JP6124583B2 - Eccentric oscillating gear unit - Google Patents

Description

  The present invention relates to an eccentric oscillating gear device.

  Conventionally, as disclosed in Patent Documents 1 and 2 below, there is known an eccentric oscillating gear device that reduces the rotational speed at a predetermined reduction ratio between two mating members. The eccentric oscillating gear device includes an outer cylinder fixed to one counterpart member, and a carrier disposed in the outer cylinder and fixed to the other counterpart member. The carrier has a substrate portion in which a shaft portion is integrally formed, and an end plate portion formed separately from the substrate portion. A swinging gear attached to an eccentric portion (for example, a pair of eccentric portions) of the crankshaft is sandwiched between the substrate portion and the end plate portion, and in this state, the shaft portion and the end plate portion are fastened to each other by bolts. Has been. In the gear device disclosed in Patent Document 1, a pair of retaining rings are used to position the crankshaft. In other words, a crank bearing is attached to each of the substrate portion and the end plate portion, and the crank shaft is positioned by sandwiching the eccentric portion of the crank shaft with these crank bearings, and the crank bearing is fixed with a retaining ring. Thus, the movement of the crankshaft in the axial direction is restricted. On the other hand, in the gear device disclosed in Patent Document 2, a washer is provided between the base plate portion and one eccentric portion, and a washer is also provided between the end plate portion and the other eccentric portion. . Then, the axial movement of the crankshaft is restricted by these washers.

JP 2001-254787 A JP 2008-202664 A

  In the configurations disclosed in Patent Documents 1 and 2, the movement of the crankshaft in the axial direction is restricted, but there is a problem that the assembly work of the crankshaft becomes complicated and automatic assembly cannot be performed. That is, in the gear device disclosed in Patent Document 1, a retaining ring is used. In order to fit the retaining ring into the groove formed in the crankshaft hole such as the substrate part, it is necessary to press the shrinkage ring once and insert it into the crankshaft hole formed in the substrate part in this state. For this reason, the operation | work at the time of an assembly becomes complicated. On the other hand, at the time of assembling the gear device disclosed in Patent Document 2, after setting the substrate portion so that the crankshaft hole is vertical, the washer is arranged on the substrate portion according to the crankshaft hole, and the crankshaft is placed there. And the washer is sandwiched between the one eccentric portion and the substrate portion. And after attaching a rocking | fluctuation gear, a washer is mounted on the other eccentric part, and this washer is clamped by an end plate part and a rocking | fluctuation gear. In this way, the washer is simply placed during assembly and may be misaligned. Therefore, it is necessary to carefully insert the crankshaft and assemble the end plate, and the assembly work of the crankshaft is complicated. It becomes.

  Therefore, the present invention has been made in view of the above prior art, and an object of the present invention is to prevent the work of assembling the crankshaft from becoming complicated.

  In order to achieve the above object, the present invention provides a crankshaft having an eccentric part, an oscillating gear having an insertion hole into which the eccentric part is inserted and having a tooth part, and the tooth part of the oscillating gear. A carrier having an outer cylinder having meshing inner teeth, a base portion formed with a crankshaft hole, an end plate portion formed with a crankshaft hole, and a base side holding member press-fitted into the crankshaft hole of the base portion And an end plate portion side holding member press-fitted into the crank shaft hole of the end plate portion, and the crank shaft is moved in the axial direction by the base side holding member and the end plate portion side holding member. This is an eccentric oscillating gear device held in a restricted state.

  In the present invention, the base side holding member and the end plate side holding member that hold the crankshaft while restricting the axial movement of the crankshaft are respectively press-fitted into the crankshaft hole. For this reason, when assembling the crankshaft, for example, the base side holding member is press-fitted into the crankshaft hole of the base, and the holding member is fixed at a predetermined position, and then the crankshaft is inserted into the crankshaft hole of the base. Then, the end plate portion is set so that the swinging gear attached to the crankshaft is sandwiched between the crankshaft and the base portion. Then, the end plate portion side holding member is press-fitted into the crank shaft hole of the end plate portion, and the crank shaft is held by the base side side holding member and the end plate portion side holding member. In this way, when the crankshaft is assembled, the holding members (the base side holding member and the end plate side holding member) for restricting the axial movement of the crankshaft are press-fitted into the crankshaft hole. There is no need for a pressing operation, and no careful operation is required so that the mounted washer is not displaced. Therefore, it is possible to prevent the assembly work of the crankshaft from becoming complicated.

