KR102123827B1 - Eccentrically reducer - Google Patents

Abstract

The present invention relates to an eccentric reducer and, more specifically, to an eccentric reducer that can be manufactured with low-cost materials compared to an existing one by dispersing or reducing a load applied to inner and outer teeth. The present invention includes an input shaft, a lever gear, a fixed gear, and an output gear.

Description

Eccentrically reducer {Eccentrically reducer}

The present invention relates to an eccentric reducer, and more particularly, to an eccentric reducer that can be manufactured with less expensive materials than before by dispersing or reducing the load applied to the inner and outer teeth.

In general, a speed reducer is a power transmission device for outputting a high-speed rotational force input from a power device, such as a motor, with a large low-speed rotational force. These reducers are mounted on the joints of industrial robots and serve to decelerate the high-speed rotational force input from the power unit to appropriate rotational forces required by the arms of the robot.

Various types of reducers have been developed according to the reduction method. Reducers include, for example, harmonic reducers, cyclo reducers, revolutionary vector (RV) reducers, ball reducers, and planetary gear reducers.

Harmonic reducers generally include a circular spline with internally shaped gears and a flexible spline with externally shaped gears to engage the internal teeth of the circular spline, caused by the difference in the number of teeth between the circular spline and the flexible spline. The inputted high-speed rotational force is decelerated to low speed using the relative rotation.

The cyclo reducer generally includes a pin gear and a cycloid tooth formed so as to engage in correspondence with the pin gear and includes an eccentric gear that rotates relative to the crankshaft, and the relative rotation caused by the difference in the number of teeth between the pin gear and the eccentric gear. The high-speed rotational force input is decelerated to low speed. The RV reducer has a structure similar to a cyclo reducer.

The planetary gear reducer generally includes a plurality of gears that are engaged with each other, and decelerates the rotational speed by using the ratio of the teeth of the input gear and the output gear.

As a prior art, according to Korean Registered Patent Publication No. 10-1140794,'Eccentric rocking type planetary gear device', the present invention suppresses the elastic deformation of the toothed bridge portion and the toothed surface of the outer toothed tooth. The object of the present invention is to increase the output torque while improving the vibration characteristics while prolonging the service life, while preventing the enlargement of the planetary gear device, and to solve this, the diameter (D) of the pin constituting the inner tooth is the pitch of the inner tooth The ratio divided by (P) is reduced to the extent that the toothed end of the outer tooth moves beyond the inner circumference of the inner toothed gear to the radially outward side, or the set point where the action line of the reaction force of the driving force aggregates is radially outward than before. By moving, and positioned between the pin circle passing through the center of all the inner teeth and the outer end passing through the radial outer end of the through-hole, or the eccentricity of the outer gear to the inner gear of the inner radius R It is described as being 0.5 times or more.

In addition, according to another prior art, according to the Republic of Korea Patent Registration No. 10-1901278,'backlash prevention cycloid reducer', the present invention is one or more cycloid rotors stacked and arranged eccentrically rotatable on the outer peripheral surface of the input shaft The backlash can be removed (prevented) by means of an elastically deformable rotor pin that is inserted into the penetration of the transmission shaft and transmits an output torque to the output shaft, and an elastically deformable inner pin that meshes with the teeth of one or more cycloid rotors. It is described as having a structure capable of providing a preload in the thrust direction by disposing a disc-shaped bush on one or more cycloid rotors arranged in the direction and disposing a disc spring on the output shaft.

However, in the related art, the structure is complicated, and the outer diameter of the body is inevitably large, making it difficult to downsize. As the structure is complicated, the precision is poor, and thus the product quality and productivity are low.

Republic of Korea Registered Patent Publication No. 10-1140794 Republic of Korea Registered Patent Publication No. 10-1901278

Accordingly, the object of the present invention is to solve the problems according to the prior art, and the object of the present invention is to provide an eccentric reducer that is simple in structure and is coaxially configured to enable precision machining and obtain a large reduction ratio.

In addition, the object of the present invention, involute pin gear structure, the load is distributed by a large number of teeth, a pair of internal lever gear structure, the output is composed of coaxial like the input shaft, a simple structure, a large reduction ratio can be obtained This is to provide an eccentric pin gear lever reducer.

According to an embodiment of the present invention, the present invention, an input shaft receiving a rotational force from the outside; A lever gear provided on a radially outer side of the input shaft, eccentrically rotating with respect to the input shaft, and including a plurality of outer teeth provided in a circumferential direction; It is provided at a position corresponding to the rear portion of the lever gear in the radially outer side of the lever gear, and includes an internal tooth coupled to engage some of the teeth of the plurality of teeth of the lever gear by eccentric rotational movement of the lever gear A ring gear-shaped fixed gear; It is provided in a position corresponding to the front portion of the lever gear in the radially outer side of the lever gear, and includes an internal teeth in which some external teeth of the plurality of teeth of the lever gear are engaged by the eccentric rotational movement of the lever gear And a ring gear-shaped output gear that rotates concentrically with the input shaft while rotating relative to a gear, and the tooth of the lever gear is composed of a circular cylindrical tooth having a circular cross-section, and the internal teeth of the fixed gear or the output gear. It relates to an eccentric reducer, characterized in that it comprises an internal and external concave-convex portion of a corresponding shape so that the external teeth of the cylindrical shape can contact the cloud.

In addition, according to an embodiment of the invention, the present invention, the input shaft receiving a rotational force from the outside; A lever gear provided on a radially outer side of the input shaft, eccentrically rotating with respect to the input shaft, and including a plurality of outer teeth provided in a circumferential direction; It is provided at a position corresponding to the rear part of the lever gear in the radially outer side of the gear lever, and includes an internal tooth coupled to engage some of the teeth of the plurality of teeth of the lever gear by eccentric rotational movement of the lever gear A ring gear-shaped fixed gear; It is provided at a position corresponding to the front portion of the lever gear in the radially outer side of the gear lever, and includes an internal teeth in which some of the teeth of the plurality of teeth of the lever gear are engaged by the eccentric rotational movement of the lever gear. And a ring gear-shaped output gear that rotates concentrically with the input shaft while rotating relative to the gear, and the tooth for the lever gear is composed of a cylindrical cylindrical tooth having a circular cross section, and the internal teeth of the gear fixed gear and the output gear. It may provide an eccentric reducer, characterized in that it comprises an internal and external concave and convex portion of the corresponding shape so that the cylindrical tooth can be in contact with the cloud.

In addition, preferably, the indentation-indented portion is characterized in that it includes an involute curve shape section in at least a portion or more.

In addition, preferably, the shape of the involute curve is characterized in that it consists of an involute curve such that the cylindrical tooth conforms to the involute curve when the lever gear rotates eccentrically by rotation of the input shaft. .

In addition, preferably, the involute curve of the involute curve shape section is characterized in that the center of the lever gear is formed on the basis of an eccentric rotation circle drawn virtually while eccentric rotation.

In addition, preferably, the involute curve shape section is characterized in that it is determined as a trajectory of the outline of the columnar tooth when the center of the columnar tooth moves along the involute curve by the eccentric rotation source.

In addition, preferably, the cylindrical-shaped external tooth includes an exposed portion exposed to the inside of the fixed gear or the output gear exposed to the outside, and a recessed portion that is recessed or in contact with the gear body portion of the lever gear. The part is characterized by being formed in a cross section of a fan shape having a central angle of 180 or more and 270 or less when the circular cross section of the columnar tooth is referenced.

In addition, preferably, the cylindrical shape is characterized in that it is integrally injection molded together with the gear body of the lever gear.

In addition, preferably, the cylindrical shape is characterized in that it is manufactured separately from the gear body of the lever gear, and is coupled to the lever gear.

In addition, preferably, the gear body portion of the lever gear is characterized in that it comprises a tooth seating groove having a shape and size corresponding to the depression of the cylindrical tooth.

Further, preferably, the gear body portion of the lever gear is formed of a material having a first stiffness and a first durability, and the cylindrical crying has a second stiffness and a second durability greater than the first stiffness and the first durability It is characterized by being formed of a material.

In addition, preferably, the internal or uneven portion of the fixed gear or the output gear includes a curved internal tooth having a radius of curvature having a size equal to or greater than the radius of the cylindrical external tooth, and one internal tooth and the other adjacent thereto. It is located between the internal teeth, and characterized in that it comprises an internal teeth (부部) extending in shape so as to protrude inward from the end of the internal teeth.

In addition, preferably, the inner tooth recess is characterized in that it is formed in a cross section of a fan shape having a center angle of 90 or more and 180 or less when the virtual inner cross section by the radius of curvature of the inner tooth recess is referenced.

