JP5639823B2 - Eccentric oscillating gear unit - Google Patents

Description

  The present invention relates to an eccentric oscillating gear device.

  Patent Document 1 discloses an eccentric oscillating gear device shown in FIG.

  The eccentric oscillating gear device 1 includes an outer cylinder 3 having a plurality of internal teeth 2 on an inner peripheral surface, a crankshaft 5 having an eccentric portion 4, an external gear 6 attached to the eccentric portion 4, an external tooth A carrier body 7 disposed on the side of the gear 6 in the axial direction and operating in synchronization with the rotation component of the external gear 6, and a main bearing 8 disposed between the outer cylinder 3 and the carrier body 7. ing. The eccentric oscillating gear device 1 includes one external gear 6 and one carrier body 7. The external gear 6 is eccentrically oscillated while meshing with the internal teeth 2 by the rotation of the crankshaft 5.

WO2010 / 041549A1 (FIG. 1)

  The eccentric oscillating gear device 1 includes only one external gear 6 (and carrier body 7) and has a very compact configuration in the axial direction. , The load applied to the external gear 6 in the radial direction is not uniform in the circumferential direction. As a result, the crankshaft 5 or the like to which the external gear 6 is attached vibrates, and this vibration may adversely affect the transmission of rotation of the gear device 1.

  In order to solve the above-described problems, the present invention has an object to provide an eccentric oscillating gear device that is extremely compact in the axial direction and that suppresses vibrations and improves transmission performance. .

The present invention provides an outer cylinder having inner teeth on an inner peripheral surface, a crankshaft having an eccentric portion, and one eccentrically swinging while being engaged with the inner teeth by rotation of the crankshaft. An external gear, a carrier body that is disposed only on one side of the axial side portion of the external gear, and operates in synchronization with the rotation component of the external gear, the outer cylinder, and the carrier body A plurality of crankshafts arranged at positions offset from the center of the outer cylinder, and an eccentric balance correction mechanism that corrects the load balance of the external gear that eccentrically swings. is, the crank gear is provided in each of the plurality of crankshaft, wherein the input gear plurality of crank gears meshing, the crank gear is disposed radially inwardly of the outer cylinder, and in the axial direction, the Clan It has solved the above problems by the configuration in which the external gear is disposed between the gear and the carrier member.
Further, the present invention provides an outer cylinder having inner teeth on the inner peripheral surface, a crankshaft having an eccentric portion, and attached to the eccentric portion. One external gear, a carrier body that is disposed only on one side of the axial side portion of the external gear, and operates in synchronization with the rotation component of the external gear, the outer cylinder, and the carrier A plurality of crankshafts at positions offset from the center of the outer cylinder, and a main bearing disposed between the body and an eccentric balance correcting mechanism that corrects a load balance of the external gear that eccentrically swings. Each of the plurality of crankshafts is provided with a crank gear, the input gear meshes with the plurality of crank gears, and the carrier body has a portion extending to the outer peripheral side of the outer cylinder. The extended Min radially inward and between radially outward of the outer cylinder, also solves the above problems by the configuration in which the main bearing is arranged.
Further, the present invention provides an outer cylinder having inner teeth on the inner peripheral surface, a crankshaft having an eccentric portion, and attached to the eccentric portion. One external gear, a carrier body that is disposed only on one side of the axial side portion of the external gear, and operates in synchronization with the rotation component of the external gear, the outer cylinder, and the carrier A plurality of crankshafts at positions offset from the center of the outer cylinder, and a main bearing disposed between the body and an eccentric balance correcting mechanism that corrects a load balance of the external gear that eccentrically swings. Each of the plurality of crankshafts is provided with a crank gear, the input gear and the plurality of crank gears mesh with each other, and a motor is provided on the side where the carrier body is disposed. A flange member for covering the output side of the motor, wherein the carrier body is also solved the above problems by the configuration is shared with the flange of the motor.

