WO2013108717A1

WO2013108717A1 - Gear transmission device

Info

Publication number: WO2013108717A1
Application number: PCT/JP2013/050431
Authority: WO
Inventors: 真哉廣瀬; 善和堤
Original assignee: ナブテスコ株式会社
Priority date: 2012-01-19
Filing date: 2013-01-11
Publication date: 2013-07-25
Also published as: JP2013148161A; TW201333345A; TWI560379B; JP5875876B2

Abstract

A carrier is supported in a case with a pair of bearings interposed therebetween. The pair of bearings is arranged on the outer side relative to the internal gear in the axial direction of the internal gear. Each of the bearings comprises an outer race, an inner race, and a plurality of spherical rollers. An arc-shaped recess is formed along the entire circumference of the inner peripheral surface of the outer race. An arc-shaped recess is formed along the entire circumference of the outer peripheral surface of the inner race. The pair of bearings is arranged so that, in a cross-section that includes the center axes of the bearings, an extension of the rotation axis of the spherical rollers of one of the bearings and an extension of the rotation axis of the spherical rollers of the other bearing intersect between the two bearings.

Description

Gear transmission

This application claims priority based on Japanese Patent Application No. 2012-009055 filed on January 19, 2012. The entire contents of that application are incorporated herein by reference. This specification discloses the technique regarding a gear transmission.

A gear transmission in which an external gear rotates eccentrically while meshing with an internal gear is known. Such type of gear transmission is disclosed in Japanese Patent Application Laid-Open Nos. 2010-156430 and 2010-159774. In the following description, Japanese Patent Application Laid-Open No. 2010-156430 is referred to as Patent Document 1, and Japanese Patent Application Laid-Open No. 2010-159774 is referred to as Patent Document 2.

In the gear transmissions of Patent Documents 1 and 2, the internal gear is formed on the inner periphery of the case, and the external gear is supported by the carrier. The carrier is supported by the case. The crankshaft is supported by the carrier. The crankshaft is provided with an eccentric body. The external gear engages with the eccentric body of the crankshaft and rotates eccentrically. The number of teeth of the external gear is different from the number of teeth of the internal gear. Therefore, when the external gear rotates eccentrically while meshing with the internal gear, the carrier rotates with respect to the case. In the gear transmission of Patent Document 1, the carrier is supported by the case via an angular ball bearing. Moreover, in the gear transmission of patent document 2, the carrier is supported by the case via the angular roller bearing.

The gear transmissions of Patent Documents 1 and 2 are often used in fields where a large output torque is required. Therefore, a large force acts on the bearing disposed between the carrier and the case. In the case of the gear transmission of Patent Document 1, the rolling element of the bearing is a ball. Therefore, the contact area between the rolling elements and the race is small. The bearing of Patent Document 1 cannot withstand a large force.

In the case of the gear transmission of Patent Document 2, the rolling element of the bearing is a cylindrical roller. Further, the rolling elements are arranged obliquely with respect to the axis of the gear transmission. Therefore, in the axial direction of the rolling element, the diameter of the race is different for each position. Specifically, in the axial direction of the rolling elements, the diameter of the race increases toward the outside of the gear transmission. When the rolling element rolls in the race, the rolling distance of the rolling element varies from position to position, so that slip occurs between the rolling element and the race. Due to this slip, the rotating shaft of the rolling element may be tilted from the original axial direction. As a result, a force for moving the rolling element in the axial direction of the rolling element is generated. Due to this phenomenon, when the carrier and the case rotate relative to each other, a force for moving the rolling element to the outside of the gear transmission acts along the axial direction of the rolling element. In the case of the gear transmission of Patent Document 2, a part that restricts the rolling element from moving in the axial direction is required. As a result, the structure of the gear transmission is complicated. The present specification provides a gear transmission having a simple structure and excellent durability.

