WO2014136638A1 - 駆動装置 - Google Patents
駆動装置 Download PDFInfo
- Publication number
- WO2014136638A1 WO2014136638A1 PCT/JP2014/054750 JP2014054750W WO2014136638A1 WO 2014136638 A1 WO2014136638 A1 WO 2014136638A1 JP 2014054750 W JP2014054750 W JP 2014054750W WO 2014136638 A1 WO2014136638 A1 WO 2014136638A1
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- WO
- WIPO (PCT)
- Prior art keywords
- eccentric body
- external gear
- case
- crankshaft
- frame
- Prior art date
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Classifications
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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
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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
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
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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
- F16H2001/325—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 a carrier with pins guiding at least one orbital gear with circular holes
Definitions
- Patent Literature 1 Japanese Utility Model Laid-Open No. 01-175135
- Patent Document 1 Japanese Utility Model Laid-Open No. 01-175135
- the drive device of Patent Literature 1 includes a first frame extending to one side of the rotation axis direction of the member to be rotated and a second frame extending to the other side of the rotation axis direction.
- a support member for rotatably supporting the member to be rotated is fixed to each of the first frame and the second frame.
- Each support member includes a case and a shaft that is rotatably supported by the case.
- the case is fixed to the frame (first frame, second frame), and the shaft is fixed to the rotated member.
- a pair of bearings are disposed between the case and the shaft.
- the driving device disclosed in the present specification rotates while supporting both the rotating members.
- the drive device includes a fixing member, a first support member, and a second support member.
- the fixing member includes a first frame extending in one of the rotation members in the rotation axis direction and a second frame extending in the other of the rotation members in the rotation axis direction.
- the first support member is attached to the first frame.
- the first support member is disposed between the first frame and the rotated member.
- the first support member includes a first case, a first support shaft, and a first bearing.
- the first case is provided with a first through hole and is fixed to one of the first frame and the rotated member.
- the first support shaft passes through the first through hole and is fixed to the other of the first frame and the rotated member.
- the first bearing is disposed between the first case and the first support shaft.
- the second support member is attached to the second frame.
- the second support member is disposed between the second frame and the rotated member.
- the second support member includes a second case, a second support shaft, and a second bearing.
- the second case is provided with a second through hole and is fixed to one of the second frame and the rotated member.
- the second support shaft passes through the second through hole and is fixed to the other of the second frame and the rotated member.
- the second bearing is disposed between the second case and the second support shaft. In this drive device, only one first bearing is disposed between the first case and the first support shaft, and only one second bearing is disposed between the second case and the second support shaft. .
- the first case may be fixed to the first frame, and the first support shaft may be fixed to the rotated member.
- the first case may be fixed to the rotated member and the first support shaft may be fixed to the first frame.
- the second case may be fixed to the second frame, and the second support shaft may be fixed to the rotated member.
- the second case may be fixed to the rotated member, and the second support shaft may be fixed to the second frame.
- FIG. 9 is an enlarged cross-sectional view of a portion surrounded by a broken line IX in FIG. 8.
- the first support member may include a speed reduction structure of a type in which the first external gear rotates eccentrically relative to the first internal gear.
- a speed reduction structure is a speed reducer that includes a crankshaft, an eccentric rotation gear, and a rotation gear.
- the crankshaft extends along the rotation axis of the output part of the speed reducer, and may include an eccentric body.
- the eccentric rotation gear is engaged with the eccentric body and may rotate eccentrically with the rotation of the crankshaft.
- the rotation gear meshes with the eccentric rotation gear, and may have a number of teeth different from the number of teeth of the eccentric rotation gear.
- the rotation gear may be arranged coaxially with the rotation shaft of the output part of the reduction gear.
- the first crankshaft When the first support member has a speed reduction structure including the first external gear, the first internal gear, and the first crankshaft, the first crankshaft may be supported by the first support shaft.
- the first eccentric body may be provided on the first crankshaft.
- the first internal gear may be provided on the wall surface of the first through hole of the first case.
- the first external gear may engage with the first eccentric body and may mesh with the first internal gear.
- the second support member may include a speed reduction structure of a type in which the second external gear rotates eccentrically relative to the second internal gear, similarly to the first support member.
- the second support member may include a speed reduction structure including a second external gear, a second internal gear, and a second crankshaft.
- the second crankshaft may be supported by the second support shaft.
- the second eccentric body may be provided on the second crankshaft.
- the 2nd internal gear may be provided in the wall surface of the 2nd through-hole of a 2nd case.
- the second external gear may engage with the second eccentric body and may mesh with the second internal gear.
