WO2011083640A1 - 歯車伝動装置 - Google Patents
歯車伝動装置 Download PDFInfo
- Publication number
- WO2011083640A1 WO2011083640A1 PCT/JP2010/071349 JP2010071349W WO2011083640A1 WO 2011083640 A1 WO2011083640 A1 WO 2011083640A1 JP 2010071349 W JP2010071349 W JP 2010071349W WO 2011083640 A1 WO2011083640 A1 WO 2011083640A1
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- WIPO (PCT)
- Prior art keywords
- gear
- internal
- external gear
- internal gear
- case
- 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
- F16H1/28—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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
Definitions
- the present application relates to an eccentric oscillating gear transmission.
- the present invention relates to a structure of an internal gear of a gear transmission that includes an internal gear and an external gear that rotates relative to the internal gear while meshing with the internal gear.
- a gear transmission in which one gear rotates eccentrically with respect to the other gear while the internal gear and the external gear mesh with each other is known.
- Such a gear transmission is sometimes called an eccentric oscillating type.
- the number of teeth of the internal gear differs from the number of teeth of the external gear.
- the external gear is supported by the carrier.
- the carrier rotates slowly relative to the internal gear according to the difference in the number of teeth of both gears.
- Patent Document 1 5-180278 is referred to as Patent Document 1.
- the internal gear is often composed of a plurality of grooves formed in the circumferential direction on the inner peripheral surface of the case and a columnar member inserted into each groove.
- the internal gear is supported by the carrier. With the eccentric rotation of the internal gear, the carrier rotates slowly relative to the internal gear.
- a lubricant is enclosed in the case in order to suppress wear of the internal gear and the external gear.
- the external gear is completely immersed in the lubricant
- the lubricant moves in the case with the relative rotation of the external gear and the internal gear. As a result, the lubricant spreads over all teeth of the external gear and all teeth of the internal gear.
- the eccentric oscillating gear transmission includes a type in which the external gear rotates eccentrically and a type in which the internal gear rotates eccentrically.
- a type in which the external gear rotates eccentrically will be described.
- the type in which the external gear rotates eccentrically there are a type in which the carrier rotates while the external gear rotates eccentrically, and a type in which the internal gear rotates in accordance with the eccentric rotation of the external gear.
- the type in which the carrier rotates while the external gear rotates eccentrically will be described.
- the technology disclosed by the present invention can be applied to all types of gear transmissions described above.
- the technology disclosed in the present specification provides a gear transmission that can hold more lubricant between teeth compared to a conventional gear transmission.
- the gear transmission includes an internal gear and an external gear that rotates eccentrically relative to the internal gear while meshing with the internal gear.
- An internal gear is comprised by the 1st hollow currently formed in the inner peripheral surface of a case along with the circumferential direction, and the cylindrical member inserted in a 1st hollow.
- the 2nd hollow is formed in the inner peripheral surface of a case in the distance corresponded to the pitch of the tooth
- the lubricant can be held in the second recess even at a location where the internal gear and the external gear mesh with each other.
- the second recess described above may be formed at a position corresponding to half the pitch of the teeth of the external gear from the center of the first recess.
- both forward and reverse rotations may be required as the output rotation. That is, the external gear (carrier) may rotate not only in one direction (forward direction) but also in the reverse direction. If the second recess is formed at the above-described position, the relative movement between the tooth tip of the external gear and the second recess is the same regardless of whether the rotation is forward or reverse. Therefore, it is possible to realize a gear transmission in which there is no deviation depending on the rotation direction in the flow of the lubricant in the vicinity of the second depression.
- FIG. 2 shows an enlarged cross-sectional view of a range surrounded by a broken line II in Fig. 1.
- FIG. 1 shows a cross-sectional view of the gear transmission 100 taken along a plane orthogonal to the axial direction (axis line 100a).
- the gear transmission 100 includes an external gear 2 and an internal gear 5.
- the internal gear 5 includes the case 4 of the gear transmission 100 and the internal pin 6.
- the internal tooth pin 6 is an example of a columnar member.
- the inner peripheral surface of the case 4 has a cylindrical shape, and the internal tooth pins 6 are inserted into grooves formed on the inner peripheral surface of the case 4. Details of the internal gear 5 will be described later.
