KR102381750B1 - Reducer device - Google Patents

Abstract

To provide a reduction gear with a relatively high moment rigidity of the main bearing despite its compact size.
The reduction device includes a casing, an internal gear, an external gear, a second carrier member, and a main bearing (38). The main bearing 38 has an outer ring 42 provided in the casing, an inner ring 44 provided in the second carrier member, and a plurality of tapered rollers 46, and the plurality of tapered rollers 46 have a first tapered A roller and a second tapered roller that rolls on a different circumferential surface than the first tapered roller are alternately arranged in the circumferential direction, and at least a portion of an engaging portion between the internal gear and the external gear is a first in the outer ring 42 . The first intersection, which is the intersection of the extension lines L1 and L2 on the same plane of the circumferential surface 42b of the tapered roller and the circumferential surface 44a of the first tapered roller in the inner ring 44, and the outer ring 42 ) is the intersection of the extension lines L3 and L4 on the same plane of the circumferential surface 42a of the second tapered roller in ) and the circumferential surface 44b of the second tapered roller in the inner ring 44. located between the intersections.

Description

Reducer device

This application claims priority based on Japanese Patent Application No. 2016-236080 for which it applied on December 5, 2016. The entire contents of the application are incorporated herein by reference.

The present invention relates to a speed reduction device.

BACKGROUND ART A reduction device used for a joint portion of an arm of an industrial robot or the like is known (for example, Patent Document 1). In this reduction device, the relative rotation of the internal gear and the external gear is taken out as the relative rotation of the casing and the carrier member. For this reason, the casing and the carrier member are configured to be relatively rotatable through a bearing with a large diameter, that is, a large load capacity, referred to as a "main bearing".

Patent Document 1: Japanese Patent Application Laid-Open No. 2009-250279

For example, depending on the industrial machine including the reduction device, such as the arm of an industrial robot, or depending on the use of the industrial machine, a large moment load is applied to the main bearing of the reduction device from the industrial machine side. Bearings are required to have high resistance to moment loads, that is, high moment stiffness.

On the other hand, the reduction device is required to be further miniaturized. As one of the methods for realizing downsizing, crossed roller bearings are sometimes employed as main bearings. When a crossed roller bearing is adopted, high moment rigidity can be obtained by applying an internal preload. However, given the characteristic of the roller sliding and moving, applying an internal preload dramatically increases the rotational torque and shortens the service life, so it is not preferable. . Therefore, securing large moment stiffness is not that simple.

The present invention has been made in view of such a situation, and an object thereof is to provide a reduction device having a relatively high moment rigidity of the main bearing while being small in size.

In order to solve the above problems, a reduction device of an aspect of the present invention includes a casing, an internal gear provided in the casing, an external gear meshing with the internal gear, and a carrier member synchronized with the rotation component or revolution component of the external gear; , A reduction gear having a main bearing disposed between a casing and a carrier member, the main bearing comprising an outer ring provided on one side of the casing and carrier member, an inner ring provided on the other side of the casing and the carrier member, and between the outer ring and the inner ring It has a plurality of tapered rollers disposed on the. In the plurality of tapered rollers, a first tapered roller and a second tapered roller that rolls on a different circumferential surface than the first tapered roller are alternately arranged in the circumferential direction, and the engaging portion of the internal gear and the external gear At least a part of the first intersection point is the intersection point of an extension line on the same plane of the circumferential surface of the first tapered roller in the outer ring and the circumferential surface of the first tapered roller in the inner ring, and the second point in the outer ring It is located between the 2nd intersection which is the intersection point of the extension line on the same plane of the circumferential surface of a tapered roller and the circumferential surface of the 2nd tapered roller in an inner ring.

However, arbitrary combinations of the above components, and those in which the components and expressions of the present invention are mutually substituted among methods, apparatuses, systems, etc. are also effective as aspects of the present invention.

ADVANTAGE OF THE INVENTION According to this invention, although it is small, the moment rigidity of a main bearing can provide the reduction gear comparatively high.

BRIEF DESCRIPTION OF THE DRAWINGS It is sectional drawing which shows the speed reducer which concerns on 1st Embodiment.
In Fig. 2, Figs. 2(a) to 2(c) are enlarged sectional views showing the main bearing.
3 is a cross-sectional view showing a speed reduction device according to a second embodiment.
4 is a cross-sectional view showing a speed reduction device according to a third embodiment.
5 is a cross-sectional view showing a speed reduction device according to a fourth embodiment.

Hereinafter, the same or equivalent components, members, and processes shown in the respective drawings are denoted by the same reference numerals, and appropriately overlapped descriptions are omitted. In addition, in order to facilitate understanding, the size of the member in each figure is enlarged and reduced suitably, and is shown. In addition, in each figure, in describing embodiment, a part of the member which is not important is abbreviate|omitted and displayed.

(First embodiment)

1 : is sectional drawing which shows the speed reducer 100 which concerns on 1st Embodiment. The speed reduction device 100 is a center crank type eccentric swing type speed reduction device. The speed reduction device 100 is used, for example, in the joint portion of the first arm on the root side and the second arm on the tip side that constitute the arm of the industrial robot. The reduction device 100 reduces the rotation of the motor included in the first arm and outputs it to the second arm, thereby causing the second arm to relatively rotate with respect to the first arm.

The reduction device 100 includes an input shaft 2, eccentric bodies 4, 6, 8, rollers 10, 12, 14, external gears 16, 18, 20, and a first carrier member ( 26 ), a second carrier member 28 , a casing 36 , a main bearing 38 , and an internal gear 40 .

