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JP7506967B2 - Gear Unit - Google Patents

Gear Unit Download PDF

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Publication number
JP7506967B2
JP7506967B2 JP2019037161A JP2019037161A JP7506967B2 JP 7506967 B2 JP7506967 B2 JP 7506967B2 JP 2019037161 A JP2019037161 A JP 2019037161A JP 2019037161 A JP2019037161 A JP 2019037161A JP 7506967 B2 JP7506967 B2 JP 7506967B2
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gear
unit
reducer
oscillating
gear unit
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JP2019158142A (en
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誠人 紀平
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Nabtesco Corp
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Nabtesco Corp
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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
    • F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
    • F16H1/20—Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members
    • F16H1/22—Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts
    • 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
    • F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
    • 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
    • F16H57/08—General details of gearing of gearings with members having orbital motion
    • 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
    • F16H57/08—General details of gearing of gearings with members having orbital motion
    • F16H57/082—Planet carriers
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F16H2001/323—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear comprising eccentric crankshafts driving or driven by a gearing
    • 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
    • F16H2001/327—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 with orbital gear sets comprising an internally toothed ring gear

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)
  • Gear Transmission (AREA)
  • Debugging And Monitoring (AREA)
  • Liquid Crystal Substances (AREA)
  • Glass Compositions (AREA)

Description

本発明は、歯車ユニット、特に減速機に使用可能な歯車ユニットに関するものである。 The present invention relates to a gear unit, particularly a gear unit that can be used in a reducer.

従来より、駆動力を伝達する装置、例えば、モータからの入力を伝達するために減速機に設けられた歯車機構が知られている。 Conventionally, devices that transmit driving force, such as a gear mechanism provided in a reducer to transmit input from a motor, are known.

このような歯車機構として、特許文献１には、内歯が形成された内歯部材と、該内歯部材との共軸関係を保ちながら該内歯部材に回転自在に保持された回転部材と、前記内歯と噛合う外歯が形成された外歯歯車と、モータからの回転を入力し前記外歯歯車を偏心揺動させるクランク軸とを有する減速機が開示されている。モータの駆動軸とクランク軸との間には歯車ユニットが設けられている。この歯車ユニットは、モータの駆動軸の回転をクランク軸まで伝達する。 As such a gear mechanism, Patent Document 1 discloses a reducer having an internal gear member with internal teeth, a rotating member rotatably held by the internal gear member while maintaining a coaxial relationship with the internal gear member, an external gear with external teeth that mesh with the internal teeth, and a crankshaft that receives rotation from a motor and eccentrically oscillates the external gear. A gear unit is provided between the drive shaft of the motor and the crankshaft. This gear unit transmits the rotation of the drive shaft of the motor to the crankshaft.

特許第４６５８０８８号公報Japanese Patent No. 4658088

このような減速機では、歯車ユニットに含まれるギヤに掛かる負荷が高い。ギヤの耐久性を向上させるためにはギヤの歯幅を大きくすることが必要となる。しかしながら、ギヤの歯幅を大きくすると、減速機のサイズが歯幅の方向に厚くならざるを得ないという問題がある。 In this type of reducer, the gears included in the gear unit are subjected to a high load. In order to improve the durability of the gears, it is necessary to increase the tooth width of the gears. However, if the tooth width of the gears is increased, there is a problem in that the size of the reducer must be increased in the direction of the tooth width.

本発明の目的の一つは、ギヤの歯幅を小さくすることが可能な歯車ユニットを提供することである。本発明のこれ以外の目的は、明細書全体の記載を通じて明らかにされる。 One of the objects of the present invention is to provide a gear unit that allows the gear face width to be reduced. Other objects of the present invention will become apparent throughout the entire specification.

本発明の一実施形態に係る歯車ユニットは、駆動源に接続される第１の歯車と、第１の歯車と噛合う第２の歯車と、第１の歯車と噛合う第３の歯車と、第２の歯車及び第３の歯車と噛合う第４の歯車と、を備える。 The gear unit according to one embodiment of the present invention includes a first gear connected to a drive source, a second gear meshing with the first gear, a third gear meshing with the first gear, and a fourth gear meshing with the second gear and the third gear.

本発明の一実施形態に係る歯車ユニットにおいて、第４の歯車は、その中心部分に穴を備え、第４の歯車の径は、第２の歯車の径及び第３の歯車の径より大きくてもよい。 In a gear unit according to one embodiment of the present invention, the fourth gear may have a hole in its center, and the diameter of the fourth gear may be larger than the diameter of the second gear and the diameter of the third gear.

