TWI577905B - Eccentric oscillating gear device - Google Patents

Description

Eccentric swing gear device

The present invention relates to an eccentric oscillating gear device.

In the past, as disclosed in the following Patent Documents 1 to 3, an eccentric oscillating gear device that can be used for a joint portion or the like of an industrial robot is known. The eccentric oscillating gear device disclosed in Patent Documents 1 to 3 has a housing having internal teeth, a bracket inserted into the housing, and rotatable relative to the housing, and a crank shaft having an eccentric portion and being rotatably The bracket supports; the transmission gear is mounted at the end of the crankshaft; and the oscillating gear is swayed while being engaged with the inner teeth of the outer casing. When the motor is driven and the crankshaft rotates around the shaft through the transmission gear, the swing gear will swing. Along with this, the bracket rotates relative to the outer casing. The outer casing is fixed to the proximal end side of the industrial robot by bolts, and the bracket is fixed to the tip side arm body by bolts. Therefore, the tip side arm body can be rotated relative to the base end side arm body by the rotation speed at which the predetermined ratio is decelerated.

[Previous Technical Literature] [Patent Literature]

[Patent Document 1] Japanese Patent Laid-Open Publication No. 2001-221198

[Patent Document 2] Japanese Patent Laid-Open Publication No. 2001-254787

[Patent Document 3] Japanese Patent Laid-Open Publication No. 2005-47006

As disclosed in the above Patent Documents 1 to 3, the crankshaft of the eccentric oscillating type gear device has a pair of crank bearings respectively mounted on a pair of crank bearings, and the crankshafts are respectively mounted on the crankshafts of the shaft necks, and are rotated. Freely supported by the bracket. Further, the tip end portion of the crank shaft that is continuous from the other journal portion is machined by the flower shaft, and a transmission gear is attached to the tip end portion of the flower shaft. In the eccentric oscillating type gear device disclosed in these Patent Documents 1 to 3, the outer diameter of the journal portion or the eccentric portion differs depending on the type, and the length of the tip end portion of the crank shaft to which the flower shaft is applied is mounted because There are various differences in the configuration of the contralateral members of the gear unit. Therefore, even if the number of teeth of the transmission gear is the same, if the outer diameter of the shaft neck is different, it is necessary to separately prepare the transmission gears having the fitting holes of the corresponding shaft necks. Therefore, there is a problem that the number of management products of the transmission gear increases. Further, even if the outer diameters of the journal portions are the same, if the lengths of the tip end portions of the crank shaft to which the bobbin is applied are different, it is necessary to separately prepare the crank shafts corresponding to the lengths thereof. Therefore, there is a problem that the number of management products of the crankshaft increases.

SUMMARY OF THE INVENTION An object of the present invention is to provide an eccentric oscillating type gear device which can reduce the number of management products of a transmission gear and a crankshaft.

An eccentric oscillating gear device according to one aspect of the present invention is for causing a relative rotation of a rotational speed decelerated with respect to an input rotational speed to be generated between a first member and a second member, and has a crank shaft having a crankshaft and an eccentric portion that the crank bearing contacts; a transmission gear is mounted on the crankshaft to transmit a driving force from the driving source to the crankshaft; the swinging gear has a through hole inserted into the eccentric portion, and has teeth a housing having a configuration that can be attached to one of the first member and the second member; and a bracket, the configuration of which is The other one of the first member and the second member may be attached to the other; the bracket rotatably supports the crank shaft, and the outer casing has internal teeth that mesh with the tooth portion of the oscillating gear, and the outer casing and the outer casing The bracket is rotatable relative to each other by the swinging of the swing gear that rotates with the crank shaft, and the crank shaft is configured to have the eccentric portion and the main portion of the shaft neck portion, and is engageable in the main body The end portion of the portion and the auxiliary portion that can be mounted on the transmission gear are formed as different individuals, and the main portion and the auxiliary portion are assembled to each other. .

