JP6681143B2 - Reducer and gasket - Google Patents

Description

  The present invention relates to a speed reducer and a gasket used for the speed reducer.

  Various speed reducers are used in various technical fields such as industrial robots and machine tools (see Patent Document 1). Patent Document 1 proposes disposing a surface member between the reduction gear and the mating member.

JP, 2000-154849, A

  Often, a compact design is required for various devices equipped with speed reducers. Therefore, if the designer intends to arrange the face member based on the technique of Patent Document 1, he will use the face member that is as thin as possible. However, the thin face member is prone to bending when placed between the reducer and the mating member. Therefore, the use of thin face members increases the difficulty of the assembly process for incorporating the reducer into the device.

  An object of the present invention is to provide a speed reducer that enables easy attachment to a mating member.

A speed reducer according to one aspect of the present invention includes a speed reducer that performs a speed reducing operation, a gasket that includes a first surface that faces the speed reducer, and a second surface that is opposite to the first surface. The gasket may include a ridge protruding from at least one of the first surface and the second surface, and the speed reducer may include a connection surface connected to the first surface. The connection surface includes an inner edge that defines an opening region that opens toward a mating member connected to the second surface. The ridge extends at least partially along the inner edge. An opening region having a shape corresponding to the opening region of the connection surface is formed in the gasket. In the opening region of the gasket, a circular region, a first bulge region that bulges radially outward from the circular region in a first direction, and a second direction radially outward from the circular region. And a second bulge region that bulges into. The inner edge defining the opening area of the gasket has a first bulge arc defining the contour of the first bulge area, a second bulge arc defining the contour of the second bulge area, and the circular shape. An intermediate arc extending along the contour of the region and connecting the first bulging arc and the second bulging arc is included. The ridge includes a portion along the first bulging arc, a portion along the second bulging arc, and a portion along the intermediate arc.

According to the above configuration, the gasket includes the ridge protruding from at least one of the first surface and the second surface, so that the gasket is unlikely to bend when the reduction gear is attached to the mating member. Therefore, the speed reducer can be easily attached to the counterpart member. Also, ridges is because extending at least partially along the inner edge, leakage from the aperture region is unlikely to occur.

In the above configuration, the ridge may describe a closed loop surrounding the opening area of the gasket .

According to the above configuration, the ridge draws a closed loop that surrounds the opening area of the gasket, so that liquid leakage from the opening area is less likely to occur.

  In the above configuration, the protrusion may be deformable between the mating member and the speed reducer.

  According to the above configuration, the ridge can be deformed between the mating member and the speed reducer, so the sealing performance of the gasket is increased by the restoring force of the ridge.

  In the above configuration, the reduction unit may include an outer cylinder that defines a rotation center axis and a carrier that rotates around the rotation center axis relative to the outer cylinder. The carrier may include the connecting surface. The inner edge may surround the central axis of rotation.

  According to the above configuration, since the ridge extends at least partially along the inner edge, liquid leakage from the carrier is less likely to occur.

  In the above structure, the carrier may include an outer peripheral edge that defines an outer contour of the connection surface. The ridge may be longer than the outer peripheral edge.

  According to the above-mentioned structure, since the ridge is longer than the outer peripheral edge, it is strongly pressed against the connecting surface.

In the above configuration, the opening area of the connection surface is a circular area conceptually defined around the rotation center axis, and a first bulge bulging in a first direction from the circular area toward the outer peripheral edge. And a region. The inner edge may include an arc portion that defines a contour of the first bulge region of the connection surface . The ridge extends between an inner intersection point defined by the virtual straight line extending from the rotation center axis in the first direction and the arc portion, and an outer intersection point defined by the virtual straight line and the outer peripheral edge. You may pass.

  According to the above configuration, the ridge extends between the inner intersection point defined by the virtual straight line extending from the rotation center axis in the first direction and the arc portion, and the outer intersection point defined by the virtual straight line and the outer peripheral edge. Since it passes through, leakage from the carrier is less likely to occur

In the above configuration, the opening area of the connection surface may include a second bulging area that bulges in a second direction different from the first direction from the circular area toward the outer peripheral edge. The connection surface may include a partition surface region that separates the first bulging region from the second bulging region. A fastening hole used for fastening with the mating member may be formed in the partition region. The fastening hole may be located between the ridge and the outer peripheral edge.

  According to the above configuration, since the fastening hole is located on the opposite side of the opening region with the ridge in between, the liquid leakage from the fastening hole is less likely to occur.

  In the above configuration, the reduction unit is disposed in the first swelling region, a gear shaft that rotates around the rotation center axis, a first gear that meshes with the gear shaft, and a second swelling region. A second gear that is disposed and meshes with the gear shaft.

