JP2013152027A - Eccentric rocking type gear device and assembling method for crankshaft in eccentric rocking type gear device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce phase variation of torsional rigidity in a rotational direction.SOLUTION: An eccentric rocking type gear device includes a crankshaft 46 having eccentric portions 46a and 46b, external gears 48a and 48b having through holes into which the eccentric portions 46a and 46b are inserted and external teeth, an outer tube 12 and a carrier 14. The carrier 14 rotatably supports the crankshaft 46. The outer tube 12 includes internal teeth 24 meshing with the external teeth of the external gears. A rotational phase adjusting means 58 is provided for deciding a direction of the crankshaft 46 around its axis with reference to directions of the outer tube 12 and the carrier 14 around their axis centers.

Description

  The present invention relates to an eccentric oscillating gear device and a method of assembling a crankshaft in the eccentric oscillating gear device.

  Conventionally, as disclosed in Patent Document 1 below, the outer cylinder and the carrier are relatively rotated by swinging and rotating the external gear in conjunction with the rotation of the eccentric body provided on the crankshaft. An eccentric oscillating gear device is known. In the gear device disclosed in Patent Document 1, the outer cylinder is fixed to the first member of the robot, while the carrier that rotates relative to the outer cylinder at a predetermined rotation ratio is fixed to the second member of the robot. Yes. Further, this gear device is provided with a positioning pin for determining the carrier in a predetermined direction with respect to the second member of the robot.

JP 2001-353684 A

  By the way, in order to assemble the eccentric oscillating gear device, generally, the crankshaft and the external gear are assembled to the carrier, and the carrier is assembled to the outer cylinder. At this time, the crankshaft can be assembled to the carrier without being restricted by the eccentric direction of the eccentric body. In the eccentric oscillating gear device, the crankshaft can be assembled without being restricted in the eccentric direction as described above, but a rotational phase difference occurs in the torsional rigidity of the gear device depending on the eccentric direction of the assembled crankshaft. For this reason, there is a problem that the phase of torsional rigidity in the rotational direction changes from that before disassembly when disassembled after maintenance or the like and reassembled. In addition, since the eccentric direction is not restricted, there is a problem that individual differences occur in the phase of torsional rigidity in the rotational direction between the gear units.

  Therefore, the present invention has been made in view of such points, and an object of the present invention is to reduce the phase variation of torsional rigidity in the rotational direction.

  In order to achieve the above-mentioned object, the present invention provides a gear device that transmits power by converting the rotational speed between a first member and a second member at a predetermined rotational speed ratio, and has a crank portion having an eccentric portion. A shaft member, a gear member having a through-hole into which the eccentric portion is inserted and having a tooth portion, a first tube portion configured to be attachable to one of the first member and the second member, A second cylindrical portion configured to be attachable to the other of the first member and the second member, and one of the first cylindrical portion and the second cylindrical portion rotatably supports the crankshaft. The other of the first tube portion and the second tube portion has a tooth portion that meshes with a tooth portion of the gear member, and the first tube portion and the second tube portion are formed on the crankshaft. The first cylindrical portion and the first cylindrical portion can be rotated relative to each other concentrically by swinging of the gear member with rotation. The reference to the axial center direction of the second cylindrical portion is eccentrically oscillating gear device the rotational phase adjustment means is provided for determining the axis direction of the crankshaft.

  In the present invention, the direction around the axis of the crankshaft can be determined based on the direction around the axis of the first cylinder part and the second cylinder part. For this reason, when attaching the 1st cylinder part and the 2nd cylinder part to the 1st member and the 2nd member, the 1st cylinder part and the 2nd cylinder part to the 1st member and the 2nd member The direction of the crankshaft can be determined via the direction of the. Therefore, it is possible to prevent a change in the phase of torsional rigidity before the disassembly and in the rotational direction when disassembling after disassembling during maintenance or the like. Further, it is possible to prevent individual differences from occurring in the phase of torsional rigidity in the rotational direction between the gear devices.

  Here, the rotational phase adjusting means is provided at a first reference portion provided at a predetermined position shifted from the axial center in the first cylindrical portion and at a predetermined position shifted from the axial center in the second cylindrical portion. It is preferable to have a second reference portion and a third reference portion provided at a predetermined position shifted from the crankshaft center in the crankshaft or in a spur gear coupled to the crankshaft.

  In this aspect, when the crankshaft is assembled, the first cylinder portion and the second cylinder are assembled by assembling the crankshaft so that the third reference portion is in a predetermined position with reference to the first reference portion and the second reference portion. The crankshaft can be assembled in a predetermined direction based on the direction around the axis of the portion.

  Each of the second reference portion and the third reference portion may be formed by a hole.

