JP4851826B2 - Inscribed rocking mesh planetary gear reducer - Google Patents

Description

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

  Conventionally, geared motors 1, 2 and 2 'described in Patent Documents 1 and 2 are known.

  FIG. 3 shows a geared motor 1 described in Patent Document 1. FIG. 4 shows a geared motor 2 described in Patent Document 2. FIG. 5 shows a geared motor 2 ′ described in Patent Document 2. In addition, the same code | symbol is attached | subjected and demonstrated about the part which is the same or similar in each of these geared motors.

  Each of the geared motors includes a motor 10 as a power source, a pinion or pulley 14 provided in the motor shaft 12 of the motor 10, and an eccentric body shaft 30 including an eccentric body 32 for swinging the external gear 34. A carrier body 38 (38A, 38B) for extracting the rotation component of the external gear 34 is provided, and the carrier body 38 is pivotally supported on the casing 40 via a carrier body bearing 50 (50A, 50B).

  In the geared motor 1, the pinion 14 meshes with a large-diameter distribution gear 26, and a small gear 26A formed on the distribution gear 26 appears with three eccentric body shafts 30 (in FIG. 3, only one appears). ) And each of the input gears 20 included. The distribution gear 26 is rotatably supported by bearings 80 and 81.

  In the geared motor 2, the pinion 14 is directly meshed with the input gear 20 provided on the eccentric body shaft 30 (one of the three eccentric body shafts 30, only one appears in FIG. 4). Further, the input gear 20 meshes with a distribution gear 26, and the distribution gear 26 meshes with the input gears 20 (none of which are shown) provided on the other two eccentric body shafts 30, respectively. . That is, three eccentric body shafts 30 (30A, 30B, 30C) having the input gear 20 (20A, 20B, 20C) are arranged, and one of the input gears 20A meshes with the pinion 14 and the sorting gear 26. The other input gears 20B and 20C mesh only with the sorting gear 26. The sorting gear 26 is rotatably supported by bearings 80 and 81.

  In the geared motor 2 ′, a pulley (corresponding to a pinion) 14 is connected to an input pulley (corresponding to an input gear) 20 via a belt, and the input pulley 20 is fixed to an eccentric body shaft 30. . An eccentric body shaft gear 28 is formed in the vicinity of the center of the eccentric body shaft 30 in the axial direction, and the eccentric body shaft gear 28 meshes with the distribution gear 26. Here, there are two eccentric body shafts 30 other than those shown in the figure, and an eccentric body shaft gear 28 is also formed on these eccentric body shafts 30 and meshes with the distributing gear 26. However, the input pulley 20 is not provided in the two eccentric body shafts 30 other than the illustrated one. The sorting gear 26 is rotatably supported by bearings 80 and 81.

JP 2002-106650 A JP 2002-122190 A

  In the geared motor 1, the rotation of the motor 10 is transmitted via the sorting gear 26 in the process of being transmitted to all the eccentric body shafts 30. The distribution gear 26 is composed of a large gear for meshing with the pinion 14 and a small gear 26A for meshing with the input gear 20, and the distribution gear 26 having a large axial shift from the pinion 14 and the pinion 14. Since the diameter of the sorting gear 26 inevitably becomes large and the shape becomes complicated, the cost becomes a problem.

  In the geared motors 2 and 2 ′, the pinion (or pulley) 14 is engaged with the input gear (input pulley) 20 provided in one eccentric body shaft 30 in the process in which the rotation of the motor 10 is transmitted to all the eccentric body shafts 30. After being combined (connected), the sorting gear 26 is rotated by the rotation of the eccentric body shaft 30. Further, the remaining eccentric body shaft 30 is configured to be rotated by the distribution gear 26, and the distribution gear 26 can have a relatively small diameter. However, since the three eccentric body shafts 30 are not rotated at the same time, there is a backlash shift, which is not preferable in terms of accuracy. Further, only a reduction ratio at the meshing (or connection) portion between the pinion (or pulley) 14 and the input gear (or input pulley) 20 can be earned, and a high reduction ratio is difficult to achieve.

  The present invention has been made to solve the above-mentioned problems at the same time, and an object thereof is to provide an inwardly oscillating mesh planetary gear reducer that can realize a low cost and a high reduction ratio.

The present invention relates to an internally oscillating meshing planetary gear reducer that decelerates and outputs input power via a oscillating external gear, and rotates at a constant speed with an output shaft of an external power source. A plurality of input shafts including an input gear that is externally meshed and receives a driving force from the pinion, an input shaft gear that is formed on the input shaft, and an eccentric body that swings the external gear. An eccentric body shaft; and an eccentric body shaft gear formed on at least one of the eccentric body shafts for receiving power; and the input shaft gear and the eccentric body shaft gear meshed with the input A distribution gear that distributes and transmits rotation of the shaft gear to the plurality of eccentric body shaft gears, the input shaft being arranged separately from the eccentric body shaft, and inside the pitch circle of the external gear The external teeth at a position offset from the center of the external gear By configuring as being positioned in a manner to penetrate the vehicle it is intended to solve the above problems.

  With this configuration, when the input gear receives power from the power source and when the power is transmitted from the input shaft gear of the input shaft to the eccentric shaft gear (via the distribution gear), the speed is reduced in two stages. And a high reduction ratio can be realized. In this case, it is not necessary to prepare the sorting gear with a large diameter or a complicated shape, and it is not necessary to cost more than necessary.

  Further, by configuring the input gear as a large gear rather than the pinion and the eccentric body shaft gear as a large gear rather than the input shaft gear, a high (large) reduction ratio can be achieved.

