KR101436074B1 - Series of eccentrically swinging reducer - Google Patents

Series of eccentrically swinging reducer Download PDF

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Publication number
KR101436074B1
KR101436074B1 KR1020120131655A KR20120131655A KR101436074B1 KR 101436074 B1 KR101436074 B1 KR 101436074B1 KR 1020120131655 A KR1020120131655 A KR 1020120131655A KR 20120131655 A KR20120131655 A KR 20120131655A KR 101436074 B1 KR101436074 B1 KR 101436074B1
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KR
South Korea
Prior art keywords
subseries
speed reducer
eccentric
large
reducer
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KR1020120131655A
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Korean (ko)
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KR20130081198A (en
Inventor
테츠조 이시카와
요시타카 시즈
사토시 도코요다
타쿠야 히로세
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스미도모쥬기가이고교 가부시키가이샤
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Priority to JP2012001664A priority Critical patent/JP5771157B2/en
Priority to JPJP-P-2012-001664 priority
Application filed by 스미도모쥬기가이고교 가부시키가이샤 filed Critical 스미도모쥬기가이고교 가부시키가이샤
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    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H1/00Toothed gearings for conveying rotary motion
    • F16H1/28Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32Toothed 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
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H1/00Toothed gearings for conveying rotary motion
    • F16H1/28Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32Toothed 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
    • F16H2001/323Toothed 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 eccentric crankshafts driving or driven by a gearing
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H1/00Toothed gearings for conveying rotary motion
    • F16H1/28Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32Toothed 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
    • F16H2001/325Toothed 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
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H57/00General details of gearing
    • F16H57/02Gearboxes; Mounting gearing therein
    • F16H57/033Series gearboxes, e.g. gearboxes based on the same design being available in different sizes or gearboxes using a combination of several standardised units
    • F16H2057/0335Series transmissions of modular design, e.g. providing for different transmission ratios or power ranges

Abstract

The present invention aims at sharing the main bearing of an eccentric-oscillation-type speed reducer and reducing the cost as a series.
The eccentric rocking type speed reducer series comprising a plurality of reduction gear groups which are determined based on the magnitude of the output torque and differing in the magnitude of the output torque, the first subseries constituted by the speed reducer having the hollow portion, And a second subseries having a hollow portion having a hollow diameter smaller than the hollow diameter of the hollow portion of the subseries, or a speed reducer having no hollow portion, wherein the carrier of the speed reducer of the first subseries The main bearings 135 and 136 supporting the carrier bodies 224 and 228 of the reduction gears of the large-sized and small-sized gears of the second sub- .

Description

Series of eccentrically swinging reducer

The present invention relates to an eccentric oscillation-type speed reducer series.

Patent Document 1 discloses a decelerator of the eccentric rotation type. This speed reducer has a configuration in which the external gear (planetary gear) supported by the carrier body is engaged with the internal gear while swinging, and the relative rotation of both gears generated at the time of engagement is taken out. Normally, the relative rotation of the internal gear and the external gear is taken out as a relative rotation of the casing and the carrier. For this reason, the casing and the carrier body are relatively rotatable through the largest bearing called "main bearing".

Various types of decelerators of this kind are prepared to satisfy various demands of users. For example, there is provided a speed reducer having a hollow portion having a very large hollow diameter in consideration of the case where a piping or a rod or the like needs to be passed through the center portion of the speed reducer for the purpose of an industrial robot or the like. Alternatively, for a user without such a request, a speed reducer having a hollow portion with a small hollow diameter or a reducer having no hollow portion (hollow) is also provided.

In order to drive a device of various sizes, it is necessary to determine, based on the magnitude of the allowable moment for the transmission torque (including the concept of the output torque, the peak torque, the rated torque, etc.) (Large and small portions) are set, and a plurality of groups of speed reducers of a size (dimension) corresponding to each large and small division are generally prepared as "series ".

However, preparing a speed reducer belonging to a plurality of large-sized and small-sized gears for each of the plural types of speed reducers as described above means that the number of parts of the individual members increases by the size of the manufacturer, Accordingly, the more various kinds of speed reducers are prepared, the higher the management cost and the cost of the speed reducer finally increases.

Patent Document 1: Japanese Laid-Open Patent Publication No. 2001-187945 (FIG. 1, paragraph [0065])

Here, the main bearing having a large diameter is one of the parts whose cost is increased, but it is also a member that affects the allowable moment due to its nature. It is not used for common use, to be.

The present invention has been achieved by reexamining the relationship between the type of the speed reducer and the transmission torque in such a situation, and it has been aimed to realize common use of the main bearing of the eccentric oscillating type speed reducer and to reduce the cost as a series .

The present invention relates to an eccentric-pivotal-type speed reducer having a carrier body which is engaged with an internal gear while the planetary gear is swinging and is supported by a main bearing on an axially lateral side of the planetary gear, Wherein a first subseries constituted by a speed reducer having a hollow portion and a second subseries formed by a reduction gear having a hollow diameter of a hollow portion of the first subseries And a second subseries of a second subseries constituted by a reduction gear having a hollow portion having a smaller hollow diameter or not having a hollow portion, wherein the main bearing And a second subseries for supporting the carrier body of the speed reducer having a larger size than the specific size of the second subseries, By the bearing and the structure of the public, but that solves the above-mentioned problems.

