JP2024024381A - Speed reducer and rotary device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a speed reducer which can reduce variations of a depth in an axial direction of a pin groove and stabilize contact between each internal tooth pin and a pin groove, and to provide a rotary device.

SOLUTION: A speed reducer includes: a cylindrical case 11; internal tooth pins 20; multiple oscillation gears; and a carrier. The case 11 has multiple pin grooves 18 along an axial direction on its inner peripheral surface. The internal tooth pin 20 is rotatably housed in each pin groove 18. The oscillation gears respectively have numbers of external tooth which are smaller than an arrangement number of the pin grooves 18 in a circumferential direction, are arranged side by side in the axial direction at an inner periphery of the case 11, and receive rotational power to oscillate with the external tooth engaging with the internal tooth pins 20. The carrier is assembled to the case 11 in a manner that enables relative rotation and is assembled to the oscillation gears in a manner that prevents relative rotation. A portion formed with the pin grooves 18 of the case 11 is formed by multiple divided blocks which divide the pin grooves 18 in the axial direction.

SELECTED DRAWING: Figure 2

COPYRIGHT: (C)2024,JPO&INPIT

Description

The present invention relates to a speed reducer and rotating equipment.

BACKGROUND ART In rotating equipment used in industrial robots and the like, a speed reducer is used to slow down the rotation of a rotational drive source such as a motor (for example, see Patent Document 1).

The above speed reducer includes a cylindrical case, a carrier rotatably held within the case, a crankshaft rotatably supported by the carrier, and a rotating part that rotates within the case in response to rotation of an eccentric portion of the crankshaft. Some devices include a rotating rocking gear and a plurality of internal pins rotatably held on the inner peripheral surface of the case.
In the case of this speed reducer, the rotation of the rotational drive source is input to the crankshaft. Moreover, pin grooves for rotatably holding a plurality of internally toothed pins are formed on the inner circumferential surface of the case. The pin grooves are formed at equal intervals on the inner peripheral surface of the case along the axial direction of the case. External teeth that mesh with a plurality of internal pins are formed on the outer peripheral surface of the rocking gear. The number of external teeth is set to one less than the number of internal pins. Therefore, when the rocking gear rotates in response to the rotation of the crankshaft, it is reduced to a predetermined reduction ratio while meshing with the internal pin, and rotates in a direction opposite to the rotating direction. The rotational component of the oscillating gear is transmitted to the carrier through the crankshaft or another output pin. The carrier is connected to a rotating target part of a rotating device to be used, and transmits the reduced power of the rotational drive source to the rotating target part.

Patent No. 4783668

In large rotating equipment, it is necessary to increase the size of the reduction gear in order to transmit large torque to the rotating target part. In this case, in order to suppress the number of expensive main bearings that rotatably support the carrier in the case, the axial length of the case must be increased and a plurality of rocking gears must be installed in the axial direction. In this case, the pin groove formed on the inner circumferential surface of the case becomes longer in the axial direction depending on the number of rocking gears installed.

However, when the length of the pin groove formed on the inner circumferential surface of the case becomes longer in the axial direction, when the pin groove is continuously cut in the axial direction with a cutting tool, the depth of the pin groove becomes closer to one end in the axial direction. and the other end tends to fluctuate. If the difference in groove depth between one end and the other end of the pin groove in the axial direction becomes large, the contact between the internally toothed pin and the pin groove becomes unstable, which is disadvantageous in terms of durability of the device.

The present invention provides a speed reducer and a rotating device that can reduce variation in the depth of pin grooves in the axial direction and stabilize contact between internal pins and pin grooves.

A reduction gear according to one aspect of the present invention includes a cylindrical case having a plurality of pin grooves along an axial direction on an inner circumferential surface, an internally toothed pin rotatably housed in each of the pin grooves, and The outer teeth have a smaller number of teeth than the number of teeth arranged in the circumferential direction, are arranged in the axial direction on the inner circumference of the case, and swing while receiving rotational power while engaging with the inner tooth pin with the outer teeth. The device includes a plurality of rotating oscillating gears, and a carrier that is relatively rotatably assembled to the case and non-rotatably assembled to the plurality of oscillating gears, and the pin groove of the case is formed. The portion is composed of a plurality of dividing blocks that divide the pin groove in the axial direction.

