JP2016161125A - Driving device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a driving device capable of extending a life of a crank shaft bearing of a swing gear device.SOLUTION: This invention relates to a driving device D1 including: a swing gear device 10 comprising a swing gear 12, a crank shaft 14 for swinging the swing gear and a carrier 31 supporting the crank shaft through a crank shaft bearing 35; and a mating member 42 connected to the carrier 31. The carrier has a first through-pass hole 51 where the crank shaft bearing is provided and a second though-pass hole 52 provided at a position displaced in a radial direction from the first through-pass hole. The mating member is fixed to an end surface 31E at a counter-swing gear of the carrier and a recess part 42A over the first through-pass hole and the second through-pass hole is formed on a fixing surface 42E for the carrier of the mating member.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a drive device.

  Patent Document 1 discloses a drive device including a swing gear device having a swing gear, a crank shaft that swings the swing gear, and a carrier that supports the crank shaft via a crank shaft bearing. Has been.

  The carrier of the oscillating gear device includes a first through hole in which the crankshaft bearing is disposed, and a second through hole that is disposed at a position shifted in the radial direction from the first through hole. The carrier is connected to a member of the driven device (a counterpart member for the swing gear device). Thereby, the drive device transmits the output of the swing gear device to the counterpart member.

Japanese Patent Laying-Open No. 2007-211194 (FIG. 1)

  In the drive device disclosed in Patent Document 1, when the carrier is connected to the mating member, the end of the first through hole in which the crankshaft bearing is disposed is closed by the mating member. It was. Therefore, there is a problem that the lubricant in the vicinity of the crankshaft bearing cannot be circulated satisfactorily, and the temperature of the lubricant rises and the life of the crankshaft bearing tends to be shortened.

  The present invention has been made to solve the above-described conventional problems, and an object thereof is to provide a drive device that can further extend the life of the crankshaft bearing of the swing gear device.

  The present invention relates to an oscillating gear device including an oscillating gear, a crankshaft that oscillates the oscillating gear, and a carrier that supports the crankshaft via a crankshaft bearing, and the carrier of the oscillating gear device. The carrier is coupled to the first through hole in which the crankshaft bearing is disposed, and the carrier is disposed at a position radially displaced from the first through hole. The counter member is attached to an end surface of the carrier on the counter-oscillating gear side, and the first through hole and the second hole are attached to an attachment surface of the counterpart member to the carrier. The above-described problem is solved by forming a concave portion extending over the through hole.

  In the present invention, the first through hole in which the crankshaft bearing is arranged and the second through hole arranged in a position shifted in the radial direction from the first through hole are formed on the mounting surface of the counterpart member to the carrier. A straddling recess is formed. For this reason, the lubricant can be moved between the first through hole and the second through hole through the recess formed in the counterpart member. Thereby, the circulation property of the lubricant in the vicinity of the crankshaft bearing can be further improved, and the life of the crankshaft bearing can be further extended.

  ADVANTAGE OF THE INVENTION According to this invention, the drive device which can extend the lifetime of the crankshaft bearing of a rocking gear apparatus can be obtained.

1 is an overall cross-sectional view illustrating a configuration of a drive device according to an example of an embodiment of the present invention. Sectional drawing which follows the arrow II-II line of the drive device of FIG. FIG. 1 is an enlarged cross-sectional view of a main part of the drive device of FIG. The principal part expanded sectional view equivalent to FIG. 3 which concerns on the example of other embodiment of this invention. The principal part expanded sectional view equivalent to FIG. 3 which concerns on the example of other embodiment of this invention.

  Hereinafter, a driving apparatus according to an example of an embodiment of the present invention will be described in detail with reference to the drawings.

  1 is an overall cross-sectional view showing a configuration of a drive device according to an example of an embodiment of the present invention, FIG. 2 is a cross-sectional view taken along the line II-II of the drive device in FIG. 1, and FIG. It is a principal part expanded sectional view of this drive device.