  According to the above configuration, the speed reducing unit can perform the speed reducing operation by meshing between the gear shaft, the first gear, and the second gear in the opening region.

  In the above structure, the gasket may have a laminated structure including a rubber layer and a metal layer. The ridge may be formed by the rubber layer and the metal layer. The rubber layer may contact the speed reducer or the mating member.

  According to the above configuration, since the speed reducing portion or the mating member is in contact, a high transmission torque is achieved under a high frictional force.

Gasket according to another aspect of the present invention is a gasket attached to the speed reduction unit for performing deceleration operation, a first surface facing the reduction unit, a second surface opposite to the first surface, A protrusion protruding from at least one of the first surface and the second surface, and an opening region is formed from the first surface to the second surface. In the opening region, a circular region, a first bulge region that bulges radially outward from the circular region in a first direction, and a bulge radially outwardly from the circular region in a second direction. And a second bulging area. The inner edge that defines the opening area has a first bulge arc that defines the contour of the first bulge area, a second bulge arc that defines the contour of the second bulge area, and a contour of the circular area. An intermediate arc extending along the first bulge arc and connecting the first bulge arc and the second bulge arc. The ridge includes a portion along the first bulging arc, a portion along the second bulging arc, and a portion along the intermediate arc.

  According to the above configuration, the gasket includes the protrusion that protrudes from at least one of the first surface and the second surface, so that the gasket is unlikely to bend. Therefore, the gasket is easily attached to the speed reducer.

In the above structure, the gasket may further include an outer peripheral edge that defines outer contours of the first surface and the second surface. The ribs includes the outer periphery, the contour edge of the front KiHiraki opening region may be formed between the.

  According to the above configuration, since the ridge is formed between the outer peripheral edge and the contour edge of the opening region that bulges toward the outer peripheral edge, the gasket has a thickness at the portion that becomes thinner in the radial direction. Will have large dimensions in the direction. Therefore, the gasket is less likely to bend.

  In the above structure, the ridge may draw a closed loop surrounding the opening region.

According to the above configuration, since the ridge draws a closed loop that surrounds the opening area, liquid leakage from the opening area is less likely to occur .

  The above-described technique enables simple attachment of the speed reducer to the mating member.

It is a conceptual diagram of the speed reducer of 1st Embodiment. It is a conceptual diagram of the speed reducer of 2nd Embodiment. It is an expanded sectional view of a gasket of a 3rd embodiment. It is a schematic diagram of a connecting surface of a reduction gear part explained with reference to Drawing 1 (a 4th embodiment). 5 is a schematic view of a gasket connected to the connection surface shown in FIG. 4. FIG. FIG. 5 is a schematic diagram of a gear structure of the speed reducer shown in FIG. 4. It is a schematic diagram of the gasket connected to the connecting surface shown in FIG. 4 (5th Embodiment). It is a schematic sectional drawing of the reduction gear of 6th Embodiment. FIG. 9 is a schematic front view of a speed reducer of the speed reducer shown in FIG. 8. It is a schematic sectional drawing which follows the AA line shown in FIG.

<First Embodiment>
The present inventors have found that the use of a thin gasket reduces the efficiency of the speed reducer assembly process. The thin gasket easily bends between the reducer and the mating member. Therefore, skilled techniques are required for workers involved in the speed reducer assembly process. In the first embodiment, a speed reducer including a gasket that is thin as a whole and hardly bends will be described.

  FIG. 1 is a conceptual diagram of a speed reducer 100 according to the first embodiment. The speed reducer 100 will be described with reference to FIG. 1.

  The speed reducer 100 includes a speed reducer 200 and a gasket 300. The deceleration unit 200 has a structure for performing deceleration operation. For example, the reduction gear unit 200 may have various swing type reduction gear structures. Alternatively, the speed reducer 200 may have the structure of another type of speed reducer. The principle of this embodiment is not limited to a specific structure of the speed reducer 200.

  The gasket 300 includes a first surface 311, a second surface 312, and a ridge 313. The first surface 311 faces the speed reducer 200. The second surface 312 opposite to the first surface 311 faces the mating member CPM. The first surface 311 and the second surface 312 are flat. The mating member CPM may be part of the robot. Alternatively, the mating member CPM may be part of the machine tool. The principle of this embodiment is not limited to a specific device used as the mating member CPM.

  The ridge 313 protrudes from the first surface 311 toward the speed reducer 200. The ridges 313 increase the rigidity of the gasket 300, so that the designer has a small value (for example, 0.5 mm) for the thickness of the gasket 300 (that is, the distance between the first surface 311 and the second surface 312). The following values) may be given.

