WO2013061533A1 - 歯車伝動装置 - Google Patents

歯車伝動装置 Download PDF

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Publication number
WO2013061533A1
WO2013061533A1 PCT/JP2012/006577 JP2012006577W WO2013061533A1 WO 2013061533 A1 WO2013061533 A1 WO 2013061533A1 JP 2012006577 W JP2012006577 W JP 2012006577W WO 2013061533 A1 WO2013061533 A1 WO 2013061533A1
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WO
WIPO (PCT)
Prior art keywords
external
tooth
processed
axial direction
pin
Prior art date
Application number
PCT/JP2012/006577
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
義昭 牧添
隆 成瀬
Original Assignee
ナブテスコ株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ナブテスコ株式会社 filed Critical ナブテスコ株式会社
Priority to CN201280051928.1A priority Critical patent/CN103890452B/zh
Priority to KR1020147013672A priority patent/KR101947216B1/ko
Priority to DE112012004442.8T priority patent/DE112012004442B4/de
Publication of WO2013061533A1 publication Critical patent/WO2013061533A1/ja

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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 a gear transmission.
  • the gear transmission described in Patent Document 1 is provided with a plurality of internal teeth pins that mesh with two external gears.
  • Each internal tooth pin has the 1st meshing part, the 2nd meshing part, and the connection part which connects these. Both ends in the axial direction of each meshing portion are subjected to crowning processing (FIGS. 3 and 6 of Patent Document 1). Thereby, the edge stress which arises between the tooth surface of each external gear and the outer peripheral surface of the axial direction both ends in each meshing part of an internal tooth pin is reduced.
  • FIG. 7 of patent document 1 not only an internal tooth pin but the tooth surface of the both ends of each external gear is also crowned. Thereby, the edge stress which arises between the tooth surface of the both ends of each external gear and the outer peripheral surface of the axial direction both ends of each meshing part of an internal tooth pin is further reduced.
  • both ends of the first meshing portion of each internal tooth pin are crowned, and both ends of the second meshing portion are crowned. Since a process in which the meshing portion is connected by the connecting portion is necessary, there is a problem that the cost is increased. In addition to this, when both ends of each external gear are subjected to crowning as shown in FIG. 7 of Patent Document 1, the number of man-hours required for crowning is further increased and the cost is increased.
  • the gear transmission according to the present invention is An outer cylinder having an inner peripheral surface in which a plurality of pin grooves extending in the axial direction are provided at predetermined intervals in the circumferential direction; A plurality of internal teeth pins arranged in each of the plurality of pin grooves; A crankshaft having a first eccentric portion and a second eccentric portion arranged side by side in the axial direction with a predetermined phase difference from each other, and provided to be rotatable around the axis in the outer cylinder; It has an outer peripheral surface provided with first external teeth, is attached to the first eccentric portion, and swings in conjunction with the eccentric rotation of the first eccentric portion while the first external teeth mesh with the internal tooth pin.
  • a rotating first external gear It has an outer peripheral surface provided with second external teeth, is attached to the second eccentric portion, and swings in conjunction with the eccentric rotation of the second eccentric portion while the second external teeth mesh with the internal tooth pin.
  • a rotating second external gear A carrier that rotates relative to the outer cylinder by transmitting the swinging rotation of the first external gear and the second external gear.
  • the first external tooth has a first processed portion at one end in the axial direction.
  • the tooth surface of the first processed portion is processed so as to be located radially inward as it goes toward the axial end of the tooth surface.
  • the second external tooth has a second processed portion at one end portion in the axial direction.
  • the tooth surface of the second processed portion is processed so as to be positioned radially inward as it goes toward the axial end of the tooth surface.
  • Each internal tooth pin has a first reduced diameter portion and a second reduced diameter portion.
  • the first reduced diameter portion is processed so that the diameter of the portion opposed to the end portion of the first external tooth on the side where the first processed portion is not provided decreases in the axial direction.
