JP5528744B2 - Planetary reducer - Google Patents

Description

  The present invention relates to a planetary speed reducer.

  In the planetary reduction gear shown in Patent Document 1, the internal gear has a separate structure from the casing. For this reason, in the planetary reduction gear shown in Patent Document 1, the casing has an inner diameter portion between the main bearing and the counterpart machine that is smaller than the outer diameter of the outer ring of the main bearing that rotatably supports the carrier body. However, it is considered that the planetary speed reducer can be increased in capacity without changing the connection form with the counterpart machine. Here, in Patent Document 1, a knock pin is press-fitted in the axial direction, and the internal gear is fixed to the casing.

WO99 / 25992

  However, in the configuration shown in Patent Document 1, the main bearing is disposed on the inner side in the radial direction of the carrier body from the position where the knock pin is press-fitted. That is, in the planetary reduction gear shown in Patent Document 1, the inner diameter of the casing portion that supports the main bearing must be reduced in order to secure a space for press-fitting the knock pin. For this reason, since the diameter of the main bearing must be reduced, the capacity of the main bearing is reduced, and the output torque and moment rigidity are also reduced. Further, when the diameter of the main bearing is increased, the planetary speed reducer itself is increased in size.

  Therefore, the present invention has been made to solve the above-mentioned problems, and an inner diameter portion smaller than the outer ring outer diameter of the main bearing whose casing rotatably supports the carrier body is interposed between the main bearing and the counterpart machine. It is an object of the present invention to provide a planetary speed reducer capable of providing a main bearing having a large diameter without increasing the size of the speed reducer itself.

The present invention includes a planetary gear, an internal gear with which the planetary gear is internally meshed, a carrier body that is synchronized with the revolution component or the rotation component of the planetary gear, and a main bearing that rotatably supports the carrier body; A planetary reduction device comprising a casing having an inner diameter portion smaller than the outer ring outer diameter of the main bearing between the main bearing and a counterpart machine, wherein the casing is separated from the counterpart machine side and the counter machine side And the main bearing is disposed on the counterpart machine side in the axial direction with respect to the internal gear, and the internal gear is formed integrally with the casing on the counter machine side, including its tooth profile, and, wherein is connected to the counterpart machine side of the casing and the anti counterpart machine side casing, said anti counterpart machine side of the casing, have a contact with projections on the outer ring of the main bearing, the counterpart machine side of the casing End face of the machine and the opponent machine The connecting portion and the end face side of the casing opposite to a outside of the internal gear of the reflected counterpart machine side of the casing, by providing a position overlapping with the internal gear as viewed from the radial direction, the It solves the problem.

  In the present invention, the casing is divided into a counterpart machine side and a counter machine side, and an internal gear is integrally formed in the casing on the counter machine side including a tooth profile. For this reason, even if the counterpart machine side casing has an inner diameter portion between the main bearing and the counterpart machine that is smaller than the outer diameter of the outer ring of the main bearing, Can be assembled from the machine side).

  In addition, the casing is divided into a separate machine side and a counter machine side, and an internal gear is integrally formed on the counter machine side casing including the tooth profile, and the casing is made counter to the counter machine side casing. Since the casing is connected to the casing of the counterpart machine, the main bearing having a large diameter can be arranged without increasing the size of the planetary reduction gear itself. Thereby, the capacity | capacitance of a main bearing can be enlarged and a result output torque and moment rigidity can be improved.

  In other words, when the internal gear has a separate structure from the casing as in the prior art, or when the internal gear and its tooth profile are separate structures even if the internal gear is integrated with the casing, In order to fix the gear or the tooth profile to the casing, the internal gear of the casing and the portion adjacent to the tooth profile in the axial direction, that is, the inner diameter of the portion supporting the main bearing of the casing must be reduced. If the diameter of the main bearing is not reduced or the diameter of the main bearing is not reduced, there is a problem that the speed reducer itself is enlarged.

  On the other hand, since the present invention has the above-described configuration, it is not necessary to reduce the inner diameter of the portion adjacent to the internal gear of the casing in the axial direction. The main bearing can be arranged. As a result, the capacity of the main bearing can be increased, and the output torque and moment rigidity can be improved.