- both the first support member and the second support member have a speed reduction structure in which the external gear rotates eccentrically with respect to the internal gear
- two each of the first crankshaft and the second crankshaft are provided.
- a third eccentric body that is eccentrically symmetrical to the first eccentric body with respect to the first rotating shaft of the first crankshaft is provided closer to the first frame than the first eccentric body of the first crankshaft. It may be.
- a third external gear may be engaged with the third eccentric body.
- a fourth eccentric body that is eccentrically symmetrical to the second eccentric body with respect to the second rotating shaft of the second crankshaft is provided on the second frame side of the second eccentric body of the second crankshaft. May be.
- a fourth external gear may be engaged with the fourth eccentric body. And when it observes from the rotating shaft direction of a to-be-rotated member, the 1st external gear and the 2nd external gear may be eccentric in the same direction with respect to the rotating shaft of a to-be-rotated member.
- the first rotating shaft and the second rotating shaft may be coaxial, and the first eccentric body and the second eccentric body may be eccentric in the same direction with respect to the first rotating shaft.
- the first support member and the second support member have the external gear. Only one may be provided. That is, the external gear included in the first support member may be only the first external gear, and the external gear included in the second support member may be only the second external gear. And when it observes from the rotating shaft direction of a to-be-rotated member, the 1st external gear and the 2nd external gear may be eccentrically symmetrical with respect to the rotating shaft of a to-be-rotated member.
- the first rotating shaft of the first crankshaft and the second rotating shaft of the second crankshaft are coaxial, and the first eccentric body and the second eccentric body are symmetrically offset with respect to the first rotating shaft. You may be mindful.
- the first support shaft may be fixed to the first frame
- the first case and the second case may be fixed to the rotated member
- the second support shaft may be fixed to the second frame
- FIG. 1 shows a state in which a machine tool 120 is attached to the drive device 100.
- the machine tool 120 is an example of a rotated member.
- the driving device 100 is fixed to an output member 110 that rotates with respect to the base shaft 104.
- the entire driving device 100 rotates around the rotation axis 106 with respect to the base shaft 104.
- the driving device 100 rotates the machine tool 120 around the rotation axis 160.
- the machine tool 120 includes a main body 122 and a head portion 124 that rotates with respect to the main body 122.
- a tool (not shown) is attached to the head portion 124.
- the driving device 100 includes a fixed member 102, a first reduction gear 30a, and a second reduction gear 30b.
- the fixing member 102 performs positioning in the direction of the rotation axis 106 of the machine tool 120.
- the fixing member 102 includes a first frame 102a, a second frame 102b, and a connection frame 102c.
- the first frame 102 a extends in one direction of the rotation axis 160 of the machine tool 120.
- the second frame 102b extends in the other direction of the rotation axis 160 of the machine tool 120. That is, the second frame 102b extends in the opposite direction to the first frame 102a with respect to the machine tool 120.
- connection frame 102 c connects the first frame 102 a and the second frame 102 b and is fixed to the output member 110.
- the machine tool 120 is disposed between the first frame 102a and the second frame 102b.
- the first reduction gear 30a is fixed to the first frame 102a
- the second reduction gear 30b is fixed to the second frame 102b.
- the first reduction gear 30a is an example of a first support member
- the second reduction gear 30b is an example of a second support member.
- the first reduction gear 30a is disposed between the first frame 102a and the machine tool 120.
- the first speed reducer 30a includes a first case 62a and a first support shaft 56a.
- the first support shaft 56a is rotatably supported by the first case 62a.
- the first case 62a is fixed to the main body 122 of the machine tool 120, and the first support shaft 56a is fixed to the first frame 102a.
- the second speed reducer 30b is disposed between the second frame 102b and the machine tool 120.
- the second speed reducer 30b includes a second case 62b and a second support shaft 56b.
- the second case 62b is fixed to the main body 122 of the machine tool 120, and the second support shaft 56b is fixed to the second frame 102b.
- the second support shaft 56b is rotatably supported by the second case 62b.
- the rotating shaft 160 corresponds to the rotating shaft of the output parts (cases 62a and 62b) of the first reduction gear 30a and the second reduction gear 30b. Therefore, the machine tool 120 rotates around the rotation axis 160 with respect to the fixed member 102.
- the first motor case 132a is fixed to the first frame 102a.
- a motor (not shown) for driving the first reduction gear 30a is accommodated in the first motor case 132a.
- the first cover 133a is fixed to the first frame 102a.
- the first cover 133a prevents the first motor case 132a from being exposed to the outside of the driving device 100.
- the second motor case 132b is fixed to the second frame 102b.