  • the second reduced diameter portion is processed so that the diameter of the portion opposed to the end portion of the second external tooth on the side where the second processed portion is not provided decreases in the axial direction. ing.
  • FIG. 2 is a sectional view taken along line II-II in FIG. It is an expanded sectional view which shows the structure of the meshing part vicinity of the internal gear pin and external gear in the gear transmission shown in FIG. It is the expansion perspective view for demonstrating the structure of the meshing part vicinity of the internal gear pin and external gear in the gear transmission shown in FIG. 1, and is the figure which fractured
  • the gear transmission which concerns on 2nd Embodiment of this invention is shown, It is an expanded sectional view which shows the structure of the meshing part vicinity of an internal gear pin and an external gear.
  • the gear transmission 1 is applied as a speed reducer to, for example, a turning unit such as a turning drum or arm joint of a robot, or a turning unit of various machine tools.
  • the first external gear 14 swings and rotates in conjunction with the first eccentric portion 10a of the crankshaft 10, and in conjunction with the second eccentric portion 10b of the crankshaft 10.
  • the second external gear 16 By rotating the second external gear 16 in an oscillating manner, an output rotation decelerated from the input rotational speed is obtained.
  • the gear transmission 1 includes an outer cylinder 2, a large number of internal tooth pins 3, a carrier 4, an input shaft 8, a plurality of (for example, three) crankshafts 10, and a first outer shaft.
  • the tooth gear 14, the second external gear 16, and a plurality of (for example, three) transmission gears 20 are provided.
  • the outer cylinder 2 constitutes the outer surface of the gear transmission 1 and has a substantially cylindrical shape.
  • a large number of pin grooves 2 b are formed on the inner peripheral 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 2 b are arranged at equal intervals in the circumferential direction on the inner peripheral surface of the outer cylinder 2.
  • Each internal tooth pin 3 is attached to a corresponding pin groove 2b. Specifically, each internal tooth pin 3 is fitted in the corresponding pin groove 2b. The axial direction of each internal tooth pin 3 extends along the axial direction of the outer cylinder 2. Thereby, the many internal tooth pins 3 are arranged at equal intervals along the circumferential direction of the outer cylinder 2. In the pin groove 2b, each internal tooth pin 3 can rotate around its axis. The first external gear 14 and the second external gear 16 mesh with these internal teeth pins 3. The detailed structure of the internal tooth pin 3 will be described later.
  • the carrier 4 is accommodated in the outer cylinder 2 in a state of being arranged coaxially with the outer cylinder 2.
  • the carrier 4 rotates relative to the outer cylinder 2 around the same axis.
  • the carrier 4 is supported so as to be rotatable relative to the outer cylinder 2 by a pair of carrier bearings 6 that are provided apart from each other in the axial direction.
  • the carrier 4 includes a base portion 4a, an end plate portion 4b, and a plurality of (for example, three) shaft portions 4c.
  • the configuration is not limited to this.
  • the base portion 4 a is disposed on the one end side in the axial direction of the outer cylinder 2 in the outer cylinder 2.
  • a circular through hole 4d is provided in the central portion of the base portion 4a in the radial direction.
  • a plurality of (for example, three) crankshaft mounting holes 4e (hereinafter simply referred to as mounting holes 4e) are provided at equal intervals in the circumferential direction.
  • the three shaft portions 4c are integrally provided on the base portion 4a and linearly extend from the base portion 4a to the end plate portion 4b side.
  • the three shaft portions 4c are arranged at equal intervals in the circumferential direction (see FIG. 2).
  • Each shaft portion 4c is fastened to the end plate portion 4b by a bolt 4h (see FIG. 1). Thereby, the base part 4a, the shaft part 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 through hole 4f of the end plate portion 4b and the through hole 4d of the base portion 4a.
  • the input shaft 8 is arranged such that its axis coincides with the axes of the outer cylinder 2 and the carrier 4.
  • the input shaft 8 rotates around that axis.
  • An input gear 8 a is provided on the outer peripheral surface of the distal end portion of the input shaft 8.