  The drive device D1 includes the oscillating gear device 10 and a counterpart member connected to a first carrier (carrier) 31 (to be described later) of the oscillating gear device 10 as constituent elements.

  First, the outline of the oscillating gear device 10 will be described.

  The oscillating gear device 10 is an eccentric oscillating type reduction device called a sorting type. The oscillating gear device 10 includes an external gear (oscillating gear) 12 and a crankshaft 14 that oscillates the external gear 12. The external gear 12 is in mesh with the internal gear 16 while swinging. The oscillating gear device 10 takes out the relative rotation of the external gear 12 and the internal gear 16 as an output.

  The oscillating gear device 10 includes a plurality of crankshaft gears 18 for driving the crankshaft 14 (three in this example: only one is shown in FIG. 1). Each crankshaft gear 18 meshes simultaneously with the input gear 13 provided on the input shaft 11. Each crankshaft gear 18 includes an inner spline 18A for connecting to the crankshaft 14 on the inner periphery.

  The crankshaft 14 includes an outer spline 14B connected to the inner spline 18A of the crankshaft gear 18 on the outer periphery of the end of the shaft body 14A. A plurality of crankshafts 14 are arranged at positions offset from the axis C16 of the internal gear 16 by R14. In this example, three crankshafts 14 (only one is shown in FIG. 1) are provided, and are arranged at intervals of 120 degrees in the circumferential direction.

  Each crankshaft 14 includes two eccentric bodies 14 </ b> C for swinging and rotating the external gear 12. Each eccentric body 14 </ b> C is formed of a cylinder having an axis C <b> 14 </ b> C that is eccentric with respect to the axis C <b> 14 of the crankshaft 14 by an eccentric amount e. The eccentric phase difference between the two eccentric bodies 14C is 180 degrees in this example (eccentric in directions away from each other). The three crankshafts 14 have the same configuration, and the eccentric phases of the eccentric bodies 14C at the same position in the axial direction of each crankshaft 14 are the same.

  An external gear 12 is incorporated on the outer periphery of the eccentric body 14 </ b> C via an eccentric body bearing 20. The external gear 12 is in mesh with the internal gear 16. The internal gear 16 has an internal gear main body 16A and an internal gear pin 16B. The internal gear main body 16A is integrated with the casing 17 of the oscillating gear device 10 and has a plurality of pin grooves 16C in the circumferential direction. The internal tooth pin 16B is composed of a cylindrical member. The internal tooth pin 16 </ b> B is rotatably incorporated in the pin groove 16 </ b> C of the internal gear main body 16 </ b> A and constitutes an internal tooth of the internal gear 16. The number of teeth of the internal gear 16 (the number of the internal tooth pins 16B) is slightly larger (only 1 in this example) than the number of teeth of the external gear 12.

  A first carrier (carrier) 31 and a second carrier 32 are arranged on both sides in the axial direction of the external gear 12. A carrier pin 33 protrudes integrally from the first carrier 31. The first carrier 31 and the second carrier 32 are connected by a connecting bolt 34 via a carrier pin 33. The integrated first carrier 31, carrier pin 33, and second carrier 32 constitute a carrier block Ca.

  The first and second carriers 31 and 32 support the crankshaft 14 via a pair of tapered roller bearings 35. The first and second carriers 31 and 32 are supported by the casing 17 via a pair of angular ball bearings 36.

  The external gear 12 has a central through hole 12C at the center in the radial direction and a carrier pin hole 12A at a position offset from the central through hole 12C. The carrier pin 33 passes through the carrier pin hole 12A in a non-contact manner (with a gap). An oil seal 37 is disposed between the casing 17 and the first carrier 31.

