JPS62233540A - Output shaft supporting device for planetary reduction gear - Google Patents

Abstract

PURPOSE:To simplify the structure of an output shaft by fitting an inner pin idly in an external tooth gear which performs rocking rotation while placing a bearing between a flange for holding said inner pin and a supporting outer ring secured integrally with an internal tooth gear. CONSTITUTION:It is constructed such that the inner and outer gears 8, 51, 52 are internally geared to perform the rocking rotation of the external tooth gears 51, 52 by means of the eccentric members 31, 32 fitted thereto so as to reduce the input rotation thus producing an output. Said output can be obtained from one of a flange 13 for holding an inner pin 11 or an external tooth gear 8 with the other being fixed. The outer circumferential face of the inner pin holding flange 13 is formed as an inner ring of a bearing 22 so as to support a rolling member 24 between a supporting outer ring 25 provided on the outer circumference thereof. The supporting ring 25 is integrated or secured integrally with the internal tooth gear 8 thus simplifying the structure at the output side.

Description

Detailed Description of the Invention (Industrial Field of Application) The present invention provides an internal gear with a circular arc tooth profile made of a pin or a combination of a pin and a roller, and an external gear with a trochoi V-shape made of an ebitrochoid parallel curve. The external gear is configured with a tooth profile, etc., and an inner pin or an inner pin and an inner roller are loosely fitted into the external gear. The present invention relates to a planetary gear reducer that increases the oscillating rotation and decelerates the input rotation for output, and more particularly relates to a device that simplifies the support structure of the output shaft of the planetary gear reducer.

(Prior Art) Various reduction gears using internally meshing planetary gear mechanisms have been proposed. Among these J reduction gears, the internal gear has an arc tooth profile made of a pin or a pin and an 11-ra mesh,
The outer 14/I gear has a trochoidal tooth tooth profile that is an Ebitrochoid parallel curve (i), and an inner pin or an inner pin and an inner roller are fitted to the outer tooth 111, and both the inner and outer gears are internally connected. The 11 speed reducer is used as a "cyclo reducer" (registered trademark).The external gear is oscillated and rotated by an eccentric body that is meshed with the external gear, decelerating the input rotation and outputting it. This "cyclo reducer" is famous and is used as a variety of reduction mechanisms because it is capable of transmitting large torque and has a large reduction ratio.

An example of a known cyclo reducer 1 will be described below with reference to FIG.

The hollow eccentric shaft 2 into which the input rotating shaft 1 is inserted and connected has eccentric bodies 31.3. 1, and a spline groove 4 is formed in the hollow portion of the eccentric shaft 2. External gear 5
1.52 is fitted onto the eccentric body 32 via the roller 6. The external gear 52 has external teeth 7 having a trochoidal tooth profile on its outer periphery. In addition, the internal tooth 11i3
also serves as the outer casing, and the internal gear 8 is fixed. This internal gear 8 has external teeth $5. ．． 52
It has an arcuate tooth profile consisting of an outer pin 9 that internally engages with the outer pin 9. The outer pin 9 may also have a structure in which an outer roller (not shown) is provided.

An inner pin hole 10 is formed in the external gears 5I, 52, and an inner pin 11 is loosely fitted into the inner pin hole 10 via an inner roller 12. The inner pin 11 is tightly fitted into the inner pin holding flange 13.

A mounting bolt hole 14 is formed in the inner pin holding flange 13, and the inner pin holding seven runs 13 are fixed to the output shaft 16 with bolts 15. External tooth I￥I5. ．． A cover 17 is fixed to 52, and bearings 18 are provided between the cover 17 and the eccentric shaft 2 and between the inner pin holding flange 13 and the eccentric shaft 2.

A spline 19 is formed at the end of the input rotating shaft 1, and by inserting the input rotating shaft 1 into the hollow part of the eccentric shaft 2 and engaging the spline 19 with the spline groove 4, the input The rotating shaft 1 and the eccentric shaft 2 are connected.

The output shaft 16 has a flange 16A at its end, and the seven runs 16A are connected to the inner pin holding flange 13. The output shaft 16 passes through a bearing casing 20, and is supported by bearings 21 at both ends of the bearing casing 20. The bearing casing 20 is fixed to the internal gear 8 side.

(Problems to be Solved by the Invention) However, the conventionally known reduction gear mounting structure has the following drawbacks.

