JPH05340451A - Inscribingly meshing planetary gear structure - Google Patents

Abstract

PURPOSE:To improve relative position precision of each hole by a method wherein machining of a bearing hole and the like and machining of an external tooth are simultaneously carried out through one action of setting. CONSTITUTION:D1-D6 are set such that, when the axial positions of first and second support blocks 104 and 105 and external tooth gears 118a and 118b are properly re-arranged, the diameters D1 and D2 of an eccentric body shaft bearing hole and the diameters D3 and D4 of an eccentric body bearing hole are decreased in one direction and in a state that the arrangement is left as it is, the diameters D5 and D6 of a carrier pin holding hole are decreased in the same direction. Further, central holes D7-D10 are set to be also decreased in the same direction. Thereafter, the outer diameter D12 of the first and second support blocks is set to a value being lower than the root diameter D11 of the external tooth of an external tooth gear and the number of teeth of the external tooth gear is set to a value being an integer times as large as the number of the external tooth gears. Further, a difference in a tooth between an internal tooth gear and the external tooth gear is set to a value being an integer times as large as the number of the external tooth gears.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a speed reducer or speed increaser, and more particularly to an internal mesh planetary gear structure suitable for application to a speed reducer or speed reducer or a speed reducer which is required to be small in size.

[0002]

2. Description of the Related Art Conventionally, a casing, a main rotary shaft having a tip inserted into the casing, and a main rotary shaft are arranged at intervals in the axial direction of the main rotary shaft. A first support block and a second support block, which are supported by the first support block and the second support block, which are connected and fixed to each other via a carrier body, and are arranged on a circle concentric with the main rotation shaft, and both ends of the first support block and the second support block are the first support block. An eccentric body shaft that is rotatably supported in an eccentric body shaft bearing hole formed in the second support block via an eccentric body shaft bearing and that rotates in conjunction with the main rotation shaft; An eccentric body bearing hole, which is arranged between the eccentric body provided in the substantially central portion in the axial direction of the eccentric body shaft and the first and second support blocks and formed in the eccentric body, forms an eccentric body bearing on each eccentric body. By being rotatably fitted through the An external gear that heart rotating, internally meshing planetary gear structure comprising the internal gear, the said external gear is fixed to said casing is inscribed meshing, for example, JP 6
0-260737, or U.S. Pat. No. 31,296.
It is known by No. 11, etc.

6 and 7 show a conventional example of an internally meshing planetary gear structure of this type.

In these drawings, reference numeral 1 is a cylindrical casing having an outer flange 2. At the center of the casing 1, the tip of an input shaft (main rotation shaft) 3 driven by a motor (not shown) is inserted.

A first support block 4 and a second support block 5 are arranged in the casing 1 so as to be axially spaced apart from each other. The first and second support blocks 4 and 5 are rotatably supported on the inner circumference of the casing 1 via bearings 6a and 6b, respectively.

The second support block 5 on the right side in FIG.
Has a complex-shaped carrier body 7 (see FIG. 7) protruding toward the first support block 4 on the left side, and both support blocks 4 and 5 interpose the complex-shaped carrier body 7 therebetween. Are connected and fixed to each other by bolts 29 and pins 30 to form a carrier as a whole.

Further, in the casing 1, three eccentric body shafts 8 are arranged in parallel with the input shaft 3. The eccentric body shafts 8 are arranged on the circumference of a circle concentric with the input shaft 3 at equal intervals in the circumferential direction, and both end portions of the eccentric body shaft bearings 9a, 9a, 9b are provided.
The eccentric body shaft bearing holes 10a and 10b of the first support block 4 and the second support block 5 are rotatably supported via b.

The end portion of each eccentric body shaft 8 on the side of the first support block 4 projects outwardly from the portion supported by the eccentric body shaft bearing 9a, and the spline 12 is attached to the projecting portion.
The transmission gear 13 is attached via. in this case,
Two transmission gears 13 are attached in a stacked manner to prevent backlash.

Center holes 14 and 15 are formed in the radial centers of the first and second support blocks 4 and 5, respectively, and the input shaft 3 passes through the center holes 14 and 15, respectively. There is. Then, each eccentric body shaft 8 is attached to the tip of the input shaft 3.
The pinion 16 meshing with the transmission gear 13 fixed to is fixed, so that the rotation of the input shaft 3 is equally distributed to the three eccentric body shafts 8 via the pinion 16 and the transmission gear 13. ing.

In this case, the number of teeth of the transmission gear 13 is larger than the number of teeth of the pinion 16, and each eccentric body shaft 8 is decelerated by the ratio of the numbers of teeth of the transmission gear 13 and the pinion 16.

Two eccentric bodies 17a, 17b are provided side by side in the axial direction substantially at the center of each eccentric body shaft 8 in the axial direction. The eccentric bodies 17a and 17b are out of phase with each other by 180 °.

On the other hand, between the first and second support blocks 4 and 5, two disc-shaped external gears 18a and 18b having an outer diameter slightly smaller than the inner diameter of the casing 1 are arranged side by side in the axial direction. Has been done. Each of the external gears 18a, 18b has three eccentric body bearing holes 19a, 19b through which the eccentric body shaft 8 passes.
Is provided in each eccentric body bearing hole 19a, 19b,
The eccentric bodies 17a and 17b are eccentric body bearings 20a and 20b.
Mated via b. As a result, the external gear 18a
, 18b are supported in a state in which the center Og is eccentric with respect to the rotation center Of of the input shaft 3 by a distance e, and the input shaft 3 rotates every rotation of the eccentric body shaft 8. It is designed to swing and rotate only once with respect to the center Of.

As the eccentric body bearings 20a and 20b,
A needle bearing is used here. The eccentric body bearings 20a, 20b are axially positioned by the stop plates 21, 23 and the flange 22 provided on the eccentric body shaft 8.