  The present invention provides an eccentric balance correction mechanism (for example, a position opposite to the direction having the maximum eccentric amount of the eccentric portion) with respect to the eccentric oscillating gear device having only one carrier body and one external gear. A mechanism for providing a balance weight having a center of gravity, a mechanism for making a hole in the crankshaft at a position in the direction having the maximum eccentricity of the eccentric part, a mechanism for holding a member having a specific gravity different from that of the crankshaft in the hole, and the like. Yes. This eccentric balance correction mechanism has a load balance that cancels out an imbalance in the circumferential direction of a load applied in the radial direction of the external gear when the external gear swings. Thus, the present invention has only one external gear and is a very compact gear device in the axial direction, but balances the radial force acting on the crankshaft on the entire circumference in the circumferential direction. be able to. As a result, the gear device can suppress vibrations and improve transmission performance.

  Here, “synchronized with the rotation component of the external gear” means that when the external gear rotates, the carrier body rotates together with the external gear that rotates, while the external gear When the rotation is restricted and only the swinging is performed, it means that the carrier body maintains a stopped state (without the rotation) together with the external gear to which the rotation is restricted. Yes.

  Further, “a carrier body arranged only on one side of the axial side of the external gear” means “a member constituting the carrier body is not arranged on both sides of the external gear in the axial direction”. That's what it means. That is, for example, a part of the carrier body arranged only on one side of the axial side portion of the external gear is extended to extend outward in the radial direction of the outer cylinder, or the external gear is It may pass through and reach the non-carrier body side of the external gear. In addition, the carrier body according to the present invention does not necessarily have to be composed of one member, and two or more members may be integrated with bolts or the like.

  According to the present invention, it is possible to obtain an eccentric oscillating gear device that is extremely compact in the axial direction and that suppresses vibration and improves transmission performance.

The longitudinal cross-sectional view of the eccentric rocking | swiveling type reduction gear device concerning embodiment of this invention Sectional view along the arrow II-II line of the eccentric oscillating speed reducer shown in FIG. Longitudinal sectional view of an eccentric oscillating speed reducer according to a second embodiment of the present invention FIG. 3 is a side view of the eccentric oscillating type speed reducer shown in FIG. Longitudinal sectional view of an eccentric oscillating speed reduction device according to a third embodiment of the present invention Longitudinal sectional view of an eccentric oscillating speed reduction device according to a fourth embodiment of the present invention Vertical sectional view of an eccentric oscillating gear device showing an example of the prior art

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

  FIG. 1 shows a longitudinal sectional view of an eccentric oscillating speed reduction device 100. 2 shows a cross-sectional view of the eccentric oscillating speed reducing device 100 shown in FIG.

  First, an outline will be described. An eccentric oscillating speed reduction device (eccentric oscillating gear device) 100 according to this embodiment includes an outer cylinder 108 having an inner tooth 106 on an inner peripheral surface, and an eccentric body (eccentric portion) 110. , A single external gear 114 that is attached to an eccentric body (eccentric portion) 110, and that eccentrically swings while meshing with the internal teeth 106 by the rotation of the crankshaft 112, and the axial direction of the external gear 114 A carrier body 116 that is disposed only on one side of the side portion and operates in synchronization with the rotation component of the external gear 114, a main bearing 118 that is disposed between the outer cylinder 108 and the carrier body 116, and an eccentric body And an eccentric balance correction mechanism 120 that corrects the load balance of the external gear 114 that is swung in an eccentric state with respect to the axis O of the crankshaft 112 by the motor 110.

  Hereinafter, the reduction gear 100 will be described in detail.

  The reduction gear 100 is composed of a reduction gear 104 and a motor 102.

  The motor shaft 122 of the motor 102 is integrated with the crankshaft 112 of the speed reducer 104. The crankshaft 112 is supported at both ends by only two first and second bearings 124 and 126 that support the motor shaft 122 by the casing 102 </ b> C of the motor 102. An eccentric body 110 is fixed to the tip of the crankshaft 112 with a key 111 and a bolt 113. The eccentric body 110 has its center of gravity radially deviated with respect to the axis O (rotation center) of the crankshaft 112, and the amount of eccentricity is maximized in this deviating direction (having the maximum amount of eccentricity). doing). One eccentric gear 114 is rotatably fitted to the eccentric body 110 via rollers 128. Therefore, the load balance of the external gear 114 attached to the eccentric body 110 is eccentric in the same direction as the direction M having the maximum eccentric amount of the eccentric body 110 around the axis O of the crankshaft 112. (Is biased). The external gear 114 is eccentrically oscillated while internally meshing with the internal teeth 106 by the rotation of the crankshaft 112. The external gear 114 is provided with an inner pin hole 132 through which an inner pin 130 described later passes.

