JP2018155271A - Eccentric oscillation type gear device and method for manufacturing the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To position an eccentric body shaft with respect to a carrier at lower cost.SOLUTION: An eccentric oscillation type gear device G1 comprises an internal gear 12, an external gear 150 engaged with the internal gear, an eccentric body shaft 14 that comprises an eccentric body 153 that oscillates the external gear, a carrier 155 arranged in a side part in an axial direction of the external gear to support the eccentric body shaft, and an eccentric body shaft bearing 157 arranged between the eccentric body shaft and the carrier. The eccentric body shaft bearing comprises rollers 159, and an outer ring 163 separate from the carrier. The gear device comprises thrust receiving means 167 arranged between a step part 165 provided in the eccentric body shaft and the eccentric body shaft bearing. The thrust receiving means is in contact with an end surface 163E in the axial direction of the outer ring.SELECTED DRAWING: Figure 2

Description

  The present invention relates to an eccentric oscillating gear device and a manufacturing method thereof.

  Patent Document 1 discloses an eccentric oscillating gear device that includes an internal gear and an external gear that meshes with the internal gear. This gear device includes an eccentric body shaft having an eccentric body that swings an external gear. A carrier that supports the eccentric body shaft is disposed on the side in the axial direction of the external gear. An eccentric body shaft bearing is disposed between the eccentric body shaft and the carrier.

  The eccentric body shaft bearing has rollers as rolling elements. On the other hand, the eccentric body shaft has a stepped portion. The eccentric body shaft regulates the axial movement of the eccentric body shaft relative to the carrier by bringing a washer disposed between the stepped portion and the eccentric body shaft bearing into contact with the axial end surface of the carrier.

JP 2008-202664 A (FIG. 1)

  In this type of gear device, there is a problem that it is difficult to process the axial end surface of the carrier with which the washer abuts, and costs increase.

  The present invention has been made to solve such problems, and an object of the present invention is to position the eccentric body shaft with respect to the carrier at a lower cost in the eccentric oscillating gear device.

  The present invention includes an internal gear, an external gear meshing with the internal gear, an eccentric body shaft having an eccentric body for oscillating the external gear, and an axial side portion of the external gear. An eccentric oscillating gear device comprising a carrier that supports an eccentric body shaft, and an eccentric body shaft bearing disposed between the eccentric body shaft and the carrier, wherein the eccentric body shaft bearing comprises: A roller and an outer ring separate from the carrier, the eccentric body shaft includes a stepped portion, and the gear device includes a stepped portion provided on the eccentric body shaft and the eccentric body shaft. Thrust receiving means arranged between the bearings and the thrust receiving means abuts against the axial end surface of the outer ring, thereby solving the above-mentioned problems.

  Further, the present invention provides an internal gear, an external gear meshing with the internal gear, an eccentric shaft having an eccentric body for swinging the external gear, and an axial side of the external gear. An eccentric oscillating gear device comprising: a carrier that supports the eccentric body shaft; and an eccentric body shaft bearing disposed between the eccentric body shaft and the carrier. The body shaft bearing includes a roller and an outer ring separate from the carrier, and includes a step of finishing the outer ring rolling surface of the roller of the outer ring after the outer ring is incorporated into the carrier. Thus, the above-mentioned problem is solved.

  In the gear device according to the present invention, the eccentric body shaft bearing disposed between the eccentric body shaft and the carrier includes a roller and an outer ring separate from the carrier. The eccentric body shaft has a step portion, and the thrust receiving means disposed between the step portion and the eccentric body shaft bearing has an axial end surface of the outer ring of the eccentric body shaft bearing (not the axial end surface of the carrier). It is comprised so that it may contact | abut.

  With this configuration, the eccentric shaft can be positioned with respect to the carrier at a lower cost for the reason described in detail later.

  According to the present invention, in the eccentric oscillating gear device, the eccentric shaft can be positioned with respect to the carrier at a lower cost.

1 is an overall cross-sectional view showing an example of an eccentric oscillating gear device according to an embodiment of the present invention. 1 is an enlarged cross-sectional view of the main part of FIG. 2 is an enlarged cross-sectional view of the main part 3 is a cross-sectional view corresponding to FIG. 3 according to a modification of the gear device of FIGS. Sectional drawing equivalent to FIG. 3 which concerns on the further modification of the gear apparatus of FIG.

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

  FIG. 1 is an overall cross-sectional view showing an example of an eccentric oscillating gear device according to an embodiment of the present invention, and FIG. 2 is an enlarged cross-sectional view of a main part of FIG.

