JP7211753B2 - Gear unit and its assembly method - Google Patents

Description

TECHNICAL FIELD The present invention relates to a gear unit and its assembly method.

2. Description of the Related Art Conventionally, various gear mechanisms used between a device for transmitting driving force, such as a speed reducer and a motor, are known.

As such a gear mechanism, Patent Literature 1 discloses a two-stage drive gear that can be integrally formed and that can minimize the transmission loss of driving force and improve the meshing ratio.

JP-A-7-83314 JP 2013-35475 A

However, when such a two-stage drive gear is applied to the oscillating inner contact type planetary gear device disclosed in Patent Document 2, since the periphery is surrounded by gears (spur gears), A gear (input gear) cannot be incorporated, and since the phase of the drive gear is out of phase, another gear will block the teeth of the gear. There was a problem that the gear could not be incorporated.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and an object of the present invention is to provide an oscillating internal planetary gear device in which a central gear (input gear) is surrounded by gears (spur gears). To provide a gear unit in which a central gear (input gear) is incorporated, and a method for assembling the gear unit, in which the meshing ratio is increased and driving noise is reduced.

A gear unit according to one embodiment of the present invention includes a first gear group including a first gear and a second gear having a phase different from that of the first gear, and meshing with the first gear. a second gear group including a third gear that meshes with the second gear and a fourth gear that meshes with the second gear and is out of phase with the third gear; and a fifth gear that meshes with the first gear. and a sixth gear meshing with the second gear and out of phase with the fifth gear.

In the gear unit according to one embodiment of the present invention, the phase of the third gear and the phase of the fifth gear are the same, and the phase of the fourth gear and the phase of the sixth gear are is the same as

A method for assembling a gear unit according to an embodiment of the present invention includes a first gear group including a first gear and a second gear having a phase different from that of the first gear; A first gear group shaft to which the gear group is fixed, a third gear that meshes with the first gear, and a fourth gear that meshes with the second gear and has a different phase from the third gear a second gear group including a gear, a second gear group shaft to which the second gear group is fixed, a fifth gear meshing with the first gear, and the second gear a third gear group including a sixth gear that meshes with and is out of phase with the fifth gear; and a third gear group shaft to which the third gear group is fixed, securing the first gear to the first gear group shaft; securing the third gear to the second gear group shaft; securing the fifth gear to the third gear group shaft; securing the second gear to the first gear group shaft, securing the fourth gear to the second gear group shaft, and securing the sixth gear to the first gear group shaft; to the third gear group shaft.

A method for assembling a gear unit according to an embodiment of the present invention includes a first gear group including a first gear and a second gear having a phase different from that of the first gear; A first gear group shaft to which the gear group is fixed, a third gear that meshes with the first gear, and a fourth gear that meshes with the second gear and has a different phase from the third gear a second gear group including a gear, a second gear group shaft to which the second gear group is fixed, a fifth gear meshing with the first gear, and the second gear a third gear group including a sixth gear that meshes with and is out of phase with the fifth gear; and a third gear group shaft to which the third gear group is fixed, fixing the first gear to the first gear group shaft; fixing the third gear and the fourth gear to the second gear group shaft; and the sixth gear to the third gear group shaft; and fixing the second gear to the first gear group shaft.

A method for assembling a gear unit according to an embodiment of the present invention includes a first gear group including a first gear and a second gear having a phase different from that of the first gear; A first gear group shaft to which the gear group is fixed, a third gear that meshes with the first gear, and a fourth gear that meshes with the second gear and has a different phase from the third gear a second gear group including a gear, a second gear group shaft to which the second gear group is fixed, a fifth gear meshing with the first gear, and the second gear a third gear group including a sixth gear that meshes with and is out of phase with the fifth gear; and a third gear group shaft to which the third gear group is fixed, fixing the third gear to the second gear group shaft and fixing the fifth gear to the third gear group shaft; and fixing the first gear to the first gear group shaft. fixing the second gear to the first gear group shaft; fixing the fourth gear to the second gear group shaft; fixing the sixth gear to the second gear group shaft; and fixing to the third gear group shaft.

A method for assembling a gear unit according to an embodiment of the present invention includes a first gear group including a first gear and a second gear having a phase different from that of the first gear; A first gear group shaft to which the gear group is fixed, a third gear that meshes with the first gear, and a fourth gear that meshes with the second gear and has a different phase from the third gear a second gear group including a gear, a second gear group shaft to which the second gear group is fixed, a fifth gear meshing with the first gear, and the second gear a third gear group including a sixth gear that meshes with and is out of phase with the fifth gear; and a third gear group shaft to which the third gear group is fixed, fixing the third gear to the second gear group shaft and fixing the fifth gear to the third gear group shaft; the first gear and the second gear; and are fixed to the first gear group shaft, the fourth gear is fixed to the second gear group shaft, and the sixth gear is fixed to the third gear group shaft and a step.