- a motor for driving the second reduction gear 30b is accommodated in the second motor case 132b.
- the second cover 133b is fixed to the second frame 102b.
- the second cover 133b prevents the second motor case 132b from being exposed to the outside of the driving device 100.
- the drive device 100 will be described in detail with reference to FIG.
- the first reduction gear 30a and the second reduction gear 30b have substantially the same structure.
- the 1st reduction gear 30a is demonstrated in detail.
- the description of the second speed reducer 30b may be omitted by giving the same reference number as the first speed reducer 30a or the same reference number as the last two digits.
- the first case 62a is fixed to the main body 122 of the machine tool 120 via the first connection member 140a.
- the first case 62a includes a first through hole 58a.
- the first support shaft 56a passes through the first through hole 58a.
- the first support shaft 56a is fixed to the first frame 102a (fixing member 102) via the first motor case 132a.
- the first bearing 64a is disposed between the first case 62a and the first support shaft 56a.
- the first bearing 64a is an angular ball bearing.
- the first reduction gear 30a includes a first internal gear 6a, a first support shaft 56a, a first crankshaft 12a, and two external gears (a first external gear 8a and a third external gear 4a). Yes.
- the first internal gear 6a is formed on the wall surface of the first through hole 58a of the first case 62a.
- the rotation shaft 160 corresponds to the rotation shaft of the first internal gear 6a and the first support shaft 56a.
- the first crankshaft 12a is supported by the first support shaft 56a.
- the rotating shaft 20a is the rotating shaft of the first crankshaft 12a (hereinafter, sometimes referred to as the first rotating shaft 20a).
- the first rotation shaft 20 a is parallel to the rotation shaft 160.
- the first crankshaft 12 a extends in parallel to the rotation shaft 160 at a position offset from the rotation shaft 160.
- the first reduction gear 30a includes three first crankshafts 12a. Each of the first crankshafts 12 a is disposed around the rotation shaft 160 at equal intervals.
- the first crankshaft 12a includes two eccentric bodies (first eccentric body 10a and third eccentric body 2a). In the direction of the first rotating shaft 20a, the first eccentric body 10a is disposed closer to the machine tool 120 than the third eccentric body 2a. The first eccentric body 10a and the third eccentric body 2a are eccentrically symmetrical with respect to the first rotating shaft 20a. The first external gear 8a is engaged with the first eccentric body 10a, and the third external gear 4a is engaged with the third eccentric body 2a. In the direction of the rotation shaft 160, the first external gear 8a is disposed closer to the machine tool 120 than the third external gear 4a. The first external gear 8a and the third external gear 4a have the same number of teeth.
- the first bearing 64a is disposed closer to the first motor case 132a (first frame 102a) than the first external gear 8a and the third external gear 4a. Only one first bearing 64a is disposed between the first case 62a and the first support shaft 56a.
- the second case 62b is fixed to the main body 122 of the machine tool 120 via the second connection member 140b.
- the second case 62b includes a second through hole 58b.
- the second support shaft 56b passes through the second through hole 58b.
- the second support shaft 56b is fixed to the second frame 102b via the second motor case 132b.
- the second bearing 64b is disposed between the second case 62b and the second support shaft 56b.
- the second bearing 64b is an angular ball bearing.
- the second reduction gear 30b includes a second internal gear 6b, a second support shaft 56b, a second crankshaft 12b, and two external gears (a second external gear 8b and a fourth external gear 4b). Yes.
- the rotating shaft 160 also corresponds to the rotating shafts of the second internal gear 6b and the second support shaft 56b.
- the rotating shaft 20b is a rotating shaft of the second crankshaft 12b (hereinafter, sometimes referred to as the second rotating shaft 20b).
- the second rotating shaft 20b is coaxial with the first rotating shaft 20a. That is, the second crankshaft 12b is coaxial with the first crankshaft 12a.
- the second crankshaft 12b also extends parallel to the rotation shaft 160.
- the second crankshaft 12b includes two eccentric bodies (second eccentric body 10b and fourth eccentric body 2b).
- the second eccentric body 10b In the direction of the second rotating shaft 20b, the second eccentric body 10b is arranged closer to the machine tool 120 than the fourth eccentric body 2b.
- the second eccentric body 10b and the fourth eccentric body 2b are eccentrically symmetrical with respect to the second rotating shaft 20b.
- the second external gear 8b is engaged with the second eccentric body 10b
- the fourth external gear 4b is engaged with the fourth eccentric body 2b.
- the second external gear 8b is disposed closer to the machine tool 120 than the fourth external gear 4b.