  The gasket 300 locally strongly abuts on the speed reducer 200 at the protrusion 313. Therefore, the gasket 300 can have high sealing performance.

  The ridges 313 may be formed only in a region where liquid leakage from the speed reducer 200 is likely to occur. Alternatively, the ridges 313 may describe a closed loop on the first surface 311. The principles of this embodiment are not limited to the particular shape depicted by the ridge 313.

  The gasket 300 may have a rubber layer. If the rubber layer forms the first surface 311 and / or the second surface 312, a high frictional force is generated between the speed reducer 200 and the mating member CPM. Therefore, the speed reducer 100 can achieve high transmission torque. The gasket 300 may have a laminated structure including a rubber layer and a metal layer. In this case, the restoring force from the metal layer due to the deformation of the ridge becomes high. Therefore, the speed reducer 100 can achieve high transmission torque. A designer designing the speed reducer 100 may give the gasket 300 various other structures. The principles of this embodiment are not limited to a particular construction of gasket 300.

<Second Embodiment>
Instead of the ridge protruding toward the speed reducing portion, or in addition to the ridge protruding toward the speed reducing portion, the gasket may have a ridge protruding toward the mating member. In the second embodiment, a speed reducer including a gasket having a ridge protruding toward a mating member will be described.

  FIG. 2 is a conceptual diagram of the speed reducer 100A of the second embodiment. The reference numerals commonly used in the first embodiment and the second embodiment mean that the elements given the common reference have the same functions as those in the first embodiment. Therefore, the description of the first embodiment is applied to these elements. The speed reducer 100A will be described with reference to FIG. 2.

  Similar to the first embodiment, the speed reducer 100A includes a speed reducer 200. The description of the first embodiment is applied to the speed reducer 200.

  The speed reducer 100A includes a gasket 300A. Similar to the first embodiment, the gasket 300A includes a first surface 311 and a second surface 312. The description of the first embodiment is incorporated into these elements.

  The gasket 300A further includes a ridge 313A. The ridge 313A projects from the second surface 312 toward the mating member CPM. Since the ridges 313A increase the rigidity of the gasket 300A, the designer has a small value (for example, 0.5 mm) for the thickness of the gasket 300A (that is, the distance between the first surface 311 and the second surface 312). The following values) may be given.

  The gasket 300A locally and strongly abuts the mating member CPM at the ridge 313A. Therefore, the gasket 300A can have high sealing performance.

  The ridges 313A may be formed only in a region where liquid leakage from the speed reducer 200 is likely to occur. Alternatively, the ridges 313A may describe a closed loop on the second surface 312. The principles of this embodiment are not limited to the particular shape depicted by the ridge 313A.

  The gasket 300A may have a rubber layer. If the rubber layer forms the first surface 311 and / or the second surface 312, a high frictional force is generated between the speed reducer 200 and the mating member CPM. Therefore, the speed reducer 100A can achieve high transmission torque. The gasket 300A may have a laminated structure including a rubber layer and a metal layer. In this case, the restoring force from the metal layer due to the deformation of the ridge becomes high. Therefore, the speed reducer 100A can achieve high transmission torque. The designer who designs the speed reducer 100A may give the gasket 300A various other structures. The principle of this embodiment is not limited to a particular structure of the gasket 300A.

<Third Embodiment>
The gasket may have a laminated structure including a rubber layer and a metal layer. In the third embodiment, a gasket having a laminated structure is described.

  FIG. 3 is an enlarged cross-sectional view of the gasket 300B of the third embodiment. The reference numerals commonly used in the first embodiment and the third embodiment mean that the elements given the common reference have the same functions as those in the first embodiment. Therefore, the description of the first embodiment is applied to these elements. The gasket 300B is described with reference to FIGS. 1 and 3.

  The gasket 300B can be used as the gasket 300 described with reference to FIG. The gasket 300B includes a first rubber layer 321, a second rubber layer 322, and a metal layer 323. The first rubber layer 321, the second rubber layer 322, and the metal layer 323 form a laminated structure. The first rubber layer 321 forms the first surface 311. The second rubber layer 322 forms the second surface 312. The metal layer 323 is sandwiched between the first rubber layer 321 and the second rubber layer 322.

  The first rubber layer 321 provides a high frictional force between the gasket 300B and the speed reducer 200. The second rubber layer 322 provides a high frictional force between the gasket 300B and the mating member CPM. Therefore, the speed reducer 100 can achieve high transmission torque.

  The metal layer 323 contributes to the reduction of torsional deformation of the gasket 300B. Therefore, the speed reducer 100 can achieve high transmission torque.