The input shaft 2 is connected to a rotational drive source, such as a motor, for example, and rotates centering around the rotation shaft R of the speed reducer 100 (internal gear 40). The input shaft 2 is integrally formed with the input shaft 2 and the three eccentric bodies 4, 6, 8 with which the axial center shifted|deviated. The three eccentrics 4, 6, 8 are eccentric with a phase difference of 120 degrees from each other. However, the eccentric body 4, 6, 8 may be configured as a separate body from the input shaft 2 and then fixed to the input shaft 2 by a key or the like.

On the outer periphery of each eccentric body (4, 6, 8), respectively, via rollers (10, 12, 14), three external gears (16, 18, 20) are fitted to the outside so as to be able to swing. A plurality of offset through-holes (16a, 18a, 20a) are formed in the external gears (16, 18, 20) at positions offset from the axis, respectively. The plurality of offset through-holes 16a, 18a, 20a are formed at equal intervals in the circumferential direction.

In the offset through-holes 16a, 18a, and 20a, the inner pin 22 and the inner roller 24 fitted to the outer side of the inner pin 22 are passed through in the axial direction. Between the inner roller 24 and the offset through-holes 16a, 18a, 20a, a clearance corresponding to twice the amount of eccentricity of the eccentric bodies 4, 6, 8 is secured at maximum. The inner roller 24 has an outer peripheral surface 24a in slidable contact with the offset through-holes 16a, 18a, 20a of the external gears 16, 18, 20, and the inner peripheral surface 24b has an inner pin 22 ) in contact with the outer peripheral surface (22a) slidably.

The 1st carrier member 26 is arrange|positioned on the axial direction one side (the right side in FIG. 1) of the external gear 16, 18, 20. The first carrier member 26 is fastened to the inner pin 22 by a bolt 30 . The second carrier member 28 is disposed on the other side in the axial direction of the external gears 16 , 18 , 20 (the left side in FIG. 1 ). In this embodiment, the second carrier member 28 is formed integrally with the inner fin 22 . Accordingly, the first carrier member 26 and the second carrier member 28 are connected through the inner pin 22 .

A bearing 32 is disposed between the first carrier member 26 and the input shaft 2 , and a bearing 34 is disposed between the second carrier member 28 and the input shaft 2 . The first carrier member 26 and the second carrier member 28 rotatably support the input shaft 2 via bearings 32 and 34 .

The casing 36 is a substantially cylindrical member, and surrounds the external gears 16 , 18 , 20 , the first carrier member 26 , and the second carrier member 28 . A main bearing 38 is disposed between the casing 36 and the second carrier member 28 . The casing (36) and the second carrier member (28) are configured to be relatively rotatable via the main bearing (38).

The internal gear 40 is formed on the inner peripheral surface of the casing 36 . The internal gear 40 is engaged with the external gears 16 , 18 , and 20 in internal contact. The inner gear 40 is configured by inserting a cylindrical outer pin into the pin grooves at equal intervals formed on the inner circumferential surface of the casing 36 . However, the internal gear 40 may be integrally formed with the inner peripheral surface of the casing 36 . The dimensions of the internal teeth of the internal gear 40 are slightly larger (for example, 10,000) than the dimensions of the external teeth of the external gears 16 , 18 , and 20 .

An oil seal 82 is provided between the casing 36 and the second carrier member 28 . As a result, the inside of the speed reduction device 100 is sealed, and leakage of the lubricant in the speed reduction device 100 is suppressed.

2A to 2C are enlarged cross-sectional views showing the main bearing 38 . Figure 2 (a) is a cross-sectional view omitting the mark of the tapered roller 46, Figure 2 (b) is a cross-sectional view including the first tapered roller, Figure 2 (c) is a second tapered roller It is a cross section that includes Reference is made to FIG. 2 in addition to FIG. 1 .

The main bearing 38 includes an outer ring 42 , an inner ring 44 , and a plurality of tapered rollers 46 . The outer ring 42 is fixed to the inner peripheral surface of the casing 36 . The outer ring 42 has, on its inner peripheral surface, front peripheral surfaces 42a and 42b provided to surround the rotating shaft R. The driving surface 42a is located on the first carrier member side (right in Fig. 2) in the axial direction, and the driving surface 42b is located on the second carrier member side (left in Fig. 2) in the axial direction. The front surface 42a and the front surface 42b form an annular V-groove surrounding the rotation shaft R.

The inner ring 44 is fixed to the outer peripheral surface of the second carrier member 28 . The inner ring 44 has, on the outer peripheral surface, front peripheral surfaces 44a and 44b provided to surround the rotating shaft R. The circumferential surface 44a is located on the side of the first carrier member in the axial direction, and the circumferential surface 44b is located on the side of the second carrier member in the axial direction. The front surface 44a and the front surface 44b form an annular V-groove surrounding the rotation shaft R.

The front circumferential surface 42a and the front circumferential surface 44b are configured to approach each other in a plane including the rotation axis R, as they go toward the front circumferential surface 44a. The front surface 42a and the front surface 44b are, in particular, in a plane including the rotation axis R, the extension line L1 of the front surface 42a and the extension line L2 of the front surface 44b are the rotation axes ( R) is formed to intersect at or near the phase. Hereinafter, the intersection of the extension line L1 and the extension line L2 is called a first intersection point P1.

The front circumferential surface 42b and the front circumferential surface 44a are configured so as to approach each other toward the front circumferential surface 44b in a plane including the rotation axis R. The front surface 42b and the front surface 44a are, in particular, in a plane including the rotation axis R, the extension line L3 of the front surface 42b and the extension line L4 of the front surface 44a are the axis of rotation ( R) is formed to intersect at or near the phase. Hereinafter, the intersection of the extension line L3 and the extension line L4 is called a second intersection point P2.

