WO2014083768A1 - 歯車装置 - Google Patents

歯車装置 Download PDF

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Publication number
WO2014083768A1
WO2014083768A1 PCT/JP2013/006430 JP2013006430W WO2014083768A1 WO 2014083768 A1 WO2014083768 A1 WO 2014083768A1 JP 2013006430 W JP2013006430 W JP 2013006430W WO 2014083768 A1 WO2014083768 A1 WO 2014083768A1
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WO
WIPO (PCT)
Prior art keywords
crankshaft
propeller
lubricant
gear device
axial direction
Prior art date
Application number
PCT/JP2013/006430
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
俊介 吉田
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 KR1020157013394A priority Critical patent/KR20150080534A/ko
Priority to CN201380061915.7A priority patent/CN104854372A/zh
Priority to DE112013005740.9T priority patent/DE112013005740T5/de
Publication of WO2014083768A1 publication Critical patent/WO2014083768A1/ja

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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
    • F16H57/00—General details of gearing
    • F16H57/04—Features relating to lubrication or cooling or heating
    • F16H57/042—Guidance of lubricant
    • F16H57/0427—Guidance of lubricant on rotary parts, e.g. using baffles for collecting lubricant by centrifugal force
    • 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
    • F16H57/00—General details of gearing
    • F16H57/04—Features relating to lubrication or cooling or heating
    • F16H57/0467—Elements of gearings to be lubricated, cooled or heated
    • F16H57/0469—Bearings or seals
    • F16H57/0471—Bearing
    • 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
    • F16H57/00—General details of gearing
    • F16H57/04—Features relating to lubrication or cooling or heating
    • F16H57/048—Type of gearings to be lubricated, cooled or heated
    • F16H57/0482—Gearings with gears having orbital motion
    • F16H57/0486—Gearings with gears having orbital motion with fixed gear ratio
    • 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 device.
  • an eccentric oscillating gear device for driving a robot member or the like, for example, an eccentric oscillating gear device described in Patent Document 1 is known.
  • a gear device includes an outer cylinder, a plurality of internal teeth pins, a carrier, a crankshaft, and a plurality of swing gears.
  • the plurality of internal tooth pins are attached along the axial direction of the outer cylinder on the inner peripheral surface of the outer cylinder.
  • the carrier is housed inside the outer cylinder.
  • the crankshaft is rotatably supported by the carrier.
  • the plurality of oscillating gears are supported by the carrier so as to oscillate in conjunction with the rotation of the crankshaft.
  • Each oscillating gear has external teeth that mesh with internal tooth pins.
  • crankshaft is housed inside the carrier.
  • the crankshaft is rotatably supported by the carrier via a crank bearing disposed on the outer side in the axial direction with respect to both end portions, that is, the eccentric portion.
  • the interior of the gear device is filled with a lubricant.
  • This lubricant lubricates the mechanical parts of gear devices such as crank bearings.
  • crank bearings and other bearings Due to this poor lubrication, the temperature of the crank bearing or the like rises, or foreign matter such as wear powder or contamination generated during operation or manufacturing stays in the crank bearing, etc. Damage may occur.
  • an object of the present invention is to provide a gear device capable of improving the circulation of the lubricant and improving the poor lubrication of the bearing.
  • the gear device of the present invention is a gear device for transmitting a rotational force at a predetermined reduction ratio between a pair of counterpart members, and can be fixed to one of the counterpart members.
  • An outer cylinder that forms a space that can be filled with a lubricant together with the pair of counterpart members, a crankshaft, and the other counterpart member that can be fixed and rotatably accommodated inside the outer cylinder,
  • a carrier that rotates relative to the outer cylinder in conjunction with rotation of the crankshaft, a bearing that is attached to the carrier and rotatably supports the crankshaft, is attached to the crankshaft,
  • a stirring means for generating a flow of the lubricant in a direction along the crankshaft by rotation.
  • FIG. 3 is a cross-sectional perspective view in which the crankshaft of FIG. It is a perspective view of the 1st or 2nd propeller of FIG. It is a perspective view of the propeller of the shape which cut out the blade
  • FIG. 3 is a cross-sectional perspective view in which the crankshaft of FIG. It is a perspective view of the 1st or 2nd propeller of FIG. It is a perspective view of the propeller of the shape which cut out the blade
  • FIG. 10 is a cross-sectional view showing a state in which the direction of the flow of lubricant generated by the propeller is different even when a crankshaft that is still another modification of the embodiment of the present invention is rotated in the same direction.
  • the propeller, which is still another modified example of the embodiment of the present invention is a form in which both ends of the crankshaft are attached, and the direction of the flow of lubricant generated by the propeller is maintained even when the crankshaft is rotated in the same direction. It is sectional drawing which shows a different state.
  • the gear device 1 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.