  The first rubber layer 321, the metal layer 323, and the second rubber layer 322 form a ridge 313. The first rubber layer 321 abuts on the speed reducer 200. Therefore, the gasket 300B is locally strongly pressed by the ridge 313. As a result, liquid leakage from the speed reducer 100 is less likely to occur.

  The second rubber layer 322 is recessed at the position where the protrusion 313 is formed. Therefore, the laminated structure shown in FIG. 3 can be easily formed by general press working.

  When the speed reducer 100 is attached to the counter member CPM, the ridges 313 are compressed and deformed between the speed reducer 200 and the counter member CPM. As a result, the restoring force acts in the area where the protrusion 313 is formed. Since the ridges 313 are strongly pressed against the speed reducer 200, liquid leakage from the speed reducer 100 is unlikely to occur.

<Fourth Embodiment>
A designer who designs a speed reducer can give the connecting surface of the speed reducer abutting the gasket various shapes suitable for the application of the speed reducer. In the fourth embodiment, an exemplary shape of the connecting surface is described.

  FIG. 4 is a schematic view of the connection surface 210 of the speed reducer 200. The reference numerals commonly used in the first embodiment and the fourth embodiment mean that the elements given the common reference have the same functions as those in the first embodiment. Therefore, the description of the first embodiment is applied to these elements. The connection surface 210 is described with reference to FIGS. 1 and 4.

  The connection surface 210 is in surface contact with the first surface 311 of the gasket 300. The connection surface 210 includes an inner edge 211 and an outer peripheral edge 212. The inner edge 211 surrounds the rotation center axis CRX. The inner edge 211 defines an opening region 220 that opens toward the mating member CPM connected to the second surface 312 of the gasket 300. The outer peripheral edge 212 defines a circular outer contour of the connecting surface 210.

  FIG. 4 conceptually shows the rotation center axis CRX and the circular chain line CCL. The rotation center axis CRX represents the rotation center of the rotational movement of the reduction gear unit 200. The circular chain line CCL is an inscribed circle inscribed in the opening region 220 centered on the rotation center axis CRX. The center of the inscribed circle substantially coincides with the rotation center axis CRX. In the present embodiment, the circular area is exemplified by the circular area surrounded by the circular chain line CCL.

  FIG. 4 conceptually shows three dotted lines DL1, DL2, DL3 extending radially from the rotation center axis CRX. The included angle defined by the dotted lines DL1 and DL2 is 120 °. The included angle defined by the dotted lines DL2 and DL3 is also 120 °. The included angle defined by the dotted lines DL3 and DL1 is also 120 °.

  The opening region 220 includes three bulging regions 221, 222, 223 in addition to the region surrounded by the circular chain line CCL. The bulging region 221 bulges from the circular chain line CCL toward the outer peripheral edge 212 in the extending direction of the dotted line DL1. The bulging region 222 bulges from the circular chain line CCL toward the outer peripheral edge 212 in the extending direction of the dotted line DL2. The bulging region 223 bulges from the circular chain line CCL toward the outer peripheral edge 212 in the extending direction of the dotted line DL3. In the present embodiment, the first bulging area is exemplified by the bulging area 221. The second bulging area is exemplified by the bulging area 222. The first direction is exemplified by the extending direction of the dotted line DL1. The second direction is exemplified by the extending direction of the dotted line DL2.

  The inner edge 211 includes three bulging arcs 231, 232, 233 and three intermediate arcs 213, 214, 215. The bulging arc 231 defines the contour of the bulging area 221. The bulging arc 232 defines the contour of the bulging area 222. The bulging arc 233 defines the contour of the bulging area 223. The intermediate arc 213 extends between the bulging arc 231 and the bulging arc 232 and overlaps the circular chain line CCL. The intermediate arc 214 extends between the bulging arc 232 and the bulging arc 233 and overlaps the circular chain line CCL. The intermediate arc 215 extends between the bulging arc 233 and the bulging arc 231 and overlaps the circular chain line CCL. In the present embodiment, the circular arc portion is exemplified by the bulging circular arc 231.