Further, preferably, the endothelial portion includes a first curved side portion and a second curved side portion that are symmetrical to the left and right, and each of the first curved side portion and the second curved side portion has an end portion of the endothelial portion attached thereto. It is characterized by having a convex involute curve shape to have a shape.

In addition, preferably, the ring body of the fixed gear is characterized in that it comprises an elastic structure forming portion formed in an empty space so that at least one or more of the internal teeth and the internal teeth can be finely elastically deformed radially in and out.

In addition, preferably, the number of internal teeth of the fixed gear is different from the number of internal teeth of the output gear.

Therefore, the present invention is composed of a relatively simple structure in which a significant portion of the external teeth are precisely meshed with the fixed gear and the output gear by using a lever gear that rotates eccentrically, resulting in coaxial output. Since it is improved, it is possible to stably decelerate the rotational speed of a large power and has a remarkable effect of obtaining a large reduction ratio.

In addition, the present invention can significantly improve the contact ratio of the fulcrum gear and the fixed gear and/or the contact ratio of the fulcrum gear and the output gear, each internal value and/or output of the fixed gear It is possible to significantly disperse and/or reduce the concentrated load or concentrated stress applied to each tooth of the gear.

As a result, the present invention, while realizing a high reduction ratio while miniaturizing, the lever gear and/or the fixed gear and/or the output gear can be processed with a material such as a polymer rather than a metal material (for example, extrusion molding, etc.). Therefore, it is possible to reduce the overall weight of the reducer and significantly reduce the manufacturing cost of the reducer.

In other words, the present invention enables a larger load to be stably transmitted by dispersing the load distribution by simultaneously applying a plurality of teeth to different internal tooth gears simultaneously with a pair of teeth parallel to an externally rotating external pin (cylindrical) gear. It is possible to provide an involute pin gear crowbar reducer capable of sufficiently transmitting power even if it is manufactured by extrusion molding with a material having a lower strength as well as a conventional processing method as a reduction mechanism.

1 is an exploded perspective view of an eccentric reducer according to a first embodiment of the present invention.
2 is a cross-sectional view of an eccentric reducer according to a first embodiment of the present invention.
3 is a view showing the eccentric portion of the input shaft of FIG. 2 and the rotation center of the external gear.
4 to 6 is an operational state diagram of the eccentric reducer according to the first embodiment of the present invention.
7 is a view showing a lever gear according to a second embodiment of the present invention.
8 is an enlarged view of the circumferential groove of FIG. 7;
9 is an exploded perspective view of a lever gear according to a third embodiment of the present invention
Fig. 10 is a sectional view of Fig. 9;
11 is a partially enlarged view of the fastening bolt and the reinforcement member shown in FIG. 10,
12 is a schematic cross-sectional view of a university on a lever gear and a fixed gear (or output gear) according to a further embodiment of the present invention,
13 is a schematic cross-sectional view of a university on a lever gear according to a further embodiment of the present invention,
14 is a schematic cross-sectional view of a university on a fixed gear (or output gear) according to a further embodiment of the present invention,
15 is a schematic partial enlarged view of the fixed gear (or output gear) of FIG. 14,
16 is a schematic diagram showing a process of determining the shape of the internal teeth (or internal irregularities) of a fixed gear (or output gear) based on a lever gear according to a further embodiment of the present invention,
17 is a partial enlarged view of FIG. 16,
FIG. 18A is a schematic view of an engaging area of a lever gear and a fixed gear (or output gear) according to FIGS. 1 to 11, and FIG. 18B is an engagement of a lever gear and a fixed gear (or output gear) according to FIGS. 12 to 17 It is a schematic of the domain,
19 is a schematic front sectional view of an eccentric reducer according to a further embodiment of the present invention,
20 is a schematic side sectional view of the eccentric reducer of FIG. 19,
21 is a schematic cross-sectional view of a university on a lever gear and a fixed gear (or output gear) according to a further embodiment of the present invention,
22 is a schematic cross-sectional view of a university on a lever gear according to a further embodiment of the present invention,
23 is a schematic first partial enlarged view of the lever gear of FIG. 22,
24 is a schematic second partial enlarged view of the lever gear of FIG. 22,
25 is a schematic cross-sectional view of a university on a fixed gear (or output gear) according to a further embodiment of the present invention,
26 is a schematic first partial enlarged view of the fixed gear (or output gear) of FIG. 25,
27 is a schematic second partial enlarged view of the fixed gear (or output gear) of FIG. 25;
FIG. 28A is a schematic view of the engaging area of the lever gear and the fixed gear (or output gear) according to FIGS. 1 to 11, and FIG. 28B is the engagement of the lever gear and the fixed gear (or output gear) according to FIGS. 21 to 27 It is a schematic of the domain.

Advantages and features of the present invention, and methods for achieving them will be clarified with reference to embodiments described below in detail together with the accompanying drawings.

However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms, and only the embodiments allow the disclosure of the present invention to be complete, and common knowledge in the art to which the present invention pertains. It is provided to completely inform the person having the scope of the invention, and the present invention is only defined by the scope of the claims.

In addition, the terminology used herein is for describing the embodiments and is not intended to limit the present invention.

In the present specification, the singular form also includes the plural form unless otherwise specified in the phrase. As used herein, "comprises" and/or "comprising" does not exclude the presence or addition of other components than those mentioned.

Unless otherwise defined, all terms (including technical and scientific terms) used in the present specification may be used as meanings commonly understood by those skilled in the art to which the present invention pertains.

Hereinafter, the present invention will be described with reference to the accompanying drawings.

1 is an exploded perspective view of an eccentric reducer according to the first embodiment of the present invention, FIG. 2 is a cross-sectional view of the eccentric reducer according to the first embodiment of the present invention, and FIG. 3 is a rotation of the eccentric portion and the lever gear of the input shaft of FIG. 2 Figures showing the center, Figures 4 to 6 is an operating state of the eccentric reducer according to the first embodiment of the present invention, Figure 7 is a view showing a lever gear according to the second embodiment of the present invention, Figure 8 is Fig. 7 is an enlarged view of the circumferential groove, Fig. 9 is an exploded perspective view of a crowbar gear according to a third embodiment of the present invention, Fig. 10 is a sectional view of Fig. 9, and Fig. 11 is a part of a fastening bolt and a reinforcement member shown in Fig. 10 It is an enlarged view.

The present invention relates to a reducer for decelerating the rotational speed of the input shaft.

As shown in Figure 1, the present invention is an input shaft 100 receiving the rotational force from the outside and an eccentric portion is formed on the outer circumferential surface, the eccentric rotational movement with respect to the input shaft 100, the lever gear 300, and the lever gear ( 300) provided on the outside of the lever gear 300, the engaging gear is eccentrically rotated by the rotational movement of the fixed gear 512, and provided on the outside of the lever gear 300, the eccentricity of the lever gear 300 It is configured to include an output gear 612 that rotates coaxially with the meshing portion by the rotational movement.

The input shaft 100 is to receive the rotational force from the outside, the input shaft 100 is disposed in the radial center of the entire device, a plurality of members are mounted on the outer circumferential surface of the input shaft 100, whereby the input shaft A groove or the like for supporting the members is formed on the outer circumferential surface of (100).

Referring to Figure 1 in more detail, on the outer circumferential surface of the input shaft 100, the eccentric portion 110 formed by eccentric so that the lever gear 300 coupled to the outer circumference is eccentrically rotated with respect to the input shaft 100, The protrusion 140 supporting one side of the lever gear 300 inserted into the eccentric part 110, the weight center member insertion groove 130 into which the weight center member 400 is inserted, and the O-ring insertion into which the O-ring is inserted The grooves 120 and 150 and the snap ring insertion groove 160 into which the snap ring 528 is inserted are formed.

In the middle portion of the input shaft 100, an eccentric portion 110 is formed only in a portion where the lever-to-gear 300 is coupled, and the lever-to-gear 300 rotates eccentrically by being cloud-coupled to the outer periphery of the input shaft 100. To make.

1 to 3, the eccentric portion 110 has a ring shape protruding in a radially outer direction, and is formed eccentrically so that a certain section in the longitudinal direction has a thickness as much as t.

Specifically, the cross-section of the eccentric portion is a circular shape having a radius greater than the radius of the input shaft, and the center of the outer diameter of the eccentric portion is located at a position spaced a predetermined distance radially outward from the rotation center of the input shaft.

Preferably, in order to more reliably generate the eccentric rotation, the eccentric portion may be formed such that the outer diameter circle of the input shaft and the eccentric portion inscribes on the outer circumferential surface of the input shaft.

In the present invention, the eccentric portion 110 is integrally formed on the input shaft 100 to have high resistance to torsion and shear force generated by the lever gear 300, but this is not limited to the present invention. , The eccentric portion 110 may be configured to be detachably detachable from the input shaft 100.

