WO2007125835A1 - 減速装置とその製造方法 - Google Patents
減速装置とその製造方法 Download PDFInfo
- Publication number
- WO2007125835A1 WO2007125835A1 PCT/JP2007/058653 JP2007058653W WO2007125835A1 WO 2007125835 A1 WO2007125835 A1 WO 2007125835A1 JP 2007058653 W JP2007058653 W JP 2007058653W WO 2007125835 A1 WO2007125835 A1 WO 2007125835A1
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- WO
- WIPO (PCT)
- Prior art keywords
- gear
- reduction
- spur
- external
- spur gear
- Prior art date
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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
- F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
- F16H1/20—Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members
-
- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/49—Method of mechanical manufacture
- Y10T29/49826—Assembling or joining
Definitions
- the present invention relates to a reduction gear used in industrial robots and machine tools.
- a mechanism for extending the torque applied to the input shaft in a direction substantially perpendicular to the input shaft and transmitting the torque to the relay shaft to convert the rotation direction and an external gear revolving inside the internal gear are used.
- the present invention relates to a reduction gear having a deceleration unit that decelerates.
- a reduction unit that is compact and realizes a large reduction ratio has been developed.
- An example of this decelerating unit is disclosed in JP-A-62-218087 and JP-A-2004-293640.
- This type of reduction unit is said to be an inscribed planetary gear type reduction mechanism, and includes a crankshaft that rotates the eccentric cam eccentrically by rotating, an external gear that revolves by rotating with the eccentric cam, and an external gear.
- An internal gear that surrounds the toothed gear and meshes with the external gear and has a number of teeth different from the number of teeth of the external gear is provided.
- the external gear rotates when the rotation of the internal gear is constrained, and the internal gear rotates when the rotation of the external gear is constrained. Compared to the rotation speed of the crankshaft, the rotation speed of the external gear or the internal gear is greatly reduced.
- the relay shaft is arranged in a posture substantially orthogonal to the input shaft to which the motor torque is input.
- a mechanism that changes the rotation direction by connecting both the input shaft and the relay shaft with a gear and a reduction unit are used in combination. Torque can be transmitted from the input shaft arranged substantially orthogonally to the relay shaft by interlacing the pair of bevel gears or the pair of hypoid gears.
- the reduction ratio of the reduction gear is also referred to as a total reduction ratio
- the reduction ratio of the reduction unit or The reduction ratio of the rotation direction changing gear mechanism may be adjusted to an appropriate value.
- the reduction ratio of the reduction unit can be adjusted.
- the gear ratio of the pair of bevel gears or the pair of hypoid gears constituting the rotation direction changing gear mechanism the reduction ratio of the rotation direction changing gear mechanism can be adjusted.
- the reduction gear device can be maintained in a compact size, so that a mechanism for exclusively adjusting the reduction gear ratio is incorporated. Is a strong force that has been adopted.
- the conventional method there are disadvantages to the conventional method.
- the number of teeth of the internal gear or the number of teeth of the external gear is selected to an appropriate value.
- the reduction ratio 1Z40 can be obtained by setting the number of teeth of the external gear to 39.
- a reduction ratio of 1Z20 can be obtained.
- a reduction ratio of 1Z20 can also be obtained by setting the number of teeth of the internal gear to 20 and the number of external gears to 19.
- internal gears and external gears are formed by complex machining, and when internal gears and external gears are manufactured for each desired total reduction ratio, many types of internal gears and external gears are produced. Gears need to be aligned, and production costs are very high.
- the gear ratio of the pair of bevel gears or the pair of hypoid gears is changed.
- the diameter of the gear is often changed, and the positional relationship between the input shaft and the relay shaft must be changed as well as the number of teeth.
- the shape of the pedestal that houses the pair of gears must also change.
- the present invention provides a technique for realizing a reduction gear in which the total reduction ratio without changing the rotation direction changing gear mechanism and the reduction unit is adjusted to a desired value.
