WO2018168762A1

WO2018168762A1 - Series for differential reduction gear and method for manufacturing series for differential reduction gear

Info

Publication number: WO2018168762A1
Application number: PCT/JP2018/009491
Authority: WO
Inventors: 国弘原口
Original assignee: 株式会社ニッセイ
Priority date: 2017-03-15
Filing date: 2018-03-12
Publication date: 2018-09-20
Also published as: JP2018155263A; JP6769897B2

Abstract

[Problem] To share components and minimize manufacturing costs without reducing the strength of an externally toothed gear. [Solution] A series S having a plurality of differential reduction gears 1A-1C prepared at different reduction ratios, the differential reduction gears comprising: an internally toothed gear 4; an input shaft 12 that coaxially passes through the internally toothed gear 4; externally toothed gears 17A-17C that are externally fitted on eccentric parts 14A-14C provided to the input shaft 12, that mesh with the inner side of the internally toothed gear 4, and that have a plurality of pin holes 21A-21C in concentric circles; and an output shaft in which a plurality of pins 22, 22… loosely inserted into the pin holes 21A-21C are provided in concentric circles, the output shaft being rotated via the pins 22 at a prescribed reduction ratio due to the rotation of the input shaft 12 causing the externally toothed gears 17A-17C to move eccentrically; wherein the pin holes 21A-21C of the externally toothed gears 17A-17C are formed at different diameters for each externally toothed gear 17A-17C in accordance with the number of external teeth, and the internally toothed gear 4 and the pins 22 are shared.

Description

Differential reducer series and method of manufacturing differential reducer series

The present invention relates to a differential reducer in which a plurality of internally oscillating differential reducers including internal gears and external gears that are inscribed in mesh with the internal gears are prepared with different reduction ratios. The present invention relates to a series and a method of manufacturing the series of the differential reducer.

The differential reduction gear includes an internal gear and an external gear that is inscribed and meshed with the internal gear, and the external gear is eccentrically moved in the internal gear by rotational input from the input shaft. Relative rotation is generated between the gears, and rotation is output to the output shaft at a reduction ratio based on the difference in rotational speed between the eccentric motion and the relative rotation.
When such a differential reducer prepares a plurality of differential reducers having different reduction ratios to form a differential reducer series, it meshes with an internal gear having a different number of teeth according to the reduction ratio. It is necessary to prepare external gears, which leads to an increase in manufacturing cost. In view of such cost problems, Patent Document 1 prepares specific m number of internal gears, and each pitch circle radius and each of all combinations of internal gears and external gears. Set the relationship with the amount of eccentricity to be constant, and form multiple types of inner roller holes with different inner peripheral diameters corresponding to each internal gear on the external gear to share the external gear The present invention has been disclosed.

JP 2002-147546 A

However, in the invention of Patent Document 1, since it is necessary to form many inner roller holes in the external gear for each reduction ratio, the strength of the external gear may be reduced.

Therefore, the present invention has an object to provide a series of differential reduction gears that can reduce the manufacturing cost by sharing components without reducing the strength of the external gear, and a manufacturing method thereof. .

