JPWO2021100072A1 - Deceleration device and industrial robot - Google Patents

Deceleration device and industrial robot Download PDF

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JPWO2021100072A1
JPWO2021100072A1 JP2020544556A JP2020544556A JPWO2021100072A1 JP WO2021100072 A1 JPWO2021100072 A1 JP WO2021100072A1 JP 2020544556 A JP2020544556 A JP 2020544556A JP 2020544556 A JP2020544556 A JP 2020544556A JP WO2021100072 A1 JPWO2021100072 A1 JP WO2021100072A1
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transmission
carrier
transmission gears
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outer shell
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JP6791464B1 (en
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弘明 松浦
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Mitsubishi Electric Corp
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F16H2001/325—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear comprising a carrier with pins guiding at least one orbital gear with circular holes

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)
  • General Details Of Gearings (AREA)

Abstract

減速装置（Ｇ）は、複数のクランク軸（４Ａ〜４Ｃ）の一端に設けられた複数の伝達歯車（５Ａ〜５Ｃ）に亘って配置され、伝達歯車（５Ａ〜５Ｃ）の回転に伴って複数の伝達歯車（５Ａ〜５Ｃ）の周りを回転し、潤滑剤を流動させる環形状の循環バンドを備える。循環バンド（６）は伝達歯車（５Ａ〜５Ｃ）に亘って配置されていることで、クランク軸（４Ａ〜４Ｃ）の公転よりも速く回転することで、減速装置（Ｇ）の内部に封入される潤滑剤を流動させる。The speed reducer (G) is arranged over a plurality of transmission gears (5A to 5C) provided at one end of the plurality of crank shafts (4A to 4C), and a plurality of reduction gears (G) are arranged as the transmission gears (5A to 5C) rotate. It is provided with a ring-shaped circulation band that rotates around the transmission gears (5A to 5C) and allows the lubricant to flow. Since the circulation band (6) is arranged over the transmission gears (5A to 5C), it rotates faster than the revolution of the crank shaft (4A to 4C) and is enclosed inside the speed reducer (G). Make the lubricant flow.

Description

この発明は、入力軸の回転を減速させて出力する減速装置、及び、減速装置を搭載した産業用ロボットに関する。 The present invention relates to a speed reducer that slows down the rotation of an input shaft and outputs the speed, and an industrial robot equipped with the speed reducer.

近年、製品の製造ラインには、製造過程で製品を加工や搬送する産業用ロボットが多く用いられている。産業用ロボットの駆動関節には、モータと減速装置とが搭載されており、減速装置が、モータの回転を減速させ産業用ロボットに所定の動きを実現させている。このような減速装置は、内部構造の焼き付きや摩耗を抑制するために潤滑剤を封入して用いられている。ただし、減速装置の動作に伴い発生する熱により、減速装置内部の内圧が上昇し、潤滑剤が外部に漏れだすことを抑制するため、潤滑剤は、減速装置の内部を十分に満たさず、減速装置の駆動により流動するように封入されるのが通例である。 In recent years, many industrial robots that process and transport products in the manufacturing process have been used in product manufacturing lines. A motor and a deceleration device are mounted on the drive joint of the industrial robot, and the deceleration device decelerates the rotation of the motor to realize a predetermined movement in the industrial robot. Such a speed reducer is used by enclosing a lubricant in order to suppress seizure and wear of the internal structure. However, due to the heat generated by the operation of the speed reducer, the internal pressure inside the speed reducer rises and the lubricant does not leak to the outside. Therefore, the lubricant does not sufficiently fill the inside of the speed reducer and decelerates. It is usually enclosed so that it flows by driving the device.

特許文献１には、モータ等の駆動源を回転させることによって入力軸を回転させ、入力軸の回転を受けたクランク軸が外歯歯車を揺動回転させることで、外歯歯車に固定されている第１キャリア及び第２キャリアを回転させ、第２キャリアと接続している出力軸を回転させ出力を取り出す減速装置が開示されている。この減速装置は、クランク軸を固定する支持板を備えており、支持板には、減速装置内に封入された潤滑剤を掻き上げる掻き上げ部を有している。支持板はクランク軸を固定しているので、外歯歯車の揺動回転により発生する、外歯歯車の外周を覆う円柱状の部材である内歯歯車の軸心に対するクランク軸の公転と同一の速さ及び方向で支持板が回転することで潤滑剤を流動させることが開示されている。 In Patent Document 1, the input shaft is rotated by rotating a drive source such as a motor, and the crank shaft that receives the rotation of the input shaft swings and rotates the external gear to be fixed to the external gear. A speed reducer for rotating a first carrier and a second carrier to rotate an output shaft connected to the second carrier to take out an output is disclosed. This speed reducing device includes a support plate for fixing the crank shaft, and the support plate has a scraping portion for scraping up the lubricant enclosed in the speed reducing device. Since the support plate fixes the crank shaft, it is the same as the rotation of the crank shaft with respect to the axis of the internal gear, which is a columnar member that covers the outer circumference of the external gear, which is generated by the swing rotation of the external gear. It is disclosed that the lubricant flows by rotating the support plate in the speed and direction.

特開２０１７−１０６６０６号公報JP-A-2017-106606

しかしながら、上述した特許文献１に開示される減速装置を産業用ロボットに組み込んだ場合、減速装置内に封入された潤滑剤が十分に流動せず、減速装置の内部構造（例えば、クランク軸、第１キャリア、外歯歯車、及び、第２キャリア、等）の焼き付きや摩耗が発生する恐れがある。 However, when the speed reducer disclosed in Patent Document 1 described above is incorporated into an industrial robot, the lubricant enclosed in the speed reducer does not sufficiently flow, and the internal structure of the speed reducer (for example, a crank shaft, the first 1 carrier, external gear, 2nd carrier, etc.) may be seized or worn.

図５及び図６は、減速装置が搭載された産業用ロボットの動きの一例を説明する概略図である。図５及び図６を用いて、特許文献１に開示された減速装置を産業用ロボットに搭載した場合の減速装置の動きの一例を説明する。図５及び図６では、第１アームＡ１、第２アームＡ２、第２アーム先端ＡＴを備え、第２アーム先端ＡＴで作業を行う産業用ロボットの一例である多関節ロボットを例に説明する。 5 and 6 are schematic views illustrating an example of the movement of an industrial robot equipped with a speed reducer. 5 and 6 will be used to describe an example of the movement of the speed reducer when the speed reducer disclosed in Patent Document 1 is mounted on an industrial robot. In FIGS. 5 and 6, an articulated robot having a first arm A1, a second arm A2, and a second arm tip AT and working at the second arm tip AT will be described as an example of an industrial robot.

