KR100242207B1 - Planetary gear system - Google Patents

Abstract

1. TECHNICAL FIELD OF THE INVENTION

Internal Planetary Gear Reducer

2. Technical problem to be solved by the invention

Efficient deceleration movement is possible by adopting planetary gears with teeth that can minimize the amount of interference and backlash when engaged, and it is possible to reduce gears of high precision and high stiffness gears with a wide range of reduction ratios with general materials and processing technology. To provide a power transmission system.

3. Summary of the Solution of the Invention

A reducer body having an internal gear formed along an inner circumferential surface of the hollow body; A first crank shaft having two eccentric shafts formed to have a predetermined amount of eccentricity in a direction opposite to each other from a central axis;

Two second crankshafts having two eccentric shafts eccentrically opposed to each other with the same amount of eccentricity as the first crankshaft; Two planetary gears are formed along the outer circumference of the outer gear, and a plurality of outer gears are formed in the center of the shaft, and a plurality of outer holes are formed on the circumference of the predetermined radius. It includes; Each planetary gear has a center hole at the same time by the eccentric shaft of the first crankshaft, and two outer holes facing the center hole at the same time to enable translational rotational movement by the eccentric shafts of the two second crankshafts. Provided is an internal planetary gear reducer characterized in that it is supported.

4. Important uses of the invention

Applied to the equipment to which precision control equipment such as servo motor is attached, it is possible to standardize design with the same size at high speed input and wide range reduction ratio, and it is united in small size and light weight, so it is easy to handle and its selection in material selection. High precision and high rigidity reducer with improved width can be applied to ultra precision control fields such as robots.

Description

Internal Planetary Gear Reducer

The present invention relates to an internal planetary gear reducer, and in particular, the internal planetary gear array employing a triangular tooth to minimize the amount of interference and backlash is a mechanical motion by the eccentric body to reduce the slow motion generated by translation and rotational movement. It continuously transmits to the output shaft, and relates to an internal planetary gear reducer having a large range of reduction ratio, high precision and high rigidity characteristics.

In the related art, various speed reducers have been proposed to be applied to a precision control device such as a servo motor to perform deceleration. Looking at the conventional high-precision control reducer, the harmonic drive type reducer to perform the reduction using the elastic force of the metal, the ball reducer to perform the deceleration using the steel ball in addition to the gear, the reducer using the pin roller, RV reducer, It is divided into a cycloid reducer and the like.

However, in the case of these reducers, the deceleration heat must take into account a certain level of elastic force and fatigue strength, and wear due to relative movement with steel balls or pins, and thus, the material selection is limited and the elasticity of the metal is reduced. In the case of the harmonic drive type reducer which decelerates by using a torsional spring, a torsion spring constant has to be considered in motion transmission and control.

In addition, involute teeth, which are widely used in conventional reducers, have many advantages in terms of efficiency, power transmission, etc. when used externally, but they require a margin for gear teeth to rotate and backlash. In addition, when used as an indirect method, in addition to the backlash, there was a problem of arbitrarily widening the inner circle of the inner tooth to avoid undercut due to the interference between the teeth.

In order to solve the above problems, a pinch difference using a trocoid curve has been proposed and widely used. However, in this case, it is possible to eliminate positional transmission error or interference between gears, but it is difficult to define a tooth and mathematically process the teeth. Generalized gear manufacturing methods could not be easily used, and the size of the teeth was related to the diameter of the pins, limiting the adjustment of the gears of the gears. There was a problem. In addition, the speed reducer using a pin in the power transmission structure has problems such as heat generation, noise, abrasion due to the sliding friction on the contacting pin surface.

Therefore, in order to solve the above problem, a deceleration performance method using a crankshaft has been proposed. In this case, the crankshaft acted not only as a power transmission but also as a power input source for inducing eccentric motion. When the crank shafts at both ends were used as the power input source, the vibration of the reducer was reduced.