  According to the present invention, since the main bearing having a large diameter can be adopted without increasing the size of the planetary reduction gear itself, the capacity of the main bearing can be increased, and the output torque and moment rigidity can be improved. Become.

Sectional schematic diagram which shows an example of the principal part of the planetary speed reducer concerning 1st Embodiment of this invention. Similarly, a cross-sectional schematic diagram when connecting the casing and the input side casing Sectional schematic diagram which shows an example of the principal part of the planetary speed reducer which concerns on 2nd Embodiment of this invention.

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

  FIG. 1 is a cross-sectional view showing main parts of a planetary reduction gear according to an example of the first embodiment of the present invention.

  The planetary reduction gear 100 is a simple planetary gear mechanism, and includes a casing 136 including a sun gear, a planetary gear 114, a carrier body 120, and an internal gear 134 (not shown). The casing 136 is divided into an output side casing 138 which is a counterpart machine side casing connected to the planetary reduction gear 100, and an input side casing 137 which is a counter machine side casing.

  The sun gear is provided with, for example, a helical gear (may be a spur tooth) and meshes with the planetary gear 114. The sun gear is connected to, for example, a motor shaft of a motor (not shown) via a cylindrical joint shaft (not shown).

  A plurality of planetary gears 114 are arranged on the outer periphery of the sun gear, and revolve while rotating around the sun gear. The planetary gear 114 is supported on the planetary pin 118 via the needle 116. The needle 116 is disposed in a full roller state and is divided into two in the axial direction O. For this reason, when the sun gear and the planetary gear 114 and the planetary gear 114 and the internal gear 134 mesh with each other, it is possible to reduce the contact of the needle 116 with each other. In addition, since the needle 116 is used in a full roller state without a cage, a large torque can be transmitted to the planetary pin 118. Further, a ring-shaped spacer 116 </ b> A is disposed between the two needles 116. A gap G is provided between the inner periphery of the spacer 116A and the outer periphery of the planetary pin 118, and a lubricant (grease) is held in the gap G. For this reason, even if the planetary gear 114 rotates, the grease can be stably supplied to the needle 116. At this time, a gap may be further provided between the outer periphery of the spacer 116 </ b> A and the inner periphery of the planetary gear 114 so that the grease is retained. In that case, since the center of the spacer 116A moves eccentrically with respect to the center of the planetary pin 118 by the revolution of the planetary gear 114, the grease on the outer periphery and inner periphery of the spacer 116A is effectively supplied to the needle 116. Is possible. That is, the life of the planetary gear 114 can be extended.

  At both ends of the needle 116 in the axial direction O, stop members 116B for preventing the needle 116 from protruding in the axial direction O and preventing wear of the needle 116 and the carrier body 120 are disposed.

  The planetary pin 118 is supported by a carrier body 120 in which a carrier body plate 121 and a carrier body main body 122 are connected. The carrier body main body 122 is fastened and fixed to the carrier body plate 121 by bolts 124. For this reason, the carrier body 120 rotates by taking out the revolution component by the planetary pin 118 in synchronization with the revolution component of the planetary gear 114. A flange-shaped output shaft 130 is integrally provided on the side of the carrier body 122 opposite to the planetary gear. A plurality of bolt holes 132 are provided in the end face 130A, and a driven shaft of the counterpart machine 150 is connected by connecting a bolt (not shown) to the bolt holes 132. Tapered roller bearings 126 (sub bearings) and 128 (main bearings) are arranged on the outer circumferences 121A and 122A of the carrier body plate 121 and the carrier body main body 122, and support the carrier body plate 121 and the carrier body main body 122 in a rotatable manner. ing. That is, as shown in FIG. 1, tapered roller bearings 126 and 128 are arranged outside the planetary pin 118 in the radial direction of the carrier body 120.