  The eccentric oscillating gear device G1 includes an internal gear 12, and a first external gear 150 and a second external gear 250 that mesh with the internal gear 12. The gear device G <b> 1 includes an eccentric body shaft 14 having a first eccentric body 153 and a second eccentric body 253 that swing the first external gear 150 and the second external gear 250. A first carrier 155 and a second carrier 255 that support the eccentric body shaft 14 are disposed on the axial side portions of the first external gear 150 and the second external gear 250.

  On the other hand, a first bearing 157 (first eccentric shaft bearing) is disposed between the eccentric shaft 14 and the first carrier 155. A second bearing 257 (second eccentric shaft bearing) is disposed between the eccentric shaft 14 and the second carrier 255.

  The first bearing 157 includes a first roller 159 as a rolling element and a first outer ring 163 that is separate from the first carrier 155. The second bearing 257 includes a second roller 259 as a rolling element and a second outer ring 263 that is separate from the second carrier 255.

  The eccentric body shaft 14 has a first step portion 165 on the side of the first eccentric body 153, and a first washer is provided between the first step portion 165 provided on the eccentric body shaft 14 and the first bearing 157. 167 (thrust receiving means) is arranged. The first washer 167 is in contact with the first end surface 163E (axial end surface) of the first outer ring 163.

  The eccentric body shaft 14 has a second step portion 265 on the side of the second eccentric body 253, and the second step portion 265 provided on the eccentric body shaft 14 is interposed between the second bearing portion 257 and the second step portion 265. Two washers 267 (thrust receiving means) are arranged. The second washer 267 is in contact with the second end surface 263E (axial end surface) of the second outer ring 263.

  This will be described in more detail below.

  In the gear device G1, the configuration in the vicinity of the eccentric body shaft 14 is configured so that the first carrier 155 side and the second carrier 255 side are substantially symmetrical with respect to an axial center Ce20 of the eccentric body shaft gear 20 to be described later. ing. Therefore, here, the components on the first carrier 155 side will be described using the names with the prefix “first” and the reference numbers in the 100s, and the components on the second carrier 255 side will be described. , A name with a “second” prefix is used, and the same code is used for the last two digits of the 200 series. In addition, about the 2nd carrier 255 side, duplication description may be abbreviate | omitted suitably.

  First, the outline of the gear device G1 will be described.

  The input shaft 16 of the gear device G1 is disposed on the axis C12 of the internal gear 12 and penetrates the central through hole 155B of the first carrier 155 in a non-contact manner. A hollow portion 16A is formed on the non-load side of the input shaft 16, and a motor shaft of a motor (not shown) can be connected via a key (only the key groove 16B is shown). An input pinion 18 is directly formed on the load side of the input shaft 16. The input pinion 18 meshes with the eccentric body shaft gear 20 disposed between the first external gear 150 and the second external gear 250 of the eccentric body shaft 14 (the eccentric body shaft gear 20 is the eccentric body shaft 14). May be provided at the end of the).

  The gear device G1 includes a plurality of eccentric body shafts 14 that swing the first external gear 150 and the second external gear 250 (three in this example: only one is shown in FIG. 1). The eccentric body shaft 14 (the shaft center C14 thereof) is arranged at an interval of 120 degrees in the circumferential direction at a position offset from the shaft center C12 of the internal gear 12 by δ (C12-C14). The eccentric shaft 20 is provided on each eccentric shaft 14 and meshes simultaneously with one input pinion 18. Each eccentric body shaft 14 can rotate at the same rotational speed in the same direction by the rotation of the input pinion 18 and the eccentric body shaft gear 20.

  Each eccentric body shaft 14 is integrally formed with a first eccentric body 153 that swings the first external gear 150 and a second eccentric body 253 that swings the second external gear 250. The first eccentric body 153 has an axis C153 that is eccentric with respect to the axis C14 of the eccentric body shaft 14 by the amount of eccentricity e. The second eccentric body 253 has an axis C253 that is eccentric with respect to the axis C14 of the eccentric body shaft 14 by the amount of eccentricity e. The eccentric phase difference between the first eccentric body 153 and the second eccentric body 253 is 180 degrees in this example (decentered in directions away from each other).

  The three eccentric body shafts 14 have the same configuration, and the eccentric phases of the first eccentric bodies 153 formed at the same position in the axial direction of the eccentric body shafts 14 are aligned. The eccentric phases of the second eccentric bodies 253 formed at the same position in the axial direction of the eccentric body shafts 14 are also aligned.