  An outer cylinder 108 is provided on the outer periphery of the external gear 114, and an inner tooth 106 is formed on the inner peripheral surface of the outer cylinder 108. The inner teeth 106 are constituted by outer pins 134. In the present embodiment, the number of teeth of the internal teeth 106 is set to be “1” greater than the number of teeth of the external gear 114.

The carrier body 116 is disposed only on the motor 102 side of the external gear 114 in the axial direction (only on the right side of the external gear 114 in FIG. 1). That is, in the present embodiment, the members constituting the carrier body are not disposed on both sides in the axial direction of the external gear 114.

  An inner pin 130 projects integrally from the carrier body 116, and the inner pin 130 passes through the inner pin hole 132 of the external gear 114. Since the inner pin 130 extracts the rotation of the reduction gear 100, the carrier body 116 operates in synchronization with the rotation component of the external gear 114. In the present embodiment, the carrier body 116 is stopped together with the external gear 114 whose rotation is restricted (not rotating). An inner roller 136 for reducing the sliding resistance with the inner pin hole 132 is slidably covered on the outer periphery of the inner pin 130.

  The carrier body 116 mainly includes a first carrier body 116A and a second carrier body 116B. The first carrier body 116A is also used as the flange body 102C1 of the motor 102 that forms part of the casing 102C of the motor 102 (covers the output side of the motor), and the first carrier body 116A and the flange body 102C1 of the motor 102 are integrated. It has become. The first carrier body 116 </ b> A is disposed only on the side of the motor 102 on the side in the axial direction of the external gear 114, and extends to the outside in the radial direction from the outer cylinder 108. A second carrier body 116B is attached to an axial side surface of the radially outer portion of the outer cylinder 108 of the first carrier body 116A. The second carrier body 116B is arranged in parallel along the outer periphery of the outer cylinder 108 and reaches the side opposite to the carrier body of the external gear 114. In the present embodiment, the second carrier body 116 </ b> B is a portion extended to the outer peripheral side of the outer cylinder 108 of the carrier body 116. The first and second carrier bodies 116A and 116B are integrated by bolts 146 and fixed to the casing 102C of the motor 102.

  In other words, the first and second carrier bodies 116A and 116B are integrated (by the bolt 146) and are disposed only on one side of the axial side portion of the external gear 114 as a whole. The “carrier body arranged only on one side of the axial side portion of the external gear” is configured.

  The carrier body 116 has a second carrier body 116B extending to the outer peripheral side of the outer cylinder 108, and a main bearing 118 is disposed between the outer peripheral side of the outer cylinder 108 and the inner peripheral side of the second carrier body 116B. Has been.

  In the present embodiment, a cross roller bearing 140 is employed as the main bearing 118. The inner ring of the cross roller bearing 140 is also used as the outer cylinder 108, and the outer ring is also used as the second carrier body 116B. The outer cylinder 108 is supported by the cross roller bearing 140 so as to be rotatable with respect to the second carrier body 116B, and the movement in the axial direction is restricted.

  A cover 144 is attached to the axial side surface of the outer cylinder 108 on the side opposite to the motor, and a mating member (not shown) is attached to the outer cylinder 108 via the cover 144. As the outer cylinder 108 rotates, the rotation decelerated by the reduction gear 100 is transmitted to the counterpart member.

  The crankshaft 112 is provided with an eccentric balance correction mechanism 120. The eccentric balance correction mechanism 120 is a mechanism that corrects the load balance of the external gear 114 that is rotated by the eccentric body 110 while being eccentric with respect to the axis O of the crankshaft 112. In the present embodiment, the eccentric balance correction mechanism 120 is a mechanism provided with a balance weight 148 on the crankshaft 112.

  The balance weight 148 has a center of gravity at a predetermined position in the direction N opposite to the direction M having the maximum eccentric amount of the eccentric body 110 around the axis O of the crankshaft 112, and the balance weight 148 has a center in this direction. The load balance is uneven. That is, the load balance of the balance weight 148 is biased in the direction opposite to the load bias when the external gear 114 swings around the axis O of the crankshaft 112.