  An output side casing 138 of the casing 136 is disposed outside the outer ring 128 </ b> C of the tapered roller bearing 128. In the output casing 138, an inner diameter D1 portion smaller than the outer diameter 128 of the outer ring 128C of the tapered roller bearing 128 is formed between the position of the tapered roller bearing 128 in the axial direction O and the counterpart machine 150 to be connected. (D1 <d1). Such a magnitude relationship is such that the outer periphery 138A of the output casing 138 is matched with the inner periphery 152A of the connection casing 152 of the counterpart machine 150, and is fitted to the inner periphery 152A of the connection casing 152 to be a reference for installation. This is due to the functioning as the seal stamp part E1. For this reason, the shaft center of the output side casing 138 and the shaft center of the counterpart machine 150 can be made to coincide with each other in the axial direction O with high accuracy by the stamping part E1. Further, the end surface 152C of the connection casing 152 of the counterpart machine 150 contacts the end surface 138C of the flange portion 138B of the output side casing 138, whereby the connection casing 152 is positioned on the outer periphery 138A of the output side casing 138 in the axial direction O. It has become so. Further, in the output side casing 138, the tapered roller bearing 128 is arranged in the axial direction O on the outer side of the stamping part E1 (on the right side in FIG. 1 or on the opposite machine side). For this reason, even if the taper roller bearing 128 is enlarged, the thickness of the portion 138E of the output side casing 138 that comes outside the taper roller bearing 128 can be sufficiently increased. That is, the output side casing 138 can constitute a highly rigid casing that can tolerate a large torque applied to the tapered roller bearing 128.

  On the other hand, an input side casing 137 of the casing 136 is disposed outside the outer ring 126 </ b> C of the tapered roller bearing 126. The input side casing 137 is integrally formed with an internal gear 134 that internally meshes with the planetary gear 114 including its tooth profile (internal teeth) 134A. Further, the input side casing 137 has outer rings 126C on both sides of the internal gear 134 in the axial direction O, on the outer side 126C of the tapered roller bearings 126, 128 (to avoid interference with the retainer holding the tapered rollers 126B, 128B). Protrusions 134B and 134C that abut each of 128C are provided. Here, the outer rings 126 </ b> C and 128 </ b> C of the tapered roller bearings 126 and 128 are arranged on both sides in the axial direction O of the internal gear 134 of the input side casing 137. Therefore, in the axial direction O, the tapered roller bearing 126, the protruding portion 134B, the internal gear 134, the protruding portion 134C, and the tapered roller bearing 128 are arranged. Note that the tapered roller bearings 126 and 128 are arranged in a rear combination. For this reason, a high radial load and an axial load can be supported.

  The input side casing 137 and the output side casing 138 are connected by a bolt 140 in the axial direction O. As shown in FIG. 1, the connecting portion C is provided on the outer periphery 137 </ b> A in the axial O range (from position A to position B) where the internal gear 134 of the input side casing 137 exists. Here, since the inner periphery 138D of the output side casing 138 covers the outer periphery 137A of the input side casing 137, the form part of the outer periphery 137A of the input side casing 137 reaching the connecting portion C is the same as the output side casing 138. It functions as a stamping part E2 with the input side casing 137. Therefore, the connection between the input side casing 137 and the output side casing 138 can be realized in the axial direction O, and the axial center of the input side casing 137 and the axial center of the output side casing 138 can be increased in the axial direction O. The accuracy can be matched.

  The tooth profile portion 134 </ b> A of the internal gear 134 is located near the end portion of the input side casing 137. For this reason, when processing the tooth profile portion 134A, the cutter arbor support portion that performs the tooth profile processing can be brought closer to the portion to be cut (tooth profile portion 134A), and deflection and the like can be prevented. Therefore, the tooth profile 134A of the internal gear 134 can be processed with high accuracy.

  1 is an oil seal disposed between the output-side casing 138 and the carrier body main body 122 in order to seal the inside and outside of the planetary speed reducer 100.

  Next, the assembly procedure of the planetary speed reducer 100 will be described with reference to FIGS.

  First, the inner ring 128A and the tapered roller 128B of the tapered roller bearing 128 are arranged on the outer periphery 122A of the carrier body main body 122, and the carrier body main body 122 is arranged inside the output side casing 138 from the opposite machine side.