- the through hole 22 is formed at the center of the external gear 2.
- the through holes 14 and 16 are formed outside the through hole 22 in the radial direction of the external gear 2.
- the through holes 14 and the through holes 16 are alternately formed along the circumferential direction of the external gear 2.
- Three through holes 14 are formed, and the eccentric body 12 is engaged with each through hole 14 via the cylindrical roller bearing 10.
- the eccentric body 12 is formed on the crankshaft 8.
- the crankshaft 8 extends in a direction orthogonal to the drawing, that is, in the direction of the axis 100 a of the gear transmission 100.
- Reference numeral 8 a indicates the axis of the crankshaft 8.
- the axis 8a is parallel to the axis 100a.
- Both ends of the crankshaft 8 are rotatably supported by the carrier.
- the carrier is composed of a pair of disks (not shown) positioned on both sides of the external gear 2 in the direction of the axis 100a, and a shaft 18 connecting the pair of disks.
- Each end of the crankshaft 8 is supported by a pair of disks.
- a bolt hole 20 is provided in the shaft 18.
- the shaft 18 is bolted to the disk using the bolt hole 20.
- the through hole 22 passes through the gear transmission 100 in the direction of the axis 100a. Wiring, piping, etc. can be passed through the through hole 22.
- the eccentric body 12 rotates eccentrically around the axis 8a.
- the external gear 2 engaged with the eccentric body 12 rotates eccentrically while meshing with the internal gear 5.
- the teeth (internal tooth pins 6) of all the internal gears 5 are always in contact with the external gear 2. That is, the external gear 2 rotates eccentrically with respect to the internal gear 5 while changing the degree of meshing with the internal gear 5.
- the number of teeth of the external gear 2 and the number of teeth of the internal gear 5 (number of internal pins 6) are different. Therefore, when the external gear 2 rotates eccentrically, the carrier 18 that supports the external gear 2 rotates according to the number of teeth difference between the external gear 2 and the internal gear 5. That is, when the crankshaft 8 rotates, the carrier 18 rotates relative to the case 4.
- the axis of the carrier 18 is equal to the axis 100a of the gear transmission 100.
- the carrier 18 corresponds to the output shaft of the gear transmission 100.
- the carrier 18 rotates inside the case 4 as the crankshaft 8 rotates.
- the gear transmission is arranged so that the axis of the output shaft (that is, the axis 100a) is horizontal, the lubricant is carried by the rotation of the external gear 2. Therefore, if an amount of lubricant in which a part of the external gear 2 is immersed in the case 4 is injected, the lubricant is carried to all the teeth of the internal gear 5 (inner peripheral surface of the case 4). .
- FIG. 2 is an enlarged view of a range surrounded by a broken line II in FIG. 1 and shows a portion where the external gear 2 and the internal gear 5 are firmly meshed with each other.
- the internal gear 5 includes the case 4 and the internal tooth pin 6.
- a plurality of pin grooves 36 are formed side by side in the circumferential direction on the inner peripheral surface 30 of the case 4.
- the plurality of pin grooves 36 are formed at equal intervals in the circumferential direction of the inner peripheral surface 30.
- Each pin groove 36 extends along an axis 100a (see FIG. 1).
- An internal tooth pin 6 is inserted into the pin groove 36.
- the pitch of the pin grooves 36 (the pitch of the teeth of the internal gear 5) Pa is equal to the pitch Pb of the teeth of the external gear 2. Therefore, at the place where the external gear 2 and the internal gear 5 are firmly meshed, the tooth tip of the external gear 2 is positioned between the adjacent internal tooth pins 6. In other words, the tooth tip of the external gear 2 is located between the adjacent pin grooves 36.
- An oil groove 38 is formed on the inner peripheral surface 30 of the case 4 between adjacent pin grooves 36.
- the oil groove 38 is formed all between the adjacent pin grooves 36 (see also FIG. 1). In other words, the oil groove 38 is formed in each of the spaces between all two adjacent pin grooves 36.
- the pin groove 36 is an example of a “first depression”, and the oil groove 38 is an example of a “second depression”.
- the oil groove 38 is provided for storing a lubricant.
- the oil groove 38 may be a circular depression or a depression extending along the direction of the axis 100a. Further, the pin groove 36 and the oil groove 38 may extend to both ends of the inner peripheral surface of the case 4 along the direction of the axis 100a.
