KR20150112758A - Eccentrically Swinging Reducer Device - Google Patents

Abstract

The present invention provides an eccentric rocking type speed reducer more reducing time required for accustomed driving. The present invention relates to the eccentric rocking type speed reduce (G) comprising: an inner teeth gear (30); an inner teeth gear main body (32); a pin groove (34) formed in the inner teeth gear main body (32); and an outer pin (pin member) (36) disposed in the pin groove (34). A root mean square illumination intensity (Rq) of the surface of the pin groove (34) is not more than 1.6 μm. On the other hand, the sum of a level difference of a core unit (Rk) and an average depth of a protruding and curved portion (Rvk) of the surface of the pin groove (34) is not more than 5.0 μm.

Description

Eccentrically Swinging Reducer Device [0002]

The present application claims priority based on Japanese Patent Application No. 2014-070625, filed on March 28, 2014. The entire contents of which are incorporated herein by reference.

The present invention relates to an eccentric oscillation type reduction device.

Patent Document 1 discloses an eccentric oscillation type reduction device.

The eccentric oscillation type speed reducing device includes an internal gear and an external gear which is in contact with the internal gear while being in contact with the internal gear. The relative rotation of the internal gear and the external gear is taken out as an output.

The internal gear has a structure having an internal gear body integrated with the casing, a pin groove formed in the internal gear body, and a pin member disposed in the pin groove. The pin member can be rotated in a state where it is disposed in the pin groove, thereby facilitating engagement with the shout gear.

The fin grooves are machined by gear shaper machining.

Prior art literature

(Patent Literature)

Patent Document 1: Japanese Laid-Open Patent Publication No. 2000-130521 (Figs. 3 and 5)

The conventional eccentric oscillatory type decelerating device has a problem that the time required for taming operation is long when the so-called taming operation is performed.

An object of the present invention is to provide an eccentric oscillating type speed reducing device that is capable of shortening the time required for taming operation.

The present invention relates to an eccentric oscillating type speed reducing apparatus having an internal gear body, a pin groove formed in the internal gear body, and a pin member disposed in the pin groove, the internal gear comprising: Rq is 1.6 mu m or less, the above problem is solved.

The present invention also provides an eccentric oscillating type speed reducing apparatus having an internal gear body, a pin groove formed in the internal gear body, and a pin member disposed in the pin groove, The average level difference Rk + the average depth Rvk of the protruding valley portion) is not more than 5.0 占 퐉.

As described in detail later, with this configuration, it is possible to further shorten the time required for the treading operation in the eccentric oscillation type speed reducing device.

According to the present invention, it is possible to obtain an eccentric oscillatory type decelerating device capable of further shortening the time required for tamper operation.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a cross-sectional view showing the entire configuration of an eccentric oscillating type decelerating device according to an example of an embodiment of the present invention. FIG.
Fig. 2 is a cross-sectional view showing an internal gear main body and pin grooves of the internal gear of the eccentric oscillation type speed reducing device, including a main enlarged section in a part thereof.
3 is an enlarged cross-sectional view of a main part seen from the direction of arrow III in Fig.
4 is a graph showing the relationship between the taming operation time, the square root mean square roughness Rq, and the taming operation time (the level difference Rk + the average depth Rvk of the protruded trough portion in the core portion).
5 is a graph showing the relationship between the operation efficiency, the root-mean-square roughness Rq, and the operation efficiency (the level difference Rk + the average depth Rvk of the protruded trough portion of the core portion).

Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings.

First, the overall configuration of an eccentric oscillating type decelerating device according to an embodiment of the present invention will be described with reference to Fig.

The input shaft 12 of the eccentric oscillating type speed reducing device G is integrated with the motor shaft 14A of the motor 14. [ A crankshaft 20 having two eccentric portions 18 is connected to the input shaft 12 through a key 16.

