JP6448992B2 - Gear device - Google Patents

Description

  The present invention relates to a gear device.

  As a conventional gear device, in Patent Document 1, as shown in FIG. 12, an eccentric body shaft 120, an external gear 124 that swings and rotates with the rotation of the eccentric body shaft 120, and the external gear 124 mesh with each other. A swinging intermeshing planetary gear unit 112 including an internal gear 128 and carriers 132 and 134 that are positioned inside the internal gear 128 and rotatably support the eccentric body shaft 120 is described. In the swinging internal meshing planetary gear device 112 of Patent Document 1, the external gear 124 swings and rotates while meshing with the internal gear 128 as the eccentric body shaft 120 rotates, whereby the internal gear 128 is rotated by the carrier. Rotate relative to 132,134.

  Here, the swinging intermeshing planetary gear device 112 of Patent Document 1 further includes washers 174 and 176 as restricting members for restricting the position of the eccentric body shaft 120. The washer 174 is in contact with the end face of the carrier 132 on one side in the axial direction of the eccentric body shaft 120 and is in contact with a stepped portion 170 formed on the eccentric body shaft 120 on the other side in the axial direction. The washer 176 is in contact with the end face of the carrier 134 on the other side in the axial direction of the eccentric body shaft 120 and is in contact with a stepped portion 172 formed on the eccentric body shaft 120 on one side in the axial direction. Thereby, the relative position in the axial direction of the eccentric body shaft 120 with respect to the carriers 132 and 134 is regulated.

JP 2008-202664 A

  In the swinging intermeshing planetary gear device 112 of Patent Document 1, if the force applied to the washers 174 and 176 in the axial direction of the eccentric body shaft 120 increases, the washers 174 and 176 may be greatly bent. Therefore, in order to prevent the washers 174 and 176 from being greatly bent, for example, it is conceivable to increase the thickness of the washers 174 and 176 as a whole. However, when the overall thickness of the washers 174 and 176 is increased, it is necessary to increase the width of the carriers 132 and 134 in the axial direction of the eccentric body shaft 120 accordingly. There is a risk of increasing the size.

  This invention is made | formed in view of said point, The objective is to provide the gear apparatus which can suppress an enlargement, suppressing the bending of a control member.

A gear device according to the present invention includes a crankshaft having an eccentric portion, a swing gear that swings and rotates as the eccentric portion rotates, a carrier that rotatably supports the crankshaft, and an axial direction of the crankshaft A regulating member that regulates the movement of the crankshaft in the carrier , wherein the carrier has a carrier body formed with a crankshaft hole in which the crankshaft is disposed, and an inner peripheral surface of the crankshaft hole of the carrier body A retaining ring attached to the retaining ring, and the restricting member is disposed on the inner side in the axial direction with respect to the retaining ring of the carrier and is engaged with the retaining ring , A meat that is disposed in a position not in contact with the carrier in the axial direction and is radially inward of the locked portion, and has a thickness greater in the axial direction than the locked portion. Thick part, Yes, and the thick portion is provided at a position facing the said radial direction with respect to the retaining ring with protruding to the outside of the axial direction than the end surface facing the outside of the axis direction in the engaged portion Has a protrusion .

In the gear device described above, since the regulating member has a thick portion that is thicker than the locked portion, the thickness of the regulating member can be increased by the thick portion. In addition, since the thick portion is disposed at a position where it does not contact the carrier in the axial direction, the carrier can be prevented from becoming large in the axial direction. For this reason, even when a large force is applied to the restriction member in the axial direction, the restriction member can be prevented from bending and the gear device can be prevented from being enlarged.
Moreover, in the said gear apparatus, a to-be-latched part can be latched by the said retaining ring by attaching a retaining ring to a carrier main body. In addition, since the thick portion is disposed in the region between the retaining ring and the crankshaft, it is possible to more effectively prevent the carrier body from being enlarged in the axial direction by effectively utilizing the region.

  Moreover, it is preferable that the said limitation member is settled in the length range of the said carrier in the said axial direction.

  In the gear device described above, since the restricting member does not protrude outside the length range of the carrier in the axial direction in the axial direction, the gear device can be further prevented from increasing in size.

Another gear device according to the present invention includes a crankshaft having an eccentric portion, a swinging gear that swings and rotates as the eccentric portion rotates, a carrier that rotatably supports the crankshaft, A regulating member that regulates the movement of the crankshaft in the axial direction; and a crank bearing that supports the crankshaft , wherein the regulating member includes a locked portion that is locked to the carrier, and the axial direction. The crank bearing includes a rolling element and the rolling element, and is disposed at a position not in contact with the carrier, and has a thick portion having a thickness in the axial direction larger than that of the locked portion. A retainer that holds the moving body in a rollable manner, and the thick portion includes an end portion on the regulating member side of the retainer and the crankshaft in a plane orthogonal to the axial direction. Is located between.

  In the gear device described above, the thick portion is disposed in the region between the end on the restricting member side of the cage and the crankshaft. Therefore, the carrier body is enlarged in the axial direction by effectively using the region. This can be suppressed more.

  In the gear device, the gear device is enlarged by effectively utilizing a region generated between the end of the cage that holds the rolling elements and the crankshaft, and arranging a thick portion in the region. This can be suppressed more.