In the reducer with this configuration, the pin groove of the case is divided into a plurality of divided blocks, so the pin groove can be cut separately for each divided block. Therefore, it is possible to reduce variations in depth (difference in depth) in the entire pin groove.

Each of the internally toothed pins may be constituted by a plurality of split pins accommodated in each of the pin grooves of the split block.

In this case, since the split pins are accommodated individually in each pin groove of the split block, unnecessary stress is less likely to act on the internal pins when the plurality of swing gears swing and rotate. Therefore, when this configuration is adopted, the contact between the internal pin (split pin) and the pin groove can be made more stable, and the durability of the speed reducer can be increased.

The plurality of divided blocks may include a first divided block and a second divided block that are divided so as to divide the pin groove into two equal lengths in the axial direction.

In this case, it becomes possible to efficiently suppress variations in the depth of the pin groove in the axial direction while suppressing the complexity of the structure of the case.

An annular groove that opens toward the inner circumference may be provided between the end faces of the two divided blocks that face each other in the axial direction.

In this case, the lubricant inside the case stays in the annular groove formed between the divided blocks, making it possible to improve the lubricity of the operating parts inside the case.

The plurality of divided blocks may be connected by a plurality of fastening members at positions equiangularly spaced apart in the circumferential direction.

In this case, the plurality of divided blocks are fastened in a well-balanced manner in the circumferential direction, making it difficult for gaps to occur between adjacent divided blocks.

A rotating device according to one aspect of the present invention includes a rotational drive source that outputs rotational power, and a speed reducer that reduces rotation of the rotational drive source, and the speed reducer is arranged along an inner peripheral surface in an axial direction. A cylindrical case having a plurality of pin grooves, an internal tooth pin rotatably housed in each of the pin grooves, and external teeth having a smaller number of teeth than the number of teeth arranged in the circumferential direction of the pin grooves, the case a plurality of rocking gears arranged axially on the inner periphery of the case and oscillatingly rotating while receiving rotational power and meshing with the internal pin with the external teeth; and a carrier that is assembled to the plurality of rocking gears in a relatively non-rotatable manner, and a portion of the case where the pin groove is formed is constituted by a plurality of divided blocks that divide the pin groove in the axial direction. has been done.

In the above-mentioned reducer, the portion of the case where the pin groove is formed is composed of a plurality of divided blocks that divide the pin groove in the axial direction, so the pin groove is individually cut for each divided block. be able to. Therefore, variations in the depth of the pin groove in the axial direction can be reduced. Therefore, when the above-described reduction gear is employed, the inclination of the internal pin during operation can be reduced, and the contact between the internal pin and the pin groove can be stabilized.

FIG. 1 is a partially sectional front view of a reduction gear according to an embodiment. FIG. 2 is a sectional view taken along line II-II in FIG. FIG. 3 is an enlarged cross-sectional view of a part of FIG. 2.

Next, embodiments of the present invention will be described based on the drawings.

FIG. 1 is a partially sectional front view of the reducer 10 viewed from the input side. FIG. 2 is a sectional view taken along line II-II in FIG.
As shown in FIG. 2, the reducer 10 constitutes a rotating device 100 together with a motor 50 that is a rotational drive source. The rotating device 100 receives the driving force of the motor 50 (see FIG. 2), which is decelerated by the reducer 10, and rotates a rotating target portion (not shown). The rotating device 100 is, for example, a rotating arm of an industrial robot, a rotating table of an article conveying device, or the like. A rotating shaft 50a of the motor 50 is connected to a later-described crankshaft 14 of the reducer 10 via a power transmission mechanism (not shown). The crankshaft 14 of the reducer 10 rotates in response to the driving force of the motor 50.

The reducer 10 includes a substantially cylindrical case 11, a first carrier block 13A, a second carrier block 13B, and a first carrier block 13A, which are relatively rotatably assembled to the inner circumferential side of the case 11. , a plurality of (for example, three) crankshafts 14 rotatably supported by the second carrier block 13B, a first rocking gear 15A that pivots together with the two eccentric regions 14b of each crankshaft 14, and 2 swing gear 15B.
In this embodiment, the first carrier block 13A and the second carrier block 13B constitute a carrier. Further, the first swing gear 15A and the second swing gear 15B constitute a plurality of swing gears in this embodiment.

