CN105782354B

CN105782354B - Gear device

Info

Publication number: CN105782354B
Application number: CN201610021566.1A
Authority: CN
Inventors: 古田和哉
Original assignee: Nabotsk Co Ltd
Current assignee: Nabotsk Co Ltd
Priority date: 2015-01-13
Filing date: 2016-01-13
Publication date: 2019-12-10
Anticipated expiration: 2036-01-13
Also published as: TWI676750B; DE102016200242A1; JP2016130536A; CN105782354A; JP6554285B2; KR20160087344A; KR102511290B1; TW201632764A

Abstract

The invention provides a gear device. The gear device (X1) comprises: an outer cylinder (2); a carrier (3) having inner circumferential surfaces (31c, 32e), the inner circumferential surfaces (31c, 32e) including female screw portions (31d, 32 g); a crankshaft (5) rotatably supported by the inner circumferential surfaces (31c, 32e) and rotating one of the outer tube (2) and the carrier (3) relative to the other; male screw portions (91a, 92a) which are screw-engaged with the male screw portions (31d, 32 g); and a restricting member (9) for restricting the movement of the crankshaft (5) in the axial direction of the crankshaft (5).

Description

Gear device

Technical Field

The present invention relates to a gear device.

Background

Heretofore, a gear device disclosed in japanese patent application laid-open No. 2014-109285 is known. As shown in fig. 13, the gear device disclosed in this publication includes: an outer tub 210; a crankshaft 220 having an eccentric portion 220 a; a swing gear 230 that swings and rotates with the rotation of the eccentric portion 220 a; and a gear carrier 240 that rotates relative to the outer cylinder 210 in accordance with the swing rotation of the swing gear 230. In the gear device 200, the crankshaft 220 is inserted into a through hole 240a formed in the carrier 240, and the crankshaft 220 is rotatably supported by the carrier 240 in the through hole 240 a.

The crankshaft 220 has stepped portions 220b and 220c formed on both sides in the axial direction of the crankshaft 220. Further, two mounting grooves are formed in an inner circumferential surface 240b of carrier 240 for forming through hole 240a so as to be spaced apart in the axial direction of crankshaft 220. Stop rings 250 and 260 are fitted in the respective mounting grooves. In the axial direction of the crankshaft 220, a washer 270 is interposed between the stepped portion 220b and the stopper ring 250, and a washer 280 is interposed between the stepped portion 220c and the stopper ring 260. The washers 270 and 280 function as restricting members that restrict axial movement of the crankshaft 220.

in the gear device 200, the stopper rings 250 and 260 fitted into the respective mounting grooves of the inner peripheral surface 240b are positioned in the through hole 240 a. Therefore, the thickness of the washer 270 between the snap ring 250 and the stepped portion 220b and the thickness of the washer 280 between the snap ring 260 and the stepped portion 220c in the through hole 240a may be reduced. When the thickness of the washers 270 and 280 is small, when the crankshaft 220 moves in the axial direction during the rotation operation, the washers 270 and 280 may be deflected by an external force applied from the crankshaft 220 to the washers 270 and 280.

Disclosure of Invention

Problems to be solved by the invention

The invention aims to provide a gear device capable of restraining deflection of a limiting member.

Means for solving the problems

the gear device according to an aspect of the present invention includes: an outer cylinder; a carrier having an inner peripheral surface including a female screw portion; a crankshaft rotatably supported by the inner circumferential surface and configured to rotate one of the outer cylinder and the carrier relative to the other; and a restricting member having an external thread portion threadably engaged with the internal thread portion, for restricting movement of the crankshaft in an axial direction of the crankshaft.

Drawings

Fig. 1 is a cross-sectional view showing a schematic configuration of a gear device according to an embodiment of the present invention.

Fig. 2 is an enlarged view of a main portion of the gear device shown in fig. 1.

Fig. 3 is a perspective view showing a schematic configuration of the 1 st regulating member of the gear device.

Fig. 4 is a view showing a schematic configuration of a modified example 1 of the gear device according to the present embodiment, and is a main portion enlarged view showing the same portion as fig. 2.

Fig. 5 is a perspective view showing a schematic configuration of the 1 st regulating member of the gear device shown in fig. 4.

Fig. 6 is a view showing a schematic configuration of a modification 2 of the gear device of the present embodiment, and is an enlarged view of a main portion showing the same portion as fig. 2.

Fig. 7 is a view showing a schematic configuration of a modification 3 of the gear device according to the present embodiment, and is an enlarged view of a main portion showing the same portion as fig. 2.

Fig. 8 is a cross-sectional view showing a schematic configuration of a modification 4 of the gear device of the present embodiment.

Fig. 9 is a cross-sectional view showing a schematic configuration of a modification 5 of the gear device of the present embodiment.

Fig. 10 is an enlarged view of a main portion of a gear device according to modification 5 shown in fig. 9.

Fig. 11 is a view showing a modification 6 of the gear device of the present embodiment, and is a perspective view showing a schematic configuration of the 1 st regulating member, as in fig. 3.

Fig. 12 is a view showing a modification 7 of the gear device of the present embodiment, and is a perspective view showing a schematic configuration of the 1 st regulating member, as in fig. 3.

Fig. 13 is a cross-sectional view showing a schematic configuration of a conventional gear device.

Detailed Description

Hereinafter, an embodiment of the present invention will be described with reference to the drawings. However, for the sake of convenience of explanation, only main components among the components of the gear device X1 according to the present embodiment are shown in the drawings referred to below in a simplified manner. Therefore, the gear device X1 of the present embodiment may have any constituent member not shown in the drawings referred to in the present specification.

As shown in fig. 1 and 2, the gear device X1 is an eccentric oscillating type gear device, and includes an outer cylinder 2, a carrier 3, an oscillating gear 4, and a crankshaft 5. In the gear device X1, the outer cylinder 2 and the carrier 3 rotate relative to each other by the oscillating rotation of the oscillating gear 4 in accordance with the rotation of the crankshaft 5.

The outer cylinder 2 has a substantially cylindrical shape with the axis C1 as the center axis. A large number of pin grooves are formed in the inner circumferential surface 2a of the outer cylinder 2. Each pin groove is disposed so as to extend along the axis C1 direction, and has a semicircular sectional shape in a section orthogonal to the axis C1 direction. The pin grooves are arranged at equal intervals in the circumferential direction of the outer cylinder 2.

The gear device X1 further includes a plurality of internal gear pins 8 attached to the inner peripheral surface 2a of the outer cylinder 2. Each inner tooth pin 8 has a cylindrical shape extending in the direction of the axis C1 of the outer cylinder 2. Further, the respective inner pins 8 are attached to respective pin grooves formed in the inner circumferential surface 2a of the outer cylinder 2.

The outer cylinder 2 is formed with a plurality of mounting holes 2b penetrating the outer cylinder 2 in the direction of the axis C1. The mounting holes 2b are arranged at equal intervals in the circumferential direction of the outer cylinder 2. Each mounting hole 2b is used when the outer cylinder 2 is mounted on an unillustrated target-side member such as a base constituting a joint portion of the robot. When the outer cylinder 2 is attached to a base constituting a joint portion of the robot, the outer cylinder 2 serves as a fixed-side member in the gear device X1.

