阅读说明：本技术 具备润滑装置的摆线式减速器 (Cycloid speed reducer with lubricating device ) 是由 金光砇 申东赫 廉奎德 于 2019-08-28 设计创作，主要内容包括：本发明旨在由摆线式减速器向壳销周围顺畅地供给润滑油。根据本发明,在连续地成型于环形齿轮壳体(10)的内侧面的销槽(42A)的内侧面在上下方向上成型有储油槽(43)。另外,本发明构成为,螺纹结合于摆线式减速器的曲轴(28)所贯通的固定凸缘(18)的轴贯通孔(18A)并通过旋转上下移动的预压力调节环(50)对上部锥形轴承(Bu)的外轮(72)加压,由此能够准确地调节与隔着辊(74)的内轮(76)的预压力。(The invention aims to smoothly supply lubricating oil to the periphery of a shell pin by a cycloid speed reducer. According to the present invention, an oil reservoir (43) is formed in the vertical direction in the inner surface of a pin groove (42A) formed continuously in the inner surface of a ring gear case (10). In addition, the invention is configured in such a way that the prepressing force between the inner ring (76) of the upper conical bearing (Bu) and the roller (74) can be accurately adjusted by screwing the shaft through hole (18A) of the fixing flange (18) through which the crankshaft (28) of the cycloidal reducer passes and pressing the outer ring (72) of the upper conical bearing (Bu) by the prepressing force adjusting ring (50) which rotates and moves up and down.)

1. A cycloidal reducer, comprising:

three crankshafts (28) which are rotated by an input shaft and in which a first eccentric portion (28a) and a second eccentric portion (28b) are formed vertically;

an upper tapered bearing (Bu) and a lower tapered bearing (Bd) that support an upper portion and a lower portion of the crankshaft, respectively;

a first disk (30) which is provided with three mounting holes for the first eccentric parts (28a) and has vertically continuous pin grooves (30A) formed on the outer surface thereof;

a second disk (32) which is provided with three mounting holes for the second eccentric parts (28b) and continuously forms pin grooves (32A) in the vertical direction on the outer side surface; and

a ring gear case (10) which is provided outside the first disk (30) and the second disk (32) and which is provided on the inner surface thereof with pin grooves (42A) continuously molded so as to be capable of supporting shell pins (36) rotating between the pin grooves (30A) and the pin grooves (32A),

an oil reservoir is formed in the pin groove (42A) of the ring gear case (10) in the vertical direction.

2. The preload adjusting apparatus of the cycloid speed reducer as recited in claim 1,

the preload pressure between the inner ring (76) and the upper tapered bearing (Bu) can be adjusted by screwing the preload adjusting ring (50) which moves up and down while being rotated into a shaft through hole (18A) of a fixed flange (18) through which a crankshaft (28) passes, and by pressurizing the outer ring (72) of the upper tapered bearing (Bu).

3. The preload adjusting apparatus of the cycloid speed reducer according to claim 1 or 2,

a part of the preload adjustment ring (50) is divided into two parts, namely an adjustment ring upper part (50A) and an adjustment ring lower part (50B), by a horizontal slit (56), and the adjustment ring lower part (50B) is pressurized by a bolt screwed into an adjustment screw hole (58) formed in the adjustment ring upper part (50A), so that one side surface of the outer side surface screw thread part of the preload adjustment ring (50) is tightly attached to one side of the inner side surface screw thread part of the shaft through hole (18A).

Technical Field

The present invention relates to a cycloid speed reducer, and more particularly, to a cycloid speed reducer configured to be able to supply sufficient lubricating oil so that a shell pin disposed inside a pair of rotating disks can rotate more smoothly inside a ring gear case.

Background

As a speed reducer used for reducing a rotational speed to a desired level, various speed reducers are used in various fields such as a planetary gear speed reducer, a cycloid speed reducer, and the like. Here, since the cycloidal reducer can obtain a higher reduction ratio than a compact size, it is widely used for an industrial robot, a machine tool, a yaw and pitch system of a wind turbine generator, and the like, and it is considered that the demand thereof tends to increase gradually.

