TW201632764A - Gear device - Google Patents

Abstract

A gear device (X1) comprises: an outer cylinder (2); a carrier (3) including an inner circumferential surface (31c, 32e) having a female thread section (31d, 32g); a crankshaft (5) rotatably supported by the inner circumferential surface (31c, 32e) to allow one of the outer cylinder (2) and the carrier (3) to rotate with respect to the other one; and a constraint member (9) including a male thread section (91a, 92a) screwed to the female thread section (31d, 32g) for constraining the movement of the crankshaft (5) in an axial direction of the crankshaft (5). The carrier includes a positioning section for positioning the constraint member in the axial direction. The constraint member includes a positioning surface engaged with the positioning section in the axial direction and a constraint surface for constraining the movement of the crankshaft in the axial direction. The positioning surface and the constraint surface are on the same plane.

Description

Gear device

The present invention relates to a gear device.

A gear device disclosed in Japanese Laid-Open Patent Publication No. 2014-109285 is known. As shown in FIG. 13, the gear device disclosed in the publication includes an outer cylinder 210, a crank shaft 220 having an eccentric portion 220a, a swing gear 230 that swings and rotates in accordance with the rotation of the eccentric portion 220a, and a swing rotation accompanying the swing gear 230. The carrier 240 is relatively rotated with respect to the outer cylinder 210. In the gear device 200, the crank shaft 220 is inserted into the through hole 240a formed in the carrier 240, and is rotatably supported by the carrier 240 in the through hole 240a.

In the crankshaft 220, step portions 220b and 220c are formed on both sides of the crankshaft 220 in the axial direction. Further, the inner circumferential surface 240b of the carrier 240 forming the through hole 240a is formed with two attachment grooves that are separated in the axial direction of the crankshaft 220. Retaining rings 250 and 260 are fitted to the respective mounting grooves. A washer 270 is interposed between the step portion 220b in the axial direction of the crankshaft 220 and the snap ring 250, or a washer 280 is interposed between the step portion 220c and the snap ring 260. The washers 270 and 280 function as a restricting member that restricts the movement of the crankshaft 220 in the axial direction.

In the gear device 200, the snap rings 250 and 260 fitted to the respective mounting grooves of the inner circumferential surface 240b are located in the through holes 240a. Therefore, the thickness of the washers 270 and 280 located between the snap rings 250 and 260 and the step portions 220b and 220c in the through hole 240a may be small. When the thickness of the washers 270, 280 is small, when the crank shaft 220 is moved in the axial direction during the rolling process, the washer is caused by an external force applied to the washers 270, 280 from the crank shaft 220. 270, 280 flexed.

An object of the present invention is to provide a gear device capable of suppressing deflection of a regulating member.

A gear device according to an aspect of the present invention includes: an outer cylinder; a carrier having an inner peripheral surface including a female thread portion; a crank shaft rotatably supported by the inner circumferential surface, and the outer cylinder and the carrier One of the members rotates with respect to the other; and the restricting member has a male screw portion screwed to the female screw portion and restricts movement of the crank shaft in the axial direction of the crank shaft.

2‧‧‧Outer tube

2a‧‧‧ inner circumference

2b‧‧‧ mounting holes

3‧‧‧ Carrier

4‧‧‧Swing gear

5‧‧‧ crankshaft

6‧‧‧ crankshaft bearings

6A‧‧‧1st crankshaft bearing

6B‧‧‧2nd crankshaft bearing

7‧‧‧Transmission gear

8‧‧‧ internal gear

9‧‧‧Restricted components

31‧‧‧1st component

31a‧‧‧Central hole

31b‧‧‧ crankshaft mounting

31c‧‧‧ inner circumference

31d‧‧‧Female thread

31e‧‧

31f‧‧‧Support Department

31A‧‧‧Outer end face

31B‧‧‧ inner end face

32‧‧‧2nd component

32a‧‧‧Parts Department

32b‧‧‧Axis

32c‧‧‧Central hole

32d‧‧‧ crankshaft mounting

32e‧‧‧ inner circumference

32i‧‧‧Support Department

32h‧‧‧Steps Department

32f‧‧‧ mounting holes

32g‧‧‧ female thread

32k‧‧‧ bottom

32A‧‧‧Outer end face

32B‧‧‧ inner end face

41‧‧‧1st swing gear

41a‧‧‧Central hole

41b‧‧‧ insertion hole

41c‧‧‧Installation Department

42‧‧‧2nd swing gear

42a‧‧‧Central hole

42c‧‧‧Installation Department

51‧‧‧Axis body

51a‧‧‧Little Trails Department

51b‧‧‧2nd journal

51c‧‧‧2nd journal

51A‧‧‧ end face

51B‧‧‧ end face

54‧‧‧1st eccentric

54A‧‧‧ end face

55‧‧‧2nd eccentric

55A‧‧‧ end face

61‧‧‧Rotating body

62‧‧‧ Keeper

62a‧‧‧Part 1

62b‧‧‧Part 2

62c‧‧‧3rd part

91‧‧‧1st restriction member

91a‧‧‧ Male thread department

91b‧‧‧ insertion hole

91c‧‧‧Restricted surface

91d‧‧‧Flange

91e‧‧‧Installation Department

91A‧‧‧Main surface

91B‧‧‧ positioning surface

91C‧‧‧Restricted surface

91D‧‧‧Main surface

92‧‧‧2nd restriction member

92a‧‧‧Installation Department

92b‧‧‧ insertion hole

92e‧‧‧Installation Department

200‧‧‧ Gear unit

210‧‧‧Outer tube

220‧‧‧ crankshaft

220a‧‧‧Eccentric

220b‧‧‧Steps Department

220c‧‧‧Steps Department

230‧‧‧Swing gear

240‧‧‧ Carrier

240a‧‧‧through hole

240b‧‧‧ inner circumference

250‧‧‧ card ring

260‧‧‧ card ring

270‧‧‧ Washer

280‧‧‧Washers

911‧‧‧ Body Department

911a‧‧‧ Male thread

911b‧‧‧ insertion hole

911e‧‧‧Installation Department

911A‧‧‧Main surface

911B‧‧‧ positioning surface

911D‧‧‧ main surface

912‧‧‧ Washer

912a‧‧‧ insertion hole

912A‧‧‧Main surface

912B‧‧‧Main surface

912C‧‧‧Restricted surface

912D‧‧‧ positioning surface

A1‧‧‧Eccentric bearing

A2‧‧‧Eccentric bearing

A3‧‧‧Rotating body

A4‧‧‧ keeper

A5‧‧‧ end

B1‧‧‧ main bearing

B2‧‧‧ main bearing

C1‧‧‧ axis

T1‧‧‧ fastening members

X1‧‧‧ gear unit

Fig. 1 is a cross-sectional view showing a schematic configuration of a gear device according to an embodiment of the present invention.

Fig. 2 is an enlarged view of a main part of the gear unit shown in Fig. 1.

FIG. 3 is a perspective view showing a schematic configuration of a first restricting member of the gear unit 1.

Fig. 4 is a view showing a schematic configuration of a first modification of the gear unit of the embodiment, and is an enlarged view of a main part of the same portion as that of Fig. 2.

Fig. 5 is a perspective view showing a schematic configuration of a first restricting member of the gear unit shown in Fig. 4;

Fig. 6 is a view showing a schematic configuration of a second modification of the gear unit of the embodiment, and shows an enlarged view of a main part of the same portion as Fig. 2.

