KR100946684B1

KR100946684B1 - Eccentrically swinging reducer device

Info

Publication number: KR100946684B1
Application number: KR1020080037991A
Authority: KR
Inventors: 데츠조 이시카와; 요 츠루미; 다카시 하가
Original assignee: 스미도모쥬기가이고교 가부시키가이샤
Priority date: 2007-04-24
Filing date: 2008-04-24
Publication date: 2010-03-12
Also published as: JP2008267571A; JP4747129B2; CN101294615B; TW200900605A; CN101294615A; DE102008018374A1; TWI339711B; KR20080095796A; DE102008018374B4

Abstract

[Problem] An eccentric oscillation reduction apparatus capable of performing a short setting in the axial direction while securing a large reduction ratio at the first stage is obtained.

[Solution] A sun gear (solar rotating body) 116, an electric power transmission gear (eccentric shaft drive body) 118 rotated by the sun gear 116, and this electric gear ( 118, which rotates integrally with 118, external gears (124A, 124B) swinging by the eccentric body 120, and the external gears 124A, 124B. 1st and 2nd carrier (carrier body) 132 and 134 which synchronize with the rotating component of (), and are arrange | positioned in the same axial position as the electric gear 118, and external gear 124A, 124B ) A distance piece 125 that regulates axial movement. The internal gear 128 has the first and second pins 128P1 and 128P2 disposed on the inner circumferential side thereof with a gap 128S in the axial direction, and the distance piece 125 is disposed in the gap 128S. ) Is placed.

Eccentric Oscillation Reduction Device, Distance Piece

Description

Eccentrically swinging reducer device

The present invention relates to an eccentric swing reduction device.

A solar rotor, an eccentric shaft driver rotated by the solar rotor, an eccentric shaft that is integrally rotated with the eccentric shaft driver, and axially opposite sides of the eccentric shaft driver Background Art [0002] An eccentric oscillation reduction device including at least two oscillators rotated by the eccentric body shaft and internal gears in which the oscillators are inscribed respectively is widely known (see Patent Document 1, for example).

Moreover, the structure which improved the structure which concerns on this patent document 1 is proposed by the same applicant.

4 and 5 show this improved eccentric swing reduction device.

In the eccentric oscillation reduction apparatus 12, a sun gear (solar rotating body) 16 is formed on the input shaft 14. The sun gear 16 meshes simultaneously with a plurality of power transmission gears (eccentric shaft drive bodies) 18 (three in this example).

Each electric gear 18 is fitted in the eccentric body shaft 20 provided in plurality (this example three), respectively. In each eccentric body shaft 20, eccentric bodies 22A and 22B are provided in phase of 180 degrees. When the input shaft 14 rotates, the three eccentric shafts 20 are driven by the electric gear 18, and the three eccentric bodies at the same position in the axial direction of the three eccentric shafts 20 ( 22A or 22B are rotated in the same direction in the same phase, respectively. Two external gears (oscillator) 24A, 24B are fitted in the outer periphery of these eccentric bodies 22A, 22B, respectively. Therefore, these two external gears 24A and 24B eccentrically rotate with the phase difference of 180 degrees according to the movement of each eccentric body 22A, 22B.

The fitting of the eccentric bodies 22A and 22B and the external gears 24A and 24B is rolling fitting through the ball or roller (in this example, the rollers) 26A and 26B. The external gears 24A and 24B are internally engaged with the internal gear 28.

The internal gear 28 is integrated with the casing 30, and the internal teeth are comprised by the roller-shaped pin 28P. The external gears 24A and 24B and the internal gear 28 are set to a slight number of teeth (for example, 1 to 6).

First and second carriers (carrier bodies) 32 and 34 are disposed on both sides of the external gears 24A and 24B in the axial direction. The two external gears 24A and 24B are formed by distance pieces 25 disposed between the first and second carriers 32 and 34 and the two external gears 24A and 24B. The movement in the axial direction is regulated. The first and second carriers 32 and 34 are connected to each other through the bolt 40 and the carrier pin 42, and the casing 30 is entirely connected through the cone roller bearings 36 and 38. Is rotatably supported.