  Here, a thrust washer may be disposed between the base side holding member and the crankshaft and between the end plate side holding member and the crankshaft. In this case, movement of the crankshaft in one direction is restricted by the thrust washer disposed between the base-side holding member and the crankshaft, and the endplate-side holding member and the crankshaft are The movement of the crankshaft in the other direction may be restricted by the thrust washer disposed at the top.

  Even in this aspect, since the retaining ring is not used, it is possible to prevent the assembling work of the crankshaft from becoming complicated.

  The crankshaft may have a shaft vertical surface with which a thrust washer abuts and a protruding end portion that protrudes outward in the axial direction from the shaft vertical surface. And the clamping member which clamps the said thrust washer between the said axis | shaft perpendicular | vertical surfaces may each be externally fitted to the said protrusion edge part.

  In this aspect, the thrust washer is clamped between the clamping member and the axis vertical surface of the crankshaft. For this reason, the crankshaft can be assembled to the base portion and the end plate portion of the carrier while the thrust washer is held by the crankshaft. Therefore, assembly workability can be improved.

  The crankshaft may be sandwiched between the base side holding member and the end plate side holding member.

  In this aspect, the crankshaft can be directly held by the base side holding member and the end plate side holding member without using a thrust washer. Therefore, the configuration can be simplified.

  As described above, according to the present invention, it is possible to suppress the work of assembling the crankshaft from becoming complicated.

It is sectional drawing of the eccentric rocking | fluctuation type gear apparatus which concerns on embodiment of this invention. It is the side view which looked at the said eccentric rocking | fluctuation type gear apparatus from the board | substrate part side. It is sectional drawing of the eccentric rocking | fluctuation type gear apparatus which concerns on other embodiment of this invention. It is sectional drawing of the eccentric rocking | fluctuation type gear apparatus which concerns on other embodiment of this invention.

  Hereinafter, embodiments for carrying out the present invention will be described in detail with reference to the drawings. An eccentric oscillating gear device (hereinafter referred to as a gear device) 1 according to this embodiment is applied as a speed reducer to, for example, a revolving part of a revolving trunk or arm joint of a robot, a revolving part of various machine tools, or the like. is there.

  The gear device 1 according to the present embodiment is configured to rotate the oscillating gears 14 and 16 by rotating the eccentric portions 10a and 10b of the crankshaft 10, thereby obtaining an output rotation decelerated from the input rotation. Has been. Thereby, for example, relative rotation can be caused between the base of the robot (one counterpart member) and the swing drum (the other counterpart member). For example, a base is illustrated as a 1st member, for example, a turning body is illustrated as a 2nd member.

  As shown in FIGS. 1 and 2, the gear device 1 includes an outer cylinder 2, a carrier 4, a plurality of (for example, three) crankshafts 10, and oscillating gears (first oscillating gear 14, second oscillating gears). A moving gear 16).

  The outer cylinder 2 constitutes the outer surface of the gear device 1 and has a substantially cylindrical shape. A large number of pin grooves 2 b are formed on the inner peripheral surface of the outer cylinder 2. Each pin groove 2b is disposed so as to extend in the axial direction of the outer cylinder 2, and has a semicircular cross-sectional shape in a cross section orthogonal to the axial direction. These pin grooves 2 b are arranged on the inner peripheral surface of the outer cylinder 2 at equal intervals in the circumferential direction.