  In this aspect, when the crankshaft is assembled, if the temporary fixing pin having a bifurcated or trifurcated configuration is inserted so as to straddle the second reference portion and the third reference portion, the direction of the crankshaft with respect to the carrier is ensured. Can be decided. And if the temporary fix pin is removed after that, it can be set as the gear apparatus assembled | attached to the 1st cylinder part or the 2nd cylinder part in the state in which the direction of the crankshaft matched the predetermined direction.

  One crankshaft may be provided and may be arranged concentrically with the first cylinder part or the second cylinder part. A plurality of the crankshafts may be provided, and may be arranged at equal intervals around the axis of the first cylinder part or the second cylinder part.

  One of the first tube portion and the second tube portion is a carrier, the other of the first tube portion and the second tube portion is an outer tube having internal teeth, and the gear member is formed of the outer tube. It may be an external gear that meshes with the internal teeth.

  In addition, one of the first cylinder part and the second cylinder part is an outer cylinder, the other of the first cylinder part and the second cylinder part is a carrier having external teeth, and the gear member is the carrier. It may be an internal gear that meshes with the external teeth.

  The present invention relates to a method of assembling a crankshaft in an eccentric oscillating gear device that transmits power by converting the rotational speed between a first member and a second member at a predetermined rotational speed ratio, A step of assembling a crankshaft having a gear member, a step of assembling the crankshaft to one of the first tube portion and the second tube portion, and the gear member of the first tube portion and the second tube portion having tooth portions. A step of assembling to the other and a step of combining the first tube portion and the second tube portion with each other, and the crankshaft is rotated when assembled to one of the first tube portion and the second tube portion. When setting the direction around the axis of the crankshaft relative to one of the first tube portion and the second tube portion by the phase matching means, and combining the first tube portion carrier and the second tube portion tube with each other, By the rotation phase matching means, the first tube portion Is assembling method of a crank shaft in an eccentric oscillating gear device for setting the axial center direction of said second cylindrical portion for.

  As described above, according to the present invention, it is possible to reduce the phase variation of the torsional rigidity in the rotation direction.

It is sectional drawing of the eccentric rocking | fluctuation type gear apparatus which concerns on embodiment of this invention. It is sectional drawing in the II-II line of FIG. It is an arrow line view in the position of the III-III line of FIG. It is a perspective view of a temporary fixing pin. It is a figure for demonstrating (a)-(d) rotational phase.

  Hereinafter, embodiments for carrying out the present invention will be described in detail with reference to the drawings.

  As shown in FIG. 1, the eccentric oscillating gear device 10 according to the present embodiment rotates relative to the outer cylinder 12 inside the outer cylinder 12 that is the first cylinder portion and the outer cylinder 12. The carrier 14 as a possible second cylindrical portion, the input shaft 16 for applying a driving force for rotating the carrier 14, and the carrier at a rotational speed reduced at a predetermined ratio with respect to the rotational speed of the input shaft 16 And a speed reduction mechanism 18 that rotates 14. The gear device 10 transmits the first arm 20 as a first member and the second arm 38 as a second member by converting the number of rotations at a predetermined rotation number ratio. That is, the gear device 10 is configured as a speed reducer used for a joint of a robot arm.

  The outer cylinder 12 is formed in a cylindrical shape, and a large number of pin grooves 12c are formed at equal intervals in the circumferential direction on the inner peripheral surface thereof. As shown in FIG. 2, pin-shaped inner teeth 24 are fitted in the pin grooves 12c. In other words, in the present embodiment, the outer cylinder 12 that is the first cylinder portion has the inner teeth 24.

  A flange portion 12 a is integrally provided on the outer peripheral portion of the outer cylinder 12. Bolt insertion holes 12b are provided in the flange portion 12a at equal intervals in the circumferential direction. In the present embodiment, eight bolt insertion holes 12b are provided. The outer cylinder 12 and the first arm 20 are fastened to each other by screwing the bolt 21 inserted through the bolt insertion hole 12 b into the screw hole 20 c of the first arm 20. The first arm 20 closes one end of the outer cylinder 12 in the axial direction (the right end in FIG. 1). The first arm 20 has a motor 22 as a driving source fixed thereto, and an insertion hole 20a through which the driving shaft 22a of the motor 22 is inserted is formed in the thickness direction.

  The carrier 14 is supported on the outer cylinder 12 by a pair of main bearings 26 arranged at intervals in the axial direction, and can rotate concentrically with the outer cylinder 12. That is, the carrier 14 rotates relative to the outer cylinder 12 around the axis O <b> 1 of the outer cylinder 12. The main bearings 26 are each constituted by an angular ball bearing.