- the reduction gear device of the present invention includes a rotation direction changing gear mechanism, a reduction ratio adjusting gear mechanism, and a reduction unit.
- the rotation direction changing gear mechanism includes a pedestal, an input shaft that is rotatably supported by the pedestal, and a relay shaft that is rotatably supported by the pedestal in a posture substantially orthogonal to the input shaft. .
- the input shaft is formed with an input gear that rotates together with the input shaft.
- the relay shaft is formed with a relay gear that meshes with the input gear and rotates together with the relay shaft.
- the reduction ratio adjusting gear mechanism includes a first spur gear that rotates integrally with the relay gear, a second spur gear that meshes with the first spur gear, and a second spur gear that meshes with the second spur gear. It has 3 spur gears.
- the second spur gear is formed of a second upper spur gear, a shaft portion, and a second lower spur gear. The second upper spur gear, the shaft portion, and the second lower spur gear rotate together. The first spur gear and the second lower spur gear mesh, and the second upper spur gear and the third spur gear mesh.
- the reduction unit surrounds the external gear and the crankshaft that rotates in unison with the third spur gear and that rotates eccentrically with the rotation, the external gear that revolves by engaging with the eccentric cam, and the external gear. And an internal gear having a different number of teeth than that of the external gear, and meshing with the external gear.
- the reduction gear described above rotates by changing at least one of the first spur gear, the second spur gear, and the third spur gear of the gear ratio adjusting gear mechanism to another gear having a different number of teeth.
- the total reduction ratio can be changed without changing the direction changing gear mechanism and the reduction unit.
- a mechanism for adjusting the reduction ratio exclusively is interposed between the rotation direction changing gear mechanism and the reduction unit in the reduction gear. That is, according to the present invention, an unnecessary mechanism is intentionally incorporated in the reduction gear if the reduction gear ratio of the rotational direction changing gear mechanism or the reduction gear unit is adjusted to an appropriate value in order to realize a reduction gear having a desired total reduction gear ratio.
- This is a disadvantageous method for making the speed reducer compact, and has not been used in the past.
- the total reduction ratio is adjusted to the desired value without improving the rotation direction changing gear mechanism and the reduction unit. Can be realized.
- the reduction ratio of the reduction ratio adjusting gear mechanism must be adjusted to an appropriate value.
- the reduction gear ratio adjusting gear mechanism is exclusively for adjusting the reduction gear ratio and is constituted by a spur gear train, so that the reduction gear ratio can be easily adjusted to a desired value. Introducing a mechanism to adjust the reduction ratio exclusively, contrary to conventional wisdom, requires a gear mechanism for adjusting the reduction ratio, which is disadvantageous for storing the reduction gear compactly. There is no need to improve the conversion gear mechanism and the reduction gear unit, and it is only necessary to adjust the gear ratio adjustment gear mechanism that can be adjusted easily.
- the reduction gear of the present invention includes a carrier that follows the external gear and rotates around the center of the internal gear, and the carrier rotates integrally with the output shaft of the reduction gear. It is preferable to employ a unit.
- the speed reduction unit includes a carrier that supports the crankshaft so as to be capable of rotating, and rotates around the center of the internal gear following the external gear.
- the third spur gear revolves around the second spur gear.
- the speed reducer according to the present invention has only the first spur gear added, and the total speed reduction ratio can be adjusted by adding a minimum number of parts.
- the speed reduction device is configured by supporting the rotation direction changing gear mechanism and the speed reduction unit on the pedestal.
- the second spur gear is preferably supported so as to be able to rotate around the center of the carrier.
- the first spur gear is fixed to the relay shaft of the rotation direction changing gear mechanism
- the third spur gear is fixed to the crankshaft of the reduction unit.
- the speed reduction device is configured by fixing the rotation direction changing gear mechanism and the speed reduction unit to the base.
- a through hole extending along the central axis is formed in each of the external gear, the carrier, and the second spur gear.
- a cable, wiring, or the like can be passed through the through hole. This facilitates the processing of cables and wiring and prevents troubles such as disconnection in them.