  • the three crankshafts 10 are arranged at equal intervals around the input shaft 8 in the outer cylinder 2 (see FIG. 2). Each crankshaft 10 is attached to the corresponding attachment hole 4e of the base portion 4a and the attachment hole 4g of the end plate portion 4b (see FIG. 1). Specifically, the axially inner portion of each crankshaft 10 by a predetermined length from one axial end is mounted in the mounting hole 4e of the base portion 4a via the first crank bearing 12a. On the other hand, the other axial end portion of each crankshaft 10 is mounted in the mounting hole 4g of the end plate portion 4b via the second crank bearing 12b. Each crankshaft 10 is supported by both crank bearings 12a and 12b so as to be rotatable about the axis with respect to the carrier 4.
  • Each crankshaft 10 has a first eccentric portion 10a and a second eccentric portion 10b arranged in the axial direction between portions supported by both crank bearings 12a and 12b.
  • Each of the first eccentric portion 10a and the second eccentric portion 10b has a cylindrical shape.
  • the first eccentric portion 10a and the second eccentric portion 10b are each eccentric from the axis of the crankshaft 10 by a predetermined amount of eccentricity, and are arranged so as to have a phase difference of a predetermined angle.
  • a fitted portion 10c to which the transmission gear 20 is attached is provided at one end of the crankshaft 10, that is, a portion on the outer side in the axial direction from a portion attached in the attachment hole 4e of the base 4a.
  • the first external gear 14 is disposed in the closed space in the outer cylinder 2.
  • the first external gear 14 is attached to the first eccentric portion 10a of each crankshaft 10 via a first roller bearing 18a.
  • first roller bearing 18a When each crankshaft 10 rotates and the first eccentric portion 10a rotates eccentrically, the first external gear 14 swings and rotates while meshing with the internal pin 3 in conjunction with the eccentric rotation.
  • the first external gear 14 has a size slightly smaller than the inner diameter of the outer cylinder 2.
  • the first external gear 14 includes first external teeth 14a, a central through hole 14b, a plurality of (for example, three) first eccentric portion insertion holes 14c, and a plurality of (for example, three). It has a shaft portion insertion hole 14d.
  • the configuration is not limited to this.
  • the central through hole 14 b is provided in the radial center of the first external gear 14.
  • the input shaft 8 is inserted into the central through hole 14b with play.
  • the three first eccentric portion insertion holes 14c are provided at equal intervals in the circumferential direction around the central through hole 14b in the first external gear 14.
  • the first eccentric portion 10a of the corresponding crankshaft 10 is inserted into each first eccentric portion insertion hole 14c with the first roller bearing 18a interposed.
  • the three shaft part insertion holes 14d are provided at equal intervals in the circumferential direction around the central part through hole 14b in the first external gear 14.
  • Each shaft portion insertion hole 14d is disposed at a position between the three first eccentric portion insertion holes 14c in the circumferential direction.
  • the corresponding shaft portion 4c is inserted into each shaft portion insertion hole 14d with play.
  • the detailed structure of the first external teeth 14a will be described later.
  • the second external gear 16 is disposed in the closed space in the outer cylinder 2.
  • the second external gear 16 is attached to the second eccentric portion 10b of each crankshaft 10 via a second roller bearing 18b.
  • the first external gear 14 and the second external gear 16 are provided side by side in the axial direction corresponding to the arrangement of the first eccentric portion 10a and the second eccentric portion 10b.
  • the second external gear 16 rotates and rotates while meshing with the internal tooth pin 3 in conjunction with the eccentric rotation.
  • the second external gear 16 has a size slightly smaller than the inner diameter of the outer cylinder 2.
  • the second external gear 16 includes the second external teeth 16a, the central through hole 16b, a plurality of (for example, three) second eccentric portion insertion holes 16c, and a plurality of (for example, three) shaft portion insertions. It has a hole 16d.
  • the configuration is not limited to this. These have the same structure as the first external teeth 14a, the central through hole 14b, the plurality of first eccentric portion insertion holes 14c, and the plurality of shaft portion insertion holes 14d of the first external gear 14.