  FIG. 4 conceptually shows three inner intersections IS1, IS2, IS3 and three outer intersections OS1, OS2, OS3. The internal intersection IS1 means the intersection defined by the bulging arc 231 and the dotted line DL1. The internal intersection IS2 means an intersection defined by the bulging arc 232 and the dotted line DL2. The internal intersection IS3 means an intersection defined by the bulging arc 233 and the dotted line DL3. The outer intersection point OS1 means an intersection point defined by the outer peripheral edge 212 and the dotted line DL1. The outer intersection point OS2 means an intersection point defined by the outer peripheral edge 212 and the dotted line DL2. The outer intersection point OS3 means an intersection point defined by the outer peripheral edge 212 and the dotted line DL3. The distance between the internal intersection IS1 and the external intersection OS1, the distance between the internal intersection IS2 and the external intersection OS2, and the distance between the internal intersection IS3 and the external intersection OS3 are very short. Therefore, the liquid (for example, lubricating oil) in the opening area 220 is a liquid leakage path from the inner intersection IS1 to the outer intersection OS1, a liquid leakage path from the inner intersection IS2 to the outer intersection OS2, or the inner intersection IS3 to the outer intersection OS3. It is easy to form a leak path to go. In the present embodiment, the virtual straight line is exemplified by the dotted line DL1.

  FIG. 5 is a schematic view of the gasket 300D connected to the connection surface 210. The gasket 300D will be described with reference to FIGS. 1, 4 and 5.

  The gasket 300D can be used as the gasket 300 described with reference to FIG. The gasket 300D includes a first surface 311D, an inner edge 331, an outer peripheral edge 332, and three protrusions 341, 342, 343. The first surface 311D corresponds to the first surface 311 described with reference to FIG.

  Inner edge 331 defines open area 350. The opening region 350 of the gasket 300D substantially matches the opening region 220 of the connecting surface 210 in shape and size. Therefore, the description regarding the shape of the inner edge 211 of the connection surface 210 is applied to the inner edge 331 of the gasket 300D. In the present embodiment, the contour edge is exemplified by the inner edge 331.

  The outer peripheral edge 332 defines the circular outer contour of the gasket 300D. The outer peripheral edge 332 of the gasket 300D and the outer peripheral edge 212 of the connecting surface 210 substantially match in shape and size.

  Each of the ridges 341, 342, 343 projects from the first surface 311D toward the connection surface 210. The ridges 341, 342 and 343 are separated from each other. Each of the protrusions 341, 342, 343 is formed between the inner edge 331 and the outer edge 332.

  The ridge 341 is formed at a position intersecting the dotted line DL1. Therefore, when the first surface 311D is connected to the connection surface 210, the ridge 341 passes between the inner intersection IS1 and the outer intersection OS1.

  The ridge 342 is formed at a position intersecting the dotted line DL2. Therefore, when the first surface 311D is connected to the connection surface 210, the ridge 342 passes between the inner intersection point IS2 and the outer intersection point OS2.

  The ridge 343 is formed at a position intersecting the dotted line DL3. Therefore, when the first surface 311D is connected to the connection surface 210, the ridge 343 passes between the inner intersection IS3 and the outer intersection OS3.

  Inner edges 211, 331 of the connecting surface 210 and the gasket 300D are closest to the outer peripheral edges 212, 332 of the connecting surface 210 and the gasket 300D at the inner intersections IS1, IS2, IS3. The ridges 341, 342, 343 are formed corresponding to the inner intersections IS1, IS2, IS3 where the inner edges 211, 331 are closest to the outer edges 212, 332, so that liquid leakage from the opening area 220 is less likely to occur. .

  FIG. 6 is a schematic diagram of a gear structure of the reduction gear unit 200D. The speed reducer 200D will be described with reference to FIGS. 1 and 4 to 6.

  The reduction gear unit 200D includes a gear shaft 250 and three transmission gears 251, 252, 253. The gear shaft 250 extends along the rotation center axis CRX. The gear shaft 250 rotates around the rotation center axis CRX. Each of the transmission gears 251, 252, 253 meshes with the gear shaft 250.

  The transmission gear 251 is arranged so as to straddle the bulging region 221 and the region surrounded by the circular chain line CCL. The transmission gear 252 is arranged so as to straddle the second bulging region 222 and the region surrounded by the circular chain line CCL. The transmission gear 253 is arranged so as to straddle the third bulging region 223 and the region surrounded by the circular chain line CCL. Lubricating oil is contained within the open area 220 to prevent seizure between the gear shaft 250 and the transmission gears 251, 252, 253. Since the ridges 341, 342, 343 are strongly pressed against the connection surface 210, the lubricating oil is less likely to leak from the opening area 220. In the present embodiment, the first gear is exemplified by the transmission gear 251. The second gear is exemplified by the transmission gear 252.

<Fifth Embodiment>
The gasket described in connection with the fourth embodiment includes a plurality of ridges arranged intermittently. Alternatively, the gasket may include ridges shaped to describe a closed loop. In the fifth embodiment, a gasket including a ridge that describes a closed loop is described.

