KR102564819B1 - Gear device and output gear plate - Google Patents

Abstract

The present application relates to an outer cylinder including a plurality of inner teeth arranged in an annular shape, a carrier rotating around a central axis of rotation within the outer cylinder, a gear part including at least one gear having a plurality of first outer teeth, a carrier, and A gear device having at least one crank assembly connected to a gear portion is disclosed. At least one crank assembly imparts oscillation rotation to at least one gear. The carrier includes a crank holding portion formed with at least one hole into which at least one crank assembly is partially inserted, and an output gear protruding from the crank holding portion and mating with the mating member. The output gear includes a first portion in which second external teeth are formed to mate with the mating member, and a second portion in which the second external teeth are not formed.

Description

Gear device and output gear plate {GEAR DEVICE AND OUTPUT GEAR PLATE}

The present invention relates to a gear device and an output gear plate.

In various technical fields such as industrial robots and machine tools, various gear devices have been developed (see Japanese Unexamined Patent Publication No. 2009-185986). A lightweight gear device is often preferred and used in these technical fields.

The gear device disclosed in Japanese Unexamined Patent Publication No. 2009-185986 has a structure (namely, a screw hole or a through hole) to be attached to a mating member on an end surface of a carrier or a flange of an outer cylinder. In this case, the mating member needs to be disposed at a position facing the gear device. If the mating member does not oppose the gear device, the designer needs to provide an additional output member to the gear device of Japanese Unexamined Patent Publication No. 2009-185986. As a result of installing an additional output member, the gear unit may become excessively heavy.

An object of the present invention is to provide a technique related to an output structure of a gear device that is difficult to cause an excessive increase in weight.

A gear device according to one aspect of the present invention includes an outer cylinder including a plurality of inner teeth arranged in an annular shape, a carrier rotating around a central axis of rotation inside the outer cylinder in a radial direction, and a plurality of teeth meshing with the plurality of inner teeth. A gear portion including at least one gear having a first outer tooth, and at least one crank assembly that imparts an oscillating rotation to the at least one gear so that the center of the at least one gear goes around the central axis of rotation. provide The carrier includes a crank holding portion formed with at least one hole into which the at least one crank assembly is at least partially inserted, and an output gear protruding from the crank holding portion and mating with a mating member. The output gear includes a first portion of a predetermined central angle at which second external teeth are formed to mate with the mating member, and a second portion of the remaining central angle at which the second external teeth are not formed.

An output gear plate according to another aspect of the present invention is installed in a gear device having a rotating surface that rotates in a finite rotation range of less than 360 degrees. The output gear plate includes a first portion of a predetermined central angle formed with external teeth for transmitting power from the gear device to a mating member, and a second portion of the remaining central angles without the external teeth formed thereon. The second part is provided on the rotation surface.

An output gear plate according to another aspect of the present invention is installed in a gear device having a rotating surface that rotates in a finite rotation range of less than 360 degrees. The output gear plate includes a gear piece having external teeth for transmitting power from the gear unit to a mating member, and a mounting plate installed on the rotation surface. The gear piece includes a first portion of a predetermined central angle in which the external teeth are formed, and a second portion of the remaining central angle in which the external teeth are not formed. The mounting plate is coupled to the gear piece at the second portion.

The output structure of the gear device described above is unlikely to cause an excessive increase in weight.

The purpose, characteristics, and advantages of the gear unit and output gear plate described above will become more apparent from the following detailed description and accompanying drawings.

1 is a schematic front view of an output gear plate of a first embodiment.
2 is a schematic front view of an output gear plate of a second embodiment.
3A is a schematic cross-sectional view of a reducer of a third embodiment.
Figure 3b is a schematic cross-sectional view of the reducer taken along line AA shown in Figure 3a.
Figure 3c is a schematic front view of the reducer shown in Figure 3a.
4A is a schematic cross-sectional view of a reducer of a fourth embodiment.
Figure 4b is a schematic front view of the reducer shown in Figure 4a.
5A is a schematic sectional view of a reducer of a fifth embodiment.
Figure 5b is a schematic front view of the reducer shown in Figure 5a.

<First Embodiment>

The present inventors have developed an output gear plate that is easily installed in a gear device that rotates in a limited rotation range of less than 360°. In the first embodiment, an exemplary output gear plate is described.

1 is a schematic front view of an output gear plate 100 according to a first embodiment. Referring to Fig. 1, the output gear plate 100 is described.

1 schematically shows a rotational surface RTS of a gear device (not shown) and a rotation center axis RAX of the rotational surface RTS. The rotating surface RTS rotates and reciprocates around the central axis of rotation RAX in a limited rotation range of less than 360 degrees. When the output gear plate 100 engages with a rack (not shown), the rotational reciprocating motion of the rotating surface RTS is converted into a linear reciprocating motion of the mating member connected with the rack. When the output gear plate 100 meshes with another gear used as a mating member, the rotational reciprocation of the rotation surface RTS causes the rotational reciprocation of the gear of the mating member.