However, in the case of the reducer using the crankshaft, there are disadvantages in assembling, and there is a problem in that the shape for supporting both ends of the output shaft and the sealing of the oil is complicated by securing a space necessary for the gear movement of the ultra-low speed reduction train, and also different relative It is almost impossible to process the escape hole by hand because the machining of the through hole to prevent the interference between the moving objects with the momentum is required, and the escape hole by manual operation is almost impossible. There was a problem that was difficult to align.

Therefore, the present invention devised to solve the above-mentioned problems, by adopting a planetary gear having a tooth shape that can minimize the amount of interference and backlash when engaged, it is possible to efficient deceleration movement, use of universal materials and easy processing technology The purpose of the present invention is to provide a high precision and high stiffness reducer that can form a reduction gear train and can be easily applied to a wide range of reduction ratios.

1 is an exploded assembly view showing the configuration of the entire speed reducer of the present invention;

FIG. 2A is a front view showing the reducer body in FIG. 1 and a side sectional view along the A-A line; FIG.

FIG. 2B is a partial cross-sectional view of a tooth of a gear formed on the reducer body inner surface of FIG. 2A; FIG.

3A is a front view and a side cross-sectional view showing the planetary gear in FIG. 1;

3B is a partial cross-sectional view of a tooth of a gear formed on the outer circumferential surface of the planetary gear of FIG. 3A;

4 is a perspective and side cross-sectional view showing the auxiliary crankshaft in FIG. 1;

5 is a perspective view and a side cross-sectional view showing the main crankshaft in FIG. 1;

6 is an exploded view of the auxiliary crankshaft, the main crankshaft and the planetary gear;

FIG. 7A is a front view and a side view of the anti-wash plate in FIG. 1, and FIG. 7B is a side cross-sectional view taken along lines B-B and C-C in FIG. 7A;

8 is a side view and a front view showing the reinforcing pin in FIG. 1;

Fig. 9 is a side view showing the planetary gear assembly assembled to the car wash prevention plate from the output side with the planetary gear assembly inserted into the speed reducer body;

10A is a front view and a side view showing the flat output shaft in FIG.

Fig. 10B is a side cross-sectional view of the flat output axis shown along the D-D, E-E, and F-F lines in Fig. 11A, respectively;

11A is a perspective view illustrating the input coupling in FIG. 1;

Fig. 11B is a side view and a front view of Fig. 12A.

12 is a schematic diagram showing a state in which a motor is mounted on a reducer according to the present invention.

* Explanation of symbols for the main parts of the drawings

1: Reducer 1a: Main crankshaft support groove

1b: auxiliary crankshaft support groove 2: reducer body

2a: internal gear 2b: screw hole

3: Planetary Gear 3a: Main Crank Shaft Mounting Hole

3b: secondary crankshaft mounting hole

4: auxiliary crankshaft 4a, 4a ', 5a, 5a': eccentric shaft

5: Main crankshaft 6: Reinforcement pin

7: Car wash prevention plate 7a: Through groove for supporting main crankshaft

7b: through groove for supporting auxiliary crankshaft

7c: Pin mounting groove 8, 8 ': Coupling

9: flat output shaft 10, 11, 12: bearing

21: motor 22: motor mounting portion

23: oil seal 24: input shaft o-ring seal

25: driven shaft 26: output shaft oil seal

In order to achieve the above object, the present invention, the internal gear is formed along the inner circumferential surface of the hollow body; A first crank shaft having two eccentric shafts formed to have a predetermined amount of eccentricity in a direction opposite to each other from a central axis; Two second crankshafts having two eccentric shafts eccentrically opposed to each other with the same amount of eccentricity as the first crankshaft; Two planetary gears are formed along the outer circumference of the outer gear, and a plurality of outer gears are formed in the center of the shaft, and a plurality of outer holes are formed on the circumference of the predetermined radius. It includes;

Each planetary gear has a center hole at the same time by the eccentric shaft of the first crankshaft, and two outer holes facing the center hole at the same time to enable translational rotational movement by the eccentric shafts of the two second crankshafts. It is supported, it is accommodated in the reducer main body is provided with an internal planetary gear reducer characterized in that it is engaged with each of the internal gear and rotates respectively along the inner circumferential surface of the reducer body in accordance with the rotation of the first crankshaft.