The external gears 18a and 18b have arcuate or trochoidal external teeth 24, and an internal gear 25 to which the external gears 18a and 18b mesh is arranged on the outer peripheral side thereof. .. The internal gear 25 is formed integrally with the casing 1 on the inner circumference of the casing 1, and has an outer pin 26.
It has internal teeth consisting of. The outer pin 26 is stopped from the inside by a pin pressing ring 27 so as not to fall off.

As shown in FIG. 7, insertion holes (= fitting insertion holes) 28a and 28b having complicated curved contours are formed in the central portions of the external gears 18a and 18b. Then, with the carrier body 7 of the second support block 5 penetrating these insertion openings 28a and 28b and the end surface of the carrier body 7 being in close contact with the inner end surface of the first support block 4, as described above, The first and second support blocks 4 and 5 are connected and fixed to each other by bolts 29 and pins 30 to form an integral carrier.

The carrier body 7 mutually transmits the rotational force received by the first and second support blocks 4, 5.
The insertion openings 28a, 28b of the external gears 18a, 18b are formed as openings having sizes and shapes that do not interfere with the carrier body 7 even if the external gears 18a, 18b swing.

Next, the operation will be described.

Here, first, the case where the casing 1 is fixed and the rotation output is taken out from the carrier constituted by the first and second support blocks 4 and 5 will be described.

When the input shaft 3 rotates, the three eccentric body shafts 8 rotate in the same direction (opposite to the input shaft 3) at the same speed via the pinion 16 and the transmission gear 13. The three eccentric body shafts 8 are provided with two eccentric bodies 17a and 17b, respectively, and the eccentric bodies 17a and 17b are eccentrically rotated in the same direction at the same speed, so that the two external gears 18 are provided.
The a and 18b oscillate and rotate with respect to the input shaft 3.

Since it is assumed here that the casing 1 is fixed, that is, the internal gear 25 is fixed, the external gears 18a and 18b are restrained by the internal gear 25 from free rotation. , And swings while inscribed in the internal gear 25. Now, for example, the external gears 18a, 18
When the number of teeth of b is N and the number of teeth of the internal gear 25 is N + 1, the difference in the number of teeth is 1. Therefore, each time the eccentric body shaft 8 rotates once, the external gears 18a and 18b are displaced (rotated) by one tooth with respect to the internal gear 25.

This "deviation", that is, the external gears 18a, 18a
The rotation of b is transmitted to the first and second support blocks 4 and 5 via the eccentric body shaft 8. The rotational force transmitted to each of the support blocks 4 and 5 is extracted as a resultant force from the support block 4 or 5 on the output side because both support blocks 4 and 5 are integrated via the carrier body 7. The both support blocks 4 and 5 are decelerated to -1 / N rotation when the eccentric body shaft 8 makes one rotation.

In the above explanation, the operation in the case where the casing 1 is fixed and the output is taken out from the first and second support blocks 4 and 5 has been described, but the first and second support blocks 4 and 5 are described.
Can be fixed and the output can be taken out from the casing 1 side. In that case, the outer flange 2 provided on the casing 1
Will be connected to the mating member. As a result, the deceleration output of 1 / (N + 1) rotation (with respect to the input rotation) in the reverse rotation of the support blocks 4 and 5 is extracted from the casing 1.

As described above, the casing 1 side may be fixed and the decelerated rotation output may be taken out from the first and second support blocks 4 and 5, or the first and second support blocks 4 and 5 may be output. It may be fixed and the decelerated rotation output may be taken out from the casing 1 side. When applied as a speed reducer, the above two usage modes are possible. The former is called the carrier rotating type and the latter is called the case rotating type when distinguishing by the way of taking out the output.

Since the conventional structure shown in FIG. 6 is constructed on the assumption that it is used as a case rotating type, a cover 31 is provided at the opening of the casing 1 on the transmission gear 13 side. ..

The intermeshing planetary gear structure of this type can be used as a gearbox by reversing the input / output relationship in both the case rotation type and the carrier rotation type.

Next, another conventional example of the carrier rotating type will be briefly described with reference to FIG.

Generally, in the case of the carrier rotation type, in many cases, an output shaft is integrally provided on a support block on the opposite side of the input shaft, and the decelerated rotation output is taken out from this output shaft. However, in the structure of this conventional example, the mating member on the output side is directly connected to the first support block 4. In this inscribed meshing planetary gear structure, the carrier body 7 that connects the support blocks 4 and 5 to each other is not the first support block 5 but the first support block 5.
The structure of the speed reduction mechanism is almost the same as that shown in FIGS. 6 and 7, except that the support block 4 is provided on the support block 4 side and the cover 31 is removed.

As a point of difference, in particular, screw holes 32 are formed on the outer surface of the first support block 4, and the mating member P is attached by screwing mating member fixing bolts into these screw holes 32. And that each carrier body 7 is formed in an independent columnar shape, and these carrier bodies 7 are connected to the other support block 5 side by penetrating the carrier body 7 into the fitting holes 28a and 28b formed in the external gears 18a and 18b, respectively. Accordingly, center holes 60a and 60b are provided at the radial centers of the external gears 18a and 18b, like the support blocks 4 and 5.

Further, in the above two examples, in order to connect the first support block 4 and the second support block 5, the carrier body integrally formed with the first support block 4 or the second support block 5 is used. However, US Pat. No. 3,129,611 shows an example in which a carrier pin (cage bar) is used as the carrier body 7 for connection. In this case, the carrier pin has first and second ends on both ends.
By being fixed to the support block (disc), both support blocks are connected to form a carrier (cage).

On the other hand, in Japanese Unexamined Patent Publication No. 63-22289, a technique for improving accuracy by simultaneous machining in a carrier rotating type of the planetary gear structure disclosed in Japanese Unexamined Patent Publication No. 60-260737v. Is disclosed. Since the technique disclosed in Japanese Patent Laid-Open No. 63-222289 has essentially the same configuration as that disclosed in Japanese Patent Laid-Open No. 60-260737, it will be described with reference to FIG. 6 for simplicity. Side eccentric body shaft bearing holes 10a, 10b and external gears 18a, 18b side eccentric body bearing holes 19a, 19b so that they can be simultaneously machined, said bearing holes 10a, 10b,
19a and 19b have the same diameter, and the relative positional relationship (pitch circle diameter and pitch) of the shaft centers of the holes is made to match.