Since the structure is such that the rotation of the external gear is applied to the inner pin and the rotation is extracted from the inner pin, the inner pin holding flange 1
3. Output shaft 16 and flange 16A1 bearing casing 2
0 and furthermore require bearings 21, the structure on the output shaft side becomes complicated, and the length in the axial direction becomes long. For this reason, there are difficulties in terms of size, weight, rigidity, and inertia for use as a control mechanism, especially a drive device for a robot, etc., as a small and precisely controlled ffi bucket.

SUMMARY OF THE INVENTION An object of the present invention is to provide an output shaft support device for an M-star gear reducer that has a simplified structure and a reduced weight at the same time.

(Means for Solving the Problems) The holding part of the present invention includes an eccentric shaft connected to an input rotating shaft, at least one eccentric body provided on the eccentric shaft, and an eccentric shaft connected to an input rotating shaft. An external gear fitted to an eccentric body, an internal gear internally meshing with the external gear, an internal pin hole formed in the external gear, and an internal pin JIM-fitted in the internal pin hole, or Consisting of an inner pin, an inner roller, and an inner pin holding 7 run that holds the inner pin or the inner pin and the inner roller,
In a planetary gear reducer in which the force of either the internal gear or the internal pin holding 7 run is fixed and the deceleration rotation is taken out from the other, the outer circumferential surface of the internal pin holding flange is used as the inner ring of the bearing, and the outer circumference is The rolling element is supported between the supporting outer ring provided, and the supporting outer ring is fixed integrally or integrally with the internal teeth and turrets, and the inner ring of the bearing is omitted and at the same time, the output shaft side is made WJ. It is in.

(Example) This will be explained in detail below using figures.

FIG. 1 is a sectional view showing an embodiment of the present invention.

In the following description, parts that are the same as those of the conventionally known configuration shown in FIG. 4 will be given the same reference numerals, and the description will be kept brief.

The hollow eccentric shaft 2 into which the input rotating shaft 1 is inserted and connected is provided with an eccentric body 31.3□. A spline groove 4 is formed in the hollow portion of the eccentric shaft 2. External gear 5
1.52 is fitted onto the surface eccentric body 34.32 via the roller 6. The external gears 51 and 52 have external teeth 7 having a trochoidal tooth profile on their outer peripheries. Internal gear 8
also serves as the outer casing, and the internal gear 8
is attached to the fixed side or the movable side, which will be described later. Further, the internal gear 8 has an arcuate tooth profile consisting of an external pin 9 that internally meshes with the external gears 5□, 52. The outer pin 9 may have a structure that covers an outer roller (not shown). Said external tooth 11i5. , 52 are formed with an inner pin hole 10, and an inner pin 11 is M-fitted into the inner pin hole 10 via an inner roller 12. The inner pin 11 is tightly fitted into the inner pin holding flange 13. A mounting bolt hole 14 is formed in the inner pin holding flange 13, and the inner pin holding 7 runno 13 is fixed to the fixed side or the movable side 16 by means of bolts 15. Here, on the fixed side ν1
The expression "movable side" means that when the internal gear 8 is fixed, the internal pin holding flange 13 rotates, and the internal pin holding flange 13
When fixed, the internal gear 8 side rotates. This expression is used because the present invention includes both of them. In addition, in the configuration shown in FIG. 1 below, the internal tooth *8 side is fixed, and the internal holding flange 1
3 rotates and outputs.

A cover 17 is fixed to the external gears 51 and 52,
Bearings 18 are provided between the inner pin holding flange 13 and the eccentric shaft 2 and between the cover 17 and the eccentric shaft 2. One spline is formed at the end of the input rotation shaft 1, and the input rotation shaft 1 is inserted into the hollow part of the eccentric shaft 2 and one spline is engaged with the spline groove 4. 1 and the eccentric body shaft 2 are connected.

The configuration described above is the same as that of the conventionally known planetary gear reducer shown in FIG. ing. A cross roller bearing 22 is formed between the outer periphery of the inner pin holding flange 13 and the internal gear 8. This cross roller bearing 22 includes a V-shaped groove 23 integrally and annularly formed on the outer periphery of the inner pin holding seven run 13, an abacus-shaped roller 24 fitted in the V-shaped groove 23, and It consists of a support outer ring 25 provided on the outer circumferential side. The support outer ring 25 is divided into left and right halves, and has a structure that supports the two outer sides of the row 224.
Furthermore, the frame body 26 that holds the supporting outer ring 25 has internal teeth J$18.
It is fixed.