Hereinafter, with reference to the accompanying drawings will be described an embodiment of the present invention;

1 is an exploded assembly view showing the configuration of the entire speed reducer of the present invention. Referring to Fig. 1, reference numeral 1 denotes a speed reducer, 2 denotes a reduction gear body, 2a denotes an internal gear, 3 denotes a planetary gear, 4 denotes an auxiliary crank shaft, and 5 denotes a main crank shaft. , "6" represents a reinforcing pin, "7" represents a car wash prevention plate, "8, 8 '" represents a coupling, "9" represents a flat output shaft, and "10, 11, 12, 13, 14" represents a bearing.

As shown, the present invention is largely divided into an input unit, an output unit, and a deceleration gear unit. The input unit is, for example, an old ham coupling is adopted as a transmission means for connecting the shaft of a power source such as a servo motor and the main crank shaft of the reduction gear to reduce power from the motor to the main crank shaft of the reduction gear. To pass). The coupling is integrally coupled to one end of the main crankshaft 5 of the reduction gear as an input coupling 8 fixed to the motor shaft by a driving side coupling and a driven side coupling mating with the input coupling. It consists of a main crankshaft end coupling 8 'formed.

The reduction gear portion has a cylindrical shape, and an inner gear 2a is formed along its inner circumferential surface, and the two gears each revolve while being inscribed in the gear reducer body 2 that receives the planetary gear train therein and the inner gear 2a of the reducer body. The planetary gear 3 has two eccentric shafts (for example, serve as crank pins) integrally formed to face each other with a phase difference of 180 °, and the planetary gears 3 are respectively disposed on the respective eccentric shafts. The main crankshaft 5 rotatably mounted, and the two opposing 180 ° phase differences having the same eccentricity as the main crankshaft 5 in order to more stably perform the translational movement of the two planetary gears 3. An auxiliary crankshaft (4) having an eccentric shaft of which interlocks the two planetary gears (3) with each other, and one end of the main crankshaft (5) and the auxiliary crankshaft (4) on which the planetary gears are mounted; Car wash prevention plate (7) Largely composed.

The output part is a flat output shaft 9 which is inserted into it from the output side of the reducer main body 2 and is rotatably supported through a bearing, and receives the deceleration motion through the two auxiliary crankshafts and transmits power to the driven shaft.

Infinite speed reducer (IGB) according to the present invention configured as described above is a unique tooth to smoothly follow the translation and rotational movement by the eccentric motion of the inward planetary gear, the deceleration caused by the deceleration heat continuously to the output shaft It is characterized in that it has a crankshaft power transmission structure for transmission, and both ends of the restraining structure for minimizing the effects of precession, deformation, vibration, etc. of the internal motion of the reducer.

FIG. 2A is a front view showing the reducer body in FIG. 1 and a side cross-sectional view taken along line A-A, and FIG. 2B is a cross-sectional view partially showing the teeth of a gear formed on the inner surface of the reducer body in FIG. 2A. As shown, the reducer main body 2 has a cylindrical shape having a space for accommodating the planetary gear array therein, and an inner gear 2a is formed on an inner circumferential surface thereof, and a motor mounting part to be described later is formed at an edge of the main body. A plurality of screw holes 2b for fastening are formed through the circumferential equal intervals. In the present invention, the tooth of the inner tooth 2a is a triangular tooth having a tooth root angle of 60 ° and a tooth tip angle of 57.1 °, as shown in FIG. 2B, with a radius of 0.3 mm between the consecutive adjacent tooth roots, range 120. The rounding part is formed in degrees, and the rounded end is formed in a radius of 0.25 mm and a range of 122.9 °.