Further, with respect to the axial position, at least a portion of the meshing positions of the internal gear 40 and the external gears 16, 18, 20 is located between the first intersection point P1 and the second intersection point P2. is configured to Preferably, as shown in Fig. 1, the outer ring 42 and the inner ring 44 have the entire meshing position of the inner gear 40 and the outer gears 16, 18, 20 with respect to the axial position. , is configured to be positioned between the first intersection point P1 and the second intersection point P2.

In addition, with respect to the axial position, at least a part of, preferably all of, the contact positions of the external gears 16 , 18 , 20 and the inner roller 24 are the first intersection point P1 and the second intersection point P2 ) is configured to be located between the

Moreover, in this embodiment, with respect to an axial direction position, it is comprised so that the bearings 32 and 34 and the oil seal 82 may be located between the 1st intersection P1 and the 2nd intersection P2.

Each of the plurality of tapered rollers 46 has a substantially truncated cone shape. The plurality of tapered rollers 46 are disposed between the front surfaces 42a, 42b, 44a, 44b. Specifically, in the plurality of tapered rollers 46, as shown in FIG. 2(b) , the upper side end face (the end face on the narrow side) 46a is taper opposite to the front circumferential surface 44a of the inner ring 44 . A roller 46 (hereinafter, referred to as a “first tapered roller”) and a tapered roller 46 in which the upper side end face 46a faces the front circumferential surface 44b of the inner ring 44 as shown in FIG. 2(c). ) (hereinafter referred to as "second tapered roller") are alternately arranged in the circumferential direction between the front surfaces 42a, 42b, 44a, 44b. The first tapered roller rolls around the circumferential surface 42a and the front circumferential surface 44b, and the second tapered roller rolls the front circumferential surface 42b and the circumferential surface 44a of the inner ring 44.

The operation of the speed reduction device 100 configured as described above will be described. Here, the case where the dimensional difference between the external gears 16 , 18 , 20 and the internal gear 40 is 1 will be described as an example.

When the input shaft 2 rotates, the eccentric bodies 4, 6, 8 formed integrally with the input shaft 2 rotate, and the external gears 16, 18, 20 swing through the rollers 10, 12, 14. do. Due to this fluctuation, a phenomenon in which the meshing positions of the external gears 16 , 18 , 20 and the internal gear 40 are sequentially shifted occurs.

Since the dimensions of the external gears 16, 18, and 20 are only 1 less than the dimensions of the internal gear 40, the external gears 16, 18, and 20 are 1 each time the input shaft 2 rotates once. Only the tooth powder (ie, the minute equivalent to the dimensional difference) is shifted (rotated) out of phase with respect to the internal gear 40 . This rotation component, the sliding of the offset through-holes 16a, 18a, 20a and the inner roller 24 of the external gears 16, 18, 20, and the inner circumferential surface 24b and the inner pin 22 of the inner roller 24 ) is transmitted to the inner pin 22 through the sliding of the outer circumferential surface 22a, and the second carrier member 28 integrally formed with the inner pin 22 is rotated at a reduced rotational speed by 1/ (the dimension of the inner gear). It rotates relative to the casing (36). Accordingly, when the casing 36 is fixed, the second carrier member 28 rotates, and when the second carrier member 28 is fixed, the casing 36 rotates.

According to the reduction device 100 according to the first embodiment described above, as for the main bearing 38, unlike the conventional crossed roller bearing, the tapered roller 46 has a truncated cone shape. In this case, the tapered roller 46 moves while rolling between the outer ring 42 and the inner ring 44 . For this reason, even when an internal preload is applied to the main bearing 38, the rotational torque increases dramatically, or the problem of a significant reduction in lifespan due to sliding does not occur. Therefore, an internal preload can be applied to the main bearing 38, and the moment rigidity can be increased. That is, it is possible to realize the reduction device 100 which is small and has high moment rigidity of the main bearing.

Further, according to the reduction device 100, between the first intersection P1 and the second intersection P2 with respect to the axial position, the internal gear 40 and the external gear 16, 18, 20 meshing At least some of the parts are located. In addition, with respect to the axial position, between the first intersection point P1 and the second intersection point P2, at least a portion of the contact positions of the external gears 16 , 18 , 20 and the inner roller 24 are located. Here, the first intersection point P1 and the second intersection point P2 are the point of application of the moment load, and in the axial direction, the output portion of the output greatly affected by the moment load is located between them in the axial direction. The influence on this engagement can be suppressed to a minimum.

Moreover, according to the speed reducer 100, the bearings 32 and 34 are located between the 1st intersection P1 and the 2nd intersection P2 with respect to an axial direction position. Further, with respect to the axial position, the oil seal 82 is positioned between the first intersection P1 and the second intersection P2. Accordingly, the influence of the moment load on the bearings 32 and 34 and the oil seal 82 can be minimized.

(Second embodiment)

3 : is sectional drawing which shows the speed reducer 200 which concerns on 2nd Embodiment. The speed reduction device 200 is a split type eccentric swing speed reduction device.

The reduction device 200 includes the input shaft 102, the eccentric bodies 104 and 106, the rollers 110 and 112, the external gears 116 and 118, the first carrier member 126, and the second It includes a carrier member 128 , a casing 136 , a main bearing 138 , an internal gear 140 , an eccentric shaft gear 150 , and an eccentric shaft 152 .