[0031]

By the way, in recent years, even in the field of speed-up / reduction gears adopting this type of internally meshing planetary gear structure, there is an increasing demand for miniaturization and higher precision. ing.

However, in reality, it is almost at the limit of meeting the demand by improving the processing accuracy, even if it is related to the cost.

As described above, for example, JP-A-63-22
As in the technique disclosed in Japanese Patent No. 289, the eccentric body shaft bearing holes 10a and 10b on the support blocks 4 and 5 side and the eccentric body bearing holes 19a and 19b on the external gears 18a and 18b side can be simultaneously machined. , The bearing holes 10a, 10b, 19a
, 19b have the same diameter, and the relative positional relationship (pitch circle and pitch) of the shaft center of each hole is made to match, but it is said that this alone will dramatically improve the processing accuracy. I couldn't connect to the results.

Under the circumstances, according to the present invention, the inventors of the present invention simply improve the processing accuracy to improve the quality, and more drastically review the above structure.
It was developed as a subject to be able to obtain a higher quality speed reducer even by processing with the same processing machine.

[0035]

According to the present invention, a casing, a main rotating shaft having a tip inserted into the casing, and a main rotating shaft which are arranged at intervals in the axial direction of the main rotating shaft, each of which has a bearing interposed therebetween. A plurality of first support blocks and second support blocks that are rotatably supported by the casing and that are connected / fixed to each other via a carrier body, and are arranged on a circle concentric with the main rotation shaft, An eccentric body shaft, both ends of which are rotatably supported in eccentric body shaft bearing holes formed in the first and second support blocks via eccentric body shaft bearings, and rotate in conjunction with the main rotation shaft; An eccentric body provided substantially axially centrally of each of the plurality of eccentric body shafts, and the first and second eccentric bodies.
A plurality of eccentric body bearing holes that are arranged between the support blocks and are rotatably fitted to the respective eccentric bodies via the eccentric body bearings so as to eccentrically rotate with respect to the main rotation shaft. An external gear, and an internal gear that is fixed to the casing and in which the external gear meshes internally. The first and second support blocks and the radial centers of the external gear respectively include In the internally meshing planetary gear structure in which a center hole is formed, the carrier body is constituted by a carrier pin which is separate from the first and second support blocks, and the carrier pin is constituted by the first and second carrier pins. The first and second carrier pin holding holes formed in the supporting block of
Of the eccentric body shaft bearing hole,
The eccentric body bearing hole, the carrier pin holding hole, and the center hole are all through holes. Among these holes, the eccentric body shaft bearing holes of the first and second support blocks and the eccentric body bearing holes of the external gear are respectively The first and second support blocks are arranged at the same pitch on the same circumference, and the carrier pin holding holes of the first and second support blocks are also arranged at the same pitch on the same circumference. The diameter of the central hole formed in the first and second support blocks and the diameter of the central hole formed in the external gear when the axial positions of the external gear are rearranged appropriately. Decreases in one direction (including the same diameter), and at the same time with this arrangement, the diameters of the eccentric body shaft bearing holes formed in the first and second support blocks and the external gear are formed. The diameter of the eccentric body bearing hole decreases in the same direction as above (including the same diameter), and Similarly, while maintaining this arrangement, the diameters of the respective carrier pin holding holes formed in the first and second support blocks become smaller (including the same diameter) in the same direction as the above, so that a relationship is established. , Diameters of the center hole, the eccentric body shaft bearing hole, the eccentric body bearing hole, and the carrier pin holding hole are set, and the outer diameters of the first and second support blocks are set to the root diameters of the outer teeth of the external gear. The number of teeth of each of the external gears is set to an integer multiple of the number of the external gears, and the difference in the number of teeth between the internal gear and the external gear is set to the number of external gears. By setting the integral multiple, the above problem is solved.

[0036]

In order to solve the above-mentioned problems, the present invention can be developed for the first time by scrutinizing the parts that were conventionally regarded as common sense and had no doubts.

That is, conventionally, when a plurality of external gears are provided, "the external teeth processed at the same position are meshed with the internal gear at the same time during operation" cancels each other's processing errors, so-called error leveling. It has been believed that incarnation will occur. Further, actually, the conventionally-produced acceleration / deceleration machine of this type has been produced on the basis of all the ideas. However,
When the inventors actually examined and confirmed this, it was found that the external teeth machined at the same position are meshed with the internal gear at the same time.
It turns out that it is not a good result.

The present invention has been made on the basis of this knowledge, and it is one of the important points that "outer teeth machined at the same position are not simultaneously meshed with an internal gear during operation". I am sorry. It has been confirmed by the actual test results of the inventors that the machining error is leveled by this.

On the other hand, in the present invention, further, it will be specifically examined how to assemble the "outer teeth processed at the same position so as not to mesh with each other at the same time". It is most reasonable to set the number to an integer multiple of the number of external gears, and set the difference in the number of teeth between the internal gear and the external gear to an integer multiple of the number of external gears. It was found that the structure would be for assembly.

That is, generally, as described above, when the number of external gears is two, the maximum eccentric direction of both external gears is shifted by 360 ° / 2 = 180 °, and the number of external gears is three. In this case, the phase of each external gear in the maximum eccentric direction is shifted by 360 ° / 3 = 120 °. This is because even if the maximum eccentric direction of each external gear is evenly distributed in the circumferential direction, the dynamic balance during acceleration / deceleration can be favorably maintained.

Here, in the present invention, the number of teeth of the external gear is set to an integral multiple of the number of external gears, and the difference in the number of teeth with the internal gear is also set to an integral multiple of the number of external gears. I am trying to do it. By doing so, the external gear cut at the same position can be assembled only by translating (shifting) it in the maximum eccentric direction (rather than rotating it as in the conventional case).