The output gear plate 100 is installed on the rotating surface RTS. The output gear plate 100 includes an engagement portion 110 and an installation portion 120 . The occlusal portion 110 is a portion having a central angle α (α<180°) centered on the rotational central axis RAX. The attachment portion 120 is a portion having a central angle β (β≥180°) centered on the central axis of rotation RAX. In this embodiment, the first site is exemplified by the occlusal portion 110 . The second part is exemplified by the installation part 120 .

In the occlusal portion 110, three external teeth 111 are formed. The three outer teeth 111 engage with the mating member and transmit the rotation of the rotational surface RTS to the mating member. The designer may determine how many external teeth 111 are formed in the occlusal portion 110 by considering the torque transmitted from the outer teeth 111 to the mating member or the motion range of the mating member. Therefore, the principle of this embodiment is not limited at all by how many external teeth 111 are formed in the occlusal part 110.

The central angle α shown in FIG. 1 may be a circumferential angle defined by the two most distant tooth bottoms. The central angle β may be a difference value between the main angle (360°) and the central angle α.

Unlike the occlusal portion 110, the external teeth 111 are not formed on the installation portion 120. The installation portion 120 is a fan-shaped plate member as a whole. The installation part 120 is integrally formed with the mating part 110 (ie, the installation part 120 is inseparable from the mating part 110).

The installation part 120 is in surface contact with the rotating surface RTS as a whole. A plurality of through holes (not shown) are formed in the attachment portion 120 . The plurality of bolts BLT are respectively inserted through the plurality of through holes, and the mounting portion 120 is fixed to the rotation surface RTS. Since the installation part 120 is installed without press-fitting into the rotating surface RTS, the rotating surface RTS is difficult to deform. Therefore, the internal structure of the gear device is less likely to be damaged.

If the torque transmitted to the mating member is large, the mating portion 110 may be thicker than the installation portion 120. The designer may determine the thickness of the mating portion 110 in consideration of the torque transmitted to the mating member, while determining the thickness of the installation portion 120 in consideration of the installation strength with respect to the rotational surface RTS.

A through hole 130 opened around the rotation center axis RAX may be formed in the output gear plate 100 . An input shaft (not shown) that inputs power to the gear device may be inserted through the through hole 130 . Alternatively, the through hole 130 may not be formed in the output gear plate 100 . The principle of this embodiment is not limited by the through hole 130 at all.

<Second Embodiment>

The output gear plate described in relation to the first embodiment is formed of one member. Therefore, the portion provided on the rotating surface is inseparable from the portion mating with the mating member. Alternatively, the designer may design the output gear plate so that the portion attached to the rotating surface is separable from the portion engaged with the mating member. In the second embodiment, an exemplary output gear plate formed of a plurality of members is described.

2 is a schematic front view of an output gear plate 100A of a second embodiment. Referring to Figs. 1 and 2, the output gear plate 100A is described. Description of 1st embodiment is used for the element to which the code|symbol same as 1st embodiment was attached|subjected.

The output gear plate 100A includes a gear piece 140 and a mounting plate 150 . The gear piece 140 is coupled to the mounting plate 150. The mounting plate 150 is installed on the rotation surface RTS of a gear device (not shown).

The gear piece 140 includes an engaging portion 141 and a coupling portion 142 . The occlusal portion 141 is a portion having a central angle α (α<180°) centered on the rotation center axis RAX of the rotation surface RTS. The coupling portion 142 is a portion of a central angle β (β≥180°) centered on the rotational central axis RAX. Three external teeth 143 are formed in the occlusal portion 141 . The three outer teeth 143 engage with the mating member and transmit the rotation of the rotational surface RTS to the mating member. The designer may determine how many external teeth 143 are formed in the occlusal portion 141 in consideration of the torque transmitted from the outer teeth 143 to the mating member or the motion range of the mating member. Therefore, the principle of this embodiment is not limited at all by how many external teeth 143 are formed in the occlusal portion 141 . In this embodiment, the first site is exemplified by the occlusal portion 141 .

The central angle α shown in FIG. 2 may be a circumferential angle defined by the two most distant tooth bottoms. The central angle β may be a difference value between the main angle (360°) and the central angle α.

Unlike the occlusal portion 141 , the outer teeth 143 are not formed on the coupling portion 142 . The coupling part 142 is coupled to the mounting plate 150 . The coupling portion 142 includes an outer circumferential surface 144 having a semicircular arc formed as a spline shaft. In this embodiment, the second part is exemplified by the coupling part 142 .

The mounting plate 150 is a semicircular plate member. The mounting plate 150 includes an inner circumferential surface 151 that outlines a semicircular hole formed as a spline hole. The inner circumferential surface 151 of the mounting plate 150 engages with the outer circumferential surface 144 of the engaging portion 142 and engages with the spline.