The carrier 3 is configured to sandwich the oscillating gear 4 in the direction of the axis C1, and is disposed concentrically with the outer cylinder 2. The carrier 3 has a1 st member 31 and a2 nd member 32 opposed to each other in the direction of the axis C1. The 1 st member 31 and the 2 nd member 32 are fastened to each other by means of a fastening member T1.

The 1 st member 31 has a substantially disc shape. A part of the 1 st member 31 is located inside the outer cylinder 2, and the remaining part is located outside the outer cylinder 2 in the direction of the axis C1.

The 1 st member 31 is formed with a central hole 31a and a crankshaft mounting portion 31 b.

the center hole 31a is formed in the center portion of the 1 st member 31 so as to penetrate the 1 st member 31 in the direction of the axis C1.

The crankshaft mounting portion 31b is a portion to which the crankshaft 5 is mounted. The crankshaft mounting portions 31b are arranged along the circumferential direction of the carrier 3 outside the center hole 31 a. Each of the crankshaft mounting portions 31b may be formed by a through hole penetrating the 1 st portion 31 along the direction of the axis C1 or a concave hole formed by recessing a part of the 1 st portion 31 in the direction of the axis C1. In the present embodiment, each of the crankshaft attachment portions 31b is formed to penetrate the 1 st member 31 along the direction of the axis C1. In the present embodiment, 3 crankshaft attachment portions 31b are formed in the 1 st member 31.

The 2 nd member 32 has a substantially disk-shaped base plate portion 32a and a shaft portion 32b extending from the base plate portion 32a toward the 1 st member 31.

A part of the base plate portion 32a is located inside the outer cylinder 2, and the remaining part is located outside the outer cylinder 2 in the direction of the axis C1.

The shaft portion 32b extends along the axis C1 from the end surface of the base plate portion 32a on the 1 st member 31 side in the direction of the axis C1. The plurality of shaft portions 32b are arranged in the circumferential direction of the carrier 3. In the present embodiment, the 2 nd member 32 has 3 shaft portions 32 b. However, the number of the shaft portions 32b can be changed as appropriate.

The 2 nd member 32 is formed with a center hole 32c, a crankshaft mounting portion 32d, and a mounting hole 32 f.

the center hole 32C is formed in the center portion of the 2 nd member 32 so as to penetrate the base plate portion 32a of the 2 nd member 32 along the axis C1 direction.

the crankshaft mounting portion 32d is a portion to which the crankshaft 5 is mounted. A plurality of the crankshaft attachment portions 32d are formed outside the center hole 32c so as to be aligned in the circumferential direction of the carrier 3. Each of the crankshaft attachment portions 32d may be formed by a through hole penetrating the base plate portion 32a along the direction of the axis C1 or a concave hole formed by recessing a part of the base plate portion 32a in the direction of the axis C1. In the present embodiment, each of the crankshaft attachment portions 32d is formed to penetrate the base plate portion 32a of the 2 nd member 32 along the direction of the axis C1. The respective crankshaft attachment portions 32d are provided corresponding to the positions of the respective crankshaft attachment portions 31b formed in the 1 st member 31.

The mounting hole 32f is formed so as to be recessed from the end surface of the 2 nd member 32 on the side opposite to the 1 st member 31 in the direction of the axis C1. The mounting hole 32f is used when the carrier 3 is mounted to a target member such as a revolving body constituting a joint portion of the robot. When a revolving body constituting a joint portion of the robot is attached to the carrier 3, the carrier 3 serves as a member on the revolving side in the gear device X1. For example, if the carrier 3 is attached to a base constituting a joint portion of the robot, the outer cylinder 2 can be attached to a rotator constituting the joint portion of the robot. Thus, the carrier 3 serves as a stationary member of the gear device X1, and the outer cylinder 2 serves as a rotating member of the gear device X1.

The gear device X1 also has main bearings B1, B2. The main bearings B1 and B2 are provided between the outer peripheral surface of the carrier 3 and the inner peripheral surface 2a of the outer cylinder 2. Specifically, the main bearing B1 is provided between the outer peripheral surface of the 1 st member 31 and the inner peripheral surface 2a of the outer tube 2, and the main bearing B2 is provided between the outer peripheral surface of the base plate portion 32a of the 2 nd member 32 and the inner peripheral surface 2a of the outer tube 2. The main bearings B1, B2 allow relative rotation between the outer tube 2 and the carrier 3.

The crankshaft 5 is rotatably supported by the carrier 3 in the crankshaft mounting portions 31b and 32 d. The gear device X1 further has a crankshaft bearing 6 that allows the crankshaft 5 to rotate relative to the carrier 3. The crankshaft 6 includes crankshafts 6A, 6B. The crankshaft 5 is supported by the carrier 3 via the crankshaft bearings 6A and 6B. In the present embodiment, 3 crankshafts 5 are provided in a row along the circumferential direction of the carrier 3. The number of the crankshafts 5 is arbitrary, and can be changed as appropriate according to the usage pattern of the gear device X1. The number of the crankshaft mounting portions 31b can be changed as appropriate depending on the usage pattern of the gear device X1.

The crankshaft 5 includes a shaft main body 51 extending in the direction of the axis C1 and eccentric portions 54 and 55 eccentric to the shaft main body 51.

the shaft main body 51 has a1 st journal portion (large diameter portion) 51b, a2 nd journal portion 51c, and a small diameter portion 51a having an outer diameter slightly smaller than the outer diameters of the 1 st and 2 nd journal portions 51b, 51 c.

The 1 st journal portion 51b is located in the crankshaft mounting portion 31b of the 1 st member 31. A1 st crank bearing 6A is attached to the outer peripheral surface of the 1 st journal portion 51 b.

The 2 nd journal portion 51c has the same outer diameter as that of the 1 st journal portion 51 b. The 2 nd journal portion 51c is located in the crankshaft mounting portion 32d of the 2 nd member 32. A2 nd crank bearing 6B is attached to the outer peripheral surface of the 2 nd journal portion 51 c.

The small diameter portion 51a is adjacent to the 1 st journal portion 51b in the direction of the axis C1, and extends to the opposite side of the 2 nd journal portion 51C. A part of the small diameter portion 51a is located outside the crankshaft mounting portion 31 b. The 1 st journal portion 51b may extend from the inside of the crankshaft attachment portion 31b to the outside of the crankshaft attachment portion 31b without the small diameter portion 51 a.

The eccentric portions 54, 55 are located between the 1 st journal portion 51b and the 2 nd journal portion 51C in the direction of the axis C1. The oscillating gear 4 is attached to the eccentric portion 54 via an eccentric portion bearing a1, and is attached to the eccentric portion 55 via an eccentric portion bearing a 2. The eccentric portion bearings a1, a2 allow relative rotation between the eccentric portions 54, 55 and the swing gear 4.

the oscillating gear 4 is located in the outer cylinder 2 and is sandwiched between the substrate portions 32a of the 1 st member 31 and the 2 nd member 32 in the direction of the axis C1. The gear device X1 further includes eccentric portion bearings a1 and a2, and the swing gear 4 includes a1 st swing gear 41 attached to the 1 st eccentric portion 54 via the eccentric portion bearing a1 and a2 nd swing gear 42 attached to the 2 nd eccentric portion 55 via the eccentric portion bearing a 2. The oscillating gears 41 and 42 have an outer diameter slightly smaller than the inner diameter of the outer cylinder 2, and a plurality of external teeth are formed on the outer peripheral surfaces of the oscillating gears 41 and 42. The number of external teeth formed on the outer peripheral surfaces of the oscillating gears 41 and 42 is slightly smaller than the number of internal pins 8. Thus, the 1 st oscillating gear 41 and the 2 nd oscillating gear 42 can oscillate and rotate in different phases from each other inside the outer cylinder 2 so that the respective external teeth mesh with the respective internal pins 8.