The axial centers O2 and O3 of the eccentric portion 18 are eccentric to the axial center O1 of the input shaft 12, respectively. In this example, the eccentric phase difference of the eccentric portion 18 is 180 degrees. On the outer circumference of the eccentric portion 18, a roller bearing 22 is disposed. On the outer periphery of the roller bearing 22, two external gears 24 are pivotally mounted. The reason why two shout gears 24 are provided in parallel in the axial direction is that the required transfer capacity is secured and the rotation balance property is improved. The external gears 24 are in contact with and meshed with the internal gear 30, respectively. The eccentric oscillating type speed reducing device G is so constructed that the crankshaft 20 for oscillating the external gear 24 is disposed in the radial direction center of the device (the axis O1 of the input shaft 12 and the internal gear 30) Quot; center crank type " which is disposed in the axial center O1 of the crankshaft 1OA.

The internal gear 30 includes an internal gear main body 32 integrated with a casing 28 (a casing main body 52 described later), a pin groove 34 formed in the internal gear main body 32, And an outer pin (pin member) 36 disposed in the groove 34. The outer pin (36) constitutes an inner tooth of the internal gear (30). The number of the internal teeth of the internal gear 30 (the number of the external fins 36) is slightly larger than the external teeth of the external gear 24 by one (in this example, 1). The construction of the internal gear 30 and its manufacturing method will be described later in detail.

The shout gear 24 is provided with a plurality of through holes 24A at positions offset from its axis (same as the axis O2, O3). The inner pin 40 is fitted in the through hole 24A. The inner pin 40 is press-fitted into and fixed to the inner pin support hole 42A of the flange body 42 disposed at the axial side portion of the external gear 24. The flange body 42 is integrated with the output shaft 44. The output shaft 44 is supported by a pair of tapered roller bearings 46.

However, in this embodiment, the inner roller 40 is fitted on the outer side as a sliding promoting member. A clearance having a size corresponding to twice the eccentric amount of the eccentric portion 18 is secured between the inner roller 48 and the inner peripheral surface of the through hole 24A of the external gear 24. Since the inner pin 40 (and the inner roller 48) penetrates the external gear 24, it moves in synchronization with the rotation of the external gear 24.

The casing 28 of the eccentric oscillation type speed reducing device G has a casing main body 52 for housing the reduction gear section 50 and an output casing body 54 for accommodating the output shaft 44. A load side cover 56 is also disposed on the opposite side to the axial load of the casing main body 52. The load side cover 57 is disposed on the axial load side of the output casing 54 . The eccentric oscillating type speed reducing device G is fixed to the fixing member by a bolt (not shown) through the bolt hole 58A of the leg portion 58.

The internal gear main body 32 of the internal gear 30 is integrated with the casing main body 52. That is, the internal gear main body 32 is the same member as the casing main body 52. In this specification, for convenience sake, the internal gear body 32 is referred to as being unified. The configuration of the internal gear 30 will be described later in detail.

The eccentric oscillating type speed reducing device G has the above-described structure and rotates the motor shaft 14A of the motor 14 to rotate the two eccentric portions 18 (see FIG. 1) of the crankshaft 20 connected to the input shaft 12 ). Then, the external gears 24 are oscillated and engaged with the internal gear 30 (specifically, the external pin 36 constituting the internal teeth of the internal gear 30). Thus, every time the input shaft 12 rotates once to cause the external gear 24 to oscillate once, the external gear 24 is shifted in the direction of the axis of the internal gear 30 and the external gear 24 In this example, it rotates by one minute). As a result, the rotation component can be transmitted to the flange body 42 via the inner pin 40 and the inner roller 48, and the output shaft 44 integrated with the flange body 42 can be rotated at reduced speed.

Next, the configuration near the internal gear 30 will be described in detail.

2 is a cross-sectional view of the internal gear body 32 including a main enlarged section in a part thereof. 3 is an enlarged cross-sectional view of a main part seen from the direction of arrow III in Fig.

As described above, the internal gear 30 includes an internal gear main body 32, a pin groove 34 formed in the internal gear main body 32, and a pin groove 34 formed in the internal gear main body 32, And an outer pin (pin member) The internal tooth gear body 32 is entirely constituted by a substantially ring-shaped member. A stepped portion 32A for constituting a fitting portion with the load side cover 56 and a step portion 32B for constituting a fitting portion with the output casing body 54 are formed on both axial side portions of the internal gear body 32 in the axial direction, Is formed. That is, the internal gear main body 32 includes an axial center portion 32C having a large radial thickness (hereinafter referred to as a shaft center portion) 32C and an axial end portion having a smaller thickness in the radial direction than the radial thickness of the shaft center portion 32C , Axial end portions) 32E1 and 32E2.