10‧‧‧Eccentric swing gear device

12‧‧‧ Shell

12d‧‧‧Latch groove

14‧‧‧ bracket

18‧‧‧Deceleration mechanism

24‧‧‧ internal teeth

26‧‧‧Main bearing

30‧‧‧End Plate Department

31‧‧‧ base

32‧‧‧Parts Department

33‧‧‧ shaft part

44‧‧‧Transmission gear

46‧‧‧ crankshaft

46a‧‧‧1st eccentric

46b‧‧‧2nd eccentric

46c‧‧‧Axis body

46d‧‧‧1st journal

46e‧‧‧2nd journal

48a‧‧‧1st swing gear

48b‧‧‧2nd swing gear

51‧‧‧1st crank bearing

52‧‧‧2nd crank bearing

55‧‧‧ Main Department

55a‧‧‧ recess

56‧‧‧Auxiliary Department

56a‧‧‧Steps

59‧‧‧ spacers

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

Fig. 2 is a partial cross-sectional view showing the configuration of a crankshaft and a transmission gear used in an eccentric oscillating gear device according to another embodiment of the present invention.

Fig. 3 is a partial cross-sectional view showing the configuration of a crankshaft and a transmission gear used in an eccentric oscillation gear device according to another embodiment of the present invention.

Fig. 4 is a partial cross-sectional view showing the configuration of a crankshaft and a transmission gear used in an eccentric oscillating gear device according to another embodiment of the present invention.

Fig. 5 is a cross-sectional view showing the configuration of an eccentric oscillating gear device according to another embodiment of the present invention.

Hereinafter, the form for carrying out the invention will be described in detail with reference to the drawings.

As shown in Fig. 1, the eccentric oscillating gear of this embodiment is mounted The housing 10 has a housing 12, a bracket 14 that is rotatable relative to the housing 12 on the inside of the housing 12, and a speed reduction mechanism 18 for decelerating the input speed at a predetermined speed ratio. In the outer casing 12 of the gear unit 10, the lock is inherently the first arm body outside the plane of the first member (the opponent member), and the bracket 14 is locked as the second member (the opponent member). 2 arm body. In other words, the first arm body and the second arm body constitute a robot arm body, and the eccentric oscillating gear device 10 is configured as a reduction gear for the joint of the robot arm body.

The outer casing 12 has a casing body 12a formed in a cylindrical shape, and a flange portion 12b provided on the outer side of the casing body 12a. The flange portion 12b has a shorter axial length than the casing body 12a, and has a shape in which the axial center portion of the casing body 12a protrudes outward in the radial direction. Further, the flange portion 12b may have a shape that protrudes outward in the radial direction from the axial end portion of the casing body 12a.

On the inner circumferential surface of the casing body 12a, a plurality of pin grooves (internal groove) 12d are formed at equal intervals in the circumferential direction. Pin teeth 24 are embedded in the pin recess 12d, respectively.

Bolt holes 12c are provided at equal intervals in the circumferential direction of the flange portion 12b. The bolt (not shown) that penetrates the bolt through hole 12c is screwed to the screw hole of the first arm body outside the drawing, whereby the outer casing 12 and the first arm body are locked to each other. A motor (not shown) as a drive source is fixed to the first arm body.

The bracket 14 is supported by the outer casing 26 by one of the axially spaced arrangements, and is rotatable concentrically with the outer casing 12. That is, the bracket 14 is rotated relative to the outer casing 12 about the axis of the outer casing 12. The main bearings 26 are formed by angular contact with the ball bearings.

The bracket 14 has an end plate portion 30 in the shape of a circular plate; and a base portion 31, locked to the end plate portion 30. The base portion 31 has a substrate portion 32, and a rotating shaft portion 33 projecting from the surface of one side of the substrate portion 32.

The number of the shaft portions 33 is plural, and the shaft portions 33 are arranged at equal intervals in the circumferential direction. The rotation shaft portion 33 and the end plate portion 30 are locked to each other with the bolts 34 in a state in which the tip end surface of the rotation shaft portion 33 abuts on the end plate portion 30. In this state, a space having a predetermined width is formed between the substrate portion 32 and the end plate portion 30 in the axial direction.

A bolt locking hole 33a is provided in the shaft portion 33. The bolt 34 which is inserted into the bolt perforation 30a of the end plate portion 30 on the opposite side of the rotation shaft portion 33 is screwed to the bolt locking hole 33a of the rotation shaft portion 33. Further, the latch 36 that positions the end plate portion 30 with respect to the base portion 31 is disposed so as to traverse the shaft portion 33 from the end plate portion 30. That is, the plug 36 penetrates through the through hole 30b formed in the end plate portion 30, and penetrates through the through hole 33b formed in the tip end surface of the rotating shaft portion 33.

