole 106B, and the outer diameter D of the inner pin 107 is such that 2 * e2 + D = Y2.
[0063]
The second eccentric body 203 having an outer diameter F1 inserted into the center of the external gear 105 rotates while maintaining the distance between the centers of the external gear 105 and the second internal gear 210 at the second eccentric amount e2. It is possible. The reason why the outer diameter of the second eccentric body 203 is made equal to the outer diameter (F1) of the first eccentric body 103 is that the common bearing 104 is used in the first and second speed reducers 120 and 220. It is.
[0064]
When the outer diameters of the first and second eccentric bodies 103 and 203 are different, the first and second speed reducers 120 and 220 may employ bearings having different inner diameters. The diameters are preferably matched to each other. This is because the first and second reduction gears 120 and 220 can match the opening for bearing on the external gear 105 side.
[0065]
According to the above contents, it was shown that the first and second internal gears 110 and 210 having different eccentric amounts can be combined by properly using the inner pin holes 106A and 106B having different inner diameters in the external gear 105. . In this way, the “material” used for the external gear 105 can be shared. Moreover, in the first embodiment, the external gear 105 itself is shared by further unifying the tooth shapes.
[0066]
Hereinafter, sharing of the external tooth profile will be described.
[0067]
The first and second reduction gears 120 and 220 have a pitch circle radius A1 and a first eccentric amount e1 of the first internal gear 110, a pitch circle radius A2 and a second eccentric amount e2 of the second internal gear 210, and A1. -E1 = A2-e2 = P (P: constant) The relationship is established.
[0068]
The external tooth profile of the external gear 105 includes a cycloid or trochoid curve (here, a carteto-epitrochoid parallel curve), and the tooth tip side includes both the first and second internal gears 110 and 210. The shape does not interfere when meshing.
[0069]
As a result, since the external tooth profile is unified, the external gear 105 itself is completely shared.
[0070]
The external teeth of the external gear 105 do not form an “ideal” tooth profile for both the first and second internal gears 110 and 210 if the entire tooth surface is taken. As schematically shown in an enlarged view in FIG. 3, the external tooth profile N1 ideal for the first internal gear 110 is different from the ideal tooth profile N2 for the second internal gear 210 and is completely meshed with both. This is because it is geometrically impossible to realize the state. However, in this case, in the external gear 105 having a cycloid or trochoid curve (including a parallel curve), the root region that plays an important role in power transmission is limited and unified, and both internal gears are used. The external tooth shape is very ideally close to 110 and 210.
[0071]
As a realization method, the shape of the external gear 105 on the tooth tip side is a shape N3 that prevents interference with the first and second internal gears 110 and 210. This is because the tooth tip side of the external tooth may deviate from the ideal tooth profile derived from the "complete meshing theory" from the idea that the tooth tip side of the external tooth originally does not have an important role in power transmission. . In other words, the tooth root side is an extremely rational tooth profile that gives priority to prevention of interference while ignoring the meshing while sharing the tooth base side that is important for power transmission.
[0072]
Specifically, each meshing that maximizes the torque conversion rate when meshing with each of the first and second internal gears 110 and 210 on the cycloid or trochoid curve included in the external tooth shape of the external gear 105. With all of the points M1 and M2 remaining, the tip shape of the external teeth is rounded so as to deviate from the cycloid or trochoid curve (see N3), so that both the first and second external gears 210 It is possible to mesh without interfering with.
[0073]
The meshing points M1 and M2 at which the torque conversion rate is maximized are meshing points when the normal of the tooth surface of the meshing point is tangent to the pitch circle, and play an important role in power transmission. In addition, although the tooth profile N3 is adopted here, even if the tooth profile is set to N2 in which the tooth tip side is rounded for the external tooth profile N1 ideal for the first internal gear 110, both sides Can be engaged without interference.
[0074]
Next, a series of reduction gears including the first and second reduction gears as constituent elements will be described.
[0075]
As shown in FIG. 4, this series includes an external gear group G composed of four types of external gears (G1, G2, G3, G4) and four types of internal gears (R1, R2, R3). , R4), and an internal gear group R.
