WO2010119631A1 - Ensemble d'engrenages oscillants excentrés - Google Patents

Ensemble d'engrenages oscillants excentrés Download PDF

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Publication number
WO2010119631A1
WO2010119631A1 PCT/JP2010/002411 JP2010002411W WO2010119631A1 WO 2010119631 A1 WO2010119631 A1 WO 2010119631A1 JP 2010002411 W JP2010002411 W JP 2010002411W WO 2010119631 A1 WO2010119631 A1 WO 2010119631A1
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WO
WIPO (PCT)
Prior art keywords
external gear
eccentric
gear
outer cylinder
external
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PCT/JP2010/002411
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English (en)
Japanese (ja)
Inventor
牧添義昭
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ナブテスコ株式会社
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Publication of WO2010119631A1 publication Critical patent/WO2010119631A1/fr

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    • 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
    • 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
    • F16H2001/323—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 comprising eccentric crankshafts driving or driven by a gearing

Definitions

  • the present invention relates to an eccentric oscillating gear device.
  • the eccentric oscillating gear device disclosed in Patent Document 1 includes an outer cylinder having a plurality of internal teeth pins provided on an inner surface thereof, a carrier that is provided in the outer cylinder and is rotatable relative to the outer cylinder.
  • a crankshaft having an eccentric portion, and an external gear attached to the eccentric portion of the crankshaft and swinging and rotating while meshing with an internal tooth pin in conjunction with the rotation of the crankshaft.
  • the carrier includes two members arranged separately on both sides of the external gear in the axial direction, and a plurality of shaft portions connecting the two members.
  • a plurality of through holes penetrating in the axial direction are provided at intervals in the circumferential direction of the external gear at a portion of the external gear that is radially outward from the center. The shaft portion of the carrier is inserted through each through hole.
  • An object of the present invention is to provide an eccentric oscillating gear device that solves the above-described problems.
  • an object of the present invention is to suppress the occurrence of pitching due to the stress received from the end of the internal pin on the tooth surface of the external gear even when the temperature in the eccentric oscillating gear device rises. .
  • An eccentric oscillating gear device includes an outer cylinder, a plurality of internal tooth pins provided on an inner surface of the outer cylinder, and a crankshaft that is rotatably provided in the outer cylinder and has an eccentric portion.
  • An external gear that is attached to the eccentric portion of the crankshaft and that oscillates and rotates in conjunction with the eccentric rotation of the eccentric portion while meshing with the internal tooth pin, and is coaxial with the outer cylinder
  • a carrier that rotates relative to the outer cylinder by transmitting the oscillating rotation of the external gear, and the axial direction of the internal pin among the axial end faces of the external gear
  • a groove portion is formed on the end surface corresponding to this end portion over the entire circumference of the external gear.
  • FIG. 3 is a cross-sectional view of an external gear taken along line III-III in FIG. 2.
  • the eccentric oscillating gear device (hereinafter simply referred to as a gear device) according to the present embodiment is applied as a speed reducer to, for example, a revolving part such as a revolving trunk or arm joint of a robot or a revolving part of various machine tools.
  • This gear device swings and rotates the first external gear 14 in conjunction with the first eccentric portion 10a of the crankshaft 10, and moves the second external gear 16 in conjunction with the second eccentric portion 10b of the crankshaft 10.
  • An output rotation decelerated from the input rotation is obtained by swinging and rotating.
  • the gear device of the present embodiment includes an outer cylinder 2, an internal tooth pin 3, a carrier 4, a carrier bearing 6, an input shaft 8, a crankshaft 10, A first crank bearing 12a, a second crank bearing 12b, a first external gear 14, a second external gear 16, a first roller bearing 18a, a second roller bearing 18b, and a transmission gear 20 are provided. ing.
  • the outer cylinder 2 has a function as a case constituting the outer surface of the gear device, and is formed in a substantially cylindrical shape.
  • a large number of pin grooves 2 b are formed on the inner surface of the outer cylinder 2.