A second arm body as a counterpart member is attached to the base portion 31. That is, a bolt hole is formed in the second arm body, and a locking hole 31a is formed in the outer surface of the base portion 31 at a position corresponding to the bolt hole. Further, a bolt (not shown) through which the bolt penetrating through the second arm body is bored is screwed into the locking hole 31a of the base portion 31, whereby the second arm body and the base portion 31 are locked to each other.

A central through hole 32a is formed in the substrate portion 32, and the central through hole 32a penetrates the central portion in the radial direction of the base portion in the thickness direction. The substrate portion 32 is inserted into one end portion of the crank shaft 46 to be described later, and the second crank bearing 52 is attached thereto, and the hole portion 32b is provided. The plurality of holes 32b are provided around the center perforations 32a.

A through hole 30c that penetrates the center in the axial direction is formed in the end plate portion 30. The through hole 30c of the end plate portion 30 has substantially the same as the central through hole 32a of the substrate portion 32. Same inner diameter.

The speed reduction mechanism 18 includes a transmission gear 44, a crank shaft 46, and a swing gear (a first swing gear 48a and a second swing gear 48b). The first oscillating gear 48a and the second oscillating gear 48b respectively have internal teeth 24 that engage the outer casing 12 and serve as teeth outside the teeth.

A transmission gear 44 is mounted at the end of the crankshaft 46. The transmission gear 44 is engaged with a drive gear (not shown) provided on an input shaft (not shown) for inputting the driving force of the rotary bracket 14 (driving the motor outside the drawing as a driving source) force). Therefore, the crankshaft 46 transmits the driving force through the transmission gear 44, whereby the crankshaft 46 is interlocked with the rotation of the input shaft. Moreover, the input shaft can also be configured such that the tip end portion is inserted into the through hole 30c of the end plate portion 30.

The crankshaft 46 is disposed in parallel with the input shaft, is rotatably supported by the end plate portion 30 through the first crank bearing 51, and is rotatably supported by the substrate portion 32 through the second crank bearing 52. In other words, the first crank bearing 51 is disposed between the end plate portion 30 and the crankshaft 46, and the second crank bearing 52 is disposed between the substrate portion 32 and the crankshaft 46. Both the first crank bearing 51 and the second crank bearing 52 are formed of tapered roller bearings.

The crankshaft 46 has a shaft body 46c and an eccentric portion (the first eccentric portion 46a and the second eccentric portion 46b), and is disposed at an intermediate portion in the axial direction of the shaft body 46c. The shaft body 46c has one of the pair of crank bearings 51, 52 facing the journal portion (the first journal portion 46d and the second journal portion 46e). The first journal portion 46d and the second journal portion 46e have the same cross-sectional shape (circular shape), are formed coaxially, and are disposed at intervals in the axial direction. The first crank bearing is attached to the first journal portion 46d 51. The second crank bearing 52 is attached to the second journal portion 46e. The crank bearings 51, 52 are used to hold the crankshaft 46 freely rotatable relative to the bracket 14.

The first eccentric portion 46a and the second eccentric portion 46b are disposed adjacent to each other in the axial direction between the first journal portion 46d and the second journal portion 46e. The first eccentric portion 46a is adjacent to the first journal portion 46d, and the second eccentric portion 46b is adjacent to the second journal portion 46e. The first journal portion 46d, the first eccentric portion 46a, the second eccentric portion 46b, and the second journal portion 46e are formed by machining a bar, and are integrally formed.

The first eccentric portion 46a and the second eccentric portion 46b are eccentric with respect to the crank axis which is the axial center of the shaft body 46c. The first eccentric portion 46a and the second eccentric portion 46b are shifted in phase angle from each other. That is, the eccentric direction of the first eccentric portion 46a of the crank axis and the eccentric direction of the second eccentric portion 46b with respect to the crank axis are different from each other, and the phase angle is shifted by 180 degrees. Further, a plurality of crank shafts 46 are respectively assembled to the bracket 14 such that the eccentric directions of the first eccentric portions 46a coincide.

The crankshaft 46 has a main portion 55 and an auxiliary portion 56, and these main portions 55 and auxiliary portions 56 are formed as different individuals. That is, the main portion 55 is an article for machining one bar, and the auxiliary portion 56 is for machining an article of another bar. The main portion 55 is provided with eccentric portions 46a, 46b and journal portions 46d, 46e. In addition, the configuration of the auxiliary portion 56 can be mounted on the transmission gear 44.