  Next, the operation of the reduction gear 100 will be described.

  First, the operation of the entire reduction gear 100 will be described.

  When the motor shaft 122 (integrated with the crankshaft 112) rotates, the external gear 114 swings, and the meshing position between the external gear 114 and the internal teeth 106 is sequentially shifted depending on the number of teeth. In this embodiment, since the inner pin 130 protrudes from the carrier body 116 and penetrates the external gear 114, and the carrier body 116 is fixed to the casing 102C of the motor 102, the rotation of the external gear 114 is restrained. Has been. For this reason, the internal gear 106 meshed with the external gear 114 has an external gear 114 at a reduction ratio corresponding to (the difference in the number of teeth between the internal gear 106 and the external gear 114) / (the number of teeth of the internal gear 106). Is displaced relative to (rotates). The rotation of the internal teeth 106 is taken out from the outer cylinder 108 in which the internal teeth 106 are integrally formed.

  Next, the operation of the speed reducer 100 centering on the eccentric balance correction mechanism 120 will be described.

  When the external gear 114 of the speed reducer 100 is eccentrically swung by the eccentric body 110, the radial load applied to the external gear 114 is not uniform in the circumferential direction. As a result, the crankshaft 112 or the like to which the external gear 114 is attached vibrates, and this vibration may adversely affect the transmission of rotation of the reduction gear 100 or the like.

  However, according to the present embodiment, the eccentric balance correction mechanism 120 including the balance weight 148 having the center of gravity at a predetermined position in the direction N opposite to the direction M having the maximum eccentric amount of the eccentric body 110 is provided. The balance weight 148 cancels the imbalance in the circumferential direction of the load applied in the radial direction of the external gear 114 when the external gear 114 swings. As a result, the radial force acting on the crankshaft 112 can be balanced over the entire circumference in the circumferential direction.

  Further, for example, in the conventional example shown in FIG. 7, the main bearing 8 is disposed between the outer side in the radial direction of the carrier body 7 and the inner side in the radial direction of the outer cylinder 3. Had been placed in. On the other hand, in the present embodiment, the carrier body 116 (first carrier body 116A) positioned on the “axial side portion of the external gear 114” is extended to the “outer peripheral side of the external gear 114”. The two carrier bodies 116B are arranged, and the cross roller bearing 140 as a main bearing is arranged on the radially inner side of the second carrier body 116B (located on the outer peripheral side of the external gear 114) and the radial direction of the outer cylinder 108. It is arranged between the outside. That is, in the present embodiment, the cross roller bearing 140 serving as the main bearing is not disposed on the first carrier body 116A located at “the axial side portion of the external gear 114”. Therefore, the thickness of the first carrier body 116A in the axial direction can be further reduced, and the reduction gear 100 can be configured more compactly in the axial direction.

  The first carrier body 116A of the speed reducer 104 is also used as the flange body 102C1 of the motor 102 (which constitutes a part of the casing 102C of the motor 102), and the speed reducer 104 is provided with the first carrier body separately from the motor flange body. It is no longer necessary. Further, since the crankshaft 112 is supported only by the first and second bearings 124 and 126 that support the motor shaft 122 by the casing 102C of the motor 102, the speed reducer 104 supports the crankshaft 112 inside itself. This eliminates the need for a separate bearing. As a result, the entire reduction gear 100 including the reduction gear 104 and the motor 102 is compact in the axial direction.

  Combined with the effects of the above configuration, the radial force acting on the crankshaft 112 is balanced over the entire circumference in the circumferential direction while being very compact in the axial direction, thereby suppressing vibration and the like. Thus, the eccentric oscillating speed reduction device 100 capable of improving the transmission performance can be provided.

  Next, a second embodiment will be described.

  FIG. 3 shows a longitudinal sectional view of the eccentric oscillating speed reduction device 200. 4 shows a side view of the eccentric oscillating speed reduction device 200 shown in FIG. 3 as viewed from the side opposite to the carrier body with the cover 244 removed.

  The speed reducer 200 according to this embodiment is a so-called sort type two-stage eccentric oscillating speed reducer. That is, in the first embodiment, the crankshaft (112) is arranged at the center (output rotation center) of the speed reducer (104), whereas in the second embodiment, the crankshaft (112) is offset from the center of the speed reducer 204. A plurality of crankshafts 212A to 212C are arranged at the positions.