  • Each pin groove 2b extends in the axial direction of the outer cylinder 2, and has a semicircular cross-sectional shape in a cross section orthogonal to the axial direction.
  • These pin grooves 2b are provided on the inner surface of the outer cylinder 2 at equal intervals in the circumferential direction.
  • the internal tooth pin 3 is one in which the first external gear 14 and the second external gear 16 mesh with each other.
  • the internal tooth pin 3 is fitted in each pin groove 2 b formed on the inner surface of the outer cylinder 2.
  • a large number of internal tooth pins 3 are arranged on the inner surface of the outer cylinder 2 at equal intervals in the circumferential direction.
  • Each internal tooth pin 3 is fitted in the pin groove 2b so as to be rotatable about the axis of the inner tooth pin 3 in a posture extending in the axial direction of the outer cylinder 2.
  • the carrier 4 is provided inside the outer cylinder 2 so as to be coaxial with the outer cylinder 2.
  • the carrier 4 is rotatable relative to the outer cylinder 2 around its axis.
  • the carrier 4 is supported so as to be relatively rotatable with respect to the outer cylinder 2 by a pair of carrier bearings 6 that are arranged apart from each other in the axial direction of the outer cylinder 2.
  • the carrier 4 includes a base portion 4a, an end plate portion 4b, and three shaft portions 4c.
  • the base 4a is formed in a substantially disc shape.
  • the base 4 a is disposed in the outer cylinder 2 in the vicinity of one end in the axial direction of the outer cylinder 2, and is supported by one of the pair of carrier bearings 6.
  • a central portion through hole 4d penetrating in the axial direction is provided in the central portion in the radial direction of the base portion 4a.
  • three crankshaft mounting holes 4e (hereinafter simply referred to as mounting holes 4e) are provided at equal intervals in the circumferential direction in a portion around the central through hole 4d of the base 4a.
  • the end plate portion 4b is formed in a substantially disc shape.
  • the end plate portion 4b is provided so as to be separated from the base portion 4a in the axial direction.
  • the end plate portion 4 b is disposed in the outer cylinder 2 in the vicinity of the other end portion in the axial direction of the outer cylinder 2, and is supported by the other of the pair of carrier bearings 6.
  • a space surrounded by both end surfaces of the end plate portion 4b and the base portion 4a facing each other and the inner surface of the outer cylinder 2 is formed in the outer cylinder 2, and the first external gear is formed in this space.
  • 14 and the second external gear 16 are arranged. That is, the end plate portion 4b and the base portion 4a are separately arranged on both sides of the external gears 14 and 16 in the axial direction.
  • the central part through-hole 4f penetrated to an axial direction is provided in the radial direction center part of the end plate part 4b.
  • three crankshaft mounting holes 4g (hereinafter simply referred to as mounting holes 4g) correspond to the three mounting holes 4e of the base portion 4a. Is provided.
  • the three shaft portions 4c connect the base portion 4a and the end plate portion 4b between them.
  • Each shaft portion 4 c is provided integrally with the base portion 4 a and extends linearly from the base portion 4 a toward the end plate portion 4 b along the axial direction of the outer cylinder 2. Further, the three shaft portions 4 c are arranged at equal intervals in the circumferential direction of the outer cylinder 2.
  • Each shaft portion 4c is fastened to the end plate portion 4b by a bolt 4h. Thereby, the base part 4a, the three shaft parts 4c, and the end plate part 4b are integrated.
  • the input shaft 8 functions as an input unit to which rotation is input by a drive motor (not shown).
  • the input shaft 8 is inserted into the central through hole 4f of the end plate 4b and the central through hole 4d of the base 4a.
  • the input shaft 8 is arranged so that the position of the axis coincides with the position of the axis of the outer cylinder 2 and the carrier 4, and rotates around the axis.
  • a gear portion 8 a is provided on the outer peripheral surface of the tip portion of the input shaft 8.
  • crankshafts 10 are provided in the outer cylinder 2. Each crankshaft 10 is attached to a corresponding mounting hole 4e of the base portion 4a and a corresponding mounting hole 4g of the end plate portion 4b. Thus, the three crankshafts 10 are arranged at equal intervals in the circumferential direction around the input shaft 8 in the outer cylinder 2.
  • each crankshaft 10 that is positioned inward in the axial direction by a predetermined length from one end in the axial direction is mounted in the corresponding mounting hole 4e of the base portion 4a via the first crank bearing 12a.