本例示では、図５で示す状態を産業用ロボットが作動する前の減速装置ＧＡの定位置とし、図６で示す状態を産業用ロボットが第２アーム先端ＡＴで作業を行うために動作した後の減速装置ＧＡの動作後位置とする。図５に示すように、減速装置ＧＡは産業用ロボットの各アームを駆動させる位置である第１駆動関節Ｊ１及び第２駆動関節Ｊ２に搭載されており、減速装置ＧＡの内部のクランク軸２３Ａが、第１駆動関節Ｊ１及び第２駆動関節Ｊ２に搭載された各減速装置ＧＡともに、図５に示す上下方向の上側に位置している。 In this example, the state shown in FIG. 5 is the fixed position of the speed reducer GA before the industrial robot is operated, and the state shown in FIG. 6 is the state shown after the industrial robot is operated to work on the second arm tip AT. It is the position after the operation of the speed reducer GA. As shown in FIG. 5, the speed reducer GA is mounted on the first drive joint J1 and the second drive joint J2, which are positions for driving each arm of the industrial robot, and the crank shaft 23A inside the speed reducer GA is mounted on the first drive joint J1 and the second drive joint J2. , Each speed reducing device GA mounted on the first drive joint J1 and the second drive joint J2 is located on the upper side in the vertical direction shown in FIG.

産業用ロボットが動作した後は、図６に示すように、第１駆動関節Ｊ１に搭載された減速装置ＧＡは、第１アームＡ１を図６に示した上下方向下側に向かって倒す動きをするため、第１駆動関節Ｊ１に搭載された減速装置ＧＡのクランク軸２３Ａは、図６に示した反時計回り方向Ｌｅ側に約９０度公転し、支持板７０の掻き上げ部７７Ａは、潤滑剤をクランク軸の公転分だけ流動させるが、減速装置ＧＡの内部に対して十分な流動を行うことができない。 After the industrial robot operates, as shown in FIG. 6, the speed reducing device GA mounted on the first drive joint J1 moves the first arm A1 to tilt downward in the vertical direction shown in FIG. Therefore, the crank shaft 23A of the speed reducer GA mounted on the first drive joint J1 revolves about 90 degrees in the counterclockwise direction Le side shown in FIG. 6, and the scraping portion 77A of the support plate 70 is lubricated. Although the agent is allowed to flow by the amount of the revolution of the crank shaft, it cannot sufficiently flow to the inside of the speed reducer GA.

また、第２駆動関節Ｊ２に搭載された減速装置ＧＡは、第２アームＡ２を図６に示した上下方向上側に向かって持ち上げる動きをするため、第２駆動関節Ｊ２に搭載された減速装置ＧＡのクランク軸２３Ａは、図６に示した時計回り方向Ｒｉ側に約９０℃公転するが、第１アームＡ１の動作に伴い、減速装置ＧＡ自身の位相が反時計回り方向Ｌｅ側に約９０度回転しているため、第２駆動関節Ｊ２に搭載された減速装置ＧＡのクランク軸２３Ａは、図５で示した定位置と同様の位置となる。つまり、第２駆動関節Ｊ２に搭載された減速装置ＧＡが備える支持板７０の掻き上げ部７７Ａは、潤滑剤を流動させることができない。 Further, since the speed reducing device GA mounted on the second drive joint J2 moves to lift the second arm A2 toward the upper side in the vertical direction shown in FIG. 6, the speed reducing device GA mounted on the second drive joint J2 The crank shaft 23A revolves about 90 ° C in the clockwise direction Ri side shown in FIG. 6, but the phase of the speed reducer GA itself is about 90 ° C in the counterclockwise direction Le side due to the operation of the first arm A1. Since it is rotating, the crank shaft 23A of the speed reducer GA mounted on the second drive joint J2 is in the same position as the fixed position shown in FIG. That is, the scraping portion 77A of the support plate 70 included in the speed reducing device GA mounted on the second drive joint J2 cannot flow the lubricant.

産業用ロボットは、図５及び図６の動作を繰り返すため、上述の特許文献１で示した減速装置の構成では、減速装置内に封入された潤滑剤が十分に流動せず、減速装置の内部構造の焼き付きや摩耗が発生する恐れがある。 Since the industrial robot repeats the operations of FIGS. 5 and 6, in the configuration of the speed reducer shown in Patent Document 1 above, the lubricant enclosed in the speed reducer does not sufficiently flow, and the inside of the speed reducer does not flow sufficiently. There is a risk of structural seizure and wear.

本発明は、上述した問題点を解決するためになされたものであり、減速装置の内部に十分に潤滑剤を流動させ、減速装置の内部構造の焼き付きや摩耗を抑制した減速機、及び、減速機を搭載した産業用ロボットを提供することを目的とする。 The present invention has been made to solve the above-mentioned problems, and is a speed reducer in which a lubricant is sufficiently flowed inside the speed reducer to suppress seizure and wear of the internal structure of the speed reducer, and a speed reducer. The purpose is to provide an industrial robot equipped with a machine.

本発明に係る減速装置は、内周が円環形状であり、内周に内歯を有する外郭と、外郭の前記内周に沿った仮想円面に垂直な軸心を通り、且つ、軸心に沿って配置され、外周に入力外歯を有する入力軸と、外郭内に配置され、内歯に噛み合う外歯を外周に有する外歯歯車と、外歯歯車に形成された貫通孔に挿通されており、外郭の前記内周に沿う周方向に沿って軸心の周りに配置され、回転することで外歯歯車を偏心させて回転させる複数のクランク軸と、入力外歯と噛み合う伝達外歯を外周に有し、複数のクランク軸の一端に配置され、入力軸の回転に伴って回転し複数のクランク軸を回転させる複数の伝達歯車と、複数の伝達歯車に亘って配置され、伝達歯車の回転に伴って複数の伝達歯車の周りを回転し潤滑剤を流動させる環形状の循環バンドと、を備えるものである。 The speed reducing device according to the present invention has an inner circumference having an annular shape, passes through an outer shell having internal teeth on the inner circumference and an axial center perpendicular to the virtual circular surface along the inner circumference of the outer shell, and has an axial center. It is inserted into an input shaft having an input external tooth on the outer periphery, an external gear having an external tooth that meshes with the internal tooth on the outer periphery, and a through hole formed in the external gear. A plurality of crank shafts that are arranged around the axis along the circumferential direction along the inner circumference of the outer shell and rotate to eccentricize the external gear by rotating, and a transmission external tooth that meshes with the input external tooth. Is arranged on the outer circumference and is arranged at one end of a plurality of crank shafts, and is arranged over a plurality of transmission gears and a plurality of transmission gears which rotate with the rotation of the input shaft to rotate the plurality of crank shafts. It is provided with a ring-shaped circulation band that rotates around a plurality of transmission gears to flow a lubricant with the rotation of the gear.

本発明によれば、複数の伝達歯車に亘って、循環バンドが配置されているため、クランク軸の公転とは無関係に、複数の伝達歯車の周りを循環バンドが回転する。したがって、減速装置内に封入された潤滑剤が十分に流動し、減速装置の内部構造の焼き付きや摩耗の発生を抑制することができる。 According to the present invention, since the circulation band is arranged over the plurality of transmission gears, the circulation band rotates around the plurality of transmission gears regardless of the revolution of the crank shaft. Therefore, the lubricant enclosed in the speed reducer can sufficiently flow, and seizure and wear of the internal structure of the speed reducer can be suppressed.