The speed reducer having a hollow portion with a large hollow diameter is required to have a large hollow diameter as a result of attempting to secure a transmission torque equivalent to that of a speed reducer having a hollow portion with a small hollow diameter (or a speed reducer without a hollow portion) The outer diameter of the carrier body is liable to increase, and as a result, the outer diameter of the main bearing tends to increase. In other words, the main bearing of a specific large-sized and small-sized gear reducer having a hollow portion with a large hollow diameter can be shared with a main bearing of a large-sized portion larger than the specific large portion of the gear reducer having a hollow portion having a small hollow diameter. The present invention has noted this point.

In the present invention, based on this newly obtained knowledge, there is provided a speed reducer having a large hollow section with a large hollow diameter, a speed reducer having a hollow section with a small hollow diameter, or a reducer having no hollow section, And a main bearing is shared between the reduction gear of larger size and smaller. As a result, the number of parts of the main bearing with a large diameter and high cost can be greatly reduced, and a large cost reduction can be achieved as a series.

According to the present invention, the main bearing of the eccentric-rotation oscillating type speed reducer can be shared, and the cost as a series can be reduced.

1 is a cross-sectional view showing an example of a speed reducer having a hollow portion of a large hollow diameter belonging to the first subseries according to the embodiment of the present invention.
Fig. 2 is a sectional view showing an example of a speed reducer (hollow diameter is zero) without a hollow portion belonging to a second subseries according to the embodiment of Fig. 1;
Fig. 3 is a diagram showing the relation between the two sub-series in which aspects of sharing in the above embodiment are shown and the major and minor portions.
4 is a cross-sectional view showing an example of a speed reducer having a hollow portion of a large hollow diameter belonging to the first subseries according to another embodiment of the present invention.
5 is a cross-sectional view showing an example of a speed reducer having a small hollow diameter pertaining to the second subseries according to the embodiment of FIG.
FIG. 6 is a diagram showing the relation between two sub-series in which aspects of common use in the above-described other embodiments are shown and major and minor portions.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, an eccentric rocking type speed reducer series according to an embodiment of the present invention will be described in detail with reference to the drawings.

This reducer series includes a first subseries constituted by a plurality of reduction gear groups each having a hollow portion having a large hollow diameter and a hollow portion having a hollow diameter smaller than the hollow diameter of the hollow portion of the first subseries And a second subseries composed of a plurality of reduction gear groups (zero, that is, no hollow portion is present).

Fig. 1 is a cross-sectional view showing an example of a speed reducer (hereinafter referred to as a first speed reducer G1 suitably appropriately) having a hollow portion with a large hollow diameter belonging to the first subseries, Fig. 2 is a cross- Fig. 3 is a cross-sectional view showing an example of a second reduction gear unit G2 without a hollow shaft (hereinafter referred to as a second reduction gear unit G2) And the relationship with the division.

The first and second decelerators G1 and G2 are speed reducers called eccentric oscillation type in which the external gear (planet gear) supported on the carrier body via a pin member described later is engaged with the internal gear while swinging. Here, the explanation will be made while comparing the positive and negative decelerators G1 and G2 with the sign of the first decelerator G1 as 100 and the sign of the second decelerator G2 as 200.

The input shaft 116 of the first reduction gear G1 is constituted by a hollow shaft having a hollow portion 116A having a large hollow diameter D1. However, the input shaft 216 of the second reducer G2 is constituted by a solid shaft not having a hollow portion (it can be determined that the hollow portion has a hollow portion with a small (zero) diameter).

The input shaft 116 of the first reduction gear G1 is connected to the input shaft 116 of the first reduction gear G1 so that the unillustrated wiring or the like penetrating the hollow portion 116A does not interfere with the member at the front end (for example, A gear or a pulley (not shown) is connected using the hole 116B, and this gear or pulley and a member at the front end are offset and connected to the axis O1 of the input shaft 116. [ On the other hand, since the input shaft 216 of the second reducer G2 is the solid shaft, the member at the front end is basically connected to the input shaft 216 in a coaxial manner. 2, the tapped hole or the like for connection is not specifically shown. (The input shaft 216 of the second speed reducer G2 is a solid shaft, however, since it has a high degree of freedom in forming a tapped hole) , And is appropriately post-processed (of course, it may be processed in advance).

Eccentric bodies 118, 218 are integrally provided on the outer periphery of the input shafts 116, 216. The outer circumferences of the eccentric bodies 118 and 218 are eccentric with respect to the axis O1 of the input shafts 116 and 216, respectively. In this example, the number of eccentric bodies 118 of the first speed reducer G1 is "two (118A, 118B) ". Therefore, the number of the roller bearings 120 mounted on the outer periphery of the eccentric body 118 becomes "two (120A and 120B) ", and the number of the external gears 112 becomes" . The eccentric phase difference of the two eccentric bodies 118 (118A, 118B) is 180 degrees.