- the present invention also provides a new method for manufacturing a reduction gear having a rotation direction changing gear mechanism, a reduction gear ratio adjusting gear mechanism, and a reduction gear unit.
- the input shaft, to which the input gear is fixed is supported on the pedestal so that it can rotate, and the relay gear and the first spur gear are fixed to support the relay shaft so that it can rotate.
- a step of completing a speed reduction unit having a carrier that rotates around the shaft, and a third spur gear fixed to the crankshaft, a step of supporting the second spur gear on the carrier in a rotatable manner, and a second spur gear.
- Reduction gear with gear and third spur gear And a step of fixing the internal gear knit base.
- the rotation direction changing gear mechanism in which the first spur gear is fixed Then, the reduction gear unit to which the second spur gear and the third spur gear are attached is completed separately, and by fixing them together, the assembly of the reduction gear is completed. It is relatively easy to assemble a reduction gear whose total reduction ratio is adjusted to a desired value.
- the timing for fixing the third spur gear to the crankshaft may be during the process of assembling the speed reduction unit or after the speed reduction unit is completed.
- FIG. 1 shows a gear reduction device of Embodiment 1.
- FIG. 3 A cross-sectional view taken along line III-III in FIG. 1 is shown.
- FIG. 4 An enlarged view of dotted area A in FIG. 3 is shown.
- a hole larger than the relay gear is formed in the part of the pedestal that accommodates the relay shaft.
- the outer diameter of the first spur gear is smaller than the outer diameter of the relay gear.
- a through hole is formed in the center of the speed reducer, and wiring can pass through the through hole.
- FIG. 1 shows a cross-sectional view of the main part of the speed reducer 10 of this embodiment.
- the reduction gear 10 includes a rotation direction changing gear mechanism 16, a reduction unit 15, and a reduction ratio adjusting gear mechanism 32.
- FIG. 2A shows the input shaft unit 62 before being assembled to the pedestal 52.
- FIG. 2B shows the relay shaft unit 44 before being assembled to the base 52.
- FIG. 2C shows the speed reduction unit 15 before being assembled to the pedestal 52.
- FIG. 2D shows the pedestal 52.
- the first spur gear 42 constituting the reduction gear ratio adjusting gear mechanism 32 is fixed to the relay shaft 46 of the relay shaft unit 44.
- the shaft portion 24 of the second spur gear 27 constituting the reduction gear ratio adjusting gear mechanism 32 is supported by the bearing 26a so as to be capable of rotating with respect to the carrier 12b of the reduction gear unit 15.
- the third spur gear 28 constituting the reduction gear ratio adjusting gear mechanism 32 is fixed to the crankshaft 72 of the reduction gear unit 15.
- the first spur gear 42 is fixed to the relay shaft 46 by bolts 67.
- the second spur gear 27 is composed of a second upper spur gear 29, a shaft portion 24, and a second lower spur gear 30 fixed to the shaft portion 24 by bolts 31.
- the second spur gear 27 is supported by a bearing 26a so as to be capable of rotating with respect to the carrier 12b and not to be displaced in the axial direction.
- the third spur gear 28 is fixed to the end of the crankshaft 72.
- the first spur gear 42 is fixed to the relay shaft unit 44, and the second spur gear 27 and the third spur gear 28 are assembled to the reduction gear 15, then the input shaft unit 62 and the relay shaft. Assemble unit 44 and reduction unit 15 to base 52.
- the relay shaft unit 44 and the first spur gear 42 may be individually assembled to the base 52.
- the second spur gear 27, the third spur gear 28, and the reduction unit 15 may be individually assembled to the base 52.
- the relay shaft 46 is coupled to the crankshaft 72 of the speed reduction unit 15 via a gear ratio adjusting gear mechanism 32 including spur gears 42, 30, 29, and 28.
- the pedestal 52 includes a first hole 65 for accommodating the input shaft unit 62, a second hole 38 for accommodating the relay shaft unit 44, wiring, and the like.