  A first eccentric bearing 169 is arranged between the first eccentric body 153 and the first external gear 150. The first eccentric bearing 169 includes a first eccentric bearing roller 170 as a rolling element, and a first eccentric bearing retainer 171 that holds the first eccentric bearing roller 170. The first eccentric bearing 169 does not have a dedicated inner / outer ring. The first eccentric body 153 constitutes the inner ring rolling surface of the first eccentric bearing 169, and the first eccentric body shaft through hole 150A of the first external gear 150 constitutes the outer ring rolling surface of the first eccentric bearing 169. Yes.

  A second eccentric bearing 269 is disposed between the second eccentric body 253 and the second external gear 250. The second eccentric bearing 269 also includes a second eccentric bearing roller 270 as a rolling element and a second eccentric bearing retainer 271 that holds the second eccentric bearing roller 270. The second eccentric bearing 269 also has no dedicated inner and outer rings. The second eccentric body 253 constitutes the inner ring rolling surface of the second eccentric bearing 269, and the second eccentric body shaft through hole 250A of the second external gear 250 constitutes the outer ring rolling surface of the second eccentric bearing 269. Yes.

  The first external gear 150 and the second external gear 250 are in mesh with the internal gear 12. In the gear device G1, the internal gear 12 includes an internal gear main body 12A integrated with the casing 22, and a columnar pin member 12B constituting the internal teeth of the internal gear 12. . The pin member 12B is rotatably incorporated in a pin groove 12C formed in the internal gear main body 12A. The number of teeth of the internal gear 12 (the number of pin members 12B) is slightly larger (by 1 in this example) than the number of teeth of the first external gear 150 and the second external gear 250.

  A first carrier 155 is disposed on one side in the axial direction of the first external gear 150 and the second external gear 250. A second carrier 255 is arranged on the other side in the axial direction of the first external gear 150 and the second external gear 250. From the second carrier 255, the carrier pillar 24 protrudes integrally to the first carrier 155 side (see FIG. 1). The carrier pillar 24 passes through the first external gear 150 and the second external gear 250 in a non-contact manner. The first carrier 155 and the second carrier 255 are connected and integrated by a carrier bolt 26 via a carrier pillar 24.

  In this gear device G1, for convenience, the carrier on the side opposite to the load or the side where the carrier pillar 24 does not protrude is referred to as a first carrier 155, and the carrier on the side where the carrier pillar 24 protrudes is referred to as the second carrier 255. Called.

  The first carrier 155 has a first bearing hole 155A in which the first bearing 157 (first eccentric body shaft bearing) is accommodated. That is, the first bearing 157 is disposed between the first bearing hole 155A and the eccentric body shaft 14. The second carrier 255 has a second bearing hole 255A in which the second bearing 257 (second eccentric shaft bearing) is accommodated. That is, the second bearing 257 is disposed between the second bearing hole 255 </ b> A and the eccentric body shaft 14. That is, the eccentric body shaft 14 is supported by the first carrier 155 and the second carrier 255 via the first bearing 157 and the second bearing 257. The first bearing 157 and the second bearing 257 will be described in detail later.

  A first main bearing 173 is disposed between the casing 22 and the first carrier 155. A second main bearing 273 is disposed between the casing 22 and the second carrier 255. In the gear device G1, the first main bearing 173 and the second main bearing 273 are formed of angular ball bearings incorporated back to back.

  The first main bearing 173 has a first ball 175 as a rolling element, and has a dedicated first main bearing outer ring 177. However, it does not have a dedicated inner ring. The inner ring rolling surface of the first main bearing 173 is constituted by the first outer peripheral surface 155S of the first carrier 155. The second main bearing 273 also has a second ball 275 as a rolling element, and has a dedicated second main bearing outer ring 277. However, it does not have a dedicated inner ring. The inner ring rolling surface of the second main bearing 273 is constituted by the second outer peripheral surface 255S of the second carrier 255. Reference numeral 28 is a shim (or spacer) for adjusting the preload of the first main bearing 173 and the second main bearing 273.

  In the gear device G1, for example, a first arm (not shown) of the robot is connected to the casing 22 via a casing connecting bolt (only the bolt hole 22P is shown). For example, a second arm (not shown) of the robot is connected to the second carrier 255 via a carrier connecting bolt (only the tap hole 255P is shown).

  Reference numeral 32 is a closing cap for the second bearing hole 255A, reference numeral 34 is a closing cap for the central through hole 255B of the second carrier 255, and reference numeral 36 is a seal between the casing 22 and the second carrier 255. Oil seal.