On the other hand, the outer circumferential surface of the eccentric portion 110 is to be coupled to the lever gear 300, the lever gear 300 is coupled to the input shaft 100 and coaxially rotates, but is eccentric by the eccentric portion 110 It is rotated.

In addition, a bearing 200 is coupled between the input shaft 100 and the fulcrum gear 300 so that the fulcrum gear 300 is lubricated and rotated with respect to the input shaft 100.

That is, when the input shaft 100 is rotated, the bearing 200 and the lever gear 300 are also rotated accordingly, and the lever gear 300 is eccentric 110 based on the axial center of the input shaft 100 ) Is eccentrically rotated while having a radius equal to the eccentrically formed distance.

Referring to FIG. 3, the input shaft 100 is formed such that a certain section has a thickness equal to t, and the lever gear coupled to the outer circumferential surface of the input shaft further has a radius equal to t and a fixed gear ( 512) and the output gear 612 are simultaneously engaged and rotated eccentrically.

In other words, the lever gear 300 is rotated eccentrically with the input shaft 100.

In addition, in the present invention, as an embodiment, the three-row bearing was used to stably rotate the lever gear 300, but this is not limited to the present invention.

In addition, as shown in Figure 2, the bearing 200 is supported on one side by a spacer 210 coupled to one side, and the other side is supported by a protrusion 140 formed on the outer circumferential surface of the input shaft 100.

On the other hand, as shown in Figure 2, the lever gear 300 is configured to have an external tooth, and the snap ring groove 302 into which the snap ring 310 is inserted is formed at one end of the inner peripheral surface of the lever gear 300.

The snap ring 310 mounted on the snap ring groove 302 supports one end of the bearing coupled to the inner circumferential surface of the lever gear 300 to prevent the bearing from coming off.

In addition, the other end of the lever gear 300 is formed with a bent portion 304 with an end bent inward, the bending portion 304 of the bearing 200 coupled to the inner circumferential surface of the lever gear 300. Supporting the other end serves to prevent the departure of the bearing 200.

That is, the bearing 200 is supported and/or spatially limited by the snap ring 310 and the bent portion 304 in the accommodation space, and is axial by the snap ring 310 and the bent portion 304 The separation in the direction is prevented.

Meanwhile, as an example of the lever-to-gear 300, a circumferential groove 306 is formed in the lever-to-gear 300.

Referring to Figures 7 and 8, the circumferential groove 306 is formed in a circumferential shape along the outer circumference of the lever gear 300, it is formed in the center of the outer circumference.

The circumferential groove 306 has an effect of preventing the occurrence of breakage due to concentration of opposite stresses on the tooth surface of the lever gear 300.

In more detail, since the lever gear 300 is based on the longitudinal direction, the output gear 612 is engaged at one end and the fixed gear 512 is engaged at the other end, so the amount of the lever gear 300 in the longitudinal direction At the same time, the ends are subjected to forces in different directions, and accordingly, fracture may occur due to stress concentration.

The circumferential groove 306 is to prevent this, and by forming a groove in the center line in the tooth width direction of the lever gear 300, the stress is distributed. (The tooth width direction is the same as the longitudinal/axial direction of the lever gear.)

In addition, the circumferential groove 306 is preferably formed deeper than the root of the tooth so that the opposite concentrated stress can be distributed to the root of the tooth.

In other words, the circumferential groove 306 is formed in a circumferential shape along the outer circumference of the center line in the tooth width direction of the crowbar gear 300, from the tooth end (tooth addendum) of the crowbar gear 300 It is formed deeper than a tooth root (tooth dedendum) by a predetermined depth.

On the other hand, as shown in Figures 1 to 2, the outer peripheral surface of the input shaft 100, the center of gravity member 400 is coupled, the center of gravity member 400, the eccentric portion 110 and the weight of the input shaft 100 It is configured to include a weight portion 410 having a constant weight to balance.

The weight portion 410 is configured to have a weight corresponding to the eccentric portion 110 of the input shaft 100, and is opposed to the eccentric portion 110 of the input shaft 100 to match the balance of the center of gravity.

That is, the center of gravity member 400 has an effect of reducing vibration and noise that may occur due to the center of gravity due to the eccentric portion 110 formed on the input shaft 100.

In more detail, the center of gravity member 400 is formed in a ring shape, the weight portion 410 is formed on one side.

The weight part 410 is configured such that one side is cut to be divided into a first weight part 412 and a second weight part 414, whereby the weight center member 400 is configured as an open structure and has an input shaft. It is easily detachable from the outer periphery of (100).

And the first weight portion 412 and the second weight portion 414 is formed with a coupling hole 416, respectively, the coupling bolt 418 is inserted through all of the coupling hole 416, the first The weight part 412 and the second weight part 414 are configured to be combined.

That is, after the operator opens the center of gravity member 400 and mounts it on the outer periphery of the input shaft 100, the coupling hole 416 of the first weight portion 412 and the second weight portion 414 are engaged. By fastening the coupling bolt 418 through all the balls 416, the center of gravity member 400 is coupled to the input shaft 100.

And the center of gravity member 400 is inserted into the center of gravity insertion groove 130 formed on the input shaft 100, it is stably coupled to the input shaft.

On the other hand, as shown in Figure 2, the lever gear 300 includes a plurality of teeth (tooth) provided in the circumferential direction, the fixed gear 512 and the direction in the width (tooth width) of each tooth It is configured to mesh with the output gear 612 simultaneously.

In other words, one portion of the front portion and the rear portion of the same partial tooth that is engaged is configured to engage the fixed gear 512, and the other portion of the front portion and the rear portion of the same portion of the tooth is the output gear ( 612).

That is, the lever gear 300 is engaged with the output gear 612 at one end based on the axial direction of the lever gear 300, and the other end is engaged with the fixed gear 512.

Hereinafter, the fixed gear 512 coupled to the gear meshing portion by the eccentric rotational movement of the lever gear 300 will be described first.

Since the fulcrum gear 300 is a gear formed as an external tooth, the fixed gear 512 engaged therewith is configured as an internal gear.

The fixed gear 512 is included in the fixed part 500, and the fixed part 500 is coupled to the fixed case 510 on which the fixed gear 512 is formed and the input shaft 100, and the fixed case 510 It includes a fixed cover 1020 formed with a space therein to accommodate.

The fixing case 510 is a cylindrical hollow body having one end and the other end open, and a coupling member is formed so as to protrude outward on one outer circumferential surface, and a fixing gear 512 having inner teeth is formed on the other circumferential inner surface.

In the present invention, by forming an inner tooth on a part of the inner circumferential surface of the fixed case 510 to form the fixed gear 512, the fixed case 510 and the fixed gear 512 are integrally configured, but if necessary, the internal gear is It can be made separately and coupled to the fixed case 510 so that the fixed gear 512 and the fixed case 510 can be configured as separate types.

In addition, the fixed case 510 is coupled to a shape in which a part is inserted and wrapped in the fixed cover 1020, and a coupling hole 516 is formed in a horizontal direction on a coupling member of the fixed case 510, corresponding to this. A coupling hole 522 is also formed in the fixed cover 1020, and the fixing cover 1020 and the fixing case 510 are coupled by inserting the coupling member 530 through the coupling holes 516 and 522. .

In addition, a plurality of the coupling holes 516 and 522 are formed radially along the edges of the fixing case 510 and the fixing cover 1020, so that the fixing case 510 and the fixing cover 1020 are more firmly coupled to each other. To be able to.

The fixed cover 1020 is coupled to the outer circumferential surface of the input shaft 100, a bearing 524 is disposed between the fixed cover 1020 and the input shaft 100.

In addition, on both sides of the bearing 524, the snap rings 526 and 528 are coupled to prevent the bearing 524 from coming off, and one of the pair of snap rings 526 and 528 is coupled to the snap ring insertion groove formed in the fixing cover. The other is inserted into each of the snap ring insertion grooves 160 formed in the input shaft 100 to support the bearing.

In addition, the fixed cover 1020 is coupled to the inner circumferential end contact with the outer circumferential surface of the gasket (G) installed on the input shaft 100, to make the inside of the fixed cover 1020 airtight.

On the other hand, as shown in Figure 2, the output gear 612 is installed on the outer periphery of the lever gear 300.

As shown in Figure 2, the output gear 612 is installed on the outside of the lever-to-gear 300, a part is engaged by the eccentric rotational movement of the lever-to-gear 300 to rotate relative to each other.

Since the lever-to-gear 300 is a gear having an external tooth, the output gear 612 engaged therewith is configured to have an internal tooth.

