JP4878430B2 - Sliding structure of rotating body and rocking body - Google Patents

Description

The present invention relates to a slide structure of the rotating body and the oscillating body, in particular, relates to a sliding structure of the assembly it is easy and productive capable rotating body and oscillator improve.

  2. Description of the Related Art Conventionally, there is known a speed reducer (power transmission device) including a rotating body that is rotatably incorporated inside an oscillating body and causes the oscillating body to generate a rotating motion with a oscillating motion or a bending motion.

  As an example of such a speed reducer, as shown in FIGS. 9 and 10, an eccentric body (rotating body) that can be eccentrically rotated with respect to the central axis, and an external gear (oscillating body) as the eccentric body rotates. ) Has been proposed (see, for example, Patent Document 1). 9 is a side sectional view of the speed reducer 100, and FIG. 10 is a sectional view taken along line XX in FIG.

  The speed reducer 100 includes an input shaft 102, eccentric bodies (rotating bodies) 106a and 106b, and external gears (oscillating bodies) 108a and 108b. The eccentric bodies 106a and 106b and the external gear 108a, Sliding structures 120 (110, 111, 112), which will be described later, are provided in sliding portions with 108b.

  Eccentric bodies 106a and 106b integrally formed with a predetermined phase difference (180 ° in this example) are provided on the outer periphery between the ball bearings 130a and 130b that rotatably support the input shaft 102. 106 a and 106 b can rotate eccentrically with respect to the central axis L 4 together with the input shaft 102. Further, two external gears 108a and 108b are fitted to the outer circumferences of these eccentric bodies 106a and 106b via a sliding structure 120, and the two external gears 108a and 108b are eccentric bodies 106a and 106b. Oscillating rotation is possible with the rotation of.

  11A is a partially enlarged view of the sliding structure 120 provided in the speed reducer 100, and FIG. 11B is a side view of the sliding structure 120 viewed from the arrow XIB of FIG. is there.

  The sliding structure 120 includes an inner ring 110, the same cylindrical roller (rolling element) 112, and a retainer 111.

  The inner ring 110 is a ring-shaped member having a hollow portion 110a, and an outer peripheral groove 110b capable of accommodating a part of the roller 112 is formed in a part of the outer periphery thereof.

  The retainer 111 is formed of a ring-shaped member having a slightly larger diameter than the inner ring 110 and is disposed so as to surround the outer periphery of the inner ring 110. The retainer 111 is formed with a plurality of pockets 111a that can accommodate and hold the rollers 112 at predetermined intervals ΔL1.

  The roller 112 is incorporated and held in the pocket 111a of the retainer 111 from the outer peripheral side, and a part of the roller 112 is also accommodated in the outer peripheral groove 110b of the inner ring 110, and the inner periphery of the external gears 108a and 108b and It arrange | positions so that the outer periphery groove | channel 110b of the inner ring | wheel 110 may be contact | connected. The roller 112 can rotate in the R3 direction in the drawing, and can revolve in the circumferential direction of the circle C2 in the drawing while being held by the retainer 111.

  As described above, in the reduction gear 100, by providing the sliding structure 120 at the sliding portion between the eccentric bodies 106a and 106b and the external gears 108a and 108b, the external gears 108a and 108b can be smoothly rotated. ing.

  FIG. 12 is an example of another speed reducer, and shows a cross section of a conventional flexure mesh planetary gear speed reducer.

  The flexure meshing gear reduction device 151 includes an annular rigid internal gear 152, a cup-shaped flexible external gear (oscillator) 154 disposed on the inner side, and a sliding structure 156 on the inner side. And a wave generator (rotating body) 158 having an elliptical outline fitted therein.

  The wave generator 158 bends the flexible external gear 154 into an elliptical shape, and causes the external teeth 154A of the flexible external gear 154 to move in two places relative to the internal teeth 152A of the rigid internal gear 152. At the same time, by moving the meshing portion in the circumferential direction, relative rotation according to the difference in the number of teeth between the external teeth 154A and the internal teeth 152A is caused between the flexible external gear 154 and the rigid internal gear 152. It is supposed to be generated.

  Also in such a flexure meshing gear reduction device 151, the smooth rotation of the flexible external gear 154 is achieved by the sliding structure 156.