3A is a front view and a side cross-sectional view showing the planetary gear in FIG. 1, and FIG. 3B is a cross-sectional view partially showing the teeth of the gear formed on the outer circumferential surface of the planetary gear in FIG. As shown, the planetary gear 3 has a central hole having a predetermined diameter formed through the center thereof and a plurality of small holes formed at equal intervals on the circumference of the predetermined radius. The center hole is a main crankshaft mounting hole 3a inserted into the eccentric shafts 5a and 5a 'of the main crank shaft 5 and rotatably supported by the eccentric shaft through a bearing. In the present invention, a total of eight small holes are formed at intervals of 45 ° in the circumferential direction, and two small holes facing each other with respect to the center hole among the small holes are eccentric shafts 4a, 4a '), each of which is an auxiliary crankshaft mounting hole 3b which is rotatably supported by the eccentric shaft through a bearing. The remaining six small holes aligned axially symmetrically are the escape holes 3b 'through which the reinforcing pins to be described later pass. The escape hole has a diameter that allows two planetary gears to perform different movements (translational movements) without being interfered by reinforcement pins disposed through the escape hole. In addition, the planetary tooth 3 has a triangular tooth 3c on its outer circumferential surface. In the present invention, as shown in Fig. 3B, the tooth root angle is 63 ° and the tooth angle is 60 °, and the consecutive adjacent tooth teeth are shown. Between the teeth, a rounded portion is formed with a radius of 0.25 mm and a range of 117 °, and a tooth with a rounded portion with a radius of 0.3 mm and a range of 120 ° is used.

As described above, when the teeth are formed in an equilateral triangle shape, the shape of the teeth is easier to define than the cycloid teeth or the involute teeth in the conventional speed reducer, and the molding of the hob for processing is easy. In particular, in the case of the deceleration motion caused by the deceleration heat that simultaneously performs the translational and rotational movements, the amount of interference or the backlash can be easily adjusted according to the reduction ratio.

In general, the infinity reducer causes a deceleration motion by the internal and external tooth aberration, and the same module has more aberrations in the reduction ratio than the high reduction ratio. Therefore, the radius of curvature of the pitch diameter of the inner gear at the high reduction ratio is smaller than the pitch diameter of the inner gear at the reduction ratio, which means that the tooth and the tooth angle of the inner gear are smaller as the higher reduction ratio is used. The advantage is that higher deceleration ratios meet the requirements of precision reducers that require more precise positional precision without any manipulation. In addition, in the case of a reduction speed ratio that is relatively high speed rotation, there is an advantage that can reduce noise and heat generation due to the tolerance margin of a relatively large contact gear. In addition, since the tooth is an equilateral triangle and the pressure angle is 30 °, there is an advantage that can reduce the stress concentration in the vicinity of the roots caused by the conventional involute tooth.

4A is a perspective view of the auxiliary crankshaft in FIG. 1, and FIG. 4B is a front view and a side view of FIG. 4A. As shown, the auxiliary crankshafts 4 have two eccentric shafts 4a and 4a 'which are integrally formed side by side on the central axis, and the two eccentric shafts face each other at 180 ° phase difference with the same amount of eccentricity. Further, the respective eccentric shafts 4a and 4a 'are inserted into the auxiliary crankshaft mounting holes 3b of the planetary gear 3 and rotatably mounted through the bearings.

Fig. 5A is a perspective view showing the main crankshaft in Fig. 1, and Fig. 5B is a front sectional view and a side sectional view of Fig. 5A. As shown, the main crankshaft 5 has two eccentric shafts 5a and 5a 'integrally formed side by side on the central axis line, and the two eccentric shafts face each other with a 180 ° phase difference with the same amount of eccentricity. At the input side end of the main crankshaft 5, an end coupling 8 'is integrally formed for receiving power from a power source. The end coupling is rotatably supported by the car wash prevention plate to be described later through the bearing, and each of the eccentric shafts 5a and 5a 'is inserted with the main crankshaft mounting hole 3a of the planetary gear 3 inserted therein. It is rotatably mounted by. The eccentric movement of the planetary gear caused by the rotation of the main crankshaft (ie, rotational and translational movement) is generally balanced by the auxiliary crankshaft described above, and rigidity is maintained.