The gear transmission disclosed in this specification includes a case, a pair of bearings, a carrier, a crankshaft, and an external gear. An internal gear is formed on the inner periphery of the case. The carrier is supported by the case via a pair of bearings. The carrier is coaxial with the internal gear. The crankshaft is supported by the carrier. The crankshaft is provided with an eccentric body. The external gear engages with the eccentric body of the crankshaft and rotates eccentrically while meshing with the internal gear. In this gear transmission, each of the pair of bearings is disposed outside the internal gear in the axial direction of the internal gear. Each of the pair of bearings includes an outer race in which an arc-shaped depression is formed on the inner circumferential surface, an inner race in which an arc-shaped depression is formed on the outer circumferential surface, and an outer race It is comprised by the some spherical roller arrange | positioned between a race and an inner race. In the cross section including the bearing central axis, the pair of bearings is configured such that the extension line of the rotating shaft of the spherical roller of one bearing and the extension line of the rotating shaft of the spherical roller of the other bearing intersect each other. Is arranged.

The terms used in this specification will be explained. “Arc-shaped depressions are formed in a circle” means that an arc appears on the inner peripheral surface (outer peripheral surface) when the outer (inner) race is observed in any cross section along the bearing central axis. Means that. The bearing central axis is equal to the axis of the internal gear. The “spherical roller” means a shape in which a shape in which both ends of the rolling element are connected with an arc appears when a cross section along the rotation axis of the rolling element is observed. In other words, when a cross section perpendicular to the rotation axis of the rolling element is observed, all the cross sections become circles, and the diameter of the circle increases toward the center in the rotation axis direction of the rolling element. “Spherical rollers” are sometimes called “convex rollers”. In the present specification, the bearing disposed between the case and the carrier may be referred to as a “main bearing”.

According to the above gear transmission, the contact area between the rolling element (spherical roller) and the race can be increased as compared with a gear transmission using an angular ball bearing. Therefore, the gear transmission described above can withstand a large force acting between the carrier and the case. In addition, since an arc is formed on the inner circumferential surface (outer circumferential surface) of the outer (inner) race, even if a force is applied to move the rolling element to the outside of the gear transmission along the axial direction of the rolling element, The movement of the rolling elements in the axial direction is restricted. As described above, in the cross section including the bearing central axis, the pair of bearings has an extension line of the rotating shaft of the spherical roller of one bearing and an extension line of the rotating shaft of the spherical roller of the other bearing. It is arranged to cross between. Therefore, the relative movement of the carrier and the case is restricted both in the axial direction and in the radial direction. Said gear transmission can improve durability with a simple structure rather than the conventional gear transmission.

Sectional drawing of the gear transmission of 1st Example is shown. About the gear transmission of 1st Example, the expanded sectional view of a main bearing is shown. Sectional drawing of the gear transmission of 2nd Example is shown.

Hereinafter, some of the technical features of the embodiments disclosed in this specification will be described. The items described below have technical usefulness independently.

The contact angle between the spherical roller and the inner race may be 30 degrees or more and 60 degrees or less. If it is this range, both an axial load and a radial load can be borne in good balance. The “contact angle between the spherical roller and the inner race” means an angle formed by a surface orthogonal to the bearing center axis and a straight line indicating the direction of the force applied from the spherical roller to the inner race.

The relative rotation speed of the case and the carrier may be 100 rpm or less. Since the temperature rise of the main bearing is suppressed, a large preload can be applied to the main bearing.

When the cross section along the rotation axis of the spherical roller is observed, the center of the circular arc of the spherical roller may be located outside the spherical roller. Since the size of the main bearing is reduced, a small gear transmission can be realized.

(First embodiment)
FIG. 1 shows a cross-sectional view of the gear transmission 100. The gear transmission 100 is a type of reduction device that rotates eccentrically while the external gear 24 meshes with the internal gear 28. Specifically, the gear transmission 100 uses the difference in the number of teeth between the external gear 24 and the internal gear 28 to increase the torque transmitted to the crankshaft 14 (decelerate the rotation) from the carrier 8. Output. In other words, the carrier 8 is rotated with respect to the case 38 using the difference in the number of teeth between the external gear 24 and the internal gear 28. Hereinafter, the basic structure of the gear transmission 100 will be briefly described.