Fig. 7 is a view showing a schematic configuration of a third modification of the gear unit of the embodiment, and is an enlarged view of a main part of the same portion as that of Fig. 2.

Fig. 8 is a cross-sectional view showing a schematic configuration of a variation 4 of the gear unit of the embodiment.

Fig. 9 is a cross-sectional view showing a schematic configuration of a fifth modification of the gear unit of the embodiment.

Fig. 10 is an enlarged view of a main part showing a gear unit of a modification 5 shown in Fig. 9.

Fig. 11 is a perspective view showing a modified example 6 of the gear device of the embodiment, and is a perspective view showing a schematic configuration of the first restricting member, similarly to Fig. 3 .

Fig. 12 is a perspective view showing a modified example 7 of the gear device of the embodiment, and is a perspective view showing a schematic configuration of the first restricting member as in Fig. 3 .

Fig. 13 is a cross-sectional view showing a schematic configuration of a conventional gear unit.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings. However, in the drawings referred to below, for convenience of explanation, only the main members among the constituent members of the gear device X1 of the present embodiment are simplified. Therefore, the gear device X1 of the present embodiment may include any constituent members not shown in the drawings referred to in the present specification.

As shown in FIGS. 1 and 2, the gear device X1 is an eccentric oscillating gear device including an outer cylinder 2, a carrier 3, a oscillating gear 4, and a crank shaft 5. In the gear unit X1, the swing gear 4 is swung by the rotation of the crank shaft 5, and the outer cylinder 2 and the carrier 3 are relatively rotated relative to each other.

The outer cylinder 2 is formed in a substantially cylindrical shape in which the shaft C1 is a central axis. A plurality of pin grooves are formed in the inner circumferential surface 2a of the outer cylinder 2. Each of the pin grooves is disposed to extend in the direction of the axis C1, and has a semicircular cross-sectional shape in a cross section orthogonal to the direction of the axis C1. The pin grooves are arranged at equal intervals in the circumferential direction of the outer cylinder 2.

The gear device X1 further includes a plurality of internal tooth pins 8 attached to the inner circumferential surface 2a of the outer cylinder 2. Each of the internal tooth pins 8 has a cylindrical shape extending in the direction of the axis C1 of the outer cylinder 2. Further, each of the internal tooth pins 8 is attached to each of the pin grooves formed on the inner circumferential surface 2a of the outer cylinder 2.

A plurality of attachment holes 2b penetrating the outer cylinder 2 in the direction of the axis C1 are formed in the outer cylinder 2. Each of the mounting holes 2b is arranged at equal intervals in the circumferential direction of the outer cylinder 2. Each of the attachment holes 2b is used when the outer tube 2 is attached to a target side member (not shown) such as a pedestal that constitutes a joint portion of the robot. When the outer cylinder 2 is attached to the base constituting the joint portion of the robot, the outer cylinder 2 becomes a member on the fixed side of the gear device X1.

The carrier 3 is configured to sandwich the swing gear 4 in the direction of the axis C1, and is disposed concentrically with the outer tube 2. The carrier 3 has a first member 31 and a second member 32 that face each other in the direction of the axis C1. The first member 31 and the second member 32 are fastened to each other via the fastening member T1.

The first member 31 is formed in a substantially disk shape. The first member 31 is partially located inside the outer cylinder 2, and the remaining portion is located outside the outer cylinder 2 in the direction of the axis C1.

The first member 31 is formed with a center hole 31a and a crank shaft mounting portion 31b.

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

The crankshaft mounting portion 31b is a portion to which the crankshaft 5 is attached. The crankshaft mounting portion 31b is arranged on the outer side of the center hole 31a in the circumferential direction of the carrier 3. Each of the crankshaft attachment portions 31b is formed by a through hole penetrating through the first portion 31 in the direction of the axis C1 or a recess formed by recessing one of the first portions 31 in the direction of the axis C1. In the present embodiment, each of the crankshaft attachment portions 31b is formed to penetrate the first member 31 in the direction of the axis C1. Further, in the present embodiment, three crankshaft mounting portions 31b are formed in the first member 31.

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

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

The shaft portion 32b extends from the end on the first member 31 side in the direction of the axis C1 of the substrate portion 32a in the direction of the axis C1. The shaft portions 32b are arranged in plural in the circumferential direction of the carrier 3. In the present embodiment, the second member 32 has three shaft portions 32b. However, the number of the shaft portions 32b can be changed as appropriate.

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

The center hole 32c is formed in the central portion of the second member 32 so as to penetrate the substrate portion 32a of the second member 32 in the direction of the axis C1.

The crankshaft mounting portion 32d is a portion to which the crankshaft 5 is attached. The crankshaft mounting portion 32d is formed in a plurality of rows on the outer side of the center hole 32c in the circumferential direction of the carrier 3. Each of the crankshaft attachment portions 32d is formed by a through hole penetrating through the substrate portion 32a in the direction of the axis C1 or a recessed hole formed by recessing one of the substrate portions 32a in the direction of the axis C1. In the present embodiment, each of the crankshaft attachment portions 32d is formed to penetrate the substrate portion 32a of the second member 32 in the direction of the axis C1. Moreover, each of the crankshaft attachment portions 32d is provided corresponding to the position of each of the crankshaft attachment portions 31b formed in the first member 31.

The attachment hole 32f is formed so as to be recessed in the direction of the axis C1 from the end surface of the second member 32 opposite to the first member 31. The mounting hole 32f is used when the carrier 3 is mounted on the object side member such as the rotating body constituting the joint portion of the robot. When the rotating body constituting the joint portion of the robot is mounted with respect to the carrier 3, the carrier 3 becomes a member on the rotating side of the gear device X1. Further, when the carrier 3 is attached to the base of the joint portion constituting the robot, for example, the outer cylinder 2 is attached to the rotating body constituting the joint portion of the robot. Thereby, the carrier 3 becomes a member on the fixed side of the gear device X1, and the outer cylinder 2 becomes a member on the rotating side of the gear device X1.

The gear unit X1 further includes main bearings B1 and B2. The main bearings B1, B2 are disposed between the outer circumferential surface of the carrier 3 and the inner circumferential surface 2a of the outer cylinder 2. Specifically, the main bearing B1 is provided between the outer circumferential surface of the first member 31 and the inner circumferential surface 2a of the outer cylinder 2, and the main bearing B2 is provided outside the outer peripheral surface of the substrate portion 32a of the second member 32 and the outer cylinder 2. Between the circumferences 2a. The relative rotation of the main bearings B1, B2 between the outer cylinder 2 and the carrier 3 is allowed.

The crankshaft 5 is rotatably supported by the carrier 3 on the crankshaft mounting portions 31b and 31d. The gear device X1 further comprises a crankshaft bearing 6 that allows the crankshaft 5 to rotate relative to the carrier 3. The crankshaft 6 includes crankshafts 6A, 6B. The crankshaft 5 is supported by the carrier 3 via the crankshaft bearings 6A, 6B. In the present embodiment, the crankshafts 5 are arranged in three in the circumferential direction of the carrier 3. In addition, the number of the crankshafts 5 is arbitrary, and can be suitably changed according to the usage aspect of the gear device X1. The number of crankshaft mounting portions 31b can also be performed in accordance with this Change as appropriate.

