JP2012067802A - Eccentric rocking type gear device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To obtain an eccentric rocking type gear device in which the depth of a mounting hole for mounting a counter member can be sufficiently maintained while the device is compact in an axial direction.SOLUTION: The eccentric rocking type gear device 100 includes an outer cylinder 104, crank shafts 108A to 108C, a single external gear 110, a carrier body 112 and a main bearing 113. In the device, the carrier body 112 includes columns 112A to 112C; and the external gear 110 includes holes 135A to 135C formed therein to which the columns 112A to 112C of the carrier body 112 are respectively inserted. Further, the carrier body 112 includes mounting holes 118A to 118C, 119A to 119C and 120A to 120C formed therein for mounting a counter member (not shown in the figure), the holes formed from an opposite side of the carrier body 112 to the external gear, reaching the columns 112A to 112C.

Description

  The present invention relates to an eccentric oscillating gear device.

  Patent Document 1 discloses an eccentric oscillating gear device shown in FIG.

  The eccentric oscillating gear device 1 includes an outer cylinder 3 having an inner tooth 2 on an inner peripheral surface, a crankshaft 5 having an eccentric portion 4, an external gear 6 attached to the eccentric portion 4, and an external gear 6. A carrier body 7 which is disposed only on one side of the axial direction side portion and operates in synchronization with the rotation component of the external gear 6, and a main bearing 8 which is disposed between the outer cylinder 3 and the carrier body 7. It is equipped with. The eccentric oscillating gear device 1 includes one external gear 6 and one carrier body 7. A mounting hole 10 for mounting the mating member is formed on the side surface in the axial direction of the carrier body 7 on the side opposite to the external gear, and the mating member is mounted on the carrier body 7 through the mounting hole 10.

WO2010 / 041549A1 (FIG. 1)

  However, since the mounting hole 10 requires a sufficient axial length to ensure the connection strength between the gear device 1 and the mating member, the carrier body 7 that forms the mounting hole 10 is also formed long in the axial direction. Had to do. As a result, the gear device 1 has to be long in the axial direction.

  In the present invention, in order to solve the above problems, it is an object of the present invention to provide an eccentric oscillating gear device that is sufficiently compact in the axial direction and can sufficiently secure the depth of a mounting hole for mounting a mating member. And

  The present invention provides an outer cylinder having inner teeth on an inner peripheral surface, a crankshaft having an eccentric portion, and attached to the eccentric portion, and swings eccentrically while meshing with the inner teeth by rotation of the crankshaft. Two external gears, a carrier body that is disposed only on one of the axial side portions of the external gear, and operates in synchronization with the rotation component of the external gear, the outer cylinder, and the carrier body An eccentric oscillating gear device comprising a main bearing disposed between the carrier body and the carrier body, the carrier body including a column portion protruding toward the external gear side, A structure in which a hole into which the column portion enters is formed, and an attachment hole for attaching a mating member to the carrier body is formed so as to reach the column portion from the anti-external gear side of the carrier body. The above problem was solved.

  In the present invention, the column portion is protruded from the carrier body, a hole is formed in the external gear, and the column portion is inserted into the hole of the external gear. In addition, an attachment hole (for attaching a mating member to the carrier body) is formed so as to reach the column portion from the counter-external gear side of the carrier body. That is, the carrier body is formed long in the axial direction only at the portion where the pillar portion protrudes, and the mounting hole formed in the carrier body can be formed deep in the axial direction where the pillar portion exists. As a result, the fixing strength of the mounting hole is improved, and the gear device can be firmly connected and fixed to the mating member via the bolt using the mounting hole, and a large torque can be transmitted to the mating member. Further, since the column portion is inserted into a hole formed in the external gear, even if the carrier body includes the column portion and is elongated in the axial direction, the gear device does not become elongated in the axial direction.