  An input gear 252 is integrally formed on the motor shaft 222 of the motor 202, and the input gear 252 is provided with three crankshafts 212A to 212C (only the crankshaft 212A is shown in FIG. 3). The crank gears 254, 256, 258 (only the spar gear 254 is shown in FIG. 3) are directly meshed with each other, and the respective crankshafts 212A to 212C are rotated. Eccentric portions 210A to 210C (only the eccentric portion 210A is shown in FIG. 3) formed in the crankshafts 212A to 212C are eccentric in phase with the crankshafts 212A to 212C. One external gear 214 is attached to each of the eccentric portions 210 </ b> A to 210 </ b> C, and the external gear 214 is in mesh with the internal teeth 206. Based on these configurations, the speed reduction device 200 swings and rotates the external gear 214 by simultaneously rotating the eccentric portions 210A to 210C incorporated in the three crankshafts 212A to 212C in the same phase at the same rotational speed. Let The relative rotation between the external gear 214 and the internal tooth 206 is taken out from the external cylinder 208 (in which the internal tooth 206 is configured).

  Also in the present embodiment, the eccentric balance correction mechanisms 220A to 220C (only the eccentric balance correction mechanism 220A is shown in FIG. 3) are mechanisms having balance weights 248A to 248C (only the balance weight 248A is shown in FIG. 3). The balance weights 248A to 248C are formed on the side portions in the axial direction of the crank gears 254, 256, and 258 disposed on the crankshafts 212A to 212C. Each of the balance weights 248A to 248C has a center of gravity at a predetermined position in the direction N2 and the reverse direction M2 having the maximum eccentric amount of the eccentric portions 210A to 210C around the axis O2 of the respective crankshafts 212A to 212C. Yes. As a result, the balance weights 248A to 248C correct the radial forces acting on the respective crankshafts 212A to 212C so as to be balanced on the entire circumference of each crankshaft 212A to 212C. Further, the speed reduction device 200 includes a carrier body 216 only on the motor 202 side of the axial direction side portion of the external gear 214. The first carrier body 216A of the carrier body 216 is also used as the flange body 202C1 of the motor 202. Further, a main bearing 218 (cross roller bearing 240) is disposed between the radially inner side of the second carrier body 216B and the radially outer side of the outer cylinder 208. Thereby, the reduction gear 204 is comprised very compactly in the axial direction.

  In this embodiment, since the motor shaft 222 is also used as the input shaft of the speed reducer 204 in the sorting type speed reducer 200, the speed reducer 200 does not need to prepare an input shaft in addition to the motor shaft 222. Therefore, the number of parts can be reduced.

  Further, the carrier body 216 includes column members 270A to 270C (only one column member 270A is shown in FIG. 3). The column members 270A to 270C are shafts from the carrier body 216 toward the external gear 214 side. It protrudes in the direction and is fitted into the crankshafts 212A to 212C. The crankshafts 212A to 212C are supported by bearings 278A to 278C (only one bearing 278A is shown in FIG. 3) provided in the fitting portions of the column members 270A to 270C. For this reason, it is not necessary to arrange bearings for supporting the crankshafts 212A to 212C on the outer circumferences of the crankshafts 212A to 212C, and the speed reduction device 200 can be configured to be compact in the radial direction. Moreover, in the present embodiment, since the bearings 278A to 278C are needle bearings that are thin in the radial direction, the speed reduction device 200 can be configured more effectively in the radial direction.

  Therefore, while being very compact, the radial force acting on the crankshafts 212A to 212C can be balanced in the entire circumference in the circumferential direction, and as a result, vibration and the like can be suppressed to improve transmission performance. The eccentric oscillating speed reduction device 200 can be provided.

  Regarding other configurations, the same reference numerals are given to the same parts as the structure of the speed reduction device 100 shown in FIG.

  For the speed reduction devices 300 and 400 according to the following embodiments, the same reference numerals in the last two digits are assigned to portions (functionally similar portions) corresponding to the structures of the speed reduction devices 100 and 200 shown in FIGS. I will not add duplicate explanation.

  Next, third and fourth embodiments will be described.