The 1 st oscillating gear 41 is formed with a center hole 41a corresponding to the position of the center hole 31a of the 1 st member 31, an insertion hole 41b into which the shaft portion 32b is inserted, and a crankshaft mounting portion 41c into which the 1 st eccentric portion 54 is inserted.

The 2 nd oscillating gear 42 is formed with a center hole 42a corresponding to the position of the center hole 32c of the 2 nd member 32, an insertion hole 42b into which the shaft portion 32b is inserted, and a crankshaft mounting portion 42c into which the 2 nd eccentric portion 55 is inserted.

In the present embodiment, the oscillating gear 4 includes two oscillating gears, i.e., the 1 st oscillating gear 41 and the 2 nd oscillating gear 42, but the present invention is not limited thereto, and only 1 oscillating gear may be provided, or 3 or more oscillating gears may be provided.

The gear device X1 further includes a transmission gear 7 that transmits a driving force from an unillustrated drive source to the crankshaft 5 to rotate the crankshaft 5. In the present embodiment, 3 transmission gears 7 are provided corresponding to the positions of 3 crankshafts 5. The transmission gear 7 is located on the opposite side of the 1 st member 31 from the 2 nd member 32 in the direction of the axis C1. The transmission gear 7 is attached to the small diameter portion 51a of the shaft main body 51 of the crankshaft 5. The movement of the transmission gear 7 in the direction of the axis C1 is restricted by a stopper ring attached to the small diameter portion 51a of the shaft main body 51 so as to sandwich the transmission gear 7 from both sides in the direction of the axis C1.

In the present embodiment, the transmission gear 7 is located on the opposite side of the 2 nd member 32 with the 1 st member 31 interposed therebetween in the direction of the axis C1, but the present invention is not limited to this. The transfer gear 7 can also be located, for example, between the 1 st eccentric portion 54 and the 2 nd eccentric portion 55. That is, the arrangement of the transmission gear 7 is arbitrary and can be changed as appropriate according to the model of the gear device X1.

The transmission gear 7 has a plurality of external teeth on its outer peripheral surface, and transmits a driving force (torque) of a motor (driving source), not shown, to the crankshaft 5 by meshing the plurality of external teeth with an input shaft of the motor or the like. Then, the eccentric portions 54 and 55 of the crankshaft 5 receiving the driving force from the transmission gear 7 rotate, and the oscillating gear 4 oscillates and rotates in the outer tube 2 in accordance with the rotation. Thereby, the outer cylinder 2 and the carrier 3 rotate relatively.

The gear device X1 further has a restricting member 9 for restricting movement in the direction of the axis C1 of the crankshaft 5. The restricting member 9 has a1 st restricting member 91 and a2 nd restricting member 92 that are separated from each other in the direction of the axis C1. The 1 st and 2 nd restricting members 91, 92 sandwich the crankshaft 5 in the direction of the axis C1. Thereby, the 1 st and 2 nd restricting members 91 and 92 restrict the movement of the crankshaft 5 in the direction of the axis C1.

As shown in fig. 3, the 1 st restriction member 91 has a circular plate shape. In the present embodiment, the 1 st regulating member 91 is formed with an insertion hole 91b penetrating through a central portion in the direction of the axis C1. The diameter of the insertion hole 91b is set slightly larger than the diameter of the small diameter portion 51a and smaller than the diameter of the 1 st journal portion 51 b. As shown in fig. 2, the 1 st restriction member 91 is disposed such that the small diameter portion 51a is positioned in the insertion hole 91 b.

The 1 st regulating member 91 has an external thread portion 91a for fixing the 1 st regulating member 91 to the carrier 3 and an attachment portion 91e to which a tool, not shown, can be attached. The male screw part 91a is formed on the entire circumference of the outer circumferential portion of the 1 st restriction member 91. The mounting portion 91e is formed on a main surface of the 1 st regulating member 91 in the direction of the axis C1. As shown in fig. 2, the 1 st regulating member 91 is attached to the carrier 3 such that the main surface on which the attachment portion 91e is formed faces the transmission gear 7 side in the direction of the axis C1. In the present embodiment, of the two main surfaces of the 1 st regulating member 91 in the direction of the axis line C1, the main surface on which the attachment portion 91e is formed is referred to as one main surface 91D, and the main surface located on the opposite side of the one main surface 91D is referred to as the other main surface 91A.

In the present embodiment, the two mounting portions 91e are formed on the one main surface 91D, but the present invention is not limited to this. The number of the mounting portions 91e may be only 1, or 3 or more. The mounting portion 91e may be omitted.

In the present embodiment, the mounting portion 91e has a bottom because it is formed by recessing a portion of the one main surface 91D, but the present invention is not limited thereto. The attachment portion 91e may be formed by, for example, penetrating a part of the 1 st regulating member 91 from the one main surface 91D to the other main surface 91A.

The inner peripheral surface 31c of the 1 st member 31, which forms the crankshaft mounting portion 31b, has an internal threaded portion 31d, a stepped portion 31e, and a support portion 31 f. In the present embodiment, the female screw portion 31d, the step portion 31e, and the support portion 31f are continuous in order from the outer end surface 31A side of the 1 st member 31.

The female screw portion 31d is formed from an end portion of the inner peripheral surface 31C on the outer end surface 31A side to an intermediate portion of the inner peripheral surface 31C in the axis C1 direction. The female screw portion 31d is screwed to the male screw portion 91 a. Thereby, the regulating member 9 is attached to the carrier 3.

The step portion 31e connects the female screw portion 31d and the support portion 31 f. The stepped portion 31e extends from an end of the female screw portion 31d on the 1 st rocking gear 41 side in the axis C1 direction inward in the radial direction of the crankshaft 5. In the present embodiment, as shown in fig. 2, the stepped portion 31e is located flush with an axial end surface 51A of the 1 st journal portion 51b in a direction orthogonal to the direction of the axis C1, the axial end surface 51A being an end surface on the opposite side from the eccentric portion 54.

The outer peripheral portion of the other main surface 91A of the 1 st regulating member 91 is in contact with the step portion 31e in the axis C1 direction. Thus, in the present embodiment, the step portion 31e functions as a positioning portion for positioning the 1 st regulating member 91. Further, the center portion of the other main surface 91A of the 1 st regulating member 91 is in contact with the axial end surface 51A of the 1 st journal portion 51 b. Thereby, the movement of the crankshaft 5 toward the transmission gear 7 in the direction of the axis C1 is restricted. In this way, in the present embodiment, the other main surface 91A includes the positioning surface 91B that contacts the stepped portion 31e in the direction of the axis C1 and the regulating surface 91C that contacts the axial end surface 51A of the 1 st journal portion 51B. The positioning surface 91B and the regulating surface 91C are located on the same plane. In the present embodiment, the other main surface 91A is flat from the positioning surface 91B to the regulating surface 91C.

in the present embodiment, the restricting surface 91C contacts the axial end surface 51A of the 1 st journal portion 51b, but is not limited thereto. The regulating surface 91C may be disposed with a gap from the axial end surface 51A in the direction of the axis C1. In this case, the stepped portion 31e is located closer to the outer end surface 31A than the axial end surface 51A in the axis C1 direction.