JP-A-5-44788

  However, in these conventionally known speed reducers 100 and 151, when the rotating bodies such as the eccentric bodies 106a and 106b and the wave generator 158 are incorporated in the rocking body, the plurality of rollers 112 are first inserted into the pocket 111a from the outer periphery side of the retainer 111. Since it was necessary to house one by one in the interior, the efficiency of the assembly work was poor, and there was a limit to improving productivity.

The present invention was made in order to solve such a problem, and an object thereof is to provide a sliding structure of the assembly is easy and productive capable rotating body and oscillator improve.

The present invention relates to a sliding structure of a rotating body and a rocking body of a power transmission device including a rotating body that is rotatably incorporated inside a rocking body and causes the rocking body to generate a rotation motion accompanied by a rocking motion. A plurality of rolling elements disposed between the rotating body and the rocking body, and arranged radially outside a circle connecting the rolling centers of the rolling elements, and a part of the rolling element is disposed on the outer peripheral side a retainer having a plurality of pockets having a support ring formed through that allows exposed, provided with a protrusion provided on the outer circumference of the rotating body, wherein the oscillator is two provided, the two Corresponding to the oscillating body, the rotating body is provided with two eccentric portions, and each of the two eccentric portions is provided with the convex portion only on the adjacent end portion side of the two eccentric portions. , the convex portion, when incorporating the rotary body inside the rolling elements, the retainer Without contacting the burner, by regulating the axial movement of the abutting rolling member to the rolling elements is obtained by solving the above problems.

Usually, since a plurality of rolling elements are used, the method of incorporating the rolling elements one by one from the outside requires a considerable amount of work. However, according to the present invention, the rolling elements are arranged once from the inner peripheral side of the retainer. It is possible to incorporate all together . For this reason , assembly work can be performed in a short time, and productivity can be improved. Moreover, Oite this onset Ming is not a write Dressings assembled rolling elements fixedly, the position of the rolling elements when incorporating a rotating member becomes possible to finely adjust, incorporating rolling bodies fixedly Compared to the case, the assembly work of the rotating body becomes easier.

The invention further includes a projection provided on an outer periphery of the rotating body, wherein the oscillator is two provided, the two eccentric portions are provided on the rotating body so as to correspond to the two oscillator is, further, each of the two eccentric portions, the convex portion only on the end adjacent of the two eccentric portions are provided, said projections, incorporating the rotary member to the inside of the rolling element In this case, the rolling element is in contact with the rolling element without being in contact with the retainer and restricts the movement of the rolling element in the axial direction. Can function as. Further, the inner support ring can prevent the rolling elements from falling off inward in the radial direction, and the rolling elements can be more reliably held during assembly.

  In addition, if the retainer includes a side ring for preventing the rolling element from dropping off at the end in the axial direction of the support ring, it is possible to prevent the rolling element from dropping off in the axial direction. It becomes possible.

  If the inner circumference of the support ring is positioned at least 1.05 times the radius of the circle connecting the rolling centers of the rolling elements, the interval between the adjacent rolling elements is shortened. As a result, the number of rolling elements installed between the rotating body and the rocking body can be increased, or the diameter of the rolling elements can be increased, and the load capacity of the sliding structure can be increased. It becomes.

According to the present invention, the sliding structure of the assembly is easy increased productivity that can rotating body and the oscillator can be provided.

  Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a side sectional view of a reduction gear (power transmission device) 200 to which a sliding structure according to the base technology of the present invention is applied, and is a drawing corresponding to FIG.

  The speed reducer 200 shown in FIG. 1 is substantially the same as the speed reducer 100 shown in FIG. 9 except for the sliding structure of the eccentric body (rotating body) and the external gear (oscillating body). Accordingly, the same or similar parts are denoted by the same reference numerals in the drawings, and detailed description thereof is omitted.

  The speed reducer 200 includes an input shaft 102, eccentric bodies 106a and 106b that can rotate eccentrically with respect to the central axis L1, and two external gears 108a that can swing as the eccentric bodies 106a and 106b rotate. 108b, and sliding structures 230 (222, 224, 226) are provided between the eccentric bodies 106a, 106b and the external gears 108a, 108b, respectively.