  Next, as shown in FIG. 2, the outer ring 128 </ b> C of the tapered roller bearing 128 is arranged on the inner periphery 138 </ b> D of the output side casing 138 so as to be movable in the axial direction O. Then, the input side casing 137 is assembled in the output side casing 138 while pushing the outer ring 128C in the axial direction O from the opposite machine side to the other machine side with the projection 134C of the internal gear 134 and connected with the bolt 140 to the outer ring 128C. The input side casing 137 is fixed. Then, the outer ring 126 </ b> C of the tapered roller bearing 126 is disposed on the inner periphery 137 </ b> A of the input-side casing 137 in a state where it abuts on the protrusion 134 </ b> B of the internal gear 134 in the axial direction O. In FIG. 2, the oil seal 142 is already arranged, but it may be later as described later.

  Next, the planetary pin 118 is disposed at a predetermined position of the carrier body main body 122, and the needle 116, the spacer 116A, the stopper member 116B, and the planetary gear 114 are fitted to the planetary pin 118. Then, the carrier body main body 122 and the carrier body plate 121 are attached with bolts 124. At the time of attachment, the inner ring 126A and the tapered roller 126B of the tapered roller bearing 126 are arranged on the outer periphery 121A of the carrier body plate 121. The oil seal 142 is disposed between the output shaft 130 and the output side casing 138. At this time, by inserting a shim (not shown) between the opposite side of the inner ring 126A in the axial direction O (the right side in FIG. 1) and the shoulder 121B of the carrier body plate 121, the tapered roller bearing 126, The 128 pressurization can be easily adjusted. Note that the position where the shim is inserted is not limited to this position, and may be any place where the pressure applied to the tapered roller bearings 126 and 128 can be adjusted.

  Next, the sun gear press-fitted into a joint shaft (not shown) is arranged inside the planetary gear 114, and the input side casing 137 and the casing member that rotatably supports the sun gear are used using the bolt holes 142. The planetary speed reducer 100 can be assembled by fixing with bolts. That is, since the planetary reduction gear 100 can be assembled only from the opposite machine side in the axial direction O, assembly, repair, and parts replacement are easy. In addition, the pressure applied to the tapered roller bearings 126 and 128 can be easily adjusted during assembly (via shims or the like not shown), so that the carrier body 120 rattling against the input side casing 137 and the output side casing 138, etc. The high-precision rotation can be maintained. For this reason, the moment rigidity can be improved.

  Next, the operation of the planetary speed reducer 100 will be described.

  For example, the sun gear rotates through the joint shaft by the rotation of a motor (not shown). Then, since the internal gear 134 is in a fixed state, the revolution component of the planetary gear 114 is taken out from the carrier body 120. The carrier body 120 rotates the driven shaft of the counterpart machine 150 attached to the output shaft 130.

  In the present embodiment, the casing 136 is divided into an output side casing 138 on the counterpart machine side and an input side casing 137 on the counter machine side, and the input side casing 137 includes an internal gear 134 including a tooth profile part 134A. Are integrally formed. Therefore, even if the output-side casing 138 has a portion of the inner diameter D1 smaller than the outer diameter d1 of the outer ring of the tapered roller bearing 128 as the main bearing between the tapered roller bearing 128 and the counterpart machine, the tapered roller bearing. 128 can be incorporated into the output casing 138 (from the opposite machine side).

  Further, the casing 136 is divided into an output side casing 138 and an input side casing 137, and an internal gear 134 is integrally formed with the input side casing 137 including a tooth profile portion. Since the side casing 137 is connected, the tapered roller bearing 128 having a large diameter can be disposed without increasing the size of the planetary reduction gear 100 itself. Thereby, the capacity | capacitance of the taper roller bearing 128 can be enlarged, and an output torque and moment rigidity can be improved as a result.

  In other words, when the internal gear has a separate structure from the casing as in the prior art, or when the internal gear and its tooth profile are separate structures even if the internal gear is integrated with the casing, In order to fix the gear or the tooth profile to the casing, the inner diameter of the casing's internal gear and the tooth profile adjacent to the axial direction O, that is, the portion supporting the main bearing of the casing must be reduced. If the diameter of the bearing is reduced or the diameter of the main bearing is not reduced, there is a problem that the planetary reduction gear itself is enlarged.