Fig. 6 is an exploded view of the auxiliary crankshaft, the main crankshaft and the planetary gear. As shown, two planetary gears 3 are respectively provided for each of the eccentric shafts 4a and 4a 'of the two auxiliary crankshafts 4 and the respective eccentric shafts 5a and 5a' of the main crankshaft 5, respectively. Is mounted. That is, each of the eccentric shafts 4a and 4a 'of the two auxiliary crankshafts 4 is inserted into two opposing small-diameter holes (i.e., the auxiliary crankshaft mounting holes 3b) of the planetary gears so that the bearing 11 (For example, a roller-shaped roller bearing) is rotatably mounted, and at the same time, each of the eccentric shafts 5a and 5a 'of the main crankshaft 5 is a central hole of the planetary gear (ie, the main crankshaft mounting hole). (3a) and rotatably mounted by a bearing 10 (e.g., roller bearing). At one end of the two auxiliary crankshafts 4 and the main crankshaft 5 are mounted bearings 12 and 13 (e.g. miniature ball bearings or adiabatic deep groove ball bearings) which limit the thrust movement of the planetary gear. . The eccentric amounts of the two eccentric shafts 4a and 4a 'in the auxiliary crank shaft 4 and the eccentric amounts of the two eccentric shafts 5a and 5a' of the main crank shaft 5 are the same, respectively. Accordingly, the two planetary gears 3 are orbited around the central axis of the main crankshaft with a phase difference of 180 ° while performing translational movements staggered with each other by the eccentric amount.

As described above, when a plurality of crankshafts (three or four crankshafts) are applied to the configuration of the reduction gear sequence, the reducer transmits only the rotational movement about the output center axis to the output shaft while allowing the planetary gear to be translated by the eccentric amount. The structure can be configured. That is, by installing a bearing on the crankshaft, the sliding motion is converted into rolling motion, and an auxiliary crankshaft having an eccentric amount equal to the eccentricity of the main crankshaft is applied around the main crankshaft, as shown in FIG. Make sure the movement is not constrained. In this way, when the auxiliary crankshaft is disposed around the main crankshaft, the initial input deceleration heat is unnecessary, so that the backlash can be reduced and the positioning accuracy can be increased, and during assembly, it is conformal on a predetermined radius circumference of the planetary gearbox. The phase of each crankshaft is automatically adjusted by the escape hole formed to facilitate assembly. In addition, the reduction gear array according to the present invention performs rotational and translational movements by mechanical movement by the crankshaft instead of the reduction gear driving of the planetary gear by the conventional metal elastic body, pins or steel balls, and because it uses a unique tooth, aluminum in addition to steel An alloy (duralumin), industrial plastics, etc. can also form a deceleration sequence.

FIG. 7A is a front view and a side view of the anti-wash plate in FIG. 1, and FIG. 7B is a side cross-sectional view taken along the lines B-B and C-C in FIG. 7A. As shown, the precess plate 7 is provided with rotatably mounted end couplings 8 'of the main crankshaft 5 through bearings 14 (e.g., solid needle roller bearings). A main crankshaft support through groove 7a is formed, and one end of the two auxiliary crankshafts 4 is rotatably mounted on a circumference of a predetermined radius for rotatably mounting through a bearing 12 (for example, a miniature ball bearing). Two auxiliary crankshaft support through holes 7b are formed to face each other around the main crankshaft support through grooves 7a. In addition, on the circumference of the predetermined radius, a plurality of pin mounting grooves 7c for installing the reinforcement pins described below are formed axially symmetrically. Here, the auxiliary crankshaft support through groove 7b and the pin mounting groove 7c are arranged at equal intervals in the circumferential direction on the same radius circumference. In the present invention, two auxiliary crankshaft support through grooves 7b and six pin mounting grooves 7c are axially symmetrically formed on the circumference of the same radius, and grooves adjacent to each other on the circumference at intervals of 45 °. Aligned.