A method for assembling a gear unit according to an embodiment of the present invention includes a first gear group including a first gear and a second gear having a phase different from that of the first gear; A first gear group shaft to which the gear group is fixed, a third gear that meshes with the first gear, and a fourth gear that meshes with the second gear and has a different phase from the third gear a second gear group including a gear, a second gear group shaft to which the second gear group is fixed, a fifth gear meshing with the first gear, and the second gear a third gear group including a sixth gear that meshes with and is out of phase with the fifth gear; and a third gear group shaft to which the third gear group is fixed, fixing the third gear to the second gear group shaft and fixing the fifth gear to the third gear group shaft; and fixing the first gear to the third gear or holding the fifth gear in mesh; fixing the fourth gear to the second gear group shaft and fixing the sixth gear to the third gear group shaft; a step;

A method for assembling a gear unit according to an embodiment of the present invention includes a first gear group including a first gear and a second gear having a phase different from that of the first gear; A first gear group shaft to which the gear group is fixed, a third gear that meshes with the first gear, and a fourth gear that meshes with the second gear and has a different phase from the third gear a second gear group including a gear, a second gear group shaft to which the second gear group is fixed, a fifth gear meshing with the first gear, and the second gear a third gear group including a sixth gear that meshes with and is out of phase with the fifth gear; and a third gear group shaft to which the third gear group is fixed, fixing the third gear to the second gear group shaft and fixing the fifth gear to the third gear group shaft; and fixing the first gear to the third gear or holding the fifth gear in mesh; fixing the fourth gear to the second gear group shaft and fixing the sixth gear to the third gear group shaft; and holding the second gear in mesh with the fourth gear or the sixth gear.

A gear unit according to one embodiment of the present invention includes a seventh gear that meshes with the first gear, an eighth gear that meshes with the second gear and has a different phase from the seventh gear, and a fourth gear group including

A gear unit according to one embodiment of the present invention includes a seventh gear that meshes with the first gear, an eighth gear that meshes with the second gear and has a different phase from the seventh gear, a fourth gear group including a ninth gear that meshes with the first gear; and a tenth gear that meshes with the second gear and has a different phase from the ninth gear. 5 gear groups.

A gear unit assembly method according to an embodiment of the present invention further comprises the step of replacing the first gear group shaft with an input shaft of a motor attached to the gear unit.

A gear unit assembly method according to an embodiment of the present invention further comprises the step of replacing the second gear group shaft with a crankshaft of a speed reducer attached to the gear unit.

In the method for assembling a gear unit according to one embodiment of the present invention, the first gear group shaft is rotatably held by a speed reducer.

In the gear unit according to one embodiment of the present invention, the first gear and the second gear are arranged with an interval larger than the face width of these gears.

A gear device according to one embodiment of the present invention includes a gear unit, a gear member provided between the first gear and the second gear, and the first gear and the second gear. and a drive mechanism provided between.

A gear device according to one embodiment of the present invention includes a gear unit, a drive mechanism connected to the sixth gear, and a drive mechanism holding the sixth gear and the first gear or the second gear. and a carrier spaced apart by a distance greater than the tooth width of the gear.

According to one embodiment of the present invention, in an oscillating internal planetary gear device in which a central gear (input gear) is surrounded by gears (spur gears), the central gear (input gear) is incorporated It is possible to provide a gear unit and its assembling method.

1 is a schematic diagram of a gear unit according to an embodiment of the invention; FIG. 1 is an enlarged view of a gear unit according to one embodiment of the present invention; FIG. 1 is a cross-sectional view of a device comprising a gear unit according to an embodiment of the invention; FIG. 1 is a schematic diagram of an oscillating internal planetary gear device according to an embodiment of the present invention; FIG. FIG. 4 is a schematic cross-sectional view of the oscillating internal planetary gear set of FIG. 3; FIG. 5 is a schematic diagram of an oscillating internal planetary gear system according to another embodiment of the present invention;

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described with reference to the drawings.

FIG. 1a is a schematic diagram of a gear unit 100 according to one embodiment of the invention.

A gear unit 100 according to one embodiment of the present invention includes a first gear group 11 including a first gear 1 and a second gear 2 having a phase different from that of the first gear 1; a second gear group 21 including a third gear 3 meshing with the first gear 1 and a fourth gear 4 meshing with the second gear 2 and having a different phase from the third gear 3; , a fifth gear 5 that meshes with the first gear 1, and a sixth gear 6 that meshes with the second gear 2 and has a different phase from the fifth gear 5. and group 31.