The mounting plate 150 comes into surface contact with the rotating surface RTS as a whole. A plurality of through holes (not shown) are formed in the mounting plate 150 . A plurality of bolts BLT are respectively inserted through a plurality of through holes, and the mounting plate 150 is fixed to the rotation surface RTS. Since the mounting plate 150 is installed without being press-fitted into the rotating surface RTS, the rotating surface RTS is difficult to deform. Therefore, the internal structure of the gear device is less likely to be damaged.

A through hole 145 opened around the rotation center axis RAX may be formed in the gear piece 140 . An input shaft (not shown) that inputs power to the gear device may be inserted through the through hole 145 . Alternatively, the through hole 145 may not be formed in the gear piece 140 . The principle of this embodiment is not limited by the through hole 145 at all.

<Third Embodiment>

The output gear plate described in relation to the first embodiment can be used as a part of various gear devices. In the third embodiment, an exemplary gear device is described.

3A to 3C show a reduction gear 200 according to a third embodiment. 3A is a schematic cross-sectional view of the reducer 200. FIG. 3B is a schematic cross-sectional view of the reducer 200 along line A-A shown in FIG. 3A. 3C is a schematic front view of the reducer 200. Referring to FIGS. 1 and 3A to 3C, the reducer 200 is described. Description of 1st embodiment is used for the element to which the code|symbol same as 1st embodiment was attached|subjected. In this embodiment, the gear device is exemplified by the reduction gear 200.

As shown in FIG. 3A, the reducer 200 includes an outer cylinder 300, a carrier 400, a gear unit 500, and three crank assemblies 600 (FIG. 3A shows three crank assemblies ( 600) and two main bearings 700. Driving force generated by a motor (not shown) or another drive source (not shown) is input to each of the three crank assemblies 600 . The driving force input to each of the three crank assemblies 600 is transmitted to the gear part 500 disposed in the inner space surrounded by the outer cylinder 300 and the carrier 400 . In this embodiment, the first crank assembly is exemplified by one of the three crank assemblies 600 . The second crank assembly is exemplified by another one of the three crank assemblies 600 . The third crank assembly is exemplified by the other one of the three crank assemblies 600 .

As shown in FIG. 3A , two main bearings 700 are disposed between an outer cylinder 300 and a carrier 400 surrounded by the outer cylinder 300 . Each of the two main bearings 700 enables rotational movement of the carrier 400 within the outer cylinder 300 . The two main bearings 700 define the central axis of rotation RAX described with reference to FIG. 1 . The carrier 400 is rotated around the rotation center axis RAX within the outer cylinder 300 by the driving force transmitted to the gear unit 500 .

As shown in FIG. 3B , the outer cylinder 300 includes a substantially cylindrical case 310 and a plurality of internal tooth pins 320 . The case 310 defines a cylindrical inner space in which the carrier 400, the gear unit 500, and the crank assembly 600 are accommodated. A plurality of internal tooth pins 320 are annularly arranged along the inner circumferential surface of the case 310 to form an internal tooth ring.

Each of the internal pins 320 is a cylindrical member extending in the extension direction of the central axis of rotation RAX. Each of the internal pins 320 is fitted into a groove formed in the inner wall of the case 310 . Therefore, each of the internal pins 320 is appropriately held by the case 310 .

As shown in FIG. 3B , a plurality of internal tooth pins 320 are arranged at substantially regular intervals around the central axis of rotation RAX. Each half surface of the internal tooth pin 320 protrudes from the inner wall of the case 310 toward the central axis of rotation RAX. Therefore, the plurality of internal tooth pins 320 function as internal teeth that engage with the gear portion 500 . In this embodiment, a plurality of internal teeth are exemplified by the internal teeth pin 320 .

As shown in FIG. 3A , the carrier 400 includes a base 410 , an end plate portion 420 , and an output gear plate 100 described with reference to FIG. 1 . The carrier 400 has a cylindrical shape as a whole. As described above, the carrier 400 rotates around the central axis of rotation RAX within the outer cylinder 300 . In this embodiment, the output gear is exemplified by the output gear plate 100 .

The base 410 includes a substrate portion 411 (see FIG. 3A) and three shaft portions 412 (see FIG. 3B). The substrate portion 411 includes an inner surface 413 and an outer surface 414 opposite to the inner surface 413 . The inner surface 413 opposes the end plate portion 420 . The output gear plate 100 is installed on the outer surface 414 of the substrate portion 411 and protrudes from the outer surface 414 .

The substrate portion 411 is formed with a central through hole 415 (see Fig. 3A) and three holding through holes 416 (see Fig. 3C). Similar to the through hole 130 of the output gear plate 100 (see FIG. 3C ), the central through hole 415 is formed around the rotation center axis RAX. The centers of the three holding through holes 416 are arranged at substantially equal intervals on a common imaginary circle (not shown) centered on the central axis of rotation RAX.