  • the other axial end portion of each crankshaft 10 is mounted in the corresponding mounting hole 4g of the end plate portion 4b via the second crank bearing 12b. That is, each crankshaft 10 is supported by both crank bearings 12a and 12b so as to be rotatable about the respective axes with respect to the carrier 4.
  • each crankshaft 10 has the 1st eccentric part 10a and the 2nd eccentric part 10b, respectively.
  • the first eccentric portion 10a and the second eccentric portion 10b are arranged so as to be aligned in the axial direction between the portions of the crankshaft 10 supported by both the crank bearings 12a and 12b.
  • the first eccentric portion 10a and the second eccentric portion 10b are each formed in a cylindrical shape eccentric from the axis of the crankshaft 10 by a predetermined amount of eccentricity, and have a phase difference of a predetermined angle therebetween. Is arranged.
  • a fitted portion 10c is provided at one end portion of the crankshaft 10, that is, an end portion located on the outer side in the axial direction of a portion of the crankshaft 10 attached to the attachment hole 4e of the base portion 4a.
  • the fitted portion 10c is a portion to which the transmission gear 20 is attached.
  • the first external gear 14 is disposed in a space surrounded by the base portion 4a and the end plate portion 4b in the outer cylinder 2 as described above.
  • the first external gear 14 is attached to the first eccentric portion 10a of each crankshaft 10 via a first roller bearing 18a.
  • the first external gear 14 swings and rotates while meshing with the internal tooth pin 3 in conjunction with the eccentric rotation of the first eccentric portion 10a when each crankshaft 10 rotates.
  • the first external gear 14 is formed in a substantially flat plate shape orthogonal to the axial direction of the crankshaft 10.
  • the first external gear 14 has a pair of end faces in the axial direction thereof.
  • the first external gear 14 includes an external tooth 14a, an input shaft insertion hole 14b, three first eccentric portion mounting holes 14c, three shaft portion insertion holes 14d, A groove 14e is provided.
  • the 1st eccentric part attachment hole 14c and the shaft part insertion hole 14d are contained in the concept of the through-hole of this invention.
  • the external teeth 14 a are provided over the entire outer periphery of the first external gear 14.
  • the external teeth 14 a are engaged with the internal tooth pin 3.
  • the number of teeth of the external teeth 14 a is slightly smaller than the number of internal teeth pins 3.
  • the outer surface of the external tooth 14a becomes the tooth surface 14f formed in the waveform seeing from the axial direction of the 1st external gear 14.
  • the input shaft insertion hole 14 b is provided at the radial center of the first external gear 14.
  • the input shaft 8 is inserted into the input shaft insertion hole 14b with play.
  • the three first eccentric portion mounting holes 14c are provided at positions radially outside of the first external gear 14 from the center.
  • the three first eccentric portion mounting holes 14c are arranged at equal intervals in the circumferential direction around the input shaft insertion hole 14b.
  • the first eccentric portion 10a of the corresponding crankshaft 10 is inserted into each first eccentric portion mounting hole 14c with the first roller bearing 18a interposed.
  • the three shaft portion insertion holes 14d are, as in the case of the first eccentric portion mounting hole 14c, at a position radially outward from the center of the first external gear 14, specifically at positions around the input shaft insertion hole 14b. Is provided.
  • the three shaft portion insertion holes 14 d are arranged at equal intervals in the circumferential direction of the first external gear 14. Further, each shaft portion insertion hole 14d is located at a position between the three first eccentric portion mounting holes 14c and more outward in the radial direction of the first external gear 14 than the first eccentric portion mounting holes 14c. Are disposed at the respective positions.
  • the width in the radial direction of the first external gear 14 in the portion between the first eccentric portion mounting hole 14c and the tooth surface 14f located on the outer side is the tooth located on the outer side from the shaft portion insertion hole 14d. It is larger than the width in the radial direction of the first external gear 14 in the portion up to the surface 14f.
  • the shaft portion 4c corresponding to the carrier 4 is inserted into each shaft portion insertion hole 14d with play.
  • the groove part 14e is formed in the end surface (end surface by the side of the base 4a) corresponding to the axial direction one end part of the internal tooth pin 3 among the axial direction both end surfaces of the 1st external gear 14. As shown in FIG.