The gear transmission 100 includes a case 38, a carrier 8, a crankshaft 14, and an external gear 24. The internal gear 28 includes a case 38 and a plurality of internal teeth pins 26 arranged on the inner periphery of the case 38. A pair of main bearings 2 (2X, 2Y) is disposed between the case 38 and the carrier 8. The carrier 8 is supported by the case 38 via the pair of main bearings 2. The carrier 8 is coaxial with the internal gear 28. The axis 36 is the axis of the carrier 8 and the internal gear 28. The pair of main bearings 2 are disposed outside the internal gear 28 in the direction of the axis 36. In other words, the internal gear 28 is disposed between the pair of main bearings 2 in the direction of the axis 36. Note that the bearing central axis of the main bearing 2 is equal to the axis 36. Details of the main bearing 2 will be described later.

A flange 38 a extending in the radial direction is formed on the inner peripheral surface of the case 38. As used herein, “radial direction” means a direction perpendicular to the axis 36. The carrier 8 includes a first plate 8a and a second plate 8c. A columnar portion 8b extends from the first plate 8a toward the second plate 8c, and the columnar portion 8b and the second plate 8c are fixed. A first flange 8d extending in the radial direction is formed at the end of the first plate 8a. A second flange 8e extending in the radial direction is formed at the end of the second plate 8c. The oil seal 4 is disposed between the first plate 8a and the case 38. The oil seal 4 prevents the lubricant or the like injected into the gear transmission 100 from leaking out of the gear transmission 100.

The carrier 8 supports the crankshaft 14 and the external gear 24. The crankshaft 14 is supported on the carrier 8 by a pair of bearings 12. The pair of bearings 12 are tapered roller bearings. The axis 34 of the crankshaft 14 is parallel to the axis 36. That is, the crankshaft 14 extends parallel to the axis 36 at a position offset from the axis 36. The crankshaft 14 includes an eccentric body 18 and an input gear 32. The eccentric body 18 is engaged with the external gear 24 via the cylindrical roller bearing 22. The external gear 24 is supported by the carrier 8 via the crankshaft 14. Note that the columnar portion 8 b of the carrier 8 passes through the through hole 24 a of the external gear 24. A gap is secured between the inner wall of the through hole 24a and the columnar portion 8b.

When the torque of the motor (not shown) is transmitted to the input gear 32, the crankshaft 14 rotates. The eccentric body 18 rotates eccentrically with respect to the axis 34 as the crankshaft 14 rotates. As the eccentric body 18 rotates eccentrically, the external gear 24 rotates eccentrically while meshing with the internal gear 28. The number of teeth of the external gear 24 and the number of teeth of the internal gear 28 (number of internal pins 26) are different. As described above, the external gear 24 is supported by the carrier 8, and the internal gear 28 is formed on the inner peripheral surface of the case 38. Therefore, when the external gear 24 rotates eccentrically, the carrier 8 rotates relative to the case 38 according to the difference in the number of teeth between the external gear 24 and the internal gear 28. In the gear transmission 100, the relative rotational speed of the carrier 8 and the case 38 is adjusted to 100 rpm or less.

The extension line of the rotary shaft 40X of the spherical roller of the main bearing 2X and the extension line of the rotary shaft 40Y of the spherical roller of the main bearing 2Y intersect between the main bearing 2X and the main bearing 2Y. More specifically, the extension line of the rotary shaft 40X and the extension line of the rotary shaft 40Y intersect at the midpoint of the main bearing 2X and the main bearing 2Y in the direction of the axis 36. By disposing the main bearing 2 in this manner, the relative movement between the carrier 8 and the case 38 can be restricted in the axial direction and the radial direction. That is, the main bearing 2 can bear both an axial load and a radial load. In the gear transmission 100, the intersection of the rotary shaft 40X and the rotary shaft 40Y is located on the radially inner side of the main bearing 2 when observed from the direction of the axis 36. The

main bearings

2X and 2Y may be arranged so that the intersection of the rotating shaft 40X and the rotating shaft 40Y is located on the radially outer side of the main bearing 2.

The main bearing 2 will be described in detail with reference to FIG. FIG. 2 shows the main bearing 2 </ b> X disposed between the first plate 8 a and the case 38. The structure of the main bearing 2Y (see FIG. 1) is the same as the structure of the main bearing 2X. In the following description, only the main bearing 2X will be described, and description of the main bearing 2Y will be omitted.