The crankshaft 5 has a shaft body 51 extending in the direction of the axis C1 and eccentric portions 54, 55 eccentric with respect to the shaft body 51.

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

The first journal portion 51b is located in the crankshaft mounting portion 31b of the first member 31. The first crankshaft bearing 6A is attached to the outer peripheral surface of the first journal portion 51b.

The second journal portion 51c has the same outer diameter as the first journal portion 51b. The second journal portion 51c is located in the crankshaft mounting portion 32d of the second member 32. The second crankshaft bearing 6B is attached to the outer circumferential surface of the second journal portion 51c.

The small diameter portion 51a is adjacent to the first journal portion 51b in the direction of the axis C1, and extends to the side opposite to the second journal portion 51c. One of the small diameter portions 51a is located on the outer side of the crankshaft mounting portion 31b. Further, the first journal portion 51b may be extended from the inside of the crank shaft mounting portion 31b to the outside of the crank shaft mounting portion 31b without the small diameter portion 51a.

The eccentric portions 54 and 55 are located between the first journal portion 51b and the second journal portion 51c in the direction of the axis C1. The oscillating gear 4 is attached to the eccentric portions 54 and 55 via the eccentric portions bearings A1 and A2. The eccentric portions bearings A1, A2 allow relative rotation between the eccentric portions 54, 55 and the swing gear 4.

The swing gear 4 is located inside the outer cylinder 2, and is sandwiched between the first member 31 and the substrate portion 32a of the second member 32 in the direction of the axis C1. The gear device X1 further includes eccentric portion bearings A1 and A2. The oscillating gear 4 has a first oscillating gear 41 attached to the first eccentric portion 54 via the eccentric portion bearing A1, and is attached to the second eccentric portion 55 via the eccentric portion bearing A2. The second swing gear 42. The swing gears 41, 42 have an outer diameter slightly smaller than the inner diameter of the outer cylinder 2, and a plurality of outer teeth are formed on the outer peripheral surface thereof. The number of teeth of the teeth formed outside the outer circumference of each of the swing gears 41, 42 is slightly smaller than the number of the inner tooth pins 8. Thereby, the first oscillating gear 41 and the second oscillating gear 42 can be oscillated and rotated in phase with each other so that the external teeth are engaged with the internal tooth pins 8 in the outer cylinder 2 .

The first swing gear 41 is formed with a center hole 41a corresponding to the position of the center hole 31a of the first member 31, an insertion hole 41b of the insertion shaft portion 32b, and a crank shaft mounting portion 41c into which the first eccentric portion 54 is inserted.

The second swing gear 42 is formed with a center hole 42a corresponding to the position of the center hole 32c of the second member 32, an insertion hole 42b of the insertion shaft portion 32b, and a crank shaft mounting portion 42c inserted into the second eccentric portion 55.

In the present embodiment, the swing gear 4 has two swing gears of the first swing gear 41 and the second swing gear 42, but the present invention is not limited thereto, and may have only one swing gear or three. Above the swing gear.

The gear device X1 further includes a transmission gear 7 that transmits a driving force from a driving source (not shown) to the crankshaft 5 to rotate the crankshaft 5. In the present embodiment, three transmission gears 7 are provided corresponding to the positions of the three crankshafts 5. The transmission gear 7 is located on the opposite side of the second member 32 with the first member 31 interposed therebetween in the direction of the axis C1. The transmission gear 7 is attached to the small diameter portion 51a of the shaft body 51 of the crankshaft 5. The transmission gear 7 restricts the movement of the transmission gear 7 in the direction of the axis C1 by being attached to the snap ring of the small diameter portion 51a of the shaft body 51 so as to sandwich the transmission gear 7 from both sides in the direction of the axis C1.

Further, in the present embodiment, the transmission gear 7 is located on the opposite side of the second member 32 with the first member 31 interposed therebetween in the direction of the axis C1, but the present invention is not limited thereto. The transmission gear 7 may be located, for example, between the first eccentric portion 54 and the second eccentric portion 55. That is, the arrangement of the transmission gear 7 is arbitrary, and can be appropriately changed according to the aspect of the gear device X1.

The transmission gear 7 has a plurality of external teeth on its outer peripheral surface, and an input shaft or the like of a motor (drive source) (not shown) is engaged with the plurality of external teeth, thereby transmitting the driving force (torque) of the motor to the crankshaft. 5. Then, the eccentric portions 54, 55 of the crank shaft 5 that receives the driving force from the transmission gear 7 rotate, and the swing gear 4 swings and rotates in the outer cylinder 2 in accordance with the rotation. Thereby, the outer cylinder 2 and the carrier 3 are relatively rotated.

The gear device X1 further includes a restraining structure for restricting the movement of the crank shaft 5 in the direction of the axis C1. Item 9. The restricting member 9 has a first restricting member 91 and a second restricting member 92 which are separated from each other in the direction of the axis C1. The first restricting member 91 and the second restricting member 92 sandwich the crankshaft 5 in the direction of the axis C1. Thereby, the first restricting member 91 and the second restricting member 92 restrict the movement of the crankshaft 5 in the direction of the axis C1.

The first restricting member 91 is formed into a disk shape as shown in FIG. In the first embodiment, the first restricting member 91 is formed with an insertion hole 91b penetrating the central portion in the direction of the axis C1. The diameter of the insertion hole 91b is set such that the diameter of the smaller diameter portion 51a is slightly larger and smaller than the diameter of the first journal portion 51b. As shown in FIG. 2, the first restricting member 91 is disposed such that the small diameter portion 51a is positioned in the insertion hole 91b.

The first restricting member 91 has a male screw portion 91a for fixing the first restricting member 91 to the carrier 3, and a mounting portion 91e to which a tool (not shown) can be attached. The male screw portion 91a is formed over the entire circumference of the outer peripheral portion of the first restricting member 91. The attachment portion 91e is formed on the main surface of the first restriction member 91 in the direction of the axis C1. As shown in FIG. 2, the first restricting member 91 is attached to the carrier 3 so that the main surface on which the attaching portion 91e is formed faces the transmission gear 7 side in the direction of the axis C1. In the present embodiment, the main surface on which the mounting portion 91e is formed among the two main surfaces of the first restricting member 91 in the direction of the axis C1 is referred to as a main surface 91D, and will be located on the opposite side of the main surface 91D. The major surface is referred to as another major surface 91A.

Further, in the present embodiment, the two attachment portions 91e are formed on one main surface 91D, but the invention is not limited thereto. The mounting portion 91e may be formed of only one or three or more. The mounting portion 91e may also be omitted.

Further, in the present embodiment, the attachment portion 91e is formed by partially recessing one of the main surfaces 91D, and therefore has a bottom, but is not limited thereto. The attaching portion 91e may be formed by, for example, a portion of the first restricting member 91 penetrating from one main surface 91D to the other main surface 91A.

The inner peripheral surface 31c of the first member 31 forming the crankshaft attaching portion 31b has a female screw portion 31d, a step portion 31e, and a support portion 31f. In the present embodiment, the female thread portion 31d, the step The difference portion 31e and the support portion 31f are connected in this order from the outer end surface 31A side of the first member 31.

The female screw portion 31d is formed in the direction of the axis C1 and extends from the end portion of the inner circumferential surface 31c on the outer end surface 31A side to the intermediate portion of the inner circumferential surface 31c. A male screw portion 91a is screwed into the female screw portion 31d. Thereby, the restricting member 9 is attached to the carrier 3.