  FIG. 7 is a schematic view of the gasket 300E connected to the connection surface 210. The reference numerals commonly used in the fourth embodiment and the fifth embodiment mean that the elements with the common reference have the same functions as those in the fourth embodiment. Therefore, the description of the fourth embodiment is applied to these elements. The gasket 300E is described with reference to FIGS. 1, 4 and 7.

  The gasket 300E can be used as the gasket 300 described with reference to FIG. Similar to the fourth embodiment, the gasket 300E includes the first surface 311D, the inner edge 331, and the outer peripheral edge 332. The description of the fourth embodiment is incorporated into these elements.

  The gasket 300E further includes a ridge 340. The ridge 340 extends along the inner edge 331 and forms a closed loop.

  Since the inner edges 211 and 331 are longer than the outer edges 212 and 332, the total length of the protrusion 340 that forms a closed loop along the inner edge 331 is longer than the outer edges 212 and 332. This means that the gasket 300E is strongly pressed against the connection surface 210, so that liquid leakage from the speed reducer 100 (see FIG. 1) is less likely to occur.

  As shown in FIG. 4, the connecting surface 210 includes three fastening areas 261, 262, 263. The fastening region 261 bulges toward the rotation center axis CRX between the dotted lines DL1 and DL2 and separates the bulging region 221 from the bulging region 222. The fastening region 262 bulges toward the rotation center axis CRX between the dotted lines DL2 and DL3 and separates the bulging region 222 from the bulging region 223. The fastening region 263 bulges toward the rotation center axis CRX between the dotted lines DL3 and DL1 and separates the bulging region 223 from the bulging region 221. In the present embodiment, the partition surface area is exemplified by the fastening area 261.

  A plurality of fastening holes 265 are formed in each of the fastening areas 261, 262, 263. A plurality of fastening holes 360 are also formed in the gasket 300E. The arrangement pattern of the fastening holes 360 of the gasket 300E matches the arrangement pattern of the fastening holes 265 of the connection surface 210. The fastening holes 265 and 360 are used for fastening between the connection surface 210 and the mating member CPM.

  When the gasket 300E is connected to the connection surface 210, the fastening holes 265 and 360 are located between the protrusion 340 and the outer peripheral edges 212 and 332. Therefore, the lubricating oil in the opening area 220 is less likely to leak from the fastening holes 265, 360.

<Sixth Embodiment>
Designers can provide the reducer with various reduction structures. In the sixth embodiment, an exemplary speed reducing structure of the speed reducer is described.

  FIG. 8 is a schematic sectional view of a speed reducer 100F of the sixth embodiment. The reference numerals commonly used in the fourth to sixth embodiments mean that the elements to which the common reference is attached have the same functions as those in the fourth or fifth embodiment. . Therefore, the description of the fourth or fifth embodiment is applied to these elements. The speed reducer 100F is described with reference to FIGS. 1 and 8.

  The speed reducer 100F includes a speed reducer 200F and the gasket 300E described in relation to the fifth embodiment. The gasket 300E is compressed between the speed reducer 200F and the mating member CPM.

  The reduction gear unit 200F includes a substantially cylindrical outer cylinder 410, a substantially cylindrical carrier 420, and two main bearings 431 and 432. The outer cylinder 410 defines the rotation center axis CRX. The carrier 420 is held in the outer cylinder 410 by the main bearings 431 and 432. The main bearing 432 holds the carrier 420 at a position farther from the counterpart member CPM than the main bearing 431. The main bearings 431 and 432 allow relative rotational movement between the outer cylinder 410 and the carrier 420. The carrier 420 includes the connecting surface 210 described in relation to the fifth embodiment.

  FIG. 9 is a schematic front view of the speed reducer 200F. The speed reducer 100F is further described with reference to FIGS. 6, 8 and 9.

  The carrier 420 includes a base portion 421 and an end plate portion 422. The base 421 includes the connection surface 210 described above. Therefore, the opening region 220 is formed in the base portion 421. The end plate portion 422 is arranged on the side opposite to the connection surface 210 and fastened to the base portion 421.

  The speed reducer 200F further includes three transmission gears 254. The three transmission gears 254 correspond to the transmission gears 251, 252, 253 described with reference to FIG. 6, respectively.

  The carrier 420 has a central cavity 423 formed along the rotation center axis CRX. The central hollow portion 423 communicates with the opening area 220. A gear shaft (not shown) that is rotated by a driving force from a driving source (not shown) is inserted into the central cavity portion 423 and meshes with each of the three transmission gears 254.