  Hereinafter, the sliding structure 230 will be described in detail with reference to FIGS. The two sliding structures provided between the eccentric body 106a and the external gear 108a and between the eccentric body 106b and the external gear 108b in FIG. 1 are the same structure. The sliding structure 230 provided between the gears 108a will be described.

  FIG. 2 is a partially enlarged view of the vicinity of the sliding structure 230 of the speed reducer 200 in FIG. 3A is a side sectional view of the sliding structure 230, and FIG. 3B is a sectional view taken along line IIIB-IIIB in FIG.

  The sliding structure 230 includes a plurality of rollers (rolling elements) 222, a retainer 224, and an inner support ring 226.

  In this example, the roller 222 has a shape substantially similar to the same cylinder, and is housed in a retainer 224, which will be described later, in a state capable of rotating in the R1 direction in FIG. The roller 222 is prevented from falling off radially inward (on the eccentric body 106a side) by an inner support ring 226 described later. A plurality of rollers 222 are installed at equal intervals (ΔL2 in the figure) between the eccentric body 106a and the external gear 108a, and both the outer periphery 106a1 of the eccentric body 106a and the inner periphery 108a1 of the external gear 108a. Can be directly transferred to.

  The retainer 224 includes a support ring 224a that is disposed radially outward from the circle C1 connecting the rolling centers L2 of the rollers 222 by ΔH1. As shown in the perspective view of the retainer 224 (FIG. 4), the support ring 224a has a plurality of rectangular pockets 224b through which a part of the roller 222 can be exposed to the outer peripheral side of the support ring 224a. Is formed. Further, a pair of side rings 224c are provided at both ends in the axial direction of the support ring 224a to prevent the rollers 222 from dropping off in the axial direction.

  The inner support ring 226 is made of a ring-shaped member having a slightly smaller diameter than the support ring 224a of the retainer 224. The inner support ring 226 is disposed radially inward by ΔH2 in FIG. 3B from the circle C1 connecting the rolling center L2 of the roller 222, and a part of the roller 222 is disposed on the inner peripheral side thereof. A plurality of rectangular inner pockets 226a that can be exposed are formed through. The inner periphery 226b of the inner support ring 226 has a larger diameter than the outer periphery 106a1 of the eccentric body 106a.

  Accordingly, the retainer 224 and the inner support ring 226 are not arranged on the circle C1 connecting the rolling centers L2 of the rollers 222, and there is a space of the interval ΔL2 between the rollers 222 on the circle C1. Just do it.

According to the sliding structure 230 according to the base technology of the present invention, the plurality of rollers 222 are disposed between the eccentric bodies 106a and 106b and the external gears 108a and 108b, and the outer circumferences 106a1 and 106b of the eccentric bodies 106a and 106b, 106b1 and the inner peripheral surfaces 108a1 and 108b1 of the external gears 108a and 108b can be directly brought into rolling contact, so that only the roller 222 is interposed between the eccentric bodies 106a and 106b and the external gears 108a and 108b. It is possible to increase the outer diameter size of the input shaft 102 and the eccentric bodies 106a and 106b without changing the inner diameter size of the external gears 108a and 108b.

  The roller 222 has a support ring 224a disposed radially outward from the circle C1 connecting the rolling center L2 of the roller 222 by ΔH1, and a part of the roller 222 is arranged on the support ring 224a on the outer periphery of the support ring 224a. Since the plurality of pockets 224b that can be exposed to the side are provided with the retainer 224 penetratingly formed, the interval between the adjacent rollers 222 can be shortened (the conventional ΔL1 (FIG. 10) is changed to ΔL2). The number of rollers 222 can be increased, and the load capacity of the sliding structure 230 can be increased. Specifically, the inner periphery of the support ring 224a is positioned at least 1.05 times or more radially outside the radius R of the circle C1 connecting the rolling centers L2 of the rollers 222 (R + ΔH1 ≧ 1.05R). It is desirable. Note that the support ring includes an elliptical shape. In this case, the inner periphery of the support ring is positioned at least 1.05 or more radially outside the outer diameter of the ellipse connecting the center of rotation of the rolling element. Anything to do.

  In addition, a pair of side rings 224c for preventing the roller 222 from dropping off from the axial end portion of the support ring 224a of the retainer 224 are extended to prevent the roller 222 from dropping off in the axial direction with a simple structure. be able to.

