WO2019181965A1 - 減速機及び減速機シリーズの製造方法 - Google Patents

減速機及び減速機シリーズの製造方法 Download PDF

Info

Publication number
WO2019181965A1
WO2019181965A1 PCT/JP2019/011548 JP2019011548W WO2019181965A1 WO 2019181965 A1 WO2019181965 A1 WO 2019181965A1 JP 2019011548 W JP2019011548 W JP 2019011548W WO 2019181965 A1 WO2019181965 A1 WO 2019181965A1
Authority
WO
WIPO (PCT)
Prior art keywords
gear
input shaft
speed reducer
reduction gear
reduction
Prior art date
Application number
PCT/JP2019/011548
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
国弘 原口
Original Assignee
株式会社ニッセイ
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 株式会社ニッセイ filed Critical 株式会社ニッセイ
Publication of WO2019181965A1 publication Critical patent/WO2019181965A1/ja

Links

Images

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
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/033—Series gearboxes, e.g. gearboxes based on the same design being available in different sizes or gearboxes using a combination of several standardised units
    • 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
    • F16H57/038—Gearboxes for accommodating bevel gears

Definitions

  • the present invention relates to a reduction gear capable of reducing the axial size of the device and a method of manufacturing the reduction gear series.
  • Patent Document 1 discloses an eccentric peristaltic power transmission device having a hollow input shaft.
  • the rotation input to the input shaft is decelerated by the power transmission device and transmitted from the first flange to the counterpart machine. Further, the lubricant inside the apparatus is sealed by four oil seals (173A to 173D).
  • Patent Document 2 discloses an orthogonal shaft type power transmission device incorporating a second reduction gear which is an eccentric rocking planetary gear reduction gear.
  • the second reduction gear device includes an input shaft having a hollow portion.
  • a bevel gear is fixed to the input shaft.
  • the cylindrical member penetrates the inside of the input shaft, and the inside of the apparatus is sealed by an oil seal (88) provided between the cylindrical member and the second member connected to the carrier.
  • Patent Document 2 it is considered that a speed reducer similar to the speed reducer disclosed in Patent Document 1 is incorporated. That is, the speed reducer disclosed in Patent Document 1 corresponds to the second speed reducer 18 in Patent Document 2, and according to FIG. 1 of Patent Document 2, the oil seals 173A and 173B of FIG. , 173D, the oil seal is removed.
  • the present invention has been made to solve the above-described problems, and an object of the present invention is to provide a reduction gear and a reduction gear series manufacturing method capable of reducing the number of parts and reducing the size of the device in the axial direction.
  • a reduction gear according to claim 1 is a reduction gear connected to the case, a reduction gear having a hollow input shaft, and an output portion.
  • An input gear fixed to one end of the input shaft, a cylindrical member having one end fixed to the casing, and coaxially passing through the input shaft and the input gear, the output portion, and the cylindrical member And a seal member disposed between the other end of the first and second ends.
  • the speed reducer according to claim 2 is the speed reducer according to claim 1, wherein the speed reduction portion is further packaged by an internal gear and an eccentric portion provided on the input shaft, and the internal gear.
  • An eccentric peristaltic reduction gear having an external gear that is inscribed in mesh with the gear and a carrier member that pivotally supports the input shaft and outputs the revolving motion of the external gear, wherein the carrier member is the output portion. It is also characterized by serving.
  • the speed reducer according to claim 3 is the speed reducer according to claim 1 or 2, and further, the output portion is more than the other end of the cylindrical member in the rotation axis direction of the input shaft. It is characterized by protruding.
  • the reduction gear of Claim 4 is a reduction gear of any one of Claim 1 to 3, Comprising: Furthermore, the internal diameter of the spigot of the said output part and the outer diameter of the said sealing member are equal It is characterized by this.
  • a reduction gear series manufacturing method is the reduction gear according to claim 1, wherein the input gear is a bevel gear and a first gear used for the first reduction gear.
  • a method of manufacturing a speed reducer series including a gear, an external gear, and a second speed reducer configured using a member having the same shape as the carrier member, the step of manufacturing the first speed reducer; And a step of manufacturing the second speed reducer using a second input shaft having the same eccentric shape as the input shaft used in the first speed reducer and having a long axial length. It is.
  • the manufacturing method of the reduction gear series according to claim 6 is the manufacturing method of the reduction gear series according to claim 5, and further, the second reduction device includes a carrier member and a second input shaft. A second seal member is provided between the second seal members, and an arrangement position of the second seal member corresponds to an arrangement position of the seal member in the first reduction gear.