In the present invention, a reinforcing pin 6 is provided to assist the balance of the eccentric motion of the planetary gear and to maintain the rigidity of the reducer. 8 is a side view and a front view showing the reinforcing pin in FIG. As shown, the reinforcement pin 6 is cylindrical, one end of which is inserted into and fixed to the pin mounting groove 7c of the car wash preventing plate. In the present invention, the inner circumferential surface of the reinforcing pin 6 is formed with a screw portion, and the reinforcing pin 6 having one end inserted into the pin mounting groove 7c, as shown in FIG. 7B, has an appropriate fastening means (for example, Screw) to the car wash prevention plate (7). When the crankshaft planetary gear assembly in Fig. 6 is assembled to the car wash prevention plate, the six reinforcing pins 6 mounted on the car wash prevention plate 7 are formed with escape holes formed in the two planetary gears 3, respectively. 3b '). As described above, when the reinforcing pins are installed to pass through the respective escape holes of each planetary gear, during the assembling process, the phase of each crankshaft is automatically adjusted to facilitate the assembling, and also the rigidity of the reducer is improved. It works.

The planetary gear assembly assembled to the car wash prevention plate 7 is inserted into and installed in the reducer body of FIG. 2A. Fig. 9 is a side view showing the planetary gear assembly assembled to the car wash prevention plate from the axial force side with the planetary gear assembly inserted into the speed reducer body; As shown, each planetary gear 3 is inscribed with a predetermined engagement length to the inner gear 2a of the reducer body 2, but each planetary gear 3 has a phase difference of 180 °, so that the inner gear The two inner sides of (2a) interlock with each other.

Thus, as the main crankshaft 5 rotates, each planetary gear 3 rotates along the inner circumference of the reducer main body 2 while being engaged with the inner gear on the opposite side, and the two auxiliary crankshafts 4 rotate. The center will revolve around the center of the main crankshaft. That is, the centers of the two auxiliary crankshafts 4 are translated at the same idle speed, and the idle speed is determined according to the completion ratio of the planetary gear 3 and the inner gear 2a.

10A is a front view and a side view showing the flat output shaft in FIG. Fig. 10B is a side cross-sectional view of the flat output shaft shown along the D-D, E-E, and F-F lines in Fig. 10A, respectively. As shown in Fig. 1, the flat output shaft 9 has a structure in which a large diameter portion and a small diameter portion are formed in a continuous manner into the extension portion of the reducer body through a bearing 15 (for example, a deep groove ball bearing in section). It is inserted and rotatably supported, and an oil sealing member 16 is inserted between the large diameter portion and the output shaft support bearing to prevent leakage of oil filled in the reducer. As shown in Figs. 11A and 11B, a plurality of grooves 9c having a predetermined diameter are formed on the circumference of a predetermined radius on the outer surface of the flat output shaft 9 at equal intervals in order to connect to the driven shaft 25. The inner circumference of the groove is formed with a screw. In addition, a main crankshaft support groove 9a for inserting a main crankshaft end bearing 13 (for example, an adiabatic deep groove bearing) in the center of the inner surface of the flat output shaft 9 to rotatably support the main crankshaft is provided. The auxiliary crankshaft support groove 9b is formed, and the auxiliary crankshaft end bearing 12 (for example, a miniature ball bearing) is inserted and supported at positions facing each other with respect to the main crankshaft support groove 9a. Are formed respectively. Therefore, when the flat output shaft 9 is assembled to the reducer main body 2, the main crank shaft 5 and the auxiliary crank shaft 4 are supported at both ends by the flat output shaft 9 and the precession preventing plate 7. Will be. As described above, two auxiliary crankshafts 4 which translate about the main crankshaft 5 are transferred to the auxiliary crankshaft support groove 9b of the flat output shaft 9 via the end bearing 12. Since it is inserted and supported, two auxiliary crankshafts 4 in translational rotational motion rotate the flat output shaft 9 at a reduced rotational ratio.