In the eccentric oscillation reduction apparatus 12 according to this configuration, the rotation of the input shaft 14 is decelerated and transmitted to each eccentric shaft 20 through the electric gear 18, and the transmission of each eccentric shaft 20 is performed. The external gears 24A and 24B can be rocked by rotating the eccentric bodies 22A and 22B in the same phase, respectively. As a result, a phenomenon occurs that the engagement positions of the external gears 24A, 24B and the internal gears 28 are sequentially shifted. Therefore, with the rotation of the eccentric shaft 20, the external gears 24A, 24B and The relative displacement corresponding to the number of teeth difference between the internal gears 28 can be derived. When the casing 30 (the internal gear 28) is fixed, this relative displacement can be taken out from the pair of first and second carriers 32 and 34, and the first and second carriers 32 34, the relative displacement can be taken out as the rotation (border rotation) on the casing 30 side.

[Patent Document 1] Japanese Patent Publication No. 2004-138094

However, in the eccentric oscillation reduction apparatus having such a structure, the electric gear 18 is arranged between the outer gears 24A and 24B, for example, with the intention of shortening the axial direction, as in the structure in the embodiment described later. In this case, there was a problem that the outer circumference of the electric gear 18 and the inner circumference of the distance piece 25 interfere with each other, so that the size of the electric gear 18 cannot be made very large. Therefore, in the case where it is desired to obtain a reduction ratio of a certain degree or more in the ultra-stage reduction unit (sun gear 16 and electric gear 18), as in the structure of FIGS. 4 and 5 described above, the electric gear ( The arrangement position of 18) must be a position that does not interfere with the distance piece 25 (axially outwardly of the external gear 24A in the example of the drawing), and there is a problem in that the entire axial length of the reduction gear becomes long. .

The present invention has been made to solve such a conventional problem, and in spite of the presence of the distance piece, the axial length of the entire apparatus can be shortened by arranging the eccentric shaft drive body at the same position in the axial direction. At the same time, the interference between the distance piece and the eccentric body drive can be rationally eliminated, so that a sufficiently large eccentric body drive device is disposed at the same position in the axial direction as the distance piece without impairing the original positioning function. It is made possible, and, as a result, making the reduction ratio of an ultra-short reduction part large is made into the subject.

The present invention relates to a solar rotor, an eccentric shaft drive body rotated by the solar rotor, an eccentric body shaft which rotates integrally with the eccentric body drive body, and an axial direction of the eccentric body shaft drive body. Distance between the at least two oscillation bodies disposed on both sides and oscillated by the eccentric body shaft, the internal gears in which the oscillators are inscribed, and the oscillation body, respectively, to regulate the movement of the oscillator in the axial direction. The said subject is solved by providing the structure and the said internal gear is formed in the shape which has a clearance gap in the axial direction at least in the inner peripheral side, and the said distance piece is arrange | positioned in this clearance gap.

In the present invention, when a plurality of oscillators are arranged in the axial direction and there is a gap between the oscillators and the oscillators, the internal gear is sufficient to exist in the axial portion corresponding to the oscillators, and it is necessary to ensure each yaw. It focuses on the fact that it does not need to exist continuously by including the gap part between fuselage.

That is, in this invention, the internal gear is formed in the shape which has a clearance gap in the axial direction at least in the inner peripheral side, and arrange | positions a distance piece in this clearance gap. As a result, the eccentric body driving device is arranged at the same position in the axial direction as the distance piece (i.e. between the oscillating body) to shorten the axial length of the device, and the arrangement position of the distance piece in the device radial direction is slightly smaller than before. It can be moved outward and can accommodate such a large eccentric shaft drive body, and the reduction ratio in an ultra-short reduction part (namely, the speed reduction part which consists of a solar rotating body and an eccentric body drive body) can be taken large.

According to the present invention, an eccentric fluctuation reduction device having a short axial length can be obtained while keeping the reduction ratio at the first stage high.

EMBODIMENT OF THE INVENTION Hereinafter, an example of embodiment of this invention is described in detail based on drawing.

1 is a cross-sectional view showing an example of an eccentric swing reduction device according to an embodiment of the present invention, and FIG. 2 is a cross-sectional view along the line II-II in FIG. 1. 1 corresponds to a cross-sectional view along the arrow I-I line in FIG. 2.

The eccentric oscillation reduction device 112 includes a sun gear (solar rotating body) 116 provided on the input shaft 114 and an electric gear (eccentric body driving body) 118 rotated by the sun gear 116. And an eccentric shaft 120 which is integrally rotated with the electric gear 118, external gears (124) which are oscillated and rotated by the eccentric shaft 120, and the external gear. First and second carriers (carrier bodies) 132 and 134 are synchronized with the rotating components of 124A and 124B.