- Pull to reducer 10 A hole 18 for inserting and a hole 22 for pulling out wiring and the like to the outside of the speed reducer 10 are formed.
- the bearing 69 that supports the radial load generated when the first spur gear 42 transmits torque
- the bearing 26b that supports the second spur gear 27 so that it can rotate and cannot be displaced in the axial direction
- An oil seal 23 is provided to prevent oil from leaking.
- a first flat surface 17 for positioning the speed reduction unit 15 with respect to the pedestal 52 and a second flat surface 20 for fixing the speed reduction device 10 to the fixed surface are formed.
- the input shaft unit 62 includes an input shaft 58, an input gear 63 that rotates together with the input shaft 58, and an input shaft housing 66. Between the input shaft 58 and the input shaft housing 66, there is a pair of angular ball bearings 54a and 54b that support the input shaft 58 so that it can rotate with respect to the input shaft housing 66 and cannot be displaced in the axial direction. It is assembled between the shaft 58 and the input shaft housing 66. In the input shaft unit 62, the input gear 63 is assembled at a position where the input gear 63 is exposed from the input shaft housing 66 at the tip of the input shaft housing 66. The diameter of the input gear 63 is smaller than the diameter of the input shaft housing 66.
- the input gear 63 can pass through the first hole 65 for fixing the input shaft housing 66.
- An oil seal 61 is inserted between the input shaft 58 and the input shaft housing 66 to prevent the oil in the reduction gear from flowing out to the outside.
- a seal cap 73 (see Fig. 1) is installed in the hollow portion at the tip of the input shaft 58. Even if the output shaft 60a of the motor 60 is removed from the input shaft 58, the oil in the speed reducer 10 remains inside. It can be prevented from flowing out.
- the input shaft unit 62 is fixed to the base 52 by inserting the input shaft unit 62 into the first hole 65 from the input gear 63 side and tightening the bolt 64. The depth at which the input shaft unit 62 is inserted into the base 52 can be adjusted by simply changing the thickness of the spacer 34a.
- the relay shaft unit 44 includes a relay shaft 46, a relay gear 40 that rotates together with the relay shaft 46, and a relay shaft housing 50. Between the relay shaft 46 and the relay shaft housing 50 are provided with a pair of angular ball bearings 48a and 48b that support the relay shaft 46 so that it can rotate with respect to the relay shaft housing 50 and cannot be displaced in the axial direction. It is assembled between the shaft 46 and the relay shaft housing 50. In the relay shaft unit 44, the relay gear 40 is assembled at a position where the relay gear 40 is exposed from the relay shaft housing 50 at the end of the relay shaft housing 50.
- the first spur gear 42 of the reduction gear ratio adjusting gear mechanism 32 is fixed to the relay shaft 46 by a bolt 67.
- the first spur gear 42 rotates together with the relay gear 40.
- the diameter of the relay gear 40 is smaller than the diameter of the relay shaft housing 50, and the relay gear 40 can pass through the second hole 38 for fixing the relay shaft housing 50.
- the relay shaft unit 44 is fixed to the base 52 by inserting the relay shaft unit 44 into the second hole 38 from the relay gear 40 side and tightening the bolt 36. The depth at which the relay shaft unit 44 is inserted into the base 52 can be adjusted simply by changing the thickness of the spacer 34b.
- the first spur gear 42 is fixed to the relay shaft 46 by bolts 67.
- the first spur gear 42 is supported by a bearing 69 on the opposite side fixed to the relay shaft 46 so as to be rotatable with respect to the pedestal 52.
- the input shaft unit 62 and the relay shaft unit 44 are separately completed in advance, and fixed to the common base 52, whereby the rotational direction changing gear mechanism 16 is completed.
- the meshing state of the input gear 63 and the relay gear 40 is adjusted by changing the thickness of the spacers 34a and 34b.
- the rotational direction changing gear mechanism 16 and the first spur gear 42 of the reduction ratio adjusting gear mechanism 32 are completed.