In order to achieve the above object, an invention according to claim 1 is characterized in that an internal gear, an input shaft that passes through the internal gear coaxially, and an eccentric portion provided on the input shaft are mounted on the internal gear. An external gear having a plurality of pin holes on concentric circles, and an output portion having a plurality of pins loosely inserted in the pin holes on the concentric circles, and rotating the input shaft to the internal gear On the other hand, the differential gear reducer rotates the output part via the pin at a reduction ratio based on the difference in the number of teeth between the internal gear and the external gear and the number of teeth of the external gear by causing the external gear to eccentrically move. Is a series with multiple reduction ratios,
A pin hole of each external gear is formed with a different diameter for each external gear according to the number of external teeth, and the internal gear and the pin are used in common.
Here, the “pin” includes not only a single shaft body but also a member having an outer periphery of the shaft body covered with another component such as a metal or a roller.
According to a second aspect of the present invention, in the configuration of the first aspect, the center positions of the pin holes coincide with each other between the external gears.
According to a third aspect of the present invention, in the configuration of the first or second aspect, the tooth type of the internal gear and the external gear is an involute tooth type, and the dislocation coefficient of the internal gear exceeds 1. It is characterized by setting between 9.
According to a fourth aspect of the present invention, in the configuration according to any one of the first to third aspects, the number of pins of the output unit is eight or more.
The invention according to claim 5 is characterized in that, in the structure according to any one of claims 1 to 4, there are three or more different reduction ratios.
According to a sixth aspect of the present invention, in any one of the first to fifth aspects, the input shaft is hollow.
In order to achieve the above object, an invention according to claim 7 is directed to an internal gear, an input shaft coaxially passing through the internal gear, and an eccentric portion provided on the input shaft so as to be internal to the internal gear. An external gear having a plurality of pin holes on concentric circles, and an output portion having a plurality of pins loosely inserted in the pin holes on the concentric circles, and rotating the input shaft to the internal gear On the other hand, the differential gear reducer rotates the output part via the pin at a reduction ratio based on the difference in the number of teeth between the internal gear and the external gear and the number of teeth of the external gear by causing the external gear to eccentrically move. Is a method of manufacturing a plurality of series prepared with different reduction ratios,
The pin hole of each external gear is formed with a different diameter for each external gear according to the number of teeth of the external tooth, and each differential reduction gear corresponding to each reduction gear ratio has a different pin hole diameter. It is characterized by being manufactured using an external gear and an internal gear and a pin common to other differential reduction gears.

According to invention of

Claim

1 and 7, the pin hole of each external gear is formed with a different diameter for each external gear according to the number of external teeth, and the internal gear and the pin are shared. Therefore, it is sufficient to form only a pin hole having a hole diameter corresponding to one reduction gear ratio in the external gear. Therefore, parts can be shared and manufacturing cost can be suppressed without reducing the strength of the external gear.
According to the second aspect of the invention, in addition to the effect of the first aspect, since the center positions of the pin holes coincide with each other between the external gears, the output portion can be shared.
According to the invention of claim 3, in addition to the effect of

claim

1 or 2, the tooth type of the internal gear and the external gear is an involute tooth type, and the dislocation coefficient of the internal gear is set to 1. By setting the value between 1.9 and 1.9, the root diameter of the external gear can be increased, and the thickness between the root of the external gear and the pin hole can be ensured.
According to the invention described in claim 4, in addition to the effect of any one of claims 1 to 3, the number of pins of the output part is set to 8 or more, so that the rigidity of the differential reduction gear is increased. Can do. In particular, since it is sufficient to form only a pin hole corresponding to one reduction ratio in the external gear, the number of pins can be easily increased to eight or more.
According to the fifth aspect of the present invention, in addition to the effect of any one of the first to fourth aspects, only the pin hole corresponding to one reduction ratio needs to be formed in the external gear. However, even if there are three types of series, the strength of the external gear does not drop in each differential reduction gear. Therefore, three or more types of series can be configured with the internal gear and the output unit in common.
According to the invention described in claim 6, in addition to the effect of any one of claims 1 to 5, the weight reduction can be achieved by making the input shaft hollow. Even if the input shaft is hollow, the strength of the external gear can be maintained.

It is a center longitudinal cross-sectional view of the series of a differential reduction gear. (A) to (C) are sectional views of the differential reducers 1A to 1C, respectively, taken along line AA of FIG. It is the F section enlarged view of FIG. It is the graph which compared the efficiency in case the dislocation coefficient of the internal gear 4 differs.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
1 and 2 show a series S including three types of