[0076]
Here, the external gear 105 is G3, the first internal gear 110 is R3, the second internal gear 210 is R4, the first reduction gear 110 is Z3, and the second reduction gear 210 is Z5. It corresponds.
[0077]
Conventionally, when designing a reduction gear having a swinging internal meshing planetary gear structure, the external gear and the internal gear are designed as one set, and the concept of sharing does not exist. Therefore, Z1, Z2, Z3, Z4, which is a diagonal combination on the matrix constituted by the external gear group G and the internal gear group R, and four reduction gears “only” were configured as a series. I can think about it.
[0078]
However, as already described in detail, the specific external gear G3 in the external gear group G can be commonly used for both the specific internal gears R3 and R4. In addition, the second reduction gear Z5 having a new reduction ratio is configured “without increasing the types of parts (including the carrier)”. Conversely, when it is intended to construct a series of speed reducers with a large number of reduction ratios, the number of parts can be reduced by the amount of sharing of external gears and carriers.
[0079]
According to the reduction gear series described above, the inventory amount is suppressed even if the external gear 105 is manufactured in advance by sharing the external gear 105, so that it is possible to achieve a short delivery time.
Further, since the types of external gears 105 to be prepared can be reduced, the series can be provided at a lower cost including reduction of inventory costs.
[0080]
In the first embodiment, as a result of sharing the tooth profile of the external teeth, the external gear itself (which is a finished part) is completely shared. However, the present invention is not limited to this, and the shape of the external teeth may be set uniquely corresponding to each of the internal gears to be combined. In that case, sharing on the material side is achieved by the gear material in which the opening for the inner pin hole having the first inner peripheral diameter Y1 and the second inner peripheral diameter Y2 is formed.
[0081]
By sharing the gear material, a small amount of materials can be prepared in large quantities and the manufacturing cost can be reduced. In addition, since it is not necessary to form a plurality of inner pin holes each time, the manufacturing time of the external gear can be shortened and a short delivery time can be achieved.
[0082]
Of course, also for the gear material, a plurality of openings having the first inner peripheral diameter Y1 are formed on the inner pin hole pitch circle C at predetermined intervals, and the openings having the second inner peripheral diameter Y2 are formed in the inner pin hole. It is preferable to form a plurality on the pitch circle C with the same interval as the predetermined interval in the opening of the first inner peripheral diameter Y1 and with the phases shifted so as not to interfere with the opening of the first inner peripheral diameter Y1.
[0083]
In the first embodiment described above, sharing of the external gear (or material) has been achieved by forming an inner pin hole having a plurality of inner diameters in one external gear, but other methods described below can also be used. Sharing is possible.
[0084]
Next, a reduction gear series according to a second embodiment of the present invention will be described.
[0085]
5 and 6 show first and second reducers 320 and 420 that are part of the components of the reducer series. Except for the part specifically described below, the configuration is almost the same as that of the conventional speed reducer 20 shown in FIG. 7, and therefore, the parts and members having the same or similar functions are indicated by the last two digits. Description of the action and the like is omitted by attaching the same reference numerals as those of the speed reducer 20.
[0086]
In addition, if it mentions previously from a conclusion, in this 1st, 2nd reduction gears 320 and 420, the external gears 205 and 305 which are completed parts themselves are not shared. This is because the tooth shapes of the external teeth are different from each other. However, the other parts excluding the tooth profile of the external teeth are completely the same. As a result, the first external gear 205 and the second external gear 305 are formed using the same gear material. This will be described in detail below.
[0087]
The first external gear 205 (number of teeth: 100) in the first speed reducer 320 (reduction ratio I1 = 10) in FIG. 5 is in the eccentric state where the first eccentric amount is e1, and the first internal gear 310 (number of teeth: 110). The first external gear 205 is formed with six inner pin holes 206 whose inner peripheral diameter is Y.
[0088]
An inner pin 207 having an outer diameter D1 of the inner roller 208B is inserted into the inner pin hole 206. The rotation component of the first external gear 205 is transmitted to the carrier (not shown) via the inner pin 207. The outer diameter D1 of the inner pin 207 is D1 = Y − 2 * e1 is set.