- the deceleration unit 15 includes a crankshaft 72 on which eccentric cams 74a and 74b are formed, and engages with the eccentric cams 74a and 74b to revolve around the crankshaft 72 as the crankshaft 72 rotates.
- the tooth gears 70a and 70b and the internal tooth pins that surround the external gears 70a and 70b and mesh with the external teeth are provided.
- the number of teeth of the internal tooth pin is different from the number of teeth of the external tooth.
- a third spur gear 28 that rotates integrally with the crankshaft 72 is fixed to the crankshaft 72.
- the crankshaft 72 is supported by a pair of tapered roller bearings 71a and 71b so that it can rotate with respect to the carriers 12a and 12b and cannot be displaced in the axial direction.
- Crankshaft 72 rotates Then, the eccentric cams 74a and 74b rotate eccentrically.
- the eccentric cams 74a and 74b rotate eccentrically, the external gears 70a and 70b revolve around the crankshaft 72.
- the carriers 12a and 12b are placed so as to sandwich the external gears 70a and 70b, and are fixed by the Bonole 14.
- the carriers 12a and 12b are supported by a pair of anguilla ball bearings 14a and 14b so as to be able to rotate with respect to the internal gear 8 and not to be displaced in the axial direction.
- the columnar portion 13 of the carrier 12a passes through the through holes formed in the external gears 70a and 70b.
- the carriers 12a and 12b cannot rotate with respect to the external gears 70a and 70b. When the external gears 70a and 70b rotate, the carriers 12a and 12b also rotate.
- FIG. 3 shows a cross section taken along line III-III in FIG. As shown in FIG. 3, a total of twelve through holes 80a to 801 are formed in the external gear 70a in the circumferential direction.
- FIG. 4 shows an enlarged view of a region A surrounded by a broken line in FIG. 74a in the figure shows an eccentric cam formed on the crankshaft 72a.
- the outer shape of the eccentric cam 74a is circular, and its center 74x is eccentric from the center axis 72x of the crankshaft 72a.
- the eccentric cam 74a is engaged with the through hole 80a of the external gear 70a via the needle bearing 76a.
- the center 74x of the eccentric cam 74a rotates eccentrically around the center axis 72x of the crankshaft 72a as indicated by an arrow 90.
- the external gear 70a Since the external gear 70a is engaged with the eccentric cam 74a, when the crankshaft 72a rotates around the central axis 72x, the external gear 70a revolves around the central axis 72x of the crankshaft 72a.
- the center 74x of the eccentric cam 74a rotates eccentrically as indicated by an arrow 90
- the external gear 70a revolves around the central axis 82 of the internal gear 8 as shown by an arrow 88 (see FIG. 3).
- the revolution radius of arrows 90 and 88 is shown larger than actual, and the actual revolution radius is equal to the offset distance between the center 74x of the eccentric cam 74a and the center 72x of the crankshaft 72a.
- Illustrations 74e and 74i shown in FIG. 3 are eccentric cams, and the operation and effects thereof are the same as those of the eccentric cam 74a, and thus the description thereof is omitted.
- the number of external teeth of the external gear 70a is one less than the number of teeth of the internal tooth pin.
- the external gear 70a There is enough space to allow 88 revolutions.
- the external gear 70a With some external teeth in the circumferential direction of the external gear 70a meshing with some internal teeth pins 86 in the circumferential direction of the internal gear 8, the external gear 70a It can revolve around the central axis 8 2 of the toothed gear 8.
- the internal pin 86 is not fixed to the internal gear 8 but is disposed in the groove 8a (see FIG. 4) formed in the internal gear 8 and rotates around the center 86x of the internal gear pin 86. It is possible.
- the relation between the internal pin 86 and the internal gear 8 is common to all 60 internal pins.
