JP2014020472A - Eccentric oscillation type gear device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an eccentric oscillation type gear device which reduces a material cost, maintains the coaxial accuracy of a pair of attachment holes for allowing the crank shafts to be attached thereto and can suppress the deterioration of lives of tools.SOLUTION: In an eccentric oscillation type gear device 1, a portion of one edge part side of a crank shaft 3 is attached to a first attachment hole 5b via a first crank bearing part 63 and a portion of the other edge part side of the crank shaft part 3 is attached to a second attachment hole 5d via a second crank bearing part 64. A first edge plate part 51 includes a bearing support part 51b which constitutes at least a part of the first attachment hole 5b and allows a first crank bearing part 63 to be attached thereto and an edge plate part body 51a as portion other than the bearing support part 51b. The bearing support part 51b is formed with the same material as a second edge plate part 52, and the edge plate part body 51a is formed with a different kind material from the second edge plate part 52.

Description

  The present invention relates to an eccentric oscillating gear device.

  Conventionally, an eccentric oscillating gear device that relatively rotates an outer cylinder and a carrier by oscillating and rotating an oscillating gear (external gear) in conjunction with rotation of an eccentric portion provided on a crankshaft. Is known (for example, Patent Document 1). In this gear device, the carrier has a first end plate portion and a second end plate portion provided so as to sandwich the swing gear. The crankshaft is supported by a first crank bearing portion provided in the first mounting hole of the first end plate portion and a second crank bearing portion provided in the second mounting hole of the second end plate portion. ing.

  Each of the first mounting hole and the second mounting hole has a circular cross-sectional shape orthogonal to the axial direction, and the centers of these circles are located on the same straight line extending in the axial direction from the viewpoint of the life of the gear device. It is preferable. That is, it is preferable that the axis passing through the center of the first mounting hole and the axis passing through the center of the second mounting hole coincide as much as possible (coaxial).

  In order to increase the coaxial accuracy of the first mounting hole and the second mounting hole, the first and second mounting holes are drilled in a state where the first and second end plate portions are fixed to each other. A method of simultaneously forming (simultaneous processing) is considered.

JP 2009-287631 A

  In general, the first end plate portion and the second end plate portion are formed of the same kind of material. However, the first end plate portion and the second end plate portion may be formed of different materials. For example, the case where the raceway surface of the bearing part which supports a carrier so that relative rotation with respect to an outer cylinder is provided in the outer peripheral part of one end plate part is mentioned. In this case, the one end plate portion is preferably formed of a material having high hardness, but the other end plate portion is not necessarily formed of the same kind of material as the one end end portion. It may be formed of an inexpensive different material.

  However, when the first end plate portion is formed of a material different from that of the second end plate portion, if the above simultaneous processing is performed, it is not always possible to perform the processing under conditions suitable for both members.

  An object of the present invention is to enable both the first end plate portion and the second end plate portion to be processed under appropriate conditions when simultaneously processing the first end plate portion and the second end plate portion. .

  The eccentric oscillating gear device of the present invention has an outer cylinder provided with internal teeth, an eccentric part, a crankshaft provided rotatably around the axis in the outer cylinder, and the eccentric part inserted A oscillating gear that has outer teeth and outer teeth, and the outer teeth oscillate in conjunction with the eccentric rotation of the eccentric portion while meshing with the inner teeth, and the oscillating gear from both sides in the axial direction. A carrier that includes a first end plate portion and a second end plate portion that are disposed so as to sandwich the dynamic gear, and that rotates relative to the outer cylinder by transmitting the swing rotation of the swing gear; Is provided.

  The part on the one end part side of the crankshaft is attached to a first attachment hole provided in the first end plate part via a first crank bearing part, and the part on the other end part side of the crankshaft is It is attached to a second attachment hole provided in the second end plate part via a second crank bearing part. The first end plate portion includes a bearing support portion and an end plate portion main body. The bearing support portion constitutes at least a part of the first attachment hole, and the first crank bearing portion is attached thereto. The bearing support portion is attached to the end plate portion main body. The bearing support portion is made of the same material as that of the second end plate portion, and the end plate portion main body is made of a material different from that of the second end plate portion.

  In this configuration, the first end plate portion includes an end plate portion main body and a bearing support portion, and this bearing support portion constitutes at least a part of the first mounting hole and functions as a mounting portion of the first crank bearing portion. . Since this bearing support portion is formed of the same material as that of the second end plate portion, when the first mounting hole and the second mounting hole are formed simultaneously, the bearings in which these mounting holes are formed are formed. Processing can be performed under conditions suitable for both the support portion and the second end plate portion.

  In the eccentric oscillating gear device, when the bearing support portion is formed of the same material as that of the second end plate portion, it is possible to optimize machining conditions during simultaneous machining.

  In the eccentric oscillating gear device, it is preferable that the bearing support portion has a cylindrical shape that is open on both sides in the axial direction. Such a cylindrical bearing support can be manufactured at low cost.