On the other hand, the number of eccentric bodies 218 of the second reducer G2 is "three (218A to 218C) ". Therefore, the number of the roller bearings 220 mounted on the outer periphery of the eccentric body 218 becomes "3 (220A to 220C) ", and the number of teeth of the external gears 212 becomes" . The eccentric phase difference of the three eccentric bodies 218 (218A to 218C) is 120 degrees. Differences in the number of teeth of the external gears 112 and 212 will be described later.

A plurality of (six in this example) pinhole holes 112A1, 112B1, 212A1 to 212C1 are formed at positions offset from the center of the external gears 112, Each of the pinned holes 112A1, 112B1, and 212A1 to 212C1 has a plurality of circumferential pinch members (pin members) 122 and 222 (six pins in this example). The inner pins 122 and 222 are integrally formed with the output side carrier bodies 124 and 224 disposed on the axial side portions of the external gears 112 and 212 to be connected to the external gears 112 and 212 through bolts 126 and 226, Side carrier members 128 and 228 disposed on the other side in the axial direction. As a result, the external gears 112 and 212 are supported through the pinch members 122 and 222 on the output side carrier bodies 124 and 224 and the output side carrier bodies 128 and 228, respectively.

Inner rollers 130 and 230 having outer diameters d1 and d2 respectively are provided on outer peripheries of the inner pins 122 and 222 as sliding promoters. A gap corresponding to twice the amount of eccentricity of the eccentric bodies 118 and 218 is secured between the outer periphery of the inner rollers 130 and 230 and the inner periphery of the inner pinholes 112A1, 112B1 and 212A1 to 212C1. That is, the inner pins 122 and 222 always contact portions of the inner pinholes 112A1, 112B1 and 212A1 through 212C1 (through the inner rollers 130 and 230). The inner pins 122 and 222 revolve around the axial centers O1 and O2 of the input shafts 116 and 216 in synchronism with the rotating components of the external gears 112 and 212 and rotate the output carrier bodies 124 and 224 and the output The carrier members 128 and 228 on the opposite sides are rotated around the axis O1 and O2 of the input shaft 116 and 216, respectively. That is, the inner pins 122 and 222 (and the inner rollers 130 and 230) according to this embodiment are configured such that the output side carrier bodies 124 and 224, the output side carrier bodies 128 and 228, Shaped member " which contributes to the transmission of the power between the pin-shaped member " However, the inner rollers 130 and 230 on the outer periphery of the inner pins 122 and 222 may be omitted. In this case, the outer diameters of the inner pins 122 and 222 themselves are changed to d1 and d2, respectively.

The external gears (112, 212) are in contact with internal gears (114, 214) while swinging. The internal gears 114 and 214 include internal gear main bodies 114A and 214A integrated with the casings 132 and 232 and cylindrical external pins 114B and 214B constituting "internal teeth" of the internal gears 114 and 214, And so on. The outer pins 114B and 214B are rotatably supported by the outer pin grooves 114C and 214C of the internal gear main bodies 114A and 214A. The number of internal teeth of the internal gears 114 and 214 (the number of outer pins 114B and 214B) is slightly larger than the number of external teeth of the external teeth 112 and 212 (only one in this example).

The output side carrier bodies 124 and 224 and the output side carrier bodies 128 and 228 are disposed on both sides in the axial direction of the external gears 112 and 212 as described above. The two carrier bodies 124, 224, 128 and 228 are connected to the casing (not shown) through the output side main bearings 135 and 235 and the output opposite side main bearings 136 and 236, which are constituted by a pair of angular ball bearings, 132, and 232, respectively. The output-side main bearings 135 and 235 have the outer rings 135A and 235A and the rolling bodies 135B and 235B respectively but do not have the inner ring 224C) and functions as an inner ring. The output opposite side main bearings 136 and 236 also have outer rings 136A and 236A and rolling elements 136B and 236B respectively and have no inner ring And has main surfaces 128C and 228C and functions as an inner ring. The pair of output side main bearings 135 and 235 and the output opposite side main bearings 136 and 236 are shared by the first and second reduction gears G1 and G2 of different size and division (to be described later) .

The output side carrier bodies 124 and 224 and the output side carrier bodies 128 and 228 are connected to the input shafts 116 and 118 via ball bearings 138 (138A and 138B) and 238 (238A and 238B) 216 are rotatably supported. The output side carrier bodies 124 and 224 are formed with tapped holes 124A and 224A for connection with a mating machine (driven machine) (not shown).

The description of the lower half of the first reducer G1 in the first subseries of Fig. 1 and the description of the lower half of the second reducer G2 in Fig. 2 are different from each other, for ease of understanding, In the drawing, the plane passing through the inner pins 122 and 222 and the plane not passing through are respectively sectioned, and the structure is not particularly different.

However, reference numerals 140, 240, and 142 denote oil seals. However, the absence of the oil seal corresponding to the oil seal 142 on the side of the second reducer G2 is sometimes because, in this embodiment, the oil seal is not required in the relation with the mating member to be connected. When the versatility is emphasized, a pair of oil seals may be arranged for the second reducer G2 so that the sealing of the lubricant is completed with the single reducer.

The first and second decelerators G1 and G2 have such a configuration and decelerate the rotation of the input shafts 116 and 216 by the following actions, respectively.