The first carrier block 13A includes a perforated disk-shaped substrate portion 13Aa, and a plurality of support portions 13Ab extending from the end surface of the substrate portion 13Aa toward the second carrier block 13B. The second carrier block 13B is formed in the shape of a disc with holes. In the first carrier block 13A, the end surfaces of the support columns 13Ab are butted against the end surfaces of the second carrier block 13B, and each support section 13Ab is fastened and fixed to the second carrier block 13B with bolts 16. Note that reference numeral 17 in the figure is a positioning pin for positioning the second carrier block 13B on each support column 13Ab before fastening with the bolts 16.

An axial gap is ensured between the substrate portion 13Aa of the first carrier block 13A and the second carrier block 13B. A first swing gear 15A and a second swing gear 15B are arranged in this gap.
Note that escape holes 19 are formed in the first rocking gear 15A and the second rocking gear 15B, through which each support column 13Ab of the first carrier block 13A passes. The escape hole 19 is formed to be sufficiently larger than the outer surface shape of the support column 13Ab so that each support column 13Ab does not interfere with the rotational movement of the first rocking gear 15A and the second rocking gear 15B.

The case 11 includes a first divided block 11A and a second divided block 11B that are butted against each other at end faces in the axial direction. The case 11 is divided into a first divided block 11A and a second divided block 11B at a substantially central position in the axial direction. The first divided block 11A and the second divided block 11B are connected by a plurality of (for example, three) bolts 45 (fastening members) in a state where their axial end faces abut each other. The plurality of bolts 45 are arranged at equal angles apart around a rotation center axis c1, which will be described later.
The first divided block 11A and the second divided block 11B constitute a plurality of divided blocks in this embodiment.

Further, an annular seal groove 46 is provided on the inner end surface 11Ae of the first divided block 11A (the end surface on the side facing the second divided block 11B). An annular seal member 47 is accommodated in the seal groove 46 . The seal member 47 seals between the end faces 11Ae and 11Be when the first divided block 11A and the second divided block 11B are fastened together with the bolt 45.

The cylindrical case 11 in which the first divided block 11A and the second divided block 11B are connected is disposed astride the outer circumferential surface of the base plate portion 13Aa of the first carrier block 13A and the outer circumferential surface of the second carrier block 13B. ing. A base plate portion 13Aa of a first carrier block 13A and a second carrier block 13B are rotatably supported on both axial edges of the case 11 via a main bearing 12. Further, on the inner peripheral surface of the axially central region of the case 11 (the region facing the outer peripheral surfaces of the first rocking gear 15A and the second rocking gear 15B), first and second carrier blocks 13A and 13B are provided. A plurality of pin grooves 18 are formed extending parallel to the rotation center axis c1.

An internally toothed pin 20 is rotatably accommodated in each pin groove 18 . The internal pin 20 includes a first split pin 20A and a second split pin 20B each having a substantially cylindrical shape. The first divided pin 20A and the second divided pin 20B are separate pin members having the same shape and size. The first divided pin 20A is accommodated in a region of the pin groove 18 formed on the inner peripheral surface of the first divided block 11A. The second divided pin 20B is accommodated in a region of the pin groove 18 formed on the inner peripheral surface of the second divided block 11B. The first divided pin 20A accommodated in the pin groove 18 of the first divided block 11A faces the outer peripheral surface of the first swing gear 15A, and the second divided pin accommodated in the pin groove 18 of the second divided block 11B. 20B faces the outer peripheral surface of the second rocking gear 15B.

The first swing gear 15A and the second swing gear 15B are formed to have an outer diameter slightly smaller than the inner diameter of the case 11 (the first divided block 11A and the second divided block 11B). A first divided pin 20A is provided on each outer circumferential surface of the first oscillating gear 15A and the second oscillating gear 15B, and is arranged in each inner periphery (pin groove 18) of the first divided block 11A and the second divided block 11B. External teeth 15Aa and 15Ba are formed to mesh with and contact the second split pin 20B. The number of external teeth 15Aa and 15Ba formed on the outer circumferential surfaces of the first oscillating gear 15A and the second oscillating gear 15B is the number of each of the first divided pin 20A and the second divided pin 20B (pin groove 18) (for example, one less).