The illustrated gear unit 100 includes a first gear group shaft 10 to which a first gear group 11 is fixed, a second gear group shaft 20 to which a second gear group 21 is fixed, and a third gear group. and a third gear group shaft 30 to which the gear 31 is fixed. In the gear unit 100 according to one embodiment of the present invention, the phase of the third gear 3 and the phase of the fifth gear 5 are the same, and the phase of the fourth gear 4 and the phase of the sixth gear 6 are the same. may be configured to have the same phase.

In the illustrated example, the gear unit 100 further includes a seventh gear 7 that meshes with the first gear 1, and a gear that meshes with the second gear 2 and has a different phase from the seventh gear 7. a fourth gear group 41 including an eighth gear 8; In this case, the gear unit 100 is configured to further include a fourth gear group shaft 40 to which the fourth gear group 41 is fixed.

Alternatively, the gear unit according to one embodiment of the present invention includes a seventh gear that meshes with the first gear, and an eighth gear that meshes with the second gear and has a different phase from the seventh gear. , a ninth gear that meshes with the first gear, and a tenth gear that meshes with the second gear and has a different phase from the ninth gear. and a fifth gear group. In this case, the gear unit 100 further includes a fourth gear group shaft 40 to which the fourth gear group 41 is fixed, and a fifth gear group shaft 50 to which the fifth gear group 51 is fixed. configured to include

FIG. 1b shows an enlarged view of the fourth gear group 41 meshing with the first gear group 11 of the gear unit 100 of FIG. 1a. As shown in FIGS. 1 a and 1 b , the seventh gear 7 of the fourth gear group 41 is fixed to the fourth gear group shaft 40 so as to be half out of phase with the eighth gear 8 . Also, the first gear 1 of the first gear group 11 is fixed to the first gear group shaft 10 so as to be out of phase with the second gear by half. By meshing both gear groups in this way, the meshing ratio can be doubled, so that the drive noise generated when the gear unit operates can be reduced.

In FIG. 1b, the fourth gear group 41 of the gear unit 100 of FIG. 1 has been described as an example, but the second gear group 21 and the third gear group 31 are similarly constructed. In this way, it is possible to form a plurality of sets of combinations of gear groups with improved meshing ratios, and to reduce driving noise generated when the gear unit operates. In the above example, the phase shift is explained as half a phase, but it is not limited to this and can be changed as appropriate.

Next, FIG. 2 shows a cross-sectional view of a device provided with the gear unit 100 according to one embodiment of the present invention. The gear unit 100 is a cross-sectional view of the gear unit 100 in FIG. 1a.

The illustrated device comprises a motor 110 , a speed reducer 120 , and a gear unit 100 interposed therebetween for inputting the driving force of the motor 110 to the speed reducer 120 . More precisely, the gear unit 100 refers to a gear unit configured as an assembly of gear mechanisms included in both the motor 110 and the speed reducer 120, but is not necessarily limited to this. Absent.

The illustrated gear unit 100 includes a first gear (input gear) 1 and a second gear (input gear) 2 having a different phase from the first gear (input gear) 1. A group 11 and a first gear group shaft (input shaft) 10 to which the first gear group 11 is fixed, the first gear group shaft (input shaft) 10 , and reaches inside the speed reducer 120 . A spline can be used for coupling with the motor 110, and two input gears may be inserted into the spline. A collar (buffer member) may be provided between the two input gears to prevent mutual collision.

The illustrated gear unit 100 further includes a third gear (spur gear) 3 meshing with the first gear (input gear) 1 and meshing with the second gear (input gear) 2 in the speed reducer 120. A second gear group 21 including a fourth gear (spur gear) 4 having a different phase from the third gear (spur gear) 3, and a second gear group to which the second gear group 21 is fixed and a crankshaft 20 . In this manner, the driving force of the motor 110 is transmitted to the speed reducer 120 via the gear unit 100, reduced in speed by the speed reducer 120, and output. By meshing both gear groups in this manner, the meshing ratio can be doubled, so that the drive noise generated when the gear unit 100 is operated can be reduced. The method of coupling each spur gear to the shaft is not limited to bolts, and each spur gear may be spline-engaged with the shaft.

Although not shown in FIG. 2 , the gear unit 100 further includes a fifth gear (spur gear) 5 meshing with the first gear (input gear) 1 and a second gear (input gear) within the speed reducer 120 . A third gear group 31 including a sixth gear (spur gear) 6 that meshes with the gear 2 and is out of phase with the fifth gear (spur gear) 5, and the third gear group 31 is fixed. and a third gear group shaft (crankshaft) 30 .

In this way, it is possible to form a plurality of sets of combinations of gear groups with improved meshing ratios, and it is possible to reduce drive noise generated when the gear unit is operated.

On the other hand, when such a gear unit 100 is arranged between the motor 110 and the speed reducer 120, the input gear is surrounded by spur gears, so there is a problem that the input gear cannot be installed laterally. There is Moreover, since each gear group of the gear unit 100 has two gears with different phases, there is also the problem that an input gear cannot be incorporated from the motor side.