In the end plate portion 420, a center through hole 425 (see FIG. 3A) and three holding through holes 426 (FIG. 3A shows one of the three holding through holes 426) are formed. do. Similar to the through hole 130 of the output gear plate 100 (see FIG. 3C ), the central through hole 425 is formed around the central axis of rotation RAX. The centers of the three holding through holes 426 are arranged at substantially equal intervals on an imaginary circle (not shown) centered on the central axis of rotation RAX. The three holding through holes 426 formed in the end plate portion 420 are coaxial with the three holding through holes 416 formed in the substrate portion 411 , respectively.

Each of the three shaft portions 412 extends from the inner surface 413 of the substrate portion 411 toward the end plate portion 420 . The end plate portion 420 is connected to the front end face of each of the three shaft portions 412 . The end plate portion 420 may be connected to the front end surfaces of each of the three shaft portions 412 by means of a reamer bolt, a locating pin, or other suitable fixing technique. The principle of this embodiment is not limited to a specific connection technique between the end plate portion 420 and each of the three shaft portions 412 .

As shown in FIG. 3A , the gear unit 500 is disposed between the substrate unit 411 and the end plate unit 420 . The three shaft portions 412 pass through the gear portion 500 and are connected to the end plate portion 420 .

As shown in FIG. 3A , the gear unit 500 includes a first gear 510 and a second gear 520 . The first gear 510 is disposed between the substrate portion 411 and the second gear 520 . The second gear 520 is disposed between the end plate portion 420 and the first gear 510 . The first gear 510 and the second gear 520 may be formed based on a common design drawing.

Each of the first gear 510 and the second gear 520 includes a plurality of external teeth 530 protruding toward the inner wall of the case 310 (see FIG. 3B ). The first gear 510 and the second gear 520 circumferentially move (ie swing rotation) within the case 310 while engaging the plurality of external teeth 530 with the plurality of internal tooth pins 320 . During this time, the centers of the first gear 510 and the second gear 520 revolve around the central axis of rotation RAX. Relative rotation between the outer cylinder 300 and the carrier 400 is caused by swinging rotation of the first gear 510 and the second gear 520 . In this embodiment, at least one gear is exemplified by the first gear 510 and the second gear 520 . The first shout is exemplified by the outer teeth 530 of the first gear 510 and the second gear 520 . At least one gear may be a single gear. Alternatively, at least one gear may be more than two gears. The principle of this embodiment is not limited at all by how many gears are used in the gear unit 500 .

A central through hole 511 is formed in the first gear 510 . A central through hole 521 is formed in the second gear 520 . An input shaft (not shown) that inputs driving force to the reducer 200 is the through hole 130 of the output gear plate 100, the central through holes 415 and 425 of the carrier 400, and the gear unit 500 It may be inserted into the center through-holes 511 and 521 of .

As shown in FIG. 3A , each of the three crank assemblies 600 includes a transmission gear 610, a crankshaft 620, two journal bearings 630, and two crank bearings 640. do. The transmission gear 610 receives a driving force generated by an appropriate driving source (not shown) such as a motor. Transmission gear 610 may be directly connected to a drive source. Alternatively, the transmission gear 610 may receive the driving force through another mechanism capable of transmitting the driving force (indirect connection). The principle of this embodiment is not limited to the specific connection structure between transmission gear 610 and a drive source.

The crankshaft 620 includes a first journal 621 (see FIG. 3A), a second journal 622 (see FIG. 3A), a first eccentric portion 623 (see FIG. 3A), and a second piece. core 624 (see FIG. 3A). The first journal 621 is inserted into the holding through hole 416 of the substrate portion 411 . The second journal 622 is inserted into the holding through hole 426 of the end plate portion 420 . One of the two journal bearings 630 is disposed between the first journal 621 and the substrate portion 411 within the holding through hole 416 . The other of the two journal bearings 630 is disposed between the second journal 622 and the end plate portion 420 within the holding through hole 426 . The transmission gear 610 is installed on the second journal 622 . In this embodiment, the crank holding part is exemplified by the substrate part 411 . The at least one hole portion is exemplified by the holding through hole 416 of the substrate portion 411 .

The first eccentric part 623 is located between the first journal 621 and the second eccentric part 624 . The second eccentric part 624 is located between the second journal 622 and the first eccentric part 623 . One of the two crank bearings 640 is disposed between the first eccentric portion 623 and the first gear 510 . The other of the two crank bearings 640 is disposed between the second eccentric portion 624 and the second gear 520 .

The first journal 621 is coaxial with the second journal 622 and rotates around a common axis of rotation. Each of the first eccentric portion 623 and the second eccentric portion 624 is formed in a cylindrical shape and is eccentric from the rotation axis of the first journal 621 and the second journal 622 . The rotation phase difference between the first gear 510 and the second gear 520 is determined by the first eccentric portion 623 and the second eccentric portion 624 .