For example, when the number of external gears is two,
They can be assembled simply by moving them away from each other in 180 ° direction (without rotating), and in the case of 3 sheets, they can be assembled by simply translating each external gear in the direction of 120 ° (without rotating). Like

The assembling based on the method by the parallel movement is very advantageous in that a plurality of external gears can be machined completely at the same time.

That is, in the internally meshing planetary gear structure of this kind, the difference in the number of teeth between the internal gear and the external gear is often set to 1 regardless of the number of external gears in the related art. .. However, when the difference in the number of teeth is set to 1, the positional relationship between the maximum eccentric direction of each external gear and the external teeth differs for each external gear, so that the external gear is substantially It was not possible to machine a tooth and a hole through the external tooth at the same time.

That is, after machining only the external teeth, it is necessary to machine the holes penetrating the external gear after shifting (rotating) the phase of each external gear by a predetermined amount (half tooth). was there. This is a major factor that not only increases the number of processing steps but also significantly decreases the processing accuracy.

In addition, in the actual design, for example, the eccentric body shaft bearing hole and the eccentric body bearing hole cannot be set to the same diameter due to design reasons, and the eccentric body shaft bearings of the first and second support blocks cannot be set. It is often necessary to make the eccentric body bearing hole of the external gear a larger or smaller diameter than any of the holes.

For example, when the bearings are made of different materials and have different strengths, the diameter cannot be the same, and when there is a bolt hole or the like, the strength in the vicinity is different from other parts.
Alternatively, there is a case where the hole to be inserted first has to be larger than the hole to be inserted later because a specific member (for example, a carrier pin) needs to be inserted. In such a case, the bearing holes cannot be processed from one side at the same time with the arrangement of the assembled members being the same. Further, naturally, it is not possible to use the conventional technique disclosed in Japanese Patent Laid-Open No. 63-22289.

The present invention takes these points into consideration,
First, the first and second support blocks and the external gear are
When the axial positions are rearranged appropriately, the first and second
The diameter of the central hole formed in the support block and the diameter of the central hole formed in the external gear decrease in one direction (including the same diameter), and the first and
The diameter of the eccentric body shaft bearing hole formed in the second support block and the diameter of the eccentric body bearing hole formed in the external gear are reduced in one direction (including the same diameter), and the arrangement thereof is further arranged. At the same time, the central holes are formed such that the diameters of the carrier pin holding holes formed in the first and second support blocks become smaller (including the same diameter) in the same direction as the above. Since the diameters of the eccentric body shaft bearing hole, the eccentric body bearing hole, and the carrier pin holding hole are set, the eccentric body shaft bearing holes of the first and second support blocks and the eccentric body bearing of the external gear can be set once. The holes can be simultaneously machined, both carrier pin holding holes of the first and second support blocks can be machined simultaneously, and further the center holes of the first and second support blocks and the external gear can be machined simultaneously. It became so.

It should be noted that, for example, a counterbore may be attached to each hole, or a chamfering process may be performed. However, since these parts which do not require a high degree of accuracy can be separately processed, such an accessory The diameters of the target portions are not necessarily required to be in the above order.

Further, in the present invention, as described above, the relationship between the number of external gears, the number of external gear teeth, and the difference in the number of teeth between the internal gear and the external gear is specified, and Since the outer diameters of the first and second support blocks are set to be smaller than the root diameters of the outer teeth of the external gear, the external gear can be further maintained with the above-described setting (with the same chucking). It has become possible to process the external teeth of the machine at the same time.

As a result, the eccentric body shaft bearing holes of the first and second support blocks, the eccentric body bearing hole of the external gear, and the carrier pin holding holes of the first and second support blocks, which require precision. Can be processed simultaneously, and further,
The external teeth of external gears can now be machined at the same time, and the relative position accuracy of each can be dramatically improved.

[0052]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS.

In FIG. 1, reference numeral 101 is a cylindrical casing. The casing 101 has a plurality of bolt insertion holes 102 that penetrate the cylinder wall in the axial direction. An input shaft (main rotation shaft) 10 driven to rotate by a motor (not shown) is provided at the center of the casing 101.
The tip of 3 is inserted from the right side in the figure.

Inside the casing 101, there is provided a thick disk-shaped first support block (left side in the drawing) 1 which is spaced apart in the axial direction.
04 and the second support block (right side in the figure) 105 are arranged to face each other. First support block 104
The outer end surface (left end surface) of is the mating member mounting surface 104a,
It projects slightly outside the casing 101. These first,
The second support blocks 104, 105 are bearings 1 respectively.
It is rotatably supported on the inner circumference of the casing 101 via 06a and 106b.

Both support blocks 104 and 105 are integrally connected and fixed by three carrier pins 150 arranged in parallel with the input shaft 103, and constitute a carrier as a whole. The carrier pin 150 has two support blocks 104, 1
The input shaft 101 is arranged at a position closer to the outer periphery of 05.
Are arranged at equal intervals in the circumferential direction on a circle concentric with (see FIGS. 2 and 3).

Carrier pin holding holes 151 and 152 for inserting the respective carrier pins 150 are formed in the first support block 104 and the second support block 105, respectively. The carrier pin holding hole 152 of the second support block 105 has a spot facing portion 153 on the outer end face side. Then, the carrier pin 150 having the collar portion 150a on its head is inserted from the side of the carrier pin holding hole 152 of the second support block 105, and the collar portion 150a abuts on the bottom surface of the spot facing portion 153, so that the carrier pin 150
Axial positioning with respect to the second support block 105 is performed.

In addition, a pipe-shaped carrier spacer 154 is arranged between the first support block 104 and the second support block 105, and the tip of each carrier pin 150 is
Each of them penetrates the carrier spacer 154 and is inserted into each carrier pin holding hole 151 of the first support block 104. Each of the carrier spacers 154 is loosely fitted to the outer periphery of the intermediate portion of the carrier pin 150 in the axial direction, and both end faces thereof are the first support block 104 and the second support block 105.
By closely contacting with each other, the distance between the support blocks 104 and 105 is kept constant.