[0089]
The second external gear 305 (number of teeth: 100) in the second speed reducer 420 (reduction ratio I2 = 25) in FIG. 6 is in an eccentric state where the second eccentric amount e2 is reached, and the second internal gear 410 (number of teeth: 104). The second external gear 305 is formed with six inner pin holes 306 having an inner peripheral diameter Y, and is arranged in exactly the same manner as the inner pin hole 206 of the first external gear 205.
[0090]
An inner pin 307 having an outer diameter D2 of the inner roller 308B is inserted into the inner pin hole 306. The rotation component of the second external gear 305 is transmitted to the carrier via the inner pin 307. The outer diameter D2 of the inner pin 307 is D2 = Y − 2 * e2 is set.
[0091]
The pins 208A and 308A in the inner pins 207 and 307 of the first and second speed reducers 320 and 420 have the same outer diameter d, and only the outer diameters of the inner rollers 208B and 308B are changed. The outer diameter of the entire inner pins 207 and 307 is changed. In this way, the same pin 208A (308A) and carrier can be used in the first and second reduction gears 320 and 420. Since the eccentric bodies 103 and 203 and the bearing 104 are exactly the same as those in the first embodiment, the description thereof will be omitted to avoid duplication.
[0092]
As is clear from the above, the first and second external gears 205 and 305 use the same gear material in which six openings having an inner peripheral diameter Y for the inner pin hole are formed in advance. Can be configured.
[0093]
The speed reducer series including the first and second speed reducers 205 and 305 as constituent elements includes four types of external gears (G1, G2, G3, and G4) as shown in FIG. An external gear group G and an internal gear group R composed of four types of internal gears (R1, R2, R3, R4) are provided. Here, the first external gear 205 is G2, the second external gear 305 is G3, the first internal gear 310 is R2, the second internal gear 410 is R3, and the first reduction gear 320. Corresponds to Z2, and the second reduction gear 420 corresponds to Z3.
[0094]
Conventionally, when designing a reduction gear having a swinging internal meshing planetary gear structure, the external gear and the internal gear are designed as one set, and there is no concept of sharing. Therefore, corresponding to the reduction gears Z1, Z2, Z3, Z4 which are diagonal combinations on the matrix constituted by the external gear group G and the internal gear group R, the external gears (G1, It can be considered that the inner peripheral diameters of the inner pin holes of G2, G3, and G4) were different from each other. Accordingly, when manufacturing each external gear, an inner pin hole is formed each time, or four types of gear materials (M1, M2, M3, M4) had to be prepared.
[0095]
However, in the second embodiment, the inner peripheral diameters of the inner pin holes of the specific first and second external gears G2 and G3 in the external gear group G are unified with Y. As a result, the common gear material M5 in which the opening for the inner pin is already formed can be applied to the first and second external gears G2, G3. This is because the internal pins having predetermined outer diameters D1 and D2 can be combined with specific internal gears R2 and R3 in the series with different eccentric amounts e1 and e2 by appropriately combining them. It is.
[0096]
In this case, the inner rollers in the inner pins must be prepared differently for the first and second reduction gears Z2 and Z3. However, the inner rollers are originally inexpensive and can be manufactured in a short time, and the inventory space Is not necessary too. On the other hand, since the gear material M5 for the external gears G2 and G3 is shared, the manufacturing cost and inventory on the material side can be reduced, and the manufacturing time of the external gears G2 and G3 from the material is greatly increased. Shortened.
[0097]
In this series, it is possible to cope with two types of eccentricity e1 and e2 by inserting two types of inner pins D1 and D2 into the inner pin holes formed in the external gears G2 and G3. It has become. However, the present invention is not limited to this. For example, if three types of inner pins having an outer diameter are used, three types of eccentricity can be accommodated, and of course more than that is possible. Similarly to the first embodiment, if the tooth profile of the external teeth is shared, it is possible to share the external gear itself that is a completed part.
[0098]
In the first and second embodiments, the inner pin is limited to the roller type in which a cylindrical inner roller is rotatably provided on the pin. For example, a single inner pin having a solid structure is shown. (Non-roller type) may naturally be used. Moreover, although the case where a raw material or an external gear was partially shared in each series was shown, in short, it is only necessary that some sharing according to the present invention is achieved in the whole series or a part thereof. Further, when the external gear is shared, it may be considered that the number of the external gear group G and the internal gear R constituting the matrix in the series is different. For example, a series of four reduction gears can be configured by combining four internal gears R1, R2, R3, and R4 with respect to one external gear G1.