The support portion 31f extends from the inner end of the step portion 31e in the radial direction of the crankshaft 5 toward the 1 st swing gear 41 side along the axis C1 direction.

The support portion 31f rotatably supports the 1 st journal portion 51b via the 1 st crank bearing 6A. As shown in fig. 2, the 1 st crank bearing 6A includes a rolling element 61 extending in the direction of the axis C1 and a retainer 62 rotatably retaining the rolling element 61. The holder 62 has: a1 st portion 62a located outside the rolling elements 61 in the radial direction of the crankshaft 5; a2 nd site 62b connected to one end of the 1 st site 62a on the outer end surface 31A side in the direction of the axis C1; and a3 rd portion 62C connected to the other end of the 1 st portion 62a on the 1 st swing gear 41 side in the axis C1 direction. The rolling element 61 is inserted into a rolling element insertion hole formed in the 1 st portion 62a, and is positioned between the 2 nd portion 62b and the 3 rd portion 62C on both sides in the direction of the axis C1. Thereby, the cage 62 restricts the movement of the rolling elements 61 in the direction of the axis C1. The rolling elements 61 are rotatable between the support portion 31f and the 1 st journal portion 51b, whereby the crankshaft 5 can rotate relative to the carrier 3.

in the present embodiment, the outer end surface of the 2 nd site 62b of the retainer 62 in the direction of the axis C1 is disposed flush with the axial end surface 51A of the 1 st journal portion 51b in the direction orthogonal to the axis C1. Therefore, the 2 nd portion 62B of the retainer 62 contacts the other main surface 91A between the positioning surface 91B and the regulating surface 91C. Thereby, the 1 st restricting member 91 restricts the movement of the 1 st crank bearing 6A toward the outer end surface 31A side in the axis C1 direction.

In the present embodiment, the other main surface 91A is in contact with the 2 nd portion 62b of the retainer 62 of the 1 st crank bearing 6A, but the present invention is not limited thereto. The other main surface 91A may be disposed with a gap from the 2 nd portion 62b of the holder 62 in the direction of the axis C1.

When the 1 st regulating member 91 is to be attached to the carrier 3, the 1 st regulating member 91 is fitted into the small diameter portion 51A from the other main surface 91A side before the transmission gear 7 is attached to the small diameter portion 51A. Then, an external tool is attached to the attachment portion 91e from the side of the one main surface 91D, and the external thread portion 91a of the 1 st regulating member 91 is screwed into the internal thread portion 31D by rotating the tool. Then, the 1 st regulating member 91 is positioned at a position where the positioning surface 91B of the other main surface 91A contacts the step portion 31e, and the tool is removed from the mounting portion 91e in this state. In this way, the 1 st regulating member 91 can be attached to the carrier 3.

On the other hand, when the 1 st regulating member 91 is to be detached from the carrier 3, first, the transmission gear 7 is detached from the small diameter portion 51a, and a tool is attached to the attachment portion 91e from the side of the one main surface 91D. Then, by turning the tool, the screwing between the male screw portion 91a and the female screw portion 31d of the 1 st restricting member 91 is released, and the 1 st restricting member 91 is detached from the female screw portion 31 d. In this way, the 1 st regulating member 91 can be detached from the carrier 3.

In this way, the 1 st regulating member 91 has the male screw portion 91a, and the 1 st regulating member 91 is fixed to the carrier 3 by the screw engagement between the male screw portion 91a and the female screw portion 31d, and therefore, the mounting and dismounting with respect to the carrier 3 can be repeated.

In the present embodiment, the inner peripheral surface 31c has the stepped portion 31e, but the present invention is not limited thereto, and the inner peripheral surface 31c may not have the stepped portion 31 e. In this case, the inner peripheral surface 31C extends in the direction of the axis line C1 from the female screw portion 31d to the support portion 31f, and the female screw portion 31d is formed from the end portion of the inner peripheral surface 31C on the outer end surface 31A side to the intermediate portion. The end portion of the female screw portion 31d opposite to the outer end surface 31A functions as a positioning portion for positioning the 1 st restricting member 91. The support portion 31f, which is an inner peripheral surface portion of the inner peripheral surface 31c from the intermediate portion to the end portion on the opposite side of the outer end surface 31A, is an inner peripheral surface without a spiral shape in which the female screw portion 31d is not formed. In this case, when the 1 st regulating member 91 is mounted on the carrier 3, the tool may be turned until the other main surface 91A reaches the intermediate portion.

The 2 nd restriction member 92 has a circular plate shape. In the present embodiment, the 2 nd restriction member 92 is formed with an insertion hole 92b in the central portion, as in the 1 st restriction member 91. Further, the 2 nd restriction member 92 has an external thread portion 92a and an attachment portion 92e, similarly to the 1 st restriction member 91. The inner peripheral surface 32e of the 2 nd member 32, which forms the crankshaft attachment portion 32d, has a female screw portion 32g, a step portion 32h, and a support portion 32i, similarly to the inner peripheral surface 31c of the 1 st member 31. In addition, the 2 nd crank bearing 6B includes the rolling elements 61 and the retainer 62 having the 1 st portion 62a, the 2 nd portion 62B, and the 3 rd portion 62c, similarly to the 1 st crank bearing 6A. The 2 nd restricting member 92, the inner peripheral surface 32e of the 2 nd member 32, and the 2 nd crank bearing 6B are disposed symmetrically with respect to the 1 st restricting member 91, the inner peripheral surface 31C of the 1 st member 31, and the 1 st crank bearing 6A, respectively, along the direction of the axis C1. The shapes and the arrangements of the 2 nd restricting member 92, the inner peripheral surface 32e of the 2 nd member 32, and the 2 nd crank bearing 6B are not described in detail.

The 2 nd restricting member 92 contacts the stepped portion 32h in the direction of the axis C1, and at this position, faces the axial end surface 51B, which is the end surface of the 2 nd journal portion 51C on the outer end surface 32A side. Thereby, the 2 nd restriction member 92 restricts the movement of the crankshaft 5 toward the outer end surface 32A side in the direction of the axis C1. In addition, the 2 nd restricting member 92 is opposed to the 2 nd site 62B of the retainer 62 in the 2 nd crankshaft bearing 6B in the direction of the axis C1. Thereby, the 2 nd restriction member 92 restricts the movement of the crankshaft 5 toward the outer end surface 32A side in the direction of the axis C1.

In the present embodiment, the 2 nd journal portion 51C does not protrude outward in the direction of the axis C1 from the outer end surface 32A. Therefore, the insertion hole 92b may not be formed in the 2 nd restriction member 92.

In the case where the 2 nd restriction member 92 is to be attached to the carrier 3, the 2 nd restriction member 92 is inserted into the crankshaft attachment portion 32d of the 2 nd member 32 from the outermost surface 32A side in a state where a tool is attached to the attachment portion 92 e. Then, the male screw portion 92a of the 2 nd restriction member 92 is screwed into the female screw portion 32g by rotating the tool. Then, the 2 nd restricting member 92 is positioned at a position where the 2 nd restricting member 92 contacts the stepped portion 32h, and the tool is detached from the mounting portion 92e in this state. In this way, the 2 nd restriction member 92 can be attached to the carrier 3.