- the oil groove 38 may have any shape as long as it is a depression formed in the inner peripheral surface 30 of the case 4.
- the oil groove 38 of the present embodiment is formed at a position corresponding to half the pitch Pb of the external gear 2 from the center of the pin groove 36 along the circumferential direction of the case 4. That is, the oil groove 38 is formed at the midpoint between two adjacent pin grooves 36.
- the tooth bottom of the external gear 2 faces the center of the internal tooth pin 6 (that is, the center of the pin groove 36). To do.
- the tooth tip of the external gear 2 faces the oil groove 38. Even when the tooth tip of the external gear 2 approaches the inner peripheral surface 30 of the case 4, the lubricant can be held in the oil groove 38.
- the oil groove 38 is not formed, when the tooth tip of the external gear 2 comes close to the inner peripheral surface 30 of the case 4, the lubricant is present between the two adjacent inner tooth pins 6 and the gap between them. It is pushed out of the space defined by the case inner peripheral surface 30.
- the oil groove 38 for holding the lubricant is formed on the inner peripheral surface of the internal gear 5, so that a large amount of lubrication is provided between the teeth of the internal gear 5. The agent can be retained. As a result, it is possible to suppress wear of the internal gear 5 and the external gear 2 as compared with the conventional gear transmission.
- the position where the oil groove 38 is formed may be within a distance corresponding to the pitch Pb of the external gear 2 from the center of the pin groove 36. That is, the oil groove 38 may be formed at any position as long as it is between the adjacent pin grooves 36. Regardless of the position of the oil groove 38, the lubricant can be held on the inner peripheral surface 30 of the case 4. However, preferably, the position where the oil groove 38 is formed is the midpoint between two adjacent pin grooves 36 as described above. In the gear transmission 100, the tooth tip of the external gear 2 faces the midpoint of the two adjacent pin grooves 36. That is, the tooth tip of the external gear 2 comes closest to the inner peripheral surface 30 of the case 4 at the midpoint between two adjacent pin grooves 36. By providing the oil groove 38 at such a position, the lubricant in the oil groove 38 is easily supplied to the external gear 2. Thereby, it is possible to make it difficult for oil film breakage between the internal gear 5 and the external gear 2 to occur.
- the external gear 2 (carrier 18) of the gear transmission 100 rotates forward or reverse with respect to the case 4.
- the gear transmission is required to rotate in both forward and reverse directions. Therefore, the tooth tip of the external gear 2 may approach the inner peripheral surface 30 of the case 4 from the right side of FIG. If the oil groove 38 is formed at the midpoint between two adjacent pin grooves 36, the external gear 2 may differ in the left and right directions even if the external gear 2 rotates in either the forward or reverse direction. The relative movement of the tooth tip and the oil groove 38 is the same.
- the flow of the lubricant in the vicinity of the oil groove 38 is the same although there is a difference in the flow direction.
- the oil groove 38 By forming the oil groove 38 at the midpoint between two adjacent pin grooves 36, the amount of lubricant held in the oil groove 38 does not cause a deviation depending on the rotation direction of the external gear 2.
- the internal pin 6 may not be inserted into some of the pin grooves 36 formed at equal intervals. In such a case, two or more tooth tips of the external gear 2 are located between the adjacent internal tooth pins 6. Even in such a case, if the oil groove 38 is formed within a distance corresponding to the tooth pitch Pb of the external gear from the center of the pin groove 36, the oil film breakage between the internal gear 5 and the external gear 2 is lost. Can be made difficult to occur.
- the lubricant can also be held in the pin grooves 36.
- the bottom of the external gear 2 faces the pin groove 36, and the tip of the external gear 2 faces the oil groove 38. Opposite. At the position where the tooth tips of the external gear 2 face each other, the gap between the external gear 2 and the inner peripheral surface 30 of the case 4 is the smallest.
- the oil groove 38 between the internal gear 5 and the external gear 2 can be effectively suppressed by providing the oil groove 38 at a position where the tooth tips of the external gear 2 face each other.
- an oil groove may be formed only in some between adjacent pin grooves.
- the oil groove may be formed only in a portion where the internal gear is not immersed in the lubricant.