Still another gear device according to the present invention includes a crankshaft having an eccentric portion, a swing gear that swings and rotates as the eccentric portion rotates, a carrier that rotatably supports the crankshaft, and the crankshaft. a regulating member for regulating the movement of the crankshaft in the axial direction of said than restricting member located on the outer side of the axial direction, and a transmission gear for transmitting a driving force to the crank shaft, the regulating member is A locked portion that is locked to the carrier, and a thickness that is disposed at a position that does not contact the carrier in the axial direction and that is thicker in the axial direction than the locked portion. The thick portion has a protruding portion that protrudes toward the transmission gear on the outer side in the axial direction than an end surface facing the outer side in the axial direction of the locked portion. , the transmission gear, the thick portion It is positioned in the axial direction by the serial protrusion.

  In the gear device, the thickness of the restricting member can be increased by the thick portion, and the transmission gear can be positioned.

  Moreover, it is preferable that the said thick part is formed in the annular | circular shape.

  In the said gear apparatus, the intensity | strength of a control member can be raised more by forming a thick part in an annular | circular shape.

  As described above, according to the present invention, there is provided a gear device that can suppress the increase in size while suppressing the bending of the regulating member.

It is sectional drawing which shows schematic structure of the gear apparatus which concerns on this embodiment. It is a principal part enlarged view of the gear apparatus shown in FIG. It is a perspective view which shows schematic structure of the 1st control member of the gear apparatus which concerns on this embodiment. It is sectional drawing which shows schematic structure of the modification 1 of the gear apparatus which concerns on this embodiment. It is sectional drawing which shows schematic structure of the modification 2 of the gear apparatus which concerns on this embodiment. It is a principal part enlarged view of the gear apparatus shown in FIG. 10 is a perspective view illustrating a schematic configuration of a first restriction member of a gear device according to Modification 2. FIG. It is sectional drawing which shows schematic structure of the modification 3 of the gear apparatus which concerns on this embodiment. It is a principal part enlarged view of the gear apparatus shown in FIG. It is a perspective view which shows schematic structure of the 1st control member of the gear apparatus which concerns on the modification 3. FIG. 10 is a plan view showing a schematic configuration of a first restriction member of a gear device according to Modification 3. FIG. It is sectional drawing which shows schematic structure of the rocking | engagement internal meshing planetary gear apparatus described in patent document 1. FIG.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings. However, each drawing referred to below is a simplified illustration of only the main members of the constituent members of the gear device X1 according to the present embodiment for the convenience of explanation. Therefore, the gear device X1 according to the present embodiment can include arbitrary constituent members that are not shown in the drawings referred to in this specification.

  As shown in FIGS. 1 and 2, the gear device X <b> 1 is an eccentric oscillating gear device, and includes an outer cylinder 2, a carrier 3, an oscillating gear 4, and a crankshaft 5. . In the gear device X <b> 1, the outer cylinder 2 and the carrier 3 rotate relatively as the swing gear 4 swings and rotates as the crankshaft 5 rotates.

  The outer cylinder 2 has a substantially cylindrical shape with the axis C1 as the central axis. A large number of pin grooves are formed on the inner peripheral surface 2 a of the outer cylinder 2. Each pin groove is disposed so as to extend in the direction of the axis C1, and has a semicircular cross-sectional shape in a cross section orthogonal to the direction of the axis C1. The pin grooves are arranged at equal intervals in the circumferential direction of the outer cylinder 2.

  The gear device X <b> 1 further includes a plurality of internal teeth pins 8 attached to the inner peripheral surface 2 a of the outer cylinder 2. Each internal tooth pin 8 has a cylindrical shape extending in the direction of the axis C1. Each internal tooth pin 8 is attached to each pin groove formed on the inner peripheral surface 2 a of the outer cylinder 2.

  The outer cylinder 2 is formed with a plurality of attachment holes 2b that penetrate the outer cylinder 2 in the direction of the axis C1. The mounting holes 2b are arranged at equal intervals in the circumferential direction of the outer cylinder 2. Each attachment hole 2b is used when attaching an unillustrated counterpart member such as a base constituting a joint portion of the robot to the outer cylinder 2. When attaching the base which comprises the joint part of a robot with respect to the outer cylinder 2, the outer cylinder 2 becomes a member of the stationary side in the gear apparatus X1.

  The carrier 3 is positioned so as to sandwich the rocking gear 4 in the direction of the axis C <b> 1, and has a carrier body 3 </ b> A arranged concentrically with the outer cylinder 2. The carrier body 3A has a first member 31 and a second member 32 that face each other in the direction of the axis C1. The first member 31 and the second member 32 are fastened to each other via a fastening member T1.

  The first member 31 has a substantially disk shape. A part of the first member 31 is located inside the outer cylinder 2, and the remaining part is located outside the outer cylinder 2 in the direction of the axis C <b> 1.

  The first member 31 is formed with a central hole 31a and a crankshaft hole 31b.

  The central hole 31 a is formed in the central portion of the first member 31. Specifically, the central hole 31a is formed so as to penetrate the first member 31 in the axis C1 direction.

  A plurality of crankshaft holes 31b are formed side by side in the circumferential direction of the carrier 3 outside the central hole 31a. Each crankshaft hole 31b is formed so as to penetrate the first member 31 in the direction of the axis C1. In the present embodiment, the first member 31 has three crankshaft holes 31b.