As shown in Figures 4 to 6, the output gear 612 is rotated together by the relative rotational force of the fixed gear that acts as a backing mesh engaged with the mating part of the lever gear 300, so that it rotates in the opposite direction of the lever gear , More decelerated than the rotation of the lever gear 300 is rotated.

In more detail, since the output gear 612 and the fixed gear 512 have different dimensions at the same modul, the mesh pitch circle radius of each tooth is formed with a slight difference, so the lever As the gear 300 rotates, the output gear 612 is pushed in the role of a crowbar as much as the difference in the pitch pitch radius of the engagement teeth of the teeth by the fixed gear 512 to move as much as possible.

In addition, the lever gear 300, the output gear 612, and the fixed gear 512 used in the present invention are preferably composed of a potential gear having an involute touch type.

As shown in FIG. 1, the output gear 612 is included in the output unit 600, and the output unit 600 is cloud-supported and coupled to the input shaft 100, and the output gear 612 is provided on an inner circumferential surface. It is composed of an output shaft 610 is formed, and an output cover 1030 in which a space is formed inside to accommodate the output shaft 610.

In addition, a bearing 620 is coupled between the output shaft 610 and the output cover 1030, and the bearing 620 is disposed to be partially in contact with the fixed gear 512.

1 and 2, the output shaft 610 is a hollow hollow body having one end and the other end open, an output gear 612 having internal teeth is formed on the inner circumferential surface, and a bearing 620 is provided on the outer circumferential surface. The bearing groove 614 to be inserted is formed.

In the present invention, the output shaft 610 and the output gear 612 are integrally formed by forming an internal tooth on a portion of the inner circumferential surface of the output shaft 610, but the output gear 612 is configured as necessary. It may be manufactured separately and coupled to the output shaft 610 to be configured as a separate type.

In addition, the output shaft 610 is coupled to the outer circumferential surface of the input shaft 100, a bearing 632 is coupled between the output shaft 610 and the input shaft 100, so that the output shaft 610 is rotated smoothly.

As shown in Figure 2, the bearing groove 614 formed on the outer circumferential surface of the output shaft 610 is equipped with a bearing 620, the inner circumferential surface of the bearing 620 is in contact with the output shaft 610, the outer circumferential surface is fixed A part of the case 510 and the output cover 1030 are installed to be in contact with each other.

Accordingly, it is preferable that each of the bearing grooves is formed in the fixed case 510 and the output cover 1030 in contact with the bearing 620 such that a part of the bearing 620 is inserted.

In addition, a gasket G is coupled between the outer circumferential end of the output shaft 610 and the output cover 1030 between the inner circumferential end, and the inner circumferential end of the output shaft 610 is a gasket G installed on the input shaft 100. It is installed to be in contact with the outer circumferential surface of the, it is preferable that the inside of the output unit 600 is hermetically sealed.

And the output shaft 610 is coupled in a shape that is partially inserted and wrapped in the output cover 1030, the output shaft 610 is coupled to the coupling hole 616 to correspond to the coupling hole 516 formed in the fixed case 510 This is formed, the output shaft 610, the fixed case 510, and through the coupling holes 516,522,616 of the fixed cover 1020, the coupling member 530 is inserted through the eccentric reducer 1000 of the present invention It is completed.

The present invention is composed of a relatively simple structure in which both ends are coupled and operated in contact with the fixed gear 512 and the output gear 612, respectively, using one lever gear 300, so that it is relatively compact and easy to process. Since it is improved, it stably decelerates the rotational speed and has the effect of obtaining a large reduction ratio.

The operation of the eccentric reducer of the present invention will be briefly described with reference to FIGS. 4 to 6 as follows.

First, when the input shaft 100 receives the rotational force of the motor or the like, the eccentric portion formed on the outer circumferential surface of a portion of the input shaft 100 rotates around the rotation center of the input shaft.

Thereafter, as the rotation of the eccentric portion 110, the lever gear 300 bearing the bearing on the outer diameter of the eccentric portion rotates or rotates eccentrically.

At this time, a bearing 200 is provided between the eccentric part 110 and the lever gear 300, so that the eccentric part and the lever gear are lubricated.

And, based on the longitudinal direction of the lever gear 300, the output gear 612 and the fixed gear 512 are respectively installed on one side and the other side, and a part of the gear is engaged by the eccentric rotational movement of the lever gear Are combined.

In this process, the lever gear 300 rotates by being inscribed to the fixed gear 512, and at the same time, it rotates at a low speed in the opposite direction of rotation.

In more detail, the lever-to-gear 300 revolves by the rotational force transmitted from the input shaft 100.

And the rotational force of the lever gear 300 is transmitted to the fixed gear 512, but since the fixed gear is fixed, the lever gear 300 rotates in the opposite direction by the reaction of the transmitted rotational force.

Since the lever gear 300 is engaged with the output gear 612, the output gear 612 rotates according to the rotation and rotation of the lever gear 300.

In addition, the output gear 612 and the fixed gear 512 have different dimensions at the same modul rate, so that each pitch circle is formed with a slight difference, and thus the lever gear 300 rotates. The output gear 612 is pushed by the difference in the radius of each engagement pitch circle as the supporting member of the fixed gear 512, so that it moves in the opposite direction by that amount.

When an external device is attached to the output gear 612 according to the rotation of the output gear 612, the decelerated rotation force can be withdrawn.

Meanwhile, as an example of the lever-to-gear 300, the lever-to-gear 300 may include a first lever-to-gear 320 and a second lever-to-gear 330.

In addition, the first lever gear 320 and the second lever gear 330 may be configured as an integral type of the same number of teeth, or may be configured as a different assembly number of teeth, in the following examples, 9 to 11 With reference to this, it will be described as a lever type gear 300 that is configured as an assembly type and can be separated and coupled.

In some cases, the first lever gear 320 and the second lever gear 330 may be manufactured to have different dimensions.

In this case, there is a problem in that the process in which one member is processed by a separate processing method is complicated, so that precision is low and productivity is low.

In order to solve the present invention, the first lever lever gear 320 and the second lever lever gear 330 are separately manufactured and then used in combination.

Referring to FIG. 9, the lever gear is configured to engage the first gear lever 320 and the output gear engaged with the fixed gear, and is provided based on the tooth width direction of the teeth of the lever gear. It includes a second lever gear 330 that is detachably coupled to the rear of the one lever gear (320).

That is, the first lever gear 320 and the second lever gear 330 are arranged in two rows along the axial direction.

In addition, each of the first lever gear 320 and the second lever gear 330 is provided with a through hole formed in a tooth width direction of the lever gear so that the fastening bolt 340 is fastened, A plurality of through holes are radially arranged.

In more detail, the first lever gear 320 and the second lever gear 330 are separately configured, respectively, and the first lever gear 320 has a first through hole 322 formed therein, Correspondingly, a second through hole 332 is formed in the second lever-to-gear 330, and a fastening bolt 340 is coupled to penetrate both the first through hole 322 and the second through hole 332. By doing so, the first lever gear 320 and the second lever gear 330 are combined.

In addition, a reinforcing member 350 is inserted between the inner circumferential surface of the through hole and the outer circumferential surface of the fastening bolt 340.

That is, the operator inserts the reinforcing member 350 into the fastening bolt 340 to fit the first lever gear 320 and the second lever gear 330, and then penetrates the lever lever gears 320 and 330. The fastening bolt 340 is inserted into the holes 322 and 332.

Preferably, the reinforcing member 350 is formed to have a shorter length than the fastening bolt 340 and is configured to mount the reinforcing member 350 only on a portion of the outer circumferential surface of the fastening bolt 340.

In addition, since the reinforcing member 350 is made of a material having elasticity and is elastically deformed, the reinforcing member 350 includes a fastening bolt 340 contacting the inner circumferential surface of the reinforcing member 350 and a agent contacting the outer circumferential surface. 1 lever lever gear 320 and the second lever lever gear 330 are fixed to be in close contact with each other, it is effective to strengthen the coupling between each other.

In addition, the reinforcing member 350 has an effect of acting as a reinforcing material for reinforcing the shear strength against the shear force generated between the first lever lever gear 320 and the second lever lever gear 330.

In addition, the reinforcing member rotates the first lever gear 320 and the second lever gear 330 due to processing tolerances generated when the first lever gear 320 and the second lever gear 330 are separately manufactured. It has the effect of preventing the centers from twisting together.

Hereinafter, the reinforcing member 350 will be described in detail with reference to FIGS. 10 and 11.

For convenience of description, the end portion of the reinforcing member 350 inserted into the through-holes 322 and 332 is referred to as a distal end. Referring to FIG. 11, the right side of the reinforcing member 350 is the distal end and the left side is the rear end.