  The carrier 14 includes a disc-shaped end plate portion 30 that is one side, a disc-shaped substrate portion 32 that is the other side portion, and a shaft portion 33 that protrudes from one surface of the substrate portion 32. It is equipped with. That is, the shaft portion 33 is formed integrally with the substrate portion 32. As shown in FIG. 2, the shaft portion 33 has a substantially hexagonal cross section. In the present embodiment, three shaft portions 33 are provided, and these are arranged at equal intervals in the circumferential direction. The shaft portion 33 and the end plate portion 30 are fastened to each other by a bolt 34 in a state where the tip surface of the shaft portion 33 is in contact with the end plate portion 30. In this state, a space having a predetermined width in the axial direction is formed between the substrate portion 32 and the end plate portion 30.

  A bolt fastening hole 33 a is provided in the shaft portion 33, and the bolt 34 inserted into the bolt insertion hole 30 a of the end plate portion 30 from the opposite side to the shaft portion 33 is screwed into the bolt fastening hole 33 a of the shaft portion 33. Has been. A pin 36 for positioning the end plate portion 30 with respect to the substrate portion 32 is disposed so as to straddle the shaft portion 33 and the end plate portion 30. The shaft portion 33 may not be configured integrally with the substrate portion 32 but may be configured integrally with the end plate portion 30. In this case, the shaft portion 33 is fastened to the substrate portion 32.

  The substrate portion 32 is attached to a second arm 38 that is a member on the other side on an end surface 32 c opposite to the end plate portion 30. A bolt insertion hole 38 a is formed in the second arm 38, and a fastening hole 32 d is formed in a corresponding position in the substrate portion 32. And the 2nd arm 38 and the board | substrate part 32 are mutually fastened by screwing the volt | bolt 37 inserted in the bolt insertion hole 38a of the 2nd arm 38 to the fastening hole 32d of the board | substrate part 32. As shown in FIG. A plurality (five) of fastening holes 32d are arranged at equal intervals to form a group of fastening holes, and these fastening holes are provided at three locations around the axis O1 at equal intervals (see FIG. 3). ).

  As shown in FIG. 1, the end plate portion 30 and the substrate portion 32 are formed with through holes 30b and 32a penetrating the centers in the axial direction. The through holes 30b and 32a are through holes through which the input shaft 16 can be inserted. The input shaft 16 is inserted through the through holes 30 b and 32 a and is arranged coaxially with the outer cylinder 12.

  The input shaft 16 is coupled coaxially with the drive shaft 22 a of the motor 22 at the base end portion, and the distal end portion is located in the through hole 32 a of the substrate portion 32. A driving gear 42 made of an external gear is integrally provided at the tip of the input shaft 16.

  The speed reduction mechanism 18 includes a spur gear 44, a crankshaft 46, and external gears (first external gear 48a and second external gear 48b) that are gear members. The first external gear 48 a and the second external gear 48 b each have external teeth that are tooth portions that mesh with the internal teeth of the outer cylinder 12. The spur gear 44 is splined to the end portion of the crankshaft 46 on the board portion side, and meshes with the drive gear 42 provided on the input shaft 16. Therefore, the driving force is transmitted to the crankshaft 46 via the spur gear 44, and thereby the crankshaft 46 is interlocked with the rotation of the input shaft 16.

  The crankshaft 46 is disposed parallel to the input shaft 16, is rotatably supported by the end plate portion 30 via the first crank bearing 51, and rotates to the substrate portion 32 via the second crank bearing 52. It is supported freely. In other words, the first crank bearing 51 is disposed between the end plate portion 30 and the crank shaft 46, and the second crank bearing 52 is disposed between the substrate portion 32 and the crank shaft 46. Both the first crank bearing 51 and the second crank bearing 52 are constituted by tapered roller bearings.

  Through holes 30c and 32b are formed in the end plate portion 30 and the substrate portion 32, respectively. Three through holes 30c and 32b are formed, and these through holes 30c and 32b are arranged at equal intervals in the circumferential direction around the through holes 30b and 32a. And the crankshaft 46 is arrange | positioned at equal intervals in the circumferential direction of 3 (refer FIG. 2), and each crankshaft 46 has penetrated the through-holes 30c and 32b, respectively.

  The crankshaft 46 includes a shaft main body 46c and eccentric portions (first eccentric portion 46a and second eccentric portion 46b) formed integrally with the shaft main body 46c. The shaft body 46c has a circular cross section, and the eccentric portions 46a and 46b are eccentric with respect to the crankshaft center O2, which is the shaft center of the shaft body 46c. The first and second eccentric parts 46a and 46b are out of phase with each other. That is, the eccentric direction of the first eccentric portion 46a with respect to the crankshaft center O2 and the eccentric direction of the second eccentric portion 46b with respect to the crankshaft center O2 are different from each other, and the phase angle is shifted by 180 degrees. Further, the three crankshafts 46 are assembled so that the eccentric directions of the respective first eccentric portions 46a coincide.

