WO2006077825A1 - Dispositif à engrenages planétaires du type à engrènement inscrit oscillant - Google Patents

Dispositif à engrenages planétaires du type à engrènement inscrit oscillant Download PDF

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Publication number
WO2006077825A1
WO2006077825A1 PCT/JP2006/300520 JP2006300520W WO2006077825A1 WO 2006077825 A1 WO2006077825 A1 WO 2006077825A1 JP 2006300520 W JP2006300520 W JP 2006300520W WO 2006077825 A1 WO2006077825 A1 WO 2006077825A1
Authority
WO
WIPO (PCT)
Prior art keywords
eccentric
eccentric body
body shaft
planetary gear
gear device
Prior art date
Application number
PCT/JP2006/300520
Other languages
English (en)
Japanese (ja)
Inventor
Kiyoji Minegishi
Original Assignee
Sumitomo Heavy Industries, Ltd.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sumitomo Heavy Industries, Ltd. filed Critical Sumitomo Heavy Industries, Ltd.
Priority to JP2006553893A priority Critical patent/JP4897496B2/ja
Publication of WO2006077825A1 publication Critical patent/WO2006077825A1/fr

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear

Definitions

  • the present invention relates to a swinging intermeshing planetary gear device.
  • JP-A 2000-65162 discloses a planetary gear device as shown in FIG.
  • the planetary gear device 10 includes an input shaft 12, first and second eccentric bodies 14, 16, first and second external gears 18 and 20, an internal gear 22, a relative rotation take-out mechanism K, and an output element serving as a first output gear. 1.
  • second support flanges 24 and 26 Provided with second support flanges 24 and 26. The reason why the first and second external gears 18 and 20 are arranged in two rows along the axial direction is to increase the transmission capacity.
  • the input shaft 12 is a hollow shaft (hollow shaft), and is arranged at the center in the radial direction of the planetary gear device 10.
  • the input shaft 12 also serves as an eccentric body shaft, and the first and second eccentric bodies 14 and 16 are integrally formed on the outer periphery of the input shaft 12.
  • the first and second eccentric bodies 14 and 16 have the same outer peripheral radius (outer diameter) with their forces that are 180 degrees out of phase with each other.
  • the first and second external gears 18 and 20 are mounted on the outer circumferences of the first and second eccentric bodies 14 and 16 via first and second rollers (sliding promotion bodies) 34 and 36, respectively. I'm going.
  • the relative rotation take-out mechanism ⁇ includes first and second inner pin holes 40, 42 that pass through the first and second external gears 18, 20, and an inner portion that is loosely fitted to the inner pin holes 40, 42. This is achieved with pin 44.
  • the first and second eccentric bodies 14 and 16 are eccentrically rotated integrally with the input shaft 12 (in reverse phase). Therefore, when the input shaft 12 rotates once, the external gears 18 and 20 mounted on the outer circumferences of the eccentric bodies 14 and 16 swing once. As a result, the first and second external gears 18 and 20 are connected to the internal gear 22 in the stopped state. Relative rotation by the amount corresponding to the difference in the number of teeth from 22 respectively. This relative rotation is extracted as a deceleration output from one of the first and second support flanges 24 and 26 via the first and second inner pin holes 40 and 42 and the inner pin 44 (relative rotation extraction mechanism K). It is.
  • the present invention has been made to solve such a conventional problem, and incorporates a sliding promotion body interposed between the eccentric body and the external gear from only one side.
  • the challenge is to make it possible.
  • the present invention includes an internal gear and a plurality of external gears that are internally engaged with the internal gear, and the external gears are respectively swung by a plurality of eccentric bodies provided on an eccentric body shaft.
  • the planetary gear device of the swing inscribed meshing type to be rotated and rotated at least two of the eccentric bodies have different outer diameters, and the two eccentric bodies have a smaller outer diameter.
  • a slide promoting body having an independent inner ring is provided between the outer periphery of the eccentric body and the external gear, and of the two eccentric bodies, the outer periphery of the eccentric body having a large outer diameter and the external gear.