  In the present embodiment, a first arm (not shown) 38 of a robot (not shown) is connected to the casing 17 via a casing bolt 41. The first carrier 31 is connected to a second arm 42 (a mating member: the whole is not shown) 42 of the robot via a connecting bolt 40. Reference numeral 42 </ b> K is a bolt hole of the connecting bolt 40. As the casing 17 of the oscillating gear device 10 and the carrier block Ca including the first carrier 31 relatively rotate, the first arm 38 and the second arm 42 can be relatively rotated.

  Here, the configuration of the main part of the driving device D1 will be described in more detail.

  The drive device D1 includes the above-described swing gear device 10 and the second arm (counter member) 42 of the robot connected to the first carrier (carrier) 31 of the swing gear device 10 as components. .

  As described above, the oscillating gear device 10 includes an external gear (oscillating gear) 12, a crankshaft 14 that oscillates the external gear 12, and a tapered roller bearing (crankshaft bearing). ) 35 is provided through a first carrier 31. The first carrier 31 is connected to the second arm 42 via the connecting bolt 40.

  The first carrier 31 of the oscillating gear device 10 includes a first through hole 51 and a second through hole 52.

  The tapered roller bearing 35 that supports the crankshaft 14 is disposed in the first through hole 51 of the first carrier 31. The axis C51 of the first through hole 51 is concentric with the axis C14 of the crankshaft 14. The first through hole 51 is formed at a position offset by R14 from the axis C31 of the first carrier 31 in the radial direction. That is, the axis C51 of the first through hole 51 is separated from the axis C31 of the first carrier 31 by R51 (= R14) in the radial direction.

  The first through hole 51 passes through the first carrier 31 in the axial direction. A cross section perpendicular to the axis of the first through hole 51 is a circle having an inner diameter D51. Therefore, the distance S51A of the innermost part 51A of the first through hole 51 (the portion closest to the axis C31 of the first carrier 31; see FIG. 2) 51A from the axis C31 of the first carrier 31 is {R51− (D51 / 2)}.

  The second through hole 52 of the first carrier 31 is arranged at a position shifted from the first through hole 51 by R51 in the radial direction. Specifically, the axis C52 of the second through hole 52 is the same as the axis C31 of the first carrier 31, and is separated from the axis C51 of the first through hole 51 radially inward by R51.

  The second through hole 52 penetrates the first carrier 31 in the axial direction. The second through hole 52 includes a circular small diameter portion 52A and a circular large diameter portion 52B. Specifically, the axial direction external gear side of the second through hole 52 (the side where the tapered roller bearing 35 supporting the crankshaft 14 is disposed) is a small diameter portion 52A having a small inner diameter D52A. . As a result, a large thickness on the axial external gear side of the first carrier 31 is ensured, and the support strength of the tapered roller bearing 35 is increased. On the other hand, the axial direction anti-external gear side (the side where the tapered roller bearing 35 is not disposed) of the second through hole 52 is a large-diameter portion 52B having a large inner diameter D52B. Thereby, weight reduction and cost reduction are achieved. That is, the opening of the second through hole 52 on the side opposite to the external gear (the opening on the second arm 42 side) is configured by the opening of the large diameter portion 52B having the inner diameter D52B.

  The innermost portion 51A of the first through hole 51 and the outermost portion of the second through hole 52 (the portion farthest from the axis C31 of the first carrier 31: the same as the inner periphery of the second through hole 52) 52C are distances in the radial direction. It is separated by δ (51-52). Specifically, the radial separation distance δ (51-52) between the innermost 51A of the first through hole 51 and the outermost 52C of the second through hole 52 is {S51A- (D52B / 2)}. Equivalent to.

  The second carrier 32 is also formed with a through hole 32A at the same axial center position as the axial center C51 of the first through hole 51 of the first carrier 31 (see FIG. 1). The other of the pair of tapered roller bearings 35 is disposed in the through hole 32A and supports the other end side of the crankshaft 14. Further, the second carrier 32 has a through hole 32 </ b> B at the same axial center position as the axial center C <b> 52 of the second through hole 52. The through hole 32 </ b> B communicates the central through hole 12 </ b> C of the external gear 12 and the space P <b> 1 on the side opposite to the external gear of the second carrier 32.