In this embodiment, a cross roller bearing 22 is formed between the inner pin holding flange 13 and the supporting outer ring 25, but this may be replaced by a cylindrical roller bearing 27 as shown in FIG. (Alternatively, although not shown, a ball roller bearing may also be used.) In this case, the V-shaped groove 23 is not essential, and the cylindrical roller 28 (or ball roller) may be supported directly on the cylindrical portion, or The same effect can be obtained even if the outer ring 25 does not have a two-part structure, but is a cylindrical part that is integrally or integrally fixed with the internal gear 8 (reducer main body).

Therefore, in the present invention, the inner ring of the bearing can be omitted and the output shaft side can be simplified.

The operation of the planetary gear reducer of the present invention configured as described above will be explained below.

The rotation of the input rotating shaft 1 is transmitted to the eccentric shaft 2, and is taken out as a reduced rotation of the inner pin 11 and the inner pin holding flange 13 via the external gear 5 and 52. The inner pin holding flange 13 is connected to a rotated member (not shown), and the rotation of the input rotating shaft 1 is transmitted as decelerated rotation of the rotated member.

At this time, by using a cross roller bearing as the bearing formed between the inner pin holding flange 13 and the supporting outer ring 25, it becomes possible to sufficiently withstand both the load in the radial direction and the load in the thrust direction.

Further, since the inner ring is omitted, the size in the radial direction of the shaft is reduced, and since the bearing is directly provided on the outer periphery of the inner pin holding flange 13, the length in the axial direction can also be reduced.

What is shown in FIG. 3 is a sectional view showing another embodiment of the present invention, and in contrast to the reducer shown in FIG. Because it is a structure,
The description thereof will be omitted, and only the configurations of the input rotation shaft and the eccentric shaft will be described.

In this embodiment, a bevel gear 28 is fixed to one end of an eccentric shaft 27 and meshes with a bevel gear 30 provided on an input rotation shaft 29 extending in a direction perpendicular to the eccentric shaft 27. The output rotation is taken out in orthogonal directions.

Therefore, according to this embodiment, it is possible to provide an effective deceleration mechanism for structures such as the joints of the robot 1, which have different directions of output.

(Effects of the Invention) The effects of the present invention configured as described above are as follows.

The structure of the output end of the reducer has been simplified, and #f-! The IS radial and axial lengths are reduced.

Therefore, the reducer is small and lightweight, and is suitable for use as a small and precise control mechanism, such as a drive device for a joint mechanism of a robot, for example.

Furthermore, since it is small and lightweight, the inertia force is reduced, the payload capacity is increased accordingly, and it is easy to assemble even in narrow parts such as the joints of a robot.

Further, as shown in Fig. f53, by providing a bevel gear so that the input rotating shaft and the output shaft are perpendicular to each other, it is possible to obtain a small and lightweight orthogonal transmission mechanism.

[Brief explanation of drawings]

Fig. 1 is a sectional view showing one embodiment of the present invention, Fig. 2 is a sectional view showing another embodiment of the invention, and Fig. 3 is a sectional view showing a conventionally known reduction gear and output shaft mechanism. be.

Claims (4)

[Claims] (1) An eccentric shaft connected to the input rotating shaft, at least one eccentric body provided on the eccentric shaft, an external gear fitted to the eccentric body, and an external gear fitted to the eccentric body. An internal gear that meshes internally, an internal pin hole formed in the external gear, an internal pin or an internal pin and an internal roller that are loosely fitted in the internal pin hole, and an internal pin or an internal pin and an internal roller that are loosely fitted in the internal pin hole. In a planetary gear reducer comprising an inner pin holding flange for holding, one of the internal gear or the internal pin holding flange is fixed and decelerated rotation is taken out from the other, the outer circumferential surface of the internal pin holding flange is an inner ring of a bearing, a rolling element is supported between the inner ring of the bearing, and a supporting outer ring provided on the outer periphery of the bearing, and the supporting outer ring is integrally or integrally fixed with the internal gear. Output shaft support device. (2) Forming an annular groove on the outer peripheral surface of the inner pin holding flange,
An output shaft support device for a planetary gear reducer according to claim 1, characterized in that a rolling element is fitted into the groove. (3) The output shaft support device for a planetary gear reducer according to claim 1, wherein an annular groove is formed in the inner circumferential surface of the supporting outer ring, and a rolling element is fitted into the groove. (4) A bevel gear is fixed to one end of the eccentric shaft, and by meshing with the bevel gear provided on the input shaft orthogonal to the eccentric shaft, decelerated rotation is extracted as output in a direction perpendicular to the input shaft. An output shaft support device for a planetary gear reducer according to claim 1.