  Here, “synchronized with the rotation component of the external gear” means that when the external gear rotates, the carrier body rotates together with the external gear that rotates, while the external gear When the rotation is restricted and only the swinging is performed, it means that the carrier body maintains a stopped state (without the rotation) together with the external gear to which the rotation is restricted. Yes.

  Further, “a carrier body arranged only on one side of the axial side of the external gear” means “a member constituting the carrier body is not arranged on both sides of the external gear in the axial direction”. That's what it means.

  ADVANTAGE OF THE INVENTION According to this invention, the eccentric rocking | fluctuation type gear apparatus which can fully ensure the depth of the attachment hole for attaching an other party member, while being compact in an axial direction can be obtained.

The longitudinal cross-sectional view of the eccentric rocking | swiveling type reduction gear device concerning embodiment of this invention The side view which looked at the eccentric rocking | fluctuation type deceleration device shown in FIG. 1 from the carrier body side A longitudinal sectional view of an eccentric oscillating speed reducer according to another embodiment of the present invention. Sectional drawing which follows the arrow IV-IV line of FIG. Vertical sectional view of an eccentric oscillating gear device showing an example of the prior art

  Hereinafter, an example of an embodiment of the present invention will be described in detail based on the drawings.

  FIG. 1 shows a longitudinal sectional view of an eccentric oscillating speed reduction device 100. 2 shows a side view of the eccentric oscillating speed reducing device 100 shown in FIG. 1 as viewed from the carrier body 112 side.

  First, the outline will be described. An eccentric oscillating speed reduction device (eccentric oscillating gear device) 100 according to the present embodiment includes an outer cylinder 104 having an inner tooth 102 on an inner peripheral surface, and eccentric portions 106A to 106C. One external gear 110 attached to the crankshafts 108A to 108C and the eccentric portions 106A to 106C and eccentrically oscillating while meshing with the internal teeth 102 by the rotation of the crankshafts 108A to 108C, and the shaft of the external gear 110 A carrier body 112 disposed only on one side of the direction side portion and operating in synchronization with the rotation component of the external gear 110; and a main bearing 113 disposed between the outer cylinder 104 and the carrier body 112; , The carrier body 112 includes column portions 112A to 112C, and the external gear 110 includes the column portion 112 of the carrier body 112. Column holes 135A to 135C into which .about.112C enter are formed, and mounting holes 118A to 118C and 119A to 119C for attaching a mating member (not shown, for example, a first joint member of a robot) to the carrier body 112. , 120A to 120C are formed so as to extend from the non-external gear side of the carrier body 112 to the column portions 112A to 112C.

  Hereinafter, the reduction gear 100 will be described in detail.

  The reduction gear 100 is a so-called sort-type reduction gear.

  An input gear (not shown) provided on the motor shaft of the motor is the center of the three crankshaft gears 128A to 128C fixed to the three crankshafts 108A to 108C (the axis O of the reduction gear 100). The same) and meshes with all the crankshaft gears 128A to 128C. The crankshaft gears 128A to 128C are arranged on the spline portions 108A1 to 108C1 of the crankshafts 108A to 108C, and are prevented from coming off from the crankshafts 108A to 108C by the retaining rings 109A to 109C. The respective crankshafts 108A to 108C are arranged at equal intervals at positions offset from the axis O of the reduction gear 100, and the carrier is supported by cross roller bearings 130A to 130C (in this example, only one cross roller bearing 130A is shown). The body 112 is rotatably supported.

  Each of the crankshafts 108A to 108C has an eccentric portion 106A to 106C (in this example, only one eccentric portion 106A is shown). One external gear 110 is rotatably fitted to the eccentric portions 106A to 106C via rollers 132A to 132C (only one roller 132A is shown in this example). The external gear 110 is eccentrically oscillated while internally meshing with the internal teeth 102 by the rotation of the crankshafts 108A to 108C.