  The first and second eccentric portions 46 a and 46 b are disposed adjacent to each other in the axial direction between the first crank bearing 51 and the second crank bearing 52. The first eccentric portion 46 a is adjacent to the first crank bearing 51, and the second eccentric portion 46 b is adjacent to the second crank bearing 52.

  Both the first external gear 48 a and the second external gear 48 b are disposed in the space between the substrate portion 32 and the end plate portion 30 of the carrier 14. As shown in FIG. 2, the first external gear 48 a and the second external gear 48 b are respectively provided with a first through hole 48 c through which the input shaft 16 can pass and a second through hole through which the shaft portion 33 can pass. A hole 48d and a third through hole 48e through which the eccentric portions 46a and 46b of the crankshaft 46 can pass are formed.

  Roller bearings 55 are attached to the first and second eccentric portions 46a and 46b. In this state, the first eccentric portion 46a is inserted into the third through hole 48e of the first external gear 48a, and the second eccentric portion. 46b is inserted into the third through hole 48e of the second external gear 48b. The first and second external gears 48 b rotate while meshing with the internal teeth 24 of the outer cylinder 12 as the first and second eccentric portions 46 b swing due to the rotation of the crankshaft 46. In the present embodiment, two external gears are provided. However, the present invention is not limited to this configuration, and one or three or more external gears may be provided.

  As shown in FIGS. 1 and 3, the through hole 32 a and the three through holes 32 b of the substrate portion 32 are connected to each other on the end surface 32 c opposite to the end plate portion 30 and are formed as one through hole. ing. The spur gear 44 is located in a portion corresponding to the through hole 32 b in the through hole, and one main surface 44 a is exposed in a state where the substrate portion 32 is removed from the second arm 38.

  As shown in FIG. 3, the eccentric oscillating gear device 10 includes a rotational phase adjusting means for determining the direction of the crankshaft 46 about the axis with reference to the directions of the outer cylinder 12 and the carrier 14 about the axis. Is provided. The rotational phase matching means 58 has a first reference portion 58a, a second reference portion 58b, and a third reference portion 58c.

  The first reference portion 58a is provided at a predetermined position shifted from the axis O1 in the outer cylinder 12, and is configured by a hole formed in the flange portion 12a of the outer cylinder 12 in the present embodiment. Although only one first reference portion 58a is provided, the first reference portion 58a has a pin hole 20b (see FIG. 1) of the first arm 20 when the flange portion 12a is fastened to the first arm 20. It is formed at a position that fits.

  As described above, since the bolt insertion holes 12b are formed at equal intervals in the circumferential direction in the flange portion 12a, if these bolt insertion holes 12b are positioned so as to match the screw holes 20c of the first arm 20, A plurality of circumferential directions of the outer cylinder 12 with respect to one arm 20 can be set. However, by providing the first reference portion 58a, the direction around the axis O1 of the outer cylinder 12 is determined. That is, by aligning the first reference portion 58 a with the pin hole 20 b formed in the first arm 20, the direction around the axis of the outer cylinder 12 is a predetermined direction with respect to the first arm 20. The outer cylinder 12 can be fixed to the first arm 20. This also determines the circumferential position of the pin groove 12 c with respect to the first arm 20.

  In addition, if the pin 60 (refer FIG. 1) is penetrated so that the 1st reference | standard part 58a and the pin hole 20b of the 1st arm 20 may be straddled, it can align reliably. After the alignment is completed, the pin 60 may be removed.

  Further, by forming the bolt insertion holes 12b formed in the circumferential direction in the flange portion 12a at unequal intervals, only one direction of the circumferential direction of the outer cylinder 12 with respect to the first arm 20 can be set. It is also possible to do. In this case, the bolt insertion holes 12b formed at unequal intervals are used as the first reference portion 58a.

  The second reference portion 58b is provided at a predetermined position shifted from the axis O1 in the carrier 14. In the present embodiment, the second reference portion 58b is formed on the end surface 32c of the carrier portion 14 on the side where the spur gear 44 is disposed. It is constituted by a hole. In other words, the second reference portion 58 b is provided on the end surface 32 c facing the second arm 38 in the substrate portion 32. Although only one second reference portion 58b is provided, the second reference portion 58b is provided with a pin hole 38b (see FIG. 5) of the second arm 38 when the substrate portion 32 of the carrier 14 is fastened to the second arm 38. 1)).

  As described above, since a plurality of fastening holes 32d are formed in the circumferential direction in the substrate portion 32, if these fastening holes 32d are positioned to fit the bolt insertion holes 38a of the second arm 38, the second arm 38 is provided. A plurality of circumferential directions of the substrate portion 32 (carrier 14) can be set. However, by providing the second reference portion 58b, the direction around the axis of the substrate portion 32 (carrier 14) is determined.