  • At least two eccentric bodies have different outer diameters, and each relates to a sliding promotion body interposed between the external gear and one of them. All have an inner ring, and the other one has no inner ring. Therefore, at least for these two rows, even if the outer diameters of the eccentric bodies are different, the substantial outer diameters of the eccentric bodies on the outer circumference of the inner ring can be made equal. Therefore, the sliding promotion body has a smaller outer diameter in the order of a sliding promotion body having an eccentric body with a large outer diameter (without an inner ring) and a sliding promotion body having an eccentric body with a small outer diameter (with an inner ring). They can be incorporated only from the side of the eccentric body, and these can be made common for the sliding promotion body such as a roller or the external gear.
  • the sliding promotion body interposed between the eccentric body and the external gear can be incorporated from only one side, the assemblability can be improved, It is possible to ensure almost the same power transmission characteristics and durability in the row.
  • FIG. 1 is a cross-sectional view of a planetary gear device showing an example of an embodiment of the present invention.
  • FIG. 3 Sectional view along line III-III in Fig. 1
  • FIG. 4 is a cross-sectional view showing an example in which a modification of the above embodiment is applied to a geared motor
  • FIG. 5 is a sectional view showing an example of a conventional planetary gear device.
  • FIG. 1 is a longitudinal sectional view corresponding to FIG. 5, showing a planetary gear device according to an example of an embodiment of the present invention.
  • this planetary gear device 110 is composed of an input shaft (eccentric body shaft) 112, first, first, first, first, first
  • first and second external gears 118 and 120 Two eccentric bodies 114 and 116, first and second external gears 118 and 120, an internal gear 122, a relative rotation extraction mechanism Kl, and first and second support flanges 124 and 126 as output elements are provided.
  • the reason why the first and second external gears 118 and 120 are arranged in two rows along the axial direction is to increase the transmission capacity.
  • the input shaft 112 is a hollow shaft (hollow shaft) having a hollow portion 112H.
  • the input shaft 112 is arranged at the center in the radial direction of the entire apparatus, and is supported first and second by a ball bearing (one eccentric shaft bearing) 130 and a needle bearing (the other eccentric shaft bearing) 132. Supported by flanges 124 and 126.
  • the first and second eccentric bodies 114, 116 are integrally formed on the outer periphery of the input shaft 112 that also functions as an eccentric body axis.
  • the centers Oel and Oe2 of the outer circumferences 114A and 116A of the eccentric bodies 114 and 116 are eccentric by a predetermined amount ⁇ 1 with respect to the axis Oi of the input shaft 112.
  • the first and second eccentric bodies 114 and 116 are 180 degrees out of phase with each other, and the outer radii are Rl and R2, respectively, which are not the same (described later).
  • the first and second external gears 118 and 120 have outer peripheries 114A and 116A of first and second eccentric bodies 114 and 116 via first and second rollers (sliding promoting bodies) 134 and 136, respectively. Are attached to each.
  • An inner ring 134A is attached only to the first roller 134 (described later).
  • Each external gear 118, 120 includes first and second internal pin holes 140, 142 that pass through the external gear 118, 120.
  • An inner pin 144 with an inner roller 143 is loosely fitted in the first and second inner pin holes 140 and 142.
  • the inner pins 144 are fitted into the first and second support flanges 124 and 126, respectively.
  • the relative rotation take-out mechanism K1 is realized by a loose fitting structure of the inner pin holes 140 and 142 and the inner pin 144 (inner roller 143).
  • the first and second external gears 118, 120 are internally engaged with internal teeth (pins) 122A of a single internal gear 122.
  • the internal gear 122 is integrated with the casing 127.
  • the first and second support flanges 124 and 126 are supported by the casing 127 by tapered roller bearings 146 and 148, and are integrated by a carrier bolt 150.