本発明の一実施形態に係る歯車ユニットは、第４の歯車を回転自在に支える支持部を有し、第４の歯車の回転軸方向において、支持部の端面位置と、第４の歯車の端面位置とは略同一であってもよい。 The gear unit according to one embodiment of the present invention has a support part that rotatably supports the fourth gear, and the end face position of the support part and the end face position of the fourth gear may be substantially the same in the direction of the rotation axis of the fourth gear.

本発明の一実施形態に係る歯車ユニットにおいて、第４の歯車は、複数の歯車を含む歯車群と噛合い、第４の歯車の周方向において、歯車群のうちのの２つの歯車の間に、第２の歯車及び第３の歯車が配置されてもよい。 In a gear unit according to one embodiment of the present invention, the fourth gear meshes with a gear group including a plurality of gears, and the second gear and the third gear may be disposed between two gears of the gear group in the circumferential direction of the fourth gear.

本発明の一実施形態に係る減速機は、上記の歯車ユニットと、歯車ユニットからの入力を減速して出力する減速部とを備える。 A speed reducer according to one embodiment of the present invention includes the above-mentioned gear unit and a speed reducer section that reduces the speed of the input from the gear unit and outputs it.

本発明の一実施形態によれば、ギヤの歯幅を小さくすることが可能な歯車ユニットが提供される。 According to one embodiment of the present invention, a gear unit is provided that allows the gear face width to be reduced.

本発明の一実施形態の歯車ユニットの概略図である。FIG. 2 is a schematic diagram of a gear unit according to an embodiment of the present invention. 本発明の一実施形態に係る歯車ユニットを含む減速機の概略断面図である。1 is a schematic cross-sectional view of a reducer including a gear unit according to an embodiment of the present invention. 本発明の一実施形態に係る歯車ユニットを含む偏心揺動減速機を示す断面図である。1 is a cross-sectional view showing an eccentric oscillating reducer including a gear unit according to an embodiment of the present invention. 図３のＡ－Ａ線に沿った断面を概略的に示す図である。FIG. 4 is a diagram showing a cross section taken along line AA in FIG. 3. 従来の歯車ユニットの概略図である。FIG. 1 is a schematic diagram of a conventional gear unit. 従来の歯車ユニットを含む減速機の概略断面図である。FIG. 1 is a schematic cross-sectional view of a reducer including a conventional gear unit. 本発明の他の実施形態の歯車ユニットの概略図である。FIG. 11 is a schematic diagram of a gear unit according to another embodiment of the present invention.

以下、本発明の実施形態について図面を参照しながら説明する。 The following describes an embodiment of the present invention with reference to the drawings.

図１及び図２を参照して本発明の一実施形態に係る歯車ユニット１００について説明する。図１は、本発明の一実施形態に係る歯車ユニット１００の概略図である。図２は、本発明の一実施形態に係る歯車ユニット１００を含む減速機の概略断面図である。図示の歯車ユニット１００は、モータ等の駆動源（不図示）に接続される第１の歯車（インプットギヤ）１と、該第１の歯車１と噛合う第２の歯車（アイドラーギヤ）２と、第１の歯車１と噛合う第３の歯車（アイドラーギヤ）３と、第２の歯車２及び該第３の歯車３と噛合う第４の歯車（センターギヤ）４と、を備える。 A gear unit 100 according to one embodiment of the present invention will be described with reference to Figures 1 and 2. Figure 1 is a schematic diagram of a gear unit 100 according to one embodiment of the present invention. Figure 2 is a schematic cross-sectional view of a reducer including a gear unit 100 according to one embodiment of the present invention. The illustrated gear unit 100 includes a first gear (input gear) 1 connected to a drive source (not shown) such as a motor, a second gear (idler gear) 2 meshing with the first gear 1, a third gear (idler gear) 3 meshing with the first gear 1, and a fourth gear (center gear) 4 meshing with the second gear 2 and the third gear 3.

また、図示の歯車ユニット１００の第４の歯車（センターギヤ）４の径は、第２の歯車２の径及び第３の歯車３の径よりも大きく構成されている。第４の歯車４の中心部分には、円形状の穴９が形成されている。穴９は、第４の歯車４の回転軸方向に沿って延びている。図示の実施形態では、穴９は、第４の歯車４を回転軸方向に貫通する貫通穴である。また、歯車ユニット１００は、第４の歯車４を回転自在に支える支持部１０（図２参照）を有している。支持部１０は、例えば、第４の歯車４に設けられた穴９に嵌合する円柱状の部材である。支持部１０は、例えばベアリング１２等を介して、キャリア１１に対して回転可能に取り付けられている。第４の歯車４の回転軸方向において、支持部１０の外側の端面位置と、第４の歯車４の外側の端面位置とは略同一である。 The diameter of the fourth gear (center gear) 4 of the illustrated gear unit 100 is larger than the diameter of the second gear 2 and the diameter of the third gear 3. A circular hole 9 is formed in the center of the fourth gear 4. The hole 9 extends along the rotation axis direction of the fourth gear 4. In the illustrated embodiment, the hole 9 is a through hole that penetrates the fourth gear 4 in the rotation axis direction. The gear unit 100 also has a support portion 10 (see FIG. 2) that rotatably supports the fourth gear 4. The support portion 10 is, for example, a cylindrical member that fits into the hole 9 provided in the fourth gear 4. The support portion 10 is rotatably attached to the carrier 11 via, for example, a bearing 12. In the rotation axis direction of the fourth gear 4, the outer end face position of the support portion 10 and the outer end face position of the fourth gear 4 are approximately the same.