  The second member 32 includes a substantially disk-shaped substrate portion 32a and a shaft portion 32b extending from the substrate portion 32a toward the first member 31 side.

  A part of the substrate part 32a is located inside the outer cylinder 2, and the remaining part is located outside the outer cylinder 2 in the direction of the axis C1.

  The shaft portion 32 b extends from the end surface of the substrate portion 32 a on the first member 31 side in the axis C <b> 1 direction in the axis C <b> 1 direction, and a plurality of shaft portions 32 b are provided side by side in the circumferential direction of the carrier 3. In the present embodiment, the second member 32 has three shaft portions 32b.

  The second member 32 is formed with a center hole 32c, a crankshaft hole 32d, and a mounting hole 32f.

  The central hole 32 c is formed in the central portion of the second member 32. Specifically, the central hole 32c is formed so as to penetrate the substrate portion 32a of the second member 32 in the direction of the axis C1. The central hole 32 c is provided corresponding to the position of the central hole 31 a formed in the first member 31.

  A plurality of crankshaft holes 32d are formed side by side in the circumferential direction of the carrier 3 outside the central hole 32c. Each crankshaft hole 32d is formed so as to penetrate the substrate portion 32a of the second member 32 in the direction of the axis C1. Each crankshaft hole 32 d is provided corresponding to the position of each crankshaft hole 31 b formed in the first member 31.

  The attachment hole 32f is formed so that the end surface of the second member 32 opposite to the first member 31 is recessed in the direction of the axis C1. The attachment hole 32f is used to attach a counterpart member such as a swivel drum that constitutes a joint portion of the robot to the carrier 3. When attaching the turning drum which comprises the joint part of a robot with respect to the carrier 3, the said carrier 3 becomes a member of the rotation side in the gear apparatus X1. For example, if the base constituting the joint portion of the robot is attached to the carrier 3, the outer cylinder 2 is attached to the turning drum constituting the joint portion of the robot, whereby the carrier 3 is connected to the gear device X1. The outer cylinder 2 is a member on the rotation side of the gear device X1.

  Main bearings D <b> 1 and D <b> 2 are provided between the outer peripheral surface of the carrier body 3 </ b> A and the inner peripheral surface 2 a of the outer cylinder 2. Specifically, the main bearing D1 is provided between the outer peripheral surface of the first member 31 and the inner peripheral surface 2a of the outer cylinder 2, and the main bearing D2 is the outer peripheral surface of the substrate portion 32a of the second member 32. And the inner peripheral surface 2 a of the outer cylinder 2. The main bearings D <b> 1 and D <b> 2 allow relative rotation between the outer cylinder 2 and the carrier 3.

  The crankshaft 5 is rotatably supported by the carrier body 3A. That is, the crankshaft 5 is supported by the carrier body 3A via the crank bearings 6A and 6B, and the crank bearings 6A and 6B allow the crankshaft 5 to rotate with respect to the carrier 3. In the present embodiment, three crankshafts 5 are provided side by side in the circumferential direction of the carrier body 3A. The number of crankshafts 5 is arbitrary, and can be changed as appropriate according to the usage mode of the gear device X1.

  The crankshaft 5 includes a shaft main body 51 extending in the direction of the axis C <b> 1, and eccentric portions 54 and 55 that are eccentric with respect to the shaft main body 51.

  The shaft main body 51 has large diameter portions (journal portions) 51b and 51c, and a small diameter portion 51a having an outer diameter slightly smaller than the large diameter portions 51b and 51c.

  The first large diameter portion 51 b is located in the crankshaft hole 31 b of the first member 31. The first large diameter portion 51b is rotatably supported by the inner peripheral surface 31c of the crankshaft hole 31b via the first crank bearing 6A.

  The second large diameter portion 51c has the same outer diameter as the first large diameter portion 51b. The second large diameter portion 51 c is located in the crankshaft hole 32 d of the second member 32. The second large diameter portion 51c is rotatably supported by the inner peripheral surface 32e of the crankshaft hole 32d via the second crank bearing 6B.

  The small diameter part 51a is adjacent to the first large diameter part 51b in the direction of the axis C1, and extends to the opposite side of the second large diameter part 51c. A part of the small diameter portion 51a is located outside the crankshaft hole 31b. The small diameter portion 51a may not be provided, and the first large diameter portion 51b may extend from the crankshaft hole 31b to the outside of the crankshaft hole 31b.

  The eccentric parts 54 and 55 are located between the first large diameter part 51b and the second large diameter part 51c in the direction of the axis C1. The oscillating gear 4 is attached to the eccentric portions 54 and 55 via rollers A1 and A2. The rollers A 1 and A 2 allow relative rotation between the eccentric portions 54 and 55 and the swing gear 4.

  The oscillating gear 4 is located in the outer cylinder 2 and is sandwiched between the first member 31 and the substrate portion 32a of the second member 32 in the direction of the axis C1. The oscillating gear 4 includes a first oscillating gear 41 attached to the first eccentric portion 54 via the roller A1, and a second oscillating gear 42 attached to the second eccentric portion 55 via the roller A2. Have. The oscillating gears 41 and 42 have an outer diameter slightly smaller than the inner diameter of the outer cylinder 2, and a plurality of external teeth are formed on the outer peripheral surface thereof. The number of external teeth formed on the outer peripheral surfaces of the oscillating gears 41 and 42 is slightly smaller than the number of internal tooth pins 8. Thus, the first oscillating gear 41 and the second oscillating gear 42 can oscillate and rotate at different phases so that each external tooth meshes with each internal tooth pin 8 inside the outer cylinder 2. .