  By aligning the second reference portion 58 b with the pin hole 38 b formed in the second arm 38, the carrier 14 can be moved in a state where the direction around the axis of the carrier 14 is a predetermined direction with respect to the second arm 38. The second arm 38 can be fixed. In addition, if the temporary fixing pin 62 (refer FIG. 3, FIG. 4) is penetrated so that it may straddle the 2nd reference | standard part 58b and the pin hole 38b of the 2nd arm 38, it can align reliably. After the alignment is completed and the carrier 14 is fixed to the second arm 38, the temporary fixing pin 62 is removed.

  Further, depending on the arrangement of the fastening holes 32d formed in the circumferential direction in the substrate portion 32, it is possible to set only one direction of the circumferential direction of the substrate portion 32 (carrier 14) with respect to the second arm 38. It is. In this case, the fastening hole 32d formed in the substrate part 32 is used as the second reference part 58b.

  The temporary fixing pin 62 includes a main portion 62a formed in an arc shape and a plurality of leg portions 62b and 62c extending from both ends and an intermediate portion of the main portion 62a, and is configured as a trifurcated pin. . The leg portion 62c extending from the intermediate portion can be inserted into the pin hole 38b of the second arm 38 and the second reference portion 58b of the carrier 14.

  The third reference portion 58c is provided at a predetermined position shifted from the crankshaft O2 in the spur gear 44. The third reference portion 58c is provided in each spur gear 44, and each third reference portion 58c is in a predetermined direction with respect to the eccentric direction of the eccentric portions 46a and 46b with respect to the crank shaft center O2 of the crank shaft 46. Set to position. That is, the positional relationship between the third reference portion 58c and the corresponding crankshaft O2 is the same positional relationship. The third reference portion 58c can be formed, for example, in a direction that coincides with the eccentric direction of the second eccentric portion 46b, but is not limited thereto, and the positional relationship with the eccentric portions 46a and 46b is known. For example, it can be formed at an arbitrary position.

  The third reference portion 58c is configured by a hole formed in the main surface 44a of the spur gear 44 that is exposed when the second arm 38 is removed. That is, the third reference portion 58 c is provided on the surface 44 a facing the second arm 38, similar to the end surface 32 c provided with the second reference portion 58 b in the substrate portion 32 of the carrier 14. One third reference portion 58 c is provided for each spur gear 44. Then, the leg portions 62b at both ends of the temporary fixing pin 62 can be inserted into the third reference portion 58c in a state where the middle leg portion 62c of the temporary fixing pin 62 is inserted into the second reference portion 58b of the carrier 14. It has become.

  The temporary fixing pin 62 is not limited to the three-pronged one, and a two-pronged temporary fixing pin 62 having a configuration in which the leg portion 62b at one end is omitted may be used. In this case, one leg portion 62c of the temporary fixing pin 62 is inserted into the second reference portion 58b, and the other leg portion 62b is inserted into the third reference portion 58c. Then, a temporary fixing pin (not shown) for positioning the other two spur gears 44 (crankshaft 46) with respect to one spur gear 44 (crankshaft 46) positioned with respect to the carrier 14 may be used. . In this case, the temporary fixing pin may have a configuration in which the main portion 62a is formed in a triangular shape so that it can be inserted through the third reference portions 58c simultaneously.

  Also, a temporary fixing pin (not shown) for positioning the second reference portion 58b with respect to the second arm 38 and a temporary fixing pin (not shown) for positioning the spur gear 44 (crankshaft 46) with respect to the carrier 14 are separately provided. It may be a pin. In this case, the temporary fixing pin for positioning the carrier 14 with respect to the second arm 38 can be constituted by a rod-shaped pin. This rod-shaped pin may not be removed.

  Next, the operation of the eccentric oscillating gear device 10 according to the present embodiment will be briefly described. In the gear device 10, the input shaft 16 is driven by the driving force of the motor 22, and the spur gear 44 is rotated via the driving gear 42 by the rotation of the input shaft 16. Thereby, the crankshaft 46 also rotates integrally, and when the crankshaft 46 rotates, the first external gear 48a rotates while meshing with the internal teeth 24 as the first eccentric portion 46a swings, and the second eccentric As the portion 46 b swings, the second external gear 48 b rotates while meshing with the internal teeth 24. As a result, the carrier 14 having the shaft portion 33 that passes through the second through holes 48d of the external gears 48a and 48b rotates together. Thereby, the second arm 38 rotates relative to the first arm 20. The rotational speed of the second arm 38 (carrier 14) is a rotational speed that is decelerated at a predetermined ratio with respect to the rotational speed input to the input shaft 16.