  Further, the axial width of the external gear 12 in the vicinity of the central through hole 12C is smaller than the entire axial width of the eccentric body bearing 20, and the axial center and the eccentricity of the external gear 12 in the vicinity of the central through hole 12C. The axial center of the body bearing 20 is shifted. Further, the two external gears 12 in the vicinity of the central through hole 12C are arranged apart from each other in the axial direction (opposite with a gap). Thereby, the lubricant in the vicinity of the central through hole 12 </ b> C of the external gear 12 can easily move in the radial direction through the axial side portion of the external gear 12 to the eccentric body bearing 20 side of the crankshaft 14. I am doing so.

  On the other hand, the second arm 42, which is a mating member, includes an inlay portion 42 </ b> B that fits with the outer periphery (inlay portion) 31 </ b> B of the first carrier 31. The inlay portion 42B includes a protruding portion 42C that is formed to protrude from the outer peripheral end of the second arm 42 toward the first carrier 31 in the axial direction by L42C. The inner periphery of the protruding portion 42C constitutes the spigot portion 42B. The shape of the inner periphery of the protruding portion 42C viewed from the axial direction (the shape of the spigot portion 42B viewed from the axial direction) is circular. The second arm 42 is attached to the end surface 31E of the first carrier 31 on the side opposite to the external gear via the connecting bolt 40 with the spigot portion 42B fitted on the outer periphery 31B of the first carrier 31.

  On the attachment surface 42 </ b> E of the second arm 42 to the first carrier 31, a recess 42 </ b> A is formed so as to straddle the first through hole 51 and the second through hole 52. In the present embodiment, the recess 42 </ b> A extends over all of the three first through holes 51 and the second through holes 52. In the present embodiment, the recess 42A is a circular recess having an axial center C42A concentric with the spigot part 42B. The axis C42A of the recess 42A is also concentric with the axis C31 of the first carrier 31. The radius of the recess 42A is r42A, the inner diameter is D42A, and the depth is H42A.

  The radius r42A of the recess 42A is larger than the separation distance S51A of the innermost 51A of the first through hole 51 from the axis C31 of the first carrier 31. Further, the inner diameter D42A of the concave portion 42A is larger than the inner diameter D52B of the large diameter portion 52B of the second through hole 52.

  Therefore, the recess 42A overlaps with the entire second through hole 52 when viewed from the axial direction, and overlaps with the first through hole 51 by a dimension δ (r42A-S51A). That is, the recess 42 </ b> A is formed across the first through hole 51 and the second through hole 52. In other words, the first through hole 51 and the second through hole 52 communicate with each other through the recess 42A.

  The recess 42A includes a lubricant circulation portion 76 that makes a round in the circumferential direction without overlapping with both the first through-hole 51 and the second through-hole 52 when viewed from the axial direction. The lubricant circulation part 76 is formed in a ring shape concentric with the axis C42B of the spigot part 42B (= the axis C31 of the first carrier 31). The lubricant circulation portion 76 in this embodiment is located outside the second through hole 52, and its radial width is δ (51-52).

  An inner diameter D42C of the protruding portion 42C of the inlay portion 42B of the second arm 42 is the same as the outer diameter d31 of the first carrier 31. The shape of the inner periphery of the protruding portion 42C of the spigot portion 42B viewed from the axial direction (the shape of the spigot portion 42B) is circular. The shape of the inner periphery of the concave portion 42A viewed from the axial direction (the shape of the concave portion 42A) is also circular. Therefore, the shape of the concave portion 42A viewed from the axial direction and the shape of the spigot portion 42B viewed from the axial direction are similar.

  Next, the operation of the driving device D1 according to this embodiment will be described.

  First, the deceleration operation of the oscillating gear device 10 will be described. When the input shaft 11 rotates, the three crankshaft gears 18 meshed simultaneously with the input gear 13 rotate in the same direction at the same rotational speed.