歯車ユニット１００は、複数の歯車を含む歯車群１０を更に有する。図示の実施形態では、歯車群１０は、第５の歯車（スパーギヤ）５、第６の歯車（スパーギヤ）６、及び第７の歯車（スパーギヤ）７の３つの歯車を含む。歯車群１０に含まれる歯車の数は特に限定されない。図示の歯車ユニット１００の第４の歯車４は、歯車群１０の第５の歯車（スパーギヤ）５、第６の歯車（スパーギヤ）６、及び第７の歯車（スパーギヤ）７とそれぞれ噛合っている。第４の歯車４の周方向において、第２の歯車２及び第３の歯車３は、歯車群１０に含まれる２つの歯車の間に配置されている。図示の実施形態では、歯車群１０の第５の歯車（スパーギヤ）５と、第６の歯車（スパーギヤ）６との間に、第２の歯車２及び第３の歯車３が配置されている。このような構成により、駆動源に接続された第１の歯車（インプットギヤ）１からのトルクは、第２の歯車２及び第３の歯車３を介して第４の歯車４に伝達され、第４の歯車４から歯車群１０の各歯車（第５の歯車５、第６の歯車６、及び第７の歯車７）に分散される。第１の歯車１からの動力は、第２の歯車２と第３の歯車３とに分散されて第４の歯車４に伝達されるので、第４の歯車４の１箇所に負荷が集中すること抑制できる。したがって、歯車ユニット１００に含まれる歯車の歯幅を小さくすることができる。 The gear unit 100 further includes a gear group 10 including a plurality of gears. In the illustrated embodiment, the gear group 10 includes three gears, a fifth gear (spur gear) 5, a sixth gear (spur gear) 6, and a seventh gear (spur gear) 7. The number of gears included in the gear group 10 is not particularly limited. The fourth gear 4 of the illustrated gear unit 100 is meshed with the fifth gear (spur gear) 5, the sixth gear (spur gear) 6, and the seventh gear (spur gear) 7 of the gear group 10, respectively. In the circumferential direction of the fourth gear 4, the second gear 2 and the third gear 3 are disposed between the two gears included in the gear group 10. In the illustrated embodiment, the second gear 2 and the third gear 3 are disposed between the fifth gear (spur gear) 5 and the sixth gear (spur gear) 6 of the gear group 10. With this configuration, the torque from the first gear (input gear) 1 connected to the drive source is transmitted to the fourth gear 4 via the second gear 2 and the third gear 3, and is then distributed from the fourth gear 4 to each gear of the gear group 10 (the fifth gear 5, the sixth gear 6, and the seventh gear 7). The power from the first gear 1 is distributed to the second gear 2 and the third gear 3 before being transmitted to the fourth gear 4, so that the concentration of the load at one point on the fourth gear 4 can be suppressed. Therefore, the tooth width of the gears included in the gear unit 100 can be reduced.

なお、図示の歯車ユニット１００において、第２の歯車２と、第３の歯車３とが同一平面上に配置されるよう構成してもよい。また、図示の歯車ユニット１００において、第２の歯車２と第３の歯車３は、第１の歯車１と第４の歯車４の中心を結ぶ線を基準にして対称となるよう配置されるよう構成してもよい。また、第２の歯車２と第３の歯車３とは、同一形状・寸法としてもよい。 In the illustrated gear unit 100, the second gear 2 and the third gear 3 may be arranged on the same plane. In the illustrated gear unit 100, the second gear 2 and the third gear 3 may be arranged symmetrically with respect to a line connecting the centers of the first gear 1 and the fourth gear 4. The second gear 2 and the third gear 3 may have the same shape and dimensions.