  The first rocking gear 41 has a center hole 41a corresponding to the position of the center hole 31a of the first member 31, an insertion hole 41b into which the shaft portion 32b is inserted, and a crankshaft into which the first eccentric portion 54 is inserted. And a hole 41c.

  The second rocking gear 42 has a center hole 42a corresponding to the position of the center hole 32c of the second member 32, an insertion hole 42b in which the shaft portion 32b is inserted, and a crankshaft in which the second eccentric portion 54 is inserted. And a hole 42c.

  In the present embodiment, the oscillating gear 4 has two oscillating gears, ie, a first oscillating gear 41 and a second oscillating gear 42. However, the present invention is not limited to this, and one oscillating gear. May be included, or three or more oscillating gears may be included.

  The gear device X <b> 1 further includes a transmission gear 7 that transmits a driving force to the crankshaft 5 to rotate the crankshaft 5. The transmission gear 7 is located on the opposite side of the second member 32 across the first member 31 in the direction of the axis C1. The transmission gear 7 is attached to the small diameter portion 51 a of the shaft body 51 of the crankshaft 5. In the present embodiment, three transmission gears 7 are provided corresponding to the positions of the three crankshafts 5.

  The movement of the transmission gear 7 in the direction of the axis C1 is restricted by a retaining ring attached to the small diameter part 51a of the shaft body 51 so as to sandwich the transmission gear 7 from both sides in the direction of the axis C1.

  The transmission gear 7 has a plurality of external teeth on the outer peripheral surface thereof, and a motor input shaft or the like (not shown) meshes with the plurality of external teeth, whereby the driving force (torque) of the motor is supplied to the crankshaft 5. To communicate. Then, when the eccentric parts 54 and 55 of the crankshaft 5 receiving the driving force from the transmission gear 7 rotate, the oscillating gear 4 oscillates and rotates in the outer cylinder 2 according to the rotation. As a result, the outer cylinder 2 and the carrier 3 rotate relative to each other.

  The gear device X1 further includes a regulating member 9 that regulates the movement of the crankshaft 5 in the direction of the axis C1. The restriction member 9 includes a first restriction member 91 and a second restriction member 92 that are separated from each other in the direction of the axis C1. Further, the carrier 3 is configured separately from the carrier body 3 </ b> A, and further includes a retaining ring 3 </ b> B that locks the regulating member 9. The retaining ring 3 </ b> B has a first retaining ring B <b> 1 that latches the first regulating member 91 and a second retaining ring B <b> 2 that latches the second regulating member 92. The first restricting member 91 and the second restricting member 92 sandwich the crankshaft 5 in the direction of the axis C1. Accordingly, the first restricting member 91 and the second restricting member 92 restrict the movement of the crankshaft 5 in the direction of the axis C1.

  As shown in FIG. 3, the first restricting member 91 has an annular shape in which an opening is formed in the central portion. The first restricting member 91 is positioned inside the first locked portion 91 a in the radial direction of the first locked portion 91 a that is locked to the first retaining ring B 1 of the carrier 3. And a first thick portion 91b. The first thick portion 91b is a portion having a larger thickness in the direction of the axis C1 than the first locked portion 91a, and constitutes an annular inner edge portion of the first restricting member 91 surrounding the opening. Yes. The first thick portion 91b may be located outside the first locked portion 91a in the radial direction of the first restricting member 91.

  The diameter of the opening formed in the first regulating member 91 is set to be slightly larger than the diameter of the small diameter portion 51a and smaller than the diameter of the first large diameter portion 51b. A small diameter portion 51 a is inserted into the opening formed in the first restricting member 91. Then, as shown in FIG. 2, the first regulating member 91 is a flat surface orthogonal to the axis C1, and the main surface 91A facing the end surface 51A of the first large-diameter portion 51b is in contact with the end surface 51A. It is positioned by.

  In the present embodiment, the first restricting member 91 is positioned at a position where the main surface 91A and the end surface 51A are in contact with each other, but the present invention is not limited to this. For example, if the shaft main body 51 does not have the first large diameter portion 51b, the first regulating member 91 is positioned at a position where the main surface 91A contacts the end surface of the small diameter portion 51a orthogonal to the axis C1. May be. That is, the first restricting member 91 only needs to be positioned at a position where the first restricting member 91 and the shaft main body 51 are in contact with each other in the direction of the axis C1.

  The first retaining ring B1 of the carrier 3 is attached to a mounting groove 31d formed in the inner peripheral surface 31c of the crankshaft hole 31b, and is a first locked portion located on the opposite side of the main surface 91A in the direction of the axis C1. It contacts the axial end surface 91B of the portion 91a. Thereby, the 1st to-be-latched part 91a is latched by 1st retaining ring B1, and the movement of the crankshaft 5 to the transmission gear 7 side of the axis C1 direction is controlled.

  In the present embodiment, the first retaining ring B1 is in contact only with the outer peripheral portion of the axial end surface 91B of the first locked portion 91a. The first retaining ring B1 may be in contact with the entire axial end surface 91B of the first locked portion 91a.