On the other hand, when the 2 nd restriction member 92 is to be detached from the carrier 3, first, a tool is attached to the attachment portion 92e from the outer end surface 32A side. Then, by turning the tool, the threaded engagement between the male screw portion 92a and the female screw portion 32g of the 2 nd restriction member 92 is released, and the 2 nd restriction member 92 is taken out from the crankshaft mounting portion 32 d. In this way, the 2 nd restriction member 92 can be detached from the carrier 3.

In this way, the 2 nd restriction member 92 has the male screw portion 92a, and the 2 nd restriction member 92 is fixed to the carrier 3 by the screw engagement between the male screw portion 92a and the female screw portion 32g, and therefore, the mounting and dismounting with respect to the carrier 3 can be repeated.

as described above, in the gear device X1, the external thread portion 91a of the 1 st regulating member 91 is screwed into the internal thread portion 31d of the carrier 3, the external thread portion 92a of the 2 nd regulating member 92 is screwed into the internal thread portion 32g of the carrier 3, and the 1 st regulating member 91 and the 2 nd regulating member 92 are fixed to the carrier 3. Thereby, the restricting member 9 restricts the movement of the crankshaft 5 in the direction of the axis C1. Therefore, it is not necessary to provide a stopper ring or the like for fixing the regulating member 9 to the carrier 3 separately from the regulating member 9, and the thickness of the regulating member 9 can be made sufficiently large. Therefore, when an external force is applied to the restricting member 9 from the crankshaft 5, the restricting member 9 can be suppressed from being flexed.

In the gear device X1, the 1 st regulating member 91 is positioned by the stepped portion 31e formed on the carrier 3, and the 2 nd regulating member 92 is positioned by the stepped portion 32h formed on the carrier 3, so that the relative position of the regulating member 9 with respect to the crankshaft 5 supported by the carrier 3 can be appropriately determined. In addition, in a state where the 1 st regulating member 91 is positioned at the step portion 31e and the 2 nd regulating member 92 is positioned at the step portion 31h, the male screw portion 91a is screwed with the female screw portion 31d, and the male screw portion 92a is screwed with the female screw portion 32g, so that the regulating member 9 can be firmly fixed to the carrier 3.

Further, in the gear device X1, the 1 st regulating member 91 is positioned in the axis C1 direction at a position where the step portion 31e and the positioning surface 91B contact, and regulates the movement of the crankshaft 5 in the axis C1 direction at the regulating surface 91C which is positioned on the same surface as the positioning surface 91B. Therefore, regardless of the thickness of the 1 st restriction member 91, the relative position of the restriction surface 91C of the 1 st restriction member 91 with respect to the crankshaft 5 is determined by the positional relationship between the step portion 31e and the axial end surface 51A of the 1 st journal portion 51b in the crankshaft 5. Therefore, it is possible to suppress the relative position of the regulation surface 91C of the 1 st regulation member 91 with respect to the crankshaft 5 from being shifted from the appropriate position due to variations in the thickness of the 1 st regulation member 91 caused by manufacturing errors. Further, since the 2 nd restriction member 92 also has the same shape as the 1 st restriction member 91, it is possible to suppress variation in thickness of the 2 nd restriction member 92 due to manufacturing error and to shift the relative position of the restriction surface of the 2 nd restriction member 92 with respect to the crankshaft 5 from an appropriate position.

In the gear device X1, the 1 st and 2 nd regulating members 91, 92 can be easily attached to the carrier 3 by attaching tools to the attachment portions 91e, 92e, and operating the tools to screw the male screw portion 91a into the female screw portion 31d and screw the male screw portion 92a into the female screw portion 32 g. Further, the first regulating member 91 can be easily detached from the carrier 3 by attaching a tool to the attachment portion 91e of the first regulating member 91 attached to the carrier 3 and releasing the screw engagement between the male screw portion 91a and the female screw portion 31d while operating the tool. The 2 nd restriction member 92 can be easily detached from the carrier 3 by attaching a tool to the attachment portion 92e of the 2 nd restriction member 92 attached to the carrier 3 and releasing the screw engagement between the external thread portion 92a and the internal thread portion 32g by operating the tool. In this way, in the gear device X1, since the 1 st restriction member 91 has the mounting portion 91e and the 2 nd restriction member 92 has the mounting portion 92e, the mounting and dismounting of the 1 st restriction member 91 and the 2 nd restriction member 92 to and from the carrier 3 are facilitated.

In the gear device X1, the 1 st regulating member 91 is disposed in the crankshaft attachment portion 31b so as to be attachable to and detachable from the carrier 3 from the outer end surface 31A side of the 1 st member 31, and the 2 nd regulating member 92 is disposed in the crankshaft attachment portion 32d so as to be attachable to and detachable from the carrier 3 from the outer end surface 32A side of the 2 nd member 32. Therefore, for example, when the 1 st and 2 nd restriction members 91 and 92 need to be replaced, the 1 st and 2 nd restriction members 91 and 92 can be attached and detached without disassembling the carrier into the 1 st and 2 nd members 31 and 32 by detaching the fastening member T1. Therefore, the workability is improved.

Next, a modified example 1 of the gear device X1 according to the present embodiment will be described with reference to fig. 4 and 5.

As shown in fig. 4 and 5, in the gear device X1 according to modification 1, the 1 st regulating member 91 includes an annular portion 91c having an annular shape and a flange portion 91D that protrudes radially outward from an end of the annular portion 91c on the side of the one main surface 91D. The outer diameter of the flange 91d is set larger than the inner diameter of the female screw portion 31 d.

The flange portion 91d is opposed to the outer end face 31A of the 1 st member 31 in the axis C1 direction. The 1 st regulating member 91 is positioned in the direction of the axis C1 at a position where the end surface of the flange portion 91d on the outer end surface 31A side contacts the outer end surface 31A. Therefore, in modification 1, the end surface of the flange portion 91d on the outer end surface 31A side in the axis C1 direction serves as the positioning surface 91B, and the portion of the outer end surface 31A that contacts the positioning surface 91B functions as a positioning portion.

In modification 1, the 1 st regulating member 91 has a flange portion 91d, and a positioning surface 91B that contacts the outer end surface 31A is located on a surface different from the other main surface 91A including the regulating surface 91C. Further, a gap is formed between the other main surface 91A and the step portion 91e at a position where the positioning surface 91B contacts the outer end surface 31A. That is, in modification 1, since the 1 st regulating member 91 can be positioned by the positioning surface 91B located on a surface different from the regulating surface 91C, it is not necessary to cause the step portion 31e to function as a positioning portion. Therefore, it is not necessary to form the female screw portion 31d up to the vicinity of the step portion 31e in the portion of the inner peripheral surface 31c closer to the outer end surface 31A than the step portion 31e, and it is possible to suppress the processing from becoming complicated.

Further, when the 1 st regulating member 91 is positioned with respect to the carrier 3 by the positioning surface 91B and the outer end surface 31A of the flange portion 91d as in modification 1, the step portion 31e does not function as a positioning portion, and therefore, the step portion 31e can be omitted. In this case, the inner peripheral surface 31C of the 1 st member 31 extends in the direction of the axis C1 from the female screw portion 31d to the support portion 31 f.