- the second bearing 64b is disposed closer to the second motor case 132a (second frame 102b) than the second external gear 8b and the fourth external gear 4b. Only one second bearing 64b is disposed between the second case 62b and the second support shaft 56b.
- first reduction gear 30a The structure of the first reduction gear 30a will be described in more detail with reference to FIG. As described above, the first reduction gear 30a and the second reduction gear 30b have substantially the same structure. Therefore, only the structure of the first reduction gear 30a will be described, and the description of the structure of the second reduction gear 30b will be omitted.
- the first internal gear 6a is formed by arranging the internal pins 5a in the circumferential direction on the wall surface of the first through hole 58a. In the direction of the rotation shaft 160, the first internal gear 6a is provided in the middle of the first case 62a.
- the first support shaft 56a includes a first plate 50a and a second plate 54a.
- the second plate 54a includes a columnar portion 52a.
- the columnar portion 52a extends from the second plate 54a toward the first plate 50a.
- the columnar part 52a is fixed to the first plate 50a.
- the first plate 50a In the direction of the rotating shaft 160, the first plate 50a is located on the machine tool 120 side, and the second plate 54a is located on the motor case 132a side (first frame 102a side).
- a first bearing 64a is disposed between the second plate 54a and the first case 62a.
- a bearing is not disposed between the first plate 50a and the first case 62a. That is, the first support shaft 56a is supported by the first case 62a by the single first bearing 64a at a position away from the machine tool 120.
- the first crankshaft 12a is supported on the first support shaft 56a by a pair of bearings 14a.
- the pair of bearings 14a are tapered roller bearings.
- the pair of bearings 14a restricts the first crankshaft 12a from moving in the axial direction and the radial direction with respect to the first support shaft 56a.
- the first eccentric body 10a is located on the machine tool 120 side, and the third eccentric body 2a is located on the motor case 132a side (first frame 102a side).
- the first external gear 8a is provided with a first central through hole 34a, a first support shaft through hole 36a, and a first crankshaft through hole 24a.
- the third external gear 4a is provided with a third central through hole 32a, a third support shaft through hole 38a, and a third crankshaft through hole 26a.
- the cylindrical member 28a passes through the first central through hole 34a and the third central through hole 32a.
- the cylindrical member 28a is fixed to the first plate 50a and the second plate 54a.
- the columnar portion 52a passes through the first support shaft through hole 36a and the third support shaft through hole 38a. Clearances are provided between the columnar part 52a and the first support shaft through hole 36a and between the columnar part 52a and the third support shaft through hole 38a.
- the first eccentric body 10a is engaged with the first crankshaft through hole 24a via the cylindrical roller bearing 22a.
- the third eccentric body 2a is engaged with the third crankshaft through hole 26a via the cylindrical roller bearing 18a.
- An oil seal 40a is disposed between the first case 62a and the first plate 50a, an oil seal 7a is disposed between the first case 62a and the second plate 54a, and the first plate 52a and the first crank An oil seal 16a is disposed between the shafts 12a, and an oil seal 9a is disposed between the second plate 54a and the first crankshaft 12a.
- the oil seals 40a, 7a, 16a and 9a prevent the lubricant (oil) in the first reduction gear 30a from leaking to the outside of the first reduction gear 30a.
- a motor (not shown) for driving the first reduction gear 30a is accommodated in the first motor case 132a.
- the torque of the motor is transmitted to the first crankshaft 12a.
- the first crankshaft 12a rotates
- the first eccentric body 10a and the third eccentric body 2a rotate eccentrically around the first rotation shaft 20a.
- the first external gear 8a and the third external gear 4a rotate eccentrically while meshing with the first internal gear 6a.
- the eccentric directions of the first external gear 8 a and the third external gear 4 a are symmetric with respect to the rotation shaft 160.
- the number of teeth of the first internal gear 6a and the number of teeth of the external gears 8a and 4a are different. Therefore, when the external gears 8a and 4a rotate eccentrically, the external gears 8a and 4a rotate relative to the first internal gear 6a.
- the external gears 8a and 4a can also be called eccentric rotating gears of the first reduction gear 30a.
- the first internal gear 6a can also be referred to as a rotation gear of the first reduction gear 30a.
- the external gears 8a and 4a are supported by the first support shaft 56a via the first crankshaft 12a. Therefore, when the external gears 8a and 4a rotate eccentrically, the first support shaft 56a rotates relative to the first internal gear 6a.
- the first internal gear 6a (first case 62a) is fixed to the main body 122 of the machine tool 120 via the connection member 140a.