- the internal gear 8 is fixed to the pedestal 52 by bolts 68 (see FIG. 1). Therefore, when the crankshaft 72a rotates, the external gear 70a rotates while revolving around the central shaft 82. When the external gear 70a rotates, the carriers 12a and 12b also rotate following the rotation of the external gear 70a. Since the external gear 70a has 59 teeth and the internal gear 8 has 60 teeth, when the external gear 70a revolves 60 times, the external gear 70a rotates once. That is, when the crankshaft 72a rotates 60 times, the external gear 70a rotates once.
- a through hole 84 is formed in the central portion of the external gear 70a, and the cylindrical body 79 passes through the through hole 84.
- a through hole 78 is formed in the cylindrical body 79, and a cable, wiring, or the like can pass through the inside of the through hole 78.
- the crankshaft 72a is symmetrical with respect to the center axis 72x of rotation of the crankshaft 72a, and a relationship that ensures a rotational balance is realized.
- a reduction gear ratio adjusting gear mechanism 32 is provided between the rotation direction changing gear mechanism 16 and the reduction unit 15 by assembling the rotation direction changing gear mechanism 16 and the reduction unit 15. It is formed.
- the reduction gear ratio adjusting gear mechanism 32 can change the rotation speed of the relay shaft 46 of the rotation direction changing gear mechanism 16 and transmit it to the crankshaft 72 of the reduction gear unit 15.
- 2A to 2D are cross-sectional views of the main parts of the input shaft unit 62, the relay shaft unit 44, the speed reduction unit 15, and the pedestal 52 before the speed reduction device 10 is assembled.
- the reduction ratio adjusting gear mechanism 32 is divided into gears constituting the reduction ratio adjusting gear mechanism 32 and fixed to the relay shaft unit 44 or the reduction unit 15.
- the first spur gear 42 is fixed to the relay shaft unit 44.
- the second spur gear 27 and the third spur gear 28 are fixed to the speed reduction unit 15.
- the pedestal 52 has a first hole 65 into which the input shaft unit 62 is inserted, a second hole 38 into which the relay shaft unit 44 is inserted, and a hole through which wiring or the like passes inside or outside the rotation direction changing gear mechanism 16. 18, a hole 22 through which wiring and the like pass inside and outside of the reduction unit 15, a first flat surface 17 for positioning the reduction unit 15, and a second flat surface 20 for fixing the reduction device 10 are formed.
- the bearing 69, the bearing 26b that supports the second spur gear 27 so as to rotate, and the oil inside the speed reduction unit 15 leak out below the speed reduction device 10.
- An oil seal 23 is also formed to prevent it.
- the input shaft unit 62 is assembled before being incorporated into the pedestal 52.
- the pair of bearings 54a and 54b allows the input shaft 58 to be rotated with respect to the input shaft housing 66 so that it cannot be displaced in the axial direction.
- a seal 61 is formed between the input shaft 58 and the input shaft housing 66. The oil seal 61 can prevent leakage to the hydraulic motor 60 side inside the reduction gear 10.
- the relay shaft unit 44 is also assembled before being assembled to the base 52.
- the relay shaft 46 is connected to the relay shaft housing by the pair of bearings 48a and 48b. Can be rotated with respect to the shaft 50 and cannot be displaced in the axial direction.
- the first spur gear 42 of the reduction gear ratio adjusting gear mechanism 32 is fixed to the upper surface of the relay shaft 46 with a bolt 67.
- the speed reduction unit 15 is also assembled before being incorporated into the base 52.
- a preload is applied by the pair of bearings 14a and 14b so that the carriers 12a and 12b can rotate with respect to the internal gear 8 and cannot be displaced in the axial direction.
- the pair of tapered roller bearings 71a and 71b preloads the crankshaft 72 so that it can rotate with respect to the carriers 12a and 12b but cannot be displaced in the axial direction.
- the input shaft unit 62 is inserted into the first hole 65 of the pedestal 52, and the relay shaft unit 44 is inserted into the second hole 38 of the pedestal 52.
- the input shaft unit 62 and the relay shaft unit 44 are fixed to the base 52.