That is, when the input shafts 116 and 216 are rotated, the eccentric bodies 118 and 218 integrated with the input shafts 116 and 216 rotate to rotate the shout gears 112 and 212 through the roller bearings 120 and 220, And meshing with the internal gears 114 and 214 while being rotated. As a result, the engagement positions of the external gears 112 and 212 and the internal gears 114 and 214 are sequentially shifted. The number of teeth of the external gears 112 and 212 is set to be smaller than the dimension of the internal gears 114 and 214 (the number of the external pins 114B and 214B) (Rotates) by one tooth with respect to the internal gears 114 and 214 (in a fixed state) every time the gears 116 and 216 rotate once. This rotating component is transmitted to the output side carrier bodies 124 and 224 and the output opposite side carrier bodies 128 and 228 through the inner pins 122 and 222 and the inner rollers 130 and 230 so that the output side carrier bodies 124 and 224 To the other machine side as a decelerated rotation. The oscillating component of the external gears 112 and 212 is absorbed by the gap between the inner rollers 130 and 230 and the inner pinholes 112A1, 112B1 and 212A1 to 212C1.

Here, the "common use of main bearings related to size and division" of the first reducer G1 belonging to the first subseries and the second reducer G2 belonging to the second subseries will be described in detail.

3 is a diagram showing the relationship between the first and second sub-series and the major and minor portions in the present embodiment. In Fig. 3, the symbols G1 (Y25) and G1 (Y35) are the names (some of them) including the large and small segments determined based on the magnitude of the transmission torque of the first reducer G1 in the first subseries. G2 (X35) and G2 (X45) are (some) titles including the large and small portions determined based on the magnitude of the transmission torque of the second reducer G2 of the second subseries. The numbers in parentheses in each figure depend on the rated torque that can be output in the output side carrier bodies 124 and 224 in this embodiment. For example, the first speed reducer G1 (Y35) (the speed reducer in FIG. 1) of the large and small division Y35 in the lower right of FIG. 3 and the second speed reducer G2 ) (The speed reducer in Fig. 2) correspond to the speed reducers in the same large-and-small sections (Y35, X35), which means that all of the output torque can be output. Quot; large and small portions determined based on the magnitude of the transmitted torque "differ by one rank in the first speed reducer G1 (Y35) in Fig. 1 and the second speed reducer G2 (X45) (G2 (X45)) is one rank higher than the first reduction gear (G1 (Y35)) (the transmission torque is large).

Here, the "large and small segments determined based on the magnitude of the transmitted torque" means that the magnitude of the large and small portions when attention is paid to any one of the concepts of various transmission torques such as the output torque, peak torque, Division ". In the same sub series, when the same reduction ratio, regardless of the specific transmission torque noted, the speed reducer in which the size and the division are different has the same tendency in the other tendencies (the subtle differences will be described later) The trend also coincides with the magnitude (size) of the reducer (there is no reversal of the magnitude relationship). However, in the case of comparing the magnitude and the division of different sub-series, as a method of giving a name of "major and minor division", for example, there is a case in which the name of the large and small division is given with paying attention to the magnitude of the transmission torque, The name of the large and small division may be given to the large and small portions, so that comparison can not be made unless the method of assigning it is defined. In the present invention, with respect to any sub-series, the names of the large and small portions are given with a focus on the "magnitude of the transmitted torque". According to the definition of the method of giving a name of the large and small division, in this embodiment, in the first reducer G1 of the first subseries and the second reducer G2 of the second subseries belonging to the large and small division of the same name , The second reducer of the second subseries has a smaller outer diameter (described in detail later).

When comparing the first reduction gears G1 (Y35) of the Y35 and the second reduction gears G2 (X35) of the X35 at the same magnitude and division (the same transmission torque classification) The outer diameter d5 is larger than the outer diameter d6 of the second reducer G2 (X35) (d5 > d6). That is, since there is this relationship, it can be said that there has not been a time point when members are commonly used in the same large-scale division.

In the present embodiment, typical transmission torque values of each of the first and second sub-series are intentionally set for the purpose of "common use of main bearing" That is, in the present embodiment, when the interval of the large-small division is one rank larger (not limited to one rank), the outer ring of the output-side main bearing 135 of the first reducer G1 of the first sub- A typical transmission torque value and a transmission torque ratio between the two types of distances are set so that the rolling elements 135A and 235A, the rolling elements 135B and 235B, and the rolling surfaces 124C and 224C are exactly the same size. Similarly, the outer rings 136A and 236A, the rolling members 136B and 236B, and the rolling surfaces 128C and 228C of the output bearing side main bearing 136 of the first reduction gear G1 of the first sub-series are formed to have exactly the same size The transmission torque value and the transmission torque ratio between the respective sections are set.

This is because the first and second sub-series do not necessarily allow the main bearing to be used even if the large-sized and small-sized sub-series are constructed by any design. Therefore, there is a need for deliberate optimization under the concept of "common use of main bearings".

Specifically, for example, in this embodiment, in order to accurately set the transmission torque value and the transmission torque ratio for each division of the large and small division, the number of teeth of the external gears 112 and 212 is set to 2 And the second subseries are changed to three pieces. In view of this background, in the second reducer G2 of the second subseries, since the outer diameter d2 of the inner roller 230 can be set relatively freely (largely), the transmission torque of the inner pin 222 The transmission torque can be increased with a small outer diameter d6 by increasing the number of teeth of the external gears 212 (three pieces).