The plurality of crankshafts 14 are arranged on the same circumference around the rotation center axis c1 of the first carrier block 13A and the second carrier block 13B. Each crankshaft 14 is rotatably supported by a first carrier block 13A and a second carrier block 13B via bearings 21. Each crankshaft 14 has a pair of shaft support regions 14a arranged apart from each other in the axial direction, and two eccentric regions 14b arranged between the pair of shaft support regions 14a. A gear mounting portion 14c is formed at one axial end of the crankshaft 14 adjacent to the shaft support region 14a. Further, each shaft support region 14a is inserted into a shaft support hole 13Aa-1 formed in the first carrier block 13A (substrate part 13Aa) and a shaft support hole 13Ba-1 formed in the second carrier block 13B, It is rotatably supported by these via bearings 21.

The center axes of the two eccentric regions 14b of the crankshaft 14 are eccentric with respect to the center axis of the shaft support region 14a. Further, the two eccentric regions 14b are eccentric so that the phases are shifted by 180° around the central axis of the shaft support region 14a.

Further, each eccentric region 14b of the crankshaft 14 passes through the first swing gear 15A and the second swing gear 15B, respectively. Each eccentric region 14b is rotatably engaged with a support hole 22 formed in the first rocking gear 15A and the second rocking gear 15B via an eccentric bearing 23 (cylindrical roller bearing).
Note that the first carrier block 13A and the second carrier block 13B are relative to the first swing gear 15A and the second swing gear 15B via a plurality of crankshafts 14 arranged around the rotation center axis c1. Non-rotatably connected. That is, when the first swing gear 15A and the second swing gear 15B rotate in one direction, the first carrier block 13A and the second carrier block 13B rotate in synchronization with these rotations.

In the reducer 10 of this embodiment, when the plurality of crankshafts 14 rotate in one direction in response to an external force, each eccentric region 14b of the crankshafts 14 turns in the same direction with a predetermined radius, and accordingly, the first oscillation occurs. The movable gear 15A and the second oscillating gear 15B rotate (swing) in the same direction with the same radius. At this time, each of the external teeth 15Aa, 15Ba of the first swing gear 15A and the second swing gear 15B is a The inner pins 20 (the first split pin 20A and the second split pin 20B) are engaged with each other.

The gear mounting portion 14c of each crankshaft 14 passes through the shaft support hole 13Ba-1 of the second carrier block 13B and projects outward in the axial direction of the second carrier block 13B. A crankshaft gear 28 is attached to the gear attachment portion 14c protruding from the second carrier block 13B. Each crankshaft gear 28 meshes with an input gear (not shown). The input gear rotates under the driving force of a motor 50, which is a rotational drive source.

In the reducer 10 of this embodiment, the number of teeth of each of the external teeth 15Aa and 15Ba of the first oscillating gear 15A and the second oscillating gear 15B is the same as that of the internally toothed pin 20 on the case 11 side (the first split pin 20A, and , the second split pins 20B). Therefore, while the first oscillating gear 15A and the second oscillating gear 15B make one revolution, the first oscillating gear 15A and the second oscillating gear 15B move away from the internal pin 20 on the case 11 side in the direction of rotation. Receive power. Thereby, the first swing gear 15A and the second swing gear 15B rotate by a predetermined pitch in the opposite direction to the rotation direction. The first and second carrier blocks 13A and 13B, which are assembled to the first swing gear 15A and the second swing gear 15B via the crankshaft 14, are moved in the same direction as the first and second swing gears 15A and 15B. rotates at the same pitch. As a result, the rotation of the crankshaft 14 is decelerated and output as rotation of the first and second carrier blocks 13A, 13B.

In this embodiment, the case 11 is fixed to a support structure (not shown) together with the motor 50, and the first carrier block 13A is connected to a rotating object (not shown) of the rotating device 100. Therefore, the rotational power of the motor 50 is reduced to a predetermined reduction ratio by the reduction gear 10, and then rotates the rotating object via the first carrier block 13A.
However, it is also possible to use the first carrier block 13A and the second carrier block 13B by fixing them to a support structure and by connecting the case 11 to an object to be rotated.

FIG. 3 is an enlarged cross-sectional view of a connecting portion between the first divided block 11A and the second divided block 11B in FIG. 2. As shown in FIG.
The first divided block 11A and the second divided block 11B are positioned by a plurality of positioning pins (not shown) so that the pin grooves 18 on the inner circumferential surfaces of each other are linearly aligned in the axial direction, and in this state, the bolts 45 interconnected. Note that, like the bolts 45, the plurality of positioning pins are arranged at equiangular intervals around the rotation center axis c1.