  • the first support flange 124 functions as an output shaft for a counterpart machine (not shown).
  • the outer circumference of the input shaft 112 corresponding to the two-dollar bearing 132 is formed with a large diameter in order toward the side force of the ball bearing 130 and the side of the two-dollar bearing 132.
  • the input shaft 112 has an outer diameter 112 B corresponding to the ball bearing 130 whose outer diameter 112 B is a perfect circle having a radius Ro centered on the center 0i of the input shaft 112. Yes.
  • the outer periphery 114A of the first eccentric body 114 is a perfect circle having a radius R1.
  • Rl Ro + ⁇ ⁇ 1 is there.
  • the center of the outer periphery 114A is Oel, and is eccentric from the center O1 of the input shaft 112 by ⁇ 1. Therefore, the outer periphery 114A has an outer line L1 that is common to the outer periphery 112B of the portion corresponding to the ball bearing 130 in the portion closest to the center Oi and eccentric.
  • the outer periphery 116A of the second eccentric body 116 is a perfect circle having a radius R2.
  • the center Oe2 of the outer periphery 116A is eccentric from the center Oi of the input shaft 112 by ⁇ 1 in a direction opposite to the center Oel of the first eccentric body 114.
  • the outer periphery 112N of the portion corresponding to the needle bearing 132 of the input shaft 112 has the thickest portion 112E having the largest diameter and the largest thickness. Therefore, a gear 160 for receiving a dynamic force from a motor (drive source) (not shown) is fixed to the thick portion 112E via a bolt 162.
  • the first external gear 118 is incorporated into the outer periphery 114A of the first eccentric body 114 via the first roller (sliding promoting body) 134.
  • the first roller 134 has an independent inner ring 134A (see FIG. 2), but does not have an outer ring.
  • the diameter of the first roller 134 is dl.
  • a thickness D1 of the inner ring 134A in the radial direction is set to a difference 2 ⁇ ⁇ 1 between R2 and R1.
  • the second external gear 120 has an outer periphery of the second eccentric body 116 via a second roller (sliding promoting body) 136.
  • the second roller 136 has neither an inner ring nor an outer ring, and is disposed so as to be capable of direct rolling between the outer periphery 116A of the second eccentric body 116 and the inner periphery 120A of the second external gear 120 ( (See Figure 3).
  • the ball bearing 130 includes both an inner ring 130A and an outer ring 130B.
  • the needle bearing 132 has an outer ring 132A, but does not have an inner ring, and the individual needles 132B are in direct contact with the input shaft 112. 1 is a protrusion for positioning the needle bearing 132 in the axial direction. That is, in this embodiment, in order to facilitate the incorporation of the needle 132B of the needle bearing 132, from the right direction of FIG. The needle bearing 132 is incorporated.
  • an insertion ring 180 for reducing sliding interference between the end of the second roller 136 and the input shaft 112 is provided. Intervened. Further, between the second roller 136 and the inner ring 134A of the first roller 134, an insertion ring 182 for reducing sliding interference between the two rollers 136 and 134A is interposed. Further, between the inner ring 134A and the inner ring 130A of the Bonore bearing 130, a inserting ring 184 is interposed for reducing sliding interference between the both 134A and 130A.
  • Reference numeral 190 denotes a retaining ring that positions the inner ring 130A of the ball bearing 130 in the axial direction.
  • This retaining ring 190 is connected to the first and second outer rings 180 through the second ring 136, the second roller 136, the first ring 182, the inner ring 134A of the first roller 134, the second ring 184, and the inner ring 130A of the ball bearing 130.
  • the axial position of the tooth gears 118 and 120 is also restricted.
  • the axial position of the outer ring 130B of the ball bearing 130 is configured to be regulated by the projection 186 and the retaining ring 188.
  • reference numerals 192 and 194 denote oil seals.