  The outer cylinder 2 has a large number of internal tooth pins 3. Each internal tooth pin 3 is attached to a pin groove 2b. Specifically, each internal tooth pin 3 is fitted in the corresponding pin groove 2 b and is arranged in a posture extending in the axial direction of the outer cylinder 2. Thereby, the many internal tooth pins 3 are arranged at equal intervals along the circumferential direction of the outer cylinder 2. The first external teeth 14 a of the first oscillating gear 14 and the second external teeth 16 a of the second oscillating gear 16 are engaged with these internal tooth pins 3.

  The outer cylinder 2 is provided with a flange portion, and the flange portion is formed with an insertion hole 2a for inserting a fastener (bolt) for fixing to the base of the robot, for example.

  The carrier 4 is accommodated in the outer cylinder 2 in a state of being arranged coaxially with the outer cylinder 2. The carrier 4 rotates relative to the outer cylinder 2 around the same axis. Specifically, the carrier 4 is arranged on the radially inner side of the outer cylinder 2, and in this state, the carrier 4 can be rotated relative to the outer cylinder 2 by a pair of main bearings 6 provided to be separated from each other in the axial direction. It is supported by. An annular seal member 25 is provided between the outer cylinder 2 and the carrier 4.

  The carrier 4 includes a base portion 5 having a substrate portion 4a and a plurality of (for example, three) shaft portions 4c, and an end plate portion 7 formed separately from the base portion 5.

  The substrate portion 4a is disposed in the vicinity of one end portion in the axial direction in the outer cylinder 2. A circular through hole 4d is provided in the central portion in the radial direction of the substrate portion 4a. Around the through hole 4d, a plurality of (for example, three) crankshaft holes 4e are provided at equal intervals in the circumferential direction (see FIG. 2).

  A fastening hole 4g for fastening a fastener (bolt) (not shown) for fixing the carrier 4 to, for example, a revolving drum of the robot is formed in the substrate portion 4a.

  The end plate portion 7 is provided to be separated from the substrate portion 4a in the axial direction, and is disposed in the vicinity of the other end portion in the axial direction in the outer cylinder 2. A through hole 7 a is provided at the radial center of the end plate portion 7. Around the through hole 7a, a plurality of (for example, three) crankshaft holes 7b are provided at positions corresponding to the plurality of crankshaft holes 4e of the substrate portion 4a. The inner diameter of the crankshaft hole 4e and the inner diameter of the crankshaft hole 7b have the same dimensions.

  In the outer cylinder 2, a closed space S is formed that is surrounded by both inner side surfaces of the end plate portion 7 and the substrate portion 4 a facing each other and the inner peripheral surface of the outer cylinder 2. That is, the closed space S is formed by the outer cylinder 2 and the carrier 4.

  The three shaft portions 4c are provided integrally with the substrate portion 4a, and linearly extend from one main surface (inner surface) of the substrate portion 4a to the end plate portion 7 side. The three shaft portions 4c are arranged at equal intervals in the circumferential direction. Each shaft portion 4 c is fastened to the end plate portion 7 by a bolt 9. That is, a bolt insertion hole 7c is formed in the end plate portion 7, and a fastening hole 4f is formed in the shaft portion 4c (base portion 5) so as to extend in the axial direction from the distal end surface. A bolt 9 is inserted into the bolt insertion hole 7 c of the end plate portion 7 from the side opposite to the base portion 4. The bolt 9 is screwed into the fastening hole 4f of the shaft portion 4c. Thereby, the board | substrate part 4a, the shaft part 4c, and the end plate part 7 are integrated. Further, the base portion 5 and the end plate portion 7 are positioned with respect to each other by a positioning pin 11.

  The three crankshafts 10 are arranged at equal intervals around the central through holes 4d and 7a in the outer cylinder 2. Each crankshaft 10 is supported by a pair of crank bearings 12a and 12b so as to be rotatable about the axis with respect to the carrier 4.