  The eccentric rocking speed reduction device 300 according to the third embodiment shown in FIG. 5 has basically the same configuration as the speed reduction device (100) described above, but the first carrier body 316A of the speed reduction device 304 is the motor 302. This is different from the speed reducer (100) in that the first carrier body 316A and the flange body 302C1 are configured separately from each other.

  The eccentric rocking speed reduction device 400 according to the fourth embodiment shown in FIG. 6 has basically the same configuration as the speed reduction device (200) described above. However, the first carrier body 416A of the speed reduction device 404 and the motor 402 are the same. The flange body 402C1 is different from the speed reducer (200) in that each flange body 402C1 is configured as a separate body.

  With this configuration, the reduction gears 300 and 400 are extremely compact, but suppress vibrations and improve transmission performance, and further facilitate the assembly and disassembly of the reduction gears 300 and 400. Variations in the reduction ratios and configurations of 300 and 400 are further improved.

  The eccentric balance correction mechanism may make a hole in the crankshaft (including a gear provided on the crankshaft) at a predetermined position in the same direction as the direction having the maximum eccentricity of the eccentric portion. Accordingly, since the balance weight can be eliminated, the gear device can be configured more compactly in the axial direction, and the radial force acting on the crankshaft can be balanced on the entire circumference in the circumferential direction. The eccentric balance correction mechanism may be a crankshaft configured by joining two or more kinds of materials having different specific gravities. For example, a hole may be formed in the crankshaft, and members having different specific gravity (mass per unit volume) from the crankshaft may be packed in the hole. As a result, the gear device can be configured compactly, the radial force acting on the crankshaft can be balanced over the entire circumference in the circumferential direction, and the strength of the crankshaft can be ensured. For example, a member having a specific gravity greater than that of the crankshaft may be packed at a predetermined position opposite to the direction having the maximum eccentric amount of the eccentric portion, or from the crankshaft in the same direction as the direction having the maximum eccentric amount of the eccentric portion. A member having a small specific gravity may be jammed. Further, the eccentric balance correction mechanism may use a structure in which a hole is formed in the crankshaft or a member having a specific gravity different from that of the crankshaft is used in the hole, but these mechanisms are used together with the balance weight described above. It is good also as a structure.

  Further, one carrier body may be provided on the axial side portion of the external gear on the non-motor side (the left side of the external gear in FIG. 1).

  Note that, as in the above embodiment, the carrier body has a portion extended to the outer peripheral side of the outer cylinder, and the main body is located between the radially inner side of the extended part and the outer radial direction of the outer cylinder. The structure in which the bearing is disposed is a preferable structure for reducing the axial direction of the gear device, but is not limited to this structure. For example, as in the conventional example of FIG. 7, the outer periphery of the outer cylinder and the outer periphery of the carrier body A structure in which the main bearing is disposed between the two may be used.

  Further, a cross roller is employed as a main bearing disposed between the outer peripheral side of the outer cylinder and the inner peripheral side of the second carrier body. However, the present invention is not limited to this, and for example, two angular bearings are mounted on the front surface. You may make it arrange | position by combining and a back surface combination.

  In the speed reducer, not only the speed reducer may be configured compactly in the axial direction, but the speed reducer may be further configured compactly in the axial direction by, for example, a motor having a flat structure.

  In this embodiment, the pillar member is integrated with the carrier body. However, the present invention is not limited to this, and the pillar member may be separate from the carrier body.

  In this embodiment, the crankshaft of the speed reducer integrated with the motor shaft of the motor is supported only by the bearing that supports the motor shaft by the motor casing. However, the bearing is disposed inside the speed reducer. (Or also by this bearing).

  Although the motor shaft of the motor is configured integrally with the input shaft of the speed reducer in the embodiment of the sorting type speed reducer described above, the input shaft may be provided separately from the motor shaft.

  In the eccentric oscillating speed reducer according to the above-described embodiment, the type of speed reducer in which the external gear does not rotate, the outer cylinder rotates, and the rotation is extracted from the outer cylinder is shown. Not limited to this, a reduction device of a type in which the outer cylinder is fixed, the external gear rotates, and the operation synchronized with the rotation component of the external gear is extracted from the carrier body.

  Moreover, in the said embodiment, although the speed reducer is shown as an example of the eccentric rocking | fluctuation type gear apparatus, it may not be restricted to this but another apparatus may be sufficient.