The main bearing 2 includes an outer race 56, an inner race 50, a spherical roller 54, and a retainer 52. A plurality of spherical rollers 54 are disposed between the outer race 56 and the inner race 50. The retainer 52 prevents the spherical rollers 54 from contacting each other. The retainer 52 is not in contact with the case 38 and the carrier 8. In other words, clearances are secured between the retainer 52 and the case 38 and between the retainer 52 and the carrier 8. The retainer 52 does not contact the case 38 and the carrier 8 even while the gear transmission 100 is driven.

On the inner peripheral surface 56a of the outer race 56, a circular arc-shaped depression is formed. An outer peripheral surface 56 b of the outer race 56 is fitted in the case 38. An end surface 56c of the outer race 56 in the direction of the bearing center axis 36 (see FIG. 1) is in contact with the flange 38a. On the outer peripheral surface 50b of the inner race 50, an arc-shaped depression is formed in a circle. An inner peripheral surface 50 a of the inner race 50 is fitted to the first plate 8 a of the carrier 8. An end surface 50c of the inner race 50 in the direction of the bearing center axis 36 is in contact with the first flange 8d of the first plate 8a. The curvatures of the rolling surface 54a of the spherical roller 54, the inner peripheral surface 56a of the outer race 56, and the outer peripheral surface 50b of the inner race 50 are substantially equal. In the main bearing 2Y, the end surface of the inner race 50 in the bearing central axis 36 direction is in contact with the second flange 8e of the second plate 8c (see FIG. 1).

In the gear transmission 100, a preload of 10 to 50% of the radial capacity (Cr) is applied to the main bearing 2. In the case of a bearing used in a general machine, a preload of about 3 to 5% of the radial capacity (Cr) is applied to the bearing. That is, in the gear transmission 100, a large preload is applied as compared with a general method of using a bearing. As described above, since the relative rotation speed of the carrier 8 and the case 38 is adjusted to 100 rpm or less, the heat generation of the main bearing 2 is suppressed when the gear transmission 100 is driven. Therefore, the gear transmission 100 can apply a large preload to the main bearing, and can obtain high rigidity. Note that a spacer may be disposed between the end face 50 c of the inner race 50 and the first flange 8 d of the carrier 8 to adjust the preload of the main bearing 2.

The advantages of the main bearing 2 will be described. As described above, the main bearing 2 includes the outer race 56 in which an arc-shaped depression is formed on the inner peripheral surface 56a, the inner race 50 in which an arc-shaped depression is formed on the outer peripheral surface 50b, and the spherical roller 54. It has. Therefore, in the case of the main bearing 2, the contact area between the rolling elements (spherical rollers) and the races (outer race and inner race) is wider than that of a conventional ball bearing (for example, an angular ball bearing). By using the main bearing 2, the durability of the gear transmission can be improved.

Further, during the driving of the gear transmission 100, a force that moves the spherical roller 54 to the outside of the gear transmission 100 along the rotation axis 40X (40Y) of the spherical roller 54 acts. However, since the arc-shaped depressions are formed in the outer race 56 and the inner race 50, the movement of the spherical rollers 54 is restricted. The gear transmission 100 does not require a structure that restricts the movement of the rolling elements, unlike a conventional roller bearing (for example, an angular roller bearing). Further, as described above, since the retainer 52 does not contact the case 38 and the carrier 8, the rotation of the spherical roller 54 is not hindered. The gear transmission 100 can achieve high durability with a simple structure as compared with the conventional gear transmission.

1 shows a broken line 6a indicating a surface orthogonal to the bearing center axis 36 and a broken line 6b indicating the direction of force applied from the spherical roller 54 to the inner race 50 (see also FIG. 2). In the gear transmission 100, the angle between the

broken lines

6a and 6b, that is, the contact angle Th between the spherical roller 54 and the inner race 50 is approximately 40 degrees. Hereinafter, the contact angle Th between the spherical roller 54 and the inner race 50 is simply referred to as a contact angle Th. In the case of the gear transmission 100, the contact angle Th is preferably adjusted between 30 degrees and 60 degrees. When the contact angle Th is less than 30 degrees, the force applied in the axial direction cannot be sufficiently resisted, and the durability of the gear transmission decreases. Further, when the contact angle Th exceeds 60 degrees, the force applied in the radial direction cannot be sufficiently resisted, and the durability of the gear transmission decreases. When the contact angle Th is in the range of 30 degrees or more and 60 degrees or less, a gear transmission with excellent durability can be realized.

