JP4818818B2 - Inscribed rocking mesh planetary gear reducer - Google Patents

Description

  The present invention relates to an inscribed rocking mesh planetary gear reducer.

  Conventionally, the geared motor 1 of patent document 1 is known.

  FIG. 5 shows a geared motor 1 described in Patent Document 1.

  The geared motor 1 includes a motor 10 as a power source, a pinion 14 provided in the motor shaft 12 of the motor 10, an eccentric body shaft 30 including an eccentric body 32 for swinging the external gear 34, and an external gear 34. And a carrier body 38 for taking out the autorotation component. The carrier body 38 is pivotally supported by the casing 40 via carrier body bearings 50 (50A, 50B).

  In the geared motor 1, the pinion 14 is externally meshed with a large-diameter large gear 26 </ b> B formed on the transmission gear 26 extending in the axial direction, and further, there are three small gears 26 </ b> A formed on the transmission gear 26. Are connected to each of the input gears 20 provided on the eccentric body shaft 30 (only one appears in FIG. 5). The transmission gear 26 is rotatably supported by two bearings, that is, bearings 80 and 81.

JP 2002-106650 A

  In the geared motor 1, the large gear 26 </ b> B is externally meshed with the pinion 14 of the motor 10, and the power is transmitted to the input gear 20 provided in the eccentric body shaft 30 via the small gear 26 </ b> A. Is complicated and expensive to manufacture. In addition, since the small gear 26A is arranged in such a manner that the small gear 26A is externally meshed from the inside of the three input shaft gears 20, it is possible to design a large-diameter hollow portion even when trying to provide a hollow at the center of the geared motor. Have difficulty.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to provide an inwardly oscillating mesh planetary gear reducer having a low-cost and large-diameter hollow.

The present invention relates to an inward swing meshing planetary gear reducer that decelerates and outputs input power via a swinging external gear, and includes an eccentric body for swinging the external gear. Eccentric body shaft provided, an eccentric body shaft gear provided on the eccentric body shaft, a transmission internal gear with which the eccentric body shaft gear meshes internally, and an input mechanism for transmitting a driving force to the transmission internal gear If, Rutotomoni and a internal gear external gear meshes to the swing, a portion of the internal gear is configured as a pin-like member, the transmission in the tooth the pin-shaped member becomes a bearing The above-mentioned problem is solved by supporting the gear .

  As described above, the transmission gear is configured as a transmission internal gear having internal teeth, and the eccentric body shaft gear is internally meshed with the transmission internal gear so that the transmission internal gear does not become a factor limiting the hollow diameter. Thus, it is possible to configure a large-diameter hollow portion.

  Further, the input mechanism includes at least an input shaft provided with an input gear that meshes with a pinion provided on a previous rotation shaft and receives a driving force from the pinion, and an input shaft gear provided on the input shaft. If the input shaft gear is in mesh with the transmission internal gear, when the input gear receives power from the power source and from the input shaft gear of the input shaft (transmission internal gear) It is possible to decelerate in two stages when power is transmitted to the eccentric body shaft gear, and a high reduction ratio can be realized. In this case, it is not necessary to prepare the transmission internal gear in a complicated shape, and it is not necessary to cost more than necessary.

  In addition, the input shaft is provided with an input gear that meshes with a pinion provided on a previous rotation shaft (for example, a motor shaft) and receives a driving force from the pinion. It is possible to dispose more offset from the axis center of the machine, and it is possible to configure a large-diameter hollow section from the viewpoint of not interfering with a preceding apparatus such as a motor in the radial direction.

  If it is not necessary to achieve a large reduction ratio, at least two of the eccentric body shafts provided with the eccentric body shaft gears are provided, and an input mechanism is provided with a pinion provided on the previous rotating shaft. An input shaft provided with an input gear that meshes and receives a driving force from the pinion may be integrally formed coaxially with any one of the eccentric body shafts. With such a configuration, it is not necessary to newly penetrate the input shaft with respect to the external gear, so the processing cost of the external gear can be reduced, and the rigidity of the external gear itself can be kept high. Is also possible.

  It is possible to provide an inward swing mesh planetary gear reducer that realizes a low-cost and large-diameter hollow portion.

  Hereinafter, an example of an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

  FIG. 1 is a side sectional view of a geared motor 100 showing an example of an embodiment of the present invention, and FIG. 2 is a sectional view taken along line II-II in FIG.

  The geared motor 100 includes a motor 110 serving as a power source and an inward swing meshing planetary gear speed reducer 101. The geared motor 100 is a so-called “vertical” geared motor installed such that its own axial direction is the vertical direction. The motor 110 is installed on the upper surface side (upper surface side in FIG. 1) of the casing 140 in which the speed reduction mechanism is accommodated, while the base 142 is connected to the lower surface side (lower surface side in FIG. It is connected. Further, the hollow central portion H of the geared motor 100 in the radial direction exists, and the hollow portion H can be used through a cable 170 or the like.

