JPH0586506B2 - - Google Patents
Info
- Publication number
- JPH0586506B2 JPH0586506B2 JP8657185A JP8657185A JPH0586506B2 JP H0586506 B2 JPH0586506 B2 JP H0586506B2 JP 8657185 A JP8657185 A JP 8657185A JP 8657185 A JP8657185 A JP 8657185A JP H0586506 B2 JPH0586506 B2 JP H0586506B2
- Authority
- JP
- Japan
- Prior art keywords
- external
- outer pin
- frame
- pin
- planetary gear
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- 230000007246 mechanism Effects 0.000 claims description 17
- 239000010687 lubricating oil Substances 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 description 7
- 239000003638 chemical reducing agent Substances 0.000 description 4
- 230000005489 elastic deformation Effects 0.000 description 3
- 238000005461 lubrication Methods 0.000 description 3
- 230000015556 catabolic process Effects 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 239000003921 oil Substances 0.000 description 1
Landscapes
- Retarders (AREA)
- Gears, Cams (AREA)
Description
【発明の詳細な説明】
（産業上の利用分野）
本発明は内歯歯車が外ピン及び該外ピンを保持
する枠体からなり、外歯歯車がトロコイド形歯形
等からなり、内歯歯車と外歯歯車とを相対的に揺
動回転させて増減速を行うようにした遊星歯車機
構に関し、さらに詳しくは該遊星歯車機構におけ
る外ピンと枠体との取り付けを改良し、角度バツ
クラツシユ（後述する）を低減した内歯歯車に関
する。Detailed Description of the Invention (Field of Industrial Application) The present invention provides an internal gear comprising an external pin and a frame for holding the external pin, an external gear comprising a trochoidal tooth profile, etc. Regarding a planetary gear mechanism that performs acceleration/deceleration by relatively oscillating rotation with an external gear, more specifically, the attachment between the external pin and the frame in the planetary gear mechanism is improved, and angle backlash (described later) is achieved. This invention relates to an internal gear with reduced .
（従来の技術）
先ず、第３、第４図を参照して公知の遊星歯車
減速機の説明を行う。(Prior Art) First, a known planetary gear reducer will be explained with reference to FIGS. 3 and 4.
遊星歯車減速機は、この公知例のものでは入力
軸１から入力される回転を増減して出力軸２へ与
えるものとなつている。 In this known example, the planetary gear reducer increases or decreases the rotation input from the input shaft 1 and applies it to the output shaft 2.
この減速する機構は次のとおりである。 The mechanism for this deceleration is as follows.
入力軸１には所定位相差（この例では180゜）を
もつて偏心体３1，３2が設けられている。それぞ
れの偏心体３1，３2はコロ４を介して外歯歯車５
１，５2と接している。外歯歯車５1，５2には内ロ
ーラ孔６が複数個設けられ、内ピン７及び内ロー
ラ８が嵌入されている。前記外歯歯車５1，５2の
外周にはトロコイド形歯や円弧歯形などの外歯９
が設けられ、内歯歯車１０の枠体１０1に設けら
れた外ピン１１と前記外歯９とが内接噛み合いし
ている。 Eccentric bodies 3 1 and 3 2 are provided on the input shaft 1 with a predetermined phase difference (180° in this example). Each eccentric body 3 1 , 3 2 connects to an external gear 5 via a roller 4.
1 , 5 is in contact with 2 . A plurality of inner roller holes 6 are provided in the external gears 5 1 and 5 2 , into which an inner pin 7 and an inner roller 8 are fitted. On the outer periphery of the external gears 5 1 and 5 2, external teeth 9 such as trochoidal teeth or circular arc teeth are provided.
is provided, and the external pin 11 provided on the frame 10 1 of the internal gear 10 and the external teeth 9 are internally engaged with each other.