The tip end surface of the carrier pin 150 is exposed on the mating member mounting surface 104a of the first support block 104. A screw hole 156 for screwing the mating member fixing bolt 155 is formed at the center of the exposed tip end surface, and the bolt 15 inserted through the bolt insertion hole of the mating member P is formed.
By screwing No. 5 into the screw hole 156 to connect the mating member P and the carrier pin 150, the first support block 104 and the second support block 105 are simultaneously formed.
Connect via carrier spacer 154 at a predetermined interval.
It is supposed to be fixed.

Further, in the casing 101, three eccentric body shafts 108 are arranged in parallel with the input shaft 103. These eccentric body shafts 108 are arranged on the circumference of a circle concentric with the input shaft 3 at equal intervals in the circumferential direction, and are located in the middle of the carrier pins 150 as shown in FIGS. There is.
Both ends of each eccentric body shaft 108 are connected to the first support block 10 via the eccentric body shaft bearings 109a and 109b.
4 and each eccentric body shaft bearing hole 1 of the second support block 105
They are rotatably supported by 10a and 110b, respectively.

First support block 1 for each eccentric body shaft 108
On the 04 side, a transmission gear 113 is attached via a spline 112, closer to the intermediate portion in the axial direction than the portion supported by the eccentric body shaft bearing 109a.

A center hole 11 is formed at the center of each of the first support block 104 and the second support block 105 in the radial direction.
4, 115 are formed, and their center holes 114, 1
The input shaft 103 is inserted into 15 from the side of the second support block 105.

The tip of the input shaft 103 is located slightly inside the center hole 114 of the first support block 104,
A pinion 116 meshing with the transmission gear 113 fixed to each of the eccentric body shafts 108 is fixed to the tip of the input shaft 103, whereby the rotation of the input shaft 103 is prevented.
6 and the transmission gear 113 are equally distributed to the three eccentric body shafts 108. In this case, the number of teeth of the transmission gear 113 is larger than the number of teeth of the pinion 116, and each eccentric body shaft 108 is decelerated and rotated by the ratio of the numbers of teeth of the transmission gear 113 and the pinion 116.

Two eccentric bodies 117a and 117b are provided side by side in the axial direction at the central portion of each eccentric body shaft 108 in the axial direction. The eccentric bodies 117a and 117b are out of phase with each other by 180 °.

On the other hand, the first and second support blocks 104,
Two disk-shaped external gears 118a and 118b having an outer diameter slightly smaller than the inner diameter of the casing 101 are arranged between 105 in the axial direction. Each external gear 118a,
118b is provided with three eccentric body bearing holes 119a, 119b through which the eccentric body shaft 108 passes, and the eccentric body 117 is provided in each eccentric body bearing hole 119a, 119b.
a and 117b are fitted via eccentric body bearings 120a and 120b. Thereby, the external gears 118a, 11a
8b, as shown in FIG.
The eccentric body shaft 108 is eccentrically supported by a distance e with respect to the rotation center Of of FIG. 3, and the eccentric body shaft 108 swings and rotates one rotation with respect to the center Of of the input shaft 103.

In this way, the external gears 118a and 118b are
Are arranged so that both support blocks 104, 10
Between 5, the transmission gear 113, the external gear 118a, and the external gear 118b are arranged adjacent to each other in order from the first support block 104 side toward the second support block 105 side.

The eccentric body shaft bearing 109a and the transmission gear 113 on the left side in FIG. 1 for supporting the eccentric body shaft 108 are arranged in the end face of the left eccentric body 117a and the eccentric body shaft bearing hole 110a of the first support block 104. It is sandwiched by a retaining ring 160 engaged with the circumference and thereby positioned on the eccentric body shaft 108.

As the eccentric body bearings 120a and 120b, needle bearings are used here. The axial positioning of the eccentric body bearings 120a and 120b is performed as follows.

That is, in the left eccentric body bearing 120a near the first support block 104, the left end side in FIG. 1 is directly positioned by the side surface of the transmission gear 113, and the right end side is a flange provided between both eccentric bodies 117a and 117b. It is positioned by 122. In addition, the second support block 10
The eccentric body bearing 120b closer to the 5 side has both eccentric bodies 11 on the left end side.
It is positioned by the flange 122 provided between 7a and 117b, and the right end side is positioned by the stop plate 123.

The stop plate 123 is pressed by the right eccentric body shaft bearing 109a that supports the eccentric body shaft 108, and the eccentric body shaft bearing 109a engages with the inner circumference of the eccentric body shaft bearing hole 110a of the second support block 105. It is held down by a snap ring 161 that fits.

The external gears 118a and 118b have external teeth 124 under the conditions described below.
External gears 118a, 11a are provided on the outer peripheral side of 8a, 118b.
An internal gear 125 with which 8b meshes is arranged. The internal gear 125 is provided on the inner circumference of the casing 101,
No. 01 is formed integrally with the No. 01, and has internal teeth made of the outer pin 126. The outer pin 126 is stopped from the inside by a pin pressing ring 127 so as not to fall off.

The external gears 118a and 118b have center holes 160a and 160b through which the input shaft 103 penetrates at their centers.
b is formed, and fitting insertion holes 128a and 128b are formed at positions corresponding to the carrier pins 150. Then, the fitting holes 128a and 128b are inserted into the carrier pin 15
0 and the carrier spacer 154 pass through.

The carrier pin 150 applies the rotational force received by the second support block 105 to the first support block 104.
The external gears 118a and 118b are fitted into the insertion holes 128a and 128b, respectively.
It is formed as a circular hole having a size that does not interfere with the carrier pin 150 and the carrier spacer 154 even if 8b swings.

Further, in addition to the screw holes 156 on the tip end surface of the carrier pin 150, a plurality of mating member fixing screw holes 157 are formed on the mating member mounting surface 104a of the first support block 104 as shown in FIG. These many screw holes 15
By screwing the fixing bolt 155 into the screws 6, 157, the mating member P can be firmly connected and fixed.

Next, the operation of the internally meshing planetary gear structure thus configured will be described.