The first journal portion 46d constitutes one end portion of the main portion 55, and the second journal portion 46e constitutes the other end portion of the main portion 55. A concave portion 55a is formed on the end surface of the first journal portion 46d, that is, on the tip end surface of the main portion 55. The recess 55a is formed in a circular cross section coaxial with the axis of the shaft body 46c, and is formed in the first journal portion. In the 46d, the tip end face extends in the axial direction toward the deep side of the main portion 55.

The auxiliary portion 56 is formed in a rod shape, and one end portion of the auxiliary portion 56 has a shape that can be fitted into the concave portion 55a of the main portion 55. For example, the outer diameter of the auxiliary portion 56 is the size corresponding to the inner diameter of the concave portion 55a. Further, one end portion of the auxiliary portion 56 is fitted into the concave portion 55a of the main portion 55, whereby the main portion 55 and the auxiliary portion 56 are assembled to each other. The fitting of the auxiliary portion 56 to the main portion 55 is performed by press fitting, heat shrinkage fitting, plastic bonding, or the like.

A flower shaft machining is applied to the end of the auxiliary portion 56, and the transmission gear 44 is coupled by the flower shaft. Moreover, the transmission gear 44 is fixed to the auxiliary portion 56 by the stopper wheel 57 so that the position is not offset. Further, the flower shaft processing may be performed in the entire longitudinal direction of the auxiliary portion 56 (see FIG. 2).

The shape (cross-sectional shape) of the concave portion 55a provided in the main portion 55 may be common to the plurality of crank shafts 46 having different outer diameters or eccentric portions 46a and 46b of the journal portions 46d and 46e. That is, the crank shafts 46 having different specifications may have the recesses 55a having the same cross-sectional shape. In this case, the auxiliary portion 56 can be common with respect to the main portion 55 of the crank shaft 46 of different specifications. Further, regarding the main portion 55, in the crank shaft 46 of different specifications, the shape of the concave portion 55a has a different cross-sectional shape, and among the auxiliary portions 56, the outer diameter of the end portion to which the side of the flower shaft is applied may be made. Into the common situation. In this case, the commonality of the transmission gears 44 can be achieved.

The auxiliary portion 56 corresponds to the opponent member, the customer specification, and the like, and the length of the axial direction can be appropriately changed. For example, as shown in Fig. 2, it may be longer than the auxiliary portion 56 shown in Fig. 1. That is, the crankshaft 46 is separated into the main portion 55 and the auxiliary portion 56, so that it is not necessary to prepare all the specifications corresponding to the opponent member and the customer specifications. The crankshaft 46 of the grid can be a member common to the main portion 55, and only the auxiliary portion 56 is changed in accordance with customer specifications and the like.

As shown in FIGS. 3 and 4, the recess 55a is formed so as to extend beyond the first journal portion 46d to extend into the first eccentric portion 46a. In this case, the amount of insertion of the auxiliary portion 56 with respect to the main portion 55 can be adjusted in accordance with the opponent member and the customer specifications. When the amount of insertion is adjusted, the spacer 59 may be housed in the recess 55a. The spacer 59 is used as a positioning mechanism for positioning the axial position of the auxiliary portion 56 with respect to the main portion 55. Further, the configuration of the spacer 59 may be omitted.

As shown in Fig. 1, in the end plate portion 30, a plurality of perforations 30d are formed around the center through hole 30c. These perforations 30d are arranged around the central perforations 30c and are arranged at equal intervals in the circumferential direction. Further, a plurality of crankshafts 46 are also provided, and the plurality of crankshafts 46 are arranged at equal intervals in the circumferential direction. Each of the crank shafts 46 penetrates the through hole 30d of the end plate portion 30 and is inserted into the hole portion 32b of the substrate portion 32 at the same time.

The first oscillating gear 48a and the second oscillating gear 48b are disposed in a space between the substrate portion 32 of the bracket 14 and the end plate portion 30. The first oscillating gear 48a and the second oscillating gear 48b are respectively formed with a first through hole 48c formed in the center portion, a second through hole 48d through which the rotating shaft portion 33 can pass, and a third through hole 48e for the eccentric portion 46a of the crank shaft 46. , 46b can run through.