The reinforcing member 350 is a cylindrical hollow body having an open end and a rear end, a chamfer portion 354 is formed at a front end of the reinforcing member 350, and a stopper 352 protruding outward is formed at a rear end. .

In more detail, the chamfer portion 354 formed on the outer circumferential surface of the front end of the reinforcing member 350 is formed through a chamfering process. The chamfering is a process of sharply cutting a sharp edge, and thus the reinforcing member ( Since the tip of 350) is formed to have a smaller diameter than the through hole, it has the effect of being easily inserted into the through hole.

In addition, the stopper 352 formed on the rear end of the reinforcing member 350 is formed in a ring shape on the outer circumferential surface of the rear end of the reinforcing member 350, is formed to protrude in the outer direction, when fastening with a fastening bolt, the It is pressed against the head of the fastening bolt.

For convenience of explanation, as with the reinforcing member 350, when the end of the fastening bolt 340 that is first inserted into the through hole is the tip of the fastening bolt 340, the tip of the fastening bolt 340 is a reinforcing member Since the reinforcing member 350 is inserted into the inner circumferential surface through the rear end of 350, the head portion 342 of the fastening bolt, which is the rear end of the fastening bolt 340, contacts the stopper 352, which is the rear end of the reinforcing member 350, , The stopper 352 of the reinforcing member 350 serves to support the head portion 342 of the fastening bolt.

In addition, the stopper 352 is preferably made slightly larger than the head portion 342 of the fastening bolt, but the present invention is not limited thereto.

Meanwhile, the operator inserts the fastening bolt 340 into the through holes 322 and 332 of the lever gears 320 and 330 after fitting the reinforcing member 350 into the fastening bolt 340.

Inside the through-holes 322 and 332, a plurality of locking jaws are formed to fix the reinforcing member 350 inserted therein, and accordingly, the inner circumferential surfaces of the through-holes 322 and 332 are formed to have steps.

5, the fastening bolt 340 and the reinforcing member 350 are inserted into the through hole through the second through hole 332, and the reinforcing member 350 is provided in the second through hole 332. Protrusion jaw 334 is applied to the rear end of the stopper 352 is formed, the first through hole 322 is formed with a tip engaging jaw 324 that the front end of the reinforcing member 350 is applied.

The fastening bolt 340 is inserted into the lever lever gear 300 through the second through hole 332, and the tip of the reinforcing member 350 is attached to the tip engaging jaw 324 of the first through hole 322. It is caught, and the stopper 352, which is the rear end, is caught by the projection catching jaw 334 of the second through hole 332, and thus the reinforcing member 350 is released to the outside through the first through hole 322 as access is limited. Will prevent it.

Further, the fastening bolt 340 is inserted into the reinforcing member 350 through the rear end of the reinforcing member 350, so that the head portion 432 of the fastening bolt contacts the rear rear surface of the reinforcing member 350. Therefore, as the reinforcing member 350 is fixed inside the through hole, the fastening bolt 340 is also fixed by restricting entry.

In addition, a thread 326 is formed at the tip of the first through hole 322 so that the fastening bolt 340 is fixedly fastened inside the through hole 322,332 even if it is not coupled with a separate nut.

In addition, since the chamfer portion 354 is formed at the front end of the reinforcing member 350 and has a smaller diameter than the through hole 332, the fastening bolt 340 is inserted into the through hole together with the reinforcing member 350. When possible, the fastening bolt 340 and the reinforcing member 350 has the effect of being easily inserted into the through hole.

That is, after the operator attaches the reinforcing member 350 to the fastening bolt 340, the fastening bolt 340 is inserted into the lever gear 300 through the second through hole 332. It will be inserted, and then through the process of combining the screw 326 formed in the fastening bolt 340 and the first through hole 322 by rotating the fastening bolt 340, accordingly the first lever gear 320 And the second lever gear 330 is to be combined.

In addition, the reinforcing member 350 is formed to be the same as or slightly smaller than the outer diameter of the fastening bolt 340 so that the inner diameter of the fastening bolt 340 and the through-hole 322,332 is fitted, and the outer diameter is the diameter of the through-hole 322,332. It would be desirable to form the same or slightly larger.

That is, the reinforcing member 350 is made of a material that can be elastically deformed, and the reinforcing member 350 preferably has a diameter larger than the inner diameter of the through hole by a range that is elastically contractable in the radially inner direction.

And in Figures 9 to 10 of the present invention, as the lever gear 300 is composed of a first lever gear 320 and a second lever gear 330, fixed to the outside of the first lever gear 320 It is assumed that the gear 512 becomes, and the output gear 612 is installed outside the second lever gear 330.

This is not limited to the present invention, and any one of the first lever gear 320 and the second letter lever gear 330 is engaged with the fixed gear 512, and the other is installed with the output gear 612. It would be desirable.

In addition, in the present invention, for convenience of explanation, the tip engaging jaw 324 is formed on the first leverage lever 320 and the protrusion engaging jaw 334 is formed on the second leverage lever 330, Preferably, one lever lever is formed with a projection engaging jaw 334 on which the stopper 352 formed at one end of the reinforcing member 350 is applied, and the other lever lever gear has a tip end at which the other end of the reinforcing member 350 is applied. It will be said that the jaw 324 is formed.

In addition, it will be preferable that the thread 326 formed inside the through-hole is also formed in one lever gear in which the leading end jaw 324 is formed.

In addition, in the present invention, the operator inserts the reinforcing member 350 into the fastening bolt 340 and then inserts the fastening bolt 340 into the through holes 322 and 332 of the lever gears 320 and 330. After the member 350 is inserted into the through holes 322 and 332 of the lever gears 320 and 330, the fastening bolts 340 may be fastened, which is not limited to the present invention.

Therefore, according to the present invention, the first lever lever gear 320 and the second lever lever gear 330 are manufactured and used separately, thereby facilitating manufacturing, improving processing precision, and reducing manufacturing cost.

The operation of the assembled eccentric reducer according to the embodiment of the present invention will be briefly described as follows.

First, when the input shaft 100 receives the rotational force of the motor or the like, the eccentric portion formed on the outer circumferential surface of a portion of the input shaft 100 rotates around the rotation center of the input shaft.

Thereafter, as the rotation of the eccentric portion 110, the lever gear 300 bearing the bearing on the outer diameter of the eccentric portion rotates or rotates the fixed gear 512 eccentrically.

At this time, a bearing 200 is provided between the eccentric portion and the lever gear so that the eccentric portion and the lever gear are lubricated.

In this process, the first lever gear 320 rotates by being inscribed to the fixed gear 512, and at the same time, it rotates at a low speed in the opposite direction of rotation.

Since the first lever gear 320 and the second lever gear 330 are integrally formed or integrally rotated together, the second lever gear 330 is also rotated according to the rotation and rotation of the first lever gear 320. Orbit and rotate.

Since the second fulcrum gear 330 and the output gear 612 are meshed, the output gear 612 is rotated relative to the input shaft in accordance with the rotation and rotation of the second fulcrum gear 330 as a support for the fixed gear 512. do.

When the external gear is attached to the output shaft 610 according to the relative rotation with the lever-to-gear, the output gear 612 may withdraw the decelerated torque.

12 is a schematic cross-sectional view of a university on a lever gear and a fixed gear (or output gear) according to a further embodiment of the present invention, and FIG. 13 is a schematic cross-sectional view of a university on a leverage gear according to a further embodiment of the present invention, and FIG. Is a schematic cross-sectional view of a fixed gear (or output gear) according to a further embodiment of the present invention, FIG. 15 is a schematic partial enlarged view of the fixed gear (or output gear) of FIG. 14, and FIG. 16 is the present invention. Schematic diagram showing the process of determining the shape of the internal teeth (or internal unevenness) of the fixed gear (or output gear) based on the lever-to-gear according to a further embodiment of the present invention, FIG. 17 is a partial enlarged view of FIG. 16, and FIG. 18A Is a schematic view of the engaging area of the lever gear and the fixed gear (or output gear) according to FIGS. 1 to 11, and FIG. 18B is the engaged area of the lever gear and the fixed gear (or output gear) according to FIGS. 12 to 17. It is a schematic diagram for

12 to 18B, the eccentric reducer according to this additional embodiment has the shape of the teeth and/or the engaging irregularities of the fulcrum gear 300 and the fixed gear 520 (and/or the output gear 620). And/or technical features and/or components of the eccentric reducer shown in FIGS. Therefore, hereinafter, in order to avoid the intermediate width of the description, contents overlapping with technical features and/or components of the eccentric reducer shown in FIGS. 1 to 11 will be omitted as much as possible.