Here, the thickness in the radial direction means the thickness (thickness in the radial direction from the inner peripheral surface to the outer peripheral surface) of the internal gear main body 32. In the present embodiment, the radial distance from the inner circumferential surface to the outer circumferential surface of the portion where the pin grooves 34 are not formed is set to a radial thickness. Since the inner diameter of the internal gear body 32 is parallel to the axis, the diameter of the internal gear body 32 is larger than the outer diameter of the internal gear body 32 (in this example, from the axis 32C to the axes 32E1, 32E2), d32E1, d32E2).

In this embodiment, the thickness in the radial direction of the shaft center portion 32C is W32E1 and W32E2, and the thicknesses of the shaft ends 32E1 and 32E2 are W32C> W32E1 = W32E2. However, with respect to the axial end portions 32E1 and 32E2, the axial end portion 32E and the radial thicknesses W32E1 and W32E2 may be simply referred to as W32E.

In the inner periphery of the internal gear main body 32, pin grooves 34 are formed at equal intervals in the circumferential direction and in the axial direction over the whole length, corresponding to the dimension of the internal teeth. The pin groove 34 is provided with an outer pin (pin member) 36 constituting an internal tooth of the internal gear 30. The pin groove 34 is a groove having a substantially semicircular cross section perpendicular to the shaft, and the outer pin 36 is rotatably disposed in the pin groove 34 in a loose fitting manner.

In the drawing, reference numeral 35 denotes an O ring groove, 32B1 denotes a chamfered portion of the stepped portion 32B, 32F denotes a portion of the internal gear main body 32 opposite to the load side cover 56 and the output casing member 54, And a bolt hole for connecting the bolt hole.

Hereinafter, the configuration of the pin groove 34 will be described in more detail with a description of its surface property.

The inventors of the present invention have found that the pin groove 34 of the internal gear main body 32 of the eccentric oscillation type speed reducing device G, that is, the outer pin 36 constituting the internal tooth of the internal gear 30, The grooves 34 were tested. Concretely, the fin grooves 34 having a plurality of surface features were formed by variously changing the manufacturing method of the fin grooves 34, and the relationship between each surface property and the required treading operation time Hr was examined.

Here, the tampering operation time Hr indicates an operation performed before the operation as the original eccentric rocking type decelerating device. The taming operation may be performed to secure a predetermined operation efficiency at the time of shipment or after delivery, but it is a problem to shorten the necessary time as much as possible. However, in some cases, after the delivery, normal operation is performed without performing the treading operation. In this case, the stage at the beginning of the normal operation is equivalent to the treading operation. In the present embodiment, the taming operation time Hr is defined as "the time until the temperature change of the outer periphery of the casing 28 from the start of operation becomes 1 ° C / hr or less". That is, the taming operation time Hr in this test is such that the temperature of the outer periphery of the casing 28 rises by the start of operation, the temperature rises gradually, and the temperature rising in one hour becomes 1 deg. Time until it is thermally stabilized ".

This result is shown in Fig. 4A shows the relationship between the square root mean square roughness Rq of the fin grooves 34 and the necessary treading operation time Hr. In this test, a method of machining by gear shaper machining (? Mark), barrel machining (? Mark), and skiving machining (? Mark) is employed in order to obtain the fin grooves 34 with various root mean square roughnesses Rq have.

Note that the gear shaper machining here refers to a machining method in which a tool called a pinion cutter is reciprocated and the work (internal gear tooth body 32) is cut and returned when it proceeds in one direction. Here, barrel machining refers to a machining method in which an abrasive material, a work (internal gear body 32) and a workpiece are placed in a container called a barrel, and the surface is finished by rotating or vibrating. However, in the barrel machining, the fin grooves are previously machined by gear shaper machining or the like as the entire machining.

Here, the skiving process is a process in which a tool referred to as a " skiving " cutter and a work (internal gear body 32) are rotated (for example, synchronously rotated) Processing method " In order to form the pin groove 34 of the internal gear main body 32 in the present embodiment by skiving, for example, in a processing machine described in Japanese Utility Model Registration No. 3181136, It is possible to suitably perform the customization necessary for machining the grooves 34 (specifically, customize the tool so that the arc shape can be machined).