本発明の実施の形態１に係る減速装置の概略の一例を示す断面図である。It is sectional drawing which shows a schematic example of the speed reduction apparatus which concerns on Embodiment 1 of this invention. 本発明の実施の形態１に係る外郭の一例を示すための図１におけるＩ−Ｉ線に沿う外郭断面図である。It is a cross-sectional view of the outer shell along the line I-I in FIG. 1 for showing an example of the outer shell according to the first embodiment of the present invention. 本発明の実施の形態１に係る減速装置の一例を示すための図１におけるＸ軸方向から見た平面図である。It is a top view seen from the X-axis direction in FIG. 1 for showing an example of the speed reduction apparatus which concerns on Embodiment 1 of this invention. 本発明の実施の形態１に係る減速装置の一例を示すための図１におけるＩ−Ｉ線に沿う減速装置断面図である。It is sectional drawing of the reduction gear along the line I-I in FIG. 1 for showing an example of the reduction gear which concerns on Embodiment 1 of this invention. 減速装置が搭載された産業用ロボットの動きの一例を説明する概略図である。It is a schematic diagram explaining an example of the movement of an industrial robot equipped with a speed reducer. 減速装置が搭載された産業用ロボットの動きの一例を説明する概略図である。It is a schematic diagram explaining an example of the movement of an industrial robot equipped with a speed reducer.

実施の形態１．
本発明の実施の形態１における減速装置及び減速装置が搭載された産業用ロボットについて図面を用いて説明する。図１は、本実施の形態１に係る減速装置Ｇの概略の一例を示す断面図である。図２は、図１に示すＸ軸方向から見た外郭１の一例を示す平面図である。図３は、図１に示すＸ軸方向から見た減速装置Ｇの一例を示す平面図である。図４は、図１に示すＩ−Ｉ線に沿う減速装置Ｇの一例を示す断面図である。Embodiment 1.
The deceleration device and the industrial robot equipped with the deceleration device according to the first embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a cross-sectional view showing a schematic example of the speed reducing device G according to the first embodiment. FIG. 2 is a plan view showing an example of the outer shell 1 seen from the X-axis direction shown in FIG. FIG. 3 is a plan view showing an example of the speed reducing device G seen from the X-axis direction shown in FIG. FIG. 4 is a cross-sectional view showing an example of the speed reducing device G along the line I-I shown in FIG.

本実施の形態１に係る減速装置Ｇは、図１に示すように、内周に内歯１１を有する外郭１と、外周に入力外歯２１を有する入力軸２と、外郭１の内歯１１に噛み合う外歯３１を有する複数の外歯歯車３（実施の形態１では２枚）と、複数の外歯歯車３を挟んで対向する第１キャリア８及び第２キャリア９と、外歯歯車３に形成された貫通孔３２Ａ〜３２Ｃに挿通された複数のクランク軸４Ａ〜４Ｃ（本実施の形態１では３本）と、伝達外歯５１を有しクランク軸４Ａ〜４Ｃそれぞれの一端に配置されている複数の伝達歯車５Ａ〜５Ｃ（本実施の形態１では３枚）と、複数の伝達歯車５Ａ〜５Ｃに亘って配置されている循環バンド６と、を備えている。 As shown in FIG. 1, the speed reducing device G according to the first embodiment has an outer shell 1 having an inner tooth 11 on the inner circumference, an input shaft 2 having an input outer tooth 21 on the outer circumference, and an inner tooth 11 of the outer shell 1. A plurality of external gears 3 (two in the first embodiment) having external teeth 31 meshing with each other, a first carrier 8 and a second carrier 9 facing each other with the plurality of external gears 3 interposed therebetween, and an external gear 3 It has a plurality of crank shafts 4A to 4C (three in the first embodiment) inserted through the through holes 32A to 32C formed in the above, and transmission external teeth 51, and is arranged at one end of each of the crank shafts 4A to 4C. It includes a plurality of transmission gears 5A to 5C (three in the first embodiment) and a circulation band 6 arranged over the plurality of transmission gears 5A to 5C.

外郭１は、内周が円環形状であり、図１及び図２に示すように、内周に沿った仮想円面ＶＣの中心を通り、仮想円面ＶＣに垂直な軸を軸心ＣＬとする円筒状の部材である。また、外郭は、内歯１１を内周に沿って有している。外郭１の内部には、複数の外歯歯車３が配置されている。外郭１の外周は、円環形状であり、外周に沿って、減速装置Ｇを産業用ロボットに搭載するための取付孔を複数備えている。 The outer circumference 1 has an annular shape on the inner circumference, and as shown in FIGS. 1 and 2, it passes through the center of the virtual circular surface VC along the inner circumference, and the axis perpendicular to the virtual circular surface VC is defined as the axis CL. It is a cylindrical member. Further, the outer shell has internal teeth 11 along the inner circumference. A plurality of external gears 3 are arranged inside the outer shell 1. The outer circumference of the outer shell 1 has an annular shape, and a plurality of mounting holes for mounting the speed reducing device G on the industrial robot are provided along the outer circumference.

外歯歯車３は、図１及び図４に示すように外周に外歯３１を有しており、外郭１の内歯１１と外歯３１とが噛み合うように、外郭１内に配置されている。そして、外郭１内に配置された外歯歯車３は、後述する第１キャリア８と第２キャリア９によって挟まれた状態で外郭１内に保持されている。本実施の形態１では、内歯１１と外歯３１との間に伝達ピン７が配置されており、内歯１１と外歯３１とは、伝達ピン７を介して噛み合う形態となっている。つまり、内歯１１と外歯３１が噛み合うとは、外歯３１からの力が内歯１１に伝達できる状態であればよく、本実施の形態１のように伝達ピン７の様な他の部材を介して噛み合ってもよいし、内歯１１と外歯３１が直接係合して噛み合ってもよい。 As shown in FIGS. 1 and 4, the external tooth gear 3 has external teeth 31 on the outer periphery thereof, and is arranged in the outer shell 1 so that the inner teeth 11 and the outer teeth 31 of the outer shell 1 mesh with each other. .. The external tooth gear 3 arranged in the outer shell 1 is held in the outer shell 1 in a state of being sandwiched between the first carrier 8 and the second carrier 9, which will be described later. In the first embodiment, the transmission pin 7 is arranged between the internal tooth 11 and the external tooth 31, and the internal tooth 11 and the external tooth 31 are in a form of meshing with each other via the transmission pin 7. That is, the meshing of the internal teeth 11 and the external teeth 31 may be in a state where the force from the external teeth 31 can be transmitted to the internal teeth 11, and other members such as the transmission pin 7 as in the first embodiment. The internal teeth 11 and the external teeth 31 may be directly engaged and meshed with each other.