  In the eccentric oscillating gear device, the bearing support portion is fixed to the end plate portion main body and extends in the axial direction, and is connected to the cylindrical portion. The crankshaft and the first crank bearing The structure which has a bottom part located in an axial direction outer side from a part may be sufficient.

  In this configuration, since the bottom portion closes the opening of the first mounting hole on the axially outer side than the crankshaft and the first crank bearing portion, the inner side and the outer side of the bottom portion can be partitioned. Can be prevented from going back and forth between the inside and the outside of the bottom. In this case, it is preferable that a seal member such as a sealant or an O-ring is disposed between the bearing support portion and the end plate main body.

  In the eccentric oscillating gear device, the outer peripheral portion of the second end plate portion is provided with a raceway surface on which rolling elements of a main bearing portion that supports the carrier so as to be relatively rotatable with respect to the outer cylinder are disposed. The form currently performed can be illustrated.

  In this configuration, the second end plate portion having the raceway surface on which the rolling elements are arranged needs to be formed of a material having high hardness, while the first end plate portion is not necessarily the same material as the second end end portion. For example, it may be formed of a less expensive dissimilar material. Thereby, cost reduction can be aimed at.

  Furthermore, in the eccentric oscillating gear device, the main bearing portion is provided between the second end plate portion and the outer cylinder, and between the first end plate portion and the outer cylinder. Can be exemplified by a configuration in which the main bearing portion is not provided.

  In this configuration, further cost reduction can be achieved by omitting the main bearing portion on the first end plate portion side.

  As described above, according to the present invention, it is possible to reduce the material cost, maintain the coaxial accuracy of the pair of mounting holes to which the crankshaft is mounted, and suppress the decrease in the tool life.

It is sectional drawing which shows the eccentric rocking | fluctuation type gear apparatus which concerns on one Embodiment of this invention. It is the II-II sectional view taken on the line in FIG. It is sectional drawing to which the principal part of FIG. 1 was expanded. The modification 1 of the said eccentric rocking | fluctuation type gear apparatus is shown, and it is sectional drawing to which the principal part was expanded. It is sectional drawing which shows the modification 2 of the said eccentric rocking | fluctuation type gear apparatus.

  Hereinafter, an eccentric oscillating gear device 1 according to an embodiment of the present invention will be described in detail with reference to the drawings. The gear device 1 is applied as a speed reducer to, for example, a revolving part such as a revolving trunk or arm joint of a robot, or a revolving part of various machine tools.

  As shown in FIGS. 1 and 2, the gear device 1 according to the present embodiment includes an outer cylinder 2, a crankshaft 3, a swing gear (external gear) 4, and a carrier 5. The gear device 1 is an eccentric swing that relatively rotates the outer cylinder 2 and the carrier 5 by swinging and rotating the swing gear 4 in conjunction with the rotation of the eccentric portion 30 provided on the crankshaft 3. A gear device of the type. The gear device 1 is configured to obtain an output rotation decelerated from an input rotation by swinging and rotating the swing gear 4 in conjunction with the eccentric portion 30 of the crankshaft 3.

  As shown in FIG. 1, the outer cylinder 2 constitutes the outer surface of the gear device 1 and has a substantially cylindrical shape. A large number of pin grooves 21 are formed on the inner peripheral surface of the outer cylinder 2. Each pin groove 21 extends in the axial direction of the outer cylinder 2 and has a semicircular cross-sectional shape in a cross section orthogonal to the axial direction. These pin grooves 21 are arranged at equal intervals in the circumferential direction on the inner peripheral surface of the outer cylinder 2. An internal tooth pin 22 is fitted in each pin groove 21.

  Each internal tooth pin 22 has a cylindrical shape and is arranged in a posture extending in the axial direction of the outer cylinder 2 in the corresponding pin groove 21. In the pin groove 21, each internal tooth pin 22 can rotate around its axis. The oscillating gear 4 meshes with these internal tooth pins 22.

  The carrier 5 is arranged on the radially inner side of the outer cylinder 2 in a state of being coaxially arranged with the outer cylinder 2. The carrier 5 rotates relative to the outer cylinder 2 around the same axis. Specifically, the carrier 5 is configured to be rotatable relative to the outer cylinder 2 by the main bearing portion 61.

  In a general gear device, the carrier is configured to be relatively rotatable with respect to the outer cylinder by a pair of main bearing portions (not shown) provided apart from each other in the axial direction. Is configured to be rotatable relative to the outer cylinder 2 by a single main bearing portion 61. Therefore, as the main bearing portion 61 used in the present embodiment, a bearing structure that can withstand a load from the carrier 5 and the outer cylinder 2 with one bearing portion, that is, a bearing structure that can withstand a large load with one bearing portion. It is preferable to employ a bearing structure. Specifically, as the main bearing portion 61, for example, a bearing structure such as a four-point contact ball bearing or a cross roller bearing can be employed. In this embodiment shown in FIG. 1, a four-point contact ball bearing structure is adopted as the main bearing portion 61.