However, the diameter of the arc of the pin groove 34 to be tested is 6.0 mm, the axial length is 40.5 mm, and the material of the internal gear body 32 is FC200. The material of the outer fins 36 is SUJ2 and is processed by grinding. The roughness of the surface of the outer fin 36 is about the root-mean-square roughness Rq of about 0.2 mu m.

The test conditions are as follows.

(a) Measurement is performed in the state before the operation of the eccentric oscillation type speed-reducing device G (no operation is performed) after the internal gear 30 is manufactured (after finishing the fin groove 34).

(b) Using the "Form Talysurf PGI840" manufactured by TAYLOR HOBSON, the roughness measurement was performed in the axial direction of the fin grooves 34 to obtain a roughness curve. Based on the roughness curve, The roughness Rq, the level difference Rk of the core portion, and the average depth Rvk of the protruded valley portion.

(c) For the traverse unit accuracy, "driving speed: 0.25 mm / sec", "measurement execution interval: 0.125 μm" and "touch pressure: 80 mgf" Cutoff (Ls): 0.0025 mm ", and" Bandwidth: 300: 1 "for the stylus specifications, and" Radius of tip: 2 占 퐉, and shape: 60 占 conical.

However, the root-mean-square roughness Rq is defined as the root-mean-square roughness (obtained by averaging the squares of the values of the height components at each position of the roughness curve obtained for the reference length in the roughness curve defined in JIS B0601 ).

Then, various square-root-mean-square roughnesses Rq are obtained with respect to the surface of the fin grooves 34 by changing the machining method or changing the blades or the transfer speeds even in the same machining method. Then, the root-mean-square roughness Rq and the root- And the correlation with the operation time Hr was investigated.

From the graph of FIG. 4 (A), it can be seen that as the root-mean-square roughness Rq rises to about 1.5 μm, the root-mean-square roughness Rq rises, and the rooting run time Hr decreases gradually (All values below 400 hours are maintained). In this embodiment, the processing of the square-root-mean-square roughness Rq of this portion is enabled by skiving processing (⊚ table) and barrel processing (◯ table).

However, when the root-mean-square roughness Rq is 1.5 mu m, the taming operation time Hr is changed to rise, and when the root mean square roughness Rq is larger than 1.6 mu m (indicated by a dotted line in Fig. 4A) (Rising rapidly from 500 hours to over 800 hours). It can be understood that this result clearly demonstrates numerically that "the treading operation time Hr was long in the conventional machining (gear shaper machining: ● table)". From the graph of the root-mean-square roughness Rq-taming operation time Hr of Fig. 4 (A), it is preferable that the root-mean-square roughness Rq of the fin grooves 34 is 1.6 mu m or less in order to shorten the taming operation time Hr .

However, when the root-mean-square roughness Rq of the pin groove 34 is 1.6 占 퐉 or less, the deviation of the tampering-in operation time Hr is also reduced. This indicates that the individual difference of each product is small. That is, if the root-mean-square roughness Rq is 1.6 탆 or less, it is possible to stably achieve a desired result with respect to the taming operation time Hr (irrespective of the manufacturing method).

On the other hand, the graph of FIG. 4 (B) shows the relationship between the "level difference Rk of the core portion" + "the average depth Rvk of the protruded valley portion" and the taming operation time Hr. Quot; level difference Rk of core portion " and " average depth Rvk of protruding valley portion " refer to JIS B0671-2 or other regulations cited in JIS B0671-2 for the roughness curve obtained in accordance with JIS B0671-1 , Which is one of the indicators of roughness defined in detail. However, hereinafter, the "level difference Rk of the core portion" + "the average depth Rvk of the projecting valley portion" is simply referred to as (Rk + Rvk). However, the tables in the drawing are based on gear shaper machining, in the table, in the barrel machining, and in the table by the skiving process.