Although the basic structure of such a cycloid type speed reducer is widely known in practice, the configuration thereof will be briefly analyzed with reference to fig. 1. The conventional cycloidal reducer case includes a ring gear case 10, one end case 12 fixed to both ends of the ring gear case 10, and a second end case 14. The input shaft 22 provided on one side of the housings 10, 12, and 14 transmits rotational power to three shaft drive gears 26 via a pinion gear 24 connected to the lower end portion thereof.

A crankshaft 28 is coupled to the center of the shaft drive gear 26 in an interlocking manner, and two eccentric portions 28a and 28b are formed at a predetermined distance from the lower portion of the crankshaft 28. Outside the eccentric portions 28a and 28b, a first disk 30 and a second disk 32 are provided on the upper and lower sides, respectively, with needle bearings 30 and 32 interposed therebetween. The pair of disks 30 and 32 are provided in a portion corresponding to the inside of the ring gear case 10, and a plurality of shell pins 36 are provided between the pair of disks 30 and 32 and the ring gear case 10.

That is, the three eccentric portions 28a located at the upper portion of the three crankshafts 28 are respectively attached to the three attachment holes formed in the first disk 30, and the three eccentric portions 28a located at the lower portion are also respectively provided to the three attachment holes formed in the second disk 32. As the eccentric portions 28a and 28b rotate, the first disk 30 and the second disk 32 rotate eccentrically in the ring gear housing 10, and the rotations of the first disk 30 and the second disk 32 have a substantially constant phase difference, so that the upper and lower disks 30 and 32 are alternately inscribed in the ring gear housing 10.

Here, the housing pins 36 respectively disposed between the disks 30 and 32 and the ring gear housing 10 are arranged upright with reference to fig. 1, and have a predetermined height, for example, with their lower ends supported by the second end housing 14. Further, a plurality of pin grooves 30A, 32A are continuously formed on the outer side surfaces of the respective disks 30, 32, and a plurality of pin grooves 42A are also continuously formed on the inner side surface of the ring gear case 10. Therefore, it can be considered that the shell pins 36 are interposed between the pin grooves 30A, 32A of the outer side surface of the disk and the pin grooves 42A of the inner side surface of the ring gear case 10.

Since the operation principle of such a cycloid type speed reducer is well known, it will be easily analyzed. The rotational force of the input shaft 22 is transmitted to the three shaft drive gears 26 through the pinion gears 24. The three shaft drive gears 26 rotate the crankshafts 28, respectively, and the rotation of the crankshafts 28 is transmitted to the first disk 30 and the second disk 32 through the respective eccentric portions 28a and 28 b.

Here, pin grooves 30A and 32A are formed on the outer sides of the first disk 30 and the second disk 32 so as to have a predetermined phase difference (angular difference), and when the crankshaft 28 rotates, the first disk 30 and the second disk 32 perform eccentric rotation by partially contacting the inner side of the ring gear housing 10 due to the three eccentric portions 28a and 28 b. Here, the first disk 30 and the second disk 32 rotate with a certain phase difference (angular difference).

Here, in the eccentric rotation of the first disc 30 and the second disc 32, the three crankshafts 28 simultaneously rotate and revolve with the shell pins 36, which are disposed between the pin grooves 42A of the fixed ring gear case 10 and rotate only at fixed positions, as a medium. As the crankshaft 28 revolves, the disks 30 and 32 rotate as a whole. Here, the ring gear case 10 can be considered to have a function similar to that of a ring gear in a planetary gear reducer since the pin grooves 42A are formed in the inner side surface thereof and maintained in a fixed state.

Here, the pin grooves 30A of the first disk 30 and the pin grooves 32A of the second disk 32 have a phase difference from each other, which means that the disks 30, 32 are arranged such that the pin grooves 30A and the pin grooves 32A are alternately arranged with each other. For reference, the crankshaft 28 is fitted in a state of penetrating the respective disks 30, 32 with needle bearings 29a, 29b interposed therebetween.