Since the main crankshaft 5 and the auxiliary crankshaft 4 can be supported at both ends by the flat output shaft 9 and the precession preventing plate 7, the rigidity of the reducer can be improved, and the reducer at high speed can be It is possible to minimize precession, vibration, abnormal wear and discontinuous power transmission of the inner moving body.

11A is a perspective view of the input coupling in FIG. 1, and FIG. 11B is a side view and a front view of FIG. 11A. As shown, the input coupling 8 is a motive side coupling of the old ham coupling by inserting a motor shaft in its inner hollow and tightening a screw in a screw hole 8a formed through the side. The ring 8 is fixed to the shaft, and the transmission of power is achieved by engaging the input coupling 8 with a driven side coupling (ie end coupling 8 ') integrally formed at the end of the main crankshaft. Will be performed. Since the old ham coupling is used as the transmission means, it is easy to mount the motor to the reducer, and the flexibility can be smoothly transmitted even if the axes are not exactly matched.

12 shows an example in which a motor is mounted on the reducer according to the present invention. As shown, the motor 21 is fixed to the motor mounting portion 21, the motor mounting portion 22 is fixed to the reducer body 2 with a fastening member such as a bolt. Here, the portion of the motor mounting portion 22 through which the motor shaft is installed is sealed by the input motor oil seal 23, and the sealing between the motor mounting portion 22 and the reducer main body 2 is performed by the input side O-ring seal 24. Is performed. Thus, the input coupling 8 fixed to the motor shaft end engages the driven coupling of the reducer (i.e., the main crankshaft end coupling 8 ') to transfer power to the reducer, and the output reduced in the reducer is a flat output shaft ( 9) is transmitted to the driven shaft (25). At this time, the sealing of the through hole at the center of the flat output shaft 9 is performed by the output shaft oil seal 26 interposed between the driven shaft 25 and the flat output shaft 9.

The present inventors have developed products of various use capacities through various experiments based on the configuration and operating principle described above, and the performance and specifications thereof are shown in Table 1 below.

TABLE 1

Here, the minimum starting torque means the static torque required to start the high speed shaft in the no-load state, and the backdriving torque means the static torque required to start the low speed shaft in the no-load state.

The reduction ratios that each of the products can perform are shown in Table 2 below.

[Table 2]

As can be seen from Table 2, the speed reducer according to the present invention has a reduction ratio of 10 to 200, which shows that the speed reducer according to the present invention can be applied to a very wide range of reduction ratios, compared to the conventional speed reducer performance.

Hereinafter, the relationship between the reduction ratio (R: reduction ratio of the flat output shaft rotation) according to the rotation direction of the input unit, the output unit, and the reducer main body of the reducer according to the present invention will be described.

First, when the reduction gear body is fixed, the speed ratio of the flat output shaft to the rotation of the input coupling becomes ⅰ = -1 / R, and the rotation direction of the output shaft at this time is opposite to the rotation direction of the input coupling. . On the contrary, when the reducer main body is fixed, the speed ratio of the input coupling to the rotation of the flat output shaft becomes ⅰ = -R, and the rotation direction of the input coupling at this time is opposite to the rotation direction of the flat output shaft. Next, when the flat output shaft is fixed, the speed ratio of the reducer main body to the rotation of the input coupling becomes ⅰ = 1 / (R + 1), where the rotational direction of the reducer body is equal to the rotational direction of the input coupling. Becomes the same. On the contrary, when the flat output shaft is fixed, the speed ratio of the input coupling to the rotation of the reducer main body becomes ⅰ = R + 1, and the rotation directions of the reducer main body and the input coupling are the same. Next, when the input coupling is fixed, the speed ratio of the flat output shaft to the rotation of the reducer body becomes ⅰ =-(R + 1) / R, and the rotation direction of the flat output shaft is opposite to the reducer body. On the contrary, when the input coupling is fixed, the speed ratio of the reducer body to the rotation of the flat output shaft becomes ⅰ = -R / (R + 1), and the rotation direction of the reducer body is the same as the flat output shaft. As described above, the speed reducer according to the present invention can be usefully applied in a wider use, considering the rotation direction of the input part, the output part, and the reducer body.