  Here, the reason why the rotational phase of the crankshaft 46 is aligned with the outer cylinder 12 and the carrier 14 will be described. 5A shows a first reference portion 58a that represents the reference point of the outer cylinder 12, a second reference portion 58b that represents the reference point of the carrier 14, and a third reference portion 58c that represents the reference point of the crankshaft 46. It is a schematic diagram for demonstrating the positional relationship of these. FIG. 5B schematically shows the position of the first reference portion 58 a on the first arm 20 and the position of the second reference portion 58 b on the second arm 38. 5A and 5B, the outer cylinder 12 is set in a predetermined direction around the axis O1 with respect to the first arm 20, and the carrier 14 is around the axis O1 with respect to the second arm 38. It shows a case where the crankshaft 46 is set in a predetermined direction and each crankshaft 46 is set in a predetermined direction around the crankshaft center O2. From this state, the torsional rigidity in the rotation direction when the carrier 14 rotates relative to the outer cylinder 12 around the axis O1 is shown by a solid line in FIG. The torsional stiffness changes periodically. This is because, for example, the weight of the carrier 14 around the axis O1 is different in the circumferential direction (for example, the difference in weight due to the presence or absence of the through holes 30c, 32b), the difference in the weight of the crankshaft 46 around the crankshaft O2, etc. caused by.

  5D, the second reference portion 58b is displaced about 30 degrees around the axis O1 from the state of FIG. 5A, and the third reference portion 58c is about the crank axis O2 with respect to the carrier 14. The state which became the rotated position is shown. For example, FIG. 5D can assume a state in which the assembly once assembled in the state of FIG.

  5C, the torsional rigidity when the carrier 14 is rotated from the state of FIG. 5A is indicated by a solid line, and the torsional rigidity when the carrier 14 is rotated from the state of FIG. Is shown. From this figure, the first arm 20 and the second arm 38 are connected and initialized in the state of FIG. 5A, and the first arm 20 and the second arm 38 in the state of FIG. 5D. Are connected to each other and are initially set, even if the second arm 38 with respect to the first arm 20 is in the same position, the torsional rigidity differs. For this reason, when the rotational alignment between the first arm 20, the second arm 38, the outer cylinder 12, the carrier 14, and the crankshaft 46 is not performed, the torsional rigidity changes at the initial setting position, and the teaching is performed. Fine adjustment by is required. Therefore, the variation in torsional rigidity is reduced by performing rotational phase alignment among the five parties. In this description, the variation in the torsional rigidity is explained by taking the variation in the direction of the carrier 14 with respect to the outer cylinder 12 as an example. However, the direction (eccentric direction) of the crankshaft 46 with respect to the outer cylinder 12 is different. The torsional rigidity also varies, and the variation of the torsional rigidity also occurs when the direction (eccentric direction) of the crankshaft 46 with respect to the carrier 14 is different. Therefore, the orientation is adjusted among the outer cylinder 12, the carrier 14 and the crankshaft 46. It will be necessary.

  Next, a method of assembling the crankshaft 46 in the eccentric oscillating gear device 10 will be briefly described. To assemble the crankshaft 46, first, the spur gear 44 is coupled, and the crankshaft 46 having the eccentric portions 46 a and 46 b is assembled to the carrier 14. In this assembling step, the temporary fixing pin 62 is inserted into the second reference portion 58b and the third reference portion 58c, and the direction around the axis of the crankshaft 46 with respect to the carrier 14 is set. At this time, the carrier 14 may be positioned with respect to the second arm 38 at the same time, or the carrier 14 may be positioned with respect to the second arm 38 later.

  Next, the carrier 14 is assembled to the outer cylinder 12. In this assembling step, the first reference portion 58a and the second reference portion 58b are used to set the direction around the axis of the carrier 14 with respect to the outer cylinder 12. At this time, the positional relationship between the first reference portion 58a and the second reference portion 58b may be set to be a predetermined positional relationship, or may be set using a bifurcated temporary fixing pin. As a result, the direction of the crankshaft 46 around the crank axis O2 is determined based on the direction of the axis O1 around the outer cylinder 12 and the carrier 14. Then, by using the pin 60 and the temporary fixing pin 62 and fastening the first arm 20 and the second arm 38, the orientation of the outer cylinder 12 with respect to the first arm 20 is determined, and the carrier 14 with respect to the second arm 38 is determined. The first arm 20 and the second arm 38 can be connected in a state where the direction is determined and the direction of the crankshaft 46 with respect to the outer cylinder 12 and the carrier 14 is determined.

  As described above, in this embodiment, the direction around the axis of the crankshaft 46 can be determined based on the direction around the axis of the outer cylinder 12 and the carrier 14. For this reason, when attaching the outer cylinder 12 and the carrier 14 to the first arm 20 and the second arm 38, the crank is connected to the first arm 20 and the second arm 38 via the direction of the outer cylinder 12 and the carrier 14. The orientation of the shaft 46 can be determined. Therefore, it is possible to prevent a change in the phase of torsional rigidity before the disassembly and in the rotational direction when disassembling after disassembling during maintenance or the like. Further, it is possible to prevent individual differences from occurring in the phase of torsional rigidity in the rotational direction between the gear devices 10.