  The main bearing portion 61 includes an outer ring portion 61b and rolling elements 61c. On the outer peripheral portion of the second end plate portion 52, an inner ring portion 61a in which the rolling elements 61c of the main bearing portion 61 that supports the carrier 5 so as to be rotatable relative to the outer cylinder 2 is provided. The inner ring part 61a has a raceway surface (race surface) on which the rolling elements 61c are arranged. The rolling element 61 c is disposed between the inner ring part 61 a of the second end plate part 52 and the outer ring part 61 b of the main bearing part 61. The outer ring portion 61 b is fixed to the inner peripheral surface of the outer cylinder 2.

  In the present embodiment that employs a bearing structure of a four-point contact ball bearing, the outer ring portion 61b is divided into two parts, but is not limited to this. The outer ring portion 61b may not have a divided structure.

  The carrier 5 includes a base portion 50 and a second end plate portion 52. The base portion 50 includes a first end plate portion 51 and at least one shaft portion 53. In the present embodiment, a plurality of shaft portions 53 are provided as shown in FIG.

  The first end plate portion 51 includes an end plate portion main body 51a and a bearing support portion 51b. The bearing support portion 51 b is a member provided at a portion to which the first crank bearing portion 63 that supports the crankshaft 3 is attached as will be described later, and the end plate portion main body 51 a is a bearing support of the first end plate portion 51. It is a part other than the part 51b. The purpose and function of the bearing support 51b will be described later.

  The first end plate portion 51 is arranged on the one end side in the axial direction of the outer cylinder 2. A circular through hole 5 a is provided at the radial center of the first end plate 51. Around the through hole 5a, a plurality of first mounting holes 5b are provided at equal intervals in the circumferential direction.

  The second end plate portion 52 is provided to be separated from the first end plate portion 51 in the axial direction, and is disposed on the other axial end side of the outer cylinder 2. A through hole 5 c is provided in the radial center of the second end plate portion 52. Around the through hole 5c, a plurality of second mounting holes 5d are provided at positions corresponding to the plurality of first mounting holes 5b of the first end plate portion 51 in the axial direction. In the outer cylinder 2, a closed space surrounded by both inner surfaces of the second end plate portion 52 and the first end plate portion 51 facing each other and the inner peripheral surface of the outer cylinder 2 is formed.

  The plurality of shaft portions 53 are provided integrally with the first end plate portion 51 and linearly extend from the first end plate portion 51 to the second end plate portion 52 side. The plurality of shaft portions 53 are arranged at equal intervals in the circumferential direction (see FIG. 2). Each shaft portion 53 is fastened to the second end plate portion 52 by a bolt 5e as a fixing means (see FIG. 1). Thereby, the base 50 and the 2nd end plate part 52 are integrated. In the vicinity of the bolt 5e, a positioning pin 5f for positioning the base portion 50 and the second end plate portion 52 is provided. Note that the shaft portion 53 is not necessarily formed integrally with the first end plate portion 51, and may be a separate body from the first end plate portion 51. Further, the shaft portion 53 may be formed integrally with the second end plate portion 52.

  The plurality of crankshafts 3 are arranged at equal intervals around the axis of the outer cylinder 2 in the outer cylinder 2 (see FIG. 2). Each crankshaft 3 is attached to the corresponding first attachment hole 5b of the first end plate portion 51 and second attachment hole 5d of the second end plate portion 52 (see FIG. 1).

  A portion on one end side of each crankshaft 3 is mounted in the first mounting hole 5 b of the first end plate portion 51 via the first crank bearing portion 63. A portion on the other end side of each crankshaft 3 is mounted in the second mounting hole 5d of the second end plate portion 52 via the second crank bearing portion 64. Accordingly, each crankshaft 3 is supported by the pair of crank bearing portions 63 and 64 so as to be rotatable about the axis with respect to the carrier 5.

  Each crankshaft 3 has an eccentric portion 30. The eccentric portion 30 is provided between the portions supported by the pair of crank bearing portions 63 and 64. In the present embodiment, the eccentric portion 30 includes a plurality of eccentric portions 31 and 32. Specifically, the eccentric part 30 includes a first eccentric part 31 and a second eccentric part 32 arranged side by side in the axial direction.

  The first eccentric portion 31 and the second eccentric portion 32 each have a substantially cylindrical shape. The first eccentric part 31 and the second eccentric part 32 are each eccentric from the axial center of the crankshaft 3 by a predetermined amount of eccentricity, and are arranged so as to have a phase difference of a predetermined angle. A transmission gear 81 is attached to the other end of the crankshaft 3.

  External teeth are provided on the outer peripheral surface of the transmission gear 81, and an input gear provided on the outer peripheral surface of the input shaft (not shown) meshes with the external teeth. This input shaft is rotated by a motor (not shown). The input shaft is inserted into, for example, the through hole 5 c of the second end plate portion 52 and the through hole 5 a of the first end plate portion 51. The input shaft is arranged such that its axis coincides with the axis of the outer cylinder 2 and the carrier 5.