  • the second eccentric portion 10b of the corresponding crankshaft 10 is inserted in each second eccentric portion insertion hole 16c with the second roller bearing 18b interposed. The detailed structure of the second external teeth 16a will be described later.
  • Each transmission gear 20 transmits the rotation of the input gear 8a to the corresponding crankshaft 10.
  • Each transmission gear 20 is externally fitted to a fitted portion 10 c provided at one end of the corresponding crankshaft 10.
  • Each transmission gear 20 rotates integrally with the crankshaft 10 about the same axis as the rotation axis of the crankshaft 10.
  • Each transmission gear 20 has external teeth 20a that mesh with the input gear 8a.
  • each internal tooth pin 3 has a substantially cylindrical shape.
  • Each internal tooth pin 3 is formed by cutting and / or polishing a single bar-shaped metal material.
  • the outer peripheral surface of each internal tooth pin 3 is subjected to crowning by cutting and / or polishing.
  • the outer diameter of the axial direction both ends of each internal tooth pin 3 is small compared with the outer diameter of the site
  • Each internal tooth pin 3 has a first reduced diameter portion 31 located at one end in the axial direction, a second reduced diameter portion 32 located at the other end in the axial direction, and these reduced diameter portions 31. , 32 and a columnar part (intermediate part) 33.
  • the first reduced diameter portion 31, the columnar portion 33, and the second reduced diameter portion 32 are integrally formed side by side in this order in the axial direction.
  • the first reduced diameter portion 31, the second reduced diameter portion 32, and the columnar portion 33 have a circular cross section orthogonal to the axial direction.
  • the columnar portion 33 has a cylindrical shape, and the outer diameter thereof is constant in the axial direction.
  • the first reduced diameter portion 31 has a tapered shape.
  • the outer diameter of the first reduced diameter portion 31 is gradually reduced toward one end edge in the axial direction.
  • the second reduced diameter portion 32 has a tapered shape.
  • the outer diameter of the second reduced diameter portion 32 is gradually reduced toward the other end edge in the axial direction. Therefore, in each internal tooth pin 3, the outer diameter of the columnar part 33 is the largest.
  • the outer peripheral surface of the first reduced diameter portion 31 and the outer peripheral surface of the second reduced diameter portion 32 are curved surfaces that are convex outward.
  • the outer peripheral surface of the first reduced diameter portion 31 and the outer peripheral surface of the second reduced diameter portion 32 are smoothly curved toward the respective end edges.
  • the columnar portion 33 is a portion where the first external gear 14 and the second external gear 16 mesh. Specifically, as shown in FIGS. 3 and 4, the portion of the columnar portion 33 on the first reduced diameter portion 31 side from the vicinity of the center in the axial direction is in relation to the first external teeth 14 a of the first external gear 14. The first external teeth 14a mesh with this portion. On the other hand, the portion of the columnar portion 33 on the second reduced diameter portion 32 side from the vicinity of the center in the axial direction is provided at a position facing the second external teeth 16a of the second external gear 16 in the radial direction. The second external teeth 16a mesh with this part.
  • the first reduced diameter portion 31 is provided at a position facing the axially outer end portion of the first external tooth 14a in the radial direction.
  • the second reduced diameter portion 32 is provided at a position facing the axially outer end portion of the second external tooth 16a in the radial direction.
  • the first external teeth 14 a are provided on the outer peripheral surface of the first external gear 14.
  • the tooth surface of the first external tooth 14a has a wave shape that is smoothly continuous over the entire circumferential direction in a cross section orthogonal to the axial direction (cross section shown in FIG. 2).
  • the tooth surface of the first external tooth 14a has a crest located on the radially outer side and a trough located on the radially inner side alternately arranged along the circumferential direction.
  • Each mountain and each valley have a substantially arc shape in a cross section perpendicular to the axial direction.
  • the plurality of peaks and the plurality of valleys form a smooth curved surface as a whole.