  Each crankshaft gear 18 is connected to the crankshaft 14 through meshing of an inner spline 18A of the crankshaft gear 18 and an outer spline 14B of the crankshaft 14. Therefore, the three crankshafts 14 rotate in the same direction at the same rotational speed. As a result, the two eccentric bodies 14C formed at the same position in the axial direction of each crankshaft 14 rotate synchronously with an eccentric phase difference of 180 degrees. As a result, the external gear 12 swings with an eccentric phase difference of 180 degrees via the eccentric body bearing 20.

  Each external gear 12 is in mesh with the internal gear 16. Therefore, every time each external gear 12 swings once, the external gear 12 is shifted in the circumferential direction by a difference in the number of teeth (one tooth in this embodiment) with respect to the internal gear 16. (Rotate). The rotation of the external gear 12 revolves around the axis C16 of the internal gear 16 of each crankshaft 14 via a pair of tapered roller bearings (crankshaft bearings) 35 and the first carrier 31 and the second carrier. 32.

  The first carrier 31 and the second carrier 32 are connected to each other via a carrier pin 33 and a connecting bolt 34 that are integrated with the first carrier 31. Accordingly, the second arm 42 connected to the first carrier 31 can be rotated relative to the first arm 38 connected to the casing 17.

  Here, the tapered roller bearing 35 disposed in the first through hole 51 of the first carrier 31 rotatably supports one end of the crankshaft 14 on the first carrier 31, and the revolution component of the crankshaft 14 is the first. It has a function of transmitting to the carrier 31. The eccentric roller bearing 20 is disposed adjacent to the tapered roller bearing 35 of the first through hole 51. The eccentric body bearing 20 transmits the eccentric rotation of the eccentric body 14 </ b> C of the crankshaft 14 to the external gear 12 to swing the external gear 12, and rotates the rotation component of the external gear 12 (the revolution component of the crankshaft 14). ) Is transmitted to the crankshaft 14. Therefore, the tapered roller bearing 35 is likely to be overheated due to the thermal load of itself and the adjacent eccentric body bearing 20.

  Conventionally, the first through hole 51 in which the tapered roller bearing 35 is disposed has the second arm 42 attached to the end surface 31E of the first carrier 31 on the side opposite to the external gear, whereby the second arm The opening on the 42 side was closed. Therefore, the lubricant cannot flow through the first through hole 51 in the axial direction, and the temperature of the lubricant in the vicinity of the tapered roller bearing 35 disposed in the first through hole 51 is more likely to rise. It was.

  However, in the present embodiment, the second arm 42 is formed with a recess 42 </ b> A that extends over the first through hole 51 and the second through hole 52 on the attachment surface 42 </ b> E to the first carrier 31. Therefore, the concave portion 42A of the second arm 42 is formed so that the first through hole 51 and the second through hole 52 are formed when the second arm 42 is connected to the end surface 31E on the side opposite to the external gear of the first carrier 31. It becomes a passage to connect.

  Therefore, the lubricant in the vicinity of the tapered roller bearing 35 can move in the axial direction in the first through hole 51, and is located between the first through hole 51 side and the second through hole 52 side through the recess 42A. Can be moved.

  In this embodiment, the axial width of the external gear 12 in the vicinity of the central through hole 12C is smaller than the total axial width of the eccentric body bearing 20 and the external gear 12 in the vicinity of the central through hole 12C. The axial center and the axial center of the eccentric bearing 20 are shifted. Further, the two external gears 12 in the vicinity of the central through hole 12C are arranged apart from each other in the axial direction (opposite with a gap). Therefore, the cold lubricant in the vicinity of the central through hole 12C of the external gear 12 easily moves to the eccentric body bearing 20 side through the gap in the axial direction side portion of the external gear 12 (by the pump action of the eccentric body 14C). can do. The moved lubricant can move to the recess 42A through the first through hole 51 of the first carrier 31, and can return from the recess 42A to the vicinity of the central through hole 12C via the second through hole 52. Depending on the operating conditions, the lubricant may move in the opposite direction. In any case, the presence of the recess 42A allows the first through hole 51 to be in communication with the second through hole 52, so that not only the tapered roller bearing 35 but also the eccentric body bearing 20 can be lubricated more smoothly. it can.