  The reduction gear unit 200F further includes three crankshafts 440. The three transmission gears 254 are attached to the three crankshafts 440, respectively. Each of the three crankshafts 440 rotates about the rotation center axis DRX defined at a position separated from the rotation center axis CRX defined by the outer cylinder 410. The rotation center axis DRX extends substantially parallel to the rotation center axis CRX. Each of the three crankshafts 440 extends from the three transmission gears 254 toward the end plate portion 422 along the rotation center axis DRX.

  Each of the three crankshafts 440 includes a first shaft end portion 441, a second shaft end portion 442, a first eccentric portion 443, and a second eccentric portion 444. The transmission gear 254 is attached to the first shaft end 441. The second shaft end portion 442 is held by the end plate portion 422. The first shaft end portion 441 and the second shaft end portion 442 coaxially rotate around the rotation center axis DRX. Each of the first eccentric portion 443 and the second eccentric portion 444 is eccentric from the rotation center axis DRX. The eccentric direction of the first eccentric portion 443 is different from the eccentric direction of the second eccentric portion 444.

  The reduction gear unit 200F includes four bearings 451, 452, 453, 454 for each of the three crankshafts 440. The bearing 451 is attached to the first shaft end 441. The bearing 451 is arranged between the base portion 421 and the first shaft end portion 441. The bearing 452 is attached to the second shaft end 442. The bearing 452 is arranged between the end plate portion 422 and the second shaft end portion 442. The bearings 451 and 452 cooperate to define the rotation center axis DRX. The bearing 453 is attached to the first eccentric portion 443. The bearing 454 is attached to the second eccentric portion 444.

  FIG. 10 is a schematic sectional view taken along the line AA shown in FIG. The speed reducer 200F will be further described with reference to FIGS. 8 and 10.

  The reduction gear unit 200F includes two swing gears 461 and 462. The oscillating gear 461 is connected to the first eccentric portion 443 via the bearing 453. The oscillating gear 462 is connected to the second eccentric portion 444 via the bearing 454. The oscillating gears 461 and 462 are arranged between the connecting surface 210 and the end plate portion 422. An opening 463 is formed in each of the oscillating gears 461 and 462 to allow the base 421 to be inserted therethrough. Therefore, the base portion 421 is appropriately connected to the end plate portion 422.

  The outer cylinder 410 includes a substantially cylindrical outer shell 411 and a large number of pins 412. The large number of pins 412 are attached to the inner peripheral surface of the outer shell 411 at substantially equal intervals and function as internal teeth. Each of the plurality of pins 412 extends substantially parallel to the rotation center axis CRX. Each of the oscillating gears 461 and 462 meshes with these pins 412.

  The oscillating movement of the oscillating gear 461 is 180 ° out of phase with the oscillating movement of the oscillating gear 462. Accordingly, while the oscillating gear 461 meshes with about half of the pins 412, the oscillating gear 462 meshes with the remaining half of the pins 412.

  The eccentric rotation of the first eccentric portion 443 and the second eccentric portion 444 gives the oscillating gears 461 and 462 an oscillating motion in which the centers of the oscillating gears 461 and 462 circulate around the rotation center axis CRX. As a result, the oscillating gears 461 and 462 oscillate while meshing with the large number of pins 412.

  If the outer cylinder 410 is fixed, the oscillating movement of the oscillating gears 461 and 462 causes the carrier 420 to rotate. If the carrier 420 is fixed, the oscillating movement of the oscillating gears 461, 462 causes the outer cylinder 410 to rotate.

  The principles of the various embodiments described above may be combined to meet the requirements for speed reducers. For example, the speed reducer may have less than 3 crankshafts. Alternatively, the reducer may have more than three crankshafts. The speed reducer may have one oscillating gear. Alternatively, the reducer may have more than two oscillating gears.

  The principles of the above-described embodiments are preferably utilized in various speed reducer designs.

100, 100A, 100F ... Reduction gears 200, 200D, 200F .. ..... connecting surface 211 ... ..... outer peripheral edge 220 ... ... Opening areas 221, 222 ... Bulging areas 231,232 ...・ ・ ・ ・ Bulging arc 250 ・ ・ ・ ・ ・ ・ ・ ・ ・ Gear shafts 251, 252, 254 ・ ・ ・ ・・ ・ ・ ・ ・ ・ ・ Transmission gear 261 ・ ・ ・ ・...... Fastening area 265 ... Fastening holes 300, 300A, 300B, 300D, 300E. ... Gaskets 311 and 311D ... First surface 312 ... ..... 2nd surface 313, 313A ..... ridge 321 .....・ ・ ・ ・ ・ ・ ・ ・ First rubber layer 322 ・ ・ ・ ・ ・ ・ ・ ・ Second rubber layer 323 ・ ・ ・... metal layers 340 to 343 ... ridge 410・ ・ ・ ・ ・ ・ ・ ・ ・ ・ ・ Outer cylinder 420 ・ ・・ ・ ・ ・ Carrier CCL ・ ・ ・ ・Chain line CPM ... Mating member CRX ... ...... Rotation center axes DL1, DL2 ・ ・ ・ Dotted line IS1 ・ ・ ・ ・ ・···· OS1 at internal intersection ····· External junction