However, in the first reducer G1 of the first subseries, in order to secure a large hollow diameter (even if the outer diameter d5 of the first reduction gear G1 is increased), the diameter of the input shaft 116 It is difficult to ensure a large outer diameter d1 of the inner roller 130. This makes it difficult to ensure the torque that can be transmitted by the inner pin 122 and thereby the number of teeth of the outer tooth gear 112 (The strength of the pin 122 becomes a weak point) and does not contribute to the increase of the transmission torque. In other viewpoints, for example, in the case of the first reduction gear G1 (Y35) and the second reduction gear G2 (X35)) of the same large and small division (Y35, X35) The pitch circle diameter r1 of the inner pin 122 of the second speed reducer G2 (X35) is secured to be larger than the pitch diameter r2 of the inner pin 222 of the second reducer G2 (X35) May at least be able to handle the equivalent transmission torque.

Of course, for example, when the size of the first and second sub-series can be appropriately set even if the number of the external gears is not different, as in the embodiment described later, the number of external gears is necessarily different You do not have to. However, at the time of adequately setting the magnitude and division of the first and second sub-series, the output side main bearings 135 and 235, and the output side main bearings 135 and 235, as well as the method of changing the number of external gears in the first sub- When the number of rolling elements 135B, 136B, 235B and 236B of the output-side main bearings 136 and 236 is changed or the number of protrusions (number of arrangements) of the inner pins 122 and 222 is advantageously functioned .

Particularly, the change of the numbers of the rolling bodies 135B, 136B, 235B, and 236B of the output side main bearings 135 and 235 and the output side main bearings 136 and 236 is very simple and straightforward, Since the relationship between the torque and the allowable moment can be adjusted, the adjustment effect of the optimization is high.

In order to compensate the relationship between the transmission torque and the allowable moment, the present embodiment has basically explained that the large and small division is set based on the rated torque. Actually, however, with respect to the allowable moment, The allowable moment of the same magnitude relation with the magnitude relation of the magnitude division based on the torque is established, and in the same magnitude division, the permissible moment of substantially the same magnitude is set. For example, in the second speed reducer G2 (X35) and the second speed reducer G2 (X45), the allowable moment of the second speed reducer G2 (X45) is large and the second speed reducer G2 In the first reduction gears G1 (Y35), the allowable moment is set to be substantially equal. This is because the user is expected to expect that the magnitude relationship is naturally established with respect to the allowable moment as long as the magnitude of the magnitude is set depending on the transmission torque (rated torque).

According to the setting specifications of the allowable moments, for example, in the second speed reducer G2 (X45) and the first speed reducer G1 (Y35)), the allowable moment of the second speed reducer (G2 Should be secured. In the series according to the present embodiment, the outer rings 135A, 136A and 235A and 236A are common and the rolling members 135B, 135B and 135B are common in the second speed reducer G2 (X45) and the first speed reducer G1 (Y35) 136B and 235B, 236B are common, and the rolling surfaces 124C, 128C and 224C, 228C (of the inner ring) are also common. Thereby, unless any action is taken, it tends to be difficult to secure a permissible moment of the second reducer (G2 (X45)) larger than the permissible moment of the first reducer (G1 (Y35)). Therefore, the number of rolling elements 235B and 236B of the second reducer G2 (X45) is made larger than the number of the rolling elements 135B and 136B of the first reducer G1 (Y35) 2 permits the permissible moment of the second speed reducer G2 (X45) to be larger than the permissible moment of the first speed reducer (G1 (Y35)). Conversely, by making the number of rolling elements 135B, 136B of the first reduction gear G1 (Y35) smaller than the number of rolling elements 235B, 236B of the second reduction gear G2 (X45) It is possible to suppress the excess quality of the first reduction gears G1 (Y35) and to reduce the cost.

As a result, by optimally setting the size (number) and number of the members in this way, when the transmission torque value and the transmission torque ratio (also the allowable moment value or the allowable moment ratio) The interval between the major and minor bearings 135 and 136 of the first reduction gear mechanism G1 and the sizes of the main bearings 235 and 236 of the second reduction gear mechanism G2 are set to be exactly the same size It is possible to do trial and error of known intensity calculation, simulation analysis and the like. At the same time, for example, when the number of external gears and the number of rolling elements are appropriately set, it is possible to appropriately prevent the various members including the main bearings of any sub series from becoming excess quality.

However, this commonization can be applied between the first reduction gears G1 (Y25) and G2 (X35) in the same manner, and the main bearings 181 and 281, 182 and 282 can be shared.