It will be described below in more detail.

The input shaft 114 can be connected to the output shaft of the motor which is not shown in figure. The sun gear 116 is integrally formed at the tip of the input shaft 114. The sun gear 116 meshes with a plurality of (two in this example) electric gears 118 at the same time.

Each electric gear 118 is fitted in the eccentric body shaft 120 provided in plurality (two in this example), respectively, and can drive two eccentric body 120 in the same direction simultaneously. In each of the eccentric body shafts 120, the eccentric bodies 122A and 122B are arranged in the axial direction, respectively, in phases of 180 degrees. In addition, the eccentric bodies 122A and the eccentric bodies 122B of the respective shafts are inserted at the same position in the axial direction of each axis so as to be rotatable in the same direction at the same phase.

The outer gear 124A is fitted to the outer circumference of the two eccentric bodies 122A, and the outer gear 124B is fitted to the outer circumference of the two eccentric bodies 122B, respectively. The fitting of the eccentric bodies 122A and 122B and the external gears 124A and 124B becomes a cloud fitting through the rollers 126A and 126B. As a result, the external gears 124A and 124B are internally geared with a phase difference of 180 degrees ( 128, respectively. The outer gears 124A and 124B are arranged in parallel in the axial direction with two 124A and 124B because the transmission capacity is intended to be secured. The axial position of each outer gear 124A, 124B is regulated by the angular ball bearings 136, 138 and the distance piece 125. As shown in FIG.

The configuration of the internal gear 128 and the distance piece 125 will be described later.

First and second carriers 132 and 134 are disposed on both sides of the external gears 124A and 124B in the axial direction. The first and second carriers 132 and 134 are connected to each other through a carrier pin 134A protruding integrally from the bolt 140 and the second carrier 134 side, and the whole of the angular ball bearing ( It is rotatably supported by the casing 130 via 136,138.

The eccentric shaft 120 is supported by the first and second carriers 132 and 134 through the needles 150 and 152. The needles 150 and 152 constitute the "needle bearing" by the eccentric body 120 having the inner ring, and the first and second carriers 132 and 134 functioning as the outer ring, respectively. However, since the needles 150 and 152 cannot transmit and receive reaction forces in the thrust direction by themselves, in this embodiment, the following configuration is provided for axial positioning of the eccentric body shaft 120. It is adopted.

That is, the stepped portions 170 and 172 are formed in the eccentric body shaft 120. Furthermore, the stepped portions 170 and 172 are used to restrict the axial movement of the eccentric body 120 between the stepped portions 170 and 172 and the first and second carriers 132 and 134. Washers 174 and 176 are disposed.

The washers 174 and 176 are positioned in the axial direction of the eccentric body 120 via the step portions 170 and 172 by contacting the first and second carriers 132 and 134, and therebetween. By inserting the roller 126A, the electric gear 118, and the other roller 126B, the three 126A, 118, and 126B positioning can also be performed. Here, the washers 174 and 176 are disposed so as to be relatively rotatable with either of the first and second carriers 132 and 134 and the step portions 170 and 172.

Here, reference numerals 167 and 169 denote needle presses for restricting the movement of the needles 150 and 152 in the axial direction. Further, reference numeral 142 denotes a bolt hole for connecting the first and second carriers 132 and 134 and the mating member (blood driven machine), and the rotation of the bolt hole 180 when the eccentric shaft 120 is machined. Jig mounting for jig (not shown) for prevention.

Here, the configurations of the internal gear 128 and the distance piece 125 will be described.

The internal gear 128 has the main body 128A integrated with the casing 130, and has a roller-shaped pin 128P as an "inner tooth" on the inner circumferential side of the main body 128A. The pin 128P is comprised by the 1st pin 128P1 and the 2nd pin 128P2. The first and second pins 128P1 and 128P2 are disposed coaxially and axially with a gap 128S, wherein the first pin 128P1 is the external gear 124A and the second pin 128P2 is the outer tooth. Meshing with the gear 124B, respectively.