  Specifically, each crankshaft 10 is provided with a first crank bearing 12a attached to a portion on the substrate portion side in the axial direction, and the first crank bearing 12a is disposed in the crankshaft hole 4e of the substrate portion 4a. Has been. The first crank bearing 12a functions as a base side crank bearing that rotatably supports the crankshaft 10 with respect to the base portion 5 (substrate portion 4a). Further, each crankshaft 10 is provided with a second crank bearing 12b at a position on the end plate portion side in the axial direction. The second crank bearing 12b is disposed in the crankshaft hole 7b of the end plate portion 7. Has been. The second crank bearing 12 b functions as an end plate portion side crank bearing that rotatably supports the crankshaft 10 with respect to the end plate portion 7. Thereby, the crankshaft 10 is rotatably supported by the board | substrate part 4a and the end plate part 7. FIG.

  Each crankshaft 10 serves as a shaft main body 10c, eccentric portions 10a and 10b formed integrally with the shaft main body 10c, and a protruding end portion protruding outward in the axial direction from one axial end portion of the shaft main body 10c. It has the 1st protrusion part 10d and the 2nd protrusion part 10e as a protrusion end part which protruded in the axial direction outer side from the axial direction other end part in the axial main body 10c.

  The 1st eccentric part 10a and the 2nd eccentric part 10b are arrange | positioned along with the axial direction between the parts supported by both crank bearings 12a and 12b. Each of the first eccentric portion 10a and the second eccentric portion 10b has a columnar shape, and both of the first eccentric portion 10a and the second eccentric portion 10b protrude radially outward from the shaft body 10c in a state of being eccentric with respect to the shaft center of the shaft body 10c. The first eccentric portion 10a and the second eccentric portion 10b are each eccentric from the shaft center by a predetermined eccentric amount, and are disposed so as to have a phase difference of a predetermined angle.

  The shaft main body 10c includes a portion (first main body portion) 10f closer to the substrate portion than the first eccentric portion 10a, a portion (second main body portion) 10g closer to the end plate portion than the second eccentric portion 10b, and both eccentricities. And a portion (intermediate main body portion) 10h between the portions 10a and 10b. The first main body portion 10f is formed in a columnar shape, and a first crank bearing 12a is attached to the first main body portion 10f. The second main body 10g is also formed in a cylindrical shape, and a second crank bearing 12b is attached to the second main body 10g. The crank bearings 12a and 12b are constituted by bearings having needle rollers or cylindrical rollers such as needle bearings. The first main body portion 10f and the second main body portion 10g have the same outer diameter.

  The first projecting portion 10d is formed concentrically with the first main body portion 10f, and extends outward in the axial direction from the outer end surface of the first main body portion 10f. The first protruding portion 10d is formed in a columnar shape (disc shape), and the outer diameter of the first protruding portion 10d is smaller than the outer diameter of the first main body portion 10f. For this reason, in the outer end surface of the first main body portion 10f, a portion radially outside the first projecting portion 10d is a surface (axis vertical surface) 10i perpendicular to the axial direction, and the outer end surface of the first main body portion 10f is used. It is composed.

  The second protruding portion 10e is formed concentrically with the second main body portion 10g, and extends outward in the axial direction from the outer end surface of the second main body portion 10g. The 2nd protrusion part 10e is formed in the column shape (disk shape), and the outer diameter of this 2nd protrusion part 10e is smaller than the outer diameter of the 2nd main-body part 10g. For this reason, of the outer end surface of the second main body portion 10g, the outer portion of the second main body portion 10g is defined as a surface (axis vertical surface) 10j perpendicular to the axial direction that is radially outward from the second projecting portion 10e. It is composed. The second protrusion 10e is splined so that a transmission gear (not shown) can be attached. The transmission gear meshes with an input gear (not shown) and transmits the rotational driving force input through the input gear to the crankshaft 10.

  The crankshaft 10 is held in a state in which axial movement is restricted by the base side holding member 31 and the end plate part side holding member 32. Specifically, an annularly formed base side holding member 31 is press-fitted and fixed to the crankshaft hole 4e of the substrate portion 4a, and an annular shape is inserted into the crankshaft hole 7b of the end plate portion 7. An end plate portion side holding member 32 formed in is pressed and fixed. A thrust washer (first washer) 33 is disposed between the base-side holding member 31 and the first main body portion 10f of the crankshaft 10, and the end plate-side holding member 32 and the second main body of the crankshaft 10 are disposed. A thrust washer (second washer) 34 is also disposed between the portion 10g. The inner diameter of the inner hole of the base side holding member 31 is larger than the outer diameter of the first main body part 10f, and the inner diameter of the inner hole of the end plate part holding member 32 is larger than the outer diameter of the second main body part 10g. .