  The oscillating gear 4 is disposed in the closed space in the outer cylinder 2. The swing gear 4 is provided at a position sandwiched between the first end plate portion 51 and the second end plate portion 52 from both sides in the axial direction. In the present embodiment, the oscillating gear 4 includes the first oscillating gear 41 and the second oscillating gear 42, but is not limited thereto. The oscillating gear 4 may be constituted by a single oscillating gear. In this case, the eccentric portion 30 is also constituted by a single eccentric portion.

  As shown in FIG. 1, the first oscillating gear 41 is attached to the first eccentric portion 31 of each crankshaft 3 via a bearing portion (not shown) such as a roller bearing. When each crankshaft 3 rotates and the first eccentric portion 31 rotates eccentrically, the first swing gear 41 swings and rotates while meshing with the internal tooth pin 22 in conjunction with the eccentric rotation.

  The first swing gear 41 has a size slightly smaller than the inner diameter of the outer cylinder 2. The first oscillating gear 41 includes first external teeth 41a, a central portion through hole 41b, a plurality of eccentric portion insertion holes 41c, and a plurality of shaft portion insertion holes 41d.

  The first external teeth 41 a are provided on the outer peripheral surface of the first swing gear 41. The tooth surface of the first external teeth 41a has a wave shape that is smoothly continuous over the entire circumferential direction in a cross section orthogonal to the axial direction. The number of teeth of the first external teeth 41 a is set slightly smaller than the number of internal tooth pins 22. In the present embodiment, the number of teeth of the first external teeth 41 a is set to be one less than the number of internal tooth pins 22.

  The central portion through hole 41 b is provided in the central portion in the radial direction of the first oscillating gear 41. The input shaft can be inserted into the central through hole 41b.

  The plurality of eccentric portion insertion holes 41 c are provided at equal intervals in the circumferential direction around the central portion through hole 41 b in the first swing gear 41. The first eccentric portion 31 of each crankshaft 3 is inserted into each eccentric portion insertion hole 41c with a not-illustrated bearing portion such as a roller bearing interposed therebetween.

  The plurality of shaft portion insertion holes 41 d are provided at equal intervals in the circumferential direction around the central portion through hole 41 b in the first swing gear 41. Each shaft portion insertion hole 41d is disposed at a position between the plurality of eccentric portion insertion holes 41c in the circumferential direction. A corresponding shaft portion 53 is inserted in each shaft portion insertion hole 41d with play.

  The second oscillating gear 42 is disposed in the closed space in the outer cylinder 2 and is attached to the second eccentric portion 32 of each crankshaft 3 via a bearing portion (not shown) such as a roller bearing. Yes. The first oscillating gear 41 and the second oscillating gear 42 are provided side by side in the axial direction corresponding to the arrangement of the first eccentric portion 31 and the second eccentric portion 32. When each crankshaft 3 rotates and the second eccentric portion 32 rotates eccentrically, the second swing gear 42 swings and rotates while meshing with the internal tooth pin 22 in conjunction with the eccentric rotation.

  The second oscillating gear 42 has a size slightly smaller than the inner diameter of the outer cylinder 2. The second oscillating gear 42 includes second external teeth 42a, a central through hole 42b, a plurality of eccentric part insertion holes 42c, and a plurality of shaft part insertion holes 42d. These have the same structure as the first external teeth 41a, the central through hole 41b, the plurality of eccentric portion insertion holes 41c, and the plurality of shaft portion insertion holes 41d of the first oscillating gear 41. The second eccentric portion 32 of the crankshaft 3 is inserted into each eccentric portion insertion hole 42c with a not-illustrated bearing portion such as a roller bearing interposed therebetween.

  Each transmission gear 81 transmits the rotation of the input gear provided on the outer peripheral surface of the input shaft to the corresponding crankshaft 3. Each transmission gear 81 is externally fitted to the end of the corresponding crankshaft 3. Each transmission gear 81 rotates integrally with the crankshaft 3 about the same axis as the rotation shaft of the crankshaft 3.

  Next, the bearing support portion 51b of the first end plate portion 51 will be described with reference to FIGS. The purpose and function of the bearing support 51b are as follows.

  In the present embodiment, as described above, the carrier 5 is constituted by the base 50 and the second end plate 52 instead of one member, and the base 50 and the second end plate 52 are integrated by the bolt 5e. ing. Furthermore, in this embodiment, the carrier 5 is supported by the main bearing portion 61 so as to be rotatable with respect to the outer cylinder 2. The main bearing portion 61 is provided between the outer peripheral portion of the second end plate portion 52 and the outer cylinder 2, but the bearing portion is provided between the first end plate portion 51 and the outer cylinder 2. Absent. That is, in the present embodiment, the main bearing portion 61 is provided only on the second end plate portion 52 side of the first end plate portion 51 and the second end plate portion 52.