In this example, the first and second pins 128P1 and 128P2 corresponding to the internal teeth of the internal gear 128 are sandwiched in a form in which two are removed from each other. According to this assembling form, as a kinematic movement by engagement with the external gears 124A and 124B, the same movement as in the case where there is no "extraction" (for example, as shown in FIG. 5) can be obtained. Said "slight teeth number difference" means here the difference of the number of teeth of an external tooth and an internal tooth in the state which is not pulled out.

However, when the internal teeth (first and second pins 128P1 and 128P2) of the internal gear 128 are removed in some form as in this example, the circumferential direction of the first pin 128P1 and the second pin 128P2 is removed. It may be better to shift the arrangement phase of. That is, the eccentric phase of the external gears 124A and 124B is shifted 180 degrees, and the force which caused the pulsation of the power transmission or the eccentric body shaft 120 to have shifted the phase of the extraction out of the gears 124A and 124B. This is because it may be possible to further reduce. In this embodiment, the phase of the extraction is matched with the eccentric phases of the external gears 124A and 124B so as to be shifted by 180 degrees.

The distance piece 125 is ring-shaped as a whole, and is disposed in the gap 128S formed in the axial direction between the first and second pins 128P1 and 128P2, that is, on the inner circumferential side of the internal gear 128. have. In this embodiment, the axial width W1 of the gap 128S is set to a dimension corresponding to the axial width W2 of the distance piece 125, and the axial cross section of the gap 128S is provided. By 128S1 and 128S2, it is devised so that the positioning of the distance piece 125 itself in the axial direction may be performed.

Next, the operation of the eccentric swing reduction device 112 will be described.

When the input shaft 114 rotates, the two eccentric shafts 120 decelerate and rotate simultaneously through the electric gear 118 meshing with the input shaft 114. As a result, the eccentric bodies 122A and 122B which are integrally mounted to the respective eccentric body shafts 120 rotate in the same phase, and the external gears 124A and 124B are inscribed in the internal gear 128, respectively. Rotate swing. Since the internal gear 128 is in a fixed state in which the main body 128A is integrated with the casing 130, when the eccentric shaft 120 rotates, the internal gear 128A through the eccentric bodies 122A and 122B may be used. 124B oscillates, and the phenomenon that the engagement positions of the external gears 124A and 124B and the internal teeth of the first and second pins 128P1 and 128P2, which are internal values of the internal gears 128, move sequentially.

At this time, the number of teeth of the external gear 124A, 124B is slightly smaller than the number of teeth of the internal gear 128 (assuming that it is not pulled out). The phase shifts (rotates) with respect to the gear 128 by the number of teeth. Therefore, the eccentric body shaft 120 revolves around the input shaft 114 at a speed corresponding to the rotational component, and the first and second carriers 132 and 134 supporting the eccentric body shaft 120. ) Rotates at a speed corresponding to the idle speed. Since the first and second carriers 132 and 134 are connected through the bolt 140 and the carrier pin 134A, the first and second carriers 132 and 134 are integrally formed (one large mass). And slowly rotate to drive a counterpart machine (driven machine) (not shown) connected through the bolt hole 142.

However, as in this embodiment, when the casing 130 (the internal gear 128) is fixed, the relative displacement between the external gears 124A and 124B and the internal gear 128 is determined by the first and second carriers 132. 134 can be pulled out from the side, and when the rotation of the first and second carriers 132 and 134 is constrained, The displacement can be taken out as the rotation (border rotation) on the casing 130 side.

Here, the eccentric oscillation reduction apparatus 112 according to this embodiment has first and second carriers 132 and 134 on both sides of the external gears 124A and 124B, and the two eccentric shafts 120 are formed. Both sides are supported by the first and second carriers 132 and 134, and the support rigidity is high, and the external gears 124A and 124B can be rotated in a stable state.

Since the two external gears 124A and 124B are fitted to the pair of angular ball bearings 136 and 138, the distance piece 125 is disposed in the gap 128S of the internal gear 128, In particular, the movement in the axial direction can be regulated without providing a separate positioning means such as a stop ring. Specifically, the external gear 124A is restricted in axial movement by the angular ball bearing 136 and the distance piece 125, and the external gear 124B is axially controlled by the distance piece 125 and the angular ball bearing 138. Directional movements are regulated respectively.