この公知例では、入力軸１の１回転が偏心体３
１，３2の１回転となるが、外歯歯車５1，５2内ロ
ーラ孔６と内ピン７とにより自転を拘束されてお
り揺動回転させられるから、外歯歯車５1，５2の
歯数と外ピン１１の本数（歯数）の差が１個の場
合、入力軸１の１回転により外歯歯車５1，５2の
外歯９と内歯歯車１０の内歯である外ピン１１と
が１歯だけ噛み合い変位（ずれる）する。このた
め、入力軸１の１回転は外歯歯車５1，５2の１／
歯数に減速され、その回転を内ピン７を介して出
力軸２へ伝達する。 In this known example, one rotation of the input shaft 1 corresponds to the rotation of the eccentric body 3.
1 , 3 2 , but since the rotation of the external gears 5 1 , 5 2 is restricted by the inner roller hole 6 and the inner pin 7 and is allowed to oscillate, the external gears 5 1 , 5 2 When the difference between the number of teeth and the number of external pins 11 (the number of teeth) is one, one rotation of the input shaft 1 causes the external teeth 9 of the external gears 5 1 and 5 2 and the internal teeth of the internal gear 10 to change. The outer pin 11 meshes with the outer pin 11 by one tooth and is displaced (shifted). Therefore, one rotation of the input shaft 1 corresponds to 1/1 rotation of the external gears 5 1 and 5 2 .
The rotation is reduced by the number of teeth and transmitted to the output shaft 2 via the inner pin 7.
上記のような遊星歯車減速機では、内歯歯車１
０の外ピン１１と枠体１０1との取り付けが第４
図あるいは第５図に示すようになつている。 In the planetary gear reducer as described above, the internal gear 1
The fourth step is to attach the outer pin 11 of 0 and the frame 10 1 .
The structure is as shown in FIG.
即ち、第４図では外ピン１１のピツチ円Ｐと枠
体１０1に形成された枠体穴１０2のピツチ円Ｐと
が同一点となつており、外ピン１１の半径R1に
対し枠体穴１０2の内半径R2が
R2−R1＝h1
となつている。ここで、h1は外ピン１１と枠体穴
１０2との間に潤滑油膜を形成するための隙間で
あり、これによつて加工誤差や動力伝達時の弾性
変形を吸収させるものである。 That is, in FIG. 4, the pitch circle P of the outer pin 11 and the pitch circle P of the frame hole 10 2 formed in the frame body 10 1 are the same point, and the radius R 1 of the outer pin 11 is The inner radius R2 of the body hole 102 is R2 - R1 = h1 . Here, h 1 is a gap for forming a lubricating oil film between the outer pin 11 and the frame hole 10 2 , thereby absorbing machining errors and elastic deformation during power transmission.
又、第５図に示すものでは外ピン１１のピツチ
円P1と枠体１０1に形成された枠体穴１０2のピツ
チ円P2とが異なつており、それぞれのピツチ円
半径がh2だけずれている。 Furthermore, in the one shown in FIG. 5, the pitch circle P1 of the outer pin 11 is different from the pitch circle P2 of the frame hole 102 formed in the frame body 101 , and the pitch circle radius of each is h2. It's off by just that.
ここで、h2も外ピン１１と枠体穴１０2との間
に潤滑油膜を形成するための隙間であり、これに
よつて加工誤差や動力伝達時の弾性変形を吸収さ
せるものである。 Here, h2 is also a gap for forming a lubricating oil film between the outer pin 11 and the frame hole 102 , thereby absorbing machining errors and elastic deformation during power transmission.
（発明が解決しようとする問題点）
ところが、このような隙間を設けることにより
歯車伝達機構全体に遊びや、ガタが生じ、一方側
の回転から他方側の回転に移るときに駆動側の回
転が直ちに被動側の回転となつて現れない欠点が
あつた。このような応答の遅れを以下角度バツク
ラツシユということにする。(Problem to be solved by the invention) However, by providing such a gap, play and backlash occur in the entire gear transmission mechanism, and the rotation of the drive side is affected when the rotation changes from one side to the other. There was a drawback that it did not appear immediately when the driven side rotated. Hereinafter, such a delay in response will be referred to as an angular breakdown.