In modification 1, only the 1 st regulating member 91 of the regulating members 9 is described, but the 2 nd regulating member 92 may have the same shape.

Next, a modified example 2 of the gear device X1 according to the present embodiment will be described with reference to fig. 6.

As shown in fig. 6, in a gear device X1 according to modification 2, a1 st restricting member 91 includes a main body portion 911 and a washer 912 independent of the main body portion 911. In modification 2, the main body portion 911 is formed of a metal material, and the gasket 912 is formed of a resin material. That is, the gasket 912 is formed of a material different from that of the body portion 911.

The main body 911 has a circular plate shape. In the present embodiment, an insertion hole 911b penetrating a central portion in the direction of the axis C1 is formed in the body portion 911. The diameter of the insertion hole 911b is set slightly larger than the diameter of the small-diameter portion 51 a. The main body portion 911 is disposed such that the small diameter portion 51a is positioned in the insertion hole 911 b.

The body portion 911 has a male screw portion 911a screwed into the female screw portion 31d and an attachment portion 911e to which a tool, not shown, can be attached. The mounting portion 911e is formed on a main surface of the body portion 911 in the direction of the axis line C1. The main body portion 911 is attached to the carrier 3 such that the main surface on which the attachment portion 911e is formed faces the transmission gear 7 in the direction of the axis C1. In the present embodiment, of the two main surfaces of the body 911 in the direction of the axis C1, the main surface on which the mounting portion 911e is formed is referred to as one main surface 911D, and the main surface located on the opposite side from the one main surface 911D is referred to as the other main surface 911A.

The main body portion 911 is positioned in the axis C1 direction at a position where the outer peripheral portion of the other main surface 911A contacts the step portion 31 e. That is, the other main surface 911A has a positioning surface 911B for positioning the 1 st regulating member 91 at an outer peripheral portion thereof.

The washer 912 has a circular plate shape. In the present embodiment, the grommet 912 has an insertion hole 912a formed therein, and the insertion hole 912a penetrates through a central portion of the grommet 912 in the direction of the axis C1, and the small-diameter portion 51a is inserted thereinto. The outer diameter of the washer 912 is set to be slightly smaller than the inner diameter of the support portion 31 f.

The washer 912 is positioned between the other principal surface 911A of the body 911 and the axial end surface 51A of the 1 st journal portion 51 b. The gasket 912 has one main surface 912A opposed to the other main surface 911A of the body portion 911 and the other main surface 912B located on the opposite side of the one main surface 912A in the axis C1 direction. The inner peripheral portion of the other main surface 912B faces the axial end surface 51A of the 1 st journal portion 51B in the direction of the axis C1. In modification 2, the inner peripheral portion of the second main surface 912B serves as a restricting surface 912C that restricts movement of the crankshaft 5 in the direction of the axis C1. In modification 2, the regulation surface 912C contacts the axial end surface 51A.

The other main surface 912B of the washer 912 faces the 2 nd site 62B of the retainer 62 in the 1 st crank bearing 6A in the direction of the axis C1 at a position radially outward of the stopper surface 912C. In modification 2, the other main surface 912B contacts the 2 nd site 62B.

However, for example, when both the main body portion 911 and the crankshaft 5 are formed of a metal material, if the crankshaft 5 rotates in a state where the 1 st journal portion 51b is in contact with the other main surface 911A of the main body portion 911, both the main body portion 911 and the crankshaft 5 may be worn.

On the other hand, in modification 2, the 1 st regulating member 91 has a washer 912 independent of the body portion 911, and the body portion 911 and the 1 st journal portion 51b do not directly contact each other by providing the washer 110 between the body portion 911 and the 1 st journal portion 51 b. The washer 110 is made of a resin material that is more easily worn than the material of the main body portion 911. Therefore, wear of both the main body portion 911 and the crankshaft 5 can be suppressed.

Further, in modification 2, the washer 912 is also positioned between the 2 nd portion 62b of the retainer 62 and the other main surface 911A of the body portion 911, and therefore, for example, when the retainer 62 is formed of a metal material, it is possible to suppress the occurrence of abrasion between the retainer 62 and the body portion 911 due to contact therebetween.

In modification 2, only the example in which the 1 st restricting member 91 has the main body portion 911 and the washer 912 has been described, but the 2 nd restricting member 92 may similarly have a main body portion and a washer independent of the main body portion.

In modification 2, the body portion 911 and the gasket 912 are formed separately, and the body portion 911 and the gasket 912 are not joined to each other, but the present invention is not limited to this. For example, the body portion 911 and the washer 912 may be integrally formed by insert molding, or the body portion 911 and the washer 912, which are separately formed, may be integrated by joining the body portion 911 and the washer 912 to each other with an adhesive, a bolt, or the like. The same applies to the 2 nd restricting member 92.

Next, still another modification 3 of the gear device X1 according to modification 2 will be described with reference to fig. 7.

As shown in fig. 7, in a gear device X1 according to modification 3, a1 st regulating member 91 includes a main body portion 911 and a washer 912 independent of the main body portion 911, as in modification 2.

The outer diameter of the washer 912 of modification 3 is set larger than the outer diameter of the washer 911 of modification 2. Specifically, in modification 3, the outer diameter of the washer 912 is set slightly larger than the inner diameter of the support portion 31 f. The outer peripheral portion of the other main surface 912B of the gasket 912 is in contact with the stepped portion 31e in the direction of the axis C1. Thereby, the 1 st regulating member 91 is positioned. That is, in modification 3, the other main surface 912A of the body portion 911 does not contact the stepped portion 31 e. The other main surface 912B of the washer 912 has a positioning surface 912D that contacts the stepped portion 31e, and a regulating surface 912C that regulates movement in the direction of the axis C1 of the crankshaft 5.

In modification 3, only the example in which the 1 st restricting member 91 has the main body portion 911 and the washer 912 has been described, but the 2 nd restricting member 92 may also have a main body portion and a washer independent of the main body portion.

In modification 3, as in modification 2, a main body portion 911 and a gasket 912 are separately formed, and the main body portion 911 and the gasket 912 are not joined, but the present invention is not limited thereto. For example, the body portion 911 and the washer 912 may be integrally formed by insert molding, or the body portion 911 and the washer 912, which are separately formed, may be integrated by joining the body portion 911 and the washer 912 to each other with an adhesive, a bolt, or the like. The same applies to the 2 nd restricting member 92.

Next, a modified example 4 of the gear device X1 according to the present embodiment will be described with reference to fig. 8.

As shown in fig. 8, in a gear device X1 according to modification 4, a crankshaft mounting portion 32d of the 2 nd member 32 in the carrier 3 is formed of a bottomed hole. That is, in modification 4, the crankshaft attachment portion 32d is not formed by a hole penetrating the base plate portion 32A, but a part of the end surface of the base plate portion 32A on the 2 nd rocking gear 42 side is formed by being recessed toward the outer end surface 32A side. The 2 nd journal portion 51c and the 2 nd crank bearing 6B are disposed in the crank mounting portion 32d, and the axial end surface 51B of the 2 nd journal portion 51c and the 2 nd portion 62B of the retainer 62 of the 2 nd crank bearing 6B are in contact with the bottom surface 32k of the crank mounting portion 32 d. Thereby, the movement of the crankshaft 5 and the 2 nd crankshaft bearing 6B toward the outer end surface 32A side in the direction of the axis C1 is restricted.