  Here, the configuration for positioning the eccentric body shaft 14 with respect to the first carrier 155 and the second carrier 255 will be described in detail. FIG. 3 is an enlarged cross-sectional view of the main part of FIG.

  As described above, in the present gear device G1, the first carrier 155 side and the second carrier 255 side are configured substantially symmetrically with the axial center Ce20 of the eccentric body shaft gear 20 as a symmetry plane. Therefore, here, the description will be made with a focus on the configuration on the first carrier 155 side, and regarding the configuration on the second carrier 255 side, the reference numerals in the 200s in the lower two digits in FIG. Only the duplicate explanation is omitted.

  The first bearing 157 (first eccentric shaft bearing) includes a first roller 159 as a rolling element, a first outer ring 163 separate from the first carrier 155, and a first retainer that holds the first roller 159. 180. The first bearing 157 does not have a dedicated inner ring. The outer periphery of the portion corresponding to the first carrier 155 in the axial direction of the eccentric body shaft 14 constitutes the first bearing inner ring rolling surface 183.

  In the gear device G1, the first outer ring 163 is configured by a cylindrical member. And the 1st outer ring rolling surface 163G of the 1st roller 159 of the 1st outer ring 163 is constituted by the inner circumference of the 1st outer ring 163 of the cylindrical member concerned.

  On the other hand, the eccentric body shaft 14 has a first step portion (contact surface) 165 perpendicular to the shaft between the first bearing inner ring rolling surface 183 and the first eccentric body 153. Between this 1st step part 165 and the 1st bearing 157 (the 1st retainer 180), the 1st washer 167 as a thrust receiving means is arrange | positioned. The first washer 167 is brought into contact with the first end surface 163E (axial end surface) of the first outer ring 163.

  The first washer 167 is in contact with the first end surface 163E of the first outer ring 163 on the axial first external gear 150 side, and the second washer 267 is the second axial external gear of the second outer ring 263. It abuts on the second end face 263E on the 250 side (see FIG. 2).

  In the gear device G1, the first bearing hole 155A of the first carrier 155 includes a first carrier step 155D. The first bearing hole 155A has a first carrier large diameter portion 155A1 on the first external gear 150 side of the first carrier step portion 155D and a first carrier small diameter on the side opposite to the first external gear of the first carrier step portion 155D. Part 155A2. The inner diameter of the first carrier large-diameter portion 155A1 is larger than the inner diameter of the first carrier small-diameter portion 155A2.

  The first carrier large-diameter portion 155A1 has an axial width that is larger than the axial width of the first roller 159 and smaller than the axial width of the first outer ring 163. The first outer ring 163 is incorporated into the first carrier large-diameter portion 155A1 by press-fitting. The end surface 163F on the side opposite to the first external gear of the first outer ring 163 is in contact with the first carrier step (contact surface) 155D.

  Since the axial width of the first outer ring 163 is larger than the axial width of the first carrier large-diameter portion 155A1, the first outer ring 163 is positioned radially outside the first outer ring 163 of the first carrier 155. The first end face 155E (axial end face) protrudes toward the first external gear 150 by δ (163-155).

  Further, the outer diameter (radius) R167 of the first washer 167 is larger than the outer diameter (radius) R163 of the first outer ring 163 by δ (167-163). Thus, the first washer 167 is in contact with the entire surface of the first end surface 163E of the first outer ring 163.

  The eccentric body shaft 14 has a first eccentric body shaft small diameter portion 185 having an outer diameter smaller than that of the first bearing inner ring rolling surface 183 on the side opposite to the first external gear of the first bearing inner ring rolling surface 183. have. Therefore, a first eccentric body shaft step portion 187 is formed between the first bearing inner ring rolling surface 183 and the first eccentric body shaft small diameter portion 185. A first end washer 190 is in contact with the first eccentric body shaft step 187. The first end washer 190 is positioned by a first retaining ring 195 fitted in the first retaining ring groove 193.

  Returning to FIG. 2, the first eccentric bearing retainer 171 of the first eccentric bearing 169 and the thrust receiving means on the first carrier 155 side of the eccentric body shaft gear 20 disposed at the axial center Ce20 of the eccentric body shaft 14. The first washer 167, the first retainer 180 of the first bearing 157, the first end washer 190, and the first retaining ring 195 are in contact with each other in this order, and restrict movement in the axial direction. Also on the second carrier 255 side of the eccentric shaft gear 20, the second eccentric bearing retainer 271 of the second eccentric bearing 269, the second washer 267 as a thrust receiving means, the second retainer 280 of the second bearing 257, the second The two end washers 290 and the second retaining ring 295 are in contact with each other in this order, and restrict movement in the axial direction.