  • the gear device 1 transmits a rotational force at a predetermined reduction ratio between a base and a revolving body that turns relative to the base, such as a shoulder joint of the robot.
  • the gear device 1 is a device that transmits a rotational force at a predetermined reduction ratio between the revolving body 50 and the base 52 at the shoulder joint portion of the robot.
  • the gear device 1 drives the revolving body 50 to rotate relative to the base 52 by decelerating the rotational driving force of the motor transmitted through the cylindrical first drive shaft DS1.
  • the second drive shaft DS2 and the third drive shaft DS3 for rotationally driving a portion ahead of the shoulder joint of the robot are the first drive shaft DS1.
  • the second drive shaft DS2 and the third drive shaft DS3 may be omitted.
  • the gear device 1 of the present embodiment includes an outer cylinder 2, an internal tooth pin 3, a carrier 4, a main bearing 6, a crankshaft 20, a crank bearing 22, and a swing gear. 24, an input gear 16, a spar gear 18 fixed to the crankshaft 20, and a stirring means for generating a lubricant flow.
  • the stirring means is provided on the crankshaft 20.
  • the agitation means includes a first propeller 41 and a second propeller 42 which will be described later.
  • the mechanical part of the gear device 1 (that is, the part inside the outer cylinder 2) is isolated in a space S closed from the outside.
  • the space S is formed by combining the revolving body 50, the base 52, and the outer cylinder 2.
  • a lubricant such as grease or oil is enclosed.
  • the lubricant is filled in the gear device 1 through the through holes 4a and 4b of the carrier 4 and the like. Therefore, the space around the first propeller 41 and the second propeller 42 provided near both ends of the crankshaft 20 is also filled with the lubricant inside the through hole 4b.
  • the lubricant is omitted in order to make it easy to visually recognize the mechanical part of the gear device 1.
  • the outer cylinder 2 has a shape that can be fixed to one counterpart member (the base 52 in this embodiment), and functions as a case of the gear device 1.
  • the outer cylinder 2 has a substantially cylindrical shape.
  • the outer cylinder 2 is fastened to the base 52 of the robot by bolts B1, for example.
  • the internal tooth pin 3 functions as an internal tooth with which a swing gear 24 made of an external gear meshes.
  • the number of teeth of the oscillating gear 24 is slightly smaller than the number of internal tooth pins 3.
  • two (plural) oscillating gears 24 are used. Note that one swinging gear 24 may be provided.
  • the carrier 4 has a shape that can be fixed to the other mating member (in this embodiment, the revolving body 50), and is fastened to the revolving body 50 of the robot, for example.
  • the carrier 4 is rotatable relative to the outer cylinder 2 and is accommodated in the outer cylinder 2 in a state of being arranged coaxially with the outer cylinder 2. In the present embodiment, the carrier 4 rotates relative to the outer cylinder 2 around the same axis.
  • the carrier 4 is fastened to the swing body 50 by a plurality of bolts B2. When the carrier 4 rotates relative to the outer cylinder 2, the swing body 50 rotates with respect to the base 52.
  • the carrier 4 is fastened to the revolving body 50 so as to revolve together with the revolving body 50, and the outer cylinder 2 is fixed to the base 52 so as not to move (that is, in an immobile state).
  • the outer cylinder 2 can be fastened to the revolving body 50 and swiveled together with the revolving body 50, and the carrier 4 can be fastened to the base 52 and used in an immobile state.
  • the carrier 4 is supported so as to be relatively rotatable with respect to the outer cylinder 2 by a pair of main bearings 6 which are provided apart from each other in the axial direction.
  • the carrier 4 includes a base portion 32 and an end plate portion 34, and an accommodation space 33 for accommodating the oscillating gear 24 is formed between the base portion 32 and the end plate portion 34.
  • the swing gear 24 is a transmission member that transmits rotational force between the outer cylinder 2 and the carrier 4.
  • the base portion 32 has a substrate portion 32a disposed in the outer tube 2 in the vicinity of the end portion of the outer tube 2, and a plurality of shaft portions 32b extending in the axial direction from the substrate portion 32a toward the end plate portion 34. .
  • the shaft portion 32 b is fastened to the end plate portion 34 by the bolt 5. Thereby, the base 32 and the end plate part 34 are integrated.
  • a through hole 4 a penetrating in the axial direction is formed at the radial center of the carrier 4.
  • the accommodation space 33 communicates with the outside of the carrier 4 through the through hole 4a.
  • the second drive shaft DS2 and the third drive shaft DS3 described above pass through the center of the carrier 4 through the through hole 4a.
  • through holes 4b are formed that are spaced apart from each other by 120 degrees at equal intervals in the circumferential direction of the through hole 4a.