  In the present embodiment employing such a configuration, the material of the second end plate portion 52 having the raceway (race surface) on which the rolling elements 61 c of the main bearing portion 61 are disposed is the load received from the main bearing portion 61. Physical properties that can withstand For this reason, for example, a material having high hardness is used as the material of the second end plate portion 52. Specifically, as the material of the second end plate portion 52, for example, carbon steel (S55C), bearing steel (SUJ), or the like can be used. These materials are relatively expensive materials. The material of the second end plate portion 52 is not limited to carbon steel (S55C) and bearing steel (SUJ), and other materials having physical properties that can withstand the load received from the main bearing portion 61 can also be used. On the other hand, as the material of the base portion 50 where the main bearing portion is not provided between the outer cylinder 2 and the second end plate portion 52, the physical properties are not necessarily required.

  Therefore, in the present embodiment, as described above, the main bearing portion 61 is provided only on the second end plate portion 52 side of the base portion 50 and the second end plate portion 52 and is not provided on the first end plate portion 51 side. The cost is reduced by this, and as will be described later, by forming the portion (end plate portion main body 51a and shaft portion 53) occupying most of the base portion 50 from a material different from the second end plate portion 52, The cost is further reduced.

  That is, as the material of the base 50 where the main bearing portion is not provided between the outer cylinder 2 and a material having a lower hardness than materials such as carbon steel (S55C) and bearing steel (SUJ), it is also possible to use. is there. Specifically, for example, cast iron such as ductile cast iron (FCD) can be used as such a material. By using such cast iron, the base 50 (specifically, an end plate portion main body 51a and a shaft portion 53 described later) can be formed by casting. Therefore, compared with the case where the same material as the second end plate portion 52 (for example, a material such as carbon steel (S55C) or bearing steel (SUJ)) is used as the material of the base portion 50, the cost for manufacturing the base portion 50 is reduced. be able to. The material is not limited to cast iron, and other materials can be used as long as the cost can be reduced as compared with the case where the same material as the second end plate portion 52 is used.

  Incidentally, as described above, each crankshaft 3 includes the first crank bearing portion 63 provided in the first mounting hole 5b of the first end plate portion 51 and the second mounting hole 5d of the second end plate portion 52. It is supported by a second crank bearing portion 64 provided inside. Each of the first mounting hole 5b and the second mounting hole 5d has a circular cross-sectional shape orthogonal to the axial direction (see FIG. 2), and the center of these circles is the axial direction from the viewpoint of the life of the gear device 1. Are preferably located on the same straight line extending to That is, it is preferable that the axis passing through the center of the first mounting hole 5b and the axis passing through the center of the second mounting hole 5d coincide as much as possible (coaxial).

  In order to improve the coaxial accuracy of the first mounting hole 5b and the second mounting hole 5d, the first mounting hole 5b is formed by drilling in a state where the base 50 and the second end plate part 52 are integrated by the bolt 5e. It is preferable to form (simultaneously process) the second mounting holes 5d at the same time.

  However, when the base portion 50 is formed of a material different from that of the second end plate portion 52, the simultaneous processing as described above causes a problem that the life of the tool used for the processing is reduced. That is, it is preferable that a tool suitable for the material is selected and used under processing conditions (tool feed amount, processing time, etc.) suitable for the material. Therefore, if a tool suitable for either the material of the base 50 or the material of the second end plate 52 is selected and the tool is used under any suitable machining conditions, the tool life may be reduced. . Further, for example, when cast iron is used as the material of the base 50 and a tool suitable for the material of the second end plate portion 52 is selected, there may be a nest in the casting. A crack may occur in the base 50 during processing.

  Therefore, in the present embodiment, while reducing the cost as described above, the coaxial accuracy of the first mounting hole 5b and the second mounting hole 5d is maintained to suppress a reduction in the life of the gear device 1, and further the tool life. The bearing support portion 51b is provided for the purpose of suppressing problems such as lowering of the height and cracking of the base portion 50.

  As shown in an enlarged view in FIG. 3, the bearing support portion 51 b is a portion to which the first crank bearing portion 63 is attached. The bearing support part 51b comprises the 1st end plate part 51 with the end plate part main body 51a. The bearing support portion 51b is a member provided at a portion to which the first crank bearing portion 63 is attached, and the end plate portion main body 51a is a portion of the first end plate portion 51 other than the bearing support portion 51b, and is a bearing support. The part 51b is supported.

  The bearing support portion 51b in the present embodiment is a cylindrical member. The inner peripheral surface 5b2 of the bearing support portion 51b has a circular cross section perpendicular to the axial direction. The bearing support portion 51b is open on both sides in the axial direction, but is not limited to this, and one side in the axial direction may be closed as in the modification shown in FIG.

  At least a part of the first mounting hole 5b of the first end plate portion 51 is configured by a bearing support portion 51b. In this embodiment, the 1st attachment hole 5b is comprised by the bearing support part 51b and a part of end plate part main body 51a. Specifically, a portion of the first mounting hole 5b on the second end plate portion 52 side is configured by a bearing support portion 51b, and a portion on the opposite side in the axial direction is a part of the end plate portion main body 51a, That is, it is constituted by a hole provided in the end plate portion main body 51a.