  • the boundary between the ridges and valleys adjacent to each other is the tip (peak) of the ridge located on the outermost side and the bottom of the valley located on the innermost side in the radial direction of the first external gear 14. It is the site
  • the number of teeth of the first external teeth 14a is set slightly smaller than the number of internal tooth pins 3. In the present embodiment, the number of teeth of the first external teeth 14 a is set to be one less than the number of internal tooth pins 3. However, the configuration is not limited to this.
  • the second external teeth 16a have the same structure as the first external teeth 14a described above.
  • the first external teeth 14 a mesh with a portion of the internal teeth pin 3 on the first reduced diameter portion 31 side of the columnar portion 33.
  • the second external teeth 16 a mesh with the portion of the columnar portion 33 of the internal tooth pin 3 on the second reduced diameter portion 32 side.
  • the first external teeth 14 a include a first external tooth main body portion 141 and a first processing portion 142.
  • the second external teeth 16 a include a second external tooth main body portion 161 and a second processing portion 162.
  • the first external tooth main body 141 is a part whose tooth surface is parallel to the axial direction.
  • the first external tooth main body portion 141 extends from the boundary portion with the first processing portion 142 to the edge of the tooth surface opposite to the first processing portion 142 in the axial direction.
  • the first external tooth main body 141 opposes the first reduced diameter portion 31 of the internal tooth pin 3 in the radial direction and opposes a part of the columnar portion 33 of the internal tooth pin 3 in the radial direction.
  • a part of the first external tooth main body 141 is located on the second external tooth 16 a side with respect to the first reduced diameter portion 31 of the internal tooth pin 3.
  • the axial length of the first external tooth main body 141 is larger than the axial length of the first processed portion 142.
  • the second external tooth main body 161 is a part whose tooth surface is parallel to the axial direction.
  • the second external tooth main body 161 extends from the boundary portion with the second processed portion 162 to the edge of the tooth surface opposite to the second processed portion 162 in the axial direction.
  • the second external tooth main body 161 is opposed to the second reduced diameter portion 32 of the internal tooth pin 3 in the radial direction, and is opposed to a part of the columnar portion 33 of the internal tooth pin 3 in the radial direction.
  • a part of the second external tooth main body 161 is located closer to the first external tooth 14 a than the second reduced diameter portion 32 of the internal tooth pin 3.
  • the axial length of the second external tooth main body 161 is larger than the axial length of the second processed portion 162.
  • the 2nd process part 162 is a site
  • the 2nd process part 162 is provided over the whole circumferential direction of the 2nd external tooth 16a. That is, the 2nd process part 162 is provided in all the crests and troughs located in a line with the circumferential direction.
  • the second processed portion 162 faces the part of the columnar portion 33 of the internal tooth pin 3 in the radial direction of the internal tooth pin 3.
  • the processing depth in the peak portion and the processing depth in the trough portion may be similar, but are not limited thereto.
  • the processing depth in the peak portion may be larger than the processing depth in the valley portion.
  • tip (peak) of the peak part in the 1st external tooth 14a protrudes to a radial direction outer side so that the contact to the internal tooth pin 3 may be suppressed at the time of the rocking
  • the amount is preferably adjusted. The same applies to the tip of the peak portion of the second external tooth 16a.
  • the first eccentric portion 10a and the second eccentric portion 10b of each crankshaft 10 rotate eccentrically.
  • the first external gear 14 oscillates and rotates while meshing with the portion of the columnar portion 33 of the internal tooth pin 3 on the first reduced diameter portion 31 side.
  • the second external gear 16 swings and rotates while meshing with the portion of the columnar portion 33 of the internal tooth pin 3 on the second reduced diameter portion 32 side.
  • the swing rotation of the first external gear 14 and the second external gear 16 is transmitted to the carrier 4 through each crankshaft 10, and the entire carrier 4 is rotated with respect to the outer cylinder 2 at a speed reduced from the input rotation. Relative rotation.