For reference, the shape and/or structure of the internal teeth (or internal uneven portions) of the fixed gear applied in this additional embodiment may be applied to the shape and/or structure of the internal teeth (or internal uneven portions) of the output gear as it is. There is a difference in the number of teeth formed between the internal gear of the fixed gear and the internal gear of the output gear. Therefore, hereinafter, for convenience of explanation, only the shape and/or structure of the internal teeth (or internal uneven portions) of the fixed gear are described, but the characteristics of these fixed gears are that of the internal teeth (or internal uneven portions) of the output gear. The shape and/or structure may also be applied as it is.

21 to 27, the eccentric reducer according to the present embodiment includes an input shaft 100 that receives a rotational force from the outside; A lever gear 300 provided on the outer side of the input shaft 100 in a radial direction, eccentrically rotating with respect to the input shaft 100, and including a plurality of outer teeth provided in a circumferential direction; It is provided at a position corresponding to the rear portion of the lever gear 300 from the radially outer side of the lever gear 300, and a plurality of external teeth of the lever gear 300 by eccentric rotational movement of the lever gear 300 A ring gear-shaped fixed gear 520 including an inner tooth that is coupled such that some of the outer teeth are engaged with each other; It is provided in a position corresponding to the front portion of the lever gear 300 from the radially outer side of the lever gear 300, a plurality of external teeth of the lever gear 300 by the eccentric rotational movement of the lever gear 300 And a ring gear-shaped output gear 620 which rotates concentrically with the input shaft 100 while rotating relative to the fixed gear 520 and includes an inner tooth with which some external teeth are engaged.

In particular, in the case of the eccentric reducer according to the present embodiment, the external tooth of the lever gear 300 is composed of a cylindrical external tooth 370 having a circular cross section, and the internal tooth of the fixed gear 520 or the output gear 620 It includes an internal and external concave-convex portion 522 of a corresponding shape so that the external teeth of the cylindrical shape can be in cloud contact.

In this way, as the external teeth of the lever-to-gear 300 are constituted by a cylindrical-shaped external tooth 370, the lever-to-gear 300 and the fixed gear 520 and/or the lever-to-gear 300 and the output gear 620 are almost each other It can be engaged in a complete rolling contact.

Due to this, as shown in FIGS. 18A and 18B, the contact ratio and the engagement area (CA) of the fulcrum gear 300 and the fixed gear 520 according to this additional embodiment and/or the fulcrum gear The contact ratio of the 300 and the output gear 620 and the engagement area CA can be remarkably improved, so that each internal value of the fixed gear 520 and/or each internal value of the output gear 620 The concentrated load or concentrated stress can be significantly dispersed and/or reduced.

As a result, according to the present embodiment, the lever gear 300 and/or the fixed gear 520 and/or the output gear 620 can be processed with a material such as a polymer rather than a metal material, thereby reducing the overall reduction gear. It is possible to reduce the weight and significantly reduce the manufacturing cost of the reducer.

12, 13, 16 and 17, the crowbar gear 300 according to the present embodiment is a gear body portion 361 and a circumferential direction from the edge of the gear body portion 361 A plurality of external seating grooves 362 provided to be spaced apart at an isometric angle, a plurality of escape grooves 363 formed between one external seating groove 362 and the other external seating grooves 362 adjacent thereto; And a plurality of cylindrical external teeth 370 provided in the plurality of external tooth seating grooves 362.

Preferably, the cylindrical tooth 370 may be integrally injection molded together with the gear body 361 of the lever gear 300. At this time, the lever gear 300 may be made of metal or polymer (eg, ABS, engineering plastics, etc.).

As a modified embodiment, the cylindrical outer tooth 370 may be manufactured separately from the gear body 361 of the lever gear 300 and coupled to the lever gear 300.

Here, the gear body portion 361 of the lever gear 300 includes an external tooth seating groove 362 having a shape and size corresponding to the recessed portion 372 of the cylindrical external tooth 370.

At this time, the cylindrical outer tooth 370 includes a protrusion for engagement, and a groove or coupling opening corresponding to the coupling protrusion is formed in the external tooth seating groove 362 of the gear body 361. desirable.

More preferably, the gear body portion 361 of the lever gear 300 is formed of a material having a first stiffness and a first durability, and the cylindrical tooth 370 is more than the first stiffness and the first durability. It may be formed of a material having a large second rigidity and second durability.

For example, the gear body portion 361 is formed of a general low-cost plastic (for example, PP, PE, etc.), and the cylindrical external teeth 370 are high-strength plastics (for example, ABS, engineering plastics, etc.). ) Or a metal material.

The escape groove 363 is formed in a concave curved shape between the external seating grooves 362, and is formed to a predetermined depth.

Hereinafter, the fixed gear 520 and/or the output gear 620 according to a further embodiment will be described with reference to FIGS. 12 and 14 to 17.

For reference, the fixed gear 520 and the output gear 620 include almost the same technical features and components except that the number of internal teeth is different from each other. Hereinafter, for convenience of description, the fixed gear 520 is referred to. It will be described as.

At this time, preferably, when the number of cylindrical tooth of the lever gear is N (for example, 28), the number of internal teeth of one of the fixed gear and the output gear is N+1 (eg For example, 29), and the number of internal teeth of the other of the fixed gear and the output gear may be N+2 (eg, 30).

12 and 14 to 17, the fixed gear 520 has a ring body 521 and a plurality of internal and uneven portions formed in a circumferential direction along the inner surface rim of the ring body 521 ( 522).

The internal teeth recessed portion 522 of the fixed gear 520 includes an internal teeth recessed portion 523 and an internal teeth recessed portion 524, and the contours of the internal teeth and the internal teeth are continuously extended. do.

The endodontic portion 524 is located between one internal dentition 523 and the other internal dentition 523 adjacent thereto, and extends so as to protrude inward from an end of the internal dentition 523 It is shaped.

The internally concave-convex portion 522 may include an arc-shaped curved section having a radius of curvature having a size equal to or greater than a radius of the cylindrical external tooth 370 of the lever gear 300 in at least a portion or more, and the other at least another portion or more In may include an involute curve shape interval (IC). At this time, as shown in Figs. 14 to 17, the arc curve shape section is disposed in the center of the internal tooth recess, and the involute curve shape section (IC) is the both sides of the center of the internal tooth recess (ie, the internal teeth protruding part) (On both sides).

Of course, the uneven portion may be formed only of the involute curve shape section (IC) according to the difference in the number of teeth between the lever gear and the fixed gear (or output gear).

In addition, it is preferable that both side surfaces of the internal teeth include an involute curve shape section (IC).

Here, in the involute curve section (IC), when the lever gear rotates eccentrically with respect to the fixed gear (or the output gear) by rotation of the input shaft, the cylindrical shape tooth follows the involute curve. It consists of an involute curve.

More specifically, as shown in FIGS. 16 and 17 showing the shape determination process of the uneven portion, the involute curve of the involute curve shape section (IC) is virtually drawn while the center of the lever gear is eccentrically rotated. It may be an involute curve formed based on the eccentric rotation source (ET).

Here, the eccentric rotation source ET means an imaginary circle representing the eccentric rotation trajectory of the rotation center O'of the lever gear relative to the rotation center O of the fixed gear (or output gear). In addition, in Figs. 16 and 17, reference numeral L denotes an imaginary straight line connecting the rotational center O of the fixed gear (or output gear) and the rotational center O'of the lever gear.

Looking at another aspect, the involute curve shape section (IC) is shaped as a trajectory of the outline of the columnar tooth when the center of the cylindrical tooth moves along the involute curve by the eccentric rotation source (ET). Can be determined.

In this way, the external tooth of the lever-to-gear 300 is composed of a cylindrical external tooth 370, and at the same time, the internal tooth of the fixed gear (or output gear) operates when the eccentric reducer operates, an involute curve that causes the external cylindrical tooth to follow the involute curve. By including the shape section (IC), the lever gear 300 and the fixed gear 520 and/or the lever gear 300 and the output gear 620 can be engaged in a more complete rolling contact manner.

Furthermore, as shown in FIGS. 18A and 18B, the contact ratio and the engagement area (CA) and/or the leverage of the lever gear 300 and the fixed gear 520 according to this additional embodiment 300) and the engagement ratio (contact ratio) and the engagement area (CA) of the output gear 620 can be more significantly improved, so that each of the internal teeth of the fixed gear 520 and / or each internal teeth of the output gear 620 It can significantly disperse and/or reduce the applied concentrated load or concentrated stress.

In the above, only the case in which the cylindrical external teeth 370 of the lever gear 300 is integral, the cylindrical external teeth 370 of the lever gear 300 is the same as the lever gear 300 of FIG. 7 It may be formed in a two-part structure including a circumferential groove that crosses the middle of the longitudinal direction of the cylindrical external teeth 370.