  Further, in the present embodiment, when the crankshaft 46 is assembled, the crankshaft 46 is assembled so that the third reference portion 58c is in a predetermined position with respect to the first reference portion 58a and the second reference portion 58b. The crankshaft 46 can be assembled in a predetermined direction based on the direction around the axis of the cylinder 12 and the carrier 14.

  Further, in the present embodiment, when the crankshaft 46 is assembled, the carrier 14 can be obtained by inserting the temporary fixing pin 62 having a bifurcated or trifurcated configuration so as to straddle the second reference portion 58b and the third reference portion 58c. The direction of the crankshaft 46 relative to can be determined with certainty. And if the temporary fix pin 62 is removed after that, it can be set as the gear apparatus 10 assembled | attached to the carrier 14 in the state in which the direction of the crankshaft 46 matched the predetermined direction.

  Note that the present invention is not limited to the above-described embodiment, and various modifications and improvements can be made without departing from the spirit of the present invention. For example, the example in which the first reference portion 58a, the second reference portion 58b, and the third reference portion 58c are all configured by holes has been described, but the present invention is not limited to this. For example, at least one of the first reference portion 58a, the second reference portion 58b, and the third reference portion 58c may be configured by a mark that is identified from its periphery by a color, a protrusion, or a recess.

  In the above embodiment, the third reference portion 58c is provided in the spur gear 44. However, the present invention is not limited to this. For example, the third reference portion 58c may be provided in a place visible from the second arm 38 side, such as an end face of the crankshaft 46 on the second arm 38 side, or an end face of the crankshaft 46 on the first arm 20 side. It may be provided in a place visible from the first arm 20 side.

  In the above embodiment, the spur gear 44 is coupled to the end of the crankshaft 46. However, the spur gear 44 may be positioned between the first eccentric portion 46a and the second eccentric portion 46b. In this case, the third reference portion 58c is not limited to the one main surface 44a of the spur gear 44, and may be provided on the end surface of the crankshaft 46 or the end surface of the second eccentric portion 46b.

  Moreover, in the said embodiment, although it was set as the structure provided in the circumferential direction at equal intervals when the crankshaft 46 shifted | deviated from the axial center O1 of the outer cylinder 12, it is not restricted to this. For example, a so-called center crank type configuration in which one crankshaft 46 is disposed concentrically with the outer cylinder 12 and the carrier 14 may be employed. In the center crank system, the crankshaft 46 is directly connected to the input shaft, and the spur gear 44 is omitted. In this case, the third reference portion 58 c may be formed on the tip surface of the crankshaft 46.

  In the embodiment, when the rotational phase of the gear device 10 is adjusted, the second reference portion 58b provided on the carrier 14, the third reference portion 58c provided on the spur gear 44, and the pin hole provided on the second arm 38 are provided. Although the temporary fixing pin 62 is inserted into the second arm 38b, the rotational phase of the gear device 10 may be adjusted before the second arm 38 is assembled. For example, the temporary fixing pin 62 is inserted into the second reference portion 58b and the third reference portion 58c from one end side (the left end side in FIG. 1) of the gear device 10 to match the rotational phases of the carrier 14 and the crankshaft 46. In this state, the gear device 10 is assembled to the first arm 20 by using the first reference portion 58a so as to match the rotational phase. Next, by attaching the motor 22 to the first arm 20 from the other end side (the right end side in FIG. 1) of the gear unit 10 and engaging the drive gear 42 and the spur gear 44 of the input shaft 16 to apply power to the motor. The reference rotation phase is recognized and fixed by a servo lock or a brake attached to the motor. Next, the temporary fixing pin is removed from the gear device. At this time, even if the temporary fixing pin is removed, the carrier 14 and the crankshaft 46 do not rotate due to, for example, servo lock. Finally, the gear device 10 may be attached to the second arm 38 by aligning the positions of the second arm 38 and the first arm 20.