differential reduction gears

1A, 1B, and 1C. However, since the structures of the differential reducers 1A to 1C are substantially the same, FIG. 1 shows a central longitudinal sectional view of the differential reducer 1A as a representative, and FIGS. 2 (A) to 2 (C) show the structure of FIG. Cross-sectional views of the differential reduction gears 1A to 1C along the line AA are respectively shown. Further, when distinguishing the constituent parts for each of the differential reduction gears 1A to 1C, an alphabetic character is added as in 14A to 14C.
In the differential reduction gear 1A (1B, 1C), reference numeral 2 denotes a casing. The casing 2 includes a cylindrical inner case 3 integrally provided with an internal gear 4 on the inner side, and one of the inner cases 3 in the axial direction. It consists of a disc-shaped case cover 5 arranged on the end face (input side, right side in FIG. 1) and a cylindrical outer case 6 arranged on the other end face (output side, left side in FIG. 1). The middle case 3, the case cover 5, and the outer case 6 are integrally coupled by a plurality of

bolts

7, 7,... Screwed to the outer case 6 through the middle case 3 from the case cover 5 side. .

A disc-shaped output shaft 9 is rotatably supported inside the outer case 6 via a cross roller bearing 8 as an outer bearing. A hollow cylindrical input shaft 12 is coaxially and rotatably supported inside the casing 2 via

ball bearings

10 and 11 serving as input shaft bearings. However, in the ball bearing 10 as an inner bearing on the input side, the axial input side half of the outer ring 10a is supported by the case cover 5, and the axial output side half of the outer ring 10a is supported by a carrier 24 described later.
In this input shaft 12, a pair of

eccentric portions

14A, 14A (14B) having outer diameters equal to each other and the maximum eccentric side being 180 degrees different from each other between the shaft support

portions

13, 13 on which the

ball bearings

10, 11 are disposed. , 14B and 14C, 14C) are formed adjacent to each other in the axial direction. In each

eccentric part

14A, 14A (14B, 14B and 14C, 14C), as a bearing for the eccentric part, a full roller comprising a plurality of

needles

16, 16,. The

external gears

17A, 17A (17B, 17B and 17C, 17C) having the same outer shape are externally rotatably mounted via the needle bearing 15. Therefore, each needle 16 is in direct contact with the inner eccentric portions 14A to 14C and the outer external gears 17A to 17C.

Here, in the input shaft 12, the outer diameter D1 of the shaft support portion 13 where the

ball bearings

10 and 11 are disposed and the outer diameter D2 of the eccentric portion 14A (14B, 14C) where the needle bearing 15 is provided are D1> D2. It is formed so that it may become a relation. Thus, by reducing the outer diameter D2 of the eccentric portion 14A (14B, 14C), the size (outer diameter) of each needle 16 provided on the outer periphery can be increased. Further, a disc-shaped retaining portion 18 that protrudes higher to the outer peripheral side than the eccentric portion 14A (14B, 14C) over the entire circumference is provided between the shaft support portion 13 and the eccentric portion 14A (14B, 14C). Each is installed. The retaining portion 18 restricts the movement of the needle 16 outward in the axial direction and the movement of the

ball bearings

10 and 11 inward in the axial direction over the entire circumference. As a result, the movement of the input shaft 12 in the axial direction is also restricted. The movement of the ball bearing 10 to the outside is regulated by a cover 19 that is provided on the inner peripheral edge of the case cover 5 and overlaps the outer ring 10 a from the outside, and the movement of the ball bearing 11 to the outside is provided to the output shaft 9. It is regulated by the stepped portion 20.

As shown in FIG. 2, the external gears 17A to 17C have a smaller number of teeth than the internal gear 4 and are inscribed in the eccentric gear 4 at an eccentric position. Here, in the differential reduction gears 1A to 1C, the internal gears 4 having the same shape with 120 teeth are used. On the other hand, in each of the external gears 17A to 17C, the external gear 17A has a reduction ratio of 1/19 with the number of teeth being 114 and the difference in the number of teeth from the internal gear 4 being 1/19, and the external gear 17B is The number of teeth is 116, the number of teeth difference with the internal gear 4 is 4, the reduction ratio is 1/29, the external gear 17C is 118 and the number of teeth difference with the internal gear 4 is 2. The reduction ratio is 1/59. Therefore, the eccentric amounts δ1, δ2, and δ3 from the center O1 (the axis of the input shaft 12) of the internal gear 4 at the respective centers O2 (centers of the eccentric portions 14A to 14C) of the external gears 17A to 17C are δ1. The relationship is>δ2> δ3.
Here, the internal teeth of the internal gear 4 and the external teeth of the external gear 17 are each in an involute tooth type, and the dislocation coefficient of the internal gear 4 is between 1 and 1.9. Is set.