When the transmission gear 610 rotates, the crankshaft 620 rotates. As a result, the first eccentric portion 623 and the second eccentric portion 624 rotate eccentrically. In the meantime, the 1st gear 510 connected to the 1st eccentric part 623 via the crank bearing 640 can circumferentially move within the outer cylinder 300, meshing with the some internal tooth pin 320. Similarly, the 2nd gear 520 connected to the 2nd eccentric part 624 via the crank bearing 640 can circulate within the outer cylinder 300, meshing with the some internal tooth pin 320. As a result, each of the first gear 510 and the second gear 520 can swing and rotate within the outer cylinder 300 .

FIG. 3C shows the three retaining through holes 416 and the first journals 621 each inserted into the three retaining through holes 416 . In this embodiment, the first hole is exemplified by one of the three holding through holes 416 . The second hole is exemplified by another one of the three retaining through holes 416 . The third hole is exemplified by the other one of the three retaining through holes 416 .

The installation portion 120 described in relation to the first embodiment completely covers one of the three holding through holes 416 . The remaining two holding through holes 416 are exposed even after the output gear plate 100 is installed on the outer surface 414 of the board portion 411 .

FIG. 3C shows the holding through hole 416 hidden by the mounting portion 120 and the two installation areas between the two exposed holding through holes 416 . The installation part 120 is fixed to the outer surface 414 of the substrate part 411 by a plurality of bolts BLT in two installation areas. When the user removes the plurality of bolts BLT, the output gear plate 100 is separated from the outer surface 414 of the base unit 411 . The outer surface 414 of the substrate portion 411 corresponds to the rotational surface RTS described with reference to FIG. 1 . The description of the rotating surface RTS is applied to the outer surface 414 of the substrate portion 411 .

The three outer teeth 111 of the output gear plate 100 are located between the two exposed holding through holes 416 . The three outer teeth 111 mate with a mating member (not shown) in front of the outer surface 414 of the substrate portion 411 . In this embodiment, the second outer tooth is exemplified by one of the three outer teeth 111 .

<Fourth Embodiment>

The output gear plate described in relation to the second embodiment can be used as a part of various gear devices. In the fourth embodiment, an exemplary gear device is described.

4A and 4B show a reduction gear 200A of a fourth embodiment. 4A is a schematic cross-sectional view of a reduction gear 200A. 4B is a schematic front view of the reduction gear 200A. Referring to FIGS. 3C to 4B , the reduction gear 200A is described. Description of the above-mentioned embodiment is used for the element to which the code|symbol same as the above-mentioned embodiment was attached|subjected. In this embodiment, the gear device is exemplified by the reduction gear 200A.

As in the third embodiment, the reduction gear 200A includes an outer cylinder 300, a gear unit 500 (see FIG. 4A), and three crank assemblies 600 (FIG. 4A shows three crank assemblies 600). one of which is shown) and two main bearings 700. The description of the third embodiment is incorporated in these elements.

The reduction gear 200A further includes a carrier 400A. As in the third embodiment, the carrier 400A includes a base 410 and an end plate portion 420 . The description of the third embodiment is incorporated in these elements. The carrier 400A further includes the gear piece 140 described in connection with the second embodiment. The description of the second embodiment is applied to the gear piece 140. In this embodiment, the output gear is exemplified by the gear piece 140 .

The reduction gear 200A further includes the mounting plate 150 described in relation to the second embodiment. As described in relation to the second embodiment, the mounting plate 150 is spline-coupled to the gear piece 140 . The mounting plate 150 completely covers one of the three holding through holes 416 . The remaining two holding through holes 416 are exposed even after the output gear plate 100 is installed on the outer surface 414 of the board portion 411 .

Similar to FIG. 3C , FIG. 4B shows two installation areas between the holding through hole 416 hidden by the mounting plate 150 and the two exposed holding through holes 416 . The mounting plate 150 is in surface contact with the outer surface 414 of the substrate portion 411 as a whole. The installation plate 150 is fixed to the outer surface 414 of the board portion 411 by a plurality of bolts BLT in two installation areas. When the user removes the plurality of bolts BLT, the output gear plate 100 is separated from the outer surface 414 of the base unit 411 . In this embodiment, the first area is exemplified by one of the two installation areas. The second area is exemplified by the other of the two installation areas.

The three outer teeth 143 of the output gear plate 100A are located between the two exposed through-holes 416 for holding. The three outer teeth 143 mate with a mating member (not shown) in front of the outer surface 414 of the substrate portion 411 . In this embodiment, the second outer tooth is exemplified by one of the three outer teeth 143 .

<Fifth Embodiment>

The output gear of the gear unit of the third embodiment and the fourth embodiment is separable from the carrier. Alternatively, the output gear may be integrally formed with the carrier. In the fifth embodiment, an exemplary gear device having an output gear that is inseparable from the carrier is described.

5A and 5B show a reduction gear 200B of a fifth embodiment. 5A is a schematic cross-sectional view of the reduction gear 200B. 5B is a schematic front view of the reduction gear 200B. Referring to Figs. 5A and 5B, the reduction gear 200B is explained. Description of the above-mentioned embodiment is used for the element to which the code|symbol same as the above-mentioned embodiment was attached|subjected. In this embodiment, the gear device is exemplified by the reduction gear 200B.