  In the present embodiment, the inner peripheral surface 5b1 of the hole of the end plate portion main body 51a is continuous with the inner peripheral surface 5b2 of the bearing support portion 51b without any step. That is, the inner diameter of the bearing support portion 51b and the inner diameter of the hole of the end plate main body 51a are the same.

  The inner peripheral surface 5b1 of the hole in the end plate portion main body 51a may be provided with a step difference from the inner peripheral surface 5b2 of the bearing support portion 51b. In particular, if the inner diameter (inner peripheral surface 5b1) of the hole in the end plate portion main body 51a is larger than the inner diameter (inner peripheral surface 5b2) of the hole in the bearing support portion 51b, the inner peripheral surface 5b2 of the bearing support portion 51b. It becomes easy to finish.

  That is, when the inner peripheral surface 5b2 of the bearing support portion 51b is positioned radially inward from the inner peripheral surface 5b1 of the end plate portion main body 51a, the tool is used when finishing the bearing support portion 51b with a tool. Can be prevented from coming into contact with the inner peripheral surface 5b1 of the end plate portion main body 51a.

  However, the form of the bearing support portion 51b is not limited to this. The inner diameter of the bearing support portion 51b may be larger or smaller than the inner diameter of the hole of the end plate portion main body 51a.

  The end plate portion main body 51a has an attachment portion 5g for attaching the bearing support portion 51b. In the present embodiment, the attachment portion 5g is a portion having an inner diameter larger than that of the hole of the end plate portion main body 51a, and is provided closer to the second end plate portion 52 than the hole of the end plate portion main body 51a. The mounting portion 5g includes an inner peripheral surface 5h that faces the outer peripheral surface of the bearing support portion 51b, and a locking surface 5i that faces one end surface in the axial direction of the bearing support portion 51b. The locking surface 5i is an annular portion that connects the inner peripheral surface 5h of the attachment portion 5g and the inner peripheral surface 5b1 of the hole of the end plate portion main body 51a.

  In this embodiment, the inner diameter of the mounting portion 5g is larger than the inner diameter of the hole of the end plate portion main body 51a by the same dimension as the thickness of the bearing support portion 51b. Thereby, the inner peripheral surface 5b2 and the inner peripheral surface 5b1 are continued in a state without a step.

  In the present embodiment, since one end surface of the bearing support portion 51b in the axial direction is in contact with the locking surface 5i of the mounting portion 5g, the bearing support portion 51b is accurately positioned with respect to the end plate portion main body 51a. The locking surface 5i is a force that the bearing support portion 51b receives from the tool when the tool is moved from the second end plate portion 52 side to the first end plate portion 51 side, for example, during the above-described simultaneous processing. Is received on the locking surface 5i to serve as a stopper that prevents the relative position between the bearing support portion 51b and the end plate portion main body 51a from changing.

  In the present embodiment, the bearing support portion 51b is fixed to the attachment portion 5g by being press-fitted into the attachment portion 5g, but is not limited thereto. The bearing support portion 51b may be fixed to the attachment portion 5g by a method other than press fitting such as welding or adhesion.

  The outer ring portion 63b of the first crank bearing portion 63 is fixed to the inner peripheral surface 5b2 of the bearing support portion 51b, and the inner ring portion 63a of the first crank bearing portion 63 is fixed to the outer peripheral surface of one end portion of the crankshaft 3. Has been. A rolling element 63c of the first crank bearing portion 63 is disposed between the inner ring portion 63a and the outer ring portion 63b.

  Of the portion constituting the base portion 50, the portion excluding the bearing support portion 51 b (in this embodiment, the end plate portion main body 51 a and the shaft portion 53) is formed of a material different from the second end plate portion 52. In the present embodiment, the end plate portion main body 51a and the shaft portion 53 are formed of a material having a lower hardness than the material of the second end plate portion 52, specifically, cast iron such as, for example, ductile cast iron (FCD). Yes.

  On the other hand, the bearing support portion 51 b is made of the same material as the second end plate portion 52. In the present embodiment, the same type of material as that of the second end plate portion 52 includes a material that has higher hardness than the material of the end plate portion main body 51a and that can suppress a reduction in tool life during simultaneous machining. . Therefore, the material of the bearing support portion 51 b may not be the same material as that of the second end plate portion 52. Further, the same type of material as that of the second end plate portion 52 is preferably a material that can suppress cracking of the material during simultaneous processing as compared with a material such as cast iron.

  The bearing support portion 51b is preferably made of a high-hardness material comparable to the material of the second end plate portion 52 from the viewpoint of further enhancing the effect of suppressing tool life reduction and material cracking during simultaneous machining. In particular, the bearing support portion 51b is preferably formed of the same material as the second end plate portion 52 from the viewpoint of maximizing the effect of suppressing tool life reduction and material cracking during simultaneous machining. Specifically, the bearing support portion 51b is formed of a material such as carbon steel (S55C) or bearing steel (SUJ).