The external gears 118a and 118b are the input shaft 10
3, the external pin 126 corresponding to the internal teeth of the internal gear 125 and the external gears 118a and 118b mesh with each other to rotate the input shaft 103.
, 118b are decelerated rotations (automatic rotations), which is exactly the same as the conventional known example.

The rotations of the external gears 118a and 118b are transmitted to the first and second support blocks 104 and 105 via the three eccentric body shafts 108. Second support block 1
The rotational force transmitted to 05 is transmitted to the first support block 104 via the carrier pin 150. And
The rotational force is transmitted from the first support block 104 to the mating member P connected to the block 104.

Next, the structure taken to improve the accuracy will be described.

Among the above-mentioned constitutions, particularly the eccentric body shaft bearing holes 110a and 110b formed in the first and second support blocks 104 and 105 and the eccentric body bearing hole 119a formed in the external gears 118a and 118b. 119b, it is important to keep the processing accuracy including their relative positional relationship extremely high in order to improve the accuracy, performance and quality of the assembly.

The same applies to the carrier pin holding holes 151 and 152. Further, each center hole 11
Since 4, 115, 160a and 160b serve as reference holes, it is important to maintain the relative positional relationship with other holes with high accuracy, as described above. The carrier pin fitting holes 128a and 128b do not require high precision as described above. The same applies to the spot facing portion 153. Therefore, there is no particular problem even if it is processed separately, and it is not subject to the regulation of the "diameter relationship according to the present invention".

In the structure of this embodiment, the above-described holes and external teeth that require high precision are constructed as follows.

That is, first, the first and second support blocks 1
Eccentric body shaft bearing holes 110a formed in 04 and 105, 1
10b, eccentric body bearing holes 119a and 119b formed in the external gears 118a and 118b, carrier pin holding holes 151 and 152, and center holes 114, 115 and 160a,
Through holes are formed in 160b so that they can be simultaneously processed.

Next, of these holes, both support blocks 1
04 and 105 eccentric body shaft bearing holes 110a and 110b
And the eccentric body bearing holes 119 of the external gears 118a and 118b.
a and 119b are arranged at the same pitch on the same circumference. Further, the carrier pin holding holes 151 and 152 of the first and second support blocks 104 and 105 are arranged on the same circumference at the same pitch.

Further, the eccentric body shaft bearing holes 1 formed in the first and second support blocks 104 and 105, respectively.
The diameters of 10a and 110b are D1 and D2, and the external gear 11
Eccentric body bearing holes 119a, 1a formed in 8a, 118b
When the diameter of 19b is D3 and D4, the relationship of D1 = D2> D3 = D4 (1) is established. That is, the support block 10
The eccentric body bearing holes 119a, 119b on the external gear 118a, 118b side are set to have a smaller diameter than the eccentric body shaft bearing holes 110a, 110b on the 4, 105 side.

Further, as a carrier body, a carrier pin 150 separate from the first and second support blocks 104 and 105.
The carrier pin 150 is used to penetrate the carrier pin holding holes 151 and 152 formed in the first and second support blocks 104 and 105 from the side of the second support block 105. 2 support blocks 10
4, 105 are connected and fixed. That is, in this type, the diameter D5 of the carrier pin holding hole 151 of the first support block 104 and the diameter D6 of the carrier pin holding hole 152 of the second support block 105 are D5 <D6 ... (2) Have been set to the relationship. This is for facilitating the insertion when the carrier pin 150 is inserted from one side.

Further, the first and second support blocks 104,
The diameters D7 and D8 of the central holes 114 and 115 of 105 and the central holes 160a and 160 of the external gears 118a and 118b, respectively.
The relationship between the diameters D9 and D10 of b is set to D7 = D8> D9 = D10 (3).

Since the diameters of the holes are determined so that the above equations (1), (2) and (3) are simultaneously satisfied, as shown in FIG. 105,
When the first support block 104, the external gear 118a, and the external gear 118b are stacked in this order and set,
The diameter of each hole (including part of the same diameter) decreases toward the right in the figure. That is, the diameters of the eccentric body shaft bearing holes 110a and 110b on the support blocks 104 and 105 side and the external gear 118
The diameters of the eccentric body bearing holes 119a and 119b on the a and 118b sides become smaller toward the right, and at the same time with this arrangement, the central holes 11 on the support block 104 and 105 sides are formed.
The diameters of Nos. 4 and 115 and the diameters of the central holes 160a and 160b on the external gear 118a and 118b sides become smaller toward the right.
The relationship that the diameters of the carrier pin holding holes 151 and 152 also decrease toward the right also holds.

Therefore, by inserting a tool from the left side in the figure (by setting the machining direction to X), the eccentric body shaft bearing hole 110b of the second support block 105 and the eccentric body of the first support block 104 are inserted. The shaft bearing hole 110a and the external gear 1
The eccentric body bearing hole 119a of 18a and the eccentric body bearing hole 119b of the external gear 118b can be simultaneously machined. Further, the center hole 115 of the second support block 105 and the center hole 114 of the first support block 104 are kept in the same setting (with the same chucking).
, The central hole 160a of the external gear 118a, and the external gear 1
The eccentric body bearing hole 160b of 18b can be simultaneously processed. Further, with the same setting, the carrier pin holding hole 152 of the second support block 105 and the first pin
The carrier pin holding hole 151 of the support block 104 can also be processed at the same time.

Therefore, the relative positional accuracy of the holes machined by these one-time settings is significantly improved.

In the case of the above embodiment, the bearing holes 110a and 110b on the support block side are larger than the bearing holes 119a and 119b on the external gear side, and the center holes 114 and 115 on the support block side are formed. One is the central hole on the external gear side
Although the case where it is larger than 60a and 160b is shown, simultaneous machining is also possible in the opposite case. In that case, the relationship of D1 = D2> D3 = D4 ... (4) D7 = D8> D9 = D10 ... (5) D5 <D6 ... As shown in FIG. 5, the external gears 118a and 118b, the second support block 105, and the first support block 104 are superposed and set in this order from the left side in the drawing. By doing so, the diameter of each bearing hole decreases toward the right, the diameter of each center hole decreases toward the right, and the diameters of the carrier pin holding holes 152 and 151 also decrease toward the right. .. Therefore, similarly to the above, by inserting a tool from the left side in the drawing, it is possible to machine each hole simultaneously.