As in the third embodiment, the reduction gear 200B includes an outer cylinder 300, a gear unit 500 (see FIG. 5A), and three crank assemblies 600 (FIG. 5A shows three crank assemblies 600). one of which is shown) and two main bearings 700. The description of the third embodiment is incorporated in these elements.

The reduction gear 200B further includes a carrier 400B. As in the third embodiment, the carrier 400B includes the end plate portion 420 . Description of the third embodiment is applied to the end plate portion 420 .

The carrier 400B further includes a base 410B. As in the third embodiment, the base 410B includes a substrate portion 411 (see FIG. 5A) and three shaft portions 412 (FIG. 5A shows one of the three shaft portions 412). includes The description of the third embodiment is incorporated in these elements.

The base 410B further includes an output gear 160 . The output gear 160 is integrally formed with the substrate portion 411 (ie, the output gear 160 is inseparable from the substrate portion 411). The output gear 160 protrudes from the outer surface 414 of the substrate portion 411 .

As shown in FIG. 5B , the output gear 160 includes an engagement portion 161 and a cylindrical portion 162 . The occlusal portion 161 is a part having a central angle α centered on the rotational center axis RAX of the rotational surface RTS. The cylindrical portion 162 is a portion at a central angle β centered on the central axis of rotation RAX. A designer may determine the central angle α based on the number of holding through holes 416 . For example, a designer can determine the central angle α so that the relationship expressed by the following inequality is satisfied.

[Equation 1]

After that, the designer may determine the central angle β so that the relationship expressed by the following expression is satisfied.

[Formula 2]

Three external teeth 163 are formed in the occlusal portion 161 . The three outer teeth 163 engage with the mating member and transmit the rotation of the rotational surface RTS to the mating member. The three outer teeth 163 protrude between the two holding through holes 416 and do not overlap any of the three holding through holes 416 formed in the substrate portion 411 . The central angle α described above may be defined as a circumferential angle defined by the two furthest apart teeth bottoms. In this embodiment, the first site is exemplified by the occlusal portion 161 .

Unlike the occlusal portion 161, the outer teeth 163 are not formed in the cylindrical portion 162. The cylindrical portion 162 includes an arc-shaped outer circumferential surface 164 . The outline of the outer circumferential surface 164 substantially coincides with the tooth bottom of the three outer teeth 163 . In this embodiment, the second part is exemplified by the cylindrical portion 162 . The arcuate surface is exemplified by the outer circumferential surface 164 .

FIG. 5B shows a tooth source ADC defined by three external teeth 163 . FIG. 5B further shows a hatched annular region ALR between the tooth line circle ADC and the tooth root circle (not shown) defined by the three outer teeth 163 . The annular region ALR partially overlaps each of the three holding through holes 416 . Therefore, the three outer teeth 163 can mate with the opposing member at a position away from the central axis of rotation RAX.

The design principle described in relation to the various embodiments described above is applicable to various gear devices. Some of the various features described in relation to one of the various embodiments described above may be applied to a gear device described in relation to another embodiment.

The gear device and the output gear plate described in relation to the above-described embodiment mainly have the following characteristics.

The gear device according to one aspect of the above-described embodiment includes an outer cylinder including a plurality of inner teeth arranged in an annular shape, a carrier rotating around a central axis of rotation inside the outer cylinder in a radial direction, and engaging the plurality of inner teeth. A gear unit including at least one gear having a plurality of first external teeth, and at least one crank imparting an oscillating rotation to the at least one gear so that the center of the at least one gear goes around the central axis of rotation. Assemble the assembly. The carrier includes a crank holding portion formed with at least one hole into which the at least one crank assembly is at least partially inserted, and an output gear protruding from the crank holding portion and mating with a mating member. The output gear includes a first portion of a predetermined central angle at which second external teeth are formed to mate with the mating member, and a second portion of the remaining central angle at which the second external teeth are not formed.

According to the above configuration, since the output gear includes a first portion in which second external teeth are formed to engage with the mating member and a second portion in which no second external teeth are formed, the gear device moves the mating member within a finite range. can do. Since the output gear includes a second portion where no second external teeth are formed, the gear device does not become excessively heavy.

Regarding the above configuration, the at least one crank assembly may include a first crank assembly and a second crank assembly disposed at a position spaced apart from the first crank assembly. The at least one hole portion may include a first hole into which the first crank assembly is partially inserted, and a second hole into which the second crank assembly is partially inserted. An annular region between a tooth line circle and a tooth bottom circle of the second outer tooth may overlap the first hole and the second hole. The second outer tooth may engage with the mating member between the first hole and the second hole.

According to the configuration, since the annular region between the tooth line circle and the tooth bottom circle of the second outer tooth overlaps the first hole and the second hole, the designer places the output gear on the mating member at a position away from the rotational central axis. can be combined. Since the second outer tooth engages with the mating member between the first hole and the second hole, the second outer tooth hardly hinders the formation of the first hole and the second hole.