Further, since the crankshaft 28 also penetrates the fixing flange 18, the fixing flange 18 also rotates together. Here, the fixing flange 18 is rotatably supported by the angular ball bearing B on the inner side surface of the ring gear housing 10. The upper end and the lower end of the crankshaft 28 are rotatably supported by a plurality of conical bearings BTa and BTb, respectively.

Since the fixed flange 18 is connected to the output shaft 40, the rotation of the fixed flange 18 is considered to be substantially equivalent to the rotation of the output shaft 40 after the deceleration. The output rotation speed after deceleration is substantially the rotation of the output shaft 40, and such rotation can be regarded as equivalent to the revolution of the crankshaft 28 and the rotation of the fixed flange 18 and the disks 30 and 32.

Here, in order to support the rotation of the crankshaft 28, the upper and lower portions of the crankshaft 28 are usually supported by tapered bearings BTa and BTb composed of an inner ring and an outer ring and rollers therebetween. The lower end of the lower taper bearing BTb is supported in a state of being locked to the boss 42 of the output shaft 40, for example, and the upper end of the upper taper bearing BTa is supported by the stopper ring 46 via the taper bearing spacer 44. Here, the stopper ring 46 is molded to the fixing flange 18, and is fitted and fixed to the inner peripheral edge of the shaft through hole 18A into which the crankshaft 28 is inserted.

In the cycloid speed reducer having such an arrangement, the plurality of shell pins arranged so as to surround the entire outer periphery of the disk rotate between the plurality of pin grooves 42A formed in the ring gear housing 10 in the vertical direction and the plurality of pin grooves 30A, 32A on the outer side surfaces of the disks 30, 32. In addition, since the housing pin and the disk rotating around the housing pin actually move in a close contact state, it is considered that a space in which the lubricating oil can be supplied is insufficient.

Disclosure of Invention

Technical problem

The main object of the present invention is to supply sufficient lubricating oil to the periphery of a shell pin in a cycloid speed reducer.

Another object of the present invention is to provide a device that can easily set the preload of a conical bearing that supports a crankshaft.

Technical scheme

The crankshaft of the cycloid speed reducer of the device of the present invention is rotated by an input shaft, and is composed of three parts, each of which is formed with a first eccentric part and a second eccentric part at the upper and lower sides, and these parts are provided in a state of penetrating through a fixing flange. The upper and lower portions of the crankshaft are supported by upper and lower tapered bearings.

The first disk has three mounting holes in which the first eccentric portions of the crankshaft are respectively disposed, and vertically extending pin grooves are continuously formed in the outer surface thereof. The ring gear case is provided outside the first disk and the second disk, and has pin grooves formed continuously on the inner surface so as to support shell pins that rotate with the pin grooves of the disks. Here, according to the present invention, since the oil reservoir is formed in the pin groove of the ring gear housing in the vertical direction, it is possible to supply the lubricating oil to the periphery of the shell pin after storing the lubricating oil.

According to another embodiment of the invention, the arrangement further comprises means for adjusting the pre-stressing of the upper and lower conical bearings. Such a preload adjuster is configured to be screwed into a shaft through hole of a fixed flange through which a crankshaft passes and to be capable of adjusting the preload of the inner ring with respect to the roller by pressing the outer ring of the upper tapered bearing with a preload adjusting ring that rotates and moves up and down.

According to a more specific embodiment, a part of the preload adjustment ring is divided into two parts, an upper portion of the adjustment ring and a lower portion of the adjustment ring by a horizontal slit, and the lower portion of the adjustment ring is pressurized by a bolt screwed into an adjustment screw hole 58 formed in the upper portion of the adjustment ring, so that one side surface of an outer side surface screw portion of the preload adjustment ring is brought into close contact with one side of an inner side surface screw portion of the shaft through hole, thereby preventing the preload adjustment ring from being arbitrarily released.