Thus, in modification 4, the movement of the crankshaft 5 in the direction of the axis C1 toward the outer end surface 32A side is restricted by the bottom surface 32k of the crankshaft mounting portion 32d, so the No. 2 restricting member 92 is not necessary.

Further, the bottom surface 32k may be disposed so as to face the axial end surface 51B of the 2 nd journal portion 51C in the direction of the axis C1, thereby restricting the movement of the crankshaft 5 toward the outer end surface 32A in the direction of the axis C1. Therefore, for example, the bottom surface 32k may not contact the axial end surface 51B of the 2 nd journal portion 51 c. For example, a through hole penetrating a part of the bottom surface 32k in the direction of the axis C1 may be formed in the bottom surface 32 k.

In modification 4, the axial end surface 51B of the 2 nd journal portion 51c and the 2 nd portion 62B of the retainer 62 of the 2 nd crank bearing 6B are in contact with the bottom surface 32k of the crank mounting portion 32d, but the invention is not limited thereto. For example, a washer made of a resin material may be disposed between the axial end surface 51B, the 2 nd portion 62B of the retainer 62, and the bottom surface 32k in the direction of the axis C1.

Next, a modified example 5 of the gear device X1 according to the present embodiment will be described with reference to fig. 9 and 10.

As shown in fig. 9, in the gear device X1 of modification 5, the 1 st and 2 nd regulating members 91, 92 are provided so as to sandwich the eccentric portions 54, 55 in the direction of the axis C1, whereby the movement of the crankshaft 5 in the direction of the axis C1 is regulated.

The diameter of the insertion hole 91b of the 1 st restricting member 91 is set to be slightly larger than the outer diameter of the 1 st journal portion 51b and slightly smaller than the outer diameter of the 1 st eccentric portion 54. The 1 st journal portion 51b is inserted into the insertion hole 91 b.

As shown in fig. 10, the inner peripheral surface 31c of the 1 st member 31 has an internal thread portion 31d, a step portion 31e, and a support portion 31 f. The female screw portion 31d, the step portion 31e, and the support portion 31f are continuous in the direction of the axis C1 in order from the inner end surface 31B side of the 1 st member 31 on the opposite side from the outer end surface 31A.

The 1 st regulating member 91 is attached to the 1 st member 31 of the carrier 3 in the direction of the axis C1 such that the one main surface 91D on which the attachment portion 91e is formed faces the 1 st swing gear 41 side. The male screw portion 91A of the 1 st regulating member 91 is screwed into the female screw portion 31D, and the 1 st regulating member 91 is positioned at a position where the outer peripheral portion of the other main surface 91A on the opposite side to the one main surface 91D is in contact with the step portion 31 e. That is, in modification 5, the other main surface 91A has a positioning surface 91B that contacts the step portion 31e to position the 1 st regulating member 91.

In a state where the positioning surface 91B is in contact with the stepped portion 31e, an inner peripheral portion of the one main surface 91D of the 1 st restricting member 91 is opposed to an axial end surface 54A, which is an end surface on the 1 st journal portion 51B side in the 1 st eccentric portion 54. Thereby, the 1 st restriction member 91 restricts the movement of the crankshaft 5 toward the outer end surface 31A side in the direction of the axis C1. That is, in modification 5, the one main surface 91D has a regulating surface 91C that regulates the movement of the crankshaft 5 by facing the axial end surface 54A in the direction of the axis C1.

In modification 5, the inner edge of the 1 st restricting member 91 is located inward (toward the axial center of the shaft main body 51) of the outer edge of the 1 st eccentric portion 54 on the opposite side to the eccentric direction of the 1 st eccentric portion 54. Thereby, the 1 st restricting member 91 and the axial end surface 54A of the 1 st eccentric portion 54 are in contact in the entire circumferential direction of the crankshaft 5. Therefore, regardless of the phase of the 1 st eccentric portion 54, the 1 st restricting member 91 and the 1 st eccentric portion 54 are always opposed in the direction of the axis C1.

The eccentric bearing a1 includes a rolling element A3 and a retainer a4 for retaining the rolling element A3. In modification 5, the 1 st restricting member 91 is opposed to the end a5 on the outer end surface 31A side in the retainer a4 of the eccentric portion bearing a1 in the axis C1 direction. Thereby, the 1 st regulation member 91 also regulates the movement of the eccentric portion bearing a1 toward the outer end surface 31A side in the axis C1 direction.

The 2 nd restriction member 92 has the same shape as the 1 st restriction member 91, and the 2 nd journal portion 51c is inserted into the insertion hole 92b of the 2 nd restriction member 92. The inner peripheral surface 32e of the 2 nd member 32 has a female screw portion 32g, a step portion 32h, and a support portion 32i, similarly to the inner peripheral surface 31c of the 1 st member 31. The female screw portion 32g, the step portion 32h, and the support portion 32i are continuous in the direction of the axis C1 from the inner end surface 32B side of the 2 nd member 32, which is located on the opposite side from the outer end surface 32A. The eccentric portion bearing a2 has the same shape as the eccentric portion bearing a 1. The 2 nd restricting member 92, the inner peripheral surface 32e of the 2 nd member 32, and the eccentric portion bearing a2 are provided symmetrically in the direction of the axis C1 with respect to the 1 st restricting member 91, the inner peripheral surface 31C of the 1 st member 31, and the eccentric portion bearing a1, respectively. Therefore, the shapes and the arrangements of the 2 nd restricting member 92, the inner peripheral surface 32e of the 2 nd member 32, and the eccentric portion bearing a2 are not described in detail.

The 2 nd restriction member 92 is screwed with the internal thread portion 32g, and is positioned at a position contacting the step portion 32 h. The 2 nd restricting member 92 faces an axial end surface 55A of the 2 nd eccentric portion 55 on the 2 nd journal portion 51C side, on the opposite side of the stepped portion 32h in the direction of the axis C1. In modification 5, the inner edge of the 2 nd restricting member 92 is located inward (toward the axial center side of the shaft main body 51) of the outer edge of the 2 nd eccentric portion 55 on the opposite side to the eccentric direction of the 2 nd eccentric portion 55. Thereby, the 2 nd restricting member 92 and the axial end face 55A of the 2 nd eccentric portion 55 are in contact in the entire circumferential direction of the crankshaft 5. Therefore, regardless of the phase of the 2 nd eccentric portion 55, the 2 nd restricting member 92 and the 2 nd eccentric portion 55 are always opposed in the direction of the axis C1.

In addition, in modification 5, the 2 nd restricting member 92 is opposed to the end portion of the holder of the eccentric portion bearing a2 on the outer end surface 32A side in the axis C1 direction. Thus, the 2 nd restricting member 92 also restricts the movement of the eccentric portion bearing a2 toward the outer end surface 32A side in the axis C1 direction.

Next, a modified example 6 of the gear device X1 according to the present embodiment will be described with reference to fig. 11.