- the first support shaft 56a is fixed to the fixing member 102 (first frame 102a) via the first motor case 132a. Therefore, when the external gears 8 a and 4 a rotate eccentrically, the machine tool 120 rotates around the rotation shaft 160 with respect to the fixed member 102.
- the driving of the first reduction gear 30a and the driving of the second reduction gear 30b are performed simultaneously. Therefore, the second reduction gear 30b also performs the same movement as the first reduction gear 30a.
- the external gears 8b and 4b can also be called eccentric rotating gears of the second reduction gear 30b.
- the second internal gear 6b can also be called a rotation gear of the second reduction gear 30b.
- the driving device 100 can tilt the position of a tool (not shown) attached to the head unit 124 by supporting the machine tool 120 at both ends.
- the first case 62 a and the second case 62 b are fixed to the machine tool 120. Further, the first support shaft 56 a and the second support shaft 56 b are fixed to the fixing member 102.
- the first case 62a, the second case 62b, and the machine tool 120 are integrated, and the first support shaft 56a, the second support shaft 56b, and the fixing member 102 are integrated.
- the integrated case of the first case 62a, the second case 62b, and the machine tool 120 is a pair of bearings (the first bearing 64a and the first bearing 64a and the second support shaft 56b and the fixed member 102). 2 bearings 64b). It can be said that the machine tool 120 is supported at both ends with respect to the fixed member 102. Therefore, the position around the rotation axis 160 of the machine tool 120 can be controlled with high accuracy.
- the conventional drive device arranges a pair of bearings between the case and the shaft for each reduction gear. Since the shaft is supported at both ends by the case, the relative positions of the shaft and the case are stabilized in each reduction gear.
- one rotated member for example, a machine tool
- the relative rotation between the shaft and the case A force that causes displacement is applied.
- a force is applied to the pair of bearings disposed between the shaft and the case, and the life of the bearings may be reduced.
- the conventional drive device requires that two reduction gears be attached to the rotated member with high accuracy.
- the first rotating shaft 20a of the first crankshaft 12a and the second rotating shaft 20b of the second crankshaft 12b are coaxial. And when it observes from one side of the 1st rotating shaft 20a direction, the eccentric direction of the 1st eccentric body 10a and the 2nd eccentric body 10b is the same. Therefore, the eccentric rotational movement of the first external gear 8 a and the eccentric rotational movement of the second external gear 8 b are equal on both sides of the machine tool 120. As a result, when driving the driving device 100, the direction of the force applied from the first external gear 8a to the first internal gear 6a and the direction of the force applied from the second external gear 8b to the second internal gear 6b. Are equal.
- the vibration of the machine tool 120 can be suppressed.
- the third eccentric body 2a and the fourth eccentric body 2b have the same eccentric direction when observed from one side in the direction of the first rotating shaft 20a.
- the movement of the eccentric rotation of the third external gear 4a and the movement of the eccentric rotation of the fourth external gear 4b are equal on both sides of the machine tool 120.
- the eccentric direction of the first eccentric body 10a with respect to the first rotating shaft 20a is symmetric with the eccentric direction of the third eccentric body 2a. Therefore, when the first reduction gear 30 a is being driven, the positions of the first external gear 8 a and the third external gear 4 a are always symmetrical with respect to the rotation shaft 160. Therefore, the rotation balance of the first crankshaft 12a can be improved. This feature can also be obtained by the second reduction gear 30b.
- the first rotary shaft 20a and the second rotary shaft 20b are coaxial, and the first eccentric body 10a and the second eccentric body 10b are eccentric in the same direction with respect to the rotary shafts 20a and 20b.
- the first rotation shaft 20a and the second rotation shaft 20b are It does not have to be coaxial. That is, it is only necessary that the first external gear 8a of the first reduction gear 30a and the second external gear 8b of the second reduction gear 30b are eccentric with respect to the rotation shaft 160 in the same direction.
- the first eccentricity when the first crankshaft 12a and the second crankshaft 12b are arranged symmetrically with respect to the rotation axis 160 and observed from one side in the direction of the first rotation axis 20a (or the second rotation axis 20b), the first eccentricity
- the form where the eccentric direction of the body 10a and the eccentric direction of the 2nd eccentric body 10b are the same may be sufficient.
- the example in which the speed reducer is used as the first support member and the second support member has been described.
- a support member that does not have a reduction gear structure may be used instead of the first reduction gear 30a and / or the second reduction gear 30b of the present embodiment.
- the machine tool 120 can be rotated around the rotation shaft 160 by attaching a motor to the case or the shaft.
- a speed reducer in which the internal gear rotates eccentrically can also be used as the first support member and / or the second support member.