  • a plurality of (for example, three) crankshafts 20 are provided, and each crankshaft 20 is arranged at equal intervals in the circumferential direction around the through hole 4a and the input gear 16 in the carrier 4.
  • Each crankshaft 20 is rotatably supported inside the through hole 4 b of the carrier 4 via a pair of crank bearings 22.
  • One crankshaft 20 may be provided.
  • the crankshaft 20 is a solid rod-like body, and has a plurality (two in this embodiment) of eccentric portions 20a.
  • the plurality of eccentric portions 20 a are arranged so as to be aligned in the axial direction C at a position between the pair of crank bearings 22.
  • the axial direction C of the crankshaft 20 means a direction coinciding with the direction in which the axis of the crankshaft 20 extends.
  • Each eccentric portion 20a is formed in a columnar shape eccentric from the axis of the crankshaft 20 by a predetermined amount of eccentricity.
  • each eccentric part 20a is formed in the crankshaft 20 so that it may have a phase difference of a predetermined angle mutually.
  • the eccentric part 20a should just respond
  • the crankshaft 20 has step portions 20d and 20e formed at positions close to the eccentric portion 20a at both ends 20b and 20c. Washers 47 and 48 are engaged with the stepped portions 20d and 20e. Washers 47 and 48 are fixed so as not to drop off by retaining rings 63 and 64 fitted in grooves formed on the inner wall of the carrier 4. Thereby, the movement of the crankshaft 20 in the axial direction C is restricted inside the carrier 4.
  • a plurality of through holes 65 are formed in the washers 47 and 48, as shown in FIG.
  • the lubricant can smoothly flow to the crank bearing 22 through the through hole 65.
  • crankshaft 20 is supported by a crank bearing 22 so as to be rotatable in both the forward direction and the reverse direction.
  • the two crank bearings 22 are provided with an interval in the axial direction C of the crankshaft 20.
  • Each crank bearing 22 includes a plurality of rollers 22a and a cage 22b that holds the rollers 22a circumferentially. Since each roller 22a is disposed so that its axial direction coincides with the axial direction C (see FIG. 2) of the crankshaft 20, lubrication supplied in the axial direction C by the first and second propellers 41 and 42.
  • the agent is easy to pass through the crank bearing 22. This makes it easier to supply the lubricant to the roller bearing 28 disposed inside the axial direction C than the crank bearing 22.
  • the stirring means has a configuration capable of generating a lubricant flow in the direction along the crankshaft 20 in the through hole 4b of the carrier 4 by rotation of the crankshaft 20.
  • the agitation unit includes a first propeller 41 and a second propeller 42.
  • both the first propeller 41 and the second propeller 42 have the same shape.
  • Each of the propellers 41 and 42 includes a ring-shaped base portion 61 and a plurality of blades 62 arranged radially in the circumferential direction of the crankshaft 20 along the outer periphery of the base portion 61.
  • the inner diameter of the base 61 is set to a dimension that can be fixed to the ends 20b and 20c of the crankshaft 20 by press fitting or the like.
  • the blades 62 are inclined with respect to the axial direction C of the crankshaft 20 to which the base 61 is fixed so that the lubricant can be pushed out in the axial direction C by the rotation of the propellers 41 and 42.
  • These propellers 41 and 42 are manufactured from a thin metal plate or a resin plate.
  • the direction of the blades 62 is set so as to be inclined in the same direction with respect to the axial direction C of the crankshaft 20.
  • the number and shape of the blades 62 are not particularly limited in the present invention.
  • the number, angle, width, cross-sectional shape, or thickness of the blades 62 are appropriately set according to conditions such as the rotational speed of the crankshaft 20 and the type of lubricant. Specifically, about 4 to 8 blades 62 are arranged.
  • the first propeller 41 and the second propeller 42 are fixed to the peripheral surface of the crankshaft 20. Specifically, the first propeller 41 is fixed to the outer peripheral surface 20b1 of the end 20b to which the spur gear 18 is fixed on the crankshaft 20 by press fitting or the like. The first propeller 41 is disposed outside the position where the crank bearing 22 is disposed in the axial direction C and between the crank bearing 22 and the spur gear 18. Specifically, the first propeller 41 is disposed at a position where the blade 62 (see FIG. 4) faces the crank bearing 22 via the washer 47.
  • the second propeller 42 is fixed to the outer peripheral surface 20c1 of the end portion 20c protruding on the opposite side of the end portion 20b to which the spur gear 18 is fixed on the crankshaft 20 by press fitting or the like.
  • the second propeller 42 is disposed outside the position where the crank bearing 22 is disposed in the axial direction C, that is, at a position closer to the tip of the end 20c than the crank bearing 22 at the end 20c.
  • the second propeller 42 is also disposed at a position where the blade 62 (see FIG. 4) faces the crank bearing 22 via the washer 48.