  In the gear device G1, the first carrier 155 is made of carbon steel. The definition of carbon steel follows the definition in 4.1.1 (steel type), number 1104 in JIS G 0203: 2009. That is, carbon steel here refers to “steel with an iron-carbon alloy having a carbon content of usually 0.02 to about 2%”. It usually contains small amounts of silicon, manganese, phosphorus, sulfur and the like. In the gear device G1, for example, SUJ2 (bearing steel) is used for the first outer ring 163.

  Next, the operation of the eccentric oscillating gear device G1 will be described. First, the operation related to the power transmission of the gear device G1 will be described.

  When the input shaft 16 rotates by driving a motor (not shown), the input pinion 18 formed at the tip of the input shaft 16 rotates. When the input pinion 18 rotates, the three eccentric body shaft gears 20 meshed simultaneously with the input pinion 18 are rotated, and each eccentric body shaft 14 rotates in the same direction at the same rotational speed.

  As a result, the first external gear 150 swings and rotates through the first eccentric body 153 having the same phase in each eccentric body shaft 14. Further, the second external gear 250 swings and rotates through the second eccentric body 253 whose phase is aligned with the first eccentric body 153 by a phase difference of 180 degrees.

  The first external gear 150 and the second external gear 250 are in mesh with the internal gear 12, and the number of teeth of the internal gear 12 (the number of pin members 12B) is the first external gear 150. The number of teeth of the second external gear 250 is one more. Accordingly, the first external gear 150 and the second external gear 250 differ in the number of teeth from the internal gear 12 each time each eccentric body shaft 14 rotates once (in this gear device G1, one tooth). Only out of phase.

  As a result, the eccentric body shaft 14 penetrating the first external gear 150 and the second external gear 250 revolves around the axis C <b> 12 of the internal gear 12. This revolution is transmitted to the first carrier 155 and the second carrier 255 supporting the eccentric body shaft 14 via the first bearing 157 and the second bearing 257, and the first carrier 155 and the second carrier 255 are ( Rotate relative to casing 22 (via first main bearing 173 and second main bearing 273).

  When the first carrier 155 and the second carrier 255 rotate, the second arm of the robot connected to the second carrier 255 rotates relative to the first arm of the robot connected to the casing 22.

  Next, the effect | action regarding the movement control of the axial direction of the eccentric body axis | shaft 14 is demonstrated.

  The first washer 167 is in contact with the first end surface 163E (axial end surface) of the first outer ring 163. Further, the first washer 167 is in contact with the first step portion 165 between the first bearing inner ring rolling surface 183 of the eccentric body shaft 14 and the first eccentric body 153. As a result, the movement of the eccentric body shaft 14 toward the side opposite to the axial direction (movement from the second carrier 255 side toward the first carrier 155 side) is restricted.

  Similarly, the second washer 267 is in contact with the second end surface 263E (axial end surface) of the second outer ring 263. The second washer 267 is in contact with the second step portion 265 between the second bearing inner ring rolling surface 283 and the second eccentric body 253 of the eccentric body shaft 14. As a result, the movement of the eccentric body shaft 14 toward the axial load side (movement from the first carrier 155 side toward the second carrier 255 side) is restricted.

  In the gear device G1, the same configuration to which the present invention is applied is adopted for both the movement of the eccentric body shaft 14 to the load side in the axial direction and the movement to the anti-load side. doing. However, the configuration of the present invention is not necessarily applied to any one side. That is, if the configuration of the present invention is applied to the restriction of movement to either one side, it is included in the scope of implementation of the present invention.

  Here, the merit of adopting such a movement restriction configuration will be described.

  For example, in the conventional gear device disclosed in Patent Document 1, for convenience of explanation, the first bearing 157 (eccentric shaft bearing) has a rolling element “(shaft and shaft). The roller has a parallel inner / outer ring rolling surface) and does not have a dedicated inner / outer ring. Then, the movement of the eccentric body shaft 14 in the axial direction is restricted by bringing the first washer 167 that contacts the first step 165 of the eccentric body shaft 14 into contact with the axial end surface 155E of the first carrier 155. Was. For this reason, the axial end surface 155E of the first carrier 155 constitutes a sliding surface of the first washer 167, so that it is necessary to maintain corresponding hardness and machining accuracy.