  • the first and second eccentric bodies 114 and 116 are eccentrically rotated integrally with the input shaft 112 (in reverse phase). . Therefore, when the input shaft 112 rotates once, the first and second external gears 118 and 120 mounted on the outer circumferences 114A and 116A of the first and second eccentric bodies 114 and 116 swing once. . As a result, the first and second external gears 118 and 120 rotate relative to the internal gear 122 in the stopped state by an amount corresponding to the difference in the number of teeth from the internal gear 122.
  • This relative rotation is extracted to the first and second support flanges 124 and 126 side via the first and second inner pin holes 140 and 142 and the inner pin 144 (relative rotation extraction mechanism K1).
  • the reduction ratio corresponding to (the number of teeth difference between the internal gear 122 and the first external gear 116 (or the second external gear 118)) / (the number of teeth of the external gear 116 (118)) Deceleration can be realized.
  • the deceleration output is provided to the counterpart machine from the first support flange 124 side.
  • the insertion wheel 180, the second roller 136, the insertion wheel 182, the inner ring 134A, the first roller 134, the insertion wheel 184, and the ball bearing 130 are illustrated in this order.
  • the left side force of 1 can be assembled.
  • each member only needs to be positioned in the axial direction by the retaining rings 188 and 190, so that the assembling workability is very good.
  • the inner ring 134A is incorporated only in the first roller 134 on the first eccentric body 114 side.
  • the diameters dl and d2 of the two rollers 134 and 136 can be set equal (can be the same roller), and the uniformity of the power transmission characteristics and durability of each row can be obtained.
  • one type of roller component can be shared.
  • this method of varying the roller diameter is not prohibited.
  • two of the eccentric bodies have an inner ring. It is free to use a method based on presence / absence, and to combine all the rollers from only one side by combining this with a method that varies the roller diameter.
  • the radial thickness D1 of the inner ring 134A of the first roller 134 and the wall thickness of the input shaft 112 are set so as to have the common outer lines Ll and L2. Therefore, an increase in the thickness of the input shaft 112 can be minimized, and a compactness in the radial direction of the input shaft 112 is particularly achieved.
  • one of the bearings (eccentric shaft bearings) that support the input shaft 112 is a "double dollar bearing without an inner ring"
  • a large radial load can be obtained with an extremely small radial occupied volume. Can receive.
  • the secured thick part 112E is fixed to the gear 160. Therefore, it can be rationally used as a screwing space for the bolt 162 for this purpose.
  • one of the bearings supporting the input shaft 112 is S, “ball bearing”, the thrust load of the input shaft 112 can be reliably received by this ball bearing 130 portion.
  • the outer periphery 112N of the force corresponding to the force needle bearing 132 is designed to incorporate the needle bearing 132 from the right direction in FIG. Is set equal to or larger than the outer periphery 116A of the second eccentric body 116, the axial position of the projection 165 is moved to the opposite side of the needle bearing 132, and the needle bearing 132 is also illustrated. It is also possible to assemble the left side force.
  • the configuration of the eccentric body shaft bearing is not necessarily limited to the above example, and both may be a needle bearing, a ball bearing, or a tapered roller bearing. A combination of these may also be used.
  • Each inner ring may or may not have a design.
  • FIG. 4 shows an application example in which a servo motor M is connected to the modified example of the above-described embodiment to form a geared motor GM for driving an industrial robot.
  • a (large-diameter) toothed pulley 260 is attached to the thick portion 212 E of the input shaft 212 via a bolt 262.
  • the motor shaft 296 of the servo motor M is also provided with a (small-diameter) toothed pulley 298, and the both 260 and 298 are connected via a toothed benolet 297. Force applied to input shaft 212 is high and radial load Needle shaft By receiving 232, it can be reliably received.
  • reference numeral 295 in the figure denotes a wire harness inserted through the hollow portion 212H of the widely secured input shaft 212, and 299 denotes a part of the robot attachment.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)