Next, in addition to this, a structure for simultaneously processing the outer teeth 124 of the external gears 118a and 118b with the same setting (with the same chucking) will be described. First, before entering a detailed description of this embodiment, a basic configuration for simultaneously processing the external teeth of each external gear in the present invention will be described.

FIG. 9 shows two external gears 21 according to the present invention.
8a and 218b and the external pin 226 corresponding to the external teeth of the internal gear 225 are shown.

As is apparent from FIG. 9, this external gear 2
18a and 218b have external teeth gears 218a and 2
The number is set to "24" which is an integral multiple of the number "2" of 18b. The number of outer pins 226 is “28”. Therefore, the difference in the number of teeth between the external gears 218a and 218b and the external pin 226 is set to "4" which is an integral multiple of the number "2" of the external gears 218a and 218b.

The symbol O in the figure indicates the center of the main rotation axis, Oa1.
Is the center of the external gear 218a when the external gear 218a is eccentric in the maximum eccentric direction, and Ob1 is the center of the external gear 218b when the external gear 218b is eccentric in the maximum eccentric direction. There is.

As a result of this setting, when assembling, the external gears 218a, 218b need only be moved in parallel in the respective maximum eccentric directions (in this case, separated by 180 °), and the external gears 218a, 218b can be assembled. Even if the through hole of any shape is formed at any position of the outer teeth, the outer teeth of the both external gears and various holes can be machined at one time.

Moreover, since the teeth are assembled in parallel, the outer teeth (a1 and a2, b1 and b2, or c1 and c2 in the figure) formed at the same position are necessarily the inner teeth at the same time. It is possible to realize that "outer teeth cut at the same position do not simultaneously mesh with the internal gear", which is one of the ideas underlying the present invention, because the gears do not mesh with the gears.

The establishment of the relationship among the number of sheets, the number of teeth, and the difference in the number of teeth corresponds to an essential requirement for being able to be assembled by "parallel movement" without fail. When the above relationship is established, it can be assembled by "parallel movement". However, when the above relationship is not established, it is not always possible to assemble by "parallel movement".

The fact that the external gears can be assembled by "translation", that is, the external gears can be assembled without rotating at all, does not mean that the external gears have any shape at any position. Even if holes are formed, this corresponds to an essential requirement for being able to machine the external teeth of the external gear and various holes at the same time. When the assembly can be performed by the parallel movement, the external teeth of the external gear and various holes can be machined at once.

However, when it is not possible to assemble by parallel movement, that is, when one of the external gears cannot be assembled unless it is rotated (after machining) with respect to the other external gear, it is not necessary to complete the whole assembly. The external teeth and various holes of the external gear cannot be machined at one time.

Therefore, in the present invention, since the relationship among the number of external gears, the number of teeth, and the difference in the number of teeth is established in the present invention, each eccentric body shaft bearing hole 110a is combined with the above-described configuration. 110b, eccentric body bearing hole 119 of the external gear
a, 119b, and the first and second support blocks 104, 1
No. 05 carrier pin holding holes 151 and 152 can be machined at the same time, and external gears 118a and 118a
The outer teeth of b can be machined at the same time.

Returning to the specific embodiment, in this embodiment, the number of external gears 118a and 118b is set to "2" as is apparent from the figure. The number of teeth of each of the external gears 118a and 118b is
It is set to "78" which is an integral multiple of the number "2" of a and 118b. Further, the number of outer pins 125 (internal gear 1
(Corresponding to the number of teeth of 25) is set to "80", and the external gear 1
The difference in number of teeth between the outer teeth 124 of 18a and 118b is "2". That is, the difference in the number of teeth is set to be an integral multiple of the number "2" of external gears. As a result, the external gear 118a
, 118b, each external gear 118a,
All that is necessary is to translate 118b in the direction of its maximum eccentricity of 180 °.

As a result, the outer teeth cut at the same position inevitably do not mesh with the outer pin 126 at the same time, and the idea of the present invention can be realized. Further, as is apparent from each drawing, various through holes are formed in the external gears 118a and 118b, but no matter what shape the hole is formed in and at what position, the external gears 118a and 118b are not affected. Tooth gear 118a,
It can be seen that 118b can be machined together with each external tooth and various holes while still overlapping. Therefore, as apparent from FIG. 4 or FIG. 5, the external gears 118a, 1a,
By setting the outer diameter D12 of the first and second support blocks 104 and 105 smaller than the root diameter D11 of the outer tooth 125 of 18b, the eccentric body axis can be set once (with the same chucking). Bearing holes 110a, 110b,
The eccentric body bearing holes 119a and 119b and the carrier pin holding holes 151 and 152 can be simultaneously processed, and further, the outer teeth 124 of the external gears 118a and 118b can be simultaneously processed. is there.
As a result, the holes and the external teeth can be machined and assembled while maintaining the relative positional relationship between them with extremely high precision.

In the above embodiment, the carrier pin 150 is used.
Has a structure with a collar for inserting from the side of the second support block 105, and the space between the first support block 104 and the second support block 105 is determined by a separate carrier spacer 154. However, it is also possible to configure this as shown in FIG.

In FIG. 10, the carrier pin 170 is
It has an overhanging portion 171, and this overhanging portion 171 fulfills the function of the carrier spacer 154 of the above-mentioned embodiment. The carrier pin 170 is configured such that the intermediate body 172 and the bolt 173 perform the function of the "guard" of the above-described embodiment (the function of preventing the movement in the left direction in the drawing).

The other construction is exactly the same as that of the above-mentioned embodiment, and since the same operation and effect are obtained, the same reference numerals are given in the drawings and the duplicated explanation is omitted.

[0105]

As described above, according to the present invention, the eccentric body shaft bearing hole and the eccentric body which require high accuracy can be obtained by only setting the first and second support blocks and the external gear once. The body bearing hole can be simultaneously machined, the center hole can be machined simultaneously, the carrier pin holding hole can be machined simultaneously, and the outer teeth of the external gear can also be machined at the same time.