  • the seal member is disposed between the output portion and the cylindrical member, it is not necessary to add a dedicated output member or the like in order to dispose the seal member. For this reason, the number of parts can be reduced. Moreover, since a dedicated output member or the like is not required, the size of the reduction gear in the axial direction can be reduced.
  • the carrier member also serves as the output portion, the seal member can be directly arranged on the carrier member. For this reason, the number of parts can be reduced. Moreover, since a dedicated output member or the like is not required, the size of the reduction gear in the axial direction can be reduced.
  • the speed reducer according to claim 4 since the inner diameter of the inlay and the outer diameter of the seal member are equal, the arrangement portion of the inlay and the seal member can be formed by the same processing. For this reason, the processing cost of an output part can be held down.
  • the size in the axial direction can be reduced while the parts are shared by the first speed reducer and the second speed reducer.
  • a reduction gear series having the same output (in-lay) shape can be provided.
  • the oil seal position can be made the same between the first reduction gear and the second reduction gear. For this reason, the reducer series of the shape of the same output part can be provided.
  • FIG. 1 is a central longitudinal cross-sectional view of an orthogonal axis reduction gear 100 that is an example of an embodiment of a reduction gear according to the present invention.
  • the orthogonal shaft speed reducer 100 includes a first speed reduction portion 1, a second speed reduction portion 2, a housing 3, and a tubular member 4.
  • the first speed reduction unit 1 is connected to the housing 3, and the second speed reduction unit 2 is built in the housing 3.
  • the cylindrical member 4 has one end fixed to the housing 3 and the other end arranged coaxially through the center of the first speed reduction unit 1.
  • the first reduction gear unit 1 is an eccentric peristaltic type reduction unit in which the external gear 10 rotates eccentrically while meshing with the internal gear 11.
  • the first reduction gear unit 1 includes a casing 12, a carrier 13, an external gear 10, and an input shaft 14a.
  • the casing 12 has a cylindrical middle case 15 in which the internal gear 11 is integrally provided on the inner peripheral surface, and a cylindrical shape disposed on one end surface (the output side, the left side in FIG. 1) of the middle case 15 in the axial direction.
  • the outer case 16 includes an inner case 15 and the outer case 16, which are connected to the other one in the axial direction (input) of the inner case 15 by a plurality of bolts 17, 17. 1 and the right side of FIG.
  • the outer case 16 also serves as an outer ring of the cross roller bearing 18.
  • the carrier 13 includes a first carrier member 13a and a second carrier member 13b.
  • the first carrier member 13 a is rotatably supported on the inner side of the outer case 16 via a cross roller bearing 18.
  • the first carrier member 13 a also serves as an inner ring of the cross roller bearing 18.
  • an output portion 19 for transmitting power to the counterpart device is formed on one end face in the axial direction of the first carrier member 13a.
  • a plurality of bolt holes (not shown) are formed in the output unit 19 and are connected to the counterpart device using the bolt holes.
  • a circular inlay portion 20 is formed inside the output portion 19 for use in alignment with the counterpart device.
  • a hollow cylindrical input shaft 14a is coaxial with the axis of the internal gear 11 via two ball bearings 21 and 21, and is connected to the first carrier member 13a and the second carrier member 13b. It is pivotally supported so that it can rotate.
  • a pair of eccentric portions 22 and 22 having an outer diameter and an eccentricity ⁇ 1 that are equal to each other and whose eccentric directions are 180 degrees different from each other are formed adjacent to each other.
  • Each eccentric part 22, 22 is provided with a needle bearing 24 composed of a plurality of rollers 23, 23... Having a circular cross section disposed over the entire circumference, and external teeth are provided via the needle bearing 24.
  • Gears 10 and 10 are externally rotatably mounted.
  • a plurality of bolt holes are formed in the end surface of the input shaft 14a on the input side in the axial direction.
  • the end face position on the output side in the axial direction of the input shaft 14a is substantially the same position as the end face position on the output side of the ball bearing 21 on the output side.
  • Two external gears 10, 10 having the same shape are arranged on the other axial direction of the first carrier member 13 a, and the two external gears 10, 10 are formed by the first carrier member 13 a and the second carrier member 13 b. 10 is sandwiched.
  • the external gears 10, 10 have a slightly smaller number of teeth than the number of teeth of the internal gear 11 and are inscribed in the eccentric gear 11 at an eccentric position.