  Moreover, in this embodiment, although the 1st to-be-latched part 91a is latched by 1st retaining ring B1 comprised separately from carrier main body 3A, it is not restricted to this. For example, a portion corresponding to the first retaining ring B1 may be formed on the carrier body 3A, and the first locked portion 91a may be locked by the portion.

  The first thick portion 91b is located inside the first retaining ring B1 in the radial direction of the crankshaft hole 31b. Thereby, the 1st thick part 91b is arrange | positioned in the position which does not contact the carrier 3 in the axis | shaft C1 direction. The first thick portion 91b has a first protruding portion 91c protruding from the axial end surface 91B of the first locked portion 91a in the direction of the axis C1. The first protrusion 91c protrudes toward the transmission gear 7 via a region between the first retaining ring B1 and the shaft body 51. In the present embodiment, the first protrusion 91c that protrudes closer to the transmission gear 7 than the region between the first retaining ring B1 and the shaft body 51 serves as a retaining ring that restricts the movement of the transmission gear 7 in the direction of the axis C1. Touching. The first projecting portion 91c only needs to be located in a region between the first retaining ring B1 and the shaft main body 51, and may not project toward the transmission gear 7 side in the axis C1 direction from the region. .

  As shown in FIG. 2, the first protruding portion 91 c is closer to the second member 32 side (lower side in FIG. 2) than the end surface 31 </ b> A on the opposite side to the second member 32 in the axis C <b> 1 direction of the first member 31. positioned. For this reason, the 1st control member 91 is settled in the length range of the carrier 3 in the axis | shaft C1 direction.

  In the present embodiment, the first protrusion 91c protrudes closer to the transmission gear 7 in the axis C1 direction than the axial end surface 91B of the first locked part 91a, but in addition to or in addition to this. Instead, it may protrude toward the second member 32 in the direction of the axis C1. In this case, a part of the first thick portion 91b in the radial direction of the regulating member 91 is located in a gap generated between the first large diameter portion 51b and the inner peripheral surface 31c of the crankshaft hole 31b.

  In the present embodiment, the first restricting member 91 restricts the movement of the first crank bearing 6A in the direction of the axis C1 by contacting the first crank bearing 6A in the direction of the axis C1.

  As shown in FIG. 2, the first crank bearing 6 </ b> A includes a rolling element 61 extending in the direction of the axis C <b> 1 and a cage 62 that holds the rolling element 61 in a rotatable manner. The retainer 62 has an intermediate portion 62a located outside the rolling element 61 in the radial direction of the shaft main body 51, and end portions 62b and 62c connected to both ends of the intermediate portion 62a in the axis C1 direction. The rolling element 61 is sandwiched between the end portions 62b and 62c on both sides in the direction of the axis C1, thereby restricting the movement of the rolling element 61 in the direction of the axis C1. The second crank bearing 6B has the same configuration as the first crank bearing 6A.

  Of the ends 62b and 62c, the end 62b located on the transmission gear 7 side is in contact with the main surface 91A of the first restricting member 91 in the direction of the axis C1. Thus, the first restricting member 91 restricts the movement of the first crank bearing 6A toward the transmission gear 7 in the direction of the axis C1.

  The second restricting member 92 has the same shape as the first restricting member 91, and has a second locked portion 92a and a second thick portion 92b. The second restricting member 92 is positioned at a position where a main surface 92A that is a flat surface orthogonal to the axis C1 and faces the end surface 51B of the second large diameter portion 51c is in contact with the end surface 51B.

  In the present embodiment, the second restricting member 92 is formed with an opening at the central portion similarly to the first restricting member 91. However, the present invention is not limited thereto, and the opening may not be formed.

  Further, for example, if the shaft main body 51 has a small diameter portion extending in the axis C1 direction from the end surface 51B of the second large diameter portion 51c, the second restriction member 92 is formed in the opening of the second restriction member 92. The main surface 92A may be positioned at a position in contact with the end surface 51B. Further, the main surface 92A may be positioned at a position in contact with the end surface of the small diameter portion orthogonal to the axis C1.

  The second retaining ring B2 of the carrier 3 is attached to an attachment groove 32g formed on the inner peripheral surface 32e of the crankshaft hole 32d, and is a second locked position located on the opposite side of the main surface 92A in the direction of the axis C1. The portion 92a is in contact with the axial end surface 92B. Thereby, the second locked portion 92a is locked by the second retaining ring B2, and the movement of the crankshaft 5 to the opposite side of the transmission gear 7 in the direction of the axis C1 is restricted.

  The second thick portion 92b is located on the inner side of the second retaining ring B2 in the radial direction of the crankshaft hole 32d. Thereby, the 2nd thick part 92b is arrange | positioned in the position which does not contact the carrier 3 in the axis | shaft C1 direction. The second thickened portion 92b protrudes toward the end surface of the second member 32 opposite to the first member 31 from the axial end surface 92B of the second locked portion 92a in the direction of the axis C1. have. In this embodiment, the 2nd protrusion part 92c is located in the 1st member 31 side rather than the end surface on the opposite side to the 1st member 31 in the axis | shaft C1 direction among the 2nd members 32. FIG. For this reason, the 2nd control member 92 is settled in the length range of the carrier 3 in the axis | shaft C1 direction.