Therefore, the eccentric body shaft bearing hole, the eccentric body bearing hole,
The relative position accuracy of the carrier pin holding hole, the center hole, and the external teeth can be significantly increased, and even if the same machining machine as the conventional one is used, the influence of relative position error due to machining can be suppressed to an extremely small level. The accuracy after attachment can be dramatically improved.

Further, since the carrier pin holding hole can be simultaneously processed with the same setting as the processing of the bearing hole, by inserting the carrier pin into the holding hole and fixing the both support blocks, the two support blocks are connected to each other. Is accurately positioned, which improves the positioning accuracy of the bearing hole. Therefore, without providing a separate positioning means,
It is also possible to improve the reproducibility of positioning when disassembling and reassembling the carrier.

Further, since both support blocks are fixed by carrier pins which are separate from the support blocks, when the support blocks are overlaid, the support blocks and the external gear are overlaid in a close contact state. be able to. Therefore, the squareness of the hole with respect to the surface is increased, and the accuracy in the axial runout direction is improved.

[Brief description of drawings]

FIG. 1 is a side sectional view of an internally meshing planetary gear structure according to an embodiment of the present invention.

FIG. 2 is a view taken along the line II-II of FIG.

FIG. 3 is a sectional view taken along line III-III in FIG.

FIG. 4 is an explanatory diagram when making a hole in a component (first and second support blocks and an external gear) of a gear structure according to an embodiment of the present invention.

FIG. 5 is an explanatory diagram when making a hole in a component (first and second support blocks and an external gear) of a gear structure according to another embodiment of the present invention.

FIG. 6 is a side sectional view showing an example of a conventional internally meshing planetary gear structure.

7 is a sectional view taken along line VII-VII of FIG.

FIG. 8 is a side sectional view showing another example of a conventional internally meshing planetary gear structure.

FIG. 9 is an explanatory diagram for explaining the basic principle regarding the number of teeth, the number of teeth, and the difference in the number of teeth of the external gear according to the present invention.

FIG. 10 is a cross-sectional view corresponding to FIG. 1 showing an example in which the configuration in the vicinity of the carrier pin is changed in the embodiment of the present invention.

[Explanation of symbols]

1, 101 ... Casing, 3, 103 ... Input shaft (main rotation shaft), 4, 104 ... First support block, 5, 105 ... Second support block, 6a, 6b, 106a, 106b ... Bearing, 8, 108 ... Eccentric body shaft, 9a, 9b, 109a, 109b ... Eccentric body shaft bearing, 10a, 10b, 110a, 110b ... Eccentric body shaft bearing hole, 13, 113 ... Transmission gear, 14, 15, 60a, 60b ... Center hole , 17a, 17b, 117a, 117b ... Eccentric body, 18a, 18b, 118a, 118b ... External gear, 19a, 19b, 119a, 119b ... Eccentric body bearing hole, 20a, 20b, 120a, 120b ... Eccentric body bearing, 24 , 124 ... External teeth, 25, 125 ... Internal gears, 114, 115, 160a, 160b ... Center hole, 150 ... Carrier pin, 151, 152 ... Carrier pin holding hole, 1 4 ... carrier spacer 155 ... bolts, 156 ... screw hole, P ... mating member.

Claims (1)

[Claims] 1. A casing, a main rotary shaft having a tip inserted into the casing, and a space provided in the axial direction of the main rotary shaft, each of which is rotatably supported by the casing via a bearing. And connected to each other via a carrier body
A fixed first support block and a second support block, and a plurality of eccentric body shafts arranged on the circumference of a circle concentric with the main rotation shaft, each end of which is formed on the first and second support blocks. An eccentric body shaft that is rotatably supported in a bearing hole via an eccentric body shaft bearing, and that rotates in conjunction with the main rotation shaft;
Each eccentric body has an eccentric body bearing hole formed between itself and an eccentric body provided at a substantially central portion in the axial direction of each of the plurality of eccentric body shafts and formed in the eccentric body. A plurality of external gears that are eccentrically rotated with respect to the main rotating shaft by being rotatably fitted to the casing through an eccentric body bearing, and an internal gear that is fixed to the casing and internally meshes with the external gears. And an inner mesh planetary gear structure in which a center hole is formed in each of the radial centers of the first and second support blocks and the external gear, and the carrier body is the first mesh. , A carrier pin separate from the second support block, and the carrier pin is passed through each of the carrier pin holding holes formed in the first and second support blocks to form the first and second carrier blocks. 2 support blocks are connected and fixed, and the eccentric body shaft Receiving hole, the eccentric body bearing holes, a carrier pin holding holes, and all the through-hole of the central hole, of these holes, the first,
The eccentric body shaft bearing holes of the second support block and the eccentric body bearing holes of the external gear are arranged on the same circumference at the same pitch, and the carrier pin holding holes of the first and second support blocks are arranged. Are also arranged on the same circumference at the same pitch, and when the axial positions of the first and second support blocks and the external gear are rearranged appropriately, the first and second support blocks The diameter of the central hole formed in the support block and the diameter of the central hole formed in the external gear decrease in one direction (including the same diameter), and at the same time, the diameters of the first and The diameter of the eccentric body shaft bearing hole formed in the second support block and the diameter of the eccentric body bearing hole formed in the external gear decreases in the same direction as above (including the same diameter), and the same. At the same time in this arrangement, each carrier formed on the first and second support blocks The center hole, the eccentric body shaft bearing hole, so that the diameter of the pin holding hole becomes smaller (including the same diameter) in the same direction as the above.
The diameters of the eccentric body bearing hole and the carrier pin holding hole are set, and the outer diameters of the first and second support blocks are set to be smaller than the root diameters of the outer teeth of the external gear. The number of teeth of each is set to an integral multiple of the number of external gears, and the tooth number difference between the internal gear and the external gear is set to an integral multiple of the number of external gears. Interlocking planetary gear structure.