  Further, in the conventional gear device, it is necessary to form the first outer peripheral surface 155S constituting the inner ring rolling surface of the first main bearing 173 adjacent to the radially outer side of the axial end surface 155E of the first carrier 155. Furthermore, it is necessary to form the first bearing hole 155A that constitutes the outer ring rolling surface of the first roller 159 of the first bearing 157 adjacent to the axial end surface 155E in the axial direction.

  Therefore, in the vicinity of the axial end surface 155E on which the first washer 167 slides, the hardness of the material (the material of the first carrier 155) is extremely high, and the shaft of the first carrier 155 is related to the position and shape. The direction end face 155E needs to be cut by a large machining method called a contouring process, for example, and there is a problem that a machining cost is required. This situation was the same on the second carrier 255 side.

  In the gear device G1, the first bearing 157 (eccentric shaft bearing) includes a first roller 159 and a first outer ring 163 that is separate from the first carrier 155. Therefore, the first washer 167 can be brought into contact with the first end surface 163E of the first outer ring 163 (not the axial end surface 155E of the first carrier 155).

  Therefore, it is not necessary to process the axial end surface 155E of the first carrier 155 as the sliding surface of the first washer 167. The processing for making the axial end surface 163E of the first outer ring 163 the sliding surface of the first washer 167 is compared with the processing for making the axial end surface 155E of the first carrier 155 the sliding surface of the first washer 167. It is much easier.

  In addition, since the first outer ring 163 is provided, it is not necessary to perform difficult precision machining in which the first bearing hole 155A of the first carrier 155 is used as the outer ring rolling surface of the first roller 159. In order to make the inner periphery of the first outer ring 163 into the first outer ring rolling surface 163G of the first roller 159 of the first bearing 157, the first bearing hole 155A itself of the first carrier 155 is formed outside the first roller 159. It is easier compared to machining with a rolling surface.

  In the present gear device G1, the first outer ring 163 has a first external gear of δ (163-155) by δ (163-155) from the axial end face 155E located on the radially outer side of the first outer ring 163 of the first carrier 155. It protrudes to the 150 side. For this reason, the first washer 167 structurally contacts and slides only with the first end surface 163E of the first outer ring 163, and does not contact (slids) with the axial end surface 155E of the first carrier 155. Therefore, even if the processing accuracy of the axial end surface 155E of the first carrier 155 is not high, the first washer 167 is not adversely affected and the life of the first washer 167 can be extended.

  In the gear device G1, the outer diameter (radius) R167 of the first washer 167 is larger than the outer diameter (radius) R163 of the first outer ring 163 by δ (167-163). Therefore, the first washer 167 can slide on the entire surface of the first end surface 163E of the first outer ring 163. Accordingly, it is possible to avoid a situation in which only a part of the first end surface 163E of the first outer ring 163 is worn, and the flatness of the entire first end surface 163E can be maintained well over a long period of time.

  As described above, in the gear device G1, particularly for the first carrier 155, precision machining of the axial end surface 155E as the sliding surface of the first washer 167 and the inner ring rotation for the first bearing of the first bearing 157 are performed. Precision machining as the running surface 183 can be omitted. Therefore, (especially, the first carrier 155 does not protrude from the carrier pillar 24) as a material of the first carrier 155, a high-cost alloy steel suitable for carburizing and quenching (4.1. JIS G 0203: 2009). 1 (type of steel), refer to the number 1105), for example, by using a general carbon steel such as S45C, it is possible to further reduce the cost.

  That is, as already described, in the gear device G1, it is not necessary to finish the axial end surface 155E of the first carrier 155 and the first bearing hole 155A with high hardness. Therefore, after the first carrier 155 is formed of, for example, carbon steel, the first outer peripheral surface 155S (inner ring rolling surface) of the first main bearing 173 (for supporting the first carrier 155 on the casing 22). In addition, it is also possible to employ a technique in which only the first outer peripheral surface 155S is cured by induction hardening.

  For the second carrier 255, since the carrier pillar 24 protrudes integrally, it is more reasonable to form the basic shape by forging. Therefore, the gear device G1 employs alloy steel. Yes. Although it may be possible to form the first carrier 155 from carbon steel by applying the present invention, the present invention does not require that the first carrier 155 be formed from carbon steel as an essential requirement. The first carrier 155 may be formed of alloy steel. Further, it is not prohibited to form the second carrier 255 from carbon steel.