- each of the two support members (first support member and second support member) disposed on both sides of the machine tool 120 includes a case and a shaft, and a bearing is provided between each case and the shaft. Only one is arranged. The same applies to the following embodiments.
- the drive device 200 will be described.
- the drive device 200 is a modification of the drive device 100. Specifically, the drive device 200 is different from the drive device 100 only in the structure of the support member (reduction gear). For this reason, the same reference numbers as the driving device 100 or the same reference numbers as the last two digits are attached to the same members as the driving device 100, and the description may be omitted. Further, the structure of the first speed reducer 230a will be described, and the description of the structure of the second speed reducer 230b may be omitted.
- the first crankshaft 212a of the first speed reducer 230a is provided with only one first eccentric body 210a.
- only one second eccentric body 210b is provided on the second crankshaft 212b of the second reduction gear 230b.
- the first rotating shaft 220a of the first crankshaft 212a and the second rotating shaft 220b of the second crankshaft 212b are coaxial.
- the eccentric direction of the first eccentric body 210a with respect to the first rotating shaft 220a is opposite to the eccentric direction of the second eccentric body 210b. That is, the center of the first eccentric body 210a and the center of the second eccentric body 210b are symmetric with respect to the first rotation axis 220a.
- the first external gear 208a is engaged with the first eccentric body 210a
- the second external gear 208b is engaged with the second eccentric body 210b. Therefore, the first external gear 208a and the second external gear 208b are eccentric in opposite directions (symmetric with respect to the rotary shaft 260) when observed from one side in the direction of the rotary shaft 260.
- a first bearing 264a is disposed between the first plate 250a and the first case 262a. No bearing is disposed between the second plate 254a and the first case 262a.
- the first support shaft 256a is supported on the first case 262a by one first bearing 264a on the machine tool 120 side of the first external gear 208a. In other words, the first bearing 264a is disposed closer to the machine tool 120 than the first external gear 208a in the direction of the rotation shaft 260.
- the second support shaft 256b is supported by the second case 262b by the single second bearing 264b on the machine tool 120 side with respect to the second external gear 208b. That is, the second bearing 264b is disposed closer to the machine tool 120 than the second external gear 208b in the direction of the rotation shaft 260.
- each of the first reduction gear 230a and the second reduction gear 230b includes only one external gear (first external gear 208a, second external gear 208b). . Therefore, the axial length of each reduction gear can be shortened compared to a reduction gear including a plurality of external gears (for example, the reduction gears 30a and 30b of the first embodiment). That is, according to the technique disclosed in the present embodiment, a compact drive device can be realized.
- the first external gear 208a and the second external gear 208b are eccentrically symmetrical with respect to the rotation shaft 260. Therefore, the balance of the force applied from the two external gears (the first external gear 208a and the second external gear 208b) to the combined body of the first case 262a, the machine tool 120, and the second case 262b. I can take it.
- the first reduction gear 230a and the second reduction gear 230b can also be regarded as part of a reduction gear provided with two external gears and arranged on both sides of the machine tool 120.
- the first reduction gear 30 a includes two external gears 8 a and 4 a that are symmetrically eccentric with respect to the rotating shaft 160.
- the driving device 200 of the present embodiment is regarded as a form in which the two external gears 8a and 4a of the driving device 100 of the first embodiment are divided and one external gear is arranged on the opposite side of the machine tool 120. Can do.
- each of the first bearing 264a and the second bearing 264b is disposed closer to the machine tool 120 than the first external gear 208a and the second external gear 208b. That is, the first external gear 208a and the second external gear 208b have a pair of bearings (first bearing 264a, second bearing 264b) from a range in which the case 262a, 262b and the machine tool 120 are integrated. Is also arranged on the outside. Therefore, it is possible to suppress the machine tool 120 from vibrating due to the force applied to the cases 262a and 262b from the external gears 208a and 208b.
- first rotating shaft 220a and the second rotating shaft 220b are coaxial, and the first eccentric body 210a and the second eccentric body 210b are eccentrically symmetrically with respect to the first rotating shaft 220a.
- first external gear 208 a and the second external gear 208 b rotate eccentrically in a state of being eccentric in the opposite direction with respect to the rotation shaft 260. If it is such a form, the 1st eccentric body 210a and the 2nd eccentric body 210b may not be eccentrically symmetrical with respect to the 1st rotating shaft 220a (2nd rotating shaft 220b).
- the first eccentricity may be such that the eccentric direction of the body 210a and the eccentric direction of the second eccentric body 210b are opposite.
- the drive device 300 will be described.