The eccentric shaft 152 is provided with a plurality (for example, three) at equal intervals around the rotation shaft R of the reduction gear 200 (internal gear 140). Each eccentric shaft 152 is disposed parallel to the input shaft 102 .

The input shaft 102 is connected to a rotational drive source such as a motor, and rotates about the rotation shaft R, for example. An input pinion 102a is formed at the tip of the input shaft 102, and the same number of eccentric shaft gears 150 as the eccentric shaft 152 are meshed with the input pinion 102a. The plurality of eccentric shaft gears 150 are spline-coupled with the splines 152a formed at the ends of the corresponding eccentric shafts 152, respectively, and movement in the axial direction is regulated by a snap ring (not shown).

In the eccentric shaft 152 , the eccentric shaft 152 and the two eccentric bodies 104 and 106 in which the axial centers are shifted are integrally formed. The two eccentrics 104 and 106 are eccentric with a phase difference of 180 degrees from each other. A plurality (for example, three) of the eccentric shafts 152 are assembled so that the eccentric directions of the respective eccentrics 104 and 106 coincide with each other. However, the eccentric bodies 104 and 106 may be configured separately from the eccentric shaft 152 and then fixed to the eccentric shaft 152 by a key or the like.

On the outer periphery of each eccentric body (104, 106), respectively, via rollers (110, 112), two external gears (116, 118) are fitted to the outside so as to be able to swing. A plurality of first through-holes 116a and 118a and a plurality of second through-holes 116b and 118b are formed in the external gears 116 and 118 at positions offset from the axis, respectively. The plurality of first through-holes 116a and 118a are formed at equal intervals in the circumferential direction, and the eccentric shaft 152 passes therethrough. The second through holes 116b and 118b are formed at equal intervals in the circumferential direction, and the convex portions 128a (to be described later) of the second carrier member 128 pass therethrough.

The 1st carrier member 126 has a substantially disk shape, and is arrange|positioned on the axial direction one side (the right side in FIG. 3) of the external gear 116,118. The second carrier member 128 is disposed on the other side in the axial direction of the external gears 116 and 118 (the left side in FIG. 3 ).

The second carrier member 128 is inserted into the second through-holes 116b and 118b of the external gears 116 and 118 with a gap therein, and a plurality of pieces extending in the axial direction toward the first carrier member 126 side. The convex parts (pillars) 128a of are provided at equal intervals in the circumferential direction. The front ends of the convex portions 128a of the first carrier member 126 and the second carrier member 128 are fastened by bolts 130 . Thereby, the 1st carrier member 126 and the 2nd carrier member 128 rotate integrally.

A bearing 132 is disposed between the first carrier member 126 and the eccentric shaft 152 , and a bearing 134 is disposed between the second carrier member 128 and the input shaft 2 . The first carrier member 126 and the second carrier member 128 rotatably support the eccentric shaft 152 through the bearings 132 and 134 .

The casing 136 is a substantially cylindrical member, and surrounds the external gears 116 and 118 , the first carrier member 126 , and the second carrier member 128 . A main bearing 138 is disposed between the casing 136 and the second carrier member 128 . The casing 36 and the second carrier member 128 are configured to be relatively rotatable via the main bearing 138 .

The internal gear 140 is formed on the inner peripheral surface of the casing 136 . The internal gear 140 is engaged in inscribed with the external gears 116 and 118 . The inner gear 140 is configured by inserting a cylindrical outer pin into the pin grooves at equal intervals formed on the inner circumferential surface of the casing 136 . However, the internal gear 140 may be integrally formed with the inner peripheral surface of the casing 136 . The dimensions of the internal teeth of the internal gear 140 are slightly larger (for example, 10,000) than the dimensions of the external teeth of the external gears 116 and 118 .

An oil seal 182 is provided between the casing 136 and the second carrier member 128 , and an oil seal 184 is provided between the second carrier member 128 and the input shaft 102 . Thereby, the inside of the speed reducer 200 is sealed, and it is suppressed that the lubricant in the speed reducer 200 leaks.

The main bearing 138 includes an outer ring 142 , an inner ring 144 , and a plurality of tapered rollers 146 . The outer ring 142 , the inner ring 144 , and the tapered roller 146 are configured the same as the outer ring 42 , the inner ring 44 , and the tapered roller 46 , respectively.

In this embodiment, with respect to the axial position, at least a part of the meshing positions of the internal gear 140 and the external gears 116 and 118, preferably all of the meshing positions, the first intersection point P1 and the first It is configured to be located between the two intersections P2. In addition, with respect to the axial position, at least some, preferably all, of the contact positions of the external gear 116 and the convex portion 128a of the second carrier member 128 are the first intersection P1 and the second It is configured to be located between the intersection points P2. In addition, with respect to the axial position, at least a part of the meshing positions of the input shaft 102 and the eccentric shaft gear 150, preferably all of the meshing positions, is between the first intersection point P1 and the second intersection point P2. is configured to be located in Moreover, with respect to the axial position of the outer ring 142 and the inner ring 144, the bearings 132 and 134 and the oil seals 182 and 184 are between the first intersection P1 and the second intersection P2. formed to be located in

The operation of the speed reduction device 200 configured as described above will be described. Here, the case where the dimensional difference between the external gears 116 and 118 and the internal gear 140 is 1 will be described as an example.

When the input shaft 102 rotates, the plurality of eccentric shaft gears 150 engaged with the input pinion 102a of the input shaft 102 rotate (rotate), and are connected to each of the plurality of eccentric shaft gears 150 The eccentric shaft 152 rotates (rotates).