As shown in FIG. 3 (B), the distance piece 125 has a radial outermost portion 125M between the gaps (between the first and second pins 128P1 and 128P2) of the internal gear 128. Since it is arrange | positioned, the diameter d2 of the outer peripheral side can be set larger than the diameter d1 of the conventional (refer FIG. (A)) (d1 <d2), and the diameter d2 of the inner peripheral side by that much conventionally It can be set larger than the diameter d1 (D1 <D2). Therefore, the external gears 124A, 124B located on both sides of the distance piece 125 can achieve both good positioning and securing a sufficiently large size of the electric gear 118.

That is, it is possible to set the reduction ratio that can be secured at the first stage (the sun gear 116 and the electric gear 118) as high, and the electric gear 118 and the distance piece 125 in the same axial direction without interference. It can be arranged at, and as a result, the axial length can be shortened more.

In this embodiment, as described above, the reduction ratio of the ultra-low speed reduction unit (the sun gear 116 and the electric gear 118) can be largely secured, so that the electric gear 118 is divided into two external gears 124A, Although the "merit which can be shortened in an axial direction" is obtained by arrange | positioning between 124B), in this invention, how to utilize this merit is not specifically limited. In other words, it is needless to say that this merit can literally contribute to the realization of the axial shortening of the apparatus. However, as in this embodiment, the merit for preventing the rotation when the eccentric shaft 120 is processed It may be appropriate to form the jig mounting portion 180 for mounting the jig (not shown). As a result, the eccentric body 120 can be processed with high accuracy by including the eccentric bodies 122A and 122B by one chucking, thereby reducing the machining time, reducing the machining cost, and improving the machining accuracy. It becomes possible to plan. Furthermore, for example, when the same axial length as before is allowed, this merit may be used by turning in the direction of increasing the delivery capacity.

In the above embodiment, the width W1 of the gap (gap 128S) between the first pin 128P1 and the second pin 128P2 is made to correspond to the axial width W2 of the distance piece 125, Although the positioning of the distance piece 125 itself is performed by the axial end faces 128S1 and 128S2 of the gap 128S, in the present invention, the gap 128S is used to position the distance piece itself. It is not essential to carry out the gap 128S, and the distance piece 125 is only responsible for ensuring that the distance between the external gears 124A and 124B does not become narrower than a predetermined value. It may be configured to be able to move slightly in the axial direction.

Conventionally, in the field where this kind of eccentric oscillation reduction apparatus has been introduced, it can be used as an improved product having a shorter axial length while realizing a higher reduction ratio.

1 is a longitudinal sectional view of an eccentric oscillation reduction device according to an example of an embodiment of the present invention.

2 is a cross-sectional view taken along the line II-II of the reduction gear.

Figure 3 is a schematic diagram showing the arrangement position of the distance piece compared with the prior art

4 is a cross-sectional view showing an example of a conventional eccentric swing reduction device.

FIG. 5 is a cross-sectional view taken along the line V-V of FIG. 4. FIG.

* Description of the sign *

112: eccentric oscillation reduction device

114: input shaft

116: sun gear

118: electric transmission gear (eccentric shaft drive body)

120: eccentric shaft

122A, 122B: Eccentric Body

124A, 124B: Shout gear (flux)

125: distance piece

128: Pinch

128P1, 128P2: First and second pins (internal)

128S: gap

128S1, 128S2: Axial section of the gap

130: casing

132: first carrier (carrier body)

134: second carrier (carrier body)

136, 138: angular ball bearing

140: Bolt

142: bolt hole

150, 152: needle (bearing)

Claims

With solar rotator,

Eccentric body shaft drive body rotated by this solar rotor,

An eccentric body shaft which rotates integrally with the eccentric body driving body,

At least two oscillating bodies disposed on both sides of the eccentric body driving body in the axial direction and oscillated by the eccentric body shaft;

The internal gear which these rocking bodies inscribe,

A distance piece disposed between the oscillators and regulating the axial movement of the oscillator,

The internal gear is formed in a shape having a gap in the axial direction at least on the inner circumferential side thereof,

An eccentric oscillation reduction device, wherein the distance piece is arranged in this gap.

The method according to claim 1,

The gutter,

First and second pins arranged in the axial direction and constituting the internal teeth of the internal gear,

An eccentric oscillation reduction apparatus, characterized in that it is an internal gear having a main body portion for supporting the first and second pins.

The method according to claim 1 or 2,

An eccentric fluctuation reduction device, characterized in that movement of the distance piece itself in the axial direction is regulated by an axial end face of the gap of the internal gear.