  If it demonstrates further in relation to the manufacturing method of the 1st outer ring | wheel 163, in this gear apparatus G1, the 1st outer ring | wheel 163 is formed by hardening SUJ2 (bearing steel), for example. The first end surface 163E of the first outer ring 163 is finished before the first outer ring 163 is incorporated into the first carrier 155. By performing the finishing process, the first end surface 163E of the first outer ring 163 serving as the sliding surface can be precisely finished. This finishing process is low in cost because normal grinding is sufficient.

  Then, after incorporating the first outer ring 163 into the first carrier 155, the inner periphery of the first outer ring 163, that is, the first outer ring rolling surface 163G of the first roller 159 is finished. Specifically, honing or the like can be employed for this finishing process. Compared with the process of directly forming the first bearing hole 155A itself, which is formed of a hard carburized material and has thermal strain and has a large machining allowance, as a direct outer ring rolling surface, Cost can be greatly reduced.

  FIG. 4 shows a modification of the embodiment of FIG.

  In the gear device G1, a first outer ring washer 197 is provided between the first carrier 155 and the first outer ring 163, and the shaft of the first outer ring 163 of the first bearing 157 is provided via the first outer ring washer 197. The movement of the first roller 159 is also restricted in the axial direction while restricting the movement in the direction.

  This configuration effectively utilizes a configuration in which the first carrier step 155D formed to incorporate the first outer ring 163 and the end surface 163F on the side opposite to the first external gear of the first outer ring 163 face each other in parallel. It is a thing.

  Specifically, the first carrier step 155D of the first carrier 155 is configured by a surface perpendicular to the shaft, and the end surface 163F on the side opposite to the first external gear of the first outer ring 163 is also perpendicular to the shaft. It is composed of planes. Therefore, the first outer ring washer 197 is sandwiched between the first carrier step portion 155D and the end surface 163F of the first outer ring 163 on the side opposite to the first external gear to thereby prevent the eccentric body shaft 15 from being attached to the first carrier 155. Positioning in the axial direction can be performed, and at the same time, the first retainer 180 is sandwiched between the first washer 167 and the first outer ring washer 197, thereby restricting the position of the first roller 159 in the first bearing 157 in the axial direction. be able to.

  According to the configuration of FIG. 4, the first outer ring washer 197 has already been described simply by disposing it between the first carrier step portion 155D and the end surface 163F on the side opposite to the first external gear of the first outer ring 163. The formation of the first eccentric body shaft small diameter portion 185 of the eccentric body shaft 14, the formation of the first retaining ring groove 193 of the first eccentric body shaft small diameter portion 185, the first retaining ring groove in the embodiment of FIGS. The arrangement of the first retaining ring 195 fitted to 193 and the arrangement of the first end washer 190 can be omitted. Therefore, the structure of the eccentric body shaft 15 can be simplified.

  As in the previous embodiment, the same configuration can be adopted for the second carrier 255 side. Since the other configuration is the same as that of the gear device G1 described with reference to FIGS. 1 to 3, the same reference numerals are given to the portions corresponding to FIGS. 1 to 3 in FIG. Stop and redundant explanations are omitted.

  FIG. 5 shows a further modification of FIG.

  In this modification, the first end surface 163E of the first outer ring 163 does not protrude from the axial end surface 161E of the first carrier 161, and is accommodated in the first bearing hole 161A. The outer diameter (radius) R168 of the first washer 168 is slightly smaller than the outer diameter (radius) R163 of the first outer ring 163 by δ (163-168), and the first washer 168 is substantially the same as the first washer 168. The first carrier 155 is housed in the first bearing hole 161A. Also with this configuration, by bringing the first washer 168 into contact with the first end surface 163E of the first outer ring 163, it is possible to obtain the same operational effects as in the previous embodiments.

  In this example, the first bearing hole 161A of the first carrier 161 is a straight hole that has no first carrier step portion over the entire axial direction (excluding the first retaining ring groove 196 to be formed later). It consists of The first outer ring 163 is axially positioned by a first outer ring washer 197. The first outer ring washer 197 is positioned by a first retaining ring 198 fitted in a first retaining ring groove 196 formed in the first bearing hole 161A. As described above, the positioning of the first outer ring may not necessarily be a configuration using the first carrier step portion formed in the first carrier.

  Also in this gear device, the same configuration can be adopted symmetrically on the second carrier side. Since other configurations are the same as those in the previous embodiment of FIG. 4, the same or corresponding parts in the figure are designated by the same reference numerals, and redundant description is omitted.

  In the present specification, the concept of “roller” includes the concept of “needle”.

  Moreover, in the said embodiment, although the washer was employ | adopted as a thrust receiving means, this invention is not limited to this, For example, you may employ | adopt the thrust bearing which has a rolling element.