As shown in fig. 11, in the 1 st regulating member 91 of the gear device X1 according to modification 6, the mounting portion 91e has a groove shape extending in one direction. The mounting portion 92e of the 2 nd restriction member 92 may have a groove shape extending in one direction, similarly to the mounting portion 91e of the 1 st restriction member 91.

In this way, the shape of the mounting portions 91e and 92e is arbitrary, and can be changed as appropriate according to the shape of a tool to which the mounting portions 91e and 92e are attached, for example.

Next, a description will be given with reference to modification 7 of the gear device X1 of the present embodiment in fig. 12.

as shown in fig. 12, in the 1 st regulating member 91 of the gear device X1 according to modification 7, the insertion hole 91b has a rectangular shape, and the insertion hole 91b functions as a mounting portion 91 e. That is, in modification 7, a tool having a rectangular shape corresponding to the shape of the insertion hole 91b is inserted into the insertion hole 91b of the 1 st regulating member 91, and the male screw portion 91a and the female screw portion 31d can be screwed together by rotating the tool. In addition, the insertion hole 92b of the 2 nd restriction member 92 may have a rectangular shape, and the insertion hole 92b may function as the mounting portion 92e, as in the 1 st restriction member 91.

In this way, in modification 7, since the insertion holes 91b and 92b into which a part of the crankshaft 5 is inserted also function as the mounting portions 91e and 92e of the tool, it is not necessary to form the mounting portions 91e and 92e separately from the insertion holes 91b and 92 b.

All the points of the embodiment and the modifications described above are considered to be examples and are not to be construed as limitations. The scope of the present invention is defined by the claims rather than the description of the above embodiments and modifications, and includes all modifications within the meaning and scope equivalent to the claims.

For example, in the above-described embodiment and modification, the shaft main body 51 of the crankshaft 5 has two journal portions, i.e., the 1 st and 2 nd journal portions 51b and 51c, as the journal portion having an outer diameter larger than the outer diameter of the small diameter portion 51a, but the present invention is not limited thereto. The shaft main body 51 may have only one of the 1 st and 2 nd journal portions 51b and 51c, and the crankshaft 5 may be supported by the carrier 3 by the one journal portion.

For example, in the above-described embodiment and modification, the shaft main body 51 of the crankshaft 5 has the small diameter portion 51a and the 1 st and 2 nd journal portions 51b and 51c having an outer diameter larger than the outer diameter of the small diameter portion 51a, but the present invention is not limited thereto. The outer diameter of the shaft main body 51 may be constant over the entire length of the shaft main body 51. Even in such a case, as long as the shaft main body 51 has an axial end surface orthogonal to the axis C1, which is opposed to the restricting member 9 in the direction of the axis C1, the movement of the crankshaft 5 in the direction of the axis C1 can be restricted by the restricting member 9.

Here, the embodiments are summarized.

In the above-described gear device, the restriction member is fixed to the carrier by the male screw portion of the restriction member being screwed into the female screw portion of the carrier. Thereby, the restricting member restricts the movement of the crankshaft in the axial direction. Therefore, it is not necessary to provide a stopper ring or the like for fixing the restriction member to the carrier separately from the restriction member, and the thickness of the restriction member can be made sufficiently large. Therefore, when an external force is applied to the restricting member from the crankshaft, the restricting member can be suppressed from being deflected.

The carrier may have a positioning portion for positioning the restricting member in the axial direction.

In the above-described gear device, the restriction member is positioned by the positioning portion formed in the carrier, and therefore, the relative position of the restriction member with respect to the crankshaft supported by the carrier can be appropriately determined. In addition, since the male screw portion is screwed to the female screw portion in a state where the restriction member is positioned by the positioning portion, the restriction member can be firmly fixed to the carrier.

The restricting member may have a positioning surface that contacts the positioning portion in the axial direction and a restricting surface that restricts movement of the crankshaft in the axial direction, and the positioning surface and the restricting surface may be located on the same surface.

In the above-described gear device, the restricting member is positioned at a position where both the positioning portion and the positioning surface are in contact in the axial direction of the crankshaft. In addition, the restricting member restricts the movement of the crankshaft in the axial direction with the restricting surface located on the same surface as the positioning surface. Therefore, the relative position of the restricting surface of the restricting member with respect to the crankshaft is determined by the positional relationship between the positioning portion and the crankshaft regardless of the thickness of the restricting member. Therefore, it is possible to suppress the relative position of the restricting surface of the restricting member with respect to the crankshaft from being displaced from the proper position due to variations in the thickness of the restricting member caused by manufacturing errors.

The restricting member may have a restricting surface that restricts movement of the crankshaft in the axial direction and a positioning surface that is located on a surface different from the restricting surface and that contacts the positioning portion.

In the above-described gear device, the positioning surface and the positioning portion on the surface different from the regulating surface are in contact with each other in the axial direction of the crankshaft. Therefore, the restricting member can be positioned regardless of the position of the restricting surface.

The restriction member may have an attachment portion to which a tool for screwing the male screw portion of the restriction member to the female screw portion of the carrier is attached.

In the above-described gear device, the restriction member can be easily attached to the carrier by attaching a tool to the attachment portion and screwing the male screw portion and the female screw portion together while operating the tool. Further, the restriction member can be easily detached from the carrier by attaching a tool to the attachment portion of the restriction member attached to the carrier and releasing the screw engagement between the external thread portion and the internal thread portion while operating the tool. In this way, in the gear device described above, since the restriction member has the mounting portion, the mounting and dismounting of the restriction member with respect to the carrier becomes easy.

the inner peripheral surface may be an inner peripheral surface formed as a through hole penetrating the carrier in the axial direction, and the regulating member may be disposed in the through hole so as to be attachable to and detachable from the carrier from an end surface side of the carrier in the axial direction.

In the above-described gear device, the restriction member is disposed in the through hole so as to be detachable from the carrier from the end surface side of the carrier, and therefore, for example, when the restriction member needs to be replaced, the restriction member can be detached without disassembling the carrier itself. Therefore, the workability is improved.

As described above, according to the present embodiment, a gear device in which the deflection of the regulating member can be suppressed can be provided.

Claims

1. A gear device, wherein,

The gear device includes:

An outer cylinder;

A carrier having an inner peripheral surface including a female screw portion;

A crankshaft rotatably supported by the inner circumferential surface and configured to rotate one of the outer cylinder and the carrier relative to the other;

A restriction member having an external thread portion threadably engaged with the internal thread portion for restricting movement of the crankshaft in an axial direction of the crankshaft,

The carrier has a positioning portion for positioning the restricting member in the axial direction,

The restricting member is constituted by a member having: the external thread portion, a positioning surface that is positioned in the axial direction by the positioning portion, and a restricting surface that restricts movement of the crankshaft in the axial direction.

2. The gear device according to claim 1,

The positioning surface and the limiting surface are positioned on the same surface.

3. The gear device according to claim 1,

The positioning surface is located on a different surface than the limiting surface.

4. A gear unit according to any one of claims 1 to 3,

The restriction member has an attachment portion to which a tool is attached for screwing the male screw portion of the restriction member to the female screw portion of the carrier.

5. A gear unit according to any one of claims 1 to 3,

The inner peripheral surface is formed as an inner peripheral surface of a through hole penetrating the carrier in the axial direction,

The regulating member is disposed in the through hole so as to be attachable to and detachable from the carrier from an end surface side of the carrier in the axial direction.