KR20080095795A

KR20080095795A - Eccentrically swinging reducer device

Info

Publication number: KR20080095795A
Application number: KR1020080037990A
Authority: KR
Inventors: 데츠조 이시카와; 요 츠루미; 다카시 하가
Original assignee: 스미도모쥬기가이고교 가부시키가이샤
Priority date: 2007-04-24
Filing date: 2008-04-24
Publication date: 2008-10-29
Also published as: JP4747128B2; TW200905104A; CN101294616B; DE102008019886A1; CN101294616A; JP2008267570A; KR100977143B1

Abstract

An eccentrically swinging reducer device is provided to maintain the moderating ratio highly in the first grade and reduce the length of axial direction. An eccentrically swinging reducer device comprises a sun gear(116); a transmission gear(118) rotated by the sun gear; an eccentric center driver(120) which is rotated integrally with the transmission gear; a fluctuation gear rotated by the eccentric center driver; a first and second carriers moving with the rotation components of the fluctuation gear; a distance piece(125) which is arranged at the same axial position as the transmission gear and controls the axial direction movement of the fluctuation gear.

Description

Eccentrically swinging reducer device

The present invention relates to an eccentric swing reduction device.

A sun rotating body, an eccentric shaft drive body rotated by the solar rotating body, an eccentric shaft which rotates integrally with the eccentric body driving body, and a rocking body which swings and rotates by the eccentric shaft, The eccentric oscillation reduction apparatus provided with the carrier body synchronized with the rotating component of this oscillation body is known widely (for example, refer patent document 1).

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

5 and 6 show this improved eccentric swing reduction device.

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

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

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

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

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

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

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

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

The present invention has been made to solve such a conventional problem, and it is possible to shorten the axial length of the entire apparatus by disposing the electric gear at the same position in the axial direction without affecting the presence of the distance piece. By reasonably eliminating the interference between the distance piece and the electric gear, it is possible to arrange a sufficiently large electric gear at the same position in the axial direction as the distance piece without impairing the original positioning function of the distance piece. The problem is that the reduction ratio is large.

The present invention relates to a solar rotating body, an eccentric body shaft drive body rotated by the solar rotator body, an eccentric body shaft integrally rotating with the eccentric body shaft drive body, and oscillating rotation by the eccentric body shaft. An eccentric oscillation reduction device having a rocking body and a carrier body synchronized with the rotating component of the rocking body, the distance piece being disposed at the same axial position as that of the eccentric body driving body and regulating the axial movement of the rocking body. Wherein the distance piece is formed such that the innermost portion of the device radial direction is the inner side of the circumference including the outermost portion of the device radial direction of the eccentric shaft drive body, and with respect to the carrier body. By setting it as the rotation prevention structure, the said subject was solved.

According to the present invention, the distance piece is formed such that its radially innermost part is the inner side of the circumference including the outermost part of the eccentric body drive body. As a result, the eccentric body oscillator is arranged at the same position in the axial direction as the distance piece (to shorten the axial length of the device), and the radial width of the distance piece can be sufficiently secured in a predetermined portion. Therefore, in the interference portion of the distance piece and the eccentric body drive, it is possible to set the width in the radial direction small. Therefore, it becomes possible to accommodate such a large electric gear, and can make large the reduction ratio in an ultra-short reduction part (namely, the reduction part comprised from a solar rotating body and an eccentric body drive body).

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

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

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

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

It will be described below in more detail.

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

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

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

The internal gear 128 is integrated with the casing 130, and the internal teeth are constituted by roller-shaped pins 128P. The external gears 124A and 124B and the internal gear 128 are set to a slight number of teeth (for example, 1 to 6 teeth). In this example, however, the pins 128P corresponding to the inner teeth of the internal gear 128 are inserted in a form in which two are removed from each other, but there is no "pull out" as the movement by the engagement ( For example, the same movement as that shown in Fig. 6) can be obtained. Said "slight teeth difference" means here the teeth difference between an external tooth and an internal tooth in the state which is not pulled out.