Further, in each of the external gears 17A to 17C, eight circular pin holes 21A to 21C are formed on the concentric circle with the center O2 as a center at equal intervals in the circumferential direction, and the pin holes 21A to 21C are formed. In addition, pins 22, 22,. The pin 22 is installed between the output shaft 9 and a disk-shaped carrier 24 disposed inside the case cover 5 on a concentric circle centering on the axis of the internal gear 4 and parallel to the axis. In the shaft body, a cylindrical metal 23 is integrally mounted on the loose insertion portion of the external gears 17A to 17C on the outer periphery of the pin 22. The carrier 24 supports the inner half of the outer ring 10 a of the ball bearing 10 inside the case cover 5, and can rotate integrally with the output shaft 9 via the pin 22. Here, the output shaft 9 connected via the pin 22 and the pin 22 is an output unit.

Each pin 22 has the outer periphery of the metal 23 inscribed in the inner periphery of the pin holes 21A to 21C of the front and rear

external gears

17A, 17A (17B, 17B and 17C, 17C) with phases different from each other by 180 degrees. The hole diameters of the pin holes 21A to 21C of the external gears 17A to 17C are set for each of the differential reduction gears 1A to 1C. That is, the diameter of the pin holes 21A to 21C in the external gears 17A to 17C is a dimension obtained by adding twice the eccentric amount δ1 to δ3 of the external gears 17A to 17C to the diameter of the pin 22 including the metal 23. Thus, the hole diameters of the pin holes 21A to 21C are different for the differential reduction gears 1A to 1C. However, even if the hole diameters are different, the center positions of the pin holes 21A to 21C of the external gears 17A to 17C all coincide.

On the other hand, the ball bearing 10 is fitted into the inner peripheral surface of the case cover 5 and the carrier 24 so as to be interposed between the case cover 5 and the carrier 24 supporting the outer ring 10a as shown in FIG. A gap A is formed in the axial direction of the shaft 12 to communicate with the inside of the casing 2. Further, ring-shaped

grease grooves

25 and 25 are respectively formed on the inner peripheral surfaces of the case cover 5 and the carrier 24 over the entire circumference.
Further, an oil seal 27 as a seal member is interposed between the ring-shaped protrusion 26 protruding from the front surface of the case cover 5 and the outer peripheral surface of the input shaft 12. An oil seal 28 is interposed between the outer case 6 and the output shaft 9 on the output side of the cross roller bearing 8. An oil seal 29 is also interposed between the output shaft 9 and the input shaft 12 on the output side of the ball bearing 11.

In the differential reduction gears 1A to 1C configured as described above, when the input shaft 12 is rotated and inputted to the input shaft 12, the front and rear eccentric portions 14A to 14C perform eccentric motions symmetrically, and each external tooth The gears 17A to 17C are eccentric and rotated while being inscribed in the internal gear 4. For this reason, each pin hole 21A to 21C also moves eccentrically and rotates, but each pin hole 21A to 21C is formed with a larger diameter than the pin 22 including the metal 23, so that each pin 22 has a pin hole 21A to 21C. In a state in which the pin is inscribed, it relatively moves eccentrically to absorb the eccentric component, and only the rotation component is extracted from each pin 22. Thus, the output shaft 9 and the carrier 24 rotate synchronously via the pin 22 and rotate in a state where the output shaft 9 is decelerated at the reduction ratio described above. Here, in the series S, the differential speed reducer 1A has a reduced speed, the differential speed reducer 1B has a medium speed reduction, and the differential speed reducer 1C has a high speed reduction.

At this time, the grease filled in the casing 2 is supplied from the gap A between the outer ring 10a, the inner peripheral surface of the case cover 5 and the inner peripheral surface of the carrier 24 to the

grease grooves

25 and 25, and lubrication is performed. It is maintained and friction is reduced. Even when grease is supplied in this way, the oil seal 27 is interposed between the case cover 5 and the input shaft 12, so that no grease leakage occurs.