Claims (12)

A deceleration unit that performs deceleration operation,
A gasket including a first surface facing the speed reducer and a second surface opposite to the first surface,
The gasket includes a ridge protruding from at least one of the first surface and the second surface,
The speed reducer includes a connection surface connected to the first surface,
The connection surface includes an inner edge that defines an opening region that opens toward a mating member connected to the second surface,
The ridge extends at least partially along the inner edge;
In the gasket, an opening area having a shape corresponding to the opening area of the connection surface is formed,
In the opening region of the gasket, a circular region, a first bulge region that bulges radially outward from the circular region in a first direction, and a second direction radially outward from the circular region. A second bulge region bulging into the
The inner edge defining the opening area of the gasket has a first bulge arc defining the contour of the first bulge area, a second bulge arc defining the contour of the second bulge area, and the circular shape. seen containing an intermediate arc, the connecting the second bulging arc and the first bulging arc extends along the contour of the region,
The speed reducer includes a portion along the first bulging arc, a portion along the second bulging arc, and a portion along the intermediate arc . The speed reducer according to claim 1 , wherein the ridge draws a closed loop that surrounds the opening region of the gasket . The ribs may reducer according to claim 1 or 2 deformable is between said mating member and said speed reduction unit. The deceleration unit includes an outer cylinder that defines a rotation center axis, and a carrier that rotates around the rotation center axis relative to the outer cylinder.
The carrier includes the connection surface,
The inner edge, speed reducer according to any one of claims 1 to 3 surrounding the rotational axis. The carrier includes an outer peripheral edge defining an outer contour of the connection surface,
The speed reducer according to claim 4 , wherein the protrusion is longer than the outer peripheral edge. The opening region of the connection surface includes a circular region conceptually defined around the rotation center axis and a first bulging region bulging in a first direction from the circular region toward the outer peripheral edge. Including,
The inner edge includes an arc portion defining an outline of the first bulge region of the connection surface,
The ridge extends between an inner intersection point defined by the virtual straight line extending from the rotation center axis in the first direction and the arc portion, and an outer intersection point defined by the virtual straight line and the outer peripheral edge. The speed reducer according to claim 5, which passes through. The opening area of the connection surface includes a second bulging area that bulges in a second direction different from the first direction from the circular area toward the outer peripheral edge,
The connection surface includes a partition surface region that separates the first bulging region from the second bulging region,
A fastening hole used for fastening with the mating member is formed in the partition region,
The speed reducer according to claim 6 , wherein the fastening hole is located between the ridge and the outer peripheral edge. The reduction gear unit is arranged in the gear shaft rotating around the rotation center axis, in the first bulging region, in a first gear meshing with the gear shaft, and in the second bulging region, The speed reducer according to claim 7 , further comprising a second gear that meshes with the gear shaft. The gasket has a laminated structure including a rubber layer and a metal layer,
The ridge is formed by the rubber layer and the metal layer,
The speed reducer according to any one of claims 1 to 8 , wherein the rubber layer contacts the speed reducer or the mating member. A gasket that is attached to the deceleration part that performs deceleration operation,
A first surface facing the speed reducer,
A second surface opposite to the first surface,
A ridge protruding from at least one of the first surface and the second surface,
An opening region is formed from the first surface to the second surface,
In the opening region, a circular region, a first bulge region that bulges radially outward from the circular region in a first direction, and a bulge radially outwardly from the circular region in a second direction. And a second bulge area,
The inner edge that defines the opening area has a first bulge arc that defines the contour of the first bulge area, a second bulge arc that defines the contour of the second bulge area, and a contour of the circular area. It is seen containing an intermediate arc extends connecting the second bulging arc and the first bulging arc along, and
The said ridge is a gasket containing the part along the said 1st bulge arc, the part along the said 2nd bulge arc, and the part along the said intermediate arc . Further comprising an outer peripheral edge defining outer contours of the first surface and the second surface,
The ribs, the outer peripheral edge and gasket of claim 10, the contour edge of the front KiHiraki opening area is formed between the. The gasket of claim 11 , wherein the ridge draws a closed loop surrounding the open area.

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