In the common use of the main bearing, various aspects can be considered. The outer rings 135A and 235A, the rolling members 135B and 235B and the rolling surfaces 124C and 224C of the output side main bearings 135 and 235 and the output opposite side main bearings 136 and 236, The outer rings 136A and 236A of the output side main bearing 136, the rolling members 136B and 236B and the rolling surfaces 128C and 228C are shared. In this embodiment, since the inner ring is integrated with the output side carrier bodies 124 and 224 (or the output side carrier bodies 128 and 228), consequently, the inner peripheral surfaces of the inner and outer rings 128C and 228C are shared It is also possible to use the output carrier members 124 and 224 and the output carrier members 128 and 228 for the base material (the member before forming the concave portion or the tapped hole) There is a possibility. When the inner ring is independent, it is naturally possible to share the inner ring as well. In addition, it is not always necessary to share all the components of the main bearing. As already described, the number of rolling elements of the main bearing may be different. As a result, it is possible to prevent the side from being over-quality after securing the strength required for the main bearing, thereby reducing the cost.

The fact that the two main bearings 135, 136, 235 and 236 can be shared means that the outer diameters d7 and d8 of the output side carrier bodies 124 and 224 or the output side carrier bodies 128 and 228 are easily the same . Therefore, in this embodiment, the oil seals 140 and 240 are also shared by utilizing this. That is, in the present embodiment, the oil seal 140 disposed on the outer periphery of the output-side carrier body 124 of the first speed reducer G1 (Y35) of the specific large-small segment Y35 of the first subseries, Is shared by the oil seal 240 disposed on the outer periphery of the output side carrier 224 of the second reduction gear G2 (X45) of the large and small section X45 which is larger than the specific large and small section X35 of the subseries.

In this embodiment, the inner rollers 130 and 230 are not shared because the number of the external gears 112 and 212 is different. However, when the number of external gears is the same, it is also possible to share the inner roller Do. However, in the case of common use of inner rollers, from the viewpoint of the similarity of the outer diameters of the inner rollers, the first and second speed reducers of the same large and small division (unlike common bearing or oil seal) should be shared. In other words, in the case of common use of the inner roller, for example, the inner roller of the first speed reducer in the specific large-sized division of the first sub-series is the same as the specific large- And becomes common with the inner roller of the second reducer. In this way, depending on the members constituting the speed reducer, there may be a case where the reduction gears of the same large-size division are mutually shared.

However, in the above embodiment, the eccentric body shafts (the shafts provided with the eccentric bodies: the input shafts 116 and 216 in the above example) are provided at the radial centers of the first and second speed reducers G1 and G2, The first and second speed reducers G1 and G2 are pivoted by the eccentric body shafts located in the radial center of the first and second speed reducers G1 and G2. However, the eccentric-rotation type speed reducer according to the present invention is not limited to the speed reducer having such a configuration. For example, the eccentric body shaft may be provided at a position offset from the radial center of the speed reducer, The present invention is equally applicable to a speed reducer of a type which is supported at an offset position from the center of the gear and which is pivoted through the eccentric body and the eccentric body bearing (eccentric oscillation type speed reducer called so-called split type).

One example of this type of eccentric oscillation type speed reducer series is shown in Figs.

Fig. 4 is a cross-sectional view showing an example of a first speed reducer G11 having a hollow portion having a large hollow diameter D3 belonging to the first subseries according to another embodiment of the present invention, Fig. 5 is a cross- Fig. 6 is a cross-sectional view showing an example of a second reduction gear G12 having a small hollow diameter D4 belonging to the second embodiment, Relationship diagram. Hereinafter, the first decelerator G11 of the first subseries is denoted by reference numeral 300, and the second decelerator G12 of the second subseries is denoted by reference numeral 400.

The first and second decelerators G11 and G12 are arranged such that the driving system itself of the first reducer G11 of the first subseries and the second reducer G12 of the second subseries Slightly different. The construction of the first reducer G11 of the first subseries will be described.

The first reducer G11 of the first subseries of the first subseries shown in Fig. 4 has a hollow portion 314 of a large hollow diameter D3 and is connected to the hollow portion 314 by wires or rods (not shown) Are positively arranged. Due to this, the input shaft 312 is not disposed at the center in the radial direction of the first reduction gear G11. The power is input to the intermediate shaft 317 through the pinion 316 and the gear 318 provided on the input shaft 312. An intermediate pinion 350 is formed on the intermediate shaft 317 and the intermediate pinion 350 is engaged with the center gear 356 mounted on the outer periphery of the hollow shaft 352 through the needle 354. [ The three eccentric body shafts 320 (only one shown) are provided integrally with a split gear 358 that meshes with the center gear 356. The center gear 356 meshes with the split gear 358.

With this configuration, by rotating the input shaft 312, the three eccentric body shafts 320 are rotated through the pinion 316, the gear 318, the intermediate shaft 317, the intermediate pinion 350 and the center gear 356 And can be synchronously rotated in the same direction. Each of the eccentric body shafts 320 includes a plurality of (two in this example) eccentric bodies 324 (324A, 324B).

The eccentric bodies 324A and 324B in the respective axial positions of the respective eccentric body shafts 320 are aligned in the eccentric phase so that the three eccentric body shafts 320 synchronously rotate in the same direction, The eccentric body 324A or 324B in the same position is oscillated through the bearing 325A or 325B and the external gear 322 (322A or 322B) in the axial coaxial position.

The external gear 322 is in contact with and meshes with the internal gear 326 while rocking. The number of teeth of the internal gear 322 is the same as the number of teeth of the internal gear 326 (the number of external pins 326B (Only one in this example) is set to be smaller than that of the first embodiment (also in this example).