加えて、外歯歯車３には、後述するクランク軸４Ａ〜４Ｃが挿通される３つの貫通孔３２Ａ〜３２Ｃと、後述する入力軸２が挿通される第１中央貫通孔３３を有している。第１中央貫通孔３３は、外歯歯車３が外郭１の内部に配置された状態で、外郭１の軸心ＣＬを通るように設けられている。クランク軸４Ａ〜４Ｃが挿通される貫通孔３２Ａ〜３２Ｃは、外郭１の内周に沿う周方向に沿って設けられ外郭１の軸心ＣＬの周りに配置されている。言い換えれば、クランク軸４Ａ〜４Ｃは、第１中央貫通孔３３を囲むように配置されている。 In addition, the external gear 3 has three through holes 32A to 32C through which the crank shafts 4A to 4C described later are inserted, and a first central through hole 33 through which the input shaft 2 described later is inserted. .. The first central through hole 33 is provided so as to pass through the axial center CL of the outer shell 1 in a state where the external gear 3 is arranged inside the outer shell 1. The through holes 32A to 32C through which the crank shafts 4A to 4C are inserted are provided along the circumferential direction along the inner circumference of the outer shell 1 and are arranged around the axial center CL of the outer shell 1. In other words, the crank shafts 4A to 4C are arranged so as to surround the first central through hole 33.

さらに、外歯歯車３には、後述する第１キャリア８が有する連結軸８１Ａ〜８１Ｃが挿通される３つの連結用貫通孔３４Ａ〜３４Ｃを有している。連結用貫通孔３４Ａ〜３４Ｃは、クランク軸４Ａ〜４Ｃが挿通される貫通孔３２Ａ〜３２Ｃが配置されている位置からオフセットして、外郭１の内周に沿う周方向に沿って設けられ、外郭１の軸心ＣＬの周りに配置されている。言い換えれば、連結用貫通孔３４Ａ〜３４Ｃは、貫通孔３２Ａ〜３２Ｃとは異なる位置で第１中央貫通孔３３を囲むように配置されている。 Further, the external gear 3 has three connecting through holes 34A to 34C through which the connecting shafts 81A to 81C of the first carrier 8 described later are inserted. The connecting through holes 34A to 34C are provided along the circumferential direction along the inner circumference of the outer shell 1 at an offset from the position where the through holes 32A to 32C through which the crank shafts 4A to 4C are inserted are arranged. It is arranged around the axis CL of 1. In other words, the connecting through holes 34A to 34C are arranged so as to surround the first central through hole 33 at a position different from that of the through holes 32A to 32C.

クランク軸４Ａ〜４Ｃは、図１に示すように、軸部４１と偏心部４２Ａ，４２Ｂを有している。２つの偏心部４２Ａ，４２Ｂは、クランク軸４Ａ〜４Ｃの軸部の軸心４０Ｃに対して偏心した外周を有しており、偏心部４２Ａと偏心部４２Ｂの偏心位相は本実施の形態１では１８０度である（互いに離反する方向に偏心している）。 As shown in FIG. 1, the crank shafts 4A to 4C have a shaft portion 41 and eccentric portions 42A and 42B. The two eccentric portions 42A and 42B have an outer circumference eccentric with respect to the axial center 40C of the shaft portions of the crank shafts 4A to 4C, and the eccentric phases of the eccentric portions 42A and the eccentric portions 42B are in the first embodiment. It is 180 degrees (eccentric in the direction away from each other).

クランク軸４Ａ〜４Ｃは、図１及び図４に示すように、外歯歯車３の貫通孔３２Ａ〜３２Ｃのそれぞれに１本ずつ挿通されており、偏心部４２Ａ，４２Ｂが外歯歯車３の貫通孔３２Ａ〜３２Ｃ内に位置するように配置されている。クランク軸４Ａ〜４Ｃが同じ方向に回転することでそれぞれのクランク軸４Ａ〜４Ｃに設けられた偏心部４２Ａ，４２Ｂが、外歯歯車３を外郭１の軸心ＣＬに対して偏心させて回転させる。 As shown in FIGS. 1 and 4, one crank shaft 4A to 4C is inserted into each of the through holes 32A to 32C of the external gear 3, and the eccentric portions 42A and 42B penetrate the external gear 3. It is arranged so as to be located in the holes 32A to 32C. When the crank shafts 4A to 4C rotate in the same direction, the eccentric portions 42A and 42B provided on the respective crank shafts 4A to 4C rotate the external gear 3 eccentrically with respect to the axial center CL of the outer shell 1. ..

第１キャリア８は、図１に示すように、後述する入力軸２が挿通される第２中央貫通孔８２と、外歯歯車３の連結用貫通孔３４Ａ〜３４Ｃに挿通される連結軸８１Ａ〜８１Ｃを備える。連結軸８１Ａ〜８１Ｃには、後述する第２キャリア９と第１キャリア８とを連結させ、固定するための第１キャリア固定孔８３を有している。また、第１キャリア８は、クランク軸４Ａ〜４Ｃの軸部４１の一端が挿通され、クランク軸４Ａ〜４Ｃを回転自在に保持する第１クランク軸保持用貫通孔８４Ａ〜８４Ｃと、連結軸８１Ａ〜８１Ｃを備える側とは反対側に配置される出力軸（不図示）を固定するための出力軸固定孔８５を有している。出力軸は、第１キャリア８の連結軸８１Ａ〜８１Ｃを備える側とは反対側に配置され、出力軸に設けられた固定孔を挿通し出力軸固定孔８５によって固定される固定部材（ボルト等）で第１キャリア８に固定される。 As shown in FIG. 1, the first carrier 8 has a second central through hole 82 through which an input shaft 2 described later is inserted, and a connecting shaft 81A to be inserted through the connecting through holes 34A to 34C of the external gear 3. It is equipped with 81C. The connecting shafts 81A to 81C have a first carrier fixing hole 83 for connecting and fixing the second carrier 9 and the first carrier 8, which will be described later. Further, the first carrier 8 has the first crank shaft holding through holes 84A to 84C through which one end of the shaft portion 41 of the crank shafts 4A to 4C is inserted to rotatably hold the crank shafts 4A to 4C, and the connecting shaft 81A. It has an output shaft fixing hole 85 for fixing an output shaft (not shown) arranged on the side opposite to the side provided with ~ 81C. The output shaft is arranged on the side opposite to the side of the first carrier 8 provided with the connecting shafts 81A to 81C, and a fixing member (bolt, etc.) is inserted through the fixing hole provided in the output shaft and fixed by the output shaft fixing hole 85. ) Is fixed to the first carrier 8.