  • the groove 14e is formed in a circular shape centered on the axis of the first external gear 14. And the groove part 14e passes along the part between the three 1st eccentric part attaching holes 14c and the tooth surface 14f located in the outer side among the 1st external gears 14, and three shaft part insertion holes 14d and its It passes through a portion between the tooth surface 14f located outside. That is, the groove 14 e is formed over the entire circumference of the first external gear 14 through the vicinity of the tooth surface 14 f of the first external gear 14. Further, the depth of the groove 14e is about half of the thickness of the first external gear 14 as shown in FIG.
  • the second external gear 16 is disposed in a space surrounded by the base portion 4 a and the end plate portion 4 b in the outer cylinder 2, and the second roller bearing 18 b is attached to the second eccentric portion 10 b of each crankshaft 10. Is attached through. That is, the first external gear 14 and the second external gear 16 are provided side by side in the axial direction corresponding to the first eccentric portion 10 a and the second eccentric portion 10 b of the crankshaft 10. Then, the second external gear 16 oscillates and rotates while meshing with the internal tooth pin 3 in conjunction with the eccentric rotation of the second eccentric portion 10b when each crankshaft 10 rotates.
  • the second external gear 16 has the same structure as the first external gear 14.
  • the second external gear 16 includes the external teeth 14a of the first external gear 14, the input shaft insertion hole 14b, the three first eccentric portion mounting holes 14c, the three shaft portion insertion holes 14d, and the groove portion 14e.
  • external teeth 16a having the same structure as the tooth surface 14f, an input shaft insertion hole 16b, three second eccentric portion mounting holes 16c, three shaft portion insertion holes 16d, a groove portion 16e, and a tooth surface 16f are provided.
  • the second eccentric portion 10b of the corresponding crankshaft 10 is inserted into each second eccentric portion mounting hole 16c with the second roller bearing 18b interposed.
  • the groove part 16e is formed in the end surface (end surface by the side of the end plate part 4b) corresponding to the other end part of the axial direction of the internal tooth pin 3 among the both end faces of the 2nd external gear 16 in the axial direction.
  • the transmission gear 20 transmits the rotation of the gear portion 8a of the input shaft 8 to each crankshaft 10.
  • Three transmission gears 20 are provided corresponding to the three crankshafts 10.
  • Each transmission gear 20 is externally fitted to a fitted portion 10 c provided at one end of the corresponding crankshaft 10 among the three crankshafts 10.
  • Each transmission gear 20 rotates integrally with the crankshaft 10 about the same axis as the rotation shaft of the crankshaft 10 to which the transmission gear 20 is attached.
  • Each transmission gear 20 has an external tooth 20 a that meshes with the gear portion 8 a of the input shaft 8.
  • the input shaft 8 of the gear device is rotated by driving a drive motor (not shown). Thereby, the rotation of the input shaft 8 is transmitted to each crankshaft 10 via each transmission gear 20, and each crankshaft 10 rotates.
  • the first eccentric portion 10a and the second eccentric portion 10b of each crankshaft 10 rotate eccentrically.
  • the first external gear 14 swings and rotates while meshing with the internal tooth pin 3 in conjunction with the eccentric rotation of the first eccentric portion 10a, and the second external tooth in conjunction with the eccentric rotation of the second eccentric portion 10b.
  • the gear 16 swings and rotates while meshing with the internal tooth pin 3.
  • the swinging rotation of the first external gear 14 and the second external gear 16 is transmitted to the carrier 4 through each crankshaft 10.
  • the carrier 4 rotates relative to the outer cylinder 2 at a rotational speed decelerated from the rotational speed (input rotational speed) of the input shaft 8.
  • the internal tooth pin 3 swings around its axial intermediate portion. A rotating shake is generated. And the one end part of the internal tooth pin 3 which produced this vibration hits the edge part (end part by the side of the base 4a) corresponding to the one edge part of the internal tooth pin 3 among the tooth surfaces 14f of the 1st external gear 14. Stress is applied to that part.
  • the other end portion of the internal tooth pin 3 causing the vibration is an end portion corresponding to the other end portion of the internal tooth pin 3 of the tooth surface 16f of the second external gear 16 (the end on the end plate portion 4b side). And apply stress to the part.