Therefore, the gear unit 100 according to one embodiment of the present invention is assembled by the following method. First, a state is formed in which the first gear group shaft (input shaft) 10 is held inside the speed reducer 120 .

(Method A for assembling the gear unit)
A method for assembling the gear unit 100 according to one embodiment of the present invention includes:
(1) fixing the first gear 1 to the first gear group shaft 10;
(2) fixing the third gear 3 to the second gear group shaft 20 and fixing the fifth gear 5 to the third gear group shaft 30;
(3) The second gear 2 is fixed to the first gear group shaft 10, the fourth gear 4 is fixed to the second gear group shaft 20, and the sixth gear 6 to the third gear group shaft 30.

According to the assembling method of one embodiment of the present invention, in an oscillating internal planetary gear device in which a central gear (input gear) is surrounded by gears (spur gears), the central gear (input gear) is It becomes possible to provide an integrated gear unit.

Here, in the assembling method A, fixing the third gear 3 to the second gear group shaft 20 and fixing the fifth gear 5 to the third gear group shaft 30 in step (2) does not necessarily mean that they are performed strictly at the same time, and may be performed after step (1) and before step (3). This also applies to the following assembly method.

(Assembly method B of gear unit)
A method for assembling the gear unit 100 according to one embodiment of the present invention includes:
(1) fixing the first gear 1 to the first gear group shaft 10;
(2) The third gear 3 and the fourth gear 4 are fixed to the second gear group shaft 20, and the fifth gear 5 and the sixth gear 6 are fixed to the third gear group. fixing to shaft 30;
(3) fixing the second gear 2 to the first gear group shaft 10;

(Method C for assembling the gear unit)
A method for assembling the gear unit 100 according to one embodiment of the present invention includes:
(1) fixing the third gear 3 to the second gear group shaft 20 and fixing the fifth gear 5 to the third gear group shaft 20;
(2) fixing the first gear 1 to the first gear group shaft 10;
(3) The second gear 2 is fixed to the first gear group shaft 10, the fourth gear 4 is fixed to the second gear group shaft 20, and the sixth gear 6 is fixed to the and fixing to the third gear group shaft 30 .

(Assembly method D of gear unit)
A method for assembling the gear unit 100 according to one embodiment of the present invention includes:
(1) fixing the third gear 3 to the second gear group shaft 20 and fixing the fifth gear 5 to the third gear group shaft 30;
(2) The first gear 1 and the second gear 2 are fixed to the first gear group shaft 10, and the fourth gear 4 is fixed to the second gear group shaft 20. and fixing the sixth gear 6 to the third gear group shaft 30 .

(Method E for Assembling Gear Unit)
A method for assembling the gear unit 100 according to one embodiment of the present invention includes:
(1) fixing the third gear 3 to the second gear group shaft 20 and fixing the fifth gear 5 to the third gear group shaft 30;
(2) holding the first gear 1 in mesh with the third gear 3 or the fifth gear 5;
(3) fixing the fourth gear 4 to the second gear group shaft 20 and fixing the sixth gear 6 to the third gear group shaft 30;

(Method F for assembling the gear unit)
A method for assembling the gear unit 100 according to one embodiment of the present invention includes:
(1) fixing the third gear 3 to the second gear group shaft 20 and fixing the fifth gear 5 to the third gear group shaft 30;
(2) holding the first gear 1 in mesh with the third gear 3 or the fifth gear 5;
(3) fixing the fourth gear 4 to the second gear group shaft 20 and fixing the sixth gear 6 to the third gear group shaft 30;
(4) holding the second gear 2 in mesh with the fourth gear 4 or the sixth gear 6;

According to the above assembly method of one embodiment of the present invention, in an oscillating internal planetary gear device in which a central gear (input gear) is surrounded by gears (spur gears), the central gear (input gear) It is possible to provide a gear unit in which is incorporated.

In the method of assembling the gear unit 100 according to one embodiment of the present invention, the first gear group shaft 10 is configured to be rotatably held by the speed reducer. Further, the method for assembling the gear unit 100 according to one embodiment of the present invention is configured to include the step of replacing the first gear group shaft 10 with the input shaft (input shaft) of the motor 110 attached to the gear unit 100. You may Also, the method of assembling the gear unit 100 according to one embodiment of the present invention may be configured to include the step of replacing the second gear group shaft 20 with the crankshaft of the speed reducer attached to the gear unit. .

Here, the first gear 1 and the second gear 2 can be arranged close to each other. A third gear 3, a fourth gear 4, a fifth gear 5, and a sixth gear that mesh with these gears can also be arranged in the vicinity of each other. Also, different members can be arranged in the vicinity of the first gear 1, the second gear 2, the third gear 3, the fourth gear 4, the fifth gear 5, and the sixth gear 6. . For example, the different member may be the drive mechanism 800, the carrier 600, or other members.