- the external gear and the internal gear rotate relatively. Even if the oil groove is not formed between all adjacent pin grooves, the lubricant is moved from the oil groove or from the part immersed in the lubricant to the other part as the external gear (carrier) rotates. Carried to.
- one oil groove is formed between adjacent pin grooves, but a plurality of oil grooves may be formed between adjacent pin grooves.
- the internal gear 5 is formed by the pin groove 36 formed on the inner peripheral surface 30 of the case 4 and the internal tooth pin 6.
- Such an internal gear is hereinafter referred to as an internal pin type gear.
- the internal tooth pin can rotate in the pin groove. For this reason, slippage does not occur between the internal gear and the external gear even if the tooth surface is curved in an arc shape, so that the internal pin type gear is excellent in torque transmission characteristics and quietness. For this reason, the internal pin type gear is suitable for an eccentric oscillating gear transmission and is often used. It should be noted that conventionally, no attention has been paid to the shape of the inner peripheral surface of the case other than the pin groove.
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- General Details Of Gearings (AREA)
- Retarders (AREA)
Abstract
Description
Claims (3)
- 内歯歯車と、
内歯歯車に噛み合いながら内歯歯車に対して相対的に偏心回転する外歯歯車と、
を備えており、
前記内歯歯車が、ケースの内周面に周方向に並んで形成されている第1窪みと、その第1窪みに挿入される円柱状部材とで構成されており、
ケースの内周面に、第1窪みの中心から、周方向に沿って外歯歯車の歯のピッチに相当する距離内に、第2窪みが形成されていることを特徴とする歯車伝動装置。 - 前記第2窪みが、第1窪みの中心から前記ピッチの半分に相当する距離の位置に形成されていることを特徴とする請求項1に記載の歯車伝動装置。
- 隣り合う第1窪みの間の全てに、第2窪みが形成されていることを特徴とする請求項1又は2に記載の歯車伝動装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020127020638A KR101715978B1 (ko) | 2010-01-07 | 2010-11-30 | 기어 전동 장치 |
EP10842155.3A EP2522880B1 (en) | 2010-01-07 | 2010-11-30 | Gear transmission |
US13/520,706 US8545358B2 (en) | 2010-01-07 | 2010-11-30 | Gear transmission |
CN201080060792.1A CN102713347B (zh) | 2010-01-07 | 2010-11-30 | 齿轮传动装置 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2010-001941 | 2010-01-07 | ||
JP2010001941A JP5608374B2 (ja) | 2010-01-07 | 2010-01-07 | 歯車伝動装置 |
Publications (1)
Publication Number | Publication Date |
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WO2011083640A1 true WO2011083640A1 (ja) | 2011-07-14 |
Family
ID=44305378
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/JP2010/071349 WO2011083640A1 (ja) | 2010-01-07 | 2010-11-30 | 歯車伝動装置 |
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Country | Link |
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US (1) | US8545358B2 (ja) |
EP (1) | EP2522880B1 (ja) |
JP (1) | JP5608374B2 (ja) |
KR (1) | KR101715978B1 (ja) |
CN (1) | CN102713347B (ja) |
WO (1) | WO2011083640A1 (ja) |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6310764B2 (ja) * | 2014-04-30 | 2018-04-11 | ナブテスコ株式会社 | 歯車伝動装置 |
US10451174B2 (en) * | 2016-07-29 | 2019-10-22 | Seiko Epson Corporation | Robot and gear device |
EP3339235B1 (en) * | 2016-12-21 | 2020-06-03 | Otis Elevator Company | Self-locking gear and people conveyor comprising a self-locking gear |
JP2019039549A (ja) * | 2017-08-29 | 2019-03-14 | 日本電産シンポ株式会社 | 変速機 |
JP6890563B2 (ja) | 2018-03-13 | 2021-06-18 | 住友重機械工業株式会社 | 偏心揺動型減速装置 |