次に、図３及び図４を参照して、本発明の一実施形態に係る歯車ユニット１００を含んで構成された偏心揺動減速機１１０の構成について説明する。図３は、本発明の一実施形態に係る歯車ユニット１００を含む偏心揺動減速機を示す断面図である。図４は、図３のＡ－Ａ線に沿った断面を概略的に示す図である。 Next, the configuration of an eccentric oscillating reducer 110 including a gear unit 100 according to one embodiment of the present invention will be described with reference to Figures 3 and 4. Figure 3 is a cross-sectional view showing an eccentric oscillating reducer including a gear unit 100 according to one embodiment of the present invention. Figure 4 is a schematic diagram showing a cross section taken along line A-A in Figure 3.

図３及び図４に示されるように、偏心揺動減速機１１０は、駆動源からのトルクを伝達する歯車ユニット１００と、歯車ユニット１００からの入力を減速して出力する減速部２００と、を備えている。駆動源が生成したトルクは、歯車ユニット１００の第１の歯車（インプットギヤ）から入力され、第２の歯車（アイドラーギヤ）及び第３の歯車（アイドラーギヤ）を介して第４の歯車（センターギヤ）２２０に伝達される。そして、第４の歯車（センターギヤ）２２０に伝達されたトルクは、当該第４の歯車２２０と噛合うスパーギヤ８１０を含む歯車群に含まれるに伝達される。この結果、駆動源（モータ）が生成したトルクは、減速部へ伝達される。なお、スパーギヤ８１０として、他の種類の歯車部品が用いられてもよい。本実施形態の原理は、スパーギヤ８１０として用いられる特定の種類の歯車部品に限定されない。 3 and 4, the eccentric oscillating reducer 110 includes a gear unit 100 that transmits torque from a driving source, and a reduction section 200 that reduces the input from the gear unit 100 and outputs it. The torque generated by the driving source is input from the first gear (input gear) of the gear unit 100, and is transmitted to the fourth gear (center gear) 220 via the second gear (idler gear) and the third gear (idler gear). The torque transmitted to the fourth gear (center gear) 220 is then transmitted to a gear group including a spur gear 810 that meshes with the fourth gear 220. As a result, the torque generated by the driving source (motor) is transmitted to the reduction section. Note that other types of gear parts may be used as the spur gear 810. The principle of this embodiment is not limited to a specific type of gear part used as the spur gear 810.

減速部２００は、外筒５００と、キャリア６００と、歯車部７００と、３つの駆動機構８００（図３では、３つの駆動機構８００のうちの１つが示されている）と、２つの主軸受９００と、を備える。 The reduction gear section 200 includes an outer cylinder 500, a carrier 600, a gear section 700, three drive mechanisms 800 (one of the three drive mechanisms 800 is shown in FIG. 3), and two main bearings 900.

外筒５００は、略円筒状のケース５１０と、複数の内歯ピン５２０と、を含む。ケース５１０は、キャリア６００、歯車部７００及び駆動機構８００が収容される円筒状の内部空間を規定する。ケース５１０の内側には、複数の内歯ピン５２０が設けられている。内歯ピン５２０のそれぞれは、回転中心軸ＲＣＸの延出方向に延びる円柱状の部材である。内歯ピン５２０のおそれぞれは、その半周面がケース５１０の内壁から回転中心軸ＲＣＸに向けて突出するように、ケース５１０の内壁に形成された溝部に嵌入される。複数の内歯ピン５２０は、ケース５１０の内周面に沿って略一定間隔で環状に並べられ、内歯環を形成する。すなわち、本実施形態において、後述する歯車部７００の第１揺動歯車７１０及び第２揺動歯車７２０と噛合う内歯は、複数の内歯ピン５２０によって構成される。 The outer cylinder 500 includes a substantially cylindrical case 510 and a plurality of internal tooth pins 520. The case 510 defines a cylindrical internal space in which the carrier 600, the gear unit 700, and the drive mechanism 800 are housed. A plurality of internal tooth pins 520 are provided inside the case 510. Each of the internal tooth pins 520 is a cylindrical member extending in the direction of the rotation center axis RCX. Each of the internal tooth pins 520 is fitted into a groove formed in the inner wall of the case 510 so that its semi-circumferential surface protrudes from the inner wall of the case 510 toward the rotation center axis RCX. The multiple internal tooth pins 520 are arranged in a ring shape at substantially regular intervals along the inner peripheral surface of the case 510 to form an internal tooth ring. That is, in this embodiment, the internal teeth that mesh with the first oscillating gear 710 and the second oscillating gear 720 of the gear unit 700 described later are formed by the multiple internal tooth pins 520.