  • FIG. 5 shows the gear transmission 1 according to the second embodiment of the present invention, and is an enlarged cross-sectional view showing the structure in the vicinity of the meshing portion between the internal tooth pin 3 and the external gears 14 and 16.
  • components similar to those in the first embodiment are denoted by the same reference numerals as those in the first embodiment, and description thereof is omitted.
  • each internal tooth pin 3 includes a first reduced diameter portion 34 and a second reduced diameter portion 35 that are located near the center in the axial direction, and a first reduced diameter portion 34.
  • the first columnar portion 36 is positioned at one outer end portion in the axial direction
  • the second columnar portion 37 is positioned at the other outer end portion in the axial direction than the second reduced diameter portion 35.
  • the first columnar portion 36 has a cylindrical shape, and its outer diameter is constant in the axial direction.
  • the second columnar portion 37 has a cylindrical shape, and the outer diameter thereof is constant in the axial direction.
  • the first reduced diameter portion 34 is processed so as to decrease in diameter from the boundary with the first columnar portion 36 toward the second reduced diameter portion 35 in the axial direction.
  • the second reduced diameter portion 35 is processed so as to reduce the diameter from the boundary with the second columnar portion 37 toward the first reduced diameter portion 34 in the axial direction.
  • the outer peripheral surface of the first reduced diameter portion 34 and the outer peripheral surface of the second reduced diameter portion 35 are curved surfaces that are convex outward.
  • the outer peripheral surface of the first reduced diameter portion 34 and the outer peripheral surface of the second reduced diameter portion 35 are smoothly curved toward each other boundary portion.
  • the outer diameter of each internal tooth pin 3 is the smallest at the boundary between the first reduced diameter portion 34 and the second reduced diameter portion 35.
  • the first processed portion 142 of the first external tooth 14a is provided at an outer end portion located on one outer side in the axial direction of the first external tooth 14a.
  • the 1st process part 142 is a site
  • the second processed portion 162 of the second external tooth 16a is provided at the outer end located on the other outer side in the axial direction of the second external tooth 16a.
  • the 2nd process part 162 is a site
  • the first reduced diameter portion 34, the first processed portion 142, and the second processed portion 162 are not opposed to the radial direction of the internal tooth pin 3.
  • the second reduced diameter portion 35, the first processed portion 142, and the second processed portion 162 are not opposed to the radial direction of the internal tooth pin 3.
  • the first reduced diameter portion 34 is opposed to the end portion (the inner end portion in the axial direction) of the first outer teeth 14a where the first processed portion 142 is not provided in the radial direction of the inner tooth pin 3.
  • the second reduced diameter portion 35 is opposed to the end portion (the inner end portion in the axial direction) of the second outer teeth 16a where the second processed portion 162 is not provided in the radial direction of the inner tooth pin 3. .
  • the first external tooth 14a is provided with the first processed portion 142 at one end, and the second external tooth 16a has either one.
  • the 2nd process part 162 is provided in the edge part.
  • Each internal tooth pin 3 has a first reduced diameter portion at a portion that is radially opposed to an end portion where the first processed portion 142 is not provided and an end portion where the second processed portion 162 is not provided. 31 (34) and a second reduced diameter portion 32 (35) are provided. That is, in order to suppress the occurrence of edge stress between the first external teeth 14a and the second external teeth 16a and the internal tooth pins 3, the first external teeth 14a, the second external teeth 16a and the internal tooth pins In 3, the minimum necessary part is processed.
  • the first embodiment will be specifically described as an example.
  • each internal tooth pin 3 only both end portions 31 and 32 thereof are crowned and the intermediate portion 33 is not crowned.
  • the first external teeth 14a and the second external teeth 14b only the end portions adjacent to each other in the axial direction (the inner end portion of the first outer teeth 14a and the inner end portion of the second external teeth 16a) are crowned. Yes. Thereby, the increase in processing cost can be suppressed, suppressing that the edge stress arises between the 1st external tooth 14a and the 2nd external tooth 16a, and each internal tooth pin 3.