Abstract

Dispositif à engrenages planétaires du type à engrènement inscrit oscillant, dans lequel une pluralité de corps excentriques montés sur un arbre de corps excentriques font tourner par pivotement une pluralité d'engrenages externes. Les diamètres extérieurs d'au moins deux corps excentriques parmi la pluralité de corps excentriques sont différents l'un de l'autre et un corps actionneur coulissant avec une bague intérieure indépendante est installé entre la périphérie extérieure de celui des deux corps excentriques qui a le plus petit diamètre extérieur et les engrenages externes. Un corps actionneur coulissant sans bague intérieure est également installé entre la périphérie extérieure de celui des deux corps excentriques qui a le plus grand diamètre extérieur et les engrenages externes.
PCT/JP2006/300520 2005-01-18 2006-01-17 Dispositif à engrenages planétaires du type à engrènement inscrit oscillant WO2006077825A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2006553893A JP4897496B2 (ja) 2005-01-18 2006-01-17 揺動内接噛合式の遊星歯車装置

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2005-010860 2005-01-18
JP2005010860 2005-01-18

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WO2006077825A1 true WO2006077825A1 (fr) 2006-07-27

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100920904B1 (ko) 2007-02-22 2009-10-12 스미도모쥬기가이고교 가부시키가이샤 요동내접맞물림 유성기어장치 및 그 편심체축의 제조방법
EP2119940A1 (fr) * 2007-02-09 2009-11-18 Nabtesco Corporation Réducteur de vitesse et dispositif de génération de puissance photovoltaïque solaire de type suivi
EP2119941A1 (fr) * 2006-12-21 2009-11-18 Nabtesco Corporation Dispositif d'engrenage
CN103994183A (zh) * 2013-02-19 2014-08-20 住友重机械工业株式会社 偏心摆动型减速装置
JP2014152921A (ja) * 2013-02-13 2014-08-25 Sumitomo Heavy Ind Ltd 遊星歯車装置
CN110005759A (zh) * 2017-11-15 2019-07-12 住友重机械工业株式会社 偏心摆动型齿轮装置
WO2022179068A1 (fr) * 2021-02-26 2022-09-01 美的集团股份有限公司 Dispositif d'engrenage planétaire en prise interne et dispositif d'articulation de robot

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63180757U (fr) * 1987-05-14 1988-11-22
JP2000065162A (ja) * 1998-08-24 2000-03-03 Teijin Seiki Co Ltd 減速機

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6228941A (ja) * 1985-07-30 1987-02-06 Toshiba Corp 情報記録媒体
JP2650027B2 (ja) * 1987-01-22 1997-09-03 本田技研工業 株式会社 車両用油圧作動式変速機の制御装置
JP2003021198A (ja) * 2001-07-06 2003-01-24 Sumitomo Heavy Ind Ltd 遊星歯車構造を採用した変速機

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63180757U (fr) * 1987-05-14 1988-11-22
JP2000065162A (ja) * 1998-08-24 2000-03-03 Teijin Seiki Co Ltd 減速機

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8545357B2 (en) 2006-12-21 2013-10-01 Nabtesco Corporation Gear transmission
EP2119941A1 (fr) * 2006-12-21 2009-11-18 Nabtesco Corporation Dispositif d'engrenage
EP2119941A4 (fr) * 2006-12-21 2010-03-31 Nabtesco Corp Dispositif d'engrenage
EP2119940A1 (fr) * 2007-02-09 2009-11-18 Nabtesco Corporation Réducteur de vitesse et dispositif de génération de puissance photovoltaïque solaire de type suivi
EP2119940A4 (fr) * 2007-02-09 2010-09-08 Nabtesco Corp Réducteur de vitesse et dispositif de génération de puissance photovoltaïque solaire de type suivi
US8100807B2 (en) 2007-02-09 2012-01-24 Nabtesco Corporation Reduction gear transmission and solar tracking photovoltaic power generation unit utilizing the same
KR100920904B1 (ko) 2007-02-22 2009-10-12 스미도모쥬기가이고교 가부시키가이샤 요동내접맞물림 유성기어장치 및 그 편심체축의 제조방법
JP2014152921A (ja) * 2013-02-13 2014-08-25 Sumitomo Heavy Ind Ltd 遊星歯車装置
CN103994183A (zh) * 2013-02-19 2014-08-20 住友重机械工业株式会社 偏心摆动型减速装置
JP2014159829A (ja) * 2013-02-19 2014-09-04 Sumitomo Heavy Ind Ltd 偏心揺動型の減速装置
CN110005759A (zh) * 2017-11-15 2019-07-12 住友重机械工业株式会社 偏心摆动型齿轮装置
CN110005759B (zh) * 2017-11-15 2022-05-17 住友重机械工业株式会社 偏心摆动型齿轮装置
WO2022179068A1 (fr) * 2021-02-26 2022-09-01 美的集团股份有限公司 Dispositif d'engrenage planétaire en prise interne et dispositif d'articulation de robot

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Publication number Publication date
JP4897496B2 (ja) 2012-03-14
JPWO2006077825A1 (ja) 2008-06-19

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