  • the expansion of the first external gear 14 in the vicinity of the end face where the groove 14e is provided and radially outward due to the temperature rise in the radially inner portion of the groove 14e is performed.
  • the groove 14e Are absorbed by the groove 14e.
  • the expansion amount to the radial direction outer side of the part of the 1st external gear 14 near the end surface corresponding to the one end part of the internal tooth pin 3 decreases.
  • expansion of the second external gear 16 in the vicinity of the end surface where the groove 16e is provided and radially outward due to the temperature rise in the radially inner portion of the groove 16e is absorbed by the groove 16e.
  • the amount of expansion in the radial direction as the temperature rises depends on the portion where the eccentric portion mounting holes 14c and 16c or the shaft portion insertion holes 14d and 16d are provided, and the eccentric portion mounting.
  • the holes 14c and 16c are different from the portions where the shaft portion insertion holes 14d and 16d are not provided. That is, the expansion amount to the outside in the radial direction accompanying the temperature rise of the portions where the eccentric portion mounting holes 14c and 16c and the shaft portion insertion holes 14d and 16d are not provided in the external gears 14 and 16 is the eccentric portion mounting hole. It is larger than the amount of expansion outward in the radial direction accompanying the temperature rise of the portion provided with 14c, 16c and the portion provided with the shaft portion insertion holes 14d, 16d.
  • the groove portions 14e and 16e are provided between the eccentric portion mounting holes 14c and 16c and the tooth surfaces 14f and 16f and between the shaft portion insertion holes 14d and 16d and the tooth surfaces 14f and 16f. It is formed over the entire circumference of the external gears 14 and 16. For this reason, in the portion near the end face where the groove portions 14e and 16e are provided in the external gears 14 and 16, the temperature increases in the portion where the eccentric portion mounting holes 14c and 16c or the shaft portion insertion holes 14d and 16d are provided.
  • the difference between the amount of expansion outward in the radial direction and the amount of expansion outward in the radial direction due to the temperature rise in the portions where the eccentric portion mounting holes 14c and 16c and the shaft insertion holes 14d and 16d are not provided is determined as the grooves 14e and 16e. Can be absorbed by. For this reason, the expansion amount to the outer side in the radial direction accompanying the temperature rise of the portion near the end surface corresponding to each end portion of the internal tooth pin 3 among the external gears 14 and 16 is the entire circumference of the external gears 14 and 16. Is equalized.
  • the end surfaces of the external gears 14 and 16 are arranged on the end surfaces corresponding to the end portions of the internal pins 3 in the axial direction among the both end surfaces of the external gears 14 and 16 in the axial direction.
  • Grooves 14e and 16e are formed over the entire circumference. For this reason, as the temperature in the gear device rises, portions of the external gears 14 and 16 near the end face where the grooves 14e and 16e are provided, and portions inside the grooves 14e and 16e are radially outward. Even if it expand
  • the groove portions 14e and 16e of the external gears 14 and 16 are formed in a circular shape centering on the axis of the external gears 14 and 16. For this reason, when the external gears 14 and 16 are processed, the outer gears 14 and 16 are rotated around their axial centers while the portions where the groove portions 14e and 16e are to be formed are circumferentially surrounded by a cutting tool.
  • the grooves 14e and 16e can be processed simply by cutting into a shape. Therefore, in the present embodiment, for example, the grooves 14e and 16e are easily processed in the external gears 14 and 16 as compared with a structure in which the grooves are bent at a plurality of locations in the circumferential direction of the external gear. be able to.
  • gear device having two external gears 14 and 16 as in the above embodiment, but also a gear device having one external gear, or three external gears arranged in the axial direction.
  • the present invention can also be applied to a gear device having a toothed gear.
  • a gear device having a single external gear when the external gear rotates and rotates while meshing with the internal pin, the shaft of the external gear starts from one end of the internal pin that has caused the vibration. Stress is applied to the tooth surface near one end portion in the direction, and stress is applied from the other end portion of the internal tooth pin to the tooth surface near the other end portion in the axial direction of the external gear. For this reason, groove portions having the same configuration as the groove portion 14e (16e) may be formed on both end surfaces in the axial direction of one external gear.