When the external gear 322 relatively rotates with respect to the internal gear 326, the eccentric body axis 320 rotatably supported at a position offset from the center of the external gear 322 rotates about the axis of the internal gear 326 The relative rotation between the external gear 322 and the internal gear 326 can be achieved by revolving the eccentric body axis 320 and rotating the output side carrier body 330 and the output-side carrier body 332 as shown in Fig. The output side carrier body 330 and the output side carrier body 332 are rotatably supported on the casing 340 through the main bearings 335 and 336 and the eccentric body axis 320 To support the external gear 322.

In the foregoing embodiment, the inner pins 122 and 222 for extracting the relative rotation between the external gears 112 and 212 and the internal gears 114 and 214 are connected to the output carrier bodies 124 and 224 and the output- The eccentric body axis 320 for extracting the relative rotation between the external gear 322 and the internal gear 326 is fixed to the output side carrier body 330 and the output side carrier body 326. In this embodiment, And is rotatably supported on the shaft 332 through an eccentric bush shaft bearing 338.

On the other hand, the second reducer G12 of the second subseries shown in Fig. 5 has a hollow portion 414 having a small hollow diameter D4. The input shaft 412 is connected to a drive shaft or a motor shaft (not shown) of the front end through a key (not shown) fitted in the key groove 412A. The second reducer G12 of the second subseries does not assume that the hollow portion 414 is actively used for the arrangement of wiring or the like. Therefore, the input shaft 412 is located in the hollow portion 414 of the second reduction gear G12, that is, in the radial center. A pinion 416 is integrally formed at the tip of the input shaft 412. The pinion 416 is engaged with a plurality of (three in this example, only one) split gear 418 at the same time. Each of the split gears 418 is fixed to three eccentric body shafts 420 (only one is shown) arranged at an interval of 120 degrees in the circumferential direction. With this configuration, by rotating the input shaft 412, it is possible to synchronously rotate the three eccentric body shafts 420 in the same direction through the three split gears 418.

Each of the eccentric body shafts 420 has a plurality of (two in this example) eccentric bodies 424 (424A and 424B). The eccentric bodies 424A and 424B located at the respective axial positions of the respective eccentric body shafts 420 are aligned in the eccentric phase so that the three eccentric body shafts 420 synchronously rotate in the same direction, The eccentric body 424A or 424B in the same position oscillates the external gear 422 in the axial coaxial position.

5, the output-side carrier body 430 and the output-side carrier body 432 are provided between the eccentric body axis 420 in the circumferential direction and the eccentric body axis 420, And a carrier body 436 integrally protruding from the body 430. As shown in FIG. As a result, the output-side carrier body 430 and the output-side carrier body 432 are integrally rotated as a large output body as in the previous embodiment.

Other configurations are the same as those of the split type first reducer G11 of the first subseries of the previous subroutine, and redundant description will be omitted.

In the first and second decelerators G11 and G12 of the split type eccentric oscillation type of this type, the first reducer G11 of the first subseries having the hollow portion 314 having the large hollow diameter D3 The output side carrier body 330 and the output opposite side carrier body 332 are arranged in such a manner that the output side carrier body 332 of the second reducer G12 of the small hollow diameter D4 430) and the output-side carrier body 432). This situation is similar to the situation in the embodiments of Figs. 1 to 3 described above.

Therefore, even in the case of the first and second decelerators G11 and G12 of the split type eccentric rocking type, as shown in Fig. 6, the same relationship as in Fig. 3 can be established. That is, for example, the output-side main bearing 335 and the output-side main bearing 336 of the first reduction gears G11 (E35) of the specific large-small segment E35 of the first subseries in the lower right- Side main bearing 435 and the output-side main bearing 436 of the second reducer G12 (F45) of the small-size division F45 larger than the specific large-size division F35 of the second subseries Can be constructed.

The same common use can also be applied between the first reduction gears G11 (E25) and G12 (F35), so that the main bearings 381 and 481, 382 and 482 can be shared.

In the present embodiment, although the oil seal is not shared, the oil seal may be provided on the output side carrier body 330 of the first speed reducer G11 (E35) of the specific large and small section E35 of the first subseries An oil seal common to the oil seal 460 of the second speed reducer G12 (F45) of the large and small division F45 larger than the specific large size segment F35 of the second subseries may be disposed on the outer periphery.

In the case of the present embodiment, the bearings 325 and 425 between the eccentric bodies 324 and 424 and the external gears 322 and 422, the bearings 338 and 438 supporting the eccentric body shaft, It is also possible to develop the eccentric body shafts 320 and 420 themselves so as to be common. In this case, in accordance with the same effect as the common use of the inner roller, it is possible to reduce the difference between these members of the first reduction gear unit G11 of the specific large-scale division of the first sub- The corresponding member of the second reducer G12 of the " division " Further, the split gears 358 and 418 of the eccentric body shafts 320 and 420 may share the same division.

However, in the present embodiment, the number (number of sheets) of external gears is the same as that of two sheets in both the first subseries and the second subseries. However, according to the same purpose as in the previous embodiment, The number of external gears in the first subseries and the number of external gears in the second subseries may be different, for example, the number of external gears in the subseries in the second subseries may be three. Similarly, the number of rolling elements of the main bearing, the number of the eccentric body shafts, and the like may be made different in the first sub series and the second sub series.