Here, the first divided block 11A and the second divided block constituting the case 11 are divided so that the pin groove 18 on the inner peripheral surface of the case 11 is divided into two equal lengths in the axial direction.
As shown in FIG. 3, an annular notch 30 that opens radially inward on the end surfaces 11Ae, 11Be side is provided at the inner peripheral edge of the inner end surfaces 11Ae, 11Be of the first divided block 11A and the second divided block 11B. is formed. The notch 30 on the first divided block 11A side and the notch 30 on the second block side constitute an annular groove that opens toward the inner circumference when both the divided blocks 11A and 11B are connected. The annular groove configured in this manner can stably retain the lubricant (not shown) filled in the case 11 inside.

Next, a method for manufacturing the case 11 of the reducer 10 will be described.
First, the approximate shapes of the first divided block 11A and the second divided block 11B are formed by casting or the like.
Thereafter, pin grooves 18 are formed in the inner peripheral surfaces of the first divided block 11A and the second divided block 11B by cutting with a cutting tool. At this time, in each of the divided blocks 11A and 11B, cutting is performed from one end in the axial direction to the other end.
At this time, the depth of the pin groove 18 may change from one end of the pin groove 18 in the axial direction to the other end during cutting, but the axial length of the pin groove 18 of each divided block 11A, 11B is approximately half the length of the pin groove 18 of the entire case 11, so the variation in the depth of the pin groove 18 is small.

The symbol w1 in FIG. 3 indicates the variation in the depth of the pin groove 18 when the case 11 is composed of the first divided block 11A and the second divided block 11B, and the symbol w2f indicates the variation in the depth of the pin groove 18 when the case 11 is composed of the first divided block 11A and the second divided block 11B. This is due to the variation in the depth of the pin groove 18 at the time. As shown in FIG. 3, when the case 11 is composed of a first divided block 11A and a second divided block 11B, the depth of the pin groove 18 varies more than when the case 11 is composed of an integral block. can be reduced to about half.

As described above, in the reducer 10 of this embodiment, the portion of the case 11 where the pin groove 18 is formed is divided into a plurality of divided blocks (first divided block 11A and 2nd divided block 11B). Therefore, the pin grooves 18 can be individually cut for each divided block. Therefore, variations in the depth of the pin groove 18 in the axial direction can be further reduced.
Therefore, when the reducer 10 of this embodiment is employed, the inclination of the internally toothed pin 20 during operation of the reducer 10 can be reduced, and the contact between the internally toothed pin 20 and the pin groove 18 can be stabilized.
In this embodiment, the case 11 is configured by the first divided block 11A and the second divided block 11B, but the number of divisions of the case 11 in the axial direction is not limited to two. It may be divided into three or more.

Further, in the reducer 10 of this embodiment, the internal pin 20 is configured by a first divided pin 20A and a second divided pin 20B that are accommodated in each pin groove 18 of the first divided block 11A and the second divided block 11B. has been done. In this case, the split pins (first split pin 20A and second split pin 20B) are accommodated individually in each pin groove 18 of the split block (first split block 11A and second split block 11B). , when the first swing gear 15A and the second swing gear 15B swing and rotate, unnecessary stress is less likely to act on the internal pin 20. Therefore, when this configuration is adopted, the contact between the internal pins 20 (the first split pin 20A and the second split pin 20B) and the pin groove 18 is made more stable during the operation of the reducer 10, and the speed is reduced. The durability of the machine 10 can be increased.
However, in this embodiment, independent first dividing pins 20A and second dividing pins 20B are individually accommodated in each pin groove 18 of the first divided block 11A and second divided block 11B, but each block It is also possible to accommodate a single internal pin of continuous length in the pin groove 18 of the pin groove 18 .

Further, in the reducer 10 of the present embodiment, the case 11 is configured by a first divided block 11A and a second divided block 11B, which are divided so that the pin groove 18 is divided into two equal lengths in the axial direction. Therefore, when the configuration of the reducer 10 of this embodiment is adopted, the structure of the case 11 is prevented from becoming complicated, and variations in the depth of the pin groove 18 in the axial direction are efficiently suppressed. be able to.