  A pillar hole 135A into which the pillars 112A to 112C enter the external gear 110 (apart from the holes 111A to 111C (only one hole 111A is shown in this example) into which the crankshafts 108A to 108C are fitted). ~ 135C are formed. Three pillar holes 135A to 135C are formed with a phase difference of about 120 degrees in the circumferential direction of the external gear 110 (in this example, only one pillar hole 135A is shown. ing).

  The outer cylinder 104 has inner teeth 102 on the inner peripheral surface. In the present embodiment, the inner teeth 102 are formed by outer pins 138. The number of teeth of the internal teeth 102 is set by “1” more than the number of teeth of the external gear 110.

  The number of teeth of the internal teeth may be “2” or more than the number of teeth of the external gear.

  The carrier body 112 is disposed only on the axial side portion (the left side portion of the external gear 110 in FIG. 1) on the side where the crankshaft gears 128A to 128C of the external gear 110 are disposed, and on the other side. (In FIG. 1, it is not arranged on the right side portion of the external gear 110). The carrier body 112 operates in synchronization with the rotation component of the external gear 110. In the present embodiment, the carrier body 112 rotates together with the rotating external gear 110 (via the revolution of the crankshafts 108A to 108C).

  The carrier body 112 includes a carrier body main body portion 112D and column portions 112A to 112C protruding to the external gear 110 side. The column portions 112A to 112C enter the column portion holes 135A to 135C formed through the external gear 110 in the axial direction.

  In the present embodiment, the three pillar portions 112A to 112C are integrally formed so as to protrude from the carrier body main portion 112D in a state having a phase difference of 120 degrees in the circumferential direction. The cross sections perpendicular to the axes of all the column portions 112A to 112C are substantially trapezoidal shapes with rounded edges, and are fan-shaped outward in the radial direction.

  In the present embodiment, the column portions 112A to 112C provided in the carrier body 112 have axial directions that are substantially the same as the side surface of the external gear 110 on the side opposite to the carrier body (the side surface on the right side of the external gear 110 in FIG. 1). It protrudes to a position (strictly speaking, it protrudes to a position beyond the side surface of the external gear 110 on the side opposite to the carrier body). The axial length of the carrier body main part 112D (from the axial side surface 112F of the anti-external gear of the carrier body 112 to the axial side surface of the external gear 110) is X. The axial length of the carrier body main body 112D and the pillars 112A to 112C (from the axial side surface 112F of the anti-external gear of the carrier body 112 to the tip of the pillars 112A to 112C) is Z.

  In the present embodiment, the crankshafts 108 </ b> A to 108 </ b> C are in contact with the external gear 110 via the rollers 132 </ b> A to 132 </ b> C and revolve in synchronization with the rotation component of the external gear 110. The revolutions of the crankshafts 108 </ b> A to 108 </ b> C are output from the reduction gear 100 as the rotation of the carrier body 112. That is, the crankshafts 108A to 108C contribute to taking out the rotation of the speed reducer 100 (that is, correspond to the inner pins (252A to 252F) in the embodiment of FIG. 3).

  On the other hand, the column portions 112A to 112C are not connected to members other than the carrier body 112 (more specifically, the carrier body main body portion 112D) and are not in contact with the external gear 110. In other words, the pillar portions 112A to 112C according to the present embodiment do not have a function for connecting the carrier body 112 and other members. Further, the column portions 112A to 112C do not contribute to the extraction of the rotation component of the external gear 110 from the carrier body 112 when the external gear 110 rotates, and the external gear 110 when the outer cylinder 104 rotates. Does not contribute to the restraint of rotation. That is, the column portions 112 </ b> A to 112 </ b> C do not have a function that contributes to taking out the rotation of the reduction gear 100. The pillar portions 112A to 112C are portions that are protruded to form mounting holes 118A to 118C, 119A to 119C, and 120A to 120C, which will be described later, longer in the axial direction than in the past.