  • the directions of the blades 62 of the first propeller 41 and the second propeller 42 are set to be inclined in the same direction with respect to the axial direction C of the crankshaft 20. Therefore, when the crankshaft 20 rotates in the A direction (positive direction), the direction of the lubricant flow generated by the first propeller 41 (the direction of the arrow D1) and the direction of the lubricant flow generated by the second propeller 42 (Arrow D2 direction) can be set to be the same. Thereby, it is possible to smoothly generate a series of lubricant flows that flow in the same direction along the crankshaft 20 between the first propeller 41 and the second propeller 42.
  • the first propeller 41 by rotating the crankshaft 20 in the direction opposite to the A direction (reverse direction), the first propeller 41 generates a lubricant flow in the direction opposite to the arrow D1 direction, and the second propeller. 42 generates a lubricant flow in the direction opposite to the direction of arrow D2.
  • the blades 62 of the first propeller 41 and the second propeller 42 can reverse the flow of the lubricant.
  • the two oscillating gears 24 are attached to the eccentric portions 20a of the crankshaft 20 via roller bearings 28, respectively.
  • Each oscillating gear 24 has an outer diameter slightly smaller than the inner diameter of the outer cylinder 2.
  • each oscillating gear 24 oscillates and rotates while meshing with the inner tooth pin 3 on the inner surface of the outer cylinder 2 in conjunction with the eccentric rotation of the eccentric portion 20a (that is, rotates while oscillating). To do.
  • the roller bearing 28 includes a plurality of rollers 28a and a cage 28b that holds the rollers 28a circumferentially.
  • a plurality of through-holes 65 formed in washers 47 and 48 are formed on the end faces in the axial direction C of the cage 28 b of the roller bearing 28 and the cage 22 b of the crank bearing 22. It is preferable that a through hole similar to that shown in FIG. 3 is formed.
  • the oscillating gear 24 is an external gear that meshes with the internal tooth pin 3 disposed on the inner surface of the outer cylinder 2.
  • the oscillating gear 24 has a central part through hole 24b that penetrates the central part thereof, a plurality of eccentric part insertion holes 24c, and a plurality of shaft part insertion holes 24d.
  • the eccentric part insertion holes 24c are provided at equal intervals in the circumferential direction around the central part through hole 24b in the oscillating gear 24.
  • the eccentric portions 20a of the crankshafts 20 are inserted into the eccentric portion insertion holes 24c with the roller bearings 28 interposed therebetween.
  • the shaft portion insertion holes 24d are provided at equal intervals in the circumferential direction around the central through hole 24b in the swing gear 24. Each shaft portion insertion hole 24d is disposed at a position between the eccentric portion insertion holes 24c in the circumferential direction. Each shaft portion 32b of the carrier 4 is inserted into each shaft portion insertion hole 24d with play (gap).
  • each crankshaft 20 protrudes from the end plate portion 34 of the carrier 4 to the outside through the through hole 4b along the axial direction C of the carrier 4.
  • a spar gear 18 is detachably attached to each end of the crankshaft 20 that extends outside the carrier 4 by retaining rings 43 and 44.
  • Each spur gear 18 meshes with a gear portion 16a of the input gear 16 described later.
  • Each spur gear 18 transmits the rotation of the input gear 16 to a crankshaft 20 to which the spur gear 18 is attached.
  • the input gear 16 is a gear that meshes with the plurality of spur gears 18 and transmits a rotational driving force to each of the plurality of spur gears 18.
  • the input gear 16 includes a gear portion 16a formed of an external gear that meshes with the plurality of spur gears 18, and a connecting portion 16b that is integrally formed side by side with the gear portion 16a.
  • a spline groove 16c is formed on the outer peripheral surface of the connecting portion 16b.
  • a through hole 16d penetrating in the axial direction is formed in the center of the input gear 16.
  • the second drive shaft DS2 and the third drive shaft DS3 are inserted into the through hole 16d.
  • the first drive shaft DS1 is rotatably supported inside the base 52 via a bearing R1.
  • a seal ring S1 is provided between the outer peripheral surface of the first drive shaft DS1 and the inner peripheral surface of the base 52 so that the lubricant in the base 52 and the gear device 1 does not leak to the outside.
  • the second drive shaft DS2 is rotatably supported inside the first drive shaft DS1 via a bearing R2, and the space between the first drive shaft DS1 and the second drive shaft DS1 is sealed by a seal ring S2. .
  • the third drive shaft DS3 is rotatably supported inside the second drive shaft DS2 via a bearing R3, and the space between the second drive shaft DS2 and the third drive shaft DS3 is sealed by a seal ring S3. Yes.
  • each crankshaft 20 rotates around each axis.
  • the first propeller 41 and the second propeller 42 fixed to the peripheral surface of the crankshaft 20 rotate together with the crankshaft 20 to generate a lubricant flow along the axial direction C.