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

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

That is, the stepped portions 170 and 172 are formed in the eccentric body shaft 120. Moreover, using the stepped portions 170 and 172, a washer for regulating the axial movement of the eccentric body 120 between the stepped portions 170 and 172 and the first and second carriers 132 and 134. washers 174 and 176 are placed.

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

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

Here, the structure of the distance piece 125 is demonstrated. However, the outer tooth of the outer gear 124A, the part covered by the distance piece 125 should be a dotted line, but is depicted by a solid line for convenience.

The distance piece 125 has the innermost part of the apparatus radial direction (there are four places of P101 to P104 in the illustrated example), and the outermost part of the apparatus radial direction of the electric gear 118 (in the illustrated example of S101 and S102). It is formed in the shape which becomes inner side of the circumference R101 containing two places). In the distance piece 125, the first concave portion is formed in a ring shape and the clearance gap δ is secured between the electric gear 118 so as to avoid interference with the electric gear 118 on the inner circumferential side thereof. (125A) (2 locations). Moreover, this distance piece 125 has the 2nd recessed part 125B (four places) of the shape along the part of outer periphery of carrier pin 134A. By engaging the second recess 125B and the carrier pin 134A, the distance piece 125 is integrated with the first and second carriers 132 and 134 in the circumferential direction. As a result, the distance piece 125 The rotation prevention of the 1st, 2nd carrier 132, 134 of 125 is performed.

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

When the input shaft 114 rotates, the two eccentric shafts 120 decelerate and rotate simultaneously through the electric gear 118 engaged with the input shaft 114. As a result, the eccentric bodies 122A and 122B which are integrally mounted to the respective eccentric body shafts 120 rotate in the same phase, and the outer gears 124A and 124B are inscribed to the internal gear 128, respectively. Rotate swing. Since the internal gear 128 is integrated with the casing 130 and is in a fixed state, when the eccentric shaft 120 rotates, the external gears 124A and 124B swing and rotate through the eccentric bodies 122A and 122B. A phenomenon arises in which the engagement positions of the external gears 124A and 124B and the internal gear 128 are sequentially shifted.

At this time, since the number of teeth of the external gears 124A and 124B is slightly smaller than that of the internal gear 128, the phases are shifted (rotated) by the amount corresponding to the number of teeth with respect to the internal gear 128 in a fixed state. Therefore, the eccentric body 120 revolves around the input shaft 114 at a speed corresponding to the rotational component, and the first and second carriers 132, which support the eccentric body 120, 134) rotates at a speed corresponding to the idle speed. Since the first and second carriers 132 and 134 are connected through the bolt 140 and the carrier pin 134A, the first and second carriers 132 and 134 are integrally formed (one large mass). And slowly rotate to drive a counterpart machine (driven machine) (not shown) connected through the bolt hole 142.

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

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

Since the two outer gears 124A and 124B are fitted to the pair of first and second carriers 132 and 134 and the distance piece 125 is disposed at the center of the axial direction thereof, The movement in the axial direction can be regulated without providing a positioning means such as a stop ring.

Here, the distance piece 125 is such that the innermost portions P101 to P104 in the radial direction of the device are the inner side of the circumference R101 including the outermost portions S101 and S102 in the radial direction of the device of the electric gear 118. Since it is formed, it is possible to ensure an extremely large thickness W101 in the radial direction in the vicinity of the innermost portions P101 to P104, and to form the external gears 124A and 124B located on both sides of the distance piece 125. ) Can be well positioned. Therefore, it is sufficient to secure only the extremely thin width W102 outside the outermost portions S101 and S102 of the electric gear 118, so that the size of the electric gear 118 can be largely secured. have. Therefore, it is possible to set the deceleration ratio that can be ensured at the first stage (the sun gear 116 and the electric gear 118) as high as that. Therefore, the electric gear 118 and the distance piece 125 can be arrange | positioned at the same position in the axial direction without causing trouble, and the axial length can be shortened.

Here, since the distance piece 125 is prevented rotation (integrated) with respect to the 1st, 2nd carrier 132, 134 by the carrier pin 134A and the 2nd recessed part 125B, A state where a predetermined gap δ is secured is always maintained between the distance piece 125 and the electric gear 118. Therefore, the distance piece 125 and the electric gear 118 do not contact with each other during operation.