ADVANTAGEOUS EFFECTS OF INVENTION

According to the arrangement of the present invention as described above, since the lubricating oil is always stored in the oil reservoir formed inside the pin groove of the ring gear housing having the function of the ring gear, it is expected that the housing pin can be rotated more smoothly when it is in contact with the housing pin. The lubricating oil stored in such an oil reservoir can be substantially sufficiently supplied to the periphery of the shell pin by contact with the shell pin.

Here, the housing pin repeats a movement of being separated from or approaching the oil reservoir, and such a movement is expected to substantially store the lubricating oil or eject the stored lubricating oil to the outside to be used as the lubricating oil. As described above, when the lubricating oil is sufficiently supplied by the present invention, it is expected that not only smooth oil movement during the operation of the housing pin and the disc contributes to relative rolling movement, but also noise generation is reduced, and the operational reliability as a whole can be improved.

In the present invention, the preload between the inner ring and the outer ring can be accurately adjusted by rotating the preload adjusting ring and moving the preload adjusting ring downward to pressurize the tapered bearing. In addition, the upper portion of the adjustment ring and the lower portion of the adjustment ring, which are partitioned by the horizontal slit of the preload adjustment ring according to the present invention, are pushed downward by the lower end portion of the headless bolt inserted into the adjustment screw hole in the upper portion of the adjustment ring, so that the outer side surface thread can be brought into close contact with the inner side surface thread of the shaft through hole. By such arrangement and action, it is possible to reliably prevent the preliminary pressure adjusting ring from being arbitrarily separated.

Drawings

Fig. 1 is a sectional view showing an example of a conventional cycloidal type speed reducer.

Fig. 2 is an exemplary sectional view of a cycloid speed reducer of the present invention.

Fig. 3 is a partially cut-away perspective view of a cycloid speed reducer of the present invention.

FIG. 4 is a cross-sectional illustration showing the relationship of the pin slot and the shell pin of the present invention.

Fig. 5 is an exemplary view of a pre-pressure adjustment ring used in the present invention.

Fig. 6 is an enlarged view of a portion a of fig. 2.

Detailed Description

The invention will be explained in more detail below by means of examples illustrated in the figures. In the following description, the same portions as those of the conventional arrangement described above will be described using the same reference numerals, and the arrangement overlapping with that of the conventional arrangement is substantially known, and thus the detailed description thereof will be omitted.

As shown in fig. 2 and 3, the housing of the cycloid speed reducer includes a ring gear housing 10, and a first end housing 12 and a second end housing 14 fixed to both end portions of the ring gear housing 10, which is the same as described above. The input shaft 22 provided on one side of the housings 10, 12, and 14 transmits rotational power to three shaft drive gears 26 via a pinion gear 24 connected to the lower end portion thereof.

A crankshaft 28 is coupled to the center of each shaft drive gear 26 in an interlocking manner, and two eccentric portions 28a and 28b are formed at the upper and lower portions of the lower portion of the crankshaft 28 at a predetermined interval. The eccentric portions 28a and 28b are provided with a first disk 30 and a second disk 32 at upper and lower positions, respectively, via needle bearings 30 and 32.

Here, it can be considered that the crankshaft 28 is used to generate an output by rotating the disks 30, 32 by the cycloid speed reducer. The crankshaft 28 extends downward through the fixing flange 18, and its lower end portion penetrates the disks 30 and 32.

Here, the arrangement of the disks 30, 32 and the housing pins 36, and the inner wall of the ring gear housing 10 are analyzed with reference to fig. 4 and 2 together. It can be seen that a plurality of pin grooves 42A are formed continuously in the entirety of the inner side surface of the ring gear housing 10. Further, it can be seen that pin grooves 30A and 32A are also continuously formed on the inner side surfaces of the pair of disks 30 and 32 arranged vertically. For ease of illustration, only one of the pair of discs is shown in FIG. 4.