  Further, the concave portion 42A according to the present embodiment includes a lubricant circulation portion 76 that makes a round in the circumferential direction without overlapping with both the first through hole 51 and the second through hole 52 as viewed from the axial direction. . Therefore, the lubricant not only moves in the “radial direction” between the first through-hole 51 and the second through-hole 52 but also can freely flow in the circumferential direction, further increasing the circumferential flow of the lubricant. Can be smoothed. In addition, the presence of the lubricant circulation part 76 is partially compared with a configuration in which, for example, a passage that connects the first through holes 51 in the circumferential direction is provided to form a passage that makes one round in the circumferential direction. A large amount of lubricant is supplied only to the first through-holes 51, and it is possible to further prevent a problem that the lubricant does not reach the other part of the first through-holes 51. it can. That is, the lubricant can be more reliably distributed over the entire circumference as compared with a configuration in which a passage that extends around the first through holes 51 scattered in the circumferential direction is formed.

  Further, in the present embodiment, the second arm (partner member) 42 includes an inlay portion 42B that fits into the outer periphery (inlay portion 31B) of the first carrier 31 and has a shape when the recess 42A is viewed from the axial direction. The shape of the inlay portion 42B viewed from the axial direction is a similar shape (specifically, a circular concave portion 42A concentric with the circular inlay portion 42B). Therefore, the recess 42A in the present embodiment can be formed at the same time when the spigot portion 42B of the second arm 42 is processed.

  More specifically, the inlay portion 42B of the second arm 42 usually rotates the tool (bite) around the axis C42B by placing (chucking) the second arm 42, which is a workpiece, on a lathe. Then, the cut portion 42C (the spigot portion 42B) is cut so as to leave and moved in the radial direction. The recess 42A can be processed by moving the tool in the axial direction deeper by the axial depth H42A of the recess 42A at the center in the radial direction when processing the inlay portion 42B. Therefore, the machining can be completed with almost no increase in manufacturing man-hours.

  The inlay portion 42B (inner periphery of the protruding portion 42C) is finished by changing the tool or slowing the moving speed of the tool while maintaining the same chucking. The finishing process may not be performed.

  In the drive device D1 according to the present embodiment, no design change or additional processing or the like is required on the oscillating gear device 10 side in forming the recess 42A that promotes the supply of the lubricant. For this reason, the oscillating gear device 10 is mass-produced with the same structure, and only when the tapered roller bearing 35 is incorporated in a mating member (second arm 42) in an installation environment in which heat load becomes severe. This can be dealt with by additional processing of the mating member. Therefore, it is possible to deal with heat load without waste.

  In the above embodiment, a simple circular recess concentric with the axis C42B of the spigot portion 42B of the second arm 42 is formed as the recess 42A. However, the specific shape of the recess is not particularly limited to such a circular recess. For example, it may be a ring-shaped recess that does not include the axis of the counterpart member (the vicinity of the axis of the counterpart member is not a recess). In this case, it forms so that the outer peripheral part of this ring-shaped recessed part may straddle a 1st through-hole, and an inner peripheral part may straddle a 2nd through-hole. Even if it is such a ring-shaped recessed part, the effect similar to the previous embodiment can be acquired. For example, in the ring-shaped recess, the shape of the recess viewed from the axial direction and the shape of the spigot part (42B) viewed from the axial direction are both circular and similar. Therefore, like the circular recess (42A), the spigot part (42B) can be processed at the same time. Rather, since the machining (cutting) in the vicinity of the axis of the mating member can be omitted, the machining of the recess can be performed with a smaller number of processing steps compared to the circular recess (42A), which is a recess up to the axis (C42A). Can be completed.