Furthermore, the reducer 10 of the present embodiment has an annular groove that opens toward the inner circumference formed by the notch 30 between the end surfaces 11Ae and 11Be of the first divided block 11A and the second divided block 11B that face each other in the axial direction. It is provided. Therefore, when this configuration is adopted, the lubricant inside the case 11 can be retained in the annular groove formed between the end surfaces 11Ae and 11Be, and the lubricity of the operating parts inside the case 11 can be further improved. .

Further, in the speed reducer 10 of this embodiment, the first divided block 11A and the second divided block 11B are connected by a plurality of bolts 45 (fastening members) at positions equiangularly spaced apart in the circumferential direction. Therefore, the first divided block 11A and the second divided block 11B can be fastened in a well-balanced manner in the circumferential direction, making it difficult to form a gap between the end surfaces 11Ae and 11Be of the first divided block 11A and the second divided block 11B.

Note that the present invention is not limited to the above-described embodiments, and various design changes can be made without departing from the gist thereof.
For example, in the above embodiment, the first divided block 11A and the second divided block 11B are configured to divide the pin groove 18 into two with equal lengths in the axial direction, but the pin grooves are divided into two with equal lengths in the axial direction. It is also possible to configure a plurality of divided blocks so as to be divided into two.
Further, in the above embodiment, the motor 50 is employed as a rotational drive source that constitutes the rotating device 100 together with the reducer 10, but the rotational drive source may be an electric motor as long as it can transmit rotational power. but not limited to. For example, the movement of a direct acting actuator may be changed to movement in a rotational direction.

Further, among the embodiments disclosed in this specification, those that are composed of a plurality of objects may be integrated with the plurality of objects, and conversely, the embodiments that are composed of one object may be integrated with the plurality of objects. It can be divided into Regardless of whether they are integrated or not, it is sufficient that the structure is such that the purpose of the invention can be achieved.

10... Reduction gear, 11... Case, 11A... First divided block (divided block), 11B... Second divided block (divided block), 13A... First carrier block (carrier), 13B... Second carrier block (carrier) , 15A...first swing gear (swing gear), 15B...second swing gear (swing gear), 18...pin groove, 20...internal gear pin, 20A...first split pin, 20B...second split Pin, 30... Notch (annular groove), 45... Bolt (fastening member), 50... Motor (rotary drive source), 100... Rotating device.

Claims (6)

a cylindrical case having a plurality of pin grooves along the inner peripheral surface in the axial direction;
an internally toothed pin rotatably accommodated in each of the pin grooves;
The outer teeth have a smaller number of teeth than the number of teeth disposed in the circumferential direction of the pin groove, and are arranged in parallel in the axial direction on the inner circumference of the case, and when receiving rotational power, the outer teeth engage the inner tooth pin. A plurality of oscillating gears that oscillate and rotate while meshing,
a carrier that is relatively rotatably assembled to the case and relatively unrotatably assembled to the plurality of rocking gears;
In the speed reducer, a portion of the case where the pin groove is formed is constituted by a plurality of divided blocks that divide the pin groove in the axial direction. The speed reducer according to claim 1, wherein each of the internal pins is constituted by a plurality of split pins accommodated in each of the pin grooves of the split block. The speed reducer according to claim 1 or 2, wherein the plurality of divided blocks include a first divided block and a second divided block that are divided so as to divide the pin groove into two equal lengths in the axial direction. . 3. The speed reducer according to claim 1, wherein an annular groove opening toward the inner circumference is provided between end surfaces of the two divided blocks that face each other in the axial direction. The speed reducer according to claim 1 or 2, wherein the plurality of divided blocks are connected by a plurality of fastening members at positions equiangularly spaced apart in the circumferential direction. a rotational drive source that outputs rotational power;
a reducer that reduces the rotation of the rotational drive source,
The speed reducer is
a cylindrical case having a plurality of pin grooves along the inner peripheral surface in the axial direction;
an internally toothed pin rotatably accommodated in each of the pin grooves;
The outer teeth have a smaller number of teeth than the number of teeth disposed in the circumferential direction of the pin groove, and are arranged in parallel in the axial direction on the inner circumference of the case, and when receiving rotational power, the outer teeth engage the inner tooth pin. A plurality of oscillating gears that oscillate and rotate while meshing,
a carrier that is relatively rotatably assembled to the case and relatively unrotatably assembled to the plurality of rocking gears;
In the rotating device, a portion of the case where the pin groove is formed is constituted by a plurality of divided blocks that divide the pin groove in the axial direction.

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