106 ... inner teeth 108 ... outer cylinder 110 ... eccentric part (eccentric body)
DESCRIPTION OF SYMBOLS 112 ... Crankshaft 114 ... External gear 116 ... Carrier body 118 ... Main bearing 120 ... Eccentric balance correction mechanism O ... (Crankshaft) shaft center

Claims (9)

An outer cylinder having inner teeth on the inner peripheral surface;
A crankshaft having an eccentric portion;
One external gear attached to the eccentric portion and eccentrically oscillating while meshing with the internal teeth by rotation of the crankshaft;
A carrier body that is arranged only on one side of the axial side portion of the external gear and operates in synchronization with the rotation component of the external gear;
A main bearing disposed between the outer cylinder and the carrier body;
An eccentric balance correction mechanism that corrects the load balance of the external gear that eccentrically swings, and
A plurality of the crankshafts are disposed at positions offset from the center of the outer cylinder,
Crank gear provided on each of the plurality of crankshaft, the plurality of crank gears with the input gear meshes,
The eccentric gear is characterized in that the crank gear is disposed radially inward of the outer cylinder, and the external gear is disposed between the crank gear and the carrier body in the axial direction. apparatus. An outer cylinder having inner teeth on the inner peripheral surface;
A crankshaft having an eccentric portion;
One external gear attached to the eccentric portion and eccentrically oscillating while meshing with the internal teeth by rotation of the crankshaft;
A carrier body that is arranged only on one side of the axial side portion of the external gear and operates in synchronization with the rotation component of the external gear;
A main bearing disposed between the outer cylinder and the carrier body;
An eccentric balance correction mechanism that corrects the load balance of the external gear that eccentrically swings, and
A plurality of the crankshafts are disposed at positions offset from the center of the outer cylinder,
A crank gear is provided on each of the plurality of crankshafts, and the input gear and the plurality of crank gears mesh with each other,
The carrier body has a portion extended to the outer peripheral side of the outer cylinder, and the main bearing is disposed between a radially inner side of the extended portion and a radially outer side of the outer cylinder. eccentrically oscillating gear device, characterized in that there. An outer cylinder having inner teeth on the inner peripheral surface;
A crankshaft having an eccentric portion;
One external gear attached to the eccentric portion and eccentrically oscillating while meshing with the internal teeth by rotation of the crankshaft;
A carrier body that is arranged only on one side of the axial side portion of the external gear and operates in synchronization with the rotation component of the external gear;
A main bearing disposed between the outer cylinder and the carrier body;
An eccentric balance correction mechanism that corrects the load balance of the external gear that eccentrically swings, and
A plurality of the crankshafts are disposed at positions offset from the center of the outer cylinder,
A crank gear is provided on each of the plurality of crankshafts, and the input gear and the plurality of crank gears mesh with each other,
A motor is provided on the side where the carrier body is disposed;
The casing of the motor has a flange body that covers the output side of the motor,
The eccentric oscillating gear device , wherein the carrier body is also used as a flange body of the motor . In any one of Claims 1-3,
The eccentric oscillating gear device, wherein the eccentric balance correction mechanism has a configuration in which at least the crankshaft is made of at least two kinds of materials having different specific gravities. In claim 1 or 3 ,
The carrier body has a portion extended to the outer peripheral side of the outer cylinder, and the main bearing is disposed between a radially inner side of the extended portion and a radially outer side of the outer cylinder. An eccentric oscillating gear device.   In claim 2 or 5,
  The main bearing and the external gear are arranged at positions overlapping each other when viewed from the radial direction.
  An eccentric oscillating gear device. In any one of Claims 1-6 ,
A column member protruding in the axial direction from the carrier body to the external gear side and fitted into the crankshaft;
The crankshaft is supported by a bearing provided on the column member. In claim 1 or 2 ,
The gear device includes a motor on the side where the carrier body is disposed,
The casing of the motor has a flange body that covers the output side of the motor,
It said carrier body is eccentrically oscillating gear device, characterized in that is shared with the flange of the motor. In any one of Claims 1-8 ,
The eccentric oscillating gear device, wherein the eccentric balance correction mechanism is formed integrally with the crank gear.

Images