  • the amount of correction (the amount of swelling or the amount of relief in the direction of the tooth trace) needs to be within the tolerance.
  • the crowning position of the inner tooth pin and the crowning position of the outer tooth are opposed to each other in the radial direction.
  • the processing tolerance of 1/2 of the tolerance of the said modification amount is calculated
  • the crowning position of the inner tooth pin and the crowning position of the outer tooth are not opposed in the radial direction. Therefore, the processing tolerances of the first reduced diameter portion 31 (34) and the second reduced diameter portion 32 (35) in the internal tooth pin may be the above-described adjustment amount tolerance. Further, since the processing tolerance is wide, it is not necessary to widen the tolerance range of the crowning amount. Thus, in 1st and 2nd embodiment, there exists an advantage that process management of a process becomes easy compared with the gear transmission described in FIG.
  • the 1st process part 142 is provided in the edge part by the side of the 2nd external tooth 16a among the axial direction both ends in the 1st external tooth 14a, and the 2nd process part 162 is a 2nd external tooth.
  • the first reduced-diameter portion 31 is provided at one end portion in the axial direction of each internal tooth pin 3 and is provided at the end portion on the first outer tooth 14a side of both axial ends of 16a.
  • 32 is provided at the other axial end of each internal tooth pin 3.
  • the diameter-reduced portions 31 and 32 are provided at both axial ends of each internal tooth pin 3, and compared with the case where the diameter-reduced portions 34 and 35 are provided at the axially intermediate portion as in the second embodiment. Processing becomes easier. Thereby, processing cost can be reduced more effectively.
  • part processed into the curved shape so that the tooth surface of the 1st process part 142 and the 2nd process part 162 may be located inside radial direction as it goes to an axial direction edge part was illustrated.
  • the tooth surfaces of the first processing unit 142 and the second processing unit 162 are, for example, inclined surfaces that are inclined at, for example, an acute angle with respect to the axial direction in the cross section shown in FIG. 3 (a cross section parallel to the axial direction). Also good.
  • the input shaft 8 is provided at the center in the radial direction, but the present invention is not limited to this.
  • the input shaft 8 may be provided at a position shifted in the radial direction from the center.
  • crankshafts for example, three crankshafts are provided.
  • one crankshaft may be provided at a radial center.
  • a cable or the like is disposed in the cylinder.
  • the carrier rotates relative to the outer cylinder.
  • the carrier may be fixed and the outer cylinder may be rotated relative to the carrier, or the outer cylinder may be fixed and the carrier may be rotated relative to the outer cylinder. .
  • the gear transmission is An outer cylinder having an inner peripheral surface in which a plurality of pin grooves extending in the axial direction are provided at predetermined intervals in the circumferential direction; A plurality of internal teeth pins arranged in each of the plurality of pin grooves; A crankshaft having a first eccentric portion and a second eccentric portion arranged side by side in the axial direction with a predetermined phase difference from each other, and provided to be rotatable around the axis in the outer cylinder; It has an outer peripheral surface provided with first external teeth, is attached to the first eccentric portion, and swings in conjunction with the eccentric rotation of the first eccentric portion while the first external teeth mesh with the internal tooth pin.
  • a rotating first external gear It has an outer peripheral surface provided with second external teeth, is attached to the second eccentric portion, and swings in conjunction with the eccentric rotation of the second eccentric portion while the second external teeth mesh with the internal tooth pin.
  • a rotating second external gear A carrier that rotates relative to the outer cylinder by transmitting the swinging rotation of the first external gear and the second external gear.
  • the first external tooth has a first processed portion at one end in the axial direction.
  • the tooth surface of the first processed portion is processed so as to be located radially inward as it goes toward the axial end of the tooth surface.
  • the second external tooth has a second processed portion at one end portion in the axial direction.
  • the tooth surface of the second processed portion is processed so as to be positioned radially inward as it goes toward the axial end of the tooth surface.