The step portion 31e connects the female screw portion 31d and the support portion 31f. The step portion 31e extends from the end portion on the first swing gear 41 side of the female screw portion 31d in the direction of the axis C1 toward the inner side in the radial direction of the crankshaft 5. In the present embodiment, the step portion 31e is arranged side by side in the direction orthogonal to the direction of the axis C1 and the end surface 51A which is the end surface on the opposite side of the eccentric portion 54 of the first journal portion 51b. .

The outer peripheral portion of the other main surface 91A of the first restricting member 91 is in contact with the step portion 31e in the direction of the axis C1. Therefore, in the present embodiment, the step portion 31e functions as a positioning portion that positions the first restriction member 91. Further, the central portion of the other main surface 91A of the first restricting member 91 is in contact with the axial end surface 51A of the first journal portion 51b. Thereby, the movement of the crankshaft 5 in the direction of the axis C1 toward the transmission gear 7 side is restricted. As described above, in the present embodiment, the other main surface 91A includes the positioning surface 91B that is in contact with the step portion 31e in the direction of the axis C1, and the regulating surface 91C that is in contact with the axial end surface 51A of the first journal portion 51b. Further, the positioning surface 91B and the regulating surface 91C are located on the same surface. In the present embodiment, the other main surface 91A is formed in a flat shape from the positioning surface 91B to the regulating surface 91C.

In the present embodiment, the regulating surface 91C is in contact with the axial end surface 51A of the first journal portion 51b, but the invention is not limited thereto. The regulating surface 91C may be disposed in a gap from the axial end surface 51A in the direction of the axis C1. In this case, the step portion 31e is located on the outer end surface 31A side of the axial end surface 51A in the direction of the axis C1.

The support portion 31f extends from the inner end of the step portion 31e in the radial direction of the crank shaft 5 toward the first swing gear 41 side in the direction of the axis C1.

The support portion 31f rotatably supports the first journal portion 51b via the first crankshaft bearing 6A. The first crankshaft bearing 6A is as shown in FIG. 2, and has a rotating body extending in the direction of the axis C1. 61, and a holder 62 that rotatably holds the rotating body 61. The holder 62 has a first portion 62a located on the outer side of the rotor 61 in the diameter direction of the crankshaft 5, and a second portion 62b connected to one end of the first portion 62a on the outer end surface 31A side in the direction of the axis C1, and The third portion 62c is connected to the other end of the first portion 62a on the first swing gear 41 side in the direction of the axis C1. The rotor 61 is inserted into the rotor insertion hole formed in the first portion 62a, and is located between the second portion 62b and the third portion 62c on both sides in the direction of the axis C1. Thereby, the holder 62 restricts the movement of the rotating body 61 in the direction of the axis C1. Further, the rotor 61 can be rotated relative to the carrier 3 by the rotor 61 being rotatable between the support portion 31f and the first journal portion 51b.

In the present embodiment, the end surface of the second portion 62b of the retainer 62 in the direction of the axis C1 is disposed so as to be aligned with the axial end surface 51A of the first journal portion 51b in the direction orthogonal to the axis C1. Therefore, the second portion 62b of the holder 62 contacts the other main surface 91A between the positioning surface 91B and the regulating surface 91C. Thereby, the first restricting member 91 restricts the movement of the first crankshaft bearing 6A toward the outer end 31A side in the direction of the axis C1.

Further, in the present embodiment, the other main surface 91A is in contact with the second portion 62b of the holder 62 of the first crankshaft bearing 6A, but the present invention is not limited thereto. The other main surface 91A may be disposed in a gap from the second portion 62b of the holder 62 in the direction of the axis C1.

When the first restricting member 91 is attached to the carrier 3, the first restricting member 91 is fitted into the small-diameter portion 51a from the other main surface 91A side before the transmission gear 7 is attached to the small-diameter portion 51a. Further, a tool (not shown) is attached to the attachment portion 91e from the side of the main surface 91D, and the tool is rotated to screw the male screw portion 91a of the first restriction member 91 to the female screw portion 31d. Then, the first restricting member 91 is positioned at a position where the positioning surface 91B of the other main surface 91A is in contact with the step portion 31e, and the tool is removed from the mounting portion 91e in this state. In this manner, the first restricting member 91 can be attached to the carrier 3.

On the other hand, when the first restriction member 91 is removed from the carrier 3, first, the transmission gear 7 is removed from the small diameter portion 51a, and the tool is attached to the attachment portion 91e from the side of the main surface 91D. Then, the male thread portion of the first restricting member 91 is released by rotating the tool The 91a is screwed to the female screw portion 31d, and the first restricting member 91 is removed from the female screw portion 31d. In this manner, the first restriction member 91 can be removed from the carrier 3.

As described above, the first restricting member 91 has the male screw portion 91a, and is fixed to the carrier 3 by the screwing of the male screw portion 91a and the female screw portion 31d, so that the first restricting member 91 can be repeatedly attached or detached with respect to the carrier 3.

In the present embodiment, the inner circumferential surface 31c has the step portion 31e. However, the inner circumferential surface 31c does not have the step portion 31e. In this case, the inner circumferential surface 31c extends from the female screw portion 31d to the support portion 31f in the direction of the axis C1, and the female screw portion 31d is formed from the end portion on the outer end surface 31A side of the inner circumferential surface 31c to the intermediate portion. An end portion of the female screw portion 31d opposite to the outer end surface 31A functions as a positioning portion that performs positioning of the first restriction member 91. In addition, the inner peripheral surface 31c from the intermediate portion of the inner peripheral surface 31c to the end portion on the opposite side to the outer end surface 31A, that is, the support portion 31f is a spiral-free inner peripheral surface in which the female screw portion 31d is not formed. In this case, when the first restricting member 91 is attached to the carrier 3, the operating tool may be rotated until the other main surface 91A reaches the intermediate portion.

The second restricting member 92 is formed in a disk shape. In the second embodiment, similarly to the first restricting member 91, the second restricting member 92 has an insertion hole 92b formed in the center portion. Further, the second restricting member 92 has a male screw portion 92a and a mounting portion 92e similarly to the first restricting member 91. Further, the inner circumferential surface 32e of the second member 32 forming the crankshaft attachment portion 32d has the female screw portion 32g, the step portion 32h, and the support portion 32i similarly to the inner circumferential surface 31c of the first member 31. Further, similarly to the first crankshaft bearing 6A, the second crankshaft bearing 6B includes the rotor 61 and the retainer 62 having the first portion 62a, the second portion 62b, and the third portion 62c. Each of the second restricting member 92, the inner peripheral surface 32e of the second member 32, and the second crankshaft bearing 6B is formed with respect to the first restricting member 91, the inner peripheral surface 31c of the first member 31, and the first crank. Each of the shaft bearings 6A is provided in a symmetrical manner in the direction of the axis C1. Here, the shapes of the second restriction member 92, the inner circumferential surface 32e of the second member 32, and the second crankshaft bearing 6B are omitted. And detailed description of the configuration.