  On the other hand, since the present embodiment has the above-described configuration, it is not necessary to reduce the inner diameter d1 of the portion adjacent to the internal gear 134 of the casing 136 in the axial direction O. Therefore, the planetary speed reducer 100 itself is enlarged. Without this, the tapered roller bearing 128 having a large diameter can be disposed as the main bearing. As a result, the capacity of the main bearing can be increased, and the output torque and moment rigidity can be improved.

  Further, since the connecting portion C between the input side casing 137 and the output side casing 138 is provided on the outer periphery 137A in the axial O range where the internal gear 134 of the input side casing 137 exists, the input reaching the connecting portion C is provided. The form part of the outer periphery 137 </ b> A of the side casing 137 can function as the stamped part E <b> 2 between the output side casing 138 and the input side casing 137. For this reason, since the axial centers of the input side casing 137 and the output side casing 138 can be aligned with the axial direction O with high accuracy, the planetary speed reducer 100 realizes smooth rotation without shaft shake over a long period of time. Can be made. At the same time, the connection between the input casing 137 and the output casing 138 can be shortened in the axial direction O, and the axial length of the planetary reduction gear 100 can be shortened.

  Further, since the outer periphery 138A of the output side casing 138 is fitted with the inner periphery 152A of the connection casing 152 of the counterpart machine 150 and functions as a stamping part E1 serving as a reference at the time of attachment, the counterpart machine 150 and the planetary speed reducer 100 are used. And easy alignment.

  Further, since the tapered roller bearing 128 is disposed on the outer side in the radial direction of the carrier body 120 with respect to the planetary pin 118, the tapered roller bearing 128 can be further enlarged. For this reason, it is possible to further increase the radial load capacity applied to the carrier body 120.

  Further, since the tapered roller bearing 126 which is a secondary bearing for supporting the carrier body plate 121 constituting the carrier body 120 is provided on the opposite side of the tapered roller bearing 128 with respect to the internal gear 134 in the axial direction O, a larger output torque is provided. It can be. At the same time, since the axis of the carrier body 120 and the axial direction O can be matched with high accuracy, the rotation of the carrier body 120 can be kept smooth. Since the tapered roller bearings 126 and 128 are used in combination on the back surface, a high radial load and an axial load can be supported.

  In the present embodiment, the carrier body 120 is configured by connecting a carrier body plate 121 and a carrier body main body 122 that are respectively supported by tapered roller bearings 126 and 128. The inner rings 126A and 128A of the tapered roller bearings 126 and 128 are disposed on the outer periphery 121A of the carrier body plate 121 and the outer periphery 122A of the carrier body main body 122, respectively. The outer ring 128 </ b> C of the tapered roller bearing 128 is disposed on the inner periphery 138 </ b> D of the output side casing 138 so as to be fixed in the axial direction O when the output side casing 138 and the input side casing 137 are connected. An outer ring 126 </ b> C of the tapered roller bearing 126 is disposed on the inner periphery 137 </ b> A of the input side casing 137. Therefore, when connecting the carrier body plate 121 and the carrier body main body 122, the opposite machine side (the right side in FIG. 1) of the inner ring 126 </ b> A of the tapered roller bearing 126 in the axial direction O and the shoulder 121 </ b> B of the carrier body plate 121. By inserting a shim or the like between them, the pressurization of the tapered roller bearings 126 and 128 can be easily adjusted. Therefore, it is possible to eliminate the rattling of the carrier body 120 with respect to the casing 136 and maintain high-precision rotation. For this reason, the moment rigidity can be improved.

  Therefore, according to the present embodiment, since the tapered roller bearing 128 having a large diameter can be adopted without increasing the size of the planetary reduction gear 100 itself, the capacity of the tapered roller bearing 128 as the main bearing can be increased, It becomes possible to improve output torque and moment rigidity.

  Although the present invention has been described with reference to the first embodiment, the present invention is not limited to the first embodiment. That is, it goes without saying that improvements and design changes can be made without departing from the scope of the present invention.