The roller bearing 60 is attached to the first eccentric portion 46a and the second eccentric portion 46b. In this state, the first eccentric portion 46a is inserted into the third through hole 48e of the first oscillating gear 48a, and the second eccentric portion 46b is inserted. 2 The third through hole 48e of the swing gear 48b. The first oscillating gear 48a and the second oscillating gear 48b are tilted by the first eccentric portion 46a and the second eccentric portion 46b by the rotation of the crankshaft 46. The body is rotated while being engaged with the internal teeth 24 of the outer casing 12. Further, in the present embodiment, the swing gears 48a and 48b are provided in two. However, the configuration of the present invention is not limited thereto, and one or three or more swing gears 48a and 48b may be provided.

In the eccentric oscillating gear device 10 of the present embodiment, the input shaft is driven by the driving force of the motor, and when the input shaft is driven, the transmission motor 44 is rotated. Thereby, the crankshaft 46 also rotates integrally. When the crankshaft 46 rotates, the first oscillating gear 48a rotates while being engaged with the internal teeth 24, and the second oscillating gear 48b is engaged with the second eccentric portion 46b. The teeth 24 rotate on one side. Thereby, the holder 14 having the shaft portion 33 of the second through hole 48d penetrating the two swing gears 48a, 48b is rotated with respect to the outer casing 12. Thereby, the second arm body rotates with respect to the first arm body. The rotational speed of the second arm body (the bracket 14) is a rotational speed that is decelerated at a predetermined ratio with respect to the rotational speed of the input shaft. That is, the speed reduction mechanism 18 rotates the bracket 14 with respect to the outer casing 12 at a rotational speed that is decelerated at a predetermined ratio with respect to the rotational speed of the input shaft.

As described above, in the present embodiment, the crankshaft 46 is divided into a main portion 55 having a journal portion 46d, 46e and eccentric portions 46a, 46b, and an auxiliary portion 56 that can be attached to the transmission gear 44. That is, the main portion 55 and the auxiliary portion 56 are different individuals. Further, the auxiliary portion 56 is assembled to the main portion 55. Therefore, the main portion 55 and the auxiliary portion 56 are individually independent and can be managed by the product number. In this case, with respect to the main portion 55, for example, the outer diameter of the journal portions 46d, 46e and the different objects of the eccentric portions 46a, 46b, the product number of the main portion 55 is set, and the auxiliary portion 56 can be, for example, for each main portion. 55 prior to commonalization. Further, the transmission gear 44 may be configured to be attached to the common auxiliary portion 56. therefore, It is possible to avoid a situation in which the size of the fitting hole of the transmission gear 44 is also changed because the outer diameters of the journal portions 46d, 46e are different. Thereby, the transmission gear 44 having the same number of teeth can be avoided, but the management number is different. Therefore, it is possible to suppress an increase in the number of management numbers of the transmission gear 44.

Further, the main portion 55 in which the eccentric portions 46a and 46b and the journal portions 46d and 46e are provided can be formed in a common configuration that is not affected by the specifications of the customer, and is fitted to the auxiliary portion 56 of the tip end portion of the main portion 55. The length varies according to the customer's specifications. Therefore, with regard to the main shaft 55 in the crankshaft 46, particularly in processing, which is time-consuming, it is not affected by the specifications of the customer, so the production can be estimated before the order is determined. Further, as long as the order is determined, the manufacturing assisting portion 56 is assembled to the main portion 55 to manufacture the crankshaft 46. Therefore, after the order is confirmed, as long as the production assisting portion 56 is sufficient, the lead time required for the production of the crankshaft 46 after the order confirmation can be shortened.

Further, in the journal portions 46d, 46e provided in the main portion 55 of the crank shaft 46, the crank bearings 51, 52 are contacted, and the journal portions 46d, 46e are separated from the auxiliary portion 56. Therefore, the size of the flower shaft can be independently set independently of the outer diameters of the journal portions 46d, 46e. As a result, the outer diameters of the shaft neck portions 46d and 46e are different, and it is possible to avoid a situation in which the transmission gears 44 cannot be shared even when the number of teeth is the same. That is, in the case where the crank shaft 46 is an integral object, the portion to which the flower shaft is applied becomes continuous with the journal portions 46d, 46e, so that the size of the flower shaft becomes the outer diameter of the journal portions 46d, 46e. To decide. Therefore, even if the number of teeth is the same, the crankshaft 46 having a different outer diameter with respect to the journal portions 46d, 46e cannot share the transmission gear 44. On the other hand, as described in the present embodiment, when the journal portions 46d, 46e and the portion to which the flower shaft is applied are separated from each other, The situation in which the size of the flower shaft is determined by the outer diameter of the journal portions 46d, 46e is not generated. As a result, if the number of teeth is the same, even if the outer diameters of the journals 46d, 46e of the crankshaft 46 are different, the transmission gear 44 can be shared.