この角度バツクラツシユは、遊星歯車機構がサ
ーボモータ等の制御機構として使用された場合に
は、その制御精度を低下させるものとなる。この
ため、各部品を精度良く加工し、組み立てなけれ
ばならない。 When the planetary gear mechanism is used as a control mechanism for a servo motor or the like, this angular crush reduces the control accuracy. For this reason, each part must be precisely machined and assembled.
このような角度バツクラツシユを無くす工夫と
して、外歯歯車、内歯歯車あるいは動力伝達歯車
を正転用と逆転用とに２分割したり、あるいは正
転用や逆転用に役割分担させるものも公知であ
る。（特開昭59−106744号、特開昭59−113340号、
特開昭59−115743号、特開昭59−208366号等の公
報参照）
しかしながら、上記公知のものにおいても外ピ
ンと枠体穴との隙間の関係で角度バツクラツシユ
が生じてしまう。 In order to eliminate such angular breakdown, it is known to divide an external gear, an internal gear, or a power transmission gear into two for forward rotation and reverse rotation, or to divide the roles for forward rotation and reverse rotation. (Japanese Patent Publication No. 59-106744, Japanese Patent Application Publication No. 59-113340,
(Refer to Japanese Patent Laid-Open No. 59-115743, Japanese Patent Laid-Open No. 59-208366, etc.) However, even in the above-mentioned known devices, angular breakage occurs due to the gap between the outer pin and the frame hole.
しかも、上記隙間は潤滑油膜を形成させる必要
上、無くすことのできない構成であり、上記隙間
は残しておかなければならない。 Furthermore, the above-mentioned gap cannot be eliminated because it is necessary to form a lubricating oil film, so the above-mentioned gap must be left.
そこで、本発明の目的は、上記欠点を改善し、
潤滑油膜の確保ができると同時に、角度バツクラ
ツシユを低減した遊星歯車機構における内歯歯車
装置を提供せんとするにある。 Therefore, the purpose of the present invention is to improve the above-mentioned drawbacks,
It is an object of the present invention to provide an internal gear device in a planetary gear mechanism that can secure a lubricating oil film and at the same time reduce angular crush.
（課題を解決するための手段）
本発明の特徴とするところは以下の構成にあ
る。(Means for Solving the Problems) The present invention is characterized by the following configuration.
即ち、内歯歯車が外ピン及び該外ピンを保持す
る枠体からなり、外歯歯車がトロコイド形歯形等
からなり、該内歯歯車と外歯歯車とを相対的に揺
動回転させて増減速を行うようにした遊星歯車機
構において、
前記外ピンと枠体とが周方向接触面の両端付近
と中間の３箇所で接触し、該外ピンと枠体との周
方向の間隙に２箇所の潤滑油ポケツトを設けたこ
とを特徴とする遊星歯車機構における内歯歯車装
置。 That is, the internal gear consists of an external pin and a frame that holds the external pin, and the external gear consists of a trochoidal tooth profile, etc., and the internal gear and the external gear are rotated relative to each other to increase or decrease. In a planetary gear mechanism configured to operate at high speed, the outer pin and the frame are in contact at three locations near both ends and in the middle of the circumferential contact surface, and two locations of lubrication are provided in the circumferential gap between the outer pin and the frame. An internal gear device in a planetary gear mechanism characterized by having an oil pocket.
（実施例）
本発明では外ピンと枠体穴とを３点で接触さ
せ、外ピン及び枠体穴の周方向に２箇所の潤滑油
ポケツトを設けるものである。(Example) In the present invention, the outer pin and the frame hole are brought into contact at three points, and two lubricating oil pockets are provided in the circumferential direction of the outer pin and the frame hole.
以下第１図を参照して、本発明の一実施例につ
いて説明する。 An embodiment of the present invention will be described below with reference to FIG.