  • the eccentric part attachment holes 14d and 16d are arrange
  • the eccentric part attachment The hole may be arranged outside the shaft portion insertion hole in the radial direction of the external gear. That is, the width of the portion between the shaft portion insertion hole in the radial direction of the external gear and the tooth surface positioned outside thereof is from the eccentric portion mounting hole in the radial direction of the external gear to the tooth surface positioned outside thereof. It may be larger than the width of the portion between.
  • the shape of the groove formed in the external gear is not limited to a circumferential shape centering on the axis of the external gear.
  • the groove part may be formed in the polygonal shape centering on the axial center of an external gear.
  • the through holes provided in the external gear are not limited to the eccentric part mounting holes 14c and 16c and the shaft part insertion holes 14d and 16d. That is, the through hole provided in the external gear of the present invention may be a through hole for uses other than the eccentric portion mounting holes 14c and 16c and the shaft portion insertion holes 14d and 16d.
  • the eccentric oscillating gear device includes an outer cylinder, a plurality of internal tooth pins provided on the inner surface of the outer cylinder, and a crank that is provided rotatably in the outer cylinder and has an eccentric portion.
  • a carrier that rotates relative to the outer cylinder by transmitting the oscillating rotation of the external gear, and the shaft of the internal pin among both end faces in the axial direction of the external gear.
  • a groove portion is formed on the end surface corresponding to the end portion in the direction over the entire circumference of the external gear.
  • this eccentric oscillating gear device even when the tooth surface of the external gear receives stress from the end of the internal pin, the portion of the external gear located outside the groove is bent inward of the groove. Thereby, the stress received by the tooth surface of the external gear from the internal tooth pin is absorbed. Therefore, in this eccentric oscillating gear device, even when the internal temperature rises, it is possible to suppress the occurrence of pitching due to the stress received from the end of the internal pin on the tooth surface of the external gear.
  • the groove is formed in a circular shape centered on the axis of the external gear.
  • the external gear is rotated around its axis at the time of processing the external gear, and the groove portion of the external gear is simply cut into a circular shape with a cutting tool. Processing can be performed. For this reason, in this structure, a groove part can be easily processed into an external gear compared with the thing of the structure where the groove part is bent in several places in the circumferential direction of an external gear, for example.
  • the external gear has a tooth surface provided on an outer periphery thereof, and a through hole is provided at a position radially outside the axial center of the external gear.
  • the external gear is provided through the portion of the external gear between the through hole and the tooth surface located outside the through hole in the radial direction of the external gear. It is preferable that it is formed over the entire circumference.
  • the amount of expansion to the outside in the radial direction accompanying the temperature rise of the portion of the external gear where the through hole is provided Is smaller than the amount of expansion outward in the radial direction accompanying the equivalent temperature rise in the portion where no through hole is provided.
  • the groove portion is formed over the entire circumference of the external gear through a portion between the through hole and the tooth surface of the external gear, the end surface of the external gear provided with the groove portion.
  • the difference between the amount of expansion outward in the radial direction due to the temperature rise in the portion provided with the through hole and the amount of expansion outward in the radial direction due to the temperature increase in the portion not provided with the through hole in the adjacent portion is the groove portion. Can be absorbed by. For this reason, the expansion amount to the radial direction outer side accompanying the temperature rise of the part of the external gear near the end surface corresponding to the end of the internal pin can be equalized over the entire circumference of the external gear.