Further, in the present embodiment, the auxiliary portion 56 can be fixed to the main portion 55 by the fitting auxiliary portion 56 to the concave portion 55a formed on the tip end surface of the main portion 55. Therefore, the positioning of the auxiliary portion 56 (the transmission gear 44) with respect to the main portion 55 can be easily and surely performed.

Further, the present invention is not limited to the above-described embodiments, and various changes and improvements can be made without departing from the scope of the invention. For example, in the above-described embodiment, the auxiliary portion 56 of the crankshaft 46 is formed in a rod shape having a constant outer diameter in the entire axial direction, but the present invention is not limited thereto. As shown in Fig. 5, a step portion 56a may be formed in the axially intermediate portion of the auxiliary portion 56. The auxiliary portion 56 has a small diameter portion on one side of the step portion 56a and a large diameter portion in the step portion 56a. The other side. The small diameter portion has a cross-sectional shape that is embedded in the concave portion 55a formed in the main portion 55. The stepped portion 56a abuts on the tip end surface of the main portion 55 when the small diameter portion is fitted into the concave portion 55a. Therefore, the step portion 56a functions as a positioning mechanism of the positioning assisting portion 56 with respect to the axial position of the main portion 55. In the large-diameter portion, a flower shaft is applied to the entire axial direction, and the transmission gear 44 is coupled to the large-diameter portion.

In the above embodiment, the auxiliary portion 56 is fitted into the concave portion 55a of the main portion 55. However, the present invention is not limited thereto. For example, the main portion 55 may be formed with a through hole (not shown) in the axial direction without forming the concave portion 55a, and the auxiliary portion 56 may be fitted into the through hole.

Here, the above embodiment will be outlined.

(1) In the above embodiment, the crankshaft is divided into a main portion having a journal portion and an eccentric portion, and an auxiliary portion that is attachable to the transmission gear. That is, the main part and the auxiliary part form different individuals. Moreover, the auxiliary portion is assembled to the main portion. Therefore, the main part and the auxiliary part can be managed individually and independently. In this case, the main part is set with the product number of the main part, for example, in the outer diameter and the eccentric portion of each of the journal portions, and the main portion can be shared in advance with respect to the auxiliary portion. Further, the configuration of the transmission gear may be attached to the auxiliary portion that is shared. Therefore, it is possible to avoid a situation in which the size of the fitting hole of the transmission gear is changed due to the difference in the outer diameter of the journal portion. Thereby, it is possible to avoid a situation in which the management product numbers of the transmission gears having the same number of teeth are different. Therefore, it is possible to suppress an increase in the management product number of the transmission gear.

In addition, the main portion in which the eccentric portion and the journal portion are provided is a common configuration that is not affected by the specifications of the customer, and the length of the auxiliary portion that is fitted to the tip end portion of the main portion can be adjusted to the specifications of the customer. And change. Therefore, regarding the main part in the crankshaft, which is particularly time-consuming to process, it is not affected by the specifications of the customer, so the production can be estimated before the order is determined. Further, as long as the order is determined, the manufacturing auxiliary portion is assembled and assembled to the main portion to manufacture the crankshaft. Therefore, after the order is confirmed, as long as the production auxiliary unit is sufficient, the lead time required for the production of the crankshaft after the order confirmation can be shortened. Moreover, only the main part that is not affected by the customer's specifications is regarded as a hypothetical crankshaft, and it can also be assembled to the eccentric oscillating type gear device. Therefore, it is possible to estimate the production of the eccentric oscillating type gear device only by the main part in advance, and determine the order. After that, install the auxiliary part and transmission gear corresponding to the customer's specifications before shipment. Thereby, the manufacturing lead time of the product itself can be shortened.

(2) in the above eccentric oscillating type gear device, in the aforementioned auxiliary Preferably, the shaft is machined for mounting the aforementioned transmission gear.