In addition, preferably, the lever gear 300 is described only in the case of an integral type, but the main body and the cylindrical shape of the lever gear may be divided into a front part and a rear part, separated or combined, as shown in FIGS. 9 and 10. Yes, of course.

In this way, when the lever gear is configured in a separate or combination type, one part of the front part and the rear part of the cylindrical tooth and the other part of the front part and the rear part of the cylindrical tooth are different from each other. Can have the number of teeth.

For example, one portion of the front and rear portions of the cylindrical tooth has N (eg, 14) teeth, and the other portion of the front and rear portions of the cylindrical tooth. May have N+1 teeth (for example, 15 teeth).

19 is a schematic front sectional view of the eccentric reducer according to a further embodiment of the present invention, and FIG. 20 is a schematic side sectional view of the eccentric reducer of FIG. 19,

As shown in FIG. 19, according to the eccentric reducer of the present embodiment, when the number of the cylindrical tooth of the lever-to-gear is N (for example, 28), internal teeth of one of the fixed gear and the output gear The number of N+1 is (for example, 29), and the number of internal teeth of the other of the fixed gear and the output gear is N+2 (for example, 30).

According to this embodiment, as shown in FIG. 20, the ring body 521 of the fixed gear 520 (or the output gear 620) includes a microelastic deformation part 525.

The microelastic deformation portion 525 is formed as an empty space on the ring body 521 to enable at least one of the internal teeth 523 and the internal teeth 524 to be elastically deformed inward and outward in the radial direction.

The microelastic deformation portion 525 is formed at a position spaced a predetermined distance from the internal teeth of the fixed gear (or output gear) to a radially outward direction in the body of the fixed gear (or output gear).

Specifically, the microelastic deformation portion may be configured as an empty space cut in a circular arc shape or a belt shape by a predetermined length in a circumferential direction from a position spaced a predetermined distance radially outward from the internal teeth.

Thus, by providing the micro-elastic deformation portion 525, the present invention allows the internal teeth recess 523 and/or the internal teeth 524 to be elastically deformed finely (for example, about 3 to 10 μm) radially in and out. Due to this, even if there are some processing errors of the external teeth of the lever gear 300 and/or internal errors of the fixed gear 520 (or the output gear 620), the lever gear 300 and the fixed gear 520 (Or the engagement ratio can be increased without spatial interference between the output gears 620).

21 is a schematic cross-sectional view of a university on a lever gear 300 and a fixed gear 520 (or output gear 620) according to a further embodiment of the present invention, and FIG. 22 is a lever gear according to a further embodiment of the present invention. FIG. 23 is a schematic cross-sectional view of the university, FIG. 23 is a schematic first partial enlarged view of the leverage lever 300 of FIG. 22, and FIG. 24 is a schematic second part of the leverage lever 300 of FIG. 22. 25 is an enlarged view, and FIG. 25 is a schematic cross-sectional view of a university on a fixed gear 520 (or output gear 620) according to a further embodiment of the present invention, and FIG. 26 is a fixed gear 520 (or output gear) of FIG. 25. (620) is a schematic first partial enlarged view, Figure 27 is a schematic second partial enlarged view of the fixed gear 520 (or output gear 620) of Figure 25, Figure 28A is Figure 1 11 to 11 are schematic diagrams of the engagement area CA of the lever-to-gear 300 and the fixed gear 520 (or the output gear 620), and FIG. 28B is the lever-to-gear 300 according to FIGS. 21 to 27 And a schematic view of the engagement area CA of the fixed gear 520 (or the output gear 620).

For reference, in the case of FIGS. 21 to 27, the technical features of the eccentric reducer of FIGS. 12 to 18b include almost the same technical features as those of the eccentric reducer of FIG. 12 to 18b (for lever gear, fixed gear and output gear). I would like to describe the technical features from a different point of view.

As shown in FIGS. 21 to 27, the eccentric reducer according to this additional embodiment has the shape of the teeth and/or the engaging irregularities of the lever gear 300 and the fixed gear 520 (or the output gear 620) and/or Alternatively, except for the structure, the technical features and/or components of the eccentric reducer shown in FIGS. 1 to 11 are almost maintained. Therefore, hereinafter, in order to avoid the intermediate width of the description, contents overlapping with technical features and/or components of the eccentric reducer shown in FIGS. 1 to 11 will be omitted as much as possible.

21 to 27, the eccentric reducer according to the present embodiment includes an input shaft 100 that receives a rotational force from the outside; A lever gear 300 provided on the outer side of the input shaft 100 in a radial direction, eccentrically rotating with respect to the input shaft 100, and including a plurality of outer teeth provided in a circumferential direction; It is provided at a position corresponding to the rear portion of the lever gear 300 from the radially outer side of the lever gear 300, and a plurality of external teeth of the lever gear 300 by eccentric rotational movement of the lever gear 300 A ring gear-shaped fixed gear 520 including an inner tooth that is coupled such that some of the outer teeth are engaged with each other; It is provided in a position corresponding to the front portion of the lever gear 300 from the radially outer side of the lever gear 300, a plurality of external teeth of the lever gear 300 by the eccentric rotational movement of the lever gear 300 And a ring gear-shaped output gear 620 which rotates concentrically with the input shaft 100 while rotating relative to the fixed gear 520 and includes an inner tooth with which some external teeth are engaged.

In particular, in the case of the eccentric reducer according to the present embodiment, the external tooth of the lever gear 300 is composed of a cylindrical external tooth 370 having a circular cross section, and the internal tooth of the fixed gear 520 or the output gear 620 It includes an internal and external concave-convex portion 522 of a corresponding shape so that the external teeth of the cylindrical shape can be in cloud contact.

In this way, as the external teeth of the lever-to-gear 300 are constituted by a cylindrical-shaped external tooth 370, the lever-to-gear 300 and the fixed gear 520 and/or the lever-to-gear 300 and the output gear 620 are almost each other It can be engaged in a complete rolling contact.

Due to this, as shown in FIGS. 28A and 28B, the contact ratio and the engagement area (CA) and/or the lever gear of the fulcrum gear 300 and the fixed gear 520 according to this additional embodiment The contact ratio of the 300 and the output gear 620 and the engagement area CA can be remarkably improved, so that each internal value of the fixed gear 520 and/or each internal value of the output gear 620 The concentrated load or concentrated stress can be significantly dispersed and/or reduced.

As a result, according to this embodiment, the lever gear 300 and/or the fixed gear 520 and/or the output gear 620 can be processed from a material such as a polymer, not a metal material, thereby reducing the overall weight of the reducer. It is possible and can significantly reduce the manufacturing cost of the reducer.

22 to 24, the crowbar gear 300 according to the present embodiment is provided to be spaced apart at equal angles in a circumferential direction from a rim of the gear body 361 and the gear body 361 A plurality of external seating grooves 362, a plurality of external seating grooves 362 and a plurality of escape grooves 363 formed between the adjacent external external seating grooves 362, and the plurality of external seating grooves It includes a plurality of cylindrical outer teeth 370 provided in (362).

The cylindrical outer tooth 370 includes an exposed portion 371 and a recessed portion 372.

The exposed portion 371 is exposed to the outside and is formed to mesh with the internal teeth of the fixed gear 520 or the output gear 620.

As shown in FIG. 23, preferably, the exposed portion 371 is a cross-section of a sector having a center angle of 120 or more or 240 or less or 180 or more or 270 or less when the circular section of the cylindrical external tooth 370 is referenced. Can be formed.

Due to the shape of the uneven portion 522 of the exposed portion 371 and the fixed gear 520 (or the output gear 620) to be described later, the external teeth of the lever gear 300 and the internal teeth of the fixed gear 520 and / Or, the area of the engagement region between the outer teeth of the lever gear 300 and the outer teeth of the output gear 620 may be significantly increased.

The depression 372 is a portion that is recessed or contacted with the gear body 361 of the lever gear 300. That is, the recessed portion 372 is a portion that is recessed or contacted with the external tooth seating groove 362.

Preferably, the cylindrical tooth 370 may be integrally injection molded together with the gear body 361 of the lever gear 300. At this time, the lever gear 300 may be made of a polymer (eg, ABS, engineering plastics, etc.).

As a modified embodiment, the cylindrical outer tooth 370 may be manufactured separately from the gear body 361 of the lever gear 300 and coupled to the lever gear 300.

Here, the gear body portion 361 of the lever gear 300 includes an external tooth seating groove 362 having a shape and size corresponding to the recessed portion 372 of the cylindrical external tooth 370.

At this time, the cylindrical outer tooth 370 includes a protrusion for engagement, and a groove or coupling opening corresponding to the coupling protrusion is formed in the external tooth seating groove 362 of the gear body 361. desirable.