  In the above embodiment, the concave portion of the mating member is formed by directly processing the mating member. However, the recess of the counterpart member can be provided without necessarily processing the counterpart member directly. Examples of this are shown in FIGS.

  In the configuration example of FIG. 4, the second arm (counter member) 142 includes a main body member 142 </ b> Q and a plate (auxiliary member) 142 </ b> P disposed between the main body member 142 </ b> Q and the first carrier 31. The plate 142P includes a circular through hole 142A at the radial center. This through hole 142A constitutes “a concave portion of the second arm 142”.

  The plate 142P in the configuration example of FIG. 4 is configured by a simple flat plate having a through hole 142A. In addition, liquid packing etc. are apply | coated to the axial direction both end surfaces of the plate 142P, and the plate 142P is interposed between the main body member 142Q and the 1st carrier 31 in the sealing state.

  The radius of the through hole 142A is r142A, and the inner diameter is D142A. The inner diameter D142A of the through hole 142A is larger than the inner diameter D52B of the opening of the second through hole 52 (the opening of the large diameter portion 52B), and the radius r142A of the through hole 142A is the innermost 51A of the first through hole 51. It is larger than the distance S51A from the axis C31 of the first carrier 31. Accordingly, the through-hole 142A overlaps with the entire second through-hole 52 when viewed from the axial direction, and also overlaps with the first through-hole 51 by the dimension δ (r142A-S51A). That is, the through hole 142 </ b> A is formed across the (three) first through holes 51 and the second through holes 52.

  The first through hole 51 and the second through hole 52 communicate with each other through the through hole 142A of the plate 142P. In the case of the configuration example of FIG. 4, the thickness W142P of the plate 142P corresponds to the depth of the recess.

  In the configuration example of FIG. 4, since the concave portion can be formed only by interposing the plate 142P having a thickness W142P thinner than the protruding length L142C in the axial direction of the protruding portion 142C of the inlay portion 142B of the second arm 142, the main body member 142Q There is an advantage that the processing of the concave portion is not required. In addition, since the plate 142P is configured by a simple flat plate having the through hole 142A, it can be easily manufactured by, for example, punching.

  Since other configurations are the same as those in the previous embodiment, the same or functionally similar parts in the figure are denoted by the same reference numerals with the same or the last two digits, and redundant description is omitted.

  Also in the configuration example of FIG. 5, the second arm (counter member) 242 includes a main body member 242Q and a plate (auxiliary member) 242P disposed between the main body member 242Q and the first carrier 31. The plate 242P includes a through-hole 242A, and the through-hole 242A constitutes a “recessed portion of the second arm 242”, as in the configuration example of FIG.

  The spigot part 242B of the main body member 242Q of the second arm 242 has a protruding part 242C having a normal axial protruding length L242C. That is, the main body member 242Q in FIG. 5 is the same as a normal second arm (the second arm 42 in FIGS. 1 to 3 in which the recess 42A is not formed).

  The plate 242P includes a first spigot part 242F that can be fitted to the spigot part 242B of the main body member 242Q on the outer peripheral surface on the axial main body member 242Q side. The plate 242P includes a second spigot spigot part 242G that can be fitted to the spigot part 31B of the first carrier 31 on the inner peripheral surface on the first carrier 31 side in the axial direction.

  In the configuration example of FIG. 5, a through-hole having a large axial depth W242A (without processing the second arm 242 (main body member 242Q) side and without processing the oscillating gear device 10 side at all). It is possible to provide the (concave portion) 242A freely without causing a decrease in strength. The through hole 242A having a large axial depth W242A has a function as a so-called “oil reservoir”, so that the lubricity of the tapered roller bearing 35 can be further improved.