  • the rotation of the crankshaft 20 in the forward direction or the reverse direction causes the first propeller 41 and the second propeller 42 to flow toward the crank bearing 22 (that is, the directions of the arrows D1 and D2 in FIG. 2). ) Or in the opposite direction to generate a good circulation of the lubricant.
  • the lubricant flows between the spur gear 18 and the end plate portion 34 of the carrier 4 and flows to the first propeller 41. Then, the lubricant flows into the through hole 4 b that penetrates the carrier 4 in the axial direction, passes through the pair of crank bearings 22 and the two roller bearings 28 sandwiched between them, and reaches the second propeller 42. Thereafter, the lubricant is discharged to the outside of the carrier 4. Further, when the crankshaft 20 rotates in the direction opposite to the A direction, the lubricant can flow in the direction opposite to the directions of the arrows D1 and D2 shown in FIG.
  • the eccentric portion 20a of the crankshaft 20 rotates eccentrically.
  • the swing gear 24 swings and rotates while meshing with the inner tooth pin 3 on the inner surface of the outer cylinder 2 in conjunction with the eccentric rotation of the eccentric portion 20a.
  • the rotational force generated by the rocking rotation of the rocking gear 24 is transmitted to the carrier 4 through each crankshaft 20.
  • the outer cylinder 2 since the outer cylinder 2 is fixed to the base 52 and is in an immobile state, the rotational speed of the carrier 4 and the swinging body 50 decelerated from the input rotation by the rotational force transmitted to the carrier 4. Thus, it can rotate relative to the outer cylinder 2 and the base 52.
  • the gear device 1 since the gear device 1 according to the present embodiment includes the first propeller 41 and the second propeller 42, it is formed by the revolving body 50, the base 52 (a pair of mating members) and the outer cylinder 2.
  • the first propeller 41 and the second propeller 42 can generate a flow for sending the lubricant to the crankshaft 20 in both directions. It is. Thereby, it is possible to improve the circulation of the lubricant and improve the lubrication failure of the crank bearing 22. As a result, the temperature rise of the crank bearing 22 can be suppressed.
  • the first propeller 41 and the second propeller 42 are disposed outside the crank bearing 22 that supports the crankshaft 20 in the axial direction C.
  • the two propellers 42 can be easily assembled to the crankshaft 20 without interfering with the crank bearing 22.
  • the first propeller 41 and the second propeller 42 have a plurality of blades 62 that are inclined with respect to the axial direction of the crankshaft 20, and therefore, when the crankshaft 20 rotates. These blades 62 can apply a force to the lubricant in a direction along the crankshaft 20. As a result, the lubricant can surely flow in the direction along the crankshaft 20.
  • the first and second propellers 41 and 42 are rotated by alternately rotating the crankshaft 20 in the forward direction (the direction of arrow A in FIG. 2) and in the opposite direction. (See FIG. 4) can reverse the lubricant flow. Accordingly, the lubricant can flow in both the forward direction and the reverse direction along the crankshaft 20, and the lubricant can be supplied to the crank bearing 22 and the roller bearing 28 from both the forward direction and the reverse direction. It becomes possible.
  • the first propeller 41 and the second propeller 42 are respectively disposed at the end portions 20b and 20c on both sides of the crankshaft 20, so that when the crankshaft 20 rotates, The first propeller 41 and the second propeller 42 can stably flow the lubricant in the direction along the crankshaft 20 between them.
  • the directions of the blades 62 (see FIG. 4) of the first propeller 41 and the second propeller 42 respectively disposed at the end portions 20b and 20c on both sides of the crankshaft 20 are the same. Therefore, the rotation of the crankshaft 20 can smoothly generate a series of lubricant flows that flow in the same direction along the crankshaft 20 between the propellers 41 and 42.
  • the propellers 41 and 42 in which the plurality of blades 62 are radially arranged around the ring-shaped base 61 are described as an example of the stirring means.
  • the present invention is limited to this. It is not a thing.
  • a propeller 70 formed by cutting and raising a plurality of ring-shaped plate materials may be employed.
  • the propeller 70 includes a ring-shaped base 71 in which a plurality of openings 73 are arranged circumferentially, and a plurality of blades 72 rising from the edge of each opening 73 with respect to the base 71.
  • the propeller 70 is attached to the outer peripheral surface of the crankshaft 20.
  • the blades 72 are inclined in the same direction so that the lubricant can be pushed out in the axial direction of the crankshaft 20 when the propeller 70 rotates. Even when the propeller 70 as described above is used, the lubricant hitting the blades 72 can flow along the axis of the crankshaft 20 as the propeller 70 rotates together with the crankshaft 20.