As shown in FIG. 2, the center 58 of the circular arc of the spherical roller 54 is located outside the spherical roller 54. By using such a spherical roller 54, the width of the spherical roller (the length in the direction perpendicular to the rotation axis) can be shortened. The small gear transmission 100 can be realized while maintaining the contact area between the spherical roller 52 and the race (the outer race 56 and the inner race 50).

(Second embodiment)
The gear transmission 200 will be described. FIG. 3 shows a cross-sectional view of the gear transmission 200. The gear transmission 200 is a modification of the gear transmission 100, and the same components as the gear transmission 100 may be denoted by the same reference numerals or the same two lower digits, and the description thereof may be omitted.

In the gear transmission 200, the crankshaft 214 is disposed coaxially with the internal gear 228. That is, the axis 234 of the crankshaft 214 coincides with the axis 236 of the internal gear 228. The crankshaft 214 is supported on the carrier 208 by a pair of bearings 212. The bearing 212 is a deep groove ball bearing. The eccentric body 218 of the crankshaft 214 is engaged with the external gear 224 via the cylindrical roller bearing 222.

The columnar portion 208b of the carrier 208 passes through the through hole 224a of the external gear 224. The columnar portion 208b has a cylindrical shape. A cylindrical torque pin 230 is attached to the columnar portion 208b and is in contact with the inner wall of the through hole 224a. The columnar portion 208 b passes through the inside of the torque pin 230. Torque is transmitted from the external gear 224 to the carrier 208 at a contact point between the torque pin 230 and the inner wall of the through hole 224a.

In the gear transmission 200, an arc-shaped depression 250 is formed around the carrier 208 in a round. The recess 250 of the carrier 208 also serves as an inner race of the main bearing 202. Therefore, the number of parts constituting the main bearing 202 is smaller than that of the gear transmission 100. This technique can also be applied to the gear transmission 100. That is, also in the gear transmission 100, the carrier 8 may be formed as a circular arc recess on the outer periphery of the carrier 8, and the carrier may be used as an inner race.

Specific examples of the present invention have been described in detail above, but these are merely examples and do not limit the scope of the claims. The technology described in the claims includes various modifications and changes of the specific examples illustrated above. The technical elements described in this specification or the drawings exhibit technical usefulness alone or in various combinations, and are not limited to the combinations described in the claims at the time of filing. In addition, the technology exemplified in this specification or the drawings achieves a plurality of objects at the same time, and has technical utility by achieving one of the objects.

Claims

A case in which an internal gear is formed on the inner periphery;
A pair of bearings;
A carrier supported on the case coaxially with the internal gear via the pair of bearings;
A crankshaft supported by a carrier and provided with an eccentric body;
An external gear that engages with an eccentric body and rotates eccentrically while meshing with the internal gear,
Each of the pair of bearings is
In the axial direction of the internal gear, it is arranged outside the internal gear,
An outer race in which an arc-shaped depression is formed on the inner peripheral surface, an inner race in which an arc-shaped depression is formed on the outer peripheral surface, and an outer race and the inner race are disposed between the outer race and the inner race. Composed of a plurality of spherical rollers,
In the cross section including the bearing center axis, the extension line of the rotary shaft of the spherical roller of one bearing and the extension line of the rotary shaft of the spherical roller of the other bearing are arranged so as to intersect between a pair of bearings. The gear transmission characterized.
2. The gear transmission according to claim 1, wherein a contact angle between the spherical roller and the inner race is 30 degrees or more and 60 degrees or less.
The gear transmission according to claim 1 or 2, wherein the center of the arc of the spherical roller is located outside the spherical roller when a cross section along the rotation axis of the spherical roller is observed.