  In the present embodiment, the main surface 92A of the second restricting member 92 is formed on the end portion 62b on the second restricting member 92 side in the axis C1 direction of the cage 62 of the second crank bearing 6B, similarly to the first restricting member 91. Touching. Accordingly, the second restricting member 92 restricts the movement of the second crank bearing 6B toward the opposite side of the transmission gear 7 in the direction of the axis C1.

  As described above, in the gear device X1, the restriction member 9 has the thick portions 91b and 92b that are thicker than the locked portions 91a and 92a, so that the strength of the restriction member 9 can be increased. In addition, since the thick portions 91b and 92b are disposed at positions that do not contact the carrier 3 in the direction of the axis C1, it is possible to prevent the carrier body 3A from increasing in size in the direction of the axis C1. In particular, in the present embodiment, the protruding portions 91c and 92c of the thick portions 91b and 92b protrude in the opposite direction to the main surfaces 91A and 92A contacting the end surfaces 51A and 51B of the large diameter portions 51b and 51c in the direction of the axis C1. Yes. For this reason, in the direction of the axis C1, the distance between the end surface 51A of the first large diameter portion 51b and the first retaining ring B1, and the distance between the end surface 51B of the second large diameter portion 51c and the second retaining ring B2 are increased. As a result, the carrier body 3A can be reliably prevented from becoming large in the direction of the axis C1. Therefore, even when a large force is applied to the restriction member 9 in the direction of the axis C1, the restriction member 9 can be prevented from being bent and the gear device X1 can be prevented from being enlarged.

  Furthermore, in the gear device X1, since the regulating member 9 does not protrude beyond the length range of the carrier 3 in the direction of the axis C1, it is possible to further suppress the gear device X1 from becoming large.

  Further, in the gear device X1, by attaching the retaining ring 3B to the carrier body 3A, the locked portions 91a and 92a can be latched by the retaining ring 3B. In addition, since the first thick portion 91b is disposed in the region between the first retaining ring B1 and the inner peripheral surface 31c of the crankshaft hole 31b, the carrier body 3A can be used in the direction of the axis C1 by effectively utilizing the region. Can be further suppressed.

  Furthermore, in the gear device X1, since the thick portions 91b and 91c are formed in an annular shape, the strength of the regulating member 9 can be further increased.

  Further, in the gear device X1, the main surface 91A of the first restricting member 91 is in contact with the end surface 51A of the first large-diameter portion 51b and the end portion 62b of the cage 62 in the first crank bearing 6A in the direction of the axis C1. In the direction of the axis C1, the main surface 92A of the second restricting member 92 is in contact with the end surface 51B of the second large diameter portion 51c and the end portion 62b of the cage 62 in the second crank bearing 6B. For this reason, the movement of the crankshaft 5 and the crank bearing 6 in the direction of the axis C1 can be restricted by the restriction member 9.

  Next, a first modification of the gear device X1 according to the present embodiment will be described with reference to FIG.

  As shown in FIG. 4, in the gear device X1 according to the first modification, the first protruding portion 91c of the first thick portion 91b protrudes out of the length range of the carrier 3 in the axis C1 direction. The transmission gear 7 is in contact with the first protrusion 91c in the direction of the axis C1. Thereby, the transmission gear 7 is positioned at a position in contact with the first protrusion 91c in the direction of the axis C1.

  As described above, in the gear device X1 according to the first modification, the strength of the first regulating member 91 can be increased by the first thick portion 91b, and the first protrusion 91c of the first thick portion 91b can transmit the strength. The gear 7 can be positioned.

  Next, a second modification of the gear device X1 according to the present embodiment will be described with reference to FIGS.

  As shown in FIG. 5, in the gear device X1 according to the second modification, the carrier 3 does not have the retaining ring 3B. Further, by providing the first restricting member 91 and the second restricting member 92 so as to sandwich the eccentric portions 54 and 55 in the direction of the axis C1, the movement of the crankshaft 5 in the direction of the axis C1 is restricted.

  As shown in FIG. 7, the first restricting member 91 has an annular shape in which an opening is formed in the central portion. The first locked portion 91a is locked to the end surface of the first member 31 on the second member 32 side in the axis C1 direction. The first thick portion 91b according to the modified example 2 is set to have a smaller width in the radial direction of the crankshaft 5 than the first thick portion 91b according to the above-described embodiment.

  The diameter of the opening formed in the first restricting member 91 is set to be slightly larger than the diameter of the first large diameter portion 51 b and smaller than the diameter of the first eccentric portion 54. A first large-diameter portion 51 b in the shaft main body 51 of the crankshaft 5 is inserted into the opening formed in the first restricting member 91. Further, the main surface 91A of the first restricting member 91 is in contact with the end surface 54A of the first eccentric portion 54 orthogonal to the axis C1. The inner edge of the first restricting member 91 is located closer to the shaft center side of the shaft body 51 than the outer edge of the first eccentric portion 54 in the direction opposite to the eccentric direction of the first eccentric portion 54. As a result, the main surface 91A and the end surface 54A of the first eccentric portion 54 are in contact with each other over the entire circumferential direction of the crankshaft 5 regardless of the position of the first eccentric portion 54 during eccentric rotation. .

  The axial end surface 91B of the first locked portion 91a is in contact with the end surface of the first member 31 on the second member 32 side in the axis C1 direction. Thereby, the 1st to-be-latched part 91a is latched by the 1st member 31, and the movement of the crankshaft 5 to the transmission gearwheel 7 side of the axis C1 direction is controlled.