Here, after the third gear 3, the fourth gear 4, the fifth gear 5, and the sixth gear 6 are assembled, the second gear 2 cannot be assembled. That is, since the third gear 3, the fourth gear 4, the fifth gear 5, and the sixth gear 6 are arranged close to each other, the gap between the third gear 3 and the fourth gear 4 is Alternatively, it cannot be assembled from the gap between the fifth gear 5 and the sixth gear 6. Also, the second gear 2 is not assembled between the fourth gear 4 and the sixth gear 6 because of the gap between the sixth gear 6 and the drive mechanism 800 .

However, according to the assembling method of the present invention, it is possible to assemble the second gear 2 between the fourth gear 4 and the sixth gear 6 . In addition, since the first gear 1, the second gear 2, the third gear 3, the fourth gear 4, the fifth gear 5, and the sixth gear 6 are meshed, it can be shipped in this state. , it is possible to improve the ease of assembly at the shipping destination (customer, etc.). In addition, since the first gear 1, the second gear 2, the third gear 3, the fourth gear 4, the fifth gear 5, the sixth gear 6 and the already-described different members can be arranged in the vicinity, It is possible to prevent the length in the rotation axis direction from becoming long.

Next, FIG. 3 is a schematic cross-sectional view of a device composed of a speed reducer (eccentric oscillating speed reducer) 110, a motor 120, and a gear unit 100. As shown in FIG. The device includes a mounting tube 400 that is used to mount the motor 120 to the speed reducer 110 .

Motor 120 includes housing 210 and motor shaft 220 . Various parts (for example, coils and stator cores) used in a general motor are arranged in housing 210 . The principles of this embodiment are not limited to any particular structure within housing 210 .

Input shaft 220 of motor 110 extends toward speed reducer 110 . Gear portions 221 and 222 are formed at the tip of the input shaft 220 . Gear portions 221 and 222 mesh with speed reducer 5 . As a result, the torque generated by the motor 4 is transmitted to the speed reducer 5 .

As shown in FIG. 3, the speed reducer 110 includes an outer cylinder 500, a carrier 600, a gear portion 700, three drive mechanisms 800 (FIG. 3 shows one of the three drive mechanisms 800), and two main bearings 900 (not shown).

FIG. 4 shows a cross-sectional view of the speed reducer 110 shown in FIG. 3 along the line AA. As shown in FIG. 4 , outer cylinder 500 includes a substantially cylindrical case 510 and a plurality of internal tooth pins 520 . The case 510 defines a cylindrical internal space in which the carrier 600, the gear portion 700 and the drive mechanism 800 are accommodated. A plurality of internal toothed pins 520 are annularly arranged along the inner peripheral surface of case 510 to form an internal toothed ring. In this embodiment, the internal teeth are exemplified by an internal tooth pin 520 .

FIG. 4 shows the rotation center axis RCX of carrier 600 and motor shaft 220 . Each internal pin 520 is a cylindrical member extending in the direction in which rotation center axis RCX extends. Each internal pin 520 is fitted into a groove formed in the inner wall of case 510 . Therefore, each internal pin 520 is properly held by the case 510 .

As shown in FIG. 4, the plurality of internal tooth pins 520 are arranged at substantially constant intervals around the rotation center axis RCX. A half peripheral surface of each internal pin 520 protrudes from the inner wall of case 510 toward rotation center axis RCX. Therefore, the plurality of internally toothed pins 520 function as internal teeth that mesh with the gear portion 700 .

As shown in FIG. 3, carrier 600 includes base portion 610 and end plate portion 620 . The end plate portion 620 is arranged between the base portion 610 and the motor 4 . Carrier 600 is generally cylindrical. The carrier 600 rotates within the outer cylinder 50 around the rotation center axis RCX.

Base 610 includes a base portion 611 (see FIG. 3) and three shaft portions 612 (see FIG. 4). Each of the three shaft portions 612 extends from the base plate portion 611 toward the end plate portion 620 . The end plate portion 620 is connected to the tip surface of each of the three shaft portions 612 . The end plate portion 620 may be connected to the distal end surfaces of the three shaft portions 612 by reamer bolts, positioning pins, or other means.

As shown in FIG. 3 , gear portion 700 is positioned between base portion 611 and end plate portion 620 . The three shaft portions 612 pass through the gear portion 700 and are connected to the end plate portion 620 .

As shown in FIG. 3 , the gear portion 700 includes a first trochoidal gear 710 and a second trochoidal gear 720 . The first trochoidal gear 710 is arranged between the base portion 611 and the second trochoidal gear 720 . The second trochoidal gear 720 is arranged between the end plate portion 620 and the first trochoidal gear 710 . As shown in FIG. 4 , some of the plurality of external teeth of the first trochoid gear 710 mesh with an internal tooth ring formed by the plurality of internal tooth pins 520 .