From the graph of FIG. 4B, (Rk + Rvk) indicates that the taming operation time Hr is moderately reduced (400 hours or less is maintained) until the neighborhood of 5.0 m (indicated by the dotted line in Fig. 4 . However, when it exceeds 5.0 탆, the taming operation time Hr sharply increases, and it also takes about 500 to 800 hours. The reason why the surface roughness of (Rk + Rvk) is 5.0 占 퐉 or less is that it is possible to perform skiving processing (⊚ table) and barrel processing (◯ table) in this test. However, when the (Rk + Rvk) of the pin grooves 34 is 5.0 占 퐉 or less, the deviation of the tampering operation time Hr is also reduced. That is, when (Rk + Rvk) is 5.0 mu m or less, preferable results with respect to the tampering operation time Hr are stably obtained above a certain level.

From such a test, it is preferable to shorten the taming operation time Hr so that the surface roughness is reduced to not more than 5.0 탆 when the square root mean square roughness Rq is used as an index and not more than 1.6 탆, and (Rk + Rvk) . As a processing method for obtaining the fin grooves 34 having such surface roughness, a skiving process or a barrel process can be employed.

In the present embodiment, with respect to the taming operation time Hr, good results were obtained by skiving and barrel machining, and good results were not obtained with gear shaper machining. However, what is important in relation to the taming driving time Hr is the square root mean square roughness Rq, the level difference Rk of the core portion, and the average depth Rvk of the protruding valley portion. If the machining method is the same, the values of the root-mean-square roughness Rq, the level difference Rk of the core portion, and the average depth Rvk of the protruded valley portions are changed when the machining conditions (for example, tool feed rate) . Therefore, even if gear shaper machining is performed, for example, there is a possibility that the square root mean square roughness Rq is 1.6 μm or less and (Rk + Rvk) is 5.0 μm or less. On the other hand, , (Rk + Rvk) is greater than 5.0 占 퐉. That is, in the present invention, the method of working the fin grooves 34 is not particularly limited.

On the other hand, Fig. 5 (A) is a graph showing the relationship between the root mean square roughness Rq and the operation efficiency?. As in the case of Fig. 4, the tables are based on gear shaper machining, the tables are barrel machining, and the tables are skiving machining.

Here, a method of measuring the operation efficiency? Will be described. The motor 14 is connected to the input shaft 12 of the eccentric oscillation type speed reducing device G and the brake device as a load is connected to the output shaft 44 and the leg portion 58 is fixed to a fixing member such as a floor. In this state, the load of the braking device is set to the rated torque of the eccentric oscillating type speed reducing device G, and the motor 14 is driven. Then, the input torque of the input shaft 12 and the output torque of the output shaft 44 are measured. From the measurement result, the operation efficiency? Is calculated by a calculation formula of {output torque / (input torque x reduction ratio)} 100%.

As apparent from the graph of Fig. 5 (A), when the square root mean square roughness Rq is smaller than 0.5 占 퐉 (indicated by the dotted line in Fig. 5 (A)), the operation efficiency? Is drastically improved At 0.4 μm or less, an operating efficiency η of 94.0 to 94.5% or more is obtained). However, as the root-mean-square roughness Rq of the root-mean-square roughness approaches 0.5 μm, the operation efficiency η sharply decreases, and only 93.5% of the root-mean-square roughness Rq is 0.5 μm or more. However, the square-root-mean-square roughness Rq and the operation efficiency η are not particularly correlated when they are more than 0.5 μm (the operation efficiency η does not necessarily increase or decrease as the square-root-mean-square roughness Rq changes) . From these results, it is preferable that the square root mean square roughness Rq is 0.5 占 퐉 or less considering the operation efficiency?. However, when the root-mean-square roughness Rq of the root-mean-square roughness is 0.5 탆 or less, the deviation of the operation efficiency η is small (if the root-mean-square roughness Rq is 0.5 袖 m or less, a desirable result is obtained.