  As described above, in the present embodiment, by providing the bearing support portion 51b at the portion to which the first crank bearing portion 63 is attached, the second end plate portion 52 of the carrier 5 is made of a high-spec material (a high-cost material). The first mounting hole 5b and the second mounting hole 5d can be simultaneously formed (simultaneously processed) while the end plate portion main body 51a is formed of a material with low specifications (a material with low cost). Since the material according to the required specification can be selected, the material cost can be suppressed.

  In the present embodiment, before this simultaneous processing, a pilot hole is made in a corresponding part of the second end plate part 52, a pilot hole is made in a corresponding part of the end plate part body 51a, and a cylindrical bearing is formed. Since the support portion 51b is fixed to the mounting portion 5g, the above-described simultaneous processing corresponds to finishing of the first mounting hole 5b and the second mounting hole 5d.

  Next, the simultaneous machining process will be described. First, a lower hole is formed in a portion where the first mounting hole 5b is provided in the base portion 50, and a lower hole is formed in a portion where the second mounting hole 5d is provided in the second end plate portion 52. A mounting portion 5g is also formed in the lower hole of the base 50. Next, the bearing support portion 51b is attached to the attachment portion 5g by a method such as press fitting. Next, the base 50 and the second end plate 52 are integrated by a bolt 5e to form a temporary assembly.

  Next, using a drilling tool suitable for the material of the second end plate portion 52, the prepared hole in the temporary assembly is processed. This processing step may be a single step or a stepwise multiple step using a plurality of types of tools. Thereby, the first attachment hole 5b and the second attachment hole 5d in the temporary assembly are finished. The first mounting hole 5b does not need to be processed in the entire axial direction at the same time, and only the portion of the bearing support portion 51b may be processed at the same time.

  Next, the bolt 5e of the temporary assembly is temporarily removed, parts such as the outer cylinder 2, the crankshaft 3, the swinging gear 4, and the carrier 5 are assembled and fixed again by the bolt 5e, whereby the gear device 1 is completed.

  Next, the operation of the gear device 1 will be described. First, for example, rotation is input to the input shaft by driving a motor (not shown). The rotation of the input shaft is transmitted to each crankshaft 3 via each transmission gear 81. As each crankshaft 3 rotates, the first eccentric portion 31 and the second eccentric portion 32 of each crankshaft 3 rotate eccentrically. As a result, the first swing gear 41 swings and rotates while meshing with the internal tooth pin 22 in conjunction with the eccentric rotation of the first eccentric portion 31, and the second swing gear 41 in conjunction with the eccentric rotation of the second eccentric portion 32. The moving gear 42 swings and rotates while meshing with the internal tooth pin 22. The oscillating rotations of the first oscillating gear 41 and the second oscillating gear 42 are transmitted to the carrier 5 through the respective crankshafts 3, and the entire carrier 5 is rotated with respect to the outer cylinder 2 at a speed reduced from the input rotation. Relative rotation.

  As described above, in the gear device 1 according to the present embodiment, the first end plate portion 51 includes the end plate portion main body 51a and the bearing support portion 51b, and the bearing support portion 51b is at least the first mounting hole 5b. It constitutes a part and functions as an attachment site for the first crank bearing portion 63. Since the bearing support portion 51b is formed of the same material as the second end plate portion 52, the tool life is reduced when the first mounting hole 5b and the second mounting hole 5d are formed simultaneously. Can be suppressed. That is, the material cost can be reduced while maintaining the coaxial accuracy of the pair of mounting holes 5b and 5d by simultaneous processing. In addition, since the end plate portion main body 51a can be formed of a material different from that of the second end plate portion 52, for example, a material that is less expensive than the second end plate portion 52 can be selected to reduce the cost. it can.

  Moreover, in this embodiment, since the bearing support part 51b has the cylindrical shape which the both sides of an axial direction open, the bearing support part 51b can be produced cheaply.

  As mentioned above, although embodiment of this invention was described, this invention is not limited to these embodiment, A various change, improvement, etc. are possible in the range which does not deviate from the meaning.

  In the above embodiment, the bearing support portion 51b is configured by a cylindrical member and both axial sides are open. However, the present invention is not limited to this. As for the bearing support part 51b, one side of the axial direction may close like the modification 1 shown in FIG. 4, for example. As shown in FIG. 4, in the first modification, the bearing support portion 51b has a cylindrical portion 51b1 and a bottom portion 51b2. The bottom 51b2 is provided on the outer side in the axial direction than the crankshaft 3 and the first crank bearing portion 63. In the bearing support portion 51b, the cylindrical portion 51b1 functions to fix the bearing support portion 51b to the end plate portion main body 51a. On the other hand, the bottom 51b2 closes the opening of the first mounting hole 5b on the axially outer side than the crankshaft 3 and the first crank bearing 63, and functions to partition the inside and the outside of the bottom 51b2. Thereby, it can suppress that liquid (machine oil, water from the outside, etc.) goes back and forth between the inner side and the outer side of the bottom 51b2.