  The first protrusion 10d is inserted into the inner hole of the first washer 33. In this state, one surface of the first washer 33 abuts on the base side holding member 31, and the other surface is the first. It is in contact with the axis vertical surface 10i of the main body 10f. For this reason, the movement of the crankshaft 10 in the direction toward the outer end surface 4 h of the substrate portion 4 a is restricted by the base side holding member 31 via the first washer 33.

  The second protrusion 10e is inserted into the inner hole of the second washer 34, and in this state, one surface of the second washer 34 abuts against the end plate portion side holding member 32 and the other surface is The second main body portion 10g is in contact with the axis vertical surface 10j. For this reason, the movement of the crankshaft 10 in the direction toward the outer end surface 7 d of the end plate portion 7 is restricted by the end plate portion side holding member 32 via the second washer 34.

  An annular sandwiching member (first sandwiching member) 37 that sandwiches the first washer 33 between the first projecting portion 10d and the shaft vertical surface 10i of the first main body portion 10f is externally fitted. Further, an annular clamping member (second clamping member) 38 that clamps the second washer 34 between the second projecting portion 10e and the axis vertical surface 10j of the second main body portion 10g is externally fitted.

  Thereby, when the crankshaft 10 is assembled, the first washer 33, the crank bearings 12a and 12b, the roller bearings 18a and 18b described later, and the second washer 34 can be assembled in advance to the crankshaft 10 to form a crankshaft assembly. . In this assembly state, an assembly method is adopted in which the first main body portion 10f or the second main body portion 10g of the crankshaft 10 is inserted into the crankshaft hole 4e of the base plate portion 4a or the crankshaft hole 7b of the end plate portion 7. Can do.

  The first oscillating gear 14 is disposed in the closed space S in the outer cylinder 2 and is attached to the first eccentric portion 10a of each crankshaft 10 via a first roller bearing 18a. When each crankshaft 10 rotates and the first eccentric portion 10a rotates eccentrically, the first swing gear 14 swings and rotates while meshing with the internal tooth pin 3 in conjunction with the eccentric rotation.

  The first oscillating gear 14 has a size slightly smaller than the inner diameter of the outer cylinder 2. The first swing gear 14 includes a first external tooth 14a, a central through hole 14b, a plurality (for example, three) of first eccentric portion insertion holes 14c, and a plurality (for example, three) of shaft portion insertion holes 14d. And have. The first external teeth 14 a have a wave shape that is smoothly continuous over the entire circumferential direction of the oscillating gear 14.

  The central through hole 14 b is provided in the central portion in the radial direction of the first oscillating gear 14.

  The three first eccentric portion insertion holes 14c are provided at equal intervals in the circumferential direction around the central through hole 14b in the first swing gear 14. The first eccentric portions 10a of the respective crankshafts 10 are inserted into the first eccentric portion insertion holes 14c with the first roller bearings 18a interposed therebetween.

  The three shaft portion insertion holes 14d are provided at equal intervals in the circumferential direction around the central portion through hole 14b in the first swing gear 14. Each shaft portion insertion hole 14d is disposed at a position between the three first eccentric portion insertion holes 14c in the circumferential direction. The corresponding shaft portion 4c is inserted into each shaft portion insertion hole 14d with play.

  The second oscillating gear 16 is disposed in the closed space S in the outer cylinder 2 and is attached to the second eccentric portion 10b of each crankshaft 10 via the second roller bearing 18b. The first oscillating gear 14 and the second oscillating gear 16 are provided side by side in the axial direction corresponding to the positions of the first eccentric portion 10a and the second eccentric portion 10b. When each crankshaft 10 rotates and the second eccentric portion 10b rotates eccentrically, the second swinging gear 16 swings and rotates while meshing with the internal tooth pin 3 in conjunction with the eccentric rotation.