[0099]
It should be noted that the ideas of the first embodiment and the second embodiment can be used in combination. In that case, for example, a plurality of inner pins having a plurality of outer diameters may be combined with the inner pin holes having the respective inner peripheral diameters of the first embodiment, and further various shared states can be obtained.
[0100]
In the above embodiment, the description has been given only for the speed reducer. However, the speed increaser can be configured by changing the input / output relationship as appropriate.
[0101]
Although the first and second embodiments are shown here, there are various embodiments other than the present embodiment as long as they do not depart from the gist of the present invention. Further, the features (functions / shapes) of the members appearing in the whole text of the specification are merely examples, and are not limited to these descriptions.
[0102]
【The invention's effect】
According to the present invention, for example, when preparing speed increasing / decreasing gears having different speed increasing / decreasing ratios as a series, the external gear material or the external gear itself can be shared among a plurality of speed increasing / decreasing gears. .
[Brief description of the drawings]
FIG. 1 is a cross-sectional view showing a first speed reducer in a speed reducer series according to a first embodiment of the present invention.
FIG. 2 is a cross-sectional view showing a second speed reducer in the speed reducer series
FIG. 3 is a conceptual diagram showing an enlarged tooth profile of an external gear applied to the speed reducer.
FIG. 4 is a matrix showing the configuration of the reduction gear series
FIG. 5 is a cross-sectional view showing a first speed reducer in a speed reducer series according to a second embodiment of the present invention.
FIG. 6 is a sectional view showing a second speed reducer in the speed reducer series.
FIG. 7 is a matrix showing the configuration of the reduction gear series
FIG. 8 is a sectional view showing a reduction gear in a conventional reduction gear series.
9 is a cross-sectional view taken along the line IX-IX in FIG.
[Explanation of symbols]
105, 205, 305 ... external gear
110, 210, 310, 410 ... internal gear
103, 303 ... first eccentric body
203, 403 ... second eccentric body
120, 320 ... first reduction gear
220, 420 ... second reduction gear
106A, 106B, 206, 306 ... inner pin hole
107, 207, 307 ... inner pins
108A, 208A, 308A ... Pin
108B, 208B, 308B ... inner rollers

Claims (8)

A first shaft, an eccentric body rotating by rotation of the first shaft, an external gear capable of rotating eccentrically with respect to the first shaft via the eccentric body, and an internal meshing with the external gear And a second shaft through which only the rotation component of the external gear is transmitted by the internal pin loosely fitted in the internal pin hole of the external gear. In the gear material used for the external gear of the speed increasing / decreasing gear,
At least has a plurality of openings for said pin hole is pre-formed with a first inner circumference and the second inner diameter, at least, first by utilizing the opening of the first inner peripheral diameter into said pin holes 1 A first external gear that can mesh with the first internal gear with an eccentric amount, and a second external gear that can mesh with the second internal gear with a second eccentric amount by utilizing the opening of the second inner peripheral diameter for the inner pin hole. 2. A gear material used for an external gear, characterized in that an external gear can be configured. In claim 1,
A plurality of openings having the first inner peripheral diameter are formed at predetermined intervals on the inner pin hole pitch circle, and the openings having the second inner peripheral diameter are formed on the inner pin hole pitch circle. A plurality of external gears are formed with the same interval as the predetermined interval of the apertures of the diameter and with the entire phase shifted so as not to interfere with the apertures of the first inner diameter. Gear material. A first shaft, an eccentric body rotating by rotation of the first shaft, an external gear capable of rotating eccentrically with respect to the first shaft via the eccentric body, and an internal meshing with the external gear And a second shaft through which only the rotation component of the external gear is transmitted by the internal pin loosely fitted in the internal pin hole of the external gear. The external gear of the speed increasing / decreasing device,
It can be incorporated in the speed reducer as either the first external gear or the second external gear constituted by the gear material according to claim 1 or 2. External gear. A first shaft, an eccentric body rotating by rotation of the first shaft, an external gear capable of rotating eccentrically with respect to the first shaft via the eccentric body, and an internal meshing with the external gear And a second shaft through which only the rotation component of the external gear is transmitted by the internal pin loosely fitted in the internal pin hole of the external gear. In the series of speed reducers with multiple speed reducers with different speed ratios,