  The hollow portion H is formed on the inner periphery of a cylindrical flange 131 that passes through the first and second carrier bodies 138A and 138B, and the cylindrical flange 131 is fixed to the second carrier body 138B by mounting bolts 129. Further, an O-ring 160 is interposed between the cylindrical flange 131 and the motor mounting body 139 and between the cylindrical flange 131 and the second carrier body 138B, so that the lubricant in the speed reducer 101 is exposed to the outside. Sealed to prevent leakage.

  A motor shaft (previous rotating shaft) 112 of the motor 110 is provided with a pinion 114 so as to rotate integrally with the motor shaft 112 (at a constant speed). The pinion 114 may be formed by cutting the motor shaft 112 directly, for example, or a gear as a separate member may be fixed. The pinion 114 meshes with the input gear 120 having a larger diameter than itself. That is, the input gear 120 is configured as a larger gear than the pinion 114.

  The input gear 120 is fixed to the input shaft 122. The input shaft 122 is disposed so as to penetrate the first carrier body 138A and the external gear 134, and is rotatably supported with respect to the first carrier body 138A via the input shaft bearing 152A. The second carrier body 138B is rotatably supported via the shaft bearing 152B. In the present embodiment, the input shaft 122 does not penetrate the second carrier body 138B.

  An input shaft gear 124 is formed integrally with the input shaft 122 in the middle of the input shaft 122 in the axial direction (between the input shaft bearings 152A and 152B that support the input shaft 122). The input shaft gear 124 is in mesh with the transmission internal gear 126. That is, the driving force can be transmitted to the transmission internal gear 126 by the input mechanism including the input gear 120, the input shaft 122, and the input shaft gear 124.

  In addition, three eccentric body shafts 130 are arranged at positions different from the input shaft 122 with phases different from each other by 120 ° (see FIG. 2). An eccentric body shaft gear 128 is provided at a substantially central portion in the axial direction of each eccentric body shaft 130, and the eccentric body shaft gear 128 is in mesh with the transmission internal gear 126 described above. . As a result, the input shaft gear 124 and the three eccentric body shaft gears 128 are in mesh with the transmission internal gear 126. That is, the transmission gear 126 is not located inside the input shaft gear 124 and the three eccentric body shaft gears 128 (on the shaft center side of the speed reducer), and the hollow portion H has a large diameter. At the same time, the transmission internal gear 126 is rotatably supported by the pin 140 with respect to the casing 140. That is, the internal teeth 136 can function as “rollers” of the bearing. Further, the input shaft gear 124, the eccentric shaft gear 128, and the transmission internal gear 126 are all arranged on the same plane. With this configuration, the radial position of the transmission internal gear 126 is supported by the casing 140 via a plurality of internal teeth 136 and then regulated by the input shaft gear 124 and the three eccentric body shaft gears 128 described above. Will be. Note that the diameter of the eccentric body shaft gear 128 is larger than the diameter of the input shaft gear 124, that is, a large gear.

  Also, eccentric bodies 132 having different eccentric directions are formed integrally with the eccentric body shaft 130 on the upper side and the lower side of the eccentric body gear 128, that is, on both sides in the axial direction. Further, each eccentric body 132 is fitted to the external gear 134 (hollow portion thereof) via the eccentric body bearing 133. That is, the position of the transmission internal gear 126 in the axial direction (vertical direction) is regulated by the two external gears 134.

  The external gear 134 meshes with the pin-shaped internal teeth 136 at the same time as fitting the eccentric body 132 into its own hollow portion via the eccentric body bearing 133. The number of pin-shaped internal teeth 136 is set to have a slight difference from the number of teeth of the external gear 134. In the present embodiment, the internal gear 136 and the casing 140 constitute an internal gear.

  Each eccentric body shaft 130 is rotatably supported with respect to the first carrier body 138A via an eccentric body shaft bearing 154A, while the eccentric body shaft bearing 154B supports the second carrier body 138B. On the other hand, it is supported rotatably.

  The carrier body 138 includes a first carrier body 138A located on the upper surface side and a second carrier body 138B located on the lower surface side, and includes eight carrier pins 137 and carrier bolts connected to the carrier pins 137. (Not shown) are integrally connected. The first carrier body 138A is rotatably supported by the casing 140 via a carrier body bearing 150A, and the second carrier body 138B is rotatably supported by the casing 140 via a carrier body bearing 150B. Has been.

  Next, the operation of the geared motor 100 will be described.