キャリア６００は、基部６１０と、第２キャリア部材６２０と、を含む。基部６１０は、第２キャリア部材６２０と減速機用アーム６との間に配置される。キャリア６００は、全体的に、円筒状である。キャリア６００は、外筒５００に対して相対回転可能に設けられている。図示の実施形態では、キャリア６００は、外筒５００内で回転中心軸ＲＣＸ周りに回転する。 The carrier 600 includes a base 610 and a second carrier member 620. The base 610 is disposed between the second carrier member 620 and the reducer arm 6. The carrier 600 is generally cylindrical. The carrier 600 is provided so as to be rotatable relative to the outer cylinder 500. In the illustrated embodiment, the carrier 600 rotates around the rotation center axis RCX within the outer cylinder 500.

基部６１０は、第１キャリア部材６１１（図３を参照）と、３つのシャフト部６１２（図４を参照）と、を含む。３つのシャフト部６１２のそれぞれは、第１キャリア部材６１１から第２キャリア部材６２０に向けて延びる。第２キャリア部材６２０は、３つのシャフト部６１２それぞれの先端面に接続される。３つのシャフト部６１２のそれぞれは、第１キャリア部材６１１と第２キャリア部材６２０との間に配置された歯車部７００を貫通し、第２キャリア部材６２０に接続される。第２キャリア部材６２０は、リーマボルト、位置決めピンや他の態様によって、３つのシャフト部６１２それぞれの先端面に接続されてもよい。 The base 610 includes a first carrier member 611 (see FIG. 3) and three shaft portions 612 (see FIG. 4). Each of the three shaft portions 612 extends from the first carrier member 611 toward the second carrier member 620. The second carrier member 620 is connected to the tip surface of each of the three shaft portions 612. Each of the three shaft portions 612 passes through a gear portion 700 disposed between the first carrier member 611 and the second carrier member 620 and is connected to the second carrier member 620. The second carrier member 620 may be connected to the tip surface of each of the three shaft portions 612 by a reamer bolt, a positioning pin, or other manner.

歯車部７００は、第１揺動歯車７１０と、第２揺動歯車７２０と、を含む。第１揺動歯車７１０は、第１キャリア部材６１１と第２揺動歯車７２０との間に配置される。第２揺動歯車７２０は、第２キャリア部材６２０と第１揺動歯車７１０との間に配置される。第１揺動歯車７１０及び第２揺動歯車７２０の複数の外歯の一部は、複数の内歯ピン５２０によって形成された内歯環と噛み合う。 The gear section 700 includes a first oscillating gear 710 and a second oscillating gear 720. The first oscillating gear 710 is disposed between the first carrier member 611 and the second oscillating gear 720. The second oscillating gear 720 is disposed between the second carrier member 620 and the first oscillating gear 710. A portion of the multiple external teeth of the first oscillating gear 710 and the second oscillating gear 720 mesh with an internal tooth ring formed by the multiple internal tooth pins 520.

駆動機構８００は、クランク軸８２０と、２つのジャーナル軸受８３０と、２つのクランク軸受８４０と、を含む。クランク軸８２０は、第１ジャーナル８２１と、第２ジャーナル８２２と、第１偏心部８２３と、第２偏心部８２４と、を含む。第１ジャーナル８２１は、キャリア６００の第１キャリア部材６１１によって取り囲まれる。第２ジャーナル８２２は、キャリア６００の第２キャリア部材６２０によって取り囲まれる。２つのジャーナル軸受８３０のうちの一方は、第１ジャーナル８２１と第１キャリア部材６１１との間に配置される。２つのジャーナル軸受８３０のうちの他方は、第２ジャーナル８２２と第２キャリア部材６２０との間に配置される。 The drive mechanism 800 includes a crankshaft 820, two journal bearings 830, and two crank bearings 840. The crankshaft 820 includes a first journal 821, a second journal 822, a first eccentric portion 823, and a second eccentric portion 824. The first journal 821 is surrounded by the first carrier member 611 of the carrier 600. The second journal 822 is surrounded by the second carrier member 620 of the carrier 600. One of the two journal bearings 830 is disposed between the first journal 821 and the first carrier member 611. The other of the two journal bearings 830 is disposed between the second journal 822 and the second carrier member 620.