  Moreover, in the said embodiment, the 1st eccentric body 153 and the 2nd eccentric body 253 were integrally formed with the eccentric body axis | shaft 14 (15) (with the same raw material). However, the first eccentric body and the second eccentric body provided on the eccentric body shaft are, for example, “an eccentric body member having the first eccentric body or the second eccentric body” configured by a member different from the eccentric body shaft. The structure fixed to the eccentric body axis | shaft via the key etc. may be sufficient.

  In this case, the “step portion provided on the eccentric body shaft” in the present invention includes “the step portion provided directly on the eccentric body shaft” (with the same material as the eccentric body shaft). When separate eccentric bodies, spacers, collars, bearing inner rings, etc. are fixed on the outer periphery of the body shaft, `` By the end face in the axial direction of the eccentric body provided on the eccentric body shaft in the separate body The concept of “structured step” is also included.

  Further, in the above-described embodiment, an eccentric oscillating gear device having a plurality of eccentric body shafts that oscillate the first external gear and the second external gear at positions offset from the axis of the internal gear. Was adopted. However, in addition to this, the eccentric oscillating gear device includes only one eccentric body shaft on the axis of the internal gear, and the external gear and the internal gear via a columnar portion protruding from the carrier side. A center crank type gear device that extracts the relative rotation of gears is also known.

  The present invention can be similarly applied to a center crank type eccentric oscillating gear device as a configuration for restricting the axial movement of the eccentric body shaft with respect to the carrier, and similar effects can be obtained.

G1 ... Gear device 12 ... Internal gear 14 ... Eccentric body shaft 150 ... First external gear 153 ... First eccentric body 155 ... First carrier 157 ... First bearing (eccentric body shaft bearing)
159: First roller 163: First outer ring 165: First step (step)
163E ... first end face (axial end face)
167. First washer (thrust receiving means)

Claims (8)

An internal gear, an external gear meshing with the internal gear, an eccentric body shaft having an eccentric body that oscillates the external gear, and an eccentric body shaft disposed on an axial side of the external gear. An eccentric oscillating gear device comprising a carrier to be supported, and an eccentric body shaft bearing disposed between the eccentric body shaft and the carrier,
The eccentric body shaft bearing includes a roller and an outer ring separate from the carrier,
The eccentric body shaft has a step portion, and the gear device has a thrust receiving means arranged between the step portion provided on the eccentric body shaft and the eccentric body shaft bearing,
The thrust receiving means is in contact with the axial end surface of the outer ring. The eccentric oscillating gear device according to claim 1,
The eccentric oscillating gear device, characterized in that the outer ring protrudes toward the external gear from the axial end surface of the carrier located on the radially outer side of the outer ring. The eccentric oscillating gear device according to claim 2,
An eccentric oscillating gear device, wherein the outer diameter of the thrust receiving means is larger than the outer diameter of the outer ring. In the eccentric rocking | fluctuation type gear apparatus in any one of Claims 1-3,
The carrier is made of carbon steel. An eccentric oscillating gear device. In the eccentric rocking | fluctuation type gear apparatus in any one of Claims 1-4,
A washer is provided between the carrier and the outer ring,
The eccentric oscillating gear device, characterized in that the axial movement of the roller is restricted by the washer. An internal gear, an external gear meshing with the internal gear, an eccentric body shaft having an eccentric body that oscillates the external gear, and an eccentric body shaft disposed on an axial side of the external gear. A manufacturing method of an eccentric oscillating gear device comprising a carrier to be supported, and an eccentric body shaft bearing disposed between the eccentric body shaft and the carrier,
The eccentric body shaft bearing includes a roller and an outer ring separate from the carrier,
A method of manufacturing an eccentric oscillating gear device, comprising the step of finishing the outer ring rolling surface of the roller of the outer ring after the outer ring is incorporated into the carrier. In the manufacturing method of the eccentric rocking | fluctuation type gear apparatus of Claim 6,
The carrier has an inner ring rolling surface of a main bearing for supporting the carrier on a casing on an outer periphery;
The manufacturing method of the eccentric rocking | fluctuation type gear apparatus characterized by including the process of induction-hardening in the inner ring rolling surface of the said main bearing. In the manufacturing method of the eccentric rocking | fluctuation type gear apparatus of Claim 6 or 7,
A method of manufacturing an eccentric oscillating gear device, comprising: a step of finishing an outer end of the outer ring in the axial direction before the outer ring is incorporated into the carrier.

Images