  As shown in FIG. 6, the first projecting portion 91 c includes an end portion 62 c on the second member 32 side and a first large diameter portion 51 b in the cage 62 of the first crank bearing 6 </ b> A within a plane orthogonal to the axis C <b> 1. (Shaft body 51). Further, a slight gap is formed between the first protrusion 91c and the rolling element 61 of the first crank bearing 6A in the direction of the axis C1.

  The rollers A1 and A2 include a rolling element A3 and a cage A4 that holds the rolling element. In the second modification, the main surface 91A of the first restricting member 91 is in contact with the end A5 on the transmission gear 7 side of the retainer A4 of the roller A1 in the direction of the axis C1. Accordingly, the first restricting member 91 also restricts the movement of the roller A1 in the direction of the axis C1.

  The second restricting member 92 has the same shape as the first restricting member 91, and has a second locked portion 92a and a second thick portion 92b.

  The diameter of the opening formed in the second restricting member 92 is set to be slightly larger than the diameter of the second large diameter portion 51 c and smaller than the diameter of the second eccentric portion 55. A second large diameter portion 51 c is inserted into the opening formed in the second restricting member 92. Further, the main surface 92A of the second restricting member 92 is in contact with the end surface 55A of the second eccentric portion 55 orthogonal to the axis C1. The inner edge of the second restricting member 92 is located closer to the shaft center side of the shaft body 51 than the outer edge of the second eccentric portion 55 in the direction opposite to the eccentric direction of the second eccentric portion 55. As a result, the main surface 92A and the end surface 55A of the second eccentric portion 55 are in contact with each other over the entire circumferential direction of the crankshaft 5 regardless of the position of the second eccentric portion 55 during the eccentric rotation. .

  The axial end surface 92B of the second locked portion 92a is in contact with the end surface of the substrate portion 32a on the first member 31 side in the axis C1 direction. Thus, the second locked portion 92a is locked by the substrate portion 32a of the second member 31, and the movement of the crankshaft 5 to the opposite side of the transmission gear 7 in the direction of the axis C1 is restricted.

  The second projecting portion 92c is formed between the end portion 62c on the first member 31 side and the second large diameter portion 51c (the shaft main body 51) in the cage 62 of the second crank bearing 6B in a plane orthogonal to the axis C1. Located between. Further, a slight gap is formed between the second protrusion 92c and the rolling element 61 of the second crank bearing 6B in the direction of the axis C1.

  In the second modification, the main surface 92A of the second restricting member 92 is in contact with the end portion A6 on the side of the substrate portion 32a in the cage A4 of the roller A2 in the direction of the axis C1. As a result, the second restricting member 92 also restricts the movement of the roller A2 in the direction of the axis C1.

  As described above, in the gear device X1 according to the modified example 2, the protruding portions 91c and 92c of the thick portions 91b and 92b are disposed in the region between the cage 62 and the shaft body 51 of the crankshaft 5. Effective use of the region can further prevent the carrier body 3A from becoming larger in the direction of the axis C1.

  Further, in the gear device X <b> 1 according to the second modification, the main surface 91 </ b> A of the first restricting member 91 is in contact with the end surface 54 </ b> A of the first eccentric portion 54 over the entire circumferential direction of the crankshaft 5. The main surface 92 </ b> A is in contact with the end surface 55 </ b> A of the second eccentric portion 55 over the entire circumferential direction of the crankshaft 5. For this reason, the movement of the crankshaft 5 in the direction of the axis C1 can be more reliably regulated.

  Furthermore, in the gear device X1 according to the modified example 2, since the gap is formed between the protruding portions 91c and 92c and the rolling element 61 in the direction of the axis C1, the protruding portions 91c and 92c rotate the rolling element 61. The crankshaft 5 can be smoothly rotated without obstruction.

  Next, Modification 3 which is a further modification of the gear device X1 according to Modification 2 will be described with reference to FIGS.

  As shown in FIG. 8, in the gear device X1 according to the third modification, the first protrusion 91c protrudes toward the substrate part 32a in the direction of the axis C1, and the second protrusion 92c is the first member 31 in the direction of the axis C1. Protrudes to the side. That is, in the second modification and the third modification, the directions in which the protruding portions 91c and 92c protrude are opposite to each other.

  As shown in FIG. 10, the first regulating member 91 includes a first locked portion 91a, a first thick portion 91b located inside the first locked portion 91a, and a first thick portion 91b. A first restricting portion 91d located on the inner side. As shown in FIG. 11, each of the first locked portion 91a, the first thick portion 91b, and the first restricting portion 91d has an annular shape. The central axis C3 of the first thick portion 91b is the center of the opening formed in the central portion of the first regulating member 91 so that the first thick portion 91b corresponds to the position of the first eccentric portion 54. It is displaced from the axis C2.

  A first large-diameter portion 51 b in the shaft main body 51 of the crankshaft 5 is inserted into the opening formed in the first restricting member 91. The main surface 91A of the first restricting portion 91d is in contact with the end surface 54A of the first eccentric portion 54 that is orthogonal to the axis C1.

  The axial end surface 91B of the first locked portion 91a is in contact with the end surface of the first member 31 on the second member 32 side in the axis C1 direction. Thereby, the 1st to-be-latched part 91a is latched by the 1st member 31, and the movement of the crankshaft 5 to the transmission gearwheel 7 side of the axis C1 direction is controlled.