  For example, in the first embodiment, the output shaft 130 has a flange shape, but the present invention is not limited to this, and the shape of the output shaft can be changed based on the shape of the driven shaft of the counterpart machine. Easy. For example, as shown in the second embodiment of FIG. 3, a cylindrical output shaft 230 may be provided on the carrier body main body 222 and connected to the driven shaft of the counterpart machine 250 via the key groove 230A. The change of the output shaft to the so-called solid type (the first embodiment is referred to as a flange type) is a component (carrier body and output shaft, or the components constituting the output shaft without impairing the operational effects of the present invention). This can be easily done only by changing the output shaft). That is, since components other than those constituting the output shaft can be shared, the cost of a planetary reduction gear including a flange type or solid type output shaft can be reduced.

  In the above embodiment, the casing is fixed and the carrier body is provided with the output shaft, but the present invention is not necessarily limited thereto, and the carrier body is fixed and the casing rotates to obtain an output. A so-called frame rotation type may be used.

  Moreover, in the said embodiment, although two taper roller bearings were used by the back surface combination, this invention is not necessarily limited to this, The case where one bearing is used may be sufficient. For example, a cross roller bearing may be disposed and used only at the position of the tapered roller bearing (main bearing) 128 of FIG. Even in that case, it is possible to handle the axial load in both directions in the axial direction of the driven shaft of the counterpart machine, to obtain the same effect as when two tapered roller bearings are used, and to further reduce the planetary speed reducer. Shortening to the axial direction O is possible.

  Also, even when two bearings are used, an angular bearing (roller or ball) may be used instead of a tapered roller bearing, and the combination is not limited to the back side. There may be.

  Moreover, in the said embodiment, although the planetary reduction gear was a simple planetary gear mechanism, this invention is not necessarily limited to this. For example, the planetary gear may be an external gear that swings and rotates by the rotation of the eccentric body. In this case, the planetary pin (carrier pin) is synchronized with the rotation component of the external gear, and the rotation component of the external gear is extracted from the planetary pin. Of course, even in such a case, a frame rotation type in which the casing rotates may be used.

100, 200 ... Planetary reducer 114, 214 ... Planetary gear 116, 216 ... Needle 118, 218 ... Planetary pin 120, 220 ... Carrier body 121, 221 ... Carrier body plate 122, 222 ... Carrier body body 126, 128, 226, 228 ... Tapered roller bearing 126A, 128A ... Inner ring 126B, 128B ... Tapered roller 126C, 128C ... Outer ring 130, 230 ... Output shaft 134, 234 ... Internal gear 134A ... Tooth profile (inner teeth)
136, 236 ... casing 137, 237 ... input side casing 138, 238 ... output side casing 150, 250 ... counterpart machine 152, 252 ... connection casing

Claims (5)

A planetary gear, an internal gear with which the planetary gear internally meshes, a carrier body that synchronizes with the revolution component or rotation component of the planetary gear, a main bearing that rotatably supports the carrier body, and In a planetary reducer comprising a casing having an inner diameter portion smaller than the outer diameter of the outer ring between the main bearing and the counterpart machine,
The casing is separated on the counterpart machine side and the counter machine side,
The main bearing is disposed on the counterpart machine side in the axial direction with respect to the internal gear;
The internal gear is integrally formed with the casing on the opposite machine side including the tooth profile, and
The casing on the counterpart machine side and the casing on the counter machine side are connected,
The counter-party machine side of the casing, have a contact with projections on the outer ring of the main bearing,
The connecting portion where the end surface of the casing on the counter machine side and the end surface of the casing on the counter machine side oppose each other is the outside of the internal gear of the casing on the counter machine side and viewed from the radial direction. A planetary speed reducer provided at a position overlapping with an internal gear . In claim 1 ,
The planetary speed reducer characterized in that an outer periphery of a casing of the counterpart machine is fitted with an inner circumference of a connection casing of the counterpart machine and functions as a stamping part serving as a reference for installation. In claim 1 or 2 ,
The planetary gear is supported by a planetary pin;
The planetary speed reducer, wherein the main bearing is disposed radially outside the carrier body with respect to the planet pin. In any one of Claims 1 thru | or 3 , Furthermore,
A planetary speed reducer comprising: a sub-bearing for supporting the carrier body on the opposite side of the main bearing with respect to the internal gear in the axial direction. In claim 4 ,
A planetary speed reducer characterized in that the main bearing and the sub-bearing are respectively tapered roller bearings and are used in combination on the back surface.

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