  Furthermore, a plurality of inner pockets 226a are formed penetratingly arranged at the inner side in the radial direction by ΔH2 from a circle C1 connecting the rolling centers L2 of the rollers 222, and enabling a part of the rollers 222 to be exposed to the inner peripheral side of the rollers 222. Since the inner support ring 226 is provided, it is possible to prevent the rollers 222 from falling out inward in the radial direction, and it is possible to more reliably hold the rollers 222 particularly during assembly.

  FIG. 5 is a side sectional view of a speed reducer 300 to which a sliding structure according to an example of an embodiment of the present invention is applied, and is a drawing corresponding to FIG.

  The speed reducer 300 shown in FIG. 5 is substantially the same as the speed reducer 200 shown in FIG. 1, but the shapes of the eccentric bodies 206a and 206b are different, as shown in the partially enlarged view of FIG. Furthermore, convex portions 206a1 and 206b1 having a diameter R4 larger than the inscribed circle diameter R3 of the roller 222 are provided only on one end side in the axial direction of the outer circumference of the eccentric bodies 206a and 206b.

  The convex portions 206a1 and 206b1 provided on the eccentric bodies 206a and 206b are in contact with the rollers 222, respectively, and the eccentric bodies 206a and 206b can also function as positioning means for restricting the movement of the rollers 222 in the direction of the axis L3. It is.

  Next, a method for incorporating an eccentric body of a speed reducer to which the sliding structure according to the embodiment of the present invention is applied will be described with reference to FIG. FIG. 7 is a diagram schematically showing the procedure for assembling the eccentric body.

  As a specific example, consider a procedure for incorporating the sliding structure 230 into the eccentric body 206a of the speed reducer 300 shown in FIG.

  First, a plurality of rollers 222 arranged between the eccentric body 206a and the external gear 208a are assembled from the inner peripheral side of the positioning retainer 224 ((A) in FIG. 7). Next, the inner support ring 226 described above is inserted into the inner peripheral side of the roller 222 incorporated ((B) in FIG. 7), and the movement of the roller 222 inward in the radial direction is restricted. Then, the eccentric body 206a is inserted into the inner space 226c of the inner support ring 226 ((C) in FIG. 7). Finally, after the inner support ring 226 is extracted ((D) in FIG. 7), an eccentric body ring (rotating body ring) 228 for restricting the axial movement of the roller 222 is fitted into the outer periphery of the eccentric body 206a. ((E) in FIG. 7).

  Usually, since a plurality of rollers 222 are used, it takes a considerable amount of time to assemble one by one from the outside. However, according to such an assembling method, the rollers 222 are connected from the inner peripheral side of the retainer 224. It is possible to work in a short time by incorporating them all at once, thereby improving productivity. Further, the inner support ring 226 restricts the movement of the rollers 222 inward in the radial direction, and the retainer 224 can be carried in a state in which the rollers 222 are incorporated in the retainer 224, so that the operation is further facilitated. Note that the inner support ring 226 may not be extracted from the state of FIG. 7C, and the inner support ring 226 may be part of the sliding structure 230 as it is.

8, unlike the present embodiment, is a schematic diagram showing a procedure for incorporating the eccentric body 206a from an eccentric member dummy (rotating member dummy) 150 having substantially the same axis diameter and the polarization tension member 206a .

  In this assembling method, first, a plurality of rollers 222 arranged between the eccentric body 206a and the external gear 208a are assembled from the inner peripheral side of the positioning retainer 224 ((A) in FIG. 8). Next, the eccentric body dummy 150 is inserted into the inner peripheral side of the roller 222 incorporated ((B) in FIG. 8). Finally, after exchanging the eccentric body dummy 150 and the eccentric body 206a by overlapping the eccentric body dummy 150 and the eccentric body 206a and moving the retainer 224 to the eccentric body 206a side ((C) in FIG. 8). The eccentric body ring 228 that restricts the movement of the roller 222 in the axial direction is fitted into the outer periphery of the eccentric body 206a ((D) in FIG. 8).

  In this assembling method, the roller 222 is merely positioned by the retainer 224, and the roller 222 is not fixedly incorporated. Therefore, the position of the roller 222 can be finely adjusted when the eccentric body 206a is incorporated. The eccentric body 206a can be easily assembled as compared with the case where the roller 222 is fixedly incorporated.