  Moreover, although the said embodiment demonstrated the structure in which the external tooth 12 is provided in the outer cylinder 12, and external gear 48a, 48b is provided, it is not restricted to this. In other words, the carrier may be provided with external teeth and an internal gear may be provided. Such a gear device is disclosed in, for example, Japanese Patent Application Laid-Open No. 2000-65158. That is, the carrier as the second cylinder part has a portion located on the radially inner side of the outer cylinder as the first cylinder part and is disposed coaxially with the outer cylinder. External teeth are provided on the outer peripheral surface of the carrier at a position radially inside the outer cylinder. In addition, the tooth | gear part is not provided in the internal peripheral surface of an outer cylinder. An annular gear member having inner teeth meshing with the outer teeth of the carrier is disposed between the carrier and the outer cylinder, and an eccentric portion of the crankshaft is fitted into the gear member. A through hole is formed. The crankshaft rotates by receiving a rotational force directly from the input shaft or via a spur gear. A plurality of crankshafts are provided in the circumferential direction and are rotatably supported by the outer cylinder, and the gear member is swung by the rotation of the crankshaft. Thereby, the carrier having the external teeth meshing with the internal teeth of the gear member rotates. And the 2nd arm couple | bonded with the carrier can be rotated relatively with respect to the 1st arm couple | bonded with the outer cylinder. Also in this embodiment, the outer cylinder is formed with a first reference portion (for example, a hole) for setting the direction around the axis of the outer cylinder with respect to the first arm, and the carrier axis with respect to the second arm is formed on the carrier. A second reference portion (for example, a hole) for setting the direction around the center is formed. Further, the crankshaft or the spur gear is formed with a third reference portion (for example, a hole) for setting the direction of the crankshaft.

  In the embodiment, the outer cylinder is an example of the first cylinder part and the carrier is an example of the second cylinder part. However, the carrier is configured as an example of the first cylinder part, and the outer cylinder is an example of the second cylinder part. You may comprise a pipe | tube.

12 outer cylinder 14 carrier 24 internal teeth 30 end plate portion 32 substrate portion 46 crankshaft 46a first eccentric portion 46b second eccentric portion 48a first external gear 48b second external gear 48e third through hole 58 rotational phase adjusting means 58a First reference part 58b Second reference part 58c Third reference part

Claims (8)

A gear device that transmits power by converting a rotational speed between a first member and a second member at a predetermined rotational speed ratio,
A crankshaft having an eccentric portion;
A gear member having a through-hole into which the eccentric portion is inserted and having a tooth portion;
A first cylindrical portion configured to be attachable to one of the first member and the second member;
A second cylindrical portion configured to be attachable to the other of the first member and the second member,
One of the first tube portion and the second tube portion rotatably supports the crankshaft, and the other of the first tube portion and the second tube portion has a tooth portion that meshes with a tooth portion of the gear member. And
The first tube portion and the second tube portion are rotatable relative to each other concentrically by swinging of the gear member accompanying rotation of the crankshaft,
An eccentric oscillating gear device provided with rotational phase adjusting means for determining the direction of the crankshaft around the axis with reference to the orientation of the first cylinder and the second cylinder around the axis.   The rotational phase adjusting means includes a first reference portion provided at a predetermined position shifted from the axial center in the first cylindrical portion, and a second reference provided at a predetermined position shifted from the axial center in the second cylindrical portion. 2. The eccentric oscillating gear device according to claim 1, further comprising: a third reference portion provided at a predetermined position shifted from the crankshaft center in the crankshaft or a spur gear coupled to the crankshaft.   The eccentric oscillating gear device according to claim 2, wherein each of the second reference portion and the third reference portion is formed by a hole.   4. The eccentric oscillating gear device according to claim 1, wherein one crankshaft is provided and is arranged concentrically with the first cylinder part or the second cylinder part. 5.   The eccentric swing according to any one of claims 1 to 3, wherein a plurality of the crankshafts are provided and are arranged at equal intervals around the axis of the first cylinder part or the second cylinder part. Mold gear device.   One of the first tube portion and the second tube portion is a carrier, the other of the first tube portion and the second tube portion is an outer tube having internal teeth, and the gear member is formed of the outer tube. The eccentric oscillating gear device according to any one of claims 1 to 5, wherein the gear is an external gear meshing with an internal tooth.   One of the first tube portion and the second tube portion is an outer tube, the other of the first tube portion and the second tube portion is a carrier having external teeth, and the gear member is disposed outside the carrier. The eccentric oscillating gear device according to any one of claims 1 to 5, wherein the gear device is an internal gear that meshes with teeth. A method of assembling a crankshaft in an eccentric oscillating gear device that converts the rotational speed between a first member and a second member at a predetermined rotational speed ratio and transmits the rotational speed.
Assembling a crankshaft having an eccentric portion to a gear member;
Assembling the crankshaft into one of the first tube portion and the second tube portion;
Assembling the gear member to the other of the first cylinder part and the second cylinder part having tooth parts;
Combining the first tube portion and the second tube portion with each other,
When the crankshaft is assembled to one of the first tube portion and the second tube portion, the rotation phase adjusting means sets the direction around the axis of the crankshaft with respect to one of the first tube portion and the second tube portion. Then, when the first tube portion and the second tube portion are combined with each other, an eccentric oscillating type that sets a direction around the axis of the second tube portion with respect to the first tube portion by a rotation phase adjusting means. Assembling method of crankshaft in gear device.

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