  In the above embodiment, a circular concave portion (or a circular ring-shaped concave portion) concentric with the inlay portion of the counterpart member is adopted as the concave portion, but the shape of the concave portion in the present invention is not necessarily the counterpart member. It is not necessary to have a shape similar to the shape of the inlay portion. Further, the concave portion and the inlay portion do not need to be concentric, and further, do not need to be circular. For example, it may be formed in a rectangular shape. In short, it is only necessary that a concave portion is formed across the first through hole and the second through hole on the attachment surface of the counterpart member to the carrier.

  Further, in the above embodiment, as the oscillating gear device included in the drive device, the oscillating gear device in which the external gear constitutes the oscillating gear and the external gear oscillates with respect to the internal gear by the crankshaft. It was shown. However, a oscillating gear device is also known as an oscillating gear device in which an internal gear constitutes an oscillating gear and an internal gear oscillates with respect to an external gear by a crankshaft. The present invention can be applied in the same manner to a drive device provided with such a swing gear device in which the internal gear swings, and the life of the crankshaft bearing can be further extended.

  Moreover, in the said embodiment, the rocking gear apparatus of the structure where all the crankshafts were driven by the crankshaft gear was shown as a rocking gear apparatus with which a drive device is provided. That is, the swinging gear device is shown in which the crankshaft disposed in the first through hole is a crankshaft that receives the driving force on the input shaft side. However, the oscillating gear device has, for example, a plurality of crankshafts, and only a part (for example, one) of the plurality of crankshafts is driven by the driving force from the input shaft side, and the other crankshafts Also known is an oscillating gear device configured to be driven by an oscillating motion of an oscillating gear via an eccentric bearing. The present invention is similarly applied to a drive device including such a swinging gear device in which a crankshaft for swinging the swinging gear and a crankshaft driven by the swinging motion of the swinging gear are mixed. The service life of each crankshaft bearing can be further extended.

  Moreover, in the said embodiment, although the recessed part straddling all the three 1st through-holes and the 2nd through-hole was formed, it straddled some 1st through-holes and a 2nd through-hole. One or a plurality of recesses may be formed.

D1 ... Drive device 10 ... Oscillating gear device 12 ... External gear (oscillating gear)
DESCRIPTION OF SYMBOLS 14 ... Crankshaft 16 ... Internal gear 20 ... Eccentric body bearing 31 ... 1st carrier (carrier)
31E ... End face 32 ... Second carrier 35 ... Tapered roller bearing (crankshaft bearing)
38 ... 1st arm 42 ... 2nd arm (mating member)
42E ... Mounting surface 42A ... Recess 42B ... Inlay part 42C ... Protrusion 51 ... First through hole 52 ... Second through hole

Claims (5)

An oscillating gear comprising an oscillating gear, a crankshaft for oscillating the oscillating gear, and a carrier for supporting the crankshaft via a crankshaft bearing, and coupled to the carrier of the oscillating gear device In a drive device comprising a mating member,
The carrier includes a first through hole in which the crankshaft bearing is disposed, and a second through hole disposed in a position radially displaced from the first through hole,
The counterpart member is attached to an end surface of the carrier on the side of the anti-oscillating gear; and
A driving device characterized in that a recess straddling the first through hole and the second through hole is formed on a mounting surface of the counterpart member to the carrier. In claim 1,
The mating member includes a spigot portion that fits a spigot with the outer periphery of the carrier,
The shape of the concave portion viewed from the axial direction and the shape of the spigot portion viewed from the axial direction are similar to each other. In claim 2,
The said recessed part is a circular recessed part concentric with the said inlay part. The drive device characterized by the above-mentioned. In any one of Claims 1-3,
The mating member includes a main body member and an auxiliary member disposed between the main body member and the carrier,
The auxiliary member includes a through hole,
The drive hole, wherein the through hole constitutes the recess. In any one of Claims 1-4,
The concave portion includes a lubricant circulation portion that makes a round in the circumferential direction without overlapping any of the first through hole and the second through hole when viewed from the axial direction.

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