  • a plurality of circular pin holes 25 are formed at equal intervals in the circumferential direction on a concentric circle centered on an axis O2 offset by an eccentric amount ⁇ 1 from the axis O1 of the input shaft 14a.
  • the pin holes 25 are loosely inserted with pins 26 laid on the concentric circle centering on the axis O1 of the input shaft 14a in parallel with the axis. Both ends of the pin 26 are press-fitted into holes provided in the first carrier member 13a and the second carrier member 13b, and the first carrier member 13a and the second carrier member 13b can be integrally rotated by the pin 26. .
  • a cylindrical metal 27 is integrally mounted on the loose insertion portion of the external gear 10 on the outer periphery of the pin 26.
  • An oil seal 28 is disposed outside the cross roller bearing 18 between the outer case 16 and the first carrier member 13a.
  • an oil seal 29 a is disposed outside the ball bearing 21 between the first carrier member 13 a and the tubular member 4.
  • a portion of the first carrier member 13 a where the oil seal 29 a is disposed is formed to have the same diameter as the spigot portion 20.
  • the internal space of the orthogonal shaft reduction gear 100 is sealed by the oil seal 28 and the oil seal 29a.
  • the second reduction part 2 is an orthogonal axis type reduction part, and includes a bevel gear 41 and a bevel pinion 42 that meshes with the bevel gear 41 and rotates about an axis O3 orthogonal to the axis O1 of the input shaft 14a.
  • the bevel gear 41 is connected to the input side end of the input shaft 14 a of the first reduction gear 1.
  • the bevel gear 41 is fixed to a bolt hole provided at the end of the input shaft 14a by a plurality of bolts 43, 43,... And can be rotated integrally with the input shaft 14a about the axis O1 of the input shaft 14a.
  • the bevel pinion 42 includes a connecting portion 44 that can be connected to a motor (not shown) on the side opposite to the teeth meshing with the bevel gear 41, and is rotatably supported inside the housing 3 via a ball bearing 45.
  • the cylindrical member 4 is a cylindrical member formed of, for example, an aluminum alloy, and includes a fixed portion 51 fixed to the housing 3, a main body portion 52 that coaxially penetrates the first reduction gear 1 and the bevel gear 41. , And an intermediate portion 53a connecting between the fixed portion 51 and the main body portion 52.
  • the cylindrical member 4 is fixed to the housing 3 only on the fixed portion 51 side, and the main body portion 52 side is only supported by the lip of the oil seal 29a and is not pivotally supported. That is, it is fixed to the housing 3 in a so-called cantilever state.
  • the fixing portion 51 of the cylindrical member 4 includes a circular flange portion 54 and an inlay portion 55, and the inlay portion 55 is fitted to the inner periphery of the opening provided in the housing 3, and a plurality of flange portions 54 are provided. Are fixed to the housing 3 by bolts 56, 56.
  • the axial length D5 of the spigot portion 55 is longer than the length D6 of the surface perpendicular to the axial direction of the flange portion 54.
  • the inlay portion 55 is provided with a groove 57 over the entire circumference, and an O-ring 58 is disposed in the groove 57.
  • An O-ring 58 seals between the opening of the housing 3 and the spigot 55 of the tubular member 4.
  • a main body 52 is formed on the opposite side of the cylindrical member 4 from the fixed portion 51.
  • the front end 59 of the main body 52 reaches the inside of the first carrier member 13a, and the lip of the oil seal 29a contacts the outer periphery of the front end 59.
  • the main body 52 of the tubular member 4 is not provided with a bearing or the like that supports the input shaft 14a or the bevel gear 41, and is disposed with a slight gap A from the inner peripheral surface of the input shaft 14a.
  • An inner diameter D ⁇ b> 3 larger than the inner diameter D ⁇ b> 1 of the main body 52 is formed in the intermediate portion 53 a of the tubular member 4.
  • a step, a groove, etc. is a cylindrical shape that is not provided with the shape.
  • the distal end portion 59 of the cylindrical member 4 does not protrude beyond the end surface of the output portion 19 of the first carrier member 13a in the direction of the axis O1 of the input shaft 14a.
  • each pin hole 25 also moves eccentrically and rotates.
  • each pin hole 25 is formed to have a larger diameter than the pin 26 including the metal 27, each pin 26 is in a state in which it is inscribed in the pin hole 25.
  • the eccentric component is relatively moved to absorb the eccentric component, and only the rotation component is extracted from each pin 26. Therefore, the first carrier member 13a and the second carrier member 13b rotate synchronously via the pin 26, and the rotation is transmitted from the output unit 19 to the counterpart device. At this time, the grease filled in the housing 3 is sealed by the oil seal 28 and the oil seal 29a.
  • the parallel shaft reducer 200 corresponds to the first reduction unit 1 in the orthogonal shaft reducer 100 described above.
  • a disk-shaped case cover 31 is disposed on the other axial side of the middle case 15 (input side, right side in FIG. 2).