This qualitative tendency is also shown in the relation between (Rk + Rvk) and the operation efficiency [eta] as shown in the graph of Fig. 5 (B). That is, when the ratio (Rk + Rvk) is smaller than 1.4 占 퐉 (indicated by a dotted line in Fig. 5 (B)), the operation efficiency η is drastically improved (for example, 94.0 to 94.5% Efficiency? Is obtained). However, when (Rk + Rvk) is not less than 1.5 占 퐉, the operating efficiency? Has no correlation with (Rk + Rvk) and the operating efficiency ?, and the operating efficiency? Can not be obtained at the maximum of 93.5% even if (Rk + Rvk) is changed. From this result, it is preferable that (Rk + Rvk) is 1.4 占 퐉 or less when the operation efficiency? Is considered. However, when (Rk + Rvk) is 1.4 mu m or less, the deviation of the operation efficiency? Is small (when (Rk + Rvk) is 1.4 mu m or less, preferable results with respect to the operation efficiency?

4 and FIG. 5, it is preferable that the root-mean-square roughness Rq be 1.6 μm or less when the square root mean roughness Rq is used as an index, and 5.0 μm or less when (Rk + Rvk) μm or less is preferable. As a processing method, in the present embodiment, a skiving process or a barrel process was employed.

Considering the operating efficiency?, When the square root mean square roughness Rq is used as an index, 0.5 占 퐉 or less is more preferable and 1.4 占 퐉 or less is more preferable when (Rk + Rvk) is used as an index. As a processing method, the present embodiment employs a skiving process.

That is, paying attention to the machining method, in this embodiment, the treading operation time Hr is short and the operation efficiency? Is high when the pin groove 34 is formed by the skiving process. That is, according to the skiving process, it is also possible to set the square root mean square roughness Rq to 1.6 탆 or less, or to allow the operating efficiency η to be taken into account and to be 0.5 탆 or less. In addition, in the case of skiving, it is also possible to set (Rk + Rvk) to 5.0 탆 or less, or to consider the operating efficiency η, and to set it to 1.4 袖 m or less.

However, " differentiation " paying attention to this processing method is based solely on the test results in this embodiment. As described above, the values of the square root mean square roughness Rq, the level difference Rk of the core portion and the average depth Rvk itself of the projecting valley portion are important for the taming operation time Hr and the operation efficiency? The square-root-mean-square roughness Rq and (Rk + Rvk) change as the processing conditions change.

However, according to another test by the inventors, in the eccentric oscillation type speed reducing device G, the radial depth of the fin grooves 34 is not made uniform, and the distance between the pin grooves 34 and the outer fins 36 The gap can be utilized as a lubricant introduction portion or a holding portion and the lubricant between the pin groove 34 and the outer fin 36 can be further enhanced. Thus, the operation efficiency? Can be further increased.

On the other hand, in the skiving process, a large radial load is applied to the internal gear main body 32 from the tool side during machining. When a radial load is applied to a part of the internal gear main body 32 in the axial direction from the radially inner side, The internal gear body 32 is liable to be elastically deformed outward in the radial direction. This elastic deformation occurs more remarkably in the axial end portion 32E having a smaller radial thickness W32E (lower rigidity) than the axial central portion 32C having a larger radial thickness W32C (higher rigidity). In addition, the shaft end portion 32E of the pin groove 34 is formed more significantly than the shaft center portion 32C of the pin groove 34. [

Therefore, as shown in Figs. 2 and 3, in the eccentric oscillation type speed reducer G according to the present embodiment, as the elastic deformation exceeds the above-mentioned elastic deformation fraction, The set cutting value at the shaft end which is easy to set is set to be large. That is, the set cutting value of the pin groove 34 in the shaft end portion 32E is set to be larger than the set cutting value of the pin groove 34 in the shaft center portion 32C by canceling the influence of the elastic deformation at the time of machining Min. ≪ / RTI > It is assumed that the set cutting value at each portion of the shaft end portion 32E is X, the set cutting value at the shaft center portion 32C is Y, and the elastic deformation amount at each portion of the shaft end portion 32E at the time of processing H, then X = Y + H + alpha. In the present embodiment, however, "? &Quot; is set such that the depth in the radial direction of the fin grooves 34 after machining is gradually increased toward the outer side in the axial direction.