第２キャリア９は、図１に示すように、後述する入力軸２が挿通される第３中央貫通孔９２と、第１キャリア８と連結し固定するための第２キャリア固定孔９３を有している。また、クランク軸４Ａ〜４Ｃの軸部４１における第１キャリア８に保持される側とは反対側の一端が挿通され、クランク軸４Ａ〜４Ｃを回転自在に保持する第２クランク軸保持用貫通孔９４Ａ〜９４Ｃを有している。 As shown in FIG. 1, the second carrier 9 has a third central through hole 92 through which an input shaft 2 described later is inserted, and a second carrier fixing hole 93 for connecting and fixing to the first carrier 8. ing. Further, a through hole for holding the second crank shaft is inserted through which one end of the shaft portion 41 of the crank shafts 4A to 4C is opposite to the side held by the first carrier 8 to rotatably hold the crank shafts 4A to 4C. It has 94A to 94C.

第１キャリア８と第２キャリア９とは、外郭１の内部に配置された複数の外歯歯車３を挟んで対向するように配置されている。そして、第１キャリア８の第１クランク軸保持用貫通孔８４Ａ〜８４Ｃのそれぞれに、クランク軸４Ａ〜４Ｃのそれぞれの軸部４１における第１キャリア８側の一端が挿通されて保持されており、第２キャリア９の第２クランク軸保持用貫通孔９４Ａ〜９４Ｃにクランク軸４Ａ〜４Ｃのそれぞれの軸部４１における第２キャリア９側の一端が挿通されて保持されている。なお、クランク軸４Ａ〜４Ｃのそれぞれの軸部４１における第２キャリア側の一端は、第２キャリア９から突出して保持されている。加えて、第１キャリア８の連結軸８１Ａ〜８１Ｃが外歯歯車３の連結用貫通孔３４Ａ〜３４Ｃのそれぞれに挿通され、連結軸８１Ａ〜８１Ｃに設けられた第１キャリア固定孔と第２キャリア９に設けられた第２キャリア固定孔９３とを介して固定部材（例えば、ボルト）によって、第１キャリア８と第２キャリア９とが、複数の外歯歯車３を挟んで固定されている。 The first carrier 8 and the second carrier 9 are arranged so as to face each other with a plurality of external gears 3 arranged inside the outer shell 1 interposed therebetween. Then, one end of the shaft portion 41 of the crank shafts 4A to 4C on the first carrier 8 side is inserted and held in each of the first crank shaft holding through holes 84A to 84C of the first carrier 8. One end of each of the shaft portions 41 of the crank shafts 4A to 4C on the second carrier 9 side is inserted and held through the second crank shaft holding through holes 94A to 94C of the second carrier 9. One end of each of the crank shafts 4A to 4C on the second carrier side is held so as to project from the second carrier 9. In addition, the connecting shafts 81A to 81C of the first carrier 8 are inserted into the connecting through holes 34A to 34C of the external gear 3, respectively, and the first carrier fixing holes and the second carriers provided in the connecting shafts 81A to 81C are provided. The first carrier 8 and the second carrier 9 are fixed with the plurality of external gears 3 interposed therebetween by a fixing member (for example, a bolt) via the second carrier fixing hole 93 provided in the ninth carrier.

外郭１と第１キャリア８との間、及び、外郭１と第２キャリア９との間、のそれぞれには、複数の軸受け１００が配置されており、外歯歯車３の偏心回転に伴って回転する第１キャリア８及び第２キャリア９が、外郭１に対して滑らかに回転可能となっている。 A plurality of bearings 100 are arranged between the outer shell 1 and the first carrier 8 and between the outer shell 1 and the second carrier 9, and rotate with the eccentric rotation of the external gear 3. The first carrier 8 and the second carrier 9 are smoothly rotatable with respect to the outer shell 1.

入力軸２は、図１及び図３に示すように、外郭１の軸心ＣＬを通り、軸心ＣＬに沿って配置されている棒形状の部材である。具体的には、第１及び第２キャリア８，９が有する第２及び第３中央貫通孔８２，９２と、２枚の外歯歯車３の第１中央貫通孔３３に挿通され、第１及び第２キャリア８，９によって回転自在に保持されている。また、第２キャリア９側の一端が、第２キャリア９から突出するように配置されており、入力軸２の第２キャリア９から突出する一端である突出部の外周には、後述する伝達歯車５Ａ〜５Ｃの伝達外歯５１と噛み合う入力外歯２１を有している。入力軸２は、駆動源（不図示）である例えばモータと接続され、モータの回転に伴い回転を行う。 As shown in FIGS. 1 and 3, the input shaft 2 is a rod-shaped member that passes through the axis CL of the outer shell 1 and is arranged along the axis CL. Specifically, it is inserted through the second and third central through holes 82 and 92 of the first and second carriers 8 and 9 and the first central through hole 33 of the two external gears 3, and the first and third are inserted. It is rotatably held by the second carriers 8 and 9. Further, one end on the second carrier 9 side is arranged so as to protrude from the second carrier 9, and a transmission gear described later is formed on the outer periphery of the protruding portion which is one end protruding from the second carrier 9 of the input shaft 2. It has an input external tooth 21 that meshes with the transmission external tooth 51 of 5A to 5C. The input shaft 2 is connected to, for example, a motor, which is a drive source (not shown), and rotates as the motor rotates.

伝達歯車５Ａ〜５Ｃは、図１及び図３に示すように、外周に伝達外歯５１を有しており、伝達歯車５Ａ〜５Ｃの中央には、クランク軸４Ａ〜４Ｃの軸部４１の一端が挿通される伝達歯車貫通孔５２を有している。伝達歯車５Ａ〜５Ｃのそれぞれは、クランク軸４Ａ〜４Ｃにおける第２キャリア９から突出している軸部４１の一端が伝達歯車貫通孔５２に挿通され、クランク軸４Ａ〜４Ｃの一端に配置されている。伝達歯車５Ａ〜５Ｃの伝達外歯５１が入力軸２の外周に設けられた入力外歯２１と噛み合っていることで、駆動源によって回転する入力軸２の回転を受けてクランク軸４Ａ〜４Ｃを回転させる。 As shown in FIGS. 1 and 3, the transmission gears 5A to 5C have transmission external teeth 51 on the outer periphery, and one end of the shaft portion 41 of the crank shafts 4A to 4C is located in the center of the transmission gears 5A to 5C. Has a transmission gear through hole 52 through which the is inserted. In each of the transmission gears 5A to 5C, one end of a shaft portion 41 protruding from the second carrier 9 of the crank shafts 4A to 4C is inserted into the transmission gear through hole 52 and arranged at one end of the crank shafts 4A to 4C. .. When the transmission external teeth 51 of the transmission gears 5A to 5C mesh with the input external teeth 21 provided on the outer periphery of the input shaft 2, the crank shafts 4A to 4C are subjected to the rotation of the input shaft 2 rotated by the drive source. Rotate.