  The first protrusion 91c protrudes from the main surface 91A in the direction of the axis C1. As shown in FIG. 9, the first protrusion 91c is positioned between the end A5 of the retainer A4 of the roller A1 and the first eccentric portion 54 in a plane orthogonal to the axis C1. Thus, when the first swing gear 41 swings and rotates according to the rotation of the crankshaft 5, the first restricting member 91 also swings and rotates.

  The second restricting member 92 has the same shape as the first restricting member 91, and has a second locked portion 92a, a second thick portion 92b, and a second restricting portion 92d. Yes.

  A second large diameter portion 51 c is inserted into the opening formed in the second restricting member 92. The main surface 92A of the second restricting portion 92d is in contact with the end surface 55A of the second eccentric portion 55 orthogonal to the axis C1.

  The axial end surface 92B of the second locked portion 92a is in contact with the end surface on the first member 31 side in the axis C1 direction of the substrate portion 32a of the second member 31. Accordingly, the second locked portion 92a is locked by the substrate portion 32a of the second member 32, and the movement of the crankshaft 5 to the opposite side of the transmission gear 7 in the direction of the axis C1 is restricted.

  The second protrusion 92c protrudes from the main surface 92A in the direction of the axis C1. The 2nd protrusion part 92c is located between the edge part A6 of the holder | retainer A4 of the roller A2, and the 2nd eccentric part 55 in the surface orthogonal to the axis | shaft C1. Thus, when the second swing gear 42 swings and rotates according to the rotation of the crankshaft 5, the second restricting member 92 also swings and rotates.

  As described above, in the gear device X1 according to the modified example 3, the protrusions 91c, 91b are formed in the regions formed between the end portions A5, A6 of the cage A4 and the eccentric portions 54, 55 of the crankshaft 5 in the rollers A1, A2. Since 92c is arrange | positioned, it can suppress more that the carrier main body 3A enlarges to an axis | shaft C1 direction effectively using the said area | region.

  It should be thought that this embodiment and the modification which were demonstrated above are illustrations in all the points, and are not restrictive. The scope of the present invention is shown not by the above description of the embodiments and modifications but by the scope of claims for patent, and includes all modifications within the meaning and scope equivalent to the scope of claims for patent.

X1 gear device 3 carrier 3A carrier body 3B retaining ring 4 rocking gear 5 crankshaft 6 crank bearing 7 transmission gear 9 regulating member 31b, 32d crankshaft hole 31c, 32e inner peripheral surface 54, 55 eccentric part 61 rolling element 62 cage 62b, 62c End portion 9 Restriction member 91a, 92a Locking portion 91b, 92b Thick portion

Claims (5)

A crankshaft having an eccentric portion;
An oscillating gear that oscillates and rotates as the eccentric part rotates,
A carrier that rotatably supports the crankshaft;
A regulating member that regulates the movement of the crankshaft in the axial direction of the crankshaft,
The carrier has a carrier body formed with a crankshaft hole in which the crankshaft is disposed, and a retaining ring attached to an inner peripheral surface of the crankshaft hole of the carrier body,
The restricting member is disposed on the inner side in the axial direction with respect to the retaining ring of the carrier, and is a position that is not in contact with the carrier in the axial direction, and a locked portion that is retained by the retaining ring. the have a, and the axial thickness is greater formed was thick portion than in the engaged portion is disposed at a position inside in the radial direction from the engaged portion Te,
The thick portion includes a protrusion provided at a position that protrudes outward in the axial direction from an end surface of the locked portion facing outward in the axial direction and is opposed to the retaining ring in the radial direction. A gear device.   The gear device according to claim 1, wherein the regulating member is within a length range of the carrier in the axial direction. A crankshaft having an eccentric portion;
An oscillating gear that oscillates and rotates as the eccentric part rotates,
A carrier that rotatably supports the crankshaft;
A regulating member that regulates the movement of the crankshaft in the axial direction of the crankshaft;
A crank bearing for supporting the crankshaft ,
The restricting member is disposed at a position to be locked to the carrier and a position not in contact with the carrier in the axial direction, and has a larger thickness in the axial direction than the locked portion. A thick wall portion, and
The crank bearing includes a rolling element and a cage that holds the rolling element in a rollable manner.
The thick portion, at the axial direction in a plane perpendicular to and is located between the crankshaft and the end portion of the regulating member side of the cage, tooth wheel device. A crankshaft having an eccentric portion;
An oscillating gear that oscillates and rotates as the eccentric part rotates,
A carrier that rotatably supports the crankshaft;
A regulating member that regulates the movement of the crankshaft in the axial direction of the crankshaft;
A transmission gear that is located on the outer side in the axial direction than the restriction member and that transmits a driving force to the crankshaft,
The restricting member is disposed at a position to be locked to the carrier and a position not in contact with the carrier in the axial direction, and has a larger thickness in the axial direction than the locked portion. A thick wall portion, and
The thick portion has a protruding portion that protrudes toward the transmission gear on the outer side in the axial direction than the end surface facing the outer side in the axial direction of the locked portion,
The transmission gear is positioned in the axial direction by the projecting portion of the thick portion, the tooth wheel device. The gear device according to any one of claims 1 to 4 , wherein the thick portion is formed in an annular shape.

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