Regarding the above configuration, the output gear may be inseparable from the crank holding portion. The second portion may be designed so as not to overlap the first hole and the second hole.

According to the above configuration, since the second portion does not overlap the first hole and the second hole, even if the output gear is inseparable from the crank holding portion, the second outer gear is unlikely to hinder formation of the first hole and the second hole. .

Regarding the above configuration, the at least one crank assembly may include a third crank assembly disposed at a position spaced apart from the first crank assembly and the second crank assembly. The at least one hole portion may include a third hole into which the third crank assembly is at least partially inserted. The centers of the first hole, the second hole, and the third hole may be formed on a common imaginary circle. The second part may include an arcuate surface having a smaller radius than the virtual circle.

According to the above configuration, since the second portion includes an arc plane having a smaller radius than the imaginary circle on which the centers of the first hole, the second hole, and the third hole are formed, the second portion includes the first hole and the second hole. It is difficult to overlap with Therefore, the 2nd shouting is hard to inhibit the formation of a 1st hole and a 2nd hole.

Regarding the above configuration, the gear device may further include a mounting plate engaged with the output gear at the second portion. The output gear may be separable from the crank holding portion. The mounting plate may be attached to the crank holding portion.

According to the above configuration, since the output gear is separable from the crank holding portion, the second outer gear hardly hinders formation of the first hole and the second hole. Since the mounting plate is attached to the crank holding portion, the rotation of the carrier is appropriately transmitted to the output gear.

Regarding the above configuration, the mounting plate may be spline-coupled with the output gear.

According to the above configuration, since the mounting plate is spline-coupled with the output gear, the rotation of the carrier is appropriately transmitted to the output gear through the mounting plate.

Regarding the above configuration, the at least one crank assembly may include a third crank assembly disposed at a position spaced apart from the first crank assembly and the second crank assembly. The at least one hole portion may include a third hole into which the third crank assembly is at least partially inserted. The mounting plate may cover the third hole.

According to the above configuration, since the mounting plate covers the third hole, the designer can give the mounting plate a large area for mounting to the crank holding portion.

Regarding the above configuration, the crank holding portion may include a first region between the third hole and the first hole and a second region between the third hole and the second hole. The mounting plate may be in surface contact with at least one of the first region and the second region, and may be connected to the crank holding portion.

According to the above configuration, since the mounting plate comes into surface contact with at least one of the first region and the second region and is connected to the crank holding portion, installation of the mounting plate and the output gear does not cause excessive deformation of the crank holding portion. . Accordingly, the first crank assembly, the second crank assembly, and the third crank assembly are less likely to be damaged.

Regarding the above configuration, the output gear may be separable from the crank holding portion. The at least one crank assembly may include a third crank assembly disposed at a position spaced apart from the first crank assembly and the second crank assembly. The at least one hole portion may include a third hole into which the third crank assembly is at least partially inserted. The second part may cover the third hole.

According to the above configuration, since the second portion covers the third hole, the designer can give the second portion a large area for installation to the crank holding portion.

Regarding the above configuration, the first portion may be a portion having a central angle of less than 180° with the central axis of rotation as the center. The second part may be a part having a central angle of 180° or more with the central axis of rotation as the center.

According to the above configuration, since the second part where the second external tooth is not formed occupies the part of the central angle of 180° or more centered on the rotational central axis, the gear device does not become excessively heavy.

An output gear plate according to another aspect of the above-described embodiment is attached to a gear device having a rotating surface that rotates in a limited rotation range of less than 360 degrees. The output gear plate includes a first portion of a predetermined central angle formed with external teeth for transmitting power from the gear device to a mating member, and a second portion of the remaining central angles without the external teeth formed thereon. The second part is provided on the rotation surface.

According to the above configuration, since the output gear plate has a first portion where external teeth are formed and a second portion where external teeth are not formed, which transmits power from the gear device to the mating member, the output gear plate can control the mating member within a finite range. can be moved within Since the output gear plate includes the second portion where the outer teeth are not formed, the output gear plate does not become excessively heavy.

An output gear plate according to another aspect of the above-described embodiment is attached to a gear device having a rotating surface that rotates in a limited rotation range of less than 360 degrees. The output gear plate includes a gear piece having external teeth for transmitting power from the gear unit to a mating member, and a mounting plate installed on the rotation surface. The gear piece includes a first portion of a predetermined central angle in which the external teeth are formed, and a second portion of the remaining central angle in which the external teeth are not formed. The mounting plate is coupled to the gear piece at the second portion.

According to the above configuration, since the output gear plate includes a first portion where external teeth are formed and a second portion where external teeth are not formed to transmit power from the gear device to the mating member, the output gear plate can control the mating member within a finite range. can be moved within Since the output gear plate includes the second portion where the outer teeth are not formed, the output gear plate does not become excessively heavy. Since the mounting plate installed on the rotating surface is coupled to the gear piece at the second part, the rotation of the rotating surface is properly transmitted to the gear piece.