- the lower surface of the internal gear 8 of the speed reduction unit 15 is brought into surface contact with the first flat surface 17 of the rotational direction changing gear mechanism 16 so that the positional relationship between the two is changed to the desired positional relationship, and then the internal gear. 8 and pedestal 52 are fixed with bolts 68.
- the reduction gear unit 15 is fixed to the pedestal 52, the first spur gear 42 and the second spur gear 27 mesh with each other so that rotational torque can be transmitted between the gears of the reduction gear adjusting gear mechanism 32. become.
- the second flat surface 20 formed on the pedestal 52 of the rotation direction changing gear mechanism 16 is fixed to a non-moving surface such as a substrate.
- the motor 60 attached to the fixed base 56 is fixed to the base 52.
- the output shaft 60a of the motor 60 and the input shaft 58 are coupled by a coupling means such as a key so that torque can be transmitted.
- the rotation of the input shaft 58 is transmitted to the relay gear 40 that meshes with the input gear 63.
- the rotation direction is changed by the input gear 63 and the relay gear 40.
- the rotation transmitted to the relay gear 40 is reduced in speed by the reduction gear ratio adjusting gear mechanism 32. After the conversion, it is transmitted to the crankshafts 72a, 72e, 72i (see FIG. 3).
- the crankshaft 72a rotates around the central axis 72x (see FIG. 4), and the eccentric cams 74a and 74b (see FIG. 1) revolve around the central axis 72x.
- the crankshafts 72e and 72i perform the same operation.
- the eccentric cams 74a and 74b revolve, the external gears 70a and 70b revolve around the central shaft 82 as indicated by an arrow 88 in a state of being engaged with the internal gear 8 via the internal tooth pin 86.
- the internal gear 8 is fixed to the pedestal 52 by bolts 68. That is, the internal gear 8 is constrained to rotate, and the external gears 70a and 70b are allowed to rotate.
- the external gears 70a and 70b revolve in a state of being engaged with the internal gear 8
- the external gears 70a and 70b and the internal gear 8 have different numbers of teeth, so the external gears 70a and 70b rotate.
- the carriers 12a and 12b rotate around the central axis 82. That is, the carrier 12a, 12b force S becomes an output portion of torque.
- the reduction gear device 10 of the present embodiment can reduce the rotation speed of the motor 60 and output it. That is, the first spur gear 42, the second lower spur gear 30, the second upper spur gear 29, and the third spur gear of the reduction gear ratio adjusting gear mechanism 32 disposed between the rotation direction changing gear mechanism 16 and the speed reduction unit 15.
- the reduction ratio of the reduction gear device 10 can be changed. In this case, by making at least one gear have a predetermined number of teeth, the number of teeth of the corresponding counterpart gear is also made different.
- the reduction gear 10 of the present invention changes the total reduction ratio of the reduction gear 10 by changing the reduction ratio of the reduction gear adjustment gear mechanism 32 without changing the rotation direction changing gear mechanism 16 and the reduction unit 15. can do.
- the input gear is unitized and the relay gear is unitized.
- the input gear may be united, only the relay gear may be united, or both the input gear and the relay gear may not be engaged.
- the input gear and Z or relay gear may be fixed directly to the base.
- the carrier that rotates following the rotation of the external gear is the torque output unit, but the internal gear may be the torque output unit. In this case, when a part of the carrier is fixed to the pedestal, the internal gear rotates by revolving around the center of the internal gear while the external gear is surrounded by the internal gear.
- the second flat surface of the pedestal is fixed to a non-moving surface such as a substrate.
- the speed reducer of the present invention can be used as a welding positioner used in a welding robot by fixing to a non-moving surface such as a substrate. It can also be used as a turning drive for industrial robots.