  • the 1st propeller 41 and the 2nd propeller 42 are arrange
  • one or a plurality of propellers may be arranged on the inner side in the axial direction than the crank bearing 22. Further, only one propeller may be arranged on the outer side in the axial direction than the crank bearing 22.
  • the direction D1 of the lubricant generated by the first propeller 41 and the lubricant generated by the second propeller 42 is set to be inclined in the same direction with respect to the axial direction C of the crankshaft 20 so that the flow direction D2 is the same.
  • the present invention is not limited to this.
  • the first propeller 41 and the second propeller 42 are different in the direction of the flow of lubricant generated even when the crankshaft 20 is rotated in the same A direction.
  • the directions of the blades 62 of the propeller 41 and the second propeller 42 may be set so as to incline in opposite directions with respect to the axial direction C of the crankshaft 20.
  • the lubricant flows from the gap between the two roller bearings 28 and flows along the peripheral surface of the crankshaft 20 toward one end 20b of the crankshaft 20 and the other of the crankshaft 20. It becomes possible to generate the flow D4 toward the end 20c.
  • the rotation of the crankshaft 20 allows the lubricant to generate both forward and reverse flows along the crankshaft 20 at the same time between the first propeller 41 and the second propeller 42. It is. As a result, even when a large number of members such as bearings (for example, two roller bearings 28 and a pair of crank bearings 22) are arranged between these propellers 41, 42, these members (for example, roller bearings 28). It is possible to inject or discharge the lubricant from between.
  • bearings for example, two roller bearings 28 and a pair of crank bearings 22
  • first propeller 41 and the second propeller 42 constituting the stirring means of the above embodiment are fixed to the peripheral surfaces of both end portions 20b and 20c of the crankshaft 20, but the present invention is limited to this. is not.
  • the first propeller 81 and the second propeller 82 may be attached to both end faces 20 f and 20 g of the crankshaft 20.
  • the first propeller 81 and the second propeller 82 of this modification have the same shape as shown in FIG.
  • These propellers 81 and 82 are a disc-shaped base 83, a plurality of blades 84 that are arranged radially in the circumferential direction of the crankshaft 20 along the outer periphery of the base 83, and a base 83. And a threaded portion 85.
  • the outer diameter of the base 83 is set to be substantially the same as the outer diameter of the ends 20b and 20c of the crankshaft 20.
  • the surface 83a of the base 83 that faces the both end surfaces 20f, 20g of the crankshaft 20 is flat so that it can contact the both end surfaces 20f, 20g.
  • the male screw portion 85 protrudes from a surface 83a facing the both end surfaces 20f, 20g of the crankshaft 20 of the base portion 83. Since the male thread portion 85 is formed at each of the end portions 20b and 20c of the crankshaft 20, it has a dimension capable of being screwed into the thread portion 20h.
  • the blades 84 are disposed so as to be inclined with respect to the axial direction C of the crankshaft 20 to which the base 83 is fixed so that the lubricant can be pushed out in the axial direction C when the propellers 81 and 82 rotate. ing.
  • the first propeller 81 is fixed by screwing the male screw portion 85 to the female screw portion 20h of the crankshaft 20 at the end surface 20f of the end portion 20b to which the spur gear 18 is fixed in the crankshaft 20. Thereby, the 1st propeller 81 is arrange
  • the male screw portion 85 is screwed into the female screw portion 20h of the crankshaft 20 at the end face 20g of the end portion 20c that protrudes on the opposite side to the end portion 20b to which the spur gear 18 is fixed. It is fixed by joining.
  • the 2nd propeller 82 is arrange
  • both the 1st propeller 81 and the 2nd propeller 82 which are shown by FIG. 7 are integrally formed in the base part 83, the blade
  • a propeller in which the base portion 83 and the blades 84 are integrated may be fixed to the crankshaft 20 with a bolt instead of the male screw portion.
  • the direction D1 of the lubricant generated by the first propeller 81 and the direction D2 of the lubricant generated by the second propeller 82 are the same.
  • the directions of the blades 84 of the first propeller 81 and the second propeller 82 are set to be inclined in the same direction with respect to the axial direction C of the crankshaft 20 so as to be the same.
  • the spar gear 18 is formed with a plurality of openings 18 a for guiding the lubricant flow in the direction of the arrow D 1 generated by the first propeller 81 to the crank bearing 22.
  • the lubricant can smoothly flow in the direction of the arrow D1 toward the crank bearing 22 through the opening 18a of the spur gear 18 when the crankshaft 20 is rotated in the A direction.
  • the lubricant flows into the through hole 4b of the carrier 4, passes through the pair of crank bearings 22 and the two roller bearings 28 sandwiched between them, flows in the direction of the arrow D2, and reaches the second propeller 42. Is possible.