When the eccentric shaft 152 rotates, the eccentric bodies 104 and 106 integrally formed with the input shaft 2 rotate, and the external gears 116 and 118 swing through the rollers 110 and 112 . Due to this fluctuation, a phenomenon in which the meshing positions of the external gears 116 and 118 and the internal gear 140 are sequentially shifted occurs.

Since the dimensions of the external gears 116 and 118 are less than the dimensions of the internal gear 140 by only one, the external gears 116 and 118 are, each time the eccentric shaft 152 rotates once, one tooth (that is, Only a minute corresponding to the dimensional difference) is shifted (rotated) out of phase with respect to the internal gear 140 . As a result, the eccentric shaft 152 revolves around the rotational shaft R, and the first carrier member 126 and the second carrier member 128 supporting the eccentric shaft 152 move with respect to the casing 136 . relatively rotated. Accordingly, when the casing 136 is fixed, the second carrier member 128 rotates, and when the second carrier member 128 is fixed, the casing 136 rotates.

According to the reduction device 200 according to the second embodiment described above, as in the reduction device 100 according to the first embodiment, an internal preload can be applied to the main bearing 138, and the moment rigidity can be increased. . That is, it is possible to realize the reduction device 200 which is small and has high moment rigidity of the main bearing.

Further, according to the reduction device 200, as in the reduction device 100 according to the first embodiment, the influence of the moment load between the first intersection point P1 and the second intersection point P2 with respect to the axial position. By locating the outlet of the output receiving a large amount of , the influence of the moment load on the engagement can be minimized.

Moreover, according to the speed reducer 200, similarly to the speed reducer 100 which concerns on 1st Embodiment, with respect to an axial position, between the 1st intersection P1 and the 2nd intersection P2, a bearing and an oil seal are carried out. By positioning these, the influence of moment load on them can be minimized.

(Third embodiment)

4 : is sectional drawing which shows the speed reducer 300 which concerns on 3rd Embodiment. The reduction gear 300 is a flat type bending-engagement speed reduction apparatus.

The reduction device 300 includes a wave generator 260 , an external gear 216 , an internal gear 240 , a carrier member 226 , a casing 236 , a main bearing 238 , and a first A bearing housing 272 and a second bearing housing 274 are provided.

The wave generator 260 includes an input shaft 202, a plurality of first rolling elements 262a, a plurality of second rolling elements 262b, a first supporter 264a, and a second supporter 264b. ), and a first outer ring member 266a and a second outer ring member 266b. The input shaft 202 is connected to a rotational drive source, such as a motor, for example, and rotates centering around the rotation shaft R of the reduction gear 300 (internal gear 240). The input shaft 202 is integrally formed with a vibrating body 202a whose cross section orthogonal to the rotation shaft R is substantially elliptical.

The plurality of first rolling elements 262a each have a substantially cylindrical shape, and are provided at intervals in the circumferential direction in a state in which the axial direction faces a direction substantially parallel to the rotation axis R direction. The 1st rolling body 262a is supported so that rolling is possible by the 1st support machine 264a, and rolls the outer peripheral surface 202b of the vibrating body 202a. The 2nd rolling element 262b is comprised similarly to the 1st rolling element 262a. The plurality of second rolling elements 262b are supported so as to be rollable by a second supporter 264b arranged side by side with the first supporter 264a in the axial direction, and the outer peripheral surface 202b of the vibrating element 202a. to Jeonju Hereinafter, the 1st rolling element 262a and the 2nd rolling element 262b are collectively called "rolling body 262". Also, the first supporter 264a and the second supporter 264b are collectively referred to as "supporter 264".

The first outer ring member 266a surrounds the plurality of first rolling elements 262a. The first outer ring member 266a has flexibility and is bent in an elliptical shape by the vibrating body 202a via the plurality of first rolling elements 262a. When the vibrating body 202a (that is, the input shaft 202) rotates, the 1st outer ring member 266a is continuously deformed according to the shape of the vibrating body 202a. The second outer ring member 266b has the same configuration as the first outer ring member 266a. The second outer ring member 266b is formed as a separate body from the first outer ring member 266a. However, the second outer ring member 266b may be formed integrally with the first outer ring member 266a. Hereinafter, the first outer ring member 266a and the second outer ring member 266b are collectively referred to as "outer ring member 266".

The external gear 216 is an annular member having flexibility, and the vibrating body 202a, the rolling body 262, and the outer ring member 266 are fitted inside it. As a result, the external gear 216 is bent in an elliptical shape. When the vibrating body 202a rotates, the external gear 216 is continuously deformed according to the shape of the vibrating body 202a. The external gear 216 includes a first external tooth part 216a, a second external tooth part 216b, and a base material 216c. The first external teeth 216a and the second external teeth 216b are formed on a single substrate 216c and have the same dimensions.

The internal gear 240 is an annular member having rigidity. The first internal tooth part 240a of the internal gear 240 surrounds the first external tooth part 216a of the external gear 216 bent in an elliptical shape, and the first internal tooth part 240a in a predetermined area near the long axis of the vibrating body 202a. It engages with the external tooth portion (216a). The first internal tooth portion 240a has more teeth than the first external tooth portion 216a.

The carrier member 226 is a cylindrical member having rigidity. In this embodiment, the second inner tooth portion 226a is formed on the inner peripheral surface of the carrier member 226 . The second internal tooth portion 226a of the carrier member 226 surrounds the second external tooth portion 216b of the external gear 216 bent in an elliptical shape, and is a second in two regions in the long axis direction of the vibrating body 202a. It engages with the external tooth portion (216b). The second internal teeth 226a have the same number of teeth as the second external teeth 216b. Accordingly, the carrier member 226 rotates in synchronization with the rotation of the second external tooth portion 216b and furthermore the external gear 216 .