The present invention described above is not limited to the above-described embodiments and the accompanying drawings, and various substitutions, modifications, and changes can be made without departing from the technical spirit of the present invention. It will be evident to those who have knowledge of.

According to the present invention configured as described above, the selection range in material selection is improved, and it is possible to standardize design with the same size at high speed input and a wide range of reduction ratio, so that it is united in small size and light weight, and is easy to handle. It has the effect of achieving high precision and high rigidity.

Claims (8)

A reducer body of a hollow body shape having an internal gear formed along an inner circumferential surface thereof; A first crankshaft having two eccentric shafts formed to have a predetermined amount of eccentricity in a direction opposite to each other from a central axis; Two second crankshafts having two eccentric shafts eccentrically opposed to each other with the same amount of eccentricity as the first crankshaft; And The external gears are formed along the outer circumferential surface, and two planetary gears each having a axial center hole of a predetermined diameter and a plurality of holes symmetrical with respect to the axial center at circumferential equal intervals on a circumference of a predetermined radius are formed. Includes; Each planetary gear has a central hole inserted into the eccentric shaft of the first crankshaft so as to be rotatably supported, and at the same time, two holes facing each other around the center hole are eccentric of the two second crankshafts. An inset planetary gear reducer, characterized in that each of the shaft is inserted to support the translational rotation movement. The method of claim 1. The through groove is fixed to the input side of the reducer body, the through groove in which one end of the first crankshaft is formed is formed in the center thereof, and accommodates the input side ends of the two second crankshafts at positions facing each other with respect to the through groove. An input side plate on which a mounting groove is formed; And A second crankshaft support groove which is rotatably supported on an output side of the reducer body, and receives an output end of the first crankshaft and a second crankshaft support groove respectively receiving an output side end of the two second crankshafts on an inner surface thereof; An output side plate having a support groove formed therein; Both ends of the first crankshaft and the second crankshaft are rotatably supported by the input side plate and the output side plate, respectively. And the output shaft plate is rotated by an orbital motion about an axis center of two second crankshafts respectively inserted into the second crankshaft support groove. The method according to claim 1 or 2, Passing through a plurality of holes formed in the circumferential direction of the two planetary gears, one end is mounted to each of the input side plate further comprises a plurality of reinforcing pin means for assisting the balance and rigidity of the translational rotation of the planetary gears; Internal planetary gear reducer. The method according to claim 1 or 2, An end connecting means is integrally formed at the input side end of the first crankshaft, And an external planetary gear reducer, characterized in that power is transmitted from the outside by an input side connecting means paired with the end connecting means. The method of claim 4, wherein And a means consisting of said end connection means and said input side connection means comprises an old ham coupling. The method according to any one of claims 1, 2 and 4, Tooth teeth of the internal gear and the planetary gear is an internal planetary gear reducer, characterized in that formed in a triangular tooth. The method of claim 6, The internal gear has an internal tooth gear angle of 60 ° and a tooth tip angle of 57.1 °, and the planetary gear has a triangular tooth shape with a tooth root angle of 63 ° and a tooth tip angle of 60 °. The method of claim 7, wherein The triangular teeth of the internal gear are rounded with a radius of 0.3 mm and a range of 120 ° between adjacent tooth roots, the ends of which are rounded with a radius of 0.25 mm and a range of 122.9 degrees. The triangular tooth of the planetary gear is an inward planetary gear reducer characterized in that a radius of 0.25 mm, a range of 117 °, is rounded between adjacent tooth roots, and the tip is rounded to a radius of 0.3 mm and a range of 120 °.

Images