A plurality of shell pins 36 are provided between the pin grooves 42A of the ring gear case 10 and the pin grooves 30A, 32A of the disks 30, 32. As described above, since the disks 30 and 32 perform eccentric rotation so as to be partially close to the inner side surface of the ring gear case 10, as can be seen from fig. 4 (b), the lower end shell pin 36 is completely inserted between the pin groove 42A of the ring gear case 10 and the pin grooves 30A and 32A of the disks 30 and 32 with reference to the center, and the upper end shell pin 36 is inserted into the pin groove 42A of the ring gear case 10 but is moved out of the pin grooves 30A and 32A of the disks 30 and 32 to come into contact with the thread portions of the pin grooves 30A and 32A.

Here, since the ring gear housing 10 is kept in a fixed state and the disks 30 and 32 are rotated, the shell pins 36 that are in contact with the disks 30 and 32 and perform rolling movement completely enter the pin grooves 30A and 32A, and this state is shown in the lower end portion of fig. 4 (b). The housing pin 36 is rolled by contact with the disk and protrudes from the pin grooves 30A and 32A, and the upper end portion of fig. 4 (b) shows such a state.

In addition, the shell pins 36, which perform a rolling motion by contacting the rotating disks 30, 32 after being completely removed from the pin grooves 30A, 32A, project into the pin grooves 42A of the ring gear housing 10 corresponding therebehind in the rotation direction of the disks. That is, the above-described process is repeated with the rotation of the disks 30 and 32, and the output after the deceleration corresponding to the rotation of the disks and the revolution of the crankshaft is substantially generated.

According to the present invention, the pin grooves 42A of the ring gear case 10 are formed with oil reservoirs 43 extending in the vertical direction. Such an oil reservoir 43 is formed vertically with respect to the entire ring gear housing 10, and can store lubricating oil therein. The lubricating oil thus reserved in the oil reservoir 43 of the ring gear housing 10 may be supplied to the periphery of the case pin 36 or reserved while the case pin 36 rolls to approach the oil reservoir 43 and then moves away from the oil reservoir 43 as described above.

With such arrangement of the oil reservoir 43, supply of the lubricating oil to the components including the housing pin 36 and the pin groove around the housing pin can be sufficiently maintained. By providing a sufficient lubricating action in this way, not only a sufficient function as a speed reducer can be exhibited, but also advantages such as noise reduction can be expected.

Here, the oil reservoir 43 may be formed at any position as long as it is inside the key groove 42A, but considering the rolling movement of the shell pin 36 and the movement to the adjacent pin groove as described above, it is considered preferable to form it upward and downward at the inner center portion of the key groove 42A.

The following is an analysis of the support structure of the crankshaft 28 of the present invention. The crankshaft 28 of the present invention is rotatably supported by tapered bearings Bu and Bd at upper and lower portions thereof. Here, the lower portion of the lower tapered bearing Bd that supports the lower portion of the crankshaft 28 is supported by a support boss 42 formed on the upper portion of the output shaft 40, and the upper portion of the lower tapered bearing Bd is supported by a spacer Sd that is supported by the crankshaft 28.

Further, the upper portion of the upper tapered bearing Bu supporting the upper portion of the crankshaft 28 is supported by the preload adjusting ring 50 supported by the fixed flange 18, and the lower portion of the upper tapered bearing Bu is supported by the spacer Su of the crankshaft 28. Here, the preload adjusting ring 50 is used to adjust the preload of the upper and lower tapered bearings Bu, Bd for supporting the crankshaft 28. The preload of the conical bearings Bu and Bd is formed by finely adjusting the vertical positions thereof.

Since the spacers Su and Sd are locked to the boss portions of the crankshaft 28, the spacer Su alone with the bottom surface of the upper tapered bearing Bu cannot move downward. The spacer Sd contacting the upper portion of the lower tapered bearing Bd cannot move upward by itself.