Rotation of the motor shaft 220 is transmitted to the first trochoidal gear 710 and the second trochoidal gear 720 by the drive mechanism 800 . As a result, the oscillating rotation of the first trochoidal gear 710 and the second trochoidal gear 720 is caused.

FIG. 3 shows the central axis CX1 of the first trochoidal gear 710 and the central axis CX2 of the second trochoidal gear 720 . Center axes CX1 and CX2 extend substantially parallel to rotation center axis RCX of carrier 600 . FIG. 4 shows the central axis CX1 of the first trochoidal gear 720. As shown in FIG. During the rocking rotation described above, the center axes CX1 and CX2 revolve around the rotation center axis RCX of the carrier 600 . Therefore, the first trochoidal gear 710 and the second trochoidal gear 720 circulate inside the case 510 while meshing with the internal pin 520 . During this time, the first trochoidal gear 710 and the second trochoidal gear 720 contact the three shaft portions 612 of the carrier 600 to rotate the carrier 600 around the rotation center axis RCX.

The central axis CX2 of the second trochoid gear 720 may rotate around the rotation central axis RCX of the carrier 600 in a different phase from the central axis CX1 of the first trochoid gear 710 .

A driving force from the motor 120 is transmitted as an output to the base portion 610 of the speed reducer 110 .

Each of the three drive mechanisms 800 includes two input gears 810, 811, a crankshaft 820, two journal bearings 830 and two crank bearings 840, as shown in FIG. Two input gears 810 , 811 mesh with two gear sections 221 , 222 of the input shaft 220 of the motor 120 to receive torque from the motor 110 . Unlike the first trochoidal gear 710 and the second trochoidal gear 720, the input gears 810, 811 are spur gears. Alternatively, other types of gear components may be used as input gears 810,811. The principles of this embodiment are not limited to any particular type of gear component used as input gears 810,811.

The reduction ratio determined by the input gears 810, 811 and the gear portions 221, 222 of the input shaft 220 of the motor 110 may be smaller than the reduction ratio determined by the internal ring and the gear portion 700 described above. In one embodiment of the present invention, the first reduction ratio is described by the reduction ratio determined by the input gears 810, 811 and the gear portions 221, 222 of the input shaft 220 of the motor 110. FIG. Also, the second reduction ratio is described by the reduction ratio determined by the internal tooth ring and the gear portion 700 .

As the input gears 810, 811 rotate, the crankshaft 820 rotates. As a result, the first eccentric portion 823 and the second eccentric portion 824 rotate eccentrically. During this time, the first trochoid gear 710 connected to the first eccentric portion 823 via the crank bearing 840 can circulate within the outer cylinder 500 while meshing with the plurality of internal toothed pins 520 . Similarly, the second trochoidal gear 720 connected to the second eccentric portion 824 via the crank bearing 840 can circulate within the outer cylinder 500 while meshing with the plurality of internally toothed pins 520 . As a result, each of the first trochoidal gear 710 and the second trochoidal gear 720 can swing and rotate within the outer cylinder 500 . In this embodiment the crank mechanism is illustrated by a crankshaft 820 and two crank bearings 840 .

A crankshaft 820 shown in FIG. 3 includes a first journal 821 , a second journal 822 , a first eccentric portion 823 and a second eccentric portion 824 . First journal 821 is surrounded by substrate portion 611 of carrier 600 . Second journal 822 is surrounded by end plate portion 620 of carrier 600 . One of the two journal bearings 830 is arranged between the first journal 821 and the base plate portion 611 . The other of the two journal bearings 830 is arranged between the second journal 822 and the end plate portion 620 . Additionally, the input gears 810 , 811 described above are mounted on the second journal 822 .

Next, referring to FIG. 5 , an oscillating internal planetary gear device according to another embodiment of the present invention will be described. As shown in the figure, a gear device according to another embodiment of the present invention comprises a speed reducer (eccentric oscillating speed reducer) 110, a motor 120, and a gear unit 100. The device includes a mounting tube 400 that is used to mount the motor 120 to the speed reducer 110 .

Motor 120 includes housing 210 and motor shaft 220 . Various parts (for example, coils and stator cores) used in a general motor are arranged in housing 210 . The principles of this embodiment are not limited to any particular structure within housing 210 . Also, the speed reducer 110 includes an outer cylinder 500, a carrier 600, a gear portion 700, three drive mechanisms 800 (FIG. 3 shows one of the three drive mechanisms 800), and two main bearings 900. (not shown).