  The second oscillating gear 16 has a size slightly smaller than the inner diameter of the outer cylinder 2 and has the same configuration as the first oscillating gear 14. That is, the second oscillating gear 16 includes a second external tooth 16a, a central through hole 16b, a plurality of (for example, three) second eccentric portion insertion holes 16c, and a plurality of (for example, three) shaft portion insertion holes 16d. Have. These have the same structure as the first external teeth 14a, the central through hole 14b, the plurality of first eccentric portion insertion holes 14c, and the plurality of shaft portion insertion holes 14d of the first swing gear 14. The second eccentric portion 10b of the crankshaft 10 is inserted into each second eccentric portion insertion hole 16c with the second roller bearing 18b interposed therebetween.

  In this gear device 1, when each crankshaft 10 is rotated by rotating a transmission gear (not shown), the oscillating gears 14 and 16 attached to the eccentric portions 10a and 10b are accompanied by the rotation of the eccentric portions 10a and 10b. As a result, the carrier 4 and the outer cylinder 2 rotate relative to each other.

  To assemble the gear device 1, first, the first roller bearing 18 a is attached to the first eccentric portion 10 a of the crankshaft 10 and the first crank bearing 12 a is attached to the first main body portion 10 f of the crankshaft 10. Thereafter, the first washer 33 is externally fitted to the first projecting portion 10d, the first clamping member 37 is externally fitted to the first projecting portion 10d, and the first clamping member 37 and the axis vertical surface 10i of the first main body portion 10f are fitted. The first washer 33 is sandwiched between the first washer 33 and the first washer 33. Further, the second roller bearing 18b is attached to the second eccentric portion 10b of the crankshaft 10, and the second crank bearing 12b is attached to the second main body portion 10g of the crankshaft 10. Thereafter, the second washer 34 is externally fitted to the second protruding portion 10e, and the second clamping member 38 is externally fitted to the second protruding portion 10e, so that the second clamping member 38 and the axis vertical surface 10j of the second main body portion 10g. The second washer 34 is held by sandwiching the second washer 34 therebetween. The first oscillating gear 14 is attached to the first roller bearing 18a, while the second oscillating gear 16 is attached to the second roller bearing 18b.

  On the other hand, the base side holding member 31 is press-fitted into the crankshaft hole 4e of the substrate portion 4a and fixed at a predetermined position. In order to fix the base side holding member 31 at a predetermined position, a machine that can insert the base side holding member 31 by a predetermined stroke with a press machine or the like may be used.

  Then, the base portion 5 to which the base side holding member 31 is fixed is set in a posture in which the shaft portion 4c faces upward, and one main bearing 6 is attached. In this state, the crankshaft 10 to which the oscillating gears 14 and 16 and washers 33 and 34 are attached is inserted into the crankshaft hole 4e of the substrate portion 4a from the first projecting portion 10d side. At this time, the shaft portion 4 c is inserted into the shaft portion insertion holes 14 d and 16 d of the rocking gears 14 and 16. Then, the other main bearing 6 is attached and the end plate portion 7 is assembled to the base portion 5. At this time, the second washer 34 is inserted into the crankshaft hole 7 b of the end plate portion 7. Then, the end plate portion side holding member 32 is press-fitted into the crankshaft hole 7b from above, and the second washer 34 is sandwiched between the end plate portion side holding member 32 and the shaft vertical surface 10j of the second main body portion 10g. To do. As a result, the crankshaft 10 is held in a state in which axial movement is restricted by the base side holding member 31 and the end plate side holding member 32.