The second restricting member 92 is in contact with the step portion 32h in the direction of the axis C1, and is opposed to the axial end surface 51B which is the end surface on the outer end surface 32A side of the second journal portion 51c. Thereby, the second restricting member 92 restricts the movement of the crank shaft 5 in the direction of the axis C1 toward the outward end surface 32A side. Further, the second restricting member 92 faces the second portion 62b of the retainer 62 of the second crankshaft bearing 6B in the direction of the axis C1. Thereby, the second restricting member 92 restricts the movement of the outward end surface 32A of the crankshaft 5 in the direction of the axis C1.

Further, in the present embodiment, the second journal portion 51c does not protrude further outward than the outer end surface 32A in the direction of the axis C1. Therefore, the insertion hole 92b may not be formed in the second restriction member 92.

When the second restriction member 92 is attached to the carrier 3, the second restriction member 92 is inserted into the crankshaft attachment portion 32d of the second member 32 from the outermost surface 32A side in a state where the attachment portion 92e is attached to the tool. Next, the male screw portion 92a of the second restricting member 92 is screwed to the female screw portion 32g by rotating the operating tool. Then, the second restricting member 92 is positioned at a position where the second restricting member 92 comes into contact with the step portion 32h, and the tool is removed from the attaching portion 92e in this state. In this manner, the second restricting member 92 can be attached to the carrier 3.

On the other hand, when the second restricting member 92 is removed from the carrier 3, the tool is first attached to the attaching portion 92e from the outer end surface 32A side. Then, by rotating the tool, the male screw portion 92a of the second restricting member 92 is screwed to the female screw portion 32g, and the second restricting member 92 is removed from the crank axle attaching portion 32d. In this manner, the second restriction member 92 can be removed from the carrier 3.

As described above, the second restricting member 92 has the male screw portion 92a, and is fixed to the carrier 3 by the screwing of the male screw portion 92a and the female screw portion 32g. Therefore, the second restricting member 92 can be repeatedly attached or detached with respect to the carrier 3.

As described above, in the gear unit X1, the male screw portions 91a and 92a of the first and second restricting members 91 and 92 are screwed to the female screw portions 31d and 32g of the carrier 3, and the first and the first 2 The restriction members 91, 92 are fixed to the carrier 3. Thereby, the restricting member 9 restricts the movement of the crank shaft 5 in the direction of the axis C1. Therefore, it is not necessary to provide a snap ring or the like for fixing the restricting member 9 to the carrier 3 unlike the restricting member 9, so that the thickness of the restricting member 9 can be sufficiently increased. Therefore, when the external force is applied to the restriction member 9 from the crank shaft 5, the restriction member 9 can be prevented from being bent.

Further, in the gear device X1, since the first and second restriction members 91 and 92 are positioned by the step portions 31e and 32h formed in the carrier 3, the restriction member 9 can be appropriately determined to be supported with respect to the carrier 3. The relative position of the crankshaft 5. Further, since the first and second restricting members 91 and 92 are screwed to the female screw portions 31d and 32g in the state of being positioned in the step portions 31e and 32h, the first and second restricting members 91 and 92 can be screwed to the female screw portions 31d and 32g. The restriction member 9 is firmly fixed.

Further, in the gear device X1, the first restricting member 91 is positioned at a position where the step portion 31e in the direction of the axis C1 is in contact with the positioning surface 91B, and the axis C1 is restricted on the regulating surface 91C on the same surface as the positioning surface 91B. The movement of the crankshaft 5 in the direction. Therefore, regardless of the thickness of the first restricting member 91, the positional relationship between the step portion 31e and the axial end surface 51A of the first journal portion 51b of the crankshaft 5 determines the restricting surface 91C of the first restricting member 91 with respect to the crank. The relative position of the shaft 5. Therefore, it is possible to suppress the unevenness of the thickness of the first restricting member 91 due to the manufacturing error, and the relative position of the regulating surface 91C of the first restricting member 91 with respect to the crankshaft 5 is shifted from an appropriate position. Further, since the second restricting member 92 has the same shape as that of the first restricting member 91, it is possible to suppress the limitation of the second restricting member 92 due to the thickness unevenness of the second restricting member 92 due to a manufacturing error. The relative position of the face relative to the crankshaft 5 is offset from the appropriate position.

Further, in the gear unit X1, the first and the third members can be easily screwed to the female screw portions 31d and 32g by the attachment of the tool to the mounting portions 91e and 92e, and the male screw portions 91a and 92a can be screwed to the female screw portions 31d and 32g. The restriction members 91 and 92 are attached to the carrier 3. Further, a tool is attached to the attachment portions 91e and 92e of the first and second restriction members 91 and 92 attached to the carrier 3, When the tool is operated, the male screw portions 91a and 92a and the female screw portions 31d and 32g are screwed together, and the first and second restriction members 91 and 92 are easily removed from the carrier 3. In the gear device X1, since the first and second restricting members 91 and 92 have the attaching portions 91e and 92e, the first and second restricting members 91 and 92 can be easily attached and detached from the carrier 3.

Further, in the gear device X1, the first restricting member 91 is disposed in the crankshaft mounting portion 31b so as to be detachable from the outer end surface 31A side of the first member 31 with respect to the carrier 3, and the second restricting member 92 can be The outer end surface 32A side of the second member 32 is detachably attached to the carrier 3 so as to be detachably attached to the carrier 3 mounting portion 32d. Therefore, for example, when the first and second restriction members 91 and 92 have to be replaced, the carrier can be disassembled into the first member 31 and the second member 32 without removing the fastening member T1. First and second restriction members 91 and 92. Therefore, operability can be improved.

Next, a modification 1 of the gear device X1 of the present embodiment will be described with reference to Figs. 4 and 5 .

As shown in FIG. 4 and FIG. 5, in the gear device X1 according to the first modification, the first restricting member 91 includes an annular portion 91c formed in an annular shape and an end portion of the annular portion 91c located on the side of a main surface 91D. The flange portion 91d that protrudes outward in the diameter direction. The outer diameter of the flange portion 91d is set to be larger than the inner diameter of the female screw portion 31d.

The flange portion 91d faces the outer end surface 31A of the first member 31 in the direction of the axis C1. Further, the first restricting member 91 is positioned at a position where the end surface on the end face 31A side of the flange portion 91d is in contact with the outer end surface 31A in the direction of the axis C1. Therefore, in the first modification, the end surface on the end face 31A side of the flange portion 91d in the direction of the axis C1 serves as the positioning surface 91B, and the portion of the outer end surface 31A that contacts the positioning surface 91B functions as a positioning portion.

In the first modification, the first restricting member 91 has a flange portion 91d, and the positioning surface 91B contacting the outer end surface 31A is located on a different surface from the other main surface 91A including the regulating surface 91C. Further, a gap is formed between the other main surface 91A and the step portion 91e at a position where the positioning surface 91B is in contact with the outer end surface 31A. That is, in variation 1, due to the presence and limitation Since the positioning of the first restricting member 91 is performed on the positioning surface 91B on the surface of the surface 91C, the step portion 31e does not need to function as the positioning portion. Therefore, it is not necessary to form the female screw portion 31d at a position near the step portion 31e with respect to the inner peripheral surface 31c on the outer end surface 31A side of the step portion 31e, and it is possible to suppress the complicated processing.

Further, as in the case of the first modification, when the positioning of the first restricting member 91 with respect to the carrier 3 is performed by the positioning surface 91B of the flange portion 91d and the outer end surface 31A, the step portion 31e is not positioned. Since the function functions, the step portion 31e can be omitted. In this case, the inner peripheral surface 31c of the first member 31 extends in the direction of the axis C1 from the female screw portion 31d to the support portion 31f.