  • the middle case 15, the outer case 16, and the case cover 31 are integrally coupled by a plurality of bolts 17, 17,... That pass through the middle case 15 from the case cover 31 side and are screwed to the outer case 16. .
  • a hollow cylindrical input shaft 14b is coaxial with the axis of the internal gear 11 via two ball bearings 21 and 21, and is connected to the first carrier member 13a and the second carrier member 13b. It is pivotally supported so that it can rotate.
  • a pair of eccentric portions 22 and 22 having an outer diameter and an eccentricity ⁇ 1 that are equal to each other and whose eccentric directions are 180 degrees different from each other are formed adjacent to each other.
  • Each eccentric part 22, 22 is provided with a needle bearing 24 composed of a plurality of rollers 23, 23... Having a circular cross section disposed over the entire circumference, and external teeth are provided via the needle bearing 24.
  • Gears 10 and 10 are externally rotatably mounted.
  • a plurality of bolt holes are formed on the end surface of the input shaft 14b on the input side in the axial direction.
  • the front end of the input shaft 14b on the output side in the axial direction protrudes beyond the end face on the output side of the ball bearing 21 on the output side.
  • An oil seal 29b is disposed outside the ball bearing 21 between the first carrier member 13a and the tip of the input shaft 14b. A portion of the first carrier member 13 a where the oil seal 29 b is disposed is formed to have the same diameter as the spigot portion 20.
  • the internal space of the parallel shaft speed reducer 200 is sealed by the oil seal 28 and the oil seal 29b.
  • An oil seal 32 is disposed between the inner peripheral surface of the case cover 31 and the outer peripheral surface of the input shaft 14 b, and the internal space of the parallel shaft speed reducer 200 is sealed by the oil seal 32.
  • the bolt holes provided at the input side end of the input shaft 14b are connected to input side members such as various gears, pulleys, or motors depending on applications.
  • the arrangement position of the oil seal 29a in the orthogonal axis reduction gear 100 and the arrangement position of the oil seal 29b in the parallel axis reduction gear 200 correspond to each other. That is, the position of the oil seal 29a with respect to the first carrier member 13a in the orthogonal shaft reducer 100 and the position of the oil seal 29b with respect to the first carrier member 13a in the parallel shaft reducer 200 are the same.
  • the oil seal 29a and the oil seal 29b have the same outer diameter and different inner diameters.
  • the oil seal 29a is disposed between the output portion 19 and the tip portion 59 of the cylindrical member 4, and therefore, a dedicated extra for arranging the oil seal. It is not necessary to arrange an output member or the like. For this reason, the magnitude
  • the output part 19 is formed in the 1st carrier member 13a, the carrier and the output part 19 are united, and it is necessary to arrange an extra output member etc. for exclusive use in order to arrange an oil seal. Absent. For this reason, the number of parts of the orthogonal shaft reduction gear 100 can be reduced. Further, the size of the orthogonal shaft reduction gear 100 in the axial direction can be reduced.
  • the inner diameter of the spigot portion 20 of the output portion 19 is equal to the outer diameter of the oil seal 29a, the spigot portion 20 and the housing portion of the oil seal 29a can be formed by the same processing. For this reason, the structure of the 1st carrier member 13a becomes simple, and processing cost can be held down.
  • the internal gear 11, the external gear 10, and the carrier 13 can be shared. Costs can be reduced by sharing parts.
  • the shape of the output portion is the same. For this reason, the reducer series of the shape of the same output part can be provided.
  • the bevel gear is arranged at one end of the input shaft 14a, but it may be a spur gear instead of the bevel gear.
  • the middle case 15 and the housing 3 are integrally coupled, but are connected to the housing 3, but the parallel shaft reducer is interposed between the middle case 15 and the housing 3. You may couple
  • the orthogonal axis reduction device 100 of the present embodiment is an example of a first reduction device of the present invention.
  • the parallel-axis speed reducer 200 of this embodiment is an example of the 2nd speed reducer of this invention.
  • the oil seal 29a of this embodiment is an example of the seal member of the present invention.
  • the oil seal 29b of this embodiment is an example of the second seal member of the present invention.
  • the bevel gear 41 of this embodiment is an example of the input gear of the present invention.
  • the tip portion 59 of the present embodiment is an example of the other end of the present invention.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)
  • General Details Of Gearings (AREA)
PCT/JP2019/011548 2018-03-22 2019-03-19 減速機及び減速機シリーズの製造方法 WO2019181965A1 (ja)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2018053727A JP2019167967A (ja) 2018-03-22 2018-03-22 減速機及び減速機シリーズの製造方法
JP2018-053727 2018-03-22