  When the motor 100 is operated, the rotation of the motor shaft 112 is transmitted to the input gear 120 via the pinion 114. At this time, since the diameter of the input gear 120 is larger than the diameter of the pinion 114 (large gear), the rotation of the motor shaft 112 is decelerated and transmitted to the input shaft 122. When the input shaft 122 rotates, the input shaft gear 124 also rotates, so that the transmission internal gear 126 that meshes with the input shaft gear 124 also rotates. Further, since the eccentric shaft gear 128 has a larger diameter (large gear) than the input shaft gear 124, the rotation of the input shaft 122 is further decelerated via the transmission internal gear 126. It is transmitted to the eccentric body shaft gear 128. As described above, in the geared motor 100 of the present embodiment, the speed is reduced in two stages in the process until the rotation of the motor shaft 112 is transmitted to the eccentric body 132, and the power decelerated at a high reduction ratio is transmitted to the following planet. It is possible to transmit to a gear reduction part (eccentric body, external gear, internal tooth). In other words, it is not necessary to adopt a configuration in which a high reduction ratio is forcibly obtained at the planetary gear reduction unit.

  Further, since the input shaft gear 124 and the eccentric shaft gear 128 are arranged on the same plane of the transmission internal gear 126, the force input to the transmission internal gear 126 and the output from the transmission internal gear 126 are output. The applied forces are balanced on the same plane. As a result, a large overturning moment is not applied to the transmission internal gear 126. That is, the transmission internal gear 126 can be rotationally supported with high accuracy. Furthermore, by being supported by the casing 140 via the internal teeth 136, an uneven radial load applied to the transmission internal gear 126 (the power received from the input shaft gear 124 is distributed to the three eccentric shaft gears 128). Therefore, it is possible to prevent the transmission internal gear 126 from vibrating unnecessarily and generating noise due to the vibration. The transmission gear 126 is supported on the casing 140 (internal gear) via the internal teeth 136. This is a bearing of the transmission internal gear 126 focusing on the shape and function of the existing internal teeth 136. It is also used as a “roller”, and is not a dedicated bearing for supporting the transmission internal gear 126. Thus, by eliminating the dedicated bearings, the cost for the dedicated bearings can be reduced and the space can be used efficiently.

  Further, since the transmission internal gear 126 is connected to the three eccentric shafts 130 by meshing with the three eccentric shafts 128, the power transmitted from the input shaft 122 is simultaneously transmitted to each eccentric shaft. 130. Each eccentric body shaft 130 starts rotating by the rotation of the transmission internal gear 126. Since the eccentric body 132 is integrally formed with each eccentric body shaft 130, the eccentric body 132 rotates eccentrically. The external gear 134 is swung and rotated. At this time, since the external gear 134 is also meshed with the internal teeth 136 having a slight difference in the number of teeth, the external gear 134 rotates only slightly while rotating slightly. Since this swing component is canceled by the eccentric body 132, only a slight rotation component of the external gear 134 is transmitted to the carrier body 138 and output.

  In this embodiment, since the casing 140 is fixed by the base 142, the entire carrier body 138 including the motor 110 is rotated by the operation of the geared motor 100.

  In addition, by restricting both sides in the axial direction with the external gear 134, smooth rotation of the transmission internal gear 126 can be secured. This is an advantage obtained because the surface of the external gear 134 is originally finished with high accuracy.

  Further, since the transmission internal gear 126 in this embodiment is disposed inside the carrier body 138 (between the first and second carrier bodies 138A and 138B), the size of the entire apparatus in the axial direction can be made compact. Can design.

  Further, the input shaft 122 includes an input gear 120 that meshes with a pinion 114 provided on the motor shaft 112 and receives a driving force from the pinion, so that the motor 110 is moved from the shaft center of the reduction gear 101. It becomes possible to arrange more offset, and as a result, the diameter of the hollow portion H can be increased. Further, by arranging the input shaft 122 inside the pitch circle of the external gear 134, the pinion 114 that meshes with the input gear 120 fixed to the input shaft 122 is arranged and configured as far as possible inside the device (the hollow portion H side). (See FIG. 2). As a result, even when a motor is attached as a power source, the entire geared motor can be configured compactly in the radial direction, and the space required for the surroundings during operation may be small.

  The axial position of the transmission internal gear may be configured to be located between the first carrier body 238A (or the second carrier body 238B) and the external gear 234 as shown in FIG. . That is, the axial position of the transmission internal gear 226 may be regulated by the external gear 234 and the carrier body 238. In particular, when it is arranged between the first carrier body 238A and the external gear 234, the weight of the heavy external gear 234 is not applied to the transmission internal gear 226, so that the sliding loss can be reduced. I can do it.