- the driving device 300 is a modification of the driving device 200. Specifically, the drive device 300 is different from the drive device 200 only in the form of the speed reducers 330a and 330b. Therefore, the same reference numbers as the driving device 200 or the same reference numbers as the last two digits are attached to the same members as the driving device 200, and the description may be omitted.
- the structure of the first reduction gear 330a will be described, and the description of the structure of the second reduction gear 330b may be omitted.
- the first crankshaft 312a and the second crankshaft 312b are arranged coaxially with the rotating shaft 360. That is, the crankshafts 312a and 312b are arranged on the rotating shaft 360 of the output part of the first reduction gear 330a and the second reduction gear 330b.
- the first crankshaft 312a includes only one first eccentric body 310a
- the second crankshaft 312b includes only one second eccentric body 310b.
- the eccentric directions of the first eccentric body 310 a and the second eccentric body 310 b are symmetric with respect to the rotation axis 360.
- the first reduction gear 330a includes a first driven crankshaft 370a.
- the first speed reducer 330a includes three first driven crankshafts 370a. Each of the first driven crankshafts 370a is disposed around the rotation shaft 360 at equal intervals. Each first driven crankshaft 370a includes only one first driven eccentric body 372a.
- the second speed reducer 330b includes a second driven crankshaft 370b.
- the second reducer 330b includes three second driven crankshafts 370b.
- the respective second driven crankshafts 370b are arranged at equal intervals around the rotation shaft 360.
- the rotation shaft 380a of the first driven crankshaft 370a and the rotation shaft 380b of the second driven crankshaft 370b are coaxial.
- Each second driven crankshaft 370b includes only one second driven eccentric body 372b. Observing from one direction of the rotation shaft 380a, the eccentric direction of the first driven eccentric body 372a and the eccentric direction of the second driven eccentric body 372b are opposite to the rotation shaft 380a.
- the torque of the motor (not shown) is not directly transmitted to the first driven crankshaft 370a and the second driven crankshaft 370b.
- the first driven crankshaft 370a and the second driven crankshaft 370b rotate with the eccentric rotation of the external gears 308a and 308b. Since each of the first reduction gear 330a and the second reduction gear 330b includes a first driven crankshaft 370a and a second driven crankshaft 370b, the first external gear 308a and the second external gear 308b are smoothly provided. Rotate.
- the first crankshaft 312a is supported on the first support shaft 356a by a pair of bearings 314a.
- the pair of bearings 314a are deep groove ball bearings.
- the first driven crankshaft 370a is supported on the first support shaft 356a by a pair of bearings 384a.
- the pair of bearings 384a are tapered roller bearings.
- the first driven crankshaft 370a is restricted from moving in the axial direction and the radial direction by a tapered roller bearing 384a.
- the first external gear 308a includes a crankshaft through hole 324a, a driven crankshaft through hole 386a, and a support shaft through hole 336a.
- the crankshaft through hole 324a is formed at the center of the first external gear 308a.
- the driven crankshaft through holes 386a and the support shaft through holes 336a are alternately formed in the circumferential direction of the first external gear 308a.
- the first eccentric body 310a is engaged with the crankshaft through hole 324a via the cylindrical roller bearing 322a.
- the first driven eccentric body 372a is engaged with the driven crankshaft through hole 386a via the cylindrical roller bearing 374a.
- the columnar portion 352a of the first support shaft 356a passes through the support shaft through hole 336a.
- An oil seal 382a is disposed between the first driven crankshaft 370a and the first plate 350a
- an oil seal 388a is disposed between the first driven crankshaft 370a and the second plate 354a.