スパーギヤ８１０は、第２ジャーナル８２２に取り付けられており、スパーギヤ８１０が回転するとクランク軸８２０も回転する。これにより、第１偏心部８２３及び第２偏心部８２４は、偏心回転する。この間、クランク軸受８４０を介して第１偏心部８２３に接続された第１揺動歯車７１０は、複数の内歯ピン５２０と噛み合いながら、外筒５００内で周回移動することができる。同様に、クランク軸受８４０を介して第２偏心部８２４に接続された第２揺動歯車７２０は、複数の内歯ピン５２０と噛み合いながら、外筒５００内で周回移動することができる。この結果、第１揺動歯車７１０及び第２揺動歯車７２０のそれぞれは、外筒５００内で、揺動回転を行うことができる。 The spur gear 810 is attached to the second journal 822, and when the spur gear 810 rotates, the crankshaft 820 also rotates. As a result, the first eccentric portion 823 and the second eccentric portion 824 rotate eccentrically. During this time, the first oscillating gear 710 connected to the first eccentric portion 823 via the crank bearing 840 can move around inside the outer cylinder 500 while meshing with the multiple internal tooth pins 520. Similarly, the second oscillating gear 720 connected to the second eccentric portion 824 via the crank bearing 840 can move around inside the outer cylinder 500 while meshing with the multiple internal tooth pins 520. As a result, each of the first oscillating gear 710 and the second oscillating gear 720 can perform oscillating rotation inside the outer cylinder 500.

この揺動回転の間、回転中心軸ＲＣＸに沿った方向から見て、第１揺動歯車７１０の中心軸ＣＸ１、及び第２揺動歯車７２０の中心軸ＣＸ２のそれぞれは、キャリア６００の回転中心軸ＲＣＸ周りを周回する。中心軸ＣＸ１，ＣＸ２は、キャリア６００の回転中心軸ＲＣＸと略平行に延びる軸である。第２揺動歯車７２０の中心軸ＣＸ２と、第１揺動歯車７１０の中心軸ＣＸ１とは、互いに異なる位相でキャリア６００の回転中心軸ＲＣＸ周りを周回してもよいし、略同一の位相でキャリア６００の回転中心軸ＲＣＸ周りを周回してもよい。また、第１揺動歯車７１０及び第２揺動歯車７２０は、キャリア６００の３つのシャフト部６１２に接触し、キャリア６００を回転中心軸ＲＣＸ周りに回転させる。したがって、第１揺動歯車７１０及び第２揺動歯車７２０は、内歯ピン５２０に噛み合いながら、ケース５１０内を周回移動する。 During this oscillating rotation, as viewed from the direction along the rotation center axis RCX, the center axis CX1 of the first oscillating gear 710 and the center axis CX2 of the second oscillating gear 720 each revolve around the rotation center axis RCX of the carrier 600. The center axes CX1 and CX2 are axes that extend approximately parallel to the rotation center axis RCX of the carrier 600. The center axis CX2 of the second oscillating gear 720 and the center axis CX1 of the first oscillating gear 710 may revolve around the rotation center axis RCX of the carrier 600 in different phases, or may revolve around the rotation center axis RCX of the carrier 600 in approximately the same phase. In addition, the first oscillating gear 710 and the second oscillating gear 720 contact the three shaft portions 612 of the carrier 600 and rotate the carrier 600 around the rotation center axis RCX. Therefore, the first oscillating gear 710 and the second oscillating gear 720 move around inside the case 510 while meshing with the internal tooth pin 520.

図示の偏心揺動減速機１１０における減速比は、スパーギヤ８１０と第４の歯車（センターギヤ）２２０とによって決定される第１減速比、及び、内歯環と歯車部７００とによって決定される第２減速比によって定められる。図示の実施形態において、第１減速比は、第２減速比より小さくてもよい。 The reduction ratio in the illustrated eccentric oscillating reducer 110 is determined by a first reduction ratio determined by the spur gear 810 and the fourth gear (center gear) 220, and a second reduction ratio determined by the internal gear ring and the gear portion 700. In the illustrated embodiment, the first reduction ratio may be smaller than the second reduction ratio.

次に、図５及び図６に示される従来の歯車ユニット１００´と比較しながら、本発明の一実施形態に係る歯車ユニット１００の効果について説明する。図５及び図６に示されるように、従来の歯車ユニット１００´では、駆動源（モータ）からの入力をインプットギヤ１´が受け、当該インプットギヤ１´からアイドラーギヤ２´を介して、センターギヤ３´にトルクが伝達される。そして、センターギヤ３´からスパーギヤ４´、５´、６´を介して、駆動源からの入力が減速機１２０´に伝達される。しかしながら、歯車ユニット１００´の構成においては、インプットギヤ１´からの入力は、アイドラーギヤ２´のみを介してセンターギヤ３´に伝達されるため、インプットギヤ１´とアイドラーギア２´とが噛合う位置、及び、アイドラーギア２´とセンターギヤ３´とが噛合う位置において負荷が集中する。このため、耐久性の観点から歯車ユニット１００´に含まれる歯車の歯幅を大きくする必要があり、その結果、歯幅の方向における減速機１２０´のサイズの小型化が困難となる。 Next, the effect of the gear unit 100 according to one embodiment of the present invention will be described while comparing it with the conventional gear unit 100' shown in Figures 5 and 6. As shown in Figures 5 and 6, in the conventional gear unit 100', the input from the drive source (motor) is received by the input gear 1', and the torque is transmitted from the input gear 1' to the center gear 3' via the idler gear 2'. Then, the input from the drive source is transmitted to the reducer 120' via the spur gears 4', 5', and 6' from the center gear 3'. However, in the configuration of the gear unit 100', the input from the input gear 1' is transmitted to the center gear 3' only via the idler gear 2', so that the load is concentrated at the position where the input gear 1' and the idler gear 2' mesh with each other and at the position where the idler gear 2' and the center gear 3' mesh with each other. For this reason, from the perspective of durability, it is necessary to increase the tooth width of the gears included in the gear unit 100', which makes it difficult to reduce the size of the reducer 120' in the direction of the tooth width.