The casing 236 is a substantially cylindrical member and surrounds the carrier member 226 . In the casing 236, the internal gear 240 is connected by in-rong fitting and integrated. The casing 236 and the carrier member 226 are configured to be relatively rotatable via the main bearing 238 .

The first bearing housing 272 is an annular member and surrounds the input shaft 202 . Similarly, the second bearing housing 274 is an annular member and surrounds the input shaft 202 . The first bearing housing 272 and the second bearing housing 274 are disposed to sandwich the external gear 216 and the internal gear 240 in the axial direction. The first bearing housing 272 is connected to the internal gear 240 by an inlong fit. The second bearing housing 274 is connected to the carrier member 226 by an in-long fit.

The first bearing housing 272 includes a bearing 232 , and the second bearing housing 274 includes a bearing 234 . In addition, the first bearing housing 272 and the second bearing housing 274 rotatably support the input shaft 202 through the bearings 232 and 234 .

An oil seal 282 is disposed between the input shaft 202 and the first bearing housing 272 , an oil seal 284 is disposed between the casing 236 and the carrier member 226 , and the second bearing housing An oil seal 286 is disposed between the 274 and the input shaft 202 . In addition, an O-ring 288 is disposed between the first bearing housing 272 and the internal gear 240 , and an O-ring 290 is disposed between the internal gear 240 and the casing 236 , and the carrier An O-ring 292 is disposed between the member 226 and the second bearing housing 274 . With these, it is possible to suppress leakage of the lubricant in the speed reduction device 300 .

The main bearing 238 includes an outer ring 242 , an inner ring 244 , and a plurality of tapered rollers 246 . In this embodiment, the outer ring 242 is integrally formed with the casing 236 on the inner peripheral surface side of the casing 236 , and the inner ring 244 is integrally formed with the carrier member 226 on the outer peripheral surface of the carrier member 226 . is formed with The outer ring 242 , the inner ring 244 , and the tapered roller 246 are respectively configured in the same manner as the outer ring 42 , the inner ring 44 , and the tapered roller 46 .

In this embodiment, with respect to the axial position, at least among the first inner tooth portion 240a of the inner gear 240 and the second inner tooth portion 226a of the carrier member 226, and the meshing position of the external gear 216 . A part, preferably, all of the engaging positions are configured to be located between the first intersection point P1 and the second intersection point P2. Further, with respect to the axial position, the bearings 232 , 234 and the oil seals 282 , 284 , 286 are configured to be located between the first intersection P1 and the second intersection P2 .

The operation of the speed reduction device 300 configured as described above will be described. Here, the dimension of the first external tooth part 216a is 100, the dimension of the second external tooth part 216b is 100, the dimension of the first internal tooth part 240a is 102, and the dimension of the second internal tooth part 226a is 100. A case where , is described as an example. In addition, the case where the internal gear 240 and the first bearing housing 272 are in a fixed state will be described as an example.

When the input shaft 202 rotates in a state in which the first external tooth 216a is engaged with the first internal tooth 240a at two locations in the long axis direction of the elliptical shape, the first external tooth 216a and the first internal tooth part 216a are rotated accordingly. The engagement position of the tooth portion 240a also moves in the circumferential direction. Since the first external tooth part 216a and the first internal tooth part 240a have different dimensions, at this time, the first external tooth part 216a rotates relatively with respect to the first internal tooth part 240a. Since the internal gear 240 and the first bearing housing 272 are in a fixed state, the first external tooth portion 216a rotates by an amount corresponding to the dimensional difference. That is, the rotation of the input shaft 202 is greatly reduced and output to the first external tooth portion 216a. The reduction ratio is as follows.

Reduction ratio = (dimension of the first external tooth 216a - the dimension of the first internal tooth 240a) / the dimension of the first external tooth 216a

=(100-102)/100

=-1/50

Since the second external tooth part 216b is integrally formed with the first external tooth part 216a, it rotates integrally with the first external tooth part 216a. Since the second external tooth 216b and the second internal tooth 226a have the same dimensions, relative rotation does not occur, and the second external tooth 216b and the second internal tooth 226a rotate integrally. Due to this, the same rotation as the rotation of the first outer tooth portion 216a is output to the second inner tooth portion 226a, that is, the carrier member 226 . As a result, the output obtained by reducing the rotation of the input shaft 202 to -1/50 can be taken out from the carrier member 226 .

According to the reduction device 300 according to the third embodiment described above, as in the reduction device 100 according to the first embodiment, an internal preload can be applied to the main bearing 238 and the moment rigidity can be increased. . That is, it is possible to realize the reduction device 300 having a small size and high moment rigidity of the main bearing.

Further, according to the reduction device 300, as in the reduction device 100 according to the first embodiment, the influence of the moment load between the first intersection point P1 and the second intersection point P2 with respect to the axial position. By locating the outlet of the output receiving a large amount of , the influence of the moment load on the engagement can be minimized.

Moreover, according to the speed reduction device 300, similarly to the speed reduction device 100 which concerns on 1st Embodiment, between the 1st intersection P1 and the 2nd intersection P2 with respect to an axial direction position, a bearing and an oil seal. However, by placing the O-rings, the effect of moment load on them can be minimized.

(Fourth embodiment)

5 : is sectional drawing which shows the speed reducer 400 which concerns on 4th Embodiment. The deceleration device 400 is a silk hat-type bending-engagement deceleration device.