  In the said embodiment, although the case where the main bearing part 61 was provided only in the 2nd end plate part 52 side among the 1st end plate parts 51 and the 2nd end plate parts 52 was illustrated, it is not limited to this. For example, in Modification 2 shown in FIG. 5, the main bearing portion 61 is provided on the second end plate portion 52 side, and the main bearing portion 71 is provided on the first end plate portion 51 side. The main bearing portion 71 includes an inner ring portion 71a, an outer ring portion 71b, and a rolling element 71c disposed therebetween. The inner ring portion 71 a is fixed to the end plate portion main body 51 a of the first end plate portion 51, and the outer ring portion 71 b is fixed to the outer cylinder 2.

  Also in this modification 2, the bearing support part 51b comprises the 1st end plate part 51 with the end plate part main body 51a. The bearing support portion 51b is a member provided at a portion to which the first crank bearing portion 63 is attached, and is supported by the end plate portion main body 51a.

  Since the inner ring portion 71a of the main bearing portion 71 on the first end plate portion 51 side is separate from the end plate portion main body 51a of the first end plate portion 51, the material of the end plate portion main body 51a is not necessarily limited to the first. It is not necessary to use a material with high hardness such as the two-end plate portion 52, and a material such as cast iron as described above can be used.

  Moreover, in the said embodiment, although the case where the 1st attachment hole 5b was comprised by the bearing support part 51b and a part of end plate part main body 51a was illustrated, it is not limited to this. For example, in the first end plate portion 51, the bearing support portion 51b may be provided in the entire axial direction.

  Moreover, although the case where the some crankshaft was provided was illustrated in the said embodiment, the form provided in the center of the radial direction of the carrier 5 may be sufficient, for example.

  Further, either the carrier 5 or the outer cylinder 2 may be fixed. In other words, the carrier 5 may be fixed and the outer cylinder 2 may rotate relative to the carrier 5. The outer cylinder 2 may be fixed and the carrier 5 may rotate relative to the outer cylinder 2. Form may be sufficient.

DESCRIPTION OF SYMBOLS 1 Eccentric oscillating gear apparatus 2 Outer cylinder 3 Crankshaft 4 Oscillating gear 5 Carrier 5b First attachment hole 5d Second attachment hole 30 Eccentric part 31 First eccentric part 32 Second eccentric part 41 First oscillating gear 42 First 2 oscillating gears 50 base 51 first end plate 51a end plate main body 51b bearing support 51b1 cylindrical 51b2 bottom 52 second end plate 53 shaft 61 main bearing
63 1st crank bearing part 64 2nd crank bearing part

Claims (6)

An outer cylinder provided with inner teeth;
A crankshaft having an eccentric portion and provided so as to be rotatable about an axis in the outer cylinder;
A oscillating gear having a through hole into which the eccentric part is inserted and having external teeth, and oscillating and rotating in conjunction with the eccentric rotation of the eccentric part while the external teeth mesh with the internal teeth;
A first end plate portion and a second end plate portion disposed so as to sandwich the oscillating gear from both sides in the axial direction, and the oscillating rotation of the oscillating gear is transmitted to the outer cylinder. And a relative rotating carrier,
The part on the one end part side of the crankshaft is attached to a first attachment hole provided in the first end plate part via a first crank bearing part, and the part on the other end part side of the crankshaft is It is attached to the second attachment hole provided in the second end plate part via the second crank bearing part,
The first end plate portion includes at least a part of the first attachment hole and a bearing support portion to which the first crank bearing portion is attached, and an end plate portion main body to which the bearing support portion is attached. ,
The bearing support portion is made of the same material as the second end plate portion, and the end plate portion body is made of a material different from that of the second end plate portion. Gear device.   The eccentric oscillating gear device according to claim 1, wherein the bearing support portion is formed of the same material as the second end plate portion.   The eccentric oscillating gear device according to claim 1, wherein the bearing support portion has a cylindrical shape that is open on both sides in the axial direction. The bearing support is
A cylindrical portion fixed to the end plate portion main body and extending along the axial direction;
3. The eccentric oscillating gear device according to claim 1, further comprising a bottom portion connected to the cylindrical portion and positioned axially outside the crankshaft and the first crank bearing portion.   The outer peripheral part of the said 2nd end plate part is provided with the raceway surface by which the rolling element of the main bearing part which supports the said carrier so that relative rotation with respect to the said outer cylinder is arrange | positioned is arrange | positioned. The eccentric rocking | fluctuation type gear apparatus of any one of these. While the main bearing portion is provided between the second end plate portion and the outer cylinder, no main bearing portion is provided between the first end plate portion and the outer cylinder. The eccentric oscillating gear device according to claim 5.

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