Input shaft 220 of motor 110 extends toward speed reducer 110 . Gear portions 221 and 222 are formed at the tip of the input shaft 220 . Gear portions 221 and 222 mesh with speed reducer 5 . As a result, the torque generated by the motor 4 is transmitted to the speed reducer 5 . Unlike the case in FIG. 3, in the example shown in FIG. 5 , in the gear unit according to another embodiment of the present invention, the gear portion (corresponding to the first gear) 221 and the gear portion (corresponding to the second gear) 222 are spaced apart by a distance greater than the tooth width of these gears. In this way it is possible to place different members such as gear member 700 and drive 800 between the gears of the gear unit as desired.

A gear device according to another embodiment of the present invention includes a gear unit 100, a gear member provided between a gear portion (corresponding to the first gear) 221 and a gear portion (corresponding to the second gear) 222. 700 and a drive mechanism 800 provided between the first gear 221 and the second gear 222 .

A gear device according to another embodiment of the present invention comprises a gear unit 100, a drive mechanism 800 connected to an input gear (corresponding to a sixth gear) 811, and a drive mechanism 800 that holds the sixth gear. 811 and a carrier 600 spaced apart by a distance greater than the tooth width of the first gear 221 or the second gear 222 .

The foregoing is a description of exemplary embodiments of the present invention. The various embodiments described above are not limited to those described above and are applicable to various steering devices. Some of the various features described in relation to one of the various embodiments above may be applied to the steering system described in relation to another embodiment.

1 first gear 2 second gear 3 third gear 4 fourth gear 5 fifth gear 6 sixth gear 7 seventh gear 8 eighth gear 10 first gear group shaft 11 First gear group 20 Second gear group shaft 21 Second gear group 30 Third gear group shaft 31 Third gear group 100 Gear unit 110 Reducer 120 Motor

Claims (18)