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  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)
  • Gears, Cams (AREA)

Abstract

L'invention vise à réduire le tangage des dents d'un engrenage externe, provoqué par une force exercée par une goupille de dents interne dans un ensemble d'engrenages oscillants excentrés. L'ensemble d'engrenages oscillants excentrés comprend un cylindre externe, une pluralité de goupilles de dents internes agencées sur la surface interne du cylindre externe, un axe de manivelle ayant une partie excentrée disposée en rotation dans le cylindre externe, un engrenage externe oscillant adapté sur la partie excentrée de l'axe de manivelle et s'engrenant avec la pluralité de goupilles de dents internes durant un mouvement d'oscillations de l'engrenage externe, et un support disposé de façon concentrique avec le cylindre externe de telle sorte que le mouvement oscillant du cylindre externe est transmis au support pour faire tourner ce dernier. L'ensemble d'engrenages est caractérisé en ce que l'engrenage externe a une rainure annulaire sur l'une des faces d'extrémité axiale qui correspond à une extrémité axiale de chacune des différents goupilles de dents internes.
PCT/JP2010/002411 2009-04-17 2010-04-01 Ensemble d'engrenages oscillants excentrés WO2010119631A1 (fr)

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JP2009-100736 2009-04-17
JP2009100736A JP2010249262A (ja) 2009-04-17 2009-04-17 偏心揺動型歯車装置

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CN102840280A (zh) * 2011-06-23 2012-12-26 精工爱普生株式会社 减速机、机械臂以及机械手
CN104074929A (zh) * 2013-03-29 2014-10-01 住友重机械工业株式会社 减速机系列
TWI572795B (zh) * 2012-08-24 2017-03-01 Nabtesco Corp Eccentric oscillating gear device
CN106481741A (zh) * 2015-08-28 2017-03-08 住友重机械工业株式会社 偏心摆动型齿轮装置及工业用机械手
CN106949196A (zh) * 2015-11-06 2017-07-14 住友重机械工业株式会社 偏心摆动型减速装置
DE102012009837B4 (de) * 2011-06-24 2017-11-16 Sumitomo Heavy Industries, Ltd. Drehzahluntersetzungsgetriebe der oszillierenden inneneingreifenden Bauart
US20220074467A1 (en) * 2019-05-22 2022-03-10 Suzhou Huazhen Industry Rv Reducer Co., Ltd. Hollow reducer for high precision control
US20220074466A1 (en) * 2019-05-22 2022-03-10 Suzhou Huazhen Industry Rv Reducer Co., Ltd. Reducer for high precision control

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JP5988424B2 (ja) * 2012-07-03 2016-09-07 ナブテスコ株式会社 偏心揺動型歯車装置
JP6184546B2 (ja) * 2016-04-06 2017-08-23 ナブテスコ株式会社 偏心揺動型歯車装置
JP6970784B2 (ja) * 2018-11-30 2021-11-24 ナブテスコ株式会社 偏心揺動型歯車装置

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CN102840280A (zh) * 2011-06-23 2012-12-26 精工爱普生株式会社 减速机、机械臂以及机械手
DE102012009837B4 (de) * 2011-06-24 2017-11-16 Sumitomo Heavy Industries, Ltd. Drehzahluntersetzungsgetriebe der oszillierenden inneneingreifenden Bauart
TWI572795B (zh) * 2012-08-24 2017-03-01 Nabtesco Corp Eccentric oscillating gear device
CN104074929A (zh) * 2013-03-29 2014-10-01 住友重机械工业株式会社 减速机系列
CN104074929B (zh) * 2013-03-29 2016-05-25 住友重机械工业株式会社 减速机系列
CN106481741A (zh) * 2015-08-28 2017-03-08 住友重机械工业株式会社 偏心摆动型齿轮装置及工业用机械手
CN106949196A (zh) * 2015-11-06 2017-07-14 住友重机械工业株式会社 偏心摆动型减速装置
US20220074467A1 (en) * 2019-05-22 2022-03-10 Suzhou Huazhen Industry Rv Reducer Co., Ltd. Hollow reducer for high precision control
US20220074466A1 (en) * 2019-05-22 2022-03-10 Suzhou Huazhen Industry Rv Reducer Co., Ltd. Reducer for high precision control
US11644085B2 (en) * 2019-05-22 2023-05-09 Suzhou Huazhen Industry Rv Reducer Co., Ltd. Reducer for high precision control
US11692614B2 (en) * 2019-05-22 2023-07-04 Suzhou Huazhen Industry Rv Reducer Co., Ltd. Hollow reducer for high precision control

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