Further, in the first modification, only the first restriction member 91 of the restriction member 9 will be described, and the second restriction member 92 may have the same shape.

Next, a modification 2 of the gear device X1 of the present embodiment will be described with reference to Fig. 6 .

As shown in FIG. 6, in the gear device X1 of the second modification, the first restricting member 91 has a main body portion 911 and a washer 912 that is separate from the main body portion 911. In Modification 2, the body portion 911 includes a metal material, and the gasket 912 includes a resin material. That is, the washer 912 includes a material different from the body portion 911.

The body portion 911 is formed in a disk shape. In the present embodiment, the main body portion 911 is formed with an insertion hole 911b penetrating the central portion in the direction of the axis C1. The diameter of the insertion hole 911b is set to be slightly larger than the diameter of the small diameter portion 51a. The main body portion 911 is disposed such that the small diameter portion 51a is positioned in the insertion hole 911b.

The main body portion 911 includes a male screw portion 911a screwed to the female screw portion 31d, and a mounting portion 911e to which a tool (not shown) can be attached. The mounting portion 911e is formed on the main surface of the body portion 911 in the direction of the axis C1. The main body portion 911 is attached to the carrier 3 such that the main surface on which the mounting portion 911e is formed faces the transmission gear 7 side in the direction of the axis C1. In the present embodiment, the main surface on which the mounting portion 911e is formed among the two main surfaces in the direction of the axis C1 of the main body portion 911 is referred to as a main body. The surface 911D, the main surface on the opposite side of the one main surface 911D, is referred to as another main surface 911A.

The main body portion 911 is positioned at a position where the outer peripheral portion of the other main surface 911A is in contact with the step portion 31e in the direction of the axis C1. That is, the other main surface 911A has a positioning surface 911B for positioning the first restricting member 91 at the outer peripheral portion thereof.

The washer 912 is formed in a circular plate shape. In the present embodiment, the washer 912 is formed with an insertion hole 912a that penetrates the center portion in the direction of the axis C1 and is inserted into the small diameter portion 51a. The outer diameter of the washer 912 is set to be slightly smaller than the inner diameter of the support portion 31f.

The washer 912 is located between the other main surface 911A of the main body portion 911 and the axial end surface 51A of the first journal portion 51b. The washer 912 has one main surface 912A opposite to the other main surface 911A of the body portion 911 in the direction of the axis C1, and another main surface 912B on the opposite side of the one main surface 912A. Further, the inner peripheral portion of the other main surface 912B faces the axial end surface 51A of the first journal portion 51b in the direction of the axis C1. In Modification 2, the inner peripheral portion of the other main surface 912B serves as a restriction surface 912C that restricts the movement of the crankshaft 5 in the direction of the axis C1. In the second modification, the regulating surface 912C is in contact with the axial end surface 51A.

Further, the other main surface 912B of the washer 912 is further outward in the radial direction than the regulating surface 912C, and faces the second portion 62b of the holder 62 of the first crankshaft bearing 6A in the direction of the axis C1. In Modification 2, the other main surface 912B is in contact with the second portion 62b.

Further, for example, when both the main body portion 911 and the crank shaft 5 include a metal material, if the crank shaft 5 rotates in a state in which the first journal portion 51b contacts the other main surface 911A of the main body portion 911, there is a body. Both the portion 911 and the crank shaft 5 are worn out.

On the other hand, in the second modification, the first restricting member 91 has a washer 912 that is separate from the main body portion 911, and the main body portion 911 is not provided by providing the washer 110 between the main body portion 911 and the first journal portion 51b. Direct contact with the first journal portion 51b. Further, the gasket 110 is formed of a resin material containing a material which is more likely to wear than the material of the body portion 911. Therefore, abrasion of both the main body portion 911 and the crank shaft 5 can be suppressed.

Further, in the second modification, since the washer 912 is also located between the second portion 62b of the retainer 62 and the other main surface 911A of the main body portion 911, for example, when the retainer 62 contains a metal material, it can be borrowed. The holder 62 is in contact with the body portion 911 to suppress wear of both.

Further, in the second modification, only the first restricting member 91 has the main body portion 911 and the washer 912. However, the second restricting member 92 is also the same, and the main body portion and the main body portion may have a separate body. washer.

Further, in Modification 2, the main body portion 911 and the washer 912 are formed separately, and the main body portion 911 and the washer 912 are not joined, but the invention is not limited thereto. For example, the main body portion 911 and the gasket 912 may be integrally molded by insert molding, and the main body portion 911 and the gasket 912 which are formed separately may be integrated by being joined to each other by an adhesive or a bolt. The same applies to the second restriction member 92.

Next, still another modification 3 of the gear device X1 of Modification 2 will be described with reference to Fig. 7 .

As shown in FIG. 7, in the gear device X1 of the third modification, the first restricting member 91 has a main body portion 911 and a washer 912 that is separate from the main body portion 911, similarly to the second modification.

The outer diameter of the washer 912 of the modification 3 is set to be larger than the outer diameter of the washer 911 of the modification 2. Specifically, in Modification 3, the outer diameter of the washer 912 is set to be slightly larger than the inner diameter of the support portion 31f. Further, the outer peripheral portion of the other main surface 912B of the washer 912 is in contact with the step portion 31e in the direction of the axis C1. Thereby, the positioning of the first restricting member 91 is performed. That is, in Modification 3, the other main surface 912A of the body portion 911 is not in contact with the step portion 31e. The other main surface 912B of the washer 912 has a positioning surface 912D that contacts the step portion 31e, and a regulating surface 912C that restricts the movement of the crank shaft 5 in the direction of the axis C1.

Further, in the third modification, only the first restricting member 91 has the main body portion 911 and the washer 912, and the second restricting member 92 is also the same, and may have the main body portion and the main body portion. washer.

Further, in the third modification, as in the second modification, the main body portion 911 and the washer 912 are formed separately, and the main body portion 911 and the washer 912 are not joined, but the invention is not limited thereto. For example, the main body portion 911 and the gasket 912 may be integrally molded by insert molding, and the main body portion 911 and the gasket 912 which are formed separately may be integrated by being joined to each other by an adhesive or a bolt. The same applies to the second restriction member 92.

Next, a modification 4 of the gear device X1 of the present embodiment will be described with reference to Fig. 8 .

As shown in Fig. 8, in the gear device X1 of Modification 4, the crank shaft mounting portion 32d of the second member 32 of the carrier 3 is formed by a bottomed hole. In other words, in the fourth modification, the crankshaft attachment portion 32d is not formed by the hole penetrating the substrate portion 32a, but is formed by recessing one end surface of the second oscillation gear 42 side of the substrate portion 32a toward the outer end surface 32A side. . The second journal portion 51c and the second crankshaft bearing 6B are disposed in the crankshaft mounting portion 32d, and the axial end surface 51B of the second journal portion 51c and the second portion 62b of the retainer 62 of the second crankshaft 6B are in contact with each other. The bottom surface 32k of the crank shaft mounting portion 32d. Thereby, the crankshaft 5 and the second crankshaft bearing 6B are restricted from moving toward the outer end face 32A in the direction of the axis C1.