More preferably, the gear body portion 361 of the lever gear 300 is formed of a material having a first stiffness and a first durability, and the cylindrical tooth 370 is more than the first stiffness and the first durability. It may be formed of a material having a large second rigidity and second durability.

For example, the gear body portion 361 is formed of a general low-cost plastic (for example, PP, PE, etc.), and the cylindrical external teeth 370 are high-strength plastics (for example, ABS, engineering plastics, etc.). ) Or a metal material.

The escape groove 363 is formed in a concave curved shape between the external seating grooves 362, and is formed to a predetermined depth.

The escape groove 363 is formed in a lower direction (or in the center direction of the lever gear 300) than the center of the cylindrical tooth 370, and the formation depth of the escape groove 363 is the cylindrical outer tooth ( It is formed smaller than the radius of 370).

It is preferable that the formation depth of the escape groove 363 is formed to be larger than the formation height of the internal teeth 524 of the fixed gear 520 and/or the internal teeth 524 of the output gear 620.

Hereinafter, the fixed gear 520 and/or the output gear 620 according to a further embodiment will be described with reference to FIGS. 25 to 27.

For reference, the fixed gear 520 and the output gear 620 include almost the same technical features and components except that the number of internal teeth is different from each other. Hereinafter, for convenience of description, the fixed gear 520 is referred to. It will be described as.

25 to 27, the fixed gear 520 includes a ring body 521 and a plurality of internal uneven portions 522 formed in a circumferential direction along an inner side edge of the ring body 521. Includes.

The internal teeth recessed portion 522 of the fixed gear 520 includes an internal teeth recessed portion 523 and an internal teeth recessed portion 524.

The inner tooth recess 523 has a curved shape having a radius of curvature having a size equal to or greater than the radius of the outer tooth 370 of the cylindrical shape of the lever gear 300.

In addition, the inner tooth recessed portion 523 is formed in a sector-shaped cross section having a center angle of 90 or more and 180 or less, based on the virtual circular cross-section by the radius of curvature of the inner toothed portion 523.

The technical features of the inner tooth recess 523, together with the technical features of the cylindrical external tooth 370 of the above-mentioned lever gear 300, the external tooth of the lever gear 300 and the internal teeth of the fixed gear 520 and/or the lever At the same time, while significantly increasing the area of the engagement region between the external teeth of the gear 300 and the external teeth of the output gear 620, at the same time, the cylindrical external teeth 370 and the fixed gear 520 of the lever gear 300 (or the output gear 620) ), it is possible to prevent the occurrence of spatial interference between the internal and uneven parts 522.

Then, the internal teeth protruding portion 524 is located between one internal tooth recess 523 and another neighboring internal tooth recess 523, which protrudes inward from an end of the internal tooth recess 523. It is shaped to extend as much as possible.

In addition, as shown in FIG. 27, the endothelial portion 524 includes a first curved side portion 524a and a second curved side portion 524b that are symmetrical to the left and right.

At this time, it is preferable that each of the first curved side portion 524a and the second curved side portion 524b has a convex involute curve shape so that an end portion of the endothelial portion 524 has an attached shape. Do.

In addition, preferably, as shown in Figure 27, the ring body 521 of the fixed gear 520 includes an elastic structure forming portion 525.

The elastic structure forming portion 525 is formed as an empty space on the ring body 521 to enable at least one of the inner tooth recessed portion 523 and the inner toothed portion 524 to be finely elastically deformed radially in and out.

The elastic structure forming portion 525 is disposed on the (almost) same line as the radial direction of the internal teeth 524, and the outer surface portion 525a located in parallel to the outer surface side of the fixed gear 520, the It includes a first inner surface portion 525a and a second inner surface portion 525b formed at both ends of the outer surface portion 525a in the radially inner direction of the endothelial portion 524 to form an isosceles.

Each of the first inner surface portion 525a and the second inner surface portion 525b is positioned adjacent to a neighboring inner tooth recessed portion 523.

In this way, by providing the elastic structure forming portion 525, the present invention allows the inner tooth recess 523 and/or the inner tooth recess 524 to be elastically deformed finely (for example, about 3 to 5 μm) radially in and out. Due to this, even if there are some processing errors of the external teeth of the lever gear 300 and/or internal errors of the fixed gear 520 (or the output gear 620), the lever gear 300 and the fixed gear 520 (Or the engagement ratio can be increased without spatial interference between the output gears 620).

In the above, only the case in which the cylindrical external teeth 370 of the lever gear 300 is integral is described, but the cylindrical external teeth 370 of the lever gear 300 is the same as the lever gear 300 of FIG. 7 It may be formed in a two-part structure including a circumferential groove that crosses the middle of the longitudinal direction of the cylindrical external teeth 370.

In addition, preferably, the lever gear 300 is described only in the case of an integral type, but it is natural that the front and rear parts may be configured as a separate type or a combination type as shown in FIGS. 9 and 10.

As described above, the present invention has been described with reference to the drawings, but this is only for explaining the invention, and those skilled in the art to which the present invention pertains can make various modifications or equivalent embodiments from the detailed description of the invention. You will understand.

Therefore, the true scope of the present invention should be determined by the technical spirit of the claims.

1000: eccentric reducer
1020: fixed cover
1030: output cover
100: input shaft
200: bearing
300: lever gear
400: Weight center member
500: fixed part
600: output
G: Gasket

Claims (13)

An input shaft receiving rotational force from the outside;
A lever gear provided on a radially outer side of the input shaft, eccentrically rotating with respect to the input shaft, and including a plurality of outer teeth provided in a circumferential direction;
It is provided at a position corresponding to the rear portion of the lever gear in the radially outer side of the lever gear, and includes an internal tooth coupled to engage some of the teeth of the plurality of teeth of the lever gear by eccentric rotational movement of the lever gear A ring gear-shaped fixed gear;
It is provided in a position corresponding to the front portion of the lever gear in the radially outer side of the lever gear, and includes an internal teeth in which some external teeth of the plurality of teeth of the lever gear are engaged by the eccentric rotational movement of the lever gear Includes a ring gear-shaped output gear that rotates concentrically with the input shaft while rotating relative to the gear.
The lever of the lever gear is composed of a cylindrical columnar tooth having a circular cross section,
The internal teeth of the fixed gear and the output gear include an internal teeth uneven portion including an involute curve shape section at least in part or more, while maintaining a corresponding shape so that the cylindrical external teeth can be in contact with the clouds,
The involute curve shape of involute curve interval, the eccentric speed reducer that will be the center of the gear lever that is formed by eccentrically rotating a virtual circle drawn with the eccentric rotation, characterized. delete According to claim 1,
The involute curve shape section is an eccentric reducer, characterized in that it consists of an involute curve such that the cylindrical external tooth follows the involute curve when the lever gear rotates eccentrically by rotation of the input shaft. delete According to claim 1,
The involute curve shape section is an eccentric reducer characterized in that it is determined as a trajectory of the outline of the columnar tooth when the center of the columnar tooth moves along the involute curve by the eccentric rotation source. According to claim 1,
Shouting the cylindrical shape,
Eccentric reducer, characterized in that formed integrally with the gear body of the lever gear. According to claim 1,
The eccentric reducer, characterized in that the cylindrical shape is manufactured separately from the gear body of the lever gear, and is coupled to the lever gear. The method of claim 7,
Eccentric reducer, characterized in that the gear body portion of the lever gear comprises a tooth seating groove having a shape and size corresponding to the depression of the cylindrical tooth. The method of claim 7,
The gear body portion of the lever gear is formed of a material having a first rigidity and a first durability,
The eccentric reducer, characterized in that the cylindrical shape is formed of a material having a second rigidity and a second durability greater than the first rigidity and the first durability. According to claim 1,
The internal and uneven parts of the fixed gear and the output gear,
A curved internal tooth with a radius of curvature having a size equal to or greater than the radius of the external tooth of the cylindrical shape;
Eccentric reducer, characterized in that it comprises an internal teeth recessed part which is located between one internal teeth and another neighboring internal teeth and extends so as to protrude inward from an end of the internal teeth. . The method of claim 10,
At least one ring body of the fixed gear and the output gear,
Eccentric reducer, characterized in that at least one or more of the inner tooth recess and the inner tooth protruding portion comprises an elastic structure forming portion formed in an empty space to enable fine elastic deformation in the radially inner and outer sides. According to claim 1,
Eccentric reducer, characterized in that the number of internal teeth of the fixed gear and the number of internal teeth of the output gear are different. The method of claim 12,
When the number of cylindrical tooth of the lever-to-gear is N, the number of internal teeth of one of the fixed gear and the output gear is N+1, and the number of other internal teeth of the fixed gear and the output gear is N Eccentric reducer characterized in that it is +2.

Images