  Mounting holes 118 </ b> A to 118 </ b> C, 119 </ b> A to 119 </ b> C, and 120 </ b> A to 120 </ b> C for mounting a mating member (not shown) to the carrier body 112 are formed. The mounting holes 118A to 118C, 119A to 119C, and 120A to 120C are all longer than the carrier body main body portion 112D (beyond the side surface 112G on the axial external gear side of the carrier body main body portion 112D), and are opposite to the carrier body 112. It is formed so as to extend from the surface 112F on the external gear side to the column portions 112A to 112C (axial length: Y (X <Y <Z)).

  The mounting holes 118A to 118C, 119A to 119C, and 120A to 120C are sized to receive screws having the same nominal diameter. Further, the distance from the axis O of the carrier body 112 (the axis of the speed reducer 100) O to the centers 118B1, 119B1, 120B1, 118C1, 119C1, and 120C1 of the mounting holes 118B, 119B, 120B, 118C, 119C, and 120C is L1. is there. The distance from the axis O of the carrier body 112 to the centers 118A1, 119A1, 120A1 of the mounting holes 118A, 119A, 120A is L2, and the mounting holes 118B, 119B, 120B, 118C, 119C, The distance is shorter than the distance L1 to the center 118B1, 119B1, 120B1, 118C1, 119C1, and 120C1 of 120C (L1> L2). That is, the mounting holes 118A to 118C, 119A to 119C, and 120A to 120C are sized to receive screws having the same nominal diameter, and the mounting holes 118A to 118C, 119A to 119C, 120A-120C center 118A1-118C1, 119A1-119C1, 120A1-120C1, a plurality of mounting holes 118A, 119A, different (compared to mounting holes 118B, 119B, 120B, 118C, 119C, 120C) 120A is included.

  The mounting holes 118A to 118C are formed in the axial direction at positions where the column portions 112A are provided. The mounting holes 119A to 119C and 120A to 120C are formed in the axial direction at the positions having the column portions 112B and 112C, respectively.

  The main bearing 113 is disposed between the inner periphery of the outer cylinder 104 and the outer periphery of the carrier body 112 (specifically, the carrier body main body 112D). In the present embodiment, the main bearing 113 is a cross roller bearing. The carrier body 112 is rotatably supported by the outer cylinder 104 by the main bearing 113 and the movement in the axial direction is restricted.

  The outer cylinder 104 includes a first outer cylinder (first portion) 104A having the inner teeth 102 and a second outer cylinder (second portion) 104B having no inner teeth. In the present embodiment, the outer cylinder 104 is divided into a first outer cylinder 104A and a second outer cylinder 104B with the main bearing 113 as a boundary. The outer diameters of the first and second outer cylinders 104A and 104B of the outer cylinder 104 are both I and the same. The first and second outer cylinders 104A and 104B are connected by a bolt (not shown) inserted through the bolt hole 142 and fixed to an external member (not shown, for example, the second joint member of the robot) different from the counterpart member. Has been.

  The speed reducer 100 includes a cover 143 on the side opposite to the carrier body of the external gear 110.

  Next, the operation of the reduction gear 100 will be described.

  First, the operation of the entire reduction gear 100 will be described.

  The rotation of the motor (not shown) is transmitted to the crankshafts 108A to 108C by meshing the input gear (not shown) and the crankshaft gears 128A to 128C. As a result, the eccentric portions 106A to 106C formed in the same phase on the three crankshafts 108A to 108C rotate at the same rotational speed at the same time, and the external gear 110 swings and rotates. Since the internal teeth 102 of the speed reducer 100 are fixed to an external member via the outer cylinder 104, the external gear 110 is engaged with the internal teeth 102 by this swinging rotation and is engaged with the internal teeth 102. Performs rotation (relative rotation) depending on the number of teeth difference. The rotation (relative rotation) of the external gear 110 with respect to the internal teeth 102 is output from the carrier body 112 via the revolution of the crankshafts 108A to 108C around the axis O. As a result, the mating member connected to the carrier body 112 via the mounting holes 118A to 118C, 119A to 119C, and 120A to 120C rotates.