The reduction device 400 includes a wave generator 360, an external gear 316, an internal gear 340, a carrier member 326, a casing 336, a main bearing 338, and a first A bearing housing 372 and a second bearing housing 374 are provided.

The wave generator 360 includes an input shaft 302 , an inner ring member 368 , a plurality of rolling elements 362 , and an outer ring member 366 . The input shaft 302 is connected to a rotational drive source, such as a motor, for example, and rotates centering around the rotation shaft R of the reduction device 400 (internal gear 340). The input shaft 302 is integrally formed with the vibrating body 302a whose cross section orthogonal to the rotation axis R is substantially elliptical shape.

The inner ring member 368 is an annular member, and is fitted on the outer side of the vibrating body 302a. In particular, the inner ring member 368 is fixed to the vibrating body 302a by adhesion or press-fitting, and rotates integrally with the vibrating body 302a. The outer peripheral surface 368a of the inner ring member 368 functions as a rolling surface on which the rolling element 362 rolls. However, the inner ring member 368 may be formed integrally with the vibrating body 302a.

The plurality of rolling elements 362 each have a substantially spherical shape, and are provided at intervals in the circumferential direction. The rolling element 362 is supported so that rolling is possible by a support device (not shown).

The outer ring member 366 surrounds the plurality of rolling elements 362 . The outer ring member 366 has flexibility and is bent in an elliptical shape by the vibrating body 302a via the plurality of rolling elements 362 . When the vibrating body 302a (that is, the input shaft 302) rotates, the outer ring member 366 is continuously deformed according to the shape of the vibrating body 302a.

The external gear 316 is a flexible, hat-shaped member, and includes a cylindrical body portion 316d and an external tooth portion provided on the outer periphery of one axial side (the right side in FIG. 5 ) of the body portion 316d. It includes a 316a and a protrusion 316e protruding radially outward from the end of the other axial end side (left side in Fig. 5) of the body portion 316d. The vibrating body 302a, the rolling body 362, and the outer ring member 366 are fitted in the trunk|drum 316d. As a result, the body portion 316d and the external tooth portion 316a are bent in an elliptical shape. When the vibrating body 302a rotates, the trunk|drum 316d and the external-tooth part 316a are continuously deformed according to the shape of the vibrating body 302a.

The internal gear 340 is an annular member having rigidity. The internal tooth part 340a of the internal gear 340 surrounds the external tooth part 316a of the external gear 316 bent in an elliptical shape, and the external tooth part 316a and the external tooth part 316a in a predetermined area near the long axis of the vibrating body 302a interlock The inner tooth 340a has more teeth than the outer tooth 316a.

The casing 336 is a substantially cylindrical member, and surrounds the other side in the axial direction of the body portion 316d of the external gear 316 . In the casing 336, the internal gear 340 is connected and integrated by an inlong fit.

The carrier member 326 is a cylindrical member having rigidity and surrounds the casing 336 . The carrier member 326 is fixed to the protrusion 316e of the external gear 316 together with the second bearing housing 374 by bolts (not shown). Accordingly, the carrier member 326 rotates in synchronization with the rotation with the external gear 316 .

The casing 336 and the carrier member 326 are configured to be relatively rotatable via the main bearing 338 .

The first bearing housing 372 is an annular member and surrounds the input shaft 302 . Similarly, the second bearing housing 374 is an annular member and surrounds the input shaft 302 . The first bearing housing 372 and the second bearing housing 374 are disposed to sandwich the external gear 316 and the internal gear 340 in the axial direction. The first bearing housing 372 is connected to the internal gear 340 by an inlong fit. In addition, the second bearing housing 374 is fixed to the protrusion 316e of the external gear 316 by bolts not shown as described above.

The first bearing housing 372 includes a bearing 332 , and the second bearing housing 374 includes a bearing 334 . In addition, the first bearing housing 372 and the second bearing housing 374 rotatably support the input shaft 302 through the bearings 332 and 334 .

An oil seal 382 is disposed between the input shaft 302 and the first bearing housing 372 , and an oil seal 384 is disposed between the carrier member 326 and the casing 336 , and the second bearing housing An oil seal 386 is disposed between the 374 and the input shaft 302 . With these, it is possible to suppress leakage of the lubricant in the speed reducer 400 .

The main bearing 338 includes an outer ring 342 , an inner ring 344 , and a plurality of tapered rollers 346 . In the present embodiment, the outer ring 342 is integrally formed with the carrier member 326 on the inner peripheral surface side of the carrier member 326 , and the inner ring 344 includes the casing 336 and the casing 336 on the outer peripheral surface of the casing 336 . formed integrally The outer ring 342 , the inner ring 344 , and the tapered roller 346 are each configured in the same way as the outer ring 42 , the inner ring 44 , and the tapered roller 46 .

In the present embodiment, the outer ring 342 and the inner ring 344 are among the meshing positions of the inner tooth portion 340a of the inner gear 340 and the outer tooth portion 316a of the outer gear 316 with respect to the axial position. At least a part, preferably all of the engaging positions, are formed so as to be located between the first intersection point P1 and the second intersection point P2. In addition, the outer ring 342 and the inner ring 344 have bearings 332 and 334 and oil seals 382, 384 and 386 with respect to the axial position at the first intersection P1 and the second intersection P2. It is formed to be located between the

The operation of the speed reduction device 400 configured as described above will be described. Here, the case where the dimension of the outer tooth portion 316a is 100 and the dimension of the inner tooth portion 340a is 102 will be described as an example. In addition, the case where the internal gear 340 and the first bearing housing 372 are in a fixed state will be described as an example.