(Effect of invention relating to differential reduction gear series)
Thus, according to the series S of the differential reduction gears 1A to 1C of the above-described form, the pin holes 21A to 21C of the external gears 17A to 17C are respectively connected to the external gears 17A to 17C according to the number of external teeth. Since the internal gear 4, the pin 22, and the metal 23 are formed in different diameters for each 17 C, the external gears 17 A to 17 C have pin holes 21 A to 21 A having a hole diameter corresponding to one reduction ratio. It is sufficient to form only 21C. Therefore, it is possible to share parts and reduce manufacturing costs without reducing the strength of the external gears 17A to 17C.
In particular, since the center positions of the pin holes 21A to 21C coincide with each other between the external gears 17A to 17C, the output shaft 9 and the carrier 24 can be shared.

The tooth patterns of the internal gear 4 and the external gears 17A to 17C are involute teeth.
According to JGMA (Japan Gear Industry Association Standard) (JGMA 611-01) “Compliance with ISO Standard Cylindrical Gear Shifting System”, the gear standard of the Japan Gear Industry Association, the involute internal teeth It is recommended that the total value of the gear shift coefficient and the involute external gear shift coefficient be 1 or less.
However, in this embodiment, the dislocation coefficient of the internal gear 4 is set between 1 and 1.9, thereby increasing the root diameter of the external gears 17A to 17C meshing therewith. Therefore, the thickness of the tooth bottoms of the external gears 17A to 17C and the pin holes 21A to 21C can be secured.
FIG. 4 is a graph comparing the change in efficiency (transmission efficiency) when changing the input torque to 1 N · m at an input of 2000 rpm with the dislocation coefficient of the internal gear 4 being 1.9 and 0.2. No. 1 represents a dislocation coefficient of 1.9 (number of teeth: 76, difference in number of teeth: 1, reduction ratio: 1/75). The dotted lines 2 indicate the case where the dislocation coefficient is 0.2 (60 teeth, 1 tooth difference, 1/59 reduction ratio).
Here, the maximum efficiency is about 68% at a dislocation coefficient of 1.9 and about 70% at a dislocation coefficient of 0.2, and it can be seen that even when the dislocation coefficient is 1.9, there is not much influence on the efficiency. .

Furthermore, since the number of pins 22 in the output section is eight, the rigidity of the differential reduction gears 1A to 1C can be increased. In particular, since it is sufficient to form only the pin holes 21A to 21C corresponding to one reduction gear ratio in the external gears 17A to 17C, the number of pins 22 can be easily increased to eight or more.
In order to increase the rigidity of the differential reduction gears 1A to 1C, it is effective to make the pins 22 thicker. When many inner roller holes are formed in the external gear for each reduction gear ratio as in the background art mentioned above, it is difficult to make the pins thicker because the inner roller holes are close to each other. Since only the pin holes 21A to 21C corresponding to one reduction gear ratio are formed in the tooth gears 17A to 17C, the distance between the pin holes 21A to 21C can be secured. Therefore, the rigidity can be easily increased by making the pins 22 thicker.

In addition, since only the pin holes 21A to 21C corresponding to one reduction gear ratio need be formed in the external gears 17A to 17C, the differential reduction gears 1A to 1C can be provided even if three reduction gear ratios are used. Thus, the strength of the external gears 17A to 17C does not decrease. Therefore, three or more types of series can be configured with the internal gear 4, the pin 22, the metal 23, the output shaft 9, and the carrier 24 being shared.
And the weight reduction can be achieved by making the input shaft 12 hollow. Further, the strength of the external gears 17A to 17C can be maintained even if the input shaft 12 is hollow.

In the above embodiment, a series of three types of differential reducers is illustrated, but the reduction ratio and the number of differential reducers are not limited to this, and two or more types of differential reducers having different reduction ratios. The internal gear and output part can be shared in the same way. Each reduction ratio is not limited to the above-described form. The number of external gears provided in each differential reduction gear can also be increased or decreased.
Further, in the above embodiment, the pin is made of metal, but it may be a single pin that does not have a rolling member such as a roller, or such a separate member.