これに対し、本発明の一実施形態に係る歯車ユニット１００は、第１の歯車（インプットギヤ）１と、該第１の歯車１と噛合う第２の歯車（アイドラーギヤ）２と、第１の歯車１と噛合う第３の歯車（アイドラーギヤ）３と、第２の歯車２及び該第３の歯車３と噛合う第４の歯車（センターギヤ）４と、を備える。すなわち、本発明の一実施形態に係る歯車ユニット１００では、第１の歯車（インプットギヤ）１からのトルクは、第２の歯車２及び第３の歯車３を介して第４の歯車４に伝達される。第１の歯車１からの動力は、第２の歯車２と第３の歯車３とに分散されて第４の歯車４に伝達されるので、第４の歯車４の１箇所に負荷が集中することを抑制できる。したがって、歯車ユニット１００に含まれる歯車の歯幅を小さくすることができる。また、歯幅の方向における減速機１２０のサイズの小型化を図ることが可能である。 In contrast, the gear unit 100 according to one embodiment of the present invention includes a first gear (input gear) 1, a second gear (idler gear) 2 meshing with the first gear 1, a third gear (idler gear) 3 meshing with the first gear 1, and a fourth gear (center gear) 4 meshing with the second gear 2 and the third gear 3. That is, in the gear unit 100 according to one embodiment of the present invention, the torque from the first gear (input gear) 1 is transmitted to the fourth gear 4 via the second gear 2 and the third gear 3. The power from the first gear 1 is distributed to the second gear 2 and the third gear 3 and transmitted to the fourth gear 4, so that the concentration of the load at one point on the fourth gear 4 can be suppressed. Therefore, the tooth width of the gears included in the gear unit 100 can be reduced. In addition, it is possible to reduce the size of the reducer 120 in the tooth width direction.

次に、図７を参照して、本発明の他の実施形態に係る歯車ユニット１００Ａについて説明する。図７に示されるように、本発明の他の実施形態に係る歯車ユニット１００Ａは、歯車ユニット１００と同様に、駆動源（モータ）に接続される第１の歯車（インプットギヤ）１Ａと、該第１の歯車１Ａと噛合う第２の歯車（アイドラーギヤ）２Ａと、第４の歯車（センターギヤ）４Ａと、歯車群１０Ａとを備えている。歯車群１０Ａは、第５の歯車（スパーギヤ）５Ａと、第６の歯車（スパーギヤ）６Ａと、第７の歯車（スパーギヤ）７Ａと、を含む。本発明の他の実施形態に係る歯車ユニット１００Ａは、第３の歯車を有しておらず、第１の歯車（インプットギヤ）１Ａが第２の歯車（アイドラーギヤ）２Ａ及び第７の歯車（スパーギヤ）７Ａと噛合っている点で、歯車ユニット１００と相違している。すなわち、歯車ユニット１００Ａにおける第７の歯車７Ａは、歯車ユニット１００における第３の歯車３及び第７の歯車７の機能を兼ねた歯車に相当する。 Next, referring to FIG. 7, a gear unit 100A according to another embodiment of the present invention will be described. As shown in FIG. 7, the gear unit 100A according to another embodiment of the present invention includes a first gear (input gear) 1A connected to a drive source (motor), a second gear (idler gear) 2A meshing with the first gear 1A, a fourth gear (center gear) 4A, and a gear group 10A, similar to the gear unit 100. The gear group 10A includes a fifth gear (spur gear) 5A, a sixth gear (spur gear) 6A, and a seventh gear (spur gear) 7A. The gear unit 100A according to another embodiment of the present invention differs from the gear unit 100 in that it does not have a third gear and the first gear (input gear) 1A meshes with the second gear (idler gear) 2A and the seventh gear (spur gear) 7A. In other words, the seventh gear 7A in the gear unit 100A corresponds to a gear that combines the functions of the third gear 3 and the seventh gear 7 in the gear unit 100.