As described above, in the fourth modification, since the bottom surface 32k of the crank shaft mounting portion 32d restricts the movement of the crank shaft 5 on the outward end surface 32A side in the direction of the shaft C1, the second restricting member 92 is not required.

In addition, as long as the bottom surface 32k faces the axial end surface 51B of the second journal portion 51c in the direction of the axis C1, the movement of the crank shaft 5 on the outward end surface 32A side in the direction of the axis C1 is restricted. Just fine. Therefore, the bottom surface 32k does not come into contact with, for example, the axial end surface 51B of the second journal portion 51c. Further, a through hole penetrating through a portion of the bottom surface 32k in the direction of the axis C1 may be formed on the bottom surface 32k.

Further, in the fourth modification, the axial end surface 51B of the second journal portion 51c and the second portion 62b of the retainer 62 of the second crankshaft bearing 6B are in contact with the bottom surface 32k of the crank shaft mounting portion 32d, but are not limited thereto. herein. For example, it can also be in the direction of the axis C1 and the end face in the axial direction. A gasket containing a resin material is disposed between the second portion 62b of the 51B and the retainer 62 and the bottom surface 32k.

Next, a modification 5 of the gear device X1 of the present embodiment will be described with reference to Figs. 9 and 10 .

As shown in FIG. 9, in the gear device X1 of the fifth modification, the first restricting member 91 and the second restricting member 92 are provided so as to sandwich the eccentric portions 54, 55 in the direction of the axis C1, thereby restricting the shaft. Movement of the crankshaft 5 in the C1 direction.

The diameter of the insertion hole 91b of the first restricting member 91 is set to be slightly larger than the outer diameter of the first journal portion 51b and slightly smaller than the outer diameter of the first eccentric portion 54. Further, the first journal portion 51b is inserted into the insertion hole 91b.

As shown in FIG. 10, the inner peripheral surface 31c of the first member 31 has a female screw portion 31d, a step portion 31e, and a support portion 31f. The female screw portion 31d, the step portion 31e, and the support portion 31f are continuous in this order from the inner end surface 31B side of the first member 31 on the opposite side of the outer end surface 31A in the direction of the axis C1.

The first restricting member 91 is a first member 31 that is attached to the carrier 3 so that one of the main surfaces 91D of the attaching portion 91e faces the first swing gear 41 in the direction of the axis C1. The first restricting member 91 is screwed to the female screw portion 31d, and is positioned at a position where the outer peripheral portion of the other main surface 91A on the opposite side of the one main surface 91D is in contact with the step portion 31e. That is, in Modification 5, the other main surface 91A has the positioning surface 91B for positioning the first restriction member 91 and contacting the step portion 31e.

In a state in which the positioning surface 91B is in contact with the step portion 31e, the inner peripheral portion of one of the main surfaces 91D of the first restricting member 91 is attached to the end surface of the first eccentric portion 54 on the first journal portion 51b side, that is, the axial end surface 54A. to. Thereby, the first restricting member 91 restricts the movement of the crank shaft 5 on the outward end surface 31A side in the direction of the axis C1. That is, in Modification 5, one main surface 91D has a regulating surface 91c that restricts the movement of the crank shaft 5 by the direction of the axial direction end surface 54A in the direction of the axis C1.

In the fifth modification, the inner edge of the first restricting member 91 is located on the inner side of the outer edge of the first eccentric portion 54 on the side opposite to the eccentric direction of the first eccentric portion 54 (the axial center side of the shaft main body 51). Thereby, the first restricting member 91 and the axial end surface 54A of the first eccentric portion 54 are connected to the entire circumferential direction of the crankshaft 5 . Therefore, regardless of the phase of the first eccentric portion 54, the first restricting member 91 and the first eccentric portion 54 always face each other in the direction of the axis C1.

The eccentric portion bearing A1 includes a rotor A3 and a retainer A4 that holds the rotor A3. In the fifth modification, the first restricting member 91 faces the end portion A5 on the outer end surface 31A side of the retainer A4 of the eccentric portion bearing A1 in the direction of the axis C1. Thereby, the first restricting member 91 also restricts the operation of the outer end surface 31A side of the eccentric portion bearing A1 in the direction of the axis C1.

The second restricting member 92 has the same shape as the first restricting member 91, and the second journal portion 51c is inserted into the insertion hole 92b of the second restricting member 92. Further, the inner circumferential surface 32e of the second member 32 has the female screw portion 32g, the step portion 32h, and the support portion 32i similarly to the inner circumferential surface 31c of the first member 31. The female screw portion 32g, the step portion 32h, and the support portion 32i are continuous in this order from the inner end surface 32B side of the second member 32 on the opposite side of the outer end surface 32A in the direction of the axis C1. Further, the eccentric portion bearing A2 has the same shape as the eccentric portion bearing A1. Each of the second restricting member 92, the inner peripheral surface 32e of the second member 32, and the eccentric portion bearing A2 is formed with respect to the first restricting member 91, the inner peripheral surface 31c of the first member 31, and the eccentric portion bearing A1. Each of them is provided in such a manner that the direction of the axis C1 is symmetrical. Therefore, the detailed description of the shape and arrangement of each of the second restriction member 92, the inner circumferential surface 32e of the second member 32, and the eccentric bearing A2 will be omitted.

The second restricting member 92 is screwed to the female screw portion 32g and positioned at a position contacting the step portion 32h. Further, the second restricting member 92 is opposed to the stepped portion 32h of the second eccentric portion 55, and is opposed to the axial end surface 55A which is the end surface of the second eccentric portion 55 on the second journal portion 51c side. In the fifth modification, the inner edge of the second restricting member 92 is located on the opposite side to the eccentric direction of the second eccentric portion 55, and is located on the inner side of the outer edge of the second eccentric portion 55 (on the axial side of the shaft main body 51). Thereby, the axial end surface 55A of the second restricting member 92 and the second eccentric portion 55 is spread over the crank The shafts 5 are connected in the entire circumferential direction. Therefore, regardless of the phase of the second eccentric portion 55, the second restricting member 92 and the second eccentric portion 55 always face each other in the direction of the axis C1.

Further, in the fifth modification, the second restricting member 92 faces the end portion of the eccentric portion bearing A2 on the side of the outer end surface 32A of the retainer in the direction of the axis C1. Thereby, the second restricting member 92 also restricts the movement of the eccentric portion bearing A2 on the outward end surface 32A side in the direction of the axis C1.

Next, a modification 6 of the gear device X1 of the present embodiment will be described with reference to Fig. 11 .

As shown in Fig. 11, in the first restricting member 91 of the gear unit X1 of the sixth modification, the attaching portion 91e is formed in a groove shape extending in one direction. In addition, the attachment portion 92e of the second restriction member 92 may have a groove shape extending in one direction similarly to the attachment portion 91e of the first restriction member 91.

As described above, the shapes of the attachment portions 91e and 92e are arbitrary, and can be appropriately changed depending on, for example, the shape of the tool attached to the attachment portions 91e and 92e.

Next, a modification 7 of the gear device X1 of the present embodiment will be described with reference to Fig. 12 .

As shown in FIG. 12, in the first restricting member 91 of the gear device X1 of the seventh modification, the insertion hole 91b is formed in a rectangular shape, and the insertion hole 91b functions as the attaching portion 91e. That is, in the modification 7, the insertion hole 91b of the first restricting member 91 is inserted into a rectangular tool matching the shape of the insertion hole 91b, and the male screw portion 91a can be screwed by rotating the tool. Female thread portion 31d. Further, similarly to the first restricting member 91, the second restricting member 92 is formed in a rectangular shape in the insertion hole 92b, and the insertion hole 92b functions as the attaching portion 92e.