Incidentally, although the shaft diameter of the eccentric dummy 150 the same as the shaft diameter of the eccentric body 206a, times rotary body dummy is not limited as long as pressing the rollers 222 outward. Therefore, for example, even if the rotating body dummy has a larger shaft diameter than the eccentric body 206a, the roller 222 can be held from the inside if the rotating body dummy is made of a flexible material, Similar effects can be obtained.

In the above-mentioned base technology and embodiment, the roller 222 is applied as the rolling element, but the present invention is not limited to this, and the sliding structure may be constituted by another rolling element such as a ball. The number of is not limited to that shown in the figure. Further, the shape of the pocket 224b and the inner pocket 226a for accommodating the rolling elements is not limited to the illustrated shape. For example, when the ball is accommodated, the shape of the pocket 224b and the inner pocket 226a is circular.

  In the “rotary body” in the present invention, in addition to the eccentric body, the external gear (oscillator) causes a rotational motion accompanied by a flexural oscillating motion, such as a wave generator in a flexure mesh planetary gear device. Also included. In addition to the external gear, the “oscillator” in the present invention includes an internal gear in an internal gear oscillation type planetary gear device of the type in which the internal gear performs a swing motion.

  The present invention can be used in a power transmission device that includes an eccentric body that can be eccentrically rotated with respect to a central axis, and a rocking body that can be rocked as the eccentric body rotates.

Side sectional view of a reduction gear to which a sliding structure according to the base technology of the present invention is applied Partial enlarged view near the sliding structure in FIG. The figure which showed the sliding structure in FIG. The figure which showed only the retainer part in FIG. Sectional side view of a reduction gearbox according to the slide structure according to the embodiment of the present invention Partial enlarged view of the vicinity of the sliding structure in FIG. The schematic diagram which showed the assembly procedure of the eccentric body which concerns on 1st Example of embodiment of this invention Schematic diagram showing the procedure for assembling the eccentric body using the eccentric body dummy Side cross-sectional view of a reducer using a conventional sliding structure Sectional drawing which follows the XX line in FIG. Partial enlarged view of the sliding structure in FIG. Sectional view of a conventional flexure mesh planetary gear reducer

Explanation of symbols

100, 151, 200, 300 ... reducer (power transmission device)
DESCRIPTION OF SYMBOLS 102 ... Input shaft 106a, 106b, 206a, 206b ... Eccentric body 108a, 108b, 208a, 208b ... External gear 110 ... Inner ring 111, 224 ... Retainer 111a ... Pocket 112, 222 ... Roller 120, 156, 230 ... Sliding structure 130a, 130b ... Ball bearing 150 ... Eccentric body dummy 152 ... Rigid internal gear 154 ... Flexible external gear 158 ... Wave generator 226 ... Inner support ring 226a ... Inner pocket 228 ... Eccentric body ring

Claims (3)

In the sliding structure of the rotating body and the rocking body of the power transmission device, which is rotatably incorporated inside the rocking body and includes a rotating body that causes the rocking body to rotate with a rocking motion.
A plurality of rolling elements disposed between the rotating body and the rocking body;
A retainer having a support ring that is disposed radially outward from a circle connecting the rolling centers of the rolling elements, and through which a plurality of pockets through which a part of the rolling elements can be exposed to the outer peripheral side thereof; ,
Provided with a protrusion provided on the outer circumference of the rotating body,
Two rocking bodies are provided;
The rotating body is provided with two eccentric portions corresponding to the two oscillating bodies, and
Each of the two eccentric portions is provided with the convex portion only on the adjacent end side of the two eccentric portions,
The projections, when incorporating the rotary body inside the rolling elements, without contact with the retainer, and characterized in that to regulate the axial movement of the abutting rolling member to said rolling element Sliding structure of rotating body and rocking body. In claim 1,
The sliding structure of a rotating body and a rocking body, wherein the retainer includes a side ring for preventing the rolling element from dropping off at an axial end of the support ring. In claim 1 or 2,
The sliding structure of a rotating body and a rocking body, wherein an inner periphery of the support ring is positioned at least 1.05 times radially outside a radius of a circle connecting the rolling centers of the rolling bodies.

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