  Next, the operation of the speed reduction device 100 centering on the mounting holes 118A to 118C, 119A to 119C, 120A to 120C, etc. of the carrier body 112 will be described.

  The column portions 112A to 112C protrude from the carrier body 112, and column portion holes 135A to 135C are formed in the external gear 110, and the column portions 112A to 112C are inserted into the column portion holes 135A to 135C. . In addition, mounting holes 118 </ b> A to 118 </ b> C, 119 </ b> A to 119 </ b> C, and 120 </ b> A to 120 </ b> C are formed so as to reach the pillar portions 112 </ b> A to 112 </ b> C from the surface 112 </ b> F on the non-external gear side of the carrier body 112. That is, the carrier body 112 is formed in the axial direction only in a portion where the pillar portions 112A to 112C protrude (the axial length is Z), and the mounting holes 118A to 118C and 119A to 119A are formed in the carrier body 112. 119C and 120A to 120C are formed deep in the minute axis direction in which the column portions 112A to 112C exist (the length in the axial direction is Y). Thereby, the fixing strength of the mounting holes 118A to 118C, 119A to 119C, and 120A to 120C is improved, and the reduction gear 100 uses bolts (not shown) using the mounting holes 118A to 118C, 119A to 119C, and 120A to 120C. It is possible to firmly connect and fix the mating member to the mating member, and to transmit a large torque to the mating member. In addition, since the column portions 112A to 112C are inserted into the column portion holes 135A to 135C formed in the external gear 110, the carrier body 112 includes the column portions 112A to 112C and becomes long to the axial length Z. Even if it is, the reduction gear 100 does not become long in the axial direction as a whole.

  Further, the reduction gear 100 has the same outer diameter of the first and second outer cylinders 104A and 104B of the outer cylinder 104 (the second outer cylinder 104B of the outer cylinder 104 is made larger than the conventional one). As a result, the carrier body 112 and the gears (input gear, crankshaft gear 128A to 128A) are arranged inside the outer cylinder 104 while the carrier body 112 is provided with a plurality of mounting holes 118A to 118C, 119A to 119C, and 120A to 120C. The degree of freedom of design, such as changing the size and the arrangement position of 128C etc., can be further improved. For example, the thickness of the carrier body in the radial direction can be increased to improve the strength of the carrier body, or the range of the reduction ratio that can be realized can be increased by increasing the outer diameter of the crankshaft gear or the like.

  The mounting holes 118A to 118C, 119A to 119C, 120A to 120C are sized so that screws having the same nominal diameter can be inserted, and the mounting holes 118A to 118C and 119A to 119C are inserted from the axis O of the carrier body 112, respectively. A plurality of mounting holes 118A, 119A, and 120A having different distances (so-called pitch circles) to the centers 118A1 to 118C1, 119A1 to 119C1, and 120A1 to 120C1 of 120A to 120C are included. That is, since the mounting holes 118A to 118C, 119A to 119C, and 120A to 120C can use the same bolt and have different pitch circle sizes, the carrier body 112 and the mating member are attached to the mounting holes. It is firmly connected in both the radial direction and the circumferential direction through 118A to 118C, 119A to 119C, and 120A to 120C.

  Next, another embodiment will be described.

  FIG. 3 is a longitudinal sectional view of an eccentric oscillating speed reduction device 200 according to another embodiment of the present invention. FIG. 4 is a sectional view taken along the line IV-IV in FIG.

  The speed reducer 200 according to this embodiment is a speed reducer having a so-called center crank structure in which a crankshaft 208 is disposed at the center of the speed reducer 200.