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

Next, another Example of this invention is described using FIG. 3, FIG.

In this eccentric swing reduction device 212, the distance piece 225 is composed of two members 225-1 and 225-2 that are discontinuous in the circumferential direction. Each member 225-1, 225-2 has the periphery R201 in which the innermost part S201, S202 of the apparatus radial direction contains the outermost part S201, S202 of the apparatus radial direction of the electric gear 218, respectively. It is formed and arrange | positioned so that it may become inside. However, the term "discontinuous in the circumferential direction" as used herein is used to "consist of two or more members (not a single member) in the circumferential direction, not the axial direction."

Each of the members 225-1 and 225-2 has second recesses 225-1B and 225-2B having a shape along a portion of the outer circumference of the carrier pin 134, respectively. By the second recesses 225-1B and 225-2B, rotation prevention of the first and second carriers 232, 234 of the distance pieces 225-1, 255-2 is achieved.

According to this embodiment, since there is no distance piece in the radially outer side of the outer gears S201 and S202 of the electric gear 218, maximum flexibility can be secured with respect to the design of the electric gear 218. have. However, the rest of the configuration is basically the same as in the previous embodiment, so that the following two digits are given the same reference numerals to the parts that can be regarded as the same or equivalent in the drawings, and the redundant explanation is omitted.

However, the shape of the distance piece is one example of the shape shown in the above embodiment, and various shapes can be considered. For example, two or more members as shown in the second embodiment are added to the use as distance pieces, and the use of ring-shaped distance pieces is not prohibited.

Moreover, the number of the distance pieces to arrange | position is not specifically limited, either.

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

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

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

3 is a cross-sectional view of an eccentric oscillation reduction device according to an example of another embodiment of the present invention.

4 is a cross-sectional view taken along the line IV-IV of FIG. 3.

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

FIG. 6 is a cross-sectional view taken along the line VI-VI of FIG. 5.

* Description of the sign *

112: eccentric oscillation reduction device

114: input shaft

116: sun gear

118: electric transmission gear (eccentric shaft drive body)

120: eccentric shaft

122A, 122B: Eccentric Body

124A, 124B: Shout gear (flux)

125: distance piece

126A, 126B: Roller

128: Pinch

130: casing

132: first carrier (carrier body)

134: second carrier (carrier body)

136, 138: angular ball bearing

140: Bolt

142: bolt hole

150, 152: needle (bearing)

P101 to P104: innermost portion of distance piece

S101, S102: Outermost part of electric gear

R101: Wonju

Claims

With solar rotator,

Eccentric body shaft drive body rotated by this solar rotor,

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

A rocking body which is rocked by this eccentric body shaft,

An eccentric oscillation reduction device having a carrier body synchronized with the rotating component of this oscillator,

A distance piece disposed at the same axial position as the eccentric body drive and regulating the axial movement of the oscillator,

The distance piece is formed such that the innermost portion in the radial direction of the device is formed on the inner side of the circumference including the outermost portion in the radial direction of the eccentric body drive body, and is prevented from rotating relative to the carrier body. Eccentric oscillation reduction device.

The method according to claim 1,

An eccentric oscillation reduction apparatus, characterized in that there are a plurality of oscillators and the distance pieces are arranged between the oscillators.

The method according to claim 1 or 2,

The eccentric oscillation reduction apparatus, characterized in that the distance piece has a ring shape and has a first concave portion on the inner circumferential side thereof to avoid interference with the eccentric body shaft drive.

The method according to any one of claims 1 to 3,

An eccentric fluctuation reduction device, characterized in that the distance piece is composed of two or more members that are discontinuous in the circumferential direction.

The method according to any one of claims 1 to 4,

The carrier body is a pair on both sides of the eccentric oscillator in the axial direction, are coupled to each other by a carrier pin,

The distance piece has a second concave portion having a shape along a part of the carrier pin outer circumference,

The carrier pin and the second concave portion prevent rotation of the distance piece against the carrier body.