With this configuration, it is possible to realize a configuration in which the effect of the elastic deformation is more properly canceled, and then a slight gap is secured between the outer end pin 36 and the shaft end portion 32E. As a result, the generated gap? 34 can function as the introduction portion or the holding portion of the lubricant, so that the tampering operation time Hr can be further shortened, and the operation efficiency? Can be further improved. The engagement of the pin groove 34 and the outer pin 36 and the engagement surface pressure of the contact portion between the outer pin 36 and the outer tooth gear 24 It is possible to suppress the excessive increase of the backlash and to reduce the backlash and the reduction of the engagement surface pressure. (Of course, either one of them may be designed with an emphasis).

It should be noted, however, that attention is paid to the fact that "the problem is solved by the effect of elastic deformation when performing skiving", the set cutting value at the time of performing the skiving is always the value It is not necessary to increase it. For example, it may be precisely set as large as the amount canceling the influence of the elastic deformation at the time of processing. Thus, by finishing the pin groove of the internal gear by the skiving process, the pin groove having a uniform depth in the radial direction can be formed. The technique of "skiving the pin groove in a state where the reinforcing member is fitted to the outside in the radial direction of the axial end portion of the pin groove" is also effective. As a result, the elastic deformation of the internal gear main body at the time of machining is substantially suppressed. Therefore, even when a gap is to be formed between the pin groove and the external pin, or when the gap is made to be zero, Can be formed by skiving processing.

However, in the present invention, many advantages can be obtained when the pin groove of the internal gear body of the internal gear is machined by skiving. However, the present invention is not limited to this, Is not particularly limited. Various processing methods can be employed as long as the desired root-mean-square roughness Rq, the level difference Rk of the core portion, and the average depth Rvk of the protruding valley portion are obtained, not limited to the skiving processing, the barrel processing and the gear shaper processing. For example, in applications where the improvement of the operating efficiency? Is not so much demanded, it is also possible to use a process in which the square root mean square roughness Rq of the surface of the fin grooves can be set to 1.6 占 퐉 or less, or Rk + Rvk For example, a gear shaper machining and a barrel machining may be used in combination if the machining can be made to be 5.0 탆 or less.

In the above embodiment, as the eccentric oscillation type speed reducing device, a "center crank type" eccentric oscillating type speed reducing device having one crankshaft at the center in the radial direction of the device is exemplified. However, as the eccentric oscillation type decelerating device, there is known a " split type " eccentric oscillation type decelerating device in which a plurality of crankshafts are provided at positions away from the axis of the device and the plurality of crankshafts are rotated synchronously, to be. According to the present invention, even in such a split type eccentric oscillating type speed reducing device, the internal gear is provided with an internal gear body, a pin groove formed in the internal gear body, and a pin member arranged in the pin groove , The same applies.

In addition, in the above-described embodiment, as in the case where the inner roller is fitted outside as the sliding facilitating member on the inner pin, the eccentric rocking type deceleration having the inner gear configured to fit the outer roller as the sliding promoting member, The device is also known. In this case, a pin groove in which the outer roller is disposed is formed in the internal gear body. The present invention can be similarly applied to a pin groove in which such an outer roller is disposed by grasping the outer roller by the pin member of the present invention.

G eccentric oscillation type reduction device
12 input shaft
18 deep
20 Crankshaft
24 shout gear
30 internal gear
32 internal gear body
32C center portion
32E shaft end
34-pin groove
36 outer pin (pin member)
44 Output shaft
Rq Square root mean square roughness
Level difference of Rk core part
Rvk Average depth of protruding valley
Hr taming driving time
η operation efficiency

Claims (4)

An internal gear of an eccentric oscillation type reduction gear device having an internal gear body, a pin groove formed in the internal gear body, and a pin member disposed in the pin groove,
And the root-mean-square roughness Rq of the surface of the fin grooves is 1.6 占 퐉 or less. The method according to claim 1,
Wherein the root-mean-square roughness Rq of the surface of the fin grooves is 0.5 탆 or less. An internal gear of an eccentric oscillation type reduction gear device having an internal gear body, a pin groove formed in the internal gear body, and a pin member disposed in the pin groove,
(The level difference Rk of the core portion + the average depth Rvk of the projecting valley portion) of the surface of the fin grooves is 5.0 占 퐉 or less. The method of claim 3,
(The level difference Rk of the core portion + the average depth Rvk of the projecting valley portion) of the surface of the fin grooves is not more than 1.4 占 퐉.

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