  The carrier body 212 of the speed reducer 200 has a pillar portion for forming the mounting holes 218A to 218F separately from the inner pins 252A to 252F that contribute to taking out the rotation of the speed reducer 200 in synchronization with the rotation component of the external gear 210. 234A to 234F are provided. No attachment holes are formed in the inner pins 252A to 252F. For this reason, the inner pins 252A to 252F do not have a risk of the strength being lowered due to the formation of the mounting holes, and can reliably exhibit an action specialized for taking out the rotation of the reduction gear 200.

  One attachment hole 218A to 218F is formed at the center of each of the pillar portions 234A to 234F. The mounting holes 218A to 218F extend from the side surface 212F of the carrier body main body portion 212D on the side opposite to the external gear in the axial direction to the side surface 212G of the carrier body main body portion 212D on the side of the external gear in the axial direction to the column portions 234A to 234F. It is formed to reach. The plurality of mounting holes 218A to 218F are large enough to receive screws having the same nominal diameter. In this embodiment, the distances from the axis O2 of the carrier body 212 to the centers 234A1 to 234F1 of the mounting holes 234A to 234F are all L3 and are the same.

  The external gear 210 includes a plurality of column hole 235A to 235F (in which the column portions 234A to 234F enter) and a plurality of inner pin holes 250A to 250F (in which the inner pins 252A to 252F and the inner rollers 254A to 254F enter). Is formed. The column hole 235A to 235F and the inner pin holes 250A to 250F are alternately arranged at equal intervals (60 degree intervals) in the circumferential direction.

  The column portions 234 </ b> A to 234 </ b> F are not connected to members other than the carrier body 212 and are not in contact with the external gear 210. In other words, the column portions 234A to 234F do not have a function of connecting the carrier body 212 and other members. Further, the column portions 234A to 234F do not contribute to the extraction of the rotation component of the external gear 210 when the external gear 210 rotates, and restrain the rotation of the external gear 210 when the outer cylinder 204 rotates. Does not contribute. That is, the column portions 234A to 234F do not have a function that contributes to taking out the rotation of the speed reducer 200.

  The inner pins 252A to 252F have inner rollers 254A to 254F slidably disposed on the outer periphery of the inner pins 252A to 252F, and are in contact with the external gear 210 (via the inner rollers 254A to 254F). Thereby, the inner pins 252A to 252F contribute to the extraction of the rotation of the speed reducer 200 in synchronization with the rotation component of the external gear 210 (rotates together with the rotating external gear 210).

  When the rotation of the motor (not shown) is transmitted to the crankshaft 208 and the crankshaft 208 rotates, the eccentric portion 206 formed on the crankshaft 208 also rotates, and the external gear 210 also swings and rotates accordingly. In the present embodiment, since the internal teeth 202 are fixed to the external member via the external cylinder 204, the external gear 210 is restrained from free rotation and almost only swings. Since the substantial number of teeth of the external gear 210 and the internal teeth 202 (the number of teeth obtained by doubling the number of external pins shown in the figure) is set to be small, when the crankshaft 208 is rotated, the external gear 210 is It will rotate with respect to the internal tooth 202 by this tooth number difference. The rotation component of the external gear 210 is taken out from the carrier body 212 via the inner pins 252A to 252F.

  In the speed reduction device 200, the column portions 234A to 234F are inserted into the column portion holes 235A to 235F, and the attachment holes 218A to 218F are connected to the column portions 234A to 234F from the surface 212F of the carrier body 212 on the non-external gear side. By forming so as to reach, the depth of the mounting holes 218A to 218F can be sufficiently secured while being compact in the axial direction.

  In the reduction gear shown in FIG. 3, the mounting hole is formed only in the column provided separately from the inner pin. However, the present invention is not limited to this, and the mounting hole is formed in the inner pin in addition to the column. May be. In addition, in the speed reducer having only the inner pin without forming the pillar portion separately from the inner pin, the inner pin may be used as the pillar portion and an attachment hole may be formed in the inner pin.

  Further, in the above embodiment, the column portion protrudes beyond the side surface of the external gear on the side opposite to the carrier body in the axial direction, but is not limited thereto, and may be flush with the side surface. It does not have to protrude only to the axial position that does not reach the side surface.