  As described above, in the present embodiment, the base side holding member 31 and the end plate side holding member 32 that hold while restricting the axial movement of the crankshaft 10 are press-fitted into the crankshaft holes 4e and 7b, respectively. It has become. For this reason, when the crankshaft 10 is assembled, for example, the base-side holding member 31 is press-fitted into the crankshaft hole 4e of the base 5 to fix the holding member 31 in a predetermined position, and then the crankshaft 10 is fixed to the base 5 The end plate portion 7 is set so as to be inserted into the crankshaft hole 4 e so that the swing gears 14 and 16 attached to the crankshaft 10 are sandwiched between the base plate portion 4 a and the end plate portion 7 of the base portion 5. Then, the end plate portion side holding member 32 is press-fitted into the crankshaft hole 7 b of the end plate portion 7, and the crankshaft 10 is held by the base portion side holding member 31 and the end plate portion side holding member 32. Thus, when the crankshaft 10 is assembled, the holding members (the base side holding member 31 and the end plate side holding member 32) for restricting the axial movement of the crankshaft 10 are press-fitted into the crankshaft holes 4e and 7b. Therefore, it is not necessary to perform the operation of pushing and shrinking like a retaining ring, and it is not necessary to perform a careful operation so that the mounted washer is not displaced. Therefore, it is possible to suppress the work of assembling the crankshaft 10 from becoming complicated.

  In the present embodiment, the washers 33 and 34 are sandwiched between the clamping members 37 and 38 and the shaft vertical surfaces 10 i and 10 j of the crankshaft 10. For this reason, the crankshaft 10 can be assembled to the base portion 4 and the end plate portion 7 of the carrier 4 with the washers 33 and 34 held by the crankshaft 10. Therefore, assembly workability can be improved.

  Note that the present invention is not limited to the above-described embodiment, and various modifications and improvements can be made without departing from the spirit of the present invention. For example, in the embodiment, the sandwiching members 37 and 38 are used. However, as shown in FIG. 3, the sandwiching members 37 and 38 may be omitted. In this configuration, the first protruding portion 10d protruding from the outer end surface 10i of the first main body portion 10f may be omitted, or the first protruding portion 10d may be formed as in the above embodiment.

  In this configuration, since the clamping members 37 and 38 are omitted, the first washer 33 and the second washer 34 cannot be assembled before the crankshaft 10 is inserted into the crankshaft hole 4e of the substrate portion 4a. Accordingly, the first washer 33 is inserted into the crankshaft hole 4e of the base plate portion 4a set with the base side holding member 31 attached and the shaft portion 4c facing upward, from the end portion on the shaft portion 4c side. The crankshaft 10 to which the crank bearing 12a is attached is set. At this time, the first washer 33 is placed on the annular base-side holding member 31, but the outer diameter of the first washer 33 is substantially equal to the inner diameter of the crankshaft hole 4e, and the base-side holding Since the inner hole of the member 31 is set to such a size that the first washer 33 cannot enter, the first washer 33 will not be displaced. In addition, since the inner diameter of the first washer 33 is smaller than the outer diameter of the first main body portion 10f of the crankshaft 10, the first main body portion 10f is simply inserted into the crankshaft hole 4e. It can be brought into contact with the first washer 33. As a result, the first washer 33 is sandwiched between the base side holding member 31 and the axis vertical surface 10i of the first main body 10f. Then, after the second washer 34 is fitted on the second projecting portion 10 e of the crankshaft 10, the end plate portion 7 is fastened to the base portion 5. As a result, the second washer 34 is sandwiched between the end plate portion side holding member 32 and the axis vertical surface 10j of the second main body portion 10g. As a result, the crankshaft 10 is held in a state in which axial movement is restricted by the base side holding member 31 and the end plate side holding member 32.

  In this configuration, since the clamping members 37 and 38 are omitted, the configuration can be simplified as compared with the embodiment. Even in this configuration, since the retaining ring is not used, it is possible to prevent the assembly work of the crankshaft 10 from being complicated.