  • the first processed portion is provided at any one end of the first external teeth
  • the second processed portion is provided at any one end of the second external teeth.
  • Each internal tooth pin has a first reduced diameter portion and a second reduced diameter portion at a portion that is radially opposed to an end portion where the first processed portion is not provided and an end portion where the second processed portion is not provided.
  • Each of the reduced diameter portions is provided. That is, in order to suppress the occurrence of edge stress between the first external tooth and the second external tooth and each internal tooth pin, the minimum necessary amount in each of the first external tooth, the second external tooth, and each internal tooth pin. Processing is applied to the limited part. Thereby, increase in processing cost can be suppressed, suppressing that an edge stress arises between the 1st external tooth and the 2nd external tooth, and each internal tooth pin.
  • a reduced diameter portion is provided at each axial end of each internal tooth pin.
  • the machining becomes easier as compared with the case where the reduced diameter portion is provided in the axially intermediate portion of the internal tooth pin, so that the machining cost can be reduced more effectively.

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PCT/JP2012/006577 2011-10-25 2012-10-15 歯車伝動装置 WO2013061533A1 (ja)

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CN201280051928.1A CN103890452B (zh) 2011-10-25 2012-10-15 齿轮传动装置
KR1020147013672A KR101947216B1 (ko) 2011-10-25 2012-10-15 기어 전동 장치
DE112012004442.8T DE112012004442B4 (de) 2011-10-25 2012-10-15 Getriebeübertragungsvorrichtung

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TW (1) TW201335512A (de)
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CN109695665A (zh) * 2017-10-24 2019-04-30 住友重机械工业株式会社 偏心摆动型减速装置

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DE102014112749A1 (de) * 2014-09-04 2016-03-10 Huf Hülsbeck & Fürst Gmbh & Co. Kg Sperrkranzverriegelung
JP6898876B2 (ja) * 2018-02-28 2021-07-07 住友重機械工業株式会社 偏心揺動型減速装置

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JPH05223142A (ja) * 1991-01-31 1993-08-31 Sumitomo Heavy Ind Ltd 複列式内接噛合遊星歯車構造
JP2000249199A (ja) * 1999-03-03 2000-09-12 Sumitomo Heavy Ind Ltd 内接噛合遊星歯車構造の内ローラ及び外ローラ並びにその製造方法
JP2009293650A (ja) * 2008-06-03 2009-12-17 Nabtesco Corp 偏心揺動型歯車装置

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GB0807778D0 (en) * 2008-04-29 2008-06-04 Romax Technology Ltd Apparatus and method for improving radial stresses in a gear transmission mounting
DE102009017014A1 (de) * 2009-04-14 2010-10-28 Ims Gear Gmbh Getriebe, insbesondere Planetengetriebe mit einem Flansch und einem Hohlrad
JP5103444B2 (ja) * 2009-06-26 2012-12-19 住友重機械工業株式会社 遊星歯車減速装置

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JPH05223142A (ja) * 1991-01-31 1993-08-31 Sumitomo Heavy Ind Ltd 複列式内接噛合遊星歯車構造
JP2000249199A (ja) * 1999-03-03 2000-09-12 Sumitomo Heavy Ind Ltd 内接噛合遊星歯車構造の内ローラ及び外ローラ並びにその製造方法
JP2009293650A (ja) * 2008-06-03 2009-12-17 Nabtesco Corp 偏心揺動型歯車装置

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109695665A (zh) * 2017-10-24 2019-04-30 住友重机械工业株式会社 偏心摆动型减速装置

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TW201335512A (zh) 2013-09-01
TWI560380B (de) 2016-12-01
DE112012004442T5 (de) 2014-07-10
CN103890452B (zh) 2016-06-22
DE112012004442B4 (de) 2023-06-07
KR101947216B1 (ko) 2019-02-12
KR20140084239A (ko) 2014-07-04
CN103890452A (zh) 2014-06-25
JP2013092179A (ja) 2013-05-16
JP5798882B2 (ja) 2015-10-21

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