循環バンド６は、図１及び図３に示すように、３つの伝達歯車５Ａ〜５Ｃに亘って配置される環状の部材である。循環バンド６は内周に伝達歯車５Ａ〜５Ｃの伝達外歯５１と噛み合う内周突起６１と、循環バンド６の外周に設けられた外周突起６２とを有している。循環バンド６は、伝達歯車５Ａ〜５Ｃに亘って配置されていることで、伝達歯車５Ａ〜５Ｃが入力軸２の回転を受けて回転することに伴い、３つの伝達歯車５Ａ〜５Ｃの周りを回転（周回）する。循環バンド６は、温度耐性、耐摩耗性に優れていることが好ましく、例えば、ニトリルゴム、アクリルゴム、フッ素ゴム、シリコーンゴム、等で形成されたバンドや、金属で形成されたバンド又はチェーン、等を用いることが好適である。 As shown in FIGS. 1 and 3, the circulation band 6 is an annular member arranged over the three transmission gears 5A to 5C. The circulation band 6 has an inner peripheral protrusion 61 that meshes with the transmission external teeth 51 of the transmission gears 5A to 5C on the inner circumference, and an outer peripheral protrusion 62 provided on the outer periphery of the circulation band 6. Since the circulation band 6 is arranged over the transmission gears 5A to 5C, the circulation bands 6 rotate around the three transmission gears 5A to 5C as the transmission gears 5A to 5C rotate in response to the rotation of the input shaft 2. Rotate (orbit). The circulation band 6 is preferably excellent in temperature resistance and abrasion resistance, and is, for example, a band made of nitrile rubber, acrylic rubber, fluororubber, silicone rubber, or the like, or a band or chain made of metal. Etc. are preferable.

以下に、本実施の形態１に係る減速装置Ｇが、駆動源の回転を減速させる際の動き、及び、循環バンドの動きについて説明する。 Hereinafter, the movement of the speed reducing device G according to the first embodiment when decelerating the rotation of the drive source and the movement of the circulation band will be described.

減速装置Ｇは、入力軸２に対して入力された駆動源からの回転を減速させる。まず、入力軸２が駆動源により回転（自転）させられると、入力軸２の入力外歯２１と噛み合う伝達歯車５Ａ〜５Ｃが回転（自転）する。次に、伝達歯車５Ａ〜５Ｃの回転に伴い、伝達歯車５Ａ〜５Ｃのそれぞれに固定されているクランク軸４Ａ〜４Ｃが回転（自転）する。クランク軸４Ａ〜４Ｃが回転することで、クランク軸４Ａ〜４Ｃの偏心部４２Ａ，４２Ｂが、外歯歯車３を外郭１の軸心ＣＬに対して偏心させて回転させる。 The speed reducing device G slows down the rotation from the drive source input to the input shaft 2. First, when the input shaft 2 is rotated (rotated) by the drive source, the transmission gears 5A to 5C that mesh with the input external teeth 21 of the input shaft 2 are rotated (rotated). Next, as the transmission gears 5A to 5C rotate, the crank shafts 4A to 4C fixed to each of the transmission gears 5A to 5C rotate (rotate). As the crank shafts 4A to 4C rotate, the eccentric portions 42A and 42B of the crank shafts 4A to 4C eccentrically rotate the external gear 3 with respect to the axial center CL of the outer shell 1.

より詳細には、入力軸２の回転は駆動源の回転と同様の速度で回転する。この入力軸２の回転を伝達歯車５Ａ〜５Ｃが受けることでクランク軸４Ａ〜４Ｃが回転する。ここでクランク軸４Ａ〜４Ｃの回転を受けた外歯歯車３は、外郭１の軸心ＣＬに対して偏心して回転するため、外歯歯車３の回転は、駆動源の回転に比べて遅い回転となり、駆動源の回転を減速することができる。例えば、外歯歯車３の外周に有する外歯３１の数が３６０個である場合、クランク軸４Ａ〜４Ｃが１回転（回転角で３６０度）すると、外歯歯車３は、外歯３１の数で１個分（回転角で１度）回転することになる。つまり、このような場合であれば、クランク軸４Ａ〜４Ｃが３６０回転することで、外歯歯車３は１回転することとなる。外歯歯車３の外歯３１の数や、外歯歯車３の枚数にも依存するが、外歯歯車３の回転は、伝達歯車５Ａ〜５Ｃの回転よりも遅くなる。 More specifically, the rotation of the input shaft 2 rotates at the same speed as the rotation of the drive source. When the transmission gears 5A to 5C receive the rotation of the input shaft 2, the crank shafts 4A to 4C rotate. Here, since the external gear 3 that has received the rotation of the crank shafts 4A to 4C rotates eccentrically with respect to the axial center CL of the outer shell 1, the rotation of the external gear 3 is slower than the rotation of the drive source. Therefore, the rotation of the drive source can be decelerated. For example, when the number of external teeth 31 on the outer periphery of the external gear 3 is 360, when the crank shafts 4A to 4C make one rotation (360 degrees in the angle of rotation), the external gear 3 has the number of external teeth 31. Will rotate by one (1 degree at the angle of rotation). That is, in such a case, the crank shafts 4A to 4C rotate 360 times, so that the external gear 3 makes one rotation. Although it depends on the number of external teeth 31 of the external gear 3 and the number of external gears 3, the rotation of the external gear 3 is slower than the rotation of the transmission gears 5A to 5C.

そして、外歯歯車３が偏心して回転することで、外歯歯車３の連結用貫通孔３４Ａ〜３４Ｃに挿通されている第１キャリア８の連結軸８１Ａ〜８１Ｃに対して力がかかり、第１キャリア８が外郭１の軸心ＣＬを軸として回転する。第１キャリア８が回転する際に、第１キャリアと固定されている第２キャリア９も同様に回転することとなる。そして、第１キャリア８及び第２キャリア９に回転自在に保持されているクランク軸４Ａ〜４Ｃについても、第１キャリア８及び第２キャリア９の回転に合わせて、外郭１の軸心ＣＬの周りを公転する。つまり、入力軸２の回転に伴い、外郭１の内部に配置された外歯歯車３が偏心して回転することで、第１キャリア８に接続される出力軸に、入力軸２に入力された回転を減速して出力することができる。 Then, as the external gear 3 rotates eccentrically, a force is applied to the connecting shafts 81A to 81C of the first carrier 8 inserted through the connecting through holes 34A to 34C of the external gear 3, and the first The carrier 8 rotates about the axis CL of the outer shell 1. When the first carrier 8 rotates, the second carrier 9 fixed to the first carrier also rotates in the same manner. The crank shafts 4A to 4C rotatably held by the first carrier 8 and the second carrier 9 are also around the axis CL of the outer shell 1 in accordance with the rotation of the first carrier 8 and the second carrier 9. Revolve. That is, as the input shaft 2 rotates, the external gear 3 arranged inside the outer shell 1 rotates eccentrically, so that the rotation input to the input shaft 2 is applied to the output shaft connected to the first carrier 8. Can be decelerated and output.