(Effect of invention of differential reduction gear according to eccentric part bearing and outer diameter of eccentric part)
As described above, according to the differential reduction gears 1A to 1C of the above embodiment, the eccentric portion bearing is the needle roller 15 of the full roller, and the outer diameter D2 of the eccentric portions 14A to 14C of the input shaft 12 is changed to the ball bearing. By making it smaller than the outer diameter D1 of the shaft support portion 13 provided with 10 and 11, the outer diameter of the needle 16 can be increased, leading to an increase in strength.
In particular, here, a retaining portion that restricts movement of the input shaft 12 in the axial direction by contacting the side surface of the

ball bearing

10, 11 on the outer periphery of the input shaft 12 between the

ball bearings

10, 11 and the needle bearing 15. 18 and 18 so that the eccentric portions 14A to 14C are formed lower than the retaining portion 18 over the entire circumference, and therefore, the entire roller has the needle 16 extending over the entire circumference of the eccentric portions 14A to 14C. The movement in the axial direction can be restricted. Further, the retaining portion 18 can be shared by both the

ball bearings

10 and 11 and the needle 16. Further, the retaining portion 18 also serves as a retaining mechanism for the input shaft 12 itself.

Further, since the retaining portion 18 has a disk shape that is coaxially formed integrally with the input shaft 12, the retaining portion 18 can be easily processed by a lathe or the like.
Further, since the eccentric parts 14A to 14C, the needle bearing 15 and the external gears 17A to 17C are provided in plural sets so that the outer diameters of the eccentric parts 14A to 14C are all equal, the same needle is used for each eccentric part 14A to 14C. The bearing 15 can be arrange | positioned and the outer diameter of the needle 16 of each needle bearing 15 can be enlarged.
In addition, since the external gears 17A to 17C and the needle bearings 15 have the same shape, further cost reduction can be expected.
Since the needle 16 of the needle bearing 15 can be disposed at a position close to the center O1 of the internal gear 4 (the axis of the input shaft 12), the diameter of the pin 22 for taking out the rotational motion from the external gears 17A to 17C can be reduced. Can be bigger. Therefore, the strength of the differential reducers 1A to 1C can be increased.

The shape of the retaining portion is not necessarily a disc shape, and may be a gear shape in which a plurality of protrusions are formed on the outer periphery as long as the movement of the needle can be restricted, or may be separate from the input shaft. It may be a member.

(Effect of the invention of the differential reduction gear according to the support of the ball bearing)
As described above, according to the differential reduction gears 1A to 1C of the above-described form, the outer ring 10a of the ball bearing 10 is supported by the case cover 5 and the carrier 24 of the casing 2, so that the input shaft 12 and the casing 2 are separated. The input shaft 12 can be assembled with high accuracy by increasing the coaxiality.
In particular, here, the outer ring 10a of the ball bearing 10 is fitted with a gap between the case cover 5 and the carrier 24, so that it can be slid on the sliding surface, and the rotational resistance is reduced.

Further, since the

grease grooves

25 and 25 are formed on the sliding surfaces of the outer ring 10a, the case cover 5 and the carrier 24, which are fitted into the gap, the grease is held on the sliding surfaces and slid with low friction. be able to.
Further, since the grease groove 25 is formed in the case cover 5 and the carrier 24, the standard ball bearing 10 can be adopted, and the cost increase can be suppressed.
In addition, since the grease groove 25 is formed over the entire circumference of the sliding surface, the grease groove 25 can be easily processed by a lathe or the like.
And since the oil seal 27 which seals between the casing 2 and the input shaft 12 is arrange | positioned on the outer side of the ball bearing 10 in the axial direction of the input shaft 12, the casing 2 and the input shaft 12 with high coaxiality are arranged. Therefore, the oil seal 27 can be brought into contact with the input shaft 12 with high accuracy, and the risk of grease leakage can be reduced.