When the input shaft 302 rotates in a state in which the external tooth 316a is engaged with the internal tooth 340a at two locations in the elliptical major axis direction, the engagement position of the external tooth 316a and the internal tooth 340a is also move in the circumferential direction. Since the outer tooth portion 316a and the inner tooth portion 340a have different dimensions, at this time, the outer tooth portion 316a rotates relative to the inner tooth portion 340a. Since the internal gear 340 and the first bearing housing 372 are in a fixed state, the external tooth portion 316a and furthermore the external gear 316 rotates corresponding to the dimensional difference. Since the carrier member 326 is connected to the external gear 316 , the same rotation as the rotation of the external gear 316 is output to the carrier member 326 . As a result, the rotation of the input shaft 302 is greatly reduced from the carrier member 326 and output to the carrier member 326 .

According to the reduction device 400 according to the fourth embodiment described above, it is possible to apply an internal preload to the main bearing 338 similarly to the reduction device 100 according to the first embodiment, so that the moment rigidity can be increased. . That is, it is possible to realize the reduction device 400, which is small and has high moment rigidity of the main bearing.

Further, according to the reduction device 400, as in the reduction device 100 according to the first embodiment, the influence of the moment load between the first intersection point P1 and the second intersection point P2 with respect to the axial position. By locating the outlet of the output receiving a large amount of , the influence of the moment load on the engagement can be minimized.

Moreover, according to the speed reduction device 400, similarly to the speed reduction device 100 which concerns on 1st Embodiment, with respect to an axial direction position, between the 1st intersection P1 and the 2nd intersection P2, a bearing and an oil seal are carried out. By positioning these, the influence of moment load on them can be minimized.

As mentioned above, the speed reducer which concerns on embodiment was demonstrated. These embodiments are examples, and it will be understood by those skilled in the art that various modifications are possible in the combination of each of these components or each processing process, and that such modifications are also within the scope of the present invention. A modified example is shown below.

(Modification 1)

In 3rd embodiment, it has two internal tooth parts (1st internal tooth part 240a, 2nd internal tooth part 226a), and the external gear 216 demonstrated the flat type bending-meshing type reduction gear which is cylindrical. . Moreover, in 4th Embodiment, it has one internal tooth part 340a, and the external gear 316 demonstrated the flexion-engagement type reduction device of the silk hat type which is a hat shape. However, it is not limited to this, and the technical thought of 1st - 4th embodiment is applicable also to the cup-type bending-meshing type reduction gear which has one internal gear and the external gear is a cup shape.

In addition, although not specifically mentioned in embodiment, the technical thought of 1st - 4th embodiment is applicable also to the speed reducer using the simple planetary gear mechanism.

Any combination of the above-described embodiments and modifications is also useful as an embodiment of the present invention. The new embodiment generated by the combination has both the effects of the combined embodiment and the modified example.

It is also understood by those skilled in the art that the function to be accomplished by each component described in the claims is realized by a single entity of each component shown in the embodiment and the modified example or a link between them. For example, the camshaft and cam bearing described in the claims may be realized by the input shaft 2 and the bearings 32 and 34 in which the eccentric bodies 4, 6, 8 described in the first embodiment are integrated, and the second The eccentric bodies 104 and 106 described in the embodiment may be realized by the integrated eccentric shaft 152 and the bearings 132 and 134, and the input shaft 202 in which the vibrating body 202a described in the third embodiment is integrally formed. ) and the bearings 232 and 234, or the vibrating body 302a described in the fourth embodiment may be realized by the input shaft 302 and the bearings 332 and 334 formed integrally.

Further, for example, the drive gear and the input gear described in the claims may be realized by the input pinion 102a and the eccentric shaft gear 150 formed on the input shaft 102 of the second embodiment.

16, 18, 20 shout gear
36 casing
38 main bearing
40 internal gear
42 paddle
42a, 42b Jeonju
44 inner ring
44a, 44b Jeonju
46 tapered roller
100 reduction gear

Claims (5)

A casing, an internal gear provided in the casing, an external gear meshing with the internal gear, a carrier member synchronized with a rotation component or a revolution component of the external gear, and a main bearing disposed between the casing and the carrier member As a reduction device having a,
The main bearing includes an outer ring provided on one side of the casing and the carrier member, an inner ring provided on the other side of the casing and the carrier member, and a plurality of tapered rollers disposed between the outer ring and the inner ring,
In the plurality of tapered rollers, a first tapered roller and a second tapered roller that rolls on a different circumferential surface than the first tapered roller are alternately arranged in the circumferential direction,
In the plane including the rotational axis of the main bearing, the extension line of the first outer ring front surface of the first tapered roller in the outer ring and the extension line of the first inner ring front surface of the first tapered roller in the inner ring are , closer to each other toward the rotation axis and intersect at a first intersection, an extension line of the second outer ring raceway surface of the second tapered roller in the outer ring and a second inner ring raceway surface of the second tapered roller in the inner ring Extension lines of , become closer to each other toward the rotation axis and intersect at the second intersection,
At least a portion of the engaging portion of the internal gear and the external gear, the reduction device, characterized in that located between the first intersection and the second intersection. The method of claim 1,
The entire engaging portion of the internal gear and the external gear is located between the first intersection and the second intersection. 3. The method of claim 1 or 2,
A cam bearing supporting a camshaft for swinging the external gear is positioned between the first intersection and the second intersection. 4. The method of claim 3,
An engaging portion of the drive gear and the input gear provided on the camshaft is positioned between the first intersection and the second intersection. 3. The method of claim 1 or 2,
An oil seal for sealing the inside of the speed reduction device is located between the first intersection and the second intersection.

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