外ピン１１はＯを中心した真円形となつてお
り、枠体穴１０2は図の下方よりC1，C2，C3，
C4，C5を中心とする円弧で結ばれている。この
ため、外ピン１１と枠体穴１０2とは図のＸ，Ｙ，
Ｚの３点で接触するものとなり、周方向に２箇所
の潤滑油ポケツト１２1，１２2が形成される。こ
の場合、Ｘ点とＺ点は外ピン１１と枠体穴１０2
との接触面の両端付近となつており、外ピン１１
のピツチ円の周方向の位置決めを行うものであ
り、Ｙ点はその中間となつており、外ピン１１の
ピツチ円の半径方向の位置決めを行うものであ
る。 The outer pin 11 has a perfect circular shape centered on O, and the frame hole 10 2 has C 1 , C 2 , C 3 ,
They are connected by an arc centered at C 4 and C 5 . Therefore, the outer pin 11 and the frame hole 102 are
They come into contact at three points Z, and two lubricating oil pockets 12 1 and 12 2 are formed in the circumferential direction. In this case, point X and point Z are the outer pin 11 and the frame hole 10 2
near both ends of the contact surface with the outer pin 11
The pitch circle of the outer pin 11 is positioned in the circumferential direction, and the Y point is in the middle thereof, and the pitch circle of the outer pin 11 is positioned in the radial direction.
以上のように構成された本発明では、外ピン１
１と枠体穴１０2との間の遊びがなくなり、角度
バツクラツシユが低減すると同時に潤滑を損なう
こともない。 In the present invention configured as described above, the outer pin 1
1 and the frame hole 10 2 is eliminated, angular bump crash is reduced, and at the same time, lubrication is not impaired.
なお、上記は本発明の一実施例であり、枠体穴
の形状は上記実施例に限定されるものではない。 Note that the above is one embodiment of the present invention, and the shape of the frame hole is not limited to the above embodiment.
即ち、外ピンと枠体穴とが３点で接触し、周方
向に２箇所の潤滑油ポケツトを形成するものであ
ればよい。 That is, it is sufficient as long as the outer pin and the frame hole are in contact at three points and two lubricating oil pockets are formed in the circumferential direction.
又、本発明が適用される遊星歯車機構は第２図
及び第３図に示される外歯歯車が揺動回転する形
式のものに限定されるものではなく、枠体に保持
される外ピンを使用するものであれば内歯歯車が
揺動回転する形式等、前述の公知例として示した
遊星歯車機構等の他の形式の遊星歯車機構を含む
ものである。 Furthermore, the planetary gear mechanism to which the present invention is applied is not limited to the type in which external gears swing and rotate as shown in FIGS. If used, it includes other types of planetary gear mechanisms such as those in which internal gears oscillate and rotate, such as the planetary gear mechanism shown as the above-mentioned known example.
更に又、減速機ではなく、増速機にも使用でき
るし、産業用のロボツト等の制御機構に適用する
こともできる。 Furthermore, it can be used not only as a speed reducer but also as a speed increaser, and can also be applied to control mechanisms for industrial robots and the like.
（発明の効果）
以上に説明したように、本発明によると次のよ
うな効果を生ずる。(Effects of the Invention) As explained above, the present invention provides the following effects.
外ピンと枠体穴との潤滑を損なうことなく外ピ
ンの回転が容易となると同時に動力伝達が円滑な
ものとなる。 The outer pin can be easily rotated without impairing lubrication between the outer pin and the frame hole, and at the same time, power transmission is smooth.
Ｘ，Ｙ，Ｚの３点接触であるから、外ピンの位
置決めが確実であり、動力伝達が滑らかとなる。 Since there is three-point contact at X, Y, and Z, the positioning of the outer pin is reliable and power transmission is smooth.
Ｘ，Ｙ，Ｚの３点の接触により、この３点付近
の枠体の弾性変形が行なわれ、荷重伝達による変
形と加工誤差を吸収しやすいものとなつている。 Contact at three points, X, Y, and Z, causes elastic deformation of the frame near these three points, making it easy to absorb deformation due to load transmission and processing errors.