The first and second external gears configured using at least the gear material according to claim 1 and a first internal gear that can mesh with the first external gear with the first eccentric amount. A gear and a second internal gear capable of meshing with the second external gear with the second eccentric amount are prepared,
A first speed increase / reduction gear configured by the first external gear and the first internal gear and a speed increase / reduction ratio configured by the second external gear and the second internal gear and different from the first speed reducer The second speed reducer is included in at least the series constituent elements. A first shaft, an eccentric body rotating by rotation of the first shaft, an external gear capable of rotating eccentrically with respect to the first shaft via the eccentric body, and an internal meshing with the external gear And a second shaft through which only the rotation component of the external gear is transmitted by the internal pin loosely fitted in the internal pin hole of the external gear. In the series of speed reducers with multiple speed reducers with different speed ratios,
An external gear having an inner pin hole having at least a first inner diameter and a second inner diameter;
The first internal gear combined with the first eccentric amount e1 using the inner pin hole of the first inner peripheral diameter with respect to the external gear, and the second inner peripheral diameter with respect to the external gear. At least a second internal gear that is combined with a second eccentric amount e2 using an internal pin hole,
When the pitch circle radius of the first internal gear combined with the external gear is A1, and the pitch circle radius of the second internal gear combined with the external gear is A2, A1-e1 = A2- e2 = P (P: constant)
Is set to be
The external teeth of the external gear include a cycloid or trochoid curve and have a shape that does not interfere when the tooth tip meshes with both the first and second internal gears,
A first speed increase / decrease device constituted by the external gear and the first internal gear, and a first speed increase / decrease ratio constituted by the external gear and the second internal gear and different from the first speed reducer. A series of speed reducers characterized in that 2 speed reducers are included in at least the series components. A first shaft, an eccentric body rotating by rotation of the first shaft, an external gear capable of rotating eccentrically with respect to the first shaft via the eccentric body, and an internal meshing with the external gear And a second shaft through which only the rotation component of the external gear is transmitted by the internal pin loosely fitted in the internal pin hole of the external gear. In the external gear of the speed reducer,
The inner pin hole having at least a first inner diameter and a second inner diameter is formed,
Utilizing the first internal gear and the inner pin hole of the second inner peripheral diameter, which are combined using the inner pin hole of the first inner peripheral diameter, with its own external teeth including a cycloid or trochoid curve An external gear characterized by having a shape that does not interfere when meshing with both of the second internal gears combined together. A first shaft, an eccentric body rotating by rotation of the first shaft, an external gear capable of rotating eccentrically with respect to the first shaft via the eccentric body, and an internal meshing with the external gear And a second shaft through which only the rotation component of the external gear is transmitted by the internal pin loosely fitted in the internal pin hole of the external gear. In the series of speed reducers with multiple speed reducers with different speed ratios,
An external gear having an inner peripheral diameter Y of the inner pin hole, and m internal gears combined with different eccentric amounts ei (i = 1, 2,... M) with respect to the external gear; , At least
Each outer diameter Di (i = 1, 2,..., M) of the inner pin when the m internal gears and the external gear are combined is set to be Di = Y−2 * ei. And
A plurality of speed increasing / decreasing gears having different speed increasing / decreasing ratios configured by combining the specific external gear, the m number of internal gears, and the internal pin are included in at least the components of the series. A series of speed reducers characterized by In claim 7,
When the pitch circle radii of the internal gears corresponding to the eccentric amounts ei are Ai (i = 1, 2,... M), the m internal gears and the external gears are combined. Each of the plurality of speed reducers is
Ai-ei = P (P: constant)
In addition,
The external gear formed on the external gear includes a cycloid or trochoid curve and has a shape that does not interfere when the tooth tip meshes with all of the m internal gears. A series of speed reducers characterized by having all of the same shape.

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