CN109854685A (zh) * | 2019-01-25 | 2019-06-07 | 南京高速齿轮制造有限公司 | 偏心摆动型齿轮减速装置 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
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JPH01144550U (ja) * | 1988-03-29 | 1989-10-04 | ||
JPH05180278A (ja) | 1991-12-26 | 1993-07-20 | Sumitomo Heavy Ind Ltd | 内接噛合遊星歯車構造 |
JP2005517139A (ja) * | 2002-02-08 | 2005-06-09 | クーカ・ロボター・ゲゼルシャフト・ミット・ベシュレンクテル・ハフツング | 潤滑剤用溝を備えた伝動装置 |
JP2009287634A (ja) * | 2008-05-28 | 2009-12-10 | Nabtesco Corp | 歯車伝動装置 |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
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US5322485A (en) | 1991-12-24 | 1994-06-21 | Sumitomo Heavy Industries Ltd. | Internally meshing planetary gear structure |
DE69302700T2 (de) | 1992-01-17 | 1996-09-26 | Sumitomo Heavy Industries | Zykloiden-Getriebevorrichtung, Unter- oder Übersetzungsgetriebe mit dieser Vorrichtung und Verfahren zur Bearbeitung dieses Unter- oder Übersetzungsgetriebes |
JP3715427B2 (ja) * | 1998-03-31 | 2005-11-09 | 住友重機械工業株式会社 | 内接噛合式遊星歯車構造 |
CN2423447Y (zh) * | 1999-12-08 | 2001-03-14 | 徐启 | 椭圆摆线针轮传动装置 |
JP4373597B2 (ja) * | 2000-10-18 | 2009-11-25 | 住友重機械工業株式会社 | 揺動内接噛合遊星歯車機構及び角度伝達誤差低減方法 |
JP2005201308A (ja) | 2004-01-14 | 2005-07-28 | Nabtesco Corp | 偏心揺動型遊星歯車装置 |
US8038562B2 (en) * | 2005-08-18 | 2011-10-18 | Ntn Corporation | Power transmission device |
US8545357B2 (en) * | 2006-12-21 | 2013-10-01 | Nabtesco Corporation | Gear transmission |
JP5065692B2 (ja) * | 2007-01-22 | 2012-11-07 | 住友重機械工業株式会社 | ギヤドモータ |
JP5006838B2 (ja) * | 2008-01-30 | 2012-08-22 | 住友重機械工業株式会社 | 減速装置 |
JP5121696B2 (ja) * | 2008-12-29 | 2013-01-16 | 住友重機械工業株式会社 | 減速装置 |
US20110161452A1 (en) | 2009-12-24 | 2011-06-30 | Rajesh Poornachandran | Collaborative malware detection and prevention on mobile devices |
-
2010
- 2010-01-07 JP JP2010001941A patent/JP5608374B2/ja active Active
- 2010-11-30 KR KR1020127020638A patent/KR101715978B1/ko active IP Right Grant
- 2010-11-30 EP EP10842155.3A patent/EP2522880B1/en active Active
- 2010-11-30 CN CN201080060792.1A patent/CN102713347B/zh active Active
- 2010-11-30 WO PCT/JP2010/071349 patent/WO2011083640A1/ja active Application Filing
- 2010-11-30 US US13/520,706 patent/US8545358B2/en not_active Expired - Fee Related
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
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JPH01144550U (ja) * | 1988-03-29 | 1989-10-04 | ||
JPH05180278A (ja) | 1991-12-26 | 1993-07-20 | Sumitomo Heavy Ind Ltd | 内接噛合遊星歯車構造 |
JP2005517139A (ja) * | 2002-02-08 | 2005-06-09 | クーカ・ロボター・ゲゼルシャフト・ミット・ベシュレンクテル・ハフツング | 潤滑剤用溝を備えた伝動装置 |
JP2009287634A (ja) * | 2008-05-28 | 2009-12-10 | Nabtesco Corp | 歯車伝動装置 |
Non-Patent Citations (1)
Title |
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See also references of EP2522880A4 |
Also Published As
Publication number | Publication date |
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JP2011140981A (ja) | 2011-07-21 |
CN102713347B (zh) | 2015-12-02 |
US20120283062A1 (en) | 2012-11-08 |
EP2522880A1 (en) | 2012-11-14 |
EP2522880A4 (en) | 2013-06-12 |
KR20120110155A (ko) | 2012-10-09 |
EP2522880B1 (en) | 2015-01-07 |
JP5608374B2 (ja) | 2014-10-15 |
CN102713347A (zh) | 2012-10-03 |
KR101715978B1 (ko) | 2017-03-13 |
US8545358B2 (en) | 2013-10-01 |
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