Regarding the above configuration, the mounting plate may be spline-coupled with the gear piece.

According to the above configuration, since the mounting plate is spline-coupled with the gear piece, the rotation of the rotating surface is appropriately transmitted to the gear piece through the mounting plate.

Regarding the above configuration, the first portion may be a portion having a central angle of less than 180° with the central axis of rotation of the rotating surface as the center. The second part may be a part having a central angle of 180° or more with the central axis of rotation as the center.

According to the above configuration, since the second part where the outer teeth are not formed occupies the part of the central angle of 180° or more centered on the rotational central axis, the output gear plate does not become excessively heavy.

The principle of the above-mentioned embodiment is suitably used for various gear devices.

Claims (14)

An outer cylinder including a plurality of inner teeth arranged in an annular fashion;
A carrier rotating around a central axis of rotation in a radial inside of the outer cylinder;
A gear unit including at least one gear having a plurality of first external teeth that mate with the plurality of internal teeth;
At least one crank assembly imparting oscillating rotation to the at least one gear so that the center of the at least one gear revolves around the central axis of rotation;
the carrier includes a crank holding portion formed with at least one hole into which the at least one crank assembly is at least partially inserted, and an output gear protruding from the crank holding portion and mating with a mating member;
The gear device, wherein the output gear includes a first portion of a predetermined central angle at which second external teeth are formed to engage with the mating member, and a second portion of the remaining central angle at which the second external teeth are not formed. The method of claim 1, wherein the at least one crank assembly comprises a first crank assembly and a second crank assembly disposed at a position spaced apart from the first crank assembly,
The at least one hole portion includes a first hole into which the first crank assembly is partially inserted, and a second hole into which the second crank assembly is partially inserted,
An annular region between a tooth line circle and a tooth bottom circle of the second outer tooth overlaps the first hole and the second hole,
The gear device, wherein the second shout engages with the mating member between the first hole and the second hole. The method of claim 2, wherein the output gear is inseparable from the crank holding portion,
The gear device, wherein the second portion is designed not to overlap the first hole and the second hole. The method of claim 3, wherein the at least one crank assembly comprises a third crank assembly disposed at a position spaced apart from the first crank assembly and the second crank assembly,
The at least one hole portion includes a third hole into which the third crank assembly is at least partially inserted;
The centers of the first hole, the second hole, and the third hole are formed on a common imaginary circle,
The second portion includes an arcuate surface having a smaller radius than the imaginary circle. The method of claim 2, further comprising a mounting plate coupled to the output gear in the second portion,
The output gear is separable from the crank holding portion,
The gear device, wherein the mounting plate is attached to the crank holding portion. The gear device according to claim 5, wherein the mounting plate is spline-coupled with the output gear. 6. The method of claim 5, wherein the at least one crank assembly includes a third crank assembly disposed at a position spaced apart from the first crank assembly and the second crank assembly,
The at least one hole portion includes a third hole into which the third crank assembly is at least partially inserted;
The gear device, wherein the mounting plate covers the third hole. 8. The method of claim 7, wherein the crank holding portion includes a first area between the third hole and the first hole, and a second area between the third hole and the second hole,
The gear unit, wherein the mounting plate comes into surface contact with at least one of the first region and the second region and is connected to the crank holding portion. The method of claim 2, wherein the output gear is detachable from the crank holding portion,
The at least one crank assembly includes a third crank assembly disposed at a position spaced apart from the first crank assembly and the second crank assembly,
The at least one hole portion includes a third hole into which the third crank assembly is at least partially inserted;
The gear device, wherein the second portion covers the third hole. The method according to any one of claims 1 to 9, wherein the first part is a part of a central angle less than 180 ° centered on the central axis of rotation,
The second part is a part of a central angle of 180 ° or more centered on the rotational central axis, the gear device. It is an output gear plate installed in a gear device having a rotating surface that rotates in a finite rotation range of less than 360 °,
A first part of a predetermined central angle formed with an outer tooth for transmitting power from the gear device to the mating member;
A second part of the remaining central angle in which the outer teeth are not formed,
The second part is installed on the rotating surface, the output gear plate. It is an output gear plate installed in a gear device having a rotating surface that rotates in a finite rotation range of less than 360 °,
A gear piece having external teeth for transmitting power from the gear device to the mating member;
Equipped with a mounting plate installed on the rotating surface,
The gear piece includes a first portion of a predetermined central angle in which the outer teeth are formed and a second portion of the remaining central angle in which the outer teeth are not formed,
The output gear plate, wherein the mounting plate is coupled to the gear piece at the second portion. The output gear plate according to claim 12, wherein the mounting plate is spline-coupled with the gear piece. The method of any one of claims 11 to 13, wherein the first portion is a portion of a central angle less than 180 ° centered on the rotational axis of the rotation surface,
The second portion is a portion of a central angle of 180° or more centered on the rotational central axis, the output gear plate.

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