In this aspect, a crank bearing is contacted in the journal portion of the main portion of the crankshaft, and the journal portion is separated from the auxiliary portion. Therefore, the size of the flower shaft and the outer diameter of the journal can be individually set independently. As a result, the outer diameter of the shaft neck portion is different, and it is possible to avoid a situation in which the transmission gears cannot be shared even when the number of teeth is the same. That is, in the case where the crankshaft is an integral object, the portion to which the flower shaft is applied becomes a continuous structure with the journal portion. Therefore, the size of the flower shaft becomes determined by the outer diameter of the journal. Therefore, it is impossible to share the transmission gear with respect to the crankshaft in which the outer diameters of the journals are different even if the number of teeth is the same. On the other hand, as described in the present embodiment, when the journal portion and the portion to which the flower shaft is applied are cut away from each other, the size of the stem is not determined by the outer diameter of the journal portion. As a result, if the number of teeth is the same, even if the outer diameters of the journals of the crankshaft are different, the transmission gears can be shared.

(3) The auxiliary portion is preferably fitted to a concave portion formed on the tip end surface of the main portion. In this aspect, the auxiliary portion can be fixed to the main portion by fitting the auxiliary portion to the concave portion formed on the tip end surface of the main portion. Therefore, the positioning of the auxiliary portion (transmission gear) with respect to the main portion can be easily performed.

(4) The eccentric oscillating type gear device may be provided with a positioning mechanism for positioning the auxiliary portion in the axial direction with respect to the main portion. In this case, the axial positioning of the auxiliary portion with respect to the main portion can be easily and surely performed.

As described above, according to the above embodiment, the number of management product numbers of the transmission gear and the crankshaft can be reduced.

10‧‧‧Eccentric swing gear device

12‧‧‧ Shell

12a‧‧‧Shell body

12b‧‧‧Flange

12c‧‧‧Bolt piercing

12d‧‧‧Latch groove

14‧‧‧ bracket

18‧‧‧Deceleration mechanism

24‧‧‧ internal teeth

26‧‧‧Main bearing

30‧‧‧End Plate Department

30a‧‧‧Bolt piercing

30b, 30c, 30d‧‧‧ perforation

31‧‧‧ base

31a‧‧‧Lock hole

32‧‧‧Parts Department

32a‧‧‧Central Perforation

32b‧‧‧ Hole Department

33‧‧‧ shaft part

33a‧‧‧Bolt lock hole

33b‧‧‧Perforation

34‧‧‧Bolts

36‧‧‧Latch

44‧‧‧Transmission gear

46‧‧‧ crankshaft

46a‧‧‧1st eccentric

46b‧‧‧2nd eccentric

46c‧‧‧Axis body

46d‧‧‧1st shaft neck

46e‧‧‧2nd journal

48a‧‧‧1st swing gear

48b‧‧‧2nd swing gear

48c‧‧‧1st perforation

48d‧‧‧2nd perforation

48e‧‧‧3rd perforation

51‧‧‧1st crank bearing

52‧‧‧2nd crank bearing

55‧‧‧ Main Department

55a‧‧‧ recess

56‧‧‧Auxiliary Department

57‧‧‧stop wheel

60‧‧‧Roller Bearings

Claims (3)

An eccentric oscillating gear device for causing relative rotation of a rotational speed decelerated with respect to an input rotational speed to be generated between a first member and a second member, having: a crank shaft having a crank bearing to contact a shaft neck portion and an eccentric portion; a transmission gear mounted on the crank shaft to transmit a driving force from the driving source to the crank shaft; the swing gear having a through hole inserted into the eccentric portion and having a tooth portion; The structure may be attached to one of the first member and the second member; and a bracket may be attached to the other of the first member and the second member; the bracket is rotatably supported In the crankshaft, the outer casing has inner teeth that mesh with the tooth portions of the oscillating gear, and the outer casing and the bracket are rotatable relative to each other with the swinging of the oscillating gear that rotates with the crank shaft, the crank The shaft is provided with the eccentric portion and the main portion of the shaft neck portion, and an end portion that can be fitted to the main portion and can be mounted on the transmission gear. The auxiliary portion is formed as a different individual, and the main portion and the auxiliary portion are assembled to each other; the main portion has a tip end surface formed with a concave portion; a part of the auxiliary portion is fitted in the concave portion, and The other portion of the aforementioned auxiliary portion protrudes from the tip end surface. The eccentric oscillating gear device according to claim 1, wherein A spline machining for mounting the aforementioned transmission gear is applied to the aforementioned auxiliary portion. The eccentric oscillating type gear device according to claim 1 or 2, wherein a positioning mechanism for axially positioning the auxiliary portion with respect to the main portion is provided.