ここで、３つの伝達歯車５Ａ〜５Ｃに亘って、伝達歯車５Ａ〜５Ｃを囲んで配置されている循環バンド６は、内周突起６１と伝達歯車５Ａ〜５Ｃの伝達外歯５１と噛み合っているため、伝達歯車５Ａ〜５Ｃの回転に伴って、伝達歯車５Ａ〜５Ｃの周りを周回する。つまり、外歯歯車３の回転に合わせて回転する第２キャリア９の回転よりも速く（多く）周回する。 Here, the circulation band 6 arranged so as to surround the transmission gears 5A to 5C over the three transmission gears 5A to 5C meshes with the inner peripheral projection 61 and the transmission external teeth 51 of the transmission gears 5A to 5C. Therefore, as the transmission gears 5A to 5C rotate, they orbit around the transmission gears 5A to 5C. That is, it orbits faster (more) than the rotation of the second carrier 9, which rotates in accordance with the rotation of the external gear 3.

つまり、図５及び図６で示した産業用ロボットに本実施の形態１の減速装置Ｇを組みつけたとしても、図５の定位置から図６の動作後位置となった場合、第１駆動関節Ｊ１に搭載された減速装置Ｇは、クランク軸４Ａ〜４Ｃが反統計回り方向Ｌｅ側に９０度公転させるまでに伝達歯車５Ａ〜５Ｃが９０回転することとなり、循環バンド６は伝達歯車５Ａ〜５Ｃの周りを反時計回り方向Ｌｅ側に複数回、周回することとなる。また、第２駆動関節Ｊ２に搭載された減速装置Ｇは、図６に示した通りクランク軸４Ａ〜４Ｃの位置が図５に示した定位置と同様の位置となる場合でも、クランク軸４Ａ〜４Ｃが反統計回り方向Ｌｅ側に９０度公転させるまでに伝達歯車５Ａ〜５Ｃが９０回転することとなり、循環バンド６は伝達歯車５Ａ〜５Ｃの周りを反時計回り方向Ｌｅ側に複数回、周回することとなる。 That is, even if the speed reducing device G of the first embodiment is attached to the industrial robot shown in FIGS. 5 and 6, when the position is changed from the fixed position of FIG. 5 to the post-operation position of FIG. 6, the first drive is performed. In the speed reducing device G mounted on the joint J1, the transmission gears 5A to 5C rotate 90 degrees before the crank shafts 4A to 4C revolve 90 degrees to the Le side in the counterclockwise direction, and the circulation band 6 rotates the transmission gears 5A to 5A. It will orbit around 5C a plurality of times in the counterclockwise direction Le side. Further, the speed reducing device G mounted on the second drive joint J2 has the crank shafts 4A to 4C even when the positions of the crank shafts 4A to 4C are the same as the fixed positions shown in FIG. 5 as shown in FIG. The transmission gears 5A to 5C rotate 90 degrees before the 4C revolves 90 degrees to the Le side in the counterclockwise direction, and the circulation band 6 orbits the transmission gears 5A to 5C a plurality of times in the counterclockwise direction Le side. Will be done.

したがって、減速装置Ｇは、循環バンド６を伝達歯車５Ａ〜５Ｃに亘って配置されていることで、クランク軸４Ａ〜４Ｃの公転よりも速く（多く）周回することができ、減速装置Ｇに封入される潤滑剤を十分に流動させることができ、減速装置Ｇの内部構造（例えば、クランク軸４Ａ〜４Ｃ、第１キャリア８、外歯歯車３、及び、第２キャリア９、等）の焼き付きや摩耗を抑制することができる。 Therefore, since the circulation band 6 is arranged over the transmission gears 5A to 5C, the speed reducer G can orbit faster (more) than the revolution of the crank shafts 4A to 4C, and is enclosed in the speed reducer G. The lubricant can be sufficiently flowed, and the internal structure of the speed reducer G (for example, crank shafts 4A to 4C, first carrier 8, external gear 3, second carrier 9, etc.) can be seized. Wear can be suppressed.

さらに、本実施の形態１に係る減速装置Ｇの備える循環バンド６は、内周突起６１及び外周突起６２を備えるため、潤滑剤をすくい上げることが可能となり、より効果的に減速装置Ｇの内部構造の焼き付きや摩耗を抑制することができる。 Further, since the circulation band 6 provided in the speed reducing device G according to the first embodiment includes the inner peripheral protrusion 61 and the outer peripheral protrusion 62, the lubricant can be scooped up, and the internal structure of the speed reducing device G can be more effectively used. It is possible to suppress seizure and wear.

以上の実施の形態に示した構成は、本発明の内容の一例を示すものであり、別の公知の技術と組み合わせることも可能であるし、本発明の要旨を逸脱しない範囲で、構成の一部を省略、変更することも可能である。 The configuration shown in the above-described embodiment shows an example of the content of the present invention, can be combined with another known technique, and is one of the configurations as long as it does not deviate from the gist of the present invention. It is also possible to omit or change the part.

上記実施の形態１では、循環バンド６の内周に内周突起６１と外周に外周突起６２を備えていたが、これらを備えない形態としてもよい。内周突起６１を備えない場合でも、循環バンド６と伝達歯車５Ａ〜５Ｃとの間の摩擦により循環バンド６を周回させることができる。循環バンド６が周回すれば、内周突起６１及び外周突起６２を備えなくとも、循環バンド６が潤滑剤に濡れることで、潤滑剤を十分に流動させることができる。また、循環バンド６と伝達歯車５Ａ〜５Ｃとの摩擦を大きくするために、循環バンド６の内周を外周よりも弾性力の小さい（柔らかい）材質としてもよい。 In the first embodiment, the inner peripheral protrusion 61 is provided on the inner circumference of the circulation band 6 and the outer peripheral protrusion 62 is provided on the outer peripheral circumference, but the embodiment may not be provided with these. Even if the inner peripheral protrusion 61 is not provided, the circulation band 6 can be rotated by the friction between the circulation band 6 and the transmission gears 5A to 5C. If the circulation band 6 orbits, the lubricant can be sufficiently flowed by the circulation band 6 getting wet with the lubricant even if the inner peripheral protrusion 61 and the outer peripheral protrusion 62 are not provided. Further, in order to increase the friction between the circulation band 6 and the transmission gears 5A to 5C, the inner circumference of the circulation band 6 may be made of a material having a smaller elastic force (softer) than the outer circumference.

また、循環バンド６は、内周突起６１又は外周突起６２のいずれかを備える形態としてもよい。このような場合でも、潤滑剤を十分に流動させることができる。 Further, the circulation band 6 may be provided with either an inner peripheral protrusion 61 or an outer peripheral protrusion 62. Even in such a case, the lubricant can be sufficiently flowed.

さらに、循環バンド６の備える外周突起６２は任意の形状とすることができるが、特に潤滑剤の流動を効果的に行うために、例えば、外周突起６２における伝達歯車５Ａ〜５Ｃ側とは反対側の先端が屈曲した形状（Ｌ字形状、Ｔ字形状、Ｆ字形状、等）としてもよい。 Further, the outer peripheral protrusion 62 provided in the circulation band 6 can have an arbitrary shape, but in order to effectively flow the lubricant, for example, the outer peripheral protrusion 62 is on the side opposite to the transmission gears 5A to 5C. The tip may be bent (L-shaped, T-shaped, F-shaped, etc.).