  An inscribed rocking mesh planetary gear reducer that achieves a low cost and a high reduction ratio can be provided.

  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 of the casing 140 in which the speed reduction mechanism is accommodated. On the other hand, a base 142 is connected to the lower surface side of the casing 140 via bolts 144. 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.

  Since the cylindrical flange 131 does not directly contribute to power transmission, it is formed with a thin wall.

  The motor 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). For example, the pinion 114 may be formed by cutting the motor shaft 112 directly, or a gear as a separate member may be fixed. The pinion 114 is externally meshed with the input gear 120 having a larger diameter than itself. That is, the input gear 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. That is, the input shaft 122 is disposed inside the pitch circle of the external gear 134. As a result, the pinion 144 that meshes with the input gear 120 fixed to the input shaft 122 can be disposed within the pitch circle of the internal gear 136. The input shaft 122 is rotatably supported with respect to the first carrier body via the input shaft bearing 152A, and is further rotatable with respect to the second carrier body 138B via the input shaft bearing 152B. It is supported by. 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 meshes with the sorting gear 126. The sorting gear 126 is arranged in a float state with respect to the outer periphery of the cylindrical flange 131.

  In addition, three eccentric body shafts 130 are arranged at positions different from the input shaft 122 so that their phases are different from each other by about 120 ° (see FIG. 2). An eccentric body shaft gear 128 is formed at a substantially central portion in the axial direction of each eccentric body shaft 130, and the eccentric body shaft gear 128 meshes with the above-described distribution gear 126. That is, the radial position of the sorting gear 126 in the float state is regulated by the input shaft gear 124 and the three eccentric body shaft gears 128 described above. 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 shaft 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 distribution gear 126 means that the position 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 via the eccentric body shaft bearing 154A, and on the other hand, with respect to the second carrier body 138B via the eccentric body shaft bearing 154B. And 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 sorting gear 126 that meshes with the input shaft gear 124 also rotates. Again, since the diameter of the eccentric shaft gear 128 is larger (large gear) than the diameter of the input shaft gear 124, the rotation of the input shaft 122 is further decelerated and transmitted to the eccentric 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 distribution gear 126 is connected to the three eccentric body shafts 130 by meshing with the three eccentric body shaft gears 128, the power transmitted from the input shaft 122 is simultaneously transmitted to the eccentric body shafts 130. Sort and communicate. Therefore, there is no backlash shift due to the way of distribution. Each eccentric body shaft 130 starts to rotate by the rotation of the sorting gear 126. Since the eccentric body 132 is integrally formed on each eccentric body shaft 130, the eccentric body 132 rotates eccentrically, so that the external teeth. The 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 shaft 130, 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.

  The distribution gear 126 in the present embodiment is arranged in a float state as described above, but its radial direction is regulated by the input shaft gear 124 and the eccentric body shaft gear 128, and the axial direction is two. Therefore, it is not necessary to prepare and arrange a dedicated bearing, and the cost and space for the bearing are not required.

  In addition, since the sorting 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 designed compactly. .

  In the present embodiment, the input shaft 122 is disposed inside the pitch circle of the external gear 134, and the pinion 144 that meshes with the input gear 120 fixed to the input shaft 122 is disposed inside the pitch circle of the internal gear. It is possible to arrange. 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.

  In the above-described embodiment, the sorting gear is disposed between the two external gears. However, the present invention is not limited to this, and for example, between the first carrier body 138A and the external gear 134. It may be disposed, or may be disposed between the second carrier body 138B and the external gear 134. In addition, although the external gear has a configuration of two, it is not limited to this, and may be three or more or one.

  Further, the eccentric body shaft gear 128 is formed 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 the arrow II-II line in FIG. Side sectional view of geared motor 1 described in Patent Document 1 Side sectional view of geared motor 2 described in Patent Document 2 Side sectional view of geared motor 2 'described in Patent Document 2

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 ... Distributing gear 128 ... Eccentric body shaft gear 130 ... Eccentric body shaft 129 ... Mounting bolt 131 ... Cylindrical flange 132 ... Eccentric body 133 ... Eccentric body bearing 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 144 ... Bolt 150 ... Carrier body Bearing 152 ... Bearing for input shaft 154 ... Bearing for eccentric body shaft 160 ... O-ring 170 ... Cable H ... Hollow part

Claims (3)

An inwardly oscillating mesh planetary gear reducer that decelerates and outputs input power via an oscillating external gear,
An input shaft having an input gear externally meshed with a pinion rotating at a constant speed with an output shaft of an external power source and receiving a driving force from the pinion;
An input shaft gear formed on the input shaft;
A plurality of eccentric body shafts provided with eccentric bodies for swinging the external gear;
An eccentric body gear formed on at least one of the eccentric body shafts for receiving power by the eccentric body shaft;
A distribution gear that meshes with the input shaft gear and the eccentric body shaft gear and distributes and transmits the rotation of the input shaft gear to the plurality of eccentric body shaft gears ;
The input shaft is arranged separately from the eccentric body shaft and penetrates the external gear at a position inside the pitch circle of the external gear and offset from the center of the external gear. An inscribed rocking mesh planetary gear reducer characterized by being arranged . Oite to claim 1,
An inwardly oscillating mesh planetary gear reducer characterized in that the input gear is a larger gear than the pinion and the eccentric shaft gear is a larger gear than the input shaft gear. In claim 1 or 2 ,
The inward oscillating mesh planetary gear speed reducer characterized in that the pinion is disposed inside a pitch circle of an internal gear with which the external gear meshes.

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