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Abstract
Description
図1は、駆動装置100に工作機械120を取り付けた状態を示している。工作機械120は、被回転部材の一例である。駆動装置100は、ベースシャフト104に対して回転する出力部材110に固定されている。駆動装置100の全体が、ベースシャフト104に対して、回転軸106の周りに回転する。駆動装置100は、工作機械120を回転軸160の周りに回転させる。なお、工作機械120は、本体122と、本体122対して回転するヘッド部124を備えている。ヘッド部124には、工具(図示省略)が取り付けられる。
駆動装置200について説明する。駆動装置200は、駆動装置100の変形例である。具体的には、駆動装置200は、支持部材(減速機)の構造が駆動装置100と異なるだけである。そのため、駆動装置100と同じ部材には、駆動装置100と同じ参照番号又は下二桁の数字が同じ参照番号を付すことにより、説明を省略することがある。また、第1減速機230aの構造について説明し、第2減速機230bの構造については説明を省略することがある。
駆動装置300について説明する。駆動装置300は、駆動装置200の変形例である。具体的には、駆動装置300は、減速機330a及び330bの形態が駆動装置200と異なるだけでる。そのため、駆動装置200と同じ部材には、駆動装置200と同じ参照番号又は下二桁の数字が同じ参照番号を付すことにより、説明を省略することがある。また、第1減速機330aの構造について説明し、第2減速機330bの構造については説明を省略することがある。
Claims (9)
- 被回転部材の回転軸方向の一方に延びる第1フレームと、被回転部材の回転軸方向の他方に延びる第2フレームとを備えている固定部材と、
第1フレームに取り付けられており、第1フレームと被回転部材の間に配置される第1支持部材と、
第2フレームに取り付けられており、第2フレームと被回転部材の間に配置される第2支持部材と、を備えており、
第1支持部材は、
第1貫通孔が設けられているとともに、第1フレームと被回転部材のうちの一方に固定される第1ケースと、
第1貫通孔を通過しており、第1フレームと被回転部材のうちの他方に固定される第1支持シャフトと、
第1ケースと第1支持シャフトの間に配置されている第1軸受と、を備えており、
第2支持部材は、
第2貫通孔が設けられているとともに、第2フレームと被回転部材のうちの一方に固定される第2ケースと、
第2貫通孔を通過しており、第2フレームと被回転部材のうちの他方に固定される第2支持シャフトと、
第2ケースと第2支持シャフトの間に配置されている第2軸受と、を備えており、
第1軸受が、第1ケースと第1支持シャフトの間に1個のみ配置されており、
第2軸受が、第2ケースと第2支持シャフトの間に1個のみ配置されている駆動装置。 - 第1支持部材が、第1外歯歯車が第1内歯歯車に対して相対的に偏心回転するタイプの減速構造を備えている請求項1に記載の駆動装置。
- 第2支持部材が、第2外歯歯車が第2内歯歯車に対して相対的に偏心回転するタイプの減速構造を備えている請求項2に記載の駆動装置。
- 第1支持シャフトに支持されているとともに第1偏心体が設けられている第1クランクシャフトをさらに備えており、
第1内歯歯車が、第1貫通孔の壁面に設けられており、
第1外歯歯車が、第1偏心体に係合しているとともに第1内歯歯車と噛み合っている請求項2に記載の駆動装置。 - 第2支持部材が、第2外歯歯車が第2内歯歯車に対して相対的に偏心回転するタイプの減速構造を備えており、
第2支持シャフトに支持されているとともに第2偏心体が設けられている第2クランクシャフトをさらに備えており、
第2内歯歯車が、第2貫通孔の壁面に設けられており、
第2外歯歯車が、第2偏心体に係合しているとともに第2内歯歯車と噛み合っている請求項4に記載の駆動装置。 - 第1クランクシャフトの第1偏心体よりも第1フレーム側に、第1クランクシャフトの第1回転軸に対して第1偏心体とは対称に偏心している第3偏心体が設けられており、
第3偏心体に第3外歯歯車が係合しており、
第2クランクシャフトの第2偏心体よりも第2フレーム側に、第2クランクシャフトの第2回転軸に対して第2偏心体とは対称に偏心している第4偏心体が設けられており、
第4偏心体に第4外歯歯車が係合しており、
被回転部材の回転軸方向から観察したときに、第1外歯歯車と第2外歯歯車が、被回転部材の回転軸に対して同じ方向に偏心している請求項5に記載の駆動装置。 - 第1回転軸と第2回転軸が同軸であり、
第1偏心体と第2偏心体が、第1回転軸に対して同じ方向に偏心している請求項6に記載の駆動装置。 - 第1支持部材が備える外歯歯車が第1外歯歯車のみであり、
第2支持部材が備える外歯歯車が第2外歯歯車のみであり、
被回転部材の回転軸方向から観察したときに、第1外歯歯車と第2外歯歯車が、被回転部材の回転軸に対して対称に偏心している請求項5に記載の駆動装置。 - 第1クランクシャフトの第1回転軸と第2クランクシャフトの第2回転軸とが同軸であり、
第1偏心体と第2偏心体が、第1回転軸に対して対称に偏心している請求項8に記載の駆動装置。
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US14/772,601 US9903442B2 (en) | 2013-03-08 | 2014-02-26 | Driving device |
DE112014001191.6T DE112014001191B4 (de) | 2013-03-08 | 2014-02-26 | Antriebsvorrichtung |
CN201480012922.2A CN105008764B (zh) | 2013-03-08 | 2014-02-26 | 驱动装置 |
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DE112014001191T5 (de) | 2015-11-26 |
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