Therefore, the position of the lower conical bearing Bd is predetermined, and it is considered that the preload of the conical bearings Bu and Bd depends on how much the preload adjustment ring 50 adjusts the upper conical bearing Bu downward. As shown in fig. 4, the preload adjustment ring 50 of the present invention includes an operation groove 52 formed in an inner peripheral surface and an outer-side-surface threaded portion 54 formed in an outer peripheral surface.

The operation groove 52 is used to rotate the preload adjustment ring 50 by a tool, and the outer-side-surface threaded portion 54 is used to screw the preload adjustment ring 50 into the shaft through hole 18A of the fixed flange 18. That is, a female screw is formed on the inner peripheral edge of the shaft through hole 18A, and is screwed to the outer side surface screw portion 54 of the preload adjustment ring 50. Here, the preload adjustment ring 50 is screwed into the shaft through hole 18A, and has substantially the same meaning as being capable of moving finely up and down by rotation.

Thus, as illustrated in fig. 5, when the preliminary pressure adjusting ring 50 is rotated, the preliminary pressure adjusting ring 50 can be finely adjusted up and down. For example, when the preliminary pressure adjusting ring 50 moves downward, the outer ring 72 of the upper tapered bearing Bu contacting the bottom surface thereof is pressed downward, and preliminary pressure is adjusted between the inner ring 76 and the outer ring by the roller 74.

At the same time, the inner ring 76 of the upper tapered bearing Bu finely presses the crankshaft 28 downward through the spacer Su by a downward force. In such downward movement of the crankshaft 28, the inner ring 86 of the lower tapered bearing Bd is pressed downward by the lower spacer Sd, whereby the preload is adjusted between the inner ring and the outer ring 82 via the roller 84.

As is clear from the above analysis, for example, the preload between the inner ring and the outer ring of the upper tapered bearing Bu and the lower tapered bearing Bd can be adjusted by rotating the pressure adjustment ring 50 through the operation groove 52 using a tool. Further, since the reduction gear of the present invention is repeatedly rotated, there is a possibility that the preload adjustment ring 50 screwed into the mounting hole 18A of the fixing flange 18 is loosened by the rotation.

In the present invention, there is additionally provided a configuration in which the pre-pressure adjusting ring 50 is not arbitrarily loosened. As illustrated in fig. 4 and 5, a portion, for example, about half, of the pre-compression adjustment ring 50 is divided into two portions by a horizontal slit 56, with the upper portion of the adjustment ring 50A being formed and the lower portion of the adjustment ring 50B being formed. In addition, an adjustment threaded hole 58 is formed in the adjustment ring upper portion 50A corresponding to the upper portion of the horizontal slit 56. In such an adjustment screw hole 58, for example, a headless bolt 60 is screwed.

Such headless bolt 60 rotates and moves downward to apply a force to the upper surface of adjustment ring lower portion 50B. In this way, the adjusting ring lower portion 50B is elastically deformed downward, and at this time, one side of the thread of the outer side thread portion 54 is pressed against one side of the thread formed inside the through hole 18A, and the threads on both sides are brought into close contact with each other by this force. Accordingly, the force applied to the adjustment ring lower portion 50B by the headless bolt 60 causes the outer side surface threaded portion 54 of the adjustment ring lower portion 50B and one side surface of the inner side surface threaded portion of the through hole 18A to come into close contact with each other, and a friction force acts significantly largely. In this way, it is considered that the preload adjustment ring 50 can be further prevented from being loosened by the rotation of the cycloid speed reducer.

As is clear from the above analysis, the present invention is based on the technical idea that the preload of the tapered bearing can be adjusted by screwing the preload adjuster ring 50 to the through hole 18A of the shaft of the fixed flange 18 and moving up and down by rotation. It is to be understood that, in the present invention, the partial screw thread of the preload adjustment ring 50 and the screw thread of the shaft through hole 18A are brought into close contact with each other by the headless bolt to prevent any loosening.