歯車ユニット１００Ａにおいても、第１の歯車１からの動力は、第２の歯車２と第７の歯車７とに分散されて第４の歯車４に伝達されるので、第４の歯車４の１箇所に負荷が集中することを抑制できる。したがって、歯車ユニット１００Ａに含まれる歯車の歯幅を小さくすることができる。また、歯幅の方向における減速機のサイズの小型化を図ることが可能である。 In the gear unit 100A, the power from the first gear 1 is also distributed to the second gear 2 and the seventh gear 7 and then transmitted to the fourth gear 4, so that the load is prevented from concentrating at one point on the fourth gear 4. This makes it possible to reduce the tooth width of the gears included in the gear unit 100A. It is also possible to reduce the size of the reducer in the direction of the tooth width.

以上が本発明の例示的な実施形態の説明である。上述の様々な実施形態は、上記に説明したものに限定されず、減速機を含む様々な伝達装置に適用可能である。上述の様々な実施形態のうち１つに関連して説明された様々な特徴のうち一部が、他のもう１つの実施形態に関連して説明された伝達装置に適用されてもよい。 The above is a description of exemplary embodiments of the present invention. The various embodiments described above are not limited to those described above, and can be applied to various transmission devices including speed reducers. Some of the various features described in relation to one of the various embodiments described above may be applied to a transmission device described in relation to another of the various embodiments.

１ 第１の歯車
２，８１０ 第２の歯車
３ 第３の歯車
４，２２０ 第４の歯車
５ 第５の歯車
６ 第６の歯車
７ 第７の歯車
９ 穴
１０ 歯車群
１００，１００Ａ 歯車ユニット
１１０，１２０ 減速機
２００ 減速部 1 First gear 2, 810 Second gear 3 Third gear 4, 220 Fourth gear 5 Fifth gear 6 Sixth gear 7 Seventh gear 9 Hole 10 Gear group 100, 100A Gear unit 110, 120 Speed reducer 200 Speed reducer section

Claims (4)

歯車ユニットと、前記歯車ユニットからの入力を減速して出力する減速部と、を備える減速機であって、
前記歯車ユニットは、
駆動源に接続される第１の歯車と、
前記第１の歯車と噛合う第２の歯車と、
前記第１の歯車と噛合う第３の歯車と、
前記第２の歯車及び前記第３の歯車と噛合う第４の歯車と、
前記第４の歯車と噛合う第５の歯車と、
を備え、
前記減速部は、前記第５の歯車に取り付けられているクランク軸を備え、
前記第４の歯車は、複数の歯車を含む歯車群と噛合い、
前記第４の歯車の周方向において、前記歯車群のうちの２つの歯車の間に、前記第２の歯車及び前記第３の歯車が配置された、
ことを特徴とする減速機。 A reducer including a gear unit and a reduction section that reduces the speed of an input from the gear unit and outputs the reduced speed,
The gear unit comprises:
a first gear connected to a drive source;
a second gear meshing with the first gear;
a third gear meshing with the first gear;
a fourth gear meshing with the second gear and the third gear;
a fifth gear meshing with the fourth gear; and
Equipped with
the reduction gear unit includes a crankshaft attached to the fifth gear,
the fourth gear meshes with a gear group including a plurality of gears;
The second gear and the third gear are disposed between two gears of the gear group in a circumferential direction of the fourth gear.
A reducer characterized by: 前記第４の歯車は、その中心部分に穴を備え、
前記第４の歯車の径は、前記第２の歯車の径及び前記第３の歯車の径よりも大きい、請求項１に記載の減速機。 the fourth gear has a hole in its central portion;
The reducer according to claim 1 , wherein a diameter of the fourth gear is larger than a diameter of the second gear and a diameter of the third gear. 前記第４の歯車を回転自在に支える支持部を有し、
前記第４の歯車の回転軸方向において、前記支持部端面位置と、前記第４の歯車の端面位置とは略同一である、請求項１又は２に記載の減速機。 a support portion that rotatably supports the fourth gear,
3 . The reducer according to claim 1 , wherein a position of an end face of the support portion and a position of an end face of the fourth gear are substantially the same in a direction of a rotation axis of the fourth gear. 前記クランク軸は、キャリアに支持されており、
前記第５の歯車は、前記キャリアの回転軸方向における一方の端面に対向するように配置されている、
請求項１から３のいずれか１項に記載の減速機。 The crankshaft is supported by a carrier,
the fifth gear is disposed to face one end face of the carrier in the rotation axis direction,
The reducer according to any one of claims 1 to 3 .
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