Abstract
Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020087028994A KR101376006B1 (ko) | 2006-04-28 | 2007-04-20 | 감속 기어 기구 및 그 제조 방법 |
JP2008513178A JP5174657B2 (ja) | 2006-04-28 | 2007-04-20 | 減速装置とその製造方法 |
US12/226,574 US20090118050A1 (en) | 2006-04-28 | 2007-04-20 | Reduction Gear Transmission and Manufacturing Method Thereof |
EP07742088A EP2014949A1 (en) | 2006-04-28 | 2007-04-20 | Reduction gear mechanism, and its manufacturing method |
CN2007800154084A CN101432547B (zh) | 2006-04-28 | 2007-04-20 | 减速装置及其制造方法 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2006126203 | 2006-04-28 | ||
JP2006-126203 | 2006-04-28 |
Publications (1)
Publication Number | Publication Date |
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WO2007125835A1 true WO2007125835A1 (ja) | 2007-11-08 |
Family
ID=38655361
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/JP2007/058653 WO2007125835A1 (ja) | 2006-04-28 | 2007-04-20 | 減速装置とその製造方法 |
Country Status (6)
Country | Link |
---|---|
US (1) | US20090118050A1 (ja) |
EP (1) | EP2014949A1 (ja) |
JP (1) | JP5174657B2 (ja) |
KR (1) | KR101376006B1 (ja) |
CN (1) | CN101432547B (ja) |
WO (1) | WO2007125835A1 (ja) |
Cited By (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7534184B2 (en) | 2003-03-26 | 2009-05-19 | Sumitomo Heavy Industries, Ltd. | Oscillating inner gearing planetary gear system |
JP2009127700A (ja) * | 2007-11-21 | 2009-06-11 | Nabtesco Corp | 減速装置 |
JP2010101366A (ja) * | 2008-10-22 | 2010-05-06 | Nabtesco Corp | 歯車伝動装置 |
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JP2010101366A (ja) * | 2008-10-22 | 2010-05-06 | Nabtesco Corp | 歯車伝動装置 |
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WO2010079683A1 (ja) | 2009-01-09 | 2010-07-15 | ナブテスコ株式会社 | 歯車伝動装置 |
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JP2011196486A (ja) * | 2010-03-19 | 2011-10-06 | Sumitomo Heavy Ind Ltd | 減速装置、および該減速装置を備える動力伝達部構造 |
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CN101985969A (zh) * | 2010-12-15 | 2011-03-16 | 重庆易控科技有限责任公司 | 一种用高速电机控制的大减速比减速器 |
CN105090446A (zh) * | 2014-05-09 | 2015-11-25 | 纳博特斯克有限公司 | 轴向变换齿轮装置 |
JP2015215034A (ja) * | 2014-05-09 | 2015-12-03 | ナブテスコ株式会社 | 軸方向変換歯車装置 |
CN105090446B (zh) * | 2014-05-09 | 2019-02-22 | 纳博特斯克有限公司 | 轴向变换齿轮装置 |
DE102016205517A1 (de) | 2015-04-14 | 2016-10-20 | Nabtesco Corporation | Zahnradgetriebevorrichtung |
KR20160122639A (ko) | 2015-04-14 | 2016-10-24 | 나부테스코 가부시키가이샤 | 기어 전동 장치 |
JP2018176410A (ja) * | 2017-04-18 | 2018-11-15 | ナブテスコ株式会社 | ポジショナ |
JP7012463B2 (ja) | 2017-04-18 | 2022-01-28 | ナブテスコ株式会社 | ポジショナ |
JP7424816B2 (ja) | 2019-12-13 | 2024-01-30 | ファナック株式会社 | ロボットの関節構造 |
Also Published As
Publication number | Publication date |
---|---|
EP2014949A1 (en) | 2009-01-14 |
CN101432547A (zh) | 2009-05-13 |
CN101432547B (zh) | 2012-02-22 |
KR20090008419A (ko) | 2009-01-21 |
JPWO2007125835A1 (ja) | 2009-09-10 |
JP5174657B2 (ja) | 2013-04-03 |
KR101376006B1 (ko) | 2014-03-19 |
US20090118050A1 (en) | 2009-05-07 |
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