上記実施の形態１では、外郭１の内周に有する内歯１１と外歯歯車３の外周に有する外歯３１とが、伝達ピン７を介して噛み合っていたが、伝達ピン７を配置せず、外郭１の内歯１１と外歯歯車３の外歯３１とが直接噛み合う形態としてもよい。 In the first embodiment, the internal teeth 11 on the inner circumference of the outer shell 1 and the external teeth 31 on the outer periphery of the external gear 3 are engaged with each other via the transmission pin 7, but the transmission pin 7 is not arranged. The internal teeth 11 of the outer shell 1 and the external teeth 31 of the external gear 3 may be in direct mesh with each other.

上記実施の形態１では、外歯歯車３を２枚用いていたが、１枚としてもよいし、２枚以上の複数枚用いることとしてもよい。また、クランク軸４Ａ〜４Ｃを３本用いていたが、クランク軸は複数用いればよく、２本以上であればよい。また、クランク軸の一端に配置される伝達歯車はクランク軸の数に合わせた枚数用いればよい。 In the first embodiment, two external gears 3 are used, but one may be used, or a plurality of two or more gears may be used. Further, although three crank shafts 4A to 4C are used, a plurality of crank shafts may be used, and two or more crank shafts may be used. Further, the number of transmission gears arranged at one end of the crank shaft may be used according to the number of crank shafts.

上記実施の形態１では、減速装置Ｇが組付けられる産業用ロボットとして、多関節ロボットを例示したが、他の産業用ロボットに減速装置Ｇを組み付けてもよい。例えば、パラレルリンクロボットのアームを駆動させる位置に減速装置Ｇを組み付けてもよい。 In the first embodiment, the articulated robot is exemplified as the industrial robot to which the speed reducing device G is assembled, but the speed reducing device G may be assembled to another industrial robot. For example, the speed reducer G may be assembled at a position where the arm of the parallel link robot is driven.

１ 外郭、１１ 内歯、ＶＣ 仮想円面、ＣＬ 軸心、２ 入力軸、２１ 入力外歯、３ 外歯歯車、３１ 外歯、３２Ａ〜３２Ｃ 貫通孔、３３ 第１中央貫通孔、３４Ａ〜３４Ｃ 連結用貫通孔、４Ａ〜４Ｃ クランク軸、４０Ｃ 軸部の軸心、４１ 軸部、４２Ａ ４２Ｂ 偏心部、５Ａ〜５Ｃ 伝達歯車、５１ 伝達外歯、５２ 伝達歯車貫通孔、６ 循環バンド、６１ 内周突起、６２ 外周突起、７ 伝達ピン、８ 第１キャリア、８１Ａ〜８１Ｃ 連結軸、８２ 第２中央貫通孔、８３ 第１キャリア固定孔、８４Ａ〜８４Ｃ 第１クランク軸保持用貫通孔、８５ 出力軸固定孔、９ 第２キャリア、９２ 第３中央貫通孔、９３ 第２キャリア固定孔、９４Ａ〜９４Ｃ 第２クランク軸保持用貫通孔。 1 outer shell, 11 internal teeth, VC virtual circular surface, CL axis, 2 input shaft, 21 input external teeth, 3 external gears, 31 external teeth, 32A to 32C through holes, 33 first central through holes, 34A to 34C Through hole for connection, 4A-4C crank shaft, 40C shaft axis, 41 shaft part, 42A 42B eccentric part, 5A-5C transmission gear, 51 transmission external tooth, 52 transmission gear through hole, 6 circulation band, 61 inside Peripheral protrusion, 62 outer peripheral protrusion, 7 transmission pin, 8 first carrier, 81A to 81C connecting shaft, 82 second central through hole, 83 first carrier fixing hole, 84A to 84C first crank shaft holding through hole, 85 output Shaft fixing hole, 9 second carrier, 92 third central through hole, 93 second carrier fixing hole, 94A to 94C second crank shaft holding through hole.

Claims (5)

内周が円環形状であり、前記内周に内歯を有する外郭と、
前記外郭の前記内周に沿った仮想円面に垂直な軸心を通り、且つ、前記軸心に沿って配置され、外周に入力外歯を有する入力軸と、
前記外郭内に配置され、前記内歯に噛み合う外歯を外周に有する外歯歯車と、
前記外歯歯車に形成された貫通孔に挿通されており、前記外郭の前記内周に沿う周方向に沿って前記軸心の周りに配置され、回転することで前記外歯歯車を偏心させて回転させる複数のクランク軸と、
前記入力外歯と噛み合う伝達外歯を外周に有し、前記複数のクランク軸の一端に配置され、前記入力軸の回転に伴って回転し前記複数のクランク軸を回転させる複数の伝達歯車と、
前記複数の伝達歯車に亘って配置され、前記伝達歯車の回転に伴って前記複数の伝達歯車の周りを回転し潤滑剤を流動させる環形状の循環バンドと、
を備える減速装置。An outer shell having an annular shape on the inner circumference and having internal teeth on the inner circumference,
An input shaft that passes through an axis perpendicular to the virtual circle along the inner circumference of the outer shell and is arranged along the axis and has input outer teeth on the outer circumference.
An external gear that is arranged inside the outer shell and has an outer tooth that meshes with the internal tooth on the outer circumference.
It is inserted through a through hole formed in the external gear, is arranged around the axis along the circumferential direction along the inner circumference of the outer shell, and rotates to eccentric the external gear. With multiple crank shafts to rotate,
A plurality of transmission gears having transmission external teeth that mesh with the input external teeth on the outer periphery, are arranged at one end of the plurality of crank shafts, rotate with the rotation of the input shafts, and rotate the plurality of crank shafts.
A ring-shaped circulation band that is arranged over the plurality of transmission gears and rotates around the plurality of transmission gears to allow the lubricant to flow as the transmission gears rotate.
A deceleration device equipped with. 前記循環バンドの内周には、前記伝達歯車の前記伝達外歯と噛み合う内周突起
を備える請求項１に記載の減速装置。The speed reducing device according to claim 1, wherein the inner circumference of the circulation band is provided with an inner peripheral protrusion that meshes with the transmission outer teeth of the transmission gear. 前記循環バンドの外周には前記伝達歯車側とは反対側に向かって突出する外周突起
を備える請求項１または請求項２に記載の減速装置。The speed reducing device according to claim 1 or 2, wherein the outer peripheral portion of the circulation band is provided with an outer peripheral protrusion protruding toward the side opposite to the transmission gear side. 前記外周突起は、前記伝達歯車側とは反対側の先端が屈曲した形状
である請求項３に記載の減速装置。The speed reducing device according to claim 3, wherein the outer peripheral protrusion has a shape in which the tip opposite to the transmission gear side is bent. 請求項１から請求項４のいずれか一項に記載の減速装置を備える産業用ロボット。 An industrial robot provided with the speed reducing device according to any one of claims 1 to 4.
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