a first gear group including a first gear and a second gear out of phase with the first gear;
a first gear group shaft to which the first gear group is fixed;
a second gear group including a third gear that meshes with the first gear and a fourth gear that meshes with the second gear and is out of phase with the third gear;
a second gear group shaft to which the second gear group is fixed and which rotates together with the third gear and the fourth gear;
a third gear group including a fifth gear that meshes with the first gear, and a sixth gear that meshes with the second gear and has a different phase from the fifth gear;
a third gear group shaft to which the third gear group is fixed and which rotates together with the fifth gear and the sixth gear;
A gear unit comprising: 2. The method of claim 1, wherein the phase of the third gear and the phase of the fifth gear are the same, and the phase of the fourth gear and the phase of the sixth gear are the same. gear unit. a first gear group including a first gear and a second gear out of phase with the first gear;
a first gear group shaft to which the first gear group is fixed;
a second gear group including a third gear that meshes with the first gear and a fourth gear that meshes with the second gear and is out of phase with the third gear;
a second gear group shaft to which the second gear group is fixed and which rotates with the third gear and the fourth gear;
a third gear group including a fifth gear that meshes with the first gear, and a sixth gear that meshes with the second gear and has a different phase from the fifth gear;
A method for assembling a gear unit comprising a third gear group shaft to which the third gear group is fixed and which rotates together with the fifth gear and the sixth gear,
a first step of fixing the first gear to the first gear group shaft;
a second step after the first step of fixing the third gear to the second gear group shaft and fixing the fifth gear to the third gear group shaft;
After the second step , fixing the second gear to the first gear group shaft, fixing the fourth gear to the second gear group shaft, and fixing the sixth gear and a third step of fixing to the third gear group shaft. a first gear group including a first gear and a second gear out of phase with the first gear;
a first gear group shaft to which the first gear group is fixed;
a second gear group including a third gear that meshes with the first gear and a fourth gear that meshes with the second gear and is out of phase with the third gear;
a second gear group shaft to which the second gear group is fixed and which rotates with the third gear and the fourth gear;
a third gear group including a fifth gear that meshes with the first gear, and a sixth gear that meshes with the second gear and has a different phase from the fifth gear;
A method for assembling a gear unit comprising a third gear group shaft to which the third gear group is fixed and which rotates together with the fifth gear and the sixth gear,
a first step of fixing the first gear to the first gear group shaft;
After the first step, the third gear and the fourth gear are fixed to the second gear group shaft, and the fifth gear and the sixth gear are fixed. a second step of fixing to the third gear group shaft;
and a third step of fixing the second gear to the first gear group shaft after the second step. a first gear group including a first gear and a second gear out of phase with the first gear;
a first gear group shaft to which the first gear group is fixed;
a second gear group including a third gear that meshes with the first gear and a fourth gear that meshes with the second gear and is out of phase with the third gear;
a second gear group shaft to which the second gear group is fixed and which rotates with the third gear and the fourth gear;
a third gear group including a fifth gear that meshes with the first gear, and a sixth gear that meshes with the second gear and has a different phase from the fifth gear;
A method for assembling a gear unit comprising a third gear group shaft to which the third gear group is fixed and which rotates together with the fifth gear and the sixth gear,
a first step of fixing the third gear to the second gear group shaft and fixing the fifth gear to the third gear group shaft;
a second step after the first step of fixing the first gear to the first gear group shaft;
After the second step , fixing the second gear to the first gear group shaft, fixing the fourth gear to the second gear group shaft, and fixing the sixth gear to and a third step of fixing to the third gear group shaft. a first gear group including a first gear and a second gear out of phase with the first gear;
a first gear group shaft to which the first gear group is fixed;
a second gear group including a third gear that meshes with the first gear and a fourth gear that meshes with the second gear and is out of phase with the third gear;
a second gear group shaft to which the second gear group is fixed and which rotates with the third gear and the fourth gear;
a third gear group including a fifth gear that meshes with the first gear, and a sixth gear that meshes with the second gear and has a different phase from the fifth gear;
A method for assembling a gear unit comprising a third gear group shaft to which the third gear group is fixed and which rotates together with the fifth gear and the sixth gear,
a first step of fixing the third gear to the second gear group shaft and fixing the fifth gear to the third gear group shaft;
after the first step , fixing the first gear and the second gear to the first gear group shaft and fixing the fourth gear to the second gear group shaft; and a second step of fixing the sixth gear to the third gear group shaft. a first gear group including a first gear and a second gear out of phase with the first gear;
a first gear group shaft to which the first gear group is fixed;
a second gear group including a third gear that meshes with the first gear and a fourth gear that meshes with the second gear and is out of phase with the third gear;
a second gear group shaft to which the second gear group is fixed and which rotates with the third gear and the fourth gear;
a third gear group including a fifth gear that meshes with the first gear, and a sixth gear that meshes with the second gear and has a different phase from the fifth gear;
A method for assembling a gear unit comprising a third gear group shaft to which the third gear group is fixed and which rotates together with the fifth gear and the sixth gear,
a first step of fixing the third gear to the second gear group shaft and fixing the fifth gear to the third gear group shaft;
a second step after the first step of holding the first gear in mesh with the third gear or the fifth gear;
and a third step of fixing the fourth gear to the second gear group shaft and fixing the sixth gear to the third gear group shaft. assembly method. a first gear group including a first gear and a second gear out of phase with the first gear;
a first gear group shaft to which the first gear group is fixed;
a second gear group including a third gear that meshes with the first gear and a fourth gear that meshes with the second gear and is out of phase with the third gear;
a second gear group shaft to which the second gear group is fixed and which rotates with the third gear and the fourth gear;
a third gear group including a fifth gear that meshes with the first gear, and a sixth gear that meshes with the second gear and has a different phase from the fifth gear;
A method for assembling a gear unit comprising a third gear group shaft to which the third gear group is fixed and which rotates together with the fifth gear and the sixth gear,
a first step of fixing the third gear to the second gear group shaft and fixing the fifth gear to the third gear group shaft;
a second step, after the first step, of retaining the second gear in mesh with the third gear or the fifth gear;
a third step after the second step of fixing the fourth gear to the second gear group shaft and fixing the sixth gear to the third gear group shaft;
A method for assembling a gear unit , comprising: after the third step, a fourth step of keeping the second gear meshed with the fourth gear or the sixth gear. . The gear unit comprises a fourth gear group including a seventh gear that meshes with the first gear, and an eighth gear that meshes with the second gear and has a different phase from the seventh gear. The gear unit of claim 1, further comprising: The gear unit comprises a fourth gear group including a seventh gear that meshes with the first gear, and an eighth gear that meshes with the second gear and has a different phase from the seventh gear. When,
A fifth gear group including a ninth gear that meshes with the first gear, and a tenth gear that meshes with the second gear and has a different phase from the ninth gear. , a gear unit according to claim 1. The method for assembling a gear unit according to any one of claims 3 to 8, further comprising the step of replacing the first gear group shaft with an input shaft of a motor attached to the gear unit. The method for assembling a gear unit according to any one of claims 3 to 8, further comprising replacing the second gear group shaft with a crankshaft of a speed reducer attached to the gear unit. The method for assembling a gear unit according to any one of claims 3 to 8, wherein said first gear group shaft is rotatably held by a speed reducer. 2. The gear unit according to claim 1, wherein said first gear and said second gear are spaced apart by a distance larger than the face width of these gears. The second gear group shaft has an eccentric portion that rotates eccentrically around the axis of the second gear group shaft,
A gear unit according to claim 1. 16. The gear unit according to claim 15, further comprising an external gear having external teeth which is oscillatingly rotated by being driven by the eccentric portion. 17. The gear unit according to claim 16, further comprising an outer cylinder having an internal pin that meshes with the external teeth of the external gear. 18. The gear unit according to claim 17, further comprising a carrier provided within said outer cylinder and rotated by being driven by said external gear.

Images