  In the above embodiment, the pillar portion is formed integrally with the carrier body (specifically, the carrier body main body portion). However, the present invention is not limited to this, and the pillar portion may be formed separately from the carrier body. Good.

  Further, the pillar portions are not limited to being formed at equal intervals in the circumferential direction, and the number of pillar portions is not limited to that shown in the above embodiment.

  In the above-described embodiment, the carrier body is disposed on the side of the external gear on the side of the crankshaft gear in the axial direction. It may be arranged on the right side of the gear.

  Moreover, in the said embodiment, although all the attachment holes are the magnitude | sizes in which the screw of the same nominal diameter enters, you may make it the magnitude | size of an attachment hole differ.

  In the present embodiment, the outer diameters of the first and second portions of the outer cylinder are both the same, but may be different. For example, the outer diameter of the first part may be larger than the outer diameter of the second part, or vice versa.

  The mounting hole is formed so as to reach the column part from the side opposite the external gear of the carrier body in the axial direction at the position where the column part is provided, but in addition to this, it is formed at a position where the column part is not provided. May be.

  Moreover, in the said embodiment, although the attachment hole is formed so that it may not penetrate a pillar part from the surface of the anti-external gear of a carrier body, it is not restricted to this, You may penetrate a pillar part. In this case, the gear device may be connected to the mating member by tightening a nut or the like on the bolt using the mounting hole.

  In the above-described embodiment, a reduction gear of a type in which the outer cylinder is fixed, the external gear rotates, and the operation synchronized with the rotation component of the external gear is extracted from the carrier body is shown. Alternatively, a reduction gear of a type in which the external gear does not rotate, the outer cylinder rotates and the rotation is extracted from the outer cylinder may be used.

100: Eccentric oscillating speed reduction device (eccentric oscillating gear device)
DESCRIPTION OF SYMBOLS 102 ... Internal tooth 104 ... Outer cylinder 106A-106C ... Eccentric part 108A-108C ... Crankshaft 110 ... External gear 112 ... Carrier body 112A-112C ... Pillar part 113 ... Main bearing 118A-118C, 119A-119C, 120A-120C ... Mounting holes 135A to 135C ... Pole holes (holes)

Claims (5)

An outer cylinder having inner teeth on the inner peripheral surface;
A crankshaft having an eccentric portion;
One external gear attached to the eccentric portion and eccentrically oscillating while meshing with the internal teeth by rotation of the crankshaft;
A carrier body that is arranged only on one side of the axial side portion of the external gear and operates in synchronization with the rotation component of the external gear;
A main bearing disposed between the outer cylinder and the carrier body;
In an eccentric oscillating gear device comprising:
The carrier body includes a column portion protruding toward the external gear,
A hole into which the pillar portion of the carrier body enters is formed in the external gear; and
An eccentric oscillating gear device, characterized in that an attachment hole for attaching a mating member to the carrier body is formed so as to reach the column portion from the non-external gear side of the carrier body. In claim 1,
The eccentric oscillating gear device, wherein the column portion is not connected to a member other than the carrier body and is not in contact with the external gear. In claim 1 or 2,
The outer cylinder includes a first portion having the inner teeth and a second portion not having the inner teeth, and the outer diameters of the first and second portions of the outer cylinder are both An eccentric oscillating gear device characterized by being the same. In any one of Claims 1-3,
The mounting holes include a plurality of mounting holes that are at least large enough to receive screws having the same nominal diameter, and that have different distances from the axis of the carrier body to the center of each mounting hole. An eccentric oscillating gear device. In any one of Claims 1-4,
The carrier body is provided with the pillar portion for forming the mounting hole, in addition to an inner pin that contributes to taking out rotation of the gear device in synchronization with the rotation component of the external gear, and
The eccentric rocking gear device, wherein the inner pin is not formed with the mounting hole.

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