As described above, in the seventh modification, since the insertion holes 91b and 92b for inserting one of the crank shafts 5 function as the attachment portions 91e and 92e of the tool, it is not necessary to form the mounting holes 91b and 92b differently from the insertion holes 91b and 92b. Parts 91e, 92e.

It should be considered that all the points of the embodiment and the modifications described above are exemplified, and Unrestricted. The scope of the present invention is defined by the scope of the claims and the scope of the present invention.

For example, in the above-described embodiments and modifications, the shaft main body 51 of the crank shaft 5 has two shaft necks of the first and second journal portions 51b and 51c as the shaft portion having the smaller outer diameter portion 51a. But it is not limited to this. The shaft body 51 may have only one of the first and second journal portions 51b and 51c, and the crank shaft 5 is supported by the carrier 3 at the one journal portion.

For example, in the above-described embodiments and modifications, the shaft main body 51 of the crankshaft 5 has the small diameter portion 51a and the first and second journal portions 51b and 51c having the outer diameter larger than the small diameter portion 51a, but they are not Limited to this. The outer diameter of the shaft body 51 may be fixed over the entire length direction of the shaft body 51. Even in this case, as long as the shaft body 51 has an axial end surface orthogonal to the axis C1 and the end surface of the axial direction faces the restricting member 9 in the direction of the axis C1, the crank shaft 5 can be restricted by the restricting member 9. Movement in the direction of the axis C1.

Here, the above embodiment will be described in outline.

In the above gear device, the restricting member is fixed to the carrier by screwing the male screw portion of the restricting member to the female screw portion of the carrier. Thereby the restriction member limits the movement of the crankshaft in the axial direction. Therefore, it is not necessary to provide a snap ring or the like for fixing the restricting member to the carrier unlike the restricting member, so that the thickness of the restricting member can be sufficiently increased. Therefore, the deflection of the restriction member can be suppressed when an external force is applied to the restriction member from the crank shaft.

The carrier may have a positioning portion that performs positioning of the restricting member in the axial direction.

In the above gear device, since the restricting member is positioned by the positioning portion formed on the carrier, the relative position of the restricting member with respect to the crank shaft supported by the carrier can be appropriately determined. Further, since the male screw portion is screwed to the female screw in a state where the restricting member is positioned at the positioning portion, the restricting member can be firmly fixed to the carrier.

The limiting member may further include the positioning portion in the axial direction The positioning surface and the regulating surface for restricting the movement of the crank shaft in the axial direction, and the positioning surface and the regulating surface are located on the same surface.

In the above gear device, the restricting member is positioned at a position where the positioning portion comes into contact with the positioning surface in the axial direction of the crankshaft. Further, the restricting member restricts movement in the axial direction of the crankshaft on a regulating surface located on the same surface as the positioning surface. Therefore, regardless of the thickness of the restricting member, the relative position of the restricting surface of the restricting member with respect to the crankshaft is determined by the positional relationship between the positioning portion and the crankshaft. Therefore, it is possible to suppress the thickness of the restriction member due to the manufacturing error from being uneven, and the relative position of the restriction surface of the restriction member with respect to the crankshaft is displaced from the proper position.

The restricting member may have a regulating surface that restricts movement of the crank shaft in the axial direction, and a positioning surface that is located on a surface different from the regulating surface and that is in contact with the positioning portion.

In the above gear device, the positioning surface on the surface different from the regulating surface is in contact with the positioning portion in the axial direction of the crankshaft. Therefore, the restriction member can be positioned regardless of the position of the restriction surface.

The restricting member may have a mounting portion for attaching a tool for screwing the male screw portion of the restricting member to the female screw portion of the carrier.

In the above-described gear device, the restricting member can be easily attached to the carrier by attaching the tool to the mounting portion and screwing the male screw portion to the female screw portion while operating the tool. Further, the mounting portion mounting tool attached to the restricting member of the carrier removes the screwing of the male screw portion and the female screw portion while operating the tool, and the restricting member is easily removed from the carrier. As described above, in the gear device described above, since the restricting member has the attaching portion, the restricting member can be easily attached and detached from the carrier.

The inner peripheral surface is formed as an inner circumferential surface of the through hole penetrating the carrier in the axial direction, and the restricting member can be disposed on the end surface side of the carrier from the axial direction so as to be detachable from the carrier. Inside the through hole.

In the gear device described above, since the restricting member is disposed in the through hole so as to be detachable from the end surface side of the carrier with respect to the carrier, when the restricting member must be replaced, for example, the restriction can be detached without disassembling the carrier itself. member. Therefore, operability can be improved.

As described above, according to the present embodiment, it is possible to provide a gear device that suppresses deflection of the regulating member.

5‧‧‧ crankshaft

6A‧‧‧1st crankshaft bearing

7‧‧‧Transmission gear

9‧‧‧Restricted components

31‧‧‧1st component

31A‧‧‧Outer end face

31b‧‧‧ crankshaft mounting

31c‧‧‧ inner circumference

31d‧‧‧Female thread

31e‧‧

31f‧‧‧Support Department

41‧‧‧1st swing gear

51‧‧‧Axis body

51a‧‧‧Little Trails Department

51b‧‧‧2nd journal

51A‧‧‧ end face

54‧‧‧1st eccentric

61‧‧‧ rolling element rotor

62‧‧‧ Keeper

62a‧‧‧Part 1

62b‧‧‧Part 2

62c‧‧‧3rd part

91‧‧‧1st restriction member

91a‧‧‧ Male thread department

91b‧‧‧ insertion hole

91A‧‧‧Main surface

91B‧‧‧ positioning surface

91C‧‧‧Restricted surface

91D‧‧‧Main surface

91e‧‧‧Installation Department

A1‧‧‧Eccentric bearing

B1‧‧‧ main bearing

Claims (6)

A gear device comprising: an outer cylinder; a carrier having an inner peripheral surface including a female thread portion; a crank shaft rotatably supported by the inner circumferential surface, and the one of the outer cylinder and the carrier being opposite And rotating the member; and the restricting member having a male screw portion screwed to the female screw portion and restricting movement of the crank shaft in the axial direction of the crank shaft. The gear device of claim 1, wherein the carrier includes a positioning portion that performs positioning of the restricting member in the axial direction. The gear device of claim 2, wherein the restricting member includes a positioning surface that contacts the positioning portion in the axial direction, and a restriction surface that restricts movement of the crank shaft in the axial direction; and the positioning surface is located at the restriction surface On the same side. The gear device of claim 2, wherein the restricting member includes a restricting surface that restricts movement of the crank shaft in the axial direction, and a positioning surface that is located on a surface different from the restricting surface and that contacts the positioning portion. A gear device according to any one of claims 1 to 4, wherein said restricting member includes a mounting portion for attaching a tool for screwing said male thread portion of said restricting member to said female thread portion of said carrier. The gear device according to any one of claims 1 to 4, wherein the inner peripheral surface is formed as an inner peripheral surface of the through hole penetrating through the carrier in the axial direction, and the restricting member is the carrier that is separable from the axial direction The end surface side is disposed in the through hole with respect to the carrier being attached or detached.