  • the crankshaft 20 rotates in the direction opposite to the direction A, the lubricant can flow in the direction opposite to the directions of the arrows D1 and D2 shown in FIG.
  • the attaching operation of these propellers 81 and 82 is easy.
  • the first propeller 81 is disposed outside the spur gear 18 in the axial direction C of the end portion 20b of the crankshaft 20, the first propeller 81 can be easily formed on the end surface 20f of the crankshaft 20 without interfering with the spur gear 18. It becomes possible to install.
  • the lubricant flow direction D1 generated by the first propeller 81 and the lubricant generated by the second propeller 82 is set so as to incline in the same direction with respect to the axial direction C of the crankshaft 20 so that the flow direction D2 is the same.
  • the present invention is not limited to this.
  • the first propeller 81 and the second propeller 82 have different directions of lubricant flow even when the crankshaft 20 is rotated in the same A direction.
  • the directions of the blades 84 of the propeller 81 and the second propeller 82 may be set so as to incline in opposite directions with respect to the axial direction C of the crankshaft 20.
  • the lubricant flows from the gap between the two roller bearings 28 and flows along the peripheral surface of the crankshaft 20 toward one end 20b of the crankshaft 20 and the other of the crankshaft 20. It becomes possible to generate the flow D4 toward the end 20c.
  • the rotation of the crankshaft 20 causes the lubricant to flow in both the forward and reverse directions along the crankshaft 20 between the first propeller 81 and the second propeller 82. It is possible to generate them simultaneously.
  • crankshaft 20 a solid rod-like body is described as an example of the crankshaft 20, but the present invention is not limited to this, and two types of through-holes 121 and 122 as shown in FIG. You may employ
  • the crankshaft 120 has a central through hole 121 that penetrates the crankshaft 120 in the axial direction C and a plurality of radial through holes 122.
  • the radial through hole 122 is formed so as to extend in the radial direction of the crankshaft 120 between both sides of the pair of eccentric portions 20a and the eccentric portion 20a, and communicates with the central through hole 121.
  • the central through hole 121 is opened to the outside from both ends of the crankshaft 120.
  • the center through hole 121 and the radial through hole 122 are filled with a lubricant.
  • the first propeller 41 and the second propeller 42 cause the lubricant to flow along the axial direction C on the outside of the crankshaft 120, and at the same time, the lubricant is supplied to the crankshaft 120.
  • the lubricant After being introduced into the inner central through hole 121, it is possible to discharge from the radial through hole 122 in the radial direction of the crankshaft 120. Thereby, it becomes possible to supply more lubricant to the pair of crank bearings 22 and the two roller bearings 28 sandwiched between them, and it becomes possible to more reliably prevent poor lubrication in these members. .
  • the directions of the blades 62 of the propeller 41 and the second propeller 42 may be set so as to incline in opposite directions with respect to the axial direction C of the crankshaft 20.
  • the lubricant flows from the gap between the two roller bearings 28 and flows along the circumferential surface of the crankshaft 20 toward one end 20b of the crankshaft 20 and the other of the crankshaft 20. It becomes possible to generate the flow D4 toward the end 20c.
  • the rotation of the crankshaft 20 causes the lubricant to flow in both the forward and reverse directions along the crankshaft 20 between the first propeller 41 and the second propeller 42. It is possible to generate them simultaneously.
  • the gear device 1 of the above-described embodiment the plurality of crankshafts 20 are arranged around the central through hole 4a (see FIG. 1), but the present invention is not limited to this. It is not something.
  • the gear device of the present invention includes a center crank type gear device in which the crankshaft 20 is disposed at the center of the carrier 4.
  • the number of crank bearings 20 is not limited to two as in the above embodiment, and the gear device 1 only needs to include at least one bearing. Therefore, the crank bearing may be rotatably supported by three or more crank bearings. Alternatively, as long as the rotation balance of the crankshaft 20 can be maintained, a configuration in which one crank bearing 22 rotatably supports the crankshaft 20 may be employed.
  • the gear device of the present embodiment is a gear device for transmitting a rotational force between a pair of mating members at a predetermined reduction ratio, and can be fixed to one mating member, and the pair of mating members And an outer cylinder that forms a space that can be filled with a lubricant, a crankshaft, and the other counterpart member.
  • the outer cylinder is rotatably accommodated inside the outer cylinder and interlocks with the rotation of the crankshaft.
  • a carrier that rotates relative to the outer cylinder, at least one bearing that is attached to the carrier and rotatably supports the crankshaft, and is attached to the crankshaft, and by rotation of the crankshaft, And a stirring means for generating a flow of the lubricant in a direction along the crankshaft.
  • the stirring means for generating the flow of the lubricant by the rotation of the crankshaft is provided, the lubricant is filled in the space formed by the pair of counterpart members and the outer cylinder.
  • the stirring means sends the lubricant in a direction along the crankshaft.