第１図は本発明の一実施例を示す断面図、第２
図は本発明が適用される遊星歯車機構の一例を示
す断面図、第３図は第２図のＡ−Ａ断面図、第４
図は従来の外ピンと枠体穴との結合を示す断面
図、第５図は外ピンと枠体穴との結合を示す他の
従来例を示す断面図である。
１：入力軸、２：出力軸、３1，３2：偏心体、
５1，５2：外歯歯車、１０：内歯歯車、１０1：
枠体、１０2：枠体穴、１１：外ピン、１２1，１
２2：潤滑油ポケツト。
FIG. 1 is a cross-sectional view showing one embodiment of the present invention, and FIG.
The figure is a sectional view showing an example of a planetary gear mechanism to which the present invention is applied, FIG. 3 is a sectional view taken along line AA in FIG.
This figure is a sectional view showing a conventional connection between an outer pin and a frame hole, and FIG. 5 is a sectional view showing another conventional example of a connection between an outer pin and a frame hole. 1: Input shaft, 2: Output shaft, 3 1 , 3 2 : Eccentric body,
5 1 , 5 2 : External gear, 10: Internal gear, 10 1 :
Frame, 10 2 : Frame hole, 11: Outer pin, 12 1 , 1
2 2 : Lubricating oil pocket.
Claims (1)
体からなり、外歯歯車がトロコイド形歯形等から
なり、該内歯歯車と外歯歯車とを相対的に揺動回
転させて増減速を行うようにした遊星歯車機構に
おいて、 前記外ピンと枠体とが周方向接触面の両端付近
と中間の３箇所で接触し、該外ピンと枠体との周
方向の間隙に２箇所の潤滑油ポケツトを設けたこ
とを特徴とする遊星歯車機構における内歯歯車装
置。[Scope of Claims] 1. The internal gear consists of an external pin and a frame holding the external pin, the external gear consists of a trochoidal tooth profile, etc., and the internal gear and the external gear are relatively oscillated. In a planetary gear mechanism configured to dynamically rotate and increase/decelerate, the outer pin and the frame are in contact at three locations near both ends and in the middle of a circumferential contact surface, and the circumferential gap between the outer pin and the frame is An internal gear device in a planetary gear mechanism, characterized in that two lubricating oil pockets are provided in the planetary gear mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8657185A JPS61244940A (en) | 1985-04-24 | 1985-04-24 | Internal gear equipment in planetary gear mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8657185A JPS61244940A (en) | 1985-04-24 | 1985-04-24 | Internal gear equipment in planetary gear mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS61244940A JPS61244940A (en) | 1986-10-31 |
| JPH0586506B2 true JPH0586506B2 (en) | 1993-12-13 |
Family
ID=13890699
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP8657185A Granted JPS61244940A (en) | 1985-04-24 | 1985-04-24 | Internal gear equipment in planetary gear mechanism |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS61244940A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008041496A1 (en) | 2006-09-25 | 2008-04-10 | Nabtesco Corporation | Eccentric oscillating reduction gear and stabilizer shaft rotating device using eccentric oscillating reduction gear |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2601928Y2 (en) * | 1992-09-17 | 1999-12-13 | 帝人製機株式会社 | Pin gear reducer |
| JP4939191B2 (en) * | 2006-12-01 | 2012-05-23 | 荻野工業株式会社 | Oscillating gear unit |
| CN107178601A (en) * | 2017-06-20 | 2017-09-19 | 大连民族大学 | A kind of Eccentrically swinging gear device |
| WO2019221310A1 (en) * | 2018-05-15 | 2019-11-21 | (주)로보티즈 | Gear module comprising two-point contact internal gear |
| JP7360260B2 (en) * | 2019-06-28 | 2023-10-12 | ナブテスコ株式会社 | Decelerator |
-
1985
- 1985-04-24 JP JP8657185A patent/JPS61244940A/en active Granted
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008041496A1 (en) | 2006-09-25 | 2008-04-10 | Nabtesco Corporation | Eccentric oscillating reduction gear and stabilizer shaft rotating device using eccentric oscillating reduction gear |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS61244940A (en) | 1986-10-31 |
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