  Although not shown, the configuration of the input mechanism may be as follows. For example, it is possible to adopt a configuration in which the input shaft to which the input gear is fixed is integrally formed coaxially with any one of the three eccentric body shafts. In this configuration, it is not necessary to make a separate input shaft through the external gear, so the processing cost of the external gear can be reduced, and the rigidity of the external gear itself can be kept high. It becomes.

  In the embodiment described above, the number of external gears 134 is two. However, the configuration is not limited to this, and the number of external gears 134 may be three or more. Good.

  Further, the three eccentric body shafts 130 are arranged with a phase difference of 120 ° from each other, but may be arranged with a phase different from this. The phase can be appropriately changed depending on the number of eccentric body shafts (the eccentric body shafts provided with the eccentric body shaft gears).

  Further, the eccentric body shaft gear 128 is provided on all of the three eccentric body shafts 130. However, the eccentric body shaft gear 128 is not limited to this, and the eccentric body shaft rotates eccentrically following the swinging external gear 134. May be present.

  In addition, a shaft having the pinion 114 may be rotatably supported on the motor mounting body 139, and the shaft and the motor shaft 112 may be connected by a spline or the like.

  The present invention is particularly suitable for use in joint portions of industrial robots.

The side sectional view of the geared motor which shows an example of the embodiment of the present invention. Sectional view along arrow II-II in FIG. Side sectional view of a geared motor showing an example of another embodiment of the present invention Sectional view along arrow IV-IV in FIG. Side sectional view of geared motor 1 described in Patent Document 1

Explanation of symbols

DESCRIPTION OF SYMBOLS 100 ... Geared motor 101 ... Reducer (Inscribed rocking mesh type planetary gear reducer)
DESCRIPTION OF SYMBOLS 110 ... Motor 112 ... Motor shaft 114 ... Pinion 120 ... Input gear 122 ... Input shaft 124 ... Input shaft gear 126 ... Transmission internal gear 128 ... Eccentric body shaft gear 130 ... Eccentric body shaft 129 ... Mounting bolt 131 ... Cylindrical flange 131T ... Cylindrical flange convex part 132 ... Eccentric body 133 ... Bearing for eccentric body 134 ... External gear 136 ... Internal tooth 138 ... Carrier body 138A ... First carrier body 138B ... Second carrier body 139 ... Motor mounting body 140 ... Casing 142 ... Base Table 144 ... Bolt 150 ... Carrier body bearing 152 ... Input shaft bearing 154 ... Eccentric body shaft bearing 160 ... O-ring 170 ... Cable H ... Hollow section

Claims (7)

An inwardly oscillating mesh planetary gear reducer that decelerates and outputs input power via an oscillating external gear,
An eccentric body shaft provided with an eccentric body for swinging the external gear;
An eccentric shaft gear provided on the eccentric shaft;
A transmission internal gear with which the eccentric shaft gear meshes internally,
An input mechanism for transmitting a driving force to the transmission internal gear;
And an internal gear external gear meshes to the swinging, provided with a,
A part of the internal gear is configured as a pin-shaped member,
An inward swing meshing planetary gear reducer characterized in that the pin-shaped member serves as a bearing to support the transmission internal gear . In claim 1,
The input mechanism includes at least an input shaft provided with an input gear that meshes with a pinion provided on a previous rotation shaft and receives a driving force from the pinion, and an input shaft gear provided on the input shaft,
The input shaft gear is internally meshed with the transmission internal gear. In claim 1,
At least two of the eccentric body shafts provided with the eccentric body shaft gear;
In the input mechanism, an input shaft including an input gear that meshes with a pinion provided on a rotary shaft in the previous stage and receives a driving force from the pinion is integrally formed coaxially with any one of the eccentric body shafts. An inscribed rocking mesh planetary gear reducer characterized by comprising: In claim 2,
The position of the transmission internal gear is regulated in the radial direction by the support of the internal gear by a pin-shaped member and the engagement between the input shaft gear and at least two eccentric body shaft gears.
An inscribed rocking mesh planetary gear reducer characterized by the above. In claim 3,
The transmission internal gear is restricted in radial position by supporting the internal gear with a pin-shaped member and meshing with at least three eccentric shaft gears.
An inscribed rocking mesh planetary gear reducer characterized by the above. In any one of Claims 1 thru | or 5 ,
A plurality of external gears are arranged in the axial direction,
An internal oscillating mesh planetary gear speed reducer characterized in that the axial position of the transmission internal gear is restricted by being arranged between the external gears. In any one of Claims 1 thru | or 5 ,
The transmission internal gear is arranged between the external gear and a carrier body that extracts a rotation component of the external gear, and the position in the axial direction is regulated. Dynamic mesh planetary gear reducer.

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