  • the temperature rise of the bearing is suppressed, and foreign matter such as abrasion powder and contamination generated during operation or manufacturing stays in the bearing, etc., thereby preventing deterioration and breakage of the bearing and the entire gear device including the bearing. Is possible.
  • the stirring means is attached to the crankshaft, it is possible to set the direction of the lubricant flow according to the direction of the blades when the stirring means is attached to the crankshaft.
  • the two bearings including the bearing are provided at an interval in the axial direction of the crankshaft, and the stirring means is disposed on the outer side in the axial direction of the crankshaft than the position where the bearing is disposed. It is preferable.
  • the stirring means since the stirring means is disposed on the outer side in the axial direction of the crankshaft than the bearing supporting the crankshaft, the stirring means can be easily attached to the crankshaft without interfering with the bearing. is there.
  • the stirring means preferably has a plurality of blades inclined with respect to the axial direction of the crankshaft.
  • crankshaft is rotatable in both the forward direction and the reverse direction, and the vane reverses the flow of the lubricant by rotating the crankshaft in both the forward direction and the reverse direction.
  • the blades can reverse the flow of the lubricant, thereby causing the lubricant to flow in the forward direction along the crankshaft.
  • the lubricant can be supplied to the bearing from both the forward direction and the reverse direction.
  • the stirring means is disposed at both ends of the crankshaft.
  • the stirring means disposed at both ends of the crankshaft can stably flow the lubricant in the direction along the crankshaft between the stirring means. It is.
  • the direction of the blades of the stirring means respectively disposed at both ends of the crankshaft is preferably set so as to be inclined in the same direction with respect to the axial direction of the crankshaft.
  • the directions of the blades of the stirring means respectively disposed at the end portions on both sides of the crankshaft are inclined in the same direction, so the rotation of the crankshaft causes the same along the crankshaft between the stirring means. It is possible to smoothly generate a series of lubricant flows flowing in the direction.
  • the direction of the blades of the stirring means respectively disposed at both ends of the crankshaft is preferably set so as to incline in opposite directions with respect to the axial direction of the crankshaft.
  • the lubricant is cranked between the stirring means by the rotation of the crankshaft. It is possible to generate both forward and reverse flows along the axis simultaneously. Thereby, even when many members, such as a bearing, are located in a line between the stirring means, it is possible to inject or discharge the lubricant from between these members.
PCT/JP2013/006430 2012-11-30 2013-10-30 歯車装置 WO2014083768A1 (ja)

Priority Applications (3)

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KR1020157013394A KR20150080534A (ko) 2012-11-30 2013-10-30 기어 장치
CN201380061915.7A CN104854372A (zh) 2012-11-30 2013-10-30 齿轮装置
DE112013005740.9T DE112013005740T5 (de) 2012-11-30 2013-10-30 Getriebevorrichtung

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JP2012262372A JP2014109285A (ja) 2012-11-30 2012-11-30 歯車装置
JP2012-262372 2012-11-30

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Publication number Priority date Publication date Assignee Title
TWI661141B (zh) * 2014-11-19 2019-06-01 日商納博特斯克股份有限公司 Gear device

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6554285B2 (ja) 2015-01-13 2019-07-31 ナブテスコ株式会社 歯車装置
JP6100850B2 (ja) * 2015-08-28 2017-03-22 上銀科技股▲分▼有限公司 らせん状潤滑式波動歯車装置
JP6759124B2 (ja) * 2017-02-17 2020-09-23 住友重機械工業株式会社 偏心揺動型の歯車装置
JP6791464B1 (ja) 2019-11-18 2020-11-25 三菱電機株式会社 減速装置、及び、産業用ロボット

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Publication number Priority date Publication date Assignee Title
JPH0712208A (ja) * 1993-06-22 1995-01-17 Hino Motors Ltd タンデム式駆動軸の潤滑装置
JP2010230171A (ja) * 2010-07-05 2010-10-14 Nabtesco Corp 軸受部構造
JP2011043243A (ja) * 2010-11-29 2011-03-03 Sumitomo Heavy Ind Ltd 動力伝達装置

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0712208A (ja) * 1993-06-22 1995-01-17 Hino Motors Ltd タンデム式駆動軸の潤滑装置
JP2010230171A (ja) * 2010-07-05 2010-10-14 Nabtesco Corp 軸受部構造
JP2011043243A (ja) * 2010-11-29 2011-03-03 Sumitomo Heavy Ind Ltd 動力伝達装置

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TWI661141B (zh) * 2014-11-19 2019-06-01 日商納博特斯克股份有限公司 Gear device

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DE112013005740T5 (de) 2015-09-10
KR20150080534A (ko) 2015-07-09
CN104854372A (zh) 2015-08-19

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