In the above embodiment, the outer ring of the ball bearing is fitted with a gap between both the case cover and the carrier, but the gap may be fitted with only one of them. Therefore, the grease groove may be provided only on the sliding surface on one side where the gap is fitted.
Moreover, when providing a grease groove | channel, in addition to providing over the perimeter of a sliding surface, it is also possible to provide intermittently in the circumferential direction.

In addition, in common with each form, the structure of the casing is not limited to the combination of the middle case, the case cover, and the outer case as in the above form, but the number of parts can be increased or decreased, or the casing can be formed with a single member. It does not matter.
Further, the outer bearing is not limited to the cross roller bearing, and other bearings such as a ball bearing may be employed, and the number of bearings may be increased.
Furthermore, the structure of the input shaft and the output shaft is not limited to the above-described form, and the design can be changed as appropriate, for example, the input shaft is not hollow but solid.

1A to 1C ・・ Differential reducer 2 ・・ Case 3 ・・ Inner case 4 ・・ Internal gear 5 ・・ Case cover 6 ・・ Outer case 7 ・・ Bolt 8 ・・ Cross roller Bearings 9 .. Output shafts 10.. Ball bearings 10 a. Outer rings 11.. Ball bearings 12... Input shafts 13 ... Shaft supports 14 ... Eccentric parts 15 Needle bearings 16 · · Needles, 17A to 17C · · External gear, 18 · · Retaining part, 21A to 21C · · Pin hole, 22 · · Pin, 23 · · Metal, 24 · · Carrier, 25 · · Grease groove, 27 , 28, 29 ... Oil seal, S series, A, clearance, D1, outer diameter of shaft support, D2, outer diameter of eccentric part, O1, ... center of internal gear, O2, outer Center of toothed gear, δ1 to δ3 ·· Eccentricity.

Claims

An internal gear, an input shaft that passes through the internal gear coaxially, and an eccentric portion provided on the input shaft, is inscribed and meshed with the internal gear, and has a plurality of pin holes on concentric circles. An external gear, and an output section having a plurality of pins that are loosely inserted into the pin holes on a concentric circle, and the external gear is eccentrically moved with respect to the internal gear by rotation of the input shaft. Thus, the differential reduction gears that rotate the output unit through the pin with a reduction ratio based on the number of teeth difference between the internal gear and the external gear and the number of teeth of the external gear are different from each other. A series with multiple reduction ratios,
The pin hole of each of the external gears is formed with a different diameter for each external gear according to the number of teeth of the external teeth, and the internal gear and the pin are shared. A series of dynamic reducers.
2. The differential reduction gear series according to claim 1, wherein the center positions of the pin holes coincide with each other between the external gears.
2. The tooth shape of the internal gear and the external gear is an involute tooth shape, and the dislocation coefficient of the internal gear is set between 1 and 1.9. Or the series of differential reduction gears of 2.
4. The series of differential reducers according to claim 1, wherein the number of the pins of the output unit is eight or more.
The differential reduction gear series according to any one of claims 1 to 4, wherein there are three or more different reduction ratios.
The differential reduction gear series according to any one of claims 1 to 5, wherein the input shaft is hollow.
An internal gear, an input shaft that passes through the internal gear coaxially, and an eccentric portion provided on the input shaft, is inscribed and meshed with the internal gear, and has a plurality of pin holes on concentric circles. An external gear, and an output section having a plurality of pins that are loosely inserted into the pin holes on a concentric circle, and the external gear is eccentrically moved with respect to the internal gear by rotation of the input shaft. Thus, the differential reduction gears that rotate the output unit through the pin with a reduction ratio based on the number of teeth difference between the internal gear and the external gear and the number of teeth of the external gear are different from each other. A method of manufacturing a plurality of series prepared with a reduction ratio,
The pin hole of each external gear is formed with a different diameter for each external gear according to the number of external teeth,
The differential reduction gears corresponding to the reduction gear ratios are respectively formed using the external gears having different pin hole diameters, and the internal gears and the pins common to the other differential reduction gears. A method of manufacturing a series of differential reducers, characterized by manufacturing.