G1, G2: First and second reduction gears 110, 210: Carrier body
112, 212: external gears 114, 214 internal gears
116, 216: input shaft 116A: hollow portion
118, 218: eccentric body 120, 220: roller bearing
122, 222: pinchers 124, 224: output side carrier body
128, 228: output-side carrier body 130, 230: inner roller
132, 232: casing 134, 234: output shaft
135, 235: Output side main bearing 136, 236: Output side opposite main bearing

Claims (8)

  1. An eccentric-rotation-type speed reducer having a carrier body supported on a main body side of a planetary gear by a planetary gear and meshing with an internal gear while the planetary gear is oscillating, In the eccentric-pivot-type speed reducer series constituted by a plurality of different speed reducer groups,
    A first subseries constituted by a speed reducer having a hollow portion,
    And a second subseries composed of a speed reducer having a hollow portion having a hollow diameter smaller than the hollow diameter of the hollow portion of the first subseries or having no hollow portion,
    Characterized in that the main bearing supporting the carrier body of the reduction gear of the specific large-sized and small-specific gear of the first subseries is divided into a large-sized and small- Common with main bearings,
    An output torque value in each of the large and small segments of the first subseries and a difference in output torque between each of the large and small segments, an output torque value in each of the large and small segments of the second subseries, and an output torque And the gap is set so that the main bearing of the speed reducer in the specific large-sized gear of the first subseries can be shared with the main bearing of the speed reducer of the large-sized gears larger than the specific large- Reducer series of eccentric oscillation type.
  2. The method according to claim 1,
    Wherein the number of rolling elements of the common main bearing is different between the first subseries and the second subseries.
  3. 3. The method according to claim 1 or 2,
    Series decelerating type in which both decelerators included in the first subseries and the decelerator included in the second subseries are provided with eccentric body shafts in the radial center of the decelerator,
    Wherein the eccentric rotation type decelerator is a type in which both decelerators included in the first subseries and the decelerator included in the second subseries are provided with eccentric body shafts at positions offset from the radial center of the decelerator. Speed reducer series.
  4. 3. The method according to claim 1 or 2,
    It is preferable that the sliding accelerator which is mounted on the pin member for transmitting the power from the planetary gear to the carrier body of the speed reducer in the specific large-sized gear of the first subseries is smaller than the specific large- And is commonly used with a sliding acceleration member of a large-sized and small-sized gear reducer.
  5. 3. The method according to claim 1 or 2,
    Wherein the number of the planetary gears is different between the first subseries and the second subseries.
  6. 3. The method according to claim 1 or 2,
    Wherein the number of pin-shaped members that transmit power from the planetary gear to the carrier body is different between the first subseries and the second subseries.
  7. The method according to claim 1,
    Wherein the eccentric rocking type speed reducer is a type of speed reducer of which the planetary gear is pivoted through an eccentric body and an eccentric body bearing provided on an eccentric body shaft disposed at a position offset from the center of the planetary gear,
    Characterized in that the eccentric body bearing of the speed reducer in the specific large-sized sector of the first subseries is shared with the eccentric body bearing of the reducer of the large-sized sector having the same size as the specific large sector of the second subseries series.
  8. 8. The method of claim 1 or 7,
    Wherein the eccentric rocking type speed reducer is a type of speed reducer of which the planetary gear is pivoted through an eccentric body and an eccentric body bearing provided on an eccentric body shaft disposed at a position offset from the center of the planetary gear,
    Characterized in that the bearing for supporting the eccentric body shaft provided with the eccentric body of the specific large-sized decelerator of the first subseries to the carrier body is a eccentric body of the decelerator of the large- Wherein the eccentric rotation type reducer is commonly used with a bearing supporting a shaft.
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JP6185829B2 (en) * 2013-12-11 2017-08-23 住友重機械工業株式会社 Manufacturing method of crankshaft and external gear of eccentric oscillating speed reducer
CN104879449A (en) * 2014-02-28 2015-09-02 天津瑞博思传动科技有限公司 Center-holed 2K-V planetary transmission
CN105020346A (en) * 2014-04-21 2015-11-04 天津职业技术师范大学 Hollow shaft type precision 2K-V speed reduction device
CN103994181A (en) * 2014-05-23 2014-08-20 桐乡市恒泰精密机械有限公司 PXE mechanical arm speed reducer
JP6376964B2 (en) * 2014-12-09 2018-08-22 住友重機械工業株式会社 Reducer series, reducer series manufacturing method, reducer
JP6446260B2 (en) * 2014-12-25 2018-12-26 ナブテスコ株式会社 Reduction gear group, reduction gear and reduction gear design method
JP6543463B2 (en) * 2014-12-25 2019-07-10 ナブテスコ株式会社 Design method of speed reducer group and speed reducer group
JP6542530B2 (en) * 2014-12-25 2019-07-10 ナブテスコ株式会社 Design method of speed reducer group and speed reducer group
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KR20130081198A (en) 2013-07-16
JP5771157B2 (en) 2015-08-26

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