Publications (1)

Publication Number Publication Date
WO2019181965A1 true WO2019181965A1 (ja) 2019-09-26

Family

ID=67987237

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2019/011548 WO2019181965A1 (ja) 2018-03-22 2019-03-19 減速機及び減速機シリーズの製造方法

Country Status (2)

Country Link
JP (1) JP2019167967A (enrdf_load_stackoverflow)
WO (1) WO2019181965A1 (enrdf_load_stackoverflow)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7368344B2 (ja) * 2020-07-29 2023-10-24 美的集団股▲フン▼有限公司 内接噛合遊星歯車装置及びアクチュエータ

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06241283A (ja) * 1993-02-12 1994-08-30 Sumitomo Heavy Ind Ltd 内接噛合遊星歯車構造の角度伝達誤差の低減方法及び内接噛合遊星歯車変速機
WO2008075598A1 (ja) * 2006-12-21 2008-06-26 Nabtesco Corporation 歯車装置
JP2013199981A (ja) * 2012-03-23 2013-10-03 Sumitomo Heavy Ind Ltd 動力伝達装置
JP2014199125A (ja) * 2013-03-29 2014-10-23 住友重機械工業株式会社 遊星歯車減速装置およびそのシリーズ

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06241283A (ja) * 1993-02-12 1994-08-30 Sumitomo Heavy Ind Ltd 内接噛合遊星歯車構造の角度伝達誤差の低減方法及び内接噛合遊星歯車変速機
WO2008075598A1 (ja) * 2006-12-21 2008-06-26 Nabtesco Corporation 歯車装置
JP2013199981A (ja) * 2012-03-23 2013-10-03 Sumitomo Heavy Ind Ltd 動力伝達装置
JP2014199125A (ja) * 2013-03-29 2014-10-23 住友重機械工業株式会社 遊星歯車減速装置およびそのシリーズ

Also Published As

Publication number Publication date
JP2019167967A (ja) 2019-10-03

Similar Documents

Publication Publication Date Title
JP5816584B2 (ja) 動力伝達装置
EP2034219B1 (en) Reduction gear
JP6529863B2 (ja) 偏心揺動型の歯車装置および産業用ロボット
WO2010079683A1 (ja) 歯車伝動装置
KR20080033976A (ko) 감속 장치
JP2011038573A (ja) 中空減速機
JP2010151196A (ja) 減速装置
JP7596488B2 (ja) 歯車ユニット
JP2014119110A (ja) 減速装置のセンタパイプ構造
WO2019181964A1 (ja) 直交軸減速機及び直交軸減速機を用いたロボット
WO2019181965A1 (ja) 減速機及び減速機シリーズの製造方法
JP5868826B2 (ja) 減速装置
JP2010101447A (ja) 回転検出器付き減速装置
JPH082518Y2 (ja) 内接噛合式遊星歯車機構の低速軸又は内歯歯車の支持構造
JP7472599B2 (ja) 遊星減速機
JP6025642B2 (ja) 遊星歯車減速装置およびそのシリーズ
JP4219320B2 (ja) ロボットの旋回部構造
JP2009047264A (ja) 偏心揺動型歯車装置
JP2008025846A5 (enrdf_load_stackoverflow)
JP4845791B2 (ja) 偏心揺動歯車機構
JP2018009638A (ja) 遊星歯車装置
KR102343583B1 (ko) 기어 장치
JP2020020409A (ja) 差動減速機
JP6570837B2 (ja) 減速機
JP2013164167A (ja) 歯車装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19771083

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19771083

Country of ref document: EP

Kind code of ref document: A1