  In the embodiment, the first washer 33 and the second washer 34 are used. However, the present invention is not limited to this. As shown in FIG. 4, the first washer 33 and the second washer 34 may be omitted. In this configuration, the shaft vertical surface 10i of the first main body portion 10f of the crankshaft 10 abuts on the base side holding member 31 that is press-fitted into the crankshaft hole 4e of the base plate portion 4a and fixed, and the end plate portion 7 The shaft vertical surface 10j of the second main body portion 10g of the crankshaft 10 is in contact with the end plate portion side holding member 32 that is press-fitted into the crankshaft hole 7b. Therefore, the crankshaft 10 is sandwiched between the base side holding member 31 and the end plate part side holding member 32. In this configuration, the inner diameter of the inner hole of the base side holding member 31 is smaller than the outer diameter of the first main body part 10f, and the inner diameter of the inner hole of the end plate side holding member 32 is the outer diameter of the second main body part 10g. Smaller than the diameter. In this configuration, the first protrusion 10d protruding from the outer end face 10i of the first main body 10f may be omitted, or the first protrusion 10d may be formed as in the above embodiment. Good.

  In this configuration, the crankshaft 10 can be directly held by the base side holding member 31 and the end plate side holding member 32 without using the first washer 33 and the second washer 34 (thrust washer). Therefore, the configuration can be simplified. Further, since the work for fixing the first washer 33 and the second washer 34 is not required when assembling the crankshaft 10 to the substrate portion 4a, the assembling process can be simplified.

  In the above embodiment, the two oscillating gears 14 and 16 are provided. However, the present invention is not limited to this. For example, a configuration in which one oscillating gear is provided or a configuration in which three or more oscillating gears are provided may be employed.

  In the above embodiment, the plurality of crankshafts 10 are arranged around the central through holes 4d and 7a. However, the present invention is not limited to this. For example, a center crank type in which the crankshaft 10 is disposed at the center of the carrier 4 may be employed.

DESCRIPTION OF SYMBOLS 1 Eccentric rocking gear apparatus 2 Outer cylinder 3 Internal tooth pin 4 Carrier 4a Base plate part 4c Shaft part 5 Base part 7 End plate part 10 Crankshaft 10a 1st eccentric part 10b 2nd eccentric part 12a 1st crank bearing 12b 2nd crank Bearing 10c Shaft body 10d First protrusion 10e Second protrusion 10f First body 10g Second body 10i Axis vertical surface 10j Axis vertical surface 14 First swing gear 14a External teeth 14c Eccentric portion insertion hole 16 Second oscillation Dynamic gear 16a External teeth 16c Eccentric part insertion hole 31 Base side holding member 32 End plate part side holding member 33 First washer 34 Second washer 37 First clamping member 38 Second clamping member

Claims (4)

A crankshaft having an eccentric portion;
An oscillating gear having an insertion hole into which the eccentric part is inserted and having a tooth part;
An outer cylinder having an inner tooth meshing with the tooth portion of the rocking gear;
A carrier having a base portion formed with a crankshaft hole and an end plate portion formed with a crankshaft hole;
A base-side holding member press-fitted into the crankshaft hole of the base,
An end plate portion side holding member press-fitted into the crankshaft hole of the end plate portion;
A first crank bearing disposed in the crankshaft hole of the base;
A second crank bearing disposed in the crankshaft hole of the end plate portion ,
The crankshaft is supported by the first crank bearing and the second crank bearing so as to be rotatable around the shaft, and the axial movement is restricted by the base side holding member and the end plate side holding member. An eccentric oscillating gear device that is held in a state where it is held. Thrust washers are disposed between the base side holding member and the crankshaft and between the end plate side holding member and the crankshaft, respectively.
Movement of the crankshaft in one direction is restricted by the thrust washer disposed between the base side holding member and the crankshaft,
The eccentric oscillating gear device according to claim 1, wherein movement of the crankshaft in the other direction is restricted by the thrust washer disposed between the end plate portion side holding member and the crankshaft. The crankshaft has the thrust washer abutting axial vertical plane, and a projecting end portion projecting from the axial vertical plane outside each axis,
3. The eccentric oscillating gear device according to claim 2, wherein a clamping member that clamps the thrust washer is externally fitted to each of the protruding end portions between the axial vertical surface.   The eccentric oscillating gear device